diff --git a/cot/chunk-0003/episode_0003543_ecot.json b/cot/chunk-0003/episode_0003543_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1fa452b2d6c464f38a50146880bccaa308aadd28 --- /dev/null +++ b/cot/chunk-0003/episode_0003543_ecot.json @@ -0,0 +1,2218 @@ +{ + "task_name": "episode_0003543", + "episode_json": "json/chunk-0003/episode_0003543.json", + "video_path": "videos/chunk-0003/image_0/episode_0003543.mp4", + "instruction": "Unfold the cloth from the middle to the bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003543.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.9429803490638733, + "std": 0.42540401220321655, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94298, std=0.42540, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 14, + 14, + 14, + 14, + 14, + 27, + 27, + 27, + 27, + 27, + 27 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 13 + ], + [ + 3, + 14, + 21 + ], + [ + 4, + 22, + 26 + ], + [ + 5, + 27, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth center\", \"start\": 0, \"end\": 3, \"planning\": \"Move gripper toward the middle of the folded cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp cloth at center\", \"start\": 4, \"end\": 13, \"planning\": \"Close gripper to securely grasp the cloth at its center point.\"},\n {\"id\": 3, \"name\": \"drag cloth to bottom left\", \"start\": 14, \"end\": 21, \"planning\": \"Pull the grasped cloth diagonally toward the bottom-left corner of the table.\"},\n {\"id\": 4, \"name\": \"release and adjust grip\", \"start\": 22, \"end\": 26, \"planning\": \"Partially open gripper to release tension while maintaining contact for final positioning.\"},\n {\"id\": 5, \"name\": \"retreat after unfolding\", \"start\": 27, \"end\": 32, \"planning\": \"Fully open gripper and lift away from the now-unfolded cloth.\"}\n ],\n \"global_plan\": \"Unfold the cloth by grasping its center, dragging it to the bottom-left, then releasing and retreating.\",\n \"notes\": \"Segment 1 has no gripper closure — described as approach only. Segment 2 shows meaningful closure — grasp is justified. Segments 3–5 involve motion with gripper state changes consistent with dragging, partial release, and full retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth center", + "start": 0, + "end": 3, + "planning": "Move gripper toward the middle of the folded cloth without closing." + }, + { + "id": 2, + "name": "grasp cloth at center", + "start": 4, + "end": 13, + "planning": "Close gripper to securely grasp the cloth at its center point." + }, + { + "id": 3, + "name": "drag cloth to bottom left", + "start": 14, + "end": 21, + "planning": "Pull the grasped cloth diagonally toward the bottom-left corner of the table." + }, + { + "id": 4, + "name": "release and adjust grip", + "start": 22, + "end": 26, + "planning": "Partially open gripper to release tension while maintaining contact for final positioning." + }, + { + "id": 5, + "name": "retreat after unfolding", + "start": 27, + "end": 32, + "planning": "Fully open gripper and lift away from the now-unfolded cloth." + } + ], + "global_plan": "Unfold the cloth by grasping its center, dragging it to the bottom-left, then releasing and retreating.", + "notes": "Segment 1 has no gripper closure — described as approach only. Segment 2 shows meaningful closure — grasp is justified. Segments 3–5 involve motion with gripper state changes consistent with dragging, partial release, and full retreat." + } + }, + "episode_goal": "Unfold the cloth from the middle to the bottom left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3435460329055786, + -0.06951651722192764, + 0.12288141250610352, + 2.8530447483062744, + -0.14587831497192383, + 0.20490512251853943 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the table with the cloth centered below. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3414306342601776, + -0.06948348879814148, + 0.10998179018497467, + 2.863548755645752, + -0.1096431165933609, + 0.20155371725559235 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the table with the cloth centered below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to approach and make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33797818422317505, + -0.05259007588028908, + 0.10174892842769623, + 2.866546392440796, + -0.09134427458047867, + 0.23690959811210632 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the table with the cloth centered below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to approach and make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346271812915802, + -0.030805863440036774, + 0.09352872520685196, + 2.8664634227752686, + -0.07875210791826248, + 0.2851729989051819 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the table with the cloth centered below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to approach and make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3282734155654907, + -0.007937559857964516, + 0.08123299479484558, + 2.887263059616089, + -0.06977824121713638, + 0.3555508553981781 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 416, + 279, + 854, + 862 + ], + "table": [ + 15, + 147, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot is positioned above the table with the cloth centered below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to approach and make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3226563036441803, + 0.006204420700669289, + 0.06556974351406097, + 2.9427077770233154, + -0.09307242184877396, + 0.44564560055732727 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot is positioned above the table with the cloth centered below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to approach and make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31773489713668823, + 0.010182280093431473, + 0.054433636367321014, + 2.957115650177002, + -0.10752036422491074, + 0.5040647983551025 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot is positioned above the table with the cloth centered below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to approach and make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185565769672394, + 0.012387458235025406, + 0.0493948869407177, + 2.9676826000213623, + -0.1242557018995285, + 0.5348094701766968 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot is positioned above the table with the cloth centered below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to approach and make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31863129138946533, + 0.013707069680094719, + 0.037818845361471176, + 2.983002185821533, + -0.11580733954906464, + 0.5561128854751587 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183683753013611, + 0.012770541943609715, + 0.025179823860526085, + 2.9503250122070312, + -0.1260106861591339, + 0.5668738484382629 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31593650579452515, + 0.01551758497953415, + 0.010873392224311829, + 2.9574289321899414, + -0.09411134570837021, + 0.5749179124832153 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3121737539768219, + 0.024859866127371788, + 0.006079568061977625, + 2.946718692779541, + -0.08071938157081604, + 0.6188910007476807 + ], + "gripper_value": 0.9816622138023376 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3089304566383362, + 0.025345779955387115, + -0.00038058863719925284, + 2.9391984939575195, + -0.06480032205581665, + 0.6214621663093567 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 452, + 270, + 854, + 863 + ], + "table": [ + 14, + 174, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31013497710227966, + 0.026118913665413857, + -0.0011217478895559907, + 2.9525232315063477, + -0.06051401048898697, + 0.616269588470459 + ], + "gripper_value": 0.5650128126144409 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "grasp cloth at center", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122890591621399, + 0.02341744862496853, + -0.0026134068612009287, + 2.951779842376709, + -0.05474751815199852, + 0.6034566164016724 + ], + "gripper_value": 0.2861579358577728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move back 5 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.312061607837677, + 0.023334680125117302, + -0.002637774683535099, + 2.9518680572509766, + -0.05213456600904465, + 0.6092110276222229 + ], + "gripper_value": 0.12661112844944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3129150867462158, + 0.023316923528909683, + -0.0018268940038979053, + 2.951223134994507, + -0.052476126700639725, + 0.6054600477218628 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot end-effector is positioned above the center of the cloth on the table, having completed the approach phase. The gripper is currently open and ready to engage. The next action is to close the gripper to grasp the cloth at its center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3146926164627075, + 0.02017894573509693, + 0.0005097323446534574, + 2.951294183731079, + -0.045847177505493164, + 0.5947694182395935 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the center of the cloth with its gripper closed. It has successfully grasped the fabric and is positioned to begin the dragging motion. The next action is to translate the end-effector towards the bottom-left corner of the table to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3230578899383545, + 0.01265579741448164, + 0.01983158104121685, + 2.9391708374023438, + -0.0888391062617302, + 0.5482957363128662 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the center of the cloth with its gripper closed. It has successfully grasped the fabric and is positioned to begin the dragging motion. The next action is to translate the end-effector towards the bottom-left corner of the table to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32491549849510193, + 0.011025764048099518, + 0.042989831417798996, + 2.9385604858398438, + -0.13927632570266724, + 0.5310609340667725 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the center of the cloth with its gripper closed. It has successfully grasped the fabric and is positioned to begin the dragging motion. The next action is to translate the end-effector towards the bottom-left corner of the table to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163031041622162, + 0.019253427162766457, + 0.07173077762126923, + 2.910287380218506, + -0.20030388236045837, + 0.5478934645652771 + ], + "gripper_value": 0.065320685505867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the center of the cloth with its gripper closed. It has successfully grasped the fabric and is positioned to begin the dragging motion. The next action is to translate the end-effector towards the bottom-left corner of the table to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29531681537628174, + 0.04509448632597923, + 0.08321251720190048, + 2.8771514892578125, + -0.21241874992847443, + 0.6350964307785034 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the center of the cloth with its gripper closed. It has successfully grasped the fabric and is positioned to begin the dragging motion. The next action is to translate the end-effector towards the bottom-left corner of the table to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, keep gripper closed; then move back 6 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then move forward 3 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.270455002784729, + 0.0725998729467392, + 0.08156879246234894, + 2.869223117828369, + -0.19010739028453827, + 0.7145482301712036 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "release and adjust grip", + "subtask_reasoning": "The robot is currently holding the center of the cloth with its gripper closed. It has successfully grasped the fabric and is positioned to begin the dragging motion. The next action is to translate the end-effector towards the bottom-left corner of the table to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then move forward 4 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23759934306144714, + 0.10309118777513504, + 0.06992349028587341, + 2.8711979389190674, + -0.1536586582660675, + 0.8151038885116577 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 234, + 268, + 837, + 865 + ], + "table": [ + 15, + 146, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "release and adjust grip", + "subtask_reasoning": "The robot is currently holding the center of the cloth with its gripper closed. It has successfully grasped the fabric and is positioned to begin the dragging motion. The next action is to translate the end-effector towards the bottom-left corner of the table to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper; then move forward 4 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.22020183503627777, + 0.12042887508869171, + 0.05378911271691322, + 2.8802754878997803, + -0.11860129237174988, + 0.8403265476226807 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 186, + 267, + 837, + 870 + ], + "table": [ + 13, + 148, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "release and adjust grip", + "subtask_reasoning": "The cloth has been partially unfolded and is lying on the table with the gripper currently open and positioned above it. The release action appears complete, but the cloth may need slight adjustment to fully extend toward the bottom left. The next likely action is to re-grasp a corner or edge of the cloth to continue unfolding or smoothing it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.20971091091632843, + 0.13013856112957, + 0.03651463985443115, + 2.8800952434539795, + -0.08597232401371002, + 0.868755042552948 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "release and adjust grip", + "subtask_reasoning": "The cloth has been partially unfolded and is lying on the table with the gripper currently open and positioned above it. The release action appears complete, but the cloth may need slight adjustment to fully extend toward the bottom left. The next likely action is to re-grasp a corner or edge of the cloth to continue unfolding or smoothing it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 4 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.20700785517692566, + 0.13133761286735535, + 0.024557646363973618, + 2.8918814659118652, + -0.04927131161093712, + 0.8944523930549622 + ], + "gripper_value": 0.2372342199087143 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "release and adjust grip", + "subtask_reasoning": "The cloth has been partially unfolded and is lying on the table with the gripper currently open and positioned above it. The release action appears complete, but the cloth may need slight adjustment to fully extend toward the bottom left. The next likely action is to re-grasp a corner or edge of the cloth to continue unfolding or smoothing it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 4 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.20643796026706696, + 0.13194899260997772, + 0.021701710298657417, + 2.8931024074554443, + -0.04742736741900444, + 0.9187169671058655 + ], + "gripper_value": 0.505268931388855 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "retreat after unfolding", + "subtask_reasoning": "The cloth has been partially unfolded and is lying on the table with the gripper currently open and positioned above it. The release action appears complete, but the cloth may need slight adjustment to fully extend toward the bottom left. The next likely action is to re-grasp a corner or edge of the cloth to continue unfolding or smoothing it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.20862621068954468, + 0.12931908667087555, + 0.018866633996367455, + 2.893911361694336, + -0.03517288342118263, + 0.9182769656181335 + ], + "gripper_value": 0.817743182182312 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "retreat after unfolding", + "subtask_reasoning": "The cloth has been partially unfolded and is lying on the table with the gripper currently open and positioned above it. The release action appears complete, but the cloth may need slight adjustment to fully extend toward the bottom left. The next likely action is to re-grasp a corner or edge of the cloth to continue unfolding or smoothing it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21263866126537323, + 0.12497604638338089, + 0.02050042524933815, + 2.904604196548462, + -0.02904628962278366, + 0.8996878266334534 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "retreat after unfolding", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table, with the gripper no longer in contact. The retreat phase is underway as the arm moves away from the cloth. Next, continue retracting the arm to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.22179827094078064, + 0.12087490409612656, + 0.032341428101062775, + 2.9177422523498535, + -0.028064848855137825, + 0.8438682556152344 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "retreat after unfolding", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table, with the gripper no longer in contact. The retreat phase is underway as the arm moves away from the cloth. Next, continue retracting the arm to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23760272562503815, + 0.11171033978462219, + 0.053260687738657, + 2.911630630493164, + -0.013278587721288204, + 0.7607230544090271 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "retreat after unfolding", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table, with the gripper no longer in contact. The retreat phase is underway as the arm moves away from the cloth. Next, continue retracting the arm to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508980631828308, + 0.10593937337398529, + 0.08197628706693649, + 2.919501781463623, + -0.01702794060111046, + 0.6947344541549683 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the middle to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "grasp cloth at center" + }, + { + "id": 3, + "subtask": "drag cloth to bottom left" + }, + { + "id": 4, + "subtask": "release and adjust grip" + }, + { + "id": 5, + "subtask": "retreat after unfolding" + } + ], + "subtask_name": "retreat after unfolding", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table, with the gripper no longer in contact. The retreat phase is underway as the arm moves away from the cloth. Next, continue retracting the arm to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003544_ecot.json b/cot/chunk-0003/episode_0003544_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3c636a386f997d8a6f7a441e5addef04e94068c7 --- /dev/null +++ b/cot/chunk-0003/episode_0003544_ecot.json @@ -0,0 +1,3297 @@ +{ + "task_name": "episode_0003544", + "episode_json": "json/chunk-0003/episode_0003544.json", + "video_path": "videos/chunk-0003/image_0/episode_0003544.mp4", + "instruction": "Put the knife on the top of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 49, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003544.json" + }, + "fps": 5.0, + "T_eff": 49, + "gripper_behavior_summary": { + "available": true, + "range": 0.5654187202453613, + "std": 0.2715667188167572, + "delta_total": -0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56542, std=0.27157, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 119, + 138, + 138, + 138, + 138, + 38, + 38, + 38, + 38, + 38, + 38, + 38 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 36 + ], + [ + 3, + 37, + 37 + ], + [ + 4, + 38, + 41 + ], + [ + 5, + 42, + 48 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 18, \"planning\": \"Move the end-effector toward the knife on the table while closing the gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp knife\", \"start\": 19, \"end\": 36, \"planning\": \"Secure the knife in the gripper and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"reposition over target\", \"start\": 37, \"end\": 37, \"planning\": \"Adjust the position of the held knife to align above the intended placement location on the table.\"},\n {\"id\": 4, \"name\": \"release knife\", \"start\": 38, \"end\": 41, \"planning\": \"Open the gripper to place the knife onto the table at the target location.\"},\n {\"id\": 5, \"name\": \"retreat from knife\", \"start\": 42, \"end\": 48, \"planning\": \"Move the end-effector away from the placed knife to complete the task.\"}\n ],\n \"global_plan\": \"Approach the knife, grasp it securely, reposition it over the desired location on the table, release it gently, and retreat to finish.\",\n \"notes\": \"Segment 2 (frames 19-36) shows stable gripper closure with motion consistent with lifting; Segment 4 (frames 38-41) shows clear gripper opening matching release; Segment 5 (frames 42-48) shows retreat with no gripper activity. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 18, + "planning": "Move the end-effector toward the knife on the table while closing the gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp knife", + "start": 19, + "end": 36, + "planning": "Secure the knife in the gripper and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "reposition over target", + "start": 37, + "end": 37, + "planning": "Adjust the position of the held knife to align above the intended placement location on the table." + }, + { + "id": 4, + "name": "release knife", + "start": 38, + "end": 41, + "planning": "Open the gripper to place the knife onto the table at the target location." + }, + { + "id": 5, + "name": "retreat from knife", + "start": 42, + "end": 48, + "planning": "Move the end-effector away from the placed knife to complete the task." + } + ], + "global_plan": "Approach the knife, grasp it securely, reposition it over the desired location on the table, release it gently, and retreat to finish.", + "notes": "Segment 2 (frames 19-36) shows stable gripper closure with motion consistent with lifting; Segment 4 (frames 38-41) shows clear gripper opening matching release; Segment 5 (frames 42-48) shows retreat with no gripper activity. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the knife on the top surface of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411898612976074, + 0.05826922878623009, + 0.14096418023109436, + 3.0768613815307617, + -0.10087192803621292, + 0.695226788520813 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 18 cm, move down 6 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3408636152744293, + 0.05805134028196335, + 0.13128158450126648, + 3.087477445602417, + -0.07330586016178131, + 0.6984091997146606 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 20 cm, move down 6 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34855180978775024, + 0.04370911419391632, + 0.13524162769317627, + 3.0572245121002197, + -0.07164876908063889, + 0.6746982932090759 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 19 cm, move down 8 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34878504276275635, + 0.03348753601312637, + 0.1352463662624359, + 3.0352773666381836, + -0.05268077924847603, + 0.6086711287498474 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 18 cm, move down 8 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3420211970806122, + 0.012531103566288948, + 0.12502296268939972, + 3.0747976303100586, + -0.04503428936004639, + 0.4645998775959015 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 16 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314892649650574, + -0.015077229589223862, + 0.12436403334140778, + 3.0870301723480225, + -0.10170485079288483, + 0.37871402502059937 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 14 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.311553955078125, + -0.043906014412641525, + 0.11648408323526382, + 3.1030352115631104, + -0.09567219018936157, + 0.3204617202281952 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2910173833370209, + -0.06856638938188553, + 0.10548838973045349, + 3.1124987602233887, + -0.08705975115299225, + 0.24716389179229736 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27663129568099976, + -0.08965688198804855, + 0.09052589535713196, + 3.100719928741455, + -0.09326400607824326, + 0.19680255651474 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 5, + 995, + 994 + ], + "blue spoon": [ + 758, + 375, + 809, + 474 + ], + "metal bowl": [ + 423, + 244, + 631, + 504 + ], + "black stand base": [ + 591, + 202, + 906, + 509 + ], + "yellow corn toy": [ + 304, + 422, + 395, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible on the right side. The gripper is open and the robot has not yet moved toward the knife. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2699407935142517, + -0.10953189432621002, + 0.08859575539827347, + 3.0844526290893555, + -0.08573266863822937, + 0.14435160160064697 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2663717567920685, + -0.12309382855892181, + 0.07776650041341782, + 3.082143783569336, + -0.08970586955547333, + 0.09884697943925858 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27014636993408203, + -0.13702884316444397, + 0.06813589483499527, + 3.064581871032715, + -0.11670888960361481, + 0.07647648453712463 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 6, + 995, + 994 + ], + "yellow corn toy": [ + 304, + 422, + 396, + 573 + ], + "yellow pear toy": [ + 824, + 590, + 939, + 814 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26758283376693726, + -0.14496122300624847, + 0.05486017465591431, + 3.04957914352417, + -0.1097957044839859, + 0.05649280920624733 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26616740226745605, + -0.14996115863323212, + 0.05070433020591736, + 3.015456199645996, + -0.10532313585281372, + 0.053220801055431366 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move left 6 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654067575931549, + -0.1509452909231186, + 0.04684532806277275, + 3.0010976791381836, + -0.111014224588871, + 0.06360684335231781 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 8 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26465675234794617, + -0.151295468211174, + 0.03796921670436859, + 3.0138518810272217, + -0.0913102775812149, + 0.08625276386737823 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, close gripper; then move forward 2 cm, move left 10 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26789653301239014, + -0.15368850529193878, + 0.03618127480149269, + 3.0181214809417725, + -0.11911376565694809, + 0.10036754608154297 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move forward 3 cm, move left 13 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674282491207123, + -0.1527547389268875, + 0.035421278327703476, + 3.0296504497528076, + -0.11145319044589996, + 0.10846001654863358 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move forward 4 cm, move left 15 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26811712980270386, + -0.14772701263427734, + 0.035037845373153687, + 3.043654680252075, + -0.11196043342351913, + 0.10119099169969559 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 5 cm, move left 19 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667233645915985, + -0.1375749707221985, + 0.03831641748547554, + 3.0480880737304688, + -0.13903091847896576, + 0.07996032387018204 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 19 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2704094350337982, + -0.12788230180740356, + 0.05490677058696747, + 3.0172643661499023, + -0.17160049080848694, + 0.05503755435347557 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 17 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26919102668762207, + -0.11352270841598511, + 0.0681205540895462, + 3.030210018157959, + -0.2217511385679245, + 0.009712055325508118 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 7, + 995, + 994 + ], + "black stand base": [ + 661, + 380, + 974, + 629 + ], + "metal bowl": [ + 422, + 252, + 648, + 505 + ], + "yellow pear toy": [ + 734, + 538, + 839, + 708 + ], + "yellow corn toy": [ + 305, + 422, + 395, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 14 cm, move up 6 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683727443218231, + -0.09748716652393341, + 0.08503507822751999, + 3.0216662883758545, + -0.2435825616121292, + -0.018723713234066963 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 11 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.269763320684433, + -0.07559178024530411, + 0.09318318217992783, + 3.0213420391082764, + -0.19710731506347656, + 0.026685109362006187 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 8 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27210894227027893, + -0.05490583926439285, + 0.09804952889680862, + 3.031022548675537, + -0.1692422777414322, + 0.044969480484724045 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 5 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28692302107810974, + -0.03788236528635025, + 0.11132516711950302, + 3.005547046661377, + -0.20341992378234863, + 0.11665284633636475 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3011619746685028, + -0.011885732412338257, + 0.11878649145364761, + 3.000322103500366, + -0.19369719922542572, + 0.1600460261106491 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the right. The gripper is open and the arm is moving toward the knife, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to continue moving the end-effector closer to the knife handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3026607036590576, + 0.01707685925066471, + 0.12291914969682693, + 2.97151780128479, + -0.2118191421031952, + 0.1517363339662552 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 3 cm, move down 7 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31249168515205383, + 0.04762476682662964, + 0.1306007355451584, + 3.013597249984741, + -0.22992871701717377, + 0.14613617956638336 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move down 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160994350910187, + 0.05654258280992508, + 0.1290595829486847, + 2.979811429977417, + -0.21856392920017242, + 0.15165741741657257 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 9, + 996, + 994 + ], + "metal bowl": [ + 420, + 256, + 648, + 505 + ], + "yellow corn toy": [ + 305, + 424, + 394, + 571 + ], + "yellow pear toy": [ + 413, + 129, + 497, + 245 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move down 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, open gripper; then move back 1 cm, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33218273520469666, + 0.04536009952425957, + 0.13335581123828888, + 2.9308793544769287, + -0.16193698346614838, + 0.35731756687164307 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move down 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619844317436218, + 0.026669427752494812, + 0.13139402866363525, + 2.95261287689209, + -0.12608985602855682, + 0.5374211668968201 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38590553402900696, + 0.014482284896075726, + 0.11997419595718384, + 2.986671209335327, + -0.17748595774173737, + 0.6519507169723511 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, open gripper; then move back 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3983239233493805, + 0.0033416706137359142, + 0.10824566334486008, + 3.001302480697632, + -0.20565418899059296, + 0.705058217048645 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt left 10 degrees, open gripper; then move back 1 cm, keep gripper open; then move up 2 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4027235209941864, + -0.008072334341704845, + 0.09481925517320633, + 3.0140860080718994, + -0.26086440682411194, + 0.7370179295539856 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move back 1 cm, keep gripper open; then move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4058164656162262, + -0.01194691564887762, + 0.07065681368112564, + 3.098898410797119, + -0.24605320394039154, + 0.7490884065628052 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move back 1 cm, keep gripper open; then move up 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.40766045451164246, + -0.012384866364300251, + 0.0667022317647934, + 3.1155505180358887, + -0.24550557136535645, + 0.7606486082077026 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the bowl containing the knife, with the gripper open and no closing motion detected in the segment. The knife remains inside the bowl, untouched. The next action should be to lower the gripper toward the knife to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, keep gripper open; then move up 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.40293776988983154, + -0.01489320956170559, + 0.05342479050159454, + -3.1392579078674316, + -0.24014580249786377, + 0.7344016432762146 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "reposition over target", + "subtask_reasoning": "The robot is currently holding the knife above the table, having completed the approach and grasp phases. The gripper signal is stable within this segment, indicating the knife is secured but not being actively manipulated in terms of grip pressure. The next action is to translate the end-effector to position the knife directly over the desired spot on the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move up 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 37, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.39462751150131226, + -0.018344508484005928, + 0.050647102296352386, + -3.1189961433410645, + -0.18719004094600677, + 0.7148478627204895 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "release knife", + "subtask_reasoning": "The robot is currently holding the knife above the table, having completed the approach and grasp phases. The gripper signal is stable within this segment, indicating the knife is secured but not being actively manipulated in terms of grip pressure. The next action is to translate the end-effector to position the knife directly over the desired spot on the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 3 cm, move left 4 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.38941192626953125, + -0.019878936931490898, + 0.05053417757153511, + -3.089519739151001, + -0.1644599437713623, + 0.687227725982666 + ], + "gripper_value": 0.7998467683792114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "release knife", + "subtask_reasoning": "The robot arm is positioned over the table surface with the gripper open, indicating the knife has been released. The subtask of releasing the knife is complete as the object is no longer held. The next logical step is to retreat the arm to a safe position to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 3 cm, move left 4 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.39025309681892395, + -0.018856961280107498, + 0.049753908067941666, + -3.092907667160034, + -0.17088820040225983, + 0.7011893391609192 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "release knife", + "subtask_reasoning": "The robot arm is positioned over the table surface with the gripper open, indicating the knife has been released. The subtask of releasing the knife is complete as the object is no longer held. The next logical step is to retreat the arm to a safe position to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 3 cm, move left 4 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3887665271759033, + -0.018051793798804283, + 0.05021229013800621, + -3.0956506729125977, + -0.15349774062633514, + 0.702358067035675 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "release knife", + "subtask_reasoning": "The robot arm is positioned over the table surface with the gripper open, indicating the knife has been released. The subtask of releasing the knife is complete as the object is no longer held. The next logical step is to retreat the arm to a safe position to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 3 cm, move left 4 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.38996633887290955, + -0.01541462168097496, + 0.06876081973314285, + 3.13142466545105, + -0.1577453762292862, + 0.7257592678070068 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 5, + 996, + 994 + ], + "yellow corn toy": [ + 304, + 422, + 395, + 572 + ], + "blue spoon": [ + 758, + 347, + 836, + 476 + ], + "metal bowl": [ + 404, + 260, + 630, + 510 + ], + "yellow pear toy": [ + 635, + 213, + 712, + 389 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "retreat from knife", + "subtask_reasoning": "The robot arm is positioned over the table surface with the gripper open, indicating the knife has been released. The subtask of releasing the knife is complete as the object is no longer held. The next logical step is to retreat the arm to a safe position to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.391539990901947, + -0.013236766681075096, + 0.09374582767486572, + 3.072199583053589, + -0.1428356021642685, + 0.716776430606842 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "retreat from knife", + "subtask_reasoning": "The robot arm is positioned over the table surface with the gripper open, indicating the knife has been released. The subtask of releasing the knife is complete as the object is no longer held. The next logical step is to retreat the arm to a safe position to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3901226818561554, + -0.012013477273285389, + 0.11551244556903839, + 3.023423433303833, + -0.1439318209886551, + 0.7160281538963318 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "retreat from knife", + "subtask_reasoning": "The robot arm is positioned over the table surface with the gripper open, indicating the knife has been released. The subtask of releasing the knife is complete as the object is no longer held. The next logical step is to retreat the arm to a safe position to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3832837641239166, + -0.008461756631731987, + 0.13873985409736633, + 2.985316514968872, + -0.13326862454414368, + 0.7075708508491516 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "retreat from knife", + "subtask_reasoning": "The knife has been successfully placed on the table surface, and the gripper is fully open with no contact. The robot is currently retreating from the knife to complete the task. The next action is to continue moving away to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 42, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.37703123688697815, + -0.0020230882801115513, + 0.14664258062839508, + 3.0043222904205322, + -0.1262221485376358, + 0.6896530985832214 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "retreat from knife", + "subtask_reasoning": "The knife has been successfully placed on the table surface, and the gripper is fully open with no contact. The robot is currently retreating from the knife to complete the task. The next action is to continue moving away to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726135492324829, + 0.010517177172005177, + 0.1498291790485382, + 3.0356199741363525, + -0.14333650469779968, + 0.6380714774131775 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "retreat from knife", + "subtask_reasoning": "The knife has been successfully placed on the table surface, and the gripper is fully open with no contact. The robot is currently retreating from the knife to complete the task. The next action is to continue moving away to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.35837626457214355, + 0.02444458194077015, + 0.14652201533317566, + 3.079481601715088, + -0.18303877115249634, + 0.5538339614868164 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the top surface of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "reposition over target" + }, + { + "id": 4, + "subtask": "release knife" + }, + { + "id": 5, + "subtask": "retreat from knife" + } + ], + "subtask_name": "retreat from knife", + "subtask_reasoning": "The knife has been successfully placed on the table surface, and the gripper is fully open with no contact. The robot is currently retreating from the knife to complete the task. The next action is to continue moving away to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 48 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003546_ecot.json b/cot/chunk-0003/episode_0003546_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e8508d1752bfa3fe393703618829a4d20a03ce6f --- /dev/null +++ b/cot/chunk-0003/episode_0003546_ecot.json @@ -0,0 +1,3020 @@ +{ + "task_name": "episode_0003546", + "episode_json": "json/chunk-0003/episode_0003546.json", + "video_path": "videos/chunk-0003/image_0/episode_0003546.mp4", + "instruction": "The robot did nothing.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003546.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.9290691614151001, + "std": 0.37344855070114136, + "delta_total": 0.0026487112045288086, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92907, std=0.37345, total_delta=0.00265). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 215, + 215, + 215, + 218, + 218, + 218, + 218, + 222, + 222, + 222, + 222, + 222, + 222, + 322, + 322, + 322, + 322, + 332, + 332, + 332, + 32, + 32, + 32 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 14 + ], + [ + 3, + 15, + 17 + ], + [ + 4, + 18, + 21 + ], + [ + 5, + 22, + 27 + ], + [ + 6, + 28, + 31 + ], + [ + 7, + 32, + 34 + ], + [ + 8, + 35, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the blue towel without closing gripper.\"},\n {\"id\": 2, \"name\": \"hover over towel\", \"start\": 5, \"end\": 14, \"planning\": \"Position gripper above towel center in preparation for contact.\"},\n {\"id\": 3, \"name\": \"make contact with towel\", \"start\": 15, \"end\": 17, \"planning\": \"Lower gripper to touch towel surface; gripper closes slightly but does not grasp.\"},\n {\"id\": 4, \"name\": \"drag towel left\", \"start\": 18, \"end\": 21, \"planning\": \"Slide towel horizontally by maintaining light contact and moving end-effector.\"},\n {\"id\": 5, \"name\": \"reposition gripper on towel\", \"start\": 22, \"end\": 27, \"planning\": \"Adjust gripper position along towel edge while maintaining minimal pressure.\"},\n {\"id\": 6, \"name\": \"press and slide towel\", \"start\": 28, \"end\": 31, \"planning\": \"Apply downward force and drag towel further; gripper remains open but in contact.\"},\n {\"id\": 7, \"name\": \"lift gripper slightly\", \"start\": 32, \"end\": 34, \"planning\": \"Raise end-effector to reduce contact pressure while staying near towel.\"},\n {\"id\": 8, \"name\": \"retreat from towel\", \"start\": 35, \"end\": 37, \"planning\": \"Move gripper away from towel area; no grasping or lifting occurs.\"}\n ],\n \"global_plan\": \"The robot performs a sequence of non-grasping interactions with a blue towel: approaching, contacting, dragging, repositioning, pressing, and retreating — all without ever grasping or lifting the object.\",\n \"notes\": \"No segment shows meaningful gripper closing consistent with grasping; all actions are contact-based manipulation. Gripper values remain high (open) except during brief contact phases where minor closure occurs but never reaches grasp threshold. Motion is primarily translational sliding or hovering.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the blue towel without closing gripper." + }, + { + "id": 2, + "name": "hover over towel", + "start": 5, + "end": 14, + "planning": "Position gripper above towel center in preparation for contact." + }, + { + "id": 3, + "name": "make contact with towel", + "start": 15, + "end": 17, + "planning": "Lower gripper to touch towel surface; gripper closes slightly but does not grasp." + }, + { + "id": 4, + "name": "drag towel left", + "start": 18, + "end": 21, + "planning": "Slide towel horizontally by maintaining light contact and moving end-effector." + }, + { + "id": 5, + "name": "reposition gripper on towel", + "start": 22, + "end": 27, + "planning": "Adjust gripper position along towel edge while maintaining minimal pressure." + }, + { + "id": 6, + "name": "press and slide towel", + "start": 28, + "end": 31, + "planning": "Apply downward force and drag towel further; gripper remains open but in contact." + }, + { + "id": 7, + "name": "lift gripper slightly", + "start": 32, + "end": 34, + "planning": "Raise end-effector to reduce contact pressure while staying near towel." + }, + { + "id": 8, + "name": "retreat from towel", + "start": 35, + "end": 37, + "planning": "Move gripper away from towel area; no grasping or lifting occurs." + } + ], + "global_plan": "The robot performs a sequence of non-grasping interactions with a blue towel: approaching, contacting, dragging, repositioning, pressing, and retreating — all without ever grasping or lifting the object.", + "notes": "No segment shows meaningful gripper closing consistent with grasping; all actions are contact-based manipulation. Gripper values remain high (open) except during brief contact phases where minor closure occurs but never reaches grasp threshold. Motion is primarily translational sliding or hovering." + } + }, + "episode_goal": "Grasp the blue cloth on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3008756935596466, + -0.10856166481971741, + 0.1016751155257225, + -3.0231947898864746, + -0.09053915739059448, + 0.05618339031934738 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot is beginning to move toward the towel. The next action is to continue approaching the towel to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986525595188141, + -0.10736404359340668, + 0.09239041060209274, + -3.0091428756713867, + -0.06593996286392212, + 0.06010861694812775 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot is beginning to move toward the towel. The next action is to continue approaching the towel to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 6 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2833518385887146, + -0.09313200414180756, + 0.08607379347085953, + -2.960120677947998, + -0.06760139018297195, + 0.08734626322984695 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is fully open and the arm is moving toward the towel to initiate contact without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650138735771179, + -0.0750029981136322, + 0.09346882253885269, + -2.9674365520477295, + -0.08577960729598999, + 0.15465673804283142 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is fully open and the arm is moving toward the towel to initiate contact without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23497113585472107, + -0.05078190937638283, + 0.09202257543802261, + -2.9865143299102783, + -0.09238141030073166, + 0.23985420167446136 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is fully open and the arm is moving toward the towel to initiate contact without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 6 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22307439148426056, + -0.028211915865540504, + 0.07657036930322647, + -3.048185110092163, + -0.06014375761151314, + 0.34604543447494507 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 17, + 994, + 992 + ], + "blue cloth": [ + 136, + 190, + 790, + 902 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is fully open and the arm is moving toward the towel to initiate contact without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21775804460048676, + -0.007863539271056652, + 0.06772874295711517, + -3.0701098442077637, + -0.06078839674592018, + 0.38841500878334045 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is fully open and the arm is moving toward the towel to initiate contact without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 6 cm, close gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21531520783901215, + -0.001999001018702984, + 0.06273110955953598, + -3.086057424545288, + -0.05134221911430359, + 0.4103262722492218 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is fully open and the arm is moving toward the towel to initiate contact without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, close gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.209877610206604, + 0.01049069408327341, + 0.05243897810578346, + -3.0853333473205566, + -0.04500117897987366, + 0.4499577283859253 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No actions have been completed yet as this is the start of the episode. The gripper is fully open and the arm is moving toward the towel to initiate contact without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, close gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21154563128948212, + 0.01976647600531578, + 0.049048084765672684, + -3.077131748199463, + -0.05074063688516617, + 0.4594089686870575 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21024955809116364, + 0.028155459091067314, + 0.03563126549124718, + -3.0808498859405518, + -0.02920444682240486, + 0.47635674476623535 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 994 + ], + "blue cloth": [ + 135, + 196, + 791, + 903 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then keep gripper open; then close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2127155214548111, + 0.032300956547260284, + 0.022372011095285416, + -3.0834453105926514, + -0.012480607256293297, + 0.46958544850349426 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then keep gripper open; then close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21994343400001526, + 0.032576799392700195, + 0.01484451349824667, + -3.085035562515259, + -0.00030125677585601807, + 0.4455180764198303 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper open; then move forward 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2226327508687973, + 0.031096387654542923, + 0.012076478451490402, + -3.078639268875122, + 0.004288913682103157, + 0.45156964659690857 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper open; then move forward 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22447259724140167, + 0.028727032244205475, + 0.012653859332203865, + -3.0638139247894287, + -0.004604041110724211, + 0.4347776174545288 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "hover over towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper open; then move forward 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22476032376289368, + 0.028660982847213745, + 0.012401294894516468, + -3.056469202041626, + -0.009209162555634975, + 0.44070354104042053 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, close gripper; then move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2246580719947815, + 0.029082419350743294, + 0.009541071951389313, + -3.0513105392456055, + -0.0043502142652869225, + 0.45211419463157654 + ], + "gripper_value": 0.23264265060424805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, close gripper; then move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22593456506729126, + 0.028200136497616768, + 0.007571094669401646, + -3.0581371784210205, + -0.0070431847125291824, + 0.48310035467147827 + ], + "gripper_value": 0.48514097929000854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, close gripper; then move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22733630239963531, + 0.02771536260843277, + 0.007468345109373331, + -3.0669262409210205, + -0.011925232596695423, + 0.47458401322364807 + ], + "gripper_value": 0.7960459589958191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "drag towel left", + "subtask_reasoning": "The robot has approached the blue towel and is now hovering directly above it with the gripper open. No contact has been made yet, and the end-effector remains stationary in preparation for the next interaction. The most likely next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move back 1 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22850483655929565, + 0.027624065056443214, + 0.007370126899331808, + -3.061662197113037, + -0.0023415288887917995, + 0.47094231843948364 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "drag towel left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue towel on the table, positioned to initiate a leftward drag. Previous steps have successfully approached and hovered over the towel. The gripper is open, indicating no grasp has occurred yet, consistent with the non-grasping plan. The next action is to move the end-effector left while maintaining contact to drag the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 1 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22923533618450165, + 0.027846021577715874, + 0.007593371439725161, + -3.0639195442199707, + -0.005071766674518585, + 0.47812679409980774 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "drag towel left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue towel on the table, positioned to initiate a leftward drag. Previous steps have successfully approached and hovered over the towel. The gripper is open, indicating no grasp has occurred yet, consistent with the non-grasping plan. The next action is to move the end-effector left while maintaining contact to drag the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23196640610694885, + 0.027224252000451088, + 0.005355623550713062, + -3.0718131065368652, + -0.015733463689684868, + 0.46552354097366333 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "drag towel left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue towel on the table, positioned to initiate a leftward drag. Previous steps have successfully approached and hovered over the towel. The gripper is open, indicating no grasp has occurred yet, consistent with the non-grasping plan. The next action is to move the end-effector left while maintaining contact to drag the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2341102957725525, + 0.025765782222151756, + 0.003678953042253852, + -3.084183931350708, + -0.018892597407102585, + 0.45236584544181824 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition gripper on towel", + "subtask_reasoning": "The robot's end-effector is in contact with the blue towel on the table, positioned to initiate a leftward drag. Previous steps have successfully approached and hovered over the towel. The gripper is open, indicating no grasp has occurred yet, consistent with the non-grasping plan. The next action is to move the end-effector left while maintaining contact to drag the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2346949428319931, + 0.02423929236829281, + 0.002996958326548338, + -3.0924174785614014, + -0.012771309353411198, + 0.4443754553794861 + ], + "gripper_value": 0.19087372720241547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition gripper on towel", + "subtask_reasoning": "The robot's end-effector is in contact with the blue towel on the table, positioned to initiate a leftward drag. Previous steps have successfully approached and hovered over the towel. The gripper is open, indicating no grasp has occurred yet, consistent with the non-grasping plan. The next action is to move the end-effector left while maintaining contact to drag the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2309437245130539, + 0.03018154576420784, + 0.005615931004285812, + -3.06266450881958, + 0.006034621503204107, + 0.44858965277671814 + ], + "gripper_value": 0.1004381775856018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition gripper on towel", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23275625705718994, + 0.035514771938323975, + 0.03733232617378235, + -3.001498222351074, + -0.053827423602342606, + 0.4407672882080078 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition gripper on towel", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2301558405160904, + 0.02700328640639782, + 0.06638076901435852, + -2.93084716796875, + -0.13361856341362, + 0.4285033345222473 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition gripper on towel", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, tilt back 10 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22922316193580627, + 0.0006452829693444073, + 0.08166998624801636, + -2.920133113861084, + -0.24405759572982788, + 0.4119773805141449 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 6, + 995, + 993 + ], + "blue cloth": [ + 121, + 226, + 788, + 752 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition gripper on towel", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, keep gripper closed; then move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22051677107810974, + -0.0334208644926548, + 0.06709352880716324, + -2.961594343185425, + -0.2965911328792572, + 0.38804641366004944 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "press and slide towel", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2142101526260376, + -0.06162180379033089, + 0.04322279989719391, + -2.9809796810150146, + -0.31077373027801514, + 0.3031081557273865 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "press and slide towel", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2152886539697647, + -0.07871253043413162, + 0.032136496156454086, + -2.9791672229766846, + -0.3231397867202759, + 0.23199151456356049 + ], + "gripper_value": 0.12003644555807114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "press and slide towel", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.21870116889476776, + -0.0851769670844078, + 0.031337153166532516, + -2.9797897338867188, + -0.33470532298088074, + 0.22506782412528992 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "press and slide towel", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.21807929873466492, + -0.09099091589450836, + 0.0357397235929966, + -2.978672742843628, + -0.315939724445343, + 0.23787841200828552 + ], + "gripper_value": 0.6019018292427063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "lift gripper slightly", + "subtask_reasoning": "The robot's gripper is in contact with the blue towel on the table, having completed the approach and hover phases. The gripper has closed significantly (value ~0.10) and remains in firm contact with the cloth, indicating a repositioning press or stabilization action. The next likely step is to maintain or slightly adjust contact to prepare for dragging or further manipulation without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 32, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.21697409451007843, + -0.09796410799026489, + 0.04058099910616875, + -2.981593132019043, + -0.2919001579284668, + 0.25190407037734985 + ], + "gripper_value": 0.8998980522155762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "lift gripper slightly", + "subtask_reasoning": "The robot's gripper is positioned above the blue cloth on the table, having completed approach and hover steps. The current subtask involves lifting the gripper slightly, as indicated by the gripper value and motion data. The next action is to execute a small upward movement of the gripper while maintaining its position relative to the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 32, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21356193721294403, + -0.10788098722696304, + 0.04379413649439812, + -3.024627685546875, + -0.24005261063575745, + 0.27147576212882996 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "lift gripper slightly", + "subtask_reasoning": "The robot's gripper is positioned above the blue cloth on the table, having completed approach and hover steps. The current subtask involves lifting the gripper slightly, as indicated by the gripper value and motion data. The next action is to execute a small upward movement of the gripper while maintaining its position relative to the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 32, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.20999419689178467, + -0.11881265044212341, + 0.050469253212213516, + -3.1263182163238525, + -0.19503237307071686, + 0.3444829285144806 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The robot's gripper is positioned above the blue cloth on the table, having completed approach and hover steps. The current subtask involves lifting the gripper slightly, as indicated by the gripper value and motion data. The next action is to execute a small upward movement of the gripper while maintaining its position relative to the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 35, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2101883739233017, + -0.12423119693994522, + 0.06460972130298615, + -3.1354293823242188, + -0.11109713464975357, + 0.36622345447540283 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The robot's end-effector is positioned above the blue towel with the gripper fully open, indicating no grasp has occurred. Having completed prior contact and repositioning steps, the robot is now retreating upward and away from the towel. The next action is to continue moving the arm back to a neutral or home position while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 35, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2191689908504486, + -0.11603892594575882, + 0.08679699897766113, + -3.102870464324951, + -0.11911630630493164, + 0.3235371708869934 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 143, + 262, + 802, + 992 + ], + "table": [ + 5, + 8, + 991, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "hover over towel" + }, + { + "id": 3, + "subtask": "make contact with towel" + }, + { + "id": 4, + "subtask": "drag towel left" + }, + { + "id": 5, + "subtask": "reposition gripper on towel" + }, + { + "id": 6, + "subtask": "press and slide towel" + }, + { + "id": 7, + "subtask": "lift gripper slightly" + }, + { + "id": 8, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The robot's end-effector is positioned above the blue towel with the gripper fully open, indicating no grasp has occurred. Having completed prior contact and repositioning steps, the robot is now retreating upward and away from the towel. The next action is to continue moving the arm back to a neutral or home position while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 35, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003547_ecot.json b/cot/chunk-0003/episode_0003547_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd1febd07fd4d0648bc43dfa28c3e124dd87aff --- /dev/null +++ b/cot/chunk-0003/episode_0003547_ecot.json @@ -0,0 +1,1204 @@ +{ + "task_name": "episode_0003547", + "episode_json": "json/chunk-0003/episode_0003547.json", + "video_path": "videos/chunk-0003/image_0/episode_0003547.mp4", + "instruction": "Flip pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003547.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9368776082992554, + "std": 0.3490998148918152, + "delta_total": -0.936219334602356, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93688, std=0.34910, total_delta=-0.93622). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 115, + 115, + 115, + 115, + 115 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ], + [ + 3, + 15, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot in sink\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the overturned pot in the sink without grasping, as gripper remains open and no closing evidence exists.\"},\n {\"id\": 2, \"name\": \"grasp pot rim\", \"start\": 6, \"end\": 14, \"planning\": \"Close gripper to securely grasp the rim of the pot, confirmed by significant gripper closure range and visual alignment with pot edge.\"},\n {\"id\": 3, \"name\": \"flip pot upright\", \"start\": 15, \"end\": 19, \"planning\": \"Rotate and lift the pot using sustained gripper hold to flip it upright within the sink, supported by continued gripper closure and rotational motion.\"}\n ],\n \"global_plan\": \"Approach the overturned pot in the sink, grasp its rim firmly, then rotate and lift to flip it upright while maintaining grip throughout the manipulation phase.\",\n \"notes\": \"Segment 1 shows no gripper closure — contact-based approach only. Segments 2 and 3 show meaningful gripper closing consistent with grasping and holding during flip. Frame boundaries follow provided segment spans exactly for full coverage.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot in sink", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the overturned pot in the sink without grasping, as gripper remains open and no closing evidence exists." + }, + { + "id": 2, + "name": "grasp pot rim", + "start": 6, + "end": 14, + "planning": "Close gripper to securely grasp the rim of the pot, confirmed by significant gripper closure range and visual alignment with pot edge." + }, + { + "id": 3, + "name": "flip pot upright", + "start": 15, + "end": 19, + "planning": "Rotate and lift the pot using sustained gripper hold to flip it upright within the sink, supported by continued gripper closure and rotational motion." + } + ], + "global_plan": "Approach the overturned pot in the sink, grasp its rim firmly, then rotate and lift to flip it upright while maintaining grip throughout the manipulation phase.", + "notes": "Segment 1 shows no gripper closure — contact-based approach only. Segments 2 and 3 show meaningful gripper closing consistent with grasping and holding during flip. Frame boundaries follow provided segment spans exactly for full coverage." + } + }, + "episode_goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36063891649246216, + -0.09927234053611755, + 0.06938739866018295, + -3.0536410808563232, + -0.15241791307926178, + 0.01625479944050312 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot is lying on its side. No actions have been completed yet as the gripper remains open and the arm is stationary relative to the pot. The next step is to move the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35851535201072693, + -0.09393850713968277, + 0.053448181599378586, + -3.025347948074341, + -0.11901824921369553, + -0.005613963585346937 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot is lying on its side. No actions have been completed yet as the gripper remains open and the arm is stationary relative to the pot. The next step is to move the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3633054792881012, + -0.0823356881737709, + 0.052336812019348145, + -3.005450487136841, + -0.1287459284067154, + -0.0629698783159256 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned metal pot visible below. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 3 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36503106355667114, + -0.06511977314949036, + 0.05023173242807388, + -3.0081615447998047, + -0.10945665836334229, + -0.10133153945207596 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned metal pot visible below. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 3 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36099135875701904, + -0.050551071763038635, + 0.04757307842373848, + -3.0498931407928467, + -0.10278984904289246, + -0.13430383801460266 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned metal pot visible below. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move down 3 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35964131355285645, + -0.038954030722379684, + 0.04563691094517708, + -3.1365041732788086, + -0.15793803334236145, + -0.12647131085395813 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned metal pot visible below. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 4 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593537211418152, + -0.02918543666601181, + 0.03427568078041077, + 3.062307596206665, + -0.20853601396083832, + -0.11038991808891296 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped ball": [ + 556, + 397, + 666, + 535 + ], + "yellow peppers": [ + 797, + 637, + 919, + 804 + ], + "faucet": [ + 731, + 7, + 963, + 345 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned metal pot visible below. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36002254486083984, + -0.025553898885846138, + 0.029511278495192528, + 2.983426094055176, + -0.261382132768631, + -0.09011886268854141 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned metal pot visible below. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.364249587059021, + -0.026922669261693954, + 0.02911202237010002, + 2.8863725662231445, + -0.3150647282600403, + -0.032749198377132416 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned metal pot visible below. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36586371064186096, + -0.03486674651503563, + 0.023968985304236412, + 2.7910497188568115, + -0.32990989089012146, + 0.033463191241025925 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned metal pot visible below. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655663728713989, + -0.04420619457960129, + 0.017227793112397194, + 2.70395827293396, + -0.32364529371261597, + 0.10602978616952896 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned metal pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36573442816734314, + -0.054277610033750534, + 0.012574275955557823, + 2.603729248046875, + -0.31311342120170593, + 0.19015957415103912 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned metal pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3667486608028412, + -0.05777214094996452, + 0.006818091031163931, + 2.5417802333831787, + -0.29975682497024536, + 0.2843610942363739 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned metal pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691771328449249, + -0.062283728271722794, + 0.006104385480284691, + 2.518352746963501, + -0.3051290214061737, + 0.347596138715744 + ], + "gripper_value": 0.831673800945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned metal pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3730747699737549, + -0.0659494549036026, + 0.0073899212293326855, + 2.518948793411255, + -0.3210393786430359, + 0.3702396750450134 + ], + "gripper_value": 0.5393473505973816 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned metal pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37646782398223877, + -0.06817522644996643, + 0.009350970387458801, + 2.5102388858795166, + -0.326195627450943, + 0.39014196395874023 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned over the overturned metal pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37655022740364075, + -0.06803640723228455, + 0.010907077230513096, + 2.5019538402557373, + -0.3241823613643646, + 0.4016001224517822 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned over the overturned metal pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37600091099739075, + -0.07219777256250381, + 0.013809522613883018, + 2.52139949798584, + -0.3200739324092865, + 0.3762524425983429 + ], + "gripper_value": 0.17844799160957336 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has grasped the overturned metal pot in the sink and is currently rotating it. The gripper remains closed with decreasing aperture, indicating active manipulation. The next action is to complete the rotation to bring the pot fully upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3749077320098877, + -0.07314223051071167, + 0.019444426521658897, + 2.655975103378296, + -0.30051013827323914, + 0.30330905318260193 + ], + "gripper_value": 0.146205335855484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has grasped the overturned metal pot in the sink and is currently rotating it. The gripper remains closed with decreasing aperture, indicating active manipulation. The next action is to complete the rotation to bring the pot fully upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37108299136161804, + -0.06383589655160904, + 0.014340356923639774, + 2.8352153301239014, + -0.32788991928100586, + 0.20649075508117676 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped ball": [ + 555, + 396, + 664, + 524 + ], + "yellow peppers": [ + 795, + 638, + 915, + 802 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot lying on its side in the sink and rotate it to an upright position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has grasped the overturned metal pot in the sink and is currently rotating it. The gripper remains closed with decreasing aperture, indicating active manipulation. The next action is to complete the rotation to bring the pot fully upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003548_ecot.json b/cot/chunk-0003/episode_0003548_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d9b9151c8aa5350ad6734b0963cf79f5809bc51f --- /dev/null +++ b/cot/chunk-0003/episode_0003548_ecot.json @@ -0,0 +1,5193 @@ +{ + "task_name": "episode_0003548", + "episode_json": "json/chunk-0003/episode_0003548.json", + "video_path": "videos/chunk-0003/image_0/episode_0003548.mp4", + "instruction": "Put pear on plate and blueberry in pot or pan in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 75, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003548.json" + }, + "fps": 5.0, + "T_eff": 75, + "gripper_behavior_summary": { + "available": true, + "range": 0.22983688116073608, + "std": 0.08782351762056351, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.22984, std=0.08782, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 500, + 500, + 500, + 500, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 11 + ], + [ + 3, + 12, + 13 + ], + [ + 4, + 14, + 37 + ], + [ + 5, + 38, + 41 + ], + [ + 6, + 42, + 53 + ], + [ + 7, + 54, + 74 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the green pear on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"nudge pear onto plate\", \"start\": 12, \"end\": 37, \"planning\": \"Make contact with the pear and slide or nudge it onto the green plate using open gripper.\"},\n {\"id\": 3, \"name\": \"retreat from stovetop\", \"start\": 38, \"end\": 53, \"planning\": \"Lift and move end-effector away from the stovetop area toward sink region.\"},\n {\"id\": 4, \"name\": \"grasp blueberry cluster\", \"start\": 54, \"end\": 64, \"planning\": \"Close gripper around blueberry cluster in sink pan, confirmed by meaningful gripper closure and visual contact.\"},\n {\"id\": 5, \"name\": \"lift and reposition blueberries\", \"start\": 65, \"end\": 70, \"planning\": \"Lift the grasped blueberry cluster and begin moving it within the sink area for placement.\"},\n {\"id\": 6, \"name\": \"release blueberries in pan\", \"start\": 71, \"end\": 74, \"planning\": \"Open gripper to release blueberry cluster into the metal pan inside the sink.\"}\n ],\n \"global_plan\": \"First, approach and nudge the pear onto the plate without grasping; then retreat, move to sink, grasp the blueberry cluster, lift and reposition it, and finally release it into the pan.\",\n \"notes\": \"Gripper evidence confirms no grasp during pear interaction (segments 1,3,5 show near-zero closure). Grasp is only valid for blueberries in segment 7 where gripper closes meaningfully (range=0.14) and images confirm contact. All frame ranges are contiguous and cover 0–74.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the green pear on the stovetop without grasping." + }, + { + "id": 2, + "name": "nudge pear onto plate", + "start": 12, + "end": 37, + "planning": "Make contact with the pear and slide or nudge it onto the green plate using open gripper." + }, + { + "id": 3, + "name": "retreat from stovetop", + "start": 38, + "end": 53, + "planning": "Lift and move end-effector away from the stovetop area toward sink region." + }, + { + "id": 4, + "name": "grasp blueberry cluster", + "start": 54, + "end": 64, + "planning": "Close gripper around blueberry cluster in sink pan, confirmed by meaningful gripper closure and visual contact." + }, + { + "id": 5, + "name": "lift and reposition blueberries", + "start": 65, + "end": 70, + "planning": "Lift the grasped blueberry cluster and begin moving it within the sink area for placement." + }, + { + "id": 6, + "name": "release blueberries in pan", + "start": 71, + "end": 74, + "planning": "Open gripper to release blueberry cluster into the metal pan inside the sink." + } + ], + "global_plan": "First, approach and nudge the pear onto the plate without grasping; then retreat, move to sink, grasp the blueberry cluster, lift and reposition it, and finally release it into the pan.", + "notes": "Gripper evidence confirms no grasp during pear interaction (segments 1,3,5 show near-zero closure). Grasp is only valid for blueberries in segment 7 where gripper closes meaningfully (range=0.14) and images confirm contact. All frame ranges are contiguous and cover 0–74." + } + }, + "episode_goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25039827823638916, + -0.0612441785633564, + 0.08222003281116486, + -3.1302809715270996, + -0.20770706236362457, + 0.06000513210892677 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove where a green pear sits on a burner and a green plate is nearby. No actions have been completed yet as the robot is just beginning to approach the pear. The gripper is open, indicating readiness to interact without grasping. The next likely action is to move the end-effector closer to the pear to prepare for nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24781742691993713, + -0.060808442533016205, + 0.07488757371902466, + -3.125746965408325, + -0.18965883553028107, + 0.05878721550107002 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove where a green pear sits on a burner and a green plate is nearby. No actions have been completed yet as the robot is just beginning to approach the pear. The gripper is open, indicating readiness to interact without grasping. The next likely action is to move the end-effector closer to the pear to prepare for nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500801384449005, + -0.061320263892412186, + 0.061069924384355545, + -3.1377856731414795, + -0.2061953842639923, + 0.05966699868440628 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove where a green pear sits on a burner and a green plate is nearby. No actions have been completed yet as the robot is just beginning to approach the pear. The gripper is open, indicating readiness to interact without grasping. The next likely action is to move the end-effector closer to the pear to prepare for nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25644126534461975, + -0.06310878694057465, + 0.04221414774656296, + 3.1357970237731934, + -0.23856976628303528, + 0.06428718566894531 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 24, + 320, + 256, + 529 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove where a green pear sits on a burner and a green plate is nearby. No actions have been completed yet as the robot is just beginning to approach the pear. The gripper is open, indicating readiness to interact without grasping. The next likely action is to move the end-effector closer to the pear to prepare for nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26117777824401855, + -0.06567733734846115, + 0.03876786679029465, + 3.1106491088867188, + -0.28505611419677734, + 0.06838836520910263 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove where a green pear sits on a burner and a green plate is nearby. No actions have been completed yet as the robot is just beginning to approach the pear. The gripper is open, indicating readiness to interact without grasping. The next likely action is to move the end-effector closer to the pear to prepare for nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2622118592262268, + -0.06660011410713196, + 0.03866451233625412, + 3.098324775695801, + -0.29359155893325806, + 0.07830806076526642 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed; then move forward 8 cm, move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26048415899276733, + -0.0686848908662796, + 0.03804076835513115, + 3.0837953090667725, + -0.2834599018096924, + 0.09878220409154892 + ], + "gripper_value": 0.778810441493988 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed; then move forward 10 cm, move left 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24645105004310608, + -0.06883076578378677, + 0.035994548350572586, + 3.0890917778015137, + -0.18793979287147522, + 0.10838554799556732 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 7 cm, keep gripper closed; then move forward 11 cm, move left 7 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24216634035110474, + -0.07471434026956558, + 0.05130789428949356, + 3.069636583328247, + -0.15116138756275177, + 0.11964970082044601 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 8 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23747792840003967, + -0.07320231944322586, + 0.07052445411682129, + 3.084686517715454, + -0.12426185607910156, + 0.10083426535129547 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 4 cm, keep gripper closed; then move forward 12 cm, move left 9 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23562513291835785, + -0.06641117483377457, + 0.09495200961828232, + 3.1043174266815186, + -0.0925389751791954, + 0.08454735577106476 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move forward 12 cm, move left 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2395716905593872, + -0.05670540779829025, + 0.10451678186655045, + 3.1254985332489014, + -0.08818789571523666, + 0.06111457198858261 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 24, + 320, + 257, + 528 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper closed; then move forward 12 cm, move left 11 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24829652905464172, + -0.03926696628332138, + 0.10883737355470657, + -3.116913318634033, + -0.11560261994600296, + 0.021482961252331734 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 12 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27787813544273376, + -0.027889100834727287, + 0.11065493524074554, + -3.115814208984375, + -0.12781910598278046, + 0.010455350391566753 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 11 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30800506472587585, + -0.014866427518427372, + 0.10302367061376572, + 3.1339244842529297, + -0.13478046655654907, + -0.00031465059146285057 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3302331864833832, + 0.0014537483220919967, + 0.09473656117916107, + 3.1155436038970947, + -0.14883118867874146, + -0.02282862737774849 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34770068526268005, + 0.015621649101376534, + 0.09517759084701538, + 3.116847038269043, + -0.14938054978847504, + -0.037256259471178055 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.35960647463798523, + 0.027920668944716454, + 0.09599122405052185, + 3.115297555923462, + -0.1410747468471527, + -0.05220283940434456 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.368051677942276, + 0.04036638140678406, + 0.09974158555269241, + 3.117464780807495, + -0.1364147961139679, + -0.059691715985536575 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3710765242576599, + 0.05207041651010513, + 0.10043855756521225, + 3.1195597648620605, + -0.13311399519443512, + -0.06464528292417526 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 23, + 320, + 256, + 525 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37128618359565735, + 0.0630730465054512, + 0.09893016517162323, + 3.1167209148406982, + -0.12181790173053741, + -0.07264984399080276 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37171369791030884, + 0.07021326571702957, + 0.0980052724480629, + 3.118110418319702, + -0.1309400349855423, + -0.07664702832698822 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3707420527935028, + 0.07621742784976959, + 0.09695753455162048, + 3.116107225418091, + -0.1407625377178192, + -0.09319867193698883 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36917099356651306, + 0.07959895581007004, + 0.09514482319355011, + 3.1149306297302246, + -0.1405453085899353, + -0.09450715035200119 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The robot is positioned above the stove with the green pear visible on the right burner and the plate on the left. No contact or movement toward the pear has occurred yet. The next action should be to lower and move the end effector toward the pear to begin nudging it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3661736249923706, + 0.07776766270399094, + 0.0904555395245552, + 3.1033935546875, + -0.12975943088531494, + -0.08847662806510925 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642295002937317, + 0.07399843633174896, + 0.08629272878170013, + 3.0974233150482178, + -0.12541289627552032, + -0.07642694562673569 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626924753189087, + 0.07215498387813568, + 0.0833454430103302, + 3.0961244106292725, + -0.11993969231843948, + -0.06863131374120712 + ], + "gripper_value": 0.7960459589958191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36078014969825745, + 0.06983629614114761, + 0.07938912510871887, + 3.094506025314331, + -0.11607599258422852, + -0.07752560079097748 + ], + "gripper_value": 0.8616333603858948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567602336406708, + 0.06613705307245255, + 0.0735706016421318, + 3.0896294116973877, + -0.1021864265203476, + -0.07311475276947021 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34960705041885376, + 0.05745052546262741, + 0.0760883167386055, + 3.090939521789551, + -0.09823467582464218, + -0.07188089936971664 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34547197818756104, + 0.050029147416353226, + 0.08657590299844742, + 3.120011806488037, + -0.11198941618204117, + -0.08003362268209457 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34527158737182617, + 0.049661412835121155, + 0.08654070645570755, + 3.120807647705078, + -0.11013739556074142, + -0.08081907778978348 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34527158737182617, + 0.049661412835121155, + 0.08654070645570755, + 3.120807647705078, + -0.11013739556074142, + -0.08081907778978348 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453076481819153, + 0.04966738820075989, + 0.08707570284605026, + 3.1210100650787354, + -0.11159413307905197, + -0.07931723445653915 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.34527158737182617, + 0.049661412835121155, + 0.08654070645570755, + 3.120637893676758, + -0.11010538041591644, + -0.07927607744932175 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.34398022294044495, + 0.04901117831468582, + 0.08594512939453125, + 3.1172385215759277, + -0.10643747448921204, + -0.08233414590358734 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.32878807187080383, + 0.05362195894122124, + 0.09233759343624115, + 3.0844671726226807, + -0.11925116181373596, + -0.15413568913936615 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 24, + 320, + 256, + 524 + ], + "green bowl": [ + 372, + 188, + 592, + 402 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080853223800659, + 0.07616425305604935, + 0.10439858585596085, + 3.096301555633545, + -0.10998664051294327, + -0.249301940202713 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "nudge pear onto plate", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 5 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.29612967371940613, + 0.09018824994564056, + 0.10405890643596649, + 3.120089292526245, + -0.12791532278060913, + -0.2988039553165436 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2899194061756134, + 0.09929252415895462, + 0.09689659625291824, + 3.131507635116577, + -0.14227361977100372, + -0.36009880900382996 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27967190742492676, + 0.1151726022362709, + 0.08503975719213486, + 3.1274564266204834, + -0.17684811353683472, + -0.35781770944595337 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2724165916442871, + 0.11814764887094498, + 0.07515745609998703, + 3.1356122493743896, + -0.16786351799964905, + -0.32507798075675964 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bowl": [ + 384, + 211, + 590, + 391 + ], + "metal bowl": [ + 25, + 321, + 256, + 523 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.26015031337738037, + 0.11324749141931534, + 0.06790418922901154, + -3.1378378868103027, + -0.14172056317329407, + -0.19960345327854156 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.24828951060771942, + 0.11325589567422867, + 0.057102054357528687, + -3.1076126098632812, + -0.1164117380976677, + -0.10374225676059723 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.23811407387256622, + 0.11245787888765335, + 0.0488688200712204, + -3.0930933952331543, + -0.133950874209404, + -0.07852540165185928 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The green pear is currently held above the green plate on the stove, indicating the nudge action has transitioned into a placement phase. The gripper is open, suggesting the pear is being released or has just been released onto the plate. The next logical step is to confirm the pear is securely on the plate and then retreat to proceed with the blueberry task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2343771606683731, + 0.11603328585624695, + 0.04202231764793396, + -3.094791889190674, + -0.1692395955324173, + -0.06557542830705643 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.23997139930725098, + 0.118990458548069, + 0.038080859929323196, + -3.0786385536193848, + -0.2384374588727951, + -0.08748490363359451 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bowl": [ + 384, + 211, + 590, + 392 + ], + "metal bowl": [ + 26, + 326, + 229, + 530 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.24398592114448547, + 0.12121079862117767, + 0.029129963368177414, + -3.085716485977173, + -0.2814829647541046, + -0.11320574581623077 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.24741141498088837, + 0.12423625588417053, + 0.02283022180199623, + -3.088257312774658, + -0.3077402114868164, + -0.1379707157611847 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt right 10 degrees, close gripper; then move forward 3 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.24969154596328735, + 0.1253073364496231, + 0.020643102005124092, + -3.0962133407592773, + -0.3135228753089905, + -0.14257921278476715 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2546379566192627, + 0.1262182593345642, + 0.019571788609027863, + -3.0968027114868164, + -0.33891791105270386, + -0.16011440753936768 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.25803157687187195, + 0.12755796313285828, + 0.01887565292418003, + -3.0911712646484375, + -0.3493829369544983, + -0.16725240647792816 + ], + "gripper_value": 0.8307508826255798 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move left 10 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583841383457184, + 0.1269996017217636, + 0.019347380846738815, + -3.094121217727661, + -0.3490605354309082, + -0.17476145923137665 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move left 10 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.24959050118923187, + 0.1257324069738388, + 0.021676568314433098, + -3.1323964595794678, + -0.2825418710708618, + -0.1889793425798416 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "retreat from stovetop", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 9 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 38, + "end": 53 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.24299992620944977, + 0.13071390986442566, + 0.038262929767370224, + 3.1284008026123047, + -0.24187597632408142, + -0.20752348005771637 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.24752065539360046, + 0.14287355542182922, + 0.04650966823101044, + 3.137866735458374, + -0.2608800530433655, + -0.22653333842754364 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.25755077600479126, + 0.16291312873363495, + 0.04378329589962959, + 3.1206088066101074, + -0.2739739716053009, + -0.2525237500667572 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.26580068469047546, + 0.18572036921977997, + 0.038871701806783676, + 3.113804578781128, + -0.2763820290565491, + -0.27691972255706787 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.2736174464225769, + 0.20867201685905457, + 0.03854073956608772, + 3.1219706535339355, + -0.2725580632686615, + -0.28716349601745605 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 28, + 324, + 259, + 528 + ], + "green bowl": [ + 383, + 211, + 590, + 392 + ], + "pitcher": [ + 124, + 4, + 261, + 173 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The pear has been successfully nudged onto the green plate on the stovetop. The robot is currently positioned near the stovetop with its gripper open, preparing to retreat. The next action is to move the arm away from the stovetop area to clear the workspace for the subsequent task of handling the blueberries." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.27716416120529175, + 0.22192198038101196, + 0.03581627830862999, + 3.1134965419769287, + -0.26017993688583374, + -0.29215481877326965 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, having moved from the stove area. The gripper is currently open and hovering above the pot, indicating the approach phase of the blueberry placement task is complete. The next action is to lower the arm and close the gripper to release the blueberries into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.277680367231369, + 0.22836311161518097, + 0.031188491731882095, + 3.1089043617248535, + -0.2573983073234558, + -0.29508352279663086 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, having moved from the stove area. The gripper is currently open and hovering above the pot, indicating the approach phase of the blueberry placement task is complete. The next action is to lower the arm and close the gripper to release the blueberries into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move back 3 cm, move right 3 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.2781902849674225, + 0.2294268012046814, + 0.030926398932933807, + 3.111558198928833, + -0.26418933272361755, + -0.2912403643131256 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, having moved from the stove area. The gripper is currently open and hovering above the pot, indicating the approach phase of the blueberry placement task is complete. The next action is to lower the arm and close the gripper to release the blueberries into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move back 3 cm, move right 4 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783025801181793, + 0.22974278032779694, + 0.024552220478653908, + 3.104512929916382, + -0.2646903395652771, + -0.27799713611602783 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, having moved from the stove area. The gripper is currently open and hovering above the pot, indicating the approach phase of the blueberry placement task is complete. The next action is to lower the arm and close the gripper to release the blueberries into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move back 3 cm, move right 4 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.2777928113937378, + 0.22569192945957184, + 0.018313216045498848, + 3.0921504497528076, + -0.28144216537475586, + -0.2656044661998749 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, having moved from the stove area. The gripper is currently open and hovering above the pot, indicating the approach phase of the blueberry placement task is complete. The next action is to lower the arm and close the gripper to release the blueberries into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 3 cm, move right 4 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.275686651468277, + 0.22458966076374054, + 0.016489503905177116, + 3.0852081775665283, + -0.27313801646232605, + -0.25376027822494507 + ], + "gripper_value": 0.9024295806884766 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "grasp blueberry cluster", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, having moved from the stove area. The gripper is currently open and hovering above the pot, indicating the approach phase of the blueberry placement task is complete. The next action is to lower the arm and close the gripper to release the blueberries into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 3 cm, move right 4 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 64 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.27426812052726746, + 0.22181780636310577, + 0.01494152657687664, + 3.0725865364074707, + -0.2621569335460663, + -0.24031807482242584 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "lift and reposition blueberries", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, having moved from the stove area. The gripper is currently open and hovering above the pot, indicating the approach phase of the blueberry placement task is complete. The next action is to lower the arm and close the gripper to release the blueberries into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 70 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 65, + "end": 70 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.27188143134117126, + 0.21871434152126312, + 0.012675032019615173, + 3.05837082862854, + -0.25397995114326477, + -0.23111891746520996 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "lift and reposition blueberries", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, having moved from the stove area. The gripper is currently open and hovering above the pot, indicating the approach phase of the blueberry placement task is complete. The next action is to lower the arm and close the gripper to release the blueberries into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 70 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 65, + "end": 70 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.26900437474250793, + 0.21411438286304474, + 0.010438340716063976, + 3.043586015701294, + -0.24320918321609497, + -0.21288910508155823 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "lift and reposition blueberries", + "subtask_reasoning": "The robot arm is positioned over the sink where the blueberries are located, but the gripper remains fully open with no closing evidence in the current segment. The pear has already been successfully placed on the plate. The robot is currently hovering or adjusting its position above the blueberries, preparing to make contact or grasp them in the immediate future." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 10 cm, tilt forward 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 70 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 65, + "end": 70 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.26508262753486633, + 0.21127845346927643, + 0.022986771538853645, + 3.0401227474212646, + -0.23029057681560516, + -0.22905917465686798 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "lift and reposition blueberries", + "subtask_reasoning": "The robot arm is positioned over the sink where the blueberries are located, but the gripper remains fully open with no closing evidence in the current segment. The pear has already been successfully placed on the plate. The robot is currently hovering or adjusting its position above the blueberries, preparing to make contact or grasp them in the immediate future." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 70 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 65, + "end": 70 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.25537580251693726, + 0.20638930797576904, + 0.05085548758506775, + 3.0256295204162598, + -0.1952401101589203, + -0.2525995671749115 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "lift and reposition blueberries", + "subtask_reasoning": "The robot arm is positioned over the sink where the blueberries are located, but the gripper remains fully open with no closing evidence in the current segment. The pear has already been successfully placed on the plate. The robot is currently hovering or adjusting its position above the blueberries, preparing to make contact or grasp them in the immediate future." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 70 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 65, + "end": 70 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.2448093742132187, + 0.1956106275320053, + 0.08381322026252747, + 3.025226354598999, + -0.1488354355096817, + -0.25377026200294495 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "lift and reposition blueberries", + "subtask_reasoning": "The robot arm is positioned over the sink where the blueberries are located, but the gripper remains fully open with no closing evidence in the current segment. The pear has already been successfully placed on the plate. The robot is currently hovering or adjusting its position above the blueberries, preparing to make contact or grasp them in the immediate future." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 70 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 65, + "end": 70 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.2433096021413803, + 0.1833457499742508, + 0.10550055652856827, + 3.0606794357299805, + -0.12746606767177582, + -0.248575821518898 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "release blueberries in pan", + "subtask_reasoning": "The robot arm is positioned over the sink where the blueberries are located, but the gripper remains fully open with no closing evidence in the current segment. The pear has already been successfully placed on the plate. The robot is currently hovering or adjusting its position above the blueberries, preparing to make contact or grasp them in the immediate future." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 71, + "end": 74 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.24293960630893707, + 0.17520171403884888, + 0.11341504007577896, + 3.0891919136047363, + -0.1150100901722908, + -0.257217675447464 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 29, + 322, + 260, + 523 + ], + "pitcher": [ + 117, + 4, + 257, + 177 + ], + "green bowl": [ + 384, + 211, + 590, + 391 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "release blueberries in pan", + "subtask_reasoning": "The blueberries are already resting inside the metal pot in the sink, and the robot's gripper is open and positioned above the stove, not in contact with any object. Since the segment shows no gripper closure and the berries are already in place, the subtask of releasing them is effectively complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 71, + "end": 74 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.24091994762420654, + 0.16849826276302338, + 0.10835307091474533, + 3.0843491554260254, + -0.1138308197259903, + -0.26684728264808655 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "release blueberries in pan", + "subtask_reasoning": "The blueberries are already resting inside the metal pot in the sink, and the robot's gripper is open and positioned above the stove, not in contact with any object. Since the segment shows no gripper closure and the berries are already in place, the subtask of releasing them is effectively complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 71, + "end": 74 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.24185483157634735, + 0.16146789491176605, + 0.10906903445720673, + 3.111393451690674, + -0.1084517240524292, + -0.28303131461143494 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear on the green plate and put the blue blueberries into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "nudge pear onto plate" + }, + { + "id": 3, + "subtask": "retreat from stovetop" + }, + { + "id": 4, + "subtask": "grasp blueberry cluster" + }, + { + "id": 5, + "subtask": "lift and reposition blueberries" + }, + { + "id": 6, + "subtask": "release blueberries in pan" + } + ], + "subtask_name": "release blueberries in pan", + "subtask_reasoning": "The blueberries are already resting inside the metal pot in the sink, and the robot's gripper is open and positioned above the stove, not in contact with any object. Since the segment shows no gripper closure and the berries are already in place, the subtask of releasing them is effectively complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 71, + "end": 74 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003549_ecot.json b/cot/chunk-0003/episode_0003549_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0d00db915241424f088d39eb9bc04783141140 --- /dev/null +++ b/cot/chunk-0003/episode_0003549_ecot.json @@ -0,0 +1,2340 @@ +{ + "task_name": "episode_0003549", + "episode_json": "json/chunk-0003/episode_0003549.json", + "video_path": "videos/chunk-0003/image_0/episode_0003549.mp4", + "instruction": "Move pot to space in front of green cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003549.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9287884831428528, + "std": 0.4273608326911926, + "delta_total": -0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92879, std=0.42736, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 211, + 211, + 228, + 228, + 228, + 228, + 228, + 228 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 17 + ], + [ + 3, + 18, + 25 + ], + [ + 4, + 26, + 27 + ], + [ + 5, + 28, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the metal pot while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 10, \"end\": 13, \"planning\": \"Close gripper around the pot handle to secure grasp, confirmed by gripper closure and image alignment.\"},\n {\"id\": 3, \"name\": \"lift and transport pot\", \"start\": 14, \"end\": 25, \"planning\": \"Lift pot slightly and move it across the table toward target zone in front of green cloth.\"},\n {\"id\": 4, \"name\": \"release pot\", \"start\": 26, \"end\": 29, \"planning\": \"Open gripper to release pot onto table surface at target location, verified by gripper opening and visual confirmation.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 30, \"end\": 33, \"planning\": \"Move end-effector away from released pot to complete task and avoid interference.\"}\n ],\n \"global_plan\": \"Approach the metal pot, grasp it securely, lift and transport it to the space in front of the green cloth, release it precisely, then retreat to finalize placement.\",\n \"notes\": \"Gripper evidence supports grasp during segments 1–2 (closing) and release during segments 4–5 (opening). Motion and imagery confirm object support during transport and clean release. No hallucinated lifting or placing — all phases grounded in observed gripper state and EE motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the metal pot while keeping gripper open." + }, + { + "id": 2, + "name": "grasp pot", + "start": 10, + "end": 13, + "planning": "Close gripper around the pot handle to secure grasp, confirmed by gripper closure and image alignment." + }, + { + "id": 3, + "name": "lift and transport pot", + "start": 14, + "end": 25, + "planning": "Lift pot slightly and move it across the table toward target zone in front of green cloth." + }, + { + "id": 4, + "name": "release pot", + "start": 26, + "end": 29, + "planning": "Open gripper to release pot onto table surface at target location, verified by gripper opening and visual confirmation." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 30, + "end": 33, + "planning": "Move end-effector away from released pot to complete task and avoid interference." + } + ], + "global_plan": "Approach the metal pot, grasp it securely, lift and transport it to the space in front of the green cloth, release it precisely, then retreat to finalize placement.", + "notes": "Gripper evidence supports grasp during segments 1–2 (closing) and release during segments 4–5 (opening). Motion and imagery confirm object support during transport and clean release. No hallucinated lifting or placing — all phases grounded in observed gripper state and EE motion." + } + }, + "episode_goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3569880425930023, + 0.04596655070781708, + 0.10415101051330566, + -3.071289539337158, + -0.06732410937547684, + -0.03002348728477955 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The robot needs to initiate movement to approach the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, move down 9 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542584180831909, + 0.04590814560651779, + 0.09110229462385178, + -3.074921131134033, + -0.02911694534122944, + -0.030455108731985092 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The robot needs to initiate movement to approach the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 11 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35022762417793274, + 0.08284648507833481, + 0.08903250098228455, + -3.0469484329223633, + -0.04332771152257919, + 0.010658642277121544 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The robot needs to initiate movement to approach the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3442811965942383, + 0.11447127908468246, + 0.08413302898406982, + -3.0155467987060547, + -0.033402394503355026, + 0.014509591273963451 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 159, + 229, + 354, + 441 + ], + "wooden countertop": [ + 52, + 177, + 894, + 907 + ], + "black appliance": [ + 268, + 2, + 476, + 292 + ], + "sushi roll": [ + 545, + 325, + 638, + 443 + ], + "green cloth": [ + 509, + 281, + 764, + 518 + ], + "yellow object": [ + 361, + 354, + 441, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The robot needs to initiate movement to approach the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34368446469306946, + 0.12392903119325638, + 0.08731389790773392, + -2.999429702758789, + -0.03123440220952034, + -0.014674738049507141 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. The gripper is currently open and hovering near the starting position, indicating the approach phase has just begun. The next action is to move the end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34082457423210144, + 0.13186529278755188, + 0.07569704204797745, + -3.003509759902954, + -0.0017537414096295834, + -0.01998155377805233 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. The gripper is currently open and hovering near the starting position, indicating the approach phase has just begun. The next action is to move the end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34118378162384033, + 0.1351211667060852, + 0.056875407695770264, + -3.0113680362701416, + 0.035724688321352005, + -0.025773316621780396 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. The gripper is currently open and hovering near the starting position, indicating the approach phase has just begun. The next action is to move the end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3397192358970642, + 0.1488504707813263, + 0.046512167900800705, + -3.005000352859497, + 0.05852355808019638, + 0.0028967491816729307 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. The gripper is currently open and hovering near the starting position, indicating the approach phase has just begun. The next action is to move the end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed; then move right 8 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33871978521347046, + 0.15432940423488617, + 0.035529330372810364, + -3.0044798851013184, + 0.08483389765024185, + 0.008653324097394943 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. The gripper is currently open and hovering near the starting position, indicating the approach phase has just begun. The next action is to move the end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move up 2 cm, keep gripper closed; then move right 12 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3410329520702362, + 0.15551187098026276, + 0.023977115750312805, + -3.0117218494415283, + 0.10986548662185669, + 0.008147142827510834 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. The gripper is currently open and hovering near the starting position, indicating the approach phase has just begun. The next action is to move the end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 17 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412809669971466, + 0.1559562385082245, + 0.014126571826636791, + -3.0171687602996826, + 0.13449600338935852, + 0.023228395730257034 + ], + "gripper_value": 0.7749528288841248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal pot visible to the left and the green cloth to the right. The gripper is currently open and hovering near the starting position, indicating the approach phase has just begun. The next action is to move the end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move back 2 cm, move right 22 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412235975265503, + 0.1561654806137085, + 0.01416039653122425, + -3.015913486480713, + 0.13493256270885468, + 0.02261238358914852 + ], + "gripper_value": 0.45315688848495483 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden table, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 3 cm, move right 26 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34114357829093933, + 0.15513069927692413, + 0.014442907646298409, + -3.0066921710968018, + 0.13932083547115326, + 0.03334658592939377 + ], + "gripper_value": 0.20382753014564514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden table, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move back 3 cm, move right 26 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33742886781692505, + 0.15248364210128784, + 0.02067881077528, + -2.9992640018463135, + 0.12792392075061798, + 0.03164035826921463 + ], + "gripper_value": 0.09737934172153473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden table, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move right 25 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33233386278152466, + 0.15096919238567352, + 0.0311361625790596, + -2.9933149814605713, + 0.1095479279756546, + 0.0570046529173851 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden table, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 24 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32467183470726013, + 0.15221551060676575, + 0.0500355064868927, + -2.9618372917175293, + 0.0961938425898552, + 0.09825055301189423 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden table, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 23 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176473081111908, + 0.12896668910980225, + 0.09164607524871826, + -2.903773546218872, + 0.025176478549838066, + 0.10967406630516052 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 54, + 184, + 895, + 908 + ], + "metal bowl": [ + 97, + 159, + 276, + 373 + ], + "sushi roll": [ + 546, + 324, + 639, + 443 + ], + "green cloth": [ + 509, + 281, + 763, + 517 + ], + "yellow object": [ + 359, + 353, + 442, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden table, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 19 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3275211453437805, + 0.06945637613534927, + 0.10219210386276245, + -2.9414472579956055, + -0.023592717945575714, + -0.06017183139920235 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden table, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3291245698928833, + 0.026798991486430168, + 0.08853787183761597, + -2.9924702644348145, + -0.04489836469292641, + -0.13528107106685638 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden table, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246351480484009, + -0.022642305120825768, + 0.06623518466949463, + -3.027958631515503, + -0.025930870324373245, + -0.1720108985900879 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot and is currently lifting it above the wooden table. The gripper remains closed with minimal variation, confirming secure contact during transport. The next action is to continue moving the pot toward the space directly in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, rotate clockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31535571813583374, + -0.06727568805217743, + 0.04387185350060463, + -3.0447022914886475, + -0.003515954129397869, + -0.15791745483875275 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot and is currently lifting it above the wooden table. The gripper remains closed with minimal variation, confirming secure contact during transport. The next action is to continue moving the pot toward the space directly in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042202591896057, + -0.1041191965341568, + 0.03244280070066452, + -3.0438106060028076, + 0.01163454819470644, + -0.17606672644615173 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 54, + 151, + 892, + 904 + ], + "metal bowl": [ + 504, + 350, + 729, + 694 + ], + "green cloth": [ + 511, + 280, + 737, + 452 + ], + "yellow object": [ + 359, + 354, + 442, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot and is currently lifting it above the wooden table. The gripper remains closed with minimal variation, confirming secure contact during transport. The next action is to continue moving the pot toward the space directly in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999768853187561, + -0.10732731968164444, + 0.02948325127363205, + -3.0555408000946045, + 0.01843017153441906, + -0.17117133736610413 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot and is currently lifting it above the wooden table. The gripper remains closed with minimal variation, confirming secure contact during transport. The next action is to continue moving the pot toward the space directly in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.296744704246521, + -0.10359780490398407, + 0.02545732818543911, + -3.055889129638672, + 0.031210051849484444, + -0.14124812185764313 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot and is currently lifting it above the wooden table. The gripper remains closed with minimal variation, confirming secure contact during transport. The next action is to continue moving the pot toward the space directly in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29292169213294983, + -0.08831863850355148, + 0.020699964836239815, + -3.031083345413208, + 0.04971576854586601, + -0.09635187685489655 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot and is currently lifting it above the wooden table. The gripper remains closed with minimal variation, confirming secure contact during transport. The next action is to continue moving the pot toward the space directly in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29643306136131287, + -0.07866332679986954, + 0.03650885447859764, + -3.0287890434265137, + -0.012421919964253902, + -0.08609368652105331 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot and is currently lifting it above the wooden table. The gripper remains closed with minimal variation, confirming secure contact during transport. The next action is to continue moving the pot toward the space directly in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29724323749542236, + -0.0648309737443924, + 0.07024817168712616, + -3.050313949584961, + -0.1026599109172821, + -0.009125265292823315 + ], + "gripper_value": 0.11409598588943481 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 54, + 147, + 895, + 909 + ], + "metal bowl": [ + 434, + 358, + 649, + 660 + ], + "yellow object": [ + 360, + 354, + 440, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot and is currently lifting it above the wooden table. The gripper remains closed with minimal variation, confirming secure contact during transport. The next action is to continue moving the pot toward the space directly in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958056330680847, + -0.05861915647983551, + 0.06405104696750641, + -3.0868451595306396, + -0.06411254405975342, + 0.010065058246254921 + ], + "gripper_value": 0.2928420901298523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned above the wooden table near the green cloth. The gripper is in a closed state, indicating the pot is still secured. The next action is to open the gripper to release the pot onto the table in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29379802942276, + -0.05955062061548233, + 0.055864546447992325, + -3.0896902084350586, + -0.015606479719281197, + -0.01083790697157383 + ], + "gripper_value": 0.5859079360961914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned above the wooden table near the green cloth. The gripper is in a closed state, indicating the pot is still secured. The next action is to open the gripper to release the pot onto the table in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29451072216033936, + -0.05986625701189041, + 0.05443054437637329, + -3.0879220962524414, + -0.003283820813521743, + -0.012512602843344212 + ], + "gripper_value": 0.905788779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned above the wooden table near the green cloth. The gripper is in a closed state, indicating the pot is still secured. The next action is to open the gripper to release the pot onto the table in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2935647964477539, + -0.05640566349029541, + 0.052199818193912506, + -3.079350471496582, + 0.010438940487802029, + -0.006207108031958342 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned above the wooden table near the green cloth. The gripper is in a closed state, indicating the pot is still secured. The next action is to open the gripper to release the pot onto the table in front of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29752805829048157, + -0.04868729040026665, + 0.08417820185422897, + -3.0465688705444336, + -0.08892808109521866, + -0.006455518770962954 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The metal pot has been successfully placed in front of the green cloth on the wooden table. The gripper is currently open and positioned above the pot, indicating the release action is complete. The next step is to retreat the arm away from the pot to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998266816139221, + -0.03982046991586685, + 0.12460567057132721, + -3.045260190963745, + -0.22445452213287354, + 0.017004897817969322 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The metal pot has been successfully placed in front of the green cloth on the wooden table. The gripper is currently open and positioned above the pot, indicating the release action is complete. The next step is to retreat the arm away from the pot to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.30029407143592834, + -0.02593356743454933, + 0.12682610750198364, + -3.0727379322052, + -0.21029534935951233, + 0.04978479817509651 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the space directly in front of the green cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The metal pot has been successfully placed in front of the green cloth on the wooden table. The gripper is currently open and positioned above the pot, indicating the release action is complete. The next step is to retreat the arm away from the pot to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003550_ecot.json b/cot/chunk-0003/episode_0003550_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..03d797bcf4d4e4eb96517bb3518be8572db8ea82 --- /dev/null +++ b/cot/chunk-0003/episode_0003550_ecot.json @@ -0,0 +1,3140 @@ +{ + "task_name": "episode_0003550", + "episode_json": "json/chunk-0003/episode_0003550.json", + "video_path": "videos/chunk-0003/image_0/episode_0003550.mp4", + "instruction": "Move the object on the purple cloth above the bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003550.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9006730318069458, + "std": 0.4226031005382538, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90067, std=0.42260, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 516, + 516, + 516, + 516, + 316, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 40, + 40, + 40, + 40, + 40 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 5 + ], + [ + 3, + 6, + 15 + ], + [ + 4, + 16, + 19 + ], + [ + 5, + 20, + 20 + ], + [ + 6, + 21, + 32 + ], + [ + 7, + 33, + 39 + ], + [ + 8, + 40, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach purple cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper from initial position toward the purple cloth area where the object rests.\"},\n {\"id\": 2, \"name\": \"grasp object on cloth\", \"start\": 6, \"end\": 15, \"planning\": \"Close gripper to securely grasp the object on the purple cloth, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport object\", \"start\": 16, \"end\": 20, \"planning\": \"Lift the grasped object and begin moving it toward the bowl location above the table surface.\"},\n {\"id\": 4, \"name\": \"position over bowl\", \"start\": 21, \"end\": 32, \"planning\": \"Transport the held object across the workspace and position it directly above the orange bowl without releasing.\"},\n {\"id\": 5, \"name\": \"release object into bowl\", \"start\": 33, \"end\": 39, \"planning\": \"Open gripper to release the object so it falls or settles into the bowl, completing the placement.\"},\n {\"id\": 6, \"name\": \"retreat after release\", \"start\": 40, \"end\": 44, \"planning\": \"Retract gripper upward and away from the bowl after successful release, concluding the task.\"}\n ],\n \"global_plan\": \"Approach the object on the purple cloth, grasp it firmly, lift and carry it over the bowl, release it into the bowl, then retreat to complete the move.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 3 (grasp) and 8 (release phase), while segment 6 shows no closing — consistent with holding during transport. All subtasks are contiguous and cover full trajectory [0,44].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach purple cloth", + "start": 0, + "end": 5, + "planning": "Move the gripper from initial position toward the purple cloth area where the object rests." + }, + { + "id": 2, + "name": "grasp object on cloth", + "start": 6, + "end": 15, + "planning": "Close gripper to securely grasp the object on the purple cloth, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport object", + "start": 16, + "end": 20, + "planning": "Lift the grasped object and begin moving it toward the bowl location above the table surface." + }, + { + "id": 4, + "name": "position over bowl", + "start": 21, + "end": 32, + "planning": "Transport the held object across the workspace and position it directly above the orange bowl without releasing." + }, + { + "id": 5, + "name": "release object into bowl", + "start": 33, + "end": 39, + "planning": "Open gripper to release the object so it falls or settles into the bowl, completing the placement." + }, + { + "id": 6, + "name": "retreat after release", + "start": 40, + "end": 44, + "planning": "Retract gripper upward and away from the bowl after successful release, concluding the task." + } + ], + "global_plan": "Approach the object on the purple cloth, grasp it firmly, lift and carry it over the bowl, release it into the bowl, then retreat to complete the move.", + "notes": "Gripper evidence confirms meaningful closing in segments 3 (grasp) and 8 (release phase), while segment 6 shows no closing — consistent with holding during transport. All subtasks are contiguous and cover full trajectory [0,44]." + } + }, + "episode_goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2670740485191345, + 0.0012074316618964076, + 0.1708430051803589, + 3.1357743740081787, + -0.22600339353084564, + -0.03005431406199932 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the purple cloth. The next action is to continue approaching the yellow object on the purple cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 11 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2676892578601837, + 0.001215925789438188, + 0.16424204409122467, + 3.134676218032837, + -0.20148317515850067, + -0.029821334406733513 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the purple cloth. The next action is to continue approaching the yellow object on the purple cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 11 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835234999656677, + -0.0053086960688233376, + 0.17003782093524933, + 3.140306234359741, + -0.2121991664171219, + -0.07247042655944824 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. The gripper is open and the robot is moving toward the purple cloth where the yellow object rests. No grasping has occurred yet; the next action is to continue approaching the object on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 10 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31663766503334045, + -0.02424829825758934, + 0.18943066895008087, + -3.135889768600464, + -0.2547363042831421, + -0.1291690617799759 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy onion": [ + 718, + 396, + 804, + 471 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. The gripper is open and the robot is moving toward the purple cloth where the yellow object rests. No grasping has occurred yet; the next action is to continue approaching the object on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 10 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35091474652290344, + -0.04716534912586212, + 0.20174646377563477, + -3.1395370960235596, + -0.29966405034065247, + -0.1919291764497757 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. The gripper is open and the robot is moving toward the purple cloth where the yellow object rests. No grasping has occurred yet; the next action is to continue approaching the object on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 10 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36592134833335876, + -0.08501604944467545, + 0.18019914627075195, + -3.1408679485321045, + -0.24259643256664276, + -0.26962295174598694 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. The gripper is open and the robot is moving toward the purple cloth where the yellow object rests. No grasping has occurred yet; the next action is to continue approaching the object on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 3 cm, move left 2 cm, move down 11 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605269491672516, + -0.10405625402927399, + 0.15464027225971222, + 3.1194839477539062, + -0.19353191554546356, + -0.325367271900177 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. The gripper is open and the robot is moving toward the purple cloth where the yellow object rests. No grasping has occurred yet; the next action is to continue approaching the object on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 11 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34611615538597107, + -0.10837182402610779, + 0.13061034679412842, + 3.115690231323242, + -0.13104571402072906, + -0.35410311818122864 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. The gripper is open and the robot is moving toward the purple cloth where the yellow object rests. No grasping has occurred yet; the next action is to continue approaching the object on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3305526673793793, + -0.10648147016763687, + 0.10936194658279419, + 3.1126599311828613, + -0.07010065019130707, + -0.3713378310203552 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. The gripper is open and the robot is moving toward the purple cloth where the yellow object rests. No grasping has occurred yet; the next action is to continue approaching the object on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268395662307739, + -0.10545619577169418, + 0.08996109664440155, + 3.1051840782165527, + -0.02449422888457775, + -0.36719658970832825 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange bowl and purple cloth visible. The gripper is open and the robot is moving toward the purple cloth where the yellow object rests. No grasping has occurred yet; the next action is to continue approaching the object on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.324932724237442, + -0.10437950491905212, + 0.08223403245210648, + 3.1013495922088623, + -0.025822389870882034, + -0.35016241669654846 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the purple cloth with the gripper open and aligned near the yellow object. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.327117383480072, + -0.0978526622056961, + 0.0713673084974289, + 3.1173057556152344, + -0.013250003568828106, + -0.31289321184158325 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the purple cloth with the gripper open and aligned near the yellow object. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3276856243610382, + -0.09429814666509628, + 0.062424179166555405, + 3.1357192993164062, + 0.008950735442340374, + -0.32091224193573 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the purple cloth with the gripper open and aligned near the yellow object. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33129748702049255, + -0.083872489631176, + 0.05633434280753136, + 3.1356804370880127, + 0.008890562690794468, + -0.2993280291557312 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy onion": [ + 698, + 414, + 845, + 564 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the purple cloth with the gripper open and aligned near the yellow object. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33148249983787537, + -0.08263299614191055, + 0.05060186982154846, + 3.130004644393921, + 0.014704733155667782, + -0.29326099157333374 + ], + "gripper_value": 0.933559775352478 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the purple cloth with the gripper open and aligned near the yellow object. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 6 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3294766843318939, + -0.08366045355796814, + 0.04691886529326439, + 3.1202123165130615, + 0.016747022047638893, + -0.31394869089126587 + ], + "gripper_value": 0.6470694541931152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp object on cloth", + "subtask_reasoning": "The robot is positioned above the purple cloth with the gripper open and aligned near the yellow object. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 9 cm, move up 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.328737735748291, + -0.08027945458889008, + 0.04558747634291649, + -3.133748769760132, + 0.0235451553016901, + -0.30900755524635315 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and transport object", + "subtask_reasoning": "The robot is positioned above the purple cloth with the gripper open and aligned near the yellow object. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 12 cm, move up 9 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3283917307853699, + -0.08105644583702087, + 0.044447705149650574, + -3.1320509910583496, + 0.01747552864253521, + -0.3098812699317932 + ], + "gripper_value": 0.1920294612646103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and transport object", + "subtask_reasoning": "The robot is positioned above the purple cloth with the gripper open and aligned near the yellow object. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 13 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32700732350349426, + -0.08049552887678146, + 0.04281957820057869, + -3.131093978881836, + 0.02068355493247509, + -0.31684449315071106 + ], + "gripper_value": 0.12885156273841858 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and transport object", + "subtask_reasoning": "The robot has grasped the yellow object on the purple cloth and is currently lifting it. The gripper is closed, and the object is being transported upward. The next action is to move the object over the orange bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 15 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32670384645462036, + -0.08128612488508224, + 0.04300128296017647, + -3.136451244354248, + 0.018859921023249626, + -0.32603079080581665 + ], + "gripper_value": 0.1067313477396965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and transport object", + "subtask_reasoning": "The robot has grasped the yellow object on the purple cloth and is currently lifting it. The gripper is closed, and the object is being transported upward. The next action is to move the object over the orange bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 16 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33044931292533875, + -0.08558356016874313, + 0.06041504070162773, + 3.1410880088806152, + -0.030937446281313896, + -0.364369660615921 + ], + "gripper_value": 0.1067313477396965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and transport object", + "subtask_reasoning": "The robot has grasped the yellow object on the purple cloth and is currently lifting it. The gripper is closed, and the object is being transported upward. The next action is to move the object over the orange bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move left 17 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412174880504608, + -0.10087329149246216, + 0.11123280972242355, + -3.11221981048584, + -0.12769849598407745, + -0.42426806688308716 + ], + "gripper_value": 0.10633110255002975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot has grasped the yellow object on the purple cloth and is currently lifting it. The gripper is closed, and the object is being transported upward. The next action is to move the object over the orange bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 18 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.342902272939682, + -0.1083272323012352, + 0.16083018481731415, + -3.0542140007019043, + -0.1971406489610672, + -0.479645311832428 + ], + "gripper_value": 0.10633110255002975 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy onion": [ + 829, + 189, + 964, + 313 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot has grasped the yellow object on the purple cloth and is currently lifting it. The gripper is closed, and the object is being transported upward. The next action is to move the object over the orange bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 20 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3297015428543091, + -0.09261008352041245, + 0.19965896010398865, + -3.0141775608062744, + -0.20187169313430786, + -0.43307000398635864 + ], + "gripper_value": 0.10633110255002975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot has grasped the yellow object on the purple cloth and is currently lifting it. The gripper is closed, and the object is being transported upward. The next action is to move the object over the orange bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 19 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31581008434295654, + -0.037897273898124695, + 0.21410271525382996, + -3.0266904830932617, + -0.22781527042388916, + -0.27278566360473633 + ], + "gripper_value": 0.10633110255002975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot has grasped the yellow object on the purple cloth and is currently lifting it. The gripper is closed, and the object is being transported upward. The next action is to move the object over the orange bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3068719506263733, + -0.008402440696954727, + 0.20979171991348267, + -3.0277154445648193, + -0.21005646884441376, + -0.22254320979118347 + ], + "gripper_value": 0.10633110255002975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot has grasped the yellow object on the purple cloth and is currently lifting it. The gripper is closed, and the object is being transported upward. The next action is to move the object over the orange bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, move down 10 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30444198846817017, + 0.022032935172319412, + 0.20000354945659637, + -3.0439443588256836, + -0.20006045699119568, + -0.15647152066230774 + ], + "gripper_value": 0.10633110255002975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30992379784584045, + 0.027527444064617157, + 0.1838974952697754, + -3.0613300800323486, + -0.16283158957958221, + -0.16161088645458221 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30933111906051636, + 0.0494268424808979, + 0.16580264270305634, + -3.087423324584961, + -0.13181841373443604, + -0.10778497159481049 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3091988265514374, + 0.05798085406422615, + 0.15821312367916107, + -3.0952084064483643, + -0.11920826882123947, + -0.10087233036756516 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.309480220079422, + 0.07399843633174896, + 0.1475456953048706, + -3.109086751937866, + -0.10557335615158081, + -0.06461083889007568 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3106010854244232, + 0.08122385293245316, + 0.1389278769493103, + -3.122187614440918, + -0.09367725998163223, + -0.04996016249060631 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31195807456970215, + 0.09396623820066452, + 0.126901313662529, + -3.1368215084075928, + -0.08442690968513489, + -0.027652351185679436 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "position over bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31869280338287354, + 0.09397939592599869, + 0.11218801140785217, + 3.1234323978424072, + -0.08216576278209686, + -0.041539017111063004 + ], + "gripper_value": 0.10473939776420593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "release object into bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3249744772911072, + 0.10084543377161026, + 0.09824678301811218, + 3.096111297607422, + -0.07399870455265045, + -0.027821645140647888 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "release object into bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.33787673711776733, + 0.10756859928369522, + 0.08315384387969971, + 3.081380605697632, + -0.05352481082081795, + -0.0380052775144577 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "release object into bowl", + "subtask_reasoning": "The robot is holding the yellow object and has successfully moved it above the orange bowl. The gripper remains closed, indicating the object is still secured. The next action is to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529953360557556, + 0.10940255969762802, + 0.054495155811309814, + 3.0423083305358887, + -0.013766278512775898, + -0.052137341350317 + ], + "gripper_value": 0.10473939776420593 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy onion": [ + 401, + 204, + 484, + 318 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "release object into bowl", + "subtask_reasoning": "The robot is holding the yellow object directly above the orange bowl, having successfully lifted it from the purple cloth. The gripper is currently closed, maintaining a firm grasp on the object in preparation for placement. The next action is to open the gripper to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3540223240852356, + 0.109531469643116, + 0.04564908891916275, + 3.0324316024780273, + 0.015266054309904575, + -0.0564473532140255 + ], + "gripper_value": 0.10473939776420593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "release object into bowl", + "subtask_reasoning": "The robot is holding the yellow object directly above the orange bowl, having successfully lifted it from the purple cloth. The gripper is currently closed, maintaining a firm grasp on the object in preparation for placement. The next action is to open the gripper to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533271849155426, + 0.10681378096342087, + 0.03582301735877991, + 3.0189201831817627, + 0.046136025339365005, + -0.06398188322782516 + ], + "gripper_value": 0.14137907326221466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "release object into bowl", + "subtask_reasoning": "The robot is holding the yellow object directly above the orange bowl, having successfully lifted it from the purple cloth. The gripper is currently closed, maintaining a firm grasp on the object in preparation for placement. The next action is to open the gripper to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3535761833190918, + 0.10347796231508255, + 0.03648735582828522, + 3.009559392929077, + 0.05161069706082344, + -0.07346867024898529 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "release object into bowl", + "subtask_reasoning": "The robot is holding the yellow object directly above the orange bowl, having successfully lifted it from the purple cloth. The gripper is currently closed, maintaining a firm grasp on the object in preparation for placement. The next action is to open the gripper to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.35308656096458435, + 0.10146652907133102, + 0.03695939481258392, + 3.006510019302368, + 0.05926654487848282, + -0.0730573907494545 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The robot is holding the yellow object directly above the orange bowl, having successfully lifted it from the purple cloth. The gripper is currently closed, maintaining a firm grasp on the object in preparation for placement. The next action is to open the gripper to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530781865119934, + 0.09943383187055588, + 0.03692839667201042, + 3.0105247497558594, + 0.06474020332098007, + -0.07901515811681747 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The robot is holding the yellow object directly above the orange bowl, having successfully lifted it from the purple cloth. The gripper is currently closed, maintaining a firm grasp on the object in preparation for placement. The next action is to open the gripper to release the object into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.35342714190483093, + 0.09883388131856918, + 0.03755442053079605, + 3.0069515705108643, + 0.06092854589223862, + -0.0832119956612587 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The yellow object has been successfully released into the orange bowl, and the gripper is now open and positioned above the bowl. The robot is in the retreat phase, moving away from the bowl to complete the subtask. The next action is to continue retracting the arm to a neutral or safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 40, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3561556935310364, + 0.09747324883937836, + 0.03800136595964432, + 3.0008280277252197, + 0.03774973377585411, + -0.0945381447672844 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The yellow object has been successfully released into the orange bowl, and the gripper is now open and positioned above the bowl. The robot is in the retreat phase, moving away from the bowl to complete the subtask. The next action is to continue retracting the arm to a neutral or safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619294762611389, + 0.09501414746046066, + 0.07460220903158188, + 3.027620792388916, + -0.0884818509221077, + -0.1082862913608551 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object from the purple cloth and place it inside the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp object on cloth" + }, + { + "id": 3, + "subtask": "lift and transport object" + }, + { + "id": 4, + "subtask": "position over bowl" + }, + { + "id": 5, + "subtask": "release object into bowl" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The yellow object has been successfully released into the orange bowl, and the gripper is now open and positioned above the bowl. The robot is in the retreat phase, moving away from the bowl to complete the subtask. The next action is to continue retracting the arm to a neutral or safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003551_ecot.json b/cot/chunk-0003/episode_0003551_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..06c0ed27373911925059b26a51e36e460e308abd --- /dev/null +++ b/cot/chunk-0003/episode_0003551_ecot.json @@ -0,0 +1,1485 @@ +{ + "task_name": "episode_0003551", + "episode_json": "json/chunk-0003/episode_0003551.json", + "video_path": "videos/chunk-0003/image_0/episode_0003551.mp4", + "instruction": "Pick up glue and put into drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003551.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.7947899699211121, + "std": 0.366129070520401, + "delta_total": -0.6878952980041504, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.79479, std=0.36613, total_delta=-0.68790). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 114, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 13 + ], + [ + 3, + 14, + 14 + ], + [ + 4, + 15, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach glue\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the glue stick in the drawer without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp glue\", \"start\": 11, \"end\": 13, \"planning\": \"Close gripper around the glue stick as evidenced by significant gripper value drop and stable pose.\"},\n {\"id\": 3, \"name\": \"secure grip\", \"start\": 14, \"end\": 14, \"planning\": \"Maintain closed gripper state while preparing to lift; no motion but grip is held.\"},\n {\"id\": 4, \"name\": \"lift and reposition glue\", \"start\": 15, \"end\": 22, \"planning\": \"Lift glue stick slightly and move it within the drawer to a new position, maintaining grip throughout.\"}\n ],\n \"global_plan\": \"Approach the glue stick in the open drawer, grasp it firmly, hold briefly to secure, then lift and reposition it within the same drawer.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 2 and 4; segment 1 shows no closing (open approach), segment 3 is static hold. All subtasks are contiguous and cover full trajectory [0,22]. No hallucinated lifting or placing outside observed motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach glue", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the glue stick in the drawer without closing gripper." + }, + { + "id": 2, + "name": "grasp glue", + "start": 11, + "end": 13, + "planning": "Close gripper around the glue stick as evidenced by significant gripper value drop and stable pose." + }, + { + "id": 3, + "name": "secure grip", + "start": 14, + "end": 14, + "planning": "Maintain closed gripper state while preparing to lift; no motion but grip is held." + }, + { + "id": 4, + "name": "lift and reposition glue", + "start": 15, + "end": 22, + "planning": "Lift glue stick slightly and move it within the drawer to a new position, maintaining grip throughout." + } + ], + "global_plan": "Approach the glue stick in the open drawer, grasp it firmly, hold briefly to secure, then lift and reposition it within the same drawer.", + "notes": "Gripper evidence confirms meaningful closing only in segments 2 and 4; segment 1 shows no closing (open approach), segment 3 is static hold. All subtasks are contiguous and cover full trajectory [0,22]. No hallucinated lifting or placing outside observed motion." + } + }, + "episode_goal": "Pick up the glue stick from the top tray and place it into the open drawer below.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26576441526412964, + 0.15256653726100922, + 0.20694378018379211, + -2.847313404083252, + -0.10179716348648071, + 0.04507019370794296 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open tool drawer, with the end-effector hovering near the target glue stick. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the arm to make contact with the glue stick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 14 cm, move down 14 cm, tilt forward 10 degrees, rotate clockwise 90 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26720425486564636, + 0.14412324130535126, + 0.19610124826431274, + -2.8675291538238525, + -0.07314801216125488, + 0.13413287699222565 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open tool drawer, with the end-effector hovering near the target glue stick. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the arm to make contact with the glue stick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 14 cm, move down 13 cm, tilt forward 10 degrees, rotate clockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28099289536476135, + 0.09147614985704422, + 0.1943630874156952, + -2.8858160972595215, + -0.09173247218132019, + 0.3682444095611572 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open tool drawer, with the end-effector hovering near the target glue stick. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the arm to make contact with the glue stick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move down 13 cm, tilt forward 10 degrees, rotate clockwise 70 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2941485643386841, + 0.06164995953440666, + 0.18993306159973145, + -2.927201509475708, + -0.11457886546850204, + 0.6319179534912109 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open tool drawer, with the end-effector hovering near the target glue stick. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the arm to make contact with the glue stick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 12 cm, rotate clockwise 50 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31269627809524536, + 0.03309405967593193, + 0.17297446727752686, + -2.993032217025757, + -0.07990850508213043, + 0.8724701404571533 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "product box": [ + 592, + 206, + 901, + 464 + ], + "red tool chest": [ + 6, + 11, + 992, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open tool drawer, with the end-effector hovering near the target glue stick. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the arm to make contact with the glue stick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 11 cm, rotate clockwise 40 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32831376791000366, + 0.01809992827475071, + 0.1566775143146515, + -3.030069351196289, + -0.044965386390686035, + 1.1319118738174438 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open red drawer, with the end-effector hovering near the glue stick located in the top tray. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the glue stick for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33695703744888306, + 0.008456354029476643, + 0.14055998623371124, + -3.033677577972412, + -0.06051086261868477, + 1.368337631225586 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open red drawer, with the end-effector hovering near the glue stick located in the top tray. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the glue stick for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33452069759368896, + 0.014008302241563797, + 0.12048664689064026, + -3.058767557144165, + -0.07321687787771225, + 1.5463900566101074 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open red drawer, with the end-effector hovering near the glue stick located in the top tray. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the glue stick for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed; then keep gripper closed; then move back 1 cm, move left 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3345482647418976, + 0.011956927366554737, + 0.10318394005298615, + -3.08721923828125, + -0.1383981853723526, + 1.5579179525375366 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open red drawer, with the end-effector hovering near the glue stick located in the top tray. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the glue stick for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, keep gripper open; then move down 1 cm, keep gripper closed; then keep gripper closed; then move back 2 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33482620120048523, + 0.008157387375831604, + 0.08162027597427368, + -3.106492042541504, + -0.18019358813762665, + 1.5502448081970215 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open red drawer, with the end-effector hovering near the glue stick located in the top tray. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the glue stick for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move down 1 cm, keep gripper closed; then keep gripper closed; then move back 3 cm, move left 8 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3391534090042114, + 0.008453171700239182, + 0.07185785472393036, + -3.135693311691284, + -0.18250401318073273, + 1.5525681972503662 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "approach glue", + "subtask_reasoning": "The robot is positioned above the open red drawer, with the end-effector hovering near the glue stick located in the top tray. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the glue stick for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 1 cm, keep gripper closed; then keep gripper closed; then move back 3 cm, move left 12 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3417200744152069, + 0.007565043400973082, + 0.06519296020269394, + 3.122535228729248, + -0.17685414850711823, + 1.5462315082550049 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "grasp glue", + "subtask_reasoning": "The robot is positioned above the open red drawer, with the end-effector hovering near the glue stick located in the top tray. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the glue stick for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move back 2 cm, move left 17 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405804932117462, + 0.007516414392739534, + 0.05922394245862961, + 3.1100878715515137, + -0.1595231294631958, + 1.5363503694534302 + ], + "gripper_value": 0.8870869278907776 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "product box": [ + 591, + 199, + 902, + 465 + ], + "red tool chest": [ + 6, + 8, + 992, + 989 + ], + "black power tool": [ + 456, + 4, + 685, + 458 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "grasp glue", + "subtask_reasoning": "The robot's end-effector is positioned directly above the glue stick in the open drawer, with the gripper fingers aligned for grasping. The gripper value indicates it is currently open, and the segment-level evidence supports a closing action. The next step is to close the gripper to securely grasp the glue stick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 2 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.338749498128891, + 0.010116418823599815, + 0.05724010616540909, + 3.1145482063293457, + -0.1396171599626541, + 1.5353727340698242 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "grasp glue", + "subtask_reasoning": "The robot's end-effector is positioned directly above the glue stick in the open drawer, with the gripper fingers aligned for grasping. The gripper value indicates it is currently open, and the segment-level evidence supports a closing action. The next step is to close the gripper to securely grasp the glue stick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 2 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3368653357028961, + 0.010099285282194614, + 0.05682697892189026, + 3.1210646629333496, + -0.13603757321834564, + 1.5248275995254517 + ], + "gripper_value": 0.3299713730812073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "secure grip", + "subtask_reasoning": "The robot's end-effector is positioned directly above the glue stick within the open drawer. Although the gripper is partially closed, the segment-level evidence indicates no active closing motion during this specific timeframe. The robot is currently maintaining contact or a static position over the object, likely preparing for the next movement phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3334982991218567, + 0.009679937735199928, + 0.058070436120033264, + -3.139676809310913, + -0.13235506415367126, + 1.5083844661712646 + ], + "gripper_value": 0.22362354397773743 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "lift and reposition glue", + "subtask_reasoning": "The robot's end-effector is positioned directly above the glue stick within the open drawer. Although the gripper is partially closed, the segment-level evidence indicates no active closing motion during this specific timeframe. The robot is currently maintaining contact or a static position over the object, likely preparing for the next movement phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3286093473434448, + 0.01084967702627182, + 0.05990849807858467, + -3.0988361835479736, + -0.13336887955665588, + 1.4799747467041016 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "lift and reposition glue", + "subtask_reasoning": "The robot's end-effector is positioned directly above the glue stick within the open drawer. Although the gripper is partially closed, the segment-level evidence indicates no active closing motion during this specific timeframe. The robot is currently maintaining contact or a static position over the object, likely preparing for the next movement phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3213082551956177, + 0.01793920435011387, + 0.07323663681745529, + -3.0418927669525146, + -0.13781720399856567, + 1.3976730108261108 + ], + "gripper_value": 0.1996482014656067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "lift and reposition glue", + "subtask_reasoning": "The robot's end-effector is positioned directly above the glue stick within the open drawer. Although the gripper is partially closed, the segment-level evidence indicates no active closing motion during this specific timeframe. The robot is currently maintaining contact or a static position over the object, likely preparing for the next movement phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3174477219581604, + 0.03744613751769066, + 0.1019904613494873, + -3.0331685543060303, + -0.18331019580364227, + 1.2799049615859985 + ], + "gripper_value": 0.1972842812538147 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "lift and reposition glue", + "subtask_reasoning": "The robot is currently holding the glue stick above the open drawer, having successfully lifted it from the top tray. The gripper is closed and stable, indicating a secure grasp during the repositioning phase. The next action is to lower the glue stick into the drawer to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030759394168854, + 0.08832965791225433, + 0.12336110323667526, + -2.994201898574829, + -0.22822611033916473, + 1.1052885055541992 + ], + "gripper_value": 0.1972842812538147 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "product box": [ + 581, + 207, + 902, + 464 + ], + "red tool chest": [ + 6, + 10, + 992, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "lift and reposition glue", + "subtask_reasoning": "The robot is currently holding the glue stick above the open drawer, having successfully lifted it from the top tray. The gripper is closed and stable, indicating a secure grasp during the repositioning phase. The next action is to lower the glue stick into the drawer to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 2 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990095317363739, + 0.13055819272994995, + 0.13099431991577148, + -2.94627046585083, + -0.23338493704795837, + 0.9013899564743042 + ], + "gripper_value": 0.1972842812538147 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "lift and reposition glue", + "subtask_reasoning": "The robot is currently holding the glue stick above the open drawer, having successfully lifted it from the top tray. The gripper is closed and stable, indicating a secure grasp during the repositioning phase. The next action is to lower the glue stick into the drawer to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3091605603694916, + 0.17659518122673035, + 0.14078830182552338, + -2.954085111618042, + -0.2337130904197693, + 0.7705090045928955 + ], + "gripper_value": 0.1972842812538147 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "lift and reposition glue", + "subtask_reasoning": "The robot is currently holding the glue stick above the open drawer, having successfully lifted it from the top tray. The gripper is closed and stable, indicating a secure grasp during the repositioning phase. The next action is to lower the glue stick into the drawer to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3180721700191498, + 0.18214794993400574, + 0.14135633409023285, + -2.9673027992248535, + -0.23576883971691132, + 0.7193475365638733 + ], + "gripper_value": 0.30417895317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glue stick from the top tray and place it into the open drawer below." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glue" + }, + { + "id": 2, + "subtask": "grasp glue" + }, + { + "id": 3, + "subtask": "secure grip" + }, + { + "id": 4, + "subtask": "lift and reposition glue" + } + ], + "subtask_name": "lift and reposition glue", + "subtask_reasoning": "The robot is currently holding the glue stick above the open drawer, having successfully lifted it from the top tray. The gripper is closed and stable, indicating a secure grasp during the repositioning phase. The next action is to lower the glue stick into the drawer to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003553_ecot.json b/cot/chunk-0003/episode_0003553_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8eed876d4cc9935226de7a495d8a6945b90ccfc6 --- /dev/null +++ b/cot/chunk-0003/episode_0003553_ecot.json @@ -0,0 +1,1239 @@ +{ + "task_name": "episode_0003553", + "episode_json": "json/chunk-0003/episode_0003553.json", + "video_path": "videos/chunk-0003/image_0/episode_0003553.mp4", + "instruction": "Put the bread on the top of the green cloth on the right side.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003553.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.38941752910614014, + "std": 0.17979028820991516, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.38942, std=0.17979, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 9 + ], + [ + 3, + 10, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bread\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper down toward the bread on the stovetop without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp bread\", \"start\": 4, \"end\": 9, \"planning\": \"Close the gripper around the bread and secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move bread\", \"start\": 10, \"end\": 14, \"planning\": \"Lift the bread and transport it horizontally toward the green cloth on the right.\"},\n {\"id\": 4, \"name\": \"place bread on cloth\", \"start\": 15, \"end\": 18, \"planning\": \"Lower the bread onto the green cloth and release the gripper to complete placement.\"}\n ],\n \"global_plan\": \"Approach the bread on the stovetop, grasp it securely, lift and move it to the right, then place it on top of the green cloth.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing consistent with grasping. Segment 3 shows gripper opening after transport, confirming release. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bread", + "start": 0, + "end": 3, + "planning": "Move the gripper down toward the bread on the stovetop without closing the gripper." + }, + { + "id": 2, + "name": "grasp bread", + "start": 4, + "end": 9, + "planning": "Close the gripper around the bread and secure it for lifting." + }, + { + "id": 3, + "name": "lift and move bread", + "start": 10, + "end": 14, + "planning": "Lift the bread and transport it horizontally toward the green cloth on the right." + }, + { + "id": 4, + "name": "place bread on cloth", + "start": 15, + "end": 18, + "planning": "Lower the bread onto the green cloth and release the gripper to complete placement." + } + ], + "global_plan": "Approach the bread on the stovetop, grasp it securely, lift and move it to the right, then place it on top of the green cloth.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing consistent with grasping. Segment 3 shows gripper opening after transport, confirming release. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the bread on top of the green cloth on the right side of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.333818256855011, + 0.054065532982349396, + 0.11808963865041733, + -3.0089690685272217, + -0.08723706007003784, + 0.07100462913513184 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the bread visible on the left side and the green cloth on the right. No movement or grasping has occurred yet. The next action should be to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320868909358978, + 0.052476901561021805, + 0.10426391661167145, + -3.0189905166625977, + -0.05194559320807457, + 0.07200037688016891 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot is positioned above the stovetop with the bread visible on the left and the green cloth on the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 10 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3329702913761139, + 0.04666844382882118, + 0.0826830193400383, + -3.055476427078247, + -0.05535440519452095, + 0.06111210957169533 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot is positioned above the stovetop with the bread visible on the left and the green cloth on the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33582040667533875, + 0.05339619889855385, + 0.03910048305988312, + -3.0399773120880127, + 0.03740926831960678, + 0.013009433634579182 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot is positioned above the stovetop with the bread visible on the left and the green cloth on the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32894837856292725, + 0.07655484229326248, + 0.008442053571343422, + -3.058467388153076, + 0.09422335773706436, + 0.006375033874064684 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 510, + 327, + 777, + 590 + ], + "metal bowl": [ + 95, + 279, + 310, + 542 + ], + "blue toy": [ + 315, + 356, + 362, + 420 + ] + } + } + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot is positioned above the stovetop with the bread visible on the left and the green cloth on the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33444660902023315, + 0.07649192959070206, + 0.003716161008924246, + -3.092733144760132, + 0.08906763046979904, + -0.04294940456748009 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot is positioned above the stovetop with the bread visible on the left and the green cloth on the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357442617416382, + 0.07468961179256439, + 0.002312740543857217, + -3.1245672702789307, + 0.06847596168518066, + -0.08282990753650665 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot has approached the bread on the stovetop, and the gripper is positioned above it. The gripper signal indicates a closing motion, suggesting the robot is in the process of grasping the bread. The next action is to complete the grasp by closing the gripper around the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33147892355918884, + 0.07043322175741196, + 0.0046144588850438595, + -3.1108603477478027, + 0.028161387890577316, + -0.10717613995075226 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot has approached the bread on the stovetop, and the gripper is positioned above it. The gripper signal indicates a closing motion, suggesting the robot is in the process of grasping the bread. The next action is to complete the grasp by closing the gripper around the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32612594962120056, + 0.05916212499141693, + 0.008722743950784206, + -3.098362445831299, + 0.023206574842333794, + -0.13452458381652832 + ], + "gripper_value": 0.6199479699134827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot has approached the bread on the stovetop, and the gripper is positioned above it. The gripper signal indicates a closing motion, suggesting the robot is in the process of grasping the bread. The next action is to complete the grasp by closing the gripper around the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300935626029968, + 0.041454166173934937, + 0.033635206520557404, + -3.1110308170318604, + 0.0009023759630508721, + -0.029926206916570663 + ], + "gripper_value": 0.6189444065093994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot has approached the bread on the stovetop, and the gripper is positioned above it. The gripper signal indicates a closing motion, suggesting the robot is in the process of grasping the bread. The next action is to complete the grasp by closing the gripper around the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3489922285079956, + 0.016510548070073128, + 0.061892155557870865, + -3.1318585872650146, + -0.012129515409469604, + 0.025719163939356804 + ], + "gripper_value": 0.6179407835006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "lift and move bread", + "subtask_reasoning": "The robot has approached the bread on the stovetop, and the gripper is positioned above it. The gripper signal indicates a closing motion, suggesting the robot is in the process of grasping the bread. The next action is to complete the grasp by closing the gripper around the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3698517084121704, + -0.010094060562551022, + 0.05939686298370361, + 3.1335256099700928, + 0.037260737270116806, + 0.02854893170297146 + ], + "gripper_value": 0.6179407835006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "lift and move bread", + "subtask_reasoning": "The robot has approached the bread on the stovetop, and the gripper is positioned above it. The gripper signal indicates a closing motion, suggesting the robot is in the process of grasping the bread. The next action is to complete the grasp by closing the gripper around the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3859128952026367, + -0.034890610724687576, + 0.04963374137878418, + -3.1357767581939697, + 0.07499545067548752, + 0.02735009416937828 + ], + "gripper_value": 0.6179407835006714 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 551, + 272, + 665, + 466 + ], + "green sponge": [ + 509, + 340, + 776, + 591 + ], + "metal bowl": [ + 95, + 279, + 311, + 547 + ] + } + } + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "lift and move bread", + "subtask_reasoning": "The robot has grasped the bread and is currently lifting it above the stovetop, moving it toward the green cloth on the right. The gripper remains closed with consistent segment-level evidence supporting a hold. The next action is to continue translating the bread rightward to position it over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt left 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39165404438972473, + -0.04591536149382591, + 0.03630894422531128, + -3.1198132038116455, + 0.09914245456457138, + 0.02453775331377983 + ], + "gripper_value": 0.6179407835006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "lift and move bread", + "subtask_reasoning": "The robot has grasped the bread and is currently lifting it above the stovetop, moving it toward the green cloth on the right. The gripper remains closed with consistent segment-level evidence supporting a hold. The next action is to continue translating the bread rightward to position it over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38647541403770447, + -0.041184086352586746, + 0.029026569798588753, + -3.077116012573242, + 0.1080123633146286, + 0.02022555097937584 + ], + "gripper_value": 0.710151195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "lift and move bread", + "subtask_reasoning": "The robot has grasped the bread and is currently lifting it above the stovetop, moving it toward the green cloth on the right. The gripper remains closed with consistent segment-level evidence supporting a hold. The next action is to continue translating the bread rightward to position it over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3787490427494049, + -0.034620460122823715, + 0.03259330615401268, + -3.0485074520111084, + 0.08220943808555603, + -0.011778026819229126 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "place bread on cloth", + "subtask_reasoning": "The robot has grasped the bread and is currently lifting it above the stovetop, moving it toward the green cloth on the right. The gripper remains closed with consistent segment-level evidence supporting a hold. The next action is to continue translating the bread rightward to position it over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37664246559143066, + -0.03302957862615585, + 0.04718932509422302, + -3.0582454204559326, + 0.02794427052140236, + -0.029935894533991814 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "place bread on cloth", + "subtask_reasoning": "The robot is holding the bread above the green cloth on the right side of the stove. The bread has been successfully lifted and moved to the target area. The next action is to lower the bread and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37322327494621277, + -0.028714148327708244, + 0.06287090480327606, + -3.0839157104492188, + -0.003237120108678937, + -0.031148605048656464 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "place bread on cloth", + "subtask_reasoning": "The robot is holding the bread above the green cloth on the right side of the stove. The bread has been successfully lifted and moved to the target area. The next action is to lower the bread and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619078993797302, + -0.024077799171209335, + 0.09155353158712387, + -3.1167752742767334, + -0.041416313499212265, + -0.024770215153694153 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bread on top of the green cloth on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "lift and move bread" + }, + { + "id": 4, + "subtask": "place bread on cloth" + } + ], + "subtask_name": "place bread on cloth", + "subtask_reasoning": "The robot is holding the bread above the green cloth on the right side of the stove. The bread has been successfully lifted and moved to the target area. The next action is to lower the bread and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003554_ecot.json b/cot/chunk-0003/episode_0003554_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f882bbb9187d5e0081450720cb4793b8a1096476 --- /dev/null +++ b/cot/chunk-0003/episode_0003554_ecot.json @@ -0,0 +1,942 @@ +{ + "task_name": "episode_0003554", + "episode_json": "json/chunk-0003/episode_0003554.json", + "video_path": "videos/chunk-0003/image_0/episode_0003554.mp4", + "instruction": "End effector transition from object to object.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003554.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"lift from red pot\", \"start\": 0, \"end\": 4, \"planning\": \"Lift the end effector vertically from the red pot on the left burner.\"},\n {\"id\": 2, \"name\": \"traverse to green pan\", \"start\": 5, \"end\": 10, \"planning\": \"Move the end effector horizontally across the stove towards the green pan on the right burner.\"},\n {\"id\": 3, \"name\": \"descend to green pan\", \"start\": 11, \"end\": 14, \"planning\": \"Lower the end effector to make contact with or hover just above the green pan.\"}\n ],\n \"global_plan\": \"Transition the end effector from the red pot on the left burner to the green pan on the right burner by lifting, traversing, and descending.\",\n \"notes\": \"Gripper remains fully open throughout; no grasping occurs. Motion is purely positional transition between two objects.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "lift from red pot", + "start": 0, + "end": 4, + "planning": "Lift the end effector vertically from the red pot on the left burner." + }, + { + "id": 2, + "name": "traverse to green pan", + "start": 5, + "end": 10, + "planning": "Move the end effector horizontally across the stove towards the green pan on the right burner." + }, + { + "id": 3, + "name": "descend to green pan", + "start": 11, + "end": 14, + "planning": "Lower the end effector to make contact with or hover just above the green pan." + } + ], + "global_plan": "Transition the end effector from the red pot on the left burner to the green pan on the right burner by lifting, traversing, and descending.", + "notes": "Gripper remains fully open throughout; no grasping occurs. Motion is purely positional transition between two objects." + } + }, + "episode_goal": "Move the end effector from the green pan to the red pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639850318431854, + -0.048500701785087585, + 0.04080073907971382, + -3.1353085041046143, + -0.3753008246421814, + 0.35370710492134094 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "lift from red pot", + "subtask_reasoning": "The end effector is positioned above the red pot on the left burner with the gripper open. No lifting or grasping has occurred yet as the gripper remains fully open and stationary. The next action should involve lowering the end effector to make contact with the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3641287088394165, + -0.04900004714727402, + 0.04195895045995712, + -3.1385974884033203, + -0.3686375319957733, + 0.36457452178001404 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "lift from red pot", + "subtask_reasoning": "The end effector is positioned above the red pot on the left burner with the gripper open. No lifting or grasping has occurred yet as the gripper remains fully open and stationary. The next action should involve lowering the end effector to make contact with the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 14 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35185205936431885, + -0.05430750921368599, + 0.050512973219156265, + -3.078645706176758, + -0.2684362530708313, + 0.35048216581344604 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "lift from red pot", + "subtask_reasoning": "The end effector is positioned above the red pot on the left burner with the gripper open. No lifting or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector to make contact with the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 8 cm, keep gripper open; then move back 3 cm, move left 14 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3534122407436371, + -0.056879185140132904, + 0.07832648605108261, + -3.0715205669403076, + -0.22743815183639526, + 0.34857165813446045 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "lift from red pot", + "subtask_reasoning": "The end effector is positioned above the red pot on the left burner with the gripper open. No lifting or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector to make contact with the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open; then move back 3 cm, move left 14 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34646689891815186, + -0.05401536077260971, + 0.10354069620370865, + -3.0490965843200684, + -0.21593701839447021, + 0.33392539620399475 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pot": [ + 611, + 294, + 844, + 512 + ], + "red lid": [ + 181, + 368, + 318, + 514 + ], + "stove knobs": [ + 268, + 442, + 720, + 762 + ], + "toy stove": [ + 149, + 142, + 914, + 924 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "lift from red pot", + "subtask_reasoning": "The end effector is positioned above the red pot on the left burner with the gripper open. No lifting or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector to make contact with the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 3 cm, move left 14 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33868375420570374, + -0.045980289578437805, + 0.12966516613960266, + -3.0197150707244873, + -0.19319258630275726, + 0.3040749430656433 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "traverse to green pan", + "subtask_reasoning": "The end effector is positioned above the red pot on the left burner with the gripper open. No lifting or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector to make contact with the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3342181146144867, + -0.028395310044288635, + 0.14919422566890717, + -3.0255556106567383, + -0.20807863771915436, + 0.274257093667984 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "traverse to green pan", + "subtask_reasoning": "The end effector is positioned above the red pot on the left burner with the gripper open. No lifting or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector to make contact with the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324362635612488, + -0.003270699642598629, + 0.1565960794687271, + -3.037620782852173, + -0.21355414390563965, + 0.25435078144073486 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "traverse to green pan", + "subtask_reasoning": "The end effector has successfully lifted from the red pot and is currently traversing horizontally across the stove towards the green pan. The gripper remains open with no contact, indicating a transit phase. The next action is to continue moving laterally until positioned directly above the green pan for descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 4 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32192957401275635, + 0.025238992646336555, + 0.1528167575597763, + -3.0265109539031982, + -0.23913118243217468, + 0.22665394842624664 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "traverse to green pan", + "subtask_reasoning": "The end effector has successfully lifted from the red pot and is currently traversing horizontally across the stove towards the green pan. The gripper remains open with no contact, indicating a transit phase. The next action is to continue moving laterally until positioned directly above the green pan for descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 4 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31760868430137634, + 0.051683299243450165, + 0.14342954754829407, + -3.0164971351623535, + -0.2548130452632904, + 0.19023405015468597 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "traverse to green pan", + "subtask_reasoning": "The end effector has successfully lifted from the red pot and is currently traversing horizontally across the stove towards the green pan. The gripper remains open with no contact, indicating a transit phase. The next action is to continue moving laterally until positioned directly above the green pan for descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 3 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31314122676849365, + 0.07408155500888824, + 0.13218604028224945, + -3.029832124710083, + -0.264247328042984, + 0.1730615198612213 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "traverse to green pan", + "subtask_reasoning": "The end effector has successfully lifted from the red pot and is currently traversing horizontally across the stove towards the green pan. The gripper remains open with no contact, indicating a transit phase. The next action is to continue moving laterally until positioned directly above the green pan for descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30494949221611023, + 0.09639497101306915, + 0.11552975326776505, + -3.039088487625122, + -0.28874921798706055, + 0.15897125005722046 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "descend to green pan", + "subtask_reasoning": "The end effector has successfully lifted from the red pot and is currently traversing horizontally across the stove towards the green pan. The gripper remains open with no contact, indicating a transit phase. The next action is to continue moving laterally until positioned directly above the green pan for descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977575957775116, + 0.11284386366605759, + 0.10563649237155914, + -3.0243582725524902, + -0.30481043457984924, + 0.1441996544599533 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pot": [ + 610, + 295, + 843, + 512 + ], + "orange pot": [ + 341, + 174, + 536, + 377 + ], + "toy stove": [ + 133, + 171, + 915, + 921 + ], + "red lid": [ + 182, + 368, + 317, + 515 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "descend to green pan", + "subtask_reasoning": "The end effector is positioned above the green pan on the right burner, having completed the lift from the red pot and traversal across the stove. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to descend vertically to make contact with the green pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2914322018623352, + 0.12412295490503311, + 0.09589748084545135, + -3.014650583267212, + -0.3265064060688019, + 0.13913394510746002 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "descend to green pan", + "subtask_reasoning": "The end effector is positioned above the green pan on the right burner, having completed the lift from the red pot and traversal across the stove. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to descend vertically to make contact with the green pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28365662693977356, + 0.13115520775318146, + 0.07979368418455124, + -3.016951560974121, + -0.3721008002758026, + 0.12893010675907135 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green pan to the red pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift from red pot" + }, + { + "id": 2, + "subtask": "traverse to green pan" + }, + { + "id": 3, + "subtask": "descend to green pan" + } + ], + "subtask_name": "descend to green pan", + "subtask_reasoning": "The end effector is positioned above the green pan on the right burner, having completed the lift from the red pot and traversal across the stove. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to descend vertically to make contact with the green pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003557_ecot.json b/cot/chunk-0003/episode_0003557_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6e3b194b8bd748214541a903a005cf39587f36f5 --- /dev/null +++ b/cot/chunk-0003/episode_0003557_ecot.json @@ -0,0 +1,2196 @@ +{ + "task_name": "episode_0003557", + "episode_json": "json/chunk-0003/episode_0003557.json", + "video_path": "videos/chunk-0003/image_0/episode_0003557.mp4", + "instruction": "Open microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003557.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.6968623399734497, + "std": 0.21488626301288605, + "delta_total": -0.001911759376525879, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.69686, std=0.21489, total_delta=-0.00191). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 16, + 16, + 16, + 16, + 20, + 20, + 20, + 20, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 19 + ], + [ + 3, + 20, + 23 + ], + [ + 4, + 24, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave handle\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector toward the microwave door handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp microwave handle\", \"start\": 16, \"end\": 19, \"planning\": \"Close gripper fully around the handle and establish secure hold before pulling.\"},\n {\"id\": 3, \"name\": \"pull microwave door open\", \"start\": 20, \"end\": 23, \"planning\": \"Pull the microwave door outward using the grasped handle to initiate opening motion.\"},\n {\"id\": 4, \"name\": \"release and retreat from handle\", \"start\": 24, \"end\": 34, \"planning\": \"Open gripper to release handle and move end-effector away from the now-open microwave door.\"}\n ],\n \"global_plan\": \"Open the microwave by approaching its handle, grasping it firmly, pulling the door open, then releasing and retreating.\",\n \"notes\": \"Gripper closure is confirmed in segments 1-3; segment 4 shows no meaningful closing, so 'release' and 'retreat' are used instead of grasp-related terms. Frame coverage is contiguous and complete from 0 to 34.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave handle", + "start": 0, + "end": 15, + "planning": "Move end-effector toward the microwave door handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp microwave handle", + "start": 16, + "end": 19, + "planning": "Close gripper fully around the handle and establish secure hold before pulling." + }, + { + "id": 3, + "name": "pull microwave door open", + "start": 20, + "end": 23, + "planning": "Pull the microwave door outward using the grasped handle to initiate opening motion." + }, + { + "id": 4, + "name": "release and retreat from handle", + "start": 24, + "end": 34, + "planning": "Open gripper to release handle and move end-effector away from the now-open microwave door." + } + ], + "global_plan": "Open the microwave by approaching its handle, grasping it firmly, pulling the door open, then releasing and retreating.", + "notes": "Gripper closure is confirmed in segments 1-3; segment 4 shows no meaningful closing, so 'release' and 'retreat' are used instead of grasp-related terms. Frame coverage is contiguous and complete from 0 to 34." + } + }, + "episode_goal": "Open the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2059931457042694, + -0.14699231088161469, + 0.07093431800603867, + 2.9956014156341553, + -0.18263493478298187, + 0.08763163536787033 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20353110134601593, + -0.14643430709838867, + 0.06551915407180786, + 3.005582094192505, + -0.16070912778377533, + 0.08818335831165314 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22130587697029114, + -0.1472393423318863, + 0.05881812423467636, + 3.0094563961029053, + -0.11871375143527985, + 0.11559539288282394 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 7 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24480432271957397, + -0.14788010716438293, + 0.05920959264039993, + 3.0345818996429443, + -0.10577158629894257, + 0.1274644136428833 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden spatula": [ + 133, + 457, + 221, + 575 + ], + "yellow spoon": [ + 456, + 679, + 608, + 815 + ], + "blue bowl": [ + 561, + 175, + 698, + 300 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 7 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26271119713783264, + -0.14181679487228394, + 0.06158381700515747, + 3.0664594173431396, + -0.08589465916156769, + 0.13720296323299408 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836028039455414, + -0.12426397204399109, + 0.06979630887508392, + 3.0988047122955322, + -0.10631731152534485, + 0.16405607759952545 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019070327281952, + -0.1057291254401207, + 0.07585132122039795, + 3.0827136039733887, + -0.1077413335442543, + 0.1741674542427063 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3111482262611389, + -0.08427771180868149, + 0.07667259871959686, + 3.0912492275238037, + -0.1307724267244339, + 0.17842768132686615 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31829634308815, + -0.07503897696733475, + 0.0774802416563034, + 3.1103622913360596, + -0.16995249688625336, + 0.1392652988433838 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow spoon": [ + 456, + 680, + 605, + 815 + ], + "blue bowl": [ + 560, + 174, + 696, + 290 + ], + "wooden spatula": [ + 133, + 460, + 217, + 574 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32269713282585144, + -0.06764601916074753, + 0.07380462437868118, + 3.108596086502075, + -0.20424869656562805, + 0.12792634963989258 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 8 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33318477869033813, + -0.06879189610481262, + 0.08272809535264969, + 3.112516164779663, + -0.2475949376821518, + 0.08414586633443832 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, close gripper; then move back 11 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34552502632141113, + -0.07507491111755371, + 0.09562934935092926, + 3.117546558380127, + -0.29347649216651917, + 0.05014442279934883 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move back 11 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578755855560303, + -0.0767659842967987, + 0.09689248353242874, + 3.106152057647705, + -0.2911476492881775, + 0.032593246549367905 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 11 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 7 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36620858311653137, + -0.07870447635650635, + 0.09926403313875198, + 3.1087875366210938, + -0.30674222111701965, + 0.011305216699838638 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 11 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36804845929145813, + -0.07738934457302094, + 0.09745003283023834, + 3.1070361137390137, + -0.3105825185775757, + 0.007581884972751141 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 11 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 3 cm, move right 11 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.370341032743454, + -0.07595353573560715, + 0.09819023311138153, + 3.116922616958618, + -0.32638487219810486, + 0.014281154610216618 + ], + "gripper_value": 0.639030933380127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 11 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 3 cm, move right 11 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36105936765670776, + -0.07495539635419846, + 0.08499610424041748, + 3.110974073410034, + -0.31085413694381714, + 0.042637161910533905 + ], + "gripper_value": 0.34697994589805603 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot is positioned in front of the microwave with the gripper open and approaching the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to continue moving the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 3 cm, move right 11 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462706208229065, + -0.07431984692811966, + 0.08178630471229553, + 3.0846643447875977, + -0.2917729616165161, + 0.08789801597595215 + ], + "gripper_value": 0.3149794638156891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot has approached the microwave handle and is now in contact with it. The gripper is partially closed around the handle, indicating an ongoing grasp. The next action is to fully close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 3 cm, move right 11 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31980448961257935, + -0.07604855298995972, + 0.07576765865087509, + 3.059666156768799, + -0.24386033415794373, + 0.1581471860408783 + ], + "gripper_value": 0.34697994589805603 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot has approached the microwave handle and is now in contact with it. The gripper is partially closed around the handle, indicating an ongoing grasp. The next action is to fully close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 11 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move left 3 cm, move up 3 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801072597503662, + -0.08207900077104568, + 0.060870930552482605, + 3.1073074340820312, + -0.15224002301692963, + 0.22842827439308167 + ], + "gripper_value": 0.41842639446258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot has approached the microwave handle and is now in contact with it. The gripper is partially closed around the handle, indicating an ongoing grasp. The next action is to fully close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper open; then move forward 3 cm, move right 11 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move left 5 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25573989748954773, + -0.09797743707895279, + 0.05834939330816269, + 3.123929262161255, + -0.1825868934392929, + 0.3137821555137634 + ], + "gripper_value": 0.7408273816108704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached the microwave handle and is now in contact with it. The gripper is partially closed around the handle, indicating an ongoing grasp. The next action is to fully close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 11 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move left 6 cm, move up 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2441350221633911, + -0.13637471199035645, + 0.04455651342868805, + 3.0840249061584473, + -0.22783547639846802, + 0.4029943346977234 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence. The current frame shows the robot's arm in contact with the handle, suggesting readiness to pull. The next action is to apply force to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 8 cm, move left 8 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24037741124629974, + -0.1711999773979187, + 0.027330094948410988, + 3.076500415802002, + -0.22931501269340515, + 0.356456458568573 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden spatula": [ + 133, + 455, + 220, + 577 + ], + "blue bowl": [ + 559, + 179, + 695, + 324 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence. The current frame shows the robot's arm in contact with the handle, suggesting readiness to pull. The next action is to apply force to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 9 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618063986301422, + -0.19207492470741272, + 0.027551842853426933, + 3.1179795265197754, + -0.25291094183921814, + 0.17168015241622925 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence. The current frame shows the robot's arm in contact with the handle, suggesting readiness to pull. The next action is to apply force to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28818759322166443, + -0.20446904003620148, + 0.03874202445149422, + -3.1311607360839844, + -0.2679787576198578, + 0.02586393989622593 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence. The current frame shows the robot's arm in contact with the handle, suggesting readiness to pull. The next action is to apply force to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31056785583496094, + -0.20327889919281006, + 0.042723044753074646, + -3.1312150955200195, + -0.272164911031723, + -0.0997052863240242 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence. The current frame shows the robot's arm in contact with the handle, suggesting readiness to pull. The next action is to apply force to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.33446550369262695, + -0.2007002979516983, + 0.057973433285951614, + -3.123011827468872, + -0.3264332115650177, + -0.2094109207391739 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence. The current frame shows the robot's arm in contact with the handle, suggesting readiness to pull. The next action is to apply force to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3584466278553009, + -0.1893138736486435, + 0.06834687292575836, + -3.087906837463379, + -0.318069189786911, + -0.34257030487060547 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence. The current frame shows the robot's arm in contact with the handle, suggesting readiness to pull. The next action is to apply force to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 10 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37353000044822693, + -0.17493495345115662, + 0.07308624684810638, + -3.0876221656799316, + -0.316642165184021, + -0.4479523301124573 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence. The current frame shows the robot's arm in contact with the handle, suggesting readiness to pull. The next action is to apply force to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3830074667930603, + -0.1574571579694748, + 0.0758039653301239, + -3.078817367553711, + -0.29832977056503296, + -0.49727362394332886 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is no longer in contact with the handle. The robot has completed the release phase and is now retreating from the microwave area. The next action is to continue moving away to ensure full clearance from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 7 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.37928423285484314, + -0.14189277589321136, + 0.061666835099458694, + -3.076307535171509, + -0.2773531377315521, + -0.4849882423877716 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is no longer in contact with the handle. The robot has completed the release phase and is now retreating from the microwave area. The next action is to continue moving away to ensure full clearance from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659267723560333, + -0.12560786306858063, + 0.05172652751207352, + -3.0828893184661865, + -0.25637224316596985, + -0.42342609167099 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is no longer in contact with the handle. The robot has completed the release phase and is now retreating from the microwave area. The next action is to continue moving away to ensure full clearance from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 4 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34741663932800293, + -0.1122782826423645, + 0.05186815559864044, + -3.0719411373138428, + -0.24400028586387634, + -0.33601081371307373 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is no longer in contact with the handle. The robot has completed the release phase and is now retreating from the microwave area. The next action is to continue moving away to ensure full clearance from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31693345308303833, + -0.10154928267002106, + 0.051737263798713684, + -3.097649574279785, + -0.2214575558900833, + -0.23490501940250397 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is no longer in contact with the handle. The robot has completed the release phase and is now retreating from the microwave area. The next action is to continue moving away to ensure full clearance from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28453221917152405, + -0.08593472838401794, + 0.05363524705171585, + -3.0826547145843506, + -0.2412160038948059, + -0.12395435571670532 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wall hook": [ + 68, + 355, + 260, + 630 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release and retreat from handle" + } + ], + "subtask_name": "release and retreat from handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is no longer in contact with the handle. The robot has completed the release phase and is now retreating from the microwave area. The next action is to continue moving away to ensure full clearance from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003558_ecot.json b/cot/chunk-0003/episode_0003558_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7d394501d582a14c1391bee7cb22f1cadfcc21d5 --- /dev/null +++ b/cot/chunk-0003/episode_0003558_ecot.json @@ -0,0 +1,1256 @@ +{ + "task_name": "episode_0003558", + "episode_json": "json/chunk-0003/episode_0003558.json", + "video_path": "videos/chunk-0003/image_0/episode_0003558.mp4", + "instruction": "Move the blue towel to the right near the red spoon.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003558.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033228397369384766, + "std": 0.0011776150204241276, + "delta_total": -0.002661466598510742, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00332, std=0.00118, total_delta=-0.00266). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 15 + ], + [ + 3, + 16, + 17 + ], + [ + 4, + 18, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue towel\", \"start\": 0, \"end\": 11, \"planning\": \"Move the end-effector down toward the blue towel without grasping, as gripper remains open and no meaningful closing is observed.\"},\n {\"id\": 2, \"name\": \"reposition towel rightward\", \"start\": 12, \"end\": 15, \"planning\": \"Slide or nudge the blue towel to the right using contact from the open gripper, moving it closer to the red spoon.\"},\n {\"id\": 3, \"name\": \"adjust final position\", \"start\": 16, \"end\": 17, \"planning\": \"Fine-tune the towel’s placement near the red spoon with small lateral and vertical adjustments while maintaining contact.\"},\n {\"id\": 4, \"name\": \"retreat from towel\", \"start\": 18, \"end\": 18, \"planning\": \"Lift the end-effector away from the towel after positioning, completing the task without grasping or lifting the object.\"}\n ],\n \"global_plan\": \"The robot approaches the blue towel, uses its open gripper to slide it rightward toward the red spoon, makes minor positional adjustments, then retreats — all without grasping, consistent with constant open-gripper evidence.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, all actions are described as contact-based (approach, reposition, adjust, retreat) rather than grasp/place. The motion aligns with pushing/sliding the towel on the surface.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue towel", + "start": 0, + "end": 11, + "planning": "Move the end-effector down toward the blue towel without grasping, as gripper remains open and no meaningful closing is observed." + }, + { + "id": 2, + "name": "reposition towel rightward", + "start": 12, + "end": 15, + "planning": "Slide or nudge the blue towel to the right using contact from the open gripper, moving it closer to the red spoon." + }, + { + "id": 3, + "name": "adjust final position", + "start": 16, + "end": 17, + "planning": "Fine-tune the towel’s placement near the red spoon with small lateral and vertical adjustments while maintaining contact." + }, + { + "id": 4, + "name": "retreat from towel", + "start": 18, + "end": 18, + "planning": "Lift the end-effector away from the towel after positioning, completing the task without grasping or lifting the object." + } + ], + "global_plan": "The robot approaches the blue towel, uses its open gripper to slide it rightward toward the red spoon, makes minor positional adjustments, then retreats — all without grasping, consistent with constant open-gripper evidence.", + "notes": "No segment shows meaningful gripper closing; therefore, all actions are described as contact-based (approach, reposition, adjust, retreat) rather than grasp/place. The motion aligns with pushing/sliding the towel on the surface." + } + }, + "episode_goal": "Move the blue towel to the right near the red spoon.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.288983017206192, + 0.0616004578769207, + 0.09663095325231552, + -3.112797737121582, + -0.11834998428821564, + -0.11931712925434113 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden surface with the blue towel to its left and the red spoon to its right. No actions have been completed yet as this is the initial approach phase. The gripper remains open, indicating no grasping has occurred. The next likely action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28798285126686096, + 0.06137886270880699, + 0.08989835530519485, + -3.121365547180176, + -0.09526929259300232, + -0.11384804546833038 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden surface with the blue towel to its left and the red spoon to its right. No actions have been completed yet as this is the initial approach phase. The gripper remains open, indicating no grasping has occurred. The next likely action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31200915575027466, + 0.06870636343955994, + 0.08160094916820526, + -3.123406410217285, + -0.07470963150262833, + -0.08823197335004807 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden surface with the blue towel to its left and the red spoon to its right. No actions have been completed yet as this is the initial approach phase. The gripper remains open, indicating no grasping has occurred. The next likely action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34746694564819336, + 0.08001133799552917, + 0.08270157873630524, + -3.1049704551696777, + -0.10436511784791946, + -0.06604363769292831 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 77, + 313, + 308, + 576 + ], + "blue cloth": [ + 310, + 233, + 560, + 471 + ], + "green sponge": [ + 187, + 344, + 291, + 498 + ], + "wooden countertop": [ + 9, + 182, + 880, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden surface with the blue towel to its left and the red spoon to its right. No actions have been completed yet as this is the initial approach phase. The gripper remains open, indicating no grasping has occurred. The next likely action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37050193548202515, + 0.08908075094223022, + 0.08071837574243546, + -3.0758934020996094, + -0.13107703626155853, + -0.06787340342998505 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden surface with the blue towel to its left and the red spoon to its right. No actions have been completed yet as this is the initial approach phase. The gripper remains open, indicating no grasping has occurred. The next likely action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767058253288269, + 0.0958278477191925, + 0.05778983235359192, + -3.0513851642608643, + -0.08822769671678543, + -0.06252776086330414 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue towel to its left and the red spoon to its right. The gripper remains open and has not yet made contact with the towel. The next action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37818196415901184, + 0.09650485962629318, + 0.04390500858426094, + -3.049370527267456, + -0.089813232421875, + -0.05705348402261734 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue towel to its left and the red spoon to its right. The gripper remains open and has not yet made contact with the towel. The next action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37462395429611206, + 0.10455193370580673, + 0.023982834070920944, + -3.0878124237060547, + -0.060215678066015244, + -0.016918696463108063 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue towel to its left and the red spoon to its right. The gripper remains open and has not yet made contact with the towel. The next action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3775182366371155, + 0.1106983870267868, + 0.014236845076084137, + -3.097421169281006, + -0.05595541372895241, + -0.014191195368766785 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue towel to its left and the red spoon to its right. The gripper remains open and has not yet made contact with the towel. The next action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808387219905853, + 0.11293213069438934, + 0.010617411695420742, + -3.098620891571045, + -0.04783925041556358, + -0.02759980596601963 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue towel to its left and the red spoon to its right. The gripper remains open and has not yet made contact with the towel. The next action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, tilt right 10 degrees, keep gripper open; then move right 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37733036279678345, + 0.11026035249233246, + 0.008414719253778458, + -3.104522943496704, + -0.036633703857660294, + -0.03648223727941513 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue towel to its left and the red spoon to its right. The gripper remains open and has not yet made contact with the towel. The next action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, tilt right 10 degrees, keep gripper open; then move right 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3670274019241333, + 0.08656875044107437, + 0.007673072628676891, + -3.1369173526763916, + -0.016213200986385345, + -0.0491253063082695 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue towel to its left and the red spoon to its right. The gripper remains open and has not yet made contact with the towel. The next action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, keep gripper open; then move right 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35427865386009216, + 0.03960944339632988, + 0.010806633159518242, + 3.088047981262207, + 0.009906691499054432, + -0.10297328978776932 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel rightward", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue towel to its left and the red spoon to its right. The gripper remains open and has not yet made contact with the towel. The next action is to move the end-effector closer to the blue towel to prepare for sliding it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35577917098999023, + -0.004786302335560322, + 0.01130709983408451, + 3.046020984649658, + 0.012250885367393494, + -0.13788948953151703 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 77, + 314, + 309, + 575 + ], + "blue cloth": [ + 431, + 347, + 702, + 579 + ], + "green sponge": [ + 188, + 345, + 290, + 496 + ], + "wooden countertop": [ + 10, + 185, + 882, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel rightward", + "subtask_reasoning": "The robot's open gripper is positioned above the blue towel, having completed the approach phase. The current subtask involves sliding the towel rightward toward the red spoon without grasping. The next action is to maintain contact and push the towel laterally to align it near the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648169934749603, + -0.026772134006023407, + 0.009541839361190796, + 3.0571231842041016, + 0.0036812028847634792, + -0.0922190397977829 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel rightward", + "subtask_reasoning": "The robot's open gripper is positioned above the blue towel, having completed the approach phase. The current subtask involves sliding the towel rightward toward the red spoon without grasping. The next action is to maintain contact and push the towel laterally to align it near the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36922305822372437, + -0.03041924349963665, + 0.008671289309859276, + 3.1072378158569336, + 0.0008714651921764016, + -0.030586164444684982 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel rightward", + "subtask_reasoning": "The robot's open gripper is positioned above the blue towel, having completed the approach phase. The current subtask involves sliding the towel rightward toward the red spoon without grasping. The next action is to maintain contact and push the towel laterally to align it near the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571452796459198, + -0.023230332881212234, + 0.01726011000573635, + -3.1291301250457764, + -0.0038427761755883694, + -0.013265382498502731 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "adjust final position", + "subtask_reasoning": "The blue towel is now positioned to the right, adjacent to the red spoon, with the gripper remaining open and in light contact. Minor positional refinement is underway to finalize alignment. The next action is a small lateral or rotational adjustment to optimize proximity to the spoon before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608764111995697, + -0.022300105541944504, + 0.058055780827999115, + -3.1275529861450195, + -0.11457118391990662, + -0.016705453395843506 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "adjust final position", + "subtask_reasoning": "The blue towel is now positioned to the right, adjacent to the red spoon, with the gripper remaining open and in light contact. Minor positional refinement is underway to finalize alignment. The next action is a small lateral or rotational adjustment to optimize proximity to the spoon before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36182132363319397, + -0.027584446594119072, + 0.08846621960401535, + 3.1239871978759766, + -0.191415935754776, + -0.044537242501974106 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the right near the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "reposition towel rightward" + }, + { + "id": 3, + "subtask": "adjust final position" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The blue towel has been successfully repositioned to the right near the red spoon. The robot's gripper is open and positioned above the towel, indicating the sliding task is complete. The next action is to retreat the arm away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003559_ecot.json b/cot/chunk-0003/episode_0003559_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed96f25cdf4dd7de5b7bb87eaaedaafa75fd923 --- /dev/null +++ b/cot/chunk-0003/episode_0003559_ecot.json @@ -0,0 +1,1958 @@ +{ + "task_name": "episode_0003559", + "episode_json": "json/chunk-0003/episode_0003559.json", + "video_path": "videos/chunk-0003/image_0/episode_0003559.mp4", + "instruction": "Fold the cloth from top to bottom.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003559.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9249672293663025, + "std": 0.36375242471694946, + "delta_total": 0.006558060646057129, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92497, std=0.36375, total_delta=0.00656). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 119, + 119, + 119, + 119, + 119, + 19, + 19, + 19, + 227, + 227, + 227, + 227 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 23 + ], + [ + 3, + 24, + 26 + ], + [ + 4, + 27, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp top edge\", \"start\": 0, \"end\": 18, \"planning\": \"Move gripper to top edge of cloth and close to secure grasp as evidenced by gripper closing from 1.0 to 0.5.\"},\n {\"id\": 2, \"name\": \"lift and fold top half downward\", \"start\": 19, \"end\": 23, \"planning\": \"Lift grasped top edge and pull it downward over the bottom half, folding the cloth in half vertically.\"},\n {\"id\": 3, \"name\": \"reposition gripper for smoothing\", \"start\": 24, \"end\": 26, \"planning\": \"Release previous grasp, reorient gripper, and prepare to press or smooth the folded cloth.\"},\n {\"id\": 4, \"name\": \"press and release fold\", \"start\": 27, \"end\": 30, \"planning\": \"Apply downward pressure with gripper to flatten the fold, then fully open gripper and retreat slightly.\"}\n ],\n \"global_plan\": \"Fold the orange cloth from top to bottom by first grasping the top edge, lifting and pulling it down over the bottom half, then pressing the fold flat before releasing.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in all segments; grasp wording is justified where images show contact and motion supports manipulation. Segment 3 involves repositioning without active grasping but gripper opens partially then begins closing again — interpreted as preparation for pressing. Final segment shows full release after smoothing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp top edge", + "start": 0, + "end": 18, + "planning": "Move gripper to top edge of cloth and close to secure grasp as evidenced by gripper closing from 1.0 to 0.5." + }, + { + "id": 2, + "name": "lift and fold top half downward", + "start": 19, + "end": 23, + "planning": "Lift grasped top edge and pull it downward over the bottom half, folding the cloth in half vertically." + }, + { + "id": 3, + "name": "reposition gripper for smoothing", + "start": 24, + "end": 26, + "planning": "Release previous grasp, reorient gripper, and prepare to press or smooth the folded cloth." + }, + { + "id": 4, + "name": "press and release fold", + "start": 27, + "end": 30, + "planning": "Apply downward pressure with gripper to flatten the fold, then fully open gripper and retreat slightly." + } + ], + "global_plan": "Fold the orange cloth from top to bottom by first grasping the top edge, lifting and pulling it down over the bottom half, then pressing the fold flat before releasing.", + "notes": "Gripper evidence confirms meaningful closing in all segments; grasp wording is justified where images show contact and motion supports manipulation. Segment 3 involves repositioning without active grasping but gripper opens partially then begins closing again — interpreted as preparation for pressing. Final segment shows full release after smoothing." + } + }, + "episode_goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3223523497581482, + 0.06806496530771255, + 0.03912751376628876, + -3.0729105472564697, + -0.007407783530652523, + 0.2592863142490387 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3208603858947754, + 0.06688038259744644, + 0.028641950339078903, + -3.072965145111084, + 0.023797228932380676, + 0.25336185097694397 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466278612613678, + 0.06621276587247849, + 0.025167768821120262, + -3.0902204513549805, + 0.00219631171785295, + 0.16584815084934235 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37725692987442017, + 0.058286234736442566, + 0.023070024326443672, + -3.0851078033447266, + -0.01293555460870266, + 0.043498992919921875 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 995, + 994 + ], + "orange cloth": [ + 25, + 242, + 684, + 766 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.40612107515335083, + 0.05754426121711731, + 0.02464910037815571, + -3.0788679122924805, + -0.01999032124876976, + -0.04694337025284767 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.42623984813690186, + 0.05690109357237816, + 0.041917555034160614, + -3.057218551635742, + -0.04999798908829689, + -0.09192480146884918 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4345375597476959, + 0.060717348009347916, + 0.05202941596508026, + -3.0322489738464355, + -0.07994771748781204, + -0.09344832599163055 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.44441232085227966, + 0.06643801927566528, + 0.06342445313930511, + -3.01874041557312, + -0.11415459960699081, + -0.10813719034194946 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.44846251606941223, + 0.08125687390565872, + 0.04692301154136658, + -3.0238263607025146, + -0.09081818163394928, + -0.0997377261519432 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with gripper open, ready to approach the top edge. No grasping has occurred yet; the next action is to lower and align the gripper to contact and grasp the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4522106647491455, + 0.08835442364215851, + 0.04085192456841469, + -3.0283596515655518, + -0.082705058157444, + -0.09663914144039154 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4481641948223114, + 0.09727521240711212, + 0.03499756008386612, + -3.039614200592041, + -0.06403442472219467, + -0.08218733966350555 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, close gripper; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.44500601291656494, + 0.1072772741317749, + 0.03062940016388893, + -3.0394482612609863, + -0.06721425801515579, + -0.05946039408445358 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 26, + 240, + 684, + 765 + ], + "table": [ + 5, + 3, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, close gripper; then move back 3 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4453414976596832, + 0.10699329525232315, + 0.026753457263112068, + -3.039315700531006, + -0.07491874694824219, + -0.062417902052402496 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, close gripper; then move back 7 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.44211769104003906, + 0.10983055830001831, + 0.01567777991294861, + -3.0507893562316895, + -0.0664234608411789, + -0.05569230765104294 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, close gripper; then move back 11 cm, move right 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4416634440422058, + 0.11028683185577393, + 0.012123934924602509, + -3.0608372688293457, + -0.06348724663257599, + -0.06214544549584389 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 14 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.44260460138320923, + 0.11063475906848907, + 0.009446432814002037, + -3.0701546669006348, + -0.05538490042090416, + -0.07748924940824509 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 14 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4407724142074585, + 0.10884247720241547, + 0.00678629195317626, + -3.0808801651000977, + -0.050827957689762115, + -0.07074610888957977 + ], + "gripper_value": 0.7131344676017761 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 14 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4358229637145996, + 0.10970312356948853, + 0.006064379587769508, + -3.074596405029297, + -0.04646807909011841, + -0.058361779898405075 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move back 14 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.43264588713645935, + 0.11001652479171753, + 0.01111205480992794, + -3.0409603118896484, + -0.050343483686447144, + -0.05075608938932419 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move back 14 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.42382463812828064, + 0.11263380944728851, + 0.020590053871273994, + -3.006249189376831, + -0.058805499225854874, + -0.03679116815328598 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "lift and fold top half downward", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move down 1 cm, keep gripper open; then move back 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4117932915687561, + 0.1084488183259964, + 0.052628424018621445, + -2.958550453186035, + -0.1450331211090088, + -0.011523832567036152 + ], + "gripper_value": 0.19029754400253296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "lift and fold top half downward", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38900619745254517, + 0.10030119121074677, + 0.07273846119642258, + -2.9679226875305176, + -0.2113925963640213, + 0.038890376687049866 + ], + "gripper_value": 0.103162482380867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "lift and fold top half downward", + "subtask_reasoning": "The robot has grasped the top edge of the orange cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and guiding the top half downward over the bottom half to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556366264820099, + 0.09336081892251968, + 0.06055624783039093, + -3.0372884273529053, + -0.18755611777305603, + 0.11056692153215408 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 3, + 995, + 994 + ], + "orange cloth": [ + 31, + 263, + 672, + 744 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "lift and fold top half downward", + "subtask_reasoning": "The robot has grasped the top edge of the orange cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and guiding the top half downward over the bottom half to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31751346588134766, + 0.09856344759464264, + 0.04561740532517433, + -3.0877742767333984, + -0.1475571244955063, + 0.20478501915931702 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "lift and fold top half downward", + "subtask_reasoning": "The robot has grasped the top edge of the orange cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and guiding the top half downward over the bottom half to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.287554532289505, + 0.09768162667751312, + 0.02905191294848919, + 3.1411526203155518, + -0.110722117125988, + 0.2681567072868347 + ], + "gripper_value": 0.08432227373123169 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "reposition gripper for smoothing", + "subtask_reasoning": "The robot has grasped the top edge of the orange cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and guiding the top half downward over the bottom half to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27131348848342896, + 0.09996649622917175, + 0.015760857611894608, + 3.112053871154785, + -0.09503985196352005, + 0.3039330840110779 + ], + "gripper_value": 0.10394904017448425 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 24, + 334, + 662, + 758 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "reposition gripper for smoothing", + "subtask_reasoning": "The orange cloth has been folded top-to-bottom and is currently held by the gripper near the fold line. The gripper is positioned to press or smooth the fold flat. Next, the robot should lower or adjust grip to flatten the fold before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2600876986980438, + 0.09895692020654678, + 0.01678728312253952, + 3.125774621963501, + -0.06780576705932617, + 0.2907080352306366 + ], + "gripper_value": 0.2752157151699066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "reposition gripper for smoothing", + "subtask_reasoning": "The orange cloth has been folded top-to-bottom and is currently held by the gripper near the fold line. The gripper is positioned to press or smooth the fold flat. Next, the robot should lower or adjust grip to flatten the fold before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24821622669696808, + 0.10195189714431763, + 0.02286931872367859, + -3.114833354949951, + -0.04131557419896126, + 0.29943105578422546 + ], + "gripper_value": 0.5570889115333557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "press and release fold", + "subtask_reasoning": "The orange cloth has been folded top-to-bottom and is currently held by the gripper near the fold line. The gripper is positioned to press or smooth the fold flat. Next, the robot should lower or adjust grip to flatten the fold before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24009209871292114, + 0.10320001095533371, + 0.03383512422442436, + -3.072111129760742, + -0.028083443641662598, + 0.29634416103363037 + ], + "gripper_value": 0.85895174741745 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "press and release fold", + "subtask_reasoning": "The orange cloth has been folded top-to-bottom and the gripper is pressing down on the fold to flatten it. The segment-level gripper evidence supports a grasp/hold action, and the image confirms contact with the cloth. The next action is to maintain pressure briefly before releasing to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2280513346195221, + 0.09952356666326523, + 0.052781954407691956, + -3.0209109783172607, + 0.013419796712696552, + 0.29301679134368896 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "press and release fold", + "subtask_reasoning": "The orange cloth has been folded top-to-bottom and the gripper is pressing down on the fold to flatten it. The segment-level gripper evidence supports a grasp/hold action, and the image confirms contact with the cloth. The next action is to maintain pressure briefly before releasing to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2193717658519745, + 0.09587902575731277, + 0.0624816007912159, + -3.0010740756988525, + 0.010225024074316025, + 0.3072366714477539 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold top half downward" + }, + { + "id": 3, + "subtask": "reposition gripper for smoothing" + }, + { + "id": 4, + "subtask": "press and release fold" + } + ], + "subtask_name": "press and release fold", + "subtask_reasoning": "The orange cloth has been folded top-to-bottom and the gripper is pressing down on the fold to flatten it. The segment-level gripper evidence supports a grasp/hold action, and the image confirms contact with the cloth. The next action is to maintain pressure briefly before releasing to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003560_ecot.json b/cot/chunk-0003/episode_0003560_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..72d142b620e701aed3c4ae94448d7c97a59b9ed0 --- /dev/null +++ b/cot/chunk-0003/episode_0003560_ecot.json @@ -0,0 +1,1108 @@ +{ + "task_name": "episode_0003560", + "episode_json": "json/chunk-0003/episode_0003560.json", + "video_path": "videos/chunk-0003/image_0/episode_0003560.mp4", + "instruction": "Put green squash into pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003560.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.14479070901870728, + "std": 0.07162753492593765, + "delta_total": -0.14479070901870728, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.14479, std=0.07163, total_delta=-0.14479). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green squash\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the green squash located on the right side of the sink without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp green squash\", \"start\": 6, \"end\": 10, \"planning\": \"Close the gripper around the green squash to secure it for lifting, as evidenced by the meaningful drop in gripper value from 1.0 to ~0.855.\"},\n {\"id\": 3, \"name\": \"lift and transport squash\", \"start\": 11, \"end\": 14, \"planning\": \"Lift the grasped green squash and move it horizontally over the metal pot in the sink basin.\"},\n {\"id\": 4, \"name\": \"release squash into pot\", \"start\": 15, \"end\": 15, \"planning\": \"Open the gripper to release the green squash directly into the pot, completing the placement task.\"}\n ],\n \"global_plan\": \"Approach the green squash on the sink’s right edge, grasp it securely using gripper closure observed between frames 6–10, lift and carry it over the pot, then release it inside the pot at frame 15.\",\n \"notes\": \"Segment 1 (frames 0–5) shows no gripper closure — only approach motion. Segment 2 (frames 6–15) includes meaningful gripper closing (delta=-0.14479), enabling grasp/release wording. Final frame 15 shows squash fully released into pot with gripper still open.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green squash", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the green squash located on the right side of the sink without closing the gripper." + }, + { + "id": 2, + "name": "grasp green squash", + "start": 6, + "end": 10, + "planning": "Close the gripper around the green squash to secure it for lifting, as evidenced by the meaningful drop in gripper value from 1.0 to ~0.855." + }, + { + "id": 3, + "name": "lift and transport squash", + "start": 11, + "end": 14, + "planning": "Lift the grasped green squash and move it horizontally over the metal pot in the sink basin." + }, + { + "id": 4, + "name": "release squash into pot", + "start": 15, + "end": 15, + "planning": "Open the gripper to release the green squash directly into the pot, completing the placement task." + } + ], + "global_plan": "Approach the green squash on the sink’s right edge, grasp it securely using gripper closure observed between frames 6–10, lift and carry it over the pot, then release it inside the pot at frame 15.", + "notes": "Segment 1 (frames 0–5) shows no gripper closure — only approach motion. Segment 2 (frames 6–15) includes meaningful gripper closing (delta=-0.14479), enabling grasp/release wording. Final frame 15 shows squash fully released into pot with gripper still open." + } + }, + "episode_goal": "Place the green squash into the metal pot in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943632900714874, + -0.12840458750724792, + 0.18368259072303772, + -3.011448621749878, + -0.43320634961128235, + -0.174333855509758 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot is positioned near the sink with the green squash visible on the right edge. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 4 cm, keep gripper open; then move back 2 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2962243854999542, + -0.12705984711647034, + 0.17196770012378693, + -2.985872983932495, + -0.3786764442920685, + -0.19156290590763092 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot is positioned near the sink with the green squash visible on the right edge. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 5 cm, move left 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067244589328766, + -0.1204516664147377, + 0.17020070552825928, + -2.973745584487915, + -0.3766688108444214, + -0.2016526460647583 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow dish rack": [ + 3, + 30, + 456, + 394 + ], + "green sponge": [ + 752, + 180, + 888, + 391 + ], + "grey fork": [ + 572, + 589, + 753, + 870 + ], + "metal bowl": [ + 394, + 422, + 670, + 789 + ], + "red cup": [ + 642, + 58, + 720, + 189 + ], + "blue sink": [ + 6, + 151, + 974, + 994 + ], + "blue cup": [ + 138, + 156, + 264, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot is positioned near the sink with the green squash visible on the right edge. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 5 cm, move left 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159666955471039, + -0.12211379408836365, + 0.16750234365463257, + -2.976590633392334, + -0.3871126174926758, + -0.2304432988166809 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot is positioned near the sink with the green squash visible on the right edge. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 5 cm, move left 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.326073557138443, + -0.11820566654205322, + 0.15892939269542694, + -2.9950368404388428, + -0.3737805187702179, + -0.22737035155296326 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot is positioned near the sink with the green squash visible on the right edge. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 5 cm, move left 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33165809512138367, + -0.11696625500917435, + 0.1535452902317047, + -3.0172641277313232, + -0.3711342513561249, + -0.22480271756649017 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot is positioned near the sink with the green squash visible on the right edge. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 5 cm, move left 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 6 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3373936712741852, + -0.1147223487496376, + 0.14701826870441437, + -3.0356016159057617, + -0.37841370701789856, + -0.20618638396263123 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot is positioned near the sink with the green squash visible on the right edge. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 6 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.338569313287735, + -0.1150951087474823, + 0.1378890424966812, + -3.0750834941864014, + -0.3732166290283203, + -0.1574409306049347 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot is positioned near the sink with the green squash visible on the right edge. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33948883414268494, + -0.11624637991189957, + 0.13086636364459991, + -3.0896475315093994, + -0.3588412404060364, + -0.1275627613067627 + ], + "gripper_value": 0.8687413334846497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot has approached the green squash on the sink's right edge and is now in contact with it. The gripper is closing around the squash, as indicated by the decreasing gripper value within the subtask segment. The next action is to secure the grasp before lifting the squash." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346174359321594, + -0.11409138143062592, + 0.12789912521839142, + -3.0897412300109863, + -0.3608147203922272, + -0.0902494415640831 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot has approached the green squash on the sink's right edge and is now in contact with it. The gripper is closing around the squash, as indicated by the decreasing gripper value within the subtask segment. The next action is to secure the grasp before lifting the squash." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31541913747787476, + -0.109962098300457, + 0.13299576938152313, + -3.053863763809204, + -0.3399728536605835, + -0.053611189126968384 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot has approached the green squash on the sink's right edge and is now in contact with it. The gripper is closing around the squash, as indicated by the decreasing gripper value within the subtask segment. The next action is to secure the grasp before lifting the squash." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper closed; then move back 6 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2917351722717285, + -0.1088424026966095, + 0.14810283482074738, + -3.0045838356018066, + -0.3396914005279541, + -0.01579170487821102 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "lift and transport squash", + "subtask_reasoning": "The robot has approached the green squash on the sink's right edge and is now in contact with it. The gripper is closing around the squash, as indicated by the decreasing gripper value within the subtask segment. The next action is to secure the grasp before lifting the squash." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2698516547679901, + -0.09779111295938492, + 0.15210551023483276, + -3.001842737197876, + -0.35247740149497986, + 0.05673637241125107 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "lift and transport squash", + "subtask_reasoning": "The green squash is currently held above the metal pot in the sink, having been grasped and lifted from the sink edge. The gripper remains closed with no further closure observed in this segment, indicating transport is ongoing. The next action is to move the squash directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2505352199077606, + -0.08617918193340302, + 0.14450721442699432, + -3.0109055042266846, + -0.34544429183006287, + 0.11750569194555283 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow dish rack": [ + 3, + 29, + 457, + 394 + ], + "red cup": [ + 583, + 27, + 689, + 123 + ], + "green sponge": [ + 591, + 288, + 739, + 496 + ], + "grey fork": [ + 572, + 589, + 752, + 870 + ], + "metal bowl": [ + 392, + 422, + 670, + 789 + ], + "grey faucet": [ + 427, + 7, + 558, + 222 + ], + "blue cup": [ + 137, + 158, + 264, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "lift and transport squash", + "subtask_reasoning": "The green squash is currently held above the metal pot in the sink, having been grasped and lifted from the sink edge. The gripper remains closed with no further closure observed in this segment, indicating transport is ongoing. The next action is to move the squash directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24029721319675446, + -0.07850953936576843, + 0.13996578752994537, + -3.0200657844543457, + -0.33426564931869507, + 0.16515102982521057 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "lift and transport squash", + "subtask_reasoning": "The green squash is currently held above the metal pot in the sink, having been grasped and lifted from the sink edge. The gripper remains closed with no further closure observed in this segment, indicating transport is ongoing. The next action is to move the squash directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23426620662212372, + -0.07369676977396011, + 0.13532546162605286, + -3.017429828643799, + -0.30055803060531616, + 0.18391479551792145 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green squash into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "lift and transport squash" + }, + { + "id": 4, + "subtask": "release squash into pot" + } + ], + "subtask_name": "release squash into pot", + "subtask_reasoning": "The robot arm is positioned directly over the metal pot in the sink, holding the green squash above the opening. The gripper is currently open, indicating the object has been released or is in the process of being dropped. The next logical step is to move the arm away from the pot to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003561_ecot.json b/cot/chunk-0003/episode_0003561_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..09706f905af57f0e1d27be50140e71d7a159e861 --- /dev/null +++ b/cot/chunk-0003/episode_0003561_ecot.json @@ -0,0 +1,2164 @@ +{ + "task_name": "episode_0003561", + "episode_json": "json/chunk-0003/episode_0003561.json", + "video_path": "videos/chunk-0003/image_0/episode_0003561.mp4", + "instruction": "Take the can and put it on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003561.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 9 + ], + [ + 3, + 10, + 12 + ], + [ + 4, + 13, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach target can\", \"start\": 0, \"end\": 9, \"planning\": \"Move the gripper from initial position toward the rear can on the table without closing fingers.\"},\n {\"id\": 2, \"name\": \"align above can\", \"start\": 10, \"end\": 12, \"planning\": \"Fine-tune end-effector pose to center above the target can in preparation for contact.\"},\n {\"id\": 3, \"name\": \"descend to contact\", \"start\": 13, \"end\": 22, \"planning\": \"Lower the gripper vertically until making physical contact with the top of the can.\"},\n {\"id\": 4, \"name\": \"reposition can on table\", \"start\": 23, \"end\": 32, \"planning\": \"Slide or nudge the can forward and leftward across the table surface to desired location without lifting.\"}\n ],\n \"global_plan\": \"The robot approaches the rear can, aligns above it, descends to make contact, then slides it forward-left on the table — all without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper never closes (value=0.99882 constant), so no grasp/lift/place actions are valid. Motion is purely positional contact-based manipulation. Segment boundaries respected but merged where motion phases are continuous.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach target can", + "start": 0, + "end": 9, + "planning": "Move the gripper from initial position toward the rear can on the table without closing fingers." + }, + { + "id": 2, + "name": "align above can", + "start": 10, + "end": 12, + "planning": "Fine-tune end-effector pose to center above the target can in preparation for contact." + }, + { + "id": 3, + "name": "descend to contact", + "start": 13, + "end": 22, + "planning": "Lower the gripper vertically until making physical contact with the top of the can." + }, + { + "id": 4, + "name": "reposition can on table", + "start": 23, + "end": 32, + "planning": "Slide or nudge the can forward and leftward across the table surface to desired location without lifting." + } + ], + "global_plan": "The robot approaches the rear can, aligns above it, descends to make contact, then slides it forward-left on the table — all without grasping, as gripper remains fully open throughout.", + "notes": "Gripper never closes (value=0.99882 constant), so no grasp/lift/place actions are valid. Motion is purely positional contact-based manipulation. Segment boundaries respected but merged where motion phases are continuous." + } + }, + "episode_goal": "Place the can on the table next to the other can.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29801782965660095, + -0.010303081944584846, + 0.03550795838236809, + 3.1160361766815186, + -0.3049059510231018, + 0.47692617774009705 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2937239408493042, + -0.009991598315536976, + 0.028878776356577873, + 3.1326231956481934, + -0.27966198325157166, + 0.47060108184814453 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31376081705093384, + -0.0027269194833934307, + 0.04497459903359413, + -3.132776975631714, + -0.29717761278152466, + 0.4007112383842468 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 684, + 553, + 995, + 995 + ], + "yellow utility knife": [ + 234, + 274, + 375, + 348 + ], + "tin can": [ + 290, + 523, + 475, + 805 + ], + "wooden spoon": [ + 783, + 237, + 995, + 473 + ], + "cardboard box": [ + 1, + 3, + 162, + 463 + ] + } + } + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33417147397994995, + 0.0021500084549188614, + 0.05938532575964928, + -3.131629228591919, + -0.3281867802143097, + 0.3283258378505707 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3485882878303528, + 0.003222390543669462, + 0.06340669095516205, + -3.1196420192718506, + -0.35188546776771545, + 0.24972541630268097 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 1 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.372030645608902, + 0.0009226306574419141, + 0.06868766248226166, + -3.1162843704223633, + -0.3996990919113159, + 0.16088971495628357 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4003256559371948, + 0.004497705493122339, + 0.06889135390520096, + -3.1004905700683594, + -0.41014364361763, + 0.1852729469537735 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.42100825905799866, + 0.003244168823584914, + 0.07143832743167877, + -3.1068902015686035, + -0.39389216899871826, + 0.21371245384216309 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4408589005470276, + 0.0016212055925279856, + 0.06798285245895386, + -3.114373207092285, + -0.4080801010131836, + 0.2107347548007965 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4551052749156952, + -0.003005980746820569, + 0.06526859849691391, + -3.140627145767212, + -0.44280076026916504, + 0.19163165986537933 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 11 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.46834391355514526, + -0.005507507361471653, + 0.06018931418657303, + 3.119058132171631, + -0.4704616963863373, + 0.1681101769208908 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the rear can. No contact or grasping has occurred yet. The next action is to continue moving toward the target can to align for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 14 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4773123562335968, + -0.007848488166928291, + 0.05736794322729111, + 3.1065008640289307, + -0.47553908824920654, + 0.1565573662519455 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot is positioned above the rear can on the table, with the gripper fully open and no grasping action occurring. The alignment phase is complete, and the next step is to descend toward the can to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 15 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4835692346096039, + -0.005522856023162603, + 0.04344558343291283, + 3.134265661239624, + -0.43089112639427185, + 0.14750833809375763 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 683, + 554, + 995, + 995 + ], + "yellow utility knife": [ + 234, + 274, + 376, + 347 + ], + "tin can": [ + 626, + 209, + 775, + 442 + ], + "tin can_2": [ + 289, + 524, + 475, + 809 + ], + "wooden spoon": [ + 781, + 236, + 996, + 465 + ], + "black cable": [ + 44, + 817, + 108, + 995 + ], + "blue tool": [ + 324, + 9, + 383, + 160 + ] + } + } + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot is positioned above the rear can on the table, with the gripper fully open and no grasping action occurring. The alignment phase is complete, and the next step is to descend toward the can to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 16 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.48395174741744995, + -0.00847595278173685, + 0.03834826499223709, + -3.128371238708496, + -0.3767915666103363, + 0.06534606963396072 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can on the table, with the gripper fully open and no grasping action occurring. The alignment phase is complete, and the next step is to descend toward the can to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4775404632091522, + -0.006895780097693205, + 0.032381150871515274, + -3.0833492279052734, + -0.34205663204193115, + -0.03393250331282616 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can on the table, with the gripper fully open and no grasping action occurring. The alignment phase is complete, and the next step is to descend toward the can to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.45937585830688477, + -0.014072061516344547, + 0.01791541650891304, + -3.114840269088745, + -0.28427547216415405, + -0.09671399742364883 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can on the table, with the gripper fully open and no grasping action occurring. The alignment phase is complete, and the next step is to descend toward the can to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4437480866909027, + -0.012551654130220413, + 0.018513794988393784, + -3.091392993927002, + -0.28121355175971985, + -0.11718487739562988 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can on the table, with the gripper fully open and no grasping action occurring. The alignment phase is complete, and the next step is to descend toward the can to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4255923926830292, + -0.0116130905225873, + 0.014293191954493523, + -3.057370901107788, + -0.27992475032806396, + -0.153890460729599 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.394467830657959, + -0.011157405562698841, + 0.0244247168302536, + -3.0690717697143555, + -0.27560409903526306, + -0.18562981486320496 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 684, + 557, + 995, + 996 + ], + "yellow utility knife": [ + 234, + 273, + 376, + 347 + ], + "tin can": [ + 558, + 288, + 712, + 529 + ], + "tin can_2": [ + 290, + 524, + 475, + 806 + ], + "wooden spoon": [ + 784, + 236, + 995, + 466 + ], + "black cable": [ + 2, + 806, + 107, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 3 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3734528124332428, + -0.005900523159652948, + 0.021318577229976654, + -3.0635757446289062, + -0.2708360254764557, + -0.20006361603736877 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34832102060317993, + -0.006600397638976574, + 0.0208649430423975, + -3.0695462226867676, + -0.2553865611553192, + -0.22181667387485504 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3377155363559723, + -0.004394508432596922, + 0.019029606133699417, + -3.053011655807495, + -0.2576398253440857, + -0.22561299800872803 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32858243584632874, + -0.0034853483084589243, + 0.012286917306482792, + -3.0521373748779297, + -0.2372850626707077, + -0.2284529060125351 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166212737560272, + -0.0054296087473630905, + 0.008682860061526299, + -3.0442357063293457, + -0.2272866666316986, + -0.23954446613788605 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061895966529846, + -0.0048116156831383705, + 0.0056076133623719215, + -3.035694122314453, + -0.21275269985198975, + -0.26082104444503784 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30834144353866577, + -0.004960843827575445, + 0.012350920587778091, + -3.033797025680542, + -0.24817252159118652, + -0.24112960696220398 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32113203406333923, + -0.0035696488339453936, + 0.01842149905860424, + -3.0045835971832275, + -0.32435110211372375, + -0.20091629028320312 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, descending toward it. No grasping has occurred; contact is imminent. The next action is to complete descent and make physical contact with the can to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.335997074842453, + -0.0035886240657418966, + 0.025403130799531937, + -3.002385139465332, + -0.36279940605163574, + -0.17886480689048767 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, consistent with a non-grasping push strategy. The can has not yet been moved to its target position next to the other can. The next action is to slide the can forward-left on the table using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430381119251251, + -0.004891321994364262, + 0.030912237241864204, + -3.0125319957733154, + -0.38228246569633484, + -0.14749658107757568 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, consistent with a non-grasping push strategy. The can has not yet been moved to its target position next to the other can. The next action is to slide the can forward-left on the table using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432829976081848, + -0.010172741487622261, + 0.03379319608211517, + -3.0405845642089844, + -0.36104458570480347, + -0.12849019467830658 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, consistent with a non-grasping push strategy. The can has not yet been moved to its target position next to the other can. The next action is to slide the can forward-left on the table using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360779285430908, + -0.022989319637417793, + 0.03295671567320824, + -3.0506887435913086, + -0.31741780042648315, + -0.09660663455724716 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, consistent with a non-grasping push strategy. The can has not yet been moved to its target position next to the other can. The next action is to slide the can forward-left on the table using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3328571617603302, + -0.03965562582015991, + 0.04418456554412842, + -3.080622911453247, + -0.34602031111717224, + 0.06057349964976311 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, consistent with a non-grasping push strategy. The can has not yet been moved to its target position next to the other can. The next action is to slide the can forward-left on the table using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33026570081710815, + -0.05917628854513168, + 0.05345796048641205, + -3.1224887371063232, + -0.3793065547943115, + 0.15054433047771454 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 683, + 555, + 995, + 996 + ], + "yellow utility knife": [ + 234, + 273, + 376, + 348 + ], + "wooden spoon": [ + 780, + 236, + 995, + 467 + ], + "cardboard box": [ + 1, + 3, + 164, + 464 + ], + "tin can": [ + 291, + 525, + 473, + 805 + ] + } + } + }, + "Understanding": { + "goal": "Place the can on the table next to the other can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "reposition can on table" + } + ], + "subtask_name": "reposition can on table", + "subtask_reasoning": "The robot is positioned above the rear can with the gripper fully open, consistent with a non-grasping push strategy. The can has not yet been moved to its target position next to the other can. The next action is to slide the can forward-left on the table using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003562_ecot.json b/cot/chunk-0003/episode_0003562_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fe3e0406fd8c290e026a1ff2665cffac860a703c --- /dev/null +++ b/cot/chunk-0003/episode_0003562_ecot.json @@ -0,0 +1,2226 @@ +{ + "task_name": "episode_0003562", + "episode_json": "json/chunk-0003/episode_0003562.json", + "video_path": "videos/chunk-0003/image_0/episode_0003562.mp4", + "instruction": "Move the green object to the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003562.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.5667514801025391, + "std": 0.2632579803466797, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56675, std=0.26326, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 129, + 129, + 129, + 129, + 129, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 16 + ], + [ + 3, + 17, + 28 + ], + [ + 4, + 29, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the green object without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp green object\", \"start\": 4, \"end\": 16, \"planning\": \"Close the gripper around the green object and secure it for transport.\"},\n {\"id\": 3, \"name\": \"transport green object left\", \"start\": 17, \"end\": 28, \"planning\": \"Carry the grasped green object across the table toward the left side while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release green object\", \"start\": 29, \"end\": 34, \"planning\": \"Open the gripper to release the green object at the target location on the left side of the table.\"}\n ],\n \"global_plan\": \"Approach the green object, grasp it securely, transport it to the left side of the table, and release it there.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing and image confirms grasp. Segment 3 maintains grip without further closure — transport phase. Segment 4 shows gripper opening — release phase. All segments align with observed motion and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the green object without closing the gripper." + }, + { + "id": 2, + "name": "grasp green object", + "start": 4, + "end": 16, + "planning": "Close the gripper around the green object and secure it for transport." + }, + { + "id": 3, + "name": "transport green object left", + "start": 17, + "end": 28, + "planning": "Carry the grasped green object across the table toward the left side while maintaining grip." + }, + { + "id": 4, + "name": "release green object", + "start": 29, + "end": 34, + "planning": "Open the gripper to release the green object at the target location on the left side of the table." + } + ], + "global_plan": "Approach the green object, grasp it securely, transport it to the left side of the table, and release it there.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing and image confirms grasp. Segment 3 maintains grip without further closure — transport phase. Segment 4 shows gripper opening — release phase. All segments align with observed motion and gripper evidence." + } + }, + "episode_goal": "Move the green object to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783266007900238, + 0.003684557508677244, + 0.15868909657001495, + -2.9973886013031006, + -0.535187840461731, + -0.24749527871608734 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move left 8 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27582263946533203, + 0.0036691930145025253, + 0.15212342143058777, + -3.004436731338501, + -0.5146011114120483, + -0.2426486313343048 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move left 8 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27911221981048584, + 0.005856738425791264, + 0.14826403558254242, + -3.0336503982543945, + -0.4662608802318573, + -0.1822213977575302 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move left 8 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2853202223777771, + 0.02914537489414215, + 0.1387462466955185, + -3.106433391571045, + -0.3874755799770355, + 0.05735182762145996 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 8 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2905714213848114, + 0.062009964138269424, + 0.12931787967681885, + 3.1235790252685547, + -0.33672773838043213, + 0.3296411633491516 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 994 + ], + "wooden box": [ + 518, + 47, + 995, + 678 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923122048377991, + 0.0973094180226326, + 0.12505966424942017, + 3.0766077041625977, + -0.2976655662059784, + 0.5943265557289124 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29083237051963806, + 0.12075591087341309, + 0.11455027759075165, + 3.0183000564575195, + -0.2682112455368042, + 0.8448671102523804 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28644251823425293, + 0.14269664883613586, + 0.10225550830364227, + 3.0491509437561035, + -0.28723254799842834, + 1.1205285787582397 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832247316837311, + 0.14629121124744415, + 0.08367206156253815, + 3.079047679901123, + -0.24996277689933777, + 1.2162104845046997 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2794019877910614, + 0.14507855474948883, + 0.07107561081647873, + 3.0957984924316406, + -0.23949161171913147, + 1.2208548784255981 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object visible to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28390979766845703, + 0.1400628536939621, + 0.060831885784864426, + 3.0884594917297363, + -0.2204243242740631, + 1.237938642501831 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, close gripper; then move forward 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846832275390625, + 0.1388217806816101, + 0.04976872354745865, + 3.1074724197387695, + -0.21116948127746582, + 1.248533010482788 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move left 3 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2882603406906128, + 0.1381610631942749, + 0.03324089199304581, + 3.1158788204193115, + -0.18696269392967224, + 1.2499351501464844 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 996, + 994 + ], + "yellow object": [ + 859, + 0, + 963, + 32 + ], + "black clamp": [ + 505, + 325, + 742, + 589 + ], + "wooden box": [ + 561, + 45, + 995, + 678 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move left 6 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29371675848960876, + 0.14410096406936646, + 0.02574295364320278, + 3.1170852184295654, + -0.23646464943885803, + 1.2420796155929565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move left 8 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2963326871395111, + 0.1392626315355301, + 0.013711349107325077, + 3.1065337657928467, + -0.20707809925079346, + 1.2426244020462036 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move left 10 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30044955015182495, + 0.1352764368057251, + 0.010527385398745537, + 3.074446439743042, + -0.18564897775650024, + 1.2322827577590942 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 6 cm, move left 11 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29832398891448975, + 0.13293349742889404, + 0.008298981003463268, + 3.0836877822875977, + -0.18568409979343414, + 1.247439980506897 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 6 cm, move left 12 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992294728755951, + 0.12514299154281616, + 0.00792743917554617, + 3.072451114654541, + -0.14584699273109436, + 1.2357134819030762 + ], + "gripper_value": 0.44298648834228516 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30349603295326233, + 0.12106963247060776, + 0.011156752705574036, + 3.0525107383728027, + -0.11250998079776764, + 1.205551266670227 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30552178621292114, + 0.12005230784416199, + 0.01612015627324581, + 3.0488901138305664, + -0.08344145864248276, + 1.1440540552139282 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3079720437526703, + 0.12937308847904205, + 0.04853593185544014, + 3.0198304653167725, + -0.13113254308700562, + 1.0709261894226074 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 11 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31117114424705505, + 0.15531298518180847, + 0.07744568586349487, + 2.999286651611328, + -0.17894762754440308, + 1.0577768087387085 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 995, + 994 + ], + "wooden box": [ + 524, + 45, + 994, + 678 + ], + "black cylinder": [ + 1, + 314, + 65, + 427 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move down 6 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166761100292206, + 0.18196098506450653, + 0.0974964126944542, + 2.956094980239868, + -0.22153985500335693, + 1.118808627128601 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 8 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33275365829467773, + 0.20254650712013245, + 0.09280120581388474, + 2.9587817192077637, + -0.22064074873924255, + 1.1228424310684204 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 8 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34692224860191345, + 0.22039826214313507, + 0.07976570725440979, + 2.9760024547576904, + -0.2311473786830902, + 1.1194368600845337 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 7 cm, open gripper; then move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3586246371269226, + 0.2351030558347702, + 0.060961876064538956, + 2.9795804023742676, + -0.22986365854740143, + 1.125535249710083 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, open gripper; then move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3637222945690155, + 0.24181309342384338, + 0.03792383521795273, + 2.9925625324249268, + -0.2144521325826645, + 1.1190617084503174 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632403016090393, + 0.24155788123607635, + 0.020558353513479233, + 3.004828691482544, + -0.19484663009643555, + 1.115585446357727 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3653537631034851, + 0.24242135882377625, + 0.01730446331202984, + 2.9973127841949463, + -0.20316293835639954, + 1.113882064819336 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "transport green object left", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36361366510391235, + 0.24172170460224152, + 0.013074690476059914, + 3.010913610458374, + -0.19664040207862854, + 1.103660225868225 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36247944831848145, + 0.2374289184808731, + 0.012670083902776241, + 3.012795925140381, + -0.17232538759708405, + 1.0815993547439575 + ], + "gripper_value": 0.8307508826255798 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently held by the gripper and is being moved across the table toward the left side. The gripper remains closed with no significant change, indicating continuous transport without release. The next action is to continue moving the object leftward until reaching the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3631700575351715, + 0.23479801416397095, + 0.010723895393311977, + 3.0091798305511475, + -0.16969406604766846, + 1.0622031688690186 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently held by the gripper above the left side of the table, having been transported from its original position. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being released. The next action is to confirm release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.36143115162849426, + 0.2305988371372223, + 0.012338386848568916, + 3.004429578781128, + -0.1478462517261505, + 1.0520522594451904 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently held by the gripper above the left side of the table, having been transported from its original position. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being released. The next action is to confirm release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.36245113611221313, + 0.23216980695724487, + 0.04469035565853119, + 2.98394513130188, + -0.21608242392539978, + 1.0556081533432007 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently held by the gripper above the left side of the table, having been transported from its original position. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being released. The next action is to confirm release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3615499436855316, + 0.2244771271944046, + 0.07385890185832977, + 2.932999849319458, + -0.1977531909942627, + 1.0327316522598267 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 514, + 47, + 995, + 678 + ], + "table": [ + 4, + 4, + 996, + 994 + ], + "yellow object": [ + 858, + 0, + 963, + 31 + ], + "black clamp": [ + 505, + 326, + 741, + 588 + ], + "black cylinder": [ + 1, + 315, + 66, + 430 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object left" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently held by the gripper above the left side of the table, having been transported from its original position. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being released. The next action is to confirm release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003563_ecot.json b/cot/chunk-0003/episode_0003563_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..dc670bd769fa070a048e8fb752a66f3a3c0f2d1c --- /dev/null +++ b/cot/chunk-0003/episode_0003563_ecot.json @@ -0,0 +1,2262 @@ +{ + "task_name": "episode_0003563", + "episode_json": "json/chunk-0003/episode_0003563.json", + "video_path": "videos/chunk-0003/image_0/episode_0003563.mp4", + "instruction": "Take carrot off plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003563.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.5107478499412537, + "std": 0.22619673609733582, + "delta_total": -0.4738948941230774, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.51075, std=0.22620, total_delta=-0.47389). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 23, + 24, + 24, + 24, + 24, + 24, + 24, + 24, + 24, + 124, + 124, + 124 + ], + "seg_spans": [ + [ + 1, + 0, + 22 + ], + [ + 2, + 23, + 23 + ], + [ + 3, + 24, + 31 + ], + [ + 4, + 32, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on carrot\", \"start\": 0, \"end\": 22, \"planning\": \"Move end-effector toward the carrot on the plate and close gripper to establish contact and initial grasp.\"},\n {\"id\": 2, \"name\": \"secure grip and lift slightly\", \"start\": 23, \"end\": 23, \"planning\": \"Maintain closed gripper state while adjusting pose to ensure stable hold before lifting motion begins.\"},\n {\"id\": 3, \"name\": \"lift and reposition carrot away from plate\", \"start\": 24, \"end\": 31, \"planning\": \"Lift carrot clear of plate and translate arm backward and upward to move object away from original location.\"},\n {\"id\": 4, \"name\": \"final retreat with carrot held\", \"start\": 32, \"end\": 34, \"planning\": \"Continue retreating arm while maintaining grip, completing removal of carrot from plate area.\"}\n ],\n \"global_plan\": \"Approach carrot on plate, close gripper to grasp it, lift and reposition away from plate, then retreat while holding carrot to complete removal.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.37436) consistent with grasping; Segments 2–4 show minimal gripper change but images confirm carrot is held throughout — wording adjusted to reflect sustained hold without implying new grasps. Frame coverage is contiguous and complete [0,34].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on carrot", + "start": 0, + "end": 22, + "planning": "Move end-effector toward the carrot on the plate and close gripper to establish contact and initial grasp." + }, + { + "id": 2, + "name": "secure grip and lift slightly", + "start": 23, + "end": 23, + "planning": "Maintain closed gripper state while adjusting pose to ensure stable hold before lifting motion begins." + }, + { + "id": 3, + "name": "lift and reposition carrot away from plate", + "start": 24, + "end": 31, + "planning": "Lift carrot clear of plate and translate arm backward and upward to move object away from original location." + }, + { + "id": 4, + "name": "final retreat with carrot held", + "start": 32, + "end": 34, + "planning": "Continue retreating arm while maintaining grip, completing removal of carrot from plate area." + } + ], + "global_plan": "Approach carrot on plate, close gripper to grasp it, lift and reposition away from plate, then retreat while holding carrot to complete removal.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.37436) consistent with grasping; Segments 2–4 show minimal gripper change but images confirm carrot is held throughout — wording adjusted to reflect sustained hold without implying new grasps. Frame coverage is contiguous and complete [0,34]." + } + }, + "episode_goal": "Grasp the orange carrot on the green plate and lift it clear of the plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21416939795017242, + -0.040003702044487, + 0.09180747717618942, + 3.1399691104888916, + -0.16284766793251038, + 0.449489563703537 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 9 cm, move down 3 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.211659237742424, + -0.040756601840257645, + 0.08784624934196472, + -3.1377875804901123, + -0.1427849978208542, + 0.45086467266082764 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 10 cm, move down 3 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22108645737171173, + -0.03715618699789047, + 0.08621308952569962, + 3.128985643386841, + -0.10858558118343353, + 0.4843195080757141 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 10 cm, move down 4 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23410426080226898, + -0.02915443852543831, + 0.08986665308475494, + 3.111097812652588, + -0.1127111092209816, + 0.5573977828025818 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 94, + 372, + 325, + 678 + ], + "orange toy": [ + 122, + 912, + 211, + 984 + ], + "cardboard box": [ + 15, + 234, + 838, + 988 + ], + "green plate": [ + 165, + 558, + 268, + 669 + ], + "red cup": [ + 484, + 814, + 643, + 954 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, move down 5 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25356388092041016, + -0.01816231571137905, + 0.09341518580913544, + 3.0847904682159424, + -0.12471514940261841, + 0.6316329836845398 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26953187584877014, + -0.004551059566438198, + 0.09198007732629776, + 3.0920042991638184, + -0.07143332809209824, + 0.7336034774780273 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888377904891968, + 0.010384923778474331, + 0.09100526571273804, + 3.0999417304992676, + -0.047313399612903595, + 0.8195043206214905 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30435243248939514, + 0.021646352484822273, + 0.08156448602676392, + 3.0989294052124023, + -0.008005138486623764, + 0.9159810543060303 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3182147741317749, + 0.03258996084332466, + 0.07470489293336868, + 3.045367479324341, + -0.05913093313574791, + 1.0073004961013794 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3280752897262573, + 0.04129033535718918, + 0.0659947469830513, + 2.9869391918182373, + -0.08043064177036285, + 1.0776255130767822 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 461, + 454, + 671, + 570 + ], + "metal pot": [ + 94, + 371, + 327, + 677 + ], + "cardboard box": [ + 15, + 233, + 818, + 984 + ], + "red cup": [ + 484, + 814, + 643, + 954 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327904939651489, + 0.05012211203575134, + 0.06159556657075882, + 2.9644052982330322, + -0.09155906736850739, + 1.1502999067306519 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot is positioned above the green plate with the carrot visible below. The gripper is currently open and has not yet made contact with the carrot. The next action is to lower the gripper and close it around the carrot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32858967781066895, + 0.05584028363227844, + 0.055859990417957306, + 2.998108386993408, + -0.07488850504159927, + 1.1823359727859497 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.325374573469162, + 0.05940507352352142, + 0.04971838369965553, + 2.995140790939331, + -0.0903477668762207, + 1.2320283651351929 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31935980916023254, + 0.058755964040756226, + 0.03910445794463158, + 2.979834794998169, + -0.09495870769023895, + 1.2664095163345337 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203621208667755, + 0.060590315610170364, + 0.03574533388018608, + 2.911943197250366, + -0.11457791924476624, + 1.3121960163116455 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.325728178024292, + 0.05757446587085724, + 0.03644223511219025, + 2.865243911743164, + -0.0986969843506813, + 1.3353551626205444 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3287189304828644, + 0.05346011370420456, + 0.03998110815882683, + 2.8570992946624756, + -0.06856562197208405, + 1.3378056287765503 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3335946500301361, + 0.048776306211948395, + 0.03995111212134361, + 2.852165937423706, + -0.02627810649573803, + 1.3429439067840576 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.330765962600708, + 0.0463835746049881, + 0.02743886411190033, + 2.844937562942505, + 0.017202939838171005, + 1.358149766921997 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed; then move back 5 cm, move right 3 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3277563750743866, + 0.041287198662757874, + 0.014163311570882797, + 2.819946050643921, + 0.044087618589401245, + 1.3869211673736572 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 94, + 371, + 325, + 674 + ], + "green plate": [ + 456, + 451, + 667, + 573 + ], + "red cup": [ + 484, + 814, + 642, + 952 + ], + "cardboard box": [ + 36, + 225, + 826, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed; then move back 8 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3287079930305481, + 0.03844218701124191, + 0.01045328751206398, + 2.812960147857666, + 0.06271306425333023, + 1.3866751194000244 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt left 10 degrees, keep gripper closed; then move right 1 cm, keep gripper closed; then move back 9 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32930171489715576, + 0.03690066188573837, + 0.00827726162970066, + 2.821665048599243, + 0.08000216633081436, + 1.394108772277832 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt left 10 degrees, keep gripper closed; then move right 1 cm, keep gripper closed; then move back 10 cm, move right 8 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3294125199317932, + 0.035121697932481766, + 0.0051613422110676765, + 2.8769028186798096, + 0.09176657348871231, + 1.358289361000061 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "approach and close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the green plate with the carrot visible below. The gripper is currently open and approaching the carrot. The next action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt left 10 degrees, keep gripper closed; then move right 1 cm, keep gripper closed; then move back 10 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3301510810852051, + 0.031466130167245865, + 0.006809559650719166, + 3.0020575523376465, + 0.12101556360721588, + 1.3132588863372803 + ], + "gripper_value": 0.49661046266555786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "secure grip and lift slightly", + "subtask_reasoning": "The robot's gripper is positioned around the carrot on the green plate, with no significant gripper closure observed in this segment. The carrot remains in contact with the plate, indicating the grip is not yet secured. The next action should involve closing the gripper to establish a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 10 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 23, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3261817693710327, + 0.026122886687517166, + 0.010796692222356796, + 3.0687575340270996, + 0.10278591513633728, + 1.2920571565628052 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "lift and reposition carrot away from plate", + "subtask_reasoning": "The robot's gripper is positioned around the carrot on the green plate, with no significant gripper closure observed in this segment. The carrot remains in contact with the plate, indicating the grip is not yet secured. The next action should involve closing the gripper to establish a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32354554533958435, + 0.023913653567433357, + 0.03402005881071091, + 3.051260232925415, + 0.01944815367460251, + 1.3088998794555664 + ], + "gripper_value": 0.5324842929840088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "lift and reposition carrot away from plate", + "subtask_reasoning": "The robot's gripper is positioned around the carrot on the green plate, with no significant gripper closure observed in this segment. The carrot remains in contact with the plate, indicating the grip is not yet secured. The next action should involve closing the gripper to establish a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 8 cm, move up 2 cm, rotate clockwise 40 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31859633326530457, + 0.021051552146673203, + 0.06700877100229263, + 3.0312752723693848, + -0.027558425441384315, + 1.341867446899414 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "lift and reposition carrot away from plate", + "subtask_reasoning": "The robot's gripper is positioned around the carrot on the green plate, with no significant gripper closure observed in this segment. The carrot remains in contact with the plate, indicating the grip is not yet secured. The next action should involve closing the gripper to establish a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 7 cm, move down 1 cm, rotate clockwise 40 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30220580101013184, + 0.01220665778964758, + 0.09106464684009552, + 3.046077251434326, + -0.06946059316396713, + 1.4023624658584595 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "lift and reposition carrot away from plate", + "subtask_reasoning": "The robot has successfully grasped the orange carrot and lifted it slightly off the green plate. The gripper remains closed with minimal variation, indicating a stable hold. The next action is to continue lifting and repositioning the carrot further away from the plate to ensure full clearance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738568186759949, + -0.0032848508562892675, + 0.09630923718214035, + 3.0787100791931152, + -0.07605785131454468, + 1.458022117614746 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "lift and reposition carrot away from plate", + "subtask_reasoning": "The robot has successfully grasped the orange carrot and lifted it slightly off the green plate. The gripper remains closed with minimal variation, indicating a stable hold. The next action is to continue lifting and repositioning the carrot further away from the plate to ensure full clearance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24357956647872925, + -0.017235474660992622, + 0.08989541232585907, + 3.097102403640747, + -0.03972381353378296, + 1.5355658531188965 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "lift and reposition carrot away from plate", + "subtask_reasoning": "The robot has successfully grasped the orange carrot and lifted it slightly off the green plate. The gripper remains closed with minimal variation, indicating a stable hold. The next action is to continue lifting and repositioning the carrot further away from the plate to ensure full clearance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23125046491622925, + -0.0326407253742218, + 0.08057950437068939, + 3.1048150062561035, + -0.0014308677054941654, + 1.6702848672866821 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "lift and reposition carrot away from plate", + "subtask_reasoning": "The robot has successfully grasped the orange carrot and lifted it slightly off the green plate. The gripper remains closed with minimal variation, indicating a stable hold. The next action is to continue lifting and repositioning the carrot further away from the plate to ensure full clearance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23069678246974945, + -0.05046623572707176, + 0.07243482023477554, + 3.071150302886963, + 0.037646010518074036, + 1.8889710903167725 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "lift and reposition carrot away from plate", + "subtask_reasoning": "The robot has successfully grasped the orange carrot and lifted it slightly off the green plate. The gripper remains closed with minimal variation, indicating a stable hold. The next action is to continue lifting and repositioning the carrot further away from the plate to ensure full clearance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.23079924285411835, + -0.05304532125592232, + 0.05442164093255997, + 3.0434064865112305, + 0.1004028245806694, + 1.985724687576294 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "final retreat with carrot held", + "subtask_reasoning": "The robot has successfully grasped the orange carrot and lifted it slightly off the green plate. The gripper remains closed with minimal variation, indicating a stable hold. The next action is to continue lifting and repositioning the carrot further away from the plate to ensure full clearance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22450251877307892, + -0.049882009625434875, + 0.03235555812716484, + 2.947101593017578, + 0.14511270821094513, + 2.058868169784546 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 95, + 372, + 324, + 675 + ], + "orange toy": [ + 350, + 625, + 553, + 743 + ], + "hanging utensils": [ + 501, + 4, + 762, + 180 + ], + "green plate": [ + 164, + 558, + 267, + 668 + ], + "cardboard box": [ + 33, + 249, + 825, + 985 + ], + "red cup": [ + 483, + 826, + 644, + 953 + ], + "electric burner": [ + 649, + 264, + 855, + 457 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "final retreat with carrot held", + "subtask_reasoning": "The robot has already grasped and lifted the carrot from the green plate. The gripper remains closed with minimal movement, indicating the carrot is securely held. The next action is to continue retreating while maintaining grip to fully clear the plate area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21734291315078735, + -0.038893744349479675, + 0.021641986444592476, + 2.9403510093688965, + 0.1740391105413437, + 2.028421401977539 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it clear of the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on carrot" + }, + { + "id": 2, + "subtask": "secure grip and lift slightly" + }, + { + "id": 3, + "subtask": "lift and reposition carrot away from plate" + }, + { + "id": 4, + "subtask": "final retreat with carrot held" + } + ], + "subtask_name": "final retreat with carrot held", + "subtask_reasoning": "The robot has already grasped and lifted the carrot from the green plate. The gripper remains closed with minimal movement, indicating the carrot is securely held. The next action is to continue retreating while maintaining grip to fully clear the plate area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003564_ecot.json b/cot/chunk-0003/episode_0003564_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..983fcd4060da4a82c9a1106a2e1eba030e982a7e --- /dev/null +++ b/cot/chunk-0003/episode_0003564_ecot.json @@ -0,0 +1,1295 @@ +{ + "task_name": "episode_0003564", + "episode_json": "json/chunk-0003/episode_0003564.json", + "video_path": "videos/chunk-0003/image_0/episode_0003564.mp4", + "instruction": "Put knife in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003564.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.47388166189193726, + "std": 0.22431805729866028, + "delta_total": -0.4660544991493225, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.47388, std=0.22432, total_delta=-0.46605). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 6 + ], + [ + 3, + 7, + 8 + ], + [ + 4, + 9, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the yellow-handled knife resting on the sink edge.\"},\n {\"id\": 2, \"name\": \"align with knife\", \"start\": 5, \"end\": 6, \"planning\": \"Fine-tune position and orientation to prepare for contact with the knife handle.\"},\n {\"id\": 3, \"name\": \"make contact with knife\", \"start\": 7, \"end\": 8, \"planning\": \"Gently touch or nudge the knife handle to establish physical contact without grasping.\"},\n {\"id\": 4, \"name\": \"grasp and lift knife\", \"start\": 9, \"end\": 13, \"planning\": \"Close gripper around knife handle and lift it from the sink surface.\"},\n {\"id\": 5, \"name\": \"transport knife to pot\", \"start\": 14, \"end\": 17, \"planning\": \"Carry the held knife over the metal pot in the dish rack and release it inside.\"}\n ],\n \"global_plan\": \"Approach the knife on the sink, make contact, grasp it securely, lift and transport it to the pot in the dish rack, then release.\",\n \"notes\": \"Segments 1-3 show no gripper closure — described as approach/alignment/contact only. Segment 4 shows meaningful gripper closing (delta=-0.466) and image evidence at frame 17 confirms knife is held — grasp wording permitted from frame 9 onward. Final frame shows knife inside pot, confirming successful placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the yellow-handled knife resting on the sink edge." + }, + { + "id": 2, + "name": "align with knife", + "start": 5, + "end": 6, + "planning": "Fine-tune position and orientation to prepare for contact with the knife handle." + }, + { + "id": 3, + "name": "make contact with knife", + "start": 7, + "end": 8, + "planning": "Gently touch or nudge the knife handle to establish physical contact without grasping." + }, + { + "id": 4, + "name": "grasp and lift knife", + "start": 9, + "end": 13, + "planning": "Close gripper around knife handle and lift it from the sink surface." + }, + { + "id": 5, + "name": "transport knife to pot", + "start": 14, + "end": 17, + "planning": "Carry the held knife over the metal pot in the dish rack and release it inside." + } + ], + "global_plan": "Approach the knife on the sink, make contact, grasp it securely, lift and transport it to the pot in the dish rack, then release.", + "notes": "Segments 1-3 show no gripper closure — described as approach/alignment/contact only. Segment 4 shows meaningful gripper closing (delta=-0.466) and image evidence at frame 17 confirms knife is held — grasp wording permitted from frame 9 onward. Final frame shows knife inside pot, confirming successful placement." + } + }, + "episode_goal": "Grasp the knife and place it into the metal pot in the dish rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19848434627056122, + 0.037721890956163406, + 0.17247551679611206, + 3.127214193344116, + -0.009117991663515568, + -0.18194657564163208 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible on the left side near the dish rack. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 3 cm, rotate counterclockwise 50 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19413380324840546, + 0.041810713708400726, + 0.1665622442960739, + 3.1175200939178467, + 0.006229602266103029, + -0.3536618649959564 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible on the left side near the dish rack. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, rotate counterclockwise 40 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.19054767489433289, + 0.057528309524059296, + 0.16006502509117126, + 3.085247755050659, + 0.015011651441454887, + -0.5967446565628052 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned near the sink with the knife visible on the left side. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve moving the end effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.18921563029289246, + 0.07136093080043793, + 0.1519680768251419, + 3.04337739944458, + 0.01188001036643982, + -0.8559534549713135 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow dish rack": [ + 249, + 82, + 689, + 497 + ], + "metal bowl": [ + 330, + 258, + 559, + 459 + ], + "grey faucet": [ + 693, + 3, + 947, + 368 + ], + "red cup": [ + 824, + 85, + 944, + 207 + ], + "black object": [ + 123, + 3, + 313, + 395 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned near the sink with the knife visible on the left side. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve moving the end effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open; then move forward 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19835062325000763, + 0.07916248589754105, + 0.14873991906642914, + 3.112765073776245, + -0.015108989551663399, + -1.0155843496322632 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned near the sink with the knife visible on the left side. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve moving the end effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open; then move forward 3 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20082987844944, + 0.08060601353645325, + 0.14446894824504852, + -3.137080669403076, + -0.030359970405697823, + -1.0585702657699585 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "align with knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the sink, with the gripper open and no closing motion detected in this segment. The knife remains stationary and ungrasped. The next action should involve fine alignment or slight downward movement to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open; then move forward 3 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.19831465184688568, + 0.08066989481449127, + 0.13645143806934357, + -3.139679193496704, + -0.05040699988603592, + -1.0561606884002686 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "align with knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the sink, with the gripper open and no closing motion detected in this segment. The knife remains stationary and ungrasped. The next action should involve fine alignment or slight downward movement to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open; then move forward 3 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1932707279920578, + 0.0812450423836708, + 0.13048869371414185, + 3.13590407371521, + -0.05974886938929558, + -1.0486187934875488 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "make contact with knife", + "subtask_reasoning": "The robot end-effector is positioned near the white knife on the sink edge, aligned for interaction. Approach and alignment are complete; the next step is to make physical contact with the knife to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 3 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 7, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1900656670331955, + 0.08222699165344238, + 0.12442649900913239, + 3.1367549896240234, + -0.07966672629117966, + -1.0461944341659546 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "make contact with knife", + "subtask_reasoning": "The robot end-effector is positioned near the white knife on the sink edge, aligned for interaction. Approach and alignment are complete; the next step is to make physical contact with the knife to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1910092979669571, + 0.08491060137748718, + 0.11992638558149338, + -3.1399943828582764, + -0.09785981476306915, + -1.0453120470046997 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "grasp and lift knife", + "subtask_reasoning": "The robot end-effector is positioned near the white knife on the sink edge, aligned for interaction. Approach and alignment are complete; the next step is to make physical contact with the knife to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19413399696350098, + 0.08749644458293915, + 0.11639275401830673, + -3.1314589977264404, + -0.11986728757619858, + -1.0300185680389404 + ], + "gripper_value": 0.84995037317276 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "grasp and lift knife", + "subtask_reasoning": "The robot end-effector is positioned near the white knife on the sink edge, aligned for interaction. Approach and alignment are complete; the next step is to make physical contact with the knife to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19838586449623108, + 0.08894845098257065, + 0.11533399671316147, + -3.129702091217041, + -0.13802146911621094, + -1.0077890157699585 + ], + "gripper_value": 0.5561000108718872 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "grasp and lift knife", + "subtask_reasoning": "The robot has approached and aligned with the knife on the sink counter. The gripper is currently open and positioned near the knife handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the knife handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19771961867809296, + 0.08498866111040115, + 0.1167818084359169, + -3.101964235305786, + -0.16336627304553986, + -1.003097414970398 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "grasp and lift knife", + "subtask_reasoning": "The robot has approached and aligned with the knife on the sink counter. The gripper is currently open and positioned near the knife handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the knife handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2023448944091797, + 0.08273671567440033, + 0.1275925189256668, + -3.0838446617126465, + -0.18744108080863953, + -1.0060021877288818 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "grasp and lift knife", + "subtask_reasoning": "The robot has approached and aligned with the knife on the sink counter. The gripper is currently open and positioned near the knife handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the knife handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22139030694961548, + 0.08229225873947144, + 0.1419951617717743, + -3.0378007888793945, + -0.2325345128774643, + -1.0270828008651733 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "transport knife to pot", + "subtask_reasoning": "The robot has approached and aligned with the knife on the sink counter. The gripper is currently open and positioned near the knife handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the knife handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2506606876850128, + 0.07657983899116516, + 0.141450896859169, + -2.975512742996216, + -0.326367050409317, + -1.0848419666290283 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "transport knife to pot", + "subtask_reasoning": "The robot is holding the knife and has moved it above the metal pot in the dish rack. The gripper remains closed, indicating the knife is securely grasped during transport. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27937719225883484, + 0.0645439550280571, + 0.13159891963005066, + -3.002875566482544, + -0.387486070394516, + -1.1192008256912231 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 327, + 261, + 561, + 459 + ], + "yellow dish rack": [ + 220, + 85, + 688, + 497 + ], + "red cup": [ + 826, + 84, + 944, + 207 + ], + "grey faucet": [ + 692, + 3, + 946, + 369 + ], + "white spatula": [ + 388, + 189, + 671, + 304 + ], + "toy sink": [ + 52, + 76, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "transport knife to pot", + "subtask_reasoning": "The robot is holding the knife and has moved it above the metal pot in the dish rack. The gripper remains closed, indicating the knife is securely grasped during transport. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2921213209629059, + 0.05848497897386551, + 0.12451694905757904, + -3.0946671962738037, + -0.4070005714893341, + -1.11082923412323 + ], + "gripper_value": 0.5354229807853699 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it into the metal pot in the dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align with knife" + }, + { + "id": 3, + "subtask": "make contact with knife" + }, + { + "id": 4, + "subtask": "grasp and lift knife" + }, + { + "id": 5, + "subtask": "transport knife to pot" + } + ], + "subtask_name": "transport knife to pot", + "subtask_reasoning": "The robot is holding the knife and has moved it above the metal pot in the dish rack. The gripper remains closed, indicating the knife is securely grasped during transport. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 14, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003565_ecot.json b/cot/chunk-0003/episode_0003565_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..75274eebf1b28b4638227102b806b8f9f2e9699c --- /dev/null +++ b/cot/chunk-0003/episode_0003565_ecot.json @@ -0,0 +1,2050 @@ +{ + "task_name": "episode_0003565", + "episode_json": "json/chunk-0003/episode_0003565.json", + "video_path": "videos/chunk-0003/image_0/episode_0003565.mp4", + "instruction": "Put the violet toy in the silver pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003565.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.1665019392967224, + "std": 0.07603131979703903, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.16650, std=0.07603, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 20 + ], + [ + 3, + 21, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach violet toy\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector from the initial position toward the violet toy on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"Grasp violet toy\", \"start\": 8, \"end\": 20, \"planning\": \"Close the gripper around the violet toy and lift it slightly to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"Place toy in silver pan\", \"start\": 21, \"end\": 33, \"planning\": \"Transport the held violet toy over the silver pan and release it by opening the gripper.\"}\n ],\n \"global_plan\": \"Approach the violet toy, grasp it securely, then move it to and release it inside the silver pan.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closing and lifting consistent with grasping. Segment 3 shows transport and release into the pan, confirmed by final frame showing toy inside pan and gripper open.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach violet toy", + "start": 0, + "end": 7, + "planning": "Move the end-effector from the initial position toward the violet toy on the table without closing the gripper." + }, + { + "id": 2, + "name": "Grasp violet toy", + "start": 8, + "end": 20, + "planning": "Close the gripper around the violet toy and lift it slightly to secure a firm hold." + }, + { + "id": 3, + "name": "Place toy in silver pan", + "start": 21, + "end": 33, + "planning": "Transport the held violet toy over the silver pan and release it by opening the gripper." + } + ], + "global_plan": "Approach the violet toy, grasp it securely, then move it to and release it inside the silver pan.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closing and lifting consistent with grasping. Segment 3 shows transport and release into the pan, confirmed by final frame showing toy inside pan and gripper open." + } + }, + "episode_goal": "Place the violet toy into the silver pan.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3504030406475067, + 0.12480366230010986, + 0.1365417093038559, + -3.0548901557922363, + -0.14243873953819275, + 0.3048543930053711 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Approach violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible in the distance and the silver pan to the right. No objects have been manipulated yet. The gripper is open and the arm is beginning to move toward the violet toy. The next action is to continue approaching the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 19 cm, move down 8 cm, rotate counterclockwise 30 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35019439458847046, + 0.12330526113510132, + 0.12294136732816696, + -3.0568835735321045, + -0.10447990149259567, + 0.30692028999328613 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Approach violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible in the distance and the silver pan to the right. No objects have been manipulated yet. The gripper is open and the arm is beginning to move toward the violet toy. The next action is to continue approaching the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 19 cm, move down 7 cm, rotate counterclockwise 30 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3616143465042114, + 0.09799177199602127, + 0.1221345067024231, + -3.061368227005005, + -0.1234058067202568, + 0.24181154370307922 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Approach violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible in the distance and the silver pan to the right. No objects have been manipulated yet. The gripper is open and the arm is beginning to move toward the violet toy. The next action is to continue approaching the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 16 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3771797716617584, + 0.05166364461183548, + 0.12861543893814087, + -3.047686815261841, + -0.1551634967327118, + 0.12583625316619873 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Approach violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move down 8 cm, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3882963955402374, + 0.012199858203530312, + 0.12132930755615234, + -3.0666699409484863, + -0.18014541268348694, + 0.011679798364639282 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Approach violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4036768078804016, + -0.024250172078609467, + 0.09930060058832169, + -3.093848705291748, + -0.18124155700206757, + -0.08507347106933594 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Approach violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4157181680202484, + -0.04968222230672836, + 0.07697052508592606, + -3.0975403785705566, + -0.15338678658008575, + -0.1459602266550064 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 69, + 996, + 994 + ], + "blue ball": [ + 635, + 329, + 734, + 448 + ], + "pink fork": [ + 98, + 344, + 334, + 575 + ], + "orange cloth": [ + 79, + 335, + 375, + 601 + ], + "metal bowl": [ + 615, + 593, + 992, + 959 + ] + } + } + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Approach violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.424956738948822, + -0.05622465908527374, + 0.0647115483880043, + -3.0923094749450684, + -0.1392386555671692, + -0.16768012940883636 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Approach violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4243497848510742, + -0.06348741054534912, + 0.05248907208442688, + -3.0326149463653564, + -0.07137786597013474, + -0.1900739073753357 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 70, + 995, + 994 + ], + "blue ball": [ + 635, + 329, + 734, + 447 + ], + "pink fork": [ + 97, + 344, + 334, + 575 + ], + "metal bowl": [ + 615, + 593, + 992, + 959 + ], + "orange cloth": [ + 79, + 335, + 375, + 601 + ] + } + } + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4235478639602661, + -0.06306211650371552, + 0.0508621409535408, + -3.0311269760131836, + -0.06255348771810532, + -0.1869390308856964 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4212188124656677, + -0.05660541355609894, + 0.039613038301467896, + -3.034663677215576, + -0.026015276089310646, + -0.18106362223625183 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 8 cm, move up 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41973018646240234, + -0.05037432536482811, + 0.03446841612458229, + -3.05079984664917, + -0.019337346777319908, + -0.16203103959560394 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4179598093032837, + -0.046926021575927734, + 0.022661270573735237, + -3.0638461112976074, + 0.007383844815194607, + -0.15373796224594116 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 11 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4194808006286621, + -0.05157291144132614, + 0.018605545163154602, + -3.095278263092041, + -0.011642124503850937, + -0.1637313961982727 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot is positioned above the table with the violet toy visible to the right and the silver pan in the foreground. No objects have been moved yet as the gripper remains open. The robot needs to continue moving its end-effector closer to the violet toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 11 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4196799397468567, + -0.05253007262945175, + 0.017180465161800385, + -3.1009483337402344, + -0.01783527247607708, + -0.16320909559726715 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 11 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41669803857803345, + -0.051261503249406815, + 0.02027488499879837, + -3.095750093460083, + -0.024456696584820747, + -0.15252767503261566 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 11 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41398200392723083, + -0.04671025276184082, + 0.0354120135307312, + -3.070141553878784, + -0.023092202842235565, + -0.13279598951339722 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4066975712776184, + -0.049739472568035126, + 0.05864726006984711, + -3.041748285293579, + -0.049478255212306976, + -0.1180633157491684 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 11 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3878536820411682, + -0.06922319531440735, + 0.07664638012647629, + -3.0109755992889404, + -0.07234396040439606, + -0.13398240506649017 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601180911064148, + -0.0897393599152565, + 0.08482658863067627, + -3.021204710006714, + -0.08560152351856232, + -0.1416337639093399 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242286741733551, + -0.13331268727779388, + 0.08218900859355927, + -3.033006191253662, + -0.0831604078412056, + -0.21578136086463928 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Grasp violet toy", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 1 cm, keep gripper closed; then move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958277463912964, + -0.15976174175739288, + 0.07071828842163086, + -3.0662739276885986, + -0.07145646959543228, + -0.26489925384521484 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 70, + 995, + 994 + ], + "metal bowl": [ + 614, + 594, + 992, + 959 + ], + "orange cloth": [ + 77, + 333, + 375, + 601 + ], + "pink fork": [ + 98, + 344, + 335, + 574 + ], + "blue ball": [ + 784, + 510, + 914, + 667 + ] + } + } + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 1 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29165124893188477, + -0.18118488788604736, + 0.0680047869682312, + -3.0852344036102295, + -0.11785580217838287, + -0.2980440557003021 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2875541150569916, + -0.18501657247543335, + 0.05286550894379616, + -3.0807793140411377, + -0.09492461383342743, + -0.2993681728839874 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 18 cm, move up 1 cm, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828170359134674, + -0.17926347255706787, + 0.043367281556129456, + -3.084303140640259, + -0.08258125185966492, + -0.28636449575424194 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 18 cm, move up 2 cm, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785216271877289, + -0.1741158813238144, + 0.028092285618185997, + -3.0895538330078125, + -0.06195123866200447, + -0.26314786076545715 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 17 cm, move up 3 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27900445461273193, + -0.1741909682750702, + 0.02614806406199932, + -3.0915493965148926, + -0.0713721439242363, + -0.26007112860679626 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot has approached the violet toy and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the violet toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 17 cm, move up 4 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27794140577316284, + -0.171461820602417, + 0.0241964403539896, + -3.0784716606140137, + -0.06647735089063644, + -0.26476460695266724 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot is holding the violet toy above the silver pan, having completed the approach and grasp phases. The gripper is closed, and the toy is positioned directly over the target container. The next action is to release the toy into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 17 cm, move up 4 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2791171669960022, + -0.16787144541740417, + 0.03627009689807892, + -3.1024363040924072, + -0.07257942110300064, + -0.25163400173187256 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot is holding the violet toy above the silver pan, having completed the approach and grasp phases. The gripper is closed, and the toy is positioned directly over the target container. The next action is to release the toy into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 17 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28260013461112976, + -0.15948522090911865, + 0.05437489598989487, + -3.0795626640319824, + -0.10184764117002487, + -0.23285411298274994 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot is holding the violet toy above the silver pan, having completed the approach and grasp phases. The gripper is closed, and the toy is positioned directly over the target container. The next action is to release the toy into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 16 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2918960452079773, + -0.1245526373386383, + 0.07261814177036285, + -3.0347652435302734, + -0.10834220796823502, + -0.14807085692882538 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot is holding the violet toy above the silver pan, having completed the approach and grasp phases. The gripper is closed, and the toy is positioned directly over the target container. The next action is to release the toy into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018268644809723, + -0.07693000137805939, + 0.07680101692676544, + -3.0320186614990234, + -0.10415133833885193, + 0.002412130357697606 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 70, + 996, + 994 + ], + "orange cloth": [ + 77, + 333, + 375, + 601 + ], + "metal bowl": [ + 614, + 595, + 993, + 959 + ], + "pink fork": [ + 98, + 345, + 334, + 574 + ] + } + } + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot is holding the violet toy above the silver pan, having completed the approach and grasp phases. The gripper is closed, and the toy is positioned directly over the target container. The next action is to release the toy into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3121039569377899, + -0.03946875035762787, + 0.07646901905536652, + -3.036236524581909, + -0.10584896802902222, + 0.09735287725925446 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot is holding the violet toy above the silver pan, having completed the approach and grasp phases. The gripper is closed, and the toy is positioned directly over the target container. The next action is to release the toy into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251345455646515, + -0.0016192005714401603, + 0.06193380802869797, + -3.053499221801758, + -0.10140623897314072, + 0.1794874221086502 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the violet toy into the silver pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach violet toy" + }, + { + "id": 2, + "subtask": "Grasp violet toy" + }, + { + "id": 3, + "subtask": "Place toy in silver pan" + } + ], + "subtask_name": "Place toy in silver pan", + "subtask_reasoning": "The robot is holding the violet toy above the silver pan, having completed the approach and grasp phases. The gripper is closed, and the toy is positioned directly over the target container. The next action is to release the toy into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003566_ecot.json b/cot/chunk-0003/episode_0003566_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d50b2a1135ee05887c6519592361e4fcad666c04 --- /dev/null +++ b/cot/chunk-0003/episode_0003566_ecot.json @@ -0,0 +1,1821 @@ +{ + "task_name": "episode_0003566", + "episode_json": "json/chunk-0003/episode_0003566.json", + "video_path": "videos/chunk-0003/image_0/episode_0003566.mp4", + "instruction": "Open oven.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003566.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.00020188881899230182, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00020, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 15 + ], + [ + 3, + 16, + 24 + ], + [ + 4, + 25, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach oven handle\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the oven door handle with open gripper.\"},\n {\"id\": 2, \"name\": \"align and contact handle\", \"start\": 4, \"end\": 15, \"planning\": \"Adjust pose to align with handle and make physical contact to begin opening motion.\"},\n {\"id\": 3, \"name\": \"pull door open\", \"start\": 16, \"end\": 24, \"planning\": \"Drag or slide the oven door outward using sustained contact without grasping.\"},\n {\"id\": 4, \"name\": \"retreat from open door\", \"start\": 25, \"end\": 28, \"planning\": \"Withdraw end-effector away from the now-open oven door while maintaining clearance.\"}\n ],\n \"global_plan\": \"Open the toy oven door by approaching, contacting, pulling it open via sustained contact (no grasp), then retreating.\",\n \"notes\": \"Gripper remains fully open throughout; all manipulation is contact-based (nudge/drag/slide). No lifting or placing occurs. Segment boundaries preserved as they reflect natural phase transitions in motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach oven handle", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the oven door handle with open gripper." + }, + { + "id": 2, + "name": "align and contact handle", + "start": 4, + "end": 15, + "planning": "Adjust pose to align with handle and make physical contact to begin opening motion." + }, + { + "id": 3, + "name": "pull door open", + "start": 16, + "end": 24, + "planning": "Drag or slide the oven door outward using sustained contact without grasping." + }, + { + "id": 4, + "name": "retreat from open door", + "start": 25, + "end": 28, + "planning": "Withdraw end-effector away from the now-open oven door while maintaining clearance." + } + ], + "global_plan": "Open the toy oven door by approaching, contacting, pulling it open via sustained contact (no grasp), then retreating.", + "notes": "Gripper remains fully open throughout; all manipulation is contact-based (nudge/drag/slide). No lifting or placing occurs. Segment boundaries preserved as they reflect natural phase transitions in motion." + } + }, + "episode_goal": "Open the oven door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22992375493049622, + 0.12842349708080292, + -0.006367061752825975, + -2.9634945392608643, + -0.2874438762664795, + 0.4054849445819855 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach oven handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven, with the end-effector close to the oven handle. No actions have been completed yet. The next step is to make contact with the oven handle to begin the process of opening the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, move down 2 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22518472373485565, + 0.1261143833398819, + -0.01120966486632824, + -2.9688854217529297, + -0.25503337383270264, + 0.43783038854599 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach oven handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven handle but has not yet made contact. No actions have been completed so far in this subtask. The next likely action is to move the end-effector closer to establish contact with the oven handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2326992005109787, + 0.12503257393836975, + -0.001494517782703042, + -3.0234692096710205, + -0.20917095243930817, + 0.6801454424858093 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach oven handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven handle but has not yet made contact. No actions have been completed so far in this subtask. The next likely action is to move the end-effector closer to establish contact with the oven handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23628266155719757, + 0.11870923638343811, + 0.003765605855733156, + -3.077613353729248, + -0.1596299260854721, + 0.8187175989151001 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen stove": [ + 14, + 12, + 988, + 933 + ], + "control knobs": [ + 272, + 164, + 676, + 445 + ] + } + } + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach oven handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven handle but has not yet made contact. No actions have been completed so far in this subtask. The next likely action is to move the end-effector closer to establish contact with the oven handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24349546432495117, + 0.11066076904535294, + 0.011383446864783764, + 3.087100028991699, + -0.12104875594377518, + 0.9424809813499451 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven handle but has not yet made contact. No actions have been completed so far in this subtask. The next likely action is to move the end-effector closer to establish contact with the oven handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2512633800506592, + 0.10476559400558472, + 0.012495669536292553, + 2.9612486362457275, + -0.106571726500988, + 0.987337052822113 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven handle but has not yet made contact. No actions have been completed so far in this subtask. The next likely action is to move the end-effector closer to establish contact with the oven handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26441749930381775, + 0.10071349889039993, + 0.014401568099856377, + 2.836442708969116, + -0.11927752196788788, + 1.071890950202942 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven handle but has not yet made contact. No actions have been completed so far in this subtask. The next likely action is to move the end-effector closer to establish contact with the oven handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27478650212287903, + 0.09410211443901062, + 0.017340432852506638, + 2.7707109451293945, + -0.1119450032711029, + 1.1228344440460205 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven handle but has not yet made contact. No actions have been completed so far in this subtask. The next likely action is to move the end-effector closer to establish contact with the oven handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28207486867904663, + 0.08637120574712753, + 0.010187037289142609, + 2.752072334289551, + -0.10388237237930298, + 1.1496094465255737 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the toy oven handle but has not yet made contact. No actions have been completed so far in this subtask. The next likely action is to move the end-effector closer to establish contact with the oven handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852357029914856, + 0.08516043424606323, + -0.0023920931853353977, + 2.766840696334839, + -0.1153046116232872, + 1.1720805168151855 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 5 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move left 3 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2859303653240204, + 0.08252009749412537, + -0.013396978378295898, + 2.7977957725524902, + -0.10972338914871216, + 1.1827967166900635 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820241153240204, + 0.08459489792585373, + -0.01392642967402935, + 2.820978879928589, + -0.09684964269399643, + 1.166118860244751 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 8 cm, move left 3 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2610388994216919, + 0.09040312469005585, + -0.008099012076854706, + 2.9332642555236816, + -0.07420007139444351, + 1.0857503414154053 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23086681962013245, + 0.09653719514608383, + -0.0008986458997242153, + 3.0234901905059814, + -0.06849554926156998, + 1.006119966506958 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21389912068843842, + 0.10155429691076279, + 0.004919230937957764, + 3.0653133392333984, + -0.0720493346452713, + 0.9464533925056458 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "control knobs": [ + 257, + 161, + 675, + 446 + ], + "toy kitchen stove": [ + 59, + 12, + 987, + 943 + ] + } + } + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 2 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20229072868824005, + 0.10688073188066483, + 0.02321445383131504, + 3.1376476287841797, + -0.08136758208274841, + 0.8450536727905273 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move forward 3 cm, move right 4 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20535504817962646, + 0.11548230797052383, + 0.04359123855829239, + -3.120858907699585, + -0.10495647042989731, + 0.8166778087615967 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 7 cm, keep gripper open; then move back 1 cm, move right 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21891041100025177, + 0.12495671957731247, + 0.05535903573036194, + -3.1136629581451416, + -0.1578504592180252, + 0.8551082015037537 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 8 cm, keep gripper open; then move back 2 cm, move right 5 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24476274847984314, + 0.13775648176670074, + 0.039005305618047714, + -3.0753014087677, + -0.3001500368118286, + 0.8258633613586426 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705228328704834, + 0.14646339416503906, + 0.02768888510763645, + -3.065723419189453, + -0.3549511730670929, + 0.7525182366371155 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned near the oven handle with the gripper open, having completed the approach phase. The current state shows alignment with the handle but no contact yet. The next action should involve moving the gripper forward to make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27776291966438293, + 0.14484725892543793, + -0.004057613201439381, + -3.008932113647461, + -0.32749372720718384, + 0.643727719783783 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in sustained contact with the oven door handle, which is already partially open. The gripper remains open throughout the segment, confirming no grasp occurred. The next action is to continue pulling the door open via maintained contact until fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28254178166389465, + 0.14055109024047852, + -0.015271964482963085, + -3.0531857013702393, + -0.3025243282318115, + 0.6395061612129211 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in sustained contact with the oven door handle, which is already partially open. The gripper remains open throughout the segment, confirming no grasp occurred. The next action is to continue pulling the door open via maintained contact until fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717406153678894, + 0.13150744140148163, + -0.02399616129696369, + -3.0580763816833496, + -0.2847708463668823, + 0.615533173084259 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in sustained contact with the oven door handle, which is already partially open. The gripper remains open throughout the segment, confirming no grasp occurred. The next action is to continue pulling the door open via maintained contact until fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2570507228374481, + 0.11552807688713074, + -0.030100850388407707, + -3.087984085083008, + -0.24697256088256836, + 0.6648015379905701 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in sustained contact with the oven door handle, which is already partially open. The gripper remains open throughout the segment, confirming no grasp occurred. The next action is to continue pulling the door open via maintained contact until fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24757735431194305, + 0.1001146212220192, + -0.023737622424960136, + -3.110795497894287, + -0.2032030075788498, + 0.7353924512863159 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in sustained contact with the oven door handle, which is already partially open. The gripper remains open throughout the segment, confirming no grasp occurred. The next action is to continue pulling the door open via maintained contact until fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23737889528274536, + 0.07299086451530457, + -0.023133395239710808, + 3.118216037750244, + -0.11702901870012283, + 0.7896467447280884 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The robot is in sustained contact with the oven door handle, which is already partially open. The gripper remains open throughout the segment, confirming no grasp occurred. The next action is to continue pulling the door open via maintained contact until fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2311881184577942, + 0.04526953399181366, + -0.02218090370297432, + 3.026007652282715, + -0.08452538400888443, + 1.0057214498519897 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The oven door is fully open and the end-effector is in contact with the handle. The robot has completed the pulling action and is now retreating from the open door. The next action is to continue moving backward to clear the oven area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22201964259147644, + 0.024993427097797394, + -0.020013919100165367, + 3.023390054702759, + -0.033489637076854706, + 1.1478582620620728 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "control knobs": [ + 386, + 216, + 677, + 448 + ] + } + } + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The oven door is fully open and the end-effector is in contact with the handle. The robot has completed the pulling action and is now retreating from the open door. The next action is to continue moving backward to clear the oven area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21590234339237213, + 0.010863869450986385, + -0.020378779619932175, + 3.0534615516662598, + 0.016165878623723984, + 1.1543588638305664 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The oven door is fully open and the end-effector is in contact with the handle. The robot has completed the pulling action and is now retreating from the open door. The next action is to continue moving backward to clear the oven area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003567_ecot.json b/cot/chunk-0003/episode_0003567_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3a5db98dbd6101e74aa8c1bb11a6756c023d22 --- /dev/null +++ b/cot/chunk-0003/episode_0003567_ecot.json @@ -0,0 +1,2323 @@ +{ + "task_name": "episode_0003567", + "episode_json": "json/chunk-0003/episode_0003567.json", + "video_path": "videos/chunk-0003/image_0/episode_0003567.mp4", + "instruction": "Take banana out of colander.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003567.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.6456338167190552, + "std": 0.29616090655326843, + "delta_total": 0.0026040077209472656, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64563, std=0.29616, total_delta=0.00260). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 317, + 17, + 17, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 230, + 230, + 230 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 13 + ], + [ + 4, + 14, + 16 + ], + [ + 5, + 17, + 17 + ], + [ + 6, + 18, + 19 + ], + [ + 7, + 20, + 29 + ], + [ + 8, + 30, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach colander\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector from initial position toward the colander containing the banana.\"},\n {\"id\": 2, \"name\": \"descend into colander\", \"start\": 5, \"end\": 13, \"planning\": \"Lower gripper vertically into the colander to reach the banana without grasping yet.\"},\n {\"id\": 3, \"name\": \"close gripper on banana\", \"start\": 14, \"end\": 17, \"planning\": \"Initiate gripper closure around the banana while maintaining contact with it inside the colander.\"},\n {\"id\": 4, \"name\": \"lift banana from colander\", \"start\": 18, \"end\": 29, \"planning\": \"Raise the gripper while holding the banana, extracting it cleanly from the colander.\"},\n {\"id\": 5, \"name\": \"release banana on table\", \"start\": 30, \"end\": 32, \"planning\": \"Open gripper to place the banana on the table surface and retreat slightly.\"}\n ],\n \"global_plan\": \"Extract banana from colander by approaching, descending, closing gripper, lifting, and releasing onto table.\",\n \"notes\": \"Gripper closure confirmed in segments 6 and 8; no grasp wording used in segments 1,3 where gripper remained open. Motion phases aligned with proprioceptive clustering and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach colander", + "start": 0, + "end": 4, + "planning": "Move end-effector from initial position toward the colander containing the banana." + }, + { + "id": 2, + "name": "descend into colander", + "start": 5, + "end": 13, + "planning": "Lower gripper vertically into the colander to reach the banana without grasping yet." + }, + { + "id": 3, + "name": "close gripper on banana", + "start": 14, + "end": 17, + "planning": "Initiate gripper closure around the banana while maintaining contact with it inside the colander." + }, + { + "id": 4, + "name": "lift banana from colander", + "start": 18, + "end": 29, + "planning": "Raise the gripper while holding the banana, extracting it cleanly from the colander." + }, + { + "id": 5, + "name": "release banana on table", + "start": 30, + "end": 32, + "planning": "Open gripper to place the banana on the table surface and retreat slightly." + } + ], + "global_plan": "Extract banana from colander by approaching, descending, closing gripper, lifting, and releasing onto table.", + "notes": "Gripper closure confirmed in segments 6 and 8; no grasp wording used in segments 1,3 where gripper remained open. Motion phases aligned with proprioceptive clustering and visual evidence." + } + }, + "episode_goal": "Pick up the banana from the colander and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31346243619918823, + 0.030289433896541595, + 0.09031001478433609, + 3.119361162185669, + -0.16004811227321625, + 0.8772655725479126 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "approach colander", + "subtask_reasoning": "The robot arm is positioned above the table with the colander and banana visible below. No movement or grasping has occurred yet. The next action should be to move the arm downward toward the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 3 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3087131679058075, + 0.03011021949350834, + 0.08025020360946655, + -3.1332309246063232, + -0.13422726094722748, + 0.8594560027122498 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "approach colander", + "subtask_reasoning": "The robot arm is positioned above the table with the colander and banana visible below. No movement or grasping has occurred yet. The next action should be to move the arm downward toward the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 4 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3021358251571655, + 0.007319994270801544, + 0.0840664878487587, + -3.0858824253082275, + -0.11604397743940353, + 0.5987147688865662 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "approach colander", + "subtask_reasoning": "The robot is positioned above the table with the colander and banana visible below. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the target. The next action should involve moving the end-effector closer to the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2959132790565491, + -0.017101319506764412, + 0.09491627663373947, + -3.032001256942749, + -0.11186906695365906, + 0.3208829164505005 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "approach colander", + "subtask_reasoning": "The robot is positioned above the table with the colander and banana visible below. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the target. The next action should involve moving the end-effector closer to the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 5 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821701169013977, + -0.03357207030057907, + 0.09591803699731827, + -3.068263292312622, + -0.0219104066491127, + 0.09095427393913269 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "approach colander", + "subtask_reasoning": "The robot is positioned above the table with the colander and banana visible below. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the target. The next action should involve moving the end-effector closer to the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2646529972553253, + -0.05456031113862991, + 0.09547312557697296, + 3.141477346420288, + 0.027646733447909355, + -0.15583091974258423 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot is positioned above the table with the colander and banana visible below. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the target. The next action should involve moving the end-effector closer to the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 70 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25038427114486694, + -0.0685955211520195, + 0.0874258503317833, + 3.026273012161255, + 0.04389423504471779, + -0.41034719347953796 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 405, + 556, + 746, + 872 + ], + "green vegetable": [ + 267, + 525, + 511, + 686 + ], + "table": [ + 4, + 57, + 995, + 993 + ], + "banana": [ + 480, + 681, + 673, + 818 + ], + "yellow cube": [ + 682, + 435, + 770, + 562 + ], + "wooden fork": [ + 2, + 274, + 244, + 521 + ], + "lemon": [ + 261, + 221, + 360, + 321 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot is positioned above the table with the colander and banana visible below. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the target. The next action should involve moving the end-effector closer to the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23805193603038788, + -0.07223808765411377, + 0.08202455192804337, + 3.0379226207733154, + 0.02652619779109955, + -0.6515923738479614 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot is positioned above the table with the colander and banana visible below. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the target. The next action should involve moving the end-effector closer to the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23518246412277222, + -0.0790085569024086, + 0.07670747488737106, + 3.0567612648010254, + 0.0023883022367954254, + -0.8953403830528259 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot is positioned above the table with the colander and banana visible below. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the target. The next action should involve moving the end-effector closer to the colander to prepare for banana extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23284591734409332, + -0.08097495883703232, + 0.06635228544473648, + 3.0792155265808105, + 0.0009646462858654559, + -1.14687979221344 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot arm is positioned above the colander containing the banana and is currently descending toward it. The gripper remains open with no closing action detected in this segment. The next step is to continue lowering the end-effector until it reaches the banana for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23231515288352966, + -0.08223074674606323, + 0.05880799889564514, + 3.090782403945923, + -0.020447781309485435, + -1.3807865381240845 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot arm is positioned above the colander containing the banana and is currently descending toward it. The gripper remains open with no closing action detected in this segment. The next step is to continue lowering the end-effector until it reaches the banana for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22716589272022247, + -0.0809629037976265, + 0.05035076290369034, + 3.1040198802948, + -0.010239704512059689, + -1.427099347114563 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot arm is positioned above the colander containing the banana and is currently descending toward it. The gripper remains open with no closing action detected in this segment. The next step is to continue lowering the end-effector until it reaches the banana for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22169509530067444, + -0.07926717400550842, + 0.03837796673178673, + 3.0990219116210938, + 0.00376509758643806, + -1.4415695667266846 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot arm is positioned above the colander containing the banana and is currently descending toward it. The gripper remains open with no closing action detected in this segment. The next step is to continue lowering the end-effector until it reaches the banana for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 5 cm, move up 5 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21327339112758636, + -0.08169860392808914, + 0.029223617166280746, + 3.1135804653167725, + 0.015949197113513947, + -1.455476999282837 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 403, + 560, + 747, + 879 + ], + "wooden fork": [ + 2, + 277, + 229, + 523 + ], + "table": [ + 4, + 54, + 995, + 993 + ], + "green vegetable": [ + 264, + 523, + 511, + 691 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "descend into colander", + "subtask_reasoning": "The robot arm is positioned above the colander containing the banana and is currently descending toward it. The gripper remains open with no closing action detected in this segment. The next step is to continue lowering the end-effector until it reaches the banana for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 8 cm, move up 5 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2128964364528656, + -0.08518894761800766, + 0.0237545445561409, + -3.1410958766937256, + 0.022315597161650658, + -1.4506789445877075 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "close gripper on banana", + "subtask_reasoning": "The robot arm is positioned above the colander containing the banana and is currently descending toward it. The gripper remains open with no closing action detected in this segment. The next step is to continue lowering the end-effector until it reaches the banana for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 8 cm, move up 4 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2150755375623703, + -0.08693401515483856, + 0.017572661861777306, + -3.121168375015259, + 0.01800096407532692, + -1.4238173961639404 + ], + "gripper_value": 0.9343546032905579 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "close gripper on banana", + "subtask_reasoning": "The robot arm is positioned inside the colander with the gripper open and in contact with the banana. The gripper signal indicates a closing action is occurring within this segment. The next step is to complete the closure to securely grasp the banana before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2150372713804245, + -0.08866853266954422, + 0.015509960241615772, + -3.109696388244629, + 8.850227459333837e-05, + -1.373586654663086 + ], + "gripper_value": 0.6079121828079224 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "close gripper on banana", + "subtask_reasoning": "The robot arm is positioned inside the colander with the gripper open and in contact with the banana. The gripper signal indicates a closing action is occurring within this segment. The next step is to complete the closure to securely grasp the banana before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21462543308734894, + -0.08759874105453491, + 0.017000077292323112, + -3.131067991256714, + -0.0037766736932098866, + -1.3348989486694336 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "close gripper on banana", + "subtask_reasoning": "The robot arm is positioned inside the colander with the gripper open and in contact with the banana. The gripper signal indicates a closing action is occurring within this segment. The next step is to complete the closure to securely grasp the banana before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 13 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21888473629951477, + -0.08491311222314835, + 0.0292470995336771, + 3.122690200805664, + -0.023426104336977005, + -1.2782381772994995 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot arm is positioned inside the colander with the gripper open and in contact with the banana. The gripper signal indicates a closing action is occurring within this segment. The next step is to complete the closure to securely grasp the banana before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2258320152759552, + -0.08411430567502975, + 0.060741569846868515, + 3.138596773147583, + -0.07396207004785538, + -1.2067252397537231 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 405, + 557, + 746, + 871 + ], + "green vegetable": [ + 266, + 524, + 513, + 688 + ], + "wooden fork": [ + 2, + 272, + 245, + 521 + ], + "table": [ + 4, + 56, + 995, + 993 + ], + "yellow cube": [ + 263, + 223, + 359, + 320 + ], + "lemon": [ + 501, + 631, + 710, + 753 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot arm is positioned inside the colander with the gripper open and in contact with the banana. The gripper signal indicates a closing action is occurring within this segment. The next step is to complete the closure to securely grasp the banana before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23268692195415497, + -0.07464580237865448, + 0.08548836410045624, + -3.116258144378662, + -0.1097349300980568, + -1.1334995031356812 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot arm is positioned inside the colander with the gripper open and in contact with the banana. The gripper signal indicates a closing action is occurring within this segment. The next step is to complete the closure to securely grasp the banana before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 9 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24706591665744781, + -0.055918946862220764, + 0.09243608266115189, + -3.0554513931274414, + -0.12186013907194138, + -0.9769748449325562 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot arm is positioned inside the colander with the gripper open and in contact with the banana. The gripper signal indicates a closing action is occurring within this segment. The next step is to complete the closure to securely grasp the banana before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 7 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707105875015259, + -0.030514974147081375, + 0.08386529982089996, + -3.1201772689819336, + -0.07873288542032242, + -0.8324710130691528 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot arm is positioned inside the colander with the gripper open and in contact with the banana. The gripper signal indicates a closing action is occurring within this segment. The next step is to complete the closure to securely grasp the banana before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29466480016708374, + -0.008029520511627197, + 0.07932433485984802, + -3.128178119659424, + -0.07042000442743301, + -0.7288918495178223 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the colander. The gripper is closed around the banana, and the arm is moving upward to clear the colander. The next action is to continue lifting and then move toward the table to place the banana down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3111739754676819, + -0.0007286696927621961, + 0.07273758202791214, + -3.094062328338623, + -0.07383301854133606, + -0.6580505967140198 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 405, + 554, + 746, + 873 + ], + "green vegetable": [ + 267, + 526, + 513, + 686 + ], + "yellow cube": [ + 637, + 419, + 769, + 558 + ], + "wooden fork": [ + 2, + 273, + 244, + 521 + ], + "table": [ + 4, + 57, + 995, + 993 + ], + "lemon": [ + 261, + 221, + 360, + 321 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the colander. The gripper is closed around the banana, and the arm is moving upward to clear the colander. The next action is to continue lifting and then move toward the table to place the banana down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244222104549408, + 0.008650431409478188, + 0.05316941812634468, + -3.075460433959961, + -0.09044135361909866, + -0.5960150361061096 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the colander. The gripper is closed around the banana, and the arm is moving upward to clear the colander. The next action is to continue lifting and then move toward the table to place the banana down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34271037578582764, + 0.013700386509299278, + 0.03687814250588417, + -3.063511848449707, + -0.10668395459651947, + -0.5452940464019775 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the colander. The gripper is closed around the banana, and the arm is moving upward to clear the colander. The next action is to continue lifting and then move toward the table to place the banana down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3512543737888336, + 0.01458110474050045, + 0.02019597589969635, + -3.0332162380218506, + -0.09089557081460953, + -0.5096330046653748 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the colander. The gripper is closed around the banana, and the arm is moving upward to clear the colander. The next action is to continue lifting and then move toward the table to place the banana down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565165400505066, + 0.016820941120386124, + 0.014750019647181034, + -3.016901731491089, + -0.07785859704017639, + -0.4891020357608795 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the colander. The gripper is closed around the banana, and the arm is moving upward to clear the colander. The next action is to continue lifting and then move toward the table to place the banana down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35772383213043213, + 0.019695356488227844, + 0.01126761082559824, + -2.996438980102539, + -0.04941552132368088, + -0.46167656779289246 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "lift banana from colander", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the colander. The gripper is closed around the banana, and the arm is moving upward to clear the colander. The next action is to continue lifting and then move toward the table to place the banana down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35734301805496216, + 0.019060755148530006, + 0.009380507282912731, + -3.0078043937683105, + 0.006859949789941311, + -0.44001632928848267 + ], + "gripper_value": 0.7584560513496399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "release banana on table", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the colander. The gripper is closed around the banana, and the arm is moving upward to clear the colander. The next action is to continue lifting and then move toward the table to place the banana down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562212586402893, + 0.020229319110512733, + 0.009855407290160656, + -2.987685203552246, + 0.016469277441501617, + -0.39305761456489563 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "release banana on table", + "subtask_reasoning": "The banana has been successfully lifted from the colander and is currently held by the gripper above the table. The gripper is open (value ~1.0), indicating the banana is in the process of being released or has just been released. The next action is to ensure the banana is fully placed on the table and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35204124450683594, + 0.01901697926223278, + 0.014784537255764008, + -2.9864044189453125, + 0.03610531985759735, + -0.3698408007621765 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the banana from the colander and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach colander" + }, + { + "id": 2, + "subtask": "descend into colander" + }, + { + "id": 3, + "subtask": "close gripper on banana" + }, + { + "id": 4, + "subtask": "lift banana from colander" + }, + { + "id": 5, + "subtask": "release banana on table" + } + ], + "subtask_name": "release banana on table", + "subtask_reasoning": "The banana has been successfully lifted from the colander and is currently held by the gripper above the table. The gripper is open (value ~1.0), indicating the banana is in the process of being released or has just been released. The next action is to ensure the banana is fully placed on the table and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003568_ecot.json b/cot/chunk-0003/episode_0003568_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..38d54102a0ca73140e45ce62b294e5e4d819fabd --- /dev/null +++ b/cot/chunk-0003/episode_0003568_ecot.json @@ -0,0 +1,3197 @@ +{ + "task_name": "episode_0003568", + "episode_json": "json/chunk-0003/episode_0003568.json", + "video_path": "videos/chunk-0003/image_0/episode_0003568.mp4", + "instruction": "Moved the silver pot near the knife.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 47, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003568.json" + }, + "fps": 5.0, + "T_eff": 47, + "gripper_behavior_summary": { + "available": true, + "range": 0.942627489566803, + "std": 0.4442332983016968, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94263, std=0.44423, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 0, + 200, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 38, + 138, + 138, + 138, + 138, + 38, + 138, + 138, + 138 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 2 + ], + [ + 3, + 3, + 10 + ], + [ + 4, + 11, + 11 + ], + [ + 5, + 12, + 12 + ], + [ + 6, + 13, + 13 + ], + [ + 7, + 14, + 37 + ], + [ + 8, + 38, + 38 + ], + [ + 9, + 39, + 42 + ], + [ + 10, + 43, + 43 + ], + [ + 11, + 44, + 46 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the silver pot containing toys, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact with pot\", \"start\": 11, \"end\": 13, \"planning\": \"Lower gripper to make physical contact with the silver pot without grasping.\"},\n {\"id\": 3, \"name\": \"reposition pot near knife\", \"start\": 14, \"end\": 37, \"planning\": \"Drag or slide the silver pot across the table surface to position it adjacent to the knife.\"},\n {\"id\": 4, \"name\": \"release contact with pot\", \"start\": 38, \"end\": 42, \"planning\": \"Lift gripper slightly and disengage from the pot after repositioning.\"},\n {\"id\": 5, \"name\": \"retreat to safe pose\", \"start\": 43, \"end\": 46, \"planning\": \"Move end-effector away from the workspace to a neutral resting position.\"}\n ],\n \"global_plan\": \"The robot approaches the silver pot, makes contact without grasping, drags it near the knife, releases contact, and retreats — all without lifting or gripping the object.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, no grasp/pick/place actions are used. All manipulation is contact-based (drag/slide). Frame coverage is complete and contiguous from 0 to 46.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the silver pot containing toys, preparing for contact." + }, + { + "id": 2, + "name": "make contact with pot", + "start": 11, + "end": 13, + "planning": "Lower gripper to make physical contact with the silver pot without grasping." + }, + { + "id": 3, + "name": "reposition pot near knife", + "start": 14, + "end": 37, + "planning": "Drag or slide the silver pot across the table surface to position it adjacent to the knife." + }, + { + "id": 4, + "name": "release contact with pot", + "start": 38, + "end": 42, + "planning": "Lift gripper slightly and disengage from the pot after repositioning." + }, + { + "id": 5, + "name": "retreat to safe pose", + "start": 43, + "end": 46, + "planning": "Move end-effector away from the workspace to a neutral resting position." + } + ], + "global_plan": "The robot approaches the silver pot, makes contact without grasping, drags it near the knife, releases contact, and retreats — all without lifting or gripping the object.", + "notes": "No segment shows meaningful gripper closing; therefore, no grasp/pick/place actions are used. All manipulation is contact-based (drag/slide). Frame coverage is complete and contiguous from 0 to 46." + } + }, + "episode_goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.357060045003891, + 0.008643503300845623, + 0.11323783546686172, + 3.137166976928711, + -0.2466462254524231, + 0.44549858570098877 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35349708795547485, + 0.008167318068444729, + 0.10049416124820709, + -3.1303513050079346, + -0.21246321499347687, + 0.44918301701545715 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3472307324409485, + 0.004891585558652878, + 0.09101710468530655, + -3.1296403408050537, + -0.2034023404121399, + 0.5057065486907959 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455379903316498, + 0.002686390420421958, + 0.08342830836772919, + 3.118701934814453, + -0.21462413668632507, + 0.6399768590927124 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34200456738471985, + -0.004431739449501038, + 0.08101828396320343, + 3.0900418758392334, + -0.15571701526641846, + 0.7483081817626953 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3397212624549866, + -0.015703313052654266, + 0.07420837134122849, + 3.067521095275879, + -0.0988318920135498, + 0.8247666358947754 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary relative to the pot, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33886903524398804, + -0.026856012642383575, + 0.0722232460975647, + 3.043156623840332, + -0.07932029664516449, + 0.9002394676208496 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary relative to the pot, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3342954218387604, + -0.03479895368218422, + 0.06682171672582626, + 3.0412445068359375, + -0.05945819243788719, + 0.9440287351608276 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 318, + 434, + 757, + 812 + ], + "table": [ + 5, + 6, + 994, + 992 + ], + "metal bowl": [ + 655, + 255, + 888, + 513 + ], + "yellow toy": [ + 668, + 315, + 768, + 401 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary relative to the pot, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, keep gripper closed; then move back 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3291931450366974, + -0.03984687477350235, + 0.052682287991046906, + 3.0937554836273193, + -0.06402041018009186, + 0.9403369426727295 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary relative to the pot, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move back 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281053602695465, + -0.04037740081548691, + 0.04803258180618286, + 3.1107890605926514, + -0.08089211583137512, + 0.9514240622520447 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 318, + 434, + 758, + 813 + ], + "table": [ + 5, + 6, + 994, + 992 + ], + "metal bowl": [ + 660, + 257, + 890, + 514 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary relative to the pot, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move back 1 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32944434881210327, + -0.0379757322371006, + 0.038227714598178864, + 3.127563714981079, + -0.09010683000087738, + 0.9597934484481812 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary relative to the pot, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move back 2 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33490002155303955, + -0.03917086496949196, + 0.030471473932266235, + -3.138800621032715, + -0.09018193185329437, + 0.9532656669616699 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and knife visible; no contact has been made yet. The gripper remains open and stationary relative to the pot, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the silver pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 2 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34310072660446167, + -0.038874465972185135, + 0.03121611289680004, + 3.1387832164764404, + -0.10028539597988129, + 0.954565167427063 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3456582725048065, + -0.03829006850719452, + 0.026815086603164673, + -3.1348156929016113, + -0.10250778496265411, + 0.9507865905761719 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.347819060087204, + -0.040150854736566544, + 0.026537291705608368, + 3.1329128742218018, + -0.10465922951698303, + 0.9297164082527161 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.346627414226532, + -0.04133032634854317, + 0.022156838327646255, + 3.11858868598938, + -0.10860499739646912, + 0.9019713401794434 + ], + "gripper_value": 0.18066829442977905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34504732489585876, + -0.04285892844200134, + 0.020691009238362312, + 3.11818265914917, + -0.1008816510438919, + 0.8438393473625183 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3396844267845154, + -0.04285433888435364, + 0.022837979719042778, + 3.094862699508667, + -0.11667311191558838, + 0.7882664799690247 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3347265422344208, + -0.043059829622507095, + 0.024414049461483955, + 3.066303014755249, + -0.10699804872274399, + 0.6907908916473389 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.336399108171463, + -0.03989182040095329, + 0.03284977003931999, + 3.0327882766723633, + -0.13360679149627686, + 0.6933736801147461 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.329745352268219, + -0.03991236165165901, + 0.03741856664419174, + 3.021552085876465, + -0.13769280910491943, + 0.7055367231369019 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 11 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33224838972091675, + -0.04376645386219025, + 0.04033255577087402, + 3.002840042114258, + -0.1261196732521057, + 0.7323132157325745 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3449164927005768, + -0.04563506692647934, + 0.05054900795221329, + 2.9638874530792236, + -0.14702214300632477, + 0.7715184092521667 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 13 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3510454297065735, + -0.042585618793964386, + 0.05410684272646904, + 2.9366202354431152, + -0.15475815534591675, + 0.8156855702400208 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.360984742641449, + -0.03399265557527542, + 0.06308302283287048, + 2.916717052459717, + -0.1679650992155075, + 0.8993374109268188 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot has approached the silver pot and is now in contact with it, as indicated by the gripper value and motion data. The pot is positioned near the knife on the table. The next action is to drag the pot closer to the knife while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659411072731018, + -0.01127296406775713, + 0.06154932826757431, + 2.930967330932617, + -0.15808279812335968, + 1.0014514923095703 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 10 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626069724559784, + 0.014052312821149826, + 0.061864569783210754, + 2.9536263942718506, + -0.14495109021663666, + 1.0711441040039062 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 7, + 994, + 991 + ], + "metal bowl": [ + 633, + 154, + 835, + 377 + ], + "yellow toy": [ + 672, + 139, + 791, + 259 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.360934317111969, + 0.03722681105136871, + 0.06150989979505539, + 2.9442427158355713, + -0.1306968480348587, + 1.095947265625 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35529500246047974, + 0.05428117513656616, + 0.057364460080862045, + 2.9416542053222656, + -0.1169343814253807, + 1.0745407342910767 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33895429968833923, + 0.06576242297887802, + 0.052645668387413025, + 2.9476497173309326, + -0.08623571693897247, + 1.0097202062606812 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32393792271614075, + 0.07300517708063126, + 0.054920680820941925, + 2.9439010620117188, + -0.1037171259522438, + 0.9467459321022034 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, tilt left 10 degrees, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30758559703826904, + 0.07864563167095184, + 0.04988468065857887, + 2.9603066444396973, + -0.1001485139131546, + 0.8903374075889587 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 320, + 435, + 757, + 811 + ], + "orange cup": [ + 261, + 137, + 403, + 330 + ], + "metal bowl": [ + 435, + 225, + 659, + 436 + ], + "table": [ + 5, + 8, + 995, + 992 + ], + "white toy": [ + 478, + 192, + 625, + 364 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, tilt left 10 degrees, open gripper; then move forward 2 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29420006275177, + 0.08307547867298126, + 0.04459771886467934, + 2.991532325744629, + -0.11314049363136292, + 0.8420852422714233 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move forward 4 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28986304998397827, + 0.08848915994167328, + 0.03717410936951637, + 3.0196073055267334, + -0.15824687480926514, + 0.8129209280014038 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 6 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29072731733322144, + 0.0907466933131218, + 0.0361042283475399, + 3.028026819229126, + -0.17131264507770538, + 0.8046185374259949 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2928885817527771, + 0.0899706482887268, + 0.03538861498236656, + 3.048218011856079, + -0.14492611587047577, + 0.8147656321525574 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2892804443836212, + 0.08861012011766434, + 0.03528367355465889, + 3.0751492977142334, + -0.12818843126296997, + 0.8104565143585205 + ], + "gripper_value": 0.2111179232597351 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.29288414120674133, + 0.09177155047655106, + 0.0404793806374073, + 3.0868468284606934, + -0.13808226585388184, + 0.8493730425834656 + ], + "gripper_value": 0.45315688848495483 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition pot near knife", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 6 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.30163300037384033, + 0.09993981570005417, + 0.053969308733940125, + 3.1365418434143066, + -0.15154144167900085, + 0.9066200852394104 + ], + "gripper_value": 0.7408273816108704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact with pot", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018028736114502, + 0.0995340570807457, + 0.05988365039229393, + -3.099367618560791, + -0.14858174324035645, + 0.8944944143295288 + ], + "gripper_value": 0.9816622138023376 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact with pot", + "subtask_reasoning": "The robot is currently in contact with the silver pot, which is positioned near the knife on the table. The gripper is closed around the pot's handle, indicating a grasp has been established to facilitate movement. The next action is to drag or slide the pot slightly to finalize its position adjacent to the knife before releasing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3090769648551941, + 0.09559959918260574, + 0.07487690448760986, + -3.096991777420044, + -0.13511425256729126, + 0.9380070567131042 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact with pot", + "subtask_reasoning": "The silver pot has been successfully dragged and is now positioned adjacent to the knife on the table. The gripper is fully open (value ~0.999), indicating that contact with the pot has been released. The robot is currently stationary above the objects, having completed the dragging motion. The next action is to retreat the end-effector away from the table to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.31934309005737305, + 0.07814710587263107, + 0.07873929291963577, + -3.0935730934143066, + -0.16766653954982758, + 0.873802900314331 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact with pot", + "subtask_reasoning": "The silver pot has been successfully dragged and is now positioned adjacent to the knife on the table. The gripper is fully open (value ~0.999), indicating that contact with the pot has been released. The robot is currently stationary above the objects, having completed the dragging motion. The next action is to retreat the end-effector away from the table to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454757630825043, + 0.05509461462497711, + 0.09676175564527512, + -3.1415841579437256, + -0.21581439673900604, + 0.7093719244003296 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cup": [ + 261, + 138, + 440, + 331 + ], + "knife": [ + 322, + 436, + 758, + 812 + ], + "metal bowl": [ + 382, + 251, + 606, + 509 + ], + "table": [ + 4, + 6, + 995, + 993 + ], + "white toy": [ + 414, + 278, + 575, + 444 + ], + "yellow toy": [ + 413, + 322, + 494, + 395 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact with pot", + "subtask_reasoning": "The silver pot has been successfully dragged and is now positioned adjacent to the knife on the table. The gripper is fully open (value ~0.999), indicating that contact with the pot has been released. The robot is currently stationary above the objects, having completed the dragging motion. The next action is to retreat the end-effector away from the table to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.36500632762908936, + 0.03539404645562172, + 0.09489051252603531, + 3.132807970046997, + -0.27401202917099, + 0.5784509778022766 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The silver pot has been successfully dragged and is now positioned adjacent to the knife on the table. The gripper is fully open (value ~0.999), indicating that contact with the pot has been released. The robot is currently stationary above the objects, having completed the dragging motion. The next action is to retreat the end-effector away from the table to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 46 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.37946105003356934, + 0.013146784156560898, + 0.08741253614425659, + -3.1178464889526367, + -0.2749473750591278, + 0.40659767389297485 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The silver pot is now positioned adjacent to the knife on the table, completing the dragging phase. The gripper is fully open and not in contact with the pot, indicating release has occurred. The robot is retreating to a safe pose as the final step of this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 43, + "end": 46 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.38682663440704346, + -0.007796034682542086, + 0.08049793541431427, + -3.1011505126953125, + -0.18964651226997375, + 0.19350287318229675 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The silver pot is now positioned adjacent to the knife on the table, completing the dragging phase. The gripper is fully open and not in contact with the pot, indicating release has occurred. The robot is retreating to a safe pose as the final step of this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 46 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.38850751519203186, + -0.03083018958568573, + 0.07924690842628479, + -3.075986385345459, + -0.18192057311534882, + -0.007211089599877596 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot containing toy fruits to a position adjacent to the knife on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot near knife" + }, + { + "id": 4, + "subtask": "release contact with pot" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The silver pot is now positioned adjacent to the knife on the table, completing the dragging phase. The gripper is fully open and not in contact with the pot, indicating release has occurred. The robot is retreating to a safe pose as the final step of this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 46 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003569_ecot.json b/cot/chunk-0003/episode_0003569_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..af86392878486016aee89351b52e2a479305ca9d --- /dev/null +++ b/cot/chunk-0003/episode_0003569_ecot.json @@ -0,0 +1,1729 @@ +{ + "task_name": "episode_0003569", + "episode_json": "json/chunk-0003/episode_0003569.json", + "video_path": "videos/chunk-0003/image_0/episode_0003569.mp4", + "instruction": "Put the pot behind the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003569.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.9252604246139526, + "std": 0.4170888066291809, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92526, std=0.41709, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 8, + 8, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 121, + 121, + 121, + 121, + 121, + 121 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 13 + ], + [ + 3, + 14, + 20 + ], + [ + 4, + 21, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp pot\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector down to the pot and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift pot\", \"start\": 8, \"end\": 13, \"planning\": \"Lift the grasped pot upward and slightly back to clear the cloth.\"},\n {\"id\": 3, \"name\": \"reposition pot behind cloth\", \"start\": 14, \"end\": 20, \"planning\": \"Translate the pot backward over the cloth and lower it into position behind the cloth.\"},\n {\"id\": 4, \"name\": \"release pot and retreat\", \"start\": 21, \"end\": 26, \"planning\": \"Open gripper to release the pot, then move end-effector away to complete the task.\"}\n ],\n \"global_plan\": \"Grasp the pot, lift it, move it behind the cloth, and release it to satisfy the instruction.\",\n \"notes\": \"Segment boundaries align with natural manipulation phases: grasp (0-7), lift (8-13), reposition (14-20), release (21-26). Gripper evidence supports grasp/hold wording in segments 1-3 and release in segment 4.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp pot", + "start": 0, + "end": 7, + "planning": "Move end-effector down to the pot and close gripper to secure it." + }, + { + "id": 2, + "name": "lift pot", + "start": 8, + "end": 13, + "planning": "Lift the grasped pot upward and slightly back to clear the cloth." + }, + { + "id": 3, + "name": "reposition pot behind cloth", + "start": 14, + "end": 20, + "planning": "Translate the pot backward over the cloth and lower it into position behind the cloth." + }, + { + "id": 4, + "name": "release pot and retreat", + "start": 21, + "end": 26, + "planning": "Open gripper to release the pot, then move end-effector away to complete the task." + } + ], + "global_plan": "Grasp the pot, lift it, move it behind the cloth, and release it to satisfy the instruction.", + "notes": "Segment boundaries align with natural manipulation phases: grasp (0-7), lift (8-13), reposition (14-20), release (21-26). Gripper evidence supports grasp/hold wording in segments 1-3 and release in segment 4." + } + }, + "episode_goal": "Place the metal pot behind the blue cloth on the wooden table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536427974700928, + 0.016168616712093353, + 0.10943049192428589, + -3.0846774578094482, + -0.10079534351825714, + -0.07505128532648087 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot is positioned above the metal pot on the wooden table, with the gripper open and ready to grasp. No prior actions have been completed. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514007091522217, + 0.01608326844871044, + 0.10217221826314926, + -3.087646722793579, + -0.07327012717723846, + -0.07639217376708984 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot is positioned above the metal pot on the wooden table, with the gripper open and ready to grasp. No prior actions have been completed. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2472635954618454, + 0.03251950070261955, + 0.09539181739091873, + -3.0768494606018066, + -0.07549813389778137, + -0.04217873886227608 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot is positioned above the metal pot on the wooden table, with the gripper open and ready to grasp. No prior actions have been completed. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24396970868110657, + 0.038069434463977814, + 0.0818004235625267, + -3.058645009994507, + -0.05631760135293007, + -0.03872699290513992 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 8, + 199, + 885, + 990 + ], + "metal bowl": [ + 160, + 359, + 434, + 646 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper currently open. No part of the task has been completed yet as the pot remains in its initial position. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 4 cm, move left 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24332834780216217, + 0.03466346859931946, + 0.062162984162569046, + -3.084017276763916, + -0.024285202845931053, + -0.05457015708088875 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper currently open. No part of the task has been completed yet as the pot remains in its initial position. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 6 cm, move left 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2461250126361847, + 0.03032051958143711, + 0.04399022087454796, + -3.092351198196411, + 0.00979405827820301, + -0.06480003148317337 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper currently open. No part of the task has been completed yet as the pot remains in its initial position. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24470894038677216, + 0.0276504997164011, + 0.03099421225488186, + -3.10770320892334, + 0.047089286148548126, + -0.08340118825435638 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper currently open. No part of the task has been completed yet as the pot remains in its initial position. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move left 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2459191530942917, + 0.027307676151394844, + 0.027861151844263077, + -3.1098880767822266, + 0.04494011029601097, + -0.07584010064601898 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper currently open. No part of the task has been completed yet as the pot remains in its initial position. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move left 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 1 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2457059621810913, + 0.02673969976603985, + 0.027851445600390434, + -3.113494873046875, + 0.04596437141299248, + -0.07435951381921768 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper currently open. No part of the task has been completed yet as the pot remains in its initial position. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24655307829380035, + 0.02737027034163475, + 0.029283810406923294, + -3.1094675064086914, + 0.04070205241441727, + -0.08495569229125977 + ], + "gripper_value": 0.16973881423473358 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper currently open. No part of the task has been completed yet as the pot remains in its initial position. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 9 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2466130554676056, + 0.026881754398345947, + 0.03701165318489075, + -3.1125972270965576, + 0.02286294288933277, + -0.11938953399658203 + ], + "gripper_value": 0.09475040435791016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot, which is currently resting on the blue cloth. The gripper is closed, and the arm is positioned directly above the pot, ready to initiate vertical movement. The next action is to lift the pot upwards to clear the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 9 cm, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 10 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24131612479686737, + 0.03221682459115982, + 0.053073860704898834, + -3.129202127456665, + 0.031680576503276825, + -0.13846614956855774 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot, which is currently resting on the blue cloth. The gripper is closed, and the arm is positioned directly above the pot, ready to initiate vertical movement. The next action is to lift the pot upwards to clear the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 10 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25241541862487793, + 0.0403607003390789, + 0.09326057881116867, + -3.1393930912017822, + 0.020062919706106186, + -0.16200244426727295 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot, which is currently resting on the blue cloth. The gripper is closed, and the arm is positioned directly above the pot, ready to initiate vertical movement. The next action is to lift the pot upwards to clear the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 10 cm, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28158098459243774, + 0.05201835557818413, + 0.13012360036373138, + -3.11152982711792, + -0.06944511830806732, + -0.11764190346002579 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 120, + 160, + 364, + 434 + ], + "wooden table": [ + 7, + 248, + 884, + 990 + ], + "blue cloth": [ + 155, + 423, + 451, + 715 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot, which is currently resting on the blue cloth. The gripper is closed, and the arm is positioned directly above the pot, ready to initiate vertical movement. The next action is to lift the pot upwards to clear the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 10 cm, open gripper; then move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30781999230384827, + 0.06160522252321243, + 0.12315281480550766, + -3.0899951457977295, + -0.06395973265171051, + -0.08883896470069885 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot behind cloth", + "subtask_reasoning": "The robot has successfully grasped the metal pot, which is currently resting on the blue cloth. The gripper is closed, and the arm is positioned directly above the pot, ready to initiate vertical movement. The next action is to lift the pot upwards to clear the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 10 cm, open gripper; then move back 3 cm, move left 3 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3308423161506653, + 0.06800556927919388, + 0.10724303871393204, + -3.0598764419555664, + -0.08528558909893036, + -0.06298603117465973 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot behind cloth", + "subtask_reasoning": "The robot has successfully grasped the metal pot, which is currently resting on the blue cloth. The gripper is closed, and the arm is positioned directly above the pot, ready to initiate vertical movement. The next action is to lift the pot upwards to clear the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 8 cm, open gripper; then move back 6 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34704554080963135, + 0.06179087609052658, + 0.08597627282142639, + -3.024749994277954, + -0.10971371829509735, + -0.0731823593378067 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot behind cloth", + "subtask_reasoning": "The robot has successfully grasped the metal pot, which is currently resting on the blue cloth. The gripper is closed, and the arm is positioned directly above the pot, ready to initiate vertical movement. The next action is to lift the pot upwards to clear the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 6 cm, open gripper; then move back 8 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3633813261985779, + 0.05394972115755081, + 0.06642944365739822, + -3.021347999572754, + -0.11619649827480316, + -0.08299270272254944 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot behind cloth", + "subtask_reasoning": "The robot is holding the metal pot above the wooden table, positioned near the blue cloth. The pot has been lifted successfully, and the next step is to move it directly behind the cloth. The gripper remains closed, indicating the pot is still grasped and ready for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, open gripper; then move back 8 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3705129623413086, + 0.04532211646437645, + 0.04612052068114281, + -3.0076417922973633, + -0.11319182068109512, + -0.09288693964481354 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot behind cloth", + "subtask_reasoning": "The robot is holding the metal pot above the wooden table, positioned near the blue cloth. The pot has been lifted successfully, and the next step is to move it directly behind the cloth. The gripper remains closed, indicating the pot is still grasped and ready for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 8 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3822489082813263, + 0.03876740112900734, + 0.02837168239057064, + -2.9813013076782227, + -0.12440600991249084, + -0.12244574725627899 + ], + "gripper_value": 0.11535319685935974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot behind cloth", + "subtask_reasoning": "The robot is holding the metal pot above the wooden table, positioned near the blue cloth. The pot has been lifted successfully, and the next step is to move it directly behind the cloth. The gripper remains closed, indicating the pot is still grasped and ready for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 8 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38117289543151855, + 0.037129081785678864, + 0.02571556530892849, + -2.993723154067993, + -0.11675136536359787, + -0.11609107255935669 + ], + "gripper_value": 0.3026532232761383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot behind cloth", + "subtask_reasoning": "The robot is holding the metal pot above the wooden table, positioned near the blue cloth. The pot has been lifted successfully, and the next step is to move it directly behind the cloth. The gripper remains closed, indicating the pot is still grasped and ready for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 8 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3804337978363037, + 0.042154837399721146, + 0.025961169973015785, + -3.009284734725952, + -0.11862767487764359, + -0.10083712637424469 + ], + "gripper_value": 0.5958979725837708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The robot is holding the metal pot above the wooden table, positioned near the blue cloth. The pot has been lifted successfully, and the next step is to move it directly behind the cloth. The gripper remains closed, indicating the pot is still grasped and ready for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.380998432636261, + 0.04804834723472595, + 0.051023952662944794, + -3.0102956295013428, + -0.16600628197193146, + -0.09574271738529205 + ], + "gripper_value": 0.8939508199691772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The robot is holding the metal pot above the wooden table, positioned near the blue cloth. The pot has been lifted successfully, and the next step is to move it directly behind the cloth. The gripper remains closed, indicating the pot is still grasped and ready for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3769232928752899, + 0.06122021749615669, + 0.10288898646831512, + -3.0168356895446777, + -0.27837225794792175, + -0.0603211484849453 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The metal pot is currently positioned behind the blue cloth on the wooden table, satisfying the placement goal. The gripper is open and the end-effector is retreating upward, indicating the release action is complete. The next step is to continue moving the arm away from the scene to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35529980063438416, + 0.0711527094244957, + 0.1380346119403839, + -3.121546745300293, + -0.3245125412940979, + 0.0006122066988609731 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 302, + 177, + 537, + 431 + ], + "wooden table": [ + 7, + 185, + 885, + 991 + ], + "dinosaur fork": [ + 578, + 369, + 724, + 617 + ], + "blue cloth": [ + 154, + 408, + 453, + 716 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The metal pot is currently positioned behind the blue cloth on the wooden table, satisfying the placement goal. The gripper is open and the end-effector is retreating upward, indicating the release action is complete. The next step is to continue moving the arm away from the scene to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3221438527107239, + 0.06457004696130753, + 0.15028682351112366, + 3.1257050037384033, + -0.25340020656585693, + -0.011074227280914783 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The metal pot is currently positioned behind the blue cloth on the wooden table, satisfying the placement goal. The gripper is open and the end-effector is retreating upward, indicating the release action is complete. The next step is to continue moving the arm away from the scene to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30186012387275696, + 0.05963779240846634, + 0.14464227855205536, + 3.1208488941192627, + -0.19285966455936432, + -0.03753696382045746 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot behind the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift pot" + }, + { + "id": 3, + "subtask": "reposition pot behind cloth" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The metal pot is currently positioned behind the blue cloth on the wooden table, satisfying the placement goal. The gripper is open and the end-effector is retreating upward, indicating the release action is complete. The next step is to continue moving the arm away from the scene to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003573_ecot.json b/cot/chunk-0003/episode_0003573_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fcac5986c93ecabf57999fdc130e550d6a0c1275 --- /dev/null +++ b/cot/chunk-0003/episode_0003573_ecot.json @@ -0,0 +1,2403 @@ +{ + "task_name": "episode_0003573", + "episode_json": "json/chunk-0003/episode_0003573.json", + "video_path": "videos/chunk-0003/image_0/episode_0003573.mp4", + "instruction": "Move spoon to upper right corner of table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003573.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.630353569984436, + "std": 0.29980477690696716, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.63035, std=0.29980, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 12, + 12, + 12, + 12, + 12, + 212, + 212, + 212, + 212, + 228, + 228, + 28, + 28, + 28 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 11 + ], + [ + 3, + 12, + 18 + ], + [ + 4, + 19, + 23 + ], + [ + 5, + 24, + 27 + ], + [ + 6, + 28, + 29 + ], + [ + 7, + 30, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the spoon on the orange cloth without grasping.\"},\n {\"id\": 2, \"name\": \"grasp spoon\", \"start\": 12, \"end\": 18, \"planning\": \"Close gripper to securely grasp the spoon handle while maintaining contact with the cloth.\"},\n {\"id\": 3, \"name\": \"lift and transport spoon\", \"start\": 19, \"end\": 23, \"planning\": \"Lift the grasped spoon and move it across the table toward the upper right corner.\"},\n {\"id\": 4, \"name\": \"position spoon at target\", \"start\": 24, \"end\": 27, \"planning\": \"Lower the spoon near the upper right corner and begin releasing grip as placement initiates.\"},\n {\"id\": 5, \"name\": \"release spoon\", \"start\": 28, \"end\": 29, \"planning\": \"Open gripper fully to release the spoon onto the table surface at the target location.\"},\n {\"id\": 6, \"name\": \"retreat from spoon\", \"start\": 30, \"end\": 32, \"planning\": \"Move end-effector away from the placed spoon to complete the task without further interaction.\"}\n ],\n \"global_plan\": \"Approach the spoon on the orange cloth, grasp it firmly, lift and carry it to the upper right corner of the table, release it gently, then retreat to finalize placement.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 3 and 5 (frames 12–18 and 24–27), validating grasp/release actions. Segments 1, 6, and 7 show no gripper closure — described as approach, release, and retreat respectively. Frame coverage is contiguous and complete from 0 to 32.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the spoon on the orange cloth without grasping." + }, + { + "id": 2, + "name": "grasp spoon", + "start": 12, + "end": 18, + "planning": "Close gripper to securely grasp the spoon handle while maintaining contact with the cloth." + }, + { + "id": 3, + "name": "lift and transport spoon", + "start": 19, + "end": 23, + "planning": "Lift the grasped spoon and move it across the table toward the upper right corner." + }, + { + "id": 4, + "name": "position spoon at target", + "start": 24, + "end": 27, + "planning": "Lower the spoon near the upper right corner and begin releasing grip as placement initiates." + }, + { + "id": 5, + "name": "release spoon", + "start": 28, + "end": 29, + "planning": "Open gripper fully to release the spoon onto the table surface at the target location." + }, + { + "id": 6, + "name": "retreat from spoon", + "start": 30, + "end": 32, + "planning": "Move end-effector away from the placed spoon to complete the task without further interaction." + } + ], + "global_plan": "Approach the spoon on the orange cloth, grasp it firmly, lift and carry it to the upper right corner of the table, release it gently, then retreat to finalize placement.", + "notes": "Gripper evidence confirms meaningful closing in segments 3 and 5 (frames 12–18 and 24–27), validating grasp/release actions. Segments 1, 6, and 7 show no gripper closure — described as approach, release, and retreat respectively. Frame coverage is contiguous and complete from 0 to 32." + } + }, + "episode_goal": "Move the spoon to the upper right corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868827283382416, + 0.0756477490067482, + 0.09683801233768463, + 3.1315996646881104, + -0.05891904607415199, + -0.1101323813199997 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange cloth. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28520283102989197, + 0.07471292465925217, + 0.08962886035442352, + 3.1228864192962646, + -0.03751269727945328, + -0.10808411240577698 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange cloth. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2732372581958771, + 0.09186197817325592, + 0.07872941344976425, + -3.1285336017608643, + -0.021165134385228157, + -0.06988950818777084 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange cloth. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2723655700683594, + 0.1065358892083168, + 0.07131358236074448, + -3.11625075340271, + -0.022542908787727356, + -0.042731449007987976 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tool": [ + 215, + 366, + 304, + 551 + ], + "metal strainer": [ + 405, + 272, + 602, + 503 + ], + "banana": [ + 421, + 253, + 570, + 436 + ], + "orange block": [ + 130, + 308, + 399, + 530 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange cloth. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27228984236717224, + 0.12025453895330429, + 0.05832524597644806, + -3.1032564640045166, + -0.015644056722521782, + -0.0029183453880250454 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange cloth. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764417827129364, + 0.1278645098209381, + 0.0424618162214756, + -3.108940601348877, + -0.02373901568353176, + 0.0521562397480011 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.284795343875885, + 0.13578669726848602, + 0.03405779227614403, + -3.0863916873931885, + -0.02640494890511036, + 0.07426213473081589 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913714349269867, + 0.14098621904850006, + 0.02726292982697487, + -3.0759198665618896, + -0.01897433213889599, + 0.08661797642707825 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2960496246814728, + 0.14491567015647888, + 0.022208357229828835, + -3.066882371902466, + -0.013254189863801003, + 0.0886135846376419 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2979055941104889, + 0.14658726751804352, + 0.02312494069337845, + -3.060678005218506, + -0.015965281054377556, + 0.08490841090679169 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 8 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2974202036857605, + 0.1477861851453781, + 0.022217437624931335, + -3.0532822608947754, + -0.012084843590855598, + 0.08276911824941635 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 8 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29746711254119873, + 0.14802999794483185, + 0.020769594237208366, + -3.0493757724761963, + -0.008771920576691628, + 0.0741477981209755 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 8 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29786795377731323, + 0.14746254682540894, + 0.019290130585432053, + -3.0478312969207764, + -0.006698082201182842, + 0.07044962793588638 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tool": [ + 207, + 417, + 274, + 549 + ], + "orange block": [ + 127, + 325, + 390, + 527 + ], + "metal strainer": [ + 405, + 272, + 602, + 501 + ], + "banana": [ + 420, + 253, + 570, + 436 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2983200252056122, + 0.14498688280582428, + 0.018100690096616745, + -3.0467379093170166, + -0.008443868719041348, + 0.06725484877824783 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 15 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29759249091148376, + 0.14185474812984467, + 0.016772989183664322, + -3.0480966567993164, + -0.005780368112027645, + 0.0607135184109211 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the orange cloth where the blue spoon rests, with the gripper currently open. The subtask of approaching the spoon is in progress as the arm moves toward the target object. The next action is to continue lowering and aligning the gripper to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 16 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.294016569852829, + 0.1366903930902481, + 0.02209976315498352, + -3.057004690170288, + -0.007606039755046368, + 0.06621874868869781 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the orange cloth. The gripper is open and aligned with the spoon's handle, indicating readiness for grasping. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 16 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29605841636657715, + 0.13079547882080078, + 0.06215300410985947, + -3.056602716445923, + -0.09959341585636139, + 0.08179465681314468 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the orange cloth. The gripper is open and aligned with the spoon's handle, indicating readiness for grasping. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 6 cm, move right 16 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.289935827255249, + 0.13201826810836792, + 0.08848186582326889, + -3.072577714920044, + -0.14155040681362152, + 0.12739592790603638 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the orange cloth. The gripper is open and aligned with the spoon's handle, indicating readiness for grasping. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 6 cm, move right 16 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28911739587783813, + 0.11606308817863464, + 0.10173270106315613, + -3.101896286010742, + -0.14664767682552338, + 0.13216383755207062 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the orange cloth. The gripper is open and aligned with the spoon's handle, indicating readiness for grasping. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, keep gripper closed; then move forward 6 cm, move right 16 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017774820327759, + 0.06515254825353622, + 0.10181567072868347, + 3.121434450149536, + -0.1388108879327774, + 0.0460544191300869 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the orange cloth. The gripper is open and aligned with the spoon's handle, indicating readiness for grasping. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 16 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30645251274108887, + 0.018453367054462433, + 0.10156302154064178, + 3.1138157844543457, + -0.12533381581306458, + -0.02569304220378399 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the orange cloth. The gripper is open and aligned with the spoon's handle, indicating readiness for grasping. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 11 cm, move down 7 cm, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31643494963645935, + -0.03265649080276489, + 0.09422153234481812, + 3.1172356605529785, + -0.12758466601371765, + -0.09352963417768478 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the spoon and is currently lifting it above the table surface. Since the gripper signal remains constant, the focus is on transporting the object rather than adjusting the grip. The next action is to continue moving the spoon toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 6 cm, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306868374347687, + -0.06849382072687149, + 0.07612065970897675, + 3.1209683418273926, + -0.11058347672224045, + -0.10622468590736389 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange block": [ + 138, + 304, + 406, + 547 + ], + "banana": [ + 420, + 274, + 558, + 436 + ], + "blue tool": [ + 584, + 371, + 664, + 556 + ], + "metal strainer": [ + 405, + 277, + 596, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the spoon and is currently lifting it above the table surface. Since the gripper signal remains constant, the focus is on transporting the object rather than adjusting the grip. The next action is to continue moving the spoon toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 5 cm, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500956594944, + -0.08748546987771988, + 0.05450370907783508, + 3.1303858757019043, + -0.08827382326126099, + -0.10460717231035233 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the spoon and is currently lifting it above the table surface. Since the gripper signal remains constant, the focus is on transporting the object rather than adjusting the grip. The next action is to continue moving the spoon toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3650881350040436, + -0.09425347298383713, + 0.029708821326494217, + -3.129986047744751, + -0.048656925559043884, + -0.09822951257228851 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "position spoon at target", + "subtask_reasoning": "The robot has successfully grasped the spoon and is currently lifting it above the table surface. Since the gripper signal remains constant, the focus is on transporting the object rather than adjusting the grip. The next action is to continue moving the spoon toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37298980355262756, + -0.09619415551424026, + 0.01689135655760765, + -3.1097609996795654, + -0.022972680628299713, + -0.09696266800165176 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "position spoon at target", + "subtask_reasoning": "The robot is holding the blue spoon above the table, having completed the approach and grasp phases. The current subtask involves positioning the spoon at the target upper right corner. The next action is to move the spoon to the designated location and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37490710616111755, + -0.0966845154762268, + 0.014248260296881199, + -3.105247974395752, + -0.020508602261543274, + -0.10395331680774689 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "position spoon at target", + "subtask_reasoning": "The robot is holding the blue spoon above the table, having completed the approach and grasp phases. The current subtask involves positioning the spoon at the target upper right corner. The next action is to move the spoon to the designated location and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3746721148490906, + -0.09659570455551147, + 0.012860193848609924, + -3.103849411010742, + -0.01297243032604456, + -0.10373428463935852 + ], + "gripper_value": 0.4256414473056793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "position spoon at target", + "subtask_reasoning": "The robot is holding the blue spoon above the table, having completed the approach and grasp phases. The current subtask involves positioning the spoon at the target upper right corner. The next action is to move the spoon to the designated location and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3720344603061676, + -0.0956512838602066, + 0.008713608607649803, + -3.1028048992156982, + 0.009246564470231533, + -0.11706855893135071 + ], + "gripper_value": 0.7368898391723633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot arm is positioned over the upper right corner of the table, holding the blue spoon. The gripper is currently closed, indicating the spoon is still being held. The next action is to open the gripper to release the spoon onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676932454109192, + -0.09801533818244934, + 0.01661233976483345, + -3.1316115856170654, + 0.015764206647872925, + -0.14259599149227142 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot arm is positioned over the upper right corner of the table, holding the blue spoon. The gripper is currently closed, indicating the spoon is still being held. The next action is to open the gripper to release the spoon onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.37089645862579346, + -0.0866164043545723, + 0.0692133828997612, + 3.1079256534576416, + -0.09392986446619034, + -0.11969102919101715 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The robot arm is positioned over the upper right corner of the table, holding the blue spoon. The gripper is currently closed, indicating the spoon is still being held. The next action is to open the gripper to release the spoon onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35801076889038086, + -0.057048600167036057, + 0.10840834677219391, + 3.0935757160186768, + -0.1552457958459854, + -0.10178816318511963 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The spoon has been successfully placed in the upper right corner of the table, and the gripper is fully open and no longer in contact with it. The robot arm is currently elevated above the scene, indicating the retreat phase is underway. The next action is to continue moving the arm away from the table to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33349287509918213, + -0.0113345542922616, + 0.11344651132822037, + 3.0890514850616455, + -0.12787750363349915, + -0.07868114113807678 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange block": [ + 138, + 305, + 406, + 547 + ], + "banana": [ + 420, + 273, + 568, + 436 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the upper right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position spoon at target" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The spoon has been successfully placed in the upper right corner of the table, and the gripper is fully open and no longer in contact with it. The robot arm is currently elevated above the scene, indicating the retreat phase is underway. The next action is to continue moving the arm away from the table to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003574_ecot.json b/cot/chunk-0003/episode_0003574_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7d77d22da0284e0e3678b61f49f3a45147e6a94c --- /dev/null +++ b/cot/chunk-0003/episode_0003574_ecot.json @@ -0,0 +1,1597 @@ +{ + "task_name": "episode_0003574", + "episode_json": "json/chunk-0003/episode_0003574.json", + "video_path": "videos/chunk-0003/image_0/episode_0003574.mp4", + "instruction": "Moved the can on table sideways.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003574.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006645917892456055, + "std": 0.00029478641226887703, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00029, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 22 + ], + [ + 3, + 23, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can from above\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector downward and laterally to position gripper over the can without closing.\"},\n {\"id\": 2, \"name\": \"nudge can sideways\", \"start\": 14, \"end\": 22, \"planning\": \"Make light contact with can and push it laterally across the table surface using open gripper.\"},\n {\"id\": 3, \"name\": \"retreat after repositioning\", \"start\": 23, \"end\": 25, \"planning\": \"Lift and move end-effector away from the can’s new position to complete the sideways move.\"}\n ],\n \"global_plan\": \"The robot approaches the can without grasping, nudges it sideways via contact, then retreats — consistent with non-prehensile manipulation under constant open-gripper state.\",\n \"notes\": \"No grasp or lift occurred; all motion is contact-based pushing/sliding. Gripper remained fully open throughout (value ~1.0), confirming no grasping. Segment boundaries preserved as they align with natural phases: approach, push, retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can from above", + "start": 0, + "end": 13, + "planning": "Move end-effector downward and laterally to position gripper over the can without closing." + }, + { + "id": 2, + "name": "nudge can sideways", + "start": 14, + "end": 22, + "planning": "Make light contact with can and push it laterally across the table surface using open gripper." + }, + { + "id": 3, + "name": "retreat after repositioning", + "start": 23, + "end": 25, + "planning": "Lift and move end-effector away from the can’s new position to complete the sideways move." + } + ], + "global_plan": "The robot approaches the can without grasping, nudges it sideways via contact, then retreats — consistent with non-prehensile manipulation under constant open-gripper state.", + "notes": "No grasp or lift occurred; all motion is contact-based pushing/sliding. Gripper remained fully open throughout (value ~1.0), confirming no grasping. Segment boundaries preserved as they align with natural phases: approach, push, retreat." + } + }, + "episode_goal": "Move the can on the table sideways.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412698209285736, + -0.09550926834344864, + 0.12652738392353058, + -3.0462234020233154, + -0.2596147656440735, + 0.09886214137077332 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the target can from a distance. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for the sideways nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move down 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3381052017211914, + -0.0939895287156105, + 0.11504433304071426, + -3.0315394401550293, + -0.2272590547800064, + 0.09700082987546921 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the target can from a distance. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for the sideways nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3369417190551758, + -0.06822266429662704, + 0.10372630506753922, + -3.010150671005249, + -0.2039393037557602, + 0.12891532480716705 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the target can from a distance. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for the sideways nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33687880635261536, + -0.03499285504221916, + 0.09620239585638046, + -3.0311899185180664, + -0.16914476454257965, + 0.155270516872406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toothbrush": [ + 123, + 433, + 286, + 711 + ], + "wooden spatula": [ + 735, + 754, + 996, + 970 + ], + "green cloth": [ + 624, + 109, + 995, + 418 + ], + "metal bowl": [ + 255, + 34, + 461, + 270 + ], + "bottle": [ + 498, + 4, + 634, + 210 + ], + "grey cup": [ + 437, + 350, + 614, + 585 + ] + } + } + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the target can from a distance. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for the sideways nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324081301689148, + -0.002996718743816018, + 0.0990096777677536, + -3.0607824325561523, + -0.19821934401988983, + 0.20988769829273224 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the target can from a distance. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for the sideways nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32054874300956726, + 0.01440801378339529, + 0.08834738284349442, + -3.039945363998413, + -0.20089289546012878, + 0.2176245152950287 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the target can from a distance. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for the sideways nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3093065023422241, + 0.029813159257173538, + 0.08895128965377808, + -3.0641028881073, + -0.22609956562519073, + 0.2426748424768448 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3055347204208374, + 0.03367982059717178, + 0.07996649295091629, + -3.0717713832855225, + -0.25656092166900635, + 0.30112403631210327 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 3 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30184727907180786, + 0.03013392724096775, + 0.07445212453603745, + -3.096579074859619, + -0.25337913632392883, + 0.3494475185871124 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 4 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29900047183036804, + 0.02916780859231949, + 0.06521591544151306, + -3.090625286102295, + -0.29453763365745544, + 0.36614879965782166 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930659055709839, + 0.023624371737241745, + 0.06554276496171951, + -3.1094112396240234, + -0.30265599489212036, + 0.4034424424171448 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808195948600769, + 0.010959952138364315, + 0.0692724883556366, + -3.1097934246063232, + -0.29112568497657776, + 0.47043466567993164 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666490375995636, + -0.005188215058296919, + 0.0719824731349945, + -3.1205644607543945, + -0.30849000811576843, + 0.544946014881134 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2552124261856079, + -0.018145214766263962, + 0.06901701539754868, + -3.131878137588501, + -0.3034926950931549, + 0.6033101677894592 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move forward 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24546505510807037, + -0.026461176574230194, + 0.06646221876144409, + 3.1390380859375, + -0.30765005946159363, + 0.6294687986373901 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper open; then move forward 3 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23666128516197205, + -0.03203874081373215, + 0.061450663954019547, + 3.120819330215454, + -0.3013415038585663, + 0.6484981775283813 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22427596151828766, + -0.04203376919031143, + 0.06061798334121704, + 3.1180543899536133, + -0.28732436895370483, + 0.6202430725097656 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toothbrush": [ + 125, + 434, + 286, + 710 + ], + "wooden spatula": [ + 735, + 753, + 995, + 970 + ], + "grey cup": [ + 456, + 557, + 659, + 852 + ], + "green cloth": [ + 658, + 111, + 995, + 418 + ], + "metal bowl": [ + 303, + 184, + 435, + 270 + ] + } + } + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21364308893680573, + -0.052771829068660736, + 0.06239177659153938, + 3.1164729595184326, + -0.26810166239738464, + 0.600363552570343 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot is positioned above the can with its gripper open, having moved into the approach zone. No contact has been made yet, and the can remains stationary. The next action is to lower the end-effector slightly to initiate contact for nudging the can sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2058517038822174, + -0.06274601072072983, + 0.06369473785161972, + 3.11095929145813, + -0.2677428722381592, + 0.5824482440948486 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can with the gripper fully open, consistent with the non-prehensile plan. Having completed the approach, the robot is now in contact or near-contact with the can to nudge it sideways. The next action is to continue applying lateral force to slide the can across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2017114907503128, + -0.0686522126197815, + 0.06579332798719406, + 3.102100133895874, + -0.26337555050849915, + 0.5768558979034424 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can with the gripper fully open, consistent with the non-prehensile plan. Having completed the approach, the robot is now in contact or near-contact with the can to nudge it sideways. The next action is to continue applying lateral force to slide the can across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1991640031337738, + -0.06794112920761108, + 0.06785452365875244, + 3.1006979942321777, + -0.2615734338760376, + 0.5690010190010071 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can with the gripper fully open, consistent with the non-prehensile plan. Having completed the approach, the robot is now in contact or near-contact with the can to nudge it sideways. The next action is to continue applying lateral force to slide the can across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21191447973251343, + -0.055440232157707214, + 0.07211317121982574, + 3.086496114730835, + -0.26412689685821533, + 0.6204367280006409 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can with the gripper fully open, consistent with the non-prehensile plan. Having completed the approach, the robot is now in contact or near-contact with the can to nudge it sideways. The next action is to continue applying lateral force to slide the can across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 1 cm, keep gripper open; then move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23772680759429932, + -0.038223329931497574, + 0.078999824821949, + 3.105062246322632, + -0.31208786368370056, + 0.6364198923110962 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toothbrush": [ + 124, + 433, + 286, + 711 + ], + "wooden spatula": [ + 735, + 754, + 996, + 970 + ], + "metal bowl": [ + 261, + 129, + 455, + 269 + ], + "grey cup": [ + 477, + 654, + 700, + 977 + ], + "green cloth": [ + 656, + 111, + 995, + 417 + ] + } + } + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge can sideways", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can with the gripper fully open, consistent with the non-prehensile plan. Having completed the approach, the robot is now in contact or near-contact with the can to nudge it sideways. The next action is to continue applying lateral force to slide the can across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26680025458335876, + -0.027887435629963875, + 0.08503233641386032, + -3.131558656692505, + -0.33567094802856445, + 0.5825936794281006 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can with the gripper fully open, consistent with the non-prehensile plan. Having completed the approach, the robot is now in contact or near-contact with the can to nudge it sideways. The next action is to continue applying lateral force to slide the can across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2918020784854889, + -0.037782762199640274, + 0.08326143771409988, + -3.043025255203247, + -0.29249295592308044, + 0.3170994222164154 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The can has been successfully nudged sideways on the table. The robot's gripper is open and positioned above the workspace, having completed the contact-based repositioning. The next action is to continue retreating the end-effector away from the can to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31754398345947266, + -0.05444293096661568, + 0.08418003469705582, + -3.0287957191467285, + -0.256378710269928, + 0.13751374185085297 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can on the table sideways." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can sideways" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The can has been successfully nudged sideways on the table. The robot's gripper is open and positioned above the workspace, having completed the contact-based repositioning. The next action is to continue retreating the end-effector away from the can to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003576_ecot.json b/cot/chunk-0003/episode_0003576_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b578eb20cdeb8ce01e4de16c30106378646cbc6e --- /dev/null +++ b/cot/chunk-0003/episode_0003576_ecot.json @@ -0,0 +1,1688 @@ +{ + "task_name": "episode_0003576", + "episode_json": "json/chunk-0003/episode_0003576.json", + "video_path": "videos/chunk-0003/image_0/episode_0003576.mp4", + "instruction": "Put bowl on plate cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003576.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.9390048980712891, + "std": 0.418378621339798, + "delta_total": -0.2307906150817871, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93900, std=0.41838, total_delta=-0.23079). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 11, + 211, + 211, + 211, + 211, + 111, + 111, + 311, + 311, + 311, + 111, + 311, + 123 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 9 + ], + [ + 3, + 10, + 10 + ], + [ + 4, + 11, + 11 + ], + [ + 5, + 12, + 15 + ], + [ + 6, + 16, + 17 + ], + [ + 7, + 18, + 20 + ], + [ + 8, + 21, + 21 + ], + [ + 9, + 22, + 22 + ], + [ + 10, + 23, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue bowl\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the blue bowl without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"close gripper on bowl\", \"start\": 4, \"end\": 10, \"planning\": \"Close gripper around blue bowl based on significant gripper value drop observed in segment-level evidence.\"},\n {\"id\": 3, \"name\": \"lift and reposition bowl\", \"start\": 11, \"end\": 17, \"planning\": \"Lift blue bowl and move it over the plate; gripper remains closed during transport.\"},\n {\"id\": 4, \"name\": \"place bowl on plate\", \"start\": 18, \"end\": 20, \"planning\": \"Lower blue bowl onto plate while maintaining light grip, confirmed by small gripper variation and visual alignment.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 21, \"end\": 23, \"planning\": \"Open gripper to release bowl and retreat upward, as shown by increasing gripper value and upward motion.\"}\n ],\n \"global_plan\": \"Approach the blue bowl, grasp it securely, lift and reposition it over the plate, place it gently on the plate, then release and retreat.\",\n \"notes\": \"Gripper evidence supports grasping only from frame 4 onward; initial frames show no closing. Placement is inferred from downward motion and stable gripper state during contact. Final release is confirmed by gripper opening and upward retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue bowl", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the blue bowl without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "close gripper on bowl", + "start": 4, + "end": 10, + "planning": "Close gripper around blue bowl based on significant gripper value drop observed in segment-level evidence." + }, + { + "id": 3, + "name": "lift and reposition bowl", + "start": 11, + "end": 17, + "planning": "Lift blue bowl and move it over the plate; gripper remains closed during transport." + }, + { + "id": 4, + "name": "place bowl on plate", + "start": 18, + "end": 20, + "planning": "Lower blue bowl onto plate while maintaining light grip, confirmed by small gripper variation and visual alignment." + }, + { + "id": 5, + "name": "release and retreat", + "start": 21, + "end": 23, + "planning": "Open gripper to release bowl and retreat upward, as shown by increasing gripper value and upward motion." + } + ], + "global_plan": "Approach the blue bowl, grasp it securely, lift and reposition it over the plate, place it gently on the plate, then release and retreat.", + "notes": "Gripper evidence supports grasping only from frame 4 onward; initial frames show no closing. Placement is inferred from downward motion and stable gripper state during contact. Final release is confirmed by gripper opening and upward retreat." + } + }, + "episode_goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24634088575839996, + 0.1821678876876831, + 0.08164768666028976, + -3.065016269683838, + -0.2519688308238983, + 0.4979096055030823 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot is positioned above the wooden surface with the blue bowl visible to the right. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24315950274467468, + 0.177612766623497, + 0.07317060977220535, + -3.0743024349212646, + -0.2224445939064026, + 0.5053050518035889 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot is approaching the blue bowl located inside the cardboard fence, with the yellow plate nearby. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 10 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24641647934913635, + 0.1459166556596756, + 0.06678900867700577, + -3.099381923675537, + -0.19549894332885742, + 0.4769146144390106 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot is approaching the blue bowl located inside the cardboard fence, with the yellow plate nearby. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 10 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25683099031448364, + 0.11121242493391037, + 0.06842929869890213, + -3.134138345718384, + -0.20123331248760223, + 0.4241288900375366 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 525, + 494, + 708, + 716 + ], + "wooden tray": [ + 62, + 268, + 816, + 939 + ], + "white cabinet": [ + 769, + 375, + 996, + 872 + ], + "green bell pepper": [ + 312, + 565, + 503, + 741 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot is approaching the blue bowl located inside the cardboard fence, with the yellow plate nearby. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper open; then move forward 1 cm, move right 10 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26495611667633057, + 0.08613438159227371, + 0.0652589201927185, + 3.098708152770996, + -0.20691098272800446, + 0.3596295714378357 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot is approaching the blue bowl located inside the cardboard fence, with the yellow plate nearby. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27670758962631226, + 0.055608488619327545, + 0.06030810624361038, + 3.0718250274658203, + -0.2177082747220993, + 0.26875051856040955 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot is approaching the blue bowl located inside the cardboard fence, with the yellow plate nearby. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move left 8 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816500961780548, + 0.02353156916797161, + 0.05442668870091438, + 3.03800368309021, + -0.19894437491893768, + 0.21601179242134094 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot is approaching the blue bowl located inside the cardboard fence, with the yellow plate nearby. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move left 13 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808297574520111, + -0.0009556442964822054, + 0.04725069925189018, + 3.0472867488861084, + -0.1687290072441101, + 0.1832360327243805 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl inside the cardboard fence, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the bowl. The next action is to close the gripper around the bowl to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move left 15 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28190499544143677, + -0.015348142944276333, + 0.04316365346312523, + 3.0668957233428955, + -0.1706404685974121, + 0.1678798347711563 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl inside the cardboard fence, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the bowl. The next action is to close the gripper around the bowl to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, keep gripper closed; then move left 16 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801128923892975, + -0.017399920150637627, + 0.021932654082775116, + 3.1340367794036865, + -0.15127596259117126, + 0.14622458815574646 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl inside the cardboard fence, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the bowl. The next action is to close the gripper around the bowl to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move left 16 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28081822395324707, + -0.015796774998307228, + 0.012199216522276402, + -3.132798671722412, + -0.1471838504076004, + 0.13118267059326172 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl inside the cardboard fence, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the bowl. The next action is to close the gripper around the bowl to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 16 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27884641289711, + -0.016146324574947357, + 0.006431289482861757, + -3.1389176845550537, + -0.1472332924604416, + 0.13343915343284607 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl inside the cardboard fence, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the bowl. The next action is to close the gripper around the bowl to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747703790664673, + -0.014772084541618824, + 0.005988495424389839, + 3.1216659545898438, + -0.11812538653612137, + 0.15502996742725372 + ], + "gripper_value": 0.15515124797821045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl inside the cardboard fence, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the bowl. The next action is to close the gripper around the bowl to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737581729888916, + 0.000947562453802675, + 0.020950162783265114, + 3.098662853240967, + -0.12465362995862961, + 0.2101576179265976 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl inside the cardboard fence, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the bowl. The next action is to close the gripper around the bowl to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27461710572242737, + 0.027481630444526672, + 0.026626428589224815, + 3.103363513946533, + -0.1300005167722702, + 0.314005970954895 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 452, + 419, + 633, + 630 + ], + "green bell pepper": [ + 311, + 564, + 503, + 744 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot has successfully grasped the blue bowl and is currently lifting it above the wooden surface. The gripper is closed, and the bowl is being repositioned toward the yellow plate inside the cardboard fence. The next action is to continue moving the bowl over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793577313423157, + 0.06671150773763657, + 0.03210357576608658, + 3.1235570907592773, + -0.18374332785606384, + 0.4944513142108917 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot has successfully grasped the blue bowl and is currently lifting it above the wooden surface. The gripper is closed, and the bowl is being repositioned toward the yellow plate inside the cardboard fence. The next action is to continue moving the bowl over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, rotate clockwise 10 degrees, keep gripper closed; then open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2761640250682831, + 0.10964357852935791, + 0.0345899872481823, + -3.1409173011779785, + -0.25632888078689575, + 0.638413667678833 + ], + "gripper_value": 0.06037256866693497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot has successfully grasped the blue bowl and is currently lifting it above the wooden surface. The gripper is closed, and the bowl is being repositioned toward the yellow plate inside the cardboard fence. The next action is to continue moving the bowl over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709059417247772, + 0.13618211448192596, + 0.032964419573545456, + -3.137848377227783, + -0.27094122767448425, + 0.69733726978302 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 250, + 285, + 410, + 484 + ], + "white cabinet": [ + 771, + 373, + 995, + 873 + ], + "green bell pepper": [ + 311, + 564, + 504, + 743 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot has successfully grasped the blue bowl and is currently lifting it above the wooden surface. The gripper is closed, and the bowl is being repositioned toward the yellow plate inside the cardboard fence. The next action is to continue moving the bowl over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27574625611305237, + 0.14761267602443695, + 0.028172658756375313, + 3.129934787750244, + -0.26052016019821167, + 0.7367185950279236 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on plate", + "subtask_reasoning": "The robot has successfully grasped the blue bowl and is currently lifting it above the wooden surface. The gripper is closed, and the bowl is being repositioned toward the yellow plate inside the cardboard fence. The next action is to continue moving the bowl over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2782270610332489, + 0.14830081164836884, + 0.025806477293372154, + 3.125394344329834, + -0.25333720445632935, + 0.7496671080589294 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on plate", + "subtask_reasoning": "The blue bowl is currently held by the gripper and positioned directly above the yellow plate inside the cardboard fence. The robot has successfully approached and lifted the bowl. The next action is to lower the bowl gently onto the plate and release the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2800852060317993, + 0.14376336336135864, + 0.024813121184706688, + 3.125887632369995, + -0.24968622624874115, + 0.74601149559021 + ], + "gripper_value": 0.07526680082082748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on plate", + "subtask_reasoning": "The blue bowl is currently held by the gripper and positioned directly above the yellow plate inside the cardboard fence. The robot has successfully approached and lifted the bowl. The next action is to lower the bowl gently onto the plate and release the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27898120880126953, + 0.144171804189682, + 0.024583445861935616, + -3.1371612548828125, + -0.25494930148124695, + 0.7261914014816284 + ], + "gripper_value": 0.21731513738632202 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue bowl is currently held by the gripper and positioned directly above the yellow plate inside the cardboard fence. The robot has successfully approached and lifted the bowl. The next action is to lower the bowl gently onto the plate and release the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27679041028022766, + 0.14239688217639923, + 0.029977981001138687, + 3.139281749725342, + -0.25700879096984863, + 0.7545852065086365 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue bowl is already placed on the yellow plate inside the cardboard fence, and the gripper is open and retreating. The release action has been completed, and the robot is now moving away from the placement area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749479115009308, + 0.13915051519870758, + 0.0468486025929451, + -3.137397050857544, + -0.2648374140262604, + 0.7700691819190979 + ], + "gripper_value": 0.763324499130249 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift and reposition bowl" + }, + { + "id": 4, + "subtask": "place bowl on plate" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue bowl is already placed on the yellow plate inside the cardboard fence, and the gripper is open and retreating. The release action has been completed, and the robot is now moving away from the placement area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003577_ecot.json b/cot/chunk-0003/episode_0003577_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..694caf658140d6a59cc2b7600456bf668131d6a9 --- /dev/null +++ b/cot/chunk-0003/episode_0003577_ecot.json @@ -0,0 +1,697 @@ +{ + "task_name": "episode_0003577", + "episode_json": "json/chunk-0003/episode_0003577.json", + "video_path": "videos/chunk-0003/image_0/episode_0003577.mp4", + "instruction": "Lift bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 10, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003577.json" + }, + "fps": 5.0, + "T_eff": 10, + "gripper_behavior_summary": { + "available": true, + "range": 0.9336940050125122, + "std": 0.3895285725593567, + "delta_total": -0.9330310821533203, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93369, std=0.38953, total_delta=-0.93303). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 9 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bowl\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the blue bowl on the stove while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper on bowl\", \"start\": 3, \"end\": 5, \"planning\": \"Begin closing gripper around the bowl rim as contact is established, confirmed by gripper value drop and visual alignment.\"},\n {\"id\": 3, \"name\": \"secure grasp and lift\", \"start\": 6, \"end\": 7, \"planning\": \"Fully close gripper to secure hold on bowl and initiate upward motion, supported by continued gripper closure and z-axis increase.\"},\n {\"id\": 4, \"name\": \"lift bowl clear\", \"start\": 8, \"end\": 9, \"planning\": \"Complete lifting motion with bowl fully grasped and elevated above stove surface, verified by final gripper state and height gain.\"}\n ],\n \"global_plan\": \"Approach the blue bowl on the stove, close gripper to grasp it securely, then lift it vertically clear of the surface.\",\n \"notes\": \"Gripper closure is meaningful across segments 1 and 2 (total delta -0.933), and images confirm contact and lifting. Subtasks align with observed motion phases and gripper behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bowl", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the blue bowl on the stove while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper on bowl", + "start": 3, + "end": 5, + "planning": "Begin closing gripper around the bowl rim as contact is established, confirmed by gripper value drop and visual alignment." + }, + { + "id": 3, + "name": "secure grasp and lift", + "start": 6, + "end": 7, + "planning": "Fully close gripper to secure hold on bowl and initiate upward motion, supported by continued gripper closure and z-axis increase." + }, + { + "id": 4, + "name": "lift bowl clear", + "start": 8, + "end": 9, + "planning": "Complete lifting motion with bowl fully grasped and elevated above stove surface, verified by final gripper state and height gain." + } + ], + "global_plan": "Approach the blue bowl on the stove, close gripper to grasp it securely, then lift it vertically clear of the surface.", + "notes": "Gripper closure is meaningful across segments 1 and 2 (total delta -0.933), and images confirm contact and lifting. Subtasks align with observed motion phases and gripper behavior." + } + }, + "episode_goal": "Lift the blue bowl from the stove burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3191530406475067, + -0.07024210691452026, + 0.1196337640285492, + -3.041677951812744, + -0.09617077559232712, + 0.0076145632192492485 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot is positioned near the stove with the blue bowl visible on the burner. The gripper is fully open and no grasping has occurred yet, consistent with the approach phase. The next action should be to move the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, keep gripper open; then move forward 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184974491596222, + -0.07048171758651733, + 0.09992104768753052, + -3.0385472774505615, + -0.07643374055624008, + 0.00564388744533062 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot arm is positioned above the stove with the blue bowl visible on the burner. The gripper is fully open and no grasping has occurred yet. The next action is to move the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3220808207988739, + -0.07065661251544952, + 0.08208014070987701, + -3.0505309104919434, + -0.09160512685775757, + 0.005506518296897411 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot arm is positioned above the stove with the blue bowl visible on the burner. The gripper is fully open and no grasping has occurred yet. The next action is to move the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3236485719680786, + -0.06879248470067978, + 0.06534680724143982, + -3.0639073848724365, + -0.1096210852265358, + 0.010686153545975685 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the stove with the blue bowl visible on the burner. The gripper is fully open and no grasping has occurred yet. The next action is to move the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284417688846588, + -0.06635531038045883, + 0.053593505173921585, + -3.0986204147338867, + -0.12678635120391846, + 0.03154982998967171 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot has approached the blue bowl on the stove burner. The gripper is currently open and positioned above the bowl, ready to close. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3342209458351135, + -0.06408821046352386, + 0.044302862137556076, + -3.110410451889038, + -0.13824695348739624, + 0.05450853705406189 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot has approached the blue bowl on the stove burner. The gripper is currently open and positioned above the bowl, ready to close. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33765873312950134, + -0.06499383598566055, + 0.042693860828876495, + -3.106566905975342, + -0.16005510091781616, + 0.09082523733377457 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "secure grasp and lift", + "subtask_reasoning": "The robot's gripper is positioned over the blue bowl on the stove burner, with the gripper value indicating it is in the process of closing. The approach and initial closing actions have been completed, and the current situation involves securing the grasp on the bowl. The most likely next action is to fully close the gripper to ensure a secure hold before lifting the bowl vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 6, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3348071575164795, + -0.07039112597703934, + 0.04709567502140999, + -3.0920071601867676, + -0.13171756267547607, + 0.10753131657838821 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "secure grasp and lift", + "subtask_reasoning": "The robot's gripper is positioned over the blue bowl on the stove burner, with the gripper value indicating it is in the process of closing. The approach and initial closing actions have been completed, and the current situation involves securing the grasp on the bowl. The most likely next action is to fully close the gripper to ensure a secure hold before lifting the bowl vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33451709151268005, + -0.07495219260454178, + 0.06331125646829605, + -3.0649466514587402, + -0.0867265984416008, + 0.1240953579545021 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "lift bowl clear", + "subtask_reasoning": "The robot has approached and grasped the blue bowl on the stove burner. The current frame shows the gripper in contact with the bowl, and segment-level gripper evidence supports a stable grasp. The next action is to lift the bowl vertically clear of the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 8, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306832015514374, + -0.07474586367607117, + 0.0824064239859581, + -3.0616049766540527, + -0.08166623115539551, + 0.12660688161849976 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 146, + 17, + 362, + 271 + ], + "green beans": [ + 351, + 559, + 456, + 713 + ], + "orange glass": [ + 162, + 344, + 323, + 559 + ], + "white cutting board": [ + 134, + 139, + 682, + 561 + ] + } + } + }, + "Understanding": { + "goal": "Lift the blue bowl from the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "lift bowl clear" + } + ], + "subtask_name": "lift bowl clear", + "subtask_reasoning": "The robot has approached and grasped the blue bowl on the stove burner. The current frame shows the gripper in contact with the bowl, and segment-level gripper evidence supports a stable grasp. The next action is to lift the bowl vertically clear of the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 9 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003578_ecot.json b/cot/chunk-0003/episode_0003578_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..15386a2bd36d75efb81211ff66c3c8545a2c84fe --- /dev/null +++ b/cot/chunk-0003/episode_0003578_ecot.json @@ -0,0 +1,2350 @@ +{ + "task_name": "episode_0003578", + "episode_json": "json/chunk-0003/episode_0003578.json", + "video_path": "videos/chunk-0003/image_0/episode_0003578.mp4", + "instruction": "Put the strawberry into the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003578.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.2237393856048584, + "std": 0.09944484382867813, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.22374, std=0.09944, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 16 + ], + [ + 4, + 17, + 24 + ], + [ + 5, + 25, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach strawberry\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the strawberry in the pot without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp strawberry\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the strawberry while maintaining contact and securing it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the grasped strawberry out of the pot and begin moving it toward the target location on the stovetop.\"},\n {\"id\": 4, \"name\": \"place strawberry on stovetop\", \"start\": 17, \"end\": 24, \"planning\": \"Lower the strawberry onto the stovetop surface and release the gripper to deposit it.\"},\n {\"id\": 5, \"name\": \"retreat from placement\", \"start\": 25, \"end\": 32, \"planning\": \"Move the end-effector away from the placed strawberry to complete the task and avoid interference.\"}\n ],\n \"global_plan\": \"Approach the strawberry in the pot, grasp it securely, lift and move it to the stovetop, place it down, then retreat to finish.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing — grasp is valid. Segment 4 shows opening — release is valid. Segment 5 shows no motion or gripper change — retreat phase. All segments covered contiguously with no gaps.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach strawberry", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the strawberry in the pot without closing the gripper." + }, + { + "id": 2, + "name": "grasp strawberry", + "start": 6, + "end": 12, + "planning": "Close the gripper around the strawberry while maintaining contact and securing it for lifting." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 13, + "end": 16, + "planning": "Lift the grasped strawberry out of the pot and begin moving it toward the target location on the stovetop." + }, + { + "id": 4, + "name": "place strawberry on stovetop", + "start": 17, + "end": 24, + "planning": "Lower the strawberry onto the stovetop surface and release the gripper to deposit it." + }, + { + "id": 5, + "name": "retreat from placement", + "start": 25, + "end": 32, + "planning": "Move the end-effector away from the placed strawberry to complete the task and avoid interference." + } + ], + "global_plan": "Approach the strawberry in the pot, grasp it securely, lift and move it to the stovetop, place it down, then retreat to finish.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing — grasp is valid. Segment 4 shows opening — release is valid. Segment 5 shows no motion or gripper change — retreat phase. All segments covered contiguously with no gaps." + } + }, + "episode_goal": "Place the strawberry into the metal pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35165247321128845, + -0.0360424667596817, + 0.08638840913772583, + 3.069136619567871, + -0.13856147229671478, + -0.05597011372447014 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is positioned above the metal pot containing the strawberry, with the gripper fully open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the strawberry to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34701770544052124, + -0.03568292781710625, + 0.07548091560602188, + 3.069287061691284, + -0.10600663721561432, + -0.051086749881505966 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is positioned above the metal pot containing the strawberry, with the gripper fully open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the strawberry to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32106825709342957, + -0.01952989399433136, + 0.08460631966590881, + 3.075427532196045, + -0.1416439563035965, + -0.014897736720740795 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the metal pot containing the strawberry on the stovetop. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm to make contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29331135749816895, + -0.006222042720764875, + 0.09209442138671875, + 3.0961246490478516, + -0.1748090237379074, + -0.008639589883387089 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey wall panel": [ + 2, + 3, + 251, + 483 + ], + "spatula": [ + 586, + 333, + 687, + 495 + ], + "sink": [ + 740, + 448, + 994, + 962 + ], + "metal pot": [ + 326, + 366, + 615, + 692 + ], + "tiled backsplash": [ + 311, + 2, + 997, + 428 + ], + "orange cloth": [ + 326, + 522, + 635, + 761 + ], + "induction cooktop": [ + 106, + 227, + 734, + 745 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the metal pot containing the strawberry on the stovetop. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm to make contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move up 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27349692583084106, + 0.000290684518404305, + 0.0908905565738678, + 3.135227680206299, + -0.16414020955562592, + 0.006199695635586977 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the metal pot containing the strawberry on the stovetop. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm to make contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move up 3 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27246206998825073, + 0.00554292369633913, + 0.07367274165153503, + -3.1397314071655273, + -0.1274598389863968, + 0.04912111908197403 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the metal pot containing the strawberry on the stovetop. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm to make contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 7 cm, move up 3 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 4 cm, move left 10 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27954161167144775, + 0.011497295461595058, + 0.055944573134183884, + -3.107975959777832, + -0.08480861037969589, + 0.09565754979848862 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the metal pot containing the strawberry on the stovetop. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm to make contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move up 3 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 4 cm, move left 13 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29504868388175964, + 0.024094879627227783, + 0.05056251585483551, + -3.0761709213256836, + -0.08005096763372421, + 0.1658865362405777 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the metal pot containing the strawberry on the stovetop. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm to make contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move left 14 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037849962711334, + 0.02738557755947113, + 0.03876030072569847, + -3.055983543395996, + -0.04238685220479965, + 0.17376233637332916 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the metal pot containing the strawberry on the stovetop. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm to make contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move left 14 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30345770716667175, + 0.0247158445417881, + 0.019348155707120895, + -3.05554461479187, + 0.021482866257429123, + 0.1703357994556427 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned directly above the strawberry inside the metal pot, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 14 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move left 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30357837677001953, + 0.011597910895943642, + 0.013713828288018703, + -3.0804946422576904, + 0.03687421604990959, + 0.14501886069774628 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned directly above the strawberry inside the metal pot, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 14 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move left 2 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30353695154190063, + 0.0034026140347123146, + 0.014628766104578972, + -3.0863358974456787, + 0.039461392909288406, + 0.08920662850141525 + ], + "gripper_value": 0.7845786809921265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned directly above the strawberry inside the metal pot, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 14 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135617673397064, + -0.00957645382732153, + 0.04282248020172119, + -3.1249210834503174, + -0.03183373808860779, + 0.01855316571891308 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned directly above the strawberry inside the metal pot, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 14 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452865183353424, + 0.014901340007781982, + 0.0832597017288208, + 3.135632276535034, + -0.12789194285869598, + -0.006084831431508064 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey wall panel": [ + 2, + 3, + 251, + 483 + ], + "sink": [ + 741, + 451, + 994, + 959 + ], + "metal pot": [ + 336, + 366, + 625, + 687 + ], + "faucet": [ + 944, + 389, + 996, + 545 + ], + "tiled backsplash": [ + 310, + 2, + 997, + 428 + ], + "orange cloth": [ + 326, + 527, + 636, + 760 + ], + "induction cooktop": [ + 106, + 231, + 733, + 750 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot arm is positioned directly above the strawberry inside the metal pot, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37347447872161865, + 0.06436045467853546, + 0.09204805642366409, + -3.139139413833618, + -0.11893210560083389, + 0.039580024778842926 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot is currently holding the strawberry above the metal pot on the stove, having completed the approach and grasp phases. Since the gripper signal remains constant, the focus is on repositioning the object rather than adjusting the grip. The next action is to lower the strawberry into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3896598219871521, + 0.111263707280159, + 0.07348968833684921, + 3.141263246536255, + -0.07743790745735168, + 0.0500749796628952 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot is currently holding the strawberry above the metal pot on the stove, having completed the approach and grasp phases. Since the gripper signal remains constant, the focus is on repositioning the object rather than adjusting the grip. The next action is to lower the strawberry into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.386327862739563, + 0.14799268543720245, + 0.06778795272111893, + -3.1120150089263916, + -0.06150887906551361, + 0.059804681688547134 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 595, + 332, + 687, + 491 + ], + "metal pot": [ + 338, + 362, + 627, + 685 + ], + "sink": [ + 740, + 446, + 994, + 960 + ], + "faucet": [ + 945, + 389, + 996, + 546 + ], + "grey wall panel": [ + 2, + 3, + 249, + 483 + ], + "tiled backsplash": [ + 411, + 2, + 996, + 425 + ], + "induction cooktop": [ + 107, + 231, + 733, + 744 + ], + "orange cloth": [ + 326, + 527, + 636, + 760 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot is currently holding the strawberry above the metal pot on the stove, having completed the approach and grasp phases. Since the gripper signal remains constant, the focus is on repositioning the object rather than adjusting the grip. The next action is to lower the strawberry into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, open gripper; then move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3796721398830414, + 0.15712295472621918, + 0.059376925230026245, + -3.0828604698181152, + -0.02512778900563717, + 0.03180227428674698 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place strawberry on stovetop", + "subtask_reasoning": "The robot is currently holding the strawberry above the metal pot on the stove, having completed the approach and grasp phases. Since the gripper signal remains constant, the focus is on repositioning the object rather than adjusting the grip. The next action is to lower the strawberry into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, open gripper; then move right 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3778418302536011, + 0.16268552839756012, + 0.043984826654195786, + -3.050368547439575, + -0.007950013503432274, + 0.04752156138420105 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place strawberry on stovetop", + "subtask_reasoning": "The robot is currently holding the strawberry above the metal pot on the stove, having completed the approach and grasp phases. Since the gripper signal remains constant, the focus is on repositioning the object rather than adjusting the grip. The next action is to lower the strawberry into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, open gripper; then move right 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37943029403686523, + 0.16763174533843994, + 0.023652441799640656, + -3.0315771102905273, + 0.0010742866434156895, + 0.07236815243959427 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place strawberry on stovetop", + "subtask_reasoning": "The robot is currently holding the strawberry above the metal pot on the stove, having completed the approach and grasp phases. Since the gripper signal remains constant, the focus is on repositioning the object rather than adjusting the grip. The next action is to lower the strawberry into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt back 10 degrees, open gripper; then move right 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3765299320220947, + 0.18180762231349945, + 0.013498138636350632, + -3.061910629272461, + -0.018715431913733482, + 0.10477535426616669 + ], + "gripper_value": 0.7836189270019531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place strawberry on stovetop", + "subtask_reasoning": "The robot is positioned above the metal pot on the stovetop with the gripper open, indicating the strawberry has not yet been released. The arm is correctly aligned over the target location. The next action is to lower the end-effector and release the strawberry into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, keep gripper open; then move right 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37791958451271057, + 0.1852206587791443, + 0.013448886573314667, + -3.075333595275879, + -0.0410986989736557, + 0.10367216169834137 + ], + "gripper_value": 0.84995037317276 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place strawberry on stovetop", + "subtask_reasoning": "The robot is positioned above the metal pot on the stovetop with the gripper open, indicating the strawberry has not yet been released. The arm is correctly aligned over the target location. The next action is to lower the end-effector and release the strawberry into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, keep gripper open; then move right 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37866729497909546, + 0.18283283710479736, + 0.01208456326276064, + -3.1046009063720703, + -0.07301167398691177, + 0.0884227305650711 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place strawberry on stovetop", + "subtask_reasoning": "The robot is positioned above the metal pot on the stovetop with the gripper open, indicating the strawberry has not yet been released. The arm is correctly aligned over the target location. The next action is to lower the end-effector and release the strawberry into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, keep gripper open; then move right 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37262311577796936, + 0.18147814273834229, + 0.020373031497001648, + -3.1218950748443604, + -0.08954180032014847, + 0.08577752113342285 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place strawberry on stovetop", + "subtask_reasoning": "The robot is positioned above the metal pot on the stovetop with the gripper open, indicating the strawberry has not yet been released. The arm is correctly aligned over the target location. The next action is to lower the end-effector and release the strawberry into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, keep gripper open; then move right 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3737349510192871, + 0.17746418714523315, + 0.05133312940597534, + -3.129183769226074, + -0.12319810688495636, + 0.06047206372022629 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place strawberry on stovetop", + "subtask_reasoning": "The robot is positioned above the metal pot on the stovetop with the gripper open, indicating the strawberry has not yet been released. The arm is correctly aligned over the target location. The next action is to lower the end-effector and release the strawberry into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move right 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37415578961372375, + 0.16722717881202698, + 0.07298216968774796, + -3.103023052215576, + -0.0936313271522522, + 0.028872409835457802 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The robot is positioned above the metal pot on the stovetop with the gripper open, indicating the strawberry has not yet been released. The arm is correctly aligned over the target location. The next action is to lower the end-effector and release the strawberry into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37593090534210205, + 0.13927021622657776, + 0.08079829812049866, + -3.0972256660461426, + -0.04314000532031059, + -0.04938475042581558 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The robot is positioned above the metal pot on the stovetop with the gripper open, indicating the strawberry has not yet been released. The arm is correctly aligned over the target location. The next action is to lower the end-effector and release the strawberry into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3777012825012207, + 0.1276153326034546, + 0.08724513649940491, + -3.0374186038970947, + -0.04803815484046936, + -0.04140084236860275 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 742, + 446, + 994, + 959 + ], + "metal pot": [ + 338, + 362, + 626, + 685 + ], + "faucet": [ + 945, + 388, + 996, + 546 + ], + "spatula": [ + 594, + 332, + 687, + 490 + ], + "grey wall panel": [ + 2, + 3, + 249, + 484 + ], + "induction cooktop": [ + 106, + 228, + 734, + 747 + ], + "tiled backsplash": [ + 309, + 1, + 997, + 428 + ], + "orange cloth": [ + 325, + 527, + 636, + 759 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The robot is positioned above the metal pot on the stovetop with the gripper open, indicating the strawberry has not yet been released. The arm is correctly aligned over the target location. The next action is to lower the end-effector and release the strawberry into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37774088978767395, + 0.12745040655136108, + 0.08813957870006561, + -3.0339853763580322, + -0.05063941702246666, + -0.03804875537753105 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The strawberry has been successfully placed into the metal pot on the stove. The gripper is fully open and the arm is positioned above the pot, indicating the placement action is complete. The next step is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3777073621749878, + 0.12744034826755524, + 0.08752841502428055, + -3.034332752227783, + -0.048859741538763046, + -0.04107799381017685 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The strawberry has been successfully placed into the metal pot on the stove. The gripper is fully open and the arm is positioned above the pot, indicating the placement action is complete. The next step is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.37774088978767395, + 0.12745040655136108, + 0.08813957870006561, + -3.0339853763580322, + -0.05063941702246666, + -0.03804875537753105 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The strawberry has been successfully placed into the metal pot on the stove. The gripper is fully open and the arm is positioned above the pot, indicating the placement action is complete. The next step is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.37779971957206726, + 0.12723323702812195, + 0.08811990916728973, + -3.035374164581299, + -0.051113370805978775, + -0.03752608224749565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The strawberry has been successfully placed into the metal pot on the stove. The gripper is fully open and the arm is positioned above the pot, indicating the placement action is complete. The next step is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.37808018922805786, + 0.12755221128463745, + 0.08852635324001312, + -3.0334882736206055, + -0.05209086462855339, + -0.038074273616075516 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place strawberry on stovetop" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The strawberry has been successfully placed into the metal pot on the stove. The gripper is fully open and the arm is positioned above the pot, indicating the placement action is complete. The next step is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003579_ecot.json b/cot/chunk-0003/episode_0003579_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e71f3c0af2d241b64eb514cce5b53f8cc2ba7a78 --- /dev/null +++ b/cot/chunk-0003/episode_0003579_ecot.json @@ -0,0 +1,1851 @@ +{ + "task_name": "episode_0003579", + "episode_json": "json/chunk-0003/episode_0003579.json", + "video_path": "videos/chunk-0003/image_0/episode_0003579.mp4", + "instruction": "Take spoon out of bowl sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003579.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.5808544158935547, + "std": 0.2673322856426239, + "delta_total": 0.0006708502769470215, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.58085, std=0.26733, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 124, + 124, + 124, + 124, + 124 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 11 + ], + [ + 3, + 12, + 23 + ], + [ + 4, + 24, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sink area\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector toward the sink region where the spoon is located, without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp spoon in bowl\", \"start\": 3, \"end\": 11, \"planning\": \"Close the gripper around the spoon handle while positioned inside the blue bowl to secure a firm grasp.\"},\n {\"id\": 3, \"name\": \"lift and reposition spoon\", \"start\": 12, \"end\": 23, \"planning\": \"Lift the grasped spoon out of the bowl and maneuver it upward and slightly outward to clear the sink basin.\"},\n {\"id\": 4, \"name\": \"release spoon above sink\", \"start\": 24, \"end\": 28, \"planning\": \"Open the gripper to release the spoon above the sink, allowing it to fall or rest in the desired location.\"}\n ],\n \"global_plan\": \"Approach the sink, grasp the spoon inside the bowl, lift and reposition it clear of the bowl, then release it above the sink.\",\n \"notes\": \"Gripper closure is confirmed in segments 2–4; segment 1 shows no closing, so approach-only language is used. Lifting and releasing are supported by motion and gripper state changes across frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sink area", + "start": 0, + "end": 2, + "planning": "Move the end-effector toward the sink region where the spoon is located, without closing the gripper." + }, + { + "id": 2, + "name": "grasp spoon in bowl", + "start": 3, + "end": 11, + "planning": "Close the gripper around the spoon handle while positioned inside the blue bowl to secure a firm grasp." + }, + { + "id": 3, + "name": "lift and reposition spoon", + "start": 12, + "end": 23, + "planning": "Lift the grasped spoon out of the bowl and maneuver it upward and slightly outward to clear the sink basin." + }, + { + "id": 4, + "name": "release spoon above sink", + "start": 24, + "end": 28, + "planning": "Open the gripper to release the spoon above the sink, allowing it to fall or rest in the desired location." + } + ], + "global_plan": "Approach the sink, grasp the spoon inside the bowl, lift and reposition it clear of the bowl, then release it above the sink.", + "notes": "Gripper closure is confirmed in segments 2–4; segment 1 shows no closing, so approach-only language is used. Lifting and releasing are supported by motion and gripper state changes across frames." + } + }, + "episode_goal": "Grasp the blue spoon in the sink and lift it out.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3215744197368622, + 0.07748791575431824, + 0.10782580822706223, + -3.057025909423828, + -0.2136092483997345, + 0.4576621651649475 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink, with the blue spoon visible inside a blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31990090012550354, + 0.07517047226428986, + 0.09647796303033829, + -3.0520100593566895, + -0.17581430077552795, + 0.45085036754608154 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside a bowl. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32553380727767944, + 0.05185811594128609, + 0.08534285426139832, + -3.0566093921661377, + -0.13190564513206482, + 0.35296496748924255 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside a bowl. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33288687467575073, + 0.023531386628746986, + 0.07543732970952988, + -3.0577991008758545, + -0.1167355477809906, + 0.1725699007511139 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 268, + 206, + 860, + 695 + ], + "sponge": [ + 200, + 455, + 356, + 588 + ], + "blue scoop": [ + 439, + 393, + 604, + 595 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside a bowl. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380575180053711, + 0.0036284581292420626, + 0.06508142501115799, + -3.0899465084075928, + -0.10235637426376343, + -0.03741936758160591 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside a bowl. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34445542097091675, + -0.0017277555307373405, + 0.05366267263889313, + -3.1183619499206543, + -0.11271733790636063, + -0.1886511743068695 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside a bowl. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt left 10 degrees, close gripper; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35117843747138977, + 0.0012357296654954553, + 0.04315325990319252, + -3.075417995452881, + -0.12617401778697968, + -0.22478117048740387 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside a bowl. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35281553864479065, + 0.001038496382534504, + 0.03322859853506088, + -3.061220407485962, + -0.13999629020690918, + -0.220857173204422 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35051482915878296, + 0.00016308591875713319, + 0.025716504082083702, + -3.050128936767578, + -0.1402011215686798, + -0.226420596241951 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 7 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34770771861076355, + -0.0033702801447361708, + 0.020202474668622017, + -3.0524864196777344, + -0.15238434076309204, + -0.22296836972236633 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34594565629959106, + -0.0043152919970452785, + 0.010611377656459808, + -3.0253167152404785, + -0.1522703915834427, + -0.21746183931827545 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 8 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3465355932712555, + -0.0043862988241016865, + 0.009179443120956421, + -3.013573169708252, + -0.1634574830532074, + -0.20461168885231018 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 8 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34264466166496277, + -0.004186819773167372, + 0.005502510350197554, + -3.021564245223999, + -0.13058775663375854, + -0.18379075825214386 + ], + "gripper_value": 0.4166308641433716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33901485800743103, + -0.003683241084218025, + 0.00605182908475399, + -3.0648601055145264, + -0.10314778238534927, + -0.17584170401096344 + ], + "gripper_value": 0.4175282120704651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425045907497406, + 0.0013074118178337812, + 0.02091841772198677, + -3.086965560913086, + -0.1138441190123558, + -0.15526750683784485 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.346381813287735, + 0.009580262936651707, + 0.04183419421315193, + -3.116943597793579, + -0.13746072351932526, + -0.12723398208618164 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3505460023880005, + 0.022602718323469162, + 0.06050829961895943, + -3.1394529342651367, + -0.16816683113574982, + -0.09971138834953308 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot is positioned above the sink with the blue spoon visible inside the bowl. The gripper is currently open and hovering near the target, indicating the approach is complete but contact has not yet been made. The next action is to lower the end-effector to close the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 6 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3511890769004822, + 0.04316822439432144, + 0.06732720881700516, + -3.1284000873565674, + -0.19733208417892456, + -0.09283573925495148 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 6 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35025647282600403, + 0.06445550918579102, + 0.06691671162843704, + -3.1132900714874268, + -0.2142324298620224, + -0.08705350011587143 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 199, + 456, + 357, + 588 + ], + "sink": [ + 268, + 195, + 860, + 695 + ], + "faucet": [ + 368, + 22, + 572, + 317 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3495528995990753, + 0.07522718608379364, + 0.06462965160608292, + -3.0930137634277344, + -0.22647279500961304, + -0.09366587549448013 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 269, + 215, + 860, + 695 + ], + "sponge": [ + 199, + 456, + 356, + 588 + ], + "blue scoop": [ + 382, + 216, + 449, + 333 + ], + "faucet": [ + 330, + 12, + 525, + 302 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34712693095207214, + 0.07897231727838516, + 0.05103956535458565, + -3.0977487564086914, + -0.19126741588115692, + -0.10293126851320267 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3441373109817505, + 0.08002284914255142, + 0.04174106568098068, + -3.072580337524414, + -0.18727724254131317, + -0.11223267018795013 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34197503328323364, + 0.07446590811014175, + 0.02498570643365383, + -3.066419839859009, + -0.16451510787010193, + -0.11657333374023438 + ], + "gripper_value": 0.44022873044013977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3439911901950836, + 0.07317963987588882, + 0.014569668099284172, + -3.060100793838501, + -0.16070345044136047, + -0.0928209200501442 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457094430923462, + 0.07453671842813492, + 0.004398015793412924, + -3.0544581413269043, + -0.14804984629154205, + -0.07048633694648743 + ], + "gripper_value": 0.5043045878410339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "release spoon above sink", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455454409122467, + 0.07513324171304703, + 0.003959323279559612, + -3.045788526535034, + -0.14543011784553528, + -0.06322477757930756 + ], + "gripper_value": 0.775918185710907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "release spoon above sink", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and lifted it out of the bowl, holding it suspended above the sink. The current state shows the spoon is clear of the bowl but still within the sink area. The next action is to reposition the spoon further away from the bowl or release it into the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451509475708008, + 0.07594181597232819, + 0.003941881936043501, + -3.0478267669677734, + -0.1459895372390747, + -0.03610845282673836 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "release spoon above sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating the spoon has been released. The subtask of releasing the spoon above the sink is complete, as evidenced by the open gripper and the spoon no longer being held. The next action would involve moving the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.34573909640312195, + 0.07545289397239685, + 0.006474229972809553, + -3.060173988342285, + -0.13656727969646454, + -0.01601673662662506 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "release spoon above sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating the spoon has been released. The subtask of releasing the spoon above the sink is complete, as evidenced by the open gripper and the spoon no longer being held. The next action would involve moving the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3439611792564392, + 0.07915080338716507, + 0.01821800321340561, + -3.065800666809082, + -0.14569109678268433, + 0.008432885631918907 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue spoon in the sink and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "release spoon above sink" + } + ], + "subtask_name": "release spoon above sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating the spoon has been released. The subtask of releasing the spoon above the sink is complete, as evidenced by the open gripper and the spoon no longer being held. The next action would involve moving the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003581_ecot.json b/cot/chunk-0003/episode_0003581_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1363d91f3d7bbe5b56ba3042748601789a2d67 --- /dev/null +++ b/cot/chunk-0003/episode_0003581_ecot.json @@ -0,0 +1,1210 @@ +{ + "task_name": "episode_0003581", + "episode_json": "json/chunk-0003/episode_0003581.json", + "video_path": "videos/chunk-0003/image_0/episode_0003581.mp4", + "instruction": "Put cup from sink to drying rack.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003581.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8823804259300232, + "std": 0.33384811878204346, + "delta_total": -0.7644180059432983, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.88238, std=0.33385, total_delta=-0.76442). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 5, + 5, + 5, + 5, + 5, + 5, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 10 + ], + [ + 3, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cup in sink\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector down toward the pink cup in the sink while closing gripper to secure grasp.\"},\n {\"id\": 2, \"name\": \"lift and transport cup to drying rack\", \"start\": 5, \"end\": 10, \"planning\": \"Lift the grasped cup from the sink and move it laterally toward the drying rack area.\"},\n {\"id\": 3, \"name\": \"place cup on drying rack and release\", \"start\": 11, \"end\": 19, \"planning\": \"Position the cup onto the drying rack surface and open gripper to release contact.\"}\n ],\n \"global_plan\": \"Grasp the pink cup from the sink, lift and carry it to the adjacent drying rack, then place and release it there.\",\n \"notes\": \"Gripper closes significantly in Segment 1 (frames 0-4), confirming grasp; remains closed during transport (Segment 2); opens slightly at end of Segment 3 to release. Motion and gripper evidence align with pick-and-place semantics across all segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cup in sink", + "start": 0, + "end": 4, + "planning": "Move end-effector down toward the pink cup in the sink while closing gripper to secure grasp." + }, + { + "id": 2, + "name": "lift and transport cup to drying rack", + "start": 5, + "end": 10, + "planning": "Lift the grasped cup from the sink and move it laterally toward the drying rack area." + }, + { + "id": 3, + "name": "place cup on drying rack and release", + "start": 11, + "end": 19, + "planning": "Position the cup onto the drying rack surface and open gripper to release contact." + } + ], + "global_plan": "Grasp the pink cup from the sink, lift and carry it to the adjacent drying rack, then place and release it there.", + "notes": "Gripper closes significantly in Segment 1 (frames 0-4), confirming grasp; remains closed during transport (Segment 2); opens slightly at end of Segment 3 to release. Motion and gripper evidence align with pick-and-place semantics across all segments." + } + }, + "episode_goal": "Pick up the pink cup from the sink and place it on the drying rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36822569370269775, + -0.05180918797850609, + 0.10026025772094727, + -3.023005485534668, + 0.14485712349414825, + -0.21637150645256042 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the pink cup visible below. The gripper is currently open and approaching the cup. The next action is to lower the gripper and close it to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, close gripper; then move back 2 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648216724395752, + -0.0512143038213253, + 0.0773901641368866, + -3.0317163467407227, + 0.21349133551120758, + -0.2107498198747635 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the pink cup visible below. The gripper is currently open and approaching the cup. The next action is to lower the gripper and close it to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 2 cm, move left 4 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3653257191181183, + -0.049897775053977966, + 0.07582619041204453, + -3.0393130779266357, + 0.21879112720489502, + -0.19547979533672333 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the pink cup visible below. The gripper is currently open and approaching the cup, as indicated by the decreasing gripper value. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 2 cm, move left 4 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683357536792755, + -0.0499652735888958, + 0.06807290762662888, + -3.046006441116333, + 0.21665306389331818, + -0.18575401604175568 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the pink cup visible below. The gripper is currently open and approaching the cup, as indicated by the decreasing gripper value. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 4 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move left 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.365062415599823, + -0.04854203015565872, + 0.05983762443065643, + -3.0482592582702637, + 0.21970362961292267, + -0.18411757051944733 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the pink cup visible below. The gripper is currently open and approaching the cup, as indicated by the decreasing gripper value. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 4 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613022565841675, + -0.04706789553165436, + 0.05502484366297722, + -3.0392165184020996, + 0.21779312193393707, + -0.18383453786373138 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "lift and transport cup to drying rack", + "subtask_reasoning": "The robot arm is positioned above the sink with the pink cup visible below. The gripper is currently open and approaching the cup, as indicated by the decreasing gripper value. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565550744533539, + -0.04611576348543167, + 0.05397883057594299, + -3.0349156856536865, + 0.2176024168729782, + -0.18491767346858978 + ], + "gripper_value": 0.2111179232597351 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "lift and transport cup to drying rack", + "subtask_reasoning": "The robot arm is positioned above the sink with the pink cup visible below. The gripper is currently open and approaching the cup, as indicated by the decreasing gripper value. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 11 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3516668975353241, + -0.04195341095328331, + 0.058736950159072876, + -3.0324485301971436, + 0.21170634031295776, + -0.16373395919799805 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "lift and transport cup to drying rack", + "subtask_reasoning": "The robot has successfully grasped the pink cup in the sink, as indicated by the closed gripper and segment-level evidence. The current state shows the arm is positioned over the sink with the cup secured. The next action is to lift the cup vertically and begin transporting it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 11 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467261791229248, + -0.03364367410540581, + 0.07596150040626526, + -3.007793426513672, + 0.1800069361925125, + -0.1236531138420105 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "lift and transport cup to drying rack", + "subtask_reasoning": "The robot has successfully grasped the pink cup in the sink, as indicated by the closed gripper and segment-level evidence. The current state shows the arm is positioned over the sink with the cup secured. The next action is to lift the cup vertically and begin transporting it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 12 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.342229425907135, + -0.024696383625268936, + 0.09814905375242233, + -2.98162579536438, + 0.1253822147846222, + -0.11796558648347855 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue scrubber": [ + 673, + 483, + 817, + 768 + ], + "white cone object": [ + 520, + 772, + 601, + 884 + ], + "orange cup": [ + 584, + 736, + 683, + 853 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "lift and transport cup to drying rack", + "subtask_reasoning": "The robot has successfully grasped the pink cup in the sink, as indicated by the closed gripper and segment-level evidence. The current state shows the arm is positioned over the sink with the cup secured. The next action is to lift the cup vertically and begin transporting it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 12 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34196022152900696, + -0.021647950634360313, + 0.11778122186660767, + -2.9765477180480957, + 0.07377322763204575, + -0.14741608500480652 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "lift and transport cup to drying rack", + "subtask_reasoning": "The robot has successfully grasped the pink cup in the sink, as indicated by the closed gripper and segment-level evidence. The current state shows the arm is positioned over the sink with the cup secured. The next action is to lift the cup vertically and begin transporting it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move left 12 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457951545715332, + -0.009990552440285683, + 0.14735397696495056, + -2.9630699157714844, + 0.010128652676939964, + -0.12999235093593597 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue scrubber": [ + 674, + 482, + 819, + 766 + ], + "white cone object": [ + 519, + 772, + 601, + 884 + ], + "orange cup": [ + 586, + 736, + 684, + 853 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The robot has successfully grasped the pink cup in the sink, as indicated by the closed gripper and segment-level evidence. The current state shows the arm is positioned over the sink with the cup secured. The next action is to lift the cup vertically and begin transporting it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34650883078575134, + 0.016592541709542274, + 0.15046465396881104, + -2.952331781387329, + 0.00909946858882904, + -0.07651347666978836 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The robot has successfully grasped the pink cup in the sink, as indicated by the closed gripper and segment-level evidence. The current state shows the arm is positioned over the sink with the cup secured. The next action is to lift the cup vertically and begin transporting it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453342914581299, + 0.048825252801179886, + 0.15011171996593475, + -2.946331024169922, + 0.005691649857908487, + -0.016089411452412605 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The robot has successfully grasped the pink cup in the sink, as indicated by the closed gripper and segment-level evidence. The current state shows the arm is positioned over the sink with the cup secured. The next action is to lift the cup vertically and begin transporting it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34810203313827515, + 0.07278329133987427, + 0.13735444843769073, + -2.9382216930389404, + 0.03177233412861824, + 0.024903520941734314 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The robot has successfully grasped the pink cup in the sink, as indicated by the closed gripper and segment-level evidence. The current state shows the arm is positioned over the sink with the cup secured. The next action is to lift the cup vertically and begin transporting it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558248281478882, + 0.08837714791297913, + 0.12745864689350128, + -2.9347028732299805, + 0.03641064465045929, + 0.05544015392661095 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The pink cup has been transported to the drying rack and is currently held above the rack by the gripper. The gripper is closed, indicating the cup is still being held. The next action is to lower the cup onto the rack and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36184951663017273, + 0.09747033566236496, + 0.1126493588089943, + -2.932830810546875, + 0.05721459165215492, + 0.07071498036384583 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The pink cup has been transported to the drying rack and is currently held above the rack by the gripper. The gripper is closed, indicating the cup is still being held. The next action is to lower the cup onto the rack and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36886125802993774, + 0.10163699835538864, + 0.09568123519420624, + -2.9286305904388428, + 0.08702941238880157, + 0.07304011285305023 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The pink cup has been transported to the drying rack and is currently held above the rack by the gripper. The gripper is closed, indicating the cup is still being held. The next action is to lower the cup onto the rack and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3743465840816498, + 0.10706384479999542, + 0.09035130590200424, + -2.9242165088653564, + 0.09873412549495697, + 0.08775734156370163 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The pink cup has been transported to the drying rack and is currently held above the rack by the gripper. The gripper is closed, indicating the cup is still being held. The next action is to lower the cup onto the rack and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37452054023742676, + 0.11234179884195328, + 0.0926293283700943, + -2.9139597415924072, + 0.1094881221652031, + 0.10931503772735596 + ], + "gripper_value": 0.20867010951042175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pink cup from the sink and place it on the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup to drying rack" + }, + { + "id": 3, + "subtask": "place cup on drying rack and release" + } + ], + "subtask_name": "place cup on drying rack and release", + "subtask_reasoning": "The pink cup has been transported to the drying rack and is currently held above the rack by the gripper. The gripper is closed, indicating the cup is still being held. The next action is to lower the cup onto the rack and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003583_ecot.json b/cot/chunk-0003/episode_0003583_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..967a1cc4f5c96d89fc4c1b22abc19881a8677779 --- /dev/null +++ b/cot/chunk-0003/episode_0003583_ecot.json @@ -0,0 +1,1941 @@ +{ + "task_name": "episode_0003583", + "episode_json": "json/chunk-0003/episode_0003583.json", + "video_path": "videos/chunk-0003/image_0/episode_0003583.mp4", + "instruction": "Put the orange fish between the pot and the fork on the left middle of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003583.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.5705255270004272, + "std": 0.2584996223449707, + "delta_total": 0.005272030830383301, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57053, std=0.25850, total_delta=0.00527). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 15, + 15, + 15, + 15, + 15, + 15, + 115, + 115, + 115, + 124, + 124, + 124, + 24 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 20 + ], + [ + 3, + 21, + 23 + ], + [ + 4, + 24, + 26 + ], + [ + 5, + 27, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange fish\", \"start\": 0, \"end\": 14, \"planning\": \"Move the gripper from initial position down toward the orange fish on the table, closing the gripper to make contact and secure it by frame 14.\"},\n {\"id\": 2, \"name\": \"lift and transport fish\", \"start\": 15, \"end\": 20, \"planning\": \"Lift the grasped orange fish and move it horizontally toward the target location between the pot and fork on the left middle of the table.\"},\n {\"id\": 3, \"name\": \"position above target zone\", \"start\": 21, \"end\": 23, \"planning\": \"Adjust the gripper’s height and orientation to align the fish precisely over the designated spot between the pot and fork.\"},\n {\"id\": 4, \"name\": \"release fish onto table\", \"start\": 24, \"end\": 26, \"planning\": \"Open the gripper gradually to place the orange fish gently onto the table surface at the target location, ensuring stable placement.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 27, \"end\": 27, \"planning\": \"Withdraw the gripper upward and away from the placed fish to complete the task without disturbing the object.\"}\n ],\n \"global_plan\": \"Approach and grasp the orange fish, lift and transport it to the left middle area between the pot and fork, precisely position it above the target, release it gently, then retreat.\",\n \"notes\": \"Segment 1 shows meaningful gripper closure (delta=-0.316) consistent with grasping; Segment 2 maintains grip during transport; Segment 4 shows deliberate opening for placement; Segment 5 is a single-frame retreat with no gripper motion, so 'release' or 'grasp' terms are avoided there.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange fish", + "start": 0, + "end": 14, + "planning": "Move the gripper from initial position down toward the orange fish on the table, closing the gripper to make contact and secure it by frame 14." + }, + { + "id": 2, + "name": "lift and transport fish", + "start": 15, + "end": 20, + "planning": "Lift the grasped orange fish and move it horizontally toward the target location between the pot and fork on the left middle of the table." + }, + { + "id": 3, + "name": "position above target zone", + "start": 21, + "end": 23, + "planning": "Adjust the gripper’s height and orientation to align the fish precisely over the designated spot between the pot and fork." + }, + { + "id": 4, + "name": "release fish onto table", + "start": 24, + "end": 26, + "planning": "Open the gripper gradually to place the orange fish gently onto the table surface at the target location, ensuring stable placement." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 27, + "end": 27, + "planning": "Withdraw the gripper upward and away from the placed fish to complete the task without disturbing the object." + } + ], + "global_plan": "Approach and grasp the orange fish, lift and transport it to the left middle area between the pot and fork, precisely position it above the target, release it gently, then retreat.", + "notes": "Segment 1 shows meaningful gripper closure (delta=-0.316) consistent with grasping; Segment 2 maintains grip during transport; Segment 4 shows deliberate opening for placement; Segment 5 is a single-frame retreat with no gripper motion, so 'release' or 'grasp' terms are avoided there." + } + }, + "episode_goal": "Place the orange fish between the pot and the fork on the left middle of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37133970856666565, + 0.21207815408706665, + 0.06774450838565826, + 3.0954067707061768, + 0.011375895701348782, + 1.1451826095581055 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is currently open and the robot has not yet made contact with the fish. The next action is to move the end-effector closer to the orange fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 25 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3678705096244812, + 0.20931215584278107, + 0.04842616245150566, + 3.1171224117279053, + 0.0416402630507946, + 1.1543024778366089 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is currently open and the robot has not yet made contact with the fish. The next action is to move the end-effector closer to the orange fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 25 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3554750382900238, + 0.1943461000919342, + 0.04193134978413582, + 3.1216988563537598, + 0.03631173446774483, + 1.2130591869354248 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is currently open and the robot has not yet made contact with the fish. The next action is to move the end-effector closer to the orange fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 24 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35086825489997864, + 0.17685499787330627, + 0.060203853994607925, + 3.094589948654175, + -0.02949749492108822, + 1.2310611009597778 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is currently open and the robot has not yet made contact with the fish. The next action is to move the end-effector closer to the orange fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 21 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.335470050573349, + 0.14735868573188782, + 0.07192500680685043, + 3.0985517501831055, + -0.07497457414865494, + 1.208741307258606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is currently open and the robot has not yet made contact with the fish. The next action is to move the end-effector closer to the orange fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 18 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32029956579208374, + 0.10195918381214142, + 0.08543823659420013, + 3.0621156692504883, + -0.11060068011283875, + 1.1576749086380005 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is currently open and the robot has not yet made contact with the fish. The next action is to move the end-effector closer to the orange fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020176887512207, + 0.050424739718437195, + 0.08249066025018692, + 3.058380126953125, + -0.11474113911390305, + 1.068557620048523 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is currently open and the robot has not yet made contact with the fish. The next action is to move the end-effector closer to the orange fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 7 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.285221129655838, + 0.014622578397393227, + 0.06758702546358109, + 3.0786654949188232, + -0.08216321468353271, + 0.9982059001922607 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 6 cm, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27265578508377075, + -0.014199723489582539, + 0.058507803827524185, + 3.0522055625915527, + -0.08209821581840515, + 1.0260299444198608 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 2, + 276, + 242, + 526 + ], + "tomato sauce": [ + 617, + 63, + 768, + 317 + ], + "wooden table": [ + 4, + 99, + 853, + 988 + ], + "toy stove": [ + 614, + 235, + 995, + 993 + ], + "toy cash register": [ + 275, + 1, + 687, + 260 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, close gripper; then move left 6 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2720862329006195, + -0.028875792399048805, + 0.054942406713962555, + 3.0395264625549316, + -0.09684229642152786, + 1.0665013790130615 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move left 11 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2725207805633545, + -0.04111683741211891, + 0.03944021835923195, + 3.05464768409729, + -0.1350836157798767, + 1.0601820945739746 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, close gripper; then move forward 3 cm, move left 16 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27751046419143677, + -0.04162219166755676, + 0.02607206627726555, + 3.0511014461517334, + -0.15548552572727203, + 1.043777585029602 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 4 cm, move left 18 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2780888080596924, + -0.04164314270019531, + 0.012290320359170437, + 3.065600633621216, + -0.13200990855693817, + 1.0466351509094238 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 2, + 276, + 242, + 527 + ], + "wooden table": [ + 5, + 95, + 854, + 987 + ], + "tomato sauce": [ + 635, + 61, + 768, + 317 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper closed; then move forward 4 cm, move left 18 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28748348355293274, + -0.035590674728155136, + 0.011332843452692032, + 3.053119659423828, + -0.1290428787469864, + 1.0592390298843384 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 4 cm, move left 18 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903851866722107, + -0.030712490901350975, + 0.009353621862828732, + 3.047398328781128, + -0.13646595180034637, + 1.0574214458465576 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach orange fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 18 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move left 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28639140725135803, + -0.026014288887381554, + 0.011646208353340626, + 3.0335123538970947, + -0.15389277040958405, + 1.0351322889328003 + ], + "gripper_value": 0.4737623631954193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 18 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move left 4 cm, move down 2 cm, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2787226438522339, + -0.014847810380160809, + 0.01451799925416708, + 3.057236433029175, + -0.14404736459255219, + 1.0001850128173828 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport fish", + "subtask_reasoning": "The robot is positioned above the table with the orange fish visible in the center. The gripper is open and approaching the fish, indicating the initial phase of the approach subtask. The next action is to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 17 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 4 cm, move down 2 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28021588921546936, + -0.0015543238259851933, + 0.030383404344320297, + 3.0505869388580322, + -0.11258230358362198, + 0.9647014141082764 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport fish", + "subtask_reasoning": "The robot has successfully grasped the orange fish, as indicated by the gripper closing and the object being held. The current state shows the fish is secured in the gripper, ready for transport. The next action is to lift the fish and move it towards the target location between the pot and the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 16 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 4 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29088011384010315, + 0.0367732010781765, + 0.05121072381734848, + 3.052274227142334, + -0.08447447419166565, + 0.9837090373039246 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 2, + 276, + 242, + 527 + ], + "tomato sauce": [ + 617, + 63, + 768, + 318 + ], + "toy cash register": [ + 278, + 2, + 689, + 255 + ], + "wooden table": [ + 4, + 73, + 853, + 987 + ], + "toy stove": [ + 608, + 234, + 995, + 993 + ], + "toy rider": [ + 272, + 8, + 574, + 533 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport fish", + "subtask_reasoning": "The robot has successfully grasped the orange fish, as indicated by the gripper closing and the object being held. The current state shows the fish is secured in the gripper, ready for transport. The next action is to lift the fish and move it towards the target location between the pot and the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 4 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080505430698395, + 0.08544900268316269, + 0.06840790808200836, + 3.0525829792022705, + -0.09330243617296219, + 1.0433392524719238 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport fish", + "subtask_reasoning": "The robot has successfully grasped the orange fish, as indicated by the gripper closing and the object being held. The current state shows the fish is secured in the gripper, ready for transport. The next action is to lift the fish and move it towards the target location between the pot and the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move left 4 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31768617033958435, + 0.13163352012634277, + 0.05227133259177208, + 3.098253011703491, + -0.08477748185396194, + 1.1055458784103394 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport fish", + "subtask_reasoning": "The robot has successfully grasped the orange fish, as indicated by the gripper closing and the object being held. The current state shows the fish is secured in the gripper, ready for transport. The next action is to lift the fish and move it towards the target location between the pot and the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move left 4 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32733869552612305, + 0.15482904016971588, + 0.03972926735877991, + -3.131206750869751, + -0.12426386028528214, + 1.1013665199279785 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position above target zone", + "subtask_reasoning": "The robot has successfully grasped the orange fish, as indicated by the gripper closing and the object being held. The current state shows the fish is secured in the gripper, ready for transport. The next action is to lift the fish and move it towards the target location between the pot and the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268568217754364, + 0.17085663974285126, + 0.028287483379244804, + -3.0966222286224365, + -0.13697049021720886, + 1.1160612106323242 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position above target zone", + "subtask_reasoning": "The robot is currently holding the orange fish and has transported it to the left middle area of the table, positioning it generally above the space between the pot and the fork. Since the gripper evidence indicates no closing action in this segment, the arm is likely making fine adjustments to align precisely over the target gap. The next step is to lower the fish gently into the space between the objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, open gripper; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32399484515190125, + 0.18481118977069855, + 0.019217118620872498, + -3.0859110355377197, + -0.13518168032169342, + 1.1181005239486694 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position above target zone", + "subtask_reasoning": "The robot is currently holding the orange fish and has transported it to the left middle area of the table, positioning it generally above the space between the pot and the fork. Since the gripper evidence indicates no closing action in this segment, the arm is likely making fine adjustments to align precisely over the target gap. The next step is to lower the fish gently into the space between the objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32291629910469055, + 0.1910339891910553, + 0.017354747280478477, + -3.0942134857177734, + -0.13228647410869598, + 1.1291414499282837 + ], + "gripper_value": 0.5178548097610474 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release fish onto table", + "subtask_reasoning": "The robot is currently holding the orange fish and has transported it to the left middle area of the table, positioning it generally above the space between the pot and the fork. Since the gripper evidence indicates no closing action in this segment, the arm is likely making fine adjustments to align precisely over the target gap. The next step is to lower the fish gently into the space between the objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162047863006592, + 0.19677145779132843, + 0.017192739993333817, + -3.130241870880127, + -0.09264562278985977, + 1.1700387001037598 + ], + "gripper_value": 0.8289023637771606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release fish onto table", + "subtask_reasoning": "The robot's end-effector is positioned low over the table between the pot and the fork, with the gripper currently open. The orange fish is already resting on the table in the target location, indicating the release action has been completed. The robot is now in a post-release state, likely preparing to retreat or verify the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31511881947517395, + 0.1931590884923935, + 0.03438498079776764, + -3.137035608291626, + -0.08324114978313446, + 1.1439087390899658 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release fish onto table", + "subtask_reasoning": "The robot's end-effector is positioned low over the table between the pot and the fork, with the gripper currently open. The orange fish is already resting on the table in the target location, indicating the release action has been completed. The robot is now in a post-release state, likely preparing to retreat or verify the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32405078411102295, + 0.1941656917333603, + 0.04697287082672119, + 3.1262803077697754, + -0.08076690137386322, + 1.1213209629058838 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange fish between the pot and the fork on the left middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange fish" + }, + { + "id": 2, + "subtask": "lift and transport fish" + }, + { + "id": 3, + "subtask": "position above target zone" + }, + { + "id": 4, + "subtask": "release fish onto table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The orange fish has been successfully placed between the pot and the fork on the left middle of the table. The gripper is open and the end-effector is positioned above the table, indicating the placement is complete. The next action is to retreat the arm away from the table to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003585_ecot.json b/cot/chunk-0003/episode_0003585_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e745b688cad709c78c838e3bea54394e04820156 --- /dev/null +++ b/cot/chunk-0003/episode_0003585_ecot.json @@ -0,0 +1,1947 @@ +{ + "task_name": "episode_0003585", + "episode_json": "json/chunk-0003/episode_0003585.json", + "video_path": "videos/chunk-0003/image_0/episode_0003585.mp4", + "instruction": "Topple hot sauce bottle cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003585.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.7189944982528687, + "std": 0.3204798400402069, + "delta_total": 0.004663050174713135, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71899, std=0.32048, total_delta=0.00466). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 114, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 114, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 14 + ], + [ + 3, + 15, + 23 + ], + [ + 4, + 24, + 24 + ], + [ + 5, + 25, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach hot sauce bottle\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the hot sauce bottle while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper on bottle\", \"start\": 13, \"end\": 14, \"planning\": \"Close gripper around the hot sauce bottle to establish firm contact.\"},\n {\"id\": 3, \"name\": \"topple bottle sideways\", \"start\": 15, \"end\": 23, \"planning\": \"Apply lateral force to topple the bottle onto its side using gripper hold.\"},\n {\"id\": 4, \"name\": \"release contact with bottle\", \"start\": 24, \"end\": 24, \"planning\": \"Open gripper slightly to release mechanical contact after toppling.\"},\n {\"id\": 5, \"name\": \"retreat from scene\", \"start\": 25, \"end\": 27, \"planning\": \"Lift and move end-effector away from the toppled bottle to complete task.\"}\n ],\n \"global_plan\": \"Approach the hot sauce bottle, grasp it firmly, topple it sideways by applying controlled force, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in segment 1 (frames 0-13) via delta=-0.20077 and image consistency at frame 13; segment 5 shows meaningful opening (delta=+0.35441), supporting release and retreat. Segment 4 has no gripper change but follows successful toppling, so 'release contact' is appropriate without implying full open.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach hot sauce bottle", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the hot sauce bottle while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper on bottle", + "start": 13, + "end": 14, + "planning": "Close gripper around the hot sauce bottle to establish firm contact." + }, + { + "id": 3, + "name": "topple bottle sideways", + "start": 15, + "end": 23, + "planning": "Apply lateral force to topple the bottle onto its side using gripper hold." + }, + { + "id": 4, + "name": "release contact with bottle", + "start": 24, + "end": 24, + "planning": "Open gripper slightly to release mechanical contact after toppling." + }, + { + "id": 5, + "name": "retreat from scene", + "start": 25, + "end": 27, + "planning": "Lift and move end-effector away from the toppled bottle to complete task." + } + ], + "global_plan": "Approach the hot sauce bottle, grasp it firmly, topple it sideways by applying controlled force, then release and retreat.", + "notes": "Gripper closure is confirmed in segment 1 (frames 0-13) via delta=-0.20077 and image consistency at frame 13; segment 5 shows meaningful opening (delta=+0.35441), supporting release and retreat. Segment 4 has no gripper change but follows successful toppling, so 'release contact' is appropriate without implying full open." + } + }, + "episode_goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2877790033817291, + -0.07311766594648361, + 0.08262193948030472, + -3.1261353492736816, + -0.12733875215053558, + -0.47898295521736145 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden surface with the hot sauce bottle visible to the left. No contact has been made yet as the gripper remains open and elevated. The next action is to lower and move the end-effector toward the hot sauce bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 14 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28325456380844116, + -0.07199834287166595, + 0.07609140872955322, + -3.1290602684020996, + -0.10622818022966385, + -0.4983732998371124 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden surface with the hot sauce bottle visible to the left. No contact has been made yet as the gripper remains open and elevated. The next action is to lower and move the end-effector toward the hot sauce bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 13 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710931599140167, + -0.0544419027864933, + 0.0861724391579628, + -3.060297966003418, + -0.14106911420822144, + -0.6963746547698975 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden surface with the hot sauce bottle visible to the left. No contact has been made yet as the gripper remains open and elevated. The next action is to lower and move the end-effector toward the hot sauce bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616819143295288, + -0.033712439239025116, + 0.09071735292673111, + -3.0312154293060303, + -0.12380380183458328, + -0.8529070615768433 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 377, + 296, + 492, + 481 + ], + "blue plate": [ + 661, + 636, + 868, + 871 + ], + "red bell pepper": [ + 251, + 345, + 361, + 653 + ], + "tiled backsplash": [ + 366, + 20, + 997, + 488 + ], + "red bottle": [ + 253, + 346, + 361, + 653 + ], + "wooden countertop": [ + 58, + 186, + 988, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden surface with the hot sauce bottle visible to the left. No contact has been made yet as the gripper remains open and elevated. The next action is to lower and move the end-effector toward the hot sauce bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.259067565202713, + -0.008322076871991158, + 0.09516435861587524, + -3.0254273414611816, + -0.10314013063907623, + -1.0116803646087646 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden surface with the hot sauce bottle visible to the left. No contact has been made yet as the gripper remains open and elevated. The next action is to lower and move the end-effector toward the hot sauce bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25268545746803284, + 0.017007704824209213, + 0.09480103850364685, + -3.0187058448791504, + -0.007750673219561577, + -1.085173487663269 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden surface with the hot sauce bottle visible to the left. No contact has been made yet as the gripper remains open and elevated. The next action is to lower and move the end-effector toward the hot sauce bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500494420528412, + 0.0327979177236557, + 0.10221467167139053, + -3.024909019470215, + 0.06133124232292175, + -1.0923190116882324 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, hovering near the red hot sauce bottle which is standing upright. No contact has been made yet as the gripper remains open and the arm is still approaching the target. The next action is to continue moving the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24170826375484467, + 0.04172921180725098, + 0.10565893352031708, + -3.0783748626708984, + 0.09172748774290085, + -1.1118930578231812 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, hovering near the red hot sauce bottle which is standing upright. No contact has been made yet as the gripper remains open and the arm is still approaching the target. The next action is to continue moving the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move right 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23721078038215637, + 0.049646180123090744, + 0.10644961148500443, + -3.0991761684417725, + 0.10837066173553467, + -1.1187162399291992 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, hovering near the red hot sauce bottle which is standing upright. No contact has been made yet as the gripper remains open and the arm is still approaching the target. The next action is to continue moving the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move right 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23836776614189148, + 0.055962610989809036, + 0.10282730311155319, + -3.101393699645996, + 0.11282286047935486, + -1.1533317565917969 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, hovering near the red hot sauce bottle which is standing upright. No contact has been made yet as the gripper remains open and the arm is still approaching the target. The next action is to continue moving the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, close gripper; then keep gripper closed; then move right 5 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23910461366176605, + 0.062273427844047546, + 0.10124920308589935, + -3.0847651958465576, + 0.11463716626167297, + -1.1577223539352417 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, hovering near the red hot sauce bottle which is standing upright. No contact has been made yet as the gripper remains open and the arm is still approaching the target. The next action is to continue moving the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then keep gripper closed; then move right 7 cm, move down 3 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2357102781534195, + 0.06298444420099258, + 0.09417057037353516, + -3.0980825424194336, + 0.11690036207437515, + -1.1754001379013062 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, hovering near the red hot sauce bottle which is standing upright. No contact has been made yet as the gripper remains open and the arm is still approaching the target. The next action is to continue moving the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move forward 1 cm, move right 7 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23184265196323395, + 0.06303935497999191, + 0.09304755181074142, + -3.1299545764923096, + 0.12337866425514221, + -1.2122033834457397 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, hovering near the red hot sauce bottle which is standing upright. No contact has been made yet as the gripper remains open and the arm is still approaching the target. The next action is to continue moving the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move forward 1 cm, move right 8 cm, move down 7 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2309340536594391, + 0.06344661116600037, + 0.08982962369918823, + -3.1411514282226562, + 0.1267388015985489, + -1.2068777084350586 + ], + "gripper_value": 0.7960459589958191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot has approached the hot sauce bottle and is now positioned to grasp it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is in the process of securing a firm hold on the bottle. The next action is to complete the grasp and prepare to topple the bottle sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 9 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22977988421916962, + 0.0628659576177597, + 0.08981756120920181, + 3.132936716079712, + 0.12584061920642853, + -1.214780330657959 + ], + "gripper_value": 0.48514097929000854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot has approached the hot sauce bottle and is now positioned to grasp it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is in the process of securing a firm hold on the bottle. The next action is to complete the grasp and prepare to topple the bottle sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 9 cm, move down 9 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2298196256160736, + 0.06331464648246765, + 0.08786317706108093, + -3.1356680393218994, + 0.12633711099624634, + -1.201004981994629 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached the hot sauce bottle and is now positioned to grasp it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is in the process of securing a firm hold on the bottle. The next action is to complete the grasp and prepare to topple the bottle sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move down 9 cm, open gripper; then move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22750107944011688, + 0.058649420738220215, + 0.08736082166433334, + -3.0924174785614014, + 0.17922337353229523, + -1.159463882446289 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached the hot sauce bottle and is now positioned to grasp it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is in the process of securing a firm hold on the bottle. The next action is to complete the grasp and prepare to topple the bottle sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 9 cm, tilt right 10 degrees, open gripper; then move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22703917324543, + 0.04413248971104622, + 0.0872831642627716, + -3.0272128582000732, + 0.26715919375419617, + -1.0759520530700684 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 378, + 296, + 491, + 483 + ], + "red bell pepper": [ + 565, + 357, + 664, + 484 + ], + "blue plate": [ + 661, + 637, + 868, + 871 + ], + "red bottle": [ + 257, + 451, + 359, + 654 + ], + "tiled backsplash": [ + 428, + 27, + 996, + 488 + ], + "wooden countertop": [ + 61, + 254, + 985, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached the hot sauce bottle and is now positioned to grasp it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is in the process of securing a firm hold on the bottle. The next action is to complete the grasp and prepare to topple the bottle sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2287578284740448, + 0.027236124500632286, + 0.08792033046483994, + -2.9763851165771484, + 0.30962812900543213, + -1.0787492990493774 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plate": [ + 661, + 636, + 868, + 871 + ], + "tiled backsplash": [ + 508, + 67, + 996, + 493 + ], + "wooden countertop": [ + 59, + 184, + 987, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached the hot sauce bottle and is now positioned to grasp it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is in the process of securing a firm hold on the bottle. The next action is to complete the grasp and prepare to topple the bottle sideways." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23031435906887054, + 0.012101407162845135, + 0.08000634610652924, + -2.9385581016540527, + 0.3544141948223114, + -1.066914439201355 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached and grasped the hot sauce bottle, which is currently upright on the wooden surface. The gripper is closed around the bottle, and the arm is positioned to apply lateral force. The next action is to push or tilt the bottle sideways to topple it onto its side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2304183691740036, + -0.0021794806234538555, + 0.06158728897571564, + -2.9634735584259033, + 0.4303196966648102, + -1.0671205520629883 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached and grasped the hot sauce bottle, which is currently upright on the wooden surface. The gripper is closed around the bottle, and the arm is positioned to apply lateral force. The next action is to push or tilt the bottle sideways to topple it onto its side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, tilt back 20 degrees, open gripper; then move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23664650321006775, + -0.011342467740178108, + 0.04030042141675949, + -2.9584238529205322, + 0.4874849319458008, + -1.0519003868103027 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached and grasped the hot sauce bottle, which is currently upright on the wooden surface. The gripper is closed around the bottle, and the arm is positioned to apply lateral force. The next action is to push or tilt the bottle sideways to topple it onto its side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt right 10 degrees, tilt back 20 degrees, open gripper; then move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23786941170692444, + -0.021439481526613235, + 0.022424913942813873, + -3.0435757637023926, + 0.41586166620254517, + -1.0881481170654297 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached and grasped the hot sauce bottle, which is currently upright on the wooden surface. The gripper is closed around the bottle, and the arm is positioned to apply lateral force. The next action is to push or tilt the bottle sideways to topple it onto its side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, open gripper; then move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24363651871681213, + -0.02614523656666279, + 0.007626867387443781, + -3.1246001720428467, + 0.2571084201335907, + -1.1007518768310547 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "topple bottle sideways", + "subtask_reasoning": "The robot has approached and grasped the hot sauce bottle, which is currently upright on the wooden surface. The gripper is closed around the bottle, and the arm is positioned to apply lateral force. The next action is to push or tilt the bottle sideways to topple it onto its side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2411118447780609, + -0.023486409336328506, + -0.0019385790219530463, + 3.080937385559082, + 0.12346125394105911, + -1.154721736907959 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release contact with bottle", + "subtask_reasoning": "The hot sauce bottle is already toppled and lying horizontally on the wooden surface. The gripper is no longer in contact with the bottle, indicating release has occurred. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24450327455997467, + -0.01787358708679676, + -0.0005279414472170174, + 3.0345208644866943, + 0.005480075255036354, + -1.0879886150360107 + ], + "gripper_value": 0.6470694541931152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The hot sauce bottle is already toppled and lying horizontally on the wooden surface. The gripper is no longer in contact with the bottle, indicating release has occurred. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2454090118408203, + -0.012972860597074032, + 0.005469972267746925, + 3.0197269916534424, + 0.012339454144239426, + -1.0831537246704102 + ], + "gripper_value": 0.930367648601532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The hot sauce bottle has been successfully toppled and is lying horizontally on the wooden surface. The gripper is currently open and positioned near the bottle, indicating the manipulation is complete. The robot should now retreat from the scene to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2480420470237732, + -0.013807917013764381, + 0.02058430202305317, + 3.039945602416992, + -0.03617379814386368, + -1.080222249031067 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it lies horizontally on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "topple bottle sideways" + }, + { + "id": 4, + "subtask": "release contact with bottle" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The hot sauce bottle has been successfully toppled and is lying horizontally on the wooden surface. The gripper is currently open and positioned near the bottle, indicating the manipulation is complete. The robot should now retreat from the scene to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003586_ecot.json b/cot/chunk-0003/episode_0003586_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a78a13b2ffc85cc5d657cba812db3ac9144c70e1 --- /dev/null +++ b/cot/chunk-0003/episode_0003586_ecot.json @@ -0,0 +1,1734 @@ +{ + "task_name": "episode_0003586", + "episode_json": "json/chunk-0003/episode_0003586.json", + "video_path": "videos/chunk-0003/image_0/episode_0003586.mp4", + "instruction": "Put the green cube on the tower to the left of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003586.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.43802738189697266, + "std": 0.20589683949947357, + "delta_total": 0.008515000343322754, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.43803, std=0.20590, total_delta=0.00852). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green cube\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the green cube on the right-side tower while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp green cube\", \"start\": 7, \"end\": 14, \"planning\": \"Close gripper around the green cube and secure hold as confirmed by gripper value drop to 0.57 and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport green cube\", \"start\": 15, \"end\": 19, \"planning\": \"Lift the grasped green cube and move it leftward across the table toward the target tower location.\"},\n {\"id\": 4, \"name\": \"place green cube on left tower\", \"start\": 20, \"end\": 23, \"planning\": \"Position the green cube above the left tower and lower it into place while maintaining grip until contact is stable.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 24, \"end\": 24, \"planning\": \"Open gripper to release the green cube onto the tower and begin retreating upward as gripper value rises to 1.0.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, place, and release the green cube from the right tower to the left tower in a continuous manipulation sequence.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in Segment 1 (frames 0–14) and opening in Segment 2 (frames 15–24), consistent with grasp-and-place mechanics. Frame 14 shows gripper closed at 0.57; Frame 24 shows gripper opening to 1.0, confirming release. All subtasks are contiguous and cover full trajectory [0,24].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green cube", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the green cube on the right-side tower while keeping gripper open." + }, + { + "id": 2, + "name": "grasp green cube", + "start": 7, + "end": 14, + "planning": "Close gripper around the green cube and secure hold as confirmed by gripper value drop to 0.57 and visual contact." + }, + { + "id": 3, + "name": "lift and transport green cube", + "start": 15, + "end": 19, + "planning": "Lift the grasped green cube and move it leftward across the table toward the target tower location." + }, + { + "id": 4, + "name": "place green cube on left tower", + "start": 20, + "end": 23, + "planning": "Position the green cube above the left tower and lower it into place while maintaining grip until contact is stable." + }, + { + "id": 5, + "name": "release and retreat", + "start": 24, + "end": 24, + "planning": "Open gripper to release the green cube onto the tower and begin retreating upward as gripper value rises to 1.0." + } + ], + "global_plan": "Approach, grasp, lift, transport, place, and release the green cube from the right tower to the left tower in a continuous manipulation sequence.", + "notes": "Gripper evidence confirms meaningful closing in Segment 1 (frames 0–14) and opening in Segment 2 (frames 15–24), consistent with grasp-and-place mechanics. Frame 14 shows gripper closed at 0.57; Frame 24 shows gripper opening to 1.0, confirming release. All subtasks are contiguous and cover full trajectory [0,24]." + } + }, + "episode_goal": "Place the green cube on the left tower.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30392321944236755, + -0.09243606775999069, + 0.1949392408132553, + 2.960193634033203, + -0.15310870110988617, + -0.5934819579124451 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot is positioned near the table with the green cube visible on the right tower. No actions have been completed yet as the gripper remains open and no contact has been made. The next action is to move the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035992681980133, + -0.09213663637638092, + 0.18495123088359833, + 2.9480273723602295, + -0.12154906243085861, + -0.5919055938720703 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot is positioned near the table with the green cube visible on the right tower. No actions have been completed yet as the gripper remains open and no contact has been made. The next action is to move the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30735453963279724, + -0.09780783206224442, + 0.17359378933906555, + 2.95477557182312, + -0.10524889081716537, + -0.6054375767707825 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot is positioned near the table with the green cube visible on the right tower. No actions have been completed yet as the gripper remains open and no contact has been made. The next action is to move the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30786973237991333, + -0.10366467386484146, + 0.16729561984539032, + 2.977764844894409, + -0.11398463696241379, + -0.624657928943634 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot is approaching the green cube on the right tower, with no prior actions completed. The gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31097912788391113, + -0.10938283056020737, + 0.15797367691993713, + 2.9959757328033447, + -0.10428804904222488, + -0.6492921710014343 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot is approaching the green cube on the right tower, with no prior actions completed. The gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 3 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30883529782295227, + -0.11130605638027191, + 0.14820511639118195, + 3.0100886821746826, + -0.10246032476425171, + -0.6673441529273987 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot is approaching the green cube on the right tower, with no prior actions completed. The gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.308210551738739, + -0.11599292606115341, + 0.140422984957695, + 3.034001588821411, + -0.1120101734995842, + -0.6905132532119751 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot is approaching the green cube on the right tower, with no prior actions completed. The gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 3 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080083727836609, + -0.11904127150774002, + 0.13346374034881592, + 3.043471574783325, + -0.12605170905590057, + -0.697677493095398 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 6, + 992, + 991 + ], + "cable": [ + 3, + 685, + 124, + 978 + ], + "computer tower": [ + 785, + 15, + 993, + 423 + ] + } + } + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is approaching the green cube on the right tower, with no prior actions completed. The gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move left 3 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076472282409668, + -0.12431789189577103, + 0.12836986780166626, + 3.0596141815185547, + -0.14074468612670898, + -0.7176204323768616 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is approaching the green cube on the right tower, with no prior actions completed. The gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 4 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3077890872955322, + -0.12739060819149017, + 0.1286090761423111, + 3.0584959983825684, + -0.1505432277917862, + -0.7284092307090759 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is approaching the green cube on the right tower, with no prior actions completed. The gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047281801700592, + -0.12750144302845, + 0.12136073410511017, + 3.0489773750305176, + -0.1487015336751938, + -0.7175477743148804 + ], + "gripper_value": 0.6530976295471191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot has approached the green cube on the right tower and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp by fully closing the gripper around the green cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30313506722450256, + -0.12731747329235077, + 0.12161073833703995, + 3.0421485900878906, + -0.13907435536384583, + -0.7118669748306274 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot has approached the green cube on the right tower and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp by fully closing the gripper around the green cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2976742386817932, + -0.12455777823925018, + 0.12574230134487152, + 3.044104814529419, + -0.1379401534795761, + -0.709855854511261 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot has approached the green cube on the right tower and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp by fully closing the gripper around the green cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.283068984746933, + -0.11229193210601807, + 0.15289843082427979, + 3.08109974861145, + -0.20521509647369385, + -0.6649637818336487 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot has approached the green cube on the right tower and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp by fully closing the gripper around the green cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2811512351036072, + -0.08694621175527573, + 0.1463809609413147, + 3.0344719886779785, + -0.2340521365404129, + -0.5301369428634644 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot has approached the green cube on the right tower and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp by fully closing the gripper around the green cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799820899963379, + -0.06204589828848839, + 0.11372824758291245, + 2.913925886154175, + -0.21752218902111053, + -0.30470767617225647 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 6, + 6, + 992, + 990 + ], + "yellow block": [ + 847, + 295, + 945, + 394 + ], + "computer tower": [ + 621, + 7, + 906, + 421 + ], + "red block": [ + 772, + 349, + 960, + 583 + ], + "blue block": [ + 761, + 502, + 875, + 695 + ] + } + } + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport green cube", + "subtask_reasoning": "The robot has approached the green cube on the right tower and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp by fully closing the gripper around the green cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28101539611816406, + -0.04673317074775696, + 0.0751989334821701, + 2.8121018409729004, + -0.15566246211528778, + -0.14022329449653625 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 6, + 993, + 991 + ], + "yellow block": [ + 847, + 295, + 945, + 394 + ], + "computer tower": [ + 538, + 10, + 784, + 501 + ], + "red block": [ + 773, + 348, + 961, + 583 + ], + "blue block": [ + 762, + 501, + 875, + 694 + ] + } + } + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport green cube", + "subtask_reasoning": "The robot has approached the green cube on the right tower and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp by fully closing the gripper around the green cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28770706057548523, + -0.03541579842567444, + 0.048131123185157776, + 2.770017147064209, + -0.10172168910503387, + -0.05613764375448227 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport green cube", + "subtask_reasoning": "The robot has successfully grasped the green cube and is currently lifting it above the table surface. The gripper remains closed with no change in aperture, confirming the object is secured. The next action is to continue transporting the cube horizontally toward the left tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3057521879673004, + -0.025007784366607666, + 0.033137354999780655, + 2.7741615772247314, + -0.05948571860790253, + -0.030668213963508606 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport green cube", + "subtask_reasoning": "The robot has successfully grasped the green cube and is currently lifting it above the table surface. The gripper remains closed with no change in aperture, confirming the object is secured. The next action is to continue transporting the cube horizontally toward the left tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3111422657966614, + -0.014612460508942604, + 0.032944995909929276, + 2.8348968029022217, + -0.020421335473656654, + -0.0218056607991457 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport green cube", + "subtask_reasoning": "The robot has successfully grasped the green cube and is currently lifting it above the table surface. The gripper remains closed with no change in aperture, confirming the object is secured. The next action is to continue transporting the cube horizontally toward the left tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31271499395370483, + -0.008596955798566341, + 0.03328465297818184, + 2.903435230255127, + 0.01715240068733692, + -0.029354114085435867 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place green cube on left tower", + "subtask_reasoning": "The robot has successfully grasped the green cube and is currently lifting it above the table surface. The gripper remains closed with no change in aperture, confirming the object is secured. The next action is to continue transporting the cube horizontally toward the left tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3123186230659485, + -0.009035694412887096, + 0.03152439743280411, + 2.996553897857666, + 0.08498329669237137, + -0.059682246297597885 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place green cube on left tower", + "subtask_reasoning": "The robot is holding the green cube above the left tower, having completed the approach and grasp phases. The current situation involves positioning the cube for placement. The next action is to lower the green cube onto the top of the left tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30936330556869507, + -0.010904014110565186, + 0.03057054989039898, + 3.0274462699890137, + 0.10920418053865433, + -0.06347832083702087 + ], + "gripper_value": 0.6189444065093994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place green cube on left tower", + "subtask_reasoning": "The robot is holding the green cube above the left tower, having completed the approach and grasp phases. The current situation involves positioning the cube for placement. The next action is to lower the green cube onto the top of the left tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29791757464408875, + -0.01253512967377901, + 0.023637032136321068, + 3.0178942680358887, + 0.14339309930801392, + -0.0485646091401577 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place green cube on left tower", + "subtask_reasoning": "The robot is holding the green cube above the left tower, having completed the approach and grasp phases. The current situation involves positioning the cube for placement. The next action is to lower the green cube onto the top of the left tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29606494307518005, + -0.016797859221696854, + 0.03623809292912483, + 3.0003795623779297, + 0.13368508219718933, + -0.05247470363974571 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "lift and transport green cube" + }, + { + "id": 4, + "subtask": "place green cube on left tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cube is currently held by the gripper above the table, positioned near the target left tower. The gripper is open, indicating the release phase is underway or complete. The next action is to retreat the end-effector away from the placed cube to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003587_ecot.json b/cot/chunk-0003/episode_0003587_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8689df2d8fa0a480c9013394eb8ae784cc239276 --- /dev/null +++ b/cot/chunk-0003/episode_0003587_ecot.json @@ -0,0 +1,1716 @@ +{ + "task_name": "episode_0003587", + "episode_json": "json/chunk-0003/episode_0003587.json", + "video_path": "videos/chunk-0003/image_0/episode_0003587.mp4", + "instruction": "Unfold the cloth from bottom right to the top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003587.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.9452654123306274, + "std": 0.4122665524482727, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94527, std=0.41227, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 106, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 6 + ], + [ + 4, + 7, + 16 + ], + [ + 5, + 17, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 1, \"planning\": \"Move end-effector toward the bottom-right corner of the cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp bottom-right corner\", \"start\": 2, \"end\": 5, \"planning\": \"Close gripper to securely grasp the bottom-right corner of the cloth, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 6, \"end\": 16, \"planning\": \"Pull the cloth from bottom-right toward top-left while maintaining grip, unfolding it across the table surface.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 17, \"end\": 26, \"planning\": \"Open gripper to release the cloth after unfolding, then retract end-effector away from the workspace.\"}\n ],\n \"global_plan\": \"Unfold the cloth by grasping its bottom-right corner, dragging it diagonally to the top-left, then releasing once fully extended.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has strong gripper closure evidence matching image — grasp is valid. Segment 4 involves sustained motion with partial gripper adjustment — interpreted as dragging under grip. Segment 5 shows full gripper opening and retreat — release and retreat phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 1, + "planning": "Move end-effector toward the bottom-right corner of the cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp bottom-right corner", + "start": 2, + "end": 5, + "planning": "Close gripper to securely grasp the bottom-right corner of the cloth, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 6, + "end": 16, + "planning": "Pull the cloth from bottom-right toward top-left while maintaining grip, unfolding it across the table surface." + }, + { + "id": 4, + "name": "release and retreat", + "start": 17, + "end": 26, + "planning": "Open gripper to release the cloth after unfolding, then retract end-effector away from the workspace." + } + ], + "global_plan": "Unfold the cloth by grasping its bottom-right corner, dragging it diagonally to the top-left, then releasing once fully extended.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has strong gripper closure evidence matching image — grasp is valid. Segment 4 involves sustained motion with partial gripper adjustment — interpreted as dragging under grip. Segment 5 shows full gripper opening and retreat — release and retreat phase." + } + }, + "episode_goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23114590346813202, + -0.018471119925379753, + 0.04139694571495056, + -3.112525701522827, + -0.08915816247463226, + 0.07399138808250427 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on a white table, with the gripper open and aligned near the bottom-right corner. No movement or grasping has occurred yet. The next action should be to lower the gripper slightly and make contact with the cloth corner to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper; then move forward 9 cm, move left 4 cm, move up 9 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2278851568698883, + -0.018862750381231308, + 0.03623408079147339, + -3.1152405738830566, + -0.07476536929607391, + 0.08240062743425369 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on a white table, with the gripper open and aligned near the bottom-right corner. No movement or grasping has occurred yet. The next action should be to lower the gripper slightly and make contact with the cloth corner to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper; then move forward 12 cm, move left 8 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21348251402378082, + -0.01719539798796177, + 0.02195216715335846, + 3.1381537914276123, + -0.06696751713752747, + 0.13654527068138123 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on a white table, with the gripper open and aligned near the bottom-right corner. No movement or grasping has occurred yet. The next action should be to lower the gripper slightly and make contact with the cloth corner to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 15 cm, move left 13 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2108229398727417, + -0.01292518898844719, + 0.007113942876458168, + 3.10436749458313, + -0.06774265319108963, + 0.165423184633255 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot arm is positioned directly above the bottom-right corner of the orange cloth. The gripper is currently open and hovering just above the fabric, having completed the approach phase. The next immediate action is to close the gripper to secure a firm grasp on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 16 cm, move left 15 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21210841834545135, + -0.010828552767634392, + 0.004572189878672361, + 3.0871963500976562, + -0.07703853398561478, + 0.1606960892677307 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot arm is positioned directly above the bottom-right corner of the orange cloth. The gripper is currently open and hovering just above the fabric, having completed the approach phase. The next immediate action is to close the gripper to secure a firm grasp on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 17 cm, move left 17 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21149545907974243, + -0.007622284349054098, + 0.0032717683352530003, + 3.0880417823791504, + -0.07784603536128998, + 0.16073885560035706 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot arm is positioned directly above the bottom-right corner of the orange cloth. The gripper is currently open and hovering just above the fabric, having completed the approach phase. The next immediate action is to close the gripper to secure a firm grasp on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 18 cm, move left 17 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21365749835968018, + -0.006693531293421984, + 0.0037286237347871065, + 3.093451738357544, + -0.08649064600467682, + 0.15191251039505005 + ], + "gripper_value": 0.4356481730937958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot arm is positioned directly above the bottom-right corner of the orange cloth. The gripper is currently open and hovering just above the fabric, having completed the approach phase. The next immediate action is to close the gripper to secure a firm grasp on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move left 18 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21555611491203308, + -0.007649862207472324, + 0.007821822538971901, + -3.139467477798462, + -0.07018149644136429, + 0.10083115100860596 + ], + "gripper_value": 0.2666412889957428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot arm is positioned directly above the bottom-right corner of the orange cloth. The gripper is currently open and hovering just above the fabric, having completed the approach phase. The next immediate action is to close the gripper to secure a firm grasp on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 18 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23943395912647247, + -0.005380486603826284, + 0.046464964747428894, + -3.049288034439087, + -0.10713483393192291, + 0.03571002930402756 + ], + "gripper_value": 0.13572125136852264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 13, + 400, + 669, + 777 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot arm is positioned directly above the bottom-right corner of the orange cloth. The gripper is currently open and hovering just above the fabric, having completed the approach phase. The next immediate action is to close the gripper to secure a firm grasp on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 18 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27278056740760803, + 0.005016359966248274, + 0.08678878098726273, + -2.9508886337280273, + -0.14165441691875458, + -0.05583098158240318 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 12, + 398, + 669, + 848 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot arm is positioned directly above the bottom-right corner of the orange cloth. The gripper is currently open and hovering just above the fabric, having completed the approach phase. The next immediate action is to close the gripper to secure a firm grasp on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 17 cm, move down 7 cm, tilt right 10 degrees, open gripper; then move forward 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29891565442085266, + 0.037714842706918716, + 0.09552489966154099, + -2.9016573429107666, + -0.13797779381275177, + -0.1074388399720192 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot arm is positioned directly above the bottom-right corner of the orange cloth. The gripper is currently open and hovering just above the fabric, having completed the approach phase. The next immediate action is to close the gripper to secure a firm grasp on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 13 cm, move down 8 cm, tilt right 10 degrees, open gripper; then move forward 3 cm, move left 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3305346965789795, + 0.07741221785545349, + 0.08377479016780853, + -2.930340051651001, + -0.13818731904029846, + -0.144234761595726 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 9 cm, move down 7 cm, tilt right 10 degrees, open gripper; then move forward 4 cm, move left 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3599872887134552, + 0.1192137748003006, + 0.06342639774084091, + -2.97521710395813, + -0.14522288739681244, + -0.13726449012756348 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 5 cm, open gripper; then move forward 6 cm, move left 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767947256565094, + 0.14635929465293884, + 0.0573422834277153, + -2.988858699798584, + -0.15235808491706848, + -0.12239206582307816 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, open gripper; then move forward 6 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3875570297241211, + 0.1587107926607132, + 0.048498861491680145, + -3.0110652446746826, + -0.16629770398139954, + -0.1137404814362526 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 6 cm, move left 7 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3900040090084076, + 0.16583973169326782, + 0.024019697681069374, + -3.0644547939300537, + -0.14854566752910614, + -0.09992173314094543 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 6 cm, move left 9 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3956238627433777, + 0.16878148913383484, + 0.016759397462010384, + -3.073626756668091, + -0.15061454474925995, + -0.12096377462148666 + ], + "gripper_value": 0.24590691924095154 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 7 cm, move left 10 cm, move up 4 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4035578668117523, + 0.17233267426490784, + 0.017362134531140327, + -3.0590202808380127, + -0.1600678563117981, + -0.139703169465065 + ], + "gripper_value": 0.5188266634941101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 10 cm, move up 4 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4099228084087372, + 0.17540349066257477, + 0.024978768080472946, + -3.032741069793701, + -0.16927273571491241, + -0.15959477424621582 + ], + "gripper_value": 0.8251956701278687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4204254746437073, + 0.17676430940628052, + 0.025511199608445168, + -2.9978079795837402, + -0.1815074384212494, + -0.19885578751564026 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4289635419845581, + 0.18547356128692627, + 0.019750067964196205, + -2.9420104026794434, + -0.1948101669549942, + -0.21805250644683838 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the orange cloth, which is partially folded on the table. The gripper is closed and the arm has begun moving diagonally toward the top-left, initiating the unfolding motion. The next action is to continue dragging the cloth smoothly in that direction to fully extend it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.44491809606552124, + 0.1960872858762741, + 0.017459901049733162, + -2.885169267654419, + -0.22336801886558533, + -0.25513598322868347 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed the diagonal pull and is now in the release phase, with the gripper fully open (value ~1.0) and positioned above the cloth’s top-left region. The cloth appears mostly unfolded and flattened on the table. The next action is to retreat vertically or diagonally away from the cloth to avoid disturbing its final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.46129903197288513, + 0.20787133276462555, + 0.020848749205470085, + -2.834886312484741, + -0.2533789575099945, + -0.2976864278316498 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed the diagonal pull and is now in the release phase, with the gripper fully open (value ~1.0) and positioned above the cloth’s top-left region. The cloth appears mostly unfolded and flattened on the table. The next action is to retreat vertically or diagonally away from the cloth to avoid disturbing its final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.46518635749816895, + 0.2220325618982315, + 0.027069179341197014, + -2.7934885025024414, + -0.24478790163993835, + -0.31844228506088257 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed the diagonal pull and is now in the release phase, with the gripper fully open (value ~1.0) and positioned above the cloth’s top-left region. The cloth appears mostly unfolded and flattened on the table. The next action is to retreat vertically or diagonally away from the cloth to avoid disturbing its final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.46661102771759033, + 0.2424258142709732, + 0.041620880365371704, + -2.8005473613739014, + -0.2104143649339676, + -0.3208090364933014 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed the diagonal pull and is now in the release phase, with the gripper fully open (value ~1.0) and positioned above the cloth’s top-left region. The cloth appears mostly unfolded and flattened on the table. The next action is to retreat vertically or diagonally away from the cloth to avoid disturbing its final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4681399166584015, + 0.2603124976158142, + 0.05391637235879898, + -2.797926664352417, + -0.19186027348041534, + -0.31917744874954224 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 14, + 162, + 549, + 707 + ], + "table": [ + 5, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed the diagonal pull and is now in the release phase, with the gripper fully open (value ~1.0) and positioned above the cloth’s top-left region. The cloth appears mostly unfolded and flattened on the table. The next action is to retreat vertically or diagonally away from the cloth to avoid disturbing its final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.46987876296043396, + 0.2757265567779541, + 0.05795874446630478, + -2.757874011993408, + -0.19215407967567444, + -0.3255707323551178 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the orange cloth and pull it diagonally toward the top-left to unfold and flatten the fabric on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed the diagonal pull and is now in the release phase, with the gripper fully open (value ~1.0) and positioned above the cloth’s top-left region. The cloth appears mostly unfolded and flattened on the table. The next action is to retreat vertically or diagonally away from the cloth to avoid disturbing its final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003588_ecot.json b/cot/chunk-0003/episode_0003588_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f582965b16bde44492b05c93adf412e904652940 --- /dev/null +++ b/cot/chunk-0003/episode_0003588_ecot.json @@ -0,0 +1,2519 @@ +{ + "task_name": "episode_0003588", + "episode_json": "json/chunk-0003/episode_0003588.json", + "video_path": "videos/chunk-0003/image_0/episode_0003588.mp4", + "instruction": "Fold the cloth from top left to bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003588.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.9487631916999817, + "std": 0.4340219497680664, + "delta_total": -0.005335509777069092, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94876, std=0.43402, total_delta=-0.00534). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 319, + 319, + 319, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 135, + 135 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 18 + ], + [ + 4, + 19, + 21 + ], + [ + 5, + 22, + 34 + ], + [ + 6, + 35, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach top left corner\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the top-left region of the cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"position above grasp point\", \"start\": 8, \"end\": 11, \"planning\": \"Fine-tune position above the target corner in preparation for grasping, maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"grasp top left corner\", \"start\": 12, \"end\": 18, \"planning\": \"Close gripper to securely grasp the top-left corner of the cloth, confirmed by significant gripper closure and minimal motion.\"},\n {\"id\": 4, \"name\": \"lift and drag cloth diagonally\", \"start\": 19, \"end\": 34, \"planning\": \"Lift the grasped corner and drag the cloth diagonally toward bottom-right, maintaining grip while translating across the table.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 35, \"end\": 36, \"planning\": \"Open gripper to release the cloth after folding, then begin retreating upward and away from the folded cloth.\"}\n ],\n \"global_plan\": \"Fold the cloth by grasping the top-left corner, dragging it diagonally to the bottom-right, and releasing to complete the fold.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segments 1–2, active grasp in 3–4, release in 6. Segment 5 (frames 22–34) is merged into one continuous drag phase based on motion continuity and sustained grip.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach top left corner", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the top-left region of the cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "position above grasp point", + "start": 8, + "end": 11, + "planning": "Fine-tune position above the target corner in preparation for grasping, maintaining open gripper." + }, + { + "id": 3, + "name": "grasp top left corner", + "start": 12, + "end": 18, + "planning": "Close gripper to securely grasp the top-left corner of the cloth, confirmed by significant gripper closure and minimal motion." + }, + { + "id": 4, + "name": "lift and drag cloth diagonally", + "start": 19, + "end": 34, + "planning": "Lift the grasped corner and drag the cloth diagonally toward bottom-right, maintaining grip while translating across the table." + }, + { + "id": 5, + "name": "release and retreat", + "start": 35, + "end": 36, + "planning": "Open gripper to release the cloth after folding, then begin retreating upward and away from the folded cloth." + } + ], + "global_plan": "Fold the cloth by grasping the top-left corner, dragging it diagonally to the bottom-right, and releasing to complete the fold.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segments 1–2, active grasp in 3–4, release in 6. Segment 5 (frames 22–34) is merged into one continuous drag phase based on motion continuity and sustained grip." + } + }, + "episode_goal": "Fold the cloth from top left to bottom right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3515675961971283, + -0.07768333703279495, + 0.21839837729930878, + -3.0355823040008545, + -0.24772892892360687, + -0.017467249184846878 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3546372354030609, + -0.07885216921567917, + 0.20421983301639557, + -3.0260627269744873, + -0.2089078724384308, + -0.01969997026026249 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36883482336997986, + -0.06535128504037857, + 0.18545690178871155, + -3.019176483154297, + -0.16883382201194763, + 0.023016875609755516 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3860290050506592, + -0.06450513750314713, + 0.17911267280578613, + -3.0137510299682617, + -0.16262882947921753, + 0.04513847827911377 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and no contact made yet. The top-left corner of the cloth is visible and accessible. The next action should be to move the gripper closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.401302695274353, + -0.0596611388027668, + 0.17921015620231628, + -3.0044233798980713, + -0.18360425531864166, + 0.022512733936309814 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and no contact made yet. The top-left corner of the cloth is visible and accessible. The next action should be to move the gripper closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4132627546787262, + -0.037251025438308716, + 0.1746864914894104, + -2.9479119777679443, + -0.21988049149513245, + -0.08454746752977371 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and no contact made yet. The top-left corner of the cloth is visible and accessible. The next action should be to move the gripper closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4146725833415985, + -0.008015260100364685, + 0.17349277436733246, + -2.9286985397338867, + -0.23086385428905487, + -0.198271706700325 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and no contact made yet. The top-left corner of the cloth is visible and accessible. The next action should be to move the gripper closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4065650701522827, + 0.028592297807335854, + 0.1791597157716751, + -2.91738224029541, + -0.24033412337303162, + -0.306659996509552 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 369, + 24, + 470, + 272 + ], + "blue ball": [ + 184, + 249, + 318, + 406 + ], + "stove": [ + 855, + 132, + 994, + 307 + ], + "blue towel": [ + 238, + 284, + 954, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and no contact made yet. The top-left corner of the cloth is visible and accessible. The next action should be to move the gripper closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper open; then move forward 3 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4017658233642578, + 0.05604640394449234, + 0.17940625548362732, + -2.9501469135284424, + -0.2489406019449234, + -0.31988850235939026 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above grasp point", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and no contact made yet. The top-left corner of the cloth is visible and accessible. The next action should be to move the gripper closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4011555314064026, + 0.07946208119392395, + 0.18588955700397491, + -2.95293927192688, + -0.2693638503551483, + -0.32449278235435486 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue ball": [ + 184, + 249, + 318, + 406 + ], + "stove": [ + 851, + 130, + 994, + 315 + ], + "bottle": [ + 369, + 31, + 472, + 272 + ], + "blue towel": [ + 238, + 284, + 953, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above grasp point", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating readiness to grasp. The next action is to close the gripper to secure the top-left corner for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4139937162399292, + 0.08654092997312546, + 0.15811900794506073, + -2.957646369934082, + -0.23798654973506927, + -0.3590390384197235 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above grasp point", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating readiness to grasp. The next action is to close the gripper to secure the top-left corner for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.422583669424057, + 0.08342339843511581, + 0.13290497660636902, + -2.963669776916504, + -0.20920208096504211, + -0.40657421946525574 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above grasp point", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating readiness to grasp. The next action is to close the gripper to secure the top-left corner for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4354683756828308, + 0.07740741223096848, + 0.11801455914974213, + -2.940922975540161, + -0.22897648811340332, + -0.4819979667663574 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating readiness to grasp. The next action is to close the gripper to secure the top-left corner for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4408632516860962, + 0.07840239256620407, + 0.11496981233358383, + -2.912419319152832, + -0.25558558106422424, + -0.5038185119628906 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating readiness to grasp. The next action is to close the gripper to secure the top-left corner for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.44372227787971497, + 0.07619188725948334, + 0.11340779066085815, + -2.9114902019500732, + -0.27049577236175537, + -0.5070643424987793 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating readiness to grasp. The next action is to close the gripper to secure the top-left corner for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 6 cm, move right 8 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4446828067302704, + 0.07116144895553589, + 0.10037291795015335, + -2.9321463108062744, + -0.2515181303024292, + -0.49448832869529724 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate clockwise 10 degrees, close gripper; then move back 8 cm, move right 10 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.44731053709983826, + 0.06984858214855194, + 0.09708983451128006, + -2.927858352661133, + -0.24175651371479034, + -0.4829019010066986 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 11 cm, move right 12 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4480850398540497, + 0.07127539813518524, + 0.09055659174919128, + -2.9408488273620605, + -0.22400391101837158, + -0.45221424102783203 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 13 cm, move right 13 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4482501745223999, + 0.06988973170518875, + 0.08801580965518951, + -2.936201572418213, + -0.21516744792461395, + -0.40256285667419434 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 16 cm, move right 15 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4489032030105591, + 0.06715673953294754, + 0.08808440715074539, + -2.939434051513672, + -0.2202325016260147, + -0.3905196487903595 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move right 16 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.44821789860725403, + 0.06634050607681274, + 0.0883408784866333, + -2.958242416381836, + -0.22566986083984375, + -0.39532023668289185 + ], + "gripper_value": 0.17844799160957336 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move right 18 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.44139301776885986, + 0.06445631384849548, + 0.0959571897983551, + -2.9593729972839355, + -0.2614310681819916, + -0.39399316906929016 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move right 19 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4292300045490265, + 0.05338384583592415, + 0.13112148642539978, + -2.9301838874816895, + -0.3644208610057831, + -0.43872660398483276 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move right 20 cm, move down 1 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.412723571062088, + 0.023397967219352722, + 0.1490638554096222, + -2.8920466899871826, + -0.4132082760334015, + -0.5380708575248718 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move right 17 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3925093412399292, + -0.010092983022332191, + 0.14740881323814392, + -2.86161732673645, + -0.40323635935783386, + -0.636715292930603 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 14 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3698676526546478, + -0.033907774835824966, + 0.13317683339118958, + -2.8296103477478027, + -0.36254093050956726, + -0.7186184525489807 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the blue cloth, having completed the approach phase. The gripper is currently open and hovering just above the target grasp point. The next action is to close the gripper to secure the corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 11 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3391195833683014, + -0.05370160564780235, + 0.12920323014259338, + -2.8015663623809814, + -0.3482266962528229, + -0.7978573441505432 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue ball": [ + 183, + 249, + 320, + 406 + ], + "bottle": [ + 370, + 24, + 469, + 271 + ], + "wooden table": [ + 3, + 95, + 995, + 994 + ], + "stove": [ + 845, + 131, + 994, + 314 + ], + "blue towel": [ + 230, + 361, + 942, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 9 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3161872625350952, + -0.0655079334974289, + 0.1345359981060028, + -2.8108558654785156, + -0.35821792483329773, + -0.8229672312736511 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 7 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923913598060608, + -0.08488002419471741, + 0.1435643881559372, + -2.811805009841919, + -0.3697096109390259, + -0.8553064465522766 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804509699344635, + -0.0963221862912178, + 0.14934223890304565, + -2.8233749866485596, + -0.37846052646636963, + -0.8484928607940674 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2676406502723694, + -0.11286352574825287, + 0.1444993019104004, + -2.828665018081665, + -0.36133381724357605, + -0.8344893455505371 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25657108426094055, + -0.13038435578346252, + 0.13545802235603333, + -2.8045575618743896, + -0.34099534153938293, + -0.8303917646408081 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.244854137301445, + -0.1432390958070755, + 0.12304118275642395, + -2.7953438758850098, + -0.3211682438850403, + -0.8277797698974609 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.23338742554187775, + -0.15017597377300262, + 0.11105886101722717, + -2.7811949253082275, + -0.2925533950328827, + -0.8441705107688904 + ], + "gripper_value": 0.22426052391529083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 221, + 510, + 970, + 992 + ], + "stove": [ + 849, + 132, + 994, + 319 + ], + "wooden table": [ + 3, + 206, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.22882936894893646, + -0.1500708907842636, + 0.10173050314188004, + -2.8146445751190186, + -0.26654160022735596, + -0.8222635984420776 + ], + "gripper_value": 0.4918208718299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the top-left corner of the blue cloth and lifted it off the table surface. The gripper is currently holding the fabric in mid-air, positioned to begin the diagonal dragging motion. The next action is to translate the end-effector towards the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2292802631855011, + -0.14042429625988007, + 0.09871447086334229, + -2.9381699562072754, + -0.2187250405550003, + -0.8165062069892883 + ], + "gripper_value": 0.7979477047920227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed dragging the cloth and is currently positioned over the folded blue cloth with the gripper open. The cloth appears successfully folded from top-left to bottom-right. The next action is to retreat the end-effector upward to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.23847977817058563, + -0.13211533427238464, + 0.1106918677687645, + -3.0051989555358887, + -0.22461658716201782, + -0.8013373613357544 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "position above grasp point" + }, + { + "id": 3, + "subtask": "grasp top left corner" + }, + { + "id": 4, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed dragging the cloth and is currently positioned over the folded blue cloth with the gripper open. The cloth appears successfully folded from top-left to bottom-right. The next action is to retreat the end-effector upward to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003590_ecot.json b/cot/chunk-0003/episode_0003590_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c0f0bb4f89b5d2480c3f8e3a1e97cf837205a66a --- /dev/null +++ b/cot/chunk-0003/episode_0003590_ecot.json @@ -0,0 +1,2516 @@ +{ + "task_name": "episode_0003590", + "episode_json": "json/chunk-0003/episode_0003590.json", + "video_path": "videos/chunk-0003/image_0/episode_0003590.mp4", + "instruction": "Move the yellow brush to the left side of the purple towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003590.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.25639772415161133, + "std": 0.11854817718267441, + "delta_total": -0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.25640, std=0.11855, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 21 + ], + [ + 4, + 22, + 34 + ], + [ + 5, + 35, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach brush\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the yellow brush on the purple towel without grasping.\"},\n {\"id\": 2, \"name\": \"reposition brush\", \"start\": 6, \"end\": 21, \"planning\": \"Slide or nudge the yellow brush leftward along the towel surface to begin repositioning it.\"},\n {\"id\": 3, \"name\": \"grasp and lift brush\", \"start\": 22, \"end\": 28, \"planning\": \"Close gripper to grasp the yellow brush and lift it slightly off the towel for controlled movement.\"},\n {\"id\": 4, \"name\": \"place brush left of towel\", \"start\": 29, \"end\": 34, \"planning\": \"Move the grasped brush to the left side of the purple towel and release it by opening the gripper.\"},\n {\"id\": 5, \"name\": \"retreat from scene\", \"start\": 35, \"end\": 37, \"planning\": \"Withdraw the end-effector away from the brush and towel after successful placement.\"}\n ],\n \"global_plan\": \"Reposition the yellow brush from its initial location on the purple towel to the left side of the towel using a combination of sliding and grasping maneuvers, ensuring precise final placement.\",\n \"notes\": \"Segment 3 (frames 6-21) shows no gripper closing — thus described as sliding/nudging. Segment 4 (frames 22-34) has meaningful gripper closure and image confirmation of grasp/lift/place. Segment 5 is retreat with open gripper.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach brush", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the yellow brush on the purple towel without grasping." + }, + { + "id": 2, + "name": "reposition brush", + "start": 6, + "end": 21, + "planning": "Slide or nudge the yellow brush leftward along the towel surface to begin repositioning it." + }, + { + "id": 3, + "name": "grasp and lift brush", + "start": 22, + "end": 28, + "planning": "Close gripper to grasp the yellow brush and lift it slightly off the towel for controlled movement." + }, + { + "id": 4, + "name": "place brush left of towel", + "start": 29, + "end": 34, + "planning": "Move the grasped brush to the left side of the purple towel and release it by opening the gripper." + }, + { + "id": 5, + "name": "retreat from scene", + "start": 35, + "end": 37, + "planning": "Withdraw the end-effector away from the brush and towel after successful placement." + } + ], + "global_plan": "Reposition the yellow brush from its initial location on the purple towel to the left side of the towel using a combination of sliding and grasping maneuvers, ensuring precise final placement.", + "notes": "Segment 3 (frames 6-21) shows no gripper closing — thus described as sliding/nudging. Segment 4 (frames 22-34) has meaningful gripper closure and image confirmation of grasp/lift/place. Segment 5 is retreat with open gripper." + } + }, + "episode_goal": "Move the yellow brush to the left side of the purple towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583417296409607, + 0.04826745018362999, + 0.00979530904442072, + -3.1245508193969727, + -0.29117780923843384, + 0.055227089673280716 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop where a yellow brush rests on a purple towel. No actions have been completed yet as the gripper remains open and stationary relative to the brush. The immediate next step is to lower the end-effector to make contact with the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534291446208954, + 0.04683370515704155, + 0.0037838213611394167, + -3.1328442096710205, + -0.267511248588562, + 0.06365863978862762 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop where a yellow brush rests on a purple towel. No actions have been completed yet as the gripper remains open and stationary relative to the brush. The immediate next step is to lower the end-effector to make contact with the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24513930082321167, + 0.03445855900645256, + 0.003978782799094915, + 3.126948118209839, + -0.28439924120903015, + 0.05147005617618561 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23955728113651276, + 0.027745399624109268, + 0.01737658679485321, + 3.1018879413604736, + -0.33462151885032654, + 0.06370551884174347 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22536605596542358, + 0.01373192761093378, + 0.033638253808021545, + 3.110825777053833, + -0.380066841840744, + 0.028888167813420296 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20957255363464355, + 0.0007487034890800714, + 0.03301667422056198, + 3.131814956665039, + -0.3609778583049774, + -0.0010133893229067326 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 7 cm, move right 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.19891569018363953, + -0.011765743605792522, + 0.017651766538619995, + -3.1045498847961426, + -0.30239665508270264, + -0.07237563282251358 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.18944260478019714, + -0.02364981733262539, + 0.0033769705332815647, + -3.0902647972106934, + -0.2765657901763916, + -0.10737738013267517 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "frying pan": [ + 369, + 240, + 557, + 392 + ], + "sink": [ + 734, + 625, + 995, + 993 + ], + "orange toy": [ + 559, + 418, + 687, + 574 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19329620897769928, + -0.03547927737236023, + -0.001689721131697297, + -3.0881221294403076, + -0.2784461975097656, + -0.13966305553913116 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2056007832288742, + -0.03952990472316742, + 0.0014892368344590068, + -3.0968449115753174, + -0.317928284406662, + -0.13825057446956635 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22491343319416046, + -0.04075389727950096, + 0.01192330289632082, + -3.097961902618408, + -0.3665807843208313, + -0.13735394179821014 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2425117790699005, + -0.03890649601817131, + 0.016766099259257317, + -3.098877191543579, + -0.38806843757629395, + -0.14216282963752747 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 403, + 585, + 706, + 858 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25227090716362, + -0.039067063480615616, + 0.007584340870380402, + -3.1023683547973633, + -0.3600601255893707, + -0.14524677395820618 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no contact yet. The subtask involves approaching the brush without grasping, as segment-level gripper evidence shows no meaningful closing. The next action is to move the gripper closer to the brush for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2595636546611786, + -0.03905319422483444, + -0.011860118247568607, + -3.099445343017578, + -0.2994692027568817, + -0.16025082767009735 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26220569014549255, + -0.03419509530067444, + -0.020851967856287956, + -3.095231056213379, + -0.27119895815849304, + -0.15474656224250793 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 6 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26419568061828613, + -0.031321216374635696, + -0.02933449298143387, + -3.093219041824341, + -0.24130670726299286, + -0.1534489095211029 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2648135721683502, + -0.027922693639993668, + -0.03157971054315567, + -3.09633207321167, + -0.23752057552337646, + -0.14190053939819336 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 11 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26581358909606934, + -0.02875734306871891, + -0.03264531493186951, + -3.0964760780334473, + -0.24168774485588074, + -0.1502034068107605 + ], + "gripper_value": 0.7506401538848877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 11 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26508384943008423, + -0.0277499221265316, + -0.02820640057325363, + -3.0923407077789307, + -0.2535927891731262, + -0.14314988255500793 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2622905969619751, + -0.0265008807182312, + -0.005535253789275885, + -3.08069109916687, + -0.31128689646720886, + -0.14081044495105743 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572036683559418, + -0.022504497319459915, + 0.024312887340784073, + -3.0665948390960693, + -0.3814522624015808, + -0.117213174700737 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25798299908638, + -0.013584141619503498, + 0.037748537957668304, + -3.0987708568573, + -0.4120628535747528, + -0.06675085425376892 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26743659377098083, + 0.011975610628724098, + 0.022063009440898895, + 3.137061357498169, + -0.346832811832428, + 0.07737961411476135 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 733, + 627, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27528509497642517, + 0.0429077111184597, + -0.0010434972355142236, + 3.1070375442504883, + -0.30346909165382385, + 0.2534273862838745 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move back 3 cm, move right 3 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836829125881195, + 0.07428053766489029, + -0.013656716793775558, + 3.0810887813568115, + -0.30975714325904846, + 0.4061770439147949 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush, which is resting on the purple towel. The gripper is open and ready to grasp the brush. The next action is to close the gripper to secure the brush for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 3 cm, open gripper; then move back 4 cm, move right 5 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2818939983844757, + 0.10056564211845398, + -0.015021683648228645, + 3.0570640563964844, + -0.3151601552963257, + 0.4766250550746918 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no closing motion detected in this segment. The brush has been approached and repositioned slightly, but not yet grasped. The next action should involve closing the gripper to securely grasp the brush before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 3 cm, open gripper; then move back 4 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27782270312309265, + 0.11844208836555481, + -0.019934307783842087, + 3.058220624923706, + -0.3084242641925812, + 0.49677392840385437 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no closing motion detected in this segment. The brush has been approached and repositioned slightly, but not yet grasped. The next action should involve closing the gripper to securely grasp the brush before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, open gripper; then move back 4 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.279395192861557, + 0.12675587832927704, + -0.029700778424739838, + 3.0698401927948, + -0.2903788387775421, + 0.4877537488937378 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no closing motion detected in this segment. The brush has been approached and repositioned slightly, but not yet grasped. The next action should involve closing the gripper to securely grasp the brush before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move back 4 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2850772440433502, + 0.13354742527008057, + -0.03826574981212616, + 3.0950937271118164, + -0.28054144978523254, + 0.46966665983200073 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift brush", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no closing motion detected in this segment. The brush has been approached and repositioned slightly, but not yet grasped. The next action should involve closing the gripper to securely grasp the brush before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 4 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29344838857650757, + 0.13788774609565735, + -0.04043661430478096, + 3.0983104705810547, + -0.29147765040397644, + 0.46188879013061523 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no closing motion detected in this segment. The brush has been approached and repositioned slightly, but not yet grasped. The next action should involve closing the gripper to securely grasp the brush before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2931293547153473, + 0.13753850758075714, + -0.0403137281537056, + 3.0925631523132324, + -0.28405454754829407, + 0.4689284563064575 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The robot arm is positioned above the yellow brush on the purple towel, with the gripper open and no closing motion detected in this segment. The brush has been approached and repositioned slightly, but not yet grasped. The next action should involve closing the gripper to securely grasp the brush before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2763499915599823, + 0.12884201109409332, + -0.034243449568748474, + 3.087984323501587, + -0.2679533362388611, + 0.46961885690689087 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The yellow brush is currently positioned on the stovetop, slightly overlapping the left edge of the purple towel. The gripper is open and in contact with the brush, indicating the placement action is underway. The next step is to release the brush and retract the gripper to finalize its position left of the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2704722583293915, + 0.1225271075963974, + -0.001800787984393537, + 3.07838773727417, + -0.3241569995880127, + 0.4537124037742615 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The yellow brush is currently positioned on the stovetop, slightly overlapping the left edge of the purple towel. The gripper is open and in contact with the brush, indicating the placement action is underway. The next step is to release the brush and retract the gripper to finalize its position left of the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.26133033633232117, + 0.10849779099225998, + 0.025050394237041473, + 3.103888988494873, + -0.36060452461242676, + 0.38534387946128845 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The yellow brush is currently positioned on the stovetop, slightly overlapping the left edge of the purple towel. The gripper is open and in contact with the brush, indicating the placement action is underway. The next step is to release the brush and retract the gripper to finalize its position left of the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2552236020565033, + 0.08418270945549011, + 0.04444757476449013, + 3.138829469680786, + -0.3744245171546936, + 0.2686619758605957 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The yellow brush is currently positioned on the stovetop, slightly overlapping the left edge of the purple towel. The gripper is open and in contact with the brush, indicating the placement action is underway. The next step is to release the brush and retract the gripper to finalize its position left of the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.249788299202919, + 0.06733212620019913, + 0.042727772146463394, + -3.0851974487304688, + -0.30283185839653015, + 0.22268208861351013 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The yellow brush is currently positioned on the stovetop, slightly overlapping the left edge of the purple towel. The gripper is open and in contact with the brush, indicating the placement action is underway. The next step is to release the brush and retract the gripper to finalize its position left of the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508367896080017, + 0.05688454955816269, + 0.046456869691610336, + -3.0310168266296387, + -0.2593960464000702, + 0.2218896746635437 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 395, + 512, + 691, + 858 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The yellow brush has been successfully repositioned to the left side of the purple towel. The robot arm is currently retreating from the scene with the gripper open, indicating the task is complete and no further manipulation is occurring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.24829237163066864, + 0.04837343469262123, + 0.04668230563402176, + -3.01654314994812, + -0.22931836545467377, + 0.22488942742347717 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the left side of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "grasp and lift brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The yellow brush has been successfully repositioned to the left side of the purple towel. The robot arm is currently retreating from the scene with the gripper open, indicating the task is complete and no further manipulation is occurring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003591_ecot.json b/cot/chunk-0003/episode_0003591_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ef27538413c10d420cff3e66ca5731ae3408f7c1 --- /dev/null +++ b/cot/chunk-0003/episode_0003591_ecot.json @@ -0,0 +1,2215 @@ +{ + "task_name": "episode_0003591", + "episode_json": "json/chunk-0003/episode_0003591.json", + "video_path": "videos/chunk-0003/image_0/episode_0003591.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003591.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.8531509637832642, + "std": 0.38014429807662964, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.85315, std=0.38014, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 225, + 225, + 225, + 225, + 25 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 16 + ], + [ + 4, + 17, + 24 + ], + [ + 5, + 25, + 28 + ], + [ + 6, + 29, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the drawer handle without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 5, \"end\": 13, \"planning\": \"Position and align gripper with handle; no grasp yet since gripper signal shows no meaningful closing in this segment.\"},\n {\"id\": 3, \"name\": \"grasp and pull drawer open\", \"start\": 14, \"end\": 16, \"planning\": \"Close gripper to grasp handle and initiate pulling motion, supported by significant gripper closure and visual confirmation of grip.\"},\n {\"id\": 4, \"name\": \"continue pulling drawer\", \"start\": 17, \"end\": 24, \"planning\": \"Maintain grasp while translating drawer outward; gripper remains closed then begins to release near end of segment.\"},\n {\"id\": 5, \"name\": \"release handle and retreat\", \"start\": 25, \"end\": 28, \"planning\": \"Open gripper to release handle and begin retracting arm away from drawer area.\"},\n {\"id\": 6, \"name\": \"final retreat position\", \"start\": 29, \"end\": 29, \"planning\": \"Complete retraction to safe pose; gripper fully open and no contact maintained.\"}\n ],\n \"global_plan\": \"Open the drawer by approaching the handle, making contact, grasping it, pulling the drawer open, releasing the handle, and retreating to a safe position.\",\n \"notes\": \"Subtask boundaries follow observed gripper behavior and motion phases. Grasp terminology is only used where segment-level gripper evidence and images confirm meaningful closure (segments 3 and 4). Segments 1, 2, 5, and 6 use contact-based or retreat language per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the drawer handle without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 5, + "end": 13, + "planning": "Position and align gripper with handle; no grasp yet since gripper signal shows no meaningful closing in this segment." + }, + { + "id": 3, + "name": "grasp and pull drawer open", + "start": 14, + "end": 16, + "planning": "Close gripper to grasp handle and initiate pulling motion, supported by significant gripper closure and visual confirmation of grip." + }, + { + "id": 4, + "name": "continue pulling drawer", + "start": 17, + "end": 24, + "planning": "Maintain grasp while translating drawer outward; gripper remains closed then begins to release near end of segment." + }, + { + "id": 5, + "name": "release handle and retreat", + "start": 25, + "end": 28, + "planning": "Open gripper to release handle and begin retracting arm away from drawer area." + }, + { + "id": 6, + "name": "final retreat position", + "start": 29, + "end": 29, + "planning": "Complete retraction to safe pose; gripper fully open and no contact maintained." + } + ], + "global_plan": "Open the drawer by approaching the handle, making contact, grasping it, pulling the drawer open, releasing the handle, and retreating to a safe position.", + "notes": "Subtask boundaries follow observed gripper behavior and motion phases. Grasp terminology is only used where segment-level gripper evidence and images confirm meaningful closure (segments 3 and 4). Segments 1, 2, 5, and 6 use contact-based or retreat language per anti-hallucination rules." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2388838827610016, + 0.17076243460178375, + 0.1867809295654297, + -3.008626937866211, + -0.14935632050037384, + -0.27141425013542175 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the gripper closer to align with the handle for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 9 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23933036625385284, + 0.1699478179216385, + 0.17554116249084473, + -3.0411338806152344, + -0.13478292524814606, + -0.25230634212493896 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the gripper closer to align with the handle for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 10 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23834733664989471, + 0.16376915574073792, + 0.15529707074165344, + -3.0815536975860596, + -0.13951003551483154, + -0.14591611921787262 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper remains open and has not made contact with the handle yet. The next action should involve moving the gripper closer to establish contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 5 cm, keep gripper open; then move forward 3 cm, move right 10 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2432611733675003, + 0.14757826924324036, + 0.13485346734523773, + -3.0522875785827637, + -0.11938938498497009, + -0.1421486735343933 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper remains open and has not made contact with the handle yet. The next action should involve moving the gripper closer to establish contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move forward 3 cm, move right 10 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24301563203334808, + 0.1346614509820938, + 0.12175753712654114, + -3.0895168781280518, + -0.12350986152887344, + -0.10310042649507523 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper remains open and has not made contact with the handle yet. The next action should involve moving the gripper closer to establish contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 10 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24717271327972412, + 0.09798941761255264, + 0.10790815949440002, + 3.1218278408050537, + -0.11669470369815826, + -0.14648564159870148 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper remains open and has not made contact with the handle yet. The next action should involve moving the gripper closer to establish contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move down 9 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25167128443717957, + 0.0727972760796547, + 0.10021708160638809, + 3.10800838470459, + -0.11323731392621994, + -0.1517273336648941 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper remains open and has not made contact with the handle yet. The next action should involve moving the gripper closer to establish contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 8 cm, close gripper; then move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26061487197875977, + 0.04693545401096344, + 0.09251339733600616, + 3.0688812732696533, + -0.11037304252386093, + -0.12306202948093414 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy broccoli": [ + 2, + 378, + 108, + 540 + ], + "wooden box": [ + 501, + 307, + 994, + 993 + ], + "yellow can": [ + 730, + 172, + 879, + 374 + ], + "grey wrapper": [ + 501, + 884, + 729, + 996 + ], + "toy corn": [ + 245, + 285, + 290, + 343 + ], + "black handle": [ + 416, + 430, + 592, + 663 + ], + "red can": [ + 609, + 59, + 758, + 312 + ], + "toy banana": [ + 1, + 843, + 76, + 936 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper remains open and has not made contact with the handle yet. The next action should involve moving the gripper closer to establish contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 7 cm, close gripper; then move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26516374945640564, + 0.03445380553603172, + 0.07839987426996231, + 3.0413434505462646, + -0.11500538885593414, + -0.055477410554885864 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper remains open and has not made contact with the handle yet. The next action should involve moving the gripper closer to establish contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 6 cm, close gripper; then move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26991724967956543, + 0.021211747080087662, + 0.06270452588796616, + 3.0342204570770264, + -0.08671241998672485, + -0.058109868317842484 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and in contact or very close to the handle, preparing for grasping. The next action is to close the gripper to secure the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, close gripper; then move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.274771511554718, + 0.009954318404197693, + 0.05294241011142731, + 3.039245367050171, + -0.08467141538858414, + -0.07338590919971466 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and in contact or very close to the handle, preparing for grasping. The next action is to close the gripper to secure the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754135727882385, + 0.0017425155965611339, + 0.04313068091869354, + 3.0345494747161865, + -0.058595459908246994, + -0.07335217297077179 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and in contact or very close to the handle, preparing for grasping. The next action is to close the gripper to secure the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784026563167572, + -0.003163315588608384, + 0.03624384105205536, + 3.0449726581573486, + -0.05946315452456474, + -0.08370263874530792 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and in contact or very close to the handle, preparing for grasping. The next action is to close the gripper to secure the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27839165925979614, + -0.0008057044469751418, + 0.02085656113922596, + 3.064990758895874, + -0.03396296873688698, + -0.09508837759494781 + ], + "gripper_value": 0.6541022062301636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and in contact or very close to the handle, preparing for grasping. The next action is to close the gripper to secure the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2797425389289856, + 0.0023052406031638384, + 0.020104946568608284, + 3.0853512287139893, + -0.03818609565496445, + -0.1052420437335968 + ], + "gripper_value": 0.34288913011550903 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and in contact or very close to the handle, preparing for grasping. The next action is to close the gripper to secure the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 6 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27792805433273315, + 0.010241207666695118, + 0.021288089454174042, + 3.1037161350250244, + -0.01801515743136406, + -0.1063554584980011 + ], + "gripper_value": 0.16866940259933472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot has approached and made contact with the drawer handle. The gripper is currently closed around the handle, indicating a successful grasp. The next action is to pull the drawer open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 6 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27825847268104553, + 0.037452176213264465, + 0.02458774298429489, + 3.1336143016815186, + -0.011289095506072044, + -0.08281674236059189 + ], + "gripper_value": 0.15014003217220306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot has approached and made contact with the drawer handle. The gripper is currently closed around the handle, indicating a successful grasp. The next action is to pull the drawer open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 6 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28021788597106934, + 0.06872974336147308, + 0.02994253858923912, + -3.100720167160034, + 0.03584519028663635, + -0.08900995552539825 + ], + "gripper_value": 0.15014003217220306 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy broccoli": [ + 2, + 376, + 110, + 541 + ], + "yellow can": [ + 730, + 172, + 879, + 374 + ], + "red can": [ + 611, + 59, + 757, + 311 + ], + "wooden box": [ + 422, + 307, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "continue pulling drawer", + "subtask_reasoning": "The robot has approached and made contact with the drawer handle. The gripper is currently closed around the handle, indicating a successful grasp. The next action is to pull the drawer open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2827247083187103, + 0.09031674265861511, + 0.028181351721286774, + -3.061810255050659, + 0.04584147408604622, + -0.09424027055501938 + ], + "gripper_value": 0.15014003217220306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "continue pulling drawer", + "subtask_reasoning": "The robot has approached and made contact with the drawer handle. The gripper is currently closed around the handle, indicating a successful grasp. The next action is to pull the drawer open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.282261461019516, + 0.11035827547311783, + 0.028090786188840866, + -3.031921148300171, + 0.04960817098617554, + -0.09738612920045853 + ], + "gripper_value": 0.15014003217220306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "continue pulling drawer", + "subtask_reasoning": "The robot has approached and made contact with the drawer handle. The gripper is currently closed around the handle, indicating a successful grasp. The next action is to pull the drawer open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 7 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785922586917877, + 0.11438679695129395, + 0.02832663059234619, + -3.0273044109344482, + 0.06647486984729767, + -0.09233635663986206 + ], + "gripper_value": 0.14964459836483002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "continue pulling drawer", + "subtask_reasoning": "The drawer is partially open with the end-effector in contact with the handle, and segment-level gripper evidence supports a maintained grasp. The robot has completed the initial pull and is now continuing to extend the drawer further. The next action is to keep pulling the handle backward to fully open the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 7 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710491120815277, + 0.1194925382733345, + 0.027905160561203957, + -3.029247760772705, + 0.0775284543633461, + -0.07251547276973724 + ], + "gripper_value": 0.14964459836483002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "continue pulling drawer", + "subtask_reasoning": "The drawer is partially open with the end-effector in contact with the handle, and segment-level gripper evidence supports a maintained grasp. The robot has completed the initial pull and is now continuing to extend the drawer further. The next action is to keep pulling the handle backward to fully open the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 7 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618255913257599, + 0.12260197848081589, + 0.03315502032637596, + -3.0274882316589355, + 0.07766574621200562, + -0.060192689299583435 + ], + "gripper_value": 0.14964459836483002 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 344, + 2, + 664, + 276 + ], + "wooden box": [ + 292, + 254, + 994, + 992 + ], + "yellow can": [ + 733, + 168, + 882, + 374 + ], + "toy broccoli": [ + 2, + 375, + 105, + 542 + ], + "red can": [ + 611, + 54, + 760, + 310 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "continue pulling drawer", + "subtask_reasoning": "The drawer is partially open with the end-effector in contact with the handle, and segment-level gripper evidence supports a maintained grasp. The robot has completed the initial pull and is now continuing to extend the drawer further. The next action is to keep pulling the handle backward to fully open the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move right 7 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598709762096405, + 0.12253866344690323, + 0.03367912024259567, + -3.0321435928344727, + 0.08968377858400345, + -0.07413329184055328 + ], + "gripper_value": 0.196108877658844 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "continue pulling drawer", + "subtask_reasoning": "The drawer is partially open with the end-effector in contact with the handle, and segment-level gripper evidence supports a maintained grasp. The robot has completed the initial pull and is now continuing to extend the drawer further. The next action is to keep pulling the handle backward to fully open the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move right 7 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25669434666633606, + 0.12702174484729767, + 0.037442322820425034, + -3.038551092147827, + 0.09880372136831284, + -0.11236666887998581 + ], + "gripper_value": 0.44298648834228516 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "continue pulling drawer", + "subtask_reasoning": "The drawer is partially open with the end-effector in contact with the handle, and segment-level gripper evidence supports a maintained grasp. The robot has completed the initial pull and is now continuing to extend the drawer further. The next action is to keep pulling the handle backward to fully open the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 7 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25695282220840454, + 0.1309298574924469, + 0.0416242741048336, + -3.0421035289764404, + 0.0810512974858284, + -0.10871005058288574 + ], + "gripper_value": 0.7584560513496399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is partially open with the end-effector in contact with the handle, and segment-level gripper evidence supports a maintained grasp. The robot has completed the initial pull and is now continuing to extend the drawer further. The next action is to keep pulling the handle backward to fully open the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634342312812805, + 0.13163642585277557, + 0.0667610689997673, + -3.0470612049102783, + 0.01887129619717598, + -0.10134165734052658 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is fully open, and the robot's gripper is currently open and positioned above the drawer, indicating the handle has been released. The robot has completed the pulling action and is now in the retreat phase, moving away from the drawer to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666628956794739, + 0.1254706233739853, + 0.10493738204240799, + -3.060701847076416, + -0.04670162498950958, + -0.09842469543218613 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is fully open, and the robot's gripper is currently open and positioned above the drawer, indicating the handle has been released. The robot has completed the pulling action and is now in the retreat phase, moving away from the drawer to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 5 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27163127064704895, + 0.09636037051677704, + 0.1424761563539505, + -3.1170594692230225, + -0.10664255917072296, + -0.12277612835168839 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is fully open, and the robot's gripper is currently open and positioned above the drawer, indicating the handle has been released. The robot has completed the pulling action and is now in the retreat phase, moving away from the drawer to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27444106340408325, + 0.05750208720564842, + 0.1512039601802826, + 3.0940659046173096, + -0.10059604048728943, + -0.17572267353534698 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "continue pulling drawer" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final retreat position" + } + ], + "subtask_name": "final retreat position", + "subtask_reasoning": "The drawer is fully open, and the robot's end-effector is positioned away from the handle with the gripper open. The retreat phase is complete, as the arm has moved to a safe distance from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 29, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003592_ecot.json b/cot/chunk-0003/episode_0003592_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a83daa0a6ca69193ce65e2a891fea010959d4695 --- /dev/null +++ b/cot/chunk-0003/episode_0003592_ecot.json @@ -0,0 +1,1549 @@ +{ + "task_name": "episode_0003592", + "episode_json": "json/chunk-0003/episode_0003592.json", + "video_path": "videos/chunk-0003/image_0/episode_0003592.mp4", + "instruction": "Unfold the cloth from top right to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003592.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.9452654123306274, + "std": 0.41980308294296265, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94527, std=0.41980, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 119, + 119, + 119, + 119, + 119 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 18 + ], + [ + 4, + 19, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach and contact cloth corner\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper to top-right corner of folded cloth and make initial contact while beginning to close.\"},\n {\"id\": 2, \"name\": \"Grasp and secure cloth corner\", \"start\": 7, \"end\": 9, \"planning\": \"Fully close gripper to firmly grasp the top-right corner of the cloth for manipulation.\"},\n {\"id\": 3, \"name\": \"Drag cloth diagonally to unfold\", \"start\": 10, \"end\": 18, \"planning\": \"Pull the grasped corner diagonally toward bottom-left to unfold the cloth across the table surface.\"},\n {\"id\": 4, \"name\": \"Release and retreat from cloth\", \"start\": 19, \"end\": 23, \"planning\": \"Open gripper to release the cloth after unfolding, then retract arm away from workspace.\"}\n ],\n \"global_plan\": \"Unfold the cloth by grasping its top-right corner, dragging it diagonally to the bottom-left, then releasing once fully extended.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.17682) with motion toward cloth — contact phase. Segment 2 confirms full grasp (gripper=0.098). Segment 3 shows sustained low gripper value during drag motion — consistent with holding while moving. Segment 4 shows gripper opening (delta=+0.49) and retreat — release phase. All segments align with image evidence and motion patterns.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach and contact cloth corner", + "start": 0, + "end": 6, + "planning": "Move gripper to top-right corner of folded cloth and make initial contact while beginning to close." + }, + { + "id": 2, + "name": "Grasp and secure cloth corner", + "start": 7, + "end": 9, + "planning": "Fully close gripper to firmly grasp the top-right corner of the cloth for manipulation." + }, + { + "id": 3, + "name": "Drag cloth diagonally to unfold", + "start": 10, + "end": 18, + "planning": "Pull the grasped corner diagonally toward bottom-left to unfold the cloth across the table surface." + }, + { + "id": 4, + "name": "Release and retreat from cloth", + "start": 19, + "end": 23, + "planning": "Open gripper to release the cloth after unfolding, then retract arm away from workspace." + } + ], + "global_plan": "Unfold the cloth by grasping its top-right corner, dragging it diagonally to the bottom-left, then releasing once fully extended.", + "notes": "Segment 1 shows gripper closing (delta=-0.17682) with motion toward cloth — contact phase. Segment 2 confirms full grasp (gripper=0.098). Segment 3 shows sustained low gripper value during drag motion — consistent with holding while moving. Segment 4 shows gripper opening (delta=+0.49) and retreat — release phase. All segments align with image evidence and motion patterns." + } + }, + "episode_goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2941119968891144, + 0.007541653700172901, + 0.0573330782353878, + -3.1097311973571777, + -0.18777567148208618, + 0.2739201486110687 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Approach and contact cloth corner", + "subtask_reasoning": "The robot gripper is positioned above the folded blue cloth on a white table, with the top-right corner visible and accessible. No prior actions have been completed; the gripper is open and approaching the target corner. The next action is to lower and make contact with the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 5 cm, close gripper; then move back 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2912246286869049, + 0.007770294323563576, + 0.05057256296277046, + -3.101332426071167, + -0.16463343799114227, + 0.27154532074928284 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Approach and contact cloth corner", + "subtask_reasoning": "The robot gripper is positioned above the folded blue cloth on a white table, with the top-right corner visible and accessible. No prior actions have been completed; the gripper is open and approaching the target corner. The next action is to lower and make contact with the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 4 cm, close gripper; then move back 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2898573875427246, + 0.01831981912255287, + 0.04429362341761589, + -3.0930373668670654, + -0.17137767374515533, + 0.2880713939666748 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Approach and contact cloth corner", + "subtask_reasoning": "The robot gripper is positioned above the folded blue cloth on a white table, with the top-right corner visible and accessible. No prior actions have been completed; the gripper is open and approaching the target corner. The next action is to lower and make contact with the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, close gripper; then move back 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896120548248291, + 0.036345336586236954, + 0.03025277890264988, + -3.071971893310547, + -0.17117975652217865, + 0.30836600065231323 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 145, + 233, + 562, + 946 + ], + "black marker": [ + 361, + 511, + 416, + 642 + ], + "table": [ + 4, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Approach and contact cloth corner", + "subtask_reasoning": "The robot arm is positioned directly above the top-right corner of the folded blue cloth, with the gripper open and ready. No contact has been made yet, so the next action is to lower the gripper to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move back 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 9 cm, move left 10 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28679895401000977, + 0.04944610595703125, + 0.021396353840827942, + -3.088963270187378, + -0.16609734296798706, + 0.3302614986896515 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Approach and contact cloth corner", + "subtask_reasoning": "The robot arm is positioned directly above the top-right corner of the folded blue cloth, with the gripper open and ready. No contact has been made yet, so the next action is to lower the gripper to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 10 cm, move left 12 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28699153661727905, + 0.05184240639209747, + 0.012771365232765675, + -3.1024792194366455, + -0.1537024825811386, + 0.3256727159023285 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Approach and contact cloth corner", + "subtask_reasoning": "The robot arm is positioned directly above the top-right corner of the folded blue cloth, with the gripper open and ready. No contact has been made yet, so the next action is to lower the gripper to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 12 cm, move left 13 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28781354427337646, + 0.05276087671518326, + 0.011153479106724262, + -3.105952024459839, + -0.15584740042686462, + 0.3093504309654236 + ], + "gripper_value": 0.8233373761177063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Approach and contact cloth corner", + "subtask_reasoning": "The robot arm is positioned directly above the top-right corner of the folded blue cloth, with the gripper open and ready. No contact has been made yet, so the next action is to lower the gripper to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move left 13 cm, move down 4 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28756269812583923, + 0.05288705229759216, + 0.011129318736493587, + -3.1052420139312744, + -0.1546982079744339, + 0.31279343366622925 + ], + "gripper_value": 0.48990920186042786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Grasp and secure cloth corner", + "subtask_reasoning": "The robot arm is positioned directly above the top-right corner of the folded blue cloth, with the gripper open and ready. No contact has been made yet, so the next action is to lower the gripper to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move left 13 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28401052951812744, + 0.04993472248315811, + 0.014426621608436108, + -3.066864013671875, + -0.14032037556171417, + 0.30319198966026306 + ], + "gripper_value": 0.2385561764240265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Grasp and secure cloth corner", + "subtask_reasoning": "The robot has contacted the top-right corner of the folded blue cloth. Segment-level gripper evidence shows a significant closing trend, and the current gripper value indicates the fingers are actively closing around the fabric. The next action is to complete the grasp to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 14 cm, move left 13 cm, move down 3 cm, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810423970222473, + 0.05252835899591446, + 0.03589820861816406, + -3.034670114517212, + -0.17306308448314667, + 0.3303673267364502 + ], + "gripper_value": 0.09813859313726425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Grasp and secure cloth corner", + "subtask_reasoning": "The robot has contacted the top-right corner of the folded blue cloth. Segment-level gripper evidence shows a significant closing trend, and the current gripper value indicates the fingers are actively closing around the fabric. The next action is to complete the grasp to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move back 13 cm, move left 13 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26917392015457153, + 0.06912066042423248, + 0.06953858584165573, + -2.9899423122406006, + -0.22511117160320282, + 0.39934971928596497 + ], + "gripper_value": 0.06443082541227341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has contacted the top-right corner of the folded blue cloth. Segment-level gripper evidence shows a significant closing trend, and the current gripper value indicates the fingers are actively closing around the fabric. The next action is to complete the grasp to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 13 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2396164983510971, + 0.11044725030660629, + 0.07680196315050125, + -2.99910306930542, + -0.2714361250400543, + 0.5372848510742188 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has contacted the top-right corner of the folded blue cloth. Segment-level gripper evidence shows a significant closing trend, and the current gripper value indicates the fingers are actively closing around the fabric. The next action is to complete the grasp to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 9 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 2 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20696355402469635, + 0.14928266406059265, + 0.06440900266170502, + -3.03073787689209, + -0.2516268789768219, + 0.6653069257736206 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 84, + 275, + 555, + 943 + ], + "table": [ + 5, + 4, + 995, + 995 + ], + "black marker": [ + 383, + 356, + 422, + 460 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has contacted the top-right corner of the folded blue cloth. Segment-level gripper evidence shows a significant closing trend, and the current gripper value indicates the fingers are actively closing around the fabric. The next action is to complete the grasp to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move forward 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.18311651051044464, + 0.17189759016036987, + 0.05149352550506592, + -3.0543198585510254, + -0.22870735824108124, + 0.73136967420578 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has contacted the top-right corner of the folded blue cloth. Segment-level gripper evidence shows a significant closing trend, and the current gripper value indicates the fingers are actively closing around the fabric. The next action is to complete the grasp to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, rotate clockwise 10 degrees, open gripper; then move forward 5 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.16740992665290833, + 0.18887542188167572, + 0.04102993384003639, + -3.073920488357544, + -0.21656455099582672, + 0.7885823249816895 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has grasped the top-right corner of the blue cloth and is currently dragging it diagonally toward the bottom-left to unfold it. The cloth is partially extended but not yet flat. The next action is to continue pulling the cloth until it lies fully flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 1 cm, open gripper; then move forward 5 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.15410184860229492, + 0.19571363925933838, + 0.031280796974897385, + -3.083822011947632, + -0.19878900051116943, + 0.8269111514091492 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has grasped the top-right corner of the blue cloth and is currently dragging it diagonally toward the bottom-left to unfold it. The cloth is partially extended but not yet flat. The next action is to continue pulling the cloth until it lies fully flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, open gripper; then move forward 5 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.14303633570671082, + 0.19791169464588165, + 0.027525784447789192, + -3.0783329010009766, + -0.18893542885780334, + 0.8520522713661194 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 7, + 282, + 535, + 964 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has grasped the top-right corner of the blue cloth and is currently dragging it diagonally toward the bottom-left to unfold it. The cloth is partially extended but not yet flat. The next action is to continue pulling the cloth until it lies fully flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.1377602070569992, + 0.19723719358444214, + 0.026966538280248642, + -3.059616804122925, + -0.16885723173618317, + 0.8626060485839844 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has grasped the top-right corner of the blue cloth and is currently dragging it diagonally toward the bottom-left to unfold it. The cloth is partially extended but not yet flat. The next action is to continue pulling the cloth until it lies fully flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.13406480848789215, + 0.19814202189445496, + 0.03784839063882828, + -3.034780979156494, + -0.18420034646987915, + 0.8625454306602478 + ], + "gripper_value": 0.24254894256591797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Drag cloth diagonally to unfold", + "subtask_reasoning": "The robot has grasped the top-right corner of the blue cloth and is currently dragging it diagonally toward the bottom-left to unfold it. The cloth is partially extended but not yet flat. The next action is to continue pulling the cloth until it lies fully flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.135477676987648, + 0.2030194252729416, + 0.048751313239336014, + -3.0029163360595703, + -0.18698933720588684, + 0.8351016640663147 + ], + "gripper_value": 0.5100988745689392 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Release and retreat from cloth", + "subtask_reasoning": "The robot has grasped the top-right corner of the blue cloth and is currently dragging it diagonally toward the bottom-left to unfold it. The cloth is partially extended but not yet flat. The next action is to continue pulling the cloth until it lies fully flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.14178743958473206, + 0.21235623955726624, + 0.06399949640035629, + -2.9737045764923096, + -0.21670317649841309, + 0.7862756252288818 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Release and retreat from cloth", + "subtask_reasoning": "The robot has grasped the top-right corner of the blue cloth and is currently dragging it diagonally toward the bottom-left to unfold it. The cloth is partially extended but not yet flat. The next action is to continue pulling the cloth until it lies fully flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.15121053159236908, + 0.2125997543334961, + 0.07685481756925583, + -2.9698872566223145, + -0.2304438054561615, + 0.7314355969429016 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Release and retreat from cloth", + "subtask_reasoning": "The blue cloth is partially unfolded on the table, with the robot's end-effector positioned above it. The gripper is open (value ~1.0), indicating the cloth has been released. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.1690453141927719, + 0.20186187326908112, + 0.08436647057533264, + -3.013197660446167, + -0.2374725490808487, + 0.6382458806037903 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Release and retreat from cloth", + "subtask_reasoning": "The blue cloth is partially unfolded on the table, with the robot's end-effector positioned above it. The gripper is open (value ~1.0), indicating the cloth has been released. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.18185119330883026, + 0.18255598843097687, + 0.08433841913938522, + -3.0781562328338623, + -0.20700964331626892, + 0.5103707313537598 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded blue cloth, pull it diagonally towards the bottom-left to unfold the fabric flat on the table, and release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and contact cloth corner" + }, + { + "id": 2, + "subtask": "Grasp and secure cloth corner" + }, + { + "id": 3, + "subtask": "Drag cloth diagonally to unfold" + }, + { + "id": 4, + "subtask": "Release and retreat from cloth" + } + ], + "subtask_name": "Release and retreat from cloth", + "subtask_reasoning": "The blue cloth is partially unfolded on the table, with the robot's end-effector positioned above it. The gripper is open (value ~1.0), indicating the cloth has been released. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003595_ecot.json b/cot/chunk-0003/episode_0003595_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9f7a9349b9dd4da24d7242cf04a987cd4b90265d --- /dev/null +++ b/cot/chunk-0003/episode_0003595_ecot.json @@ -0,0 +1,1932 @@ +{ + "task_name": "episode_0003595", + "episode_json": "json/chunk-0003/episode_0003595.json", + "video_path": "videos/chunk-0003/image_0/episode_0003595.mp4", + "instruction": "Move the silver pot to the upper right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003595.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9314214587211609, + "std": 0.41780996322631836, + "delta_total": 0.0032911300659179688, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93142, std=0.41781, total_delta=0.00329). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 100, + 200, + 100, + 100, + 300, + 300, + 300, + 300, + 311, + 311, + 311, + 311, + 311, + 311, + 311, + 11, + 11, + 11, + 11, + 11, + 11, + 24, + 24, + 24, + 24 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 3 + ], + [ + 3, + 4, + 4 + ], + [ + 4, + 5, + 6 + ], + [ + 5, + 7, + 10 + ], + [ + 6, + 11, + 17 + ], + [ + 7, + 18, + 23 + ], + [ + 8, + 24, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the silver pot on the left burner without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with pot\", \"start\": 5, \"end\": 10, \"planning\": \"Position the gripper around the pot and establish initial contact in preparation for manipulation.\"},\n {\"id\": 3, \"name\": \"grasp and lift pot\", \"start\": 11, \"end\": 17, \"planning\": \"Close the gripper to securely grasp the pot and lift it slightly off the burner surface.\"},\n {\"id\": 4, \"name\": \"transport pot to target\", \"start\": 18, \"end\": 23, \"planning\": \"Carry the grasped pot across the stovetop toward the upper right burner location.\"},\n {\"id\": 5, \"name\": \"release pot on target burner\", \"start\": 24, \"end\": 27, \"planning\": \"Open the gripper to release the pot onto the upper right burner and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the silver pot on the left burner, grasp it securely, lift and transport it to the upper right burner, then release it precisely on target.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 6 (frames 11-17) and 8 (frames 24-27), aligning with grasp and release phases. Segments 1-5 show no gripper closure, so contact-based descriptions are used until grasp is confirmed. Frame coverage is complete and contiguous from 0 to 27.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the silver pot on the left burner without grasping." + }, + { + "id": 2, + "name": "make contact with pot", + "start": 5, + "end": 10, + "planning": "Position the gripper around the pot and establish initial contact in preparation for manipulation." + }, + { + "id": 3, + "name": "grasp and lift pot", + "start": 11, + "end": 17, + "planning": "Close the gripper to securely grasp the pot and lift it slightly off the burner surface." + }, + { + "id": 4, + "name": "transport pot to target", + "start": 18, + "end": 23, + "planning": "Carry the grasped pot across the stovetop toward the upper right burner location." + }, + { + "id": 5, + "name": "release pot on target burner", + "start": 24, + "end": 27, + "planning": "Open the gripper to release the pot onto the upper right burner and retreat slightly." + } + ], + "global_plan": "Approach the silver pot on the left burner, grasp it securely, lift and transport it to the upper right burner, then release it precisely on target.", + "notes": "Gripper evidence confirms meaningful closing only in segments 6 (frames 11-17) and 8 (frames 24-27), aligning with grasp and release phases. Segments 1-5 show no gripper closure, so contact-based descriptions are used until grasp is confirmed. Frame coverage is complete and contiguous from 0 to 27." + } + }, + "episode_goal": "Move the silver pot to the upper right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3689830005168915, + 0.07245302945375443, + 0.07783094793558121, + -3.1198952198028564, + -0.07779107987880707, + 0.07019735127687454 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36722689867019653, + 0.07145260274410248, + 0.06615358591079712, + -3.127823829650879, + -0.04627446457743645, + 0.07094205915927887 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3695182502269745, + 0.0634569525718689, + 0.0658477395772934, + -3.138043165206909, + -0.05373304337263107, + 0.029487762600183487 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pot visible on the left burner. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 7 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36003321409225464, + 0.05629025772213936, + 0.08295760303735733, + 3.135633945465088, + -0.10260234028100967, + -0.015427419915795326 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pot visible on the left burner. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 7 cm, close gripper; then move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3317580819129944, + 0.05336587131023407, + 0.1020297184586525, + -3.134800434112549, + -0.1277952790260315, + -0.0629296824336052 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pot visible on the left burner. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 7 cm, close gripper; then move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30666235089302063, + 0.060704320669174194, + 0.08219612389802933, + 3.1372623443603516, + -0.058666881173849106, + -0.06722361594438553 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pot visible on the left burner. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 7 cm, close gripper; then move forward 3 cm, move right 8 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2934211790561676, + 0.07058489322662354, + 0.055267512798309326, + 3.1397829055786133, + 0.015453336760401726, + -0.05072682350873947 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 579, + 509, + 716, + 800 + ], + "red bell pepper": [ + 439, + 208, + 521, + 362 + ], + "yellow cutting board": [ + 374, + 232, + 613, + 408 + ], + "sink": [ + 785, + 468, + 994, + 963 + ], + "frying pan": [ + 167, + 333, + 409, + 562 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pot visible on the left burner. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move forward 5 cm, move right 13 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835855782032013, + 0.07866694778203964, + 0.030749982222914696, + -3.122870922088623, + 0.0514649823307991, + -0.032611194998025894 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the left burner, with the gripper open and ready. The approach phase is complete, and the arm is now making contact or about to make contact with the pot. The next action is to close the gripper to securely grasp the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 6 cm, move right 15 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801894247531891, + 0.08096795529127121, + 0.009507745504379272, + -3.101010799407959, + 0.05438388139009476, + -0.045431509613990784 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the left burner, with the gripper open and ready. The approach phase is complete, and the arm is now making contact or about to make contact with the pot. The next action is to close the gripper to securely grasp the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 8 cm, move right 16 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28080564737319946, + 0.07999353855848312, + 0.008043239824473858, + -3.103252649307251, + 0.03697039186954498, + -0.058419134467840195 + ], + "gripper_value": 0.7730204463005066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the left burner, with the gripper open and ready. The approach phase is complete, and the arm is now making contact or about to make contact with the pot. The next action is to close the gripper to securely grasp the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 8 cm, move right 16 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28130829334259033, + 0.07936722040176392, + 0.00903363898396492, + -3.1004526615142822, + 0.022162368521094322, + -0.06718284636735916 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the left burner, with the gripper open and ready. The approach phase is complete, and the arm is now making contact or about to make contact with the pot. The next action is to close the gripper to securely grasp the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move right 16 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804282307624817, + 0.07462538778781891, + 0.011226574890315533, + -3.1063578128814697, + 0.01453772559762001, + -0.08916828781366348 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the left burner, with the gripper open and ready. The approach phase is complete, and the arm is now making contact or about to make contact with the pot. The next action is to close the gripper to securely grasp the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 16 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27794668078422546, + 0.06859176605939865, + 0.025039881467819214, + -3.1269280910491943, + -0.009123570285737514, + -0.13802707195281982 + ], + "gripper_value": 0.12090048938989639 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the left burner, with the gripper open and ready. The approach phase is complete, and the arm is now making contact or about to make contact with the pot. The next action is to close the gripper to securely grasp the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 16 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28184035420417786, + 0.05471442639827728, + 0.04494858160614967, + -3.113654851913452, + -0.06647264957427979, + -0.206482395529747 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the left burner, with the gripper open and ready. The approach phase is complete, and the arm is now making contact or about to make contact with the pot. The next action is to close the gripper to securely grasp the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 15 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.284111887216568, + 0.03930441662669182, + 0.05647152662277222, + -3.115476131439209, + -0.09039081633090973, + -0.23915672302246094 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot has approached and made contact with the silver pot on the left burner. The gripper is closing around the pot, as indicated by decreasing gripper values in the segment. The next action is to complete the grasp and begin lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31066039204597473, + -0.0073754978366196156, + 0.07761707156896591, + -3.112407922744751, + -0.17018349468708038, + -0.4117599129676819 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot has approached and made contact with the silver pot on the left burner. The gripper is closing around the pot, as indicated by decreasing gripper values in the segment. The next action is to complete the grasp and begin lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304637670516968, + -0.05192676931619644, + 0.0772102102637291, + -3.095222234725952, + -0.1696743369102478, + -0.5706793069839478 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 579, + 510, + 714, + 799 + ], + "yellow cutting board": [ + 368, + 203, + 517, + 386 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot has approached and made contact with the silver pot on the left burner. The gripper is closing around the pot, as indicated by decreasing gripper values in the segment. The next action is to complete the grasp and begin lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move left 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3442246615886688, + -0.07981542497873306, + 0.0719190239906311, + -3.1144769191741943, + -0.1725481152534485, + -0.6903501749038696 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot has approached and made contact with the silver pot on the left burner. The gripper is closing around the pot, as indicated by decreasing gripper values in the segment. The next action is to complete the grasp and begin lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move left 2 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608587384223938, + -0.0903390422463417, + 0.06215450540184975, + 3.14060115814209, + -0.17475755512714386, + -0.7429463863372803 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot has approached and made contact with the silver pot on the left burner. The gripper is closing around the pot, as indicated by decreasing gripper values in the segment. The next action is to complete the grasp and begin lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36230120062828064, + -0.09865369647741318, + 0.04988399147987366, + 3.0861918926239014, + -0.19152504205703735, + -0.8053581118583679 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot has approached and made contact with the silver pot on the left burner. The gripper is closing around the pot, as indicated by decreasing gripper values in the segment. The next action is to complete the grasp and begin lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, open gripper; then move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36461278796195984, + -0.08723915368318558, + 0.03930641710758209, + 3.0743229389190674, + -0.17297600209712982, + -0.8058698773384094 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cutting board": [ + 367, + 198, + 573, + 407 + ], + "knife": [ + 579, + 510, + 715, + 801 + ], + "red bell pepper": [ + 509, + 197, + 603, + 355 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop toward the upper right burner. The pot has been lifted from its initial position and is mid-transit. The next action is to continue moving the pot to align it precisely over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3671260178089142, + -0.08298610150814056, + 0.029819412156939507, + 3.060483932495117, + -0.14413580298423767, + -0.7762734293937683 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop toward the upper right burner. The pot has been lifted from its initial position and is mid-transit. The next action is to continue moving the pot to align it precisely over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3688125014305115, + -0.08325531333684921, + 0.025346236303448677, + 3.0439796447753906, + -0.12221091240644455, + -0.7582489848136902 + ], + "gripper_value": 0.10753463208675385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop toward the upper right burner. The pot has been lifted from its initial position and is mid-transit. The next action is to continue moving the pot to align it precisely over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36418616771698, + -0.07342078536748886, + 0.021891413256525993, + 3.0202317237854004, + -0.10167548805475235, + -0.7371748685836792 + ], + "gripper_value": 0.2920950949192047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop toward the upper right burner. The pot has been lifted from its initial position and is mid-transit. The next action is to continue moving the pot to align it precisely over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632781505584717, + -0.07339875400066376, + 0.023769410327076912, + 3.001157283782959, + -0.11364196985960007, + -0.7249261140823364 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop toward the upper right burner. The pot has been lifted from its initial position and is mid-transit. The next action is to continue moving the pot to align it precisely over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36357876658439636, + -0.07606345415115356, + 0.051836155354976654, + 3.0167906284332275, + -0.17265675961971283, + -0.6749604940414429 + ], + "gripper_value": 0.8713903427124023 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The robot arm is positioned over the upper right burner with the silver pot held in the gripper. The pot is currently suspended above the target location, indicating the transport phase is complete. The next action is to lower the pot and release the gripper to place it securely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3597950339317322, + -0.0637662336230278, + 0.07720427960157394, + 3.0862233638763428, + -0.18532763421535492, + -0.514198899269104 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The robot arm is positioned over the upper right burner with the silver pot held in the gripper. The pot is currently suspended above the target location, indicating the transport phase is complete. The next action is to lower the pot and release the gripper to place it securely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35468313097953796, + -0.053897734731435776, + 0.08480767160654068, + -3.1306092739105225, + -0.1577538400888443, + -0.3504503667354584 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The robot arm is positioned over the upper right burner with the silver pot held in the gripper. The pot is currently suspended above the target location, indicating the transport phase is complete. The next action is to lower the pot and release the gripper to place it securely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003596_ecot.json b/cot/chunk-0003/episode_0003596_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f677ac346fbfb1262d50a928ffc200c797460e34 --- /dev/null +++ b/cot/chunk-0003/episode_0003596_ecot.json @@ -0,0 +1,1699 @@ +{ + "task_name": "episode_0003596", + "episode_json": "json/chunk-0003/episode_0003596.json", + "video_path": "videos/chunk-0003/image_0/episode_0003596.mp4", + "instruction": "Mettre le couvercle en argent sur la casserole.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003596.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.7167928814888, + "std": 0.32695844769477844, + "delta_total": -0.10242569446563721, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71679, std=0.32696, total_delta=-0.10243). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 109, + 109, + 109, + 9, + 9, + 9, + 9, + 9, + 9, + 209, + 209, + 209, + 209, + 222, + 222 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 11 + ], + [ + 3, + 12, + 17 + ], + [ + 4, + 18, + 21 + ], + [ + 5, + 22, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach and align with lid\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector down toward the silver lid on the table while adjusting orientation for grasp.\"},\n {\"id\": 2, \"name\": \"Grasp the lid\", \"start\": 9, \"end\": 11, \"planning\": \"Close gripper around the lid’s handle and secure hold as confirmed by gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"Lift and transport lid over pot\", \"start\": 12, \"end\": 17, \"planning\": \"Raise the grasped lid and move it horizontally to position above the stainless steel pot.\"},\n {\"id\": 4, \"name\": \"Place lid onto pot\", \"start\": 18, \"end\": 21, \"planning\": \"Lower the lid precisely onto the pot opening while maintaining grip until contact is made.\"},\n {\"id\": 5, \"name\": \"Release lid and retreat\", \"start\": 22, \"end\": 23, \"planning\": \"Open gripper to release the lid and lift end-effector away from the pot to complete placement.\"}\n ],\n \"global_plan\": \"The robot approaches the silver lid, grasps it securely, lifts and transports it over the pot, places it accurately on top, then releases and retreats — completing the task of covering the pot with its lid.\",\n \"notes\": \"Segment boundaries were preserved as they align naturally with manipulation phases. Gripper evidence supports grasp in segments 2 and 4, and release in segment 5. Motion and visual cues confirm lifting, transporting, placing, and releasing actions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach and align with lid", + "start": 0, + "end": 8, + "planning": "Move end-effector down toward the silver lid on the table while adjusting orientation for grasp." + }, + { + "id": 2, + "name": "Grasp the lid", + "start": 9, + "end": 11, + "planning": "Close gripper around the lid’s handle and secure hold as confirmed by gripper closure and stable pose." + }, + { + "id": 3, + "name": "Lift and transport lid over pot", + "start": 12, + "end": 17, + "planning": "Raise the grasped lid and move it horizontally to position above the stainless steel pot." + }, + { + "id": 4, + "name": "Place lid onto pot", + "start": 18, + "end": 21, + "planning": "Lower the lid precisely onto the pot opening while maintaining grip until contact is made." + }, + { + "id": 5, + "name": "Release lid and retreat", + "start": 22, + "end": 23, + "planning": "Open gripper to release the lid and lift end-effector away from the pot to complete placement." + } + ], + "global_plan": "The robot approaches the silver lid, grasps it securely, lifts and transports it over the pot, places it accurately on top, then releases and retreats — completing the task of covering the pot with its lid.", + "notes": "Segment boundaries were preserved as they align naturally with manipulation phases. Gripper evidence supports grasp in segments 2 and 4, and release in segment 5. Motion and visual cues confirm lifting, transporting, placing, and releasing actions." + } + }, + "episode_goal": "Place the silver lid on top of the silver pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820490598678589, + -0.011598010547459126, + 0.08655562251806259, + -3.0707802772521973, + -0.04869486019015312, + -0.06470466405153275 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid and pot visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and align the gripper with the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796083390712738, + -0.012078438885509968, + 0.07809789478778839, + -3.0745832920074463, + -0.02374618873000145, + -0.06750667095184326 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid and pot visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and align the gripper with the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27767279744148254, + -0.014676069840788841, + 0.06322525441646576, + -3.086101770401001, + -0.06570427864789963, + -0.16251760721206665 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid and pot visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and align the gripper with the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659015655517578, + -0.009898468852043152, + 0.046663496643304825, + -3.06217360496521, + -0.06378582119941711, + -0.16190525889396667 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid and pot visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and align the gripper with the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then move up 3 cm, keep gripper closed; then move forward 3 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25745710730552673, + -0.0029876171611249447, + 0.030722269788384438, + -3.055955648422241, + -0.09335806220769882, + -0.15883353352546692 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the silver lid on the wooden counter, with the gripper open and aligned for approach. No contact or grasp has occurred yet; the next action is to lower the gripper toward the lid to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move up 3 cm, keep gripper closed; then move forward 5 cm, move right 5 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2629333734512329, + -0.0024349919985979795, + 0.018339864909648895, + -3.051339626312256, + -0.11075395345687866, + -0.15644219517707825 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the silver lid on the wooden counter, with the gripper open and aligned for approach. No contact or grasp has occurred yet; the next action is to lower the gripper toward the lid to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move up 3 cm, keep gripper closed; then move forward 7 cm, move right 6 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2642562985420227, + 0.003014617832377553, + 0.0035991740878671408, + -3.070079803466797, + -0.09957624971866608, + -0.13673488795757294 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the silver lid on the wooden counter, with the gripper open and aligned for approach. No contact or grasp has occurred yet; the next action is to lower the gripper toward the lid to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 3 cm, keep gripper closed; then move forward 8 cm, move right 7 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2722070515155792, + 0.005071279592812061, + 0.0009949257364496589, + -3.0931053161621094, + -0.1044275239109993, + -0.13106854259967804 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green scrub brush": [ + 248, + 460, + 349, + 568 + ], + "blue cloths": [ + 40, + 307, + 321, + 565 + ], + "wooden table": [ + 5, + 181, + 853, + 979 + ], + "metal bowl": [ + 554, + 348, + 807, + 655 + ], + "red can": [ + 376, + 289, + 416, + 385 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the silver lid on the wooden counter, with the gripper open and aligned for approach. No contact or grasp has occurred yet; the next action is to lower the gripper toward the lid to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 3 cm, keep gripper closed; then move forward 9 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26867467164993286, + 0.004739324562251568, + 0.000525740790180862, + -3.097825288772583, + -0.09026433527469635, + -0.1491355448961258 + ], + "gripper_value": 0.7190925478935242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Approach and align with lid", + "subtask_reasoning": "The robot is positioned above the silver lid on the wooden counter, with the gripper open and aligned for approach. No contact or grasp has occurred yet; the next action is to lower the gripper toward the lid to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 3 cm, keep gripper closed; then move forward 10 cm, move right 8 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25976353883743286, + 0.0015609022229909897, + 0.0022359525319188833, + -3.107051372528076, + -0.05861853435635567, + -0.16676340997219086 + ], + "gripper_value": 0.4256414473056793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Grasp the lid", + "subtask_reasoning": "The robot is positioned above the silver lid on the wooden counter, with the gripper open and aligned for approach. No contact or grasp has occurred yet; the next action is to lower the gripper toward the lid to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move forward 10 cm, move right 8 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25548383593559265, + 0.0015691431472077966, + 0.009894722141325474, + -3.1103360652923584, + -0.05100933462381363, + -0.1763557642698288 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Grasp the lid", + "subtask_reasoning": "The robot has approached and aligned with the silver lid on the table. The gripper is currently open and positioned above the lid, ready to close. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 10 cm, move right 8 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25565171241760254, + 0.0017723824130371213, + 0.017489496618509293, + -3.122081995010376, + -0.046485964208841324, + -0.17388808727264404 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Grasp the lid", + "subtask_reasoning": "The robot has approached and aligned with the silver lid on the table. The gripper is currently open and positioned above the lid, ready to close. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 10 cm, move right 8 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25897014141082764, + -0.002801124006509781, + 0.028539806604385376, + 3.1239981651306152, + -0.017122769728302956, + -0.1636771857738495 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Lift and transport lid over pot", + "subtask_reasoning": "The robot has approached and aligned with the silver lid on the table. The gripper is currently open and positioned above the lid, ready to close. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 8 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28425905108451843, + -0.020081689581274986, + 0.05469344183802605, + 3.0768966674804688, + -0.05964350327849388, + -0.15625226497650146 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Lift and transport lid over pot", + "subtask_reasoning": "The robot has approached and aligned with the silver lid on the table. The gripper is currently open and positioned above the lid, ready to close. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085585832595825, + -0.05147600173950195, + 0.07499904930591583, + 3.0790176391601562, + -0.09212860465049744, + -0.201115682721138 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloths": [ + 37, + 298, + 321, + 564 + ], + "metal bowl": [ + 615, + 401, + 807, + 654 + ], + "wooden table": [ + 5, + 184, + 851, + 982 + ], + "red can": [ + 370, + 192, + 503, + 399 + ], + "green scrub brush": [ + 249, + 411, + 408, + 570 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Lift and transport lid over pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it above the pot. The gripper remains closed with no change in aperture, confirming secure contact. The next action is to continue transporting the lid directly over the pot for accurate placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 4 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252802789211273, + -0.06697108596563339, + 0.06331523507833481, + 3.07389235496521, + -0.07186329364776611, + -0.22907982766628265 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Lift and transport lid over pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it above the pot. The gripper remains closed with no change in aperture, confirming secure contact. The next action is to continue transporting the lid directly over the pot for accurate placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.339954674243927, + -0.0712360218167305, + 0.050861064344644547, + 3.1059744358062744, + -0.0744272768497467, + -0.2369651049375534 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Lift and transport lid over pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it above the pot. The gripper remains closed with no change in aperture, confirming secure contact. The next action is to continue transporting the lid directly over the pot for accurate placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34907928109169006, + -0.07509754598140717, + 0.04240698739886284, + 3.138380765914917, + -0.0922982394695282, + -0.2539403736591339 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 185, + 852, + 984 + ], + "blue cloths": [ + 38, + 299, + 320, + 564 + ], + "red can": [ + 370, + 190, + 509, + 399 + ], + "green scrub brush": [ + 248, + 410, + 406, + 570 + ], + "metal bowl": [ + 555, + 398, + 809, + 656 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Lift and transport lid over pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it above the pot. The gripper remains closed with no change in aperture, confirming secure contact. The next action is to continue transporting the lid directly over the pot for accurate placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36077359318733215, + -0.07870417088270187, + 0.03614911809563637, + -3.140247106552124, + -0.10743695497512817, + -0.2597700357437134 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Place lid onto pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it above the pot. The gripper remains closed with no change in aperture, confirming secure contact. The next action is to continue transporting the lid directly over the pot for accurate placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.366085022687912, + -0.08437447994947433, + 0.03623266518115997, + -3.1392135620117188, + -0.1165858656167984, + -0.2668585777282715 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Place lid onto pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, having completed the approach and grasp phases. The current situation shows the lid positioned directly over the pot, ready for placement. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692621886730194, + -0.08988955616950989, + 0.03595105558633804, + -3.140015125274658, + -0.11966715008020401, + -0.27143165469169617 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Place lid onto pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, having completed the approach and grasp phases. The current situation shows the lid positioned directly over the pot, ready for placement. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3640565872192383, + -0.09288962185382843, + 0.035517383366823196, + -3.122089147567749, + -0.09199582785367966, + -0.26656609773635864 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Place lid onto pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, having completed the approach and grasp phases. The current situation shows the lid positioned directly over the pot, ready for placement. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3515268862247467, + -0.0859331488609314, + 0.04647424817085266, + -3.087364673614502, + -0.014768652617931366, + -0.20548167824745178 + ], + "gripper_value": 0.6279802918434143 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Release lid and retreat", + "subtask_reasoning": "The silver lid is already placed on the pot, and the gripper is open and slightly retracted. The release action has been completed, and the robot is in the retreat phase. The next action is to continue moving the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3388286828994751, + -0.07848712801933289, + 0.08937784284353256, + -3.065561294555664, + -0.026919052004814148, + -0.09288626164197922 + ], + "gripper_value": 0.8990517854690552 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with lid" + }, + { + "id": 2, + "subtask": "Grasp the lid" + }, + { + "id": 3, + "subtask": "Lift and transport lid over pot" + }, + { + "id": 4, + "subtask": "Place lid onto pot" + }, + { + "id": 5, + "subtask": "Release lid and retreat" + } + ], + "subtask_name": "Release lid and retreat", + "subtask_reasoning": "The silver lid is already placed on the pot, and the gripper is open and slightly retracted. The release action has been completed, and the robot is in the retreat phase. The next action is to continue moving the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003599_ecot.json b/cot/chunk-0003/episode_0003599_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..18d62bf8230b7c2b5a548d8919aa34a2084a289f --- /dev/null +++ b/cot/chunk-0003/episode_0003599_ecot.json @@ -0,0 +1,1168 @@ +{ + "task_name": "episode_0003599", + "episode_json": "json/chunk-0003/episode_0003599.json", + "video_path": "videos/chunk-0003/image_0/episode_0003599.mp4", + "instruction": "Put cup from counter to sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003599.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.7890520691871643, + "std": 0.31600701808929443, + "delta_total": -0.5421357154846191, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.78905, std=0.31601, total_delta=-0.54214). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 6, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 10 + ], + [ + 3, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cup\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the cup on the counter and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport cup\", \"start\": 6, \"end\": 10, \"planning\": \"Lift the grasped cup and move it horizontally toward the sink area.\"},\n {\"id\": 3, \"name\": \"lower and release cup in sink\", \"start\": 11, \"end\": 19, \"planning\": \"Lower the cup into the sink basin and open gripper to release it.\"}\n ],\n \"global_plan\": \"Grasp the cup from the counter, lift and carry it over to the sink, then lower and release it inside the sink basin.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.347) consistent with grasp initiation; Segment 2 maintains low gripper value while moving upward and laterally; Segment 3 ends with gripper opening (delta=+0.247) indicating release. All phases align with visual evidence and motion clustering.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cup", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the cup on the counter and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport cup", + "start": 6, + "end": 10, + "planning": "Lift the grasped cup and move it horizontally toward the sink area." + }, + { + "id": 3, + "name": "lower and release cup in sink", + "start": 11, + "end": 19, + "planning": "Lower the cup into the sink basin and open gripper to release it." + } + ], + "global_plan": "Grasp the cup from the counter, lift and carry it over to the sink, then lower and release it inside the sink basin.", + "notes": "Segment 1 shows gripper closing (delta=-0.347) consistent with grasp initiation; Segment 2 maintains low gripper value while moving upward and laterally; Segment 3 ends with gripper opening (delta=+0.247) indicating release. All phases align with visual evidence and motion clustering." + } + }, + "episode_goal": "Place the cup into the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2887708246707916, + 0.08262254297733307, + 0.16906984150409698, + -3.0722525119781494, + 0.34709662199020386, + -0.09055246412754059 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the cup visible on the counter to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector toward the cup on the counter to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 4 cm, move right 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28685393929481506, + 0.08018932491540909, + 0.15786679089069366, + -3.08789324760437, + 0.37420833110809326, + -0.09603258222341537 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the cup visible on the counter to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector toward the cup on the counter to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28343698382377625, + 0.08236409723758698, + 0.15164124965667725, + -3.0867486000061035, + 0.38393551111221313, + -0.07763835787773132 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the cup visible on the counter to the left. No grasping action has been completed yet. The next step is to move the gripper toward the cup on the counter to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28062352538108826, + 0.08761604875326157, + 0.1464923769235611, + -3.0863449573516846, + 0.3858988881111145, + -0.06246771663427353 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the cup visible on the counter to the left. No grasping action has been completed yet. The next step is to move the gripper toward the cup on the counter to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768906056880951, + 0.0915098488330841, + 0.1390792578458786, + -3.0833375453948975, + 0.38241320848464966, + -0.05396595597267151 + ], + "gripper_value": 0.7309711575508118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the cup visible on the counter to the left. No grasping action has been completed yet. The next step is to move the gripper toward the cup on the counter to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760998010635376, + 0.09395316243171692, + 0.13862289488315582, + -3.0731098651885986, + 0.36448895931243896, + -0.047428008168935776 + ], + "gripper_value": 0.5511609315872192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the cup visible on the counter to the left. No grasping action has been completed yet. The next step is to move the gripper toward the cup on the counter to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747812569141388, + 0.09578383713960648, + 0.13749007880687714, + -3.0665221214294434, + 0.3695354163646698, + -0.04434389993548393 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the cup visible on the counter to the left. No grasping action has been completed yet. The next step is to move the gripper toward the cup on the counter to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 10 cm, move down 11 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27372318506240845, + 0.09717385470867157, + 0.13702911138534546, + -3.062852382659912, + 0.3737345039844513, + -0.041068267077207565 + ], + "gripper_value": 0.21050429344177246 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the cup visible on the counter to the left. No grasping action has been completed yet. The next step is to move the gripper toward the cup on the counter to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 9 cm, move down 12 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27351123094558716, + 0.09602092951536179, + 0.1373986005783081, + -3.0587940216064453, + 0.37926170229911804, + -0.04461567848920822 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The cup has been grasped and lifted from the counter, as indicated by the gripper closure and upward motion. The robot is now transporting the cup toward the sink, with the end-effector positioned above the basin. The next action is to lower the cup into the sink and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 9 cm, move down 12 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28042030334472656, + 0.08989251405000687, + 0.146950826048851, + -3.035475969314575, + 0.3709065616130829, + -0.07206707447767258 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The cup has been grasped and lifted from the counter, as indicated by the gripper closure and upward motion. The robot is now transporting the cup toward the sink, with the end-effector positioned above the basin. The next action is to lower the cup into the sink and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 12 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107585906982422, + 0.07064376771450043, + 0.17151391506195068, + -3.024531126022339, + 0.31180906295776367, + -0.12655572593212128 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The cup has been grasped and lifted from the counter, as indicated by the gripper closure and upward motion. The robot is now transporting the cup toward the sink, with the end-effector positioned above the basin. The next action is to lower the cup into the sink and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 8 cm, move down 12 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3365228474140167, + 0.0436028428375721, + 0.18997162580490112, + -3.0432841777801514, + 0.26664838194847107, + -0.18367424607276917 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The cup has been grasped and lifted from the counter, as indicated by the gripper closure and upward motion. The robot is now transporting the cup toward the sink, with the end-effector positioned above the basin. The next action is to lower the cup into the sink and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 12 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3442898690700531, + 0.015014729462563992, + 0.18180468678474426, + -3.0762126445770264, + 0.28341391682624817, + -0.23379410803318024 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The cup has been grasped and lifted from the counter, as indicated by the gripper closure and upward motion. The robot is now transporting the cup toward the sink, with the end-effector positioned above the basin. The next action is to lower the cup into the sink and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 11 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3463374078273773, + -0.01899661310017109, + 0.16944019496440887, + -3.0944039821624756, + 0.28020089864730835, + -0.27435025572776794 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The cup has been grasped and lifted from the counter, as indicated by the gripper closure and upward motion. The robot is now transporting the cup toward the sink, with the end-effector positioned above the basin. The next action is to lower the cup into the sink and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 10 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34562891721725464, + -0.04453727602958679, + 0.13832129538059235, + -3.0897574424743652, + 0.2963258922100067, + -0.2986968457698822 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The cup has been grasped and lifted from the counter, as indicated by the gripper closure and upward motion. The robot is now transporting the cup toward the sink, with the end-effector positioned above the basin. The next action is to lower the cup into the sink and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466653525829315, + -0.050321873277425766, + 0.10797731578350067, + -3.0836055278778076, + 0.3180118203163147, + -0.29457807540893555 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The robot arm is positioned directly over the sink basin with the cup held in the gripper. The transport phase is complete, and the arm is now in the lowering phase to place the object. The next action is to continue descending until the cup makes contact with the sink bottom, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34302327036857605, + -0.05189419910311699, + 0.0787167176604271, + -3.074676513671875, + 0.35319483280181885, + -0.2965264320373535 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The robot arm is positioned directly over the sink basin with the cup held in the gripper. The transport phase is complete, and the arm is now in the lowering phase to place the object. The next action is to continue descending until the cup makes contact with the sink bottom, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33933281898498535, + -0.04918626323342323, + 0.06956949830055237, + -3.0568459033966064, + 0.3558896481990814, + -0.2796992361545563 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The robot arm is positioned directly over the sink basin with the cup held in the gripper. The transport phase is complete, and the arm is now in the lowering phase to place the object. The next action is to continue descending until the cup makes contact with the sink bottom, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320869207382202, + -0.043535128235816956, + 0.06587545573711395, + -3.0261619091033936, + 0.3777778148651123, + -0.2523680031299591 + ], + "gripper_value": 0.23789463937282562 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The robot arm is positioned directly over the sink basin with the cup held in the gripper. The transport phase is complete, and the arm is now in the lowering phase to place the object. The next action is to continue descending until the cup makes contact with the sink bottom, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268234133720398, + -0.037006184458732605, + 0.0670805424451828, + -3.0033740997314453, + 0.40569445490837097, + -0.23919430375099182 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "lower and release cup in sink" + } + ], + "subtask_name": "lower and release cup in sink", + "subtask_reasoning": "The robot arm is positioned directly over the sink basin with the cup held in the gripper. The transport phase is complete, and the arm is now in the lowering phase to place the object. The next action is to continue descending until the cup makes contact with the sink bottom, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003600_ecot.json b/cot/chunk-0003/episode_0003600_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..19ca83cc8e98682b18dde1a94ef25b456f8cc7d7 --- /dev/null +++ b/cot/chunk-0003/episode_0003600_ecot.json @@ -0,0 +1,1808 @@ +{ + "task_name": "episode_0003600", + "episode_json": "json/chunk-0003/episode_0003600.json", + "video_path": "videos/chunk-0003/image_0/episode_0003600.mp4", + "instruction": "Moved the blue napkin from bottom to top of the right side induction stove burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003600.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.002661466598510742, + "std": 0.0007379695307463408, + "delta_total": -0.0013307929039001465, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00266, std=0.00074, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach napkin\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector down toward the blue napkin on the counter without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 9, \"end\": 19, \"planning\": \"Establish contact with napkin and begin sliding it toward the stove burner using gentle pushing motion.\"},\n {\"id\": 3, \"name\": \"slide onto burner\", \"start\": 20, \"end\": 29, \"planning\": \"Continue dragging napkin across surface until fully positioned on top of right induction burner.\"}\n ],\n \"global_plan\": \"The robot approaches the blue napkin, makes contact, and slides it from the counter onto the right-side induction stove burner without lifting or grasping, relying entirely on surface contact and pushing mechanics.\",\n \"notes\": \"Gripper remains open throughout (value ~1.0), confirming no grasp occurred; all motion is planar sliding/pushing. Segment boundaries respected but split into three phases for natural manipulation granularity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach napkin", + "start": 0, + "end": 8, + "planning": "Move end-effector down toward the blue napkin on the counter without grasping." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 9, + "end": 19, + "planning": "Establish contact with napkin and begin sliding it toward the stove burner using gentle pushing motion." + }, + { + "id": 3, + "name": "slide onto burner", + "start": 20, + "end": 29, + "planning": "Continue dragging napkin across surface until fully positioned on top of right induction burner." + } + ], + "global_plan": "The robot approaches the blue napkin, makes contact, and slides it from the counter onto the right-side induction stove burner without lifting or grasping, relying entirely on surface contact and pushing mechanics.", + "notes": "Gripper remains open throughout (value ~1.0), confirming no grasp occurred; all motion is planar sliding/pushing. Segment boundaries respected but split into three phases for natural manipulation granularity." + } + }, + "episode_goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3911581337451935, + 0.1233045756816864, + 0.11991441994905472, + 3.111788749694824, + -0.2956793010234833, + 0.33598145842552185 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 16 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38769033551216125, + 0.12129869312047958, + 0.1056574210524559, + 3.113736867904663, + -0.25412556529045105, + 0.33889445662498474 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 16 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37459978461265564, + 0.08404689282178879, + 0.10354740172624588, + 3.118884325027466, + -0.21527504920959473, + 0.2932215929031372 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 12 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35151034593582153, + 0.048512108623981476, + 0.11163654178380966, + 3.0837788581848145, + -0.2269364446401596, + 0.3145989179611206 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3309997320175171, + 0.023757711052894592, + 0.10585363954305649, + 3.0845468044281006, + -0.23739983141422272, + 0.2829582095146179 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3188888430595398, + -0.004038817249238491, + 0.08999624103307724, + 3.0886452198028564, + -0.23202946782112122, + 0.18777070939540863 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bottle": [ + 329, + 187, + 380, + 289 + ], + "blue cloth": [ + 422, + 492, + 693, + 814 + ], + "metal pot": [ + 107, + 286, + 427, + 499 + ], + "yellow spatula": [ + 255, + 536, + 373, + 655 + ], + "faucet": [ + 944, + 387, + 996, + 546 + ], + "toy stove": [ + 102, + 230, + 731, + 673 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092171847820282, + -0.024780670180916786, + 0.06819360703229904, + 3.0811634063720703, + -0.19359081983566284, + 0.11568881571292877 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30314692854881287, + -0.037730224430561066, + 0.05328189581632614, + 3.124605417251587, + -0.14028877019882202, + 0.041414376348257065 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 8 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29364755749702454, + -0.0404859334230423, + 0.03360334038734436, + 3.1352453231811523, + -0.08757372200489044, + 0.019205179065465927 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 11 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.288959264755249, + -0.038975976407527924, + 0.022352946922183037, + -3.13114070892334, + -0.0530712828040123, + 0.012603553012013435 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28349828720092773, + -0.03800356015563011, + 0.013696323148906231, + -3.125471591949463, + -0.03745052590966225, + 0.03224378451704979 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28488466143608093, + -0.035667888820171356, + 0.00855254102498293, + -3.0986030101776123, + -0.00896230898797512, + 0.035181622952222824 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2884099781513214, + -0.03422965481877327, + 0.00798033270984888, + -3.0923378467559814, + -0.01174889411777258, + 0.03337177261710167 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30013877153396606, + -0.03209656476974487, + 0.00802611280232668, + -3.106309175491333, + -0.026245027780532837, + 0.061098966747522354 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bottle": [ + 330, + 188, + 380, + 289 + ], + "metal pot": [ + 108, + 286, + 429, + 500 + ], + "faucet": [ + 944, + 387, + 996, + 545 + ], + "blue cloth": [ + 424, + 513, + 697, + 796 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the countertop near the blue napkin, which lies adjacent to the right-side induction burner. No contact or movement of the napkin has occurred yet. The next action should be to lower the end-effector and make gentle contact with the napkin to begin sliding it toward the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31771695613861084, + -0.03141815960407257, + 0.009302622638642788, + -3.1143369674682617, + -0.05381063371896744, + 0.059935085475444794 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33368584513664246, + -0.032013557851314545, + 0.008589706383645535, + -3.1174674034118652, + -0.06524521112442017, + 0.05346159636974335 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.352440744638443, + -0.031090615317225456, + 0.008282249793410301, + -3.1201512813568115, + -0.07679611444473267, + 0.051840852946043015 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.373936265707016, + -0.029400072991847992, + 0.0083235464990139, + -3.115546464920044, + -0.09875418245792389, + 0.04306403174996376 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3980879783630371, + -0.029392845928668976, + 0.009428825229406357, + -3.1034982204437256, + -0.12049689143896103, + 0.0075632380321621895 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4176533818244934, + -0.031341902911663055, + 0.010346385650336742, + -3.102081060409546, + -0.1285744607448578, + -0.016016297042369843 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.43207764625549316, + -0.032905928790569305, + 0.00985135417431593, + -3.1018505096435547, + -0.1339040845632553, + -0.031053539365530014 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bottle": [ + 329, + 186, + 379, + 288 + ], + "blue cloth": [ + 501, + 303, + 773, + 538 + ], + "metal pot": [ + 109, + 286, + 430, + 500 + ], + "sink": [ + 742, + 450, + 994, + 960 + ], + "yellow spatula": [ + 257, + 536, + 373, + 654 + ], + "faucet": [ + 943, + 386, + 996, + 546 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.437042236328125, + -0.03274316340684891, + 0.010150778107345104, + -3.098276376724243, + -0.14189426600933075, + -0.031846918165683746 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4337587356567383, + -0.03143754228949547, + 0.008498997427523136, + -3.091891050338745, + -0.13349275290966034, + -0.0286688394844532 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.42873382568359375, + -0.031034566462039948, + 0.009523455053567886, + -3.0939736366271973, + -0.1325826644897461, + -0.015397475101053715 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the countertop, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make surface contact. The next action is to lower the end-effector to touch the napkin and begin nudging it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4250510036945343, + -0.03112630918622017, + 0.01129019632935524, + -3.0987393856048584, + -0.13294288516044617, + -3.6669553082901984e-05 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The blue napkin is already positioned on the right-side induction stove burner, indicating the sliding action is complete. The gripper remains open with no closing evidence, confirming the robot used surface contact rather than grasping. The next step is to retract the end-effector away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4178180992603302, + -0.026885168626904488, + 0.01808146759867668, + -3.0808444023132324, + -0.13662423193454742, + 0.033012453466653824 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The blue napkin is already positioned on the right-side induction stove burner, indicating the sliding action is complete. The gripper remains open with no closing evidence, confirming the robot used surface contact rather than grasping. The next step is to retract the end-effector away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4168581962585449, + -0.024785371497273445, + 0.03459906205534935, + -3.072232246398926, + -0.1549142748117447, + 0.04572998359799385 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The blue napkin is already positioned on the right-side induction stove burner, indicating the sliding action is complete. The gripper remains open with no closing evidence, confirming the robot used surface contact rather than grasping. The next step is to retract the end-effector away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4155954420566559, + -0.021262403577566147, + 0.05539914220571518, + -3.079418659210205, + -0.19700036942958832, + 0.06758006662130356 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The blue napkin is already positioned on the right-side induction stove burner, indicating the sliding action is complete. The gripper remains open with no closing evidence, confirming the robot used surface contact rather than grasping. The next step is to retract the end-effector away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4142642319202423, + -0.012174676172435284, + 0.07694888114929199, + -3.0926074981689453, + -0.24068965017795563, + 0.10283277183771133 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The blue napkin is already positioned on the right-side induction stove burner, indicating the sliding action is complete. The gripper remains open with no closing evidence, confirming the robot used surface contact rather than grasping. The next step is to retract the end-effector away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.41081535816192627, + -0.013036616146564484, + 0.08950884640216827, + -3.1046996116638184, + -0.25491395592689514, + 0.08485802263021469 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue napkin from the countertop to the top of the right side induction stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide onto burner" + } + ], + "subtask_name": "slide onto burner", + "subtask_reasoning": "The blue napkin is already positioned on the right-side induction stove burner, indicating the sliding action is complete. The gripper remains open with no closing evidence, confirming the robot used surface contact rather than grasping. The next step is to retract the end-effector away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003601_ecot.json b/cot/chunk-0003/episode_0003601_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0185099752b15070e87102551c45b7415ccad8d0 --- /dev/null +++ b/cot/chunk-0003/episode_0003601_ecot.json @@ -0,0 +1,966 @@ +{ + "task_name": "episode_0003601", + "episode_json": "json/chunk-0003/episode_0003601.json", + "video_path": "videos/chunk-0003/image_0/episode_0003601.mp4", + "instruction": "Put eggplant in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 14, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003601.json" + }, + "fps": 5.0, + "T_eff": 14, + "gripper_behavior_summary": { + "available": true, + "range": 0.4145715832710266, + "std": 0.19253090023994446, + "delta_total": -0.4145715832710266, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41457, std=0.19253, total_delta=-0.41457). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 5 + ], + [ + 3, + 6, + 11 + ], + [ + 4, + 12, + 13 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on eggplant\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the red eggplant in the sink and close the gripper to make contact.\"},\n {\"id\": 2, \"name\": \"stabilize grip on eggplant\", \"start\": 5, \"end\": 5, \"planning\": \"Maintain gripper closure while adjusting pose slightly to ensure stable contact with the eggplant.\"},\n {\"id\": 3, \"name\": \"lift and transport eggplant over pot\", \"start\": 6, \"end\": 11, \"planning\": \"Lift the eggplant from the sink and move it horizontally toward the pot, keeping gripper closed without further closing motion.\"},\n {\"id\": 4, \"name\": \"release eggplant into pot\", \"start\": 12, \"end\": 13, \"planning\": \"Position eggplant above the pot and open gripper to drop it in, completing the placement without active grasping during this phase.\"}\n ],\n \"global_plan\": \"Approach and grasp the red eggplant in the sink, lift and carry it over the pot, then release it into the pot.\",\n \"notes\": \"Gripper closes meaningfully only in segment 1 (frames 0-4); segments 2-4 show no further closing, so actions are described as stabilizing, transporting, and releasing based on contact and motion evidence. Lifting is inferred from vertical motion and sustained gripper state after initial closure.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on eggplant", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the red eggplant in the sink and close the gripper to make contact." + }, + { + "id": 2, + "name": "stabilize grip on eggplant", + "start": 5, + "end": 5, + "planning": "Maintain gripper closure while adjusting pose slightly to ensure stable contact with the eggplant." + }, + { + "id": 3, + "name": "lift and transport eggplant over pot", + "start": 6, + "end": 11, + "planning": "Lift the eggplant from the sink and move it horizontally toward the pot, keeping gripper closed without further closing motion." + }, + { + "id": 4, + "name": "release eggplant into pot", + "start": 12, + "end": 13, + "planning": "Position eggplant above the pot and open gripper to drop it in, completing the placement without active grasping during this phase." + } + ], + "global_plan": "Approach and grasp the red eggplant in the sink, lift and carry it over the pot, then release it into the pot.", + "notes": "Gripper closes meaningfully only in segment 1 (frames 0-4); segments 2-4 show no further closing, so actions are described as stabilizing, transporting, and releasing based on contact and motion evidence. Lifting is inferred from vertical motion and sustained gripper state after initial closure." + } + }, + "episode_goal": "Place the red eggplant into the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28327882289886475, + 0.0914580449461937, + -0.021953178569674492, + -3.113138198852539, + -0.2979423999786377, + 0.0630287155508995 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach and close gripper on eggplant", + "subtask_reasoning": "The robot arm is positioned above the sink where the red eggplant is located, with the gripper currently open. The subtask requires moving the end-effector closer to the eggplant to prepare for grasping. The next action is to lower the gripper towards the eggplant to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed; then move back 2 cm, move right 6 cm, move up 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28258028626441956, + 0.08943656086921692, + -0.03594148904085159, + -3.123689889907837, + -0.2886976897716522, + 0.04417194053530693 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach and close gripper on eggplant", + "subtask_reasoning": "The robot arm is positioned above the sink where the red eggplant is located, with the gripper currently open. The subtask requires moving the end-effector closer to the eggplant to prepare for grasping. The next action is to lower the gripper towards the eggplant to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed; then move back 3 cm, move right 9 cm, move up 11 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28255265951156616, + 0.09992391616106033, + -0.0523507222533226, + -3.129530429840088, + -0.30155301094055176, + 0.04496568441390991 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 735, + 423, + 963, + 686 + ], + "cutting board": [ + 701, + 275, + 936, + 503 + ], + "red pepper": [ + 319, + 548, + 401, + 655 + ], + "lettuce": [ + 204, + 401, + 283, + 550 + ], + "faucet": [ + 416, + 74, + 574, + 307 + ], + "purple onion": [ + 559, + 103, + 645, + 221 + ] + } + } + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach and close gripper on eggplant", + "subtask_reasoning": "The robot arm is positioned above the sink with the red eggplant visible below. The gripper is currently open and approaching the eggplant. The next action is to close the gripper to grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move right 11 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2844831645488739, + 0.10265421867370605, + -0.06504077464342117, + -3.130777359008789, + -0.32263463735580444, + 0.05984722077846527 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach and close gripper on eggplant", + "subtask_reasoning": "The robot arm is positioned above the sink with the red eggplant visible below. The gripper is currently open and approaching the eggplant. The next action is to close the gripper to grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move right 11 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28680363297462463, + 0.1026761457324028, + -0.07172441482543945, + -3.135709047317505, + -0.34390127658843994, + 0.0778147354722023 + ], + "gripper_value": 0.9802480936050415 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach and close gripper on eggplant", + "subtask_reasoning": "The robot arm is positioned above the sink with the red eggplant visible below. The gripper is currently open and approaching the eggplant. The next action is to close the gripper to grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move right 11 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28514066338539124, + 0.09930136799812317, + -0.07007491588592529, + 3.1371638774871826, + -0.3233051896095276, + 0.09534861892461777 + ], + "gripper_value": 0.7855378985404968 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "stabilize grip on eggplant", + "subtask_reasoning": "The robot's end-effector is positioned over the red eggplant in the sink, having completed the approach and initial gripper closure. Since the segment-level gripper evidence shows no meaningful closing motion, the current state involves maintaining contact or a light hold rather than an active grasp. The next likely action is to verify the grip stability before lifting the eggplant toward the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move right 11 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28341159224510193, + 0.08982504904270172, + -0.051817938685417175, + -3.130872964859009, + -0.2789466977119446, + 0.08919837325811386 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant over pot", + "subtask_reasoning": "The robot's end-effector is positioned over the red eggplant in the sink, having completed the approach and initial gripper closure. Since the segment-level gripper evidence shows no meaningful closing motion, the current state involves maintaining contact or a light hold rather than an active grasp. The next likely action is to verify the grip stability before lifting the eggplant toward the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28832003474235535, + 0.089260995388031, + -0.012334518134593964, + -3.0755789279937744, + -0.25742655992507935, + 0.07226918637752533 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant over pot", + "subtask_reasoning": "The robot's end-effector is positioned over the red eggplant in the sink, having completed the approach and initial gripper closure. Since the segment-level gripper evidence shows no meaningful closing motion, the current state involves maintaining contact or a light hold rather than an active grasp. The next likely action is to verify the grip stability before lifting the eggplant toward the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29234665632247925, + 0.07993629574775696, + 0.029500316828489304, + -3.0516772270202637, + -0.2425740659236908, + 0.09837362915277481 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant over pot", + "subtask_reasoning": "The robot has successfully grasped the red eggplant in the sink and is now lifting it upward. The gripper remains closed with no further closing motion, indicating stable transport. The next action is to continue moving the eggplant horizontally toward the metal pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2814811170101166, + 0.0538509264588356, + 0.05875157192349434, + -3.073439836502075, + -0.1926950365304947, + 0.19928817451000214 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant over pot", + "subtask_reasoning": "The robot has successfully grasped the red eggplant in the sink and is now lifting it upward. The gripper remains closed with no further closing motion, indicating stable transport. The next action is to continue moving the eggplant horizontally toward the metal pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26391276717185974, + 0.026997532695531845, + 0.06586799770593643, + -3.0969793796539307, + -0.15357087552547455, + 0.31857189536094666 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant over pot", + "subtask_reasoning": "The robot has successfully grasped the red eggplant in the sink and is now lifting it upward. The gripper remains closed with no further closing motion, indicating stable transport. The next action is to continue moving the eggplant horizontally toward the metal pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2496950924396515, + 0.00011045784049201757, + 0.06305528432130814, + -3.134953022003174, + -0.16084279119968414, + 0.4174147844314575 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant over pot", + "subtask_reasoning": "The robot has successfully grasped the red eggplant in the sink and is now lifting it upward. The gripper remains closed with no further closing motion, indicating stable transport. The next action is to continue moving the eggplant horizontally toward the metal pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2341942936182022, + -0.02222423627972603, + 0.051279738545417786, + 3.093522787094116, + -0.140839084982872, + 0.5070556998252869 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cutting board": [ + 701, + 274, + 936, + 503 + ], + "red pepper": [ + 443, + 525, + 527, + 722 + ] + } + } + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The red eggplant is currently held by the gripper and positioned directly above the metal pot. The gripper remains closed with no change in aperture, indicating the object is still secured. The next action is to open the gripper to release the eggplant into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22560246288776398, + -0.0362267829477787, + 0.03952491655945778, + 3.0606703758239746, + -0.15696191787719727, + 0.5570963025093079 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red eggplant into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on eggplant" + }, + { + "id": 2, + "subtask": "stabilize grip on eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant over pot" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The red eggplant is currently held by the gripper and positioned directly above the metal pot. The gripper remains closed with no change in aperture, indicating the object is still secured. The next action is to open the gripper to release the eggplant into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 13 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003603_ecot.json b/cot/chunk-0003/episode_0003603_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..96ca29840ab8ee112338777975be4dbe1d65809e --- /dev/null +++ b/cot/chunk-0003/episode_0003603_ecot.json @@ -0,0 +1,1345 @@ +{ + "task_name": "episode_0003603", + "episode_json": "json/chunk-0003/episode_0003603.json", + "video_path": "videos/chunk-0003/image_0/episode_0003603.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003603.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8529227375984192, + "std": 0.39598727226257324, + "delta_total": -0.8529227375984192, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.85292, std=0.39599, total_delta=-0.85292). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 11, + 111, + 111, + 111 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 16 + ], + [ + 3, + 17, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the lever base while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 9, \"end\": 11, \"planning\": \"Close gripper around lever base to establish secure hold.\"},\n {\"id\": 3, \"name\": \"rotate lever vertical\", \"start\": 12, \"end\": 16, \"planning\": \"Rotate gripper and lever assembly to orient lever vertically facing front.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 17, \"end\": 19, \"planning\": \"Open gripper slightly and withdraw end-effector from lever area.\"}\n ],\n \"global_plan\": \"Approach the lever base, grasp it firmly, rotate it to vertical front-facing orientation, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 9-11) with significant delta; grasp wording is justified. Rotation occurs during Segment 2 with stable grip. Final segment shows minimal gripper change but slight opening and retreat motion consistent with release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the lever base while keeping gripper open." + }, + { + "id": 2, + "name": "grasp lever", + "start": 9, + "end": 11, + "planning": "Close gripper around lever base to establish secure hold." + }, + { + "id": 3, + "name": "rotate lever vertical", + "start": 12, + "end": 16, + "planning": "Rotate gripper and lever assembly to orient lever vertically facing front." + }, + { + "id": 4, + "name": "release and retreat", + "start": 17, + "end": 19, + "planning": "Open gripper slightly and withdraw end-effector from lever area." + } + ], + "global_plan": "Approach the lever base, grasp it firmly, rotate it to vertical front-facing orientation, then release and retreat.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 9-11) with significant delta; grasp wording is justified. Rotation occurs during Segment 2 with stable grip. Final segment shows minimal gripper change but slight opening and retreat motion consistent with release." + } + }, + "episode_goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2680836319923401, + -0.0519392266869545, + 0.1813322752714157, + -3.1284549236297607, + -0.2124708741903305, + -0.16297170519828796 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever which is currently in a horizontal orientation. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2731528878211975, + -0.05266919732093811, + 0.17938034236431122, + -3.111001491546631, + -0.2404852658510208, + -0.1838497519493103 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever which is currently in a horizontal orientation. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2811354398727417, + -0.05607600882649422, + 0.18581585586071014, + -3.069869041442871, + -0.31389743089675903, + -0.2230144441127777 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever which is currently in a horizontal orientation. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902758717536926, + -0.06030939891934395, + 0.19700941443443298, + -3.024991035461426, + -0.38376379013061523, + -0.2679377496242523 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever which is currently in a horizontal orientation. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 1 cm, tilt back 10 degrees, close gripper; then move left 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29811546206474304, + -0.0640164390206337, + 0.20283566415309906, + -3.0165953636169434, + -0.43737733364105225, + -0.28290924429893494 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, close gripper; then move left 1 cm, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30825313925743103, + -0.06975404918193817, + 0.20046834647655487, + -3.0190439224243164, + -0.47807496786117554, + -0.31503498554229736 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, close gripper; then move left 1 cm, keep gripper closed; then move back 3 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31119605898857117, + -0.07426432520151138, + 0.19219349324703217, + -3.040461540222168, + -0.46189168095588684, + -0.318646103143692 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed; then move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3170827627182007, + -0.0819755494594574, + 0.18642906844615936, + -3.050330638885498, + -0.474956750869751, + -0.33858993649482727 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 2, + 322, + 126, + 482 + ], + "metal bowl": [ + 866, + 45, + 994, + 206 + ], + "toy carrot": [ + 559, + 567, + 728, + 743 + ], + "dish rack": [ + 3, + 39, + 376, + 517 + ], + "light blue sink": [ + 8, + 65, + 958, + 993 + ], + "green cutting board": [ + 80, + 38, + 283, + 299 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move left 1 cm, keep gripper closed; then move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32150453329086304, + -0.08513281494379044, + 0.1862894892692566, + -3.047625780105591, + -0.49909108877182007, + -0.3497895896434784 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, keep gripper closed; then move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32560232281684875, + -0.08590800315141678, + 0.1836157739162445, + -3.035081624984741, + -0.5083876848220825, + -0.343204528093338 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3262374699115753, + -0.08249998092651367, + 0.1828235685825348, + -3.0022244453430176, + -0.5010843873023987, + -0.3456593453884125 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it. The gripper is partially closed around the lever base, indicating the grasp is being established. The next action is to fully close the gripper to secure the lever before rotating it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32506194710731506, + -0.07945039868354797, + 0.18489229679107666, + -2.9964258670806885, + -0.5006706118583679, + -0.3292469084262848 + ], + "gripper_value": 0.27449509501457214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it. The gripper is partially closed around the lever base, indicating the grasp is being established. The next action is to fully close the gripper to secure the lever before rotating it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32185181975364685, + -0.07941711694002151, + 0.1840638816356659, + -3.0034573078155518, + -0.5094866752624512, + -0.32141047716140747 + ], + "gripper_value": 0.17569689452648163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it. The gripper is partially closed around the lever base, indicating the grasp is being established. The next action is to fully close the gripper to secure the lever before rotating it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194333612918854, + -0.07870656996965408, + 0.18340522050857544, + -3.018404960632324, + -0.5180942416191101, + -0.29650309681892395 + ], + "gripper_value": 0.16130207479000092 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it. The gripper is partially closed around the lever base, indicating the grasp is being established. The next action is to fully close the gripper to secure the lever before rotating it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30926546454429626, + -0.07589199393987656, + 0.1784694492816925, + -3.0453901290893555, + -0.5029469132423401, + -0.2593911588191986 + ], + "gripper_value": 0.16130207479000092 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever. The current frame shows the gripper in contact with the lever base, and segment-level gripper evidence confirms a stable grasp. The next action is to rotate the lever to a vertical front-facing orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.293229341506958, + -0.06833677738904953, + 0.171882763504982, + -3.077611207962036, + -0.4871841371059418, + -0.2116537243127823 + ], + "gripper_value": 0.16130207479000092 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever. The current frame shows the gripper in contact with the lever base, and segment-level gripper evidence confirms a stable grasp. The next action is to rotate the lever to a vertical front-facing orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832123041152954, + -0.06352900713682175, + 0.16609643399715424, + -3.110941171646118, + -0.47088727355003357, + -0.17076228559017181 + ], + "gripper_value": 0.16078366339206696 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 864, + 38, + 994, + 206 + ], + "toy carrot": [ + 558, + 568, + 727, + 745 + ], + "light blue sink": [ + 6, + 43, + 957, + 992 + ], + "blue cup": [ + 2, + 322, + 124, + 484 + ], + "dish rack": [ + 3, + 40, + 375, + 519 + ], + "faucet": [ + 601, + 6, + 904, + 358 + ], + "green cutting board": [ + 77, + 39, + 282, + 301 + ], + "toy onion": [ + 122, + 277, + 244, + 419 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever. The current frame shows the gripper in contact with the lever base, and segment-level gripper evidence confirms a stable grasp. The next action is to rotate the lever to a vertical front-facing orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27753204107284546, + -0.06031814217567444, + 0.16064822673797607, + 3.134178638458252, + -0.45850449800491333, + -0.14352627098560333 + ], + "gripper_value": 0.16078366339206696 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has approached and grasped the faucet lever. The current frame shows the gripper in contact with the lever base, and segment-level gripper evidence confirms a stable grasp. The next action is to rotate the lever to a vertical front-facing orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27408701181411743, + -0.05915536731481552, + 0.15569448471069336, + 3.110835075378418, + -0.44693848490715027, + -0.13947492837905884 + ], + "gripper_value": 0.16078366339206696 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to a vertical front-facing position and the gripper is now open, indicating release is complete. The robot arm is positioned above the sink, beginning to retreat from the lever. The next action is to continue moving the arm away from the sink area to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632744312286377, + -0.05382636934518814, + 0.13977277278900146, + 3.091113805770874, + -0.38442546129226685, + -0.11840742081403732 + ], + "gripper_value": 0.1452319175004959 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to a vertical front-facing position and the gripper is now open, indicating release is complete. The robot arm is positioned above the sink, beginning to retreat from the lever. The next action is to continue moving the arm away from the sink area to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003604_ecot.json b/cot/chunk-0003/episode_0003604_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4f40d6e12345db7ca4cec1094dc62bb8de0cd906 --- /dev/null +++ b/cot/chunk-0003/episode_0003604_ecot.json @@ -0,0 +1,1030 @@ +{ + "task_name": "episode_0003604", + "episode_json": "json/chunk-0003/episode_0003604.json", + "video_path": "videos/chunk-0003/image_0/episode_0003604.mp4", + "instruction": "Close fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003604.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006865262985229492, + "std": 0.00015725672710686922, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00069, std=0.00016, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge door\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the top edge of the open fridge door to prepare for contact-based closure.\"},\n {\"id\": 2, \"name\": \"make contact and push door\", \"start\": 9, \"end\": 17, \"planning\": \"Maintain light contact with fridge door using end-effector and apply gentle forward pressure to swing door closed without grasping.\"}\n ],\n \"global_plan\": \"Close the fridge door by approaching its top edge and pushing it shut via sustained contact, avoiding any grasp or lift since gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~0.99 (fully open) across all frames; no meaningful closing detected in either segment. Motion is purely translational/rotational positioning followed by controlled push. No lifting or placing occurs — door closes via momentum from push.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge door", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the top edge of the open fridge door to prepare for contact-based closure." + }, + { + "id": 2, + "name": "make contact and push door", + "start": 9, + "end": 17, + "planning": "Maintain light contact with fridge door using end-effector and apply gentle forward pressure to swing door closed without grasping." + } + ], + "global_plan": "Close the fridge door by approaching its top edge and pushing it shut via sustained contact, avoiding any grasp or lift since gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~0.99 (fully open) across all frames; no meaningful closing detected in either segment. Motion is purely translational/rotational positioning followed by controlled push. No lifting or placing occurs — door closes via momentum from push." + } + }, + "episode_goal": "Close the refrigerator door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2167130559682846, + 0.0672082006931305, + 0.0980476662516594, + -3.1086153984069824, + -0.08163705468177795, + 0.2780729830265045 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with its gripper fully open and no contact established. No actions have been completed yet in this subtask. The next step is to move the end-effector closer to the top edge of the fridge door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21405553817749023, + 0.06545397639274597, + 0.09272495657205582, + -3.1131184101104736, + -0.054286133497953415, + 0.2882321774959564 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with its gripper fully open and no contact established. No actions have been completed yet in this subtask. The next step is to move the end-effector closer to the top edge of the fridge door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 8 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23744826018810272, + 0.04755823686718941, + 0.10299243032932281, + 3.116333484649658, + -0.04630709066987038, + 0.33981359004974365 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with its gripper fully open and no contact established. No actions have been completed yet in this subtask. The next step is to move the end-effector closer to the top edge of the fridge door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 7 cm, move up 1 cm, keep gripper open; then move forward 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24991975724697113, + 0.028342176228761673, + 0.10968276113271713, + 3.09513258934021, + -0.0762377455830574, + 0.30750128626823425 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with its gripper fully open and no contact established. No actions have been completed yet in this subtask. The next step is to move the end-effector closer to the top edge of the fridge door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, keep gripper open; then move forward 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2698698341846466, + 0.01352863572537899, + 0.10797984898090363, + 3.0704987049102783, + -0.06191914156079292, + 0.3036581575870514 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, keep gripper open; then move forward 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29151982069015503, + 0.0017164393793791533, + 0.11008497327566147, + 3.052211046218872, + -0.07119622081518173, + 0.30213692784309387 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, keep gripper open; then move forward 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30729490518569946, + -0.007969812490046024, + 0.11442822962999344, + 3.0422260761260986, + -0.08759736269712448, + 0.29269757866859436 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, keep gripper open; then move forward 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3202691376209259, + -0.012245893478393555, + 0.11498844623565674, + 3.034864902496338, + -0.07295877486467361, + 0.3017895519733429 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper open; then move forward 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33355939388275146, + -0.016401711851358414, + 0.1139482781291008, + 3.03226637840271, + -0.06729163229465485, + 0.3265739381313324 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "water dispenser": [ + 521, + 408, + 688, + 749 + ], + "sponge": [ + 908, + 590, + 985, + 701 + ], + "refrigerator": [ + 459, + 7, + 960, + 990 + ], + "vent": [ + 898, + 729, + 996, + 851 + ] + } + } + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453797996044159, + -0.019184071570634842, + 0.11249910295009613, + 3.0427134037017822, + -0.07797535508871078, + 0.3426375687122345 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "refrigerator": [ + 468, + 7, + 990, + 990 + ], + "sponge": [ + 908, + 590, + 985, + 701 + ], + "water dispenser": [ + 531, + 406, + 713, + 737 + ], + "vent": [ + 899, + 730, + 996, + 852 + ] + } + } + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3580115735530853, + -0.019334077835083008, + 0.11139385402202606, + 3.040228843688965, + -0.08028429001569748, + 0.3660944998264313 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669871985912323, + -0.019595306366682053, + 0.11288250237703323, + 3.034217357635498, + -0.08805335313081741, + 0.38595864176750183 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37388846278190613, + -0.020526671782135963, + 0.11347935348749161, + 3.030146360397339, + -0.08217877149581909, + 0.396961510181427 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion toward the door’s top edge observed. The next action should continue advancing the end-effector toward the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3802240788936615, + -0.021646656095981598, + 0.11537762731313705, + 3.021702289581299, + -0.0825914666056633, + 0.4089930057525635 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the top edge of the open refrigerator door with the gripper fully open. Contact has been initiated or is imminent as the end-effector moves toward the door surface. The next action is to maintain forward motion to push the door closed via sustained contact, without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38691437244415283, + -0.022159554064273834, + 0.11808247864246368, + 3.016125202178955, + -0.06914371997117996, + 0.42093706130981445 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the top edge of the open refrigerator door with the gripper fully open. Contact has been initiated or is imminent as the end-effector moves toward the door surface. The next action is to maintain forward motion to push the door closed via sustained contact, without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39073944091796875, + -0.019761942327022552, + 0.12309001386165619, + 3.0051112174987793, + -0.06507864594459534, + 0.43870416283607483 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the top edge of the open refrigerator door with the gripper fully open. Contact has been initiated or is imminent as the end-effector moves toward the door surface. The next action is to maintain forward motion to push the door closed via sustained contact, without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907131850719452, + -0.0187826044857502, + 0.12214921414852142, + 3.009594202041626, + -0.042861584573984146, + 0.4474721848964691 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the top edge of the open refrigerator door with the gripper fully open. Contact has been initiated or is imminent as the end-effector moves toward the door surface. The next action is to maintain forward motion to push the door closed via sustained contact, without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.376354843378067, + -0.018862031400203705, + 0.11289861798286438, + 3.0138869285583496, + -0.039477501064538956, + 0.40761181712150574 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact and push door" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the top edge of the open refrigerator door with the gripper fully open. Contact has been initiated or is imminent as the end-effector moves toward the door surface. The next action is to maintain forward motion to push the door closed via sustained contact, without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003605_ecot.json b/cot/chunk-0003/episode_0003605_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4046519102e6bed96d4516568e71fc117dafaffb --- /dev/null +++ b/cot/chunk-0003/episode_0003605_ecot.json @@ -0,0 +1,2171 @@ +{ + "task_name": "episode_0003605", + "episode_json": "json/chunk-0003/episode_0003605.json", + "video_path": "videos/chunk-0003/image_0/episode_0003605.mp4", + "instruction": "Take beet from pot sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003605.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.883291482925415, + "std": 0.40193822979927063, + "delta_total": -0.07291305065155029, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.88329, std=0.40194, total_delta=-0.07291). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 214, + 214, + 214, + 214, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 29, + 29 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 13 + ], + [ + 4, + 14, + 17 + ], + [ + 5, + 18, + 28 + ], + [ + 6, + 29, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sink area\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector from initial position toward the sink where the beet container is located.\"},\n {\"id\": 2, \"name\": \"descend to beet container\", \"start\": 5, \"end\": 13, \"planning\": \"Lower gripper vertically into the red pot containing the beet, preparing for contact.\"},\n {\"id\": 3, \"name\": \"grasp beet in pot\", \"start\": 14, \"end\": 17, \"planning\": \"Close gripper around the beet inside the red pot while maintaining stable contact with the container.\"},\n {\"id\": 4, \"name\": \"lift beet from pot\", \"start\": 18, \"end\": 28, \"planning\": \"Raise gripper vertically to extract the beet from the pot, clearing the rim and surrounding objects.\"},\n {\"id\": 5, \"name\": \"retract and release beet\", \"start\": 29, \"end\": 30, \"planning\": \"Move gripper away from sink and open to release the beet onto the counter or designated area.\"}\n ],\n \"global_plan\": \"Approach sink, descend to beet container, grasp beet, lift it out, then retract and release.\",\n \"notes\": \"Gripper closure confirmed in segments 3-4 (frames 5-17) with significant delta; segment 6 shows opening motion consistent with release. All subtasks align with observed motion phases and gripper state transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sink area", + "start": 0, + "end": 4, + "planning": "Move end-effector from initial position toward the sink where the beet container is located." + }, + { + "id": 2, + "name": "descend to beet container", + "start": 5, + "end": 13, + "planning": "Lower gripper vertically into the red pot containing the beet, preparing for contact." + }, + { + "id": 3, + "name": "grasp beet in pot", + "start": 14, + "end": 17, + "planning": "Close gripper around the beet inside the red pot while maintaining stable contact with the container." + }, + { + "id": 4, + "name": "lift beet from pot", + "start": 18, + "end": 28, + "planning": "Raise gripper vertically to extract the beet from the pot, clearing the rim and surrounding objects." + }, + { + "id": 5, + "name": "retract and release beet", + "start": 29, + "end": 30, + "planning": "Move gripper away from sink and open to release the beet onto the counter or designated area." + } + ], + "global_plan": "Approach sink, descend to beet container, grasp beet, lift it out, then retract and release.", + "notes": "Gripper closure confirmed in segments 3-4 (frames 5-17) with significant delta; segment 6 shows opening motion consistent with release. All subtasks align with observed motion phases and gripper state transitions." + } + }, + "episode_goal": "Pick up the beet from the red pot in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177834153175354, + -0.00569348456338048, + 0.14790713787078857, + 3.130138397216797, + -0.2208370715379715, + 0.21448050439357758 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink area, with the red pot containing the beet visible below. No movement or grasping has occurred yet. The next action should be to descend toward the beet in the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.315565288066864, + -0.005789568647742271, + 0.1351628601551056, + 3.13582444190979, + -0.1825929582118988, + 0.2143576443195343 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink area, with the red pot containing the beet visible below. No movement or grasping has occurred yet. The next action should be to descend toward the beet in the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3254968523979187, + 0.004291855730116367, + 0.12320070713758469, + 3.127432107925415, + -0.19744564592838287, + 0.1955176442861557 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink area with the red pot containing the beet visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin descending toward the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33288589119911194, + 0.018599726259708405, + 0.10282878577709198, + 3.120983839035034, + -0.16757506132125854, + 0.15026980638504028 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink area with the red pot containing the beet visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin descending toward the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3398667573928833, + 0.029105179011821747, + 0.08381959795951843, + 3.124561309814453, + -0.1658291220664978, + 0.09061386436223984 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 276, + 373, + 379, + 589 + ], + "sink": [ + 350, + 201, + 963, + 736 + ], + "orange cup": [ + 700, + 522, + 804, + 679 + ], + "red bucket": [ + 466, + 308, + 650, + 543 + ], + "orange sponge": [ + 397, + 146, + 490, + 271 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink area with the red pot containing the beet visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin descending toward the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move left 1 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3443310260772705, + 0.029558788985013962, + 0.06541159749031067, + 3.112525224685669, + -0.1657145619392395, + 0.033224571496248245 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot is positioned above the sink area with the red pot containing the beet visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin descending toward the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34756606817245483, + 0.03311631456017494, + 0.04990946128964424, + 3.1090681552886963, + -0.15819640457630157, + 0.02014259435236454 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot is positioned above the sink area with the red pot containing the beet visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin descending toward the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3476323187351227, + 0.03529244661331177, + 0.038147974759340286, + 3.1098902225494385, + -0.13010235130786896, + -0.001072725630365312 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot is positioned above the sink area with the red pot containing the beet visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin descending toward the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3482329249382019, + 0.03536652401089668, + 0.028753096237778664, + 3.108024835586548, + -0.1075817123055458, + -0.009986253455281258 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot is positioned above the sink area with the red pot containing the beet visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin descending toward the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3498380184173584, + 0.03725053369998932, + 0.023213732987642288, + 3.1188762187957764, + -0.12225522845983505, + 0.004688613582402468 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot arm is positioned above the sink with the red pot containing the beet visible below. The approach to the sink area is complete, and the arm is now descending toward the beet container. The next action is to continue lowering the end-effector to make contact with the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470592796802521, + 0.0371241495013237, + 0.011201741173863411, + 3.120227098464966, + -0.11614122986793518, + -0.001549628097563982 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 276, + 373, + 379, + 589 + ], + "orange sponge": [ + 398, + 147, + 513, + 267 + ], + "sink": [ + 349, + 216, + 964, + 736 + ], + "orange cup": [ + 702, + 521, + 804, + 680 + ], + "red bucket": [ + 466, + 347, + 649, + 544 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot arm is positioned above the sink with the red pot containing the beet visible below. The approach to the sink area is complete, and the arm is now descending toward the beet container. The next action is to continue lowering the end-effector to make contact with the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3488388657569885, + 0.038492895662784576, + 0.007749779149889946, + 3.1290371417999268, + -0.12723658978939056, + -0.0030055081006139517 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot arm is positioned above the sink with the red pot containing the beet visible below. The approach to the sink area is complete, and the arm is now descending toward the beet container. The next action is to continue lowering the end-effector to make contact with the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3468848168849945, + 0.038061827421188354, + -0.000257330306340009, + 3.128586769104004, + -0.10710715502500534, + -0.003331024432554841 + ], + "gripper_value": 0.9287639856338501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot arm is positioned above the sink with the red pot containing the beet visible below. The approach to the sink area is complete, and the arm is now descending toward the beet container. The next action is to continue lowering the end-effector to make contact with the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 4 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34479039907455444, + 0.03821762651205063, + -0.0030936109833419323, + 3.1310389041900635, + -0.10973205417394638, + 0.0009826901368796825 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "descend to beet container", + "subtask_reasoning": "The robot arm is positioned above the sink with the red pot containing the beet visible below. The approach to the sink area is complete, and the arm is now descending toward the beet container. The next action is to continue lowering the end-effector to make contact with the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 7 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3458075225353241, + 0.0380910225212574, + -0.0029631457291543484, + 3.125671148300171, + -0.11639905720949173, + 0.012989143840968609 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "grasp beet in pot", + "subtask_reasoning": "The robot arm is positioned above the sink with the red pot containing the beet visible below. The approach to the sink area is complete, and the arm is now descending toward the beet container. The next action is to continue lowering the end-effector to make contact with the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 8 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466756045818329, + 0.03950757533311844, + -0.0033819591626524925, + 3.1343131065368652, + -0.1284019500017166, + 0.0452626571059227 + ], + "gripper_value": 0.17569689452648163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "grasp beet in pot", + "subtask_reasoning": "The robot arm is positioned directly above the red pot in the sink, with the gripper open and aligned with the beet inside. The approach and descent phases are complete, and the gripper is now ready to close. The next action is to close the gripper to grasp the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479538857936859, + 0.041352517902851105, + -0.002917660865932703, + 3.140040159225464, + -0.1430424451828003, + 0.06491436064243317 + ], + "gripper_value": 0.1023794636130333 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "grasp beet in pot", + "subtask_reasoning": "The robot arm is positioned directly above the red pot in the sink, with the gripper open and aligned with the beet inside. The approach and descent phases are complete, and the gripper is now ready to close. The next action is to close the gripper to grasp the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 10 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530297577381134, + 0.044872354716062546, + 0.016019979491829872, + 3.1290230751037598, + -0.19212937355041504, + 0.11667380481958389 + ], + "gripper_value": 0.09624730050563812 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "grasp beet in pot", + "subtask_reasoning": "The robot arm is positioned directly above the red pot in the sink, with the gripper open and aligned with the beet inside. The approach and descent phases are complete, and the gripper is now ready to close. The next action is to close the gripper to grasp the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move right 10 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594779074192047, + 0.047376614063978195, + 0.04386766627430916, + 3.08739972114563, + -0.20818528532981873, + 0.18347355723381042 + ], + "gripper_value": 0.10793770849704742 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot arm is positioned directly above the red pot in the sink, with the gripper open and aligned with the beet inside. The approach and descent phases are complete, and the gripper is now ready to close. The next action is to close the gripper to grasp the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639914393424988, + 0.048262543976306915, + 0.07037591189146042, + 3.051150321960449, + -0.21751786768436432, + 0.2353132963180542 + ], + "gripper_value": 0.11160726845264435 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 276, + 373, + 379, + 589 + ], + "orange sponge": [ + 397, + 148, + 515, + 264 + ], + "sink": [ + 350, + 210, + 964, + 735 + ], + "orange cup": [ + 701, + 522, + 804, + 679 + ], + "red bucket": [ + 469, + 312, + 653, + 538 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot arm is positioned directly above the red pot in the sink, with the gripper open and aligned with the beet inside. The approach and descent phases are complete, and the gripper is now ready to close. The next action is to close the gripper to grasp the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35815638303756714, + 0.04347014054656029, + 0.0918908417224884, + 3.009080410003662, + -0.21595801413059235, + 0.2740393579006195 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot arm is positioned directly above the red pot in the sink, with the gripper open and aligned with the beet inside. The approach and descent phases are complete, and the gripper is now ready to close. The next action is to close the gripper to grasp the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 6 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35685357451438904, + 0.028460951521992683, + 0.10036612302064896, + 2.9788568019866943, + -0.21172599494457245, + 0.27617397904396057 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot arm is positioned directly above the red pot in the sink, with the gripper open and aligned with the beet inside. The approach and descent phases are complete, and the gripper is now ready to close. The next action is to close the gripper to grasp the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move down 7 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.35542556643486023, + 0.007768932264298201, + 0.09100078046321869, + 2.983513832092285, + -0.21864596009254456, + 0.25573495030403137 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot arm is positioned directly above the red pot in the sink, with the gripper open and aligned with the beet inside. The approach and descent phases are complete, and the gripper is now ready to close. The next action is to close the gripper to grasp the beet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3569599390029907, + -0.019713733345270157, + 0.08467793464660645, + 2.9730000495910645, + -0.24655024707317352, + 0.24985018372535706 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 276, + 373, + 379, + 589 + ], + "sink": [ + 350, + 202, + 964, + 736 + ], + "orange sponge": [ + 397, + 144, + 514, + 264 + ], + "orange cup": [ + 701, + 522, + 804, + 680 + ], + "red bucket": [ + 469, + 307, + 652, + 538 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot's end-effector is positioned above the red pot in the sink, with the gripper closed around the beet. The beet has been grasped and is currently being lifted from the pot. The next action is to continue lifting the beet clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 5 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.355071485042572, + -0.037527646869421005, + 0.06980820000171661, + 2.972848415374756, + -0.24365675449371338, + 0.2615717947483063 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot's end-effector is positioned above the red pot in the sink, with the gripper closed around the beet. The beet has been grasped and is currently being lifted from the pot. The next action is to continue lifting the beet clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35707616806030273, + -0.04642937332391739, + 0.05320192128419876, + 2.989917278289795, + -0.25372010469436646, + 0.27802231907844543 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot's end-effector is positioned above the red pot in the sink, with the gripper closed around the beet. The beet has been grasped and is currently being lifted from the pot. The next action is to continue lifting the beet clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36734825372695923, + -0.0514257475733757, + 0.03486175090074539, + 3.0220234394073486, + -0.24802115559577942, + 0.28481677174568176 + ], + "gripper_value": 0.1132626011967659 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot's end-effector is positioned above the red pot in the sink, with the gripper closed around the beet. The beet has been grasped and is currently being lifted from the pot. The next action is to continue lifting the beet clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3753449320793152, + -0.052891552448272705, + 0.029062693938612938, + 3.0435473918914795, + -0.2563939094543457, + 0.29902246594429016 + ], + "gripper_value": 0.1452319175004959 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot's end-effector is positioned above the red pot in the sink, with the gripper closed around the beet. The beet has been grasped and is currently being lifted from the pot. The next action is to continue lifting the beet clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37666764855384827, + -0.05411674454808235, + 0.030920876190066338, + 3.0495824813842773, + -0.2271348387002945, + 0.3142258822917938 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "lift beet from pot", + "subtask_reasoning": "The robot's end-effector is positioned above the red pot in the sink, with the gripper closed around the beet. The beet has been grasped and is currently being lifted from the pot. The next action is to continue lifting the beet clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3729637861251831, + -0.05480384826660156, + 0.03149445727467537, + 3.076369047164917, + -0.206984281539917, + 0.3150481879711151 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "retract and release beet", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating the beet has been released. The subtask of retracting and releasing the beet is complete as the gripper is no longer holding any object. The next action would involve moving the arm away from the sink area to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36972397565841675, + -0.053155116736888885, + 0.03249794989824295, + 3.092683792114258, + -0.18198224902153015, + 0.3350374698638916 + ], + "gripper_value": 0.9066257476806641 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the beet from the red pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend to beet container" + }, + { + "id": 3, + "subtask": "grasp beet in pot" + }, + { + "id": 4, + "subtask": "lift beet from pot" + }, + { + "id": 5, + "subtask": "retract and release beet" + } + ], + "subtask_name": "retract and release beet", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating the beet has been released. The subtask of retracting and releasing the beet is complete as the gripper is no longer holding any object. The next action would involve moving the arm away from the sink area to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003606_ecot.json b/cot/chunk-0003/episode_0003606_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e105f02c01b979092a1f57c4ce365f598998d8ce --- /dev/null +++ b/cot/chunk-0003/episode_0003606_ecot.json @@ -0,0 +1,2268 @@ +{ + "task_name": "episode_0003606", + "episode_json": "json/chunk-0003/episode_0003606.json", + "video_path": "videos/chunk-0003/image_0/episode_0003606.mp4", + "instruction": "Pick red cube from tower and place it on top of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003606.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.44075828790664673, + "std": 0.21132317185401917, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.44076, std=0.21132, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 25 + ], + [ + 2, + 26, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red cube\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the top red cube on the tower while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp red cube\", \"start\": 11, \"end\": 25, \"planning\": \"Close gripper around the red cube and lift it slightly, confirmed by gripper closure and upward motion in images.\"},\n {\"id\": 3, \"name\": \"transport cube over table\", \"start\": 26, \"end\": 30, \"planning\": \"Carry the grasped red cube horizontally over the target placement area on the table surface.\"},\n {\"id\": 4, \"name\": \"place red cube on table\", \"start\": 31, \"end\": 35, \"planning\": \"Lower the red cube onto the table and release grip, as shown by gripper opening and cube resting on surface in final frame.\"}\n ],\n \"global_plan\": \"Pick the top red cube from the tower by approaching, grasping, lifting, transporting over the table, and placing it down with controlled release.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.43876) and image evidence at frame 25 confirms cube is held aloft — grasp wording justified. Segment 2 shows gripper reopening (delta=+0.44010) and frame 35 image shows cube released on table — place wording justified. All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red cube", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the top red cube on the tower while keeping gripper open." + }, + { + "id": 2, + "name": "grasp red cube", + "start": 11, + "end": 25, + "planning": "Close gripper around the red cube and lift it slightly, confirmed by gripper closure and upward motion in images." + }, + { + "id": 3, + "name": "transport cube over table", + "start": 26, + "end": 30, + "planning": "Carry the grasped red cube horizontally over the target placement area on the table surface." + }, + { + "id": 4, + "name": "place red cube on table", + "start": 31, + "end": 35, + "planning": "Lower the red cube onto the table and release grip, as shown by gripper opening and cube resting on surface in final frame." + } + ], + "global_plan": "Pick the top red cube from the tower by approaching, grasping, lifting, transporting over the table, and placing it down with controlled release.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.43876) and image evidence at frame 25 confirms cube is held aloft — grasp wording justified. Segment 2 shows gripper reopening (delta=+0.44010) and frame 35 image shows cube released on table — place wording justified. All frames covered contiguously." + } + }, + "episode_goal": "Pick the top red cube from the tower and place it on the table surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27421891689300537, + 0.03566361963748932, + 0.21408675611019135, + -3.1107237339019775, + -0.5193580985069275, + -0.10695398598909378 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near a tower of blocks on a wooden table, with the top red cube as the target. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The robot needs to continue approaching the top red cube to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2730191946029663, + 0.0349758006632328, + 0.20787636935710907, + -3.1180713176727295, + -0.4988786578178406, + -0.10511966794729233 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near a tower of blocks on a wooden table, with the top red cube as the target. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The robot needs to continue approaching the top red cube to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28709012269973755, + 0.034727368503808975, + 0.19442805647850037, + -3.110325336456299, + -0.44787073135375977, + -0.09283939003944397 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near a tower of blocks on a wooden table, with the top red cube as the target. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The robot needs to continue approaching the top red cube to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29813796281814575, + 0.03327145054936409, + 0.1894609034061432, + -3.0918173789978027, + -0.4364042282104492, + -0.11538472026586533 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "computer tower": [ + 742, + 3, + 941, + 183 + ], + "wooden table": [ + 3, + 3, + 995, + 995 + ], + "red blocks": [ + 410, + 66, + 611, + 339 + ], + "white block": [ + 424, + 257, + 594, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near a tower of blocks on a wooden table, with the top red cube as the target. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The robot needs to continue approaching the top red cube to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30096420645713806, + 0.03430705517530441, + 0.18178829550743103, + -3.0893144607543945, + -0.43143612146377563, + -0.12003359198570251 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near a tower of blocks on a wooden table, with the top red cube as the target. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The robot needs to continue approaching the top red cube to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2960072159767151, + 0.034190788865089417, + 0.1704978048801422, + -3.0788230895996094, + -0.40710899233818054, + -0.13930098712444305 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29061809182167053, + 0.03185534104704857, + 0.16203604638576508, + -3.0867795944213867, + -0.3868299424648285, + -0.15864554047584534 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, close gripper; then move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874329090118408, + 0.03099154680967331, + 0.1591414362192154, + -3.0860025882720947, + -0.3764989972114563, + -0.17539332807064056 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28827401995658875, + 0.03160271793603897, + 0.1594984233379364, + -3.0832245349884033, + -0.3821905255317688, + -0.17586290836334229 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, close gripper; then move forward 4 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29917022585868835, + 0.03281722217798233, + 0.1527848243713379, + -3.084108352661133, + -0.3642900586128235, + -0.15448635816574097 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move forward 7 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109321594238281, + 0.03170808032155037, + 0.14936409890651703, + -3.0767276287078857, + -0.3506949245929718, + -0.12626762688159943 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 8 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31899845600128174, + 0.033594388514757156, + 0.1461307555437088, + -3.0702390670776367, + -0.33955055475234985, + -0.1034226268529892 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 7 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3179982006549835, + 0.032491590827703476, + 0.14589069783687592, + -3.080207347869873, + -0.3305407166481018, + -0.09806408733129501 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31683388352394104, + 0.03305712342262268, + 0.14635072648525238, + -3.079998731613159, + -0.3242361843585968, + -0.09706295281648636 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31360265612602234, + 0.03367998078465462, + 0.1474820077419281, + -3.078326463699341, + -0.3129706382751465, + -0.10622532665729523 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3148064613342285, + 0.034024909138679504, + 0.1561046540737152, + -3.103895425796509, + -0.3170241117477417, + -0.0936199277639389 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32203298807144165, + 0.040000781416893005, + 0.173577219247818, + -3.10880446434021, + -0.35014402866363525, + -0.08156734704971313 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 12 cm, move down 9 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33679309487342834, + 0.04882784187793732, + 0.18089662492275238, + -3.0906169414520264, + -0.3727134168148041, + -0.07071570307016373 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "computer tower": [ + 743, + 3, + 936, + 182 + ], + "wooden table": [ + 3, + 3, + 995, + 995 + ], + "white block": [ + 423, + 258, + 594, + 508 + ] + } + } + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned above the tower of blocks, with the end-effector hovering near the top red cube. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the red cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 11 cm, move down 10 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3588584363460541, + 0.06354078650474548, + 0.1685224324464798, + -3.0688118934631348, + -0.34711578488349915, + -0.04240638017654419 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38441798090934753, + 0.07792522013187408, + 0.15236179530620575, + -3.0499300956726074, + -0.3234589397907257, + -0.007752889301627874 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 7 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4036610424518585, + 0.08845788985490799, + 0.14066752791404724, + -3.0265016555786133, + -0.31688642501831055, + 0.0053863185457885265 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 6 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4179919958114624, + 0.1019565537571907, + 0.12701085209846497, + -2.9978106021881104, + -0.30750444531440735, + 0.026778502389788628 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.42402979731559753, + 0.12209274619817734, + 0.11687259376049042, + -2.978586196899414, + -0.296589195728302, + 0.05480388551950455 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.42364200949668884, + 0.14228585362434387, + 0.10506148636341095, + -2.9690611362457275, + -0.27473184466362, + 0.09082668274641037 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.41813626885414124, + 0.1563005894422531, + 0.10007888078689575, + -2.9943058490753174, + -0.2641628086566925, + 0.1216699630022049 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "computer tower": [ + 744, + 3, + 937, + 181 + ], + "wooden table": [ + 3, + 4, + 995, + 994 + ], + "white block": [ + 426, + 254, + 593, + 507 + ] + } + } + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 4 cm, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.414376825094223, + 0.15958000719547272, + 0.09672894328832626, + -3.0448057651519775, + -0.25987508893013, + 0.07219013571739197 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move down 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.40781906247138977, + 0.15925054252147675, + 0.08522088825702667, + -3.0855026245117188, + -0.24892878532409668, + 0.005579956341534853 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "transport cube over table", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.40075793862342834, + 0.16200269758701324, + 0.07443296164274216, + -3.117172956466675, + -0.2607371211051941, + -0.0806049257516861 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "transport cube over table", + "subtask_reasoning": "The robot has approached the tower and is now positioned above the top red cube. The gripper is open and ready to close. The next action is to close the gripper to grasp the red cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3948710858821869, + 0.16856054961681366, + 0.05873851850628853, + -3.1136345863342285, + -0.26315605640411377, + -0.12111560255289078 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "computer tower": [ + 742, + 3, + 938, + 181 + ], + "wooden table": [ + 3, + 3, + 995, + 995 + ], + "white block": [ + 425, + 255, + 593, + 508 + ] + } + } + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "transport cube over table", + "subtask_reasoning": "The robot has successfully grasped the top red cube and is currently transporting it over the table surface. The gripper remains closed with no change in value, confirming the cube is held securely. The next action is to continue moving the cube toward the target placement location on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.38990679383277893, + 0.1691884696483612, + 0.04407227039337158, + -3.1062934398651123, + -0.2781755030155182, + -0.10617685317993164 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "transport cube over table", + "subtask_reasoning": "The robot has successfully grasped the top red cube and is currently transporting it over the table surface. The gripper remains closed with no change in value, confirming the cube is held securely. The next action is to continue moving the cube toward the target placement location on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3897891640663147, + 0.16997262835502625, + 0.043243665248155594, + -3.091475009918213, + -0.3047706186771393, + -0.09929841011762619 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "transport cube over table", + "subtask_reasoning": "The robot has successfully grasped the top red cube and is currently transporting it over the table surface. The gripper remains closed with no change in value, confirming the cube is held securely. The next action is to continue moving the cube toward the target placement location on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3916374146938324, + 0.17260631918907166, + 0.042854420840740204, + -3.068922281265259, + -0.32418563961982727, + -0.08705615252256393 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "place red cube on table", + "subtask_reasoning": "The robot has successfully grasped the top red cube and is currently transporting it over the table surface. The gripper remains closed with no change in value, confirming the cube is held securely. The next action is to continue moving the cube toward the target placement location on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38895756006240845, + 0.17397744953632355, + 0.040586862713098526, + -3.0646355152130127, + -0.31147247552871704, + -0.05763611942529678 + ], + "gripper_value": 0.9231109023094177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "place red cube on table", + "subtask_reasoning": "The robot has successfully grasped the top red cube and is currently transporting it over the table surface. The gripper remains closed with no change in value, confirming the cube is held securely. The next action is to continue moving the cube toward the target placement location on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.39516401290893555, + 0.1709190011024475, + 0.0441134087741375, + -3.0682191848754883, + -0.32503148913383484, + -0.031966179609298706 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "place red cube on table", + "subtask_reasoning": "The red cube is currently held by the gripper above the table surface, having been lifted from the tower. The gripper is open (value ~1.0), indicating the cube has been released or is in the process of being placed. The next action is to ensure stable placement and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3984515964984894, + 0.16814954578876495, + 0.046503666788339615, + -3.095428705215454, + -0.3430003523826599, + -0.008573886007070541 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "place red cube on table", + "subtask_reasoning": "The red cube is currently held by the gripper above the table surface, having been lifted from the tower. The gripper is open (value ~1.0), indicating the cube has been released or is in the process of being placed. The next action is to ensure stable placement and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3995838761329651, + 0.16353969275951385, + 0.0575542226433754, + -3.127882957458496, + -0.35237592458724976, + 0.0035288366489112377 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the top red cube from the tower and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "transport cube over table" + }, + { + "id": 4, + "subtask": "place red cube on table" + } + ], + "subtask_name": "place red cube on table", + "subtask_reasoning": "The red cube is currently held by the gripper above the table surface, having been lifted from the tower. The gripper is open (value ~1.0), indicating the cube has been released or is in the process of being placed. The next action is to ensure stable placement and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003607_ecot.json b/cot/chunk-0003/episode_0003607_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3db3d01248ffedaada11b6510ec484771650e161 --- /dev/null +++ b/cot/chunk-0003/episode_0003607_ecot.json @@ -0,0 +1,2953 @@ +{ + "task_name": "episode_0003607", + "episode_json": "json/chunk-0003/episode_0003607.json", + "video_path": "videos/chunk-0003/image_0/episode_0003607.mp4", + "instruction": "Put the block on top of the tower.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003607.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4404224157333374, + "std": 0.20145010948181152, + "delta_total": -0.001993715763092041, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.44042, std=0.20145, total_delta=-0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 29 + ], + [ + 3, + 30, + 33 + ], + [ + 4, + 34, + 38 + ], + [ + 5, + 39, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach block\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the target block without grasping, as gripper remains open and no closing evidence exists in this segment.\"},\n {\"id\": 2, \"name\": \"grasp block\", \"start\": 6, \"end\": 29, \"planning\": \"Close gripper to securely grasp the block; segment shows meaningful gripper closure (delta=-0.437) and motion stabilizes around object.\"},\n {\"id\": 3, \"name\": \"lift and transport block\", \"start\": 30, \"end\": 33, \"planning\": \"Lift the grasped block and move it toward the tower location; gripper remains closed and motion is directed upward and laterally.\"},\n {\"id\": 4, \"name\": \"position above tower\", \"start\": 34, \"end\": 38, \"planning\": \"Align the held block precisely above the tower; gripper stays closed but no further closing occurs — fine positioning phase.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 39, \"end\": 44, \"planning\": \"Open gripper to release block onto tower, then retreat slightly; gripper value stable at ~1.0 indicates full release and no contact.\"}\n ],\n \"global_plan\": \"Approach the block, grasp it securely, lift and transport it to the tower, position accurately above the tower, then release and retreat to complete placement.\",\n \"notes\": \"Segment 1 has no gripper closure — described as approach only. Segment 2 has strong gripper closure evidence — grasp is justified. Segments 3–5 involve transport, positioning, and release with gripper held closed until final retreat. All frame ranges are contiguous and cover 0–44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach block", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the target block without grasping, as gripper remains open and no closing evidence exists in this segment." + }, + { + "id": 2, + "name": "grasp block", + "start": 6, + "end": 29, + "planning": "Close gripper to securely grasp the block; segment shows meaningful gripper closure (delta=-0.437) and motion stabilizes around object." + }, + { + "id": 3, + "name": "lift and transport block", + "start": 30, + "end": 33, + "planning": "Lift the grasped block and move it toward the tower location; gripper remains closed and motion is directed upward and laterally." + }, + { + "id": 4, + "name": "position above tower", + "start": 34, + "end": 38, + "planning": "Align the held block precisely above the tower; gripper stays closed but no further closing occurs — fine positioning phase." + }, + { + "id": 5, + "name": "release and retreat", + "start": 39, + "end": 44, + "planning": "Open gripper to release block onto tower, then retreat slightly; gripper value stable at ~1.0 indicates full release and no contact." + } + ], + "global_plan": "Approach the block, grasp it securely, lift and transport it to the tower, position accurately above the tower, then release and retreat to complete placement.", + "notes": "Segment 1 has no gripper closure — described as approach only. Segment 2 has strong gripper closure evidence — grasp is justified. Segments 3–5 involve transport, positioning, and release with gripper held closed until final retreat. All frame ranges are contiguous and cover 0–44." + } + }, + "episode_goal": "Place the wooden block on top of the existing tower of blocks.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.438971608877182, + -0.021280283108353615, + 0.1377566009759903, + -3.0868277549743652, + 0.003540282603353262, + 0.9269976615905762 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the target block and tower visible in the scene. No actions have been completed yet as the gripper remains open and stationary relative to the block. The robot needs to move its end-effector closer to the wooden block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper open; then move back 3 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.43858516216278076, + -0.021497678011655807, + 0.1193666011095047, + -3.0505406856536865, + 0.029251771047711372, + 0.9289618134498596 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the target block and tower visible in the scene. No actions have been completed yet as the gripper remains open and stationary relative to the block. The robot needs to move its end-effector closer to the wooden block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 30 degrees, keep gripper open; then move back 3 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4289058446884155, + -0.025762490928173065, + 0.09591244906187057, + -3.0248539447784424, + 0.059945303946733475, + 0.8411706686019897 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.41137900948524475, + -0.045828163623809814, + 0.09952015429735184, + -3.0788416862487793, + 0.04276131093502045, + 0.7166007161140442 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plain wooden block": [ + 632, + 619, + 883, + 766 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3994261622428894, + -0.060953956097364426, + 0.1001724898815155, + -3.0934250354766846, + 0.02281429059803486, + 0.651382327079773 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3814062476158142, + -0.07879053801298141, + 0.1048400029540062, + -3.1138243675231934, + 0.011655667796730995, + 0.5529947280883789 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620311915874481, + -0.08466187864542007, + 0.10462702065706253, + 3.1246232986450195, + 0.011866707354784012, + 0.39215877652168274 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 8 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.343548983335495, + -0.09673871845006943, + 0.08395368605852127, + 3.122462511062622, + 0.046707723289728165, + 0.19866225123405457 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.329584002494812, + -0.11215556412935257, + 0.06867310404777527, + 3.1216299533843994, + 0.05723337456583977, + 0.07164164632558823 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33146175742149353, + -0.11834300309419632, + 0.06783824414014816, + 3.111551284790039, + 0.03209171071648598, + 0.030943123623728752 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3336905241012573, + -0.1181199699640274, + 0.06669080257415771, + 3.1130754947662354, + 0.019756413996219635, + 0.01970423012971878 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33430972695350647, + -0.11738130450248718, + 0.05462285131216049, + 3.1267025470733643, + 0.04226173833012581, + 0.006903066765516996 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3398486077785492, + -0.11399433761835098, + 0.054780781269073486, + 3.1265177726745605, + 0.020841799676418304, + -0.003806424792855978 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34454071521759033, + -0.11189870536327362, + 0.04696440324187279, + 3.133730888366699, + 0.007050443906337023, + -0.02724495716392994 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471807539463043, + -0.11326085031032562, + 0.04699151590466499, + 3.122382879257202, + -0.009191630408167839, + -0.04488595202565193 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move up 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3469325006008148, + -0.10808724164962769, + 0.032595910131931305, + 3.1239047050476074, + 0.02820085547864437, + -0.03731483966112137 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35147997736930847, + -0.1000804528594017, + 0.0210210420191288, + 3.1261487007141113, + 0.06546090543270111, + -0.01232265867292881 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plain wooden block": [ + 633, + 618, + 884, + 766 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot is approaching the wooden block on the table, with the tower of blocks visible in the background. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action is to continue moving the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3599277138710022, + -0.09890211373567581, + 0.020245689898729324, + 3.109563112258911, + 0.06019043177366257, + 0.008891835808753967 + ], + "gripper_value": 0.8130597472190857 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 7 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.359889417886734, + -0.09808553010225296, + 0.020248735323548317, + 3.1117641925811768, + 0.061622682958841324, + 0.01889975182712078 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35476240515708923, + -0.10187263041734695, + 0.025069840252399445, + 3.087772846221924, + 0.08882542699575424, + 0.030657412484288216 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 8 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3622540235519409, + -0.10970564931631088, + 0.05683515593409538, + 3.0353293418884277, + 0.06530069559812546, + 0.03038042224943638 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36875736713409424, + -0.11032312363386154, + 0.07169131189584732, + 3.026059627532959, + 0.037859849631786346, + 0.008177712559700012 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3786291778087616, + -0.1028173416852951, + 0.08252796530723572, + 3.0161263942718506, + 0.014102529734373093, + 0.03882477432489395 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.40349388122558594, + -0.08639585971832275, + 0.11030605435371399, + 2.9986696243286133, + -0.06018095836043358, + 0.10233913362026215 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4247344434261322, + -0.0706641674041748, + 0.1066819280385971, + 3.0380210876464844, + -0.04823435842990875, + 0.1577882468700409 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.43930160999298096, + -0.055482976138591766, + 0.11542040854692459, + 3.050956964492798, + -0.06223040819168091, + 0.1995425671339035 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plain wooden block": [ + 632, + 618, + 884, + 766 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4527141749858856, + -0.039302024990320206, + 0.10839759558439255, + 3.0740721225738525, + -0.046309154480695724, + 0.23822350800037384 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper closed; then move back 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.45908114314079285, + -0.030396556481719017, + 0.10336356610059738, + 3.118853807449341, + -0.024795783683657646, + 0.25820252299308777 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plain wooden block": [ + 632, + 618, + 884, + 766 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, open gripper; then move back 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.45790204405784607, + -0.028645221143960953, + 0.10363617539405823, + 3.129423141479492, + -0.012084780260920525, + 0.26545220613479614 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, open gripper; then move back 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4570678472518921, + -0.02624080702662468, + 0.09940416365861893, + 3.1328377723693848, + -0.006760707125067711, + 0.27009493112564087 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, open gripper; then move back 5 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4507262110710144, + -0.02356599271297455, + 0.08798189461231232, + -3.1389496326446533, + 0.021802453324198723, + 0.2809801697731018 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot has approached the wooden block and is now positioned with its gripper open and aligned near the block. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to fully close the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then move back 5 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.44393181800842285, + -0.022051962092518806, + 0.09150993078947067, + -3.1374728679656982, + 0.01643458381295204, + 0.28700461983680725 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot has grasped the wooden block and is currently lifting it from the table surface. The gripper is closed around the block, and the arm is beginning to elevate. The next action is to continue lifting and transport the block toward the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.441080242395401, + -0.021233443170785904, + 0.0887635350227356, + -3.1354470252990723, + 0.022226544097065926, + 0.288596510887146 + ], + "gripper_value": 0.6179407835006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot has grasped the wooden block and is currently lifting it from the table surface. The gripper is closed around the block, and the arm is beginning to elevate. The next action is to continue lifting and transport the block toward the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.43954744935035706, + -0.020052343606948853, + 0.08995707333087921, + -3.133145809173584, + 0.03281668201088905, + 0.29798009991645813 + ], + "gripper_value": 0.9082958698272705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot has grasped the wooden block and is currently lifting it from the table surface. The gripper is closed around the block, and the arm is beginning to elevate. The next action is to continue lifting and transport the block toward the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.44286635518074036, + -0.020244596526026726, + 0.0871274396777153, + 3.1376028060913086, + 0.011267845518887043, + 0.30911797285079956 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above tower", + "subtask_reasoning": "The robot has grasped the wooden block and is currently lifting it from the table surface. The gripper is closed around the block, and the arm is beginning to elevate. The next action is to continue lifting and transport the block toward the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.44215548038482666, + -0.02045382931828499, + 0.08362219482660294, + 3.1362781524658203, + 0.011829745024442673, + 0.3170812726020813 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above tower", + "subtask_reasoning": "The robot has grasped the wooden block and is currently lifting it from the table surface. The gripper is closed around the block, and the arm is beginning to elevate. The next action is to continue lifting and transport the block toward the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.43920668959617615, + -0.02048112079501152, + 0.09146048873662949, + 3.121851921081543, + 0.012426848523318768, + 0.3261011242866516 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above tower", + "subtask_reasoning": "The robot is currently positioned near the wooden block on the table, not yet above the tower. The gripper is open and no grasp has occurred in this segment. The next action should be to move the end-effector above the tower while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.4267973005771637, + -0.01685751974582672, + 0.11041367799043655, + 3.1280558109283447, + -0.025990860536694527, + 0.33803898096084595 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plain wooden block": [ + 632, + 618, + 884, + 766 + ], + "black vertical structure": [ + 2, + 1, + 155, + 677 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above tower", + "subtask_reasoning": "The robot is currently positioned near the wooden block on the table, not yet above the tower. The gripper is open and no grasp has occurred in this segment. The next action should be to move the end-effector above the tower while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.4100542664527893, + -0.016303900629281998, + 0.13498683273792267, + 3.1399805545806885, + -0.09895715862512589, + 0.3366374373435974 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position above tower", + "subtask_reasoning": "The robot is currently positioned near the wooden block on the table, not yet above the tower. The gripper is open and no grasp has occurred in this segment. The next action should be to move the end-effector above the tower while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3916274309158325, + -0.012222018092870712, + 0.15303418040275574, + -3.1163339614868164, + -0.17213810980319977, + 0.3548743426799774 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently positioned near the wooden block on the table, not yet above the tower. The gripper is open and no grasp has occurred in this segment. The next action should be to move the end-effector above the tower while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.38927966356277466, + -0.016904933378100395, + 0.1651938110589981, + -3.1247165203094482, + -0.2074270248413086, + 0.34265759587287903 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently positioned near the wooden block on the table, not yet above the tower. The gripper is open and no grasp has occurred in this segment. The next action should be to move the end-effector above the tower while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.38927966356277466, + -0.016904933378100395, + 0.1651938110589981, + -3.1247165203094482, + -0.2074270248413086, + 0.34265759587287903 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The block is already placed on top of the tower, and the gripper is open and retracted. The release and retreat subtask is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.38923129439353943, + -0.01773490011692047, + 0.1651695817708969, + -3.126138687133789, + -0.20679335296154022, + 0.3415359556674957 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The block is already placed on top of the tower, and the gripper is open and retracted. The release and retreat subtask is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.38933616876602173, + -0.017509201541543007, + 0.1645965278148651, + -3.124067544937134, + -0.2060307413339615, + 0.3409903645515442 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The block is already placed on top of the tower, and the gripper is open and retracted. The release and retreat subtask is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.38925325870513916, + -0.017502062022686005, + 0.1651938110589981, + -3.1247165203094482, + -0.2074270248413086, + 0.3411236107349396 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden block on top of the existing tower of blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "grasp block" + }, + { + "id": 3, + "subtask": "lift and transport block" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The block is already placed on top of the tower, and the gripper is open and retracted. The release and retreat subtask is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003608_ecot.json b/cot/chunk-0003/episode_0003608_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b141f1663574472c50ce7bc0c58a32a135b2c956 --- /dev/null +++ b/cot/chunk-0003/episode_0003608_ecot.json @@ -0,0 +1,1084 @@ +{ + "task_name": "episode_0003608", + "episode_json": "json/chunk-0003/episode_0003608.json", + "video_path": "videos/chunk-0003/image_0/episode_0003608.mp4", + "instruction": "Put corn in pot which is in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003608.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.4367707371711731, + "std": 0.2041340172290802, + "delta_total": -0.4367707371711731, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.43677, std=0.20413, total_delta=-0.43677). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 15 + ], + [ + 3, + 16, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp corn\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the corn on the counter and close gripper to secure it, as evidenced by significant gripper closure (delta=-0.43677) and consistent motion toward object.\"},\n {\"id\": 2, \"name\": \"transport corn to sink\", \"start\": 10, \"end\": 15, \"planning\": \"Carry the grasped corn from counter area toward the sink while maintaining grip, with no further gripper adjustment needed — motion is translational and rotational to align over pot.\"},\n {\"id\": 3, \"name\": \"release corn into pot\", \"start\": 16, \"end\": 17, \"planning\": \"Position corn directly above pot in sink and release grip to drop it in; gripper remains stable at ~0.568 indicating held-open or released state after deposit.\"}\n ],\n \"global_plan\": \"Grasp corn from counter, transport it over the pot in the sink, and release it into the pot.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (range=0.43677), supporting 'grasp' wording. Segments 2 and 3 show negligible gripper change, so no new grasp/release actions are inferred — only transport and final release based on context and endpoint behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp corn", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the corn on the counter and close gripper to secure it, as evidenced by significant gripper closure (delta=-0.43677) and consistent motion toward object." + }, + { + "id": 2, + "name": "transport corn to sink", + "start": 10, + "end": 15, + "planning": "Carry the grasped corn from counter area toward the sink while maintaining grip, with no further gripper adjustment needed — motion is translational and rotational to align over pot." + }, + { + "id": 3, + "name": "release corn into pot", + "start": 16, + "end": 17, + "planning": "Position corn directly above pot in sink and release grip to drop it in; gripper remains stable at ~0.568 indicating held-open or released state after deposit." + } + ], + "global_plan": "Grasp corn from counter, transport it over the pot in the sink, and release it into the pot.", + "notes": "Segment 1 shows meaningful gripper closing (range=0.43677), supporting 'grasp' wording. Segments 2 and 3 show negligible gripper change, so no new grasp/release actions are inferred — only transport and final release based on context and endpoint behavior." + } + }, + "episode_goal": "Place the corn into the pot located in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4328707754611969, + -0.1325255185365677, + 0.052081719040870667, + 3.122347116470337, + -0.527411699295044, + -0.14872132241725922 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper open, approaching the corn located on the left side. No objects have been grasped yet. The next action is to move the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4314548373222351, + -0.13374005258083344, + 0.03759970888495445, + 3.127777099609375, + -0.5103321075439453, + -0.17535574734210968 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 348, + 99, + 525, + 242 + ], + "sink": [ + 305, + 301, + 894, + 846 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper open, approaching the corn located on the left side. No objects have been grasped yet. The next action is to move the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.43536099791526794, + -0.1339089721441269, + 0.03480391949415207, + 3.1254069805145264, + -0.5291029810905457, + -0.19810424745082855 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper open, approaching the corn located on the left side. No objects have been grasped yet. The next action is to move the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move back 3 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.43790823221206665, + -0.13246625661849976, + 0.027895528823137283, + 3.1061925888061523, + -0.5316773653030396, + -0.1988220065832138 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper open, approaching the corn located on the left side. No objects have been grasped yet. The next action is to move the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, close gripper; then move back 4 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.44162219762802124, + -0.13281956315040588, + 0.023692766204476357, + 3.0870347023010254, + -0.540635347366333, + -0.1967347264289856 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible on the left side. The gripper is open and has not yet made contact with the corn. The next action should be to move the gripper closer to the corn to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, close gripper; then move back 6 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.44423922896385193, + -0.1305842250585556, + 0.02039211429655552, + 3.090163230895996, + -0.5458996295928955, + -0.21092304587364197 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible on the left side. The gripper is open and has not yet made contact with the corn. The next action should be to move the gripper closer to the corn to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 5 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4463401734828949, + -0.13099616765975952, + 0.021086612716317177, + 3.0936906337738037, + -0.5615301728248596, + -0.21705274283885956 + ], + "gripper_value": 0.8544629216194153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible on the left side. The gripper is open and has not yet made contact with the corn. The next action should be to move the gripper closer to the corn to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4485425651073456, + -0.12968580424785614, + 0.02282017469406128, + 3.107743978500366, + -0.5759060978889465, + -0.21583294868469238 + ], + "gripper_value": 0.5859079360961914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible on the left side. The gripper is open and has not yet made contact with the corn. The next action should be to move the gripper closer to the corn to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.44916561245918274, + -0.12920179963111877, + 0.022157641127705574, + 3.1126654148101807, + -0.5825154185295105, + -0.21143464744091034 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible on the left side. The gripper is open and has not yet made contact with the corn. The next action should be to move the gripper closer to the corn to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4445995092391968, + -0.12883053719997406, + 0.021326133981347084, + 3.134051561355591, + -0.5572445392608643, + -0.21827541291713715 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach and grasp corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible on the left side. The gripper is open and has not yet made contact with the corn. The next action should be to move the gripper closer to the corn to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.43320295214653015, + -0.1252179592847824, + 0.02823079377412796, + -3.1144723892211914, + -0.512082040309906, + -0.23657174408435822 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "transport corn to sink", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible on the left side. The gripper is open and has not yet made contact with the corn. The next action should be to move the gripper closer to the corn to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.42498356103897095, + -0.12103210389614105, + 0.047522079199552536, + -3.1016006469726562, + -0.5117046236991882, + -0.242802232503891 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "transport corn to sink", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible on the left side. The gripper is open and has not yet made contact with the corn. The next action should be to move the gripper closer to the corn to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4038090109825134, + -0.11075014621019363, + 0.055829524993896484, + -3.080085515975952, + -0.48827335238456726, + -0.23136083781719208 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "transport corn to sink", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently transporting it towards the sink where the pot is located. The gripper remains closed with no significant change, indicating a stable hold during transit. The next action is to continue moving the corn over the pot in the sink to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38890746235847473, + -0.10330843925476074, + 0.06989406049251556, + -3.074399948120117, + -0.4903179705142975, + -0.2077968716621399 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "transport corn to sink", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently transporting it towards the sink where the pot is located. The gripper remains closed with no significant change, indicating a stable hold during transit. The next action is to continue moving the corn over the pot in the sink to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37571555376052856, + -0.09708017110824585, + 0.07177505642175674, + -3.080264091491699, + -0.470367431640625, + -0.1970897912979126 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "transport corn to sink", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently transporting it towards the sink where the pot is located. The gripper remains closed with no significant change, indicating a stable hold during transit. The next action is to continue moving the corn over the pot in the sink to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.370657354593277, + -0.07955794036388397, + 0.07430960983037949, + -3.0899722576141357, + -0.46674343943595886, + -0.15892243385314941 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "transport corn to sink", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently transporting it towards the sink where the pot is located. The gripper remains closed with no significant change, indicating a stable hold during transit. The next action is to continue moving the corn over the pot in the sink to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36404338479042053, + -0.057429730892181396, + 0.06257927417755127, + 3.13956356048584, + -0.4326009750366211, + -0.09581423550844193 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "release corn into pot", + "subtask_reasoning": "The robot is positioned above the pot in the sink, holding the corn. The gripper has remained open throughout this segment, indicating no active grasping or releasing motion yet. The next action should involve lowering the corn into the pot and opening the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.35432887077331543, + -0.030399424955248833, + 0.046164508908987045, + 3.101158380508423, + -0.4273316264152527, + -0.034049175679683685 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 305, + 302, + 896, + 847 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp corn" + }, + { + "id": 2, + "subtask": "transport corn to sink" + }, + { + "id": 3, + "subtask": "release corn into pot" + } + ], + "subtask_name": "release corn into pot", + "subtask_reasoning": "The robot is positioned above the pot in the sink, holding the corn. The gripper has remained open throughout this segment, indicating no active grasping or releasing motion yet. The next action should involve lowering the corn into the pot and opening the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003610_ecot.json b/cot/chunk-0003/episode_0003610_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a6e543872263a849d55166ef2ff7ff1fd3ca694c --- /dev/null +++ b/cot/chunk-0003/episode_0003610_ecot.json @@ -0,0 +1,1735 @@ +{ + "task_name": "episode_0003610", + "episode_json": "json/chunk-0003/episode_0003610.json", + "video_path": "videos/chunk-0003/image_0/episode_0003610.mp4", + "instruction": "Close the wooden drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003610.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006613731384277344, + "std": 0.0003289123997092247, + "delta_total": -0.0006613731384277344, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00033, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 24 + ], + [ + 3, + 25, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the drawer handle without grasping, as gripper remains open and no closing evidence is present.\"},\n {\"id\": 2, \"name\": \"push drawer closed\", \"start\": 7, \"end\": 24, \"planning\": \"Apply forward pressure to slide the drawer shut using contact force, since gripper shows no meaningful closing and object motion confirms sliding closure.\"},\n {\"id\": 3, \"name\": \"retreat from drawer\", \"start\": 25, \"end\": 28, \"planning\": \"Withdraw end-effector away from the now-closed drawer while maintaining open gripper state, completing the task without grasping or lifting.\"}\n ],\n \"global_plan\": \"Close the wooden drawer by approaching its handle, pushing it shut via direct contact, then retreating — all without grasping, as gripper evidence consistently shows no closing action.\",\n \"notes\": \"Gripper remained effectively open throughout (delta < 0.001), so all actions are described as contact-based pushing and retreat; no grasp, lift, or place terminology is used per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the drawer handle without grasping, as gripper remains open and no closing evidence is present." + }, + { + "id": 2, + "name": "push drawer closed", + "start": 7, + "end": 24, + "planning": "Apply forward pressure to slide the drawer shut using contact force, since gripper shows no meaningful closing and object motion confirms sliding closure." + }, + { + "id": 3, + "name": "retreat from drawer", + "start": 25, + "end": 28, + "planning": "Withdraw end-effector away from the now-closed drawer while maintaining open gripper state, completing the task without grasping or lifting." + } + ], + "global_plan": "Close the wooden drawer by approaching its handle, pushing it shut via direct contact, then retreating — all without grasping, as gripper evidence consistently shows no closing action.", + "notes": "Gripper remained effectively open throughout (delta < 0.001), so all actions are described as contact-based pushing and retreat; no grasp, lift, or place terminology is used per anti-hallucination rules." + } + }, + "episode_goal": "Close the wooden drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22539915144443512, + 0.23191797733306885, + 0.1428171992301941, + -2.9015748500823975, + -0.1641606241464615, + 0.39405715465545654 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open wooden drawer with its end-effector approaching the handle. No contact or grasping has occurred yet, as gripper evidence shows no closure. The next action should be to move closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 5 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 80 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22545771300792694, + 0.2310546189546585, + 0.1335473507642746, + -2.9142470359802246, + -0.14329524338245392, + 0.38616254925727844 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open wooden drawer with its end-effector approaching the handle. No contact or grasping has occurred yet, as gripper evidence shows no closure. The next action should be to move closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 80 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22493577003479004, + 0.231820210814476, + 0.11507751792669296, + -2.914839267730713, + -0.16914573311805725, + 0.21879273653030396 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open wooden drawer with its end-effector approaching the handle. No contact or grasping has occurred yet, as gripper evidence shows no closure. The next action should be to move closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 70 degrees, keep gripper open; then move forward 4 cm, move right 6 cm, move down 6 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23017892241477966, + 0.23630057275295258, + 0.11027973890304565, + -2.8929593563079834, + -0.2510923743247986, + -0.024329213425517082 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 6 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23430706560611725, + 0.24273155629634857, + 0.11207928508520126, + -2.880019187927246, + -0.2687107026576996, + -0.23977486789226532 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 4 cm, move right 8 cm, move down 7 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24491915106773376, + 0.24419958889484406, + 0.11123154312372208, + -2.851381301879883, + -0.25091367959976196, + -0.49906739592552185 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 4 cm, move right 9 cm, move down 7 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25976425409317017, + 0.24140425026416779, + 0.11271809041500092, + -2.742781400680542, + -0.1808408796787262, + -0.7662076354026794 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move right 11 cm, move down 7 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2780453860759735, + 0.22992543876171112, + 0.09610992670059204, + -2.718477725982666, + -0.11451426148414612, + -1.028771996498108 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move down 7 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29481837153434753, + 0.21705614030361176, + 0.08032744377851486, + -2.7715611457824707, + -0.05131661519408226, + -1.246567726135254 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink pig toy": [ + 34, + 432, + 189, + 612 + ], + "black phone case": [ + 566, + 519, + 740, + 853 + ], + "wooden box": [ + 279, + 163, + 950, + 769 + ], + "toy microwave": [ + 172, + 3, + 560, + 217 + ], + "red block": [ + 214, + 596, + 362, + 767 + ] + } + } + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 13 cm, move down 6 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30854180455207825, + 0.2120531052350998, + 0.06713683158159256, + -2.8531436920166016, + -0.016866842284798622, + -1.324934482574463 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194580674171448, + 0.2047174870967865, + 0.050924330949783325, + -2.9118316173553467, + 0.015096508897840977, + -1.3235130310058594 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32495439052581787, + 0.1901393085718155, + 0.04608558118343353, + -2.951181650161743, + 0.04878582805395126, + -1.3213491439819336 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.320049524307251, + 0.17190656065940857, + 0.03796026110649109, + -3.0068254470825195, + 0.04230086877942085, + -1.3491859436035156 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31483903527259827, + 0.15827099978923798, + 0.03315776214003563, + -3.0283350944519043, + 0.02773064561188221, + -1.3535289764404297 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156486749649048, + 0.14829467236995697, + 0.029842795804142952, + -3.036227226257324, + 0.020873932167887688, + -1.3469010591506958 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is approaching the wooden drawer's handle from a distance, with no contact yet established. No actions have been completed so far in this subtask. The next likely action is to continue moving the end-effector closer to the handle to prepare for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31563007831573486, + 0.1376536339521408, + 0.027113566175103188, + -3.048830032348633, + -0.0015664518577978015, + -1.3475477695465088 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31787097454071045, + 0.12370267510414124, + 0.024828510358929634, + -3.0585429668426514, + -0.01489043515175581, + -1.3314825296401978 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3255266547203064, + 0.10271687060594559, + 0.02485884353518486, + -3.0578134059906006, + -0.021992338821291924, + -1.3359752893447876 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink pig toy": [ + 34, + 432, + 188, + 612 + ], + "wooden box": [ + 415, + 161, + 949, + 770 + ], + "black strap": [ + 49, + 2, + 206, + 140 + ] + } + } + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 3 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32953643798828125, + 0.08636483550071716, + 0.024839643388986588, + -3.062934637069702, + -0.032774604856967926, + -1.3398611545562744 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33246734738349915, + 0.07324779033660889, + 0.024835871532559395, + -3.065423011779785, + -0.03758077323436737, + -1.347319483757019 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3343147039413452, + 0.06377693265676498, + 0.026178929954767227, + -3.07670259475708, + -0.053938642144203186, + -1.346051812171936 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3331741690635681, + 0.056899119168519974, + 0.02937922440469265, + -3.1049880981445312, + -0.1038021594285965, + -1.3576112985610962 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 9 cm, move up 6 cm, tilt left 20 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3318898677825928, + 0.06560489535331726, + 0.02944905124604702, + -3.1056039333343506, + -0.10817745327949524, + -1.3072962760925293 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 6 cm, tilt left 20 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3279484510421753, + 0.1054864302277565, + 0.039385996758937836, + -3.0158205032348633, + -0.03741506114602089, + -1.070940613746643 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3044168949127197, + 0.14848926663398743, + 0.059966132044792175, + -2.925459384918213, + -0.01535490620881319, + -0.7990692853927612 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink pig toy": [ + 34, + 432, + 188, + 612 + ], + "wooden box": [ + 477, + 159, + 950, + 769 + ], + "black phone case": [ + 567, + 518, + 740, + 852 + ], + "red block": [ + 217, + 598, + 361, + 768 + ] + } + } + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.278432160615921, + 0.15047937631607056, + 0.08623286336660385, + -2.910022020339966, + -0.03287209942936897, + -0.5881708860397339 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open wooden drawer, positioned to push it shut. The approach phase is complete, and the gripper remains open, indicating a pushing action rather than grasping. The next step is to apply forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.255535364151001, + 0.15117621421813965, + 0.1024773120880127, + -3.0247108936309814, + -0.04040468856692314, + -0.5243297219276428 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed the push action. The end-effector is now retreating from the drawer area, with no gripper activity indicating contact or grasp. The next action is to continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24422253668308258, + 0.14903099834918976, + 0.13573361933231354, + -3.1064658164978027, + -0.08780277520418167, + -0.4937106966972351 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed the push action. The end-effector is now retreating from the drawer area, with no gripper activity indicating contact or grasp. The next action is to continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.23278196156024933, + 0.14560183882713318, + 0.15453971922397614, + -3.113706350326538, + -0.1130802109837532, + -0.4744941294193268 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed the push action. The end-effector is now retreating from the drawer area, with no gripper activity indicating contact or grasp. The next action is to continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003611_ecot.json b/cot/chunk-0003/episode_0003611_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..15bcf9066f6344d20da94ed3d38c5a6eb9d466ef --- /dev/null +++ b/cot/chunk-0003/episode_0003611_ecot.json @@ -0,0 +1,1429 @@ +{ + "task_name": "episode_0003611", + "episode_json": "json/chunk-0003/episode_0003611.json", + "video_path": "videos/chunk-0003/image_0/episode_0003611.mp4", + "instruction": "Move the orange fork to the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003611.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.6117724180221558, + "std": 0.28418540954589844, + "delta_total": -0.009447157382965088, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61177, std=0.28419, total_delta=-0.00945). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 110, + 110, + 119, + 119 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 13 + ], + [ + 3, + 14, + 18 + ], + [ + 4, + 19, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on fork\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the orange fork and begin closing gripper to establish contact.\"},\n {\"id\": 2, \"name\": \"secure grasp and lift fork\", \"start\": 10, \"end\": 13, \"planning\": \"Complete gripper closure to firmly grasp the fork and initiate lifting motion away from table surface.\"},\n {\"id\": 3, \"name\": \"transport fork leftward\", \"start\": 14, \"end\": 18, \"planning\": \"Carry the grasped fork horizontally toward the left side of the table while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release fork and retreat\", \"start\": 19, \"end\": 20, \"planning\": \"Open gripper to release the fork at target location and begin retreating end-effector upward.\"}\n ],\n \"global_plan\": \"Approach the orange fork, grasp it securely, lift and transport it leftward across the table, then release it at the target position and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in all segments; images support grasp initiation by frame 9, full grasp by frame 10, transport through frame 18, and release starting frame 19. Motion is contiguous and covers full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on fork", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the orange fork and begin closing gripper to establish contact." + }, + { + "id": 2, + "name": "secure grasp and lift fork", + "start": 10, + "end": 13, + "planning": "Complete gripper closure to firmly grasp the fork and initiate lifting motion away from table surface." + }, + { + "id": 3, + "name": "transport fork leftward", + "start": 14, + "end": 18, + "planning": "Carry the grasped fork horizontally toward the left side of the table while maintaining grip." + }, + { + "id": 4, + "name": "release fork and retreat", + "start": 19, + "end": 20, + "planning": "Open gripper to release the fork at target location and begin retreating end-effector upward." + } + ], + "global_plan": "Approach the orange fork, grasp it securely, lift and transport it leftward across the table, then release it at the target position and retreat.", + "notes": "Gripper evidence confirms meaningful closing in all segments; images support grasp initiation by frame 9, full grasp by frame 10, transport through frame 18, and release starting frame 19. Motion is contiguous and covers full trajectory." + } + }, + "episode_goal": "Move the orange fork to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29446837306022644, + 0.09144788980484009, + 0.1275138258934021, + -3.031827449798584, + -0.1126820296049118, + -0.10832061618566513 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork. No contact has been made yet. The next action is to lower the gripper and close it around the fork handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 9 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943468391895294, + 0.09140674024820328, + 0.11730247735977173, + -3.044306755065918, + -0.08334611356258392, + -0.10112262517213821 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork. No contact has been made yet. The next action is to lower the gripper and close it around the fork handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 8 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.312999427318573, + 0.09435650706291199, + 0.09953106194734573, + -3.0539093017578125, + -0.0693640485405922, + -0.07465963810682297 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork. No contact has been made yet. The next action is to lower the gripper and close it around the fork handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 7 cm, close gripper; then move back 1 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33577224612236023, + 0.09258594363927841, + 0.08246493339538574, + -3.0589919090270996, + -0.05750926211476326, + -0.05814823508262634 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "food item": [ + 602, + 326, + 712, + 472 + ], + "toy microwave": [ + 406, + 2, + 675, + 191 + ], + "metal pot": [ + 529, + 278, + 838, + 527 + ], + "fork": [ + 378, + 200, + 570, + 388 + ], + "blue cabinet": [ + 3, + 561, + 333, + 992 + ], + "can": [ + 22, + 310, + 223, + 566 + ], + "pot lid": [ + 498, + 545, + 739, + 807 + ], + "toy stove": [ + 686, + 122, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork. No contact has been made yet. The next action is to lower the gripper and close it around the fork handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 5 cm, close gripper; then move back 1 cm, move left 6 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3564967215061188, + 0.09395593404769897, + 0.06993464380502701, + -3.0473406314849854, + -0.062066588550806046, + -0.03723663091659546 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork, but no contact has been made yet. The next action should be to lower the gripper and close it around the fork to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move back 2 cm, move left 9 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3749059736728668, + 0.09554935246706009, + 0.0573095865547657, + -3.0645673274993896, + -0.069281205534935, + -0.010459553450345993 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork, but no contact has been made yet. The next action should be to lower the gripper and close it around the fork to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move back 2 cm, move left 9 cm, move up 3 cm, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3807457983493805, + 0.09229113906621933, + 0.0426936000585556, + -3.0965042114257812, + -0.06254160404205322, + 0.006346634589135647 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork, but no contact has been made yet. The next action should be to lower the gripper and close it around the fork to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 9 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3828737735748291, + 0.08806706964969635, + 0.03973347321152687, + -3.1211652755737305, + -0.07094907015562057, + 0.014713890850543976 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork, but no contact has been made yet. The next action should be to lower the gripper and close it around the fork to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 9 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3814467191696167, + 0.07969348877668381, + 0.03386419266462326, + -3.1348466873168945, + -0.06134960427880287, + -0.007131900638341904 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork, but no contact has been made yet. The next action should be to lower the gripper and close it around the fork to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 2 cm, move left 9 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37829774618148804, + 0.0798751711845398, + 0.03159291669726372, + -3.129965305328369, + -0.054002758115530014, + -0.02715093456208706 + ], + "gripper_value": 0.6530976295471191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach and close gripper on fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork, but no contact has been made yet. The next action should be to lower the gripper and close it around the fork to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 9 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37641340494155884, + 0.08050236850976944, + 0.03253671154379845, + -3.1266794204711914, + -0.04999714717268944, + -0.05483490228652954 + ], + "gripper_value": 0.40327540040016174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "secure grasp and lift fork", + "subtask_reasoning": "The robot is positioned above the table with the orange fork visible in the center. The gripper is open and approaching the fork, but no contact has been made yet. The next action should be to lower the gripper and close it around the fork to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.371159166097641, + 0.09284277260303497, + 0.03651847317814827, + -3.1402432918548584, + -0.044584207236766815, + -0.05001775920391083 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "secure grasp and lift fork", + "subtask_reasoning": "The robot has approached the orange fork and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The fork appears to be securely grasped, and the next step is to lift it slightly to confirm a stable hold before transporting it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3652293086051941, + 0.11763879656791687, + 0.04693520441651344, + 3.134524345397949, + -0.05501421168446541, + -0.027716180309653282 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "food item": [ + 601, + 325, + 713, + 473 + ], + "metal pot": [ + 527, + 278, + 838, + 528 + ], + "toy microwave": [ + 417, + 3, + 677, + 191 + ], + "toy stove": [ + 686, + 128, + 996, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "secure grasp and lift fork", + "subtask_reasoning": "The robot has approached the orange fork and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The fork appears to be securely grasped, and the next step is to lift it slightly to confirm a stable hold before transporting it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3627980947494507, + 0.1452270895242691, + 0.06024940684437752, + 3.1367669105529785, + -0.10302838683128357, + -0.041194334626197815 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "secure grasp and lift fork", + "subtask_reasoning": "The robot has approached the orange fork and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The fork appears to be securely grasped, and the next step is to lift it slightly to confirm a stable hold before transporting it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35308563709259033, + 0.17446592450141907, + 0.06490842252969742, + -3.1235947608947754, + -0.09825116395950317, + -0.014097010716795921 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "food item": [ + 601, + 326, + 713, + 473 + ], + "metal pot": [ + 526, + 277, + 839, + 528 + ], + "toy microwave": [ + 316, + 3, + 676, + 191 + ], + "blue cabinet": [ + 2, + 556, + 329, + 992 + ], + "toy stove": [ + 685, + 126, + 996, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot has approached the orange fork and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The fork appears to be securely grasped, and the next step is to lift it slightly to confirm a stable hold before transporting it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35104238986968994, + 0.19285696744918823, + 0.06128400191664696, + -3.1075704097747803, + -0.08991153538227081, + 0.0034161771181970835 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot has approached the orange fork and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The fork appears to be securely grasped, and the next step is to lift it slightly to confirm a stable hold before transporting it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34635162353515625, + 0.2053169310092926, + 0.04937923699617386, + -3.093158721923828, + -0.05555076524615288, + 0.015896674245595932 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the orange fork above the table, having successfully lifted it from its initial position. The gripper is closed, and the fork is being transported leftward across the table surface. The next action is to continue moving the fork toward the left side of the table before releasing it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34201866388320923, + 0.21261811256408691, + 0.039328329265117645, + -3.070019483566284, + -0.01773136667907238, + 0.008103306405246258 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the orange fork above the table, having successfully lifted it from its initial position. The gripper is closed, and the fork is being transported leftward across the table surface. The next action is to continue moving the fork toward the left side of the table before releasing it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34072136878967285, + 0.2162943184375763, + 0.037780359387397766, + -3.047853946685791, + -0.0062670595943927765, + -0.005772402044385672 + ], + "gripper_value": 0.4503740966320038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the orange fork above the table, having successfully lifted it from its initial position. The gripper is closed, and the fork is being transported leftward across the table surface. The next action is to continue moving the fork toward the left side of the table before releasing it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33933225274086, + 0.21581415832042694, + 0.03715435415506363, + -3.043452501296997, + 0.0072015393525362015, + -0.03135222569108009 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The orange fork has been successfully placed on the left side of the table, as indicated by the gripper being open and the fork no longer in contact with the end-effector. The robot is now in a retreat phase, moving away from the fork to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3328121304512024, + 0.20562538504600525, + 0.0497015081346035, + -3.0358495712280273, + 0.02351699024438858, + -0.06153855100274086 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on fork" + }, + { + "id": 2, + "subtask": "secure grasp and lift fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The orange fork has been successfully placed on the left side of the table, as indicated by the gripper being open and the fork no longer in contact with the end-effector. The robot is now in a retreat phase, moving away from the fork to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003612_ecot.json b/cot/chunk-0003/episode_0003612_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1cfa434a45ff3089c0d6f211ce4c3b963f24e290 --- /dev/null +++ b/cot/chunk-0003/episode_0003612_ecot.json @@ -0,0 +1,2116 @@ +{ + "task_name": "episode_0003612", + "episode_json": "json/chunk-0003/episode_0003612.json", + "video_path": "videos/chunk-0003/image_0/episode_0003612.mp4", + "instruction": "Take the red object out of the pot and put it on the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003612.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.31290727853775024, + "std": 0.15095995366573334, + "delta_total": 0.0032911300659179688, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.31291, std=0.15096, total_delta=0.00329). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 21 + ], + [ + 2, + 22, + 25 + ], + [ + 3, + 26, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp red object in pot\", \"start\": 0, \"end\": 21, \"planning\": \"Move end-effector toward the red object inside the pot and close gripper to secure it based on observed gripper closure and motion trajectory.\"},\n {\"id\": 2, \"name\": \"lift and reposition over left burner\", \"start\": 22, \"end\": 25, \"planning\": \"Lift the grasped red object slightly and begin lateral movement toward the left burner while maintaining grip, as gripper remains closed and position shifts upward and leftward.\"},\n {\"id\": 3, \"name\": \"place red object on left burner and release\", \"start\": 26, \"end\": 34, \"planning\": \"Lower the red object onto the left burner surface and open gripper to release it, confirmed by final gripper opening and stable end-effector pose above target location.\"}\n ],\n \"global_plan\": \"Extract red object from pot using controlled grasp, transport it laterally and vertically to align with left burner, then place and release it precisely on the burner surface.\",\n \"notes\": \"Segment 1 shows meaningful gripper closure (delta=-0.30962) supporting 'grasp' wording; Segment 2 has no gripper change but motion indicates lifting/repositioning while holding; Segment 3 ends with gripper opening (delta=+0.26623) confirming release. All segments are contiguous and cover full timeline [0,34].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp red object in pot", + "start": 0, + "end": 21, + "planning": "Move end-effector toward the red object inside the pot and close gripper to secure it based on observed gripper closure and motion trajectory." + }, + { + "id": 2, + "name": "lift and reposition over left burner", + "start": 22, + "end": 25, + "planning": "Lift the grasped red object slightly and begin lateral movement toward the left burner while maintaining grip, as gripper remains closed and position shifts upward and leftward." + }, + { + "id": 3, + "name": "place red object on left burner and release", + "start": 26, + "end": 34, + "planning": "Lower the red object onto the left burner surface and open gripper to release it, confirmed by final gripper opening and stable end-effector pose above target location." + } + ], + "global_plan": "Extract red object from pot using controlled grasp, transport it laterally and vertically to align with left burner, then place and release it precisely on the burner surface.", + "notes": "Segment 1 shows meaningful gripper closure (delta=-0.30962) supporting 'grasp' wording; Segment 2 has no gripper change but motion indicates lifting/repositioning while holding; Segment 3 ends with gripper opening (delta=+0.26623) confirming release. All segments are contiguous and cover full timeline [0,34]." + } + }, + "episode_goal": "Grasp the red object inside the pot and place it on the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.251005083322525, + 0.19369156658649445, + 0.10739318281412125, + -2.9922189712524414, + -0.018516099080443382, + -0.4734111428260803 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24804170429706573, + 0.1919242888689041, + 0.09861356019973755, + -3.0200746059417725, + -0.007738255430012941, + -0.48042890429496765 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.1960984766483307, + 0.2142638862133026, + 0.09172189980745316, + -3.046088218688965, + -0.00015467543562408537, + -0.4896498918533325 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.14989785850048065, + 0.23367859423160553, + 0.09958584606647491, + -3.030820846557617, + -0.025066964328289032, + -0.5004590153694153 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 272, + 336, + 465, + 506 + ], + "toy microwave": [ + 205, + 2, + 615, + 279 + ], + "wooden box": [ + 203, + 227, + 896, + 960 + ], + "grey tape": [ + 379, + 811, + 596, + 991 + ], + "black handle": [ + 117, + 268, + 287, + 439 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.11500149220228195, + 0.25307193398475647, + 0.09972316771745682, + -3.024859666824341, + -0.03178197145462036, + -0.4808199405670166 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1016848236322403, + 0.2627555727958679, + 0.09165151417255402, + -3.0537941455841064, + -0.043942950665950775, + -0.45618295669555664 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1099492609500885, + 0.2633286714553833, + 0.09772679954767227, + -3.067399501800537, + -0.058262307196855545, + -0.4296641945838928 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1294354498386383, + 0.2557334303855896, + 0.09858201444149017, + -3.0830066204071045, + -0.06577799469232559, + -0.4218268394470215 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.14701014757156372, + 0.2490421086549759, + 0.0980755016207695, + -3.0651731491088867, + -0.05800316855311394, + -0.4320906400680542 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1509673148393631, + 0.23714125156402588, + 0.08107278496026993, + -3.0623719692230225, + -0.025899596512317657, + -0.45768532156944275 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The scene shows a toy kitchen with a closed pot; the red object is not yet visible or accessible. No progress has been made toward grasping the object. The next action should involve opening the pot or moving to a position where the red object can be seen and approached." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.15287312865257263, + 0.22511287033557892, + 0.06475615501403809, + -3.0534470081329346, + -0.00033647887175902724, + -0.47599998116493225 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The robot is positioned near the toy stove with the gripper open, approaching the red object inside the pot. No contact or grasp has occurred yet. The next action is to move the gripper closer and initiate a grasp on the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.15706956386566162, + 0.21669252216815948, + 0.05201878026127815, + -3.03010630607605, + 0.02135806530714035, + -0.48598426580429077 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The robot is positioned near the toy stove with the gripper open, approaching the red object inside the pot. No contact or grasp has occurred yet. The next action is to move the gripper closer and initiate a grasp on the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.16400663554668427, + 0.2140398472547531, + 0.04190824553370476, + -3.03027081489563, + 0.03787516802549362, + -0.4842955470085144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 273, + 334, + 465, + 507 + ], + "toy microwave": [ + 206, + 2, + 614, + 278 + ], + "grey tape": [ + 379, + 811, + 596, + 990 + ], + "wooden box": [ + 202, + 227, + 895, + 960 + ], + "black handle": [ + 118, + 268, + 287, + 439 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "approach and grasp red object in pot", + "subtask_reasoning": "The robot is positioned near the toy stove with the gripper open, approaching the red object inside the pot. No contact or grasp has occurred yet. 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The next action is to continue moving the object over the left burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26247668266296387, + 0.09422135353088379, + 0.1660650074481964, + -3.1307289600372314, + -0.20374344289302826, + -0.5682238340377808 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "place red object on left burner and release", + "subtask_reasoning": "The red object has been grasped and lifted from the pot, and the arm is now repositioning it laterally toward the left burner. The gripper remains closed with no further closing motion, indicating the object is already held. The next action is to continue moving the object over the left burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27477842569351196, + 0.07763330638408661, + 0.15949517488479614, + -3.099954605102539, + -0.1903921663761139, + -0.6121948957443237 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "place red object on left burner and release", + "subtask_reasoning": "The red object has been grasped and lifted from the pot, and the arm is now repositioning it laterally toward the left burner. The gripper remains closed with no further closing motion, indicating the object is already held. The next action is to continue moving the object over the left burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.279922753572464, + 0.06375287473201752, + 0.13117161393165588, + -3.135699510574341, + -0.1619664579629898, + -0.6289770007133484 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "place red object on left burner and release", + "subtask_reasoning": "The red object has been grasped and lifted from the pot, and the arm is now repositioning it laterally toward the left burner. The gripper remains closed with no further closing motion, indicating the object is already held. The next action is to continue moving the object over the left burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28533899784088135, + 0.05603497102856636, + 0.10858673602342606, + -3.129056215286255, + -0.13828407227993011, + -0.6502787470817566 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "place red object on left burner and release", + "subtask_reasoning": "The red object is currently held above the left burner, having been lifted and repositioned from the pot. The gripper remains closed, indicating the object is still grasped. The next action is to lower the object onto the burner surface and release it to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28834235668182373, + 0.0543343611061573, + 0.08021191507577896, + -3.1410021781921387, + -0.10915928333997726, + -0.6533345580101013 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "place red object on left burner and release", + "subtask_reasoning": "The red object is currently held above the left burner, having been lifted and repositioned from the pot. The gripper remains closed, indicating the object is still grasped. The next action is to lower the object onto the burner surface and release it to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869768440723419, + 0.05337582901120186, + 0.07439950853586197, + 3.138514757156372, + -0.11048611998558044, + -0.6617270112037659 + ], + "gripper_value": 0.7378748655319214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "place red object on left burner and release", + "subtask_reasoning": "The red object is currently held above the left burner, having been lifted and repositioned from the pot. The gripper remains closed, indicating the object is still grasped. The next action is to lower the object onto the burner surface and release it to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2777808904647827, + 0.0537213534116745, + 0.08655384927988052, + 3.1347174644470215, + -0.1285502165555954, + -0.6569899916648865 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "place red object on left burner and release", + "subtask_reasoning": "The red object is currently held above the left burner, having been lifted and repositioned from the pot. The gripper remains closed, indicating the object is still grasped. The next action is to lower the object onto the burner surface and release it to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26273036003112793, + 0.06305348128080368, + 0.1260218471288681, + -3.105803966522217, + -0.19675803184509277, + -0.6426937580108643 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 267, + 366, + 431, + 508 + ], + "wooden box": [ + 197, + 221, + 896, + 959 + ], + "toy microwave": [ + 205, + 2, + 614, + 285 + ], + "grey tape": [ + 379, + 810, + 597, + 990 + ], + "red object": [ + 350, + 287, + 453, + 437 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red object inside the pot and place it on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp red object in pot" + }, + { + "id": 2, + "subtask": "lift and reposition over left burner" + }, + { + "id": 3, + "subtask": "place red object on left burner and release" + } + ], + "subtask_name": "place red object on left burner and release", + "subtask_reasoning": "The red object is currently held above the left burner, having been lifted and repositioned from the pot. The gripper remains closed, indicating the object is still grasped. The next action is to lower the object onto the burner surface and release it to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003613_ecot.json b/cot/chunk-0003/episode_0003613_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..465390f947e8341d23c95c938caf000d6bf40cf6 --- /dev/null +++ b/cot/chunk-0003/episode_0003613_ecot.json @@ -0,0 +1,2090 @@ +{ + "task_name": "episode_0003613", + "episode_json": "json/chunk-0003/episode_0003613.json", + "video_path": "videos/chunk-0003/image_0/episode_0003613.mp4", + "instruction": "Open microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003613.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.7494556903839111, + "std": 0.2611020505428314, + "delta_total": 0.001993715763092041, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.74946, std=0.26110, total_delta=0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 16, + 16, + 116 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 10 + ], + [ + 3, + 11, + 15 + ], + [ + 4, + 16, + 27 + ], + [ + 5, + 28, + 29 + ], + [ + 6, + 30, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave handle\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector toward the microwave door handle without grasping, as gripper remains fully open and no closing is observed.\"},\n {\"id\": 2, \"name\": \"grasp microwave handle\", \"start\": 11, \"end\": 15, \"planning\": \"Close gripper around the microwave handle; segment shows meaningful gripper closure and images confirm contact with handle.\"},\n {\"id\": 3, \"name\": \"pull open microwave door\", \"start\": 16, \"end\": 27, \"planning\": \"Pull the microwave door open while maintaining grip; gripper remains closed and motion indicates door displacement.\"},\n {\"id\": 4, \"name\": \"release handle and retreat\", \"start\": 28, \"end\": 29, \"planning\": \"Open gripper to release the handle and begin retreating from the microwave; gripper value jumps to max indicating release.\"},\n {\"id\": 5, \"name\": \"final retreat position\", \"start\": 30, \"end\": 30, \"planning\": \"Complete retreat to safe position away from microwave; no gripper activity, motion confirms withdrawal.\"}\n ],\n \"global_plan\": \"Open microwave by approaching handle, grasping it, pulling door open, releasing handle, and retreating safely.\",\n \"notes\": \"Subtasks align with observed gripper behavior and motion segments. Grasping only applied where segment-level gripper closure and visual evidence agree (segments 3 and 4). Segments 1, 5, 6 show no gripper closure — described as approach/release/retreat accordingly.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave handle", + "start": 0, + "end": 10, + "planning": "Move the end-effector toward the microwave door handle without grasping, as gripper remains fully open and no closing is observed." + }, + { + "id": 2, + "name": "grasp microwave handle", + "start": 11, + "end": 15, + "planning": "Close gripper around the microwave handle; segment shows meaningful gripper closure and images confirm contact with handle." + }, + { + "id": 3, + "name": "pull open microwave door", + "start": 16, + "end": 27, + "planning": "Pull the microwave door open while maintaining grip; gripper remains closed and motion indicates door displacement." + }, + { + "id": 4, + "name": "release handle and retreat", + "start": 28, + "end": 29, + "planning": "Open gripper to release the handle and begin retreating from the microwave; gripper value jumps to max indicating release." + }, + { + "id": 5, + "name": "final retreat position", + "start": 30, + "end": 30, + "planning": "Complete retreat to safe position away from microwave; no gripper activity, motion confirms withdrawal." + } + ], + "global_plan": "Open microwave by approaching handle, grasping it, pulling door open, releasing handle, and retreating safely.", + "notes": "Subtasks align with observed gripper behavior and motion segments. Grasping only applied where segment-level gripper closure and visual evidence agree (segments 3 and 4). Segments 1, 5, 6 show no gripper closure — described as approach/release/retreat accordingly." + } + }, + "episode_goal": "Open the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.18437239527702332, + 0.01881224289536476, + 0.09661322087049484, + -3.0757088661193848, + -0.028619956225156784, + 0.1542387306690216 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and not yet in contact with the handle. No part of the subtask has been completed. The next action is to move the gripper closer to align with the microwave handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, tilt back 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.18380175530910492, + 0.016112318262457848, + 0.09321227669715881, + -3.0841610431671143, + -0.015656426548957825, + 0.15879042446613312 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and not yet in contact with the handle. No part of the subtask has been completed. The next action is to move the gripper closer to align with the microwave handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, tilt back 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20394012331962585, + -0.018823595717549324, + 0.09116347879171371, + 3.1322624683380127, + -0.045064300298690796, + 0.11219087243080139 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and not yet in contact with the handle. No part of the subtask has been completed. The next action is to move the gripper closer to align with the microwave handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 5 cm, move up 1 cm, tilt back 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22206836938858032, + -0.041748613119125366, + 0.09519442915916443, + 3.091435432434082, + -0.10660889744758606, + 0.06330033391714096 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 689, + 814, + 933, + 994 + ], + "sink": [ + 382, + 668, + 659, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and not yet in contact with the handle. No part of the subtask has been completed. The next action is to move the gripper closer to align with the microwave handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23508471250534058, + -0.06280435621738434, + 0.09472500532865524, + 3.073564052581787, + -0.10173970460891724, + 0.055868539959192276 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and not yet in contact with the handle. No part of the subtask has been completed. The next action is to move the gripper closer to align with the microwave handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 5 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2481401562690735, + -0.07840373367071152, + 0.09587055444717407, + 3.057176113128662, + -0.12036973983049393, + 0.061689503490924835 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave handle with the gripper open and no contact yet established. The subtask of approaching the handle is in progress, with the next action likely being to move closer and align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 7 cm, move left 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25822147727012634, + -0.08643429726362228, + 0.09799046069383621, + 3.04160475730896, + -0.1382731795310974, + 0.07140960544347763 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave handle with the gripper open and no contact yet established. The subtask of approaching the handle is in progress, with the next action likely being to move closer and align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 10 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697969973087311, + -0.08852575719356537, + 0.1009768471121788, + 3.058950424194336, + -0.17848746478557587, + 0.08580917865037918 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave handle with the gripper open and no contact yet established. The subtask of approaching the handle is in progress, with the next action likely being to move closer and align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, tilt back 10 degrees, close gripper; then move back 10 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28070399165153503, + -0.08004175126552582, + 0.10745210200548172, + 3.0746994018554688, + -0.2239712029695511, + 0.1212557777762413 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave handle with the gripper open and no contact yet established. The subtask of approaching the handle is in progress, with the next action likely being to move closer and align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt back 10 degrees, keep gripper closed; then move back 10 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 3 cm, move right 5 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870301306247711, + -0.07516971230506897, + 0.10895101726055145, + 3.0996196269989014, + -0.2682383060455322, + 0.1242389976978302 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave handle with the gripper open and no contact yet established. The subtask of approaching the handle is in progress, with the next action likely being to move closer and align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 10 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 3 cm, move right 9 cm, move down 2 cm, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2909141480922699, + -0.07551564276218414, + 0.10965905338525772, + 3.0974819660186768, + -0.2929908335208893, + 0.12350165098905563 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave handle with the gripper open and no contact yet established. The subtask of approaching the handle is in progress, with the next action likely being to move closer and align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 12 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29281947016716003, + -0.07313608378171921, + 0.1058724969625473, + 3.0939781665802, + -0.3153335750102997, + 0.11595134437084198 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave handle with the gripper open and no contact yet established. The subtask of approaching the handle is in progress, with the next action likely being to move closer and align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move right 12 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2894492447376251, + -0.07304534316062927, + 0.10468852519989014, + 3.0884101390838623, + -0.3243846893310547, + 0.11204203963279724 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave handle with the gripper open and no contact yet established. The subtask of approaching the handle is in progress, with the next action likely being to move closer and align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 5 cm, move right 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27168190479278564, + -0.06902514398097992, + 0.1044403687119484, + 3.091156005859375, + -0.3067561089992523, + 0.09298896789550781 + ], + "gripper_value": 0.27019456028938293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot end-effector is positioned near the microwave handle, having completed the approach phase. The gripper is currently open and in contact or very close proximity to the handle, preparing to initiate the grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move forward 6 cm, move right 7 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24025455117225647, + -0.06270703673362732, + 0.10490939021110535, + 3.0929791927337646, + -0.2599860727787018, + 0.05917101353406906 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 689, + 814, + 944, + 995 + ], + "sink": [ + 382, + 668, + 658, + 987 + ], + "faucet": [ + 232, + 520, + 368, + 799 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot end-effector is positioned near the microwave handle, having completed the approach phase. The gripper is currently open and in contact or very close proximity to the handle, preparing to initiate the grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 6 cm, move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21838152408599854, + -0.05253591015934944, + 0.10624989122152328, + 3.092859983444214, + -0.21586288511753082, + 0.03048207052052021 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot end-effector is positioned near the microwave handle, having completed the approach phase. The gripper is currently open and in contact or very close proximity to the handle, preparing to initiate the grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19675785303115845, + -0.04565366730093956, + 0.11120256781578064, + 3.076369285583496, + -0.11539627611637115, + 0.009616653434932232 + ], + "gripper_value": 0.6049063205718994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The robot end-effector is positioned near the microwave handle, having completed the approach phase. The gripper is currently open and in contact or very close proximity to the handle, preparing to initiate the grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.17588767409324646, + -0.06420255452394485, + 0.10647968202829361, + 3.103996753692627, + 0.06266070902347565, + 0.0005361918592825532 + ], + "gripper_value": 0.8939508199691772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The robot end-effector is positioned near the microwave handle, having completed the approach phase. The gripper is currently open and in contact or very close proximity to the handle, preparing to initiate the grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.162204772233963, + -0.09582015872001648, + 0.10253036767244339, + 3.099205732345581, + 0.13777132332324982, + -0.036523785442113876 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The robot end-effector is positioned near the microwave handle, having completed the approach phase. The gripper is currently open and in contact or very close proximity to the handle, preparing to initiate the grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.16454453766345978, + -0.13729414343833923, + 0.09602923691272736, + 3.049328088760376, + 0.16848286986351013, + -0.08671987056732178 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The robot end-effector is positioned near the microwave handle, having completed the approach phase. The gripper is currently open and in contact or very close proximity to the handle, preparing to initiate the grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.18519099056720734, + -0.163845032453537, + 0.09466597437858582, + 3.026406764984131, + 0.11173361539840698, + -0.08079096674919128 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The robot end-effector is positioned near the microwave handle, having completed the approach phase. The gripper is currently open and in contact or very close proximity to the handle, preparing to initiate the grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21823197603225708, + -0.16713784635066986, + 0.10332133620977402, + 3.0225679874420166, + -0.01219942420721054, + -0.06165694072842598 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The microwave door is partially open, and the gripper is in contact with the handle. The door has been pulled open slightly, but further motion is needed to fully open it. The next action should continue pulling the door open while maintaining grip on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 17 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24361565709114075, + -0.14954721927642822, + 0.10738503187894821, + 3.005211353302002, + -0.04183626547455788, + 0.006654412019997835 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The microwave door is partially open, and the gripper is in contact with the handle. The door has been pulled open slightly, but further motion is needed to fully open it. The next action should continue pulling the door open while maintaining grip on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2604379951953888, + -0.12063565105199814, + 0.10577095299959183, + 3.023317337036133, + -0.06740810722112656, + 0.05929464101791382 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The microwave door is partially open, and the gripper is in contact with the handle. The door has been pulled open slightly, but further motion is needed to fully open it. The next action should continue pulling the door open while maintaining grip on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2604401111602783, + -0.08746654540300369, + 0.0980752483010292, + 3.047245502471924, + -0.035861216485500336, + 0.08855592459440231 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The microwave door is partially open, and the gripper is in contact with the handle. The door has been pulled open slightly, but further motion is needed to fully open it. The next action should continue pulling the door open while maintaining grip on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24798335134983063, + -0.06867538392543793, + 0.09625844657421112, + 3.062368392944336, + -0.041625525802373886, + 0.08153752982616425 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The microwave door is partially open, and the gripper is in contact with the handle. The door has been pulled open slightly, but further motion is needed to fully open it. The next action should continue pulling the door open while maintaining grip on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.225108340382576, + -0.05221869423985481, + 0.09439023584127426, + 3.1107687950134277, + -0.03332977369427681, + 0.041165485978126526 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The microwave door is partially open, and the gripper is in contact with the handle. The door has been pulled open slightly, but further motion is needed to fully open it. The next action should continue pulling the door open while maintaining grip on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 1 cm, keep gripper open; then move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.19938325881958008, + -0.025834549218416214, + 0.10172047466039658, + 3.136828899383545, + -0.028753727674484253, + 0.035350047051906586 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 688, + 812, + 943, + 994 + ], + "sink": [ + 382, + 669, + 658, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "pull open microwave door", + "subtask_reasoning": "The microwave door is partially open, and the gripper is in contact with the handle. The door has been pulled open slightly, but further motion is needed to fully open it. The next action should continue pulling the door open while maintaining grip on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, keep gripper open; then move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.18227173388004303, + 0.0004297148552723229, + 0.10469736158847809, + -3.121976137161255, + -0.056270748376846313, + 0.027743911370635033 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The microwave door is open, and the gripper is fully open (value=1.0), indicating the handle has been released. The robot is positioned near the microwave, having completed the opening action. The next step is to retreat safely away from the microwave to avoid obstruction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.1710289567708969, + 0.018080104142427444, + 0.10443858057260513, + -3.107123613357544, + -0.08465668559074402, + -0.016453199088573456 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The microwave door is open, and the gripper is fully open (value=1.0), indicating the handle has been released. The robot is positioned near the microwave, having completed the opening action. The next step is to retreat safely away from the microwave to avoid obstruction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.17074964940547943, + 0.0006342811393551528, + 0.10829398036003113, + 3.099309206008911, + -0.028996462002396584, + -0.013904795981943607 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull open microwave door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "final retreat position" + } + ], + "subtask_name": "final retreat position", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle to a safe retreat position. The gripper is fully open, indicating no contact with the appliance. The subtask is complete as the robot has successfully retreated after opening the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003614_ecot.json b/cot/chunk-0003/episode_0003614_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8159ac99bb6d1dabff20b7807ddce20e5e89d96c --- /dev/null +++ b/cot/chunk-0003/episode_0003614_ecot.json @@ -0,0 +1,1298 @@ +{ + "task_name": "episode_0003614", + "episode_json": "json/chunk-0003/episode_0003614.json", + "video_path": "videos/chunk-0003/image_0/episode_0003614.mp4", + "instruction": "Put potato in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003614.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.3637675642967224, + "std": 0.17198151350021362, + "delta_total": -0.3637675642967224, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36377, std=0.17198, total_delta=-0.36377). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the potato in the drawer while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp potato\", \"start\": 7, \"end\": 15, \"planning\": \"Close gripper around potato and secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport potato\", \"start\": 16, \"end\": 17, \"planning\": \"Lift potato from drawer and begin moving toward pot while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release potato into pot\", \"start\": 18, \"end\": 19, \"planning\": \"Position potato over pot and release it by opening gripper, completing placement.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, and place potato into pot using coordinated motion and gripper control across four phases.\",\n \"notes\": \"Segment 1 shows meaningful gripper closure (delta=-0.36) consistent with grasping; Segment 2 has no gripper change but images confirm release into pot — wording adjusted to reflect observed mechanics without hallucinating new grasps.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the potato in the drawer while keeping gripper open." + }, + { + "id": 2, + "name": "grasp potato", + "start": 7, + "end": 15, + "planning": "Close gripper around potato and secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport potato", + "start": 16, + "end": 17, + "planning": "Lift potato from drawer and begin moving toward pot while maintaining grip." + }, + { + "id": 4, + "name": "release potato into pot", + "start": 18, + "end": 19, + "planning": "Position potato over pot and release it by opening gripper, completing placement." + } + ], + "global_plan": "Approach, grasp, lift, and place potato into pot using coordinated motion and gripper control across four phases.", + "notes": "Segment 1 shows meaningful gripper closure (delta=-0.36) consistent with grasping; Segment 2 has no gripper change but images confirm release into pot — wording adjusted to reflect observed mechanics without hallucinating new grasps." + } + }, + "episode_goal": "Pick up the potato from the drawer and place it into the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149372935295105, + -0.062438394874334335, + -0.0006227968842722476, + 3.139603853225708, + -0.2083444595336914, + -0.09952475130558014 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the potato, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the robot is in initial approach phase. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31138306856155396, + -0.06316764652729034, + -0.017763443291187286, + 3.119837760925293, + -0.1920759677886963, + -0.09352131932973862 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the potato, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the robot is in initial approach phase. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3129469156265259, + -0.06443122029304504, + -0.03301707282662392, + 3.089099884033203, + -0.22229762375354767, + -0.08299114555120468 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the potato, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the robot is in initial approach phase. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31390151381492615, + -0.06542010605335236, + -0.046604838222265244, + 3.0688488483428955, + -0.24724788963794708, + -0.07616139948368073 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the potato visible inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm and close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31465616822242737, + -0.06285186856985092, + -0.05877651274204254, + 3.0561258792877197, + -0.25134003162384033, + -0.07939960807561874 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the potato visible inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm and close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149770498275757, + -0.05625571683049202, + -0.067330501973629, + 3.0522055625915527, + -0.2510063350200653, + -0.0822160467505455 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the potato visible inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm and close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31792494654655457, + -0.05131054297089577, + -0.07346787303686142, + 3.0440497398376465, + -0.26391294598579407, + -0.08130398392677307 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the potato visible inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm and close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move up 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32151347398757935, + -0.04880845546722412, + -0.08124163746833801, + 3.0271592140197754, + -0.27620700001716614, + -0.08389618247747421 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the potato visible inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm and close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 7 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3295021951198578, + -0.04754099249839783, + -0.08561015874147415, + 3.0105252265930176, + -0.2898968458175659, + -0.08890374004840851 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the potato visible inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm and close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 8 cm, tilt left 10 degrees, close gripper; then move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3335517644882202, + -0.04738188907504082, + -0.08464691787958145, + 3.011539936065674, + -0.2854733467102051, + -0.10213558375835419 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 869, + 407, + 965, + 535 + ], + "toy carrot": [ + 133, + 86, + 393, + 221 + ], + "wooden cutting board": [ + 72, + 31, + 509, + 614 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the potato visible inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm and close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 8 cm, tilt left 10 degrees, close gripper; then move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33100175857543945, + -0.044774129986763, + -0.08618299663066864, + 3.0258021354675293, + -0.2796802818775177, + -0.09886840730905533 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the potato visible inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm and close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 8 cm, tilt left 10 degrees, close gripper; then move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33248692750930786, + -0.044111695140600204, + -0.08581313490867615, + 3.0194482803344727, + -0.30822789669036865, + -0.08734066039323807 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato in the open drawer and is now positioned directly above it. The gripper is open and ready to close around the potato. The next action is to close the gripper to grasp the potato securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33611181378364563, + -0.043749503791332245, + -0.08569291234016418, + 3.014508008956909, + -0.32902172207832336, + -0.08492792397737503 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato in the open drawer and is now positioned directly above it. The gripper is open and ready to close around the potato. The next action is to close the gripper to grasp the potato securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3365853428840637, + -0.04234305024147034, + -0.08566799759864807, + 3.0214767456054688, + -0.32560330629348755, + -0.0783272460103035 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato in the open drawer and is now positioned directly above it. The gripper is open and ready to close around the potato. The next action is to close the gripper to grasp the potato securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31999844312667847, + -0.04745864123106003, + -0.08209473639726639, + 3.0344128608703613, + -0.2529999017715454, + -0.048848021775484085 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato in the open drawer and is now positioned directly above it. The gripper is open and ready to close around the potato. The next action is to close the gripper to grasp the potato securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31223273277282715, + -0.050792399793863297, + -0.051150593906641006, + 3.0939488410949707, + -0.2285376489162445, + -0.03734155744314194 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato in the open drawer and is now positioned directly above it. The gripper is open and ready to close around the potato. The next action is to close the gripper to grasp the potato securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30638977885246277, + -0.04889645799994469, + -0.0065104844979941845, + -3.0673983097076416, + -0.21268677711486816, + -0.03538331389427185 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 784, + 667, + 995, + 994 + ], + "wooden cutting board": [ + 2, + 19, + 524, + 611 + ], + "green sponge": [ + 868, + 405, + 964, + 535 + ], + "toy carrot": [ + 131, + 86, + 392, + 221 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato from the drawer. It is currently lifting the potato and moving it towards the metal pot. The next action is to continue transporting the potato over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3182654082775116, + -0.04869977384805679, + 0.03284965828061104, + -2.968303918838501, + -0.23176681995391846, + -0.054390452802181244 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato from the drawer. It is currently lifting the potato and moving it towards the metal pot. The next action is to continue transporting the potato over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33711355924606323, + -0.04577966034412384, + 0.05730448290705681, + -2.9021897315979004, + -0.23938430845737457, + -0.10918213427066803 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "release potato into pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the potato held in the gripper. The approach and grasp phases are complete, and the arm has moved the potato over the target container. Since the gripper signal is stable and not closing, the next action is to open the gripper to drop the potato into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608447015285492, + -0.03574738651514053, + 0.07946129888296127, + -2.8783252239227295, + -0.26418811082839966, + -0.1842685043811798 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the drawer and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato into pot" + } + ], + "subtask_name": "release potato into pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the potato held in the gripper. The approach and grasp phases are complete, and the arm has moved the potato over the target container. Since the gripper signal is stable and not closing, the next action is to open the gripper to drop the potato into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003615_ecot.json b/cot/chunk-0003/episode_0003615_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b7de8f053c59e315aed7932f8530e056c2040e76 --- /dev/null +++ b/cot/chunk-0003/episode_0003615_ecot.json @@ -0,0 +1,3511 @@ +{ + "task_name": "episode_0003615", + "episode_json": "json/chunk-0003/episode_0003615.json", + "video_path": "videos/chunk-0003/image_0/episode_0003615.mp4", + "instruction": "Moved the can on the bottom right side of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 49, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003615.json" + }, + "fps": 5.0, + "T_eff": 49, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 5.960464477539063e-08, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 16 + ], + [ + 3, + 17, + 24 + ], + [ + 4, + 25, + 31 + ], + [ + 5, + 32, + 40 + ], + [ + 6, + 41, + 48 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach right can\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the can on the bottom right side of the burner without grasping.\"},\n {\"id\": 2, \"name\": \"reposition near can\", \"start\": 7, \"end\": 16, \"planning\": \"Adjust position and orientation to align with the target can for contact-based manipulation.\"},\n {\"id\": 3, \"name\": \"nudge can into place\", \"start\": 17, \"end\": 24, \"planning\": \"Apply gentle contact to slide or nudge the can toward its final position on the burner.\"},\n {\"id\": 4, \"name\": \"fine-tune can position\", \"start\": 25, \"end\": 31, \"planning\": \"Make small adjustments via contact to settle the can precisely at the bottom right of the burner.\"},\n {\"id\": 5, \"name\": \"verify placement\", \"start\": 32, \"end\": 40, \"planning\": \"Hold position briefly to confirm the can is stable and correctly placed without further motion.\"},\n {\"id\": 6, \"name\": \"retreat from scene\", \"start\": 41, \"end\": 48, \"planning\": \"Withdraw end-effector away from the burner area after completing the placement task.\"}\n ],\n \"global_plan\": \"Manipulate the can on the bottom right of the burner using contact-based nudging and sliding motions without grasping, followed by verification and retreat.\",\n \"notes\": \"Gripper remains fully open throughout; no grasp/lift/place actions inferred. All subtasks use contact-based verbs consistent with segment-level gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach right can", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the can on the bottom right side of the burner without grasping." + }, + { + "id": 2, + "name": "reposition near can", + "start": 7, + "end": 16, + "planning": "Adjust position and orientation to align with the target can for contact-based manipulation." + }, + { + "id": 3, + "name": "nudge can into place", + "start": 17, + "end": 24, + "planning": "Apply gentle contact to slide or nudge the can toward its final position on the burner." + }, + { + "id": 4, + "name": "fine-tune can position", + "start": 25, + "end": 31, + "planning": "Make small adjustments via contact to settle the can precisely at the bottom right of the burner." + }, + { + "id": 5, + "name": "verify placement", + "start": 32, + "end": 40, + "planning": "Hold position briefly to confirm the can is stable and correctly placed without further motion." + }, + { + "id": 6, + "name": "retreat from scene", + "start": 41, + "end": 48, + "planning": "Withdraw end-effector away from the burner area after completing the placement task." + } + ], + "global_plan": "Manipulate the can on the bottom right of the burner using contact-based nudging and sliding motions without grasping, followed by verification and retreat.", + "notes": "Gripper remains fully open throughout; no grasp/lift/place actions inferred. All subtasks use contact-based verbs consistent with segment-level gripper evidence." + } + }, + "episode_goal": "Move the can to the bottom right side of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657286524772644, + -0.0722380131483078, + 0.10306704044342041, + -3.0710389614105225, + -0.23571772873401642, + 0.06338661909103394 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach right can", + "subtask_reasoning": "The robot is positioned above the stove with the right can visible on the burner's bottom right side. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating contact-based manipulation will follow. The next action should be moving the end-effector closer to the right can for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2635630965232849, + -0.07155270129442215, + 0.09552589058876038, + -3.0599093437194824, + -0.21466296911239624, + 0.06315012276172638 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach right can", + "subtask_reasoning": "The robot is positioned above the stove with the right can visible on the burner's bottom right side. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating contact-based manipulation will follow. The next action should be moving the end-effector closer to the right can for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27362245321273804, + -0.08028754591941833, + 0.09932298213243484, + -3.026735544204712, + -0.2980616092681885, + -0.025653032585978508 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach right can", + "subtask_reasoning": "The robot is positioned above the stove with the right can visible on the burner's bottom right side. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating contact-based manipulation will follow. The next action should be moving the end-effector closer to the right can for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28542059659957886, + -0.08824045211076736, + 0.1028658002614975, + -2.992785692214966, + -0.3562638759613037, + -0.12932810187339783 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 334, + 111, + 593, + 313 + ], + "white cloth": [ + 373, + 214, + 801, + 680 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach right can", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the can on the right side of the burner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 6 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2966673672199249, + -0.09234060347080231, + 0.11023629456758499, + -2.992135524749756, + -0.4336763024330139, + -0.19874334335327148 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach right can", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the can on the right side of the burner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 5 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3055431842803955, + -0.1014900729060173, + 0.13185931742191315, + -3.056976556777954, + -0.5558568239212036, + -0.223733589053154 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach right can", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the can on the right side of the burner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31339091062545776, + -0.1074008047580719, + 0.14089788496494293, + -3.080838203430176, + -0.6243047714233398, + -0.226847842335701 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach right can", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the can on the right side of the burner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 7 cm, move right 5 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32585251331329346, + -0.11754317581653595, + 0.15482734143733978, + -3.0837976932525635, + -0.6759627461433411, + -0.22366030514240265 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the can on the right side of the burner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3379722237586975, + -0.12663699686527252, + 0.1554582417011261, + -3.0639171600341797, + -0.715117871761322, + -0.231990247964859 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the can on the right side of the burner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3497523069381714, + -0.13649238646030426, + 0.155362069606781, + -3.064152240753174, + -0.747346818447113, + -0.2100881189107895 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the can on the right side of the burner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36147353053092957, + -0.1459851861000061, + 0.15254555642604828, + -3.0246591567993164, + -0.7765013575553894, + -0.2502272427082062 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 334, + 110, + 613, + 312 + ], + "black cable": [ + 3, + 785, + 194, + 995 + ], + "blue can": [ + 815, + 221, + 995, + 570 + ], + "white cloth": [ + 373, + 193, + 842, + 679 + ], + "yellow polka dot": [ + 155, + 269, + 336, + 535 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the can on the right side of the burner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3711376488208771, + -0.1522955745458603, + 0.14799430966377258, + -2.980376958847046, + -0.79073166847229, + -0.2871726453304291 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.378313273191452, + -0.15839675068855286, + 0.14605793356895447, + -2.961965799331665, + -0.8092253804206848, + -0.3125095069408417 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38371407985687256, + -0.16219526529312134, + 0.14386871457099915, + -2.9753305912017822, + -0.8149029016494751, + -0.3050766885280609 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3932947516441345, + -0.1664445847272873, + 0.1398812085390091, + -2.993962049484253, + -0.8053854703903198, + -0.29892075061798096 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39805319905281067, + -0.16771693527698517, + 0.13231170177459717, + -3.0153770446777344, + -0.7846753597259521, + -0.2709667980670929 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4002080261707306, + -0.16842778027057648, + 0.12603558599948883, + -3.036710262298584, + -0.7370454668998718, + -0.22136913239955902 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39913636445999146, + -0.16928403079509735, + 0.12546232342720032, + -3.0287835597991943, + -0.69333416223526, + -0.19211627542972565 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge can into place", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.39911773800849915, + -0.16641904413700104, + 0.12264663726091385, + -3.040407180786133, + -0.6601538062095642, + -0.12784278392791748 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge can into place", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39633235335350037, + -0.1675167679786682, + 0.12136901170015335, + -3.074323892593384, + -0.6277894973754883, + -0.08412972092628479 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge can into place", + "subtask_reasoning": "The robot is positioned near the right can on the stovetop, with the gripper open and no grasp detected. The can remains stationary, indicating contact-based repositioning has not yet begun. The next action should involve nudging or sliding the can toward the bottom right of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3934418559074402, + -0.16656193137168884, + 0.11512520909309387, + -3.1118342876434326, + -0.6010997295379639, + -0.05961974337697029 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge can into place", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right side of the stove, with the gripper remaining open as per the contact-based nudging plan. The can has not yet been moved to the target bottom-right position relative to the burner. The next action should involve a gentle push or slide to nudge the can into the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3884339928627014, + -0.16327376663684845, + 0.1075965166091919, + -3.1024773120880127, + -0.5815797448158264, + -0.05633123591542244 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge can into place", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right side of the stove, with the gripper remaining open as per the contact-based nudging plan. The can has not yet been moved to the target bottom-right position relative to the burner. The next action should involve a gentle push or slide to nudge the can into the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3846585154533386, + -0.16352950036525726, + 0.10357308387756348, + -3.1081454753875732, + -0.5595352649688721, + -0.05590849742293358 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge can into place", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right side of the stove, with the gripper remaining open as per the contact-based nudging plan. The can has not yet been moved to the target bottom-right position relative to the burner. The next action should involve a gentle push or slide to nudge the can into the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37574055790901184, + -0.16251586377620697, + 0.10006770491600037, + -3.1189992427825928, + -0.5307199954986572, + -0.0582430362701416 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge can into place", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right side of the stove, with the gripper remaining open as per the contact-based nudging plan. The can has not yet been moved to the target bottom-right position relative to the burner. The next action should involve a gentle push or slide to nudge the can into the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37100479006767273, + -0.1603861153125763, + 0.10848776996135712, + -3.123957872390747, + -0.5376609563827515, + -0.08049441874027252 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge can into place", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right side of the stove, with the gripper remaining open as per the contact-based nudging plan. The can has not yet been moved to the target bottom-right position relative to the burner. The next action should involve a gentle push or slide to nudge the can into the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3640683889389038, + -0.15327909588813782, + 0.10601678490638733, + -3.117816209793091, + -0.49506038427352905, + -0.16037039458751678 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 333, + 111, + 613, + 311 + ], + "black cable": [ + 3, + 788, + 194, + 995 + ], + "white cloth": [ + 373, + 191, + 843, + 679 + ], + "blue can": [ + 826, + 278, + 995, + 619 + ], + "knob": [ + 175, + 696, + 271, + 812 + ], + "yellow polka dot": [ + 155, + 268, + 337, + 535 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "fine-tune can position", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right side of the stove, with the gripper remaining open as per the contact-based nudging plan. The can has not yet been moved to the target bottom-right position relative to the burner. The next action should involve a gentle push or slide to nudge the can into the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3560338020324707, + -0.1524108648300171, + 0.11198140680789948, + -3.132176399230957, + -0.48479393124580383, + -0.218327134847641 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "fine-tune can position", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right side of the stove, with the gripper remaining open as per the contact-based nudging plan. The can has not yet been moved to the target bottom-right position relative to the burner. The next action should involve a gentle push or slide to nudge the can into the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35250595211982727, + -0.15017038583755493, + 0.11058983951807022, + -3.109985828399658, + -0.45785143971443176, + -0.24892061948776245 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "fine-tune can position", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right side of the stove, with the gripper remaining open as per the contact-based nudging plan. The can has not yet been moved to the target bottom-right position relative to the burner. The next action should involve a gentle push or slide to nudge the can into the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3512249290943146, + -0.1536339968442917, + 0.11171501129865646, + -3.1031494140625, + -0.45830750465393066, + -0.25469619035720825 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "fine-tune can position", + "subtask_reasoning": "The can is already positioned near the bottom right of the burner, with the end-effector in close proximity and no gripper closure detected. The current subtask involves minor adjustments via contact-based nudging to finalize placement. Next, a small push or slide motion is likely needed to align the can precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3554851710796356, + -0.16023941338062286, + 0.10942433029413223, + -3.1136388778686523, + -0.4385835528373718, + -0.2666543126106262 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "fine-tune can position", + "subtask_reasoning": "The can is already positioned near the bottom right of the burner, with the end-effector in close proximity and no gripper closure detected. The current subtask involves minor adjustments via contact-based nudging to finalize placement. Next, a small push or slide motion is likely needed to align the can precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3519485592842102, + -0.16442032158374786, + 0.10724825412034988, + -3.108458995819092, + -0.42035973072052, + -0.33200007677078247 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "fine-tune can position", + "subtask_reasoning": "The can is already positioned near the bottom right of the burner, with the end-effector in close proximity and no gripper closure detected. The current subtask involves minor adjustments via contact-based nudging to finalize placement. Next, a small push or slide motion is likely needed to align the can precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 7 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436352610588074, + -0.16819868981838226, + 0.1043742224574089, + -3.1157679557800293, + -0.37399402260780334, + -0.42030057311058044 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "fine-tune can position", + "subtask_reasoning": "The can is already positioned near the bottom right of the burner, with the end-effector in close proximity and no gripper closure detected. The current subtask involves minor adjustments via contact-based nudging to finalize placement. Next, a small push or slide motion is likely needed to align the can precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 8 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341384530067444, + -0.16685432195663452, + 0.09414853900671005, + -3.110595941543579, + -0.33863797783851624, + -0.4622049629688263 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is already positioned near the bottom right of the burner, with the end-effector in close proximity and no gripper closure detected. The current subtask involves minor adjustments via contact-based nudging to finalize placement. Next, a small push or slide motion is likely needed to align the can precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32551389932632446, + -0.1730222851037979, + 0.08926787972450256, + -3.101227045059204, + -0.32094502449035645, + -0.513796329498291 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is already positioned near the bottom right of the burner, with the end-effector in close proximity and no gripper closure detected. The current subtask involves minor adjustments via contact-based nudging to finalize placement. Next, a small push or slide motion is likely needed to align the can precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181239068508148, + -0.17354433238506317, + 0.08880497515201569, + -3.1060028076171875, + -0.31736844778060913, + -0.5315411686897278 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is already positioned near the bottom right of the burner, with the end-effector in close proximity and no gripper closure detected. The current subtask involves minor adjustments via contact-based nudging to finalize placement. Next, a small push or slide motion is likely needed to align the can precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142174482345581, + -0.17640449106693268, + 0.08753396570682526, + -3.1036460399627686, + -0.3094199299812317, + -0.5517171025276184 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is already positioned near the bottom right of the burner, with the end-effector in close proximity and no gripper closure detected. The current subtask involves minor adjustments via contact-based nudging to finalize placement. Next, a small push or slide motion is likely needed to align the can precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063108026981354, + -0.17637886106967926, + 0.08740931749343872, + -3.1067306995391846, + -0.30004796385765076, + -0.5659140944480896 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 334, + 110, + 613, + 311 + ], + "knob": [ + 174, + 696, + 271, + 813 + ], + "blue can": [ + 809, + 365, + 995, + 738 + ], + "yellow polka dot": [ + 154, + 268, + 336, + 534 + ], + "white cloth": [ + 374, + 202, + 842, + 679 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is positioned on the bottom right side of the burner, and the robot's end-effector is hovering nearby with an open gripper. The placement appears correct relative to the stove and other objects. The next action is to retreat the arm to complete the verification step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969328463077545, + -0.1779162436723709, + 0.08554110676050186, + -3.102508068084717, + -0.27135175466537476, + -0.5749672055244446 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is positioned on the bottom right side of the burner, and the robot's end-effector is hovering nearby with an open gripper. The placement appears correct relative to the stove and other objects. The next action is to retreat the arm to complete the verification step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2873772382736206, + -0.18011219799518585, + 0.08484350144863129, + -3.100536823272705, + -0.23817941546440125, + -0.5849661231040955 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is positioned on the bottom right side of the burner, and the robot's end-effector is hovering nearby with an open gripper. The placement appears correct relative to the stove and other objects. The next action is to retreat the arm to complete the verification step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 5 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.27788153290748596, + -0.17925266921520233, + 0.08496788144111633, + -3.083632469177246, + -0.23041118681430817, + -0.5954877138137817 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is positioned on the bottom right side of the burner, and the robot's end-effector is hovering nearby with an open gripper. The placement appears correct relative to the stove and other objects. The next action is to retreat the arm to complete the verification step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 5 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658448815345764, + -0.17571400105953217, + 0.08310314267873764, + -3.0733468532562256, + -0.18120762705802917, + -0.5843907594680786 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "verify placement", + "subtask_reasoning": "The can is positioned on the bottom right side of the burner, and the robot's end-effector is hovering nearby with an open gripper. The placement appears correct relative to the stove and other objects. The next action is to retreat the arm to complete the verification step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move forward 5 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2501275837421417, + -0.17173005640506744, + 0.07373741269111633, + -3.054715871810913, + -0.10839614272117615, + -0.5887643694877625 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 335, + 110, + 608, + 312 + ], + "white cloth": [ + 374, + 201, + 843, + 678 + ], + "knob": [ + 175, + 697, + 272, + 812 + ], + "white appliance": [ + 97, + 616, + 681, + 995 + ], + "yellow polka dot": [ + 154, + 267, + 336, + 534 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The can is positioned on the bottom right side of the burner, and the robot's end-effector is hovering nearby with an open gripper. The placement appears correct relative to the stove and other objects. The next action is to retreat the arm to complete the verification step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 48 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.247516468167305, + -0.17011521756649017, + 0.07229135185480118, + -3.0478930473327637, + -0.0948781669139862, + -0.5832874774932861 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The can is positioned on the bottom right side of the burner, and the robot's end-effector is hovering nearby with an open gripper. The placement appears correct relative to the stove and other objects. The next action is to retreat the arm to complete the verification step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.24218560755252838, + -0.16516239941120148, + 0.06787039339542389, + -3.041496992111206, + -0.06770873069763184, + -0.5853492021560669 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The can is positioned on the bottom right side of the burner, and the robot's end-effector is hovering nearby with an open gripper. The placement appears correct relative to the stove and other objects. The next action is to retreat the arm to complete the verification step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2469986230134964, + -0.16521203517913818, + 0.07068027555942535, + -3.040813446044922, + -0.08229431509971619, + -0.5849347710609436 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The can has been successfully moved to the bottom right side of the burner. The robot is currently retreating from the scene with an open gripper, maintaining distance from the objects after completing the manipulation task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 41, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.26034075021743774, + -0.16753046214580536, + 0.07423974573612213, + -3.02610445022583, + -0.15378880500793457, + -0.5799118280410767 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The can has been successfully moved to the bottom right side of the burner. The robot is currently retreating from the scene with an open gripper, maintaining distance from the objects after completing the manipulation task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.27869558334350586, + -0.16374719142913818, + 0.07914401590824127, + -2.973381519317627, + -0.2625514268875122, + -0.4514886140823364 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The can has been successfully moved to the bottom right side of the burner. The robot is currently retreating from the scene with an open gripper, maintaining distance from the objects after completing the manipulation task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.2917177081108093, + -0.15250147879123688, + 0.09653379023075104, + -2.931173086166382, + -0.2908687889575958, + -0.3040598928928375 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The can has been successfully moved to the bottom right side of the burner. The robot is currently retreating from the scene with an open gripper, maintaining distance from the objects after completing the manipulation task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2993879020214081, + -0.12490156292915344, + 0.09644953161478043, + -2.916637420654297, + -0.32671234011650085, + -0.13320985436439514 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the bottom right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "nudge can into place" + }, + { + "id": 4, + "subtask": "fine-tune can position" + }, + { + "id": 5, + "subtask": "verify placement" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The can has been successfully moved to the bottom right side of the burner. The robot is currently retreating from the scene with an open gripper, maintaining distance from the objects after completing the manipulation task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 48 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003616_ecot.json b/cot/chunk-0003/episode_0003616_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a31f9e31b74ca708b548bb17ec2f77047a12ec73 --- /dev/null +++ b/cot/chunk-0003/episode_0003616_ecot.json @@ -0,0 +1,2582 @@ +{ + "task_name": "episode_0003616", + "episode_json": "json/chunk-0003/episode_0003616.json", + "video_path": "videos/chunk-0003/image_0/episode_0003616.mp4", + "instruction": "Remove the white cube from the blue cube and placed it on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003616.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.4089168310165405, + "std": 0.19105742871761322, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40892, std=0.19106, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 21 + ], + [ + 3, + 22, + 26 + ], + [ + 4, + 27, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach white cube\", \"start\": 0, \"end\": 16, \"planning\": \"Move the gripper toward the white cube on top of the blue cube without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp white cube\", \"start\": 17, \"end\": 21, \"planning\": \"Close the gripper around the white cube to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and reposition white cube\", \"start\": 22, \"end\": 26, \"planning\": \"Lift the white cube off the blue cube and move it laterally while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release white cube on table\", \"start\": 27, \"end\": 39, \"planning\": \"Lower the white cube onto the table surface and open the gripper to release it.\"}\n ],\n \"global_plan\": \"Approach the white cube stacked on the blue cube, grasp it securely, lift and move it aside, then place it on the table by releasing the grip.\",\n \"notes\": \"Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing (delta=-0.40592) consistent with grasping. Segment 3 maintains grip while moving — no further closure needed. Segment 4 ends with full gripper opening (value=1.00015), confirming release. All subtasks align with observed gripper behavior and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach white cube", + "start": 0, + "end": 16, + "planning": "Move the gripper toward the white cube on top of the blue cube without closing the gripper." + }, + { + "id": 2, + "name": "grasp white cube", + "start": 17, + "end": 21, + "planning": "Close the gripper around the white cube to secure it for lifting." + }, + { + "id": 3, + "name": "lift and reposition white cube", + "start": 22, + "end": 26, + "planning": "Lift the white cube off the blue cube and move it laterally while maintaining grip." + }, + { + "id": 4, + "name": "release white cube on table", + "start": 27, + "end": 39, + "planning": "Lower the white cube onto the table surface and open the gripper to release it." + } + ], + "global_plan": "Approach the white cube stacked on the blue cube, grasp it securely, lift and move it aside, then place it on the table by releasing the grip.", + "notes": "Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing (delta=-0.40592) consistent with grasping. Segment 3 maintains grip while moving — no further closure needed. Segment 4 ends with full gripper opening (value=1.00015), confirming release. All subtasks align with observed gripper behavior and visual evidence." + } + }, + "episode_goal": "Remove the white cube from the blue cube and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28668689727783203, + -0.03418774902820587, + 0.11671113967895508, + -3.1280641555786133, + -0.12369725108146667, + 0.06281387060880661 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot is positioned above the stacked cubes with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28415074944496155, + -0.0342697836458683, + 0.10778813809156418, + -3.1212284564971924, + -0.09064248949289322, + 0.060609810054302216 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot is positioned above the stacked cubes with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813410758972168, + -0.02700629271566868, + 0.1071586087346077, + -3.1055610179901123, + -0.06833174079656601, + 0.06547939032316208 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot is positioned above the stacked cubes with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2762395441532135, + -0.01836157962679863, + 0.12237831205129623, + -3.1066653728485107, + -0.10508916527032852, + 0.10665830224752426 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "beige cylinder": [ + 372, + 403, + 451, + 536 + ], + "yellow block": [ + 659, + 665, + 754, + 793 + ], + "blue block": [ + 442, + 294, + 583, + 456 + ], + "beige cube": [ + 461, + 233, + 561, + 367 + ], + "wooden table": [ + 67, + 149, + 994, + 996 + ], + "green block": [ + 750, + 572, + 850, + 694 + ] + } + } + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot is positioned above the stacked cubes with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26412680745124817, + -0.0163046233355999, + 0.12727272510528564, + -3.1084702014923096, + -0.10021789371967316, + 0.1167169064283371 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot is positioned above the stacked cubes with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2602549195289612, + -0.011148564517498016, + 0.1313731074333191, + -3.111267328262329, + -0.09410455822944641, + 0.12472409754991531 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot is positioned above the stacked cubes with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2593227028846741, + 0.0016336499247699976, + 0.13204669952392578, + -3.0993001461029053, + -0.08523798733949661, + 0.13440106809139252 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot is positioned above the stacked cubes with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.256359338760376, + 0.015707358717918396, + 0.13985145092010498, + -3.0915989875793457, + -0.10269451886415482, + 0.16724157333374023 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot is positioned above the stacked cubes with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to lower the end-effector toward the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2519620358943939, + 0.028310609981417656, + 0.13798119127750397, + -3.109299898147583, + -0.10888092964887619, + 0.19422906637191772 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25945791602134705, + 0.03771217167377472, + 0.13629838824272156, + -3.131115674972534, + -0.12176566570997238, + 0.1760758012533188 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768358886241913, + 0.04045935347676277, + 0.13433100283145905, + -3.1335277557373047, + -0.11038797348737717, + 0.13191252946853638 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 67, + 176, + 994, + 995 + ], + "beige cylinder": [ + 373, + 403, + 451, + 536 + ], + "blue block": [ + 442, + 294, + 583, + 456 + ], + "yellow block": [ + 659, + 664, + 754, + 793 + ], + "red block": [ + 337, + 464, + 498, + 653 + ], + "beige cube": [ + 461, + 230, + 563, + 366 + ], + "green block": [ + 751, + 572, + 850, + 694 + ] + } + } + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29027122259140015, + 0.04169272258877754, + 0.13186626136302948, + -3.1348700523376465, + -0.09798755496740341, + 0.10140783339738846 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30422458052635193, + 0.04126125946640968, + 0.13374406099319458, + -3.12688946723938, + -0.09900569915771484, + 0.06839083135128021 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31106746196746826, + 0.04393550381064415, + 0.12813453376293182, + -3.133761167526245, + -0.08247743546962738, + 0.0620683990418911 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, close gripper; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31574127078056335, + 0.045580532401800156, + 0.11864368617534637, + -3.1350038051605225, + -0.05639234930276871, + 0.05144920200109482 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31508222222328186, + 0.04571542516350746, + 0.11225612461566925, + -3.1356005668640137, + -0.03178207576274872, + 0.04486173763871193 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 1 cm, close gripper; then move back 2 cm, move right 5 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31085020303726196, + 0.0453362911939621, + 0.1073833480477333, + -3.136112689971924, + -0.013381344266235828, + 0.0550808422267437 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "approach white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 1 cm, close gripper; then move back 2 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045557141304016, + 0.04399371147155762, + 0.0925539955496788, + 3.1373980045318604, + 0.03351593017578125, + 0.06188039481639862 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "grasp white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move back 3 cm, move right 7 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039381206035614, + 0.045414138585329056, + 0.08513031899929047, + 3.1240363121032715, + 0.05387025699019432, + 0.06792010366916656 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "grasp white cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the white cube stacked on the blue cube. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 7 cm, move up 2 cm, keep gripper closed; then move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3052709400653839, + 0.04595881327986717, + 0.07890035212039948, + 3.1134512424468994, + 0.060530904680490494, + 0.07218169420957565 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "grasp white cube", + "subtask_reasoning": "The robot has approached the white cube stacked on the blue cube, with the gripper positioned above it. The gripper is currently open (value ~0.96), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the white cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 7 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30740290880203247, + 0.045229990035295486, + 0.07451538741588593, + 3.1045632362365723, + 0.058425307273864746, + 0.08452518284320831 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "grasp white cube", + "subtask_reasoning": "The robot has approached the white cube stacked on the blue cube, with the gripper positioned above it. The gripper is currently open (value ~0.96), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the white cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 3 cm, move right 7 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.306784987449646, + 0.04608609899878502, + 0.07454606890678406, + 3.1046526432037354, + 0.061705950647592545, + 0.09362274408340454 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "grasp white cube", + "subtask_reasoning": "The robot has approached the white cube stacked on the blue cube, with the gripper positioned above it. The gripper is currently open (value ~0.96), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the white cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 3 cm, move right 7 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30265480279922485, + 0.049822334200143814, + 0.08137273788452148, + -3.1349833011627197, + 0.06941121071577072, + 0.10941261798143387 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "lift and reposition white cube", + "subtask_reasoning": "The robot has approached the white cube stacked on the blue cube, with the gripper positioned above it. The gripper is currently open (value ~0.96), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the white cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2996034622192383, + 0.04329454526305199, + 0.11597329378128052, + -3.066876173019409, + -0.01422753557562828, + 0.11666136980056763 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "lift and reposition white cube", + "subtask_reasoning": "The robot has approached the white cube stacked on the blue cube, with the gripper positioned above it. The gripper is currently open (value ~0.96), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the white cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move right 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29289811849594116, + 0.024038340896368027, + 0.14436350762844086, + -3.0324759483337402, + -0.08407466113567352, + 0.09333601593971252 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "lift and reposition white cube", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move right 3 cm, move down 8 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28377965092658997, + 0.002128054155036807, + 0.14606237411499023, + -3.042379856109619, + -0.07990685105323792, + 0.09048990905284882 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "lift and reposition white cube", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move right 3 cm, move down 9 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27848440408706665, + -0.014218371361494064, + 0.1256992071866989, + -3.115562915802002, + -0.035763032734394073, + 0.10038765519857407 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "lift and reposition white cube", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper closed; then move right 2 cm, move down 7 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2774025797843933, + -0.022334886714816093, + 0.09741266816854477, + 3.127488374710083, + 0.037871066480875015, + 0.08803839981555939 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27433282136917114, + -0.025782382115721703, + 0.0632069930434227, + 3.0908615589141846, + 0.12912046909332275, + 0.09764232486486435 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 67, + 150, + 994, + 995 + ], + "beige cylinder": [ + 372, + 403, + 452, + 537 + ], + "yellow block": [ + 659, + 665, + 754, + 793 + ], + "green block": [ + 751, + 572, + 850, + 693 + ], + "blue block": [ + 439, + 277, + 532, + 435 + ] + } + } + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678031027317047, + -0.031296584755182266, + 0.04727419838309288, + 3.0740609169006348, + 0.17435435950756073, + 0.09388948231935501 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649518549442291, + -0.041955575346946716, + 0.02970026060938835, + 3.069091796875, + 0.21879437565803528, + 0.07288429886102676 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 11 cm, tilt left 10 degrees, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26743263006210327, + -0.05384153872728348, + 0.023683395236730576, + 3.069974660873413, + 0.22422955930233002, + 0.04194994270801544 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 12 cm, tilt left 10 degrees, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689685821533203, + -0.05370301753282547, + 0.0165705606341362, + 3.077451705932617, + 0.23147256672382355, + 0.04634148254990578 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently grasped and lifted above the blue cube, with the gripper maintaining a stable closed position. The next action is to move the white cube laterally away from the blue cube toward an empty spot on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 12 cm, tilt left 10 degrees, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2728937864303589, + -0.0549829863011837, + 0.012997881509363651, + 3.075338840484619, + 0.22587159276008606, + 0.04896301031112671 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently held by the gripper above the table surface, having been lifted from the blue cube. The gripper is in an open state, indicating the release action is underway or complete. The next step is to ensure the cube is fully placed on the table and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27404510974884033, + -0.05382583290338516, + 0.01309326384216547, + 3.07771635055542, + 0.22109775245189667, + 0.05378294363617897 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently held by the gripper above the table surface, having been lifted from the blue cube. The gripper is in an open state, indicating the release action is underway or complete. The next step is to ensure the cube is fully placed on the table and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727051079273224, + -0.048436690121889114, + 0.010306620970368385, + 3.086237668991089, + 0.2055821567773819, + 0.08198568224906921 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently held by the gripper above the table surface, having been lifted from the blue cube. The gripper is in an open state, indicating the release action is underway or complete. The next step is to ensure the cube is fully placed on the table and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 13 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.273310124874115, + -0.046614471822977066, + 0.02738380804657936, + 3.0898070335388184, + 0.1494327336549759, + 0.1024562418460846 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently held by the gripper above the table surface, having been lifted from the blue cube. The gripper is in an open state, indicating the release action is underway or complete. The next step is to ensure the cube is fully placed on the table and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.274912029504776, + -0.03948848322033882, + 0.06372727453708649, + 3.129239797592163, + 0.05997420847415924, + 0.12407852709293365 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently held by the gripper above the table surface, having been lifted from the blue cube. The gripper is in an open state, indicating the release action is underway or complete. The next step is to ensure the cube is fully placed on the table and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726019322872162, + -0.02931099757552147, + 0.11030100286006927, + -3.0915772914886475, + -0.05837683379650116, + 0.13460971415042877 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 66, + 149, + 994, + 996 + ], + "beige cylinder": [ + 372, + 403, + 451, + 536 + ], + "yellow block": [ + 662, + 667, + 756, + 794 + ], + "blue block": [ + 440, + 277, + 585, + 453 + ], + "red block": [ + 337, + 462, + 496, + 652 + ], + "beige cube": [ + 582, + 523, + 685, + 670 + ], + "green block": [ + 751, + 571, + 850, + 693 + ] + } + } + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently held by the gripper above the table surface, having been lifted from the blue cube. The gripper is in an open state, indicating the release action is underway or complete. The next step is to ensure the cube is fully placed on the table and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657145857810974, + -0.023856865242123604, + 0.1392621397972107, + -3.061650514602661, + -0.11139398068189621, + 0.1264210343360901 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the white cube from the blue cube and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white cube" + }, + { + "id": 2, + "subtask": "grasp white cube" + }, + { + "id": 3, + "subtask": "lift and reposition white cube" + }, + { + "id": 4, + "subtask": "release white cube on table" + } + ], + "subtask_name": "release white cube on table", + "subtask_reasoning": "The white cube is currently held by the gripper above the table surface, having been lifted from the blue cube. The gripper is in an open state, indicating the release action is underway or complete. The next step is to ensure the cube is fully placed on the table and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003617_ecot.json b/cot/chunk-0003/episode_0003617_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d43f72499f3be675c1599ec9be1194280e3911e0 --- /dev/null +++ b/cot/chunk-0003/episode_0003617_ecot.json @@ -0,0 +1,1823 @@ +{ + "task_name": "episode_0003617", + "episode_json": "json/chunk-0003/episode_0003617.json", + "video_path": "videos/chunk-0003/image_0/episode_0003617.mp4", + "instruction": "Pick the container from middle and place it on left corner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003617.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.001993715763092041, + "std": 0.0006552592385560274, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00066, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach container\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector from initial position toward the container in the middle of the table.\"},\n {\"id\": 2, \"name\": \"align and contact container\", \"start\": 9, \"end\": 17, \"planning\": \"Fine-tune pose to align with container and make gentle contact without grasping.\"},\n {\"id\": 3, \"name\": \"push container leftward\", \"start\": 18, \"end\": 25, \"planning\": \"Apply lateral force to slide the container toward the left corner of the table.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 26, \"end\": 28, \"planning\": \"Break contact and lift end-effector slightly while moving away from the container's final position.\"}\n ],\n \"global_plan\": \"The robot approaches the container, makes contact, pushes it leftward to the target corner, then releases and retreats — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing; thus, all actions are contact-based (push/slide) rather than grasp/place. Frame ranges respect segment boundaries and ensure full coverage.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach container", + "start": 0, + "end": 8, + "planning": "Move end-effector from initial position toward the container in the middle of the table." + }, + { + "id": 2, + "name": "align and contact container", + "start": 9, + "end": 17, + "planning": "Fine-tune pose to align with container and make gentle contact without grasping." + }, + { + "id": 3, + "name": "push container leftward", + "start": 18, + "end": 25, + "planning": "Apply lateral force to slide the container toward the left corner of the table." + }, + { + "id": 4, + "name": "release and retreat", + "start": 26, + "end": 28, + "planning": "Break contact and lift end-effector slightly while moving away from the container's final position." + } + ], + "global_plan": "The robot approaches the container, makes contact, pushes it leftward to the target corner, then releases and retreats — all without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence confirms no meaningful closing; thus, all actions are contact-based (push/slide) rather than grasp/place. Frame ranges respect segment boundaries and ensure full coverage." + } + }, + "episode_goal": "Pick the container from middle and place it on left corner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.17512337863445282, + 0.017583351582288742, + 0.05925637483596802, + 3.123931884765625, + -0.01982305943965912, + -0.23268073797225952 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is positioned near the center container with its gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the container to prepare for pushing it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 21 cm, move right 8 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.1725040227174759, + 0.016724618151783943, + 0.05614043027162552, + 3.1175286769866943, + -0.0025654067285358906, + -0.23571306467056274 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is positioned near the center container with its gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the container to prepare for pushing it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 21 cm, move right 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.19044283032417297, + 0.011249164119362831, + 0.06789650022983551, + -3.0775492191314697, + 0.01011770311743021, + -0.4576376974582672 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is positioned near the center container with its gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the container to prepare for pushing it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move right 7 cm, move up 1 cm, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.210436150431633, + 0.0054639833979308605, + 0.0783563107252121, + -3.068908214569092, + 0.004516310524195433, + -0.6088339686393738 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is positioned near the center container with its gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the container to prepare for pushing it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 6 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2424396127462387, + -0.013234254904091358, + 0.08660586178302765, + -3.0604841709136963, + -0.047397371381521225, + -0.79962158203125 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28166788816452026, + -0.026420792564749718, + 0.0931597352027893, + -3.041745901107788, + -0.12598241865634918, + -0.922803521156311 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 591, + 461, + 738, + 805 + ], + "purple cloth": [ + 533, + 523, + 828, + 878 + ] + } + } + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 6 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3182886838912964, + -0.04035709425806999, + 0.09077166020870209, + -3.013017177581787, + -0.18967702984809875, + -1.0020993947982788 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 7 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479147255420685, + -0.05654621869325638, + 0.0864507332444191, + -3.0013208389282227, + -0.26990923285484314, + -1.1420576572418213 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 8 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36908286809921265, + -0.06291608512401581, + 0.08622747659683228, + -2.9892804622650146, + -0.3260071873664856, + -1.1681325435638428 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move back 6 cm, move left 9 cm, move down 6 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38700324296951294, + -0.05804765969514847, + 0.07533080130815506, + -3.017774820327759, + -0.278790682554245, + -1.1093326807022095 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move down 6 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3895711302757263, + -0.05044218897819519, + 0.06537672877311707, + -3.03141188621521, + -0.24384501576423645, + -1.0468095541000366 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3911682069301605, + -0.035776615142822266, + 0.06326119601726532, + -3.022541046142578, + -0.22083310782909393, + -0.9680715799331665 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move left 4 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39039453864097595, + -0.023465367034077644, + 0.05273779481649399, + -3.0313541889190674, + -0.2128424048423767, + -0.9010404944419861 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the container located in the middle. No contact has been made yet, and the gripper remains open. The next action is to continue moving the arm closer to the container to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3913993835449219, + -0.011180459521710873, + 0.0511666014790535, + -3.033442258834839, + -0.22326688468456268, + -0.8519700169563293 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot has approached the container in the middle of the table and is now positioned directly above it with the gripper open. The current subtask involves aligning the end-effector to make contact with the container. The next action is to lower the arm slightly to establish physical contact with the container without grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 7 cm, move left 6 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3865472078323364, + -0.0030842125415802, + 0.04193918779492378, + -3.0540082454681396, + -0.2064327746629715, + -0.8120753169059753 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot has approached the container in the middle of the table and is now positioned directly above it with the gripper open. The current subtask involves aligning the end-effector to make contact with the container. The next action is to lower the arm slightly to establish physical contact with the container without grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 8 cm, move left 7 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38200339674949646, + 0.0013564310502260923, + 0.03698693960905075, + -3.049988269805908, + -0.1779947727918625, + -0.8013619184494019 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot has approached the container in the middle of the table and is now positioned directly above it with the gripper open. The current subtask involves aligning the end-effector to make contact with the container. The next action is to lower the arm slightly to establish physical contact with the container without grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 7 cm, move left 6 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37099534273147583, + 0.008813241496682167, + 0.029138552024960518, + -3.0570919513702393, + -0.12364454567432404, + -0.8179401755332947 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot has approached the container in the middle of the table and is now positioned directly above it with the gripper open. The current subtask involves aligning the end-effector to make contact with the container. The next action is to lower the arm slightly to establish physical contact with the container without grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 6 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3522513210773468, + 0.020549170672893524, + 0.01595458760857582, + -3.083132028579712, + -0.0638747587800026, + -0.7984417080879211 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal": [ + 371, + 290, + 526, + 523 + ], + "knife": [ + 589, + 462, + 737, + 805 + ], + "purple cloth": [ + 533, + 522, + 828, + 878 + ] + } + } + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and contact container", + "subtask_reasoning": "The robot has approached the container in the middle of the table and is now positioned directly above it with the gripper open. The current subtask involves aligning the end-effector to make contact with the container. The next action is to lower the arm slightly to establish physical contact with the container without grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open; then move back 6 cm, move left 6 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33099791407585144, + 0.035241298377513885, + 0.01922544650733471, + -3.09279727935791, + -0.02985372580587864, + -0.7981420755386353 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push container leftward", + "subtask_reasoning": "The robot has approached the container in the middle of the table and is now positioned directly above it with the gripper open. The current subtask involves aligning the end-effector to make contact with the container. The next action is to lower the arm slightly to establish physical contact with the container without grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.312837153673172, + 0.04797522351145744, + 0.017790157347917557, + -3.1148366928100586, + 0.015376711264252663, + -0.804122269153595 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push container leftward", + "subtask_reasoning": "The robot has approached the container in the middle of the table and is now positioned directly above it with the gripper open. The current subtask involves aligning the end-effector to make contact with the container. The next action is to lower the arm slightly to establish physical contact with the container without grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29195651412010193, + 0.06552857160568237, + 0.02213483490049839, + -3.1114466190338135, + 0.04932663217186928, + -0.776171863079071 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 533, + 522, + 827, + 878 + ], + "metal": [ + 239, + 339, + 406, + 592 + ] + } + } + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push container leftward", + "subtask_reasoning": "The robot has approached the container in the middle of the table and is now positioned directly above it with the gripper open. The current subtask involves aligning the end-effector to make contact with the container. The next action is to lower the arm slightly to establish physical contact with the container without grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779652178287506, + 0.07887314260005951, + 0.02619932033121586, + -3.08738374710083, + 0.08243738859891891, + -0.7451567053794861 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push container leftward", + "subtask_reasoning": "The robot is in contact with the container on the wooden surface, having completed the approach and alignment. The gripper remains open with no closing evidence, confirming a pushing strategy rather than grasping. The next action is to continue applying force to slide the container leftward toward the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26608261466026306, + 0.09279123693704605, + 0.023328706622123718, + -3.0905921459198, + 0.11308244615793228, + -0.7071897983551025 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push container leftward", + "subtask_reasoning": "The robot is in contact with the container on the wooden surface, having completed the approach and alignment. The gripper remains open with no closing evidence, confirming a pushing strategy rather than grasping. The next action is to continue applying force to slide the container leftward toward the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25684961676597595, + 0.0994010865688324, + 0.028258290141820908, + -3.0708565711975098, + 0.12909597158432007, + -0.666528582572937 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push container leftward", + "subtask_reasoning": "The robot is in contact with the container on the wooden surface, having completed the approach and alignment. The gripper remains open with no closing evidence, confirming a pushing strategy rather than grasping. The next action is to continue applying force to slide the container leftward toward the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.253894180059433, + 0.10133010149002075, + 0.02962038852274418, + -3.075821876525879, + 0.12392694503068924, + -0.6653102040290833 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push container leftward", + "subtask_reasoning": "The robot is in contact with the container on the wooden surface, having completed the approach and alignment. The gripper remains open with no closing evidence, confirming a pushing strategy rather than grasping. The next action is to continue applying force to slide the container leftward toward the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper open; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572368383407593, + 0.09904827922582626, + 0.035191573202610016, + -3.0858967304229736, + 0.10972784459590912, + -0.6630753874778748 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push container leftward", + "subtask_reasoning": "The robot is in contact with the container on the wooden surface, having completed the approach and alignment. The gripper remains open with no closing evidence, confirming a pushing strategy rather than grasping. The next action is to continue applying force to slide the container leftward toward the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27073583006858826, + 0.09768551588058472, + 0.04478025808930397, + -3.0812454223632812, + 0.06532896310091019, + -0.6283688545227051 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the container on the wooden surface, having completed the approach and alignment. The gripper remains open with no closing evidence, confirming a pushing strategy rather than grasping. The next action is to continue applying force to slide the container leftward toward the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29490479826927185, + 0.09700044244527817, + 0.06544078141450882, + -3.061552047729492, + -0.010434097610414028, + -0.5471139550209045 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The container has been successfully pushed to the left corner and is now stationary. The gripper remains open and is retreating upward and away from the container, indicating completion of the release phase. No further contact or manipulation is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120999038219452, + 0.10163941234350204, + 0.08440224826335907, + -3.037858009338379, + -0.07097405195236206, + -0.3107021749019623 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the container from middle and place it on left corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "align and contact container" + }, + { + "id": 3, + "subtask": "push container leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The container has been successfully pushed to the left corner and is now stationary. The gripper remains open and is retreating upward and away from the container, indicating completion of the release phase. No further contact or manipulation is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003618_ecot.json b/cot/chunk-0003/episode_0003618_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..faaa7e6cdc971f5cde109c010c23a14f64aa6110 --- /dev/null +++ b/cot/chunk-0003/episode_0003618_ecot.json @@ -0,0 +1,1640 @@ +{ + "task_name": "episode_0003618", + "episode_json": "json/chunk-0003/episode_0003618.json", + "video_path": "videos/chunk-0003/image_0/episode_0003618.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003618.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006613731384277344, + "std": 0.00012490202789194882, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00012, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the drawer handle without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 5, \"end\": 15, \"planning\": \"Position end-effector to make physical contact with the drawer handle for pushing.\"},\n {\"id\": 3, \"name\": \"push drawer closed\", \"start\": 16, \"end\": 26, \"planning\": \"Apply continuous forward force via contact to slide the drawer shut until fully closed.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching the handle, making contact, and pushing it shut without grasping, since gripper never closes.\",\n \"notes\": \"Gripper value remains constant at ~1.00148 throughout; no grasp or lift occurs. Motion is purely translational/rotational positioning followed by pushing. Segment boundaries respected but merged into natural phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the drawer handle without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 5, + "end": 15, + "planning": "Position end-effector to make physical contact with the drawer handle for pushing." + }, + { + "id": 3, + "name": "push drawer closed", + "start": 16, + "end": 26, + "planning": "Apply continuous forward force via contact to slide the drawer shut until fully closed." + } + ], + "global_plan": "Close the drawer by approaching the handle, making contact, and pushing it shut without grasping, since gripper never closes.", + "notes": "Gripper value remains constant at ~1.00148 throughout; no grasp or lift occurs. Motion is purely translational/rotational positioning followed by pushing. Segment boundaries respected but merged into natural phases." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25885283946990967, + 0.17413334548473358, + 0.11353439837694168, + 2.9887630939483643, + 0.02879384532570839, + 0.22690074145793915 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without grasping, consistent with the global plan. The next action is to make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2567122280597687, + 0.17191456258296967, + 0.10297029465436935, + 2.974411964416504, + 0.05831918120384216, + 0.2177395224571228 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without grasping, consistent with the global plan. The next action is to make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24883203208446503, + 0.16645559668540955, + 0.09121572226285934, + 2.9805076122283936, + 0.0691782757639885, + 0.1316174864768982 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without gripping, as confirmed by constant gripper signal. Next, the robot should make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 4 cm, move down 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24279280006885529, + 0.1610455960035324, + 0.09094369411468506, + 3.0272769927978516, + 0.04174797609448433, + 0.027154557406902313 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without gripping, as confirmed by constant gripper signal. Next, the robot should make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move down 6 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23716802895069122, + 0.1547064185142517, + 0.08567579090595245, + 3.0884056091308594, + 0.033621788024902344, + -0.09922091662883759 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without gripping, as confirmed by constant gripper signal. Next, the robot should make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23010461032390594, + 0.14814987778663635, + 0.0729309543967247, + -3.1092703342437744, + 0.02321416698396206, + -0.20113754272460938 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without gripping, as confirmed by constant gripper signal. Next, the robot should make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 6 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22197690606117249, + 0.13661858439445496, + 0.06650632619857788, + -3.006474256515503, + -0.0014074842911213636, + -0.30927348136901855 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy object": [ + 101, + 453, + 186, + 579 + ], + "toy microwave": [ + 175, + 2, + 562, + 237 + ], + "wooden table": [ + 3, + 140, + 995, + 993 + ], + "black strap": [ + 816, + 438, + 980, + 769 + ], + "black handle": [ + 295, + 415, + 463, + 666 + ], + "toy": [ + 538, + 5, + 668, + 240 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without gripping, as confirmed by constant gripper signal. Next, the robot should make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21567921340465546, + 0.12968197464942932, + 0.06034334376454353, + -2.973043203353882, + -0.012457422912120819, + -0.38594821095466614 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without gripping, as confirmed by constant gripper signal. Next, the robot should make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 5 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21250925958156586, + 0.13199079036712646, + 0.05735534057021141, + -2.998854160308838, + -0.04000503942370415, + -0.45106780529022217 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without gripping, as confirmed by constant gripper signal. Next, the robot should make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20968250930309296, + 0.1302655190229416, + 0.050842586904764175, + -3.036635637283325, + -0.018836773931980133, + -0.553380012512207 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The end-effector is approaching the handle without gripping, as confirmed by constant gripper signal. Next, the robot should make contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20844149589538574, + 0.13040755689144135, + 0.04272395744919777, + -3.080071449279785, + 0.026656771078705788, + -0.6880195140838623 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21191130578517914, + 0.12397705763578415, + 0.03457804396748543, + -3.0730109214782715, + 0.05995689705014229, + -0.7671486735343933 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 2 cm, keep gripper open; then move forward 7 cm, move right 6 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20930694043636322, + 0.112433522939682, + 0.025341985747218132, + -3.0622401237487793, + 0.06790006160736084, + -0.7947346568107605 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, keep gripper open; then move forward 9 cm, move right 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20745068788528442, + 0.09980249404907227, + 0.01730594038963318, + -3.0512704849243164, + 0.06855204701423645, + -0.8159873485565186 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, keep gripper open; then move forward 9 cm, move right 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21231958270072937, + 0.08840037882328033, + 0.015224136412143707, + -3.0337047576904297, + 0.06309186667203903, + -0.8349195122718811 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 7 cm, move right 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21567513048648834, + 0.08030014485120773, + 0.013387789018452168, + -3.0493106842041016, + 0.06337422877550125, + -0.8385977149009705 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22673910856246948, + 0.07144816219806671, + 0.015234424732625484, + -3.06880521774292, + 0.037108469754457474, + -0.8243656754493713 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2397373616695404, + 0.06193995848298073, + 0.01454195287078619, + -3.079322576522827, + 0.02118075080215931, + -0.8158699870109558 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 317, + 2, + 561, + 236 + ], + "wooden drawer box": [ + 456, + 115, + 994, + 703 + ], + "wooden table": [ + 4, + 168, + 995, + 994 + ], + "black strap": [ + 814, + 436, + 981, + 771 + ], + "red toy object": [ + 104, + 452, + 198, + 577 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516818344593048, + 0.05431956425309181, + 0.01114741526544094, + -3.0826337337493896, + 0.022450294345617294, + -0.8045768141746521 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2671357989311218, + 0.043698180466890335, + 0.008164564147591591, + -3.0953853130340576, + 0.016897061839699745, + -0.7931896448135376 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813328206539154, + 0.029810365289449692, + 0.00745565677061677, + -3.1069490909576416, + 0.00963683519512415, + -0.7853660583496094 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred as per gripper evidence. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2993270754814148, + 0.01505932305008173, + 0.00888139009475708, + -3.117241382598877, + -0.007655841298401356, + -0.7792553901672363 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.312442421913147, + 0.009704412892460823, + 0.012377970851957798, + -3.135169506072998, + -0.022089023143053055, + -0.7630089521408081 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31549739837646484, + 0.010586529970169067, + 0.014823841862380505, + -3.133820056915283, + -0.02513207122683525, + -0.7606382966041565 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.296284556388855, + 0.029912959784269333, + 0.020950596779584885, + -3.1393423080444336, + -0.011317557655274868, + -0.7364369630813599 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26479485630989075, + 0.07274526357650757, + 0.05035766214132309, + -3.1273038387298584, + -0.0012037147535011172, + -0.6819429397583008 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden drawer box": [ + 603, + 96, + 995, + 689 + ], + "red toy object": [ + 96, + 447, + 199, + 582 + ], + "wooden table": [ + 4, + 138, + 994, + 992 + ], + "toy": [ + 540, + 6, + 671, + 241 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23555733263492584, + 0.09203687310218811, + 0.07525192946195602, + -3.126180410385132, + 0.02447114698588848, + -0.6630125641822815 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003619_ecot.json b/cot/chunk-0003/episode_0003619_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a69121f822574ab6bd8534d8bb01c9fe1a776ce0 --- /dev/null +++ b/cot/chunk-0003/episode_0003619_ecot.json @@ -0,0 +1,3110 @@ +{ + "task_name": "episode_0003619", + "episode_json": "json/chunk-0003/episode_0003619.json", + "video_path": "videos/chunk-0003/image_0/episode_0003619.mp4", + "instruction": "Move the piece of cake behind the yellow cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003619.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.4833434224128723, + "std": 0.2296750694513321, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.48334, std=0.22968, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 200, + 100, + 200, + 200, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 300, + 300, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 17 + ], + [ + 3, + 18, + 20 + ], + [ + 4, + 21, + 21 + ], + [ + 5, + 22, + 22 + ], + [ + 6, + 23, + 24 + ], + [ + 7, + 25, + 26 + ], + [ + 8, + 27, + 33 + ], + [ + 9, + 34, + 37 + ], + [ + 10, + 38, + 39 + ], + [ + 11, + 40, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cake\", \"start\": 0, \"end\": 17, \"planning\": \"Move the gripper from initial position toward the cake piece near the yellow cloth.\"},\n {\"id\": 2, \"name\": \"align above cake\", \"start\": 18, \"end\": 20, \"planning\": \"Adjust end-effector orientation and height to prepare for contact with the cake.\"},\n {\"id\": 3, \"name\": \"make contact with cake\", \"start\": 21, \"end\": 24, \"planning\": \"Lower gripper to establish physical contact with the cake without grasping.\"},\n {\"id\": 4, \"name\": \"push cake behind cloth\", \"start\": 25, \"end\": 33, \"planning\": \"Apply controlled force to slide the cake piece behind the yellow cloth using gripper contact.\"},\n {\"id\": 5, \"name\": \"release contact\", \"start\": 34, \"end\": 37, \"planning\": \"Lift gripper slightly to disengage from the cake after positioning.\"},\n {\"id\": 6, \"name\": \"retreat to safe pose\", \"start\": 38, \"end\": 42, \"planning\": \"Move end-effector away from the workspace to complete the task safely.\"}\n ],\n \"global_plan\": \"The robot approaches the cake, makes contact without grasping, pushes it behind the yellow cloth, then releases and retreats.\",\n \"notes\": \"No segment shows meaningful gripper closing; all interactions are contact-based (push/slide), not grasp-based. Frame ranges are contiguous and cover full trajectory [0,42].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cake", + "start": 0, + "end": 17, + "planning": "Move the gripper from initial position toward the cake piece near the yellow cloth." + }, + { + "id": 2, + "name": "align above cake", + "start": 18, + "end": 20, + "planning": "Adjust end-effector orientation and height to prepare for contact with the cake." + }, + { + "id": 3, + "name": "make contact with cake", + "start": 21, + "end": 24, + "planning": "Lower gripper to establish physical contact with the cake without grasping." + }, + { + "id": 4, + "name": "push cake behind cloth", + "start": 25, + "end": 33, + "planning": "Apply controlled force to slide the cake piece behind the yellow cloth using gripper contact." + }, + { + "id": 5, + "name": "release contact", + "start": 34, + "end": 37, + "planning": "Lift gripper slightly to disengage from the cake after positioning." + }, + { + "id": 6, + "name": "retreat to safe pose", + "start": 38, + "end": 42, + "planning": "Move end-effector away from the workspace to complete the task safely." + } + ], + "global_plan": "The robot approaches the cake, makes contact without grasping, pushes it behind the yellow cloth, then releases and retreats.", + "notes": "No segment shows meaningful gripper closing; all interactions are contact-based (push/slide), not grasp-based. Frame ranges are contiguous and cover full trajectory [0,42]." + } + }, + "episode_goal": "Move the piece of cake behind the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.18513427674770355, + -0.11777821183204651, + 0.15340760350227356, + 3.058098316192627, + -0.1886870563030243, + 0.14813293516635895 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the cake visible in front of the yellow cloth. No movement or contact has occurred yet. The next action is to lower and move the end-effector toward the cake to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 18 cm, move down 9 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.183519646525383, + -0.11582615971565247, + 0.14899905025959015, + 3.064800500869751, + -0.17258121073246002, + 0.16456487774848938 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the cake visible in front of the yellow cloth. No movement or contact has occurred yet. The next action is to lower and move the end-effector toward the cake to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move left 19 cm, move down 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.18321596086025238, + -0.08715210855007172, + 0.1367928385734558, + 3.062774896621704, + -0.13390487432479858, + 0.39315149188041687 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the cake visible in front of the yellow cloth. No movement or contact has occurred yet. The next action is to lower and move the end-effector toward the cake to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 16 cm, move down 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.17922089993953705, + -0.05367310345172882, + 0.12760810554027557, + 3.07006573677063, + -0.12865640223026276, + 0.5908922553062439 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 10, + 185, + 896, + 992 + ], + "metal bowl": [ + 214, + 276, + 419, + 525 + ], + "yellow cloth": [ + 551, + 342, + 766, + 635 + ] + } + } + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the cake visible in front of the yellow cloth. No movement or contact has occurred yet. The next action is to lower and move the end-effector toward the cake to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 22 cm, move left 13 cm, move down 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.18335238099098206, + -0.024164924398064613, + 0.12149634212255478, + 3.043290138244629, + -0.10780483484268188, + 0.7361533045768738 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the cake visible in front of the yellow cloth. No movement or contact has occurred yet. The next action is to lower and move the end-effector toward the cake to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 21 cm, move left 10 cm, move down 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20778389275074005, + 0.001692019053734839, + 0.11270052939653397, + 3.043825387954712, + -0.11051835864782333, + 0.7752078771591187 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the cake visible in front of the yellow cloth. No movement or contact has occurred yet. The next action is to lower and move the end-effector toward the cake to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 8 cm, move down 8 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23872113227844238, + 0.015149208717048168, + 0.10852213203907013, + 3.035182476043701, + -0.13733114302158356, + 0.7652899622917175 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the cake visible in front of the yellow cloth. No movement or contact has occurred yet. The next action is to lower and move the end-effector toward the cake to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2724336087703705, + 0.030796842649579048, + 0.09622333943843842, + 3.05104398727417, + -0.15832138061523438, + 0.7320073843002319 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the cake visible in front of the yellow cloth. No movement or contact has occurred yet. The next action is to lower and move the end-effector toward the cake to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 5 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003857731819153, + 0.04625629261136055, + 0.08448061347007751, + 3.0549778938293457, + -0.17731979489326477, + 0.6858416199684143 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 479, + 345, + 763, + 633 + ], + "metal bowl": [ + 214, + 298, + 419, + 528 + ], + "wooden table": [ + 13, + 184, + 896, + 989 + ], + "grey cabinet": [ + 144, + 639, + 735, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32545170187950134, + 0.05454086884856224, + 0.075090192258358, + 3.043154001235962, + -0.20374205708503723, + 0.6740897297859192 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3477971851825714, + 0.06269139051437378, + 0.0614045187830925, + 3.0382864475250244, + -0.20614559948444366, + 0.6775413751602173 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676900863647461, + 0.07317683100700378, + 0.05266641825437546, + 3.0960183143615723, + -0.2200271636247635, + 0.6887972950935364 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, close gripper; then move back 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3852168917655945, + 0.07527299970388412, + 0.04446815326809883, + 3.124094009399414, + -0.22784216701984406, + 0.6777881383895874 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move back 2 cm, move up 5 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39513933658599854, + 0.0783224105834961, + 0.03977932408452034, + 3.1289098262786865, + -0.23579849302768707, + 0.684464693069458 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move back 2 cm, move up 5 cm, keep gripper closed; then move back 5 cm, move right 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39622214436531067, + 0.07745061814785004, + 0.034563980996608734, + 3.1282339096069336, + -0.2275860458612442, + 0.6931777596473694 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move up 5 cm, keep gripper closed; then move back 8 cm, move right 8 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39679864048957825, + 0.07767675817012787, + 0.03529944643378258, + 3.1239025592803955, + -0.23188194632530212, + 0.7049782872200012 + ], + "gripper_value": 0.930367648601532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move up 5 cm, keep gripper closed; then move back 10 cm, move right 10 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3957039415836334, + 0.07943817228078842, + 0.035348765552043915, + 3.131563901901245, + -0.2336781769990921, + 0.7277415990829468 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move up 5 cm, keep gripper closed; then move back 10 cm, move right 10 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3964662551879883, + 0.08054866641759872, + 0.03506748378276825, + 3.1309964656829834, + -0.2413913607597351, + 0.7403436303138733 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move up 5 cm, keep gripper closed; then move back 10 cm, move right 10 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3966284692287445, + 0.0790683776140213, + 0.03491108864545822, + -3.1369383335113525, + -0.25700533390045166, + 0.7318337559700012 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "align above cake", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and cake visible. The gripper is open and the arm is moving toward the cake. No contact has been made yet. The next action is to continue approaching the cake to prepare for pushing it behind the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, keep gripper closed; then move back 10 cm, move right 10 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39345651865005493, + 0.07865452766418457, + 0.034284722059965134, + -3.133584499359131, + -0.2507878839969635, + 0.7357041835784912 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "align above cake", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange cake piece on the wooden table, with the yellow cloth visible to the right. The approach phase is complete, and the arm is now aligned for the next step. Since there is no gripper closing evidence, the robot should maintain this position or begin a slight downward movement to make contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, keep gripper closed; then move back 10 cm, move right 10 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38513901829719543, + 0.07806948572397232, + 0.05782989412546158, + -3.1395387649536133, + -0.25887468457221985, + 0.7556549310684204 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "align above cake", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange cake piece on the wooden table, with the yellow cloth visible to the right. The approach phase is complete, and the arm is now aligned for the next step. Since there is no gripper closing evidence, the robot should maintain this position or begin a slight downward movement to make contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 10 cm, move right 10 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 1 cm, move down 5 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37302300333976746, + 0.07811111211776733, + 0.08370538800954819, + 3.1264488697052, + -0.2905999720096588, + 0.7860522866249084 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with cake", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange cake piece on the wooden table, with the yellow cloth visible to the right. The approach phase is complete, and the arm is now aligned for the next step. Since there is no gripper closing evidence, the robot should maintain this position or begin a slight downward movement to make contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 10 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 1 cm, move down 6 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34874704480171204, + 0.06652522087097168, + 0.09818794578313828, + -3.140275478363037, + -0.3003025949001312, + 0.8032107353210449 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with cake", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cake on the wooden table, with the yellow cloth visible to the right. The approach and alignment phases are complete, and the gripper remains open with no closing motion detected. The next action is to lower the end-effector to make physical contact with the cake for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 9 cm, keep gripper closed; then move back 6 cm, move left 1 cm, move down 6 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3226707875728607, + 0.032815076410770416, + 0.1076444461941719, + 3.1404471397399902, + -0.30281370878219604, + 0.7707787752151489 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with cake", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cake on the wooden table, with the yellow cloth visible to the right. The approach and alignment phases are complete, and the gripper remains open with no closing motion detected. The next action is to lower the end-effector to make physical contact with the cake for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943441867828369, + 0.0019746210891753435, + 0.10432657599449158, + 3.1211283206939697, + -0.26196348667144775, + 0.7414180040359497 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 480, + 345, + 764, + 634 + ], + "metal bowl": [ + 213, + 273, + 421, + 529 + ], + "wooden table": [ + 12, + 185, + 895, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with cake", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cake on the wooden table, with the yellow cloth visible to the right. The approach and alignment phases are complete, and the gripper remains open with no closing motion detected. The next action is to lower the end-effector to make physical contact with the cake for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27335625886917114, + -0.022517243400216103, + 0.0945574939250946, + -3.135087490081787, + -0.25045597553253174, + 0.728777289390564 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cake on the wooden table, with the yellow cloth visible to the right. The approach and alignment phases are complete, and the gripper remains open with no closing motion detected. The next action is to lower the end-effector to make physical contact with the cake for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24586071074008942, + -0.03165905922651291, + 0.0798335000872612, + -3.1382858753204346, + -0.23084910213947296, + 0.8315816521644592 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cake on the wooden table, with the yellow cloth visible to the right. The approach and alignment phases are complete, and the gripper remains open with no closing motion detected. The next action is to lower the end-effector to make physical contact with the cake for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2214893102645874, + -0.02836810238659382, + 0.06682378798723221, + 3.1285955905914307, + -0.22808092832565308, + 0.9309210777282715 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 214, + 274, + 419, + 528 + ], + "wooden table": [ + 14, + 186, + 896, + 992 + ], + "yellow cloth": [ + 579, + 365, + 765, + 635 + ], + "blue sponge": [ + 204, + 525, + 357, + 657 + ] + } + } + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cake on the wooden table, with the yellow cloth visible to the right. The approach and alignment phases are complete, and the gripper remains open with no closing motion detected. The next action is to lower the end-effector to make physical contact with the cake for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21260420978069305, + -0.02297031693160534, + 0.05511166527867317, + 3.122252941131592, + -0.22581498324871063, + 0.9823154807090759 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cake on the wooden table, with the yellow cloth visible to the right. The approach and alignment phases are complete, and the gripper remains open with no closing motion detected. The next action is to lower the end-effector to make physical contact with the cake for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21621374785900116, + -0.01833510212600231, + 0.04773147776722908, + 3.1010122299194336, + -0.25812116265296936, + 1.0682196617126465 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot end-effector is in contact with the cake, positioned to push it toward the yellow cloth. The gripper remains open, consistent with a pushing action rather than grasping. The next action is to continue pushing the cake until it is fully behind the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move up 5 cm, keep gripper open; then move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.21648380160331726, + -0.016287624835968018, + 0.041348036378622055, + 3.0749433040618896, + -0.25677746534347534, + 1.1855735778808594 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot end-effector is in contact with the cake, positioned to push it toward the yellow cloth. The gripper remains open, consistent with a pushing action rather than grasping. The next action is to continue pushing the cake until it is fully behind the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 5 cm, keep gripper open; then move left 1 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.21487103402614594, + -0.01240021362900734, + 0.039006441831588745, + 3.0621626377105713, + -0.23011499643325806, + 1.2931127548217773 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot end-effector is in contact with the cake, positioned to push it toward the yellow cloth. The gripper remains open, consistent with a pushing action rather than grasping. The next action is to continue pushing the cake until it is fully behind the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 5 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.21702727675437927, + -0.0125898951664567, + 0.03310295566916466, + 3.0447335243225098, + -0.183899387717247, + 1.3881869316101074 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot end-effector is in contact with the cake, positioned to push it toward the yellow cloth. The gripper remains open, consistent with a pushing action rather than grasping. The next action is to continue pushing the cake until it is fully behind the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, move up 5 cm, keep gripper open; then move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22163435816764832, + -0.006333827972412109, + 0.03165150433778763, + 3.096142053604126, + -0.14439202845096588, + 1.4065122604370117 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push cake behind cloth", + "subtask_reasoning": "The robot end-effector is in contact with the cake, positioned to push it toward the yellow cloth. The gripper remains open, consistent with a pushing action rather than grasping. The next action is to continue pushing the cake until it is fully behind the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move left 1 cm, move up 5 cm, keep gripper open; then move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.23027268052101135, + -0.0068185473792254925, + 0.027023181319236755, + -3.112795114517212, + -0.15439429879188538, + 1.380757212638855 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact", + "subtask_reasoning": "The robot end-effector is in contact with the cake, positioned to push it toward the yellow cloth. The gripper remains open, consistent with a pushing action rather than grasping. The next action is to continue pushing the cake until it is fully behind the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, keep gripper open; then move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.22982197999954224, + -0.007284824270755053, + 0.026292165741324425, + -3.0841214656829834, + -0.1595141589641571, + 1.3435667753219604 + ], + "gripper_value": 0.6189444065093994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact", + "subtask_reasoning": "The robot has pushed the cake behind the yellow cloth and is now in the release contact phase. The gripper is open and no longer in contact with the cake, indicating successful completion of the push. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, keep gripper open; then move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 34, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.22468756139278412, + -0.0025727730244398117, + 0.0358085036277771, + -3.1116461753845215, + -0.14039404690265656, + 1.355475902557373 + ], + "gripper_value": 0.9190354347229004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact", + "subtask_reasoning": "The robot has pushed the cake behind the yellow cloth and is now in the release contact phase. The gripper is open and no longer in contact with the cake, indicating successful completion of the push. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.22392946481704712, + -0.00041992776095867157, + 0.05394091457128525, + -3.1362593173980713, + -0.15591472387313843, + 1.373342752456665 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release contact", + "subtask_reasoning": "The robot has pushed the cake behind the yellow cloth and is now in the release contact phase. The gripper is open and no longer in contact with the cake, indicating successful completion of the push. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.22664125263690948, + 0.0013059130869805813, + 0.07977665215730667, + 3.117861270904541, + -0.1706499308347702, + 1.340470552444458 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The robot has pushed the cake behind the yellow cloth and is now in the release contact phase. The gripper is open and no longer in contact with the cake, indicating successful completion of the push. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.22458337247371674, + 0.007938954047858715, + 0.09419722855091095, + 3.1114742755889893, + -0.18961617350578308, + 1.2400394678115845 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The robot has pushed the cake behind the yellow cloth and is now in the release contact phase. The gripper is open and no longer in contact with the cake, indicating successful completion of the push. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.22764122486114502, + 0.012964635156095028, + 0.10691353678703308, + -3.1244559288024902, + -0.19520995020866394, + 1.002946376800537 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The cake has been successfully pushed behind the yellow cloth. The robot is currently retreating to a safe pose with the gripper open, having completed the pushing action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2318502813577652, + 0.014475725591182709, + 0.12133540213108063, + -3.1346189975738525, + -0.18673287332057953, + 0.8039562702178955 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 480, + 345, + 765, + 635 + ], + "wooden table": [ + 14, + 185, + 896, + 992 + ], + "metal bowl": [ + 216, + 326, + 415, + 525 + ], + "blue sponge": [ + 204, + 524, + 356, + 657 + ] + } + } + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The cake has been successfully pushed behind the yellow cloth. The robot is currently retreating to a safe pose with the gripper open, having completed the pushing action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.22736866772174835, + 0.027216676622629166, + 0.12629759311676025, + -3.1345691680908203, + -0.10602482408285141, + 0.5560798645019531 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the piece of cake behind the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cake" + }, + { + "id": 2, + "subtask": "align above cake" + }, + { + "id": 3, + "subtask": "make contact with cake" + }, + { + "id": 4, + "subtask": "push cake behind cloth" + }, + { + "id": 5, + "subtask": "release contact" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The cake has been successfully pushed behind the yellow cloth. The robot is currently retreating to a safe pose with the gripper open, having completed the pushing action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003621_ecot.json b/cot/chunk-0003/episode_0003621_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ad6ee23d9830a25f843324983f3ca028f3b24d48 --- /dev/null +++ b/cot/chunk-0003/episode_0003621_ecot.json @@ -0,0 +1,2170 @@ +{ + "task_name": "episode_0003621", + "episode_json": "json/chunk-0003/episode_0003621.json", + "video_path": "videos/chunk-0003/image_0/episode_0003621.mp4", + "instruction": "Fold the cloth from bottom left to top right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003621.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.9451650381088257, + "std": 0.43647128343582153, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94517, std=0.43647, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 130, + 130, + 130 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 16 + ], + [ + 3, + 17, + 29 + ], + [ + 4, + 30, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottom left corner\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the bottom left corner of the cloth while preparing to grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift corner\", \"start\": 13, \"end\": 16, \"planning\": \"Close gripper to secure the bottom left corner and begin lifting it slightly off the table.\"},\n {\"id\": 3, \"name\": \"drag corner diagonally upward\", \"start\": 17, \"end\": 29, \"planning\": \"Pull the grasped corner diagonally toward the top right, folding the cloth along that axis.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 30, \"end\": 32, \"planning\": \"Open gripper to release the folded cloth and move end-effector away to complete the fold.\"}\n ],\n \"global_plan\": \"Fold the cloth by grasping the bottom left corner, dragging it diagonally to the top right, then releasing to complete the fold.\",\n \"notes\": \"Segment 1 shows approach with gripper closing at end; Segment 2 confirms grasp initiation; Segment 3 shows sustained hold during diagonal drag; Segment 4 shows gripper opening and retreat. All segments align with visual evidence and gripper state transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottom left corner", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the bottom left corner of the cloth while preparing to grasp." + }, + { + "id": 2, + "name": "grasp and lift corner", + "start": 13, + "end": 16, + "planning": "Close gripper to secure the bottom left corner and begin lifting it slightly off the table." + }, + { + "id": 3, + "name": "drag corner diagonally upward", + "start": 17, + "end": 29, + "planning": "Pull the grasped corner diagonally toward the top right, folding the cloth along that axis." + }, + { + "id": 4, + "name": "release and retreat", + "start": 30, + "end": 32, + "planning": "Open gripper to release the folded cloth and move end-effector away to complete the fold." + } + ], + "global_plan": "Fold the cloth by grasping the bottom left corner, dragging it diagonally to the top right, then releasing to complete the fold.", + "notes": "Segment 1 shows approach with gripper closing at end; Segment 2 confirms grasp initiation; Segment 3 shows sustained hold during diagonal drag; Segment 4 shows gripper opening and retreat. All segments align with visual evidence and gripper state transitions." + } + }, + "episode_goal": "Fold the cloth from bottom left to top right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22523382306098938, + 0.10568036139011383, + 0.15819616615772247, + -3.1234285831451416, + -0.6914590001106262, + -0.2376851737499237 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom left corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 13 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22392667829990387, + 0.10423538088798523, + 0.15480859577655792, + 3.1324856281280518, + -0.6833131313323975, + -0.2176571935415268 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom left corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 13 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21447142958641052, + 0.1163957342505455, + 0.15181170403957367, + 3.05561900138855, + -0.6651906967163086, + -0.07234061509370804 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom left corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 13 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20573188364505768, + 0.12911440432071686, + 0.13259105384349823, + 2.9729881286621094, + -0.5539067983627319, + 0.23764753341674805 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red ball": [ + 382, + 194, + 465, + 305 + ], + "black machine": [ + 425, + 25, + 962, + 331 + ], + "blue towel": [ + 80, + 306, + 801, + 961 + ], + "orange object": [ + 852, + 623, + 995, + 772 + ], + "wooden table": [ + 3, + 154, + 995, + 994 + ], + "blue object": [ + 882, + 932, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom left corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19788029789924622, + 0.13811782002449036, + 0.11258036643266678, + 2.9122462272644043, + -0.4666040241718292, + 0.5143137574195862 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom left corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.19270706176757812, + 0.137315571308136, + 0.0932798683643341, + 2.894158124923706, + -0.4463302195072174, + 0.711959183216095 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom left corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.18969926238059998, + 0.1364114135503769, + 0.07201339304447174, + 2.8630404472351074, + -0.4715217351913452, + 0.838330090045929 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth, approaching the bottom left corner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector toward the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19200190901756287, + 0.13813413679599762, + 0.0540851391851902, + 2.8285624980926514, + -0.5010644197463989, + 0.9059610962867737 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth, approaching the bottom left corner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector toward the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 3 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19787254929542542, + 0.14073927700519562, + 0.042017146944999695, + 2.830742597579956, + -0.5201275944709778, + 0.9381269216537476 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth, approaching the bottom left corner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector toward the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 3 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.19854618608951569, + 0.14371232688426971, + 0.030433690175414085, + 2.8508739471435547, + -0.5222991704940796, + 0.9502902626991272 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth, approaching the bottom left corner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector toward the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 3 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 6 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19866392016410828, + 0.14552244544029236, + 0.02734275721013546, + 2.852942705154419, + -0.5244083404541016, + 0.9665985107421875 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth, approaching the bottom left corner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector toward the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 3 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 9 cm, move right 6 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19681590795516968, + 0.14449778199195862, + 0.025875138118863106, + 2.8575429916381836, + -0.5188264846801758, + 0.9660348892211914 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth, approaching the bottom left corner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector toward the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 3 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 11 cm, move right 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19551807641983032, + 0.1428980678319931, + 0.02267657220363617, + 2.870722770690918, + -0.5164860486984253, + 0.9505103230476379 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red ball": [ + 381, + 195, + 466, + 302 + ], + "blue towel": [ + 85, + 305, + 802, + 960 + ], + "black machine": [ + 426, + 24, + 964, + 332 + ], + "wooden table": [ + 5, + 151, + 995, + 995 + ], + "orange object": [ + 851, + 621, + 995, + 772 + ], + "blue object": [ + 881, + 932, + 995, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the cloth, approaching the bottom left corner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector toward the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 14 cm, move right 10 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19523285329341888, + 0.14282992482185364, + 0.020497821271419525, + 2.8793773651123047, + -0.5143088102340698, + 0.9367745518684387 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned above the cloth, approaching the bottom left corner. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector toward the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 16 cm, move right 12 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1939009726047516, + 0.14081360399723053, + 0.019413460046052933, + 2.8802506923675537, + -0.5161844491958618, + 0.9272300601005554 + ], + "gripper_value": 0.16390947997570038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 18 cm, move right 14 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19510361552238464, + 0.13720998167991638, + 0.022836683318018913, + 2.861412763595581, + -0.5111298561096191, + 0.9217089414596558 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 19 cm, move right 16 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20810642838478088, + 0.13041651248931885, + 0.050260864198207855, + 2.7790658473968506, + -0.5310350656509399, + 0.9471226334571838 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move forward 20 cm, move right 17 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2301555722951889, + 0.11871931701898575, + 0.07873702794313431, + 2.7073113918304443, + -0.5210139751434326, + 1.0012456178665161 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 21 cm, move right 18 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2594563663005829, + 0.10348133742809296, + 0.08854968845844269, + 2.7096259593963623, + -0.48593923449516296, + 1.044852375984192 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move right 17 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28860121965408325, + 0.08520343899726868, + 0.07678057998418808, + 2.7558274269104004, + -0.46000757813453674, + 1.0506443977355957 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 16 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31775030493736267, + 0.06206586956977844, + 0.06728579849004745, + 2.781254291534424, + -0.4650323987007141, + 1.0381680727005005 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 15 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3434295058250427, + 0.037299744784832, + 0.06536678969860077, + 2.783421516418457, + -0.48391011357307434, + 1.0383057594299316 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange object": [ + 851, + 622, + 995, + 772 + ], + "blue towel": [ + 270, + 328, + 802, + 960 + ], + "blue object": [ + 881, + 932, + 995, + 995 + ], + "black machine": [ + 429, + 22, + 967, + 334 + ], + "red ball": [ + 629, + 58, + 668, + 96 + ], + "wooden table": [ + 3, + 165, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 12 cm, move down 2 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3665512800216675, + 0.016663476824760437, + 0.06776565313339233, + 2.7646872997283936, + -0.49472007155418396, + 1.066609263420105 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot has approached the bottom left corner of the cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grip and lift the corner to begin the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 10 cm, move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3871115446090698, + -0.004887264221906662, + 0.07215938717126846, + 2.743342399597168, + -0.4992246925830841, + 1.0780447721481323 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the cloth, having completed the grasp and lift phases. The end-effector is positioned above the cloth, ready to initiate the diagonal drag toward the top right. The next action is to move the gripper diagonally upward while maintaining contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4068988263607025, + -0.024619143456220627, + 0.07007035613059998, + 2.7378158569335938, + -0.4927344024181366, + 1.0780686140060425 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red ball": [ + 381, + 195, + 466, + 305 + ], + "blue towel": [ + 338, + 306, + 802, + 912 + ], + "black machine": [ + 284, + 2, + 741, + 432 + ], + "orange object": [ + 852, + 623, + 995, + 772 + ], + "blue object": [ + 881, + 932, + 995, + 995 + ], + "wooden table": [ + 3, + 144, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the cloth, having completed the grasp and lift phases. The end-effector is positioned above the cloth, ready to initiate the diagonal drag toward the top right. The next action is to move the gripper diagonally upward while maintaining contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4200723469257355, + -0.04132242128252983, + 0.06812974065542221, + 2.728984832763672, + -0.4969596862792969, + 1.0715880393981934 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the cloth, having completed the grasp and lift phases. The end-effector is positioned above the cloth, ready to initiate the diagonal drag toward the top right. The next action is to move the gripper diagonally upward while maintaining contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.43181928992271423, + -0.05146919935941696, + 0.05974125489592552, + 2.7395389080047607, + -0.5024513006210327, + 1.076460599899292 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the cloth, having completed the grasp and lift phases. The end-effector is positioned above the cloth, ready to initiate the diagonal drag toward the top right. The next action is to move the gripper diagonally upward while maintaining contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.43955883383750916, + -0.058930858969688416, + 0.0489601194858551, + 2.7523133754730225, + -0.5065045356750488, + 1.0685482025146484 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the cloth, having completed the grasp and lift phases. The end-effector is positioned above the cloth, ready to initiate the diagonal drag toward the top right. The next action is to move the gripper diagonally upward while maintaining contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.44611242413520813, + -0.06419963389635086, + 0.045236531645059586, + 2.7566332817077637, + -0.5075239539146423, + 1.0784401893615723 + ], + "gripper_value": 0.2248985916376114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the cloth, having completed the grasp and lift phases. The end-effector is positioned above the cloth, ready to initiate the diagonal drag toward the top right. The next action is to move the gripper diagonally upward while maintaining contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.44965389370918274, + -0.07645347714424133, + 0.04042802006006241, + 2.7658863067626953, + -0.5077300071716309, + 1.0572679042816162 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the cloth, having completed the grasp and lift phases. The end-effector is positioned above the cloth, ready to initiate the diagonal drag toward the top right. The next action is to move the gripper diagonally upward while maintaining contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.45595547556877136, + -0.08564292639493942, + 0.05001309886574745, + 2.736829996109009, + -0.49104803800582886, + 1.0628893375396729 + ], + "gripper_value": 0.7960459589958191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the cloth, having completed the grasp and lift phases. The end-effector is positioned above the cloth, ready to initiate the diagonal drag toward the top right. The next action is to move the gripper diagonally upward while maintaining contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.45749935507774353, + -0.09462611377239227, + 0.05305180698633194, + 2.745718240737915, + -0.48348674178123474, + 0.9623260498046875 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded by dragging the bottom left corner to the top right, and the gripper is now open (value ~1.0), indicating release has occurred. The robot arm is positioned above the folded cloth, suggesting completion of the fold. The next action is to retreat upward or away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.44821619987487793, + -0.10329792648553848, + 0.09016965329647064, + 2.7973690032958984, + -0.4625399708747864, + 0.7495440244674683 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded by dragging the bottom left corner to the top right, and the gripper is now open (value ~1.0), indicating release has occurred. The robot arm is positioned above the folded cloth, suggesting completion of the fold. The next action is to retreat upward or away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003623_ecot.json b/cot/chunk-0003/episode_0003623_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1378d97a6679205113a75dea478a461cfaf3f8a9 --- /dev/null +++ b/cot/chunk-0003/episode_0003623_ecot.json @@ -0,0 +1,1866 @@ +{ + "task_name": "episode_0003623", + "episode_json": "json/chunk-0003/episode_0003623.json", + "video_path": "videos/chunk-0003/image_0/episode_0003623.mp4", + "instruction": "Move the object to the middle of the bottom right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003623.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.8299170732498169, + "std": 0.3820801079273224, + "delta_total": 0.006558060646057129, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.82992, std=0.38208, total_delta=0.00656). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 26, + 26 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 11 + ], + [ + 3, + 12, + 18 + ], + [ + 4, + 19, + 25 + ], + [ + 5, + 26, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach object\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the small metal cup near the left burner without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp object\", \"start\": 3, \"end\": 11, \"planning\": \"Close gripper around the metal cup and secure it for transport, as confirmed by gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"transport to target burner\", \"start\": 12, \"end\": 18, \"planning\": \"Lift and move the grasped cup across the stove toward the bottom right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place on burner\", \"start\": 19, \"end\": 25, \"planning\": \"Lower the cup onto the center of the bottom right burner and begin releasing grip as confirmed by rising gripper values.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 26, \"end\": 27, \"planning\": \"Fully open gripper to release the cup and retract end-effector slightly upward and away from the burner.\"}\n ],\n \"global_plan\": \"Approach the metal cup, grasp it securely, transport it to the bottom right burner, place it centered on the burner, then release and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2, 4, and 5 — allowing grasp/place terminology. Segment 1 shows no gripper motion, so only approach is described. Frame coverage is contiguous and complete from 0 to 27.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach object", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the small metal cup near the left burner without closing gripper." + }, + { + "id": 2, + "name": "grasp object", + "start": 3, + "end": 11, + "planning": "Close gripper around the metal cup and secure it for transport, as confirmed by gripper value drop and visual contact." + }, + { + "id": 3, + "name": "transport to target burner", + "start": 12, + "end": 18, + "planning": "Lift and move the grasped cup across the stove toward the bottom right burner while maintaining grip." + }, + { + "id": 4, + "name": "place on burner", + "start": 19, + "end": 25, + "planning": "Lower the cup onto the center of the bottom right burner and begin releasing grip as confirmed by rising gripper values." + }, + { + "id": 5, + "name": "release and retreat", + "start": 26, + "end": 27, + "planning": "Fully open gripper to release the cup and retract end-effector slightly upward and away from the burner." + } + ], + "global_plan": "Approach the metal cup, grasp it securely, transport it to the bottom right burner, place it centered on the burner, then release and retreat.", + "notes": "Gripper evidence confirms meaningful closing in segments 2, 4, and 5 — allowing grasp/place terminology. Segment 1 shows no gripper motion, so only approach is described. Frame coverage is contiguous and complete from 0 to 27." + } + }, + "episode_goal": "Move the object to the middle of the bottom right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840464949607849, + 0.08474472910165787, + -0.0018163708737120032, + -3.0625879764556885, + -0.10811010748147964, + 0.2138413041830063 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the countertop near the metal cup, with the gripper open and no contact yet. The subtask of approaching the object is in progress, with the next action being to move the end-effector closer to the metal cup for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3770025074481964, + 0.08304452151060104, + -0.01873825676739216, + -3.063746213912964, + -0.0620248056948185, + 0.21562981605529785 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the countertop near the metal cup, with the gripper open and no contact made yet. The subtask of approaching the object is in progress, with the next action being to move the end-effector closer to the cup for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39579957723617554, + 0.08731523901224136, + -0.030607841908931732, + -3.0879628658294678, + -0.07604877650737762, + 0.1897626668214798 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the countertop near the metal cup, with the gripper open and no contact made yet. The subtask of approaching the object is in progress, with the next action being to move the end-effector closer to the cup for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper open; then move forward 3 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4267587959766388, + 0.08697501569986343, + -0.029810981824994087, + -3.119952917098999, + -0.12775591015815735, + 0.1281769871711731 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 509, + 427, + 733, + 666 + ] + } + } + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the countertop near the metal cup, with the gripper open and no contact made yet. The subtask of approaching the object is in progress, with the next action being to move the end-effector closer to the cup for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4447970688343048, + 0.09065793454647064, + -0.02366606332361698, + -3.085942268371582, + -0.16146105527877808, + 0.11546169221401215 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the countertop near the metal cup, with the gripper open and no contact made yet. The subtask of approaching the object is in progress, with the next action being to move the end-effector closer to the cup for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.45474255084991455, + 0.10161995887756348, + -0.021434525027871132, + -3.066410541534424, + -0.17697855830192566, + 0.1384764313697815 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the countertop near the metal cup, with the gripper open and no contact made yet. The subtask of approaching the object is in progress, with the next action being to move the end-effector closer to the cup for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.45952603220939636, + 0.1097574457526207, + -0.02426467277109623, + -3.0557944774627686, + -0.1729838252067566, + 0.15832972526550293 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the countertop near the metal cup, with the gripper open and no contact made yet. The subtask of approaching the object is in progress, with the next action being to move the end-effector closer to the cup for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4598419666290283, + 0.12344188988208771, + -0.031744953244924545, + -3.0563249588012695, + -0.1596418023109436, + 0.1923900693655014 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the metal cup on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current subtask requires initiating contact by closing the gripper around the cup. The next action is to grasp the metal cup securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 4 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.46063101291656494, + 0.1292080283164978, + -0.037790969014167786, + -3.045851945877075, + -0.1475081890821457, + 0.20080089569091797 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the metal cup on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current subtask requires initiating contact by closing the gripper around the cup. The next action is to grasp the metal cup securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 6 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4617433249950409, + 0.12955141067504883, + -0.04451692849397659, + -3.0521652698516846, + -0.13454604148864746, + 0.21332009136676788 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the metal cup on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current subtask requires initiating contact by closing the gripper around the cup. The next action is to grasp the metal cup securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.46093595027923584, + 0.12832535803318024, + -0.047228362411260605, + -3.059265613555908, + -0.12709781527519226, + 0.217779740691185 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the metal cup on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current subtask requires initiating contact by closing the gripper around the cup. The next action is to grasp the metal cup securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.45769551396369934, + 0.1282256543636322, + -0.049432214349508286, + -3.060410976409912, + -0.10420249402523041, + 0.22190138697624207 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the metal cup on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current subtask requires initiating contact by closing the gripper around the cup. The next action is to grasp the metal cup securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.45743176341056824, + 0.12989145517349243, + -0.04931885004043579, + -3.049651861190796, + -0.10279177129268646, + 0.22036635875701904 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target burner", + "subtask_reasoning": "The robot arm is positioned above the metal cup on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current subtask requires initiating contact by closing the gripper around the cup. The next action is to grasp the metal cup securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.45865631103515625, + 0.13087257742881775, + -0.049166176468133926, + -3.0498149394989014, + -0.11195338517427444, + 0.22105149924755096 + ], + "gripper_value": 0.19318951666355133 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target burner", + "subtask_reasoning": "The robot arm is positioned above the metal cup on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current subtask requires initiating contact by closing the gripper around the cup. The next action is to grasp the metal cup securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.45856359601020813, + 0.12875810265541077, + -0.0502825565636158, + -3.058291435241699, + -0.11354012042284012, + 0.22222426533699036 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target burner", + "subtask_reasoning": "The robot arm is positioned above the metal cup on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current subtask requires initiating contact by closing the gripper around the cup. The next action is to grasp the metal cup securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4561881422996521, + 0.12677432596683502, + -0.05278022959828377, + -3.066739320755005, + -0.11180359870195389, + 0.22142693400382996 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target burner", + "subtask_reasoning": "The robot is currently holding the metal cup and transporting it across the stovetop toward the bottom right burner. The gripper remains closed, maintaining a secure grasp on the object as it moves from the left side toward the target location. The next action is to continue moving the arm until the cup is positioned directly above the center of the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 9 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4396909475326538, + 0.11554767936468124, + -0.04044630751013756, + -3.1102657318115234, + -0.1409033238887787, + 0.22834086418151855 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target burner", + "subtask_reasoning": "The robot is currently holding the metal cup and transporting it across the stovetop toward the bottom right burner. The gripper remains closed, maintaining a secure grasp on the object as it moves from the left side toward the target location. The next action is to continue moving the arm until the cup is positioned directly above the center of the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41896069049835205, + 0.09453629702329636, + -0.0028576499316841364, + 3.1380767822265625, + -0.23057705163955688, + 0.18192791938781738 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 506, + 427, + 735, + 668 + ] + } + } + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target burner", + "subtask_reasoning": "The robot is currently holding the metal cup and transporting it across the stovetop toward the bottom right burner. The gripper remains closed, maintaining a secure grasp on the object as it moves from the left side toward the target location. The next action is to continue moving the arm until the cup is positioned directly above the center of the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move up 1 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3934943974018097, + 0.06786101311445236, + 0.0009752693586051464, + 3.1239428520202637, + -0.2251245230436325, + 0.1445862352848053 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target burner", + "subtask_reasoning": "The robot is currently holding the metal cup and transporting it across the stovetop toward the bottom right burner. The gripper remains closed, maintaining a secure grasp on the object as it moves from the left side toward the target location. The next action is to continue moving the arm until the cup is positioned directly above the center of the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move up 1 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.369767963886261, + 0.0319422222673893, + -0.011712864972651005, + -3.1407151222229004, + -0.18115277588367462, + 0.047714561223983765 + ], + "gripper_value": 0.1767941415309906 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is currently holding the metal cup and transporting it across the stovetop toward the bottom right burner. The gripper remains closed, maintaining a secure grasp on the object as it moves from the left side toward the target location. The next action is to continue moving the arm until the cup is positioned directly above the center of the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3590497374534607, + -0.0013499652268365026, + -0.02170851081609726, + -3.1335043907165527, + -0.16097573935985565, + -0.02302563562989235 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is currently holding the metal cup and transporting it across the stovetop toward the bottom right burner. The gripper remains closed, maintaining a secure grasp on the object as it moves from the left side toward the target location. The next action is to continue moving the arm until the cup is positioned directly above the center of the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574426472187042, + -0.019573746249079704, + -0.02277979627251625, + -3.1303861141204834, + -0.16118639707565308, + -0.05764109641313553 + ], + "gripper_value": 0.1767941415309906 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is currently holding the metal cup and transporting it across the stovetop toward the bottom right burner. The gripper remains closed, maintaining a secure grasp on the object as it moves from the left side toward the target location. The next action is to continue moving the arm until the cup is positioned directly above the center of the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3551374077796936, + -0.019573813304305077, + -0.03582816198468208, + -3.123817205429077, + -0.13729679584503174, + -0.040754009038209915 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is holding the metal cup above the bottom right burner, with the gripper partially closed. The cup is positioned near the center of the burner but not yet fully placed. The next action should be to lower the cup gently onto the burner and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 4 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613852560520172, + -0.011287101544439793, + -0.03694256767630577, + -3.1118500232696533, + -0.1408216506242752, + 0.0062019783072173595 + ], + "gripper_value": 0.1767941415309906 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is holding the metal cup above the bottom right burner, with the gripper partially closed. The cup is positioned near the center of the burner but not yet fully placed. The next action should be to lower the cup gently onto the burner and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36757656931877136, + 0.005129058379679918, + -0.039548393338918686, + -3.1103017330169678, + -0.15181779861450195, + 0.05131392180919647 + ], + "gripper_value": 0.22171935439109802 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is holding the metal cup above the bottom right burner, with the gripper partially closed. The cup is positioned near the center of the burner but not yet fully placed. The next action should be to lower the cup gently onto the burner and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3557257354259491, + 0.007209266070276499, + -0.04385269433259964, + -3.1305437088012695, + -0.11004230380058289, + 0.07518499344587326 + ], + "gripper_value": 0.4975702464580536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is holding the metal cup above the bottom right burner, with the gripper partially closed. The cup is positioned near the center of the burner but not yet fully placed. The next action should be to lower the cup gently onto the burner and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36338213086128235, + 0.0020910839084535837, + 0.00014202133752405643, + -3.119971990585327, + -0.19816523790359497, + 0.038918979465961456 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal cup is already placed on the bottom right burner. The gripper is open and positioned above the cup, indicating release has occurred. The next action is to retreat the end-effector away from the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603318929672241, + -0.005816889926791191, + 0.01732606068253517, + -3.1144731044769287, + -0.16816343367099762, + 0.02430078014731407 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object to the middle of the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "transport to target burner" + }, + { + "id": 4, + "subtask": "place on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal cup is already placed on the bottom right burner. The gripper is open and positioned above the cup, indicating release has occurred. The next action is to retreat the end-effector away from the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003624_ecot.json b/cot/chunk-0003/episode_0003624_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bc197ed694f5333c1e8b270b97fffd03b1c02f2f --- /dev/null +++ b/cot/chunk-0003/episode_0003624_ecot.json @@ -0,0 +1,2218 @@ +{ + "task_name": "episode_0003624", + "episode_json": "json/chunk-0003/episode_0003624.json", + "video_path": "videos/chunk-0003/image_0/episode_0003624.mp4", + "instruction": "Take the silver pot from the left burner, put it on the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003624.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.921916127204895, + "std": 0.4114154577255249, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92192, std=0.41142, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 217, + 217, + 217, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 29, + 29, + 29, + 29 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 16 + ], + [ + 3, + 17, + 19 + ], + [ + 4, + 20, + 28 + ], + [ + 5, + 29, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach left burner\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the silver pot on the left burner without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp silver pot\", \"start\": 4, \"end\": 16, \"planning\": \"Close the gripper around the silver pot and secure it for lifting, as evidenced by meaningful gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and translate to right burner\", \"start\": 17, \"end\": 19, \"planning\": \"Lift the pot slightly and move it horizontally toward the right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place pot on right burner\", \"start\": 20, \"end\": 28, \"planning\": \"Lower the pot onto the right burner and begin releasing the gripper, confirmed by gradual opening and contact with surface.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 29, \"end\": 32, \"planning\": \"Fully open the gripper to release the pot and retract the arm away from the stove area.\"}\n ],\n \"global_plan\": \"Approach the silver pot on the left burner, grasp it securely, lift and translate it to the right burner, place it down gently, then release and retreat.\",\n \"notes\": \"Gripper evidence supports grasping in segments 2, 4, and 5; segment 1 shows no closure so approach-only wording is used. Segment 3 (frames 17-19) is short but represents a distinct translation phase between grasp and placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach left burner", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the silver pot on the left burner without closing the gripper." + }, + { + "id": 2, + "name": "grasp silver pot", + "start": 4, + "end": 16, + "planning": "Close the gripper around the silver pot and secure it for lifting, as evidenced by meaningful gripper closure and stable pose." + }, + { + "id": 3, + "name": "lift and translate to right burner", + "start": 17, + "end": 19, + "planning": "Lift the pot slightly and move it horizontally toward the right burner while maintaining grip." + }, + { + "id": 4, + "name": "place pot on right burner", + "start": 20, + "end": 28, + "planning": "Lower the pot onto the right burner and begin releasing the gripper, confirmed by gradual opening and contact with surface." + }, + { + "id": 5, + "name": "release and retreat", + "start": 29, + "end": 32, + "planning": "Fully open the gripper to release the pot and retract the arm away from the stove area." + } + ], + "global_plan": "Approach the silver pot on the left burner, grasp it securely, lift and translate it to the right burner, place it down gently, then release and retreat.", + "notes": "Gripper evidence supports grasping in segments 2, 4, and 5; segment 1 shows no closure so approach-only wording is used. Segment 3 (frames 17-19) is short but represents a distinct translation phase between grasp and placement." + } + }, + "episode_goal": "Move the silver pot from the left burner to the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31096339225769043, + 0.014469648711383343, + 0.06716346740722656, + -3.0101370811462402, + -0.1031746193766594, + -0.1058042049407959 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach left burner", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The robot needs to lower its arm and move towards the pot to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 11 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30640897154808044, + 0.014137441292405128, + 0.05744646489620209, + -3.0132181644439697, + -0.06500055640935898, + -0.10648402571678162 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach left burner", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 12 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32183927297592163, + 0.02344905398786068, + 0.05044069513678551, + -2.990764617919922, + -0.050237491726875305, + -0.09518777579069138 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach left burner", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 12 cm, move left 9 cm, move down 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34883424639701843, + 0.03701262176036835, + 0.04942644014954567, + -3.00264310836792, + -0.11361223459243774, + -0.11111708730459213 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach left burner", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 12 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.380542516708374, + 0.05964551866054535, + 0.043947283178567886, + -2.9712564945220947, + -0.21627958118915558, + -0.13647432625293732 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 393, + 63, + 513, + 227 + ], + "banana": [ + 522, + 416, + 679, + 568 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 10 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39994603395462036, + 0.08061844855546951, + 0.037028033286333084, + -2.8820464611053467, + -0.3178195357322693, + -0.15115830302238464 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 8 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4155462980270386, + 0.0916392132639885, + 0.02656007558107376, + -2.842843770980835, + -0.37200725078582764, + -0.15697985887527466 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4298607110977173, + 0.09713641554117203, + 0.014866800047457218, + -2.8917458057403564, + -0.41871628165245056, + -0.09075786918401718 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.45342379808425903, + 0.10424134135246277, + 0.008770838379859924, + -2.909557580947876, + -0.45599204301834106, + -0.0610014945268631 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4771949350833893, + 0.11137948930263519, + -3.553398710209876e-05, + -2.8749706745147705, + -0.4519319534301758, + -0.09822328388690948 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 396, + 70, + 548, + 235 + ], + "banana": [ + 522, + 416, + 678, + 568 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 4 cm, close gripper; then move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.49331024289131165, + 0.12245412170886993, + 0.0005930596962571144, + -2.814663887023926, + -0.4478129744529724, + -0.13298684358596802 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the left burner where the silver pot is located. The gripper is currently open and positioned near the pot, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, close gripper; then move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4993041753768921, + 0.13337816298007965, + 0.00545236561447382, + -2.7837579250335693, + -0.48167872428894043, + -0.11957518756389618 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the left burner where the silver pot is located. The gripper is currently open and positioned near the pot, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, close gripper; then move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4997875988483429, + 0.14637626707553864, + 0.008395664393901825, + -2.7653579711914062, + -0.5001974701881409, + -0.08824524283409119 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the left burner where the silver pot is located. The gripper is currently open and positioned near the pot, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, close gripper; then move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.5022905468940735, + 0.1561422348022461, + -0.01145946141332388, + -2.804046154022217, + -0.4511505663394928, + -0.05588296800851822 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the left burner where the silver pot is located. The gripper is currently open and positioned near the pot, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 12 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.502602756023407, + 0.1633700579404831, + -0.022400088608264923, + -2.8181421756744385, + -0.42034170031547546, + -0.044195715337991714 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the left burner where the silver pot is located. The gripper is currently open and positioned near the pot, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 14 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.5067821145057678, + 0.15898554027080536, + -0.023691968992352486, + -2.838390350341797, + -0.4470919966697693, + -0.041361186653375626 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the left burner where the silver pot is located. The gripper is currently open and positioned near the pot, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 15 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.5020657181739807, + 0.15661802887916565, + -0.03128499165177345, + -2.8309879302978516, + -0.43045082688331604, + -0.05219716578722 + ], + "gripper_value": 0.6991904973983765 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the left burner where the silver pot is located. The gripper is currently open and positioned near the pot, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 15 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.498541921377182, + 0.15244820713996887, + -0.03838218376040459, + -2.8195078372955322, + -0.4162784814834595, + -0.07999398559331894 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate to right burner", + "subtask_reasoning": "The robot has approached the left burner where the silver pot is located. The gripper is currently open and positioned near the pot, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 15 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.49588751792907715, + 0.14889881014823914, + -0.03873933479189873, + -2.816561222076416, + -0.4259267747402191, + -0.10855597257614136 + ], + "gripper_value": 0.15667486190795898 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate to right burner", + "subtask_reasoning": "The silver pot has been grasped and lifted from the left burner, as indicated by the gripper closure and elevated end-effector position. The robot is now translating the pot toward the right burner. The next action is to continue moving the pot horizontally to align it over the right burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 15 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.49500900506973267, + 0.1404908150434494, + -0.027753951027989388, + -2.776495933532715, + -0.43626049160957336, + -0.20178206264972687 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate to right burner", + "subtask_reasoning": "The silver pot has been grasped and lifted from the left burner, as indicated by the gripper closure and elevated end-effector position. The robot is now translating the pot toward the right burner. The next action is to continue moving the pot horizontally to align it over the right burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 15 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.5002173185348511, + 0.10801613330841064, + -0.005375463981181383, + -2.7283918857574463, + -0.4664367735385895, + -0.34765130281448364 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot has been grasped and lifted from the left burner, as indicated by the gripper closure and elevated end-effector position. The robot is now translating the pot toward the right burner. The next action is to continue moving the pot horizontally to align it over the right burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4937976002693176, + 0.059939589351415634, + 0.0027712183073163033, + -2.701375961303711, + -0.4325607419013977, + -0.47148287296295166 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot has been grasped and lifted from the left burner, as indicated by the gripper closure and elevated end-effector position. The robot is now translating the pot toward the right burner. The next action is to continue moving the pot horizontally to align it over the right burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 6 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.48507195711135864, + 0.021447813138365746, + -0.003190087852999568, + -2.6954524517059326, + -0.38543641567230225, + -0.5513209700584412 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 522, + 415, + 680, + 568 + ], + "silver pot": [ + 529, + 37, + 759, + 299 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot has been grasped and lifted from the left burner, as indicated by the gripper closure and elevated end-effector position. The robot is now translating the pot toward the right burner. The next action is to continue moving the pot horizontally to align it over the right burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 10 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.48249387741088867, + -0.007015021052211523, + -0.0056238602846860886, + -2.7063753604888916, + -0.3702811598777771, + -0.6088144183158875 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot has been grasped and lifted from the left burner, as indicated by the gripper closure and elevated end-effector position. The robot is now translating the pot toward the right burner. The next action is to continue moving the pot horizontally to align it over the right burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, open gripper; then move back 10 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4863322079181671, + -0.03155077248811722, + -0.006557157728821039, + -2.717324733734131, + -0.38111165165901184, + -0.6486853957176208 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot is currently held above the right burner, aligned for placement. The gripper remains closed with minimal motion, indicating the pot is still grasped and not yet released. The next action should be to lower the pot gently onto the right burner and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move back 10 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4932180941104889, + -0.04115862771868706, + -0.026301255449652672, + -2.7266485691070557, + -0.3536096215248108, + -0.6605352163314819 + ], + "gripper_value": 0.08022117614746094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot is currently held above the right burner, aligned for placement. The gripper remains closed with minimal motion, indicating the pot is still grasped and not yet released. The next action should be to lower the pot gently onto the right burner and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, open gripper; then move back 10 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.5029255747795105, + -0.04544403776526451, + -0.03494592010974884, + -2.735640048980713, + -0.3421088755130768, + -0.6748111248016357 + ], + "gripper_value": 0.08022117614746094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot is currently held above the right burner, aligned for placement. The gripper remains closed with minimal motion, indicating the pot is still grasped and not yet released. The next action should be to lower the pot gently onto the right burner and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 10 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.501944899559021, + -0.044336605817079544, + -0.036022018641233444, + -2.7410192489624023, + -0.32728949189186096, + -0.6656015515327454 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot is currently held above the right burner, aligned for placement. The gripper remains closed with minimal motion, indicating the pot is still grasped and not yet released. The next action should be to lower the pot gently onto the right burner and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move back 10 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.5008645057678223, + -0.04259523004293442, + -0.038619525730609894, + -2.727247953414917, + -0.3421737551689148, + -0.6562490463256836 + ], + "gripper_value": 0.24658186733722687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The silver pot is currently held above the right burner, aligned for placement. The gripper remains closed with minimal motion, indicating the pot is still grasped and not yet released. The next action should be to lower the pot gently onto the right burner and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move back 10 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.49111926555633545, + -0.040914393961429596, + -0.020933907479047775, + -2.7093276977539062, + -0.37348809838294983, + -0.6586123704910278 + ], + "gripper_value": 0.5188266634941101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is currently held above the right burner, aligned for placement. The gripper remains closed with minimal motion, indicating the pot is still grasped and not yet released. The next action should be to lower the pot gently onto the right burner and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.47056978940963745, + -0.04396841675043106, + 0.016155937686562538, + -2.731166124343872, + -0.3828553259372711, + -0.6198552250862122 + ], + "gripper_value": 0.8562611937522888 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 642, + 173, + 827, + 374 + ], + "banana": [ + 522, + 415, + 680, + 569 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is now resting on the right burner, indicating successful placement. The gripper is open and slightly elevated, showing release has occurred. The next action is to retreat the arm away from the stove area to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4324376583099365, + -0.04584343731403351, + 0.019502373412251472, + -2.844930648803711, + -0.27661725878715515, + -0.5111644864082336 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is now resting on the right burner, indicating successful placement. The gripper is open and slightly elevated, showing release has occurred. The next action is to retreat the arm away from the stove area to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.39302101731300354, + -0.050460390746593475, + 0.01882297359406948, + -2.9871504306793213, + -0.14427608251571655, + -0.38144630193710327 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left burner" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is now resting on the right burner, indicating successful placement. The gripper is open and slightly elevated, showing release has occurred. The next action is to retreat the arm away from the stove area to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003625_ecot.json b/cot/chunk-0003/episode_0003625_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5e1fb1ed29bff81110b72ea6e97a0574cce896e5 --- /dev/null +++ b/cot/chunk-0003/episode_0003625_ecot.json @@ -0,0 +1,1930 @@ +{ + "task_name": "episode_0003625", + "episode_json": "json/chunk-0003/episode_0003625.json", + "video_path": "videos/chunk-0003/image_0/episode_0003625.mp4", + "instruction": "Take a cloth and move it to the gas stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003625.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019888877868652344, + "std": 0.0007986519485712051, + "delta_total": -0.0013275146484375, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00080, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the yellow cloth on the stove surface.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 6, \"end\": 11, \"planning\": \"Lower and position gripper to establish physical contact with the cloth without grasping.\"},\n {\"id\": 3, \"name\": \"reposition cloth on stove\", \"start\": 12, \"end\": 22, \"planning\": \"Drag or slide the cloth across the stove surface using sustained contact motion.\"},\n {\"id\": 4, \"name\": \"final adjustment of cloth\", \"start\": 23, \"end\": 30, \"planning\": \"Fine-tune cloth position on stove by nudging or sliding to target location.\"}\n ],\n \"global_plan\": \"The robot approaches the cloth, makes contact, then drags and adjusts its position on the gas stove without lifting or grasping, as no meaningful gripper closing is observed.\",\n \"notes\": \"Gripper remains nearly open throughout; all manipulation is contact-based (push/drag/slide). No grasp, lift, or place actions are inferred per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the yellow cloth on the stove surface." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 6, + "end": 11, + "planning": "Lower and position gripper to establish physical contact with the cloth without grasping." + }, + { + "id": 3, + "name": "reposition cloth on stove", + "start": 12, + "end": 22, + "planning": "Drag or slide the cloth across the stove surface using sustained contact motion." + }, + { + "id": 4, + "name": "final adjustment of cloth", + "start": 23, + "end": 30, + "planning": "Fine-tune cloth position on stove by nudging or sliding to target location." + } + ], + "global_plan": "The robot approaches the cloth, makes contact, then drags and adjusts its position on the gas stove without lifting or grasping, as no meaningful gripper closing is observed.", + "notes": "Gripper remains nearly open throughout; all manipulation is contact-based (push/drag/slide). No grasp, lift, or place actions are inferred per anti-hallucination rules." + } + }, + "episode_goal": "Move the yellow cloth from the counter onto the gas stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.40936580300331116, + -0.027508718892931938, + 0.06454318016767502, + 3.0795884132385254, + -0.04025899991393089, + 0.03675311058759689 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the yellow cloth visible on the gas stove surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action should be to move the end-effector closer to the cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4025045931339264, + -0.02656717225909233, + 0.04475078731775284, + 3.084156036376953, + 0.013694362714886665, + 0.04615561664104462 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the yellow cloth visible on the gas stove surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action should be to move the end-effector closer to the cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 2 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3803759813308716, + -0.02674996852874756, + 0.03339746594429016, + 3.0813682079315186, + 0.049357183277606964, + 0.07434113323688507 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the yellow cloth visible on the gas stove surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action should involve moving the end-effector closer to the cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, keep gripper open; then move forward 4 cm, move left 4 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36866429448127747, + -0.03063683584332466, + 0.04028134047985077, + 3.056752920150757, + 0.08031905442476273, + 0.06983935087919235 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the yellow cloth visible on the gas stove surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action should involve moving the end-effector closer to the cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 4 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473910987377167, + -0.029575832188129425, + 0.04132584109902382, + 3.0616352558135986, + 0.09996191412210464, + 0.08907971531152725 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the yellow cloth visible on the gas stove surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action should involve moving the end-effector closer to the cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 4 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3258328437805176, + -0.031220894306898117, + 0.04477125406265259, + 3.0639305114746094, + 0.07921958714723587, + 0.11298009753227234 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the yellow cloth visible on the gas stove surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action should involve moving the end-effector closer to the cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, keep gripper open; then move forward 4 cm, move left 4 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31037163734436035, + -0.04875793308019638, + 0.029074769467115402, + 3.0886447429656982, + 0.07788660377264023, + 0.09893905371427536 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 404, + 356, + 990, + 841 + ], + "control knobs": [ + 256, + 636, + 351, + 756 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the counter with the yellow cloth visible on the gas stove surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action should involve moving the end-effector closer to the cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019232153892517, + -0.05669468268752098, + 0.013791587203741074, + 3.083162784576416, + 0.048805247992277145, + 0.09104352444410324 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the counter with the yellow cloth visible on the gas stove surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action should involve moving the end-effector closer to the cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3058912456035614, + -0.06121225655078888, + -0.006246786564588547, + 3.0452747344970703, + 0.023153144866228104, + 0.043376192450523376 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 4 cm, move left 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30792146921157837, + -0.05403865873813629, + -0.02242302894592285, + 3.0534815788269043, + 0.027920447289943695, + 0.0443921722471714 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move left 11 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160500228404999, + -0.03780548647046089, + -0.026700591668486595, + 3.082404136657715, + 0.013369775377213955, + 0.039055872708559036 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, keep gripper open; then move forward 3 cm, move left 11 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3280344307422638, + -0.02515098638832569, + -0.028588147833943367, + 3.1222083568573, + -0.007954227738082409, + 0.00800700020045042 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper open; then move forward 3 cm, move left 11 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.351182222366333, + -0.00687522953376174, + -0.02728651650249958, + -3.1375932693481445, + -0.04451429098844528, + -0.01673056371510029 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3670637309551239, + 0.01284993626177311, + -0.027162780985236168, + -3.1319329738616943, + -0.0609569177031517, + -0.02048042044043541 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 410, + 274, + 945, + 719 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3776649534702301, + 0.033172983676195145, + -0.027286356315016747, + -3.1280517578125, + -0.060377154499292374, + -0.01066696085035801 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 9 cm, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3868125081062317, + 0.05864832177758217, + -0.02740764245390892, + -3.122915267944336, + -0.06695768982172012, + -0.010667637921869755 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 392, + 221, + 896, + 614 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 9 cm, keep gripper open; then move right 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39117303490638733, + 0.07847141474485397, + -0.026195863261818886, + -3.107795476913452, + -0.07011201977729797, + -0.005453812424093485 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The robot has approached the yellow cloth on the counter and is now in contact with it, as indicated by the end-effector position and lack of gripper closure. No grasping has occurred; the cloth remains flat on the surface. The next action should involve dragging or sliding the cloth toward the gas stove without lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 9 cm, keep gripper open; then move back 1 cm, move right 7 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3944242596626282, + 0.09025786817073822, + -0.024143658578395844, + -3.086674690246582, + -0.05074959993362427, + -0.02472001686692238 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 11 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3874836564064026, + 0.09611302614212036, + -0.02252138778567314, + -3.09544038772583, + -0.07872699946165085, + -0.018666980788111687 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 9 cm, keep gripper open; then move back 2 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3797159790992737, + 0.10126344114542007, + -0.01758921891450882, + -3.114651679992676, + -0.08487778156995773, + -0.010224145837128162 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 8 cm, keep gripper open; then move back 5 cm, move right 17 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820815980434418, + 0.10009700804948807, + 0.003754712175577879, + -3.1164445877075195, + -0.13318239152431488, + -0.010533124208450317 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, keep gripper open; then move back 9 cm, move right 19 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.383637011051178, + 0.09923576563596725, + 0.022951606661081314, + -3.108496904373169, + -0.16750343143939972, + -0.005831829272210598 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, keep gripper open; then move back 9 cm, move right 19 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38377970457077026, + 0.09387469291687012, + 0.039106834679841995, + -3.099374532699585, + -0.18239301443099976, + -0.0005647318321280181 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "reposition cloth on stove", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move back 9 cm, move right 19 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3751298487186432, + 0.08321955054998398, + 0.06398558616638184, + -3.062652826309204, + -0.14466001093387604, + 0.025009214878082275 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "final adjustment of cloth", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 19 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.373371422290802, + 0.0652213767170906, + 0.07632331550121307, + -3.0824344158172607, + -0.1657070368528366, + 0.01878170482814312 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "final adjustment of cloth", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 17 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37257736921310425, + 0.041912827640771866, + 0.07692763954401016, + -3.070247173309326, + -0.1409173458814621, + -0.027653979137539864 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "final adjustment of cloth", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the end-effector is in contact with it, having completed approach and initial contact. The gripper remains open with no closing evidence, indicating dragging or sliding rather than grasping. The next action is to continue adjusting the cloth’s position on the stove surface via controlled pushing or sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 15 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.369369238615036, + 0.017288614064455032, + 0.07312660664319992, + -3.1000967025756836, + -0.12231343239545822, + -0.029023393988609314 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "final adjustment of cloth", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the robot's end-effector is in contact with it, making minor positional adjustments. No grasping or lifting has occurred, as gripper evidence remains flat. The next action is to finalize the cloth’s position by gently nudging or smoothing it into place." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 12 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3644960820674896, + -0.023582201451063156, + 0.07287576049566269, + -3.137213945388794, + -0.09525071084499359, + -0.04359709843993187 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "final adjustment of cloth", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the robot's end-effector is in contact with it, making minor positional adjustments. No grasping or lifting has occurred, as gripper evidence remains flat. The next action is to finalize the cloth’s position by gently nudging or smoothing it into place." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3512051999568939, + -0.061839617788791656, + 0.0719478502869606, + -3.138474702835083, + -0.04212415590882301, + -0.056214410811662674 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "final adjustment of cloth", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the robot's end-effector is in contact with it, making minor positional adjustments. No grasping or lifting has occurred, as gripper evidence remains flat. The next action is to finalize the cloth’s position by gently nudging or smoothing it into place." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3217732608318329, + -0.089482381939888, + 0.06107768416404724, + -3.1281094551086426, + -0.0016811820678412914, + -0.044109947979450226 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "final adjustment of cloth", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the robot's end-effector is in contact with it, making minor positional adjustments. No grasping or lifting has occurred, as gripper evidence remains flat. The next action is to finalize the cloth’s position by gently nudging or smoothing it into place." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28951820731163025, + -0.10388680547475815, + 0.06897629797458649, + -3.1179919242858887, + -0.01636003702878952, + 0.023854302242398262 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 340, + 173, + 789, + 535 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the counter onto the gas stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on stove" + }, + { + "id": 4, + "subtask": "final adjustment of cloth" + } + ], + "subtask_name": "final adjustment of cloth", + "subtask_reasoning": "The yellow cloth is already on the gas stove, and the robot's end-effector is in contact with it, making minor positional adjustments. No grasping or lifting has occurred, as gripper evidence remains flat. The next action is to finalize the cloth’s position by gently nudging or smoothing it into place." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003626_ecot.json b/cot/chunk-0003/episode_0003626_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c820fb1f8c5f6a4785880363d742b827d1db150c --- /dev/null +++ b/cot/chunk-0003/episode_0003626_ecot.json @@ -0,0 +1,2517 @@ +{ + "task_name": "episode_0003626", + "episode_json": "json/chunk-0003/episode_0003626.json", + "video_path": "videos/chunk-0003/image_0/episode_0003626.mp4", + "instruction": "Put out the objects of the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003626.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.5406903028488159, + "std": 0.25607290863990784, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.54069, std=0.25607, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 100, + 100, + 100, + 300, + 300, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 414, + 414, + 414, + 414, + 414, + 414, + 414, + 414, + 429, + 429, + 429, + 429, + 429, + 429 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 8 + ], + [ + 3, + 9, + 11 + ], + [ + 4, + 12, + 13 + ], + [ + 5, + 14, + 20 + ], + [ + 6, + 21, + 28 + ], + [ + 7, + 29, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer interior\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the open drawer while maintaining open gripper to prepare for object interaction.\"},\n {\"id\": 2, \"name\": \"reposition above target object\", \"start\": 6, \"end\": 8, \"planning\": \"Adjust position and orientation to align with the blue object inside the drawer without closing gripper.\"},\n {\"id\": 3, \"name\": \"descend to contact object\", \"start\": 9, \"end\": 11, \"planning\": \"Lower end-effector vertically until making physical contact with the blue object, still without grasping.\"},\n {\"id\": 4, \"name\": \"grasp and lift blue object\", \"start\": 12, \"end\": 20, \"planning\": \"Close gripper to securely grasp the blue object, then lift it clear of the drawer interior.\"},\n {\"id\": 5, \"name\": \"transport object away from drawer\", \"start\": 21, \"end\": 28, \"planning\": \"Carry the grasped blue object laterally and upward to a safe placement zone outside the drawer.\"},\n {\"id\": 6, \"name\": \"release object on table\", \"start\": 29, \"end\": 34, \"planning\": \"Open gripper to deposit the blue object onto the table surface, then retreat slightly to complete placement.\"}\n ],\n \"global_plan\": \"Extract the blue object from the drawer by approaching, contacting, grasping, lifting, transporting, and releasing it outside the drawer.\",\n \"notes\": \"Gripper closure only occurs in segments 5 and 7; earlier segments involve positioning and contact without grasping. Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer interior", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the open drawer while maintaining open gripper to prepare for object interaction." + }, + { + "id": 2, + "name": "reposition above target object", + "start": 6, + "end": 8, + "planning": "Adjust position and orientation to align with the blue object inside the drawer without closing gripper." + }, + { + "id": 3, + "name": "descend to contact object", + "start": 9, + "end": 11, + "planning": "Lower end-effector vertically until making physical contact with the blue object, still without grasping." + }, + { + "id": 4, + "name": "grasp and lift blue object", + "start": 12, + "end": 20, + "planning": "Close gripper to securely grasp the blue object, then lift it clear of the drawer interior." + }, + { + "id": 5, + "name": "transport object away from drawer", + "start": 21, + "end": 28, + "planning": "Carry the grasped blue object laterally and upward to a safe placement zone outside the drawer." + }, + { + "id": 6, + "name": "release object on table", + "start": 29, + "end": 34, + "planning": "Open gripper to deposit the blue object onto the table surface, then retreat slightly to complete placement." + } + ], + "global_plan": "Extract the blue object from the drawer by approaching, contacting, grasping, lifting, transporting, and releasing it outside the drawer.", + "notes": "Gripper closure only occurs in segments 5 and 7; earlier segments involve positioning and contact without grasping. Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Remove the green object from the drawer and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508108615875244, + -0.012571843340992928, + 0.12281884253025055, + 2.976653575897217, + -0.17021611332893372, + 0.889836847782135 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned above the open drawer, with the gripper open and aligned toward the blue object inside. No contact or grasping has occurred yet. The next action should be to lower the gripper toward the blue object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24742776155471802, + -0.01229208242148161, + 0.11713352054357529, + 2.997392416000366, + -0.15654197335243225, + 0.8851213455200195 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned above the open drawer, with the gripper open and aligned toward the blue object inside. No contact or grasping has occurred yet. The next action should be to lower the gripper toward the blue object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24405677616596222, + -0.012118153274059296, + 0.11809395253658295, + 3.0306396484375, + -0.14988479018211365, + 0.7916498184204102 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the blue object inside. No contact or grasp has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24651138484477997, + -0.006945925764739513, + 0.12307349592447281, + 3.0379538536071777, + -0.15330716967582703, + 0.6458433270454407 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the blue object inside. No contact or grasp has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25009357929229736, + -0.0035197208635509014, + 0.12543009221553802, + 3.07932710647583, + -0.1741676926612854, + 0.5049530267715454 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the blue object inside. No contact or grasp has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2581014931201935, + -0.004256682004779577, + 0.1161905974149704, + 3.1099801063537598, + -0.15768565237522125, + 0.38447096943855286 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the blue object inside. No contact or grasp has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27249324321746826, + -0.0030198635067790747, + 0.10372153669595718, + -3.123142957687378, + -0.16352783143520355, + 0.29667943716049194 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the blue object inside. No contact or grasp has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2850187420845032, + -0.002746730577200651, + 0.09401443600654602, + -3.1016335487365723, + -0.17284689843654633, + 0.21535328030586243 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "thread spool": [ + 349, + 290, + 429, + 416 + ], + "stuffed toy": [ + 234, + 147, + 352, + 332 + ], + "table": [ + 4, + 5, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot arm is positioned above the blue object inside the open drawer, with the gripper open and ready. The approach to the drawer interior is complete, and the arm is now repositioning directly over the target. The next action is to lower the gripper to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29413390159606934, + -0.00777050806209445, + 0.08639240264892578, + -3.1261754035949707, + -0.19359351694583893, + 0.1454552859067917 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot arm is positioned above the blue object inside the open drawer, with the gripper open and ready. The approach to the drawer interior is complete, and the arm is now repositioning directly over the target. The next action is to lower the gripper to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper; then move back 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29751986265182495, + -0.014922755770385265, + 0.07851514965295792, + 3.1249196529388428, + -0.21731960773468018, + 0.05454917252063751 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed toy": [ + 234, + 146, + 352, + 332 + ], + "thread spool": [ + 349, + 290, + 429, + 416 + ], + "table": [ + 5, + 4, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot arm is positioned above the blue object inside the open drawer, with the gripper open and ready. The approach to the drawer interior is complete, and the arm is now repositioning directly over the target. The next action is to lower the gripper to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 1 cm, move left 1 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29790812730789185, + -0.01784372143447399, + 0.07149697095155716, + 3.1261770725250244, + -0.201905757188797, + 0.016901394352316856 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot end-effector is positioned above the blue object inside the open drawer, with the gripper fully open. The approach and repositioning steps are complete, and the arm is now descending to make contact with the object. The next action is to continue lowering until physical contact is established, without grasping yet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 1 cm, move left 3 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29847532510757446, + -0.01805184781551361, + 0.06793469190597534, + 3.1302847862243652, + -0.20064091682434082, + -0.00863716471940279 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot end-effector is positioned above the blue object inside the open drawer, with the gripper fully open. The approach and repositioning steps are complete, and the arm is now descending to make contact with the object. The next action is to continue lowering until physical contact is established, without grasping yet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move left 5 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2934834659099579, + -0.01568044349551201, + 0.05278720334172249, + -3.1356987953186035, + -0.15534856915473938, + -0.020648453384637833 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot end-effector is positioned above the blue object inside the open drawer, with the gripper fully open. The approach and repositioning steps are complete, and the arm is now descending to make contact with the object. The next action is to continue lowering until physical contact is established, without grasping yet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2931455075740814, + -0.013148744590580463, + 0.049381181597709656, + -3.1202383041381836, + -0.1578555554151535, + -0.018941618502140045 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot end-effector is positioned above the blue object inside the open drawer, with the gripper fully open. The approach and repositioning steps are complete, and the arm is now descending to make contact with the object. The next action is to continue lowering until physical contact is established, without grasping yet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29267725348472595, + -0.015511144883930683, + 0.04941098019480705, + -3.1086719036102295, + -0.15707693994045258, + -0.005888425745069981 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot end-effector is positioned above the blue object inside the open drawer, with the gripper fully open. The approach and repositioning steps are complete, and the arm is now descending to make contact with the object. The next action is to continue lowering until physical contact is established, without grasping yet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 7 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907448709011078, + -0.01535914558917284, + 0.04936375468969345, + -3.0994598865509033, + -0.14851167798042297, + 0.006752167362719774 + ], + "gripper_value": 0.4699908196926117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot end-effector is positioned above the blue object inside the open drawer, with the gripper fully open. The approach and repositioning steps are complete, and the arm is now descending to make contact with the object. The next action is to continue lowering until physical contact is established, without grasping yet." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 9 cm, move left 9 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28874751925468445, + -0.01602744311094284, + 0.06077912822365761, + -3.0966296195983887, + -0.16354535520076752, + 0.012039653025567532 + ], + "gripper_value": 0.4690495729446411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot's end-effector is positioned inside the open drawer, directly above the blue target object. Gripper evidence indicates a closing action is occurring within this segment, suggesting the robot is currently grasping the object. The next immediate step is to secure the grip and lift the blue object out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 9 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 10 cm, move left 9 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2879990041255951, + -0.01641467586159706, + 0.08456601202487946, + -3.0960071086883545, + -0.19326406717300415, + 0.03145956993103027 + ], + "gripper_value": 0.4681091010570526 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot's end-effector is positioned inside the open drawer, directly above the blue target object. Gripper evidence indicates a closing action is occurring within this segment, suggesting the robot is currently grasping the object. The next immediate step is to secure the grip and lift the blue object out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 10 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28336894512176514, + -0.012983301654458046, + 0.10576753318309784, + -3.081982374191284, + -0.2094334363937378, + 0.046109240502119064 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot's end-effector is positioned inside the open drawer, directly above the blue target object. Gripper evidence indicates a closing action is occurring within this segment, suggesting the robot is currently grasping the object. The next immediate step is to secure the grip and lift the blue object out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 9 cm, move down 14 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27944231033325195, + -0.006831326521933079, + 0.1218811497092247, + -3.079627275466919, + -0.2116100937128067, + 0.0829937756061554 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot's end-effector is positioned inside the open drawer, directly above the blue target object. Gripper evidence indicates a closing action is occurring within this segment, suggesting the robot is currently grasping the object. The next immediate step is to secure the grip and lift the blue object out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 9 cm, move down 14 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870478332042694, + 0.013723649084568024, + 0.14019905030727386, + -3.0857479572296143, + -0.23589426279067993, + 0.17823493480682373 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift blue object", + "subtask_reasoning": "The robot's end-effector is positioned inside the open drawer, directly above the blue target object. Gripper evidence indicates a closing action is occurring within this segment, suggesting the robot is currently grasping the object. The next immediate step is to secure the grip and lift the blue object out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 9 cm, move down 14 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2975708544254303, + 0.03792386129498482, + 0.15197348594665527, + -3.1093053817749023, + -0.2498360276222229, + 0.292763352394104 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "transport object away from drawer", + "subtask_reasoning": "The robot's end-effector is positioned inside the open drawer, directly above the blue target object. Gripper evidence indicates a closing action is occurring within this segment, suggesting the robot is currently grasping the object. The next immediate step is to secure the grip and lift the blue object out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 9 cm, move down 14 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32283908128738403, + 0.06979397684335709, + 0.1509101539850235, + -3.104583740234375, + -0.2383914589881897, + 0.38277238607406616 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "thread spool": [ + 349, + 290, + 429, + 416 + ], + "stuffed toy": [ + 233, + 146, + 352, + 335 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "transport object away from drawer", + "subtask_reasoning": "The robot's end-effector is positioned inside the open drawer, directly above the blue target object. Gripper evidence indicates a closing action is occurring within this segment, suggesting the robot is currently grasping the object. The next immediate step is to secure the grip and lift the blue object out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move down 14 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34785139560699463, + 0.09770753979682922, + 0.1380825638771057, + -3.0538506507873535, + -0.2065424621105194, + 0.4237324595451355 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "transport object away from drawer", + "subtask_reasoning": "The robot's end-effector is positioned inside the open drawer, directly above the blue target object. Gripper evidence indicates a closing action is occurring within this segment, suggesting the robot is currently grasping the object. The next immediate step is to secure the grip and lift the blue object out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 13 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3715972304344177, + 0.11627303063869476, + 0.10873297601938248, + -3.0334360599517822, + -0.17053161561489105, + 0.43867504596710205 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "transport object away from drawer", + "subtask_reasoning": "The blue object is currently held above the table, having been successfully extracted from the drawer. The gripper state remains constant, indicating a secure hold during transport. The robot needs to continue moving the object away from the drawer area to a clear spot on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 10 cm, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3884407579898834, + 0.12909016013145447, + 0.07590724527835846, + -3.0376174449920654, + -0.1481212079524994, + 0.4428025782108307 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "transport object away from drawer", + "subtask_reasoning": "The blue object is currently held above the table, having been successfully extracted from the drawer. The gripper state remains constant, indicating a secure hold during transport. The robot needs to continue moving the object away from the drawer area to a clear spot on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4019402265548706, + 0.13249482214450836, + 0.04980239272117615, + -3.0450308322906494, + -0.13744671642780304, + 0.4350370168685913 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "transport object away from drawer", + "subtask_reasoning": "The blue object is currently held above the table, having been successfully extracted from the drawer. The gripper state remains constant, indicating a secure hold during transport. The robot needs to continue moving the object away from the drawer area to a clear spot on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4091382920742035, + 0.13333386182785034, + 0.02371755987405777, + -3.0417628288269043, + -0.10266559571027756, + 0.4244691729545593 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "transport object away from drawer", + "subtask_reasoning": "The blue object is currently held above the table, having been successfully extracted from the drawer. The gripper state remains constant, indicating a secure hold during transport. The robot needs to continue moving the object away from the drawer area to a clear spot on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.41146451234817505, + 0.13221415877342224, + 0.008246746845543385, + -3.048276424407959, + -0.07691443711519241, + 0.41633838415145874 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "transport object away from drawer", + "subtask_reasoning": "The blue object is currently held above the table, having been successfully extracted from the drawer. The gripper state remains constant, indicating a secure hold during transport. The robot needs to continue moving the object away from the drawer area to a clear spot on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.41377219557762146, + 0.1303599625825882, + 0.008860369212925434, + -3.060138463973999, + -0.08358011394739151, + 0.41126036643981934 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The blue object is currently held above the table, having been successfully extracted from the drawer. The gripper state remains constant, indicating a secure hold during transport. The robot needs to continue moving the object away from the drawer area to a clear spot on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.41353288292884827, + 0.12873989343643188, + 0.008402366191148758, + -3.0651469230651855, + -0.07977917045354843, + 0.4129049777984619 + ], + "gripper_value": 0.8344376683235168 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The blue object is currently held above the table, having been successfully extracted from the drawer. The gripper state remains constant, indicating a secure hold during transport. The robot needs to continue moving the object away from the drawer area to a clear spot on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.41316595673561096, + 0.12889476120471954, + 0.008738944306969643, + -3.0634946823120117, + -0.07735051214694977, + 0.41710954904556274 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The robot's end-effector is positioned above the table, having moved away from the drawer. The gripper is open, indicating the blue object has been successfully released onto the table surface. The current subtask of releasing the object is complete, and the next logical step is to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 29, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4078303575515747, + 0.12831471860408783, + 0.008779749274253845, + -3.058243751525879, + -0.0492243766784668, + 0.4254116714000702 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The robot's end-effector is positioned above the table, having moved away from the drawer. The gripper is open, indicating the blue object has been successfully released onto the table surface. The current subtask of releasing the object is complete, and the next logical step is to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4066426753997803, + 0.12717820703983307, + 0.03073688969016075, + -3.0680832862854004, + -0.07879643142223358, + 0.42965129017829895 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The robot's end-effector is positioned above the table, having moved away from the drawer. The gripper is open, indicating the blue object has been successfully released onto the table surface. The current subtask of releasing the object is complete, and the next logical step is to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.40384814143180847, + 0.1238337978720665, + 0.06800460815429688, + -3.0971438884735107, + -0.1283072829246521, + 0.4412999749183655 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "thread spool": [ + 349, + 293, + 429, + 416 + ], + "stuffed toy": [ + 234, + 147, + 352, + 332 + ], + "table": [ + 4, + 4, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green object from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "descend to contact object" + }, + { + "id": 4, + "subtask": "grasp and lift blue object" + }, + { + "id": 5, + "subtask": "transport object away from drawer" + }, + { + "id": 6, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The robot's end-effector is positioned above the table, having moved away from the drawer. The gripper is open, indicating the blue object has been successfully released onto the table surface. The current subtask of releasing the object is complete, and the next logical step is to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003627_ecot.json b/cot/chunk-0003/episode_0003627_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ad0bb4dbdcaec435f2c42e6add6e9516623521ee --- /dev/null +++ b/cot/chunk-0003/episode_0003627_ecot.json @@ -0,0 +1,2050 @@ +{ + "task_name": "episode_0003627", + "episode_json": "json/chunk-0003/episode_0003627.json", + "video_path": "videos/chunk-0003/image_0/episode_0003627.mp4", + "instruction": "Move the blue towel to the front right corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003627.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033228397369384766, + "std": 0.0014632907696068287, + "delta_total": -0.0026550889015197754, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00332, std=0.00146, total_delta=-0.00266). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 29 + ], + [ + 3, + 30, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel area\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector from initial position toward the vicinity of the blue towel without closing gripper.\"},\n {\"id\": 2, \"name\": \"contact and nudge towel\", \"start\": 6, \"end\": 29, \"planning\": \"Make contact with the blue towel and push/slide it across the table surface toward the front right corner using open-gripper dragging motion.\"},\n {\"id\": 3, \"name\": \"retreat after repositioning\", \"start\": 30, \"end\": 33, \"planning\": \"Lift end-effector slightly and retreat upward while maintaining open gripper, leaving towel in final position at front right corner.\"}\n ],\n \"global_plan\": \"The robot approaches the blue towel, makes contact with an open gripper to nudge and slide it across the table to the front right corner, then retreats upward without grasping or lifting the towel.\",\n \"notes\": \"Gripper remains effectively open throughout (max delta < 0.004), so no grasp/lift/place actions are inferred. Motion is consistent with pushing/sliding contact-based manipulation. Segment boundaries respected; subtasks cover all frames 0–33 contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel area", + "start": 0, + "end": 5, + "planning": "Move end-effector from initial position toward the vicinity of the blue towel without closing gripper." + }, + { + "id": 2, + "name": "contact and nudge towel", + "start": 6, + "end": 29, + "planning": "Make contact with the blue towel and push/slide it across the table surface toward the front right corner using open-gripper dragging motion." + }, + { + "id": 3, + "name": "retreat after repositioning", + "start": 30, + "end": 33, + "planning": "Lift end-effector slightly and retreat upward while maintaining open gripper, leaving towel in final position at front right corner." + } + ], + "global_plan": "The robot approaches the blue towel, makes contact with an open gripper to nudge and slide it across the table to the front right corner, then retreats upward without grasping or lifting the towel.", + "notes": "Gripper remains effectively open throughout (max delta < 0.004), so no grasp/lift/place actions are inferred. Motion is consistent with pushing/sliding contact-based manipulation. Segment boundaries respected; subtasks cover all frames 0–33 contiguously." + } + }, + "episode_goal": "Move the blue towel to the front right corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28766006231307983, + 0.10958870500326157, + 0.12024543434381485, + 2.805358648300171, + -0.1773129552602768, + 0.6685657501220703 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach towel area", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible in the front right area. No movement or contact has occurred yet. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869216203689575, + 0.10851910710334778, + 0.11285270005464554, + 2.809452772140503, + -0.15114423632621765, + 0.6624825596809387 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach towel area", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible in the front right area. No movement or contact has occurred yet. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 10 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29321399331092834, + 0.10003269463777542, + 0.11395394057035446, + 2.812270164489746, + -0.15333139896392822, + 0.6064289808273315 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach towel area", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022361099720001, + 0.0899256095290184, + 0.1145843043923378, + 2.8105309009552, + -0.16674041748046875, + 0.5420169234275818 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach towel area", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move right 11 cm, move down 6 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3095729649066925, + 0.07458677887916565, + 0.11345567554235458, + 2.7899112701416016, + -0.18190205097198486, + 0.47695934772491455 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach towel area", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 11 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31576400995254517, + 0.05672592669725418, + 0.10454583168029785, + 2.8090622425079346, + -0.2040814608335495, + 0.3613314926624298 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach towel area", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214053511619568, + 0.035980772227048874, + 0.09283892065286636, + 2.8275136947631836, + -0.2007429599761963, + 0.2456045001745224 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33832669258117676, + -0.0020938017405569553, + 0.08435393124818802, + 2.815847635269165, + -0.20064271986484528, + 0.13034139573574066 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 157, + 303, + 380, + 560 + ], + "blue towel": [ + 577, + 383, + 836, + 664 + ], + "wooden countertop": [ + 10, + 191, + 904, + 990 + ], + "bottle": [ + 329, + 501, + 434, + 664 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35039547085762024, + -0.03714393451809883, + 0.08136297017335892, + 2.8193554878234863, + -0.19863459467887878, + 0.0436217375099659 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 157, + 305, + 380, + 560 + ], + "blue towel": [ + 577, + 383, + 834, + 664 + ], + "wooden countertop": [ + 11, + 191, + 903, + 990 + ], + "bottle": [ + 330, + 501, + 433, + 664 + ], + "control panel": [ + 312, + 839, + 515, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3504943549633026, + -0.057215336710214615, + 0.07495120167732239, + 2.8242077827453613, + -0.1935354769229889, + -0.010969768278300762 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34984567761421204, + -0.06456954777240753, + 0.06463783979415894, + 2.8508715629577637, + -0.18289341032505035, + -0.04470478743314743 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35591453313827515, + -0.062232956290245056, + 0.059964850544929504, + 2.893705129623413, + -0.22331082820892334, + -0.07274124026298523 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3587878942489624, + -0.06370629370212555, + 0.04815253987908363, + 2.9365599155426025, + -0.22932520508766174, + -0.11190065741539001 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36163249611854553, + -0.0695592612028122, + 0.03659239038825035, + 2.957857608795166, + -0.22165095806121826, + -0.1344708949327469 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36459803581237793, + -0.07424526661634445, + 0.023728011175990105, + 2.9620611667633057, + -0.21006722748279572, + -0.14568518102169037 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37132132053375244, + -0.07816731184720993, + 0.016791217029094696, + 2.969658613204956, + -0.20594945549964905, + -0.14609749615192413 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3749549090862274, + -0.08153650909662247, + 0.014437396079301834, + 2.9756662845611572, + -0.20093698799610138, + -0.14677797257900238 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for nudging it toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37335580587387085, + -0.0881170853972435, + 0.011838438920676708, + 3.0092270374298096, + -0.1841934621334076, + -0.1679578423500061 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36736899614334106, + -0.09210573881864548, + 0.009808196686208248, + 3.0528852939605713, + -0.17377382516860962, + -0.1880679577589035 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3591465950012207, + -0.09449745714664459, + 0.008486541919410229, + 3.0789544582366943, + -0.16672296822071075, + -0.2164345234632492 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500978648662567, + -0.09490089118480682, + 0.008094913326203823, + 3.0732102394104004, + -0.15280573070049286, + -0.2152460813522339 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3385143280029297, + -0.09552660584449768, + 0.009464040398597717, + 3.0663654804229736, + -0.13796667754650116, + -0.22280186414718628 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32229331135749817, + -0.09842554479837418, + 0.012105812318623066, + 3.0630669593811035, + -0.12102899700403214, + -0.23794911801815033 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30169838666915894, + -0.09823372215032578, + 0.011345664039254189, + 3.0794484615325928, + -0.11542409658432007, + -0.25790148973464966 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2825738787651062, + -0.09781348705291748, + 0.008933906443417072, + 3.105177879333496, + -0.1114497184753418, + -0.281154066324234 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 157, + 304, + 380, + 560 + ], + "blue towel": [ + 528, + 528, + 810, + 854 + ], + "bottle": [ + 330, + 501, + 433, + 664 + ], + "control panel": [ + 308, + 836, + 515, + 994 + ], + "wooden countertop": [ + 14, + 190, + 904, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26256802678108215, + -0.09988439828157425, + 0.006868721451610327, + 3.1405186653137207, + -0.09821373224258423, + -0.3255995810031891 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25451013445854187, + -0.10258441418409348, + 0.0069772000424563885, + -3.132573127746582, + -0.0958142802119255, + -0.3402629792690277 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 158, + 304, + 380, + 560 + ], + "bottle": [ + 330, + 500, + 434, + 663 + ], + "blue towel": [ + 498, + 587, + 819, + 938 + ], + "control panel": [ + 310, + 837, + 515, + 994 + ], + "wooden countertop": [ + 8, + 189, + 904, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530848979949951, + -0.10563978552818298, + 0.008549553342163563, + 3.105304718017578, + -0.08877216279506683, + -0.34900495409965515 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.25667786598205566, + -0.0980059802532196, + 0.01416530180722475, + 3.0559427738189697, + -0.09549519419670105, + -0.30417707562446594 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2713880240917206, + -0.08798645436763763, + 0.029178695753216743, + 2.9736311435699463, + -0.1329263597726822, + -0.19593870639801025 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "contact and nudge towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28486770391464233, + -0.08552014082670212, + 0.055333614349365234, + 2.9570295810699463, + -0.19725662469863892, + -0.15761490166187286 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel with an open gripper, having completed the approach phase. The gripper signal remains open and stable, indicating no grasping is occurring. The next action is to lower the arm slightly to make physical contact and begin nudging the towel toward the front right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952020764350891, + -0.0850946232676506, + 0.08344866335391998, + 2.9544410705566406, + -0.251382052898407, + -0.14558948576450348 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The blue towel has been nudged to the front right corner of the table. The robot is currently retreating upward with an open gripper, having completed the repositioning. No further contact with the towel is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991294860839844, + -0.0899449959397316, + 0.10872168093919754, + 2.9271161556243896, + -0.29561847448349, + -0.13828298449516296 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The blue towel has been nudged to the front right corner of the table. The robot is currently retreating upward with an open gripper, having completed the repositioning. No further contact with the towel is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29655033349990845, + -0.09547275304794312, + 0.13060353696346283, + 2.9203410148620605, + -0.36384275555610657, + -0.15143315494060516 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the front right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel area" + }, + { + "id": 2, + "subtask": "contact and nudge towel" + }, + { + "id": 3, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The blue towel has been nudged to the front right corner of the table. The robot is currently retreating upward with an open gripper, having completed the repositioning. No further contact with the towel is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003628_ecot.json b/cot/chunk-0003/episode_0003628_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6d24ee160cb26de6afcdec901d3e21f4f273e52b --- /dev/null +++ b/cot/chunk-0003/episode_0003628_ecot.json @@ -0,0 +1,1890 @@ +{ + "task_name": "episode_0003628", + "episode_json": "json/chunk-0003/episode_0003628.json", + "video_path": "videos/chunk-0003/image_0/episode_0003628.mp4", + "instruction": "Fold the cloth from bottom right to the middle.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003628.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.930453360080719, + "std": 0.3650801479816437, + "delta_total": 0.0026487112045288086, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93045, std=0.36508, total_delta=0.00265). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 113, + 313, + 313, + 313, + 313, + 313, + 13, + 13, + 21, + 321, + 321, + 321, + 321 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 12 + ], + [ + 3, + 13, + 13 + ], + [ + 4, + 14, + 18 + ], + [ + 5, + 19, + 20 + ], + [ + 6, + 21, + 21 + ], + [ + 7, + 22, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottom right corner\", \"start\": 0, \"end\": 8, \"planning\": \"Move the gripper from initial position toward the bottom right corner of the cloth without grasping, as gripper remains fully open throughout this segment.\"},\n {\"id\": 2, \"name\": \"make contact and nudge fabric\", \"start\": 9, \"end\": 12, \"planning\": \"Gripper begins to close slightly while making contact with the cloth; motion suggests nudging or sliding the fabric rather than lifting it.\"},\n {\"id\": 3, \"name\": \"reposition gripper for fold\", \"start\": 13, \"end\": 13, \"planning\": \"Brief pause or micro-adjustment at frame 13 where gripper is partially closed but not yet holding firmly; prepares for next manipulation phase.\"},\n {\"id\": 4, \"name\": \"grasp and lift corner\", \"start\": 14, \"end\": 20, \"planning\": \"Gripper closes significantly between frames 14–20, indicating successful grasp of the cloth corner; upward motion confirms lifting action consistent with folding preparation.\"},\n {\"id\": 5, \"name\": \"transport corner toward middle\", \"start\": 21, \"end\": 21, \"planning\": \"Single-frame transition where gripper holds the cloth and moves it horizontally toward the center; no significant gripper change, confirming sustained hold.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 22, \"end\": 25, \"planning\": \"Gripper opens fully after placing the folded corner near the middle; final retreat motion ensures clean disengagement from the cloth.\"}\n ],\n \"global_plan\": \"Fold the cloth by approaching the bottom right corner, making contact to nudge it into position, grasping and lifting the corner, transporting it toward the middle, then releasing and retreating to complete the fold.\",\n \"notes\": \"Subtask boundaries respect segment spans and gripper evidence: no grasp wording used in segments 1–3 due to lack of meaningful closing; grasp/hold applied only in segments 5 and 7 where gripper closure and image evidence align. Frame 13 treated as isolated repositioning phase due to partial gripper state and minimal motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottom right corner", + "start": 0, + "end": 8, + "planning": "Move the gripper from initial position toward the bottom right corner of the cloth without grasping, as gripper remains fully open throughout this segment." + }, + { + "id": 2, + "name": "make contact and nudge fabric", + "start": 9, + "end": 12, + "planning": "Gripper begins to close slightly while making contact with the cloth; motion suggests nudging or sliding the fabric rather than lifting it." + }, + { + "id": 3, + "name": "reposition gripper for fold", + "start": 13, + "end": 13, + "planning": "Brief pause or micro-adjustment at frame 13 where gripper is partially closed but not yet holding firmly; prepares for next manipulation phase." + }, + { + "id": 4, + "name": "grasp and lift corner", + "start": 14, + "end": 20, + "planning": "Gripper closes significantly between frames 14–20, indicating successful grasp of the cloth corner; upward motion confirms lifting action consistent with folding preparation." + }, + { + "id": 5, + "name": "transport corner toward middle", + "start": 21, + "end": 21, + "planning": "Single-frame transition where gripper holds the cloth and moves it horizontally toward the center; no significant gripper change, confirming sustained hold." + }, + { + "id": 6, + "name": "release and retreat", + "start": 22, + "end": 25, + "planning": "Gripper opens fully after placing the folded corner near the middle; final retreat motion ensures clean disengagement from the cloth." + } + ], + "global_plan": "Fold the cloth by approaching the bottom right corner, making contact to nudge it into position, grasping and lifting the corner, transporting it toward the middle, then releasing and retreating to complete the fold.", + "notes": "Subtask boundaries respect segment spans and gripper evidence: no grasp wording used in segments 1–3 due to lack of meaningful closing; grasp/hold applied only in segments 5 and 7 where gripper closure and image evidence align. Frame 13 treated as isolated repositioning phase due to partial gripper state and minimal motion." + } + }, + "episode_goal": "Fold the cloth from bottom right to the middle.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3216947913169861, + 0.06757058203220367, + 0.08633920550346375, + -3.0457358360290527, + -0.11251011490821838, + -0.06317318230867386 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating movement toward the bottom right corner. No contact or grasping has occurred yet. The next action is to continue approaching the target corner to prepare for contact and manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 12 cm, move down 7 cm, rotate clockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31761592626571655, + 0.06704489886760712, + 0.07603653520345688, + -3.0534303188323975, + -0.08048640936613083, + -0.05106794834136963 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating movement toward the bottom right corner. No contact or grasping has occurred yet. The next action is to continue approaching the target corner to prepare for contact and manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 12 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3051496148109436, + 0.05319111794233322, + 0.06277567893266678, + -3.0403242111206055, + -0.04941564425826073, + 0.0021762121468782425 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating movement toward the bottom right corner. No contact or grasping has occurred yet. The next action is to continue approaching the target corner to prepare for contact and manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 10 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.290661096572876, + 0.035643383860588074, + 0.06871180981397629, + -3.0234193801879883, + -0.05474355071783066, + 0.05294669792056084 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating movement toward the bottom right corner. No contact or grasping has occurred yet. The next action is to continue approaching the target corner to prepare for contact and manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 9 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26630279421806335, + 0.007921169511973858, + 0.07267409563064575, + -3.0048630237579346, + -0.034541886299848557, + 0.10518039762973785 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the bottom right corner to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 6 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2320951372385025, + -0.019573263823986053, + 0.05914178863167763, + -3.034780979156494, + -0.03735748678445816, + 0.1737644374370575 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the bottom right corner to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20415325462818146, + -0.04060092940926552, + 0.04786700755357742, + -3.0555317401885986, + -0.06705288589000702, + 0.18202713131904602 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the bottom right corner to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1798216849565506, + -0.06019776687026024, + 0.03369825705885887, + -3.071086883544922, + -0.10826944559812546, + 0.15752997994422913 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 994, + 994 + ], + "blue cloth": [ + 6, + 371, + 644, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the bottom right corner to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 5 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1734066754579544, + -0.05813903734087944, + 0.023638295009732246, + -3.1074790954589844, + -0.11446519196033478, + 0.18988515436649323 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the bottom right corner to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 7 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.17077291011810303, + -0.051428958773612976, + 0.012612669728696346, + 3.137531042098999, + -0.1075582280755043, + 0.206994891166687 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge fabric", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the bottom right corner to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 9 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.16835208237171173, + -0.04843972623348236, + 0.0022091143764555454, + 3.0925071239471436, + -0.10813494026660919, + 0.22840546071529388 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge fabric", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with the fabric. The gripper is closing, indicating preparation to grasp the corner. The next action is to secure the grip and lift the corner toward the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 10 cm, move left 9 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.16302958130836487, + -0.04827934876084328, + -0.0017244297778233886, + 3.055673360824585, + -0.12062637507915497, + 0.25923964381217957 + ], + "gripper_value": 0.7021830081939697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge fabric", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with the fabric. The gripper is closing, indicating preparation to grasp the corner. The next action is to secure the grip and lift the corner toward the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 10 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.16456246376037598, + -0.04686369001865387, + -0.0016078358748927712, + 3.04091477394104, + -0.12529908120632172, + 0.27074113488197327 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge fabric", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with the fabric. The gripper is closing, indicating preparation to grasp the corner. The next action is to secure the grip and lift the corner toward the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 10 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.16820749640464783, + -0.04225936904549599, + 0.002444859128445387, + 3.0863497257232666, + -0.10117069631814957, + 0.20962698757648468 + ], + "gripper_value": 0.4356481730937958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper for fold", + "subtask_reasoning": "The gripper is in contact with the bottom right corner of the cloth, having completed the approach and nudge actions. The current subtask involves repositioning the gripper to prepare for lifting, with no grasp action indicated by the segment-level evidence. The next likely action is to adjust the gripper's position slightly to align for the upcoming lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 10 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19011341035366058, + -0.0338568314909935, + 0.01678253710269928, + -3.125459671020508, + -0.059341270476579666, + 0.11320047080516815 + ], + "gripper_value": 0.26948168873786926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The gripper is in contact with the bottom right corner of the cloth, having completed the approach and nudge actions. The current subtask involves repositioning the gripper to prepare for lifting, with no grasp action indicated by the segment-level evidence. The next likely action is to adjust the gripper's position slightly to align for the upcoming lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 10 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22112366557121277, + -0.02433181181550026, + 0.04855022951960564, + -3.0873823165893555, + -0.009506726637482643, + 0.058246925473213196 + ], + "gripper_value": 0.14426259696483612 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 5, + 285, + 648, + 857 + ], + "table": [ + 4, + 5, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The gripper is in contact with the bottom right corner of the cloth, having completed the approach and nudge actions. The current subtask involves repositioning the gripper to prepare for lifting, with no grasp action indicated by the segment-level evidence. The next likely action is to adjust the gripper's position slightly to align for the upcoming lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2406708300113678, + -0.013979455456137657, + 0.06247324496507645, + -3.0893397331237793, + 0.05270855128765106, + 0.04685252904891968 + ], + "gripper_value": 0.08712529391050339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The gripper is in contact with the bottom right corner of the cloth, having completed the approach and nudge actions. The current subtask involves repositioning the gripper to prepare for lifting, with no grasp action indicated by the segment-level evidence. The next likely action is to adjust the gripper's position slightly to align for the upcoming lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2655191719532013, + 0.01854182779788971, + 0.06150831654667854, + -3.0898401737213135, + 0.04473908990621567, + 0.0176021009683609 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 9, + 273, + 662, + 786 + ], + "table": [ + 4, + 5, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot end-effector is positioned over the bottom right corner of the cloth, having completed the approach and contact phases. The gripper is currently open and aligned with the fabric, indicating readiness to grasp. The next action is to close the gripper to secure the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27641546726226807, + 0.037589650601148605, + 0.04313642159104347, + -3.130244255065918, + 0.055756036192178726, + -0.01903047040104866 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot end-effector is positioned over the bottom right corner of the cloth, having completed the approach and contact phases. The gripper is currently open and aligned with the fabric, indicating readiness to grasp. The next action is to close the gripper to secure the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28391557931900024, + 0.05279507860541344, + 0.024611636996269226, + 3.1133081912994385, + 0.04523748531937599, + -0.03792758285999298 + ], + "gripper_value": 0.13386739790439606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot end-effector is positioned over the bottom right corner of the cloth, having completed the approach and contact phases. The gripper is currently open and aligned with the fabric, indicating readiness to grasp. The next action is to close the gripper to secure the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926240563392639, + 0.058795832097530365, + 0.013984180055558681, + 3.081451177597046, + 0.02266419120132923, + -0.062429726123809814 + ], + "gripper_value": 0.33559030294418335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot end-effector is positioned over the bottom right corner of the cloth, having completed the approach and contact phases. The gripper is currently open and aligned with the fabric, indicating readiness to grasp. The next action is to close the gripper to secure the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29918190836906433, + 0.0641748309135437, + 0.015577932819724083, + 3.1113996505737305, + -0.005252371542155743, + -0.08289646357297897 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport corner toward middle", + "subtask_reasoning": "The robot is currently in contact with the bottom right corner of the cloth, having nudged it into position. Since the segment-level gripper evidence shows no meaningful closing, the robot is not grasping the fabric but rather pushing or guiding it. The next action should involve continuing to transport the corner toward the middle by maintaining contact and applying controlled motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30884358286857605, + 0.07262787967920303, + 0.02286839298903942, + -3.1178042888641357, + -0.02595391310751438, + -0.1086617186665535 + ], + "gripper_value": 0.933559775352478 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently in contact with the bottom right corner of the cloth, having nudged it into position. Since the segment-level gripper evidence shows no meaningful closing, the robot is not grasping the fabric but rather pushing or guiding it. The next action should involve continuing to transport the corner toward the middle by maintaining contact and applying controlled motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 22, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3155229687690735, + 0.0806945338845253, + 0.033467479050159454, + -3.0614171028137207, + -0.057792723178863525, + -0.14112068712711334 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded from the bottom right toward the middle, and the gripper is now open and retreating upward. The release action is complete, and the robot is moving away to finalize the fold without disturbing the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 22, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32752758264541626, + 0.09880994260311127, + 0.05298828333616257, + -2.943127155303955, + -0.16679877042770386, + -0.20978209376335144 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded from the bottom right toward the middle, and the gripper is now open and retreating upward. The release action is complete, and the robot is moving away to finalize the fold without disturbing the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 22, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32489269971847534, + 0.11201108992099762, + 0.06121985614299774, + -2.902165174484253, + -0.21907325088977814, + -0.1858646124601364 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to the middle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and nudge fabric" + }, + { + "id": 3, + "subtask": "reposition gripper for fold" + }, + { + "id": 4, + "subtask": "grasp and lift corner" + }, + { + "id": 5, + "subtask": "transport corner toward middle" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded from the bottom right toward the middle, and the gripper is now open and retreating upward. The release action is complete, and the robot is moving away to finalize the fold without disturbing the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 22, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003630_ecot.json b/cot/chunk-0003/episode_0003630_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1526d30bed3a6a4b6189815f833627554bca5350 --- /dev/null +++ b/cot/chunk-0003/episode_0003630_ecot.json @@ -0,0 +1,902 @@ +{ + "task_name": "episode_0003630", + "episode_json": "json/chunk-0003/episode_0003630.json", + "video_path": "videos/chunk-0003/image_0/episode_0003630.mp4", + "instruction": "End effector transition from object to object.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003630.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006566047668457031, + "std": 0.00016378606960643083, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00016, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"lift off from green bowl\", \"start\": 0, \"end\": 5, \"planning\": \"Retreat upward and slightly rotate away from the green bowl to clear the stove surface.\"},\n {\"id\": 2, \"name\": \"traverse leftward over stove\", \"start\": 6, \"end\": 10, \"planning\": \"Move laterally left across the stove while maintaining height, transitioning toward the orange cone area.\"},\n {\"id\": 3, \"name\": \"descend toward orange cone\", \"start\": 11, \"end\": 14, \"planning\": \"Lower end effector with slight forward tilt to approach the orange cone’s vicinity without contact.\"}\n ],\n \"global_plan\": \"Transition end effector from vicinity of green bowl to approach zone near orange cone via lift-off, lateral traverse, and controlled descent — no grasping occurs as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value constant at ~1.0028 (fully open) in all segments; no grasp/lift/place actions inferred. Motion is purely positional transition between objects.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "lift off from green bowl", + "start": 0, + "end": 5, + "planning": "Retreat upward and slightly rotate away from the green bowl to clear the stove surface." + }, + { + "id": 2, + "name": "traverse leftward over stove", + "start": 6, + "end": 10, + "planning": "Move laterally left across the stove while maintaining height, transitioning toward the orange cone area." + }, + { + "id": 3, + "name": "descend toward orange cone", + "start": 11, + "end": 14, + "planning": "Lower end effector with slight forward tilt to approach the orange cone’s vicinity without contact." + } + ], + "global_plan": "Transition end effector from vicinity of green bowl to approach zone near orange cone via lift-off, lateral traverse, and controlled descent — no grasping occurs as gripper remains fully open throughout.", + "notes": "Gripper value constant at ~1.0028 (fully open) in all segments; no grasp/lift/place actions inferred. Motion is purely positional transition between objects." + } + }, + "episode_goal": "Move the end effector from the green bowl to the orange cone.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3855665624141693, + 0.05301874503493309, + 0.07391835004091263, + -3.0640432834625244, + -0.18674883246421814, + 0.04030652716755867 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "lift off from green bowl", + "subtask_reasoning": "The end effector is currently positioned directly above the green bowl on the stovetop, with the gripper fully open and no contact established. Since this is the initial frame of the lift-off subtask, the robot has not yet begun vertical movement. The next action is to initiate upward motion to clear the green bowl while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 4 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38161763548851013, + 0.05188077315688133, + 0.0626666471362114, + -3.0688934326171875, + -0.14445477724075317, + 0.04721834138035774 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "lift off from green bowl", + "subtask_reasoning": "The end effector is currently positioned directly above the green bowl on the stovetop, with the gripper fully open and no contact established. Since this is the initial frame of the lift-off subtask, the robot has not yet begun vertical movement. The next action is to initiate upward motion to clear the green bowl while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39028409123420715, + 0.037331871688365936, + 0.0943661704659462, + -3.0566020011901855, + -0.09633435308933258, + 0.09112510830163956 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 105, + 3, + 243, + 177 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "lift off from green bowl", + "subtask_reasoning": "The end effector is currently positioned directly above the green bowl on the stove, with the gripper fully open and no contact established. Since the subtask is to lift off, the immediate next action is to initiate vertical ascent to clear the bowl's vicinity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3961491882801056, + 0.03503679111599922, + 0.11377234011888504, + -3.032811403274536, + -0.07547388970851898, + 0.11195258051156998 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "lift off from green bowl", + "subtask_reasoning": "The end effector is currently positioned directly above the green bowl on the stove, with the gripper fully open and no contact established. Since the subtask is to lift off, the immediate next action is to initiate vertical ascent to clear the bowl's vicinity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.395212858915329, + 0.03004395216703415, + 0.11411651223897934, + -3.0308923721313477, + -0.06984299421310425, + 0.12752766907215118 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "lift off from green bowl", + "subtask_reasoning": "The end effector is currently positioned directly above the green bowl on the stove, with the gripper fully open and no contact established. Since the subtask is to lift off, the immediate next action is to initiate vertical ascent to clear the bowl's vicinity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39118874073028564, + 0.031652964651584625, + 0.12367572635412216, + -3.0090456008911133, + -0.036097295582294464, + 0.13276654481887817 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "lift off from green bowl", + "subtask_reasoning": "The end effector is currently positioned directly above the green bowl on the stove, with the gripper fully open and no contact established. Since the subtask is to lift off, the immediate next action is to initiate vertical ascent to clear the bowl's vicinity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3744494915008545, + 0.04651440680027008, + 0.13103729486465454, + -2.9882924556732178, + 0.02656511403620243, + 0.09700153023004532 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "traverse leftward over stove", + "subtask_reasoning": "The end effector is currently positioned directly above the green bowl on the stove, with the gripper fully open and no contact established. Since the subtask is to lift off, the immediate next action is to initiate vertical ascent to clear the bowl's vicinity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34260937571525574, + 0.06812426447868347, + 0.1439708024263382, + -2.983774423599243, + -0.024003811180591583, + 0.05681445449590683 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "traverse leftward over stove", + "subtask_reasoning": "The end effector is currently positioned directly above the green bowl on the stove, with the gripper fully open and no contact established. Since the subtask is to lift off, the immediate next action is to initiate vertical ascent to clear the bowl's vicinity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 7 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3248792290687561, + 0.08082089573144913, + 0.13171614706516266, + -2.989607095718384, + -0.04048016667366028, + 0.05358167737722397 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "traverse leftward over stove", + "subtask_reasoning": "The end effector is currently positioned above the stove, having successfully lifted off from the green bowl. The gripper remains fully open with no closing evidence, indicating no object is held. The next action is to continue traversing leftward across the stove surface toward the orange cone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178557753562927, + 0.07607060670852661, + 0.11807848513126373, + -3.007798671722412, + -0.07195790112018585, + 0.01815481297671795 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "traverse leftward over stove", + "subtask_reasoning": "The end effector is currently positioned above the stove, having successfully lifted off from the green bowl. The gripper remains fully open with no closing evidence, indicating no object is held. The next action is to continue traversing leftward across the stove surface toward the orange cone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 4 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31163960695266724, + 0.08334580063819885, + 0.09700395166873932, + -3.013579845428467, + -0.09188353270292282, + 0.009767265059053898 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "traverse leftward over stove", + "subtask_reasoning": "The end effector is currently positioned above the stove, having successfully lifted off from the green bowl. The gripper remains fully open with no closing evidence, indicating no object is held. The next action is to continue traversing leftward across the stove surface toward the orange cone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3025892674922943, + 0.09474050253629684, + 0.07368412613868713, + -3.014842987060547, + -0.12950830161571503, + -0.006511546205729246 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "descend toward orange cone", + "subtask_reasoning": "The end effector is currently positioned above the stove, having successfully lifted off from the green bowl. The gripper remains fully open with no closing evidence, indicating no object is held. The next action is to continue traversing leftward across the stove surface toward the orange cone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913084030151367, + 0.09711787849664688, + 0.0520152784883976, + -3.014908790588379, + -0.16155220568180084, + -0.001851805835030973 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "descend toward orange cone", + "subtask_reasoning": "The end effector is positioned above the stove, having completed the lateral traverse from the green bowl. It is currently descending toward the orange cone on the left side of the counter. The gripper remains fully open with no closing evidence, indicating no grasp is occurring. The next action is to continue controlled descent to reach the approach zone near the orange cone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28527772426605225, + 0.09745565056800842, + 0.05220010131597519, + -2.9989068508148193, + -0.17114974558353424, + 0.010834969580173492 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "descend toward orange cone", + "subtask_reasoning": "The end effector is positioned above the stove, having completed the lateral traverse from the green bowl. It is currently descending toward the orange cone on the left side of the counter. The gripper remains fully open with no closing evidence, indicating no grasp is occurring. The next action is to continue controlled descent to reach the approach zone near the orange cone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760838568210602, + 0.10291927307844162, + 0.046848930418491364, + -2.9721007347106934, + -0.18041594326496124, + 0.025873009115457535 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green bowl to the orange cone." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "lift off from green bowl" + }, + { + "id": 2, + "subtask": "traverse leftward over stove" + }, + { + "id": 3, + "subtask": "descend toward orange cone" + } + ], + "subtask_name": "descend toward orange cone", + "subtask_reasoning": "The end effector is positioned above the stove, having completed the lateral traverse from the green bowl. It is currently descending toward the orange cone on the left side of the counter. The gripper remains fully open with no closing evidence, indicating no grasp is occurring. The next action is to continue controlled descent to reach the approach zone near the orange cone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003631_ecot.json b/cot/chunk-0003/episode_0003631_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5a27d77d41e7393f316a26153b6c7e8a389b8d8d --- /dev/null +++ b/cot/chunk-0003/episode_0003631_ecot.json @@ -0,0 +1,2839 @@ +{ + "task_name": "episode_0003631", + "episode_json": "json/chunk-0003/episode_0003631.json", + "video_path": "videos/chunk-0003/image_0/episode_0003631.mp4", + "instruction": "Put the cylinder in the right side.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003631.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.5707975029945374, + "std": 0.269121915102005, + "delta_total": -0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57080, std=0.26912, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 233, + 233, + 233, + 233, + 33, + 33, + 33, + 33, + 33 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 19 + ], + [ + 3, + 20, + 32 + ], + [ + 4, + 33, + 36 + ], + [ + 5, + 37, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cylinder stack\", \"start\": 0, \"end\": 16, \"planning\": \"Move end-effector toward the cylinder stack while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with top cylinder\", \"start\": 17, \"end\": 19, \"planning\": \"Establish stable contact with the top green cylinder without full grasp, maintaining position for manipulation.\"},\n {\"id\": 3, \"name\": \"reposition cylinder to right side\", \"start\": 20, \"end\": 32, \"planning\": \"Slide or nudge the cylinder horizontally to the right side of the workspace while maintaining light contact.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 33, \"end\": 36, \"planning\": \"Open gripper fully and lift end-effector away from the cylinder after repositioning.\"},\n {\"id\": 5, \"name\": \"return to home position\", \"start\": 37, \"end\": 41, \"planning\": \"Move end-effector back to a neutral resting pose above the table, completing the task.\"}\n ],\n \"global_plan\": \"Approach the cylinder stack, make contact with the top cylinder, slide it to the right side, release contact, and return to home position.\",\n \"notes\": \"Gripper evidence in segments 2 and 5 shows no meaningful closing; thus, actions are described as contact-based (make contact, reposition, release) rather than grasping. Segment 1 and 4 show gripper motion consistent with preparation and release phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cylinder stack", + "start": 0, + "end": 16, + "planning": "Move end-effector toward the cylinder stack while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact with top cylinder", + "start": 17, + "end": 19, + "planning": "Establish stable contact with the top green cylinder without full grasp, maintaining position for manipulation." + }, + { + "id": 3, + "name": "reposition cylinder to right side", + "start": 20, + "end": 32, + "planning": "Slide or nudge the cylinder horizontally to the right side of the workspace while maintaining light contact." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 33, + "end": 36, + "planning": "Open gripper fully and lift end-effector away from the cylinder after repositioning." + }, + { + "id": 5, + "name": "return to home position", + "start": 37, + "end": 41, + "planning": "Move end-effector back to a neutral resting pose above the table, completing the task." + } + ], + "global_plan": "Approach the cylinder stack, make contact with the top cylinder, slide it to the right side, release contact, and return to home position.", + "notes": "Gripper evidence in segments 2 and 5 shows no meaningful closing; thus, actions are described as contact-based (make contact, reposition, release) rather than grasping. Segment 1 and 4 show gripper motion consistent with preparation and release phases." + } + }, + "episode_goal": "Place the cylinder on the right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29429057240486145, + -0.038922108709812164, + 0.13445769250392914, + 3.1041159629821777, + 0.15853215754032135, + 0.04279141500592232 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible below. No contact has been made yet as the gripper is open and elevated. The next action is to lower the end-effector to approach and make contact with the top cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2925557494163513, + -0.03920189291238785, + 0.12485212087631226, + 3.1090240478515625, + 0.1919347047805786, + 0.042201630771160126 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible below. No contact has been made yet as the gripper is open and elevated. The next action is to lower the end-effector to approach and make contact with the top cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2927619516849518, + -0.034254781901836395, + 0.12373814731836319, + 3.103806495666504, + 0.1948883831501007, + 0.04703143984079361 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible below. No contact has been made yet as the gripper is open and elevated. The next action is to lower the end-effector to approach and make contact with the top cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2934022545814514, + -0.014998727478086948, + 0.12871934473514557, + 3.1054952144622803, + 0.166069895029068, + 0.09366786479949951 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 117, + 183, + 995, + 994 + ], + "green cube": [ + 416, + 330, + 509, + 430 + ], + "blue square": [ + 754, + 622, + 854, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible below. No contact has been made yet as the gripper is open and elevated. The next action is to lower the end-effector to approach and make contact with the top cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2917425036430359, + -0.002331893891096115, + 0.13605499267578125, + 3.1072356700897217, + 0.14870062470436096, + 0.09461500495672226 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible below. No contact has been made yet as the gripper is open and elevated. The next action is to lower the end-effector to approach and make contact with the top cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28846150636672974, + 0.010808758437633514, + 0.13465635478496552, + 3.094799757003784, + 0.1640062928199768, + 0.09745670855045319 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible below. No contact has been made yet as the gripper is open and elevated. The next action is to lower the end-effector to approach and make contact with the top cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862291932106018, + 0.024342915043234825, + 0.134458988904953, + 3.086688756942749, + 0.17231793701648712, + 0.0963662788271904 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible below. No contact has been made yet as the gripper is open and elevated. The next action is to lower the end-effector to approach and make contact with the top cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2833411991596222, + 0.03538700193166733, + 0.1317211240530014, + 3.0749030113220215, + 0.1763106733560562, + 0.10755175352096558 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible below. No contact has been made yet as the gripper is open and elevated. The next action is to lower the end-effector to approach and make contact with the top cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817203998565674, + 0.04450065642595291, + 0.13000477850437164, + 3.060518980026245, + 0.17084532976150513, + 0.12290013581514359 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 119, + 177, + 995, + 994 + ], + "green cube": [ + 415, + 328, + 510, + 432 + ], + "blue square": [ + 755, + 622, + 854, + 746 + ], + "small beige cube": [ + 637, + 478, + 740, + 619 + ] + } + } + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27912601828575134, + 0.055019766092300415, + 0.12827302515506744, + 3.0487847328186035, + 0.16894978284835815, + 0.13134415447711945 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27806398272514343, + 0.06063440814614296, + 0.12012001127004623, + 3.0303633213043213, + 0.1822747141122818, + 0.14141234755516052 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804073393344879, + 0.06107940152287483, + 0.11243017762899399, + 3.009963035583496, + 0.1930685192346573, + 0.13031259179115295 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810317575931549, + 0.060770515352487564, + 0.10359792411327362, + 3.0020928382873535, + 0.21597127616405487, + 0.12296117842197418 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815835177898407, + 0.06042321026325226, + 0.09313084930181503, + 2.9923593997955322, + 0.25125813484191895, + 0.11729886382818222 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2848946452140808, + 0.061800725758075714, + 0.08735411614179611, + 2.9882848262786865, + 0.2671907842159271, + 0.11308172345161438 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 10 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28681614995002747, + 0.06233133375644684, + 0.08210386335849762, + 2.985340118408203, + 0.28380662202835083, + 0.11197351664304733 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 10 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870491147041321, + 0.06356194615364075, + 0.07965796440839767, + 2.9867591857910156, + 0.2883487939834595, + 0.12827150523662567 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "approach cylinder stack", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28793707489967346, + 0.0638309195637703, + 0.07936476171016693, + 2.9906530380249023, + 0.28375867009162903, + 0.13871565461158752 + ], + "gripper_value": 0.4356481730937958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "make contact with top cylinder", + "subtask_reasoning": "The robot is positioned above the table with the cylinder stack visible in the scene. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the top cylinder to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880346477031708, + 0.06338915228843689, + 0.07936476171016693, + 2.993314027786255, + 0.2851305305957794, + 0.14666377007961273 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "make contact with top cylinder", + "subtask_reasoning": "The robot has approached the cylinder stack and the end-effector is positioned near the top green cylinder. Since the segment-level gripper evidence shows no meaningful closing, the robot is making contact or preparing to slide the cylinder rather than grasping it. The next action is to initiate a rightward sliding motion to move the cylinder to the target side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2882860004901886, + 0.0603036992251873, + 0.08319363743066788, + 3.013791084289551, + 0.29858189821243286, + 0.13997788727283478 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "make contact with top cylinder", + "subtask_reasoning": "The robot has approached the cylinder stack and the end-effector is positioned near the top green cylinder. Since the segment-level gripper evidence shows no meaningful closing, the robot is making contact or preparing to slide the cylinder rather than grasping it. The next action is to initiate a rightward sliding motion to move the cylinder to the target side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 10 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29827895760536194, + 0.04463930428028107, + 0.10286790132522583, + 3.043692111968994, + 0.27155762910842896, + 0.09723909199237823 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and the end-effector is positioned near the top green cylinder. Since the segment-level gripper evidence shows no meaningful closing, the robot is making contact or preparing to slide the cylinder rather than grasping it. The next action is to initiate a rightward sliding motion to move the cylinder to the target side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30718642473220825, + 0.013072161935269833, + 0.11182963103055954, + 3.0455687046051025, + 0.2524808943271637, + 0.025579819455742836 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and the end-effector is positioned near the top green cylinder. Since the segment-level gripper evidence shows no meaningful closing, the robot is making contact or preparing to slide the cylinder rather than grasping it. The next action is to initiate a rightward sliding motion to move the cylinder to the target side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3113933801651001, + -0.01669900119304657, + 0.11101236939430237, + 3.030215263366699, + 0.2286914736032486, + -0.040464628487825394 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and the end-effector is positioned near the top green cylinder. Since the segment-level gripper evidence shows no meaningful closing, the robot is making contact or preparing to slide the cylinder rather than grasping it. The next action is to initiate a rightward sliding motion to move the cylinder to the target side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31300297379493713, + -0.03905368968844414, + 0.09386983513832092, + 2.996687173843384, + 0.2573446035385132, + -0.09792211651802063 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 117, + 181, + 995, + 995 + ], + "green cube": [ + 416, + 296, + 511, + 433 + ], + "blue square": [ + 755, + 622, + 855, + 746 + ], + "small beige cube": [ + 636, + 478, + 739, + 620 + ] + } + } + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and the end-effector is positioned near the top green cylinder. Since the segment-level gripper evidence shows no meaningful closing, the robot is making contact or preparing to slide the cylinder rather than grasping it. The next action is to initiate a rightward sliding motion to move the cylinder to the target side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.312938928604126, + -0.051083218306303024, + 0.08092129975557327, + 2.9702014923095703, + 0.277884304523468, + -0.12952619791030884 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and the end-effector is positioned near the top green cylinder. Since the segment-level gripper evidence shows no meaningful closing, the robot is making contact or preparing to slide the cylinder rather than grasping it. The next action is to initiate a rightward sliding motion to move the cylinder to the target side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31288084387779236, + -0.05394382029771805, + 0.07003141939640045, + 2.958106756210327, + 0.30050596594810486, + -0.1411205679178238 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 117, + 183, + 995, + 995 + ], + "red cube": [ + 505, + 358, + 575, + 471 + ], + "blue square": [ + 755, + 621, + 855, + 745 + ], + "green cube": [ + 416, + 296, + 511, + 433 + ] + } + } + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and the end-effector is positioned near the top green cylinder. Since the segment-level gripper evidence shows no meaningful closing, the robot is making contact or preparing to slide the cylinder rather than grasping it. The next action is to initiate a rightward sliding motion to move the cylinder to the target side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138342499732971, + -0.05565080791711807, + 0.06336727738380432, + 2.9447057247161865, + 0.3055194616317749, + -0.15004786849021912 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and made contact with the top cylinder. The current frame shows the gripper positioned above the cylinder, ready to slide it. The next action is to slide the cylinder to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, open gripper; then move left 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31430456042289734, + -0.05614254251122475, + 0.06021161749958992, + 2.9392781257629395, + 0.3067060112953186, + -0.15792612731456757 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and made contact with the top cylinder. The current frame shows the gripper positioned above the cylinder, ready to slide it. The next action is to slide the cylinder to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3119695782661438, + -0.05825050175189972, + 0.05202373117208481, + 2.924187421798706, + 0.31901007890701294, + -0.16727572679519653 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and made contact with the top cylinder. The current frame shows the gripper positioned above the cylinder, ready to slide it. The next action is to slide the cylinder to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31159114837646484, + -0.059358008205890656, + 0.04406384751200676, + 2.9113564491271973, + 0.3320643901824951, + -0.18048129975795746 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and made contact with the top cylinder. The current frame shows the gripper positioned above the cylinder, ready to slide it. The next action is to slide the cylinder to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114393651485443, + -0.060794711112976074, + 0.041805993765592575, + 2.9105494022369385, + 0.3363415598869324, + -0.18649187684059143 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and made contact with the top cylinder. The current frame shows the gripper positioned above the cylinder, ready to slide it. The next action is to slide the cylinder to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105185925960541, + -0.06337238103151321, + 0.0382210910320282, + 2.9070193767547607, + 0.3461991250514984, + -0.1973748356103897 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and made contact with the top cylinder. The current frame shows the gripper positioned above the cylinder, ready to slide it. The next action is to slide the cylinder to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 7 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3147464692592621, + -0.06336228549480438, + 0.03728948161005974, + 2.908242702484131, + 0.3440343141555786, + -0.20239734649658203 + ], + "gripper_value": 0.49949145317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "reposition cylinder to right side", + "subtask_reasoning": "The robot has approached the cylinder stack and made contact with the top cylinder. The current frame shows the gripper positioned above the cylinder, ready to slide it. The next action is to slide the cylinder to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 7 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166733980178833, + -0.0637277141213417, + 0.037128981202840805, + 2.9147439002990723, + 0.33402538299560547, + -0.1832524538040161 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has approached the cylinder stack and made contact with the top cylinder. The current frame shows the gripper positioned above the cylinder, ready to slide it. The next action is to slide the cylinder to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 7 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3164839744567871, + -0.06252025812864304, + 0.036591608077287674, + 2.92606258392334, + 0.3372635841369629, + -0.17184606194496155 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The cylinder has been successfully slid to the right side of the table, and the gripper is now open and positioned slightly above and behind it. Contact has been released, and the robot is retreating from the object. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 7 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3147128224372864, + -0.059502262622117996, + 0.04441747069358826, + 2.951810836791992, + 0.3244813084602356, + -0.15135924518108368 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The cylinder has been successfully slid to the right side of the table, and the gripper is now open and positioned slightly above and behind it. Contact has been released, and the robot is retreating from the object. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 7 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.31555452942848206, + -0.05362066626548767, + 0.08312476426362991, + 3.0337393283843994, + 0.24734483659267426, + -0.1014946922659874 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The cylinder has been successfully slid to the right side of the table, and the gripper is now open and positioned slightly above and behind it. Contact has been released, and the robot is retreating from the object. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper open; then move back 3 cm, move left 7 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3097596764564514, + -0.051335420459508896, + 0.1223645731806755, + 3.102114200592041, + 0.16586652398109436, + -0.06241537630558014 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The cylinder has been successfully slid to the right side of the table, and the gripper is now open and positioned slightly above and behind it. Contact has been released, and the robot is retreating from the object. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.29659196734428406, + -0.03928793594241142, + 0.1397160440683365, + 3.1320838928222656, + 0.12847861647605896, + -0.04025258868932724 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The cylinder has been successfully slid to the right side of the table, and the gripper is now open and positioned slightly above and behind it. Contact has been released, and the robot is retreating from the object. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28019264340400696, + -0.022240061312913895, + 0.1416880488395691, + 3.1226494312286377, + 0.12006077915430069, + 0.021057695150375366 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The cylinder has been successfully moved to the right side of the table, and the gripper is open and not in contact with any object. The robot is currently returning to its home position, moving away from the manipulated objects. The next action is to continue moving to the designated home coordinates to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 37, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2740029990673065, + 0.001494126976467669, + 0.13572384417057037, + 3.092271327972412, + 0.08555593341588974, + 0.09503117203712463 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 118, + 184, + 995, + 995 + ], + "green cube": [ + 416, + 296, + 511, + 434 + ], + "blue square": [ + 755, + 620, + 855, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The cylinder has been successfully moved to the right side of the table, and the gripper is open and not in contact with any object. The robot is currently returning to its home position, moving away from the manipulated objects. The next action is to continue moving to the designated home coordinates to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.27642205357551575, + 0.01412838976830244, + 0.13194109499454498, + 3.0603549480438232, + 0.0680001825094223, + 0.11374377459287643 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cylinder on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder stack" + }, + { + "id": 2, + "subtask": "make contact with top cylinder" + }, + { + "id": 3, + "subtask": "reposition cylinder to right side" + }, + { + "id": 4, + "subtask": "release contact and retreat" + }, + { + "id": 5, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The cylinder has been successfully moved to the right side of the table, and the gripper is open and not in contact with any object. The robot is currently returning to its home position, moving away from the manipulated objects. The next action is to continue moving to the designated home coordinates to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003632_ecot.json b/cot/chunk-0003/episode_0003632_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..072caa0af3cceafaad9829181a5b39e2ad0ffa66 --- /dev/null +++ b/cot/chunk-0003/episode_0003632_ecot.json @@ -0,0 +1,1503 @@ +{ + "task_name": "episode_0003632", + "episode_json": "json/chunk-0003/episode_0003632.json", + "video_path": "videos/chunk-0003/image_0/episode_0003632.mp4", + "instruction": "Put carrot in bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003632.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.5308502912521362, + "std": 0.25650453567504883, + "delta_total": -0.5308502912521362, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.53085, std=0.25650, total_delta=-0.53085). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 112, + 112, + 112, + 112, + 112, + 112, + 112 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 13 + ], + [ + 3, + 14, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the orange carrot on the stove while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper on carrot\", \"start\": 6, \"end\": 11, \"planning\": \"Gradually close gripper around the carrot as confirmed by decreasing gripper value and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition carrot\", \"start\": 12, \"end\": 13, \"planning\": \"Lift carrot slightly and begin moving it toward the bowl; gripper remains closed but no further closing occurs.\"},\n {\"id\": 4, \"name\": \"transport carrot to bowl\", \"start\": 14, \"end\": 18, \"planning\": \"Carry carrot across workspace toward blue bowl with steady gripper closure and smooth motion.\"},\n {\"id\": 5, \"name\": \"release carrot into bowl\", \"start\": 19, \"end\": 20, \"planning\": \"Position carrot over bowl and release it; gripper remains at minimum opening without further action.\"}\n ],\n \"global_plan\": \"Approach the carrot on the stove, grasp it securely, lift and transport it to the blue bowl, then release it inside the bowl.\",\n \"notes\": \"Gripper closure is meaningful only in Segment 1 (frames 0–11). Segments 2 and 3 show no further closing — thus, descriptions avoid 'grasp' or 'hold' after frame 11. Motion confirms lifting and transporting based on z-axis changes and trajectory toward bowl.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the orange carrot on the stove while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper on carrot", + "start": 6, + "end": 11, + "planning": "Gradually close gripper around the carrot as confirmed by decreasing gripper value and visual contact." + }, + { + "id": 3, + "name": "lift and reposition carrot", + "start": 12, + "end": 13, + "planning": "Lift carrot slightly and begin moving it toward the bowl; gripper remains closed but no further closing occurs." + }, + { + "id": 4, + "name": "transport carrot to bowl", + "start": 14, + "end": 18, + "planning": "Carry carrot across workspace toward blue bowl with steady gripper closure and smooth motion." + }, + { + "id": 5, + "name": "release carrot into bowl", + "start": 19, + "end": 20, + "planning": "Position carrot over bowl and release it; gripper remains at minimum opening without further action." + } + ], + "global_plan": "Approach the carrot on the stove, grasp it securely, lift and transport it to the blue bowl, then release it inside the bowl.", + "notes": "Gripper closure is meaningful only in Segment 1 (frames 0–11). Segments 2 and 3 show no further closing — thus, descriptions avoid 'grasp' or 'hold' after frame 11. Motion confirms lifting and transporting based on z-axis changes and trajectory toward bowl." + } + }, + "episode_goal": "Grasp the orange carrot on the stove and place it into the blue bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24123212695121765, + 0.15667276084423065, + 0.04970313236117363, + -3.1210551261901855, + -0.13146471977233887, + 0.071499302983284 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the stove with the orange carrot visible on the burner. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 17 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2363796830177307, + 0.14461475610733032, + 0.046756960451602936, + 3.125516176223755, + -0.07791827619075775, + 0.0829961895942688 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the stove with the orange carrot visible on the burner. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 16 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24358105659484863, + 0.0977107435464859, + 0.0826444998383522, + 3.094282627105713, + -0.05682097375392914, + 0.06063830107450485 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on the burner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2488129884004593, + 0.07266125082969666, + 0.09396004676818848, + 3.1011219024658203, + -0.06572268158197403, + 0.08319442719221115 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on the burner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25854432582855225, + 0.028984323143959045, + 0.09613390266895294, + 3.0871164798736572, + -0.05813169106841087, + 0.16211771965026855 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on the burner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2646251320838928, + 0.0031895535066723824, + 0.09656048566102982, + 3.059534788131714, + -0.07077878713607788, + 0.273592084646225 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on the burner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2682584524154663, + -0.016515718773007393, + 0.09394486993551254, + 3.0556721687316895, + -0.1017744168639183, + 0.287832111120224 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 774, + 718, + 981, + 956 + ], + "red pepper": [ + 467, + 381, + 636, + 498 + ], + "green fruit": [ + 808, + 613, + 904, + 726 + ], + "red bottle": [ + 503, + 169, + 582, + 426 + ], + "toy stove": [ + 64, + 239, + 988, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on the burner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2647811770439148, + -0.012688927352428436, + 0.08830761164426804, + 3.0722086429595947, + -0.1019463911652565, + 0.29224833846092224 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 774, + 718, + 981, + 956 + ], + "red pepper": [ + 469, + 384, + 636, + 497 + ], + "green fruit": [ + 808, + 613, + 904, + 726 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "close gripper on carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on the burner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 8 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.261635422706604, + -0.013822088949382305, + 0.0774926245212555, + 3.099626302719116, + -0.07629239559173584, + 0.30077797174453735 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "close gripper on carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to fully close the gripper to grasp the carrot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25766319036483765, + -0.013184894807636738, + 0.06349946558475494, + 3.1051011085510254, + -0.06492410600185394, + 0.3223129212856293 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "close gripper on carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to fully close the gripper to grasp the carrot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 10 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2614082098007202, + -0.013095769099891186, + 0.055465761572122574, + 3.0987131595611572, + -0.08029618859291077, + 0.3453773260116577 + ], + "gripper_value": 0.8905277252197266 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "close gripper on carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to fully close the gripper to grasp the carrot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 10 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2608880400657654, + -0.009291093796491623, + 0.044046394526958466, + 3.128453493118286, + -0.06789954751729965, + 0.3601473569869995 + ], + "gripper_value": 0.5799254179000854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "close gripper on carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to fully close the gripper to grasp the carrot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 10 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26458269357681274, + -0.00829243566840887, + 0.04325713589787483, + 3.0962531566619873, + -0.07888761162757874, + 0.39960747957229614 + ], + "gripper_value": 0.46716928482055664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The gripper is in contact with the orange carrot on the stove, having already approached and closed around it. The current subtask involves lifting and repositioning the carrot, but segment-level gripper evidence does not support a grasp action yet. The next likely step is to initiate upward motion to lift the carrot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 10 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645165026187897, + -0.013319266960024834, + 0.04482121393084526, + 3.092033624649048, + -0.0638129860162735, + 0.4651760458946228 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The gripper is in contact with the orange carrot on the stove, having already approached and closed around it. The current subtask involves lifting and repositioning the carrot, but segment-level gripper evidence does not support a grasp action yet. The next likely step is to initiate upward motion to lift the carrot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 10 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2788720428943634, + -0.059218879789114, + 0.06657124310731888, + 3.026454210281372, + -0.01801348477602005, + 0.5709483623504639 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "transport carrot to bowl", + "subtask_reasoning": "The gripper is in contact with the orange carrot on the stove, having already approached and closed around it. The current subtask involves lifting and repositioning the carrot, but segment-level gripper evidence does not support a grasp action yet. The next likely step is to initiate upward motion to lift the carrot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2906152904033661, + -0.08430494368076324, + 0.07369476556777954, + 3.01503849029541, + -0.00015023816376924515, + 0.7057616114616394 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 464, + 380, + 614, + 498 + ], + "blue bowl": [ + 775, + 718, + 982, + 956 + ], + "red bottle": [ + 508, + 170, + 592, + 402 + ], + "green fruit": [ + 808, + 613, + 904, + 726 + ], + "carrot": [ + 625, + 429, + 712, + 618 + ], + "white onion": [ + 229, + 332, + 306, + 452 + ], + "toy stove": [ + 63, + 246, + 990, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "transport carrot to bowl", + "subtask_reasoning": "The gripper is in contact with the orange carrot on the stove, having already approached and closed around it. The current subtask involves lifting and repositioning the carrot, but segment-level gripper evidence does not support a grasp action yet. The next likely step is to initiate upward motion to lift the carrot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958546578884125, + -0.11448395997285843, + 0.07530641555786133, + 2.982574462890625, + 0.00961308740079403, + 0.8014886975288391 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "transport carrot to bowl", + "subtask_reasoning": "The robot is currently holding the orange carrot above the stove, having already completed the approach and grasp phases. The gripper state is stable with no closing motion in this segment, indicating the carrot is secured and being transported. The next action is to move the carrot over the blue bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29426470398902893, + -0.1345415860414505, + 0.06841059774160385, + 2.968386173248291, + 0.01300028245896101, + 0.8841051459312439 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "transport carrot to bowl", + "subtask_reasoning": "The robot is currently holding the orange carrot above the stove, having already completed the approach and grasp phases. The gripper state is stable with no closing motion in this segment, indicating the carrot is secured and being transported. The next action is to move the carrot over the blue bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, keep gripper closed; then move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.287977010011673, + -0.1469210386276245, + 0.0657956600189209, + 2.980592727661133, + 0.009820012375712395, + 0.9133885502815247 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "transport carrot to bowl", + "subtask_reasoning": "The robot is currently holding the orange carrot above the stove, having already completed the approach and grasp phases. The gripper state is stable with no closing motion in this segment, indicating the carrot is secured and being transported. The next action is to move the carrot over the blue bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper closed; then move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2822866439819336, + -0.1632949411869049, + 0.06654912233352661, + 2.965186357498169, + 0.01680036075413227, + 0.9274654984474182 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "release carrot into bowl", + "subtask_reasoning": "The robot arm is positioned over the blue bowl with the carrot held in the gripper. The gripper has remained static in the current segment, indicating the carrot is still being held. The next action is to open the gripper to release the carrot into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 19, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27673542499542236, + -0.17480240762233734, + 0.0664433017373085, + 2.9578685760498047, + 0.02183775044977665, + 0.9465881586074829 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "close gripper on carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "transport carrot to bowl" + }, + { + "id": 5, + "subtask": "release carrot into bowl" + } + ], + "subtask_name": "release carrot into bowl", + "subtask_reasoning": "The robot arm is positioned over the blue bowl with the carrot held in the gripper. The gripper has remained static in the current segment, indicating the carrot is still being held. The next action is to open the gripper to release the carrot into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003633_ecot.json b/cot/chunk-0003/episode_0003633_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..45fa456c28b803be407fdd240c7ef1d76b3bcd94 --- /dev/null +++ b/cot/chunk-0003/episode_0003633_ecot.json @@ -0,0 +1,1326 @@ +{ + "task_name": "episode_0003633", + "episode_json": "json/chunk-0003/episode_0003633.json", + "video_path": "videos/chunk-0003/image_0/episode_0003633.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003633.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.6505452394485474, + "std": 0.2590295672416687, + "delta_total": -0.01986020803451538, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65055, std=0.25903, total_delta=-0.01986). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 113, + 113, + 113, + 113, + 118, + 118 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 13 + ], + [ + 3, + 14, + 17 + ], + [ + 4, + 18, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the drawer handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 13, \"end\": 13, \"planning\": \"Establish physical contact with the drawer handle; gripper remains partially closed but no active grasp yet.\"},\n {\"id\": 3, \"name\": \"pull drawer open\", \"start\": 14, \"end\": 17, \"planning\": \"Apply backward force via gripper to slide drawer open; gripper maintains light hold during motion.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 18, \"end\": 19, \"planning\": \"Open gripper fully and withdraw end-effector away from the now-open drawer.\"}\n ],\n \"global_plan\": \"Open the drawer by approaching its handle, making contact, pulling it open with controlled grip, then releasing and retreating.\",\n \"notes\": \"Gripper closure in segment 1 supports 'prepare for contact'; segment 2 has no meaningful closing so 'make contact' is used without grasp wording; segments 3–4 show gripper opening consistent with release after pulling.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the drawer handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 13, + "end": 13, + "planning": "Establish physical contact with the drawer handle; gripper remains partially closed but no active grasp yet." + }, + { + "id": 3, + "name": "pull drawer open", + "start": 14, + "end": 17, + "planning": "Apply backward force via gripper to slide drawer open; gripper maintains light hold during motion." + }, + { + "id": 4, + "name": "release and retreat", + "start": 18, + "end": 19, + "planning": "Open gripper fully and withdraw end-effector away from the now-open drawer." + } + ], + "global_plan": "Open the drawer by approaching its handle, making contact, pulling it open with controlled grip, then releasing and retreating.", + "notes": "Gripper closure in segment 1 supports 'prepare for contact'; segment 2 has no meaningful closing so 'make contact' is used without grasp wording; segments 3–4 show gripper opening consistent with release after pulling." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24997715651988983, + -0.1059710755944252, + 0.06991461664438248, + 3.106614589691162, + -0.10084626078605652, + -0.3577445149421692 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 13 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24812491238117218, + -0.10502131283283234, + 0.06217199191451073, + 3.108374834060669, + -0.07163766026496887, + -0.3556825816631317 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659969627857208, + -0.07762397080659866, + 0.05934616178274155, + -3.1398627758026123, + -0.06598493456840515, + -0.2749171853065491 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896174490451813, + -0.04909730330109596, + 0.05785953626036644, + -3.106586217880249, + -0.05912413448095322, + -0.176994189620018 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plush toy": [ + 306, + 186, + 427, + 345 + ], + "pink plush rabbit": [ + 498, + 702, + 737, + 928 + ], + "blue plush toy": [ + 710, + 56, + 802, + 258 + ], + "wooden table": [ + 4, + 68, + 995, + 995 + ], + "white box": [ + 658, + 123, + 987, + 571 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30481743812561035, + -0.024200228974223137, + 0.0503525584936142, + -3.0970520973205566, + -0.04914122074842453, + -0.08466131240129471 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 2 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31942427158355713, + -0.013021889142692089, + 0.04798547178506851, + -3.090388298034668, + -0.06176862120628357, + -0.02214977517724037 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 2 cm, keep gripper closed; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.337936133146286, + -0.0014370762510225177, + 0.04131998121738434, + -3.060697555541992, + -0.05783072113990784, + 0.04670391604304314 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the drawer handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should involve moving the gripper closer to the handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 2 cm, keep gripper closed; then move back 4 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524055778980255, + 0.015113363973796368, + 0.038192011415958405, + -3.0466885566711426, + -0.07157894968986511, + 0.10892746597528458 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the drawer handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should involve moving the gripper closer to the handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper; then move back 2 cm, move left 2 cm, keep gripper closed; then move back 5 cm, move left 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36099323630332947, + 0.022808773443102837, + 0.03734678402543068, + -3.0389468669891357, + -0.08310724049806595, + 0.14510472118854523 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the drawer handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should involve moving the gripper closer to the handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move back 2 cm, move left 2 cm, keep gripper closed; then move back 5 cm, move left 3 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3677906394004822, + 0.025668488815426826, + 0.028973989188671112, + -3.0449163913726807, + -0.0886269062757492, + 0.1710463911294937 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the drawer handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should involve moving the gripper closer to the handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 2 cm, keep gripper closed; then move back 5 cm, move left 3 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36760425567626953, + 0.02522679604589939, + 0.015071583911776543, + -3.042567253112793, + -0.07237156480550766, + 0.1851509064435959 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the drawer handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should involve moving the gripper closer to the handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, keep gripper closed; then move back 5 cm, move left 3 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.369440495967865, + 0.023319948464632034, + 0.0019918670877814293, + -3.051856279373169, + -0.056236833333969116, + 0.1719745248556137 + ], + "gripper_value": 0.9157527089118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the drawer handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should involve moving the gripper closer to the handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, keep gripper closed; then move back 5 cm, move left 3 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.367056280374527, + 0.023297343403100967, + 0.0005779758212156594, + -3.0398571491241455, + -0.04971407726407051, + 0.16783176362514496 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the drawer handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should involve moving the gripper closer to the handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, keep gripper closed; then move back 5 cm, move left 3 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3573436439037323, + 0.030340000987052917, + 0.010526909492909908, + -3.012683153152466, + -0.05671413615345955, + 0.18747259676456451 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to make contact. The next action is to move the gripper forward slightly to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, keep gripper closed; then move back 5 cm, move left 3 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33989980816841125, + 0.04731012135744095, + 0.01219942420721054, + -2.984947919845581, + -0.03714655339717865, + 0.21361833810806274 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to make contact. The next action is to move the gripper forward slightly to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31973057985305786, + 0.061910439282655716, + 0.013903877697885036, + -2.9747774600982666, + -0.033319782465696335, + 0.24264974892139435 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has made contact with the drawer handle and is currently in the process of pulling it open, as indicated by the gripper's slight closure and positional adjustments. The drawer is partially open, showing progress in the subtask. The next likely action is to continue pulling the drawer further open while maintaining a controlled grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29920417070388794, + 0.07397335022687912, + 0.012136255390942097, + -2.9730353355407715, + -0.02676520124077797, + 0.2794252634048462 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has made contact with the drawer handle and is currently in the process of pulling it open, as indicated by the gripper's slight closure and positional adjustments. The drawer is partially open, showing progress in the subtask. The next likely action is to continue pulling the drawer further open while maintaining a controlled grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28737083077430725, + 0.08360205590724945, + 0.012693891301751137, + -2.9633891582489014, + -0.016055407002568245, + 0.29031670093536377 + ], + "gripper_value": 0.41842639446258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has made contact with the drawer handle and is currently in the process of pulling it open, as indicated by the gripper's slight closure and positional adjustments. The drawer is partially open, showing progress in the subtask. The next likely action is to continue pulling the drawer further open while maintaining a controlled grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2876436114311218, + 0.08074765652418137, + 0.01863301359117031, + -2.9762954711914062, + -0.021315179765224457, + 0.26638954877853394 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The drawer is fully open and the gripper is no longer in contact with the handle, indicating the release phase is complete. The robot arm is positioned away from the drawer, consistent with the retreat action. No further interaction with the drawer is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930680215358734, + 0.07848695665597916, + 0.03801361843943596, + -2.978231906890869, + -0.06671875715255737, + 0.22727113962173462 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink plush rabbit": [ + 498, + 702, + 738, + 929 + ], + "blue plush toy": [ + 620, + 39, + 803, + 262 + ], + "wooden table": [ + 4, + 82, + 995, + 994 + ], + "white box": [ + 400, + 124, + 986, + 593 + ], + "green plush toy": [ + 464, + 281, + 627, + 396 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The drawer is fully open and the gripper is no longer in contact with the handle, indicating the release phase is complete. The robot arm is positioned away from the drawer, consistent with the retreat action. No further interaction with the drawer is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003634_ecot.json b/cot/chunk-0003/episode_0003634_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c1c1de8b17c25d957d36373729b71f82843e4bc2 --- /dev/null +++ b/cot/chunk-0003/episode_0003634_ecot.json @@ -0,0 +1,1340 @@ +{ + "task_name": "episode_0003634", + "episode_json": "json/chunk-0003/episode_0003634.json", + "video_path": "videos/chunk-0003/image_0/episode_0003634.mp4", + "instruction": "Take sushi out of pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003634.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.3995867967605591, + "std": 0.19231003522872925, + "delta_total": -0.3995867967605591, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.39959, std=0.19231, total_delta=-0.39959). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sink area\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the sink where the sushi is located, positioning above the target without grasping.\"},\n {\"id\": 2, \"name\": \"descend and make contact\", \"start\": 4, \"end\": 12, \"planning\": \"Lower the gripper into the sink and close it around the sushi item to establish a secure grasp.\"},\n {\"id\": 3, \"name\": \"lift and retract from sink\", \"start\": 13, \"end\": 21, \"planning\": \"Lift the grasped sushi out of the sink and move it away from the basin to complete removal.\"}\n ],\n \"global_plan\": \"Approach the sink, grasp the sushi item inside, then lift and remove it from the pan/sink area.\",\n \"notes\": \"Segment 1 (frames 0-3) shows no gripper closing — motion is purely positional approach. Segment 2 (frames 4-21) includes meaningful gripper closure (delta=-0.39959) and visual confirmation of grasp at frame 12 and hold at frame 21, justifying grasp/lift terminology for that segment. Subtasks are aligned with observed motion phases and gripper behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sink area", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the sink where the sushi is located, positioning above the target without grasping." + }, + { + "id": 2, + "name": "descend and make contact", + "start": 4, + "end": 12, + "planning": "Lower the gripper into the sink and close it around the sushi item to establish a secure grasp." + }, + { + "id": 3, + "name": "lift and retract from sink", + "start": 13, + "end": 21, + "planning": "Lift the grasped sushi out of the sink and move it away from the basin to complete removal." + } + ], + "global_plan": "Approach the sink, grasp the sushi item inside, then lift and remove it from the pan/sink area.", + "notes": "Segment 1 (frames 0-3) shows no gripper closing — motion is purely positional approach. Segment 2 (frames 4-21) includes meaningful gripper closure (delta=-0.39959) and visual confirmation of grasp at frame 12 and hold at frame 21, justifying grasp/lift terminology for that segment. Subtasks are aligned with observed motion phases and gripper behavior." + } + }, + "episode_goal": "Grasp the sushi in the pan and lift it out.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.20255666971206665, + -0.009334865026175976, + 0.12873531877994537, + -2.935868263244629, + -0.04104217514395714, + -0.12294921278953552 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot arm is positioned above the sink containing the sushi, with the gripper currently open. No movement or grasping has occurred yet in this subtask segment. The next action should involve moving the end-effector closer to the sushi item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 11 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 7 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21251921355724335, + 0.0032774789724498987, + 0.11693358421325684, + -2.92604923248291, + -0.041228730231523514, + -0.16417324542999268 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot arm is positioned above the sink containing sushi items, with the gripper fully open. No grasping has occurred yet as this is the approach phase. The next action should be to lower the arm toward the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move down 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2335129678249359, + 0.03642693907022476, + 0.097675621509552, + -2.926072120666504, + -0.047630425542593, + -0.2675707936286926 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "ketchup bottle": [ + 589, + 145, + 675, + 424 + ], + "metal cup": [ + 168, + 426, + 354, + 627 + ], + "sink": [ + 68, + 284, + 637, + 771 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot arm is positioned above the sink containing sushi items, with the gripper fully open. No grasping has occurred yet as this is the approach phase. The next action should be to lower the arm toward the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move down 10 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25076237320899963, + 0.06970138847827911, + 0.07504081726074219, + -2.936678171157837, + -0.07249945402145386, + -0.38217243552207947 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot arm is positioned above the sink containing sushi items, with the gripper fully open. No grasping has occurred yet as this is the approach phase. The next action should be to lower the arm toward the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move left 7 cm, move down 11 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26104748249053955, + 0.09602361172437668, + 0.04990892484784126, + -2.9253649711608887, + -0.12381259351968765, + -0.4797002077102661 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm is positioned above the sink containing sushi items, with the gripper fully open. No grasping has occurred yet as this is the approach phase. The next action should be to lower the arm toward the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 11 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616494596004486, + 0.11811608076095581, + 0.02202296070754528, + -2.937424659729004, + -0.14849652349948883, + -0.5606238842010498 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm is positioned above the sink containing sushi items, with the gripper fully open. No grasping has occurred yet as this is the approach phase. The next action should be to lower the arm toward the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 8 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26771581172943115, + 0.13787256181240082, + 0.003676670603454113, + -2.9857017993927, + -0.1590365469455719, + -0.6040084362030029 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm is positioned above the sink containing sushi items, with the gripper fully open. No grasping has occurred yet as this is the approach phase. The next action should be to lower the arm toward the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27389469742774963, + 0.14824128150939941, + -0.008513533510267735, + -3.0202150344848633, + -0.1743338257074356, + -0.6270437240600586 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm is positioned above the sink containing sushi items, with the gripper fully open. No grasping has occurred yet as this is the approach phase. The next action should be to lower the arm toward the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2730124592781067, + 0.1537352353334427, + -0.0216743852943182, + -3.039296865463257, + -0.19198931753635406, + -0.6243169903755188 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "ketchup bottle": [ + 589, + 146, + 674, + 423 + ], + "sink": [ + 65, + 270, + 635, + 775 + ], + "faucet": [ + 420, + 12, + 579, + 325 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 3 cm, move up 9 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27581703662872314, + 0.15831591188907623, + -0.034763406962156296, + -3.0402743816375732, + -0.22278505563735962, + -0.6205294728279114 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move left 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760424017906189, + 0.16306127607822418, + -0.04483354464173317, + -3.039036989212036, + -0.23431099951267242, + -0.6045856475830078 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 6 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796529233455658, + 0.16484348475933075, + -0.049572739750146866, + -3.048166513442993, + -0.236745685338974, + -0.5969674587249756 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 6 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2798336148262024, + 0.16389988362789154, + -0.054122451692819595, + -3.055149793624878, + -0.2278856635093689, + -0.5761681795120239 + ], + "gripper_value": 0.7768828272819519 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802322506904602, + 0.16220378875732422, + -0.056623589247465134, + -3.040292263031006, + -0.243684321641922, + -0.5250467658042908 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27494633197784424, + 0.158556267619133, + -0.055301956832408905, + -3.0150985717773438, + -0.2217026650905609, + -0.5250030755996704 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2722083330154419, + 0.15376807749271393, + -0.036697980016469955, + -3.0147905349731445, + -0.17637565732002258, + -0.5284528732299805 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26943138241767883, + 0.16147297620773315, + -0.006888307631015778, + -3.0171303749084473, + -0.12407869845628738, + -0.5256394743919373 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot arm has descended into the sink area and is positioned directly above the sushi. While the gripper remains open, the segment-level evidence indicates a closing action is imminent or occurring. The next step is to complete the grasp on the sushi to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2610461413860321, + 0.17685756087303162, + 0.02179376594722271, + -2.993039131164551, + -0.09822634607553482, + -0.5026004314422607 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot has made contact with the sushi in the sink and is currently in the lifting phase. The gripper remains open as no closing evidence exists in this segment, suggesting the sushi may not yet be securely grasped. The next action should involve either confirming grasp or adjusting grip before full retraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24884705245494843, + 0.19221948087215424, + 0.03582664951682091, + -2.9722375869750977, + -0.11312613636255264, + -0.4550382196903229 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot has made contact with the sushi in the sink and is currently in the lifting phase. The gripper remains open as no closing evidence exists in this segment, suggesting the sushi may not yet be securely grasped. The next action should involve either confirming grasp or adjusting grip before full retraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23329338431358337, + 0.20876021683216095, + 0.03471221402287483, + -2.9657602310180664, + -0.14715158939361572, + -0.4294668138027191 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "ketchup bottle": [ + 589, + 145, + 674, + 424 + ], + "metal cup": [ + 170, + 421, + 357, + 626 + ], + "sink": [ + 65, + 271, + 635, + 775 + ], + "toy lemon": [ + 756, + 222, + 827, + 315 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot has made contact with the sushi in the sink and is currently in the lifting phase. The gripper remains open as no closing evidence exists in this segment, suggesting the sushi may not yet be securely grasped. The next action should involve either confirming grasp or adjusting grip before full retraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22108858823776245, + 0.22417256236076355, + 0.02409985661506653, + -2.9550702571868896, + -0.1832687258720398, + -0.3999580442905426 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot has made contact with the sushi in the sink and is currently in the lifting phase. The gripper remains open as no closing evidence exists in this segment, suggesting the sushi may not yet be securely grasped. The next action should involve either confirming grasp or adjusting grip before full retraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21683238446712494, + 0.228724867105484, + 0.018379848450422287, + -2.9524168968200684, + -0.22559836506843567, + -0.36948153376579285 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the sushi in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "lift and retract from sink" + } + ], + "subtask_name": "lift and retract from sink", + "subtask_reasoning": "The robot has made contact with the sushi in the sink and is currently in the lifting phase. The gripper remains open as no closing evidence exists in this segment, suggesting the sushi may not yet be securely grasped. The next action should involve either confirming grasp or adjusting grip before full retraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003635_ecot.json b/cot/chunk-0003/episode_0003635_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..91da619df45864bcedc4c9f0bcb2f9ed90922584 --- /dev/null +++ b/cot/chunk-0003/episode_0003635_ecot.json @@ -0,0 +1,2201 @@ +{ + "task_name": "episode_0003635", + "episode_json": "json/chunk-0003/episode_0003635.json", + "video_path": "videos/chunk-0003/image_0/episode_0003635.mp4", + "instruction": "Put the strawberry into cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003635.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.3881731629371643, + "std": 0.1751064509153366, + "delta_total": -0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.38817, std=0.17511, total_delta=-0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach strawberry\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the strawberry on the table without closing gripper.\"},\n {\"id\": 2, \"name\": \"make contact with strawberry\", \"start\": 5, \"end\": 17, \"planning\": \"Position gripper around strawberry and prepare for grasp; no significant closing yet.\"},\n {\"id\": 3, \"name\": \"grasp strawberry\", \"start\": 18, \"end\": 25, \"planning\": \"Close gripper to securely hold the strawberry as evidenced by meaningful gripper closure.\"},\n {\"id\": 4, \"name\": \"lift and reposition strawberry\", \"start\": 26, \"end\": 29, \"planning\": \"Lift strawberry slightly and move it toward the cloth while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release strawberry onto cloth\", \"start\": 30, \"end\": 31, \"planning\": \"Open gripper to release strawberry onto the blue cloth surface.\"}\n ],\n \"global_plan\": \"Approach the strawberry, make contact, grasp it using confirmed gripper closure, lift and reposition over the cloth, then release it onto the cloth.\",\n \"notes\": \"Segment 1 (frames 0-4) shows no gripper closing — described as approach only. Segment 2 (frames 5-31) contains meaningful gripper closure starting at frame 18, allowing grasp wording from that point onward. Subtasks are aligned with observed motion phases and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach strawberry", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the strawberry on the table without closing gripper." + }, + { + "id": 2, + "name": "make contact with strawberry", + "start": 5, + "end": 17, + "planning": "Position gripper around strawberry and prepare for grasp; no significant closing yet." + }, + { + "id": 3, + "name": "grasp strawberry", + "start": 18, + "end": 25, + "planning": "Close gripper to securely hold the strawberry as evidenced by meaningful gripper closure." + }, + { + "id": 4, + "name": "lift and reposition strawberry", + "start": 26, + "end": 29, + "planning": "Lift strawberry slightly and move it toward the cloth while maintaining grip." + }, + { + "id": 5, + "name": "release strawberry onto cloth", + "start": 30, + "end": 31, + "planning": "Open gripper to release strawberry onto the blue cloth surface." + } + ], + "global_plan": "Approach the strawberry, make contact, grasp it using confirmed gripper closure, lift and reposition over the cloth, then release it onto the cloth.", + "notes": "Segment 1 (frames 0-4) shows no gripper closing — described as approach only. Segment 2 (frames 5-31) contains meaningful gripper closure starting at frame 18, allowing grasp wording from that point onward. Subtasks are aligned with observed motion phases and gripper evidence." + } + }, + "episode_goal": "Place the red strawberry toy onto the blue cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24162541329860687, + 0.26331350207328796, + 0.184828981757164, + 3.053358554840088, + 0.47563493251800537, + -0.22000858187675476 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is positioned near the table with the strawberry and blue cloth visible. No contact or grasping has occurred yet. The next action should be to move the end-effector closer to the strawberry to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move down 10 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 8 cm, move right 6 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24344214797019958, + 0.2635089159011841, + 0.16846035420894623, + 3.011575698852539, + 0.4981231987476349, + -0.25404489040374756 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is positioned near the table with the strawberry and blue cloth visible. No contact or grasping has occurred yet. The next action should be to move the end-effector closer to the strawberry to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move down 8 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 7 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2522885501384735, + 0.25370222330093384, + 0.12861274182796478, + 2.9447569847106934, + 0.5266163349151611, + -0.4191061854362488 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move down 4 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 10 cm, move right 8 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2569620609283447, + 0.23348385095596313, + 0.09488803893327713, + 2.9649159908294678, + 0.5099007487297058, + -0.49767476320266724 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 1 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 11 cm, move right 8 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26568445563316345, + 0.19964861869812012, + 0.09296748042106628, + 3.0874950885772705, + 0.30194541811943054, + -0.6344419717788696 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 11 cm, move right 8 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27311068773269653, + 0.16431647539138794, + 0.08688456565141678, + -3.0444447994232178, + 0.12721553444862366, + -0.6059765815734863 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 7 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28969618678092957, + 0.14497801661491394, + 0.08627931773662567, + -2.971648931503296, + 0.0762861892580986, + -0.5466278791427612 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy": [ + 535, + 524, + 678, + 672 + ], + "table": [ + 4, + 310, + 995, + 994 + ], + "blue cloth": [ + 3, + 364, + 505, + 869 + ], + "cardboard box": [ + 236, + 8, + 993, + 578 + ], + "green toy": [ + 627, + 560, + 677, + 672 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30489373207092285, + 0.13653060793876648, + 0.08372974395751953, + -2.983675003051758, + 0.04519486427307129, + -0.49619022011756897 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32609227299690247, + 0.12846694886684418, + 0.07483392208814621, + -3.0220038890838623, + 0.06645319610834122, + -0.46988168358802795 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3423822522163391, + 0.11768797039985657, + 0.0649036392569542, + -3.0056939125061035, + 0.09614314138889313, + -0.49456262588500977 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 290, + 994, + 994 + ], + "red toy": [ + 535, + 523, + 677, + 672 + ], + "cardboard box": [ + 230, + 22, + 993, + 566 + ], + "blue cloth": [ + 4, + 370, + 505, + 869 + ], + "green toy": [ + 627, + 559, + 677, + 672 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35332146286964417, + 0.10657427459955215, + 0.055876169353723526, + -3.000988245010376, + 0.11753378063440323, + -0.5222670435905457 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot is approaching the red strawberry toy on the table, with the blue cloth positioned to the left. No contact or grasping has occurred yet, as the gripper remains open and no closure evidence exists in this segment. The next action should continue moving the end-effector closer to the strawberry for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620392084121704, + 0.09538403898477554, + 0.056308045983314514, + -2.9574899673461914, + 0.11119271069765091, + -0.5515754818916321 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36865878105163574, + 0.08546237647533417, + 0.047998733818531036, + -2.962977409362793, + 0.12901397049427032, + -0.5597702264785767 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791843056678772, + 0.08588612824678421, + 0.045508112758398056, + -2.968346118927002, + 0.13699176907539368, + -0.5470198392868042 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 5 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3868942856788635, + 0.08813588321208954, + 0.03608265891671181, + -2.972585678100586, + 0.1550193578004837, + -0.5276027321815491 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 8 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39060863852500916, + 0.09155874699354172, + 0.028629668056964874, + -2.9645864963531494, + 0.17560510337352753, + -0.5246008634567261 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 11 cm, move right 9 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39033669233322144, + 0.09236204624176025, + 0.02638150565326214, + -2.9612720012664795, + 0.18063297867774963, + -0.5166931748390198 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 14 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3894317150115967, + 0.09431210905313492, + 0.017863290384411812, + -2.9563159942626953, + 0.20286700129508972, + -0.5190019607543945 + ], + "gripper_value": 0.9359400868415833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 14 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3881048858165741, + 0.0950799509882927, + 0.014042182825505733, + -2.955082654953003, + 0.218327134847641, + -0.5171424746513367 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38896167278289795, + 0.0943889319896698, + 0.015095192939043045, + -2.948660135269165, + 0.2154654711484909, + -0.5099804997444153 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 10 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38733187317848206, + 0.09353531152009964, + 0.012061514891684055, + -2.950320243835449, + 0.21690306067466736, + -0.5158988237380981 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red strawberry toy on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate step is to complete the gripper closure to firmly grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37779784202575684, + 0.08587594330310822, + 0.020710468292236328, + -2.9705398082733154, + 0.19865240156650543, + -0.5321871042251587 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot has approached and made contact with the red strawberry toy on the table. The gripper is currently open and positioned around the strawberry, indicating readiness to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 10 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651195168495178, + 0.07340458780527115, + 0.05536584556102753, + -2.982991933822632, + 0.1290958970785141, + -0.5468268394470215 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy": [ + 537, + 521, + 679, + 672 + ], + "blue cloth": [ + 4, + 369, + 516, + 888 + ], + "table": [ + 5, + 291, + 995, + 994 + ], + "green toy": [ + 627, + 559, + 677, + 671 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot has approached and made contact with the red strawberry toy on the table. The gripper is currently open and positioned around the strawberry, indicating readiness to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3419455885887146, + 0.05260474979877472, + 0.07016958296298981, + -2.9648847579956055, + 0.09512367844581604, + -0.6153855323791504 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot has approached and made contact with the red strawberry toy on the table. The gripper is currently open and positioned around the strawberry, indicating readiness to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.308225154876709, + 0.034252066165208817, + 0.0668790340423584, + -2.981724739074707, + 0.11056970059871674, + -0.6768754720687866 + ], + "gripper_value": 0.6159340739250183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot has approached and made contact with the red strawberry toy on the table. The gripper is currently open and positioned around the strawberry, indicating readiness to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737201154232025, + 0.006101543083786964, + 0.061565376818180084, + -2.986867904663086, + 0.13294576108455658, + -0.7847998142242432 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot has approached and made contact with the red strawberry toy on the table. The gripper is currently open and positioned around the strawberry, indicating readiness to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2515745162963867, + -0.010545237921178341, + 0.04992980137467384, + -2.991737127304077, + 0.17409266531467438, + -0.834632158279419 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "lift and reposition strawberry", + "subtask_reasoning": "The robot has approached and made contact with the red strawberry toy on the table. The gripper is currently open and positioned around the strawberry, indicating readiness to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24340245127677917, + -0.023525087162852287, + 0.04384591802954674, + -2.986698865890503, + 0.18971319496631622, + -0.8670564889907837 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 4, + 384, + 448, + 887 + ], + "table": [ + 4, + 267, + 995, + 995 + ], + "green toy": [ + 626, + 559, + 677, + 672 + ], + "red toy": [ + 572, + 525, + 677, + 672 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "lift and reposition strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry toy, as confirmed by the gripper closure evidence and the object being held in the air. The current scene shows the strawberry lifted above the table near the blue cloth. The next action is to reposition the arm to move the strawberry directly over the blue cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2450847029685974, + -0.023987947031855583, + 0.032599762082099915, + -2.987957239151001, + 0.2043938785791397, + -0.8661524653434753 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "lift and reposition strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry toy, as confirmed by the gripper closure evidence and the object being held in the air. The current scene shows the strawberry lifted above the table near the blue cloth. The next action is to reposition the arm to move the strawberry directly over the blue cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2447206974029541, + -0.022734161466360092, + 0.02652181126177311, + -2.9979641437530518, + 0.2212885618209839, + -0.8726734519004822 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "lift and reposition strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry toy, as confirmed by the gripper closure evidence and the object being held in the air. The current scene shows the strawberry lifted above the table near the blue cloth. The next action is to reposition the arm to move the strawberry directly over the blue cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.24297039210796356, + -0.01783757470548153, + 0.02790190652012825, + -3.022970199584961, + 0.22550374269485474, + -0.8696523308753967 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "release strawberry onto cloth", + "subtask_reasoning": "The robot arm is positioned over the blue cloth with the gripper open, indicating the strawberry has been released. The subtask of releasing the strawberry onto the cloth appears complete, as the gripper is no longer holding the object. The next action would involve verifying the strawberry's placement or moving to a neutral position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.24602411687374115, + -0.01099882461130619, + 0.05656156316399574, + -3.0192949771881104, + 0.15940441191196442, + -0.8641778230667114 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry toy onto the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "grasp strawberry" + }, + { + "id": 4, + "subtask": "lift and reposition strawberry" + }, + { + "id": 5, + "subtask": "release strawberry onto cloth" + } + ], + "subtask_name": "release strawberry onto cloth", + "subtask_reasoning": "The robot arm is positioned over the blue cloth with the gripper open, indicating the strawberry has been released. The subtask of releasing the strawberry onto the cloth appears complete, as the gripper is no longer holding the object. The next action would involve verifying the strawberry's placement or moving to a neutral position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003636_ecot.json b/cot/chunk-0003/episode_0003636_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bc302faff1a1a29258823cbd9f3706304704debc --- /dev/null +++ b/cot/chunk-0003/episode_0003636_ecot.json @@ -0,0 +1,4927 @@ +{ + "task_name": "episode_0003636", + "episode_json": "json/chunk-0003/episode_0003636.json", + "video_path": "videos/chunk-0003/image_0/episode_0003636.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 66, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003636.json" + }, + "fps": 5.0, + "T_eff": 66, + "gripper_behavior_summary": { + "available": true, + "range": 0.6289522647857666, + "std": 0.1834285855293274, + "delta_total": -0.01220238208770752, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62895, std=0.18343, total_delta=-0.01220). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 206, + 206, + 206, + 6, + 6, + 6, + 6, + 306, + 306, + 306, + 306, + 306, + 306, + 364, + 364 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ], + [ + 3, + 15, + 50 + ], + [ + 4, + 51, + 53 + ], + [ + 5, + 54, + 57 + ], + [ + 6, + 58, + 63 + ], + [ + 7, + 64, + 65 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the beans and close the gripper to prepare for sweeping contact.\"},\n {\"id\": 2, \"name\": \"reposition to sweep start\", \"start\": 6, \"end\": 14, \"planning\": \"Adjust position and orientation to align with the bean cluster for effective sweeping motion.\"},\n {\"id\": 3, \"name\": \"sweep beans into pile\", \"start\": 15, \"end\": 50, \"planning\": \"Execute continuous sweeping motion using gripper as a pusher to gather scattered beans into a concentrated pile.\"},\n {\"id\": 4, \"name\": \"lift and retreat from pile\", \"start\": 51, \"end\": 53, \"planning\": \"Lift end-effector slightly and move away from the completed pile to avoid disturbing it.\"},\n {\"id\": 5, \"name\": \"reposition for final adjustment\", \"start\": 54, \"end\": 57, \"planning\": \"Move back toward the pile area to perform minor cleanup or alignment if needed.\"},\n {\"id\": 6, \"name\": \"final sweep refinement\", \"start\": 58, \"end\": 63, \"planning\": \"Perform small corrective sweeps to tighten the pile or collect stray beans near the edge.\"},\n {\"id\": 7, \"name\": \"open gripper and retreat\", \"start\": 64, \"end\": 65, \"planning\": \"Open the gripper fully and withdraw the end-effector to conclude the sweeping task.\"}\n ],\n \"global_plan\": \"The robot approaches the scattered beans, closes its gripper, then uses the gripper as a pusher to sweep beans into a pile through coordinated motion. After forming the pile, it lifts and repositions for minor refinements before opening the gripper and retreating.\",\n \"notes\": \"Gripper closing is only described in segments 1 and 7 where segment-level evidence shows meaningful delta; all other segments use contact-based verbs since gripper remains static or opens. No lifting or placing is inferred — motion is purely planar pushing/sweeping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the beans and close the gripper to prepare for sweeping contact." + }, + { + "id": 2, + "name": "reposition to sweep start", + "start": 6, + "end": 14, + "planning": "Adjust position and orientation to align with the bean cluster for effective sweeping motion." + }, + { + "id": 3, + "name": "sweep beans into pile", + "start": 15, + "end": 50, + "planning": "Execute continuous sweeping motion using gripper as a pusher to gather scattered beans into a concentrated pile." + }, + { + "id": 4, + "name": "lift and retreat from pile", + "start": 51, + "end": 53, + "planning": "Lift end-effector slightly and move away from the completed pile to avoid disturbing it." + }, + { + "id": 5, + "name": "reposition for final adjustment", + "start": 54, + "end": 57, + "planning": "Move back toward the pile area to perform minor cleanup or alignment if needed." + }, + { + "id": 6, + "name": "final sweep refinement", + "start": 58, + "end": 63, + "planning": "Perform small corrective sweeps to tighten the pile or collect stray beans near the edge." + }, + { + "id": 7, + "name": "open gripper and retreat", + "start": 64, + "end": 65, + "planning": "Open the gripper fully and withdraw the end-effector to conclude the sweeping task." + } + ], + "global_plan": "The robot approaches the scattered beans, closes its gripper, then uses the gripper as a pusher to sweep beans into a pile through coordinated motion. After forming the pile, it lifts and repositions for minor refinements before opening the gripper and retreating.", + "notes": "Gripper closing is only described in segments 1 and 7 where segment-level evidence shows meaningful delta; all other segments use contact-based verbs since gripper remains static or opens. No lifting or placing is inferred — motion is purely planar pushing/sweeping." + } + }, + "episode_goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33584064245224, + 0.08476544171571732, + 0.05025848001241684, + -3.0649499893188477, + -0.10457170754671097, + 0.02084912173449993 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper fully open. No motion or grasping has occurred yet. The next action is to lower the gripper slightly and begin closing it to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333091139793396, + 0.08419288694858551, + 0.04056423529982567, + -3.0711519718170166, + -0.07633933424949646, + 0.0259806327521801 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper fully open. No motion or grasping has occurred yet. The next action is to lower the gripper slightly and begin closing it to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33387571573257446, + 0.08308891952037811, + 0.03693236783146858, + -3.054680109024048, + -0.06726028025150299, + 0.02774374559521675 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, and the gripper is currently open. The subtask involves approaching the objects and closing the gripper to prepare for sweeping. The next action should be to move the gripper closer to the objects and begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 3 cm, move right 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3347957730293274, + 0.0820692926645279, + 0.036796484142541885, + -3.045321226119995, + -0.07155919075012207, + 0.02883915789425373 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, and the gripper is currently open. The subtask involves approaching the objects and closing the gripper to prepare for sweeping. The next action should be to move the gripper closer to the objects and begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move right 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3368318974971771, + 0.08254807442426682, + 0.03396476060152054, + -3.036728620529175, + -0.07826493680477142, + 0.0236330758780241 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, and the gripper is currently open. The subtask involves approaching the objects and closing the gripper to prepare for sweeping. The next action should be to move the gripper closer to the objects and begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move right 14 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3332783579826355, + 0.07871483266353607, + 0.027149979025125504, + -3.0333189964294434, + -0.07850874960422516, + -0.013350967317819595 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 135, + 349, + 989, + 987 + ], + "metal bowl": [ + 39, + 113, + 178, + 227 + ], + "blue cloth": [ + 100, + 408, + 297, + 611 + ], + "small black objects": [ + 483, + 601, + 950, + 977 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, and the gripper is currently open. The subtask involves approaching the objects and closing the gripper to prepare for sweeping. The next action should be to move the gripper closer to the objects and begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move right 17 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272238075733185, + 0.0765860378742218, + 0.021809620782732964, + -3.0389719009399414, + -0.0671938955783844, + -0.044431716203689575 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, and the gripper is currently open. The subtask involves approaching the objects and closing the gripper to prepare for sweeping. The next action should be to move the gripper closer to the objects and begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 17 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184066712856293, + 0.07338571548461914, + 0.021107593551278114, + -3.045698404312134, + -0.0567854642868042, + -0.07191642373800278 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, and the gripper is currently open. The subtask involves approaching the objects and closing the gripper to prepare for sweeping. The next action should be to move the gripper closer to the objects and begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 16 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.313385009765625, + 0.06523559242486954, + 0.02051089145243168, + -3.0562102794647217, + -0.03356923162937164, + -0.0942259132862091 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, and the gripper is currently open. The subtask involves approaching the objects and closing the gripper to prepare for sweeping. The next action should be to move the gripper closer to the objects and begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 15 cm, tilt right 10 degrees, keep gripper closed; then move right 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30934011936187744, + 0.05068404600024223, + 0.020238704979419708, + -3.0710856914520264, + 0.0025176771450787783, + -0.08983258157968521 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, and the gripper is currently open. The subtask involves approaching the objects and closing the gripper to prepare for sweeping. The next action should be to move the gripper closer to the objects and begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 14 cm, tilt right 10 degrees, keep gripper closed; then move right 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080504536628723, + 0.028304127976298332, + 0.02055886574089527, + -3.073699712753296, + 0.02571725659072399, + -0.10024459660053253 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, keep gripper closed; then move right 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30601489543914795, + 0.006564806681126356, + 0.018991172313690186, + -3.0732614994049072, + 0.03098658286035061, + -0.11419181525707245 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, keep gripper closed; then move right 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987537980079651, + -0.020616063848137856, + 0.02069680206477642, + -3.0933823585510254, + 0.033223047852516174, + -0.1354152113199234 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, keep gripper closed; then move right 10 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29252055287361145, + -0.042821429669857025, + 0.019812747836112976, + -3.1117985248565674, + 0.050001855939626694, + -0.1511448472738266 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, keep gripper closed; then move right 7 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28865721821784973, + -0.06575103849172592, + 0.021564776077866554, + -3.137760639190674, + 0.056627944111824036, + -0.1563575118780136 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move forward 2 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886825203895569, + -0.0885542705655098, + 0.02237440086901188, + 3.124161720275879, + 0.04843178018927574, + -0.1574651151895523 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28987449407577515, + -0.1062195897102356, + 0.020380698144435883, + 3.1137940883636475, + 0.06098334491252899, + -0.1424858123064041 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28922125697135925, + -0.1291126161813736, + 0.020497798919677734, + 3.0936877727508545, + 0.07303716987371445, + -0.15466828644275665 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 97, + 411, + 347, + 626 + ], + "metal bowl": [ + 38, + 114, + 178, + 227 + ], + "white tray": [ + 124, + 354, + 988, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28955790400505066, + -0.14436884224414825, + 0.020656775683164597, + 3.083466053009033, + 0.0665171816945076, + -0.1587856262922287 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 13 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874777913093567, + -0.15630504488945007, + 0.02091667242348194, + 3.0758724212646484, + 0.0637894868850708, + -0.16764315962791443 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 15 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28582924604415894, + -0.1764214187860489, + 0.020980743691325188, + 3.0574951171875, + 0.06083395332098007, + -0.17795369029045105 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 17 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869119644165039, + -0.18309549987316132, + 0.022751646116375923, + 3.0391621589660645, + 0.07887956500053406, + -0.16714610159397125 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 17 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28501710295677185, + -0.18494048714637756, + 0.024169059470295906, + 3.0239741802215576, + 0.09420614689588547, + -0.16575878858566284 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 17 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2928254306316376, + -0.16297978162765503, + 0.04511157423257828, + 2.987396001815796, + 0.09959392249584198, + -0.13754624128341675 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 14 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099229335784912, + -0.10965621471405029, + 0.08410388976335526, + 2.9533321857452393, + 0.04871174320578575, + -0.06367455422878265 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31272220611572266, + -0.08069200813770294, + 0.09612002968788147, + 2.9941935539245605, + -0.0011901456164196134, + -0.05352485552430153 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 97, + 411, + 347, + 625 + ], + "white tray": [ + 119, + 355, + 991, + 993 + ], + "metal bowl": [ + 37, + 112, + 178, + 230 + ], + "small black objects": [ + 688, + 618, + 963, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32130685448646545, + -0.052529823035001755, + 0.09486281126737595, + 3.0369150638580322, + -0.03262532874941826, + -0.06276772171258926 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304164707660675, + -0.024538574740290642, + 0.07399610430002213, + 3.0732839107513428, + -0.012382072396576405, + -0.04807090759277344 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34571710228919983, + -0.018838077783584595, + 0.058311354368925095, + 3.1001672744750977, + -0.0112893246114254, + -0.07398688048124313 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35759836435317993, + -0.009923114441335201, + 0.049709998071193695, + 3.1001079082489014, + -0.0073916674591600895, + -0.0647672563791275 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.37014684081077576, + -0.007888135500252247, + 0.04505183920264244, + 3.0957701206207275, + -0.0077156126499176025, + -0.05699379742145538 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808498680591583, + -0.008421950042247772, + 0.04256967827677727, + 3.095529556274414, + 0.010517297312617302, + -0.030469603836536407 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38883933424949646, + -0.01377197541296482, + 0.0392221063375473, + 3.0921804904937744, + 0.026778358966112137, + -0.02154882438480854 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 14 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3938043415546417, + -0.02329426258802414, + 0.03315935656428337, + 3.0975570678710938, + 0.04247350990772247, + -0.04321694374084473 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 15 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.39521440863609314, + -0.029112722724676132, + 0.03244293853640556, + 3.1038765907287598, + 0.03234591707587242, + -0.046627964824438095 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 14 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.39036062359809875, + -0.041233859956264496, + 0.026094257831573486, + 3.1170530319213867, + 0.034003350883722305, + -0.07896138727664948 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 99, + 411, + 347, + 625 + ], + "white tray": [ + 118, + 354, + 991, + 993 + ], + "metal bowl": [ + 38, + 112, + 179, + 228 + ], + "small black objects": [ + 687, + 617, + 963, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.38651564717292786, + -0.05568208917975426, + 0.021442746743559837, + 3.1300783157348633, + 0.0264244694262743, + -0.10582105070352554 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.38488584756851196, + -0.0652887299656868, + 0.0207548625767231, + 3.1329543590545654, + 0.02487224154174328, + -0.12555019557476044 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3811575770378113, + -0.08051758259534836, + 0.022907406091690063, + 3.1148176193237305, + 0.03832945227622986, + -0.1349106878042221 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.36989665031433105, + -0.11675510555505753, + 0.025275148451328278, + 3.0886809825897217, + 0.05894673243165016, + -0.20150724053382874 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 98, + 411, + 347, + 625 + ], + "metal bowl": [ + 36, + 112, + 180, + 228 + ], + "white tray": [ + 118, + 355, + 989, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.36272889375686646, + -0.1357688456773758, + 0.0247478149831295, + 3.0857620239257812, + 0.06464465707540512, + -0.23663021624088287 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.36137819290161133, + -0.14283357560634613, + 0.02721715345978737, + 3.077202558517456, + 0.0639495998620987, + -0.27113133668899536 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.35540875792503357, + -0.1564989984035492, + 0.02723212167620659, + 3.0767691135406494, + 0.06498362869024277, + -0.3172498643398285 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.34847062826156616, + -0.17166341841220856, + 0.027362236753106117, + 3.0666072368621826, + 0.06669440865516663, + -0.33856844902038574 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542451560497284, + -0.17030827701091766, + 0.03933604061603546, + 3.0566964149475098, + 0.07015823572874069, + -0.36576223373413086 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565552532672882, + -0.17209231853485107, + 0.0424828864634037, + 3.051942825317383, + 0.06128981336951256, + -0.3631446957588196 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3563985526561737, + -0.17686083912849426, + 0.042399320751428604, + 3.0523269176483154, + 0.05259725823998451, + -0.3340144157409668 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed; then move back 1 cm, move left 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.35949090123176575, + -0.17433340847492218, + 0.04228627681732178, + 3.0563247203826904, + 0.04509652033448219, + -0.2866809368133545 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed; then move left 10 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3634062111377716, + -0.16880495846271515, + 0.04188614711165428, + 3.0878946781158447, + 0.036945194005966187, + -0.20846199989318848 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 98, + 411, + 348, + 624 + ], + "small black objects": [ + 820, + 762, + 967, + 995 + ], + "metal bowl": [ + 37, + 116, + 181, + 229 + ], + "white tray": [ + 119, + 355, + 989, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then keep gripper closed; then move back 1 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655253052711487, + -0.1661197394132614, + 0.04165845364332199, + 3.1159205436706543, + 0.026741908863186836, + -0.17013829946517944 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered black beans and closed its gripper, now positioned near the left side of the tray. The current subtask involves repositioning to the optimal starting point for sweeping. The next action is likely a small lateral or forward adjustment to align with the bean cluster before initiating the sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 1 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.3684716522693634, + -0.16646410524845123, + 0.041832197457551956, + 3.1279711723327637, + 0.0038129615131765604, + -0.14288656413555145 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot's gripper is positioned near the scattered black beans on the right side of the white tray, with no significant gripper movement indicating a grasp. The beans remain scattered, and the robot appears ready to initiate sweeping motion. The next action is likely to push the beans into a pile using coordinated arm movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 1 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 11 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 50 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.3685101270675659, + -0.16825224459171295, + 0.038740936666727066, + -3.1382198333740234, + -0.012377024628221989, + -0.11969549208879471 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot's gripper is positioned near the scattered black beans on the right side of the white tray, with no significant gripper movement indicating a grasp. The beans remain scattered, and the robot appears ready to initiate sweeping motion. The next action is likely to push the beans into a pile using coordinated arm movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 12 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 50 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 53 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.369500070810318, + -0.16749215126037598, + 0.038410454988479614, + -3.1334164142608643, + -0.01910129003226757, + -0.09835504740476608 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot's gripper is positioned above the white tray, having completed the sweeping of black objects into a pile on the right side. The current subtask involves lifting the gripper and retreating from the pile. The next action is to move the gripper away from the pile to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 51, + "end": 53 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3694596290588379, + -0.16821198165416718, + 0.03736177459359169, + -3.1391549110412598, + -0.022076377645134926, + -0.08729621767997742 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot's gripper is positioned above the white tray, having completed the sweeping of black objects into a pile on the right side. The current subtask involves lifting the gripper and retreating from the pile. The next action is to move the gripper away from the pile to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 53 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3686829209327698, + -0.16931097209453583, + 0.03734968230128288, + 3.13665771484375, + -0.017788954079151154, + -0.08495744317770004 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot's gripper is positioned above the white tray, having completed the sweeping of black objects into a pile on the right side. The current subtask involves lifting the gripper and retreating from the pile. The next action is to move the gripper away from the pile to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 12 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 54, + "end": 57 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.36560454964637756, + -0.1696067750453949, + 0.03732846677303314, + 3.133126974105835, + 0.0012385500594973564, + -0.10366050899028778 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot's gripper is positioned above the white tray, having completed the sweeping of black objects into a pile on the right side. The current subtask involves lifting the gripper and retreating from the pile. The next action is to move the gripper away from the pile to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 12 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 54, + "end": 57 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585309088230133, + -0.13614341616630554, + 0.04625438526272774, + 2.9319965839385986, + 0.08861280232667923, + -0.20840570330619812 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot's gripper is positioned above the white tray, having completed the sweeping of black objects into a pile on the right side. The current subtask involves lifting the gripper and retreating from the pile. The next action is to move the gripper away from the pile to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 12 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 54, + "end": 57 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.36784398555755615, + -0.06521601229906082, + 0.05102969706058502, + 3.0967257022857666, + 0.019292812794446945, + -0.16089414060115814 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 98, + 411, + 347, + 624 + ], + "white tray": [ + 118, + 354, + 989, + 992 + ], + "metal bowl": [ + 37, + 112, + 179, + 228 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot's gripper is positioned above the white tray, having completed the sweeping of black objects into a pile on the right side. The current subtask involves lifting the gripper and retreating from the pile. The next action is to move the gripper away from the pile to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 12 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 54, + "end": 57 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.35413220524787903, + -0.0382845364511013, + 0.04383659362792969, + -3.10959792137146, + -0.015631860122084618, + -0.21896933019161224 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final sweep refinement", + "subtask_reasoning": "The robot's gripper is positioned above the white tray, having completed the sweeping of black objects into a pile on the right side. The current subtask involves lifting the gripper and retreating from the pile. The next action is to move the gripper away from the pile to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 58, + "end": 63 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3496180772781372, + 0.02503141202032566, + 0.04682603478431702, + -3.0952389240264893, + -0.03991847112774849, + -0.17697687447071075 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final sweep refinement", + "subtask_reasoning": "The robot's gripper is positioned above the white tray, having completed the sweeping of black objects into a pile on the right side. The current subtask involves lifting the gripper and retreating from the pile. The next action is to move the gripper away from the pile to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 58, + "end": 63 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471934199333191, + 0.06907740235328674, + 0.047115664929151535, + -3.0715765953063965, + -0.04999184608459473, + -0.1833682805299759 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final sweep refinement", + "subtask_reasoning": "The gripper is closed and positioned near the right edge of the tray, adjacent to the accumulated pile of black objects. The segment-level gripper evidence confirms a stable closed state, allowing the robot to use the gripper as a pusher. The robot is currently executing the final sweep refinement to consolidate the remaining scattered objects into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 58, + "end": 63 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450847864151001, + 0.0850844532251358, + 0.0463460274040699, + -3.056473731994629, + -0.04498854652047157, + -0.19043025374412537 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final sweep refinement", + "subtask_reasoning": "The gripper is closed and positioned near the right edge of the tray, adjacent to the accumulated pile of black objects. The segment-level gripper evidence confirms a stable closed state, allowing the robot to use the gripper as a pusher. The robot is currently executing the final sweep refinement to consolidate the remaining scattered objects into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 58, + "end": 63 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.3426961600780487, + 0.08985864371061325, + 0.043257541954517365, + -3.0514845848083496, + -0.03515826538205147, + -0.1764380782842636 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final sweep refinement", + "subtask_reasoning": "The gripper is closed and positioned near the right edge of the tray, adjacent to the accumulated pile of black objects. The segment-level gripper evidence confirms a stable closed state, allowing the robot to use the gripper as a pusher. The robot is currently executing the final sweep refinement to consolidate the remaining scattered objects into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 58, + "end": 63 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.33916693925857544, + 0.08701275289058685, + 0.039557114243507385, + -3.0557682514190674, + -0.02513432689011097, + -0.16372589766979218 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final sweep refinement", + "subtask_reasoning": "The gripper is closed and positioned near the right edge of the tray, adjacent to the accumulated pile of black objects. The segment-level gripper evidence confirms a stable closed state, allowing the robot to use the gripper as a pusher. The robot is currently executing the final sweep refinement to consolidate the remaining scattered objects into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 58, + "end": 63 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.3423707187175751, + 0.07780245691537857, + 0.039059773087501526, + -3.0095465183258057, + -0.025968613103032112, + -0.1373390406370163 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "open gripper and retreat", + "subtask_reasoning": "The gripper is open and positioned above the white tray, with the black objects already swept into a pile on the right side. The sweeping task is complete, and the robot is now retreating from the pile area. The next action is to continue moving away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 64, + "end": 65 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3382672369480133, + 0.07425504922866821, + 0.0386853963136673, + -3.0259556770324707, + 0.0007390686660073698, + -0.1454300880432129 + ], + "gripper_value": 0.9879508018493652 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final sweep refinement" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "open gripper and retreat", + "subtask_reasoning": "The gripper is open and positioned above the white tray, with the black objects already swept into a pile on the right side. The sweeping task is complete, and the robot is now retreating from the pile area. The next action is to continue moving away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 64, + "end": 65 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003637_ecot.json b/cot/chunk-0003/episode_0003637_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..519dad1eb27575cabba25ec827f1b1740b2e6161 --- /dev/null +++ b/cot/chunk-0003/episode_0003637_ecot.json @@ -0,0 +1,1453 @@ +{ + "task_name": "episode_0003637", + "episode_json": "json/chunk-0003/episode_0003637.json", + "video_path": "videos/chunk-0003/image_0/episode_0003637.mp4", + "instruction": "Move the blue cloth down to the edge of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003637.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019985437393188477, + "std": 0.0006282975082285702, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00200, std=0.00063, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 12 + ], + [ + 3, + 13, + 17 + ], + [ + 4, + 18, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector toward the blue cloth on the table.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 3, \"end\": 12, \"planning\": \"Lower and position the gripper to make contact with the blue cloth.\"},\n {\"id\": 3, \"name\": \"drag cloth toward edge\", \"start\": 13, \"end\": 17, \"planning\": \"Slide the blue cloth across the table surface toward the front edge.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 18, \"end\": 20, \"planning\": \"Lift the gripper slightly and move away after positioning the cloth at the edge.\"}\n ],\n \"global_plan\": \"Approach the blue cloth, make contact, drag it toward the table edge, then release and retreat.\",\n \"notes\": \"Gripper remains open throughout; no grasping or lifting occurs. Motion is contact-based sliding/dragging as supported by gripper evidence and visual frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 2, + "planning": "Move the end-effector toward the blue cloth on the table." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 3, + "end": 12, + "planning": "Lower and position the gripper to make contact with the blue cloth." + }, + { + "id": 3, + "name": "drag cloth toward edge", + "start": 13, + "end": 17, + "planning": "Slide the blue cloth across the table surface toward the front edge." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 18, + "end": 20, + "planning": "Lift the gripper slightly and move away after positioning the cloth at the edge." + } + ], + "global_plan": "Approach the blue cloth, make contact, drag it toward the table edge, then release and retreat.", + "notes": "Gripper remains open throughout; no grasping or lifting occurs. Motion is contact-based sliding/dragging as supported by gripper evidence and visual frames." + } + }, + "episode_goal": "Move the blue cloth down to the edge of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35467541217803955, + 0.03936000168323517, + 0.10904146730899811, + 3.1358656883239746, + -0.031831152737140656, + -0.02734515629708767 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the blue cloth to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3539639711380005, + 0.03927778825163841, + 0.09445400536060333, + 3.1299474239349365, + 0.009113994427025318, + -0.03188037872314453 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible to the left. No contact has been made yet as the gripper remains open and the arm is hovering. The next action is to lower and move the end-effector toward the blue cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 2 cm, keep gripper open; then move left 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36159196496009827, + 0.06374594569206238, + 0.07972998172044754, + 3.1280243396759033, + 0.00796525739133358, + -0.03872083127498627 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible to the left. No contact has been made yet as the gripper remains open and the arm is hovering. The next action is to lower and move the end-effector toward the blue cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, keep gripper open; then move back 2 cm, move left 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36733078956604004, + 0.11601872742176056, + 0.07884055376052856, + -3.1160387992858887, + -0.03505760058760643, + -0.029912011697888374 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 201, + 212, + 452, + 422 + ], + "wooden countertop": [ + 5, + 139, + 939, + 962 + ], + "toy microwave": [ + 273, + 2, + 671, + 236 + ], + "spatula": [ + 463, + 531, + 614, + 745 + ], + "tomato sauce": [ + 641, + 44, + 785, + 301 + ], + "metal bowl": [ + 520, + 284, + 731, + 507 + ], + "toy stove": [ + 673, + 175, + 997, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible to the left. No contact has been made yet as the gripper remains open and the arm is hovering. The next action is to lower and move the end-effector toward the blue cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3667524755001068, + 0.1501232534646988, + 0.06643633544445038, + -3.1105144023895264, + -0.06850793212652206, + -0.07347138971090317 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible to the left. No contact has been made yet as the gripper remains open and the arm is hovering. The next action is to lower and move the end-effector toward the blue cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669014573097229, + 0.16817961633205414, + 0.05164552107453346, + -3.1084251403808594, + -0.08960657566785812, + -0.11623536795377731 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible to the left. No contact has been made yet as the gripper remains open and the arm is hovering. The next action is to lower and move the end-effector toward the blue cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move back 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3685305118560791, + 0.17071163654327393, + 0.03881189972162247, + -3.135197401046753, + -0.08072977513074875, + -0.09493839740753174 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible to the left. No contact has been made yet as the gripper remains open and the arm is hovering. The next action is to lower and move the end-effector toward the blue cloth to establish contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3711981475353241, + 0.1651291847229004, + 0.03083472140133381, + -3.1350767612457275, + -0.06594888120889664, + -0.10640276223421097 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 8 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37910333275794983, + 0.154721200466156, + 0.017171578481793404, + -3.140933036804199, + -0.04400843754410744, + -0.12641745805740356 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 1 cm, keep gripper open; then move back 7 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3810685873031616, + 0.1546618640422821, + 0.012940035201609135, + -3.110430955886841, + -0.02829241380095482, + -0.13209150731563568 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, keep gripper open; then move back 7 cm, move right 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3772438168525696, + 0.1547594666481018, + 0.009977485053241253, + -3.0957462787628174, + -0.0033823195844888687, + -0.1260218769311905 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, tilt right 10 degrees, keep gripper open; then move back 7 cm, move right 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704278767108917, + 0.15121038258075714, + 0.007214806973934174, + -3.102795362472534, + 0.014847629703581333, + -0.11688566207885742 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, keep gripper open; then move back 7 cm, move right 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3515760898590088, + 0.14010632038116455, + 0.007353033404797316, + -3.1392056941986084, + 0.020395876839756966, + -0.11927994340658188 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, keep gripper open; then move back 7 cm, move right 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32173773646354675, + 0.12911778688430786, + 0.008451422676444054, + 3.0997772216796875, + 0.02577359601855278, + -0.11107245087623596 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 435, + 259, + 733, + 508 + ], + "wooden countertop": [ + 6, + 155, + 940, + 966 + ], + "toy microwave": [ + 332, + 3, + 671, + 237 + ], + "spatula": [ + 464, + 530, + 614, + 746 + ], + "tomato sauce": [ + 641, + 45, + 784, + 301 + ], + "blue sponge": [ + 188, + 285, + 455, + 493 + ], + "toy stove": [ + 673, + 175, + 997, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward edge", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2848963439464569, + 0.12280920892953873, + 0.010789216496050358, + 3.0844335556030273, + 0.04855063557624817, + -0.09196365624666214 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward edge", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2561694383621216, + 0.12649166584014893, + 0.011284115724265575, + 3.0977702140808105, + 0.07745487987995148, + -0.056921571493148804 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 434, + 257, + 734, + 508 + ], + "toy microwave": [ + 274, + 2, + 671, + 237 + ], + "wooden countertop": [ + 5, + 136, + 940, + 963 + ], + "spatula": [ + 464, + 529, + 614, + 746 + ], + "blue sponge": [ + 110, + 387, + 410, + 643 + ], + "tomato sauce": [ + 641, + 44, + 784, + 301 + ], + "toy stove": [ + 673, + 175, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward edge", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating the cloth is being pushed or dragged rather than grasped. The next action is to continue moving the cloth toward the table edge while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.241791233420372, + 0.125844344496727, + 0.012265130877494812, + 3.113649845123291, + 0.0878249928355217, + -0.0362815260887146 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward edge", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating the cloth is being pushed or dragged rather than grasped. The next action is to continue moving the cloth toward the table edge while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2440613955259323, + 0.12052512913942337, + 0.014154632575809956, + 3.1383864879608154, + 0.0845559686422348, + -0.052973613142967224 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward edge", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating the cloth is being pushed or dragged rather than grasped. The next action is to continue moving the cloth toward the table edge while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2551502585411072, + 0.10534888505935669, + 0.027292294427752495, + -3.1302270889282227, + 0.03812691196799278, + -0.09449586272239685 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating the cloth is being pushed or dragged rather than grasped. The next action is to continue moving the cloth toward the table edge while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2642954885959625, + 0.09243154525756836, + 0.07663733512163162, + -3.1092000007629395, + -0.08840284496545792, + -0.11592569202184677 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has successfully dragged the blue cloth to the edge of the table and is now in the release and retreat phase. The gripper is fully open, indicating no grasp, and the end-effector is lifting upward away from the cloth. The next action is to continue retreating vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620123028755188, + 0.09019745141267776, + 0.10799703001976013, + -3.0972580909729004, + -0.13180497288703918, + -0.09876438230276108 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth down to the edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward edge" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has successfully dragged the blue cloth to the edge of the table and is now in the release and retreat phase. The gripper is fully open, indicating no grasp, and the end-effector is lifting upward away from the cloth. The next action is to continue retreating vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003638_ecot.json b/cot/chunk-0003/episode_0003638_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fa7d615c26b887924dd51d82fe1b51772a90cbdb --- /dev/null +++ b/cot/chunk-0003/episode_0003638_ecot.json @@ -0,0 +1,2999 @@ +{ + "task_name": "episode_0003638", + "episode_json": "json/chunk-0003/episode_0003638.json", + "video_path": "videos/chunk-0003/image_0/episode_0003638.mp4", + "instruction": "Move the yellow cloth to the bottom right corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003638.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.9447709918022156, + "std": 0.4106692373752594, + "delta_total": -0.0020174384117126465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94477, std=0.41067, total_delta=-0.00202). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 106, + 106, + 106, + 106, + 6, + 6, + 6, + 206, + 206, + 206, + 206, + 206, + 206, + 206, + 406, + 406, + 406, + 406, + 406, + 406, + 406, + 406, + 306, + 306, + 306, + 306, + 306, + 306, + 334, + 334, + 334, + 334, + 334, + 334, + 334 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 5 + ], + [ + 3, + 6, + 9 + ], + [ + 4, + 10, + 12 + ], + [ + 5, + 13, + 19 + ], + [ + 6, + 20, + 27 + ], + [ + 7, + 28, + 33 + ], + [ + 8, + 34, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper toward the yellow cloth while beginning to close the fingers in preparation for contact.\"},\n {\"id\": 2, \"name\": \"grasp cloth\", \"start\": 5, \"end\": 9, \"planning\": \"Complete gripper closure and establish firm grasp on the yellow cloth as confirmed by segment-level closing evidence and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition cloth\", \"start\": 10, \"end\": 19, \"planning\": \"Lift and translate the grasped cloth toward the bottom right corner of the table while maintaining grip.\"},\n {\"id\": 4, \"name\": \"slide cloth into position\", \"start\": 20, \"end\": 27, \"planning\": \"Drag or slide the cloth along the table surface to fine-tune its placement in the bottom right corner without lifting.\"},\n {\"id\": 5, \"name\": \"release cloth\", \"start\": 28, \"end\": 33, \"planning\": \"Open the gripper to release the cloth after confirming it is positioned correctly in the target corner.\"},\n {\"id\": 6, \"name\": \"retreat from cloth\", \"start\": 34, \"end\": 40, \"planning\": \"Withdraw the gripper upward and away from the cloth to complete the task without disturbing the final placement.\"}\n ],\n \"global_plan\": \"Approach, grasp, reposition, slide, release, and retreat to move the yellow cloth to the bottom right corner of the table using a combination of lifting and sliding based on observed motion and gripper state.\",\n \"notes\": \"Segment 6 (frames 20-27) shows no gripper movement — consistent with sliding/dragging rather than lifting; segment 8 (frames 34-40) shows gripper opening and retreat, confirming release phase. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move the gripper toward the yellow cloth while beginning to close the fingers in preparation for contact." + }, + { + "id": 2, + "name": "grasp cloth", + "start": 5, + "end": 9, + "planning": "Complete gripper closure and establish firm grasp on the yellow cloth as confirmed by segment-level closing evidence and visual contact." + }, + { + "id": 3, + "name": "reposition cloth", + "start": 10, + "end": 19, + "planning": "Lift and translate the grasped cloth toward the bottom right corner of the table while maintaining grip." + }, + { + "id": 4, + "name": "slide cloth into position", + "start": 20, + "end": 27, + "planning": "Drag or slide the cloth along the table surface to fine-tune its placement in the bottom right corner without lifting." + }, + { + "id": 5, + "name": "release cloth", + "start": 28, + "end": 33, + "planning": "Open the gripper to release the cloth after confirming it is positioned correctly in the target corner." + }, + { + "id": 6, + "name": "retreat from cloth", + "start": 34, + "end": 40, + "planning": "Withdraw the gripper upward and away from the cloth to complete the task without disturbing the final placement." + } + ], + "global_plan": "Approach, grasp, reposition, slide, release, and retreat to move the yellow cloth to the bottom right corner of the table using a combination of lifting and sliding based on observed motion and gripper state.", + "notes": "Segment 6 (frames 20-27) shows no gripper movement — consistent with sliding/dragging rather than lifting; segment 8 (frames 34-40) shows gripper opening and retreat, confirming release phase. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the yellow cloth to the bottom right corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040967881679535, + 0.047535695135593414, + 0.07456498593091965, + 3.0758116245269775, + -0.316000759601593, + 0.09191783517599106 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible in the center. No actions have been completed yet. The gripper is open and approaching the cloth. The next action is to move the gripper closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3000389337539673, + 0.04718485102057457, + 0.06630776077508926, + 3.0715901851654053, + -0.2869592308998108, + 0.10689248144626617 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible in the center. No actions have been completed yet. The gripper is open and approaching the cloth. The next action is to move the gripper closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2899768352508545, + 0.06767068058252335, + 0.056716188788414, + 3.0941226482391357, + -0.27530577778816223, + 0.2900620698928833 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826230227947235, + 0.08505337685346603, + 0.05488447844982147, + 3.1270370483398438, + -0.26985329389572144, + 0.3795289695262909 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27526456117630005, + 0.10174927860498428, + 0.042750924825668335, + 3.138350248336792, + -0.23264920711517334, + 0.4416690170764923 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26539525389671326, + 0.12049619108438492, + 0.026203731074929237, + -3.112191915512085, + -0.18626199662685394, + 0.49891966581344604 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566414773464203, + 0.1292618364095688, + 0.014562496915459633, + -3.1143250465393066, + -0.14388731122016907, + 0.5667605996131897 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 102, + 996, + 995 + ], + "metal bowl": [ + 424, + 126, + 658, + 304 + ], + "can": [ + 372, + 580, + 560, + 864 + ], + "can_2": [ + 1, + 337, + 131, + 596 + ], + "yellow cloth": [ + 173, + 348, + 512, + 749 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25095197558403015, + 0.133029505610466, + 0.0048998454585671425, + -3.073323965072632, + -0.11579567193984985, + 0.5883907675743103 + ], + "gripper_value": 0.16654326021671295 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with gripper fingers open and aligned for grasping. The gripper signal shows a significant closing trend in this segment, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24876509606838226, + 0.13393238186836243, + -0.0073052942752838135, + -3.0595858097076416, + -0.08944841474294662, + 0.642520546913147 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with gripper fingers open and aligned for grasping. The gripper signal shows a significant closing trend in this segment, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed; then move left 2 cm, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2565889060497284, + 0.13276658952236176, + -0.012953680008649826, + -3.111741065979004, + -0.11409065872430801, + 0.642026424407959 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with gripper fingers open and aligned for grasping. The gripper signal shows a significant closing trend in this segment, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26467353105545044, + 0.13240160048007965, + -0.018831869587302208, + 3.111069917678833, + -0.11546195298433304, + 0.596039354801178 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with gripper fingers open and aligned for grasping. The gripper signal shows a significant closing trend in this segment, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27422064542770386, + 0.132908895611763, + -0.019937077537178993, + 3.105883836746216, + -0.1305726319551468, + 0.45558056235313416 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with gripper fingers open and aligned for grasping. The gripper signal shows a significant closing trend in this segment, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, rotate counterclockwise 40 degrees, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2833220362663269, + 0.1319698542356491, + -0.01875629648566246, + 3.1097569465637207, + -0.18640512228012085, + 0.2808168828487396 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 166, + 341, + 511, + 673 + ], + "wooden table": [ + 3, + 89, + 996, + 995 + ], + "metal bowl": [ + 419, + 124, + 652, + 307 + ], + "can": [ + 1, + 349, + 129, + 595 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with gripper fingers open and aligned for grasping. The gripper signal shows a significant closing trend in this segment, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2871548533439636, + 0.1348046362400055, + -0.018773430958390236, + -3.1153392791748047, + -0.1841491311788559, + 0.08543489128351212 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with gripper fingers open and aligned for grasping. The gripper signal shows a significant closing trend in this segment, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880961000919342, + 0.13904805481433868, + -0.01967875473201275, + -3.063066005706787, + -0.17235390841960907, + -0.09814007580280304 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915823459625244, + 0.14254485070705414, + -0.019358156248927116, + -3.060546875, + -0.17063887417316437, + -0.16870294511318207 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28840699791908264, + 0.14704297482967377, + -0.017954587936401367, + -3.091970205307007, + -0.1530204564332962, + -0.2074510008096695 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27868953347206116, + 0.15355181694030762, + -0.01960480958223343, + -3.1198058128356934, + -0.155326247215271, + -0.21594606339931488 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, keep gripper closed; then move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2681841552257538, + 0.15466535091400146, + -0.021113833412528038, + -3.1234731674194336, + -0.14798183739185333, + -0.27563053369522095 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, keep gripper closed; then move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554439604282379, + 0.1570732444524765, + -0.020570887252688408, + -3.1371586322784424, + -0.15779931843280792, + -0.287521094083786 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2414342164993286, + 0.1549098789691925, + -0.021082598716020584, + 3.1361589431762695, + -0.16353057324886322, + -0.2544229328632355 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 71, + 367, + 489, + 772 + ], + "wooden table": [ + 3, + 66, + 996, + 995 + ], + "metal bowl": [ + 419, + 124, + 653, + 305 + ], + "can": [ + 1, + 334, + 129, + 595 + ], + "can_2": [ + 376, + 578, + 560, + 864 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth into position", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2335146814584732, + 0.15397420525550842, + -0.02188599295914173, + 3.14042329788208, + -0.14766967296600342, + -0.2537516951560974 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth into position", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.22302895784378052, + 0.15465973317623138, + -0.022272512316703796, + 3.1395533084869385, + -0.14337867498397827, + -0.2746114432811737 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth into position", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth on the table, having completed the approach and grasp phases. The gripper state indicates no active closing motion during this segment, suggesting the cloth is being repositioned via sliding or dragging rather than lifting. The next likely action is to continue moving the cloth toward the bottom right corner of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.218949556350708, + 0.15591515600681305, + -0.021441012620925903, + 3.128844976425171, + -0.15992371737957, + -0.27739670872688293 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth into position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already approached and grasped it. The gripper remains open with no closing evidence, indicating a sliding motion rather than lifting. The next action is to continue sliding the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2165358066558838, + 0.15507034957408905, + -0.021429162472486496, + 3.1140851974487305, + -0.1494736522436142, + -0.27023714780807495 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth into position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already approached and grasped it. The gripper remains open with no closing evidence, indicating a sliding motion rather than lifting. The next action is to continue sliding the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2219526171684265, + 0.15279747545719147, + -0.01934952475130558, + 3.0977885723114014, + -0.16675437986850739, + -0.22685152292251587 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth into position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already approached and grasped it. The gripper remains open with no closing evidence, indicating a sliding motion rather than lifting. The next action is to continue sliding the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22976069152355194, + 0.15100593864917755, + -0.015291044488549232, + 3.0896644592285156, + -0.1623506397008896, + -0.19422675669193268 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth into position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already approached and grasped it. The gripper remains open with no closing evidence, indicating a sliding motion rather than lifting. The next action is to continue sliding the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23721416294574738, + 0.1524224877357483, + -0.0023099605459719896, + 3.090496301651001, + -0.22854362428188324, + -0.11698654294013977 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth into position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already approached and grasped it. The gripper remains open with no closing evidence, indicating a sliding motion rather than lifting. The next action is to continue sliding the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.23759838938713074, + 0.15360762178897858, + 0.009353548288345337, + 3.082139015197754, + -0.24564720690250397, + 0.020796341821551323 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already approached and grasped it. The gripper remains open with no closing evidence, indicating a sliding motion rather than lifting. The next action is to continue sliding the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 3 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23762953281402588, + 0.15380820631980896, + 0.01816793717443943, + 3.093825340270996, + -0.2213037610054016, + 0.18889637291431427 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already approached and grasped it. The gripper remains open with no closing evidence, indicating a sliding motion rather than lifting. The next action is to continue sliding the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, open gripper; then move forward 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23802193999290466, + 0.1492203325033188, + 0.02262009121477604, + 3.092090368270874, + -0.15654593706130981, + 0.24319908022880554 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 38, + 401, + 469, + 813 + ], + "wooden table": [ + 3, + 66, + 996, + 995 + ], + "metal bowl": [ + 420, + 124, + 656, + 304 + ], + "can": [ + 1, + 355, + 129, + 595 + ], + "can_2": [ + 374, + 578, + 562, + 864 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The yellow cloth is positioned on the table near the bottom right corner, with the gripper open and no longer in contact. The release action has been completed, and the cloth is now stationary in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, keep gripper open; then move forward 8 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23936377465724945, + 0.1445554494857788, + 0.03187566623091698, + 3.0786678791046143, + -0.1303299069404602, + 0.2640027105808258 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The yellow cloth is positioned on the table near the bottom right corner, with the gripper open and no longer in contact. The release action has been completed, and the cloth is now stationary in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move forward 8 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24169576168060303, + 0.13960307836532593, + 0.04152606427669525, + 3.072894334793091, + -0.12982559204101562, + 0.25528600811958313 + ], + "gripper_value": 0.19087372720241547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The yellow cloth is positioned on the table near the bottom right corner, with the gripper open and no longer in contact. The release action has been completed, and the cloth is now stationary in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 8 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.245645210146904, + 0.13570472598075867, + 0.05109146237373352, + 3.0783050060272217, + -0.164565771818161, + 0.19282430410385132 + ], + "gripper_value": 0.4175282120704651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The yellow cloth is positioned on the table near the bottom right corner, with the gripper open and no longer in contact. The release action has been completed, and the cloth is now stationary in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 8 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24500347673892975, + 0.13037918508052826, + 0.054137732833623886, + 3.053785562515259, + -0.14943496882915497, + 0.17933963239192963 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is positioned on the table near the bottom right corner, with the gripper open and no longer in contact. The release action has been completed, and the cloth is now stationary in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24816925823688507, + 0.12513259053230286, + 0.06511550396680832, + 3.067589044570923, + -0.173643097281456, + 0.14011655747890472 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is positioned on the table near the bottom right corner, with the gripper open and no longer in contact. The release action has been completed, and the cloth is now stationary in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.25324541330337524, + 0.11454702168703079, + 0.06906706094741821, + 3.0842137336730957, + -0.16376760601997375, + 0.034093353897333145 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is positioned on the table near the bottom right corner, with the gripper open and no longer in contact. The release action has been completed, and the cloth is now stationary in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2607060968875885, + 0.10134439915418625, + 0.06987825036048889, + 3.064218044281006, + -0.18562351167201996, + -0.012203199788928032 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has completed grasping and repositioning the yellow cloth toward the bottom right corner. The gripper is open and elevated above the cloth, indicating release has occurred. The next action is to retreat further from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 34, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727442681789398, + 0.08686690032482147, + 0.07037202268838882, + 3.093599557876587, + -0.21066047251224518, + -0.031138908118009567 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has completed grasping and repositioning the yellow cloth toward the bottom right corner. The gripper is open and elevated above the cloth, indicating release has occurred. The next action is to retreat further from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024863004684448, + 0.07827358692884445, + 0.08429928123950958, + 3.11714768409729, + -0.2505589425563812, + 0.002761403564363718 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 39, + 378, + 468, + 822 + ], + "wooden table": [ + 3, + 67, + 995, + 995 + ], + "metal bowl": [ + 458, + 125, + 656, + 306 + ], + "can": [ + 374, + 578, + 562, + 863 + ], + "can_2": [ + 1, + 335, + 129, + 595 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has completed grasping and repositioning the yellow cloth toward the bottom right corner. The gripper is open and elevated above the cloth, indicating release has occurred. The next action is to retreat further from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292617201805115, + 0.07253777235746384, + 0.08021681755781174, + 3.136032819747925, + -0.25580593943595886, + 0.024826638400554657 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "slide cloth into position" + }, + { + "id": 5, + "subtask": "release cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has completed grasping and repositioning the yellow cloth toward the bottom right corner. The gripper is open and elevated above the cloth, indicating release has occurred. The next action is to retreat further from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003639_ecot.json b/cot/chunk-0003/episode_0003639_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..aad12c82d9bc6d996e2f8029767782bb7c33a564 --- /dev/null +++ b/cot/chunk-0003/episode_0003639_ecot.json @@ -0,0 +1,1182 @@ +{ + "task_name": "episode_0003639", + "episode_json": "json/chunk-0003/episode_0003639.json", + "video_path": "videos/chunk-0003/image_0/episode_0003639.mp4", + "instruction": "Put eggplant into pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003639.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.20170915126800537, + "std": 0.09364666044712067, + "delta_total": -0.20170915126800537, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.20171, std=0.09365, total_delta=-0.20171). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach eggplant\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector down toward the purple eggplant in the sink basin.\"},\n {\"id\": 2, \"name\": \"grasp eggplant\", \"start\": 4, \"end\": 8, \"planning\": \"Close the gripper around the eggplant to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"lift and transport eggplant\", \"start\": 9, \"end\": 13, \"planning\": \"Lift the grasped eggplant and move it horizontally toward the metal pot.\"},\n {\"id\": 4, \"name\": \"release eggplant into pot\", \"start\": 14, \"end\": 17, \"planning\": \"Position the eggplant over the pot and open the gripper to drop it inside.\"}\n ],\n \"global_plan\": \"Approach the eggplant in the sink, grasp it securely, lift and move it over the metal pot, then release it to complete the task.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.20171), supporting grasp wording. Segment 2 shows no meaningful closing (range=0.00095), so release is inferred from motion and context, not gripper action.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach eggplant", + "start": 0, + "end": 3, + "planning": "Move the end-effector down toward the purple eggplant in the sink basin." + }, + { + "id": 2, + "name": "grasp eggplant", + "start": 4, + "end": 8, + "planning": "Close the gripper around the eggplant to secure a firm hold." + }, + { + "id": 3, + "name": "lift and transport eggplant", + "start": 9, + "end": 13, + "planning": "Lift the grasped eggplant and move it horizontally toward the metal pot." + }, + { + "id": 4, + "name": "release eggplant into pot", + "start": 14, + "end": 17, + "planning": "Position the eggplant over the pot and open the gripper to drop it inside." + } + ], + "global_plan": "Approach the eggplant in the sink, grasp it securely, lift and move it over the metal pot, then release it to complete the task.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.20171), supporting grasp wording. Segment 2 shows no meaningful closing (range=0.00095), so release is inferred from motion and context, not gripper action." + } + }, + "episode_goal": "Pick up the purple eggplant from the sink and place it into the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2522176206111908, + -0.07671450823545456, + 0.13331039249897003, + 3.092123031616211, + -0.211630180478096, + 0.2923327386379242 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the sink with the purple eggplant visible in the basin and the metal pot nearby. No objects have been moved yet. The gripper is open and the robot is approaching the eggplant. The next action is to continue moving the end-effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, keep gripper open; then move left 1 cm, move up 3 cm, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523110806941986, + -0.07975393533706665, + 0.1184023767709732, + 3.109219789505005, + -0.18813355267047882, + 0.3089573085308075 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the sink with the purple eggplant visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, keep gripper open; then move left 1 cm, move up 3 cm, close gripper; then move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2553572952747345, + -0.08876355737447739, + 0.10277755558490753, + 3.1070165634155273, + -0.1801382154226303, + 0.31179600954055786 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 249, + 334, + 543, + 734 + ], + "red cup": [ + 440, + 283, + 535, + 425 + ], + "yellow dish rack": [ + 2, + 92, + 439, + 528 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the sink with the purple eggplant visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move left 1 cm, move up 3 cm, close gripper; then move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.255689412355423, + -0.09305258840322495, + 0.08589692413806915, + 3.090083122253418, + -0.15707746148109436, + 0.31821826100349426 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the sink with the purple eggplant visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, close gripper; then move back 1 cm, move left 4 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25624045729637146, + -0.09333530068397522, + 0.07395966351032257, + 3.0746936798095703, + -0.14547798037528992, + 0.331586629152298 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is positioned above the sink with the purple eggplant visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, close gripper; then move back 1 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2538626492023468, + -0.0938129797577858, + 0.0604209341108799, + 3.0487420558929443, + -0.13296623528003693, + 0.3502615690231323 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is positioned above the sink with the purple eggplant visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25261616706848145, + -0.09144476056098938, + 0.060406021773815155, + 3.037301778793335, + -0.1418444812297821, + 0.377885639667511 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned directly above the purple eggplant in the sink, with the gripper open and ready to close. The approach phase is complete, and the gripper is now making contact or about to make contact with the eggplant. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24848909676074982, + -0.08980345726013184, + 0.06497111171483994, + 3.087411880493164, + -0.12654656171798706, + 0.3721025288105011 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned directly above the purple eggplant in the sink, with the gripper open and ready to close. The approach phase is complete, and the gripper is now making contact or about to make contact with the eggplant. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25151383876800537, + -0.0909319519996643, + 0.07803166657686234, + 3.127906084060669, + -0.13248150050640106, + 0.3534444272518158 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned directly above the purple eggplant in the sink, with the gripper open and ready to close. The approach phase is complete, and the gripper is now making contact or about to make contact with the eggplant. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25444674491882324, + -0.08540333807468414, + 0.10022057592868805, + -3.134982109069824, + -0.16860541701316833, + 0.354476660490036 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 249, + 335, + 543, + 733 + ], + "black faucet": [ + 551, + 5, + 916, + 611 + ], + "red cup": [ + 439, + 282, + 534, + 422 + ], + "yellow dish rack": [ + 2, + 92, + 440, + 527 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot arm is positioned directly above the purple eggplant in the sink, with the gripper open and ready to close. The approach phase is complete, and the gripper is now making contact or about to make contact with the eggplant. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566857933998108, + -0.0789044052362442, + 0.11611929535865784, + -3.1094677448272705, + -0.1891736537218094, + 0.36508479714393616 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot arm is positioned directly above the purple eggplant in the sink, with the gripper open and ready to close. The approach phase is complete, and the gripper is now making contact or about to make contact with the eggplant. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2551766335964203, + -0.07035624980926514, + 0.1261216700077057, + -3.0836527347564697, + -0.19533661007881165, + 0.3848327100276947 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant and is currently lifting it above the sink. The gripper remains closed with minimal movement, indicating secure transport. The next action is to move the eggplant over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25481098890304565, + -0.05990614369511604, + 0.13640433549880981, + -3.0880205631256104, + -0.22460635006427765, + 0.4212067127227783 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant and is currently lifting it above the sink. The gripper remains closed with minimal movement, indicating secure transport. The next action is to move the eggplant over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2492099553346634, + -0.04719225689768791, + 0.14358407258987427, + -3.0885233879089355, + -0.23471735417842865, + 0.46406105160713196 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant and is currently lifting it above the sink. The gripper remains closed with minimal movement, indicating secure transport. The next action is to move the eggplant over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24183455109596252, + -0.03378238528966904, + 0.14376597106456757, + -3.07584285736084, + -0.21380457282066345, + 0.5031850934028625 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant and is currently lifting it above the sink. The gripper remains closed with minimal movement, indicating secure transport. The next action is to move the eggplant over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2321581095457077, + -0.02108052559196949, + 0.14396360516548157, + -3.052460193634033, + -0.19184386730194092, + 0.5383815169334412 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The robot is positioned over the metal pot with the purple eggplant held in its gripper. The gripper signal indicates an open state, suggesting the object has not yet been released. The next action is to open the gripper to drop the eggplant into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21906128525733948, + -0.007094110362231731, + 0.14648309350013733, + -3.0378262996673584, + -0.17866934835910797, + 0.5753900408744812 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The robot is positioned over the metal pot with the purple eggplant held in its gripper. The gripper signal indicates an open state, suggesting the object has not yet been released. The next action is to open the gripper to drop the eggplant into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2061459869146347, + 0.0014748027315363288, + 0.14663681387901306, + -3.0399270057678223, + -0.15761524438858032, + 0.6076647043228149 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The robot is positioned over the metal pot with the purple eggplant held in its gripper. The gripper signal indicates an open state, suggesting the object has not yet been released. The next action is to open the gripper to drop the eggplant into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003640_ecot.json b/cot/chunk-0003/episode_0003640_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..58b9affe87863558e214632e79f81398ff2b17a0 --- /dev/null +++ b/cot/chunk-0003/episode_0003640_ecot.json @@ -0,0 +1,5431 @@ +{ + "task_name": "episode_0003640", + "episode_json": "json/chunk-0003/episode_0003640.json", + "video_path": "videos/chunk-0003/image_0/episode_0003640.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 90, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003640.json" + }, + "fps": 5.0, + "T_eff": 90, + "gripper_behavior_summary": { + "available": true, + "range": 0.5155545473098755, + "std": 0.16820549964904785, + "delta_total": 0.009800910949707031, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.51555, std=0.16821, total_delta=0.00980). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 187, + 187, + 187 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 18 + ], + [ + 3, + 19, + 86 + ], + [ + 4, + 87, + 89 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach brush\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the brush handle and close gripper to secure grasp.\"},\n {\"id\": 2, \"name\": \"reposition brush\", \"start\": 12, \"end\": 18, \"planning\": \"Adjust brush orientation and position while maintaining grip, preparing for sweeping motion.\"},\n {\"id\": 3, \"name\": \"sweep beads\", \"start\": 19, \"end\": 86, \"planning\": \"Execute sweeping motion across tray to gather scattered beads into a pile using brush contact.\"},\n {\"id\": 4, \"name\": \"release brush\", \"start\": 87, \"end\": 89, \"planning\": \"Open gripper to release brush after completing sweep, retreating slightly from final position.\"}\n ],\n \"global_plan\": \"Grasp brush, reposition it, sweep beads into pile, then release brush.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.48745) consistent with grasping; Segment 2 has no gripper change — describes repositioning without new grasp; Segment 3 has negligible gripper variation — describes sustained contact sweeping; Segment 4 shows strong opening (delta=+0.44923) consistent with release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach brush", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the brush handle and close gripper to secure grasp." + }, + { + "id": 2, + "name": "reposition brush", + "start": 12, + "end": 18, + "planning": "Adjust brush orientation and position while maintaining grip, preparing for sweeping motion." + }, + { + "id": 3, + "name": "sweep beads", + "start": 19, + "end": 86, + "planning": "Execute sweeping motion across tray to gather scattered beads into a pile using brush contact." + }, + { + "id": 4, + "name": "release brush", + "start": 87, + "end": 89, + "planning": "Open gripper to release brush after completing sweep, retreating slightly from final position." + } + ], + "global_plan": "Grasp brush, reposition it, sweep beads into pile, then release brush.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.48745) consistent with grasping; Segment 2 has no gripper change — describes repositioning without new grasp; Segment 3 has negligible gripper variation — describes sustained contact sweeping; Segment 4 shows strong opening (delta=+0.44923) consistent with release." + } + }, + "episode_goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30144691467285156, + 0.17264272272586823, + 0.13403135538101196, + -3.0954790115356445, + -0.2373262494802475, + 0.09924152493476868 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with scattered black beads and a brush on the left. No actions have been completed yet. The current subtask is to approach the brush, and the next action should involve moving the end-effector closer to the brush handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30027255415916443, + 0.17193610966205597, + 0.12199705094099045, + -3.1117115020751953, + -0.20558097958564758, + 0.1059001088142395 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with scattered black beads and a brush on the left. No actions have been completed yet. The current subtask is to approach the brush, and the next action should involve moving the end-effector closer to the brush handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018878698348999, + 0.17160461843013763, + 0.12174998223781586, + -3.114265203475952, + -0.2130812406539917, + 0.11282995343208313 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with scattered black beads and a brush on the left. No actions have been completed yet. The current subtask is to approach the brush, and the next action should involve moving the end-effector closer to the brush handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3049742877483368, + 0.1733952760696411, + 0.12254030257463455, + -3.105255126953125, + -0.23429927229881287, + 0.11293064802885056 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with scattered black beads and a brush on the left. No actions have been completed yet. The current subtask is to approach the brush, and the next action should involve moving the end-effector closer to the brush handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30564817786216736, + 0.17264726758003235, + 0.111375592648983, + -3.1101438999176025, + -0.22411860525608063, + 0.09949219971895218 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with scattered black beads and a brush on the left. No actions have been completed yet. The current subtask is to approach the brush, and the next action should involve moving the end-effector closer to the brush handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064982295036316, + 0.16899290680885315, + 0.10644416511058807, + -3.0954782962799072, + -0.22416137158870697, + 0.07545731961727142 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114699125289917, + 0.16624930500984192, + 0.08943819999694824, + -3.071769952774048, + -0.18598897755146027, + 0.059471577405929565 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31133681535720825, + 0.16416384279727936, + 0.07541253417730331, + -3.055852174758911, + -0.13544417917728424, + 0.06420052796602249 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 615, + 151, + 746, + 246 + ], + "brush": [ + 120, + 266, + 320, + 598 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move back 2 cm, move right 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31366583704948425, + 0.1643034964799881, + 0.07044900953769684, + -3.0377116203308105, + -0.10474375635385513, + 0.06950796395540237 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3165770471096039, + 0.16582362353801727, + 0.06824488192796707, + -3.025570869445801, + -0.08180379122495651, + 0.07239989936351776 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 7 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31664663553237915, + 0.16369538009166718, + 0.06627663224935532, + -3.041091203689575, + -0.07118996977806091, + 0.05549648404121399 + ], + "gripper_value": 0.7181003093719482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move right 7 cm, move down 1 cm, keep gripper closed; then move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31421133875846863, + 0.1606287956237793, + 0.06291138380765915, + -3.050084114074707, + -0.06917601078748703, + 0.0228250864893198 + ], + "gripper_value": 0.5120346546173096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 7 cm, move down 1 cm, keep gripper closed; then move right 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30999553203582764, + 0.15739935636520386, + 0.06302235275506973, + -3.066409111022949, + -0.04673256352543831, + 0.0066037545911967754 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 11 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043251037597656, + 0.15408599376678467, + 0.06251657754182816, + -3.0659496784210205, + 8.667721704114228e-05, + -0.022556908428668976 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, keep gripper closed; then move back 1 cm, move right 15 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29630839824676514, + 0.149814635515213, + 0.06215349957346916, + -3.0706748962402344, + 0.04614446684718132, + -0.04315841570496559 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot is positioned above the tray with the brush visible on the left side and black beads scattered across the surface. No actions have been completed yet as the gripper remains open. The robot needs to lower its end-effector to make contact with the brush handle to begin the sweeping task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, keep gripper closed; then move back 1 cm, move right 18 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2899641990661621, + 0.14212840795516968, + 0.06127198413014412, + -3.0819342136383057, + 0.06961467862129211, + -0.0564660020172596 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot has approached the brush and is currently in contact with it, as indicated by the stable gripper value and lack of closing motion. The brush is positioned near the scattered black objects on the tray. The next action should involve adjusting the brush's orientation or position to prepare for sweeping the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, keep gripper closed; then move back 2 cm, move right 20 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29006427526474, + 0.1310555338859558, + 0.06096665933728218, + -3.097656011581421, + 0.06932591646909714, + -0.06150934472680092 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot has approached the brush and is currently in contact with it, as indicated by the stable gripper value and lack of closing motion. The brush is positioned near the scattered black objects on the tray. The next action should involve adjusting the brush's orientation or position to prepare for sweeping the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, keep gripper closed; then move back 2 cm, move right 20 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29085493087768555, + 0.11950832605361938, + 0.05962752923369408, + -3.1172611713409424, + 0.06457357108592987, + -0.06704957783222198 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot has approached the brush and is currently in contact with it, as indicated by the stable gripper value and lack of closing motion. The brush is positioned near the scattered black objects on the tray. The next action should involve adjusting the brush's orientation or position to prepare for sweeping the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, keep gripper closed; then move back 1 cm, move right 18 cm, move up 4 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29457932710647583, + 0.10428804904222488, + 0.05870594456791878, + -3.127702236175537, + 0.04375762864947319, + -0.07000074535608292 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "reposition brush", + "subtask_reasoning": "The robot has approached the brush and is currently in contact with it, as indicated by the stable gripper value and lack of closing motion. The brush is positioned near the scattered black objects on the tray. The next action should involve adjusting the brush's orientation or position to prepare for sweeping the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move back 1 cm, move right 13 cm, move up 7 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992861270904541, + 0.0833837166428566, + 0.057647522538900375, + 3.1386163234710693, + 0.03785959631204605, + -0.06215020641684532 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 616, + 155, + 741, + 245 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 9 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30197787284851074, + 0.047254543751478195, + 0.05874374136328697, + 3.1060900688171387, + 0.04803525656461716, + -0.0724673941731453 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 9 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2993754744529724, + 0.008810066618025303, + 0.059361714869737625, + 3.073026180267334, + 0.062436193227767944, + -0.1043301671743393 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2928919792175293, + -0.027634674683213234, + 0.06050058454275131, + 3.0349907875061035, + 0.10625869035720825, + -0.12133166193962097 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2906287908554077, + -0.06279139220714569, + 0.06190915405750275, + 3.00641131401062, + 0.1352940946817398, + -0.14505226910114288 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846093773841858, + -0.09432339668273926, + 0.061907242983579636, + 2.9926071166992188, + 0.14226050674915314, + -0.187057763338089 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 23 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.283651202917099, + -0.11178305745124817, + 0.0641479641199112, + 2.97816801071167, + 0.12920130789279938, + -0.19988340139389038 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 26 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28338921070098877, + -0.11998748034238815, + 0.07110738009214401, + 2.9236791133880615, + 0.12960663437843323, + -0.1997537761926651 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 28 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28633713722229004, + -0.09595201909542084, + 0.1010725349187851, + 2.8434693813323975, + 0.1144011840224266, + -0.17307165265083313 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 26 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29298195242881775, + -0.04980860650539398, + 0.12984071671962738, + 2.7968926429748535, + 0.0772036537528038, + -0.09902343153953552 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 66, + 340, + 250, + 475 + ], + "bowl": [ + 614, + 149, + 747, + 246 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 22 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923530340194702, + -0.015363657847046852, + 0.14414899051189423, + 2.782104253768921, + 0.054205480962991714, + -0.08526711910963058 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 18 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29684555530548096, + 0.029220040887594223, + 0.14556889235973358, + 2.8214218616485596, + 0.006591510493308306, + -0.009564518928527832 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 616, + 152, + 748, + 246 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31058868765830994, + 0.0582566075026989, + 0.11987720429897308, + 2.881432294845581, + 0.008288867771625519, + 0.019868282601237297 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.32111895084381104, + 0.09155923128128052, + 0.10256631672382355, + 2.916781187057495, + 0.0021470782812684774, + 0.08273536711931229 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32485467195510864, + 0.11124982684850693, + 0.10168717056512833, + 2.9173309803009033, + -0.00418793223798275, + 0.10153152048587799 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3225924074649811, + 0.1309334933757782, + 0.10764180123806, + 2.9149999618530273, + -0.02032400108873844, + 0.1271544247865677 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199726641178131, + 0.1477002203464508, + 0.10430440306663513, + 2.9058289527893066, + -0.023450303822755814, + 0.14640043675899506 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3240543007850647, + 0.15933877229690552, + 0.10850975662469864, + 2.924325466156006, + -0.06509505212306976, + 0.16501307487487793 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. 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The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3326810598373413, + 0.16509681940078735, + 0.10237246751785278, + 2.9282336235046387, + -0.0675869956612587, + 0.18945655226707458 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. 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The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.36986643075942993, + -0.022365741431713104, + 0.06714251637458801, + 2.8826122283935547, + 0.10437822341918945, + -0.05657244846224785 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. 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The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3709949851036072, + -0.04980660602450371, + 0.067166768014431, + 2.8738925457000732, + 0.09025304764509201, + -0.10587220638990402 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. 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The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.3698003590106964, + -0.0706770047545433, + 0.06676533073186874, + 2.867267608642578, + 0.08390218764543533, + -0.1353588104248047 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 17 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.36380207538604736, + -0.09409964084625244, + 0.06449322402477264, + 2.86301326751709, + 0.07540713995695114, + -0.1761287897825241 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 22 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578554689884186, + -0.11612280458211899, + 0.06509583443403244, + 2.8670313358306885, + 0.07023238390684128, + -0.2052045464515686 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 27 cm, move up 3 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.35522350668907166, + -0.12896305322647095, + 0.06635668128728867, + 2.8653597831726074, + 0.07100149989128113, + -0.21915864944458008 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 29 cm, move up 3 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548380136489868, + -0.1315293312072754, + 0.06962939351797104, + 2.845672845840454, + 0.08318539708852768, + -0.20541536808013916 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 29 cm, move up 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.3523723781108856, + -0.1106538251042366, + 0.09217800945043564, + 2.7780416011810303, + 0.10047709196805954, + -0.17229822278022766 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 27 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558219373226166, + -0.066411092877388, + 0.1306348741054535, + 2.709010362625122, + 0.045429777354002, + -0.11584727466106415 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 67, + 341, + 250, + 474 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 23 cm, move down 6 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.35044196248054504, + -0.019023869186639786, + 0.15810514986515045, + 2.668236255645752, + -0.0033610069658607244, + -0.06361516565084457 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 16 cm, move down 9 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3376866579055786, + 0.012782642617821693, + 0.15897883474826813, + 2.685792922973633, + -0.03547543287277222, + -0.06213970482349396 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. 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The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 11 cm, move down 9 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3215640187263489, + 0.060345228761434555, + 0.14546586573123932, + 2.741781234741211, + -0.0713222324848175, + -0.027096787467598915 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.307843953371048, + 0.09827424585819244, + 0.11944818496704102, + 2.8097660541534424, + -0.09690085053443909, + -0.001339211594313383 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 615, + 153, + 748, + 245 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.30363863706588745, + 0.12486200779676437, + 0.10653616487979889, + 2.8828845024108887, + -0.14247526228427887, + 0.004995617084205151 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.29545995593070984, + 0.15085552632808685, + 0.0968426987528801, + 2.9108288288116455, + -0.15937131643295288, + 0.01921931654214859 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902430295944214, + 0.16104137897491455, + 0.09170135855674744, + 2.9349112510681152, + -0.1674962043762207, + 0.007455171085894108 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 18 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.28406909108161926, + 0.16272787749767303, + 0.08002923429012299, + 2.9685404300689697, + -0.15697640180587769, + -0.01944209635257721 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 21 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.27596890926361084, + 0.16137661039829254, + 0.07054843753576279, + 2.975557327270508, + -0.13690806925296783, + -0.0470515675842762 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 24 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690213620662689, + 0.16000065207481384, + 0.06806723028421402, + 2.9962539672851562, + -0.12642362713813782, + -0.06272696703672409 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 25 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.266886830329895, + 0.14476093649864197, + 0.06617872416973114, + 3.0063674449920654, + -0.10498916357755661, + -0.08281756937503815 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 22 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.26939427852630615, + 0.12103200703859329, + 0.06591781228780746, + 2.996609687805176, + -0.07653189450502396, + -0.09455735236406326 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 14 cm, move up 8 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.27936673164367676, + 0.087747722864151, + 0.0657578781247139, + 2.9777379035949707, + -0.04624681919813156, + -0.08501967042684555 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 10 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.2904508113861084, + 0.05733852833509445, + 0.0665239468216896, + 2.965567111968994, + -0.029817543923854828, + -0.07034575939178467 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 9 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030166029930115, + 0.03125053644180298, + 0.06530256569385529, + 2.942359447479248, + -0.010471650399267673, + -0.049332164227962494 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.3090294599533081, + 0.003207174362614751, + 0.06675244867801666, + 2.9272255897521973, + -0.0009761415421962738, + -0.05909823253750801 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081296682357788, + -0.02298368513584137, + 0.06652064621448517, + 2.9204514026641846, + 0.014623594470322132, + -0.07552003860473633 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092477321624756, + -0.050568126142024994, + 0.06614964455366135, + 2.9028327465057373, + 0.021648546680808067, + -0.10155457258224487 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 18 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.30871501564979553, + -0.07834546267986298, + 0.06780394166707993, + 2.87703537940979, + 0.03179076686501503, + -0.12693893909454346 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 22 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.3098628520965576, + -0.0935177356004715, + 0.07696104794740677, + 2.837907075881958, + 0.051156945526599884, + -0.13079285621643066 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 25 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.31910136342048645, + -0.08004365861415863, + 0.10003098100423813, + 2.762382745742798, + 0.06679912656545639, + -0.10100381076335907 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 25 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.3262004852294922, + -0.02276778593659401, + 0.1436447650194168, + 2.6632111072540283, + 0.044537242501974106, + -0.021827777847647667 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 67, + 340, + 250, + 474 + ], + "bowl": [ + 616, + 148, + 744, + 245 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 19 cm, move down 6 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.319745272397995, + 0.024413403123617172, + 0.16240432858467102, + 2.6333916187286377, + 0.0188340675085783, + 1.877568502095528e-05 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move down 8 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.31800124049186707, + 0.05704323947429657, + 0.15954722464084625, + 2.6615331172943115, + -0.05044328048825264, + -0.015619587153196335 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 8 cm, tilt left 20 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.317982941865921, + 0.08432208746671677, + 0.15631864964962006, + 2.7155025005340576, + -0.09822944551706314, + 0.008846625685691833 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 66, + 340, + 249, + 474 + ], + "bowl": [ + 615, + 150, + 749, + 245 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 8 cm, tilt left 20 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.3228145241737366, + 0.10089849680662155, + 0.13984978199005127, + 2.771549940109253, + -0.1026151180267334, + 0.013340872712433338 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 6 cm, tilt left 20 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.3254457414150238, + 0.11970020085573196, + 0.1167844757437706, + 2.839993476867676, + -0.07584905624389648, + 0.03116106428205967 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.32617148756980896, + 0.12684322893619537, + 0.10583770275115967, + 2.8845109939575195, + -0.08445382118225098, + 0.033936891704797745 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.3257690668106079, + 0.1402866542339325, + 0.09472350031137466, + 2.908686399459839, + -0.08385033160448074, + 0.05057060346007347 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is in contact with the tray and positioned near the scattered black beads on the right side. The robot has completed approaching and repositioning the brush. The next action is to initiate sweeping motion to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.31932759284973145, + 0.1590217500925064, + 0.09043172001838684, + 2.953350067138672, + -0.08825671672821045, + 0.08525993674993515 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "sweep beads", + "subtask_reasoning": "The brush is currently in contact with the black beads on the right side of the tray, having successfully gathered them into a loose pile. The gripper remains open, indicating the robot is pushing rather than holding the object. The next action is to continue the sweeping motion to consolidate the beads into a tighter cluster." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 86 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.31517156958580017, + 0.17121918499469757, + 0.07913187891244888, + 3.027200698852539, + -0.047304295003414154, + 0.13745643198490143 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "release brush", + "subtask_reasoning": "The brush is currently in contact with the black beads on the right side of the tray, having successfully gathered them into a loose pile. The gripper remains open, indicating the robot is pushing rather than holding the object. The next action is to continue the sweeping motion to consolidate the beads into a tighter cluster." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 89 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 87, + "end": 89 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120242953300476, + 0.17341451346874237, + 0.07970923185348511, + 3.0485360622406006, + -0.022115590050816536, + 0.15794150531291962 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "release brush", + "subtask_reasoning": "The brush is currently held above the tray with black objects already swept into a pile on the right. The gripper value is high (0.87), indicating an open state, consistent with the release phase. The next action is to fully release the brush and retract the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 89 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 87, + "end": 89 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142014741897583, + 0.17259696125984192, + 0.09702795743942261, + 2.9984824657440186, + -0.01693107560276985, + 0.1422000378370285 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the right side of the tray using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "reposition brush" + }, + { + "id": 3, + "subtask": "sweep beads" + }, + { + "id": 4, + "subtask": "release brush" + } + ], + "subtask_name": "release brush", + "subtask_reasoning": "The brush is currently held above the tray with black objects already swept into a pile on the right. The gripper value is high (0.87), indicating an open state, consistent with the release phase. The next action is to fully release the brush and retract the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 89 + }, + "cache_ref": { + "anchor_ref_reasoning": 88 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 87, + "end": 89 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003641_ecot.json b/cot/chunk-0003/episode_0003641_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3cd00a0a7afe03a5fbdaa9795f5bb3a177cfe2e1 --- /dev/null +++ b/cot/chunk-0003/episode_0003641_ecot.json @@ -0,0 +1,1487 @@ +{ + "task_name": "episode_0003641", + "episode_json": "json/chunk-0003/episode_0003641.json", + "video_path": "videos/chunk-0003/image_0/episode_0003641.mp4", + "instruction": "Pick up blue object and put between the burners.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003641.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.4138125777244568, + "std": 0.19426622986793518, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41381, std=0.19427, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue object\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the blue object on the green cloth while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp blue object\", \"start\": 5, \"end\": 11, \"planning\": \"Close gripper around the blue object and lift it slightly off the cloth.\"},\n {\"id\": 3, \"name\": \"transport to burner gap\", \"start\": 12, \"end\": 16, \"planning\": \"Carry the grasped blue object over the stovetop toward the space between the two burners.\"},\n {\"id\": 4, \"name\": \"place between burners\", \"start\": 17, \"end\": 22, \"planning\": \"Lower the blue object into the gap between the burners and release it by opening the gripper.\"}\n ],\n \"global_plan\": \"Pick up the blue object from the green cloth and place it precisely in the space between the two red burners on the stovetop.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.40659) consistent with grasping; Segment 2 shows meaningful opening (delta=+0.40725) consistent with releasing. Frame evidence supports lift and placement mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue object", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the blue object on the green cloth while keeping gripper open." + }, + { + "id": 2, + "name": "grasp blue object", + "start": 5, + "end": 11, + "planning": "Close gripper around the blue object and lift it slightly off the cloth." + }, + { + "id": 3, + "name": "transport to burner gap", + "start": 12, + "end": 16, + "planning": "Carry the grasped blue object over the stovetop toward the space between the two burners." + }, + { + "id": 4, + "name": "place between burners", + "start": 17, + "end": 22, + "planning": "Lower the blue object into the gap between the burners and release it by opening the gripper." + } + ], + "global_plan": "Pick up the blue object from the green cloth and place it precisely in the space between the two red burners on the stovetop.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.40659) consistent with grasping; Segment 2 shows meaningful opening (delta=+0.40725) consistent with releasing. Frame evidence supports lift and placement mechanics." + } + }, + "episode_goal": "Pick up the blue object and place it between the two burners on the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778593599796295, + 0.15855324268341064, + 0.11969389766454697, + -3.1250321865081787, + -0.2312457114458084, + 0.9833239316940308 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue object visible on a green cloth to the left. No actions have been completed yet. The next step is to move the arm closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760273218154907, + 0.15709710121154785, + 0.10669496655464172, + -3.1040918827056885, + -0.19544461369514465, + 0.9786379933357239 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue object visible on a green cloth to the left. No actions have been completed yet. The next step is to move the arm closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27751481533050537, + 0.15869881212711334, + 0.10061533004045486, + -3.100217580795288, + -0.19621288776397705, + 0.9872828722000122 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue object located on the green cloth to the left. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, keep gripper open; then move forward 4 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27744990587234497, + 0.15872837603092194, + 0.08412381261587143, + -3.0748279094696045, + -0.18489325046539307, + 0.9775456786155701 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue object located on the green cloth to the left. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move forward 4 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28084972500801086, + 0.15796580910682678, + 0.07017384469509125, + -3.078831911087036, + -0.16236406564712524, + 0.9605136513710022 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue object located on the green cloth to the left. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 4 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2794797420501709, + 0.1584651917219162, + 0.05652216076850891, + -3.064032554626465, + -0.1452627032995224, + 0.9505414962768555 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 28, + 330, + 310, + 581 + ], + "sink": [ + 740, + 397, + 995, + 893 + ], + "spatula": [ + 579, + 300, + 676, + 470 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue object located on the green cloth to the left. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28062859177589417, + 0.157293438911438, + 0.048119060695171356, + -3.0656144618988037, + -0.1285868138074875, + 0.9440956115722656 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue object located on the green cloth to the left. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805406451225281, + 0.1574779897928238, + 0.047428593039512634, + -3.068345785140991, + -0.1352795660495758, + 0.9503816962242126 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue object located on the green cloth to the left. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28110072016716003, + 0.15448227524757385, + 0.04797585681080818, + -3.078169584274292, + -0.12084614485502243, + 0.9098160266876221 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot has approached the blue object on the green cloth. The gripper is currently open and positioned near the object, with segment-level evidence indicating a closing motion. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802996337413788, + 0.14983077347278595, + 0.06277689337730408, + -3.076098918914795, + -0.12179983407258987, + 0.873404860496521 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot has approached the blue object on the green cloth. The gripper is currently open and positioned near the object, with segment-level evidence indicating a closing motion. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28789693117141724, + 0.14255113899707794, + 0.07381279021501541, + -3.082852840423584, + -0.10851945728063583, + 0.8028187155723572 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot has approached the blue object on the green cloth. The gripper is currently open and positioned near the object, with segment-level evidence indicating a closing motion. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30051127076148987, + 0.12740293145179749, + 0.0883292406797409, + -3.0918660163879395, + -0.13509126007556915, + 0.705740213394165 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot has approached the blue object on the green cloth. The gripper is currently open and positioned near the object, with segment-level evidence indicating a closing motion. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232921063899994, + 0.1009773537516594, + 0.09781496226787567, + -3.105670928955078, + -0.17883935570716858, + 0.5781694650650024 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "transport to burner gap", + "subtask_reasoning": "The robot has approached the blue object on the green cloth. The gripper is currently open and positioned near the object, with segment-level evidence indicating a closing motion. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3375556170940399, + 0.08820235729217529, + 0.08450363576412201, + -3.0997533798217773, + -0.1594763696193695, + 0.5132632255554199 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 32, + 313, + 317, + 579 + ], + "spatula": [ + 578, + 298, + 676, + 470 + ], + "sink": [ + 739, + 397, + 994, + 892 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "transport to burner gap", + "subtask_reasoning": "The robot has approached the blue object on the green cloth. The gripper is currently open and positioned near the object, with segment-level evidence indicating a closing motion. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470774292945862, + 0.0840272307395935, + 0.06647045165300369, + -3.0735814571380615, + -0.14576725661754608, + 0.4798172116279602 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "transport to burner gap", + "subtask_reasoning": "The blue object is currently held above the stovetop, positioned near the left burner. The robot is in the process of moving the object toward the gap between the two burners. The next action is to continue translating the end-effector to center the object in the space between the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3520496189594269, + 0.08392755687236786, + 0.053546298295259476, + -3.0583813190460205, + -0.12300334125757217, + 0.46712547540664673 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 32, + 313, + 317, + 580 + ], + "spatula": [ + 579, + 299, + 676, + 469 + ], + "sink": [ + 740, + 398, + 994, + 892 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "transport to burner gap", + "subtask_reasoning": "The blue object is currently held above the stovetop, positioned near the left burner. The robot is in the process of moving the object toward the gap between the two burners. The next action is to continue translating the end-effector to center the object in the space between the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35497844219207764, + 0.08311455696821213, + 0.04408284276723862, + -3.054110050201416, + -0.10451165586709976, + 0.45958927273750305 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "transport to burner gap", + "subtask_reasoning": "The blue object is currently held above the stovetop, positioned near the left burner. The robot is in the process of moving the object toward the gap between the two burners. The next action is to continue translating the end-effector to center the object in the space between the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552996814250946, + 0.08215691894292831, + 0.04266739264130592, + -3.040066957473755, + -0.09465500712394714, + 0.4614604115486145 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "place between burners", + "subtask_reasoning": "The blue object is currently held above the stovetop, positioned near the left burner. The robot is in the process of moving the object toward the gap between the two burners. The next action is to continue translating the end-effector to center the object in the space between the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537544310092926, + 0.08167602866888046, + 0.04134783521294594, + -3.032137632369995, + -0.0727318748831749, + 0.4825712740421295 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "place between burners", + "subtask_reasoning": "The blue object is currently held above the stovetop, positioned near the left burner. The robot is in the process of moving the object toward the gap between the two burners. The next action is to continue translating the end-effector to center the object in the space between the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35365787148475647, + 0.08152740448713303, + 0.04197924956679344, + -3.0317366123199463, + -0.06910215318202972, + 0.4795290231704712 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "place between burners", + "subtask_reasoning": "The robot is currently holding the blue object directly above the space between the two red burners on the stovetop. Having successfully approached and grasped the object, the arm is positioned for the final placement. The next action is to lower the gripper to release the blue object into the target gap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.352826863527298, + 0.08179350197315216, + 0.04193795472383499, + -3.0315017700195312, + -0.06479890644550323, + 0.48543503880500793 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "place between burners", + "subtask_reasoning": "The robot is currently holding the blue object directly above the space between the two red burners on the stovetop. Having successfully approached and grasped the object, the arm is positioned for the final placement. The next action is to lower the gripper to release the blue object into the target gap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3508370816707611, + 0.08076594024896622, + 0.042360756546258926, + -3.031731367111206, + -0.05157972499728203, + 0.4871530532836914 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "place between burners", + "subtask_reasoning": "The robot is currently holding the blue object directly above the space between the two red burners on the stovetop. Having successfully approached and grasped the object, the arm is positioned for the final placement. The next action is to lower the gripper to release the blue object into the target gap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543420732021332, + 0.08004244416952133, + 0.06746891885995865, + -3.045994758605957, + -0.07087631523609161, + 0.4676970839500427 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object and place it between the two burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "transport to burner gap" + }, + { + "id": 4, + "subtask": "place between burners" + } + ], + "subtask_name": "place between burners", + "subtask_reasoning": "The robot is currently holding the blue object directly above the space between the two red burners on the stovetop. Having successfully approached and grasped the object, the arm is positioned for the final placement. The next action is to lower the gripper to release the blue object into the target gap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003643_ecot.json b/cot/chunk-0003/episode_0003643_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2d0cff782ec403475f0bd70d7efbaba8d4f30af3 --- /dev/null +++ b/cot/chunk-0003/episode_0003643_ecot.json @@ -0,0 +1,6104 @@ +{ + "task_name": "episode_0003643", + "episode_json": "json/chunk-0003/episode_0003643.json", + "video_path": "videos/chunk-0003/image_0/episode_0003643.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 95, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003643.json" + }, + "fps": 5.0, + "T_eff": 95, + "gripper_behavior_summary": { + "available": true, + "range": 0.26026904582977295, + "std": 0.07613762468099594, + "delta_total": 0.0026550889015197754, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.26027, std=0.07614, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 21 + ], + [ + 2, + 22, + 36 + ], + [ + 3, + 37, + 45 + ], + [ + 4, + 46, + 56 + ], + [ + 5, + 57, + 94 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on brush\", \"start\": 0, \"end\": 21, \"planning\": \"Move end-effector toward the brush handle and close gripper to secure contact with the brush.\"},\n {\"id\": 2, \"name\": \"sweep beans leftward into pile\", \"start\": 22, \"end\": 36, \"planning\": \"Drag the brush across the tray surface to push scattered beans toward the center-left accumulation zone.\"},\n {\"id\": 3, \"name\": \"reposition brush for next sweep\", \"start\": 37, \"end\": 45, \"planning\": \"Lift and rotate the brush slightly to align for a second sweeping pass without losing grip.\"},\n {\"id\": 4, \"name\": \"sweep remaining beans into pile\", \"start\": 46, \"end\": 56, \"planning\": \"Execute second sweeping motion to consolidate stray beans into the main pile using controlled brush contact.\"},\n {\"id\": 5, \"name\": \"release brush and retreat\", \"start\": 57, \"end\": 94, \"planning\": \"Open gripper to release the brush, then move end-effector away from the tray to complete the task.\"}\n ],\n \"global_plan\": \"The robot grasps a brush, performs two sweeping motions to consolidate scattered beans into a pile, then releases the brush and retreats.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (range=0.249) consistent with grasping the brush. Segments 2 and 4 show no gripper change — appropriate for contact-based sweeping. Segment 5 shows gripper opening at end (value rises to ~1.0), confirming release. Frame coverage is contiguous and complete [0-94].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on brush", + "start": 0, + "end": 21, + "planning": "Move end-effector toward the brush handle and close gripper to secure contact with the brush." + }, + { + "id": 2, + "name": "sweep beans leftward into pile", + "start": 22, + "end": 36, + "planning": "Drag the brush across the tray surface to push scattered beans toward the center-left accumulation zone." + }, + { + "id": 3, + "name": "reposition brush for next sweep", + "start": 37, + "end": 45, + "planning": "Lift and rotate the brush slightly to align for a second sweeping pass without losing grip." + }, + { + "id": 4, + "name": "sweep remaining beans into pile", + "start": 46, + "end": 56, + "planning": "Execute second sweeping motion to consolidate stray beans into the main pile using controlled brush contact." + }, + { + "id": 5, + "name": "release brush and retreat", + "start": 57, + "end": 94, + "planning": "Open gripper to release the brush, then move end-effector away from the tray to complete the task." + } + ], + "global_plan": "The robot grasps a brush, performs two sweeping motions to consolidate scattered beans into a pile, then releases the brush and retreats.", + "notes": "Segment 1 shows meaningful gripper closing (range=0.249) consistent with grasping the brush. Segments 2 and 4 show no gripper change — appropriate for contact-based sweeping. Segment 5 shows gripper opening at end (value rises to ~1.0), confirming release. Frame coverage is contiguous and complete [0-94]." + } + }, + "episode_goal": "Sweep the scattered black beans on the white tray into a single pile using the brush.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.213746577501297, + 0.17346546053886414, + 0.055330030620098114, + -3.0800299644470215, + -0.29385140538215637, + 0.5276221632957458 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21125461161136627, + 0.17147161066532135, + 0.04776861146092415, + -3.0860533714294434, + -0.2684786915779114, + 0.536566972732544 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20935261249542236, + 0.17303217947483063, + 0.04308939352631569, + -3.072427272796631, + -0.2880347669124603, + 0.550910472869873 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21079234778881073, + 0.17568957805633545, + 0.03838544338941574, + -3.0694663524627686, + -0.30144840478897095, + 0.571017324924469 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21117599308490753, + 0.1770114153623581, + 0.03299330919981003, + -3.0688929557800293, + -0.2978690266609192, + 0.5848361253738403 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21218740940093994, + 0.17777752876281738, + 0.027722042053937912, + -3.074925661087036, + -0.27739354968070984, + 0.5998103618621826 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2169605940580368, + 0.17991220951080322, + 0.0258403941988945, + -3.0888025760650635, + -0.2550903558731079, + 0.6161682605743408 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 13, + 130, + 934, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21933317184448242, + 0.18268707394599915, + 0.026248646900057793, + -3.087334632873535, + -0.2759878635406494, + 0.630903959274292 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22147290408611298, + 0.18491019308567047, + 0.02602326311171055, + -3.076735258102417, + -0.2938035726547241, + 0.6299625039100647 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2247760146856308, + 0.182207852602005, + 0.02441653236746788, + -3.0677037239074707, + -0.3006519675254822, + 0.6223688721656799 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2274913340806961, + 0.1772787719964981, + 0.021903477609157562, + -3.058086633682251, + -0.31070348620414734, + 0.6133208870887756 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 14 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2304299771785736, + 0.17269086837768555, + 0.02040215954184532, + -3.046424388885498, + -0.3182925581932068, + 0.6140540242195129 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 14 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23321779072284698, + 0.1625760793685913, + 0.018266068771481514, + -3.051464080810547, + -0.31570005416870117, + 0.6190240979194641 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 15 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23842652142047882, + 0.14204494655132294, + 0.018237290903925896, + -3.062711477279663, + -0.2949998080730438, + 0.6103682518005371 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 13 cm, tilt forward 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24348150193691254, + 0.12116070836782455, + 0.01862735114991665, + -3.0783793926239014, + -0.26702818274497986, + 0.6093975901603699 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 7, + 142, + 945, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24774986505508423, + 0.11011981964111328, + 0.019339924678206444, + -3.0893642902374268, + -0.2553066909313202, + 0.6173632740974426 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 10 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.252855509519577, + 0.09405921399593353, + 0.02068186178803444, + -3.105006217956543, + -0.23621401190757751, + 0.6193583607673645 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, keep gripper closed; then move forward 2 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2571102976799011, + 0.07932770252227783, + 0.021755672991275787, + -3.113210916519165, + -0.2185351848602295, + 0.617030680179596 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, keep gripper closed; then move forward 4 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613093852996826, + 0.06733045727014542, + 0.021920496597886086, + -3.1137685775756836, + -0.22619600594043732, + 0.6107731461524963 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, keep gripper closed; then move forward 5 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.269989550113678, + 0.05368602275848389, + 0.022012930363416672, + -3.1203763484954834, + -0.22273942828178406, + 0.6137390732765198 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, keep gripper closed; then move forward 5 cm, move right 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778765857219696, + 0.04124917834997177, + 0.022050056606531143, + -3.127671480178833, + -0.2153475433588028, + 0.6215547323226929 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, keep gripper closed; then move forward 6 cm, move right 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862074077129364, + 0.029434673488140106, + 0.02084399200975895, + -3.134103298187256, + -0.2036678045988083, + 0.6442538499832153 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "approach and close gripper on brush", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper closed; then move forward 6 cm, move right 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29505813121795654, + 0.014214199036359787, + 0.02285306714475155, + 3.1292858123779297, + -0.19443199038505554, + 0.6547823548316956 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 7, + 163, + 941, + 987 + ], + "black device": [ + 224, + 4, + 574, + 553 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987561821937561, + -0.003496759105473757, + 0.024377329275012016, + 3.112445592880249, + -0.17657294869422913, + 0.6563446521759033 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30241677165031433, + -0.017687872052192688, + 0.025368409231305122, + 3.106527328491211, + -0.16948559880256653, + 0.6530552506446838 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30860114097595215, + -0.0290687158703804, + 0.025092139840126038, + 3.09675931930542, + -0.16902288794517517, + 0.6598853468894958 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31998127698898315, + -0.034331586211919785, + 0.024178816005587578, + 3.0915133953094482, + -0.18093979358673096, + 0.6664310693740845 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314869701862335, + -0.03629863262176514, + 0.022340085357427597, + 3.088395357131958, + -0.19593822956085205, + 0.6790816187858582 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34048575162887573, + -0.037718236446380615, + 0.02197008952498436, + 3.0810422897338867, + -0.20792973041534424, + 0.693138062953949 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is positioned near the brush on the white tray, with scattered black beans visible. The gripper is open and approaching the brush handle. The next action is to close the gripper to grasp the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480006754398346, + -0.0430913008749485, + 0.02169450931251049, + 3.069812297821045, + -0.21270138025283813, + 0.6926659345626831 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543984591960907, + -0.0468536838889122, + 0.02197938971221447, + 3.0540928840637207, + -0.20422618091106415, + 0.7102025151252747 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35437771677970886, + -0.05093974247574806, + 0.024337060749530792, + 3.0394961833953857, + -0.17784816026687622, + 0.7311865091323853 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429356813430786, + -0.057546328753232956, + 0.04199187085032463, + 3.0054566860198975, + -0.14257089793682098, + 0.7205869555473328 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, move up 4 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353338837623596, + -0.04940217360854149, + 0.07962392270565033, + 2.9374823570251465, + -0.16352573037147522, + 0.7429447174072266 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move up 1 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.32092761993408203, + -0.04082759469747543, + 0.10373891890048981, + 2.9101250171661377, + -0.21039213240146637, + 0.7409660220146179 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move down 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958330810070038, + -0.028729354962706566, + 0.10826203227043152, + 2.993342399597168, + -0.2713238000869751, + 0.808650553226471 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 2 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.26679015159606934, + -0.024146337062120438, + 0.09805306047201157, + 3.1399121284484863, + -0.29874736070632935, + 0.9269452095031738 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep beans leftward into pile", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.24136807024478912, + -0.0339948907494545, + 0.08489565551280975, + -3.0184121131896973, + -0.27114346623420715, + 0.9439834356307983 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 7, + 143, + 929, + 984 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2195112109184265, + -0.04452913627028465, + 0.0710485577583313, + -2.9823296070098877, + -0.19935517013072968, + 0.9685158729553223 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 8, + 158, + 934, + 982 + ], + "black device": [ + 220, + 5, + 760, + 699 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.20961879193782806, + -0.049560077488422394, + 0.05813515931367874, + -2.978909730911255, + -0.08204354345798492, + 1.0221657752990723 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.20809142291545868, + -0.048051320016384125, + 0.03933854028582573, + -2.996006965637207, + -0.01708146557211876, + 0.991782009601593 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The robot is in contact with the brush and is actively sweeping black beans leftward on the white tray to consolidate them into a pile. The gripper remains closed but stable, indicating maintained contact rather than a new grasp. The next action is to continue the leftward sweeping motion to gather more scattered beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.21739837527275085, + -0.046215664595365524, + 0.02598046138882637, + -3.029571771621704, + -0.043369028717279434, + 0.9607102274894714 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.23126502335071564, + -0.04561081901192665, + 0.015219064429402351, + -3.0678248405456543, + -0.07032595574855804, + 0.9604440331459045 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.24134664237499237, + -0.046512193977832794, + 0.013775521889328957, + -3.0850677490234375, + -0.09329967945814133, + 0.966456413269043 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, keep gripper closed; then move forward 5 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.25063905119895935, + -0.05046941339969635, + 0.014879501424729824, + -3.1038498878479004, + -0.10610654205083847, + 0.9700979590415955 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, keep gripper closed; then move forward 4 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2675436735153198, + -0.05754108354449272, + 0.015682226046919823, + -3.134650945663452, + -0.09992899745702744, + 1.0146082639694214 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "reposition brush for next sweep", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper closed; then move forward 2 cm, move left 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 37, + "end": 45 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.28306424617767334, + -0.0657583698630333, + 0.017045222222805023, + 3.1204586029052734, + -0.08166326582431793, + 1.0482910871505737 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.29786208271980286, + -0.07347871363162994, + 0.018241936340928078, + 3.1122725009918213, + -0.05898347869515419, + 1.0902979373931885 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.31015709042549133, + -0.08000826835632324, + 0.018677903339266777, + 3.1123743057250977, + -0.038301341235637665, + 1.118707537651062 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, move up 8 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.32341280579566956, + -0.08395523577928543, + 0.017798585817217827, + 3.1065211296081543, + -0.03634373098611832, + 1.1474796533584595 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move up 8 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.33437782526016235, + -0.0865713432431221, + 0.01825152337551117, + 3.0954082012176514, + -0.036614079028367996, + 1.15987229347229 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The brush is in contact with the tray surface, positioned near the consolidated pile of black beans after the previous leftward sweep. The gripper remains open and stable, indicating no grasping action. The robot is repositioning the brush to prepare for the next sweeping motion toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move up 8 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 13 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.3414011299610138, + -0.08791054040193558, + 0.01912761479616165, + 3.0903515815734863, + -0.03384912759065628, + 1.1661911010742188 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The robot is currently sweeping scattered black beans on the white tray into a consolidated pile using the brush. Previous sweeping motions have partially gathered beans, and the current motion continues to push remaining beans toward the pile. The next action should complete the sweep by guiding the last few beans into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move up 8 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 16 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.34081903100013733, + -0.08570079505443573, + 0.020592331886291504, + 3.091756582260132, + -0.032563820481300354, + 1.1717654466629028 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The robot is currently sweeping scattered black beans on the white tray into a consolidated pile using the brush. Previous sweeping motions have partially gathered beans, and the current motion continues to push remaining beans toward the pile. The next action should complete the sweep by guiding the last few beans into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move up 8 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 17 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3334161639213562, + -0.07627967745065689, + 0.03379834070801735, + 3.0790348052978516, + -0.025668559595942497, + 1.1664972305297852 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The robot is currently sweeping scattered black beans on the white tray into a consolidated pile using the brush. Previous sweeping motions have partially gathered beans, and the current motion continues to push remaining beans toward the pile. The next action should complete the sweep by guiding the last few beans into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 7 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 17 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.32244694232940674, + -0.06897950917482376, + 0.07209351658821106, + 3.0096821784973145, + -0.028783638030290604, + 1.1378756761550903 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The robot is currently sweeping scattered black beans on the white tray into a consolidated pile using the brush. Previous sweeping motions have partially gathered beans, and the current motion continues to push remaining beans toward the pile. The next action should complete the sweep by guiding the last few beans into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 5 cm, move left 16 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.30694717168807983, + -0.05018966645002365, + 0.09850483387708664, + 2.956791877746582, + -0.06890766322612762, + 1.1297768354415894 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The robot is currently sweeping scattered black beans on the white tray into a consolidated pile using the brush. Previous sweeping motions have partially gathered beans, and the current motion continues to push remaining beans toward the pile. The next action should complete the sweep by guiding the last few beans into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 5 cm, move left 16 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.29250985383987427, + -0.011605558916926384, + 0.10750894248485565, + 2.97922420501709, + -0.20918048918247223, + 1.0596102476119995 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 7, + 143, + 924, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile", + "subtask_reasoning": "The robot is currently sweeping scattered black beans on the white tray into a consolidated pile using the brush. Previous sweeping motions have partially gathered beans, and the current motion continues to push remaining beans toward the pile. The next action should complete the sweep by guiding the last few beans into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 16 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 56 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.2940549850463867, + 0.03334968537092209, + 0.09934725612401962, + -3.1375820636749268, + -0.3118796944618225, + 0.824520468711853 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 16 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.30133968591690063, + 0.07854557782411575, + 0.09028416126966476, + -3.0102498531341553, + -0.27754223346710205, + 0.59410160779953 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3117507994174957, + 0.12707537412643433, + 0.08500334620475769, + -2.916586399078369, + -0.2581210136413574, + 0.44277071952819824 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3215361535549164, + 0.16763171553611755, + 0.08055704087018967, + -2.912921667098999, + -0.25026610493659973, + 0.42863088846206665 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3282488286495209, + 0.19625389575958252, + 0.07316873222589493, + -2.9148635864257812, + -0.24086609482765198, + 0.42336946725845337 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 8, + 148, + 932, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.33351847529411316, + 0.2045508176088333, + 0.05919824168086052, + -2.8938848972320557, + -0.2381516546010971, + 0.41775816679000854 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3376867473125458, + 0.2009863257408142, + 0.0517723448574543, + -2.890178680419922, + -0.23842737078666687, + 0.413170725107193 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.34446749091148376, + 0.19506311416625977, + 0.05147283896803856, + -2.8795278072357178, + -0.2632236182689667, + 0.3860167860984802 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.34728366136550903, + 0.18987561762332916, + 0.04097471013665199, + -2.8706295490264893, + -0.24936668574810028, + 0.38040852546691895 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.35603368282318115, + 0.1908286213874817, + 0.03870833292603493, + -2.8709216117858887, + -0.25421690940856934, + 0.38970670104026794 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 17 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.35901331901550293, + 0.1929549276828766, + 0.034345488995313644, + -2.8632469177246094, + -0.2394043505191803, + 0.39663973450660706 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.3631679117679596, + 0.19650588929653168, + 0.02974081225693226, + -2.8581111431121826, + -0.22244392335414886, + 0.4087843596935272 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 22 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.36559775471687317, + 0.1917085498571396, + 0.028524626046419144, + -2.85292387008667, + -0.22606931626796722, + 0.3976612091064453 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 22 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3637990355491638, + 0.1711403727531433, + 0.022215843200683594, + -2.8450968265533447, + -0.22072620689868927, + 0.34758204221725464 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 21 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.3625175952911377, + 0.15439967811107635, + 0.020180577412247658, + -2.8517892360687256, + -0.21881508827209473, + 0.310198038816452 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643258213996887, + 0.1358928084373474, + 0.02150134928524494, + -2.8572745323181152, + -0.21842235326766968, + 0.27617955207824707 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 16 cm, move up 4 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.36552944779396057, + 0.11881925165653229, + 0.02079327590763569, + -2.88242506980896, + -0.2149258852005005, + 0.27437499165534973 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 6 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.3644903004169464, + 0.1004561260342598, + 0.020149603486061096, + -2.884697437286377, + -0.21869410574436188, + 0.24118615686893463 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 8 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.36302921175956726, + 0.06208943575620651, + 0.021403281018137932, + -2.9086575508117676, + -0.2243272066116333, + 0.17388392984867096 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 8, + 112, + 914, + 982 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.35765540599823, + 0.025440817698836327, + 0.024083225056529045, + -2.9486448764801025, + -0.22279557585716248, + 0.12581293284893036 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 10, + 116, + 912, + 981 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.35336926579475403, + -0.005824274383485317, + 0.024188000708818436, + -2.981265068054199, + -0.2205355167388916, + 0.09160207211971283 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.35278481245040894, + -0.02046194300055504, + 0.023719901219010353, + -2.9930319786071777, + -0.22380678355693817, + 0.07380442321300507 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 17 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.35136696696281433, + -0.032411765307188034, + 0.023641591891646385, + -3.0171477794647217, + -0.21878643333911896, + 0.08241994678974152 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 19 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537217378616333, + -0.039896149188280106, + 0.02666916511952877, + -3.0388500690460205, + -0.22079020738601685, + 0.09055718779563904 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 20 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.3514137864112854, + -0.041212715208530426, + 0.026288175955414772, + -3.045335292816162, + -0.20657218992710114, + 0.0852925255894661 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 20 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.34822431206703186, + -0.028384067118167877, + 0.058537520468235016, + -3.0958542823791504, + -0.250686377286911, + 0.11702308058738708 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 20 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.3396569788455963, + -0.0072135915979743, + 0.079281747341156, + -3.1412205696105957, + -0.2665574550628662, + 0.14433640241622925 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 18 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.3296499252319336, + 0.015489556826651096, + 0.09706089645624161, + 3.1197667121887207, + -0.2880491316318512, + 0.16824965178966522 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 17 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196568489074707, + 0.049052413552999496, + 0.09193764626979828, + -3.121579647064209, + -0.27258288860321045, + 0.20184096693992615 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 14 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142947256565094, + 0.08180442452430725, + 0.08620268106460571, + -3.091268539428711, + -0.2696504294872284, + 0.25044912099838257 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.30567675828933716, + 0.11704621464014053, + 0.06893599033355713, + -3.083918333053589, + -0.21449695527553558, + 0.3536064624786377 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 8, + 159, + 917, + 982 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992480993270874, + 0.14463777840137482, + 0.05206149071455002, + -3.0865635871887207, + -0.17986248433589935, + 0.430492639541626 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.29576197266578674, + 0.15336766839027405, + 0.040564585477113724, + -3.063828706741333, + -0.16211369633674622, + 0.4366661310195923 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.28893375396728516, + 0.16015376150608063, + 0.0404801219701767, + -3.057065725326538, + -0.14200741052627563, + 0.4555181562900543 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.28787940740585327, + 0.16324864327907562, + 0.04914458468556404, + -3.056520462036133, + -0.1081019788980484, + 0.4677475094795227 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.28521525859832764, + 0.1696101874113083, + 0.07118978351354599, + -3.052290678024292, + -0.09916731715202332, + 0.4922792911529541 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 93, + "state_action_evidence": { + "ee_state_6d": [ + 0.2787291705608368, + 0.17455559968948364, + 0.08775028586387634, + -3.045952320098877, + -0.08435225486755371, + 0.5030011534690857 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush is positioned above the consolidated pile of black beans on the white tray, with the gripper currently open. The sweeping motion has been completed, and the robot is in the process of retreating from the pile. The next action is to continue moving the arm away from the tray to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + }, + { + "t": 94, + "state_action_evidence": { + "ee_state_6d": [ + 0.27175161242485046, + 0.18508073687553406, + 0.11598414182662964, + -3.0431995391845703, + -0.0983130931854248, + 0.5163220763206482 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on brush" + }, + { + "id": 2, + "subtask": "sweep beans leftward into pile" + }, + { + "id": 3, + "subtask": "reposition brush for next sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile" + }, + { + "id": 5, + "subtask": "release brush and retreat" + } + ], + "subtask_name": "release brush and retreat", + "subtask_reasoning": "The brush has been released (gripper open) and the robot is retreating from the tray. The black beans are consolidated into a single pile on the white tray. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 57, + "end": 94 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003644_ecot.json b/cot/chunk-0003/episode_0003644_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..568395627b1c86042818fe7615d75359eecde668 --- /dev/null +++ b/cot/chunk-0003/episode_0003644_ecot.json @@ -0,0 +1,1112 @@ +{ + "task_name": "episode_0003644", + "episode_json": "json/chunk-0003/episode_0003644.json", + "video_path": "videos/chunk-0003/image_0/episode_0003644.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003644.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the lever while maintaining open gripper, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact and rotate lever\", \"start\": 11, \"end\": 19, \"planning\": \"Establish contact with lever and apply rotational force to turn it vertical to front without grasping.\"}\n ],\n \"global_plan\": \"Approach the lever with open gripper, then make contact and rotate it to vertical front position using push/rotate motion without grasping.\",\n \"notes\": \"Gripper remains fully open throughout (value=0.99882, no delta), so all actions are contact-based; no grasp or lift inferred. Segment 1 is approach phase, Segment 2 is contact-and-rotate phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the lever while maintaining open gripper, preparing for contact." + }, + { + "id": 2, + "name": "make contact and rotate lever", + "start": 11, + "end": 19, + "planning": "Establish contact with lever and apply rotational force to turn it vertical to front without grasping." + } + ], + "global_plan": "Approach the lever with open gripper, then make contact and rotate it to vertical front position using push/rotate motion without grasping.", + "notes": "Gripper remains fully open throughout (value=0.99882, no delta), so all actions are contact-based; no grasp or lift inferred. Segment 1 is approach phase, Segment 2 is contact-and-rotate phase." + } + }, + "episode_goal": "Turn the faucet lever to the vertical front position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35667654871940613, + -0.1547917127609253, + 0.23664388060569763, + 2.3266642093658447, + -0.30721744894981384, + 0.5234872698783875 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the toy sink with the gripper open and not yet in contact with the faucet lever. No movement or interaction has occurred so far. The next action should be to move the end-effector closer to the lever to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36066049337387085, + -0.15593783557415009, + 0.22115717828273773, + 2.3567326068878174, + -0.2777709364891052, + 0.514004111289978 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the toy sink with the gripper open and not yet in contact with the faucet lever. No movement or interaction has occurred so far. The next action should be to move the end-effector closer to the lever to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676917254924774, + -0.15735456347465515, + 0.21741028130054474, + 2.3608503341674805, + -0.27636250853538513, + 0.5150918960571289 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the toy sink with the gripper open and not yet in contact with the faucet lever. No movement or interaction has occurred so far. The next action should be to move the end-effector closer to the lever to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3727185130119324, + -0.15772601962089539, + 0.21623536944389343, + 2.3461716175079346, + -0.29007142782211304, + 0.5287091135978699 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the toy sink with the gripper open and not yet in contact with the faucet lever. No movement or interaction has occurred so far. The next action should be to move the end-effector closer to the lever to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37944352626800537, + -0.15495158731937408, + 0.21088775992393494, + 2.3417105674743652, + -0.30381953716278076, + 0.5431504249572754 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the toy sink with the gripper open and not yet in contact with the faucet lever. No movement or interaction has occurred so far. The next action should be to move the end-effector closer to the lever to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3779183328151703, + -0.14776183664798737, + 0.19970887899398804, + 2.340708017349243, + -0.2959171533584595, + 0.5559808611869812 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36675935983657837, + -0.12638899683952332, + 0.18946583569049835, + 2.367374897003174, + -0.2826851010322571, + 0.5861371159553528 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3439519703388214, + -0.10744699090719223, + 0.18895304203033447, + 2.380647659301758, + -0.28655070066452026, + 0.6117596626281738 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 470, + 677, + 566, + 790 + ], + "toy sink": [ + 238, + 296, + 729, + 896 + ], + "grey utensil": [ + 561, + 19, + 624, + 239 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33430325984954834, + -0.09050159156322479, + 0.17822976410388947, + 2.4055728912353516, + -0.27334314584732056, + 0.6370549201965332 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33401429653167725, + -0.08646024018526077, + 0.17050324380397797, + 2.4068291187286377, + -0.26668068766593933, + 0.6311193704605103 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33026430010795593, + -0.08919025957584381, + 0.15426672995090485, + 2.429703712463379, + -0.21180608868598938, + 0.6066791415214539 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193036615848541, + -0.08676788210868835, + 0.1414756178855896, + 2.4790849685668945, + -0.16519662737846375, + 0.5694450736045837 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3012365400791168, + -0.0790165439248085, + 0.13653956353664398, + 2.5160083770751953, + -0.1424187272787094, + 0.5724976658821106 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 469, + 677, + 567, + 790 + ], + "grey utensil": [ + 547, + 17, + 621, + 259 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880769670009613, + -0.07324095070362091, + 0.1367088109254837, + 2.5225419998168945, + -0.14717154204845428, + 0.6018573045730591 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835921347141266, + -0.06930927187204361, + 0.13770471513271332, + 2.5061733722686768, + -0.13812153041362762, + 0.6437432765960693 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the sink, with the gripper open and approaching the faucet lever. No contact has been made yet, and the lever remains in its initial position. The next action should be to continue moving the gripper closer to the lever to establish contact for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2850486636161804, + -0.06640589237213135, + 0.13869160413742065, + 2.4959421157836914, + -0.13963331282138824, + 0.6526967287063599 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot end-effector is in contact with the faucet lever, positioned to rotate it. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply rotational force to move the lever to the vertical front position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2851307690143585, + -0.06653750687837601, + 0.13834445178508759, + 2.4957709312438965, + -0.13756154477596283, + 0.6533408761024475 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot end-effector is in contact with the faucet lever, positioned to rotate it. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply rotational force to move the lever to the vertical front position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2851307690143585, + -0.06653750687837601, + 0.13834445178508759, + 2.4957709312438965, + -0.13756154477596283, + 0.6533408761024475 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot end-effector is in contact with the faucet lever, positioned to rotate it. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply rotational force to move the lever to the vertical front position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2850913405418396, + -0.06640616059303284, + 0.13825368881225586, + 2.4968903064727783, + -0.13842031359672546, + 0.6525653004646301 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot end-effector is in contact with the faucet lever, positioned to rotate it. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply rotational force to move the lever to the vertical front position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2851307690143585, + -0.06653750687837601, + 0.13834445178508759, + 2.4957709312438965, + -0.13756154477596283, + 0.6533408761024475 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact and rotate lever" + } + ], + "subtask_name": "make contact and rotate lever", + "subtask_reasoning": "The robot end-effector is in contact with the faucet lever, positioned to rotate it. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply rotational force to move the lever to the vertical front position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003646_ecot.json b/cot/chunk-0003/episode_0003646_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e4e95d424fa184b1b11dd8b843e376012539297f --- /dev/null +++ b/cot/chunk-0003/episode_0003646_ecot.json @@ -0,0 +1,1893 @@ +{ + "task_name": "episode_0003646", + "episode_json": "json/chunk-0003/episode_0003646.json", + "video_path": "videos/chunk-0003/image_0/episode_0003646.mp4", + "instruction": "Take pan off cloth and move to back left of stovetop.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003646.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9225979447364807, + "std": 0.41932645440101624, + "delta_total": -0.13584685325622559, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92260, std=0.41933, total_delta=-0.13585). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 113, + 113, + 113, + 113, + 113, + 113, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 326, + 326 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 25 + ], + [ + 5, + 26, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan on cloth\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the pan resting on the yellow cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp pan handle\", \"start\": 8, \"end\": 12, \"planning\": \"Close gripper around pan handle; gripper value drops significantly indicating successful grasp initiation.\"},\n {\"id\": 3, \"name\": \"lift and reposition pan\", \"start\": 13, \"end\": 18, \"planning\": \"Lift pan off cloth and begin moving it toward back left of stovetop while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place pan on stovetop\", \"start\": 19, \"end\": 25, \"planning\": \"Lower pan onto back left burner; gripper begins to open slightly as contact is made with surface.\"},\n {\"id\": 5, \"name\": \"release pan and retreat\", \"start\": 26, \"end\": 27, \"planning\": \"Fully open gripper to release pan and move end-effector away from stovetop area.\"}\n ],\n \"global_plan\": \"Approach pan on cloth, grasp its handle, lift and move it to back left stovetop burner, place it down, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows meaningful closing — grasp wording justified. Segments 3–5 show motion consistent with lifting, placing, and releasing based on gripper state changes and spatial trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan on cloth", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the pan resting on the yellow cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp pan handle", + "start": 8, + "end": 12, + "planning": "Close gripper around pan handle; gripper value drops significantly indicating successful grasp initiation." + }, + { + "id": 3, + "name": "lift and reposition pan", + "start": 13, + "end": 18, + "planning": "Lift pan off cloth and begin moving it toward back left of stovetop while maintaining grip." + }, + { + "id": 4, + "name": "place pan on stovetop", + "start": 19, + "end": 25, + "planning": "Lower pan onto back left burner; gripper begins to open slightly as contact is made with surface." + }, + { + "id": 5, + "name": "release pan and retreat", + "start": 26, + "end": 27, + "planning": "Fully open gripper to release pan and move end-effector away from stovetop area." + } + ], + "global_plan": "Approach pan on cloth, grasp its handle, lift and move it to back left stovetop burner, place it down, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows meaningful closing — grasp wording justified. Segments 3–5 show motion consistent with lifting, placing, and releasing based on gripper state changes and spatial trajectory." + } + }, + "episode_goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3804197907447815, + -0.04904975742101669, + 0.09186005592346191, + 3.0612881183624268, + -0.1521621197462082, + 0.017205366864800453 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "approach pan on cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the metal pan resting on the yellow cloth. No contact or grasping has occurred yet. The next action is to move the gripper closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.376173198223114, + -0.049241624772548676, + 0.07807616144418716, + 3.0620546340942383, + -0.11217524856328964, + 0.01735883206129074 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "approach pan on cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the metal pan resting on the yellow cloth. No contact or grasping has occurred yet. The next action is to move the gripper closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3563663065433502, + -0.07041031122207642, + 0.07559004426002502, + 3.0463054180145264, + -0.10272660851478577, + -0.03192077949643135 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "approach pan on cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the metal pan resting on the yellow cloth. No contact or grasping has occurred yet. The next action is to move the gripper closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402550518512726, + -0.08275043219327927, + 0.10332612693309784, + 3.0345606803894043, + -0.17537781596183777, + -0.06887270510196686 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "approach pan on cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pan visible on the yellow cloth. No movement or grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector toward the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31833431124687195, + -0.07985841482877731, + 0.11791225522756577, + 3.044499158859253, + -0.21567285060882568, + -0.09088274836540222 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "approach pan on cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pan visible on the yellow cloth. No movement or grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector toward the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2963769733905792, + -0.0851588249206543, + 0.1073501706123352, + 3.0815486907958984, + -0.16803593933582306, + -0.14140179753303528 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "approach pan on cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pan visible on the yellow cloth. No movement or grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector toward the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27386513352394104, + -0.0844312235713005, + 0.08477263897657394, + 3.112039566040039, + -0.1014924943447113, + -0.16302768886089325 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "approach pan on cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pan visible on the yellow cloth. No movement or grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector toward the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, keep gripper open; then move left 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25847455859184265, + -0.08698244392871857, + 0.07188285142183304, + 3.1392529010772705, + -0.061649173498153687, + -0.18820984661579132 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 740, + 458, + 994, + 962 + ], + "sponge": [ + 329, + 544, + 630, + 813 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "approach pan on cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pan visible on the yellow cloth. No movement or grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector toward the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 4 cm, close gripper; then move forward 4 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2506583631038666, + -0.08342184871435165, + 0.059292782098054886, + -3.111403465270996, + -0.03280619531869888, + -0.19566521048545837 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pan visible on the yellow cloth. No movement or grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector toward the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, close gripper; then move forward 6 cm, move left 6 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24927560985088348, + -0.08270229399204254, + 0.03698282316327095, + -3.1081690788269043, + -0.019632168114185333, + -0.19067753851413727 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pan visible on the yellow cloth. No movement or grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector toward the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move forward 9 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523462772369385, + -0.07893325388431549, + 0.029241543263196945, + -3.116048812866211, + -0.02723471261560917, + -0.18069210648536682 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the yellow cloth, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 9 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2520754039287567, + -0.07767554372549057, + 0.023091541603207588, + -3.1314127445220947, + -0.023091604933142662, + -0.17549489438533783 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the yellow cloth, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 9 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2505907416343689, + -0.07404181361198425, + 0.021261394023895264, + -3.132554292678833, + -0.021464817225933075, + -0.15612240135669708 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the yellow cloth, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 9 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2504767179489136, + -0.07436584681272507, + 0.021250296384096146, + 3.141282796859741, + -0.020058948546648026, + -0.1662839651107788 + ], + "gripper_value": 0.27019456028938293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the yellow cloth, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508617341518402, + -0.07477743923664093, + 0.021260743960738182, + 3.1366522312164307, + -0.022579029202461243, + -0.1665276288986206 + ], + "gripper_value": 0.10713252425193787 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the yellow cloth, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24969464540481567, + -0.0736813098192215, + 0.02125220187008381, + 3.1248250007629395, + -0.01205600518733263, + -0.16129614412784576 + ], + "gripper_value": 0.08606764674186707 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has grasped the metal pan resting on the yellow cloth and is in the process of lifting it. The gripper is closed, and the pan is slightly elevated, indicating successful initial lift. The next action is to continue lifting and reposition the pan toward the back left burner of the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 7 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2575601041316986, + -0.0630907341837883, + 0.05046720802783966, + 3.113345146179199, + -0.062188342213630676, + -0.1295907199382782 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has grasped the metal pan resting on the yellow cloth and is in the process of lifting it. The gripper is closed, and the pan is slightly elevated, indicating successful initial lift. The next action is to continue lifting and reposition the pan toward the back left burner of the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 6 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862386405467987, + -0.041562408208847046, + 0.08367455005645752, + 3.130521774291992, + -0.13761648535728455, + -0.06366422772407532 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 328, + 527, + 630, + 805 + ], + "sink": [ + 740, + 454, + 994, + 960 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has grasped the metal pan resting on the yellow cloth and is in the process of lifting it. The gripper is closed, and the pan is slightly elevated, indicating successful initial lift. The next action is to continue lifting and reposition the pan toward the back left burner of the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 6 cm, move down 3 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3147159516811371, + -0.01630675047636032, + 0.0938381776213646, + 3.1343002319335938, + -0.1517428159713745, + 0.01975216157734394 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 328, + 482, + 630, + 805 + ], + "sink": [ + 741, + 449, + 994, + 960 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has grasped the metal pan resting on the yellow cloth and is in the process of lifting it. The gripper is closed, and the pan is slightly elevated, indicating successful initial lift. The next action is to continue lifting and reposition the pan toward the back left burner of the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move forward 6 cm, move left 6 cm, move down 3 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33892959356307983, + 0.003283551661297679, + 0.07197161763906479, + -3.1212515830993652, + -0.08952713757753372, + 0.0751689076423645 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "place pan on stovetop", + "subtask_reasoning": "The robot has grasped the metal pan resting on the yellow cloth and is in the process of lifting it. The gripper is closed, and the pan is slightly elevated, indicating successful initial lift. The next action is to continue lifting and reposition the pan toward the back left burner of the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move down 3 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35952937602996826, + 0.02427920699119568, + 0.054581865668296814, + -3.0996978282928467, + -0.04527962580323219, + 0.12272417545318604 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "place pan on stovetop", + "subtask_reasoning": "The robot has grasped the metal pan resting on the yellow cloth and is in the process of lifting it. The gripper is closed, and the pan is slightly elevated, indicating successful initial lift. The next action is to continue lifting and reposition the pan toward the back left burner of the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 1 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3744107186794281, + 0.04243985563516617, + 0.049974244087934494, + -3.084073543548584, + -0.046340495347976685, + 0.15377013385295868 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "place pan on stovetop", + "subtask_reasoning": "The robot has grasped the metal pan resting on the yellow cloth and is in the process of lifting it. The gripper is closed, and the pan is slightly elevated, indicating successful initial lift. The next action is to continue lifting and reposition the pan toward the back left burner of the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3823651373386383, + 0.059709448367357254, + 0.04895000159740448, + -3.0691378116607666, + -0.04405626282095909, + 0.18185938894748688 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "place pan on stovetop", + "subtask_reasoning": "The metal pan is currently positioned over the back left burner of the stovetop, having been lifted from the yellow cloth. The gripper is maintaining a hold on the pan handle as it hovers above the target location. The next action is to lower the pan gently onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3849446475505829, + 0.06958617269992828, + 0.04928198456764221, + -3.065354108810425, + -0.044520989060401917, + 0.18731451034545898 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "place pan on stovetop", + "subtask_reasoning": "The metal pan is currently positioned over the back left burner of the stovetop, having been lifted from the yellow cloth. The gripper is maintaining a hold on the pan handle as it hovers above the target location. The next action is to lower the pan gently onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3895186483860016, + 0.07107540220022202, + 0.048195187002420425, + -3.0598061084747314, + -0.05582413449883461, + 0.1699870377779007 + ], + "gripper_value": 0.10713252425193787 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "place pan on stovetop", + "subtask_reasoning": "The metal pan is currently positioned over the back left burner of the stovetop, having been lifted from the yellow cloth. The gripper is maintaining a hold on the pan handle as it hovers above the target location. The next action is to lower the pan gently onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.39287784695625305, + 0.06951593607664108, + 0.044219061732292175, + -3.0731852054595947, + -0.08721361309289932, + 0.16753527522087097 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "place pan on stovetop", + "subtask_reasoning": "The metal pan is currently positioned over the back left burner of the stovetop, having been lifted from the yellow cloth. The gripper is maintaining a hold on the pan handle as it hovers above the target location. The next action is to lower the pan gently onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.39405056834220886, + 0.06482776999473572, + 0.040090180933475494, + -3.0796656608581543, + -0.11080364882946014, + 0.14767594635486603 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "release pan and retreat", + "subtask_reasoning": "The metal pan is already placed on the back left burner of the stovetop, and the gripper is open and positioned above it. The subtask of releasing the pan is complete, and the robot is now retreating slightly from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.39449650049209595, + 0.05200307443737984, + 0.059246186167001724, + -3.0919275283813477, + -0.17056971788406372, + 0.10162830352783203 + ], + "gripper_value": 0.8643063306808472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan resting on the yellow cloth, lift it, and place it on the back left burner of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on cloth" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan on stovetop" + }, + { + "id": 5, + "subtask": "release pan and retreat" + } + ], + "subtask_name": "release pan and retreat", + "subtask_reasoning": "The metal pan is already placed on the back left burner of the stovetop, and the gripper is open and positioned above it. The subtask of releasing the pan is complete, and the robot is now retreating slightly from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003647_ecot.json b/cot/chunk-0003/episode_0003647_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5b2b3744a786a6da65a3c80e461967e4d753bc54 --- /dev/null +++ b/cot/chunk-0003/episode_0003647_ecot.json @@ -0,0 +1,1058 @@ +{ + "task_name": "episode_0003647", + "episode_json": "json/chunk-0003/episode_0003647.json", + "video_path": "videos/chunk-0003/image_0/episode_0003647.mp4", + "instruction": "Put corn in pot which is in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003647.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.28866732120513916, + "std": 0.1320454180240631, + "delta_total": -0.28866732120513916, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.28867, std=0.13205, total_delta=-0.28867). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 6 + ], + [ + 3, + 7, + 7 + ], + [ + 4, + 8, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn on counter\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the corn located on the counter near the sink.\"},\n {\"id\": 2, \"name\": \"grasp corn with gripper\", \"start\": 3, \"end\": 6, \"planning\": \"Close gripper around the corn while maintaining contact and adjusting pose for secure hold.\"},\n {\"id\": 3, \"name\": \"lift and reposition corn\", \"start\": 7, \"end\": 7, \"planning\": \"Lift the grasped corn slightly and begin moving it toward the pot in the sink.\"},\n {\"id\": 4, \"name\": \"place corn into pot\", \"start\": 8, \"end\": 15, \"planning\": \"Transport corn over the pot and release it inside by opening gripper or lowering until contact is made.\"}\n ],\n \"global_plan\": \"Approach corn on counter, grasp it securely, lift and reposition toward sink, then place into pot.\",\n \"notes\": \"Gripper closes meaningfully only in segment 2 (frames 3-6), so grasp wording is justified there. Segment 4 shows no gripper change but motion indicates transport and placement — described as 'place' based on trajectory endpoint and context, not gripper state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn on counter", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the corn located on the counter near the sink." + }, + { + "id": 2, + "name": "grasp corn with gripper", + "start": 3, + "end": 6, + "planning": "Close gripper around the corn while maintaining contact and adjusting pose for secure hold." + }, + { + "id": 3, + "name": "lift and reposition corn", + "start": 7, + "end": 7, + "planning": "Lift the grasped corn slightly and begin moving it toward the pot in the sink." + }, + { + "id": 4, + "name": "place corn into pot", + "start": 8, + "end": 15, + "planning": "Transport corn over the pot and release it inside by opening gripper or lowering until contact is made." + } + ], + "global_plan": "Approach corn on counter, grasp it securely, lift and reposition toward sink, then place into pot.", + "notes": "Gripper closes meaningfully only in segment 2 (frames 3-6), so grasp wording is justified there. Segment 4 shows no gripper change but motion indicates transport and placement — described as 'place' based on trajectory endpoint and context, not gripper state." + } + }, + "episode_goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23128242790699005, + -0.14419953525066376, + 0.043703339993953705, + -3.089057683944702, + -0.24323193728923798, + 0.12151459604501724 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "approach corn on counter", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the corn cob visible on the counter to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector toward the corn cob on the counter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move left 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22616460919380188, + -0.14117787778377533, + 0.030661776661872864, + -3.0870509147644043, + -0.23458081483840942, + 0.11493679881095886 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "approach corn on counter", + "subtask_reasoning": "The robot arm is positioned near the sink, with the corn cob visible on the counter to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move left 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22640271484851837, + -0.13804751634597778, + 0.021020084619522095, + -3.129892110824585, + -0.25266745686531067, + 0.12385736405849457 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped object": [ + 197, + 195, + 311, + 323 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "approach corn on counter", + "subtask_reasoning": "The robot arm is positioned near the sink, with the corn cob visible on the counter to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 6 cm, move left 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.226752370595932, + -0.13512593507766724, + 0.010640962049365044, + 3.139075517654419, + -0.2735344171524048, + 0.1270069032907486 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "grasp corn with gripper", + "subtask_reasoning": "The robot arm is positioned near the sink, with the corn cob visible on the counter to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22847172617912292, + -0.13576668500900269, + 0.0032174198422580957, + 3.12604022026062, + -0.2926712930202484, + 0.11577529460191727 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "grasp corn with gripper", + "subtask_reasoning": "The robot arm is positioned over the corn cob on the counter, with the gripper open and aligned for grasping. The gripper signal indicates a closing motion has started in this segment. The next action is to complete the grasp by closing the gripper around the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23098446428775787, + -0.13577209413051605, + 0.0016014138236641884, + 3.111159324645996, + -0.2946878969669342, + 0.12116879969835281 + ], + "gripper_value": 0.8463236093521118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "grasp corn with gripper", + "subtask_reasoning": "The robot arm is positioned over the corn cob on the counter, with the gripper open and aligned for grasping. The gripper signal indicates a closing motion has started in this segment. The next action is to complete the grasp by closing the gripper around the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23168282210826874, + -0.13408221304416656, + 0.0036701681092381477, + 3.1397793292999268, + -0.2798982262611389, + 0.09931880980730057 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "grasp corn with gripper", + "subtask_reasoning": "The robot arm is positioned over the corn cob on the counter, with the gripper open and aligned for grasping. The gripper signal indicates a closing motion has started in this segment. The next action is to complete the grasp by closing the gripper around the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23528315126895905, + -0.12629729509353638, + 0.008180437609553337, + -3.1011974811553955, + -0.2489861100912094, + 0.030734270811080933 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot arm is positioned over the corn cob on the counter, with the gripper open and ready to engage. The corn has been approached but not yet grasped or lifted. The next action should be to close the gripper to securely grasp the corn before lifting it toward the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 7, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25109177827835083, + -0.1117793396115303, + 0.02360726334154606, + -3.081637144088745, + -0.22293640673160553, + -0.048604484647512436 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "place corn into pot", + "subtask_reasoning": "The robot arm is positioned over the corn cob on the counter, with the gripper open and ready to engage. The corn has been approached but not yet grasped or lifted. The next action should be to close the gripper to securely grasp the corn before lifting it toward the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26801857352256775, + -0.0933898463845253, + 0.030887609347701073, + -3.0641024112701416, + -0.21287299692630768, + -0.1552141010761261 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red object": [ + 792, + 152, + 878, + 238 + ], + "sink": [ + 304, + 305, + 894, + 843 + ], + "purple striped object": [ + 196, + 195, + 311, + 323 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "place corn into pot", + "subtask_reasoning": "The robot arm is positioned over the corn cob on the counter, with the gripper open and ready to engage. The corn has been approached but not yet grasped or lifted. The next action should be to close the gripper to securely grasp the corn before lifting it toward the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870050370693207, + -0.07509898394346237, + 0.03275521472096443, + -3.027431011199951, + -0.28955718874931335, + -0.2607680559158325 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "place corn into pot", + "subtask_reasoning": "The robot arm is positioned over the corn cob on the counter, with the gripper open and ready to engage. The corn has been approached but not yet grasped or lifted. The next action should be to close the gripper to securely grasp the corn before lifting it toward the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006541430950165, + -0.06530242413282394, + 0.03154458478093147, + -2.982006788253784, + -0.3637600541114807, + -0.3627721071243286 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "place corn into pot", + "subtask_reasoning": "The corn cob is currently positioned directly above the metal pot in the sink, with the gripper maintaining a steady hold. The robot has successfully transported the corn from the counter to the target location. The next action is to lower the end-effector to deposit the corn into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 8, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3104730248451233, + -0.05144905298948288, + 0.020119888707995415, + -2.977968215942383, + -0.3548840582370758, + -0.41796430945396423 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "place corn into pot", + "subtask_reasoning": "The corn cob is currently positioned directly above the metal pot in the sink, with the gripper maintaining a steady hold. The robot has successfully transported the corn from the counter to the target location. The next action is to lower the end-effector to deposit the corn into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32112962007522583, + -0.04041747376322746, + 0.017259854823350906, + -2.992445230484009, + -0.3527669310569763, + -0.4155382812023163 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "place corn into pot", + "subtask_reasoning": "The corn cob is currently positioned directly above the metal pot in the sink, with the gripper maintaining a steady hold. The robot has successfully transported the corn from the counter to the target location. The next action is to lower the end-effector to deposit the corn into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251423239707947, + -0.03783365711569786, + 0.01837966963648796, + -3.0028610229492188, + -0.3450881540775299, + -0.4316589832305908 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "place corn into pot", + "subtask_reasoning": "The corn cob is currently positioned directly above the metal pot in the sink, with the gripper maintaining a steady hold. The robot has successfully transported the corn from the counter to the target location. The next action is to lower the end-effector to deposit the corn into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32679274678230286, + -0.03228432312607765, + 0.016863306984305382, + -3.011683464050293, + -0.3345460891723633, + -0.4409486949443817 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the counter and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn on counter" + }, + { + "id": 2, + "subtask": "grasp corn with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn into pot" + } + ], + "subtask_name": "place corn into pot", + "subtask_reasoning": "The corn cob is currently positioned directly above the metal pot in the sink, with the gripper maintaining a steady hold. The robot has successfully transported the corn from the counter to the target location. The next action is to lower the end-effector to deposit the corn into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003648_ecot.json b/cot/chunk-0003/episode_0003648_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..648e8092fc7bff3e66e90c9bb49881805c3d19cb --- /dev/null +++ b/cot/chunk-0003/episode_0003648_ecot.json @@ -0,0 +1,6278 @@ +{ + "task_name": "episode_0003648", + "episode_json": "json/chunk-0003/episode_0003648.json", + "video_path": "videos/chunk-0003/image_0/episode_0003648.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 95, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003648.json" + }, + "fps": 5.0, + "T_eff": 95, + "gripper_behavior_summary": { + "available": true, + "range": 0.62107253074646, + "std": 0.17512401938438416, + "delta_total": -0.62107253074646, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62107, std=0.17512, total_delta=-0.62107). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 26 + ], + [ + 3, + 27, + 48 + ], + [ + 4, + 49, + 62 + ], + [ + 5, + 63, + 94 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach and close gripper\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward scattered beans and close gripper to prepare for contact-based sweeping.\"},\n {\"id\": 2, \"name\": \"Sweep beans leftward\", \"start\": 10, \"end\": 26, \"planning\": \"Drag gripper across tray surface to push beans toward left side, forming initial pile without grasping.\"},\n {\"id\": 3, \"name\": \"Reposition for second sweep\", \"start\": 27, \"end\": 48, \"planning\": \"Lift and reposition end-effector to align with remaining scattered beans for next sweeping pass.\"},\n {\"id\": 4, \"name\": \"Sweep beans into corner\", \"start\": 49, \"end\": 62, \"planning\": \"Push remaining beans toward left-front corner using flat gripper surface to consolidate pile.\"},\n {\"id\": 5, \"name\": \"Final alignment and retreat\", \"start\": 63, \"end\": 94, \"planning\": \"Make final adjustments to pile shape and retreat end-effector away from tray after completing sweep.\"}\n ],\n \"global_plan\": \"Execute a multi-pass sweeping strategy using the gripper as a pusher tool to consolidate scattered beans into a single pile in the tray corner, avoiding any grasp or lift actions since no meaningful closing occurs after frame 9.\",\n \"notes\": \"Gripper closes significantly only in Segment 1 (frames 0-9); all subsequent segments show constant gripper value (~0.38), confirming no grasping — only contact-based pushing/sliding is valid. Subtasks respect segment boundaries while merging micro-motions into natural phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach and close gripper", + "start": 0, + "end": 9, + "planning": "Move end-effector toward scattered beans and close gripper to prepare for contact-based sweeping." + }, + { + "id": 2, + "name": "Sweep beans leftward", + "start": 10, + "end": 26, + "planning": "Drag gripper across tray surface to push beans toward left side, forming initial pile without grasping." + }, + { + "id": 3, + "name": "Reposition for second sweep", + "start": 27, + "end": 48, + "planning": "Lift and reposition end-effector to align with remaining scattered beans for next sweeping pass." + }, + { + "id": 4, + "name": "Sweep beans into corner", + "start": 49, + "end": 62, + "planning": "Push remaining beans toward left-front corner using flat gripper surface to consolidate pile." + }, + { + "id": 5, + "name": "Final alignment and retreat", + "start": 63, + "end": 94, + "planning": "Make final adjustments to pile shape and retreat end-effector away from tray after completing sweep." + } + ], + "global_plan": "Execute a multi-pass sweeping strategy using the gripper as a pusher tool to consolidate scattered beans into a single pile in the tray corner, avoiding any grasp or lift actions since no meaningful closing occurs after frame 9.", + "notes": "Gripper closes significantly only in Segment 1 (frames 0-9); all subsequent segments show constant gripper value (~0.38), confirming no grasping — only contact-based pushing/sliding is valid. Subtasks respect segment boundaries while merging micro-motions into natural phases." + } + }, + "episode_goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30615806579589844, + -0.16939875483512878, + 0.10499310493469238, + 2.7158782482147217, + -0.24446900188922882, + 0.07949120551347733 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching a target area and closing the gripper, which is supported by the segment-level evidence showing a significant decrease in gripper value. The next action is to move the gripper closer to the beans and initiate closing to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3000481128692627, + -0.16589438915252686, + 0.09061320126056671, + 2.7423195838928223, + -0.2051522582769394, + 0.07665903121232986 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching a target area and closing the gripper, which is supported by the segment-level evidence showing a significant decrease in gripper value. The next action is to move the gripper closer to the beans and initiate closing to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3014838397502899, + -0.16391712427139282, + 0.08573811501264572, + 2.815340757369995, + -0.25174182653427124, + 0.064881332218647 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching a target area and closing the gripper, which is supported by the segment-level evidence showing a significant decrease in gripper value. The next action is to move the gripper closer to the beans and initiate closing to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3012578785419464, + -0.15967674553394318, + 0.08315085619688034, + 2.904249668121338, + -0.2815028727054596, + 0.0451524592936039 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching a target area and closing the gripper, which is supported by the segment-level evidence showing a significant decrease in gripper value. The next action is to move the gripper closer to the beans and initiate closing to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, close gripper; then move forward 2 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022594451904297, + -0.1565575897693634, + 0.08254057914018631, + 2.956033945083618, + -0.30471333861351013, + 0.02919089049100876 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3014305531978607, + -0.15401074290275574, + 0.06782633811235428, + 2.9887490272521973, + -0.26570117473602295, + 0.02145365998148918 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 7, + 245, + 990, + 994 + ], + "white object": [ + 1, + 2, + 122, + 182 + ], + "yellow tool": [ + 835, + 147, + 972, + 274 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069605827331543, + -0.15620283782482147, + 0.060247279703617096, + 2.9946117401123047, + -0.2512495815753937, + 0.027354780584573746 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper closed; then move forward 1 cm, move left 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3174361288547516, + -0.15805856883525848, + 0.05747159942984581, + 2.994723320007324, + -0.25652629137039185, + 0.0333433598279953 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, keep gripper closed; then move left 13 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3206206262111664, + -0.15077552199363708, + 0.05741802975535393, + 2.9858012199401855, + -0.24549217522144318, + 0.05502090975642204 + ], + "gripper_value": 0.7950940132141113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move left 15 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32186374068260193, + -0.14292553067207336, + 0.05779963731765747, + 2.967042922973633, + -0.2158122956752777, + 0.07868211716413498 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move left 17 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3243867754936218, + -0.13183434307575226, + 0.05808504670858383, + 2.9566216468811035, + -0.19540873169898987, + 0.08637860417366028 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 17 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3275087773799896, + -0.11767518520355225, + 0.057886671274900436, + 2.949432134628296, + -0.18141351640224457, + 0.09003195911645889 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 19 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3351874053478241, + -0.10095754265785217, + 0.05851886421442032, + 2.9464008808135986, + -0.19977769255638123, + 0.10240073502063751 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34000837802886963, + -0.0848354622721672, + 0.057170648127794266, + 2.9495766162872314, + -0.20537182688713074, + 0.1106170043349266 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 19 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33891135454177856, + -0.07338595390319824, + 0.05470427870750427, + 2.9551897048950195, + -0.1814699023962021, + 0.10524948686361313 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 17 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3374194800853729, + -0.0534130334854126, + 0.054662346839904785, + 2.9628288745880127, + -0.15080125629901886, + 0.11922858655452728 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33274197578430176, + -0.02844897471368313, + 0.05476180091500282, + 2.9765405654907227, + -0.08765662461519241, + 0.12828880548477173 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 6 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32412129640579224, + -0.0004904630477540195, + 0.05397733300924301, + 2.9941890239715576, + -0.033173415809869766, + 0.14248530566692352 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 621, + 82, + 741, + 189 + ], + "white tray": [ + 6, + 246, + 993, + 994 + ], + "yellow tool": [ + 834, + 148, + 972, + 275 + ], + "blue tape": [ + 931, + 672, + 997, + 880 + ], + "white object": [ + 1, + 3, + 117, + 182 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching the target area and closing the gripper to prepare for the sweeping action. The next step is to lower the gripper slightly and close it to make contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3239333927631378, + 0.017508916556835175, + 0.05380312353372574, + 3.0065886974334717, + -0.016715824604034424, + 0.14090241491794586 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 5 cm, tilt right 20 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32659149169921875, + 0.03533167019486427, + 0.050353698432445526, + 3.0312600135803223, + -0.025119800120592117, + 0.15036053955554962 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 6 cm, tilt right 20 degrees, keep gripper closed; then move back 2 cm, move right 9 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3309057652950287, + 0.04192984104156494, + 0.04958443343639374, + 3.0500175952911377, + -0.05628795176744461, + 0.14175789058208466 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 6 cm, tilt right 20 degrees, keep gripper closed; then move back 2 cm, move right 12 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33239540457725525, + 0.07312265038490295, + 0.050733089447021484, + 3.079531669616699, + -0.0808306559920311, + 0.16405120491981506 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 6 cm, tilt right 20 degrees, keep gripper closed; then move back 2 cm, move right 13 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178441524505615, + 0.09439589828252792, + 0.05178171768784523, + 3.083420991897583, + -0.03424510359764099, + 0.13094784319400787 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 622, + 82, + 741, + 189 + ], + "white tray": [ + 6, + 262, + 992, + 993 + ], + "yellow tool": [ + 835, + 148, + 972, + 275 + ], + "white object": [ + 1, + 4, + 125, + 182 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move up 6 cm, tilt right 20 degrees, keep gripper closed; then move back 2 cm, move right 13 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020870089530945, + 0.1076362207531929, + 0.05577322095632553, + 3.0552494525909424, + 0.04036567732691765, + 0.13573876023292542 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 5 cm, tilt right 20 degrees, keep gripper closed; then move back 3 cm, move right 13 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29615625739097595, + 0.099268838763237, + 0.060647863894701004, + 2.9884448051452637, + 0.08403820544481277, + 0.1382821649312973 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 5 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 12 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040529489517212, + 0.07764747738838196, + 0.0838499590754509, + 2.8527419567108154, + 0.07038318365812302, + 0.16397202014923096 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 11 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3186706304550171, + 0.04134417325258255, + 0.11259070038795471, + 2.7047083377838135, + 0.001191162969917059, + 0.20681174099445343 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move right 10 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.309804230928421, + -0.011486934497952461, + 0.1069893166422844, + 2.656911611557007, + -0.03503364324569702, + 0.16619659960269928 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.301196426153183, + -0.05804072692990303, + 0.09495463222265244, + 2.6957898139953613, + -0.04467695578932762, + 0.17044448852539062 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2911270558834076, + -0.10629411041736603, + 0.09339559078216553, + 2.7119016647338867, + -0.006884167902171612, + 0.15058419108390808 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 622, + 80, + 741, + 188 + ], + "white tray": [ + 5, + 247, + 992, + 994 + ], + "yellow tool": [ + 836, + 148, + 973, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28710755705833435, + -0.12693019211292267, + 0.08925778418779373, + 2.728701114654541, + -0.007064768113195896, + 0.13889876008033752 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2854933738708496, + -0.1439533233642578, + 0.081570565700531, + 2.74743914604187, + -0.029465125873684883, + 0.10440988093614578 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870631217956543, + -0.14462091028690338, + 0.07769661396741867, + 2.759664535522461, + -0.05428197234869003, + 0.09828157722949982 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.276444673538208, + -0.14027400314807892, + 0.06642158329486847, + 2.7795469760894775, + -0.03415219485759735, + 0.07494242489337921 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27270588278770447, + -0.1289099156856537, + 0.057429444044828415, + 2.785719156265259, + -0.03392146900296211, + 0.07680656015872955 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.26781532168388367, + -0.1220654621720314, + 0.05569297820329666, + 2.785695791244507, + -0.0637345016002655, + 0.0659336969256401 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 18 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649669051170349, + -0.10930795967578888, + 0.05610555037856102, + 2.7906785011291504, + -0.08009640127420425, + 0.063084676861763 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans. The sweeping motion has begun, pushing beans leftward as part of the multi-pass strategy. Next, continue moving the gripper left to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2597599923610687, + -0.09544838219881058, + 0.05703034624457359, + 2.812488079071045, + -0.06349004060029984, + 0.040836915373802185 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 17 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.25504952669143677, + -0.0778348371386528, + 0.05534595996141434, + 2.8498525619506836, + -0.02325894683599472, + 0.03554550185799599 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 621, + 81, + 741, + 188 + ], + "yellow tool": [ + 835, + 147, + 973, + 275 + ], + "white object": [ + 1, + 10, + 117, + 182 + ], + "white tray": [ + 6, + 269, + 991, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2541981041431427, + -0.06372836232185364, + 0.05391643941402435, + 2.882401466369629, + -0.014164945110678673, + 0.027230029925704002 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559642195701599, + -0.052767008543014526, + 0.05302919074892998, + 2.9061055183410645, + -0.025049744173884392, + 0.01656685210764408 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2558663785457611, + -0.04001306742429733, + 0.052475541830062866, + 2.921626567840576, + -0.025517625734210014, + -0.0003427570918574929 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.25481078028678894, + -0.021809542551636696, + 0.053793322294950485, + 2.9265763759613037, + -0.013544307090342045, + -0.004541833885014057 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move right 3 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.25168144702911377, + -0.0004470036656130105, + 0.05754408612847328, + 2.9246468544006348, + 0.009738675318658352, + -0.014251970686018467 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.25121042132377625, + 0.02520679496228695, + 0.05851065739989281, + 2.9282495975494385, + 0.02398991398513317, + -0.025516748428344727 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.25166696310043335, + 0.05378628522157669, + 0.06196530535817146, + 2.9258508682250977, + 0.036170005798339844, + -0.031164880841970444 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.25333184003829956, + 0.07354404777288437, + 0.06613624095916748, + 2.922980546951294, + 0.00456996588036418, + -0.02662610448896885 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.25248950719833374, + 0.06968636810779572, + 0.07444875687360764, + 2.845799446105957, + 0.010097402147948742, + -0.021802347153425217 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.257524698972702, + 0.04924735799431801, + 0.10201828926801682, + 2.7358908653259277, + 0.003771811258047819, + 0.0074560618959367275 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 48 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.26869815587997437, + 0.007542842533439398, + 0.11593030393123627, + 2.691558361053467, + -0.004371873568743467, + 0.017626840621232986 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 621, + 80, + 741, + 188 + ], + "yellow tool": [ + 835, + 148, + 973, + 274 + ], + "white tray": [ + 6, + 290, + 992, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.28028813004493713, + -0.019500024616718292, + 0.10734527558088303, + 2.7383666038513184, + -0.04289612919092178, + 0.0308125801384449 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.27397432923316956, + -0.02913304604589939, + 0.08061446994543076, + 2.8065576553344727, + -0.05049005150794983, + 0.01815156079828739 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.265633761882782, + -0.02555188722908497, + 0.06381652504205704, + 2.844874858856201, + -0.0662306621670723, + -0.002173827262595296 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.257171630859375, + -0.015438208356499672, + 0.05466303601861, + 2.8557355403900146, + -0.06783844530582428, + -0.003594354260712862 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.2543978989124298, + -0.004731787368655205, + 0.05527535825967789, + 2.8499443531036377, + -0.06485417485237122, + -0.014160390943288803 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is currently positioned near the center of the tray after completing the first leftward sweep, with scattered black objects remaining on the right side. The gripper remains open and stationary relative to the tray surface, indicating readiness for repositioning. The next action should involve moving the gripper to the right side of the tray to begin the second sweeping pass toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.2511090934276581, + 0.00846350658684969, + 0.055933013558387756, + 2.847083330154419, + -0.05622238665819168, + -0.009580492042005062 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned among scattered black beans. Previous steps have moved beans leftward, and the current motion continues sweeping them toward the left corner. The next action is to maintain contact and push remaining beans further left to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.247597336769104, + 0.025225678458809853, + 0.05610164254903793, + 2.8673784732818604, + -0.04771381616592407, + -0.013763204216957092 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned among scattered black beans. Previous steps have moved beans leftward, and the current motion continues sweeping them toward the left corner. The next action is to maintain contact and push remaining beans further left to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 12 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.24592693150043488, + 0.04100751876831055, + 0.055663637816905975, + 2.886181592941284, + -0.061559613794088364, + -0.024698538705706596 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned among scattered black beans. Previous steps have moved beans leftward, and the current motion continues sweeping them toward the left corner. The next action is to maintain contact and push remaining beans further left to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 14 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.24543645977973938, + 0.054821088910102844, + 0.054403841495513916, + 2.902082920074463, + -0.08061706274747849, + -0.025172479450702667 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned among scattered black beans. Previous steps have moved beans leftward, and the current motion continues sweeping them toward the left corner. The next action is to maintain contact and push remaining beans further left to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 16 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.24918144941329956, + 0.07573650032281876, + 0.05390549451112747, + 2.9206533432006836, + -0.06587705761194229, + -0.02087388001382351 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned among scattered black beans. Previous steps have moved beans leftward, and the current motion continues sweeping them toward the left corner. The next action is to maintain contact and push remaining beans further left to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 17 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.2512970566749573, + 0.08925412595272064, + 0.06088288128376007, + 2.9239859580993652, + -0.05228957161307335, + -0.014035703614354134 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned among scattered black beans. Previous steps have moved beans leftward, and the current motion continues sweeping them toward the left corner. The next action is to maintain contact and push remaining beans further left to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move right 17 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.25444120168685913, + 0.08421922475099564, + 0.0711340680718422, + 2.8581361770629883, + -0.04905792698264122, + 0.00333628267981112 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned among scattered black beans. Previous steps have moved beans leftward, and the current motion continues sweeping them toward the left corner. The next action is to maintain contact and push remaining beans further left to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 7 cm, move right 17 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.2642437815666199, + 0.056753892451524734, + 0.09162653982639313, + 2.758932590484619, + -0.04339539259672165, + 0.06427236646413803 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Sweep beans into corner", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned among scattered black beans. Previous steps have moved beans leftward, and the current motion continues sweeping them toward the left corner. The next action is to maintain contact and push remaining beans further left to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move right 16 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 49, + "end": 62 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.2851240038871765, + 0.010113660246133804, + 0.10915619879961014, + 2.698831081390381, + -0.032631777226924896, + 0.08166389167308807 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 14 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.2938234508037567, + -0.03488094359636307, + 0.10331625491380692, + 2.698615312576294, + -0.0007993867038749158, + 0.08104455471038818 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043193221092224, + -0.07518807053565979, + 0.09095005691051483, + 2.7202630043029785, + -0.00488248048350215, + 0.07173103094100952 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 621, + 81, + 740, + 189 + ], + "yellow tool": [ + 836, + 148, + 973, + 275 + ], + "blue tape": [ + 947, + 717, + 997, + 935 + ], + "white tray": [ + 7, + 271, + 992, + 994 + ], + "white object": [ + 1, + 2, + 120, + 181 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.3032553791999817, + -0.10861047357320786, + 0.08990538120269775, + 2.706467628479004, + 0.002309008501470089, + 0.04018189758062363 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 634, + 82, + 741, + 187 + ], + "blue tape": [ + 947, + 717, + 997, + 934 + ], + "yellow tool": [ + 836, + 148, + 973, + 275 + ], + "white tray": [ + 7, + 273, + 990, + 994 + ], + "white object": [ + 1, + 2, + 119, + 181 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135358989238739, + -0.1310630887746811, + 0.09510286152362823, + 2.6985087394714355, + -0.020149100571870804, + 0.03850850835442543 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.32642263174057007, + -0.1493808478116989, + 0.08256269991397858, + 2.7209062576293945, + 0.0009728533332236111, + 0.04970589652657509 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.33990439772605896, + -0.15997286140918732, + 0.0735836774110794, + 2.73769474029541, + 0.006621121428906918, + 0.0628664568066597 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.35068032145500183, + -0.16445565223693848, + 0.062361229211091995, + 2.761120319366455, + 0.012111571617424488, + 0.07398686558008194 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.35708850622177124, + -0.1636039763689041, + 0.06051357090473175, + 2.772796630859375, + -0.004926495719701052, + 0.08157297223806381 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.36539480090141296, + -0.15386754274368286, + 0.06062391772866249, + 2.7728304862976074, + -0.039275676012039185, + 0.09188530594110489 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 14 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.36741262674331665, + -0.13483045995235443, + 0.055692221969366074, + 2.7769031524658203, + -0.05421575531363487, + 0.10329952090978622 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.3640451431274414, + -0.1134125292301178, + 0.05494162067770958, + 2.7812509536743164, + -0.05075773224234581, + 0.10679957270622253 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.3592294156551361, + -0.09080334007740021, + 0.05403304845094681, + 2.78625226020813, + -0.03996783867478371, + 0.12519210577011108 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558363616466522, + -0.08004993945360184, + 0.05272543057799339, + 2.7973673343658447, + -0.02810816653072834, + 0.13168691098690033 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 15 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529083728790283, + -0.06711281090974808, + 0.052278392016887665, + 2.8044791221618652, + -0.0249004028737545, + 0.14372532069683075 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 18 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.3550352156162262, + -0.0640815943479538, + 0.05172240361571312, + 2.812288284301758, + -0.035035837441682816, + 0.15120241045951843 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 20 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.36395907402038574, + -0.06184692308306694, + 0.04947437718510628, + 2.82743763923645, + -0.04191241413354874, + 0.16143500804901123 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 19 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704868257045746, + -0.057614609599113464, + 0.05012147128582001, + 2.8303208351135254, + -0.039491698145866394, + 0.18147395551204681 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 17 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.37768280506134033, + -0.0390014685690403, + 0.05024978145956993, + 2.8427281379699707, + -0.028904039412736893, + 0.22255370020866394 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 11 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.3798782527446747, + -0.018607495352625847, + 0.050089508295059204, + 2.8429243564605713, + 0.0041895373724401, + 0.2641618251800537 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.38273417949676514, + -0.004951591603457928, + 0.04965909197926521, + 2.8449697494506836, + 0.03331397846341133, + 0.2830268442630768 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.386300653219223, + 0.025193659588694572, + 0.05020282790064812, + 2.8531179428100586, + 0.03321036323904991, + 0.3379414677619934 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 621, + 81, + 741, + 189 + ], + "yellow tool": [ + 835, + 148, + 972, + 275 + ], + "white tray": [ + 6, + 239, + 992, + 993 + ], + "white object": [ + 2, + 2, + 120, + 182 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.38667944073677063, + 0.04773290082812309, + 0.05060802772641182, + 2.8680827617645264, + 0.023314693942666054, + 0.3757668435573578 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.38604477047920227, + 0.07243922352790833, + 0.05283483490347862, + 2.879721164703369, + 0.011214741505682468, + 0.4153676927089691 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 16 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.37878891825675964, + 0.11187783628702164, + 0.05568388104438782, + 2.9179234504699707, + -0.0030528013594448566, + 0.4730294346809387 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 20 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.37063562870025635, + 0.13101737201213837, + 0.0554080456495285, + 2.9596598148345947, + 0.0007134341285564005, + 0.4892222583293915 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 21 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.3690882623195648, + 0.1318761557340622, + 0.05568762123584747, + 2.9643561840057373, + -0.009532018564641476, + 0.47753456234931946 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 22 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.35993725061416626, + 0.112466961145401, + 0.06748562306165695, + 2.88372802734375, + -0.042309846729040146, + 0.4469752311706543 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643719553947449, + 0.06940732151269913, + 0.08792281895875931, + 2.8065130710601807, + -0.08565568923950195, + 0.42289772629737854 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.36896201968193054, + 0.0109434574842453, + 0.10456760227680206, + 2.7618329524993896, + -0.10425134748220444, + 0.33830100297927856 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 93, + "state_action_evidence": { + "ee_state_6d": [ + 0.3614918291568756, + -0.028447933495044708, + 0.10567779839038849, + 2.775084972381592, + -0.08665574342012405, + 0.30360233783721924 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of black objects on the left side of the tray, having completed the sweeping motion. Since the segment-level gripper evidence shows no closing activity, the robot is not grasping but rather hovering or retreating. The next action is to lift the end-effector vertically to clear the tray and conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + }, + { + "t": 94, + "state_action_evidence": { + "ee_state_6d": [ + 0.353206992149353, + -0.08337578922510147, + 0.10230432450771332, + 2.815849542617798, + -0.07273296266794205, + 0.22038111090660095 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 651, + 87, + 740, + 187 + ], + "white tray": [ + 8, + 235, + 992, + 993 + ], + "yellow tool": [ + 835, + 148, + 972, + 273 + ], + "blue tape": [ + 934, + 666, + 997, + 870 + ], + "white object": [ + 1, + 2, + 120, + 181 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep beans leftward" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep beans into corner" + }, + { + "id": 5, + "subtask": "Final alignment and retreat" + } + ], + "subtask_name": "Final alignment and retreat", + "subtask_reasoning": "The black objects are consolidated into a pile on the left side of the white tray, and the gripper is currently positioned above the tray after completing the final sweep. Since the segment-level gripper evidence shows no closing activity, the gripper remains open and is not grasping any objects. The most likely next action is to retreat the arm away from the tray to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 63, + "end": 94 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003649_ecot.json b/cot/chunk-0003/episode_0003649_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..35fc72b147f0678f441ed472e81edb4b25b842cc --- /dev/null +++ b/cot/chunk-0003/episode_0003649_ecot.json @@ -0,0 +1,3010 @@ +{ + "task_name": "episode_0003649", + "episode_json": "json/chunk-0003/episode_0003649.json", + "video_path": "videos/chunk-0003/image_0/episode_0003649.mp4", + "instruction": "REMOVE BLUE FROM TOP.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003649.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.45689064264297485, + "std": 0.22021755576133728, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45689, std=0.22022, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 40 + ], + [ + 2, + 41, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block\", \"start\": 0, \"end\": 10, \"planning\": \"Move the gripper toward the blue block on top of the stack.\"},\n {\"id\": 2, \"name\": \"make contact with blue block\", \"start\": 11, \"end\": 20, \"planning\": \"Position the gripper to make initial contact with the blue block.\"},\n {\"id\": 3, \"name\": \"grasp blue block\", \"start\": 21, \"end\": 30, \"planning\": \"Close the gripper to securely grasp the blue block.\"},\n {\"id\": 4, \"name\": \"lift and remove blue block\", \"start\": 31, \"end\": 40, \"planning\": \"Lift the blue block off the stack and move it away.\"},\n {\"id\": 5, \"name\": \"retreat after removal\", \"start\": 41, \"end\": 44, \"planning\": \"Retract the gripper to a safe position after removing the blue block.\"}\n ],\n \"global_plan\": \"Remove the blue block from the top of the stack by approaching, grasping, lifting, and retreating.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (range=0.45689), supporting grasp wording. Segment 2 has no meaningful closing (range=0.00066), so retreat is used instead of grasp-related actions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block", + "start": 0, + "end": 10, + "planning": "Move the gripper toward the blue block on top of the stack." + }, + { + "id": 2, + "name": "make contact with blue block", + "start": 11, + "end": 20, + "planning": "Position the gripper to make initial contact with the blue block." + }, + { + "id": 3, + "name": "grasp blue block", + "start": 21, + "end": 30, + "planning": "Close the gripper to securely grasp the blue block." + }, + { + "id": 4, + "name": "lift and remove blue block", + "start": 31, + "end": 40, + "planning": "Lift the blue block off the stack and move it away." + }, + { + "id": 5, + "name": "retreat after removal", + "start": 41, + "end": 44, + "planning": "Retract the gripper to a safe position after removing the blue block." + } + ], + "global_plan": "Remove the blue block from the top of the stack by approaching, grasping, lifting, and retreating.", + "notes": "Segment 1 shows meaningful gripper closing (range=0.45689), supporting grasp wording. Segment 2 has no meaningful closing (range=0.00066), so retreat is used instead of grasp-related actions." + } + }, + "episode_goal": "Remove the blue block from the top of the stack and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23032686114311218, + -0.012396551668643951, + 0.16937536001205444, + 3.1281163692474365, + 0.1503065973520279, + 0.2583273649215698 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks with the blue block on top. The gripper is open and has not yet made contact with the blue block. The next action should involve moving the gripper closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22848555445671082, + -0.012716311030089855, + 0.16244196891784668, + 3.1365885734558105, + 0.17982609570026398, + 0.2581856846809387 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks with the blue block on top. The gripper is open and has not yet made contact with the blue block. The next action should involve moving the gripper closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23035486042499542, + -0.0040490529499948025, + 0.16459184885025024, + 3.1304056644439697, + 0.1761178821325302, + 0.286718487739563 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks with the blue block on top. The gripper is open and has not yet made contact with the blue block. The next action should involve moving the gripper closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23759977519512177, + 0.008019962348043919, + 0.16808129847049713, + 3.1164968013763428, + 0.17733630537986755, + 0.30516597628593445 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 115, + 158, + 996, + 994 + ], + "yellow block": [ + 540, + 293, + 680, + 464 + ], + "red block": [ + 300, + 85, + 381, + 180 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks with the blue block on top. The gripper is open and has not yet made contact with the blue block. The next action should involve moving the gripper closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2453531175851822, + 0.017024913802742958, + 0.16873164474964142, + 3.1262519359588623, + 0.19785650074481964, + 0.31968313455581665 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks with the blue block on top. The gripper is open and has not yet made contact with the blue block. The next action should involve moving the gripper closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2484818994998932, + 0.022014636546373367, + 0.16181838512420654, + 3.1232151985168457, + 0.23736460506916046, + 0.31212350726127625 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25009140372276306, + 0.020329685881733894, + 0.1551242619752884, + 3.106443405151367, + 0.29816487431526184, + 0.2780083119869232 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24858643114566803, + 0.019073830917477608, + 0.15107177197933197, + 3.0971145629882812, + 0.3352459967136383, + 0.26277267932891846 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24793016910552979, + 0.01989433355629444, + 0.14936918020248413, + 3.094254970550537, + 0.3412419855594635, + 0.26113951206207275 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2476213574409485, + 0.02331557497382164, + 0.14278025925159454, + 3.098100423812866, + 0.37015777826309204, + 0.2761528193950653 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2464928776025772, + 0.026592694222927094, + 0.13695493340492249, + 3.1037251949310303, + 0.3872048258781433, + 0.29981333017349243 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 8 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24726144969463348, + 0.028610559180378914, + 0.1302412748336792, + 3.1159207820892334, + 0.40965762734413147, + 0.3164794445037842 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24647292494773865, + 0.028368214145302773, + 0.12787732481956482, + 3.1161534786224365, + 0.4177924692630768, + 0.3235553801059723 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2455301582813263, + 0.026973873376846313, + 0.12600314617156982, + 3.1117923259735107, + 0.4221181869506836, + 0.330445259809494 + ], + "gripper_value": 0.7021830081939697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2458856850862503, + 0.026645973324775696, + 0.12544740736484528, + 3.1127848625183105, + 0.4191770851612091, + 0.33252742886543274 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot is positioned above the stack of blocks, with the blue block visible at the top. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24545307457447052, + 0.026713881641626358, + 0.12566354870796204, + 3.1130404472351074, + 0.4225313365459442, + 0.3372052311897278 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2448035031557083, + 0.026360543444752693, + 0.1296529471874237, + 3.112488269805908, + 0.4109063148498535, + 0.3442164361476898 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24087439477443695, + 0.024954158812761307, + 0.14987917244434357, + 3.107156991958618, + 0.3496241569519043, + 0.3546749949455261 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 111, + 178, + 996, + 994 + ], + "yellow block": [ + 539, + 292, + 681, + 464 + ], + "red block": [ + 299, + 89, + 373, + 180 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 11 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24156063795089722, + 0.011066986247897148, + 0.1673906445503235, + 3.1281328201293945, + 0.301142156124115, + 0.3348708152770996 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, move down 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24220576882362366, + -0.017611654475331306, + 0.16753360629081726, + 3.12737774848938, + 0.2960759103298187, + 0.23070724308490753 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, move down 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24123232066631317, + -0.04666564613580704, + 0.16715510189533234, + 3.10044527053833, + 0.2852504253387451, + 0.12426278740167618 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 14 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24306118488311768, + -0.0734596848487854, + 0.1610458940267563, + 3.0750772953033447, + 0.25504592061042786, + 0.044372569769620895 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 15 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2443591207265854, + -0.09718319028615952, + 0.14883928000926971, + 3.092865228652954, + 0.2585282325744629, + -0.032905805855989456 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 13 cm, tilt forward 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24930107593536377, + -0.10807295143604279, + 0.13559788465499878, + 3.092539072036743, + 0.25044628977775574, + -0.06590523570775986 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 116, + 163, + 996, + 994 + ], + "yellow block": [ + 541, + 292, + 680, + 464 + ], + "blue block": [ + 730, + 347, + 846, + 512 + ], + "red block": [ + 300, + 84, + 415, + 180 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 12 cm, tilt forward 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2526458501815796, + -0.1166287362575531, + 0.12096964567899704, + 3.034426212310791, + 0.21733227372169495, + -0.09874065965414047 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now in contact with it, as indicated by the gripper closing and the end-effector position. The next action is to grasp the blue block securely before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 11 cm, tilt forward 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2535376250743866, + -0.12432949990034103, + 0.09783981740474701, + 2.972104072570801, + 0.2258375883102417, + -0.14690642058849335 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25713077187538147, + -0.12487554550170898, + 0.07951124012470245, + 2.960092544555664, + 0.2449415922164917, + -0.15171633660793304 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, tilt forward 10 degrees, keep gripper closed; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.25686752796173096, + -0.12504306435585022, + 0.05219439044594765, + 2.9799625873565674, + 0.3172638714313507, + -0.15528449416160583 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 113, + 156, + 994, + 993 + ], + "yellow block": [ + 539, + 292, + 680, + 465 + ], + "red block": [ + 299, + 83, + 415, + 181 + ], + "blue block": [ + 743, + 594, + 834, + 736 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt forward 10 degrees, keep gripper closed; then move left 2 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2607630491256714, + -0.12625838816165924, + 0.040342461317777634, + 3.0128467082977295, + 0.36311236023902893, + -0.14403483271598816 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 13 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25932303071022034, + -0.1252630203962326, + 0.031237570568919182, + 3.029407024383545, + 0.39453843235969543, + -0.11348123848438263 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move up 13 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25793203711509705, + -0.12662985920906067, + 0.0226737130433321, + 3.0273120403289795, + 0.4166620671749115, + -0.10119327902793884 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 6 cm, move up 13 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25926074385643005, + -0.12606647610664368, + 0.015829045325517654, + 3.01745867729187, + 0.4223634898662567, + -0.09241745620965958 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 12 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.25966817140579224, + -0.12619933485984802, + 0.0151492515578866, + 3.006787061691284, + 0.42152976989746094, + -0.09249339252710342 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 12 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.25807589292526245, + -0.12629130482673645, + 0.01630050502717495, + 3.0029656887054443, + 0.43348589539527893, + -0.09882687777280807 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 12 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.25555071234703064, + -0.12498188018798828, + 0.0186981949955225, + 3.018974542617798, + 0.4567020833492279, + -0.07902681082487106 + ], + "gripper_value": 0.9116221070289612 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the stack. The gripper remains open with no closing motion detected in this segment, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 12 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.259188175201416, + -0.12432802468538284, + 0.04569799453020096, + 3.0136516094207764, + 0.374966025352478, + -0.05248556286096573 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The blue block has been successfully lifted and is currently held by the gripper above the remaining stack. The robot is in the process of retreating to clear the stack, preparing to place the block on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 9 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616388201713562, + -0.12068131566047668, + 0.07204309105873108, + 3.0266218185424805, + 0.30040866136550903, + -0.022472986951470375 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The blue block has been successfully lifted and is currently held by the gripper above the remaining stack. The robot is in the process of retreating to clear the stack, preparing to place the block on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.25678157806396484, + -0.1050150915980339, + 0.12152628600597382, + 3.0013656616210938, + 0.1750876009464264, + 0.022061781957745552 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The blue block has been successfully lifted and is currently held by the gripper above the remaining stack. The robot is in the process of retreating to clear the stack, preparing to place the block on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2527323067188263, + -0.09024376422166824, + 0.14862282574176788, + 2.8998541831970215, + 0.06367414444684982, + 0.06365004181861877 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 109, + 161, + 995, + 994 + ], + "yellow block": [ + 539, + 292, + 672, + 464 + ], + "red block": [ + 299, + 84, + 416, + 181 + ], + "blue block": [ + 713, + 701, + 824, + 845 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The blue block has been successfully lifted and is currently held by the gripper above the remaining stack. The robot is in the process of retreating to clear the stack, preparing to place the block on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536334991455078, + -0.07747968286275864, + 0.14924807846546173, + 2.950711965560913, + 0.04714566841721535, + 0.08412355929613113 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The blue block has been successfully lifted and is currently held by the gripper above the remaining stack. The robot is in the process of retreating to clear the stack, preparing to place the block on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.25841042399406433, + -0.06885610520839691, + 0.14152175188064575, + 3.068498134613037, + 0.08976588398218155, + 0.12050456553697586 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "lift and remove blue block", + "subtask_reasoning": "The blue block has been successfully lifted and is currently held by the gripper above the remaining stack. The robot is in the process of retreating to clear the stack, preparing to place the block on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615870237350464, + -0.06584266573190689, + 0.13469141721725464, + -3.0448391437530518, + 0.12714418768882751, + 0.18537403643131256 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "retreat after removal", + "subtask_reasoning": "The blue block has been successfully lifted and is currently held by the gripper above the remaining stack. The robot is in the process of retreating to clear the stack, preparing to place the block on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613335847854614, + -0.06544628739356995, + 0.13391675055027008, + -3.0348026752471924, + 0.13387061655521393, + 0.19321097433567047 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "retreat after removal", + "subtask_reasoning": "The blue block has been successfully removed from the stack and is resting on the table. The robot arm is currently retreating upward and away from the workspace with the gripper open. The next action is to continue moving the arm to a safe neutral position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2599993050098419, + -0.06478467583656311, + 0.13300412893295288, + -3.1133246421813965, + 0.22169846296310425, + 0.20762859284877777 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "retreat after removal", + "subtask_reasoning": "The blue block has been successfully removed from the stack and is resting on the table. The robot arm is currently retreating upward and away from the workspace with the gripper open. The next action is to continue moving the arm to a safe neutral position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.26122984290122986, + -0.05954519659280777, + 0.13117864727973938, + -3.1251306533813477, + 0.2391103059053421, + 0.2261960208415985 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and remove blue block" + }, + { + "id": 5, + "subtask": "retreat after removal" + } + ], + "subtask_name": "retreat after removal", + "subtask_reasoning": "The blue block has been successfully removed from the stack and is resting on the table. The robot arm is currently retreating upward and away from the workspace with the gripper open. The next action is to continue moving the arm to a safe neutral position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003650_ecot.json b/cot/chunk-0003/episode_0003650_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1d3cdf9b305d773c5ce5ab09a65d7fe5286a7af2 --- /dev/null +++ b/cot/chunk-0003/episode_0003650_ecot.json @@ -0,0 +1,4972 @@ +{ + "task_name": "episode_0003650", + "episode_json": "json/chunk-0003/episode_0003650.json", + "video_path": "videos/chunk-0003/image_0/episode_0003650.mp4", + "instruction": "Put pan on stove and put blueberry in pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 66, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003650.json" + }, + "fps": 5.0, + "T_eff": 66, + "gripper_behavior_summary": { + "available": true, + "range": 0.9627222418785095, + "std": 0.40116065740585327, + "delta_total": -0.0012761354446411133, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96272, std=0.40116, total_delta=-0.00128). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 209, + 209, + 209, + 509, + 509, + 509, + 509, + 609, + 609, + 609, + 609, + 609, + 609, + 609, + 609, + 609, + 609, + 609, + 609, + 609, + 629, + 29, + 29, + 29, + 29, + 29, + 29, + 29, + 29, + 129, + 129, + 129, + 129, + 129, + 129, + 129, + 129, + 129, + 129, + 129, + 329, + 329, + 329, + 329, + 329, + 329, + 329, + 329, + 329, + 329, + 329, + 429, + 429, + 429, + 429, + 429, + 429 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 8 + ], + [ + 3, + 9, + 11 + ], + [ + 4, + 12, + 15 + ], + [ + 5, + 16, + 28 + ], + [ + 6, + 29, + 29 + ], + [ + 7, + 30, + 37 + ], + [ + 8, + 38, + 48 + ], + [ + 9, + 49, + 59 + ], + [ + 10, + 60, + 65 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the pan on the stove without grasping.\"},\n {\"id\": 2, \"name\": \"reposition pan\", \"start\": 9, \"end\": 15, \"planning\": \"Make contact with the pan and slide it slightly to center it on the burner.\"},\n {\"id\": 3, \"name\": \"retreat from pan\", \"start\": 16, \"end\": 28, \"planning\": \"Lift and move away from the pan after repositioning.\"},\n {\"id\": 4, \"name\": \"approach blueberry\", \"start\": 29, \"end\": 37, \"planning\": \"Navigate end-effector toward the blueberry cluster near the stove.\"},\n {\"id\": 5, \"name\": \"grasp blueberry\", \"start\": 38, \"end\": 48, \"planning\": \"Close gripper to securely grasp a single blueberry from the cluster.\"},\n {\"id\": 6, \"name\": \"transport blueberry to pan\", \"start\": 49, \"end\": 59, \"planning\": \"Carry the grasped blueberry over the pan while maintaining grip.\"},\n {\"id\": 7, \"name\": \"release blueberry in pan\", \"start\": 60, \"end\": 65, \"planning\": \"Open gripper to drop the blueberry into the pan and retreat slightly.\"}\n ],\n \"global_plan\": \"First reposition the pan on the stove burner, then pick up a blueberry and place it inside the pan.\",\n \"notes\": \"Segment 5 (frames 38-48) shows meaningful gripper closing (range=0.96272 globally, and local delta confirms closure), consistent with grasping; images at frame 60 show blueberry held, confirming successful grasp. Segment 10 (60-65) has no meaningful closing — release is inferred from context and image showing blueberry already in pan.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the pan on the stove without grasping." + }, + { + "id": 2, + "name": "reposition pan", + "start": 9, + "end": 15, + "planning": "Make contact with the pan and slide it slightly to center it on the burner." + }, + { + "id": 3, + "name": "retreat from pan", + "start": 16, + "end": 28, + "planning": "Lift and move away from the pan after repositioning." + }, + { + "id": 4, + "name": "approach blueberry", + "start": 29, + "end": 37, + "planning": "Navigate end-effector toward the blueberry cluster near the stove." + }, + { + "id": 5, + "name": "grasp blueberry", + "start": 38, + "end": 48, + "planning": "Close gripper to securely grasp a single blueberry from the cluster." + }, + { + "id": 6, + "name": "transport blueberry to pan", + "start": 49, + "end": 59, + "planning": "Carry the grasped blueberry over the pan while maintaining grip." + }, + { + "id": 7, + "name": "release blueberry in pan", + "start": 60, + "end": 65, + "planning": "Open gripper to drop the blueberry into the pan and retreat slightly." + } + ], + "global_plan": "First reposition the pan on the stove burner, then pick up a blueberry and place it inside the pan.", + "notes": "Segment 5 (frames 38-48) shows meaningful gripper closing (range=0.96272 globally, and local delta confirms closure), consistent with grasping; images at frame 60 show blueberry held, confirming successful grasp. Segment 10 (60-65) has no meaningful closing — release is inferred from context and image showing blueberry already in pan." + } + }, + "episode_goal": "Place the pan on the stove burner and drop the blueberry into the pan.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3482840061187744, + -0.03140325844287872, + 0.11215732991695404, + -3.0816731452941895, + -0.10202280431985855, + -0.029613956809043884 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the pan, indicating the start of the approach phase. No contact has been made yet, so the next action is to move closer to the pan for potential interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 7 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34532594680786133, + -0.030617406591773033, + 0.1004200354218483, + -3.076349973678589, + -0.0691545233130455, + -0.02377491071820259 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the pan, indicating the start of the approach phase. No contact has been made yet, so the next action is to move closer to the pan for potential interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34793850779533386, + -0.03327497839927673, + 0.08395175635814667, + -3.0387890338897705, + -0.09757710248231888, + -0.016486039385199547 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the pan, indicating the start of the approach phase. No contact has been made yet, so the next action is to move closer to the pan for potential interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move back 1 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3538198173046112, + -0.0366966538131237, + 0.06865491718053818, + -3.0569465160369873, + -0.12581558525562286, + -0.03097335249185562 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the pan, indicating the start of the approach phase. No contact has been made yet, so the next action is to move closer to the pan for potential interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35744649171829224, + -0.03313710168004036, + 0.06157612428069115, + -3.0521457195281982, + -0.16289420425891876, + -0.049704864621162415 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "saucepan": [ + 642, + 262, + 894, + 499 + ], + "faucet": [ + 140, + 3, + 271, + 177 + ], + "white backsplash": [ + 4, + 23, + 463, + 390 + ], + "blue plastic object": [ + 238, + 377, + 347, + 507 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the blueberry container. No grasping has occurred yet; the next action is to move closer to the blueberries for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 3 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35913655161857605, + -0.029830802232027054, + 0.05425665155053139, + -3.0303916931152344, + -0.1790619045495987, + -0.05454394221305847 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the blueberry container. No grasping has occurred yet; the next action is to move closer to the blueberries for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 3 cm, move left 2 cm, move up 9 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3607621192932129, + -0.03075375407934189, + 0.043769050389528275, + -3.03531813621521, + -0.19085611402988434, + -0.05701723322272301 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the blueberry container. No grasping has occurred yet; the next action is to move closer to the blueberries for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 4 cm, move up 11 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3610529899597168, + -0.03191375359892845, + 0.042530857026576996, + -3.046055793762207, + -0.19798195362091064, + -0.05776194855570793 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the blueberry container. No grasping has occurred yet; the next action is to move closer to the blueberries for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 4 cm, move up 11 cm, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3614627718925476, + -0.032220687717199326, + 0.04157392680644989, + -3.051323175430298, + -0.18524768948554993, + -0.049798958003520966 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the blueberry container. No grasping has occurred yet; the next action is to move closer to the blueberries for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 4 cm, move up 11 cm, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583424985408783, + -0.03211311250925064, + 0.04310990497469902, + -3.0485153198242188, + -0.15680350363254547, + -0.04387577995657921 + ], + "gripper_value": 0.36275482177734375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the blueberry container. No grasping has occurred yet; the next action is to move closer to the blueberries for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 11 cm, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35853299498558044, + -0.03261495754122734, + 0.04919136315584183, + -3.063112258911133, + -0.13052168488502502, + -0.037966981530189514 + ], + "gripper_value": 0.1452319175004959 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the blueberry container. No grasping has occurred yet; the next action is to move closer to the blueberries for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move left 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3519804775714874, + -0.03210415691137314, + 0.05274041369557381, + -3.076021671295166, + -0.06986340135335922, + -0.04433948174118996 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The robot is positioned near the stove with the pan already on the burner. The gripper is open and approaching the blueberry container. No grasping has occurred yet; the next action is to move closer to the blueberries for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move left 9 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436116874217987, + -0.03011217899620533, + 0.07281124591827393, + -3.0435619354248047, + -0.028720300644636154, + -0.039599042385816574 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 8 cm, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.336479127407074, + -0.03155209496617317, + 0.10004272311925888, + -3.016183853149414, + -0.002833554521203041, + -0.01678214780986309 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 5 cm, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3309532701969147, + -0.028491122648119926, + 0.12317488342523575, + -2.9961187839508057, + 0.015271210111677647, + -0.010577891953289509 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move down 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32591333985328674, + -0.0160270556807518, + 0.133865624666214, + -2.9802615642547607, + 0.03643202781677246, + -0.05257449671626091 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3326053321361542, + 0.006791216321289539, + 0.1496201753616333, + -2.980001449584961, + 0.033303532749414444, + -0.08454778790473938 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424520194530487, + 0.03239230811595917, + 0.16129229962825775, + -2.9880549907684326, + 8.579099085181952e-05, + -0.12628988921642303 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 140, + 3, + 273, + 177 + ], + "oven door": [ + 274, + 695, + 684, + 994 + ], + "saucepan": [ + 502, + 10, + 780, + 277 + ], + "white backsplash": [ + 4, + 23, + 464, + 391 + ], + "blue plastic object": [ + 238, + 377, + 347, + 507 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 8 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35245248675346375, + 0.05485321581363678, + 0.15511126816272736, + -3.0067567825317383, + -0.000304844812490046, + -0.16320103406906128 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 141, + 3, + 274, + 177 + ], + "oven door": [ + 274, + 694, + 684, + 993 + ], + "white backsplash": [ + 5, + 23, + 462, + 391 + ], + "stovetop": [ + 210, + 179, + 965, + 916 + ], + "blue plastic object": [ + 238, + 377, + 347, + 507 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 6 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619098961353302, + 0.07665477693080902, + 0.1475074589252472, + -3.0281364917755127, + -0.00619290117174387, + -0.19165794551372528 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3641488254070282, + 0.09067810326814651, + 0.13719923794269562, + -3.0304248332977295, + -0.002569579752162099, + -0.1817016303539276 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621906042098999, + 0.0940919816493988, + 0.12364368140697479, + -3.042896270751953, + -0.016988959163427353, + -0.1524018794298172 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is currently positioned on the stove burner, and the gripper is in contact with the pan handle. The gripper has closed significantly during this segment, indicating a grasp is being established. The next action is to finalize the grip and adjust the pan's position if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3535497784614563, + 0.09455767273902893, + 0.1053767055273056, + -3.0596001148223877, + -0.002379234414547682, + -0.13760000467300415 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478021025657654, + 0.09301229566335678, + 0.08988166600465775, + -3.078852415084839, + -0.0047509074211120605, + -0.12650665640830994 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, open gripper; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480100631713867, + 0.08997933566570282, + 0.07951457053422928, + -3.0918984413146973, + -0.0341031588613987, + -0.12092031538486481 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35377225279808044, + 0.09117847681045532, + 0.0784761980175972, + -3.097576141357422, + -0.08007580041885376, + -0.12282619625329971 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3531681001186371, + 0.09441111981868744, + 0.07849157601594925, + -3.0987062454223633, + -0.08188129216432571, + -0.13769523799419403 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 5 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35099512338638306, + 0.09584973752498627, + 0.08279471099376678, + -3.110694408416748, + -0.06180102378129959, + -0.15867164731025696 + ], + "gripper_value": 0.22298766672611237 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 8 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35342374444007874, + 0.09628797322511673, + 0.09168244153261185, + -3.1147570610046387, + -0.05690526217222214, + -0.15319450199604034 + ], + "gripper_value": 0.49086472392082214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 10 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3557380735874176, + 0.09108137339353561, + 0.09492144733667374, + -3.1165730953216553, + -0.05605073645710945, + -0.1469753384590149 + ], + "gripper_value": 0.8196109533309937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529234230518341, + 0.0843261182308197, + 0.09473685920238495, + -3.113459348678589, + -0.02542840875685215, + -0.13858875632286072 + ], + "gripper_value": 1.0205672979354858 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34718984365463257, + 0.07558568567037582, + 0.10933256149291992, + -3.0569982528686523, + 0.004858341533690691, + -0.14822058379650116 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478511571884155, + 0.07120148837566376, + 0.1164427101612091, + -3.0483205318450928, + -0.012054133228957653, + -0.15820182859897614 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plastic object": [ + 238, + 375, + 348, + 505 + ], + "oven door": [ + 279, + 696, + 683, + 993 + ], + "white backsplash": [ + 4, + 24, + 463, + 394 + ], + "stovetop": [ + 215, + 229, + 959, + 913 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3475531041622162, + 0.07257333397865295, + 0.11642307788133621, + -3.0497217178344727, + -0.012521769851446152, + -0.15316900610923767 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.34705740213394165, + 0.07493086904287338, + 0.11698698252439499, + -3.0478343963623047, + -0.013509112410247326, + -0.14747017621994019 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.34634536504745483, + 0.07433028519153595, + 0.11582005769014359, + -3.0516436100006104, + -0.011539356783032417, + -0.14672182500362396 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3100612461566925, + 0.08650070428848267, + 0.12709836661815643, + -3.055327892303467, + -0.07638443261384964, + -0.1416216790676117 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2782111167907715, + 0.10841165482997894, + 0.13161973655223846, + -2.9917147159576416, + -0.11307831108570099, + -0.1165749803185463 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move left 2 cm, move down 11 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.25754478573799133, + 0.11148788034915924, + 0.13029012084007263, + -2.954308032989502, + -0.172693133354187, + -0.11883328855037689 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 11 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2425660490989685, + 0.12010510265827179, + 0.12036500126123428, + -2.9361932277679443, + -0.20650096237659454, + -0.11984412372112274 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.23385119438171387, + 0.12106359004974365, + 0.10935234278440475, + -2.9311630725860596, + -0.2474304437637329, + -0.11961475014686584 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plastic object": [ + 238, + 375, + 348, + 504 + ], + "saucepan": [ + 369, + 184, + 594, + 416 + ], + "oven door": [ + 282, + 697, + 684, + 994 + ], + "gas burners": [ + 626, + 303, + 921, + 592 + ], + "stovetop": [ + 216, + 194, + 963, + 915 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 7 cm, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.23087170720100403, + 0.12077215313911438, + 0.0928783193230629, + -2.917900800704956, + -0.29098400473594666, + -0.12654180824756622 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move forward 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.23298095166683197, + 0.11818576604127884, + 0.07333700358867645, + -2.9390459060668945, + -0.3225802481174469, + -0.12108124792575836 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is now correctly positioned on the stove burner, and the robot has completed the repositioning action. The gripper is open and the end-effector is slightly above the pan, indicating the robot is retreating. The next step is to move further away to prepare for picking up the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.23589907586574554, + 0.11848877370357513, + 0.06212388351559639, + -2.9451565742492676, + -0.3483549952507019, + -0.12591558694839478 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 6 cm, move right 2 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2430262267589569, + 0.11998066306114197, + 0.04802423343062401, + -2.9593429565429688, + -0.363666832447052, + -0.13283589482307434 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, close gripper; then move forward 8 cm, move right 4 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2481420636177063, + 0.12291928380727768, + 0.035673946142196655, + -2.9762799739837646, + -0.36717042326927185, + -0.13728643953800201 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt forward 10 degrees, close gripper; then move forward 9 cm, move right 6 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521664798259735, + 0.12615132331848145, + 0.027051564306020737, + -2.986466646194458, + -0.3720434606075287, + -0.14434704184532166 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 10 cm, move right 6 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.25273022055625916, + 0.12746109068393707, + 0.025063946843147278, + -3.0055065155029297, + -0.36408641934394836, + -0.12935779988765717 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 11 cm, move right 6 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.24739031493663788, + 0.12555564939975739, + 0.024779366329312325, + -3.035078763961792, + -0.30760058760643005, + -0.07747042924165726 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "grasp blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 11 cm, move right 6 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 48 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.24059875309467316, + 0.12355057150125504, + 0.04238142445683479, + -3.0215463638305664, + -0.25701606273651123, + -0.060839954763650894 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 6 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.23997768759727478, + 0.12234623730182648, + 0.07128539681434631, + -2.9957714080810547, + -0.2249213457107544, + -0.06623221933841705 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 6 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.25008562207221985, + 0.12060699611902237, + 0.09503930062055588, + -2.985010862350464, + -0.19315174221992493, + -0.06896419823169708 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move down 1 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.27200424671173096, + 0.11559812724590302, + 0.12058334052562714, + -2.9641194343566895, + -0.21781130135059357, + -0.07719715684652328 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "gas burners": [ + 629, + 305, + 922, + 590 + ], + "blue plastic object": [ + 189, + 159, + 270, + 293 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 3 cm, open gripper; then move back 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.29711616039276123, + 0.10248135030269623, + 0.12232324481010437, + -2.9671144485473633, + -0.19794349372386932, + -0.058709658682346344 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot's end-effector is currently hovering directly above the blueberry on the counter, preparing to interact. The gripper is open, indicating the grasp has not yet occurred. The next action is to close the gripper to secure the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 3 cm, open gripper; then move back 2 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3164551258087158, + 0.08533290028572083, + 0.12411373853683472, + -2.977271795272827, + -0.1860264390707016, + -0.029279913753271103 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot is currently holding a blueberry above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, open gripper; then move back 2 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.3340266942977905, + 0.0669592097401619, + 0.11436967551708221, + -3.0127406120300293, + -0.17300821840763092, + -0.013009700924158096 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot is currently holding a blueberry above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, open gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3410768210887909, + 0.0615505650639534, + 0.10421992093324661, + -3.0322866439819336, + -0.18332542479038239, + -0.019508948549628258 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "saucepan": [ + 368, + 194, + 591, + 415 + ], + "faucet": [ + 141, + 3, + 275, + 177 + ], + "blue plastic object": [ + 406, + 91, + 508, + 224 + ], + "gas burners": [ + 625, + 303, + 924, + 592 + ], + "white backsplash": [ + 7, + 26, + 423, + 398 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot is currently holding a blueberry above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3472271263599396, + 0.06118697673082352, + 0.09962629526853561, + -3.0368268489837646, + -0.21265138685703278, + -0.02736562304198742 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot is currently holding a blueberry above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471621870994568, + 0.06008463352918625, + 0.09226570278406143, + -3.0365400314331055, + -0.2246062457561493, + -0.036152809858322144 + ], + "gripper_value": 0.904950737953186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot is currently holding a blueberry above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.34744498133659363, + 0.059710919857025146, + 0.08869633823633194, + -3.0311222076416016, + -0.23286469280719757, + -0.06250850856304169 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "transport blueberry to pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot is currently holding a blueberry above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 59 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.34551259875297546, + 0.06333783268928528, + 0.08814304322004318, + -3.022796630859375, + -0.22290050983428955, + -0.06617125123739243 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "release blueberry in pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot is currently holding a blueberry above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 60, + "end": 65 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.336046427488327, + 0.06270194053649902, + 0.08620002865791321, + -3.0293729305267334, + -0.1623692661523819, + -0.05653686821460724 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "release blueberry in pan", + "subtask_reasoning": "The pan is already positioned on the stove burner. The robot is currently holding a blueberry above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 60, + "end": 65 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.32857340574264526, + 0.05904007703065872, + 0.09651369601488113, + -3.0285613536834717, + -0.13463392853736877, + -0.04509074240922928 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "release blueberry in pan", + "subtask_reasoning": "The pan is positioned on the stove burner with the blueberry already inside. The gripper is open and hovering directly above the blueberry, indicating the release action is complete. The robot should now retract its arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 60, + "end": 65 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.32655298709869385, + 0.051170460879802704, + 0.10848212242126465, + -3.0343291759490967, + -0.1222594678401947, + -0.0392911434173584 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "release blueberry in pan", + "subtask_reasoning": "The pan is positioned on the stove burner with the blueberry already inside. The gripper is open and hovering directly above the blueberry, indicating the release action is complete. The robot should now retract its arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 60, + "end": 65 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.3285220265388489, + 0.04602453485131264, + 0.11928358674049377, + -3.0187556743621826, + -0.10443858057260513, + -0.04143229499459267 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "release blueberry in pan", + "subtask_reasoning": "The pan is positioned on the stove burner with the blueberry already inside. The gripper is open and hovering directly above the blueberry, indicating the release action is complete. The robot should now retract its arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 60, + "end": 65 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306054174900055, + 0.040643393993377686, + 0.12466055154800415, + -3.0038466453552246, + -0.10170566290616989, + -0.053000468760728836 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "retreat from pan" + }, + { + "id": 4, + "subtask": "approach blueberry" + }, + { + "id": 5, + "subtask": "grasp blueberry" + }, + { + "id": 6, + "subtask": "transport blueberry to pan" + }, + { + "id": 7, + "subtask": "release blueberry in pan" + } + ], + "subtask_name": "release blueberry in pan", + "subtask_reasoning": "The pan is positioned on the stove burner with the blueberry already inside. The gripper is open and hovering directly above the blueberry, indicating the release action is complete. The robot should now retract its arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 60, + "end": 65 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003651_ecot.json b/cot/chunk-0003/episode_0003651_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e9895d365b29f9531da1d5f56a74d9e833352dc8 --- /dev/null +++ b/cot/chunk-0003/episode_0003651_ecot.json @@ -0,0 +1,1465 @@ +{ + "task_name": "episode_0003651", + "episode_json": "json/chunk-0003/episode_0003651.json", + "video_path": "videos/chunk-0003/image_0/episode_0003651.mp4", + "instruction": "Mova o objeto para o lado esquerdo da mesa.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003651.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.40666431188583374, + "std": 0.1786065548658371, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40666, std=0.17861, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 17 + ], + [ + 3, + 18, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp object\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the white object on the table and close gripper to secure it, as evidenced by gripper value dropping from ~1.0 to ~0.60 by frame 14.\"},\n {\"id\": 2, \"name\": \"transport object leftward\", \"start\": 15, \"end\": 17, \"planning\": \"Carry the grasped object laterally to the left while maintaining grip, with no gripper motion but clear positional shift in x and y coordinates.\"},\n {\"id\": 3, \"name\": \"release object and retreat\", \"start\": 18, \"end\": 24, \"planning\": \"Open gripper to release the object at target location on the left side of the table, then retract end-effector upward and slightly back, confirmed by gripper value rising to ~1.0 and vertical motion.\"}\n ],\n \"global_plan\": \"Grasp the white object near center-right of table, move it leftward across the surface, then release it on the left side and retreat.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.39558) consistent with grasping; Segment 2 has no gripper change but continues transport; Segment 3 shows gripper opening (delta=+0.39691) confirming release. All subtasks are contiguous and cover full trajectory [0,24].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp object", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the white object on the table and close gripper to secure it, as evidenced by gripper value dropping from ~1.0 to ~0.60 by frame 14." + }, + { + "id": 2, + "name": "transport object leftward", + "start": 15, + "end": 17, + "planning": "Carry the grasped object laterally to the left while maintaining grip, with no gripper motion but clear positional shift in x and y coordinates." + }, + { + "id": 3, + "name": "release object and retreat", + "start": 18, + "end": 24, + "planning": "Open gripper to release the object at target location on the left side of the table, then retract end-effector upward and slightly back, confirmed by gripper value rising to ~1.0 and vertical motion." + } + ], + "global_plan": "Grasp the white object near center-right of table, move it leftward across the surface, then release it on the left side and retreat.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.39558) consistent with grasping; Segment 2 has no gripper change but continues transport; Segment 3 shows gripper opening (delta=+0.39691) confirming release. All subtasks are contiguous and cover full trajectory [0,24]." + } + }, + "episode_goal": "Move the white egg-shaped object to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24197286367416382, + -0.024735230952501297, + 0.09431415051221848, + -3.061588764190674, + -0.110097736120224, + -0.18136171996593475 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the white egg-shaped object. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the object to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24192829430103302, + -0.02536541223526001, + 0.089096300303936, + -3.0663323402404785, + -0.0918038934469223, + -0.1789824217557907 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the white egg-shaped object. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the object to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2568202018737793, + -0.03089071623980999, + 0.08290929347276688, + -3.079165458679199, + -0.09950321912765503, + -0.1808604598045349 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the white egg-shaped object. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the object to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2720375061035156, + -0.03902987018227577, + 0.07791192084550858, + -3.0713918209075928, + -0.09939835965633392, + -0.19022822380065918 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the white egg-shaped object. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the object to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913084924221039, + -0.047961778938770294, + 0.08032829314470291, + -3.074702262878418, + -0.13394010066986084, + -0.1948101669549942 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the white egg-shaped object. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the object to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 1 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31429702043533325, + -0.06403550505638123, + 0.07876317203044891, + -3.102618932723999, + -0.17053456604480743, + -0.19644565880298615 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black grinder": [ + 521, + 6, + 782, + 543 + ] + } + } + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the white egg-shaped object. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the object to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3277137875556946, + -0.06849490106105804, + 0.0744522362947464, + -3.116175651550293, + -0.18146808445453644, + -0.1713527888059616 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the white egg-shaped object. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the object to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 2 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33558791875839233, + -0.0724431723356247, + 0.06669259071350098, + -3.1331069469451904, + -0.17765676975250244, + -0.14994707703590393 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 3 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.340015172958374, + -0.07464257627725601, + 0.0480886846780777, + -3.136955738067627, + -0.15945059061050415, + -0.12447050958871841 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 4 cm, move left 13 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429771959781647, + -0.08222174644470215, + 0.03759591653943062, + -3.1410164833068848, + -0.15170396864414215, + -0.12060192227363586 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 13 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34270748496055603, + -0.08000316470861435, + 0.032961487770080566, + -3.1348302364349365, + -0.15029437839984894, + -0.09332942217588425 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 13 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33715561032295227, + -0.08360505849123001, + 0.0314861461520195, + -3.1340911388397217, + -0.14569970965385437, + -0.10901061445474625 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 13 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3299808204174042, + -0.08036608248949051, + 0.044899098575115204, + -3.1268765926361084, + -0.12985192239284515, + -0.10607347637414932 + ], + "gripper_value": 0.6129248142242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 13 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33511486649513245, + -0.06429248303174973, + 0.07234945893287659, + -3.1116976737976074, + -0.1464303433895111, + -0.06615960597991943 + ], + "gripper_value": 0.6049063205718994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 13 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34972885251045227, + -0.01234745979309082, + 0.0897008627653122, + -3.0922253131866455, + -0.16318997740745544, + 0.06956978142261505 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black grinder": [ + 506, + 4, + 757, + 431 + ] + } + } + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach and grasp object", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 13 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36821797490119934, + 0.027445299550890923, + 0.10327647626399994, + -3.071378231048584, + -0.20302918553352356, + 0.15843842923641205 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport object leftward", + "subtask_reasoning": "The robot arm is positioned above the white egg-shaped object on the right side of the table, with the gripper open and ready to grasp. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper and close it around the object to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 13 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3862256109714508, + 0.07167544215917587, + 0.10176534205675125, + -3.0664021968841553, + -0.2147541642189026, + 0.2681150436401367 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black grinder": [ + 370, + 3, + 608, + 261 + ] + } + } + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport object leftward", + "subtask_reasoning": "The robot is currently holding the white egg-shaped object above the table surface, having completed the grasp. The gripper signal remains constant, indicating a stable hold during the transport phase. The next action is to continue moving the object laterally toward the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39827412366867065, + 0.11632787436246872, + 0.09684073179960251, + -3.0923571586608887, + -0.21102292835712433, + 0.39133721590042114 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport object leftward", + "subtask_reasoning": "The robot is currently holding the white egg-shaped object above the table surface, having completed the grasp. The gripper signal remains constant, indicating a stable hold during the transport phase. The next action is to continue moving the object laterally toward the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4101647734642029, + 0.16111265122890472, + 0.07812587171792984, + -3.1155080795288086, + -0.18517522513866425, + 0.5161582231521606 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently holding the white egg-shaped object above the table surface, having completed the grasp. The gripper signal remains constant, indicating a stable hold during the transport phase. The next action is to continue moving the object laterally toward the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.42142680287361145, + 0.1793457269668579, + 0.06964252889156342, + -3.102759599685669, + -0.17850179970264435, + 0.5457261204719543 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently holding the white egg-shaped object above the table surface, having completed the grasp. The gripper signal remains constant, indicating a stable hold during the transport phase. The next action is to continue moving the object laterally toward the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.42422059178352356, + 0.18131501972675323, + 0.06727206707000732, + -3.1027936935424805, + -0.172539621591568, + 0.5310706496238708 + ], + "gripper_value": 0.9132781028747559 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently holding the white egg-shaped object above the table surface, having completed the grasp. The gripper signal remains constant, indicating a stable hold during the transport phase. The next action is to continue moving the object laterally toward the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.42044395208358765, + 0.17926742136478424, + 0.06011557579040527, + -3.098625659942627, + -0.15411598980426788, + 0.5001645684242249 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The white egg-shaped object has been successfully moved to the left side of the table and is now resting on the surface. The gripper is open and positioned above the object, indicating the release phase is complete. The next action is to retreat the end-effector away from the object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4178040027618408, + 0.178502157330513, + 0.06311957538127899, + -3.094435691833496, + -0.1462281197309494, + 0.4893459379673004 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The white egg-shaped object has been successfully moved to the left side of the table and is now resting on the surface. The gripper is open and positioned above the object, indicating the release phase is complete. The next action is to retreat the end-effector away from the object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.41049623489379883, + 0.17547927796840668, + 0.08599596470594406, + -3.0865895748138428, + -0.151113361120224, + 0.4567278027534485 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The white egg-shaped object has been successfully moved to the left side of the table and is now resting on the surface. The gripper is open and positioned above the object, indicating the release phase is complete. The next action is to retreat the end-effector away from the object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.39631539583206177, + 0.17121393978595734, + 0.10518911480903625, + -3.0710527896881104, + -0.13498170673847198, + 0.4106372594833374 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white egg-shaped object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp object" + }, + { + "id": 2, + "subtask": "transport object leftward" + }, + { + "id": 3, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The white egg-shaped object has been successfully moved to the left side of the table and is now resting on the surface. The gripper is open and positioned above the object, indicating the release phase is complete. The next action is to retreat the end-effector away from the object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003652_ecot.json b/cot/chunk-0003/episode_0003652_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3ce219d528c43823b90d79f91ab009b474aa1202 --- /dev/null +++ b/cot/chunk-0003/episode_0003652_ecot.json @@ -0,0 +1,2732 @@ +{ + "task_name": "episode_0003652", + "episode_json": "json/chunk-0003/episode_0003652.json", + "video_path": "videos/chunk-0003/image_0/episode_0003652.mp4", + "instruction": "Put the cucumber that is in the orange pot on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003652.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.6989368200302124, + "std": 0.31882134079933167, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.69894, std=0.31882, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 0, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 115, + 115, + 115, + 15, + 15, + 15, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 229, + 229, + 229, + 229, + 229, + 229, + 229, + 229, + 229, + 229, + 229 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 1 + ], + [ + 3, + 2, + 2 + ], + [ + 4, + 3, + 3 + ], + [ + 5, + 4, + 14 + ], + [ + 6, + 15, + 17 + ], + [ + 7, + 18, + 20 + ], + [ + 8, + 21, + 28 + ], + [ + 9, + 29, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the orange pot containing the cucumber without closing the gripper.\"},\n {\"id\": 2, \"name\": \"position above cucumber\", \"start\": 5, \"end\": 14, \"planning\": \"Adjust the end-effector pose to align directly above the cucumber inside the pot, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp cucumber\", \"start\": 15, \"end\": 20, \"planning\": \"Close the gripper around the cucumber while maintaining contact with the pot interior, securing the object.\"},\n {\"id\": 4, \"name\": \"lift and retreat from pot\", \"start\": 21, \"end\": 28, \"planning\": \"Lift the grasped cucumber vertically out of the pot and move away to avoid collision with the pot rim.\"},\n {\"id\": 5, \"name\": \"place cucumber on table\", \"start\": 29, \"end\": 39, \"planning\": \"Transport the cucumber to a clear area on the table and release it by opening the gripper, completing the task.\"}\n ],\n \"global_plan\": \"Approach the orange pot, position above the cucumber, grasp it securely, lift it out, and place it on the table surface.\",\n \"notes\": \"Gripper closure is confirmed in segments 6 and 9; grasp and release actions are justified by gripper state changes and visual evidence. Segment 5 (frames 5-14) shows no gripper motion but significant positioning adjustment, so it is labeled as positioning rather than grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange pot", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the orange pot containing the cucumber without closing the gripper." + }, + { + "id": 2, + "name": "position above cucumber", + "start": 5, + "end": 14, + "planning": "Adjust the end-effector pose to align directly above the cucumber inside the pot, preparing for grasp." + }, + { + "id": 3, + "name": "grasp cucumber", + "start": 15, + "end": 20, + "planning": "Close the gripper around the cucumber while maintaining contact with the pot interior, securing the object." + }, + { + "id": 4, + "name": "lift and retreat from pot", + "start": 21, + "end": 28, + "planning": "Lift the grasped cucumber vertically out of the pot and move away to avoid collision with the pot rim." + }, + { + "id": 5, + "name": "place cucumber on table", + "start": 29, + "end": 39, + "planning": "Transport the cucumber to a clear area on the table and release it by opening the gripper, completing the task." + } + ], + "global_plan": "Approach the orange pot, position above the cucumber, grasp it securely, lift it out, and place it on the table surface.", + "notes": "Gripper closure is confirmed in segments 6 and 9; grasp and release actions are justified by gripper state changes and visual evidence. Segment 5 (frames 5-14) shows no gripper motion but significant positioning adjustment, so it is labeled as positioning rather than grasping." + } + }, + "episode_goal": "Pick up the cucumber from the orange pot and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29199618101119995, + -0.02647501602768898, + 0.11044898629188538, + -3.1328823566436768, + -0.17957712709903717, + -0.5715675354003906 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "approach orange pot", + "subtask_reasoning": "The robot is positioned above the table with the orange pot and cucumber visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot needs to move closer to the orange pot to position itself for grasping the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28870415687561035, + -0.026768185198307037, + 0.10110591351985931, + 3.133181571960449, + -0.15035930275917053, + -0.5702894330024719 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "approach orange pot", + "subtask_reasoning": "The robot is positioned above the table with the orange pot and cucumber visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot needs to move closer to the orange pot to position itself for grasping the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28338128328323364, + -0.03782099485397339, + 0.10007032752037048, + -3.13940691947937, + -0.11824371665716171, + -0.6461194753646851 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "approach orange pot", + "subtask_reasoning": "The robot is positioned above the table near the orange pot containing the cucumber. No prior actions have been completed. The gripper remains open and no contact has been made. The next action should be to move the end-effector closer to the cucumber inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2759622037410736, + -0.057587217539548874, + 0.09984014928340912, + 3.1376614570617676, + -0.09711609780788422, + -0.7027702927589417 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cucumber": [ + 583, + 531, + 774, + 620 + ], + "orange strainer": [ + 479, + 454, + 816, + 909 + ], + "table": [ + 4, + 15, + 996, + 994 + ], + "spoon": [ + 179, + 281, + 437, + 702 + ], + "fork": [ + 424, + 197, + 541, + 394 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "approach orange pot", + "subtask_reasoning": "The robot is positioned above the table near the orange pot containing the cucumber. No prior actions have been completed. The gripper remains open and no contact has been made. The next action should be to move the end-effector closer to the cucumber inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 2 cm, keep gripper open; then move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683524191379547, + -0.0726209431886673, + 0.0916643887758255, + -3.1136727333068848, + -0.08783535659313202, + -0.7476800084114075 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "approach orange pot", + "subtask_reasoning": "The robot is positioned above the table near the orange pot containing the cucumber. No prior actions have been completed. The gripper remains open and no contact has been made. The next action should be to move the end-effector closer to the cucumber inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26375094056129456, + -0.084001325070858, + 0.08256283402442932, + -3.0922250747680664, + -0.1039605438709259, + -0.7526856064796448 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the table near the orange pot containing the cucumber. No prior actions have been completed. The gripper remains open and no contact has been made. The next action should be to move the end-effector closer to the cucumber inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26329588890075684, + -0.09025445580482483, + 0.07951955497264862, + -3.0829102993011475, + -0.1115858182311058, + -0.7615748047828674 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the table near the orange pot containing the cucumber. No prior actions have been completed. The gripper remains open and no contact has been made. The next action should be to move the end-effector closer to the cucumber inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26464971899986267, + -0.09035004675388336, + 0.07449521124362946, + -3.0782470703125, + -0.11623012274503708, + -0.7624035477638245 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the table near the orange pot containing the cucumber. No prior actions have been completed. The gripper remains open and no contact has been made. The next action should be to move the end-effector closer to the cucumber inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632337808609009, + -0.09245023876428604, + 0.07200933247804642, + -3.0897562503814697, + -0.1281646341085434, + -0.7627362608909607 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the table near the orange pot containing the cucumber. No prior actions have been completed. The gripper remains open and no contact has been made. The next action should be to move the end-effector closer to the cucumber inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26196208596229553, + -0.09355539083480835, + 0.06637315452098846, + -3.1007840633392334, + -0.1248871460556984, + -0.7667063474655151 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the cucumber inside the orange pot, with the gripper open and ready. The approach to the pot has been completed, and the arm is now aligned for grasping. The next action is to close the gripper to secure the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26178455352783203, + -0.094296395778656, + 0.06451677531003952, + -3.100778579711914, + -0.13157616555690765, + -0.7632297277450562 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the cucumber inside the orange pot, with the gripper open and ready. The approach to the pot has been completed, and the arm is now aligned for grasping. The next action is to close the gripper to secure the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26244282722473145, + -0.09461698681116104, + 0.059195879846811295, + -3.1077635288238525, + -0.1246412843465805, + -0.7594989538192749 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the cucumber inside the orange pot, with the gripper open and ready. The approach to the pot has been completed, and the arm is now aligned for grasping. The next action is to close the gripper to secure the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2609311044216156, + -0.09404835104942322, + 0.050502751022577286, + -3.115828275680542, + -0.10637220740318298, + -0.7582609057426453 + ], + "gripper_value": 0.905788779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the cucumber inside the orange pot, with the gripper open and ready. The approach to the pot has been completed, and the arm is now aligned for grasping. The next action is to close the gripper to secure the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2614525258541107, + -0.09419535100460052, + 0.045567985624074936, + -3.1189868450164795, + -0.09933710098266602, + -0.7561757564544678 + ], + "gripper_value": 0.8598465323448181 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the cucumber inside the orange pot, with the gripper open and ready. The approach to the pot has been completed, and the arm is now aligned for grasping. The next action is to close the gripper to secure the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.262239009141922, + -0.09241087734699249, + 0.04139131307601929, + -3.111081600189209, + -0.08721886575222015, + -0.7550655007362366 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "position above cucumber", + "subtask_reasoning": "The robot is positioned above the cucumber inside the orange pot, with the gripper open and ready. The approach to the pot has been completed, and the arm is now aligned for grasping. The next action is to close the gripper to secure the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26236048340797424, + -0.09356211870908737, + 0.04172525182366371, + -3.115495204925537, + -0.09110214561223984, + -0.7657049298286438 + ], + "gripper_value": 0.33559030294418335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot is positioned above the cucumber inside the orange pot, with the gripper open and ready. The approach to the pot has been completed, and the arm is now aligned for grasping. The next action is to close the gripper to secure the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625553607940674, + -0.0915645956993103, + 0.041683416813611984, + -3.1173627376556396, + -0.0886840671300888, + -0.7630658149719238 + ], + "gripper_value": 0.30724331736564636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot is positioned above the cucumber inside the orange pot, with the gripper open and ready. The approach to the pot has been completed, and the arm is now aligned for grasping. The next action is to close the gripper to secure the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 10 cm, move left 9 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25820672512054443, + -0.08896545320749283, + 0.043491825461387634, + -3.122694492340088, + -0.06427513808012009, + -0.782232940196991 + ], + "gripper_value": 0.30724331736564636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the orange pot. The gripper is currently open, and the segment-level evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 9 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2586681544780731, + -0.08852734416723251, + 0.06546708196401596, + 3.1412606239318848, + -0.10838750749826431, + -0.7795610427856445 + ], + "gripper_value": 0.30647560954093933 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the orange pot. The gripper is currently open, and the segment-level evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26215195655822754, + -0.08874554932117462, + 0.08557267487049103, + 3.1119935512542725, + -0.16346153616905212, + -0.7656528949737549 + ], + "gripper_value": 0.30724331736564636 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fork": [ + 425, + 198, + 541, + 395 + ], + "table": [ + 4, + 22, + 995, + 994 + ], + "orange strainer": [ + 478, + 457, + 810, + 917 + ], + "spoon": [ + 179, + 282, + 437, + 702 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the orange pot. The gripper is currently open, and the segment-level evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27317750453948975, + -0.08295802026987076, + 0.09393079578876495, + 3.1146345138549805, + -0.19584766030311584, + -0.7271988391876221 + ], + "gripper_value": 0.30647560954093933 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange strainer": [ + 478, + 453, + 808, + 919 + ], + "fork": [ + 425, + 197, + 541, + 395 + ], + "table": [ + 4, + 21, + 995, + 994 + ], + "spoon": [ + 179, + 282, + 437, + 701 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the orange pot. The gripper is currently open, and the segment-level evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30125677585601807, + -0.06565552949905396, + 0.09358596801757812, + -3.1035706996917725, + -0.21064279973506927, + -0.5823256969451904 + ], + "gripper_value": 0.30647560954093933 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "lift and retreat from pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the orange pot. The gripper is currently open, and the segment-level evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.334340363740921, + -0.043791308999061584, + 0.08822263777256012, + -3.0721426010131836, + -0.20989631116390228, + -0.4377882182598114 + ], + "gripper_value": 0.30647560954093933 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "lift and retreat from pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the orange pot. The gripper is currently open, and the segment-level evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 5 cm, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36366504430770874, + -0.019724398851394653, + 0.08696146309375763, + -3.052781820297241, + -0.21241214871406555, + -0.31855544447898865 + ], + "gripper_value": 0.30724331736564636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "lift and retreat from pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the orange pot. The gripper is currently open, and the segment-level evidence indicates a closing motion is occurring. The next action is to complete the grasp by closing the gripper around the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.38156208395957947, + -0.0016609607264399529, + 0.07213008403778076, + -3.0357534885406494, + -0.19251307845115662, + -0.24221742153167725 + ], + "gripper_value": 0.30647560954093933 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "lift and retreat from pot", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3921915590763092, + 0.012063541449606419, + 0.058090634644031525, + -3.0286943912506104, + -0.18064050376415253, + -0.1764739602804184 + ], + "gripper_value": 0.30724331736564636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "lift and retreat from pot", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4020422101020813, + 0.02230200543999672, + 0.045393627136945724, + -3.024503231048584, + -0.18987536430358887, + -0.1350998878479004 + ], + "gripper_value": 0.30724331736564636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "lift and retreat from pot", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, open gripper; then move back 2 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4102590084075928, + 0.02786795049905777, + 0.03928391635417938, + -3.0319244861602783, + -0.17794735729694366, + -0.12121949344873428 + ], + "gripper_value": 0.30724331736564636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "lift and retreat from pot", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4152238667011261, + 0.031677670776844025, + 0.04084359109401703, + -3.0411534309387207, + -0.1737007051706314, + -0.11388266086578369 + ], + "gripper_value": 0.3552374839782715 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "lift and retreat from pot", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4186394214630127, + 0.033166829496622086, + 0.039544135332107544, + -3.0680863857269287, + -0.15002816915512085, + -0.11044824868440628 + ], + "gripper_value": 0.6069100499153137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4202202558517456, + 0.03461092710494995, + 0.04298785701394081, + -3.0830650329589844, + -0.1471245139837265, + -0.11245214939117432 + ], + "gripper_value": 0.8801529407501221 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4202096462249756, + 0.03573766350746155, + 0.04360952228307724, + -3.08697509765625, + -0.14914806187152863, + -0.11386222392320633 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4197761118412018, + 0.03468198701739311, + 0.042550329118967056, + -3.0935988426208496, + -0.14714311063289642, + -0.11581560969352722 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.41751107573509216, + 0.032024167478084564, + 0.04050600528717041, + -3.10599946975708, + -0.1415734589099884, + -0.12049458175897598 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it out of the orange pot, now holding it above the table. The next action is to move the cucumber to a suitable position on the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4139719307422638, + 0.028912341222167015, + 0.04471072182059288, + -3.1210005283355713, + -0.15393996238708496, + -0.1259671002626419 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot is currently holding the cucumber above the table surface, having successfully lifted it from the orange pot. The gripper is closed around the vegetable, and the end-effector is positioned for placement. The next action is to lower the arm to place the cucumber onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.41207069158554077, + 0.021319398656487465, + 0.06236358731985092, + -3.1291394233703613, + -0.1983754187822342, + -0.1483747363090515 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot is currently holding the cucumber above the table surface, having successfully lifted it from the orange pot. The gripper is closed around the vegetable, and the end-effector is positioned for placement. The next action is to lower the arm to place the cucumber onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.40334856510162354, + 0.01623545028269291, + 0.07093039155006409, + -3.117236375808716, + -0.21320730447769165, + -0.17162920534610748 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot is currently holding the cucumber above the table surface, having successfully lifted it from the orange pot. The gripper is closed around the vegetable, and the end-effector is positioned for placement. The next action is to lower the arm to place the cucumber onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.39609256386756897, + 0.010109287686645985, + 0.08060622960329056, + -3.084429979324341, + -0.21058113873004913, + -0.19905781745910645 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot is currently holding the cucumber above the table surface, having successfully lifted it from the orange pot. The gripper is closed around the vegetable, and the end-effector is positioned for placement. The next action is to lower the arm to place the cucumber onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3940541744232178, + -0.011284839361906052, + 0.08206833153963089, + -3.0964505672454834, + -0.19746126234531403, + -0.2490873485803604 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot is currently holding the cucumber above the table surface, having successfully lifted it from the orange pot. The gripper is closed around the vegetable, and the end-effector is positioned for placement. The next action is to lower the arm to place the cucumber onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.40304404497146606, + -0.042728569358587265, + 0.08415407687425613, + -3.130805015563965, + -0.22456718981266022, + -0.2805415391921997 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cucumber": [ + 560, + 181, + 652, + 315 + ], + "orange strainer": [ + 477, + 455, + 809, + 923 + ], + "table": [ + 4, + 16, + 996, + 994 + ], + "spoon": [ + 179, + 282, + 437, + 702 + ], + "fork": [ + 425, + 196, + 540, + 395 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the cucumber from the orange pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "position above cucumber" + }, + { + "id": 3, + "subtask": "grasp cucumber" + }, + { + "id": 4, + "subtask": "lift and retreat from pot" + }, + { + "id": 5, + "subtask": "place cucumber on table" + } + ], + "subtask_name": "place cucumber on table", + "subtask_reasoning": "The robot is currently holding the cucumber above the table surface, having successfully lifted it from the orange pot. The gripper is closed around the vegetable, and the end-effector is positioned for placement. The next action is to lower the arm to place the cucumber onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003653_ecot.json b/cot/chunk-0003/episode_0003653_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9c90e71a7413c3cb1ee57dac2dad7f2ac547c402 --- /dev/null +++ b/cot/chunk-0003/episode_0003653_ecot.json @@ -0,0 +1,2048 @@ +{ + "task_name": "episode_0003653", + "episode_json": "json/chunk-0003/episode_0003653.json", + "video_path": "videos/chunk-0003/image_0/episode_0003653.mp4", + "instruction": "Fold task from top left to bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003653.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9443783760070801, + "std": 0.42926886677742004, + "delta_total": -0.1980271339416504, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94438, std=0.42927, total_delta=-0.19803). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 16, + 16, + 16, + 16, + 16, + 16, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 129, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 21 + ], + [ + 3, + 22, + 28 + ], + [ + 4, + 29, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach top left corner\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the top-left corner of the cloth while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp top left corner\", \"start\": 15, \"end\": 21, \"planning\": \"Close gripper to securely grasp the top-left corner of the cloth and begin lifting it.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 22, \"end\": 28, \"planning\": \"Pull the grasped corner diagonally across the table toward the bottom-right, dragging the cloth into a folded position.\"},\n {\"id\": 4, \"name\": \"release and finalize fold\", \"start\": 29, \"end\": 30, \"planning\": \"Open gripper to release the cloth at the target position, completing the diagonal fold.\"}\n ],\n \"global_plan\": \"Fold the green cloth by grasping its top-left corner, dragging it diagonally to the bottom-right, and releasing to form a neat fold.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 15–21) with significant delta and low final value; dragging phase (Segment 3) maintains grip; release occurs in Segment 4 as gripper opens. All subtasks align with observed motion and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach top left corner", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the top-left corner of the cloth while keeping gripper open." + }, + { + "id": 2, + "name": "grasp top left corner", + "start": 15, + "end": 21, + "planning": "Close gripper to securely grasp the top-left corner of the cloth and begin lifting it." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 22, + "end": 28, + "planning": "Pull the grasped corner diagonally across the table toward the bottom-right, dragging the cloth into a folded position." + }, + { + "id": 4, + "name": "release and finalize fold", + "start": 29, + "end": 30, + "planning": "Open gripper to release the cloth at the target position, completing the diagonal fold." + } + ], + "global_plan": "Fold the green cloth by grasping its top-left corner, dragging it diagonally to the bottom-right, and releasing to form a neat fold.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 15–21) with significant delta and low final value; dragging phase (Segment 3) maintains grip; release occurs in Segment 4 as gripper opens. All subtasks align with observed motion and gripper evidence." + } + }, + "episode_goal": "Fold the green cloth from the top-left corner to the bottom-right corner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33596768975257874, + -0.02703077159821987, + 0.16094183921813965, + 3.119779109954834, + -0.30050235986709595, + -0.10467518121004105 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, approaching the top-left corner. No contact has been made yet, and the subtask is in the initial approach phase. The next action is to lower the gripper toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 14 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366581201553345, + -0.026861201971769333, + 0.1502154916524887, + 3.1212477684020996, + -0.2683510184288025, + -0.10982978343963623 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, approaching the top-left corner. No contact has been made yet, and the subtask is in the initial approach phase. The next action is to lower the gripper toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 14 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457482159137726, + 0.001514677656814456, + 0.13423261046409607, + -3.11515474319458, + -0.2581641972064972, + -0.13500185310840607 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, approaching the top-left corner. No contact has been made yet, and the subtask is in the initial approach phase. The next action is to lower the gripper toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 12 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36148908734321594, + 0.029209395870566368, + 0.11431901901960373, + -3.0979835987091064, + -0.27680546045303345, + -0.217119038105011 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 136, + 304, + 781, + 859 + ], + "red toy car": [ + 789, + 583, + 917, + 741 + ], + "blue toy car": [ + 569, + 878, + 691, + 995 + ], + "tape measure": [ + 31, + 478, + 133, + 594 + ], + "wooden table": [ + 3, + 176, + 996, + 995 + ], + "stove": [ + 807, + 187, + 994, + 414 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, approaching the top-left corner. No contact has been made yet, and the subtask is in the initial approach phase. The next action is to lower the gripper toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 9 cm, move down 8 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38053369522094727, + 0.04389701411128044, + 0.10431051254272461, + -3.106480598449707, + -0.34836047887802124, + -0.30279743671417236 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, approaching the top-left corner. No contact has been made yet, and the subtask is in the initial approach phase. The next action is to lower the gripper toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move down 8 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.408984512090683, + 0.06753517687320709, + 0.08497297763824463, + -3.111741542816162, + -0.37707528471946716, + -0.340164452791214 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, approaching the top-left corner. No contact has been made yet, and the subtask is in the initial approach phase. The next action is to lower the gripper toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4331686198711395, + 0.08258913457393646, + 0.07761648297309875, + -3.083301067352295, + -0.3787665367126465, + -0.3271826505661011 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, approaching the top-left corner. No contact has been made yet, and the subtask is in the initial approach phase. The next action is to lower the gripper toward the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.453114777803421, + 0.09154104441404343, + 0.07137100398540497, + -3.071429967880249, + -0.3626640737056732, + -0.2965182662010193 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4656298756599426, + 0.09965338557958603, + 0.06529373675584793, + -3.046149253845215, + -0.36088624596595764, + -0.2738149166107178 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4700075685977936, + 0.10387905687093735, + 0.05926785245537758, + -3.028017282485962, + -0.3491555154323578, + -0.2681179940700531 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move back 3 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4726961851119995, + 0.11115622520446777, + 0.057654883712530136, + -2.975316047668457, + -0.3569146990776062, + -0.2753884792327881 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move back 6 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4716619551181793, + 0.11656451225280762, + 0.049074117094278336, + -2.945876359939575, + -0.337478369474411, + -0.2760838568210602 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 9 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4699085056781769, + 0.11836143583059311, + 0.03485698252916336, + -2.949498414993286, + -0.3098614811897278, + -0.2643204927444458 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 136, + 296, + 780, + 857 + ], + "red toy car": [ + 788, + 582, + 917, + 740 + ], + "blue toy car": [ + 569, + 879, + 691, + 995 + ], + "tape measure": [ + 31, + 479, + 131, + 593 + ], + "wooden table": [ + 3, + 175, + 996, + 995 + ], + "stove": [ + 806, + 188, + 994, + 412 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 13 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.47174692153930664, + 0.12049570679664612, + 0.03321690112352371, + -2.943831443786621, + -0.3075648844242096, + -0.2523035407066345 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 13 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4725134074687958, + 0.12289394438266754, + 0.024313876405358315, + -2.942103862762451, + -0.2958928644657135, + -0.2324567288160324 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 13 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4758397042751312, + 0.12600092589855194, + 0.026007462292909622, + -2.924848794937134, + -0.32043591141700745, + -0.19705528020858765 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 6 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4757882058620453, + 0.1267717033624649, + 0.0249275341629982, + -2.9219167232513428, + -0.32543104887008667, + -0.18619202077388763 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 6 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4715665876865387, + 0.12178099900484085, + 0.020389189943671227, + -2.9550697803497314, + -0.3218876123428345, + -0.17283307015895844 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot arm is positioned above the green cloth, hovering near the top-left corner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 9 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 7 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4632953703403473, + 0.11196578294038773, + 0.040335968136787415, + -2.9949824810028076, + -0.35573381185531616, + -0.17919252812862396 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grasp before initiating the diagonal drag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 8 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 8 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4479149281978607, + 0.09893602132797241, + 0.06928133964538574, + -3.015965461730957, + -0.41224566102027893, + -0.21869294345378876 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grasp before initiating the diagonal drag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 8 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4178972542285919, + 0.07919235527515411, + 0.09280554205179214, + -3.0207459926605225, + -0.46359893679618835, + -0.29503828287124634 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grasp before initiating the diagonal drag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38359737396240234, + 0.053359322249889374, + 0.09243215620517731, + -2.9881930351257324, + -0.4448820650577545, + -0.4112136960029602 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grasp before initiating the diagonal drag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492828607559204, + 0.029079023748636246, + 0.07703320682048798, + -2.965869903564453, + -0.39498114585876465, + -0.5144230127334595 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 135, + 335, + 779, + 858 + ], + "red toy car": [ + 788, + 583, + 917, + 741 + ], + "wooden table": [ + 3, + 167, + 996, + 995 + ], + "blue toy car": [ + 570, + 879, + 691, + 995 + ], + "tape measure": [ + 31, + 478, + 132, + 593 + ], + "stove": [ + 805, + 187, + 994, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grasp before initiating the diagonal drag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32081279158592224, + 0.008408701978623867, + 0.06456946581602097, + -2.937156915664673, + -0.3564607799053192, + -0.5974617600440979 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grasp before initiating the diagonal drag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.302840918302536, + -0.002764382166787982, + 0.059973716735839844, + -2.938547372817993, + -0.34058862924575806, + -0.6221297979354858 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now in contact with it. The gripper is closing, indicating an attempt to grasp the corner. The next action is to secure the grasp before initiating the diagonal drag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29320433735847473, + -0.015123145654797554, + 0.0631665587425232, + -2.9545915126800537, + -0.3446885943412781, + -0.6308448910713196 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, having completed the approach and grasp phases. The arm is positioned over the cloth, ready to initiate the diagonal movement toward the bottom-right. The next action is to drag the cloth across the table surface to the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28434669971466064, + -0.02777916193008423, + 0.056901250034570694, + -2.9701199531555176, + -0.3279751241207123, + -0.6243219375610352 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, having completed the approach and grasp phases. The arm is positioned over the cloth, ready to initiate the diagonal movement toward the bottom-right. The next action is to drag the cloth across the table surface to the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27903926372528076, + -0.03960615023970604, + 0.05320041999220848, + -2.982351303100586, + -0.32486242055892944, + -0.6190380454063416 + ], + "gripper_value": 0.07462053745985031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, having completed the approach and grasp phases. The arm is positioned over the cloth, ready to initiate the diagonal movement toward the bottom-right. The next action is to drag the cloth across the table surface to the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, tilt right 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705516219139099, + -0.046260811388492584, + 0.05069177970290184, + -3.024409770965576, + -0.2851810157299042, + -0.619210958480835 + ], + "gripper_value": 0.22810569405555725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, having completed the approach and grasp phases. The arm is positioned over the cloth, ready to initiate the diagonal movement toward the bottom-right. The next action is to drag the cloth across the table surface to the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659182846546173, + -0.05189550295472145, + 0.05121713876724243, + -3.0754265785217285, + -0.25699201226234436, + -0.6413808465003967 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "release and finalize fold", + "subtask_reasoning": "The robot has dragged the green cloth diagonally and is now positioned over the bottom-right area. The gripper is open, indicating the cloth has been released. The next step is to finalize the fold by ensuring the cloth lies flat and aligned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.268532395362854, + -0.048155464231967926, + 0.06120122969150543, + -3.1415107250213623, + -0.24996447563171387, + -0.6485626697540283 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 127, + 465, + 784, + 860 + ], + "red toy car": [ + 789, + 584, + 917, + 741 + ], + "blue toy car": [ + 567, + 877, + 690, + 995 + ], + "tape measure": [ + 31, + 478, + 135, + 593 + ], + "stove": [ + 806, + 188, + 995, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and finalize fold" + } + ], + "subtask_name": "release and finalize fold", + "subtask_reasoning": "The robot has dragged the green cloth diagonally and is now positioned over the bottom-right area. The gripper is open, indicating the cloth has been released. The next step is to finalize the fold by ensuring the cloth lies flat and aligned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003654_ecot.json b/cot/chunk-0003/episode_0003654_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ae94bbb579be1fec1ab7d221369c48c377b82ece --- /dev/null +++ b/cot/chunk-0003/episode_0003654_ecot.json @@ -0,0 +1,2514 @@ +{ + "task_name": "episode_0003654", + "episode_json": "json/chunk-0003/episode_0003654.json", + "video_path": "videos/chunk-0003/image_0/episode_0003654.mp4", + "instruction": "Fold the cloth from the right to the left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003654.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9457060098648071, + "std": 0.42801952362060547, + "delta_total": 0.0032911300659179688, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94571, std=0.42802, total_delta=0.00329). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 400, + 400, + 400, + 400, + 400, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 100, + 113, + 113, + 113, + 313, + 313, + 313, + 313, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 13, + 28, + 28, + 28 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 11 + ], + [ + 3, + 12, + 12 + ], + [ + 4, + 13, + 15 + ], + [ + 5, + 16, + 19 + ], + [ + 6, + 20, + 26 + ], + [ + 7, + 27, + 27 + ], + [ + 8, + 28, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth from above\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector to hover position above the right side of the cloth without grasping.\"},\n {\"id\": 2, \"name\": \"descend and make contact\", \"start\": 5, \"end\": 11, \"planning\": \"Lower gripper toward cloth surface and establish light contact on the right edge.\"},\n {\"id\": 3, \"name\": \"reposition gripper orientation\", \"start\": 12, \"end\": 12, \"planning\": \"Adjust gripper roll angle to align with cloth fold direction while maintaining contact.\"},\n {\"id\": 4, \"name\": \"initiate leftward drag\", \"start\": 13, \"end\": 15, \"planning\": \"Begin sliding the right edge of the cloth leftward across the table surface.\"},\n {\"id\": 5, \"name\": \"execute primary fold motion\", \"start\": 16, \"end\": 19, \"planning\": \"Continue dragging cloth leftward to initiate folding over itself.\"},\n {\"id\": 6, \"name\": \"complete fold and secure\", \"start\": 20, \"end\": 26, \"planning\": \"Finish folding motion by pulling cloth fully left and applying gentle grip to hold folded state.\"},\n {\"id\": 7, \"name\": \"release and retreat\", \"start\": 27, \"end\": 27, \"planning\": \"Open gripper slightly to release tension while still in contact with folded cloth.\"},\n {\"id\": 8, \"name\": \"lift and clear workspace\", \"start\": 28, \"end\": 30, \"planning\": \"Raise gripper away from cloth after releasing, completing the fold operation.\"}\n ],\n \"global_plan\": \"Fold the cloth from right to left by approaching, making contact, dragging leftward in two phases, securing the fold with a brief grasp, then releasing and retreating.\",\n \"notes\": \"Gripper closing is only meaningful in segments 6 and 8; grasp/hold wording is used only there where image evidence supports it. Segments 1-5 use contact-based verbs as gripper remains open or shows no meaningful closure.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth from above", + "start": 0, + "end": 4, + "planning": "Move end-effector to hover position above the right side of the cloth without grasping." + }, + { + "id": 2, + "name": "descend and make contact", + "start": 5, + "end": 11, + "planning": "Lower gripper toward cloth surface and establish light contact on the right edge." + }, + { + "id": 3, + "name": "reposition gripper orientation", + "start": 12, + "end": 12, + "planning": "Adjust gripper roll angle to align with cloth fold direction while maintaining contact." + }, + { + "id": 4, + "name": "initiate leftward drag", + "start": 13, + "end": 15, + "planning": "Begin sliding the right edge of the cloth leftward across the table surface." + }, + { + "id": 5, + "name": "execute primary fold motion", + "start": 16, + "end": 19, + "planning": "Continue dragging cloth leftward to initiate folding over itself." + }, + { + "id": 6, + "name": "complete fold and secure", + "start": 20, + "end": 26, + "planning": "Finish folding motion by pulling cloth fully left and applying gentle grip to hold folded state." + }, + { + "id": 7, + "name": "release and retreat", + "start": 27, + "end": 27, + "planning": "Open gripper slightly to release tension while still in contact with folded cloth." + }, + { + "id": 8, + "name": "lift and clear workspace", + "start": 28, + "end": 30, + "planning": "Raise gripper away from cloth after releasing, completing the fold operation." + } + ], + "global_plan": "Fold the cloth from right to left by approaching, making contact, dragging leftward in two phases, securing the fold with a brief grasp, then releasing and retreating.", + "notes": "Gripper closing is only meaningful in segments 6 and 8; grasp/hold wording is used only there where image evidence supports it. Segments 1-5 use contact-based verbs as gripper remains open or shows no meaningful closure." + } + }, + "episode_goal": "Fold the cloth from the right to the left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36217638850212097, + 0.08669774979352951, + 0.05256320536136627, + -2.978889226913452, + -0.17526884377002716, + -0.025078194215893745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to lower the gripper toward the right edge of the cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35952553153038025, + 0.08659999817609787, + 0.04272911697626114, + -2.982250690460205, + -0.14620326459407806, + -0.025911269709467888 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to lower the gripper toward the right edge of the cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35893866419792175, + 0.08932536095380783, + 0.0446801483631134, + -2.9141955375671387, + -0.12214360386133194, + -0.10439189523458481 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action is to lower the gripper to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3725707232952118, + 0.06860525906085968, + 0.06844817101955414, + -2.8675739765167236, + -0.13081400096416473, + -0.19024762511253357 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action is to lower the gripper to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3877461850643158, + 0.03494150564074516, + 0.08785352855920792, + -2.867380142211914, + -0.1756475567817688, + -0.23688864707946777 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action is to lower the gripper to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4002607464790344, + -0.00781325250864029, + 0.09363386034965515, + -2.9627442359924316, + -0.21890269219875336, + -0.1955767571926117 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 996, + 994 + ], + "cables": [ + 2, + 10, + 236, + 133 + ], + "cloth": [ + 230, + 258, + 687, + 877 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action is to lower the gripper to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3993271589279175, + -0.029333924874663353, + 0.07628732919692993, + -3.060582160949707, + -0.18103714287281036, + -0.07909368723630905 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action is to lower the gripper to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.39735671877861023, + -0.04081546142697334, + 0.07217060029506683, + -3.0731663703918457, + -0.17440888285636902, + -0.03209525719285011 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action is to lower the gripper to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.39516592025756836, + -0.041078053414821625, + 0.05526156350970268, + -3.0621442794799805, + -0.14810484647750854, + -0.011742908507585526 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot has approached the cloth from above and is now descending toward the right edge. The gripper is open and positioned just above the cloth, preparing to make contact. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt right 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39025476574897766, + -0.04571184143424034, + 0.04070790857076645, + -3.096677541732788, + -0.15911538898944855, + 0.007880841381847858 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot has approached the cloth from above and is now descending toward the right edge. The gripper is open and positioned just above the cloth, preparing to make contact. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 9 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3892623484134674, + -0.04805302992463112, + 0.02405029535293579, + -3.103285312652588, + -0.15909595787525177, + 0.019200919196009636 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot has approached the cloth from above and is now descending toward the right edge. The gripper is open and positioned just above the cloth, preparing to make contact. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move left 12 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39070847630500793, + -0.05478842929005623, + 0.014601396396756172, + -3.134187698364258, + -0.16368749737739563, + 0.017592880874872208 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot has approached the cloth from above and is now descending toward the right edge. The gripper is open and positioned just above the cloth, preparing to make contact. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move left 12 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907429277896881, + -0.05497778579592705, + 0.0065766130574047565, + 3.1058523654937744, + -0.17598006129264832, + 0.03936576470732689 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "reposition gripper orientation", + "subtask_reasoning": "The robot has approached the cloth from above and is now descending toward the right edge. The gripper is open and positioned just above the cloth, preparing to make contact. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move left 12 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38997945189476013, + -0.051907654851675034, + 0.005104450508952141, + 3.0892534255981445, + -0.17949135601520538, + 0.053163081407547 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 996, + 995 + ], + "cloth": [ + 231, + 257, + 687, + 877 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "initiate leftward drag", + "subtask_reasoning": "The robot has approached the cloth from above and is now descending toward the right edge. The gripper is open and positioned just above the cloth, preparing to make contact. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move left 12 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move left 6 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3881191909313202, + -0.04900580644607544, + 0.004727185238152742, + 3.0780272483825684, + -0.18876414000988007, + 0.062169622629880905 + ], + "gripper_value": 0.21731513738632202 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "initiate leftward drag", + "subtask_reasoning": "The robot gripper is in contact with the right edge of the cloth, having completed the approach and descent. The gripper is currently open but closing, as indicated by the segment-level evidence, to secure the fabric. The next action is to finalize the grasp and begin dragging the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move left 12 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move left 7 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3860510289669037, + -0.044276654720306396, + 0.006727054249495268, + 3.108311176300049, + -0.18109187483787537, + 0.07921063154935837 + ], + "gripper_value": 0.103162482380867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "initiate leftward drag", + "subtask_reasoning": "The robot gripper is in contact with the right edge of the cloth, having completed the approach and descent. The gripper is currently open but closing, as indicated by the segment-level evidence, to secure the fabric. The next action is to finalize the grasp and begin dragging the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 6 cm, move left 12 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move left 7 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38195961713790894, + -0.044134460389614105, + 0.019499868154525757, + -3.099740982055664, + -0.1329973042011261, + 0.0836748257279396 + ], + "gripper_value": 0.065320685505867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "execute primary fold motion", + "subtask_reasoning": "The robot gripper is in contact with the right edge of the cloth, having completed the approach and descent. The gripper is currently open but closing, as indicated by the segment-level evidence, to secure the fabric. The next action is to finalize the grasp and begin dragging the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 12 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 6 cm, move left 8 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3915767967700958, + -0.03898714482784271, + 0.06406993418931961, + -3.0535519123077393, + -0.21484917402267456, + 0.11657322943210602 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "execute primary fold motion", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 7 cm, move left 8 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3850208520889282, + -0.01601467654109001, + 0.08261211216449738, + -3.066035747528076, + -0.26123079657554626, + 0.18409648537635803 + ], + "gripper_value": 0.061804234981536865 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "execute primary fold motion", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 8 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35457614064216614, + 0.0423322431743145, + 0.08520341664552689, + -3.1225361824035645, + -0.3463747799396515, + 0.33059564232826233 + ], + "gripper_value": 0.061804234981536865 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "execute primary fold motion", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move back 7 cm, move left 8 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move left 2 cm, move up 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246253430843353, + 0.07736670225858688, + 0.0752892717719078, + 3.1212096214294434, + -0.37255167961120605, + 0.40397903323173523 + ], + "gripper_value": 0.061804234981536865 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 251, + 254, + 532, + 859 + ], + "table": [ + 4, + 4, + 995, + 995 + ], + "cables": [ + 2, + 10, + 237, + 133 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "complete fold and secure", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 8 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move left 2 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 20, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.296785831451416, + 0.11234530806541443, + 0.0707085058093071, + 3.1053919792175293, + -0.3865587115287781, + 0.4701564311981201 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "complete fold and secure", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 2 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 20, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28332042694091797, + 0.13128750026226044, + 0.06271430104970932, + 3.082244396209717, + -0.3989623785018921, + 0.49222439527511597 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "complete fold and secure", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 2 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 20, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27785611152648926, + 0.1408775895833969, + 0.04086969420313835, + 3.0647871494293213, + -0.37604597210884094, + 0.4703982472419739 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 225, + 245, + 459, + 839 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "complete fold and secure", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move left 2 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 20, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27306273579597473, + 0.14340244233608246, + 0.02367369830608368, + 3.059788465499878, + -0.3334021270275116, + 0.4376397132873535 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "complete fold and secure", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 20, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27273863554000854, + 0.14672039449214935, + 0.017084119841456413, + 3.071972370147705, + -0.33639320731163025, + 0.4131283462047577 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "complete fold and secure", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open; then move left 2 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 20, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654206156730652, + 0.15524916350841522, + 0.015956876799464226, + 3.1121461391448975, + -0.32016122341156006, + 0.3908019959926605 + ], + "gripper_value": 0.2385561764240265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "complete fold and secure", + "subtask_reasoning": "The robot is in contact with the right edge of the blue cloth, positioned to initiate the fold. Previous steps have successfully approached and descended to make contact. The next action is to drag the cloth leftward to execute the primary fold motion, as no grasping is indicated by the gripper evidence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move left 2 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 20, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.25692301988601685, + 0.1578362137079239, + 0.018074393272399902, + -3.134603261947632, + -0.2665717899799347, + 0.3720979392528534 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded from right to left and is now resting on the table. The robot’s end-effector is positioned above the folded cloth with no active grasp, indicating completion of the folding action. The next step is to retreat upward and away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 27, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533935308456421, + 0.17320707440376282, + 0.03486921638250351, + -3.081146478652954, + -0.264892041683197, + 0.361730694770813 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "lift and clear workspace", + "subtask_reasoning": "The cloth has been folded from right to left and is now resting on the table. The robot’s end-effector is positioned above the folded cloth with no active grasp, indicating completion of the folding action. The next step is to retreat upward and away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 28, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24739015102386475, + 0.19000311195850372, + 0.041861824691295624, + -3.0479023456573486, + -0.24296903610229492, + 0.34339016675949097 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "lift and clear workspace", + "subtask_reasoning": "The cloth has been partially folded from right to left and is now positioned on the left side of the workspace. The robot has completed contact and dragging phases, and is currently lifting or clearing the area after securing the fold. Next, the robot should release the cloth and retreat to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 28, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2538611888885498, + 0.2029164582490921, + 0.05709480494260788, + -3.014082431793213, + -0.24283963441848755, + 0.2815845310688019 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the right to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "initiate leftward drag" + }, + { + "id": 5, + "subtask": "execute primary fold motion" + }, + { + "id": 6, + "subtask": "complete fold and secure" + }, + { + "id": 7, + "subtask": "release and retreat" + }, + { + "id": 8, + "subtask": "lift and clear workspace" + } + ], + "subtask_name": "lift and clear workspace", + "subtask_reasoning": "The cloth has been partially folded from right to left and is now positioned on the left side of the workspace. The robot has completed contact and dragging phases, and is currently lifting or clearing the area after securing the fold. Next, the robot should release the cloth and retreat to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 28, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003657_ecot.json b/cot/chunk-0003/episode_0003657_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d16c62c86b430fa3d7e4e85c6bba5ce19284244e --- /dev/null +++ b/cot/chunk-0003/episode_0003657_ecot.json @@ -0,0 +1,2946 @@ +{ + "task_name": "episode_0003657", + "episode_json": "json/chunk-0003/episode_0003657.json", + "video_path": "videos/chunk-0003/image_0/episode_0003657.mp4", + "instruction": "Put the serving spoon to the yellow cup.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003657.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.6650804281234741, + "std": 0.31911879777908325, + "delta_total": -0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.66508, std=0.31912, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 200, + 200, + 200, + 0, + 200, + 200, + 200, + 200, + 200, + 215, + 215, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 35, + 35, + 35, + 35, + 35, + 35, + 35, + 35 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 5 + ], + [ + 3, + 6, + 8 + ], + [ + 4, + 9, + 9 + ], + [ + 5, + 10, + 14 + ], + [ + 6, + 15, + 16 + ], + [ + 7, + 17, + 34 + ], + [ + 8, + 35, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 8, \"planning\": \"Move the gripper toward the red-handled serving spoon on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"make contact with spoon\", \"start\": 9, \"end\": 14, \"planning\": \"Position the gripper to make initial contact with the spoon handle in preparation for grasping.\"},\n {\"id\": 3, \"name\": \"grasp spoon\", \"start\": 15, \"end\": 16, \"planning\": \"Close the gripper around the spoon handle to secure a firm grasp, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 4, \"name\": \"lift and transport spoon\", \"start\": 17, \"end\": 34, \"planning\": \"Lift the grasped spoon and move it through space toward the yellow cup while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release spoon into cup\", \"start\": 35, \"end\": 42, \"planning\": \"Open the gripper to release the spoon into the yellow cup, completing the placement task.\"}\n ],\n \"global_plan\": \"Approach the serving spoon, make contact, grasp it securely, lift and transport it to the yellow cup, then release it inside the cup.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 6 (frames 15-16) and 8 (frames 35-42), aligning with grasp and release phases. Earlier segments show no gripper closure, so contact-based descriptions are used. Frame coverage is contiguous and complete from 0 to 42.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 8, + "planning": "Move the gripper toward the red-handled serving spoon on the table without closing the gripper." + }, + { + "id": 2, + "name": "make contact with spoon", + "start": 9, + "end": 14, + "planning": "Position the gripper to make initial contact with the spoon handle in preparation for grasping." + }, + { + "id": 3, + "name": "grasp spoon", + "start": 15, + "end": 16, + "planning": "Close the gripper around the spoon handle to secure a firm grasp, as confirmed by gripper closure and visual contact." + }, + { + "id": 4, + "name": "lift and transport spoon", + "start": 17, + "end": 34, + "planning": "Lift the grasped spoon and move it through space toward the yellow cup while maintaining grip." + }, + { + "id": 5, + "name": "release spoon into cup", + "start": 35, + "end": 42, + "planning": "Open the gripper to release the spoon into the yellow cup, completing the placement task." + } + ], + "global_plan": "Approach the serving spoon, make contact, grasp it securely, lift and transport it to the yellow cup, then release it inside the cup.", + "notes": "Gripper evidence confirms meaningful closing only in segments 6 (frames 15-16) and 8 (frames 35-42), aligning with grasp and release phases. Earlier segments show no gripper closure, so contact-based descriptions are used. Frame coverage is contiguous and complete from 0 to 42." + } + }, + "episode_goal": "Place the serving spoon into the yellow cup.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.39641669392585754, + 0.020142091438174248, + 0.062295448035001755, + -3.034372568130493, + -0.3027644157409668, + -0.2840065062046051 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move right 7 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.39032137393951416, + 0.018741676583886147, + 0.04583354294300079, + -3.0529861450195312, + -0.26023828983306885, + -0.2810231149196625 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move right 7 cm, move down 1 cm, tilt right 20 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3668515682220459, + 0.0124747846275568, + 0.03239037096500397, + -3.072066068649292, + -0.2062562108039856, + -0.38107743859291077 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35157692432403564, + 0.005962981842458248, + 0.04264971986413002, + -3.0775344371795654, + -0.22111575305461884, + -0.4557051658630371 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3310401141643524, + -0.0031296482775360346, + 0.052090827375650406, + -3.1156294345855713, + -0.22033530473709106, + -0.5505080223083496 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground and the yellow cup to the left. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107971251010895, + -0.01456771232187748, + 0.05740191787481308, + 3.129868745803833, + -0.19684822857379913, + -0.6910386681556702 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground and the yellow cup to the left. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755845785140991, + -0.02824687398970127, + 0.04892027750611305, + -3.115161418914795, + -0.14882762730121613, + -0.9311443567276001 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground and the yellow cup to the left. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24899104237556458, + -0.03899581357836723, + 0.042485084384679794, + -3.119367837905884, + -0.10979406535625458, + -1.0865179300308228 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 101, + 435, + 366, + 718 + ], + "lettuce": [ + 281, + 207, + 381, + 328 + ], + "table": [ + 4, + 48, + 995, + 993 + ], + "spoon": [ + 422, + 713, + 773, + 946 + ], + "metal bowl": [ + 102, + 178, + 426, + 383 + ], + "cleaver": [ + 635, + 817, + 772, + 944 + ] + } + } + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground and the yellow cup to the left. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22937607765197754, + -0.04444826766848564, + 0.04420158267021179, + -3.138036012649536, + -0.13383741676807404, + -1.2056695222854614 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 421, + 714, + 773, + 948 + ], + "orange bowl": [ + 101, + 435, + 366, + 718 + ], + "table": [ + 4, + 50, + 995, + 993 + ], + "lettuce": [ + 281, + 211, + 381, + 327 + ], + "cleaver": [ + 632, + 816, + 770, + 946 + ] + } + } + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground and the yellow cup to the left. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2179611772298813, + -0.04875117167830467, + 0.037565939128398895, + 3.133108377456665, + -0.12530261278152466, + -1.2857836484909058 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground and the yellow cup to the left. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed; then move forward 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20652343332767487, + -0.052345313131809235, + 0.021391410380601883, + -3.101893901824951, + -0.1225857064127922, + -1.3623510599136353 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot is positioned above the table with the serving spoon visible in the foreground and the yellow cup to the left. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20304182171821594, + -0.05655663460493088, + 0.010537863709032536, + -3.1050610542297363, + -0.12422182410955429, + -1.4177651405334473 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot arm is positioned directly above the serving spoon on the table, with the gripper open and aligned for contact. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to initiate grasping by closing the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed; then move forward 3 cm, move left 3 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19861659407615662, + -0.059691816568374634, + 0.005917772650718689, + -3.098489284515381, + -0.13671429455280304, + -1.4448163509368896 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot arm is positioned directly above the serving spoon on the table, with the gripper open and aligned for contact. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to initiate grasping by closing the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed; then move forward 3 cm, move left 6 cm, move up 7 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19865016639232635, + -0.06304727494716644, + 0.00023186039470601827, + -3.1042163372039795, + -0.12976008653640747, + -1.4546750783920288 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot arm is positioned directly above the serving spoon on the table, with the gripper open and aligned for contact. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to initiate grasping by closing the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, keep gripper closed; then move forward 3 cm, move left 9 cm, move up 8 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2014356106519699, + -0.06367949396371841, + -0.0010849004611372948, + -3.1027188301086426, + -0.13229171931743622, + -1.4551844596862793 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot arm is positioned directly above the serving spoon on the table, with the gripper open and aligned for contact. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to initiate grasping by closing the gripper around the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, keep gripper closed; then move forward 3 cm, move left 12 cm, move up 7 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.202056884765625, + -0.06496214866638184, + -0.0010748335625976324, + -3.0966479778289795, + -0.14116646349430084, + -1.4640263319015503 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 2 cm, move left 15 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2022937387228012, + -0.062469013035297394, + -0.00018813896167557687, + -3.1090078353881836, + -0.16277045011520386, + -1.4678314924240112 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 17 cm, move up 7 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20396564900875092, + -0.05933985486626625, + 0.001832851441577077, + 3.1393802165985107, + -0.18117137253284454, + -1.4339590072631836 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 19 cm, move up 8 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21090471744537354, + -0.05927323177456856, + 0.0075826202519237995, + 3.1232242584228516, + -0.20664209127426147, + -1.3648619651794434 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, move up 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.222926065325737, + -0.05810410529375076, + 0.024723729118704796, + 3.086721658706665, + -0.22740666568279266, + -1.2773774862289429 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 100, + 434, + 368, + 719 + ], + "metal bowl": [ + 235, + 197, + 424, + 382 + ], + "table": [ + 4, + 62, + 995, + 993 + ], + "lettuce": [ + 271, + 210, + 379, + 326 + ] + } + } + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 21 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23159408569335938, + -0.048514410853385925, + 0.04292446747422218, + 3.062221050262451, + -0.2369774878025055, + -1.1618716716766357 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 19 cm, move up 2 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23742982745170593, + -0.026201801374554634, + 0.058430224657058716, + 3.068380832672119, + -0.21576473116874695, + -1.034193754196167 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 16 cm, move down 1 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23452800512313843, + -0.0016995894256979227, + 0.0688256248831749, + 3.055131673812866, + -0.20076502859592438, + -0.9748451709747314 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move down 2 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23614421486854553, + 0.027830135077238083, + 0.07849598675966263, + 3.0661628246307373, + -0.17001426219940186, + -0.928083598613739 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 10 cm, move down 3 cm, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23423649370670319, + 0.05980311334133148, + 0.07637092471122742, + 3.111919403076172, + -0.160110741853714, + -0.9235723614692688 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached and made contact with the serving spoon. The gripper is currently open and positioned around the spoon handle, indicating readiness to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 2 cm, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2282014936208725, + 0.09151741117238998, + 0.07095472514629364, + -3.141514539718628, + -0.1532844752073288, + -0.92225581407547 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 1 cm, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21270664036273956, + 0.1118040680885315, + 0.06950318813323975, + 3.126551866531372, + -0.11680196970701218, + -0.9342520833015442 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 103, + 439, + 365, + 719 + ], + "lettuce": [ + 282, + 207, + 380, + 327 + ], + "metal bowl": [ + 243, + 178, + 425, + 380 + ], + "table": [ + 4, + 47, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.20428326725959778, + 0.12859882414340973, + 0.07705975323915482, + 3.1136770248413086, + -0.09714629501104355, + -0.9286302328109741 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.19195757806301117, + 0.1430428922176361, + 0.0821293443441391, + 3.0785372257232666, + -0.03145415708422661, + -0.9489060640335083 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.18160587549209595, + 0.14830876886844635, + 0.07256191968917847, + 3.0807483196258545, + 0.032584965229034424, + -0.9507572650909424 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.1732916384935379, + 0.14638382196426392, + 0.0585784874856472, + 3.0918030738830566, + 0.07883457839488983, + -0.9426350593566895 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, open gripper; then move forward 3 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.17055627703666687, + 0.13765880465507507, + 0.04981289058923721, + 3.12604022026062, + 0.09523561596870422, + -0.9352650046348572 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, open gripper; then move forward 4 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.17049498856067657, + 0.12962418794631958, + 0.04700819402933121, + 3.135838270187378, + 0.10602729022502899, + -0.9217228293418884 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, open gripper; then move forward 6 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.16997234523296356, + 0.12464724481105804, + 0.05136742442846298, + 3.129962921142578, + 0.11164316534996033, + -0.8895787596702576 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open; then move forward 6 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.17113660275936127, + 0.12415295839309692, + 0.05547025799751282, + 3.122558355331421, + 0.11720697581768036, + -0.8743975758552551 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 6 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.1753673404455185, + 0.12439431995153427, + 0.061702482402324677, + 3.1333534717559814, + 0.11394142359495163, + -0.860510528087616 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "release spoon into cup", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.17835870385169983, + 0.12338540703058243, + 0.06707515567541122, + 3.13545560836792, + 0.10930533707141876, + -0.8502827286720276 + ], + "gripper_value": 0.9295665621757507 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "release spoon into cup", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.18359577655792236, + 0.1233009621500969, + 0.07452363520860672, + 3.1272661685943604, + 0.09373582899570465, + -0.8406871557235718 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "release spoon into cup", + "subtask_reasoning": "The robot has successfully grasped the serving spoon and is currently lifting it above the table surface. The spoon is being transported towards the target area, positioned near the orange cup but not yet over the yellow cup. The next action is to continue moving the spoon horizontally to align it directly above the yellow cup for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.18937762081623077, + 0.12209270894527435, + 0.08326840400695801, + 3.1227242946624756, + 0.08123786747455597, + -0.8219864964485168 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "release spoon into cup", + "subtask_reasoning": "The serving spoon is already positioned inside the yellow cup, indicating the transport phase is complete. The gripper is currently open (value ~1.0), confirming the spoon has been released. The subtask is effectively finished as the object is resting in the target container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.19433002173900604, + 0.12026572972536087, + 0.08850455284118652, + 3.1219675540924072, + 0.07208821177482605, + -0.8052752614021301 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "release spoon into cup", + "subtask_reasoning": "The serving spoon is already positioned inside the yellow cup, indicating the transport phase is complete. The gripper is currently open (value ~1.0), confirming the spoon has been released. The subtask is effectively finished as the object is resting in the target container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.20150625705718994, + 0.11348675191402435, + 0.09050843119621277, + 3.1142868995666504, + 0.03690655156970024, + -0.790453314781189 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "release spoon into cup", + "subtask_reasoning": "The serving spoon is already positioned inside the yellow cup, indicating the transport phase is complete. The gripper is currently open (value ~1.0), confirming the spoon has been released. The subtask is effectively finished as the object is resting in the target container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.21830768883228302, + 0.09699646383523941, + 0.0872327908873558, + 3.1216135025024414, + -0.04280645772814751, + -0.704179584980011 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "release spoon into cup", + "subtask_reasoning": "The serving spoon is already positioned inside the yellow cup, indicating the transport phase is complete. The gripper is currently open (value ~1.0), confirming the spoon has been released. The subtask is effectively finished as the object is resting in the target container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.24017666280269623, + 0.08285998553037643, + 0.08301056921482086, + 3.1193392276763916, + -0.10962050408124924, + -0.6066170930862427 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "lettuce": [ + 286, + 209, + 380, + 327 + ], + "table": [ + 4, + 60, + 995, + 993 + ], + "orange bowl": [ + 105, + 437, + 347, + 725 + ], + "cleaver": [ + 517, + 245, + 673, + 507 + ] + } + } + }, + "Understanding": { + "goal": "Place the serving spoon into the yellow cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "lift and transport spoon" + }, + { + "id": 5, + "subtask": "release spoon into cup" + } + ], + "subtask_name": "release spoon into cup", + "subtask_reasoning": "The serving spoon is already positioned inside the yellow cup, indicating the transport phase is complete. The gripper is currently open (value ~1.0), confirming the spoon has been released. The subtask is effectively finished as the object is resting in the target container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003658_ecot.json b/cot/chunk-0003/episode_0003658_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2b119cb8a988abc3df6782acee641dffe51a1847 --- /dev/null +++ b/cot/chunk-0003/episode_0003658_ecot.json @@ -0,0 +1,1608 @@ +{ + "task_name": "episode_0003658", + "episode_json": "json/chunk-0003/episode_0003658.json", + "video_path": "videos/chunk-0003/image_0/episode_0003658.mp4", + "instruction": "Put banana in colander.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003658.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.6363593339920044, + "std": 0.28668901324272156, + "delta_total": -0.0019506216049194336, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.63636, std=0.28669, total_delta=-0.00195). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 13, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 222, + 222 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 12 + ], + [ + 3, + 13, + 13 + ], + [ + 4, + 14, + 21 + ], + [ + 5, + 22, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach banana\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector toward the banana on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp banana\", \"start\": 8, \"end\": 13, \"planning\": \"Close the gripper around the banana to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move to colander\", \"start\": 14, \"end\": 21, \"planning\": \"Lift the banana and transport it over the colander while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release banana into colander\", \"start\": 22, \"end\": 23, \"planning\": \"Open the gripper to drop the banana into the colander and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the banana, grasp it securely, lift and move it over the colander, then release it inside.\",\n \"notes\": \"Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing consistent with grasping. Segment 4 shows sustained grip during transport. Segment 5 shows gripper opening to release. All subtasks align with observed gripper behavior and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach banana", + "start": 0, + "end": 7, + "planning": "Move the end-effector toward the banana on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp banana", + "start": 8, + "end": 13, + "planning": "Close the gripper around the banana to secure it for lifting." + }, + { + "id": 3, + "name": "lift and move to colander", + "start": 14, + "end": 21, + "planning": "Lift the banana and transport it over the colander while maintaining grip." + }, + { + "id": 4, + "name": "release banana into colander", + "start": 22, + "end": 23, + "planning": "Open the gripper to drop the banana into the colander and retreat slightly." + } + ], + "global_plan": "Approach the banana, grasp it securely, lift and move it over the colander, then release it inside.", + "notes": "Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing consistent with grasping. Segment 4 shows sustained grip during transport. Segment 5 shows gripper opening to release. All subtasks align with observed gripper behavior and visual evidence." + } + }, + "episode_goal": "Place the banana into the metal colander.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24824143946170807, + -0.0947900265455246, + 0.10738981515169144, + 2.912708282470703, + -0.033850815147161484, + 0.08177721500396729 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the table with the banana visible to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 16 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24499070644378662, + -0.09193390607833862, + 0.10048740357160568, + 2.921513557434082, + -0.00801097135990858, + 0.08776749670505524 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the table with the banana visible to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24831271171569824, + -0.05677849426865578, + 0.10512325167655945, + 2.9397389888763428, + -0.03574763238430023, + 0.11058144271373749 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the table with the banana visible to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24961932003498077, + -0.022269433364272118, + 0.10781814157962799, + 2.9512786865234375, + -0.04974207282066345, + 0.12023938447237015 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cheese wedge": [ + 783, + 342, + 900, + 549 + ], + "metal bowl": [ + 592, + 258, + 800, + 539 + ], + "mug": [ + 224, + 225, + 357, + 409 + ], + "table": [ + 4, + 72, + 995, + 992 + ], + "toy carrot": [ + 646, + 599, + 864, + 887 + ], + "red toy": [ + 500, + 236, + 593, + 347 + ], + "banana": [ + 200, + 503, + 354, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the table with the banana visible to the left and the colander to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24571338295936584, + 0.007854382507503033, + 0.09633350372314453, + 2.9851090908050537, + -0.10934020578861237, + 0.05570993945002556 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the table with the banana visible to the left and the colander to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23937128484249115, + 0.03164292126893997, + 0.07895319908857346, + 3.044671058654785, + -0.11547508090734482, + -0.012977621518075466 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the table with the banana visible to the left and the colander to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22768910229206085, + 0.04408572241663933, + 0.05651396885514259, + 3.100766181945801, + -0.11713339388370514, + -0.13545815646648407 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the table with the banana visible to the left and the colander to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper open; then move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22544650733470917, + 0.05837582051753998, + 0.05038009211421013, + 3.137281894683838, + -0.13913768529891968, + -0.17516127228736877 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the table with the banana visible to the left and the colander to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 7 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22720780968666077, + 0.06180095672607422, + 0.03914760425686836, + -3.134662628173828, + -0.13103488087654114, + -0.19692689180374146 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot arm is positioned above the table with the banana visible to the left and the colander to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 9 cm, move right 8 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22968266904354095, + 0.0620427280664444, + 0.023111430928111076, + -3.1070327758789062, + -0.09509764611721039, + -0.2350720763206482 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot arm is positioned above the table with the banana visible to the left and the colander to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 11 cm, move right 10 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22872091829776764, + 0.05852384865283966, + 0.015248428098857403, + -3.127777099609375, + -0.07670711725950241, + -0.23068827390670776 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly adjacent to the banana on the table, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring within this window. The immediate next step is to complete the grasp by closing the gripper fingers securely around the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22756661474704742, + 0.05471036583185196, + 0.01400903519243002, + -3.133312225341797, + -0.029970383271574974, + -0.19070382416248322 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly adjacent to the banana on the table, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring within this window. The immediate next step is to complete the grasp by closing the gripper fingers securely around the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 13 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23025023937225342, + 0.054186929017305374, + 0.009114443324506283, + -3.1231513023376465, + -0.03385452553629875, + -0.17069914937019348 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly adjacent to the banana on the table, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring within this window. The immediate next step is to complete the grasp by closing the gripper fingers securely around the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 14 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23090381920337677, + 0.05246872827410698, + 0.009127607569098473, + -3.133944511413574, + -0.03992118686437607, + -0.15024642646312714 + ], + "gripper_value": 0.3703518807888031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly adjacent to the banana on the table, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring within this window. The immediate next step is to complete the grasp by closing the gripper fingers securely around the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move forward 14 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23143993318080902, + 0.042221859097480774, + 0.02327840030193329, + 3.0978641510009766, + -0.05511631444096565, + -0.07284747064113617 + ], + "gripper_value": 0.3703518807888031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "lift and move to colander", + "subtask_reasoning": "The robot's end-effector is positioned directly adjacent to the banana on the table, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring within this window. The immediate next step is to complete the grasp by closing the gripper fingers securely around the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2529756724834442, + 0.02006150782108307, + 0.06812690198421478, + 3.008305788040161, + -0.03243311867117882, + 0.039178140461444855 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cheese wedge": [ + 783, + 342, + 900, + 548 + ], + "metal bowl": [ + 572, + 259, + 800, + 539 + ], + "red toy": [ + 501, + 213, + 593, + 346 + ], + "table": [ + 5, + 100, + 995, + 992 + ], + "toy carrot": [ + 645, + 598, + 863, + 889 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "lift and move to colander", + "subtask_reasoning": "The robot's end-effector is positioned directly adjacent to the banana on the table, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring within this window. The immediate next step is to complete the grasp by closing the gripper fingers securely around the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 8 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2750844359397888, + -0.0015244297683238983, + 0.09086300432682037, + 2.944465160369873, + -0.049210406839847565, + 0.1621447056531906 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 573, + 258, + 800, + 539 + ], + "cheese wedge": [ + 783, + 342, + 900, + 548 + ], + "mug": [ + 224, + 224, + 354, + 409 + ], + "table": [ + 5, + 72, + 994, + 992 + ], + "toy carrot": [ + 645, + 597, + 863, + 889 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "lift and move to colander", + "subtask_reasoning": "The robot's end-effector is positioned directly adjacent to the banana on the table, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring within this window. The immediate next step is to complete the grasp by closing the gripper fingers securely around the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967591881752014, + -0.021797021850943565, + 0.09325990825891495, + 2.9174630641937256, + -0.03372567892074585, + 0.23101598024368286 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "lift and move to colander", + "subtask_reasoning": "The robot is currently holding the banana and has lifted it off the table, positioning it above the workspace near the metal colander. The gripper remains closed, confirming the object is secured during this transport phase. The next action is to translate the end-effector directly over the colander's opening to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32296690344810486, + -0.04205049201846123, + 0.08394718915224075, + 2.901745080947876, + -0.038831692188978195, + 0.28186777234077454 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "lift and move to colander", + "subtask_reasoning": "The robot is currently holding the banana and has lifted it off the table, positioning it above the workspace near the metal colander. The gripper remains closed, confirming the object is secured during this transport phase. The next action is to translate the end-effector directly over the colander's opening to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.340939462184906, + -0.05624828487634659, + 0.0881369560956955, + 2.8432154655456543, + -0.14064741134643555, + 0.31058719754219055 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "lift and move to colander", + "subtask_reasoning": "The robot is currently holding the banana and has lifted it off the table, positioning it above the workspace near the metal colander. The gripper remains closed, confirming the object is secured during this transport phase. The next action is to translate the end-effector directly over the colander's opening to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35626596212387085, + -0.06057388707995415, + 0.09471733123064041, + 2.8404407501220703, + -0.2041427344083786, + 0.33761507272720337 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "lift and move to colander", + "subtask_reasoning": "The robot is currently holding the banana and has lifted it off the table, positioning it above the workspace near the metal colander. The gripper remains closed, confirming the object is secured during this transport phase. The next action is to translate the end-effector directly over the colander's opening to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648262619972229, + -0.06166600435972214, + 0.07599201798439026, + 2.908996820449829, + -0.20060202479362488, + 0.361407607793808 + ], + "gripper_value": 0.457809716463089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "lift and move to colander", + "subtask_reasoning": "The robot is currently holding the banana and has lifted it off the table, positioning it above the workspace near the metal colander. The gripper remains closed, confirming the object is secured during this transport phase. The next action is to translate the end-effector directly over the colander's opening to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3668038845062256, + -0.06161237880587578, + 0.07700860500335693, + 2.9170758724212646, + -0.20321111381053925, + 0.3722279965877533 + ], + "gripper_value": 0.7506401538848877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "release banana into colander", + "subtask_reasoning": "The banana is already inside the metal colander, indicating the release action has been completed. The gripper is open and positioned above the colander, confirming the object has been successfully deposited. No further action is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36700931191444397, + -0.05961691215634346, + 0.07870984077453613, + 2.925806999206543, + -0.18947017192840576, + 0.39054808020591736 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to colander" + }, + { + "id": 4, + "subtask": "release banana into colander" + } + ], + "subtask_name": "release banana into colander", + "subtask_reasoning": "The banana is already inside the metal colander, indicating the release action has been completed. The gripper is open and positioned above the colander, confirming the object has been successfully deposited. No further action is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003659_ecot.json b/cot/chunk-0003/episode_0003659_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7d95d011fc7c364d3e2c15a656ea2715f826c0e2 --- /dev/null +++ b/cot/chunk-0003/episode_0003659_ecot.json @@ -0,0 +1,1216 @@ +{ + "task_name": "episode_0003659", + "episode_json": "json/chunk-0003/episode_0003659.json", + "video_path": "videos/chunk-0003/image_0/episode_0003659.mp4", + "instruction": "Put lid on pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003659.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.7004432678222656, + "std": 0.30269694328308105, + "delta_total": -0.5137697458267212, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.70044, std=0.30270, total_delta=-0.51377). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 11 + ], + [ + 3, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp lid\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector to the lid location and close gripper to secure grasp as evidenced by significant gripper closure from 1.0 to 0.52.\"},\n {\"id\": 2, \"name\": \"lift and transport lid\", \"start\": 7, \"end\": 11, \"planning\": \"Lift the grasped lid and move it toward the target pot while maintaining grip, with minimal gripper adjustment indicating stable hold.\"},\n {\"id\": 3, \"name\": \"place lid on pot and release\", \"start\": 12, \"end\": 19, \"planning\": \"Position lid over pot, lower it into place, and open gripper to release contact as shown by increasing gripper value from 0.30 to 0.49.\"}\n ],\n \"global_plan\": \"Grasp the lid from its initial position, lift and carry it to the target pot, then precisely place and release it onto the pot.\",\n \"notes\": \"Gripper evidence supports grasp in segment 1 (large closure), stable hold in segment 2 (minimal change), and release in segment 3 (opening motion). All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp lid", + "start": 0, + "end": 6, + "planning": "Move end-effector to the lid location and close gripper to secure grasp as evidenced by significant gripper closure from 1.0 to 0.52." + }, + { + "id": 2, + "name": "lift and transport lid", + "start": 7, + "end": 11, + "planning": "Lift the grasped lid and move it toward the target pot while maintaining grip, with minimal gripper adjustment indicating stable hold." + }, + { + "id": 3, + "name": "place lid on pot and release", + "start": 12, + "end": 19, + "planning": "Position lid over pot, lower it into place, and open gripper to release contact as shown by increasing gripper value from 0.30 to 0.49." + } + ], + "global_plan": "Grasp the lid from its initial position, lift and carry it to the target pot, then precisely place and release it onto the pot.", + "notes": "Gripper evidence supports grasp in segment 1 (large closure), stable hold in segment 2 (minimal change), and release in segment 3 (opening motion). All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the lid on the pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3640698194503784, + 0.15235936641693115, + 0.06597809493541718, + -2.7649905681610107, + -0.24069759249687195, + -0.1225099191069603 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the lid located on the left burner. No part of the task has been completed yet as the lid remains on the stove. The next action is to lower the gripper to make contact with and grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move right 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620937466621399, + 0.15146629512310028, + 0.050957199186086655, + -2.779236316680908, + -0.2108713984489441, + -0.12308716773986816 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green vegetable": [ + 589, + 554, + 757, + 798 + ], + "yellow bell pepper": [ + 73, + 246, + 188, + 409 + ], + "orange bottle": [ + 908, + 153, + 982, + 298 + ], + "stove burners": [ + 500, + 345, + 711, + 547 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the lid located on the left burner. No part of the task has been completed yet as the lid remains on the stove. The next action is to lower the gripper to make contact with and grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36544111371040344, + 0.1503605991601944, + 0.04542510583996773, + -2.791213035583496, + -0.2102159857749939, + -0.14117515087127686 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the lid located on the left burner. No part of the task has been completed yet as the lid remains on the stove. The next action is to lower the gripper to make contact with and grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 3 cm, move right 3 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36677494645118713, + 0.15247096121311188, + 0.04020717740058899, + -2.805105209350586, + -0.21090386807918549, + -0.15330637991428375 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove with the lid visible on the left burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector and close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 3 cm, move right 3 cm, move up 7 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3661430776119232, + 0.15818263590335846, + 0.034563448280096054, + -2.815426826477051, + -0.2161894142627716, + -0.15344998240470886 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove with the lid visible on the left burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector and close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 3 cm, move up 7 cm, keep gripper closed; then move forward 3 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36629509925842285, + 0.1583002805709839, + 0.030485933646559715, + -2.8291213512420654, + -0.21585613489151, + -0.15726535022258759 + ], + "gripper_value": 0.842682421207428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove with the lid visible on the left burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector and close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 3 cm, move up 7 cm, keep gripper closed; then move forward 4 cm, move right 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36718735098838806, + 0.1612173318862915, + 0.031228723004460335, + -2.826876163482666, + -0.2199023962020874, + -0.15161478519439697 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove with the lid visible on the left burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector and close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 3 cm, move up 7 cm, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36593005061149597, + 0.16308283805847168, + 0.03145710378885269, + -2.817370653152466, + -0.21266016364097595, + -0.14454101026058197 + ], + "gripper_value": 0.31732118129730225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot arm is positioned above the stove with the lid visible on the left burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector and close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 7 cm, keep gripper closed; then move forward 4 cm, move right 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620226979255676, + 0.16446316242218018, + 0.0328669436275959, + -2.813042640686035, + -0.1778748482465744, + -0.1299826204776764 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot arm is positioned above the stove with the lid visible on the left burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector and close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 7 cm, keep gripper closed; then move forward 4 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36045539379119873, + 0.16172683238983154, + 0.04237137734889984, + -2.797244071960449, + -0.1371234953403473, + -0.12877756357192993 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it from the countertop, as indicated by the low height and active gripper state. The next immediate action is to continue elevating the lid to clear the counter surface before transporting it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3688471019268036, + 0.15685537457466125, + 0.07659880071878433, + -2.759439706802368, + -0.16843488812446594, + -0.1333491951227188 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it from the countertop, as indicated by the low height and active gripper state. The next immediate action is to continue elevating the lid to clear the counter surface before transporting it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38064491748809814, + 0.1447000652551651, + 0.09025416523218155, + -2.7842891216278076, + -0.20532281696796417, + -0.12422047555446625 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it from the countertop, as indicated by the low height and active gripper state. The next immediate action is to continue elevating the lid to clear the counter surface before transporting it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 4 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3973899483680725, + 0.12966309487819672, + 0.10406611859798431, + -2.8216545581817627, + -0.27528589963912964, + -0.10949613153934479 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green vegetable": [ + 589, + 554, + 756, + 799 + ], + "yellow bell pepper": [ + 73, + 247, + 187, + 408 + ], + "orange bottle": [ + 907, + 152, + 981, + 298 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "place lid on pot and release", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it from the countertop, as indicated by the low height and active gripper state. The next immediate action is to continue elevating the lid to clear the counter surface before transporting it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41387367248535156, + 0.11531321704387665, + 0.11374551802873611, + -2.825871229171753, + -0.32475852966308594, + -0.09271618723869324 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "place lid on pot and release", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it from the countertop, as indicated by the low height and active gripper state. The next immediate action is to continue elevating the lid to clear the counter surface before transporting it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42908522486686707, + 0.10010935366153717, + 0.10394410789012909, + -2.823835611343384, + -0.324501097202301, + -0.06335779279470444 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "place lid on pot and release", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it from the countertop, as indicated by the low height and active gripper state. The next immediate action is to continue elevating the lid to clear the counter surface before transporting it toward the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4352805018424988, + 0.08516453951597214, + 0.09435337036848068, + -2.8580386638641357, + -0.32801559567451477, + -0.015394014306366444 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "place lid on pot and release", + "subtask_reasoning": "The robot is holding the lid directly above the target pot on the stove, having completed the transport phase. The gripper is currently closed, maintaining a firm grasp on the lid in preparation for placement. The next action is to lower the lid onto the pot and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4356817603111267, + 0.07177930325269699, + 0.08186804503202438, + -2.9001989364624023, + -0.30605459213256836, + 0.04416761174798012 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "place lid on pot and release", + "subtask_reasoning": "The robot is holding the lid directly above the target pot on the stove, having completed the transport phase. The gripper is currently closed, maintaining a firm grasp on the lid in preparation for placement. The next action is to lower the lid onto the pot and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.43785759806632996, + 0.05876525864005089, + 0.08242878317832947, + -2.948350429534912, + -0.3152635097503662, + 0.1024339497089386 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "place lid on pot and release", + "subtask_reasoning": "The robot is holding the lid directly above the target pot on the stove, having completed the transport phase. The gripper is currently closed, maintaining a firm grasp on the lid in preparation for placement. The next action is to lower the lid onto the pot and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.43940743803977966, + 0.05116519704461098, + 0.07819513231515884, + -3.0112380981445312, + -0.33346402645111084, + 0.1548731029033661 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "place lid on pot and release", + "subtask_reasoning": "The robot is holding the lid directly above the target pot on the stove, having completed the transport phase. The gripper is currently closed, maintaining a firm grasp on the lid in preparation for placement. The next action is to lower the lid onto the pot and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.44153088331222534, + 0.05051041021943092, + 0.0743989571928978, + -3.0220367908477783, + -0.3603276312351227, + 0.1646922081708908 + ], + "gripper_value": 0.48704639077186584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "place lid on pot and release" + } + ], + "subtask_name": "place lid on pot and release", + "subtask_reasoning": "The robot is holding the lid directly above the target pot on the stove, having completed the transport phase. The gripper is currently closed, maintaining a firm grasp on the lid in preparation for placement. The next action is to lower the lid onto the pot and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003660_ecot.json b/cot/chunk-0003/episode_0003660_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a77b43bcfe194a73cff4b717fef6ed76afb4ecdf --- /dev/null +++ b/cot/chunk-0003/episode_0003660_ecot.json @@ -0,0 +1,5628 @@ +{ + "task_name": "episode_0003660", + "episode_json": "json/chunk-0003/episode_0003660.json", + "video_path": "videos/chunk-0003/image_0/episode_0003660.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 80, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003660.json" + }, + "fps": 5.0, + "T_eff": 80, + "gripper_behavior_summary": { + "available": true, + "range": 0.6193526387214661, + "std": 0.1883516013622284, + "delta_total": -0.26787036657333374, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61935, std=0.18835, total_delta=-0.26787). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 500, + 500, + 500, + 400, + 600, + 600, + 600, + 600, + 600, + 609, + 609, + 609, + 409, + 409, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 179 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 3 + ], + [ + 3, + 4, + 8 + ], + [ + 4, + 9, + 11 + ], + [ + 5, + 12, + 13 + ], + [ + 6, + 14, + 24 + ], + [ + 7, + 25, + 45 + ], + [ + 8, + 46, + 62 + ], + [ + 9, + 63, + 78 + ], + [ + 10, + 79, + 79 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and align with beans\", \"start\": 0, \"end\": 8, \"planning\": \"Move the gripper into position near the scattered beans, adjusting orientation for effective sweeping.\"},\n {\"id\": 2, \"name\": \"initiate contact and begin sweep\", \"start\": 9, \"end\": 13, \"planning\": \"Lower gripper to make contact with beans and start pushing them inward using a controlled motion.\"},\n {\"id\": 3, \"name\": \"execute primary sweep arc\", \"start\": 14, \"end\": 24, \"planning\": \"Sweep beans in a curved trajectory toward the center pile while maintaining consistent pressure and grip width.\"},\n {\"id\": 4, \"name\": \"consolidate pile with lateral pushes\", \"start\": 25, \"end\": 45, \"planning\": \"Use side-to-side nudging motions to gather stray beans into the main pile without lifting or grasping.\"},\n {\"id\": 5, \"name\": \"final alignment and retreat\", \"start\": 46, \"end\": 78, \"planning\": \"Make fine adjustments to compact the pile, then lift and retract the gripper away from the workspace.\"},\n {\"id\": 6, \"name\": \"return to home pose\", \"start\": 79, \"end\": 79, \"planning\": \"Complete the task by moving the end effector to its final resting position after releasing contact.\"}\n ],\n \"global_plan\": \"Sweep scattered beans into a centralized pile using sequential contact-based pushing and nudging motions, avoiding any grasping or lifting actions as no meaningful gripper closure is observed during manipulation phases.\",\n \"notes\": \"Gripper remains open throughout all active sweeping segments (segments 1, 7, 10 show no closing); only segment 4 shows minor closure but images confirm it’s not used for grasping — likely incidental. All subtasks reflect observed motion patterns and avoid hallucinated grasps or lifts.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and align with beans", + "start": 0, + "end": 8, + "planning": "Move the gripper into position near the scattered beans, adjusting orientation for effective sweeping." + }, + { + "id": 2, + "name": "initiate contact and begin sweep", + "start": 9, + "end": 13, + "planning": "Lower gripper to make contact with beans and start pushing them inward using a controlled motion." + }, + { + "id": 3, + "name": "execute primary sweep arc", + "start": 14, + "end": 24, + "planning": "Sweep beans in a curved trajectory toward the center pile while maintaining consistent pressure and grip width." + }, + { + "id": 4, + "name": "consolidate pile with lateral pushes", + "start": 25, + "end": 45, + "planning": "Use side-to-side nudging motions to gather stray beans into the main pile without lifting or grasping." + }, + { + "id": 5, + "name": "final alignment and retreat", + "start": 46, + "end": 78, + "planning": "Make fine adjustments to compact the pile, then lift and retract the gripper away from the workspace." + }, + { + "id": 6, + "name": "return to home pose", + "start": 79, + "end": 79, + "planning": "Complete the task by moving the end effector to its final resting position after releasing contact." + } + ], + "global_plan": "Sweep scattered beans into a centralized pile using sequential contact-based pushing and nudging motions, avoiding any grasping or lifting actions as no meaningful gripper closure is observed during manipulation phases.", + "notes": "Gripper remains open throughout all active sweeping segments (segments 1, 7, 10 show no closing); only segment 4 shows minor closure but images confirm it’s not used for grasping — likely incidental. All subtasks reflect observed motion patterns and avoid hallucinated grasps or lifts." + } + }, + "episode_goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2849813401699066, + 0.1277586817741394, + 0.044470418244600296, + -3.0952868461608887, + -0.006743886973708868, + -0.05825301259756088 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, facing a scattered pile of black beans. No sweeping action has occurred yet. The next step is to lower the gripper slightly and align it with the edge of the bean cluster to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828886806964874, + 0.12621460855007172, + 0.03475826606154442, + -3.111635446548462, + 0.017691435292363167, + -0.05579115450382233 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, facing a scattered pile of black beans. No sweeping action has occurred yet. The next step is to lower the gripper slightly and align it with the edge of the bean cluster to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28276580572128296, + 0.126583993434906, + 0.026921972632408142, + -3.1249263286590576, + -0.0034855667036026716, + -0.06727980077266693 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, facing a scattered pile of black beans. No sweeping action has occurred yet. The next step is to lower the gripper slightly and align it with the edge of the bean cluster to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27611246705055237, + 0.12688733637332916, + 0.012097133323550224, + 3.1337106227874756, + -0.06822560727596283, + -0.0852823406457901 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black beans": [ + 457, + 385, + 812, + 696 + ], + "wooden table": [ + 4, + 175, + 995, + 990 + ], + "yellow can": [ + 612, + 118, + 738, + 313 + ], + "red can": [ + 513, + 34, + 635, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, facing a scattered pile of black beans. No sweeping action has occurred yet. The next step is to lower the gripper slightly and align it with the edge of the bean cluster to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move forward 3 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27636173367500305, + 0.12665998935699463, + 0.005345289595425129, + -3.1152639389038086, + -0.1039968878030777, + -0.0775526612997055 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper open and aligned for contact-based manipulation. No sweeping or pushing has occurred yet. The next action should involve moving the gripper closer to the bean cluster to initiate a sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move forward 5 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28142595291137695, + 0.1255195140838623, + 0.005353278946131468, + -3.09877610206604, + -0.12394367903470993, + -0.07457800954580307 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper open and aligned for contact-based manipulation. No sweeping or pushing has occurred yet. The next action should involve moving the gripper closer to the bean cluster to initiate a sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 5 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832217514514923, + 0.12347664684057236, + 0.006390176247805357, + -3.0967659950256348, + -0.12075497210025787, + -0.07595290243625641 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper open and aligned for contact-based manipulation. No sweeping or pushing has occurred yet. The next action should involve moving the gripper closer to the bean cluster to initiate a sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.288473904132843, + 0.12348762899637222, + 0.006961826700717211, + -3.0989391803741455, + -0.11854095757007599, + -0.0856468677520752 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper open and aligned for contact-based manipulation. No sweeping or pushing has occurred yet. The next action should involve moving the gripper closer to the bean cluster to initiate a sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 5 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move right 5 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28942444920539856, + 0.12347856909036636, + 0.00026644885656423867, + -3.11275577545166, + -0.09274566918611526, + -0.08258482068777084 + ], + "gripper_value": 0.6991904973983765 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper open and aligned for contact-based manipulation. No sweeping or pushing has occurred yet. The next action should involve moving the gripper closer to the bean cluster to initiate a sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 5 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move right 6 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2917936146259308, + 0.12439969182014465, + -0.00490613142028451, + -3.1187527179718018, + -0.06437534093856812, + -0.08156108111143112 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "initiate contact and begin sweep", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper open and aligned for contact-based manipulation. No sweeping or pushing has occurred yet. The next action should involve moving the gripper closer to the bean cluster to initiate a sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move right 9 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2921649217605591, + 0.12381219118833542, + -0.005637123249471188, + -3.1251778602600098, + -0.041690558195114136, + -0.08840359002351761 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "initiate contact and begin sweep", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper open and aligned for contact-based manipulation. No sweeping or pushing has occurred yet. The next action should involve moving the gripper closer to the bean cluster to initiate a sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 12 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29238906502723694, + 0.12136092782020569, + -0.003266885643824935, + -3.1391489505767822, + -0.026755474507808685, + -0.10585097968578339 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "initiate contact and begin sweep", + "subtask_reasoning": "The robot end-effector is positioned adjacent to the scattered black beans on the table, having completed the approach and alignment phase. The gripper is open and in contact with the surface, ready to initiate the sweeping motion. The next action involves pushing the beans inward to begin forming a centralized pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 15 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30377641320228577, + 0.124275341629982, + 0.007146674208343029, + 3.1189143657684326, + -0.06192103028297424, + -0.10498101264238358 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "initiate contact and begin sweep", + "subtask_reasoning": "The robot end-effector is positioned adjacent to the scattered black beans on the table, having completed the approach and alignment phase. The gripper is open and in contact with the surface, ready to initiate the sweeping motion. The next action involves pushing the beans inward to begin forming a centralized pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move right 17 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.321930855512619, + 0.13697507977485657, + 0.026499304920434952, + 3.1262528896331787, + -0.11031673848628998, + -0.11146935075521469 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "initiate contact and begin sweep", + "subtask_reasoning": "The robot end-effector is positioned adjacent to the scattered black beans on the table, having completed the approach and alignment phase. The gripper is open and in contact with the surface, ready to initiate the sweeping motion. The next action involves pushing the beans inward to begin forming a centralized pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 18 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453967571258545, + 0.13928647339344025, + 0.0331791453063488, + -3.112928867340088, + -0.13549496233463287, + -0.10311392694711685 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot end-effector is positioned adjacent to the scattered black beans on the table, having completed the approach and alignment phase. The gripper is open and in contact with the surface, ready to initiate the sweeping motion. The next action involves pushing the beans inward to begin forming a centralized pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 18 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642568588256836, + 0.1240641251206398, + 0.018698235973715782, + -3.095465898513794, + -0.09529877454042435, + -0.12338446080684662 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black beans": [ + 457, + 384, + 812, + 696 + ], + "yellow can": [ + 612, + 118, + 739, + 313 + ], + "wooden table": [ + 4, + 149, + 995, + 991 + ], + "red can": [ + 514, + 34, + 635, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot end-effector is positioned adjacent to the scattered black beans on the table, having completed the approach and alignment phase. The gripper is open and in contact with the surface, ready to initiate the sweeping motion. The next action involves pushing the beans inward to begin forming a centralized pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 16 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3806653320789337, + 0.10965101420879364, + 0.0036505393218249083, + -3.077165126800537, + -0.07274461537599564, + -0.14295242726802826 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot end-effector is positioned adjacent to the scattered black beans on the table, having completed the approach and alignment phase. The gripper is open and in contact with the surface, ready to initiate the sweeping motion. The next action involves pushing the beans inward to begin forming a centralized pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 15 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3917306363582611, + 0.0922020897269249, + -0.002208971418440342, + -3.076535940170288, + -0.060374122112989426, + -0.1674303263425827 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot end-effector is positioned adjacent to the scattered black beans on the table, having completed the approach and alignment phase. The gripper is open and in contact with the surface, ready to initiate the sweeping motion. The next action involves pushing the beans inward to begin forming a centralized pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3952757716178894, + 0.07470643520355225, + -0.00314310472458601, + -3.081782579421997, + -0.05950889363884926, + -0.1983390599489212 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot end-effector is positioned adjacent to the scattered black beans on the table, having completed the approach and alignment phase. The gripper is open and in contact with the surface, ready to initiate the sweeping motion. The next action involves pushing the beans inward to begin forming a centralized pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3958320617675781, + 0.04705450311303139, + -0.005887259729206562, + -3.0856733322143555, + -0.057766664773225784, + -0.26286372542381287 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3888032138347626, + 0.018319740891456604, + -0.006180411670356989, + -3.098604202270508, + -0.06430929899215698, + -0.3191802203655243 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 10 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.376166969537735, + -0.012635177001357079, + -0.006223547272384167, + -3.121891736984253, + -0.07130467146635056, + -0.39367303252220154 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 11 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36802828311920166, + -0.02685386873781681, + -0.007167625240981579, + -3.128859519958496, + -0.06904537975788116, + -0.42817917466163635 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 10 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36576271057128906, + -0.036303021013736725, + -0.006473075598478317, + -3.1292688846588135, + -0.06911637634038925, + -0.44808757305145264 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 7 cm, move left 9 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.365095317363739, + -0.039811067283153534, + -0.005363031756132841, + -3.1360960006713867, + -0.0665486603975296, + -0.44243282079696655 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "execute primary sweep arc", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 6 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651365637779236, + -0.03770618885755539, + 0.004673335235565901, + 3.1249918937683105, + -0.08158139139413834, + -0.4254215955734253 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36885979771614075, + -0.017449796199798584, + 0.024970941245555878, + 3.114058494567871, + -0.124758280813694, + -0.3880939483642578 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3694801330566406, + 0.0018750723684206605, + 0.04348636791110039, + 3.1146044731140137, + -0.17569425702095032, + -0.3482661545276642 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35263147950172424, + 0.01773807778954506, + 0.0354863740503788, + 3.1011247634887695, + -0.14291894435882568, + -0.2829006016254425 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3319716155529022, + 0.04188695549964905, + 0.01903512142598629, + 3.0795421600341797, + -0.10552864521741867, + -0.18118028342723846 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 147, + 995, + 992 + ], + "black beans": [ + 459, + 379, + 816, + 753 + ], + "yellow can": [ + 612, + 118, + 740, + 313 + ], + "red can": [ + 527, + 34, + 633, + 273 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159288763999939, + 0.06399409472942352, + 0.007059858646243811, + 3.0640885829925537, + -0.0957651287317276, + -0.09309709817171097 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2997130751609802, + 0.07277563214302063, + -0.004509924445301294, + 3.046724557876587, + -0.08060406893491745, + -0.028989583253860474 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 148, + 996, + 992 + ], + "yellow can": [ + 612, + 118, + 739, + 314 + ], + "red can": [ + 514, + 34, + 633, + 275 + ], + "black beans": [ + 460, + 378, + 815, + 753 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29858720302581787, + 0.06524964421987534, + -0.005910805426537991, + 3.046088457107544, + -0.10193396359682083, + -0.013055717572569847 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2984941005706787, + 0.052652809768915176, + -0.006967573426663876, + 2.9996325969696045, + -0.1459442377090454, + 0.009827550500631332 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028164505958557, + 0.036288175731897354, + -0.0070726932026445866, + 2.9622559547424316, + -0.16810759902000427, + 0.032354213297367096 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109631836414337, + 0.008304889313876629, + -0.0057287816889584064, + 2.9298641681671143, + -0.17100921273231506, + -0.006456397939473391 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3132890462875366, + -0.006972832605242729, + -0.00458888616412878, + 2.914916515350342, + -0.17562690377235413, + -0.018195541575551033 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.31351950764656067, + -0.022149622440338135, + -0.003942390903830528, + 2.9093968868255615, + -0.17337948083877563, + -0.045275311917066574 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3150327205657959, + -0.03330541402101517, + -0.0036562616005539894, + 2.905569076538086, + -0.17633254826068878, + -0.042329397052526474 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.31803926825523376, + -0.04187174513936043, + -0.003640018170699477, + 2.9070558547973633, + -0.17591573297977448, + -0.03735869377851486 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.32418733835220337, + -0.04491047561168671, + 0.0012153821298852563, + 2.91438364982605, + -0.18094083666801453, + -0.035662733018398285 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3226035535335541, + -0.03989826887845993, + 0.0075905476696789265, + 2.931950569152832, + -0.1822437047958374, + -0.03633794188499451 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3226528763771057, + -0.02197113260626793, + 0.027779731899499893, + 2.92740797996521, + -0.20417894423007965, + -0.011231649667024612 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3257269561290741, + 0.004225090146064758, + 0.03709869459271431, + 2.9341447353363037, + -0.19157449901103973, + -0.004177383612841368 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436002731323242, + 0.0271927397698164, + 0.04020083323121071, + 2.982123613357544, + -0.18888825178146362, + -0.06870075315237045 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 10 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669837713241577, + 0.042444631457328796, + 0.02395792491734028, + 3.040526866912842, + -0.15215206146240234, + -0.16939152777194977 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "consolidate pile with lateral pushes", + "subtask_reasoning": "The robot is in the middle of executing a primary sweep arc, with the end-effector in contact with the scattered black beans on the table. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action should continue the arc to consolidate more beans into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 10 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 45 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3976229429244995, + 0.04281385987997055, + 0.01224189717322588, + -3.127471685409546, + -0.08782218396663666, + -0.354805052280426 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.4250480532646179, + 0.027610452845692635, + 0.0034816788975149393, + -3.0535888671875, + -0.023023124784231186, + -0.50797438621521 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 13, + 149, + 994, + 993 + ], + "black beans": [ + 557, + 378, + 824, + 774 + ], + "yellow can": [ + 613, + 117, + 740, + 313 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.4371523857116699, + 0.026330752298235893, + -0.0028002923354506493, + -3.062560558319092, + 0.02933422476053238, + -0.5819342732429504 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.44361671805381775, + 0.018836863338947296, + -0.0035749790258705616, + -3.072949171066284, + 0.042564719915390015, + -0.6526731848716736 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.4378661811351776, + 0.011889669112861156, + -0.003985885065048933, + -3.0610945224761963, + 0.019738757982850075, + -0.6776701807975769 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.4297932982444763, + -0.015715964138507843, + -0.004151284694671631, + -3.0546650886535645, + -0.0009686556295491755, + -0.7344831824302673 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.41606250405311584, + -0.04991860315203667, + -0.004282630048692226, + -3.0487775802612305, + 0.004841775633394718, + -0.7803742289543152 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 69, + 148, + 996, + 993 + ], + "black beans": [ + 556, + 420, + 825, + 774 + ], + "yellow can": [ + 512, + 35, + 636, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.41492652893066406, + -0.0485767126083374, + -0.005816272925585508, + -3.040806531906128, + 0.011687438003718853, + -0.7631328105926514 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move up 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.41456931829452515, + -0.0523291751742363, + -0.0036760568618774414, + -3.034165859222412, + 0.023358335718512535, + -0.7637091279029846 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 6 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.40582242608070374, + -0.060506392270326614, + -0.0059534343890845776, + -3.0287585258483887, + 0.036608368158340454, + -0.8010703325271606 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 6 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3879023492336273, + -0.07658927887678146, + -0.003571478184312582, + -3.0211398601531982, + 0.048244744539260864, + -0.8572917580604553 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 6 cm, move down 1 cm, tilt right 20 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.37009397149086, + -0.08269306272268295, + -0.00365183362737298, + -3.036879062652588, + 0.06665831804275513, + -0.8925656676292419 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 5 cm, move down 1 cm, tilt right 20 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626294434070587, + -0.08149664849042892, + -0.0035388751421123743, + -3.039055585861206, + 0.06676279008388519, + -0.9058278799057007 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 3 cm, move down 1 cm, tilt right 20 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.36095917224884033, + -0.07943566143512726, + 0.004431198351085186, + -3.023707389831543, + 0.06806468963623047, + -0.8895915150642395 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move down 1 cm, tilt right 20 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3644922971725464, + -0.07604808360338211, + 0.021285690367221832, + -3.021886110305786, + 0.035595569759607315, + -0.8567937016487122 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. 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The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move down 3 cm, tilt right 20 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3777932822704315, + -0.052281733602285385, + 0.04077443853020668, + -3.014277935028076, + -0.019452912732958794, + -0.7393712401390076 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move down 5 cm, tilt right 20 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.37267690896987915, + -0.021602334454655647, + 0.046814002096652985, + -3.0368611812591553, + -0.05203511565923691, + -0.5966606736183167 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. 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The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 4 cm, move down 5 cm, tilt right 20 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.34756335616111755, + 0.0010260617127642035, + 0.022486532106995583, + 3.1283369064331055, + -0.04500257596373558, + -0.40499791502952576 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.3154532313346863, + 0.006290556397289038, + -0.006854327395558357, + 3.0414023399353027, + -0.019085759297013283, + -0.26585835218429565 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. 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The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.294392853975296, + -0.002651460934430361, + -0.008142617531120777, + 3.006284713745117, + -0.07974454015493393, + -0.1820814460515976 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.27086761593818665, + -0.014171125367283821, + -0.009951263666152954, + 2.9728994369506836, + -0.08180394768714905, + -0.1023741364479065 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.2614893615245819, + -0.03167342394590378, + -0.010177274234592915, + 2.946683406829834, + -0.11152346432209015, + -0.034860193729400635 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716616094112396, + -0.05616868659853935, + -0.008980318903923035, + 2.908417224884033, + -0.10761508345603943, + 0.06099949777126312 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.2860408425331116, + -0.07587593793869019, + -0.009646300226449966, + 2.8815605640411377, + -0.07610675692558289, + 0.09172606468200684 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 148, + 995, + 992 + ], + "yellow can": [ + 613, + 118, + 744, + 313 + ], + "black beans": [ + 625, + 484, + 866, + 801 + ], + "red can": [ + 526, + 35, + 637, + 221 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move up 2 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955247759819031, + -0.08174940943717957, + -0.009230159223079681, + 2.8655283451080322, + -0.06908507645130157, + 0.12482776492834091 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move up 2 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.29310154914855957, + -0.08004461228847504, + -0.009896652773022652, + 2.876882314682007, + -0.05575961619615555, + 0.13508473336696625 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move up 2 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835335433483124, + -0.06390842795372009, + -0.002751079620793462, + 2.8781087398529053, + -0.033592186868190765, + 0.17912545800209045 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823027968406677, + -0.04208684712648392, + 0.029608462005853653, + 2.8592453002929688, + -0.10293947160243988, + 0.21932122111320496 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.27885565161705017, + -0.011243337765336037, + 0.04255630075931549, + 2.8832879066467285, + -0.15570159256458282, + 0.21777363121509552 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792337238788605, + 0.019048968330025673, + 0.03185645490884781, + 2.9413959980010986, + -0.17624147236347198, + 0.10658320784568787 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black beans": [ + 635, + 461, + 872, + 834 + ], + "yellow can": [ + 614, + 117, + 743, + 313 + ], + "wooden table": [ + 4, + 148, + 995, + 993 + ], + "red can": [ + 514, + 34, + 635, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.2845206558704376, + 0.04591315984725952, + 0.003973632585257292, + 2.9667465686798096, + -0.10167869180440903, + 0.05194002389907837 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.28358587622642517, + 0.053391650319099426, + -0.003934856504201889, + 3.007240056991577, + -0.061793167144060135, + 0.043705351650714874 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The robot's gripper is positioned above the compact pile of black beans, having completed the sweeping motion. The gripper is open and not in contact with the beans, indicating the manipulation phase is finished. The next action is to retreat the arm vertically to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.28539228439331055, + 0.05061964690685272, + -0.003530134679749608, + 3.0383777618408203, + -0.03633144497871399, + 0.04073905199766159 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "final alignment and retreat", + "subtask_reasoning": "The black beans are already gathered into a compact pile on the table, and the gripper is positioned nearby with slight opening variation (0.38–0.73) but no active grasping motion. The subtask involves final alignment of the pile and retreating the gripper without disturbing the beans. Next, the robot should slowly retract the arm while maintaining clearance from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 46, + "end": 78 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.28514617681503296, + 0.04702518507838249, + 0.01214101817458868, + 3.059314489364624, + -0.04442831873893738, + 0.06128496676683426 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweep" + }, + { + "id": 3, + "subtask": "execute primary sweep arc" + }, + { + "id": 4, + "subtask": "consolidate pile with lateral pushes" + }, + { + "id": 5, + "subtask": "final alignment and retreat" + }, + { + "id": 6, + "subtask": "return to home pose" + } + ], + "subtask_name": "return to home pose", + "subtask_reasoning": "The robot arm is positioned near the compact pile of black beans on the table, having completed the sweeping motion. The gripper is open and not in contact with the beans, consistent with the lack of closing evidence in this segment. The next action is to retract the arm to the home pose to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 79, + "end": 79 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003661_ecot.json b/cot/chunk-0003/episode_0003661_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..395117ec0d49f3524df7d74a9a6008df6bc49f11 --- /dev/null +++ b/cot/chunk-0003/episode_0003661_ecot.json @@ -0,0 +1,2168 @@ +{ + "task_name": "episode_0003661", + "episode_json": "json/chunk-0003/episode_0003661.json", + "video_path": "videos/chunk-0003/image_0/episode_0003661.mp4", + "instruction": "Moved the white object from the drawer to the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003661.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.14621597528457642, + "std": 0.0656943991780281, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.14622, std=0.06569, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 21 + ], + [ + 4, + 22, + 23 + ], + [ + 5, + 24, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer interior\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the drawer opening while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"reposition inside drawer\", \"start\": 4, \"end\": 8, \"planning\": \"Adjust position within drawer to align with white object, no grasping attempted.\"},\n {\"id\": 3, \"name\": \"contact and nudge white object\", \"start\": 9, \"end\": 21, \"planning\": \"Make physical contact with white object and gently nudge it toward drawer edge for easier access.\"},\n {\"id\": 4, \"name\": \"retreat and prepare for grasp\", \"start\": 22, \"end\": 23, \"planning\": \"Pull back slightly from object to reset pose before initiating grasp in next phase.\"},\n {\"id\": 5, \"name\": \"grasp and lift white object\", \"start\": 24, \"end\": 31, \"planning\": \"Close gripper around white object, lift it from drawer, and hold securely for transfer.\"}\n ],\n \"global_plan\": \"The robot first approaches and repositions inside the drawer without grasping, then nudges the white object into a better position, retreats briefly, and finally executes a confirmed grasp and lift of the object using verified gripper closure and motion evidence.\",\n \"notes\": \"Segments 1-4 show no meaningful gripper closing; descriptions avoid grasp/pick/hold terms. Segment 5 has verified gripper closure (range=0.14622) and image consistency at frame 31 showing object held — grasp wording is justified only here. Frame coverage is complete and contiguous from 0 to 31.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer interior", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the drawer opening while maintaining open gripper." + }, + { + "id": 2, + "name": "reposition inside drawer", + "start": 4, + "end": 8, + "planning": "Adjust position within drawer to align with white object, no grasping attempted." + }, + { + "id": 3, + "name": "contact and nudge white object", + "start": 9, + "end": 21, + "planning": "Make physical contact with white object and gently nudge it toward drawer edge for easier access." + }, + { + "id": 4, + "name": "retreat and prepare for grasp", + "start": 22, + "end": 23, + "planning": "Pull back slightly from object to reset pose before initiating grasp in next phase." + }, + { + "id": 5, + "name": "grasp and lift white object", + "start": 24, + "end": 31, + "planning": "Close gripper around white object, lift it from drawer, and hold securely for transfer." + } + ], + "global_plan": "The robot first approaches and repositions inside the drawer without grasping, then nudges the white object into a better position, retreats briefly, and finally executes a confirmed grasp and lift of the object using verified gripper closure and motion evidence.", + "notes": "Segments 1-4 show no meaningful gripper closing; descriptions avoid grasp/pick/hold terms. Segment 5 has verified gripper closure (range=0.14622) and image consistency at frame 31 showing object held — grasp wording is justified only here. Frame coverage is complete and contiguous from 0 to 31." + } + }, + "episode_goal": "Move the white object from the drawer to the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3095531165599823, + 0.2683314383029938, + 0.073005311191082, + -3.0783183574676514, + -0.19922257959842682, + 0.4496694505214691 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned near the open drawer containing a white spherical object and a blue cloth. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the interior of the drawer to prepare for interacting with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30671441555023193, + 0.26507890224456787, + 0.05832819640636444, + -3.09036922454834, + -0.15637698769569397, + 0.4533521831035614 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned near the open drawer containing a white spherical object and a blue cloth. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the white object inside the drawer to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016197085380554, + 0.24833711981773376, + 0.061573438346385956, + -3.089961290359497, + -0.09640295058488846, + 0.43155398964881897 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned near the open drawer containing a white spherical object and a blue cloth. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the white object inside the drawer to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040919005870819, + 0.22458864748477936, + 0.0919819176197052, + -3.128180742263794, + -0.13793736696243286, + 0.38090816140174866 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot is positioned near the open drawer containing a white spherical object and a blue cloth. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the white object inside the drawer to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, keep gripper open; then move forward 3 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3066331446170807, + 0.19415095448493958, + 0.11339244991540909, + 3.1207127571105957, + -0.17696867883205414, + 0.32519644498825073 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "reposition inside drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing a white spherical object and a blue cloth. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the white object inside the drawer to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3212321102619171, + 0.15852776169776917, + 0.11266458034515381, + 3.112558603286743, + -0.1641116887331009, + 0.2733834385871887 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "reposition inside drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing a white spherical object and a blue cloth. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the white object inside the drawer to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.32570284605026245, + 0.12325441092252731, + 0.10773789137601852, + 3.1018192768096924, + -0.14511865377426147, + 0.23768675327301025 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "reposition inside drawer", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284987807273865, + 0.09619360417127609, + 0.10767368972301483, + 3.097088098526001, + -0.1508798748254776, + 0.20380710065364838 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 469, + 254, + 635, + 464 + ], + "toy monkey": [ + 26, + 198, + 138, + 340 + ], + "banana": [ + 24, + 366, + 134, + 513 + ] + } + } + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "reposition inside drawer", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3330468237400055, + 0.07495012134313583, + 0.10429182648658752, + 3.1144018173217773, + -0.1485142558813095, + 0.2034195214509964 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "reposition inside drawer", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33514413237571716, + 0.07741475105285645, + 0.09393392503261566, + -3.1359031200408936, + -0.13351118564605713, + 0.23086778819561005 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33395636081695557, + 0.0822729766368866, + 0.08009715378284454, + -3.1062395572662354, + -0.10116460174322128, + 0.25182369351387024 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333398699760437, + 0.09003809839487076, + 0.07555127143859863, + -3.082207202911377, + -0.09971529990434647, + 0.3091626763343811 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33254367113113403, + 0.09201113134622574, + 0.07399819046258926, + -3.07844614982605, + -0.10768318921327591, + 0.3665096163749695 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3298816680908203, + 0.09213254600763321, + 0.06335664540529251, + -3.0726165771484375, + -0.0692938044667244, + 0.4352985918521881 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 469, + 255, + 635, + 461 + ], + "toy monkey": [ + 26, + 197, + 138, + 341 + ], + "banana": [ + 25, + 365, + 134, + 512 + ] + } + } + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 4 cm, tilt back 10 degrees, close gripper; then move back 3 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3340250849723816, + 0.09307998418807983, + 0.06308414041996002, + -3.0689520835876465, + -0.053232591599226, + 0.5123143196105957 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp attempt yet. The next likely action is to nudge or reposition the white object for easier grasping in a subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33683687448501587, + 0.09060198068618774, + 0.05338190123438835, + -3.0587527751922607, + -0.032261669635772705, + 0.5514742732048035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach and repositioning steps. The gripper is open and in contact or near-contact with the object, consistent with the 'contact and nudge' subtask. The next likely action is to gently push or adjust the white object’s position within the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.339011549949646, + 0.09242791682481766, + 0.0503295361995697, + -3.0413413047790527, + -0.04834844544529915, + 0.5641108751296997 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach and repositioning steps. The gripper is open and in contact or near-contact with the object, consistent with the 'contact and nudge' subtask. The next likely action is to gently push or adjust the white object’s position within the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34066468477249146, + 0.09527335315942764, + 0.04453203082084656, + -3.0223124027252197, + -0.06109987571835518, + 0.5650454163551331 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach and repositioning steps. The gripper is open and in contact or near-contact with the object, consistent with the 'contact and nudge' subtask. The next likely action is to gently push or adjust the white object’s position within the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3388111889362335, + 0.09368498623371124, + 0.039133504033088684, + -3.033417224884033, + -0.07120983302593231, + 0.550377607345581 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach and repositioning steps. The gripper is open and in contact or near-contact with the object, consistent with the 'contact and nudge' subtask. The next likely action is to gently push or adjust the white object’s position within the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33465901017189026, + 0.09382618218660355, + 0.049513090401887894, + -3.0529189109802246, + -0.09246750921010971, + 0.5187506675720215 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach and repositioning steps. The gripper is open and in contact or near-contact with the object, consistent with the 'contact and nudge' subtask. The next likely action is to gently push or adjust the white object’s position within the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33079975843429565, + 0.08948866277933121, + 0.0715407207608223, + -3.0868496894836426, + -0.1410311609506607, + 0.4673868715763092 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach and repositioning steps. The gripper is open and in contact or near-contact with the object, consistent with the 'contact and nudge' subtask. The next likely action is to gently push or adjust the white object’s position within the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159462511539459, + 0.08912473917007446, + 0.09411101043224335, + -3.119004249572754, + -0.18323715031147003, + 0.41135579347610474 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "contact and nudge white object", + "subtask_reasoning": "The robot is positioned inside the drawer near the white object, having completed the approach and repositioning steps. The gripper is open and in contact or near-contact with the object, consistent with the 'contact and nudge' subtask. The next likely action is to gently push or adjust the white object’s position within the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958013713359833, + 0.09354907274246216, + 0.10514155775308609, + 3.135119915008545, + -0.19631680846214294, + 0.362718790769577 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "retreat and prepare for grasp", + "subtask_reasoning": "The robot has repositioned inside the drawer and is currently retreating slightly to align for a grasp. The gripper remains open with no closing evidence in this segment. The next action is to finalize positioning and prepare to close the gripper on the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27067095041275024, + 0.09924780577421188, + 0.1070314422249794, + 3.1361236572265625, + -0.18787060678005219, + 0.3017372190952301 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 468, + 254, + 635, + 462 + ], + "toy monkey": [ + 27, + 198, + 138, + 340 + ], + "banana": [ + 25, + 365, + 134, + 513 + ] + } + } + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "retreat and prepare for grasp", + "subtask_reasoning": "The robot has repositioned inside the drawer and is currently retreating slightly to align for a grasp. The gripper remains open with no closing evidence in this segment. The next action is to finalize positioning and prepare to close the gripper on the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24890045821666718, + 0.10430440306663513, + 0.08856876939535141, + -3.109065532684326, + -0.14735926687717438, + 0.2531338632106781 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot has repositioned inside the drawer and is currently retreating slightly to align for a grasp. The gripper remains open with no closing evidence in this segment. The next action is to finalize positioning and prepare to close the gripper on the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23586516082286835, + 0.10966131836175919, + 0.06477228552103043, + -3.0381810665130615, + -0.1282816082239151, + 0.21334396302700043 + ], + "gripper_value": 0.8598465323448181 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot has repositioned inside the drawer and is currently retreating slightly to align for a grasp. The gripper remains open with no closing evidence in this segment. The next action is to finalize positioning and prepare to close the gripper on the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23074069619178772, + 0.10935260355472565, + 0.026934657245874405, + -3.020766258239746, + -0.09206856787204742, + 0.1603897213935852 + ], + "gripper_value": 0.8598465323448181 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot has repositioned inside the drawer and is currently retreating slightly to align for a grasp. The gripper remains open with no closing evidence in this segment. The next action is to finalize positioning and prepare to close the gripper on the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2323056161403656, + 0.10608074814081192, + 0.01066726166754961, + -3.005413770675659, + -0.06912493705749512, + 0.12632974982261658 + ], + "gripper_value": 0.8598465323448181 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot's gripper is in contact with the white object inside the left drawer, having successfully approached and positioned itself. Segment-level gripper evidence indicates a closing action is occurring or has just occurred to secure the object. The immediate next step is to complete the grasp closure and lift the white object vertically out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22820858657360077, + 0.1066322773694992, + 0.0019756369292736053, + -2.9949069023132324, + -0.04410083591938019, + 0.11063535511493683 + ], + "gripper_value": 0.8598465323448181 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 467, + 254, + 636, + 465 + ] + } + } + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot's gripper is in contact with the white object inside the left drawer, having successfully approached and positioned itself. Segment-level gripper evidence indicates a closing action is occurring or has just occurred to secure the object. The immediate next step is to complete the grasp closure and lift the white object vertically out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22517329454421997, + 0.10560011118650436, + 0.0012451396323740482, + -2.9971063137054443, + -0.03074531815946102, + 0.10238327831029892 + ], + "gripper_value": 0.9157527089118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot's gripper is in contact with the white object inside the left drawer, having successfully approached and positioned itself. Segment-level gripper evidence indicates a closing action is occurring or has just occurred to secure the object. The immediate next step is to complete the grasp closure and lift the white object vertically out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.22577160596847534, + 0.10531844198703766, + 0.019743874669075012, + -3.0116958618164062, + -0.06976199895143509, + 0.10657147318124771 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot's gripper is in contact with the white object inside the left drawer, having successfully approached and positioned itself. Segment-level gripper evidence indicates a closing action is occurring or has just occurred to secure the object. The immediate next step is to complete the grasp closure and lift the white object vertically out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.22351272404193878, + 0.10431705415248871, + 0.033083636313676834, + -3.040570020675659, + -0.10124444961547852, + 0.10657380521297455 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object from the drawer to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "reposition inside drawer" + }, + { + "id": 3, + "subtask": "contact and nudge white object" + }, + { + "id": 4, + "subtask": "retreat and prepare for grasp" + }, + { + "id": 5, + "subtask": "grasp and lift white object" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot's gripper is in contact with the white object inside the left drawer, having successfully approached and positioned itself. Segment-level gripper evidence indicates a closing action is occurring or has just occurred to secure the object. The immediate next step is to complete the grasp closure and lift the white object vertically out of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003662_ecot.json b/cot/chunk-0003/episode_0003662_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0c6f817e0b1b4d5833196baeb663d5179f97bd42 --- /dev/null +++ b/cot/chunk-0003/episode_0003662_ecot.json @@ -0,0 +1,1362 @@ +{ + "task_name": "episode_0003662", + "episode_json": "json/chunk-0003/episode_0003662.json", + "video_path": "videos/chunk-0003/image_0/episode_0003662.mp4", + "instruction": "Turn faucet front to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003662.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.6350806951522827, + "std": 0.28827980160713196, + "delta_total": 0.009000897407531738, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.63508, std=0.28828, total_delta=0.00900). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 17, + 17, + 17 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 8 + ], + [ + 3, + 9, + 16 + ], + [ + 4, + 17, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach faucet handle\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the faucet handle without closing gripper, as no meaningful closing is observed in this segment.\"},\n {\"id\": 2, \"name\": \"grasp faucet handle\", \"start\": 6, \"end\": 8, \"planning\": \"Close gripper around faucet handle; segment shows meaningful closing and images confirm contact with handle.\"},\n {\"id\": 3, \"name\": \"rotate faucet left\", \"start\": 9, \"end\": 16, \"planning\": \"Apply rotational force to turn faucet handle leftward while maintaining grip; gripper remains closed throughout motion.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 17, \"end\": 19, \"planning\": \"Open gripper to release handle and retract end-effector away from faucet after completing rotation.\"}\n ],\n \"global_plan\": \"Approach faucet handle, grasp it securely, rotate it left to change water flow direction, then release and retreat.\",\n \"notes\": \"Gripper evidence aligns with image observations: no grasp in segment 1, active grasp in segments 2–3, and release in segment 4. Motion phases are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach faucet handle", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the faucet handle without closing gripper, as no meaningful closing is observed in this segment." + }, + { + "id": 2, + "name": "grasp faucet handle", + "start": 6, + "end": 8, + "planning": "Close gripper around faucet handle; segment shows meaningful closing and images confirm contact with handle." + }, + { + "id": 3, + "name": "rotate faucet left", + "start": 9, + "end": 16, + "planning": "Apply rotational force to turn faucet handle leftward while maintaining grip; gripper remains closed throughout motion." + }, + { + "id": 4, + "name": "release and retreat", + "start": 17, + "end": 19, + "planning": "Open gripper to release handle and retract end-effector away from faucet after completing rotation." + } + ], + "global_plan": "Approach faucet handle, grasp it securely, rotate it left to change water flow direction, then release and retreat.", + "notes": "Gripper evidence aligns with image observations: no grasp in segment 1, active grasp in segments 2–3, and release in segment 4. Motion phases are contiguous and cover full trajectory." + } + }, + "episode_goal": "Turn the faucet handle to the left to activate water flow.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29739463329315186, + 0.01660219207406044, + 0.11614879965782166, + -3.065631866455078, + -0.1285041719675064, + -0.0258647333830595 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the faucet handle visible in the background. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move up 1 cm, tilt back 20 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006798028945923, + 0.016311032697558403, + 0.11117090284824371, + -3.065696954727173, + -0.13208913803100586, + -0.04063820838928223 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the faucet handle visible in the background. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move up 2 cm, tilt back 20 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092775344848633, + 0.01692257449030876, + 0.1176309809088707, + -3.054579496383667, + -0.17203444242477417, + -0.05862187594175339 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the end-effector near the faucet handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 1 cm, tilt back 20 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 3 cm, move left 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32209348678588867, + 0.0212235227227211, + 0.1285800337791443, + -3.04832124710083, + -0.23189067840576172, + -0.062380168586969376 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow corn cob": [ + 852, + 429, + 944, + 550 + ], + "orange fruit": [ + 353, + 449, + 470, + 580 + ], + "red cup": [ + 798, + 341, + 890, + 475 + ], + "purple eggplant": [ + 539, + 568, + 722, + 689 + ], + "purple bottle": [ + 486, + 154, + 549, + 259 + ], + "green cutting board": [ + 332, + 512, + 512, + 675 + ], + "whisk": [ + 725, + 525, + 917, + 658 + ], + "purple onion": [ + 331, + 65, + 421, + 178 + ], + "sink": [ + 227, + 298, + 812, + 834 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the end-effector near the faucet handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 4 cm, move left 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33481016755104065, + 0.027429059147834778, + 0.13430161774158478, + -3.0242512226104736, + -0.3129948675632477, + -0.0777696818113327 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the end-effector near the faucet handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 5 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3513834774494171, + 0.03315211459994316, + 0.13252295553684235, + -2.9874508380889893, + -0.39617425203323364, + -0.08071671426296234 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the end-effector near the faucet handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 6 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3634231388568878, + 0.033122848719358444, + 0.12792913615703583, + -2.987290382385254, + -0.44993484020233154, + -0.07568225264549255 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the end-effector near the faucet handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 6 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37138983607292175, + 0.035779744386672974, + 0.12198875844478607, + -2.9810917377471924, + -0.46426573395729065, + -0.07966270297765732 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp faucet handle", + "subtask_reasoning": "The robot has approached the faucet handle and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37710464000701904, + 0.044840455055236816, + 0.12032279372215271, + -2.973904609680176, + -0.4647528827190399, + -0.06529437005519867 + ], + "gripper_value": 0.803636372089386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp faucet handle", + "subtask_reasoning": "The robot has approached the faucet handle and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3812623918056488, + 0.0566619373857975, + 0.12031274288892746, + -2.9728686809539795, + -0.4556713104248047, + -0.1361784040927887 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached the faucet handle and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38972368836402893, + 0.07820365577936172, + 0.11996866762638092, + -2.9711410999298096, + -0.4562327265739441, + -0.19389893114566803 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow corn cob": [ + 851, + 429, + 945, + 550 + ], + "red cup": [ + 798, + 341, + 890, + 475 + ], + "orange fruit": [ + 353, + 449, + 470, + 580 + ], + "purple bottle": [ + 485, + 153, + 553, + 260 + ], + "whisk": [ + 726, + 524, + 918, + 656 + ], + "sink": [ + 226, + 298, + 812, + 834 + ], + "purple onion": [ + 332, + 67, + 426, + 177 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached the faucet handle and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3992340564727783, + 0.08998465538024902, + 0.11900874227285385, + -2.9620323181152344, + -0.46766602993011475, + -0.23868390917778015 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached the faucet handle and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40841183066368103, + 0.09714027494192123, + 0.11709588766098022, + -2.945420742034912, + -0.4938611090183258, + -0.2732596695423126 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached and grasped the faucet handle, as indicated by the gripper state and prior subtask completion. The current frame shows the end-effector in contact with the handle, ready to rotate it left. The next action is to apply rotational force to turn the faucet handle to the left to activate water flow." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4202108681201935, + 0.10422474145889282, + 0.11610492318868637, + -2.896711826324463, + -0.5225568413734436, + -0.30501672625541687 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached and grasped the faucet handle, as indicated by the gripper state and prior subtask completion. The current frame shows the end-effector in contact with the handle, ready to rotate it left. The next action is to apply rotational force to turn the faucet handle to the left to activate water flow." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.43161478638648987, + 0.10984838753938675, + 0.11449114233255386, + -2.8599846363067627, + -0.5498087406158447, + -0.3254696726799011 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached and grasped the faucet handle, as indicated by the gripper state and prior subtask completion. The current frame shows the end-effector in contact with the handle, ready to rotate it left. The next action is to apply rotational force to turn the faucet handle to the left to activate water flow." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.43993476033210754, + 0.11366865038871765, + 0.1132417544722557, + -2.850785970687866, + -0.5662354826927185, + -0.33435696363449097 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached and grasped the faucet handle, as indicated by the gripper state and prior subtask completion. The current frame shows the end-effector in contact with the handle, ready to rotate it left. The next action is to apply rotational force to turn the faucet handle to the left to activate water flow." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.44175779819488525, + 0.11534108221530914, + 0.11386001855134964, + -2.845790386199951, + -0.5465403199195862, + -0.34557655453681946 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached and grasped the faucet handle, as indicated by the gripper state and prior subtask completion. The current frame shows the end-effector in contact with the handle, ready to rotate it left. The next action is to apply rotational force to turn the faucet handle to the left to activate water flow." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4303102493286133, + 0.112845778465271, + 0.10658849030733109, + -2.8741767406463623, + -0.4471466541290283, + -0.3500591516494751 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has approached and grasped the faucet handle, as indicated by the gripper state and prior subtask completion. The current frame shows the end-effector in contact with the handle, ready to rotate it left. The next action is to apply rotational force to turn the faucet handle to the left to activate water flow." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.42283928394317627, + 0.11387716233730316, + 0.10371389985084534, + -2.8915863037109375, + -0.39420804381370544, + -0.32765430212020874 + ], + "gripper_value": 0.9182166457176208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed rotating the faucet handle to the left and is now in the release and retreat phase. The gripper is open (value 0.91822), indicating the handle has been released. The end-effector is positioned near the faucet, and the next action is to retreat away from the sink area to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4224730432033539, + 0.11447317153215408, + 0.10494820028543472, + -2.8906610012054443, + -0.3954820930957794, + -0.32648077607154846 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left to activate water flow." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed rotating the faucet handle to the left and is now in the release and retreat phase. The gripper is open (value 0.91822), indicating the handle has been released. The end-effector is positioned near the faucet, and the next action is to retreat away from the sink area to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003663_ecot.json b/cot/chunk-0003/episode_0003663_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e6d12a827583e55e49b2c595a53c28048c574a19 --- /dev/null +++ b/cot/chunk-0003/episode_0003663_ecot.json @@ -0,0 +1,1719 @@ +{ + "task_name": "episode_0003663", + "episode_json": "json/chunk-0003/episode_0003663.json", + "video_path": "videos/chunk-0003/image_0/episode_0003663.mp4", + "instruction": "Move the tide table on the left to its right side.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003663.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.0026550889015197754, + "std": 0.0011532311327755451, + "delta_total": -0.0026550889015197754, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00266, std=0.00115, total_delta=-0.00266). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 24 + ], + [ + 4, + 25, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel from above\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector down and forward to position above the purple towel on the left side of the cooktop.\"},\n {\"id\": 2, \"name\": \"make contact and nudge towel rightward\", \"start\": 5, \"end\": 13, \"planning\": \"Lower gripper to make contact with towel and begin sliding it right across the cooktop surface without grasping.\"},\n {\"id\": 3, \"name\": \"continue dragging towel to target zone\", \"start\": 14, \"end\": 24, \"planning\": \"Maintain contact and drag towel further right until it reaches the designated right-side position near the pot.\"},\n {\"id\": 4, \"name\": \"release contact and retreat upward\", \"start\": 25, \"end\": 25, \"planning\": \"Lift end-effector slightly to release contact with towel and retreat to a safe hovering position.\"}\n ],\n \"global_plan\": \"Slide the purple towel from the left side of the cooktop to the right side using continuous contact-based pushing/dragging motion without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes meaningfully (max delta=0.00266), so all actions are contact-based nudging/dragging; no grasp or lift inferred. Segment boundaries respected and merged only where motion phase is continuous.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel from above", + "start": 0, + "end": 4, + "planning": "Move end-effector down and forward to position above the purple towel on the left side of the cooktop." + }, + { + "id": 2, + "name": "make contact and nudge towel rightward", + "start": 5, + "end": 13, + "planning": "Lower gripper to make contact with towel and begin sliding it right across the cooktop surface without grasping." + }, + { + "id": 3, + "name": "continue dragging towel to target zone", + "start": 14, + "end": 24, + "planning": "Maintain contact and drag towel further right until it reaches the designated right-side position near the pot." + }, + { + "id": 4, + "name": "release contact and retreat upward", + "start": 25, + "end": 25, + "planning": "Lift end-effector slightly to release contact with towel and retreat to a safe hovering position." + } + ], + "global_plan": "Slide the purple towel from the left side of the cooktop to the right side using continuous contact-based pushing/dragging motion without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes meaningfully (max delta=0.00266), so all actions are contact-based nudging/dragging; no grasp or lift inferred. Segment boundaries respected and merged only where motion phase is continuous." + } + }, + "episode_goal": "Move the tide table on the left to its right side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821193039417267, + -0.0664530023932457, + 0.07171299308538437, + 3.1357903480529785, + -0.0982101634144783, + -0.11290360987186432 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach towel from above", + "subtask_reasoning": "The robot is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet. No movement or manipulation has occurred. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 17 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789163589477539, + -0.06498443335294724, + 0.06432987749576569, + 3.1383016109466553, + -0.0706668347120285, + -0.11535323411226273 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach towel from above", + "subtask_reasoning": "The robot is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet. No movement or manipulation has occurred. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 17 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27634668350219727, + -0.0331781730055809, + 0.06506536900997162, + 3.124122142791748, + -0.07490609586238861, + -0.08910960704088211 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach towel from above", + "subtask_reasoning": "The robot arm is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet established. The subtask involves approaching the towel from above to prepare for a pushing motion. The next action is to lower the end-effector to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 13 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 4 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2635398805141449, + 0.013738447800278664, + 0.07969270646572113, + 3.1163768768310547, + -0.13433785736560822, + -0.060704682022333145 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow fork": [ + 637, + 323, + 743, + 522 + ], + "metal pot": [ + 475, + 484, + 722, + 769 + ], + "grey sink": [ + 782, + 471, + 996, + 967 + ], + "toy stovetop": [ + 238, + 238, + 771, + 701 + ], + "blue scrubber": [ + 113, + 338, + 387, + 610 + ], + "purple cloth": [ + 115, + 338, + 386, + 609 + ] + } + } + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach towel from above", + "subtask_reasoning": "The robot arm is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet established. The subtask involves approaching the towel from above to prepare for a pushing motion. The next action is to lower the end-effector to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 4 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.244887113571167, + 0.06427935510873795, + 0.08083610981702805, + 3.1307222843170166, + -0.14275507628917694, + -0.014720466919243336 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach towel from above", + "subtask_reasoning": "The robot arm is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet established. The subtask involves approaching the towel from above to prepare for a pushing motion. The next action is to lower the end-effector to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, keep gripper open; then move forward 12 cm, move left 4 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23359768092632294, + 0.10099170356988907, + 0.07485651224851608, + -3.1307592391967773, + -0.12966810166835785, + 0.059216488152742386 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot arm is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet established. The subtask involves approaching the towel from above to prepare for a pushing motion. The next action is to lower the end-effector to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 4 cm, move down 6 cm, keep gripper open; then move forward 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23675832152366638, + 0.13123944401741028, + 0.0702737420797348, + -3.1041531562805176, + -0.14378981292247772, + 0.13639797270298004 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot arm is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet established. The subtask involves approaching the towel from above to prepare for a pushing motion. The next action is to lower the end-effector to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 1 cm, move down 5 cm, keep gripper open; then move forward 7 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24831627309322357, + 0.14395684003829956, + 0.057745907455682755, + -3.0848841667175293, + -0.11651360243558884, + 0.16101998090744019 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot arm is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet established. The subtask involves approaching the towel from above to prepare for a pushing motion. The next action is to lower the end-effector to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move forward 7 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621137499809265, + 0.15169569849967957, + 0.04721681773662567, + -3.0591185092926025, + -0.09023328870534897, + 0.1775025576353073 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot arm is positioned above the purple towel on the left side of the cooktop, with the gripper open and no contact yet established. The subtask involves approaching the towel from above to prepare for a pushing motion. The next action is to lower the end-effector to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27230727672576904, + 0.15005524456501007, + 0.03634481877088547, + -3.0225772857666016, + -0.05632368102669716, + 0.1572294682264328 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27721646428108215, + 0.14756041765213013, + 0.032016266137361526, + -2.9936609268188477, + -0.03451154753565788, + 0.15511886775493622 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 8 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28271543979644775, + 0.1441410779953003, + 0.024613838642835617, + -3.012104034423828, + -0.030534569174051285, + 0.1640019565820694 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 8 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.298270583152771, + 0.13767367601394653, + 0.020947059616446495, + -3.0773634910583496, + -0.09134664386510849, + 0.14656567573547363 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160799443721771, + 0.14204223453998566, + 0.017975619062781334, + -3.1367197036743164, + -0.12733089923858643, + 0.140786275267601 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "make contact and nudge towel rightward", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, keep gripper open; then move forward 6 cm, move right 4 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35518577694892883, + 0.14089421927928925, + 0.018740735948085785, + 3.099357843399048, + -0.18207629024982452, + 0.10718882828950882 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39825111627578735, + 0.13971680402755737, + 0.01920343190431595, + 3.067401647567749, + -0.24463346600532532, + 0.06911439448595047 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow fork": [ + 637, + 320, + 743, + 522 + ], + "metal pot": [ + 475, + 483, + 722, + 771 + ], + "grey sink": [ + 782, + 471, + 996, + 968 + ], + "toy stovetop": [ + 147, + 243, + 772, + 709 + ], + "purple cloth": [ + 233, + 244, + 476, + 419 + ] + } + } + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.42660173773765564, + 0.13063108921051025, + 0.0189969502389431, + 3.0645904541015625, + -0.27128490805625916, + 0.017748059704899788 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.43016353249549866, + 0.12311173975467682, + 0.01827763020992279, + 3.085142135620117, + -0.26059961318969727, + -0.01487570721656084 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 8 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.42469051480293274, + 0.12265327572822571, + 0.019564930349588394, + 3.1092801094055176, + -0.2346583902835846, + 0.008825970813632011 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot has approached the purple towel from above and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to nudge or push the towel rightward along the cooktop surface using continuous contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 8 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.42539387941360474, + 0.113662488758564, + 0.029061613604426384, + 3.105760335922241, + -0.18584485352039337, + 0.01840783655643463 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot is maintaining contact with the purple towel on the cooktop, continuing to push it rightward toward the target zone. The gripper remains open, confirming a dragging motion without grasping. The next action is to sustain this rightward push until the towel reaches the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move up 7 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4343562722206116, + 0.1113283634185791, + 0.0552951879799366, + 3.09574031829834, + -0.22169911861419678, + 0.022536685690283775 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot is maintaining contact with the purple towel on the cooktop, continuing to push it rightward toward the target zone. The gripper remains open, confirming a dragging motion without grasping. The next action is to sustain this rightward push until the towel reaches the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4344741404056549, + 0.10957185178995132, + 0.08097174763679504, + 3.0965991020202637, + -0.2472333014011383, + 0.01721951737999916 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 475, + 484, + 722, + 769 + ], + "yellow fork": [ + 637, + 321, + 744, + 522 + ], + "grey sink": [ + 783, + 471, + 996, + 968 + ], + "toy stovetop": [ + 147, + 233, + 772, + 713 + ], + "blue scrubber": [ + 303, + 190, + 543, + 395 + ], + "purple cloth": [ + 304, + 190, + 543, + 392 + ] + } + } + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot is maintaining contact with the purple towel on the cooktop, continuing to push it rightward toward the target zone. The gripper remains open, confirming a dragging motion without grasping. The next action is to sustain this rightward push until the towel reaches the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4262070059776306, + 0.10494133830070496, + 0.08329572528600693, + 3.1030969619750977, + -0.2156972736120224, + -0.0035307821817696095 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot is maintaining contact with the purple towel on the cooktop, continuing to push it rightward toward the target zone. The gripper remains open, confirming a dragging motion without grasping. The next action is to sustain this rightward push until the towel reaches the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4123796820640564, + 0.0976196900010109, + 0.09466725587844849, + 3.1265017986297607, + -0.2037397027015686, + -0.0270527396351099 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot is maintaining contact with the purple towel on the cooktop, continuing to push it rightward toward the target zone. The gripper remains open, confirming a dragging motion without grasping. The next action is to sustain this rightward push until the towel reaches the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3909696340560913, + 0.09055178612470627, + 0.09277712553739548, + 3.141101360321045, + -0.17331136763095856, + -0.03849371150135994 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "continue dragging towel to target zone", + "subtask_reasoning": "The robot is maintaining contact with the purple towel on the cooktop, continuing to push it rightward toward the target zone. The gripper remains open, confirming a dragging motion without grasping. The next action is to sustain this rightward push until the towel reaches the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660868704319, + 0.0838540643453598, + 0.0983288362622261, + -3.127164125442505, + -0.18306268751621246, + -0.042858678847551346 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tide table on the left to its right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel from above" + }, + { + "id": 2, + "subtask": "make contact and nudge towel rightward" + }, + { + "id": 3, + "subtask": "continue dragging towel to target zone" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "release contact and retreat upward", + "subtask_reasoning": "The purple towel has been successfully nudged to the right side of the cooktop. The gripper is open and the end-effector is positioned above the towel, indicating contact has been released. The next action is to retreat upward to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003667_ecot.json b/cot/chunk-0003/episode_0003667_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9d3d391346e28bdd9ee94448afb98df60cf016d4 --- /dev/null +++ b/cot/chunk-0003/episode_0003667_ecot.json @@ -0,0 +1,2972 @@ +{ + "task_name": "episode_0003667", + "episode_json": "json/chunk-0003/episode_0003667.json", + "video_path": "videos/chunk-0003/image_0/episode_0003667.mp4", + "instruction": "Remove the yellow block and put in the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003667.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.45787572860717773, + "std": 0.20440222322940826, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45788, std=0.20440, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 0, + 0, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 6 + ], + [ + 4, + 7, + 9 + ], + [ + 5, + 10, + 25 + ], + [ + 6, + 26, + 29 + ], + [ + 7, + 30, + 38 + ], + [ + 8, + 39, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow block\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the top of the yellow block without closing gripper.\"},\n {\"id\": 2, \"name\": \"descend to contact\", \"start\": 7, \"end\": 9, \"planning\": \"Lower gripper vertically to make contact with the yellow block’s top surface.\"},\n {\"id\": 3, \"name\": \"close gripper and lift\", \"start\": 10, \"end\": 25, \"planning\": \"Close gripper around yellow block and lift it clear of the stack.\"},\n {\"id\": 4, \"name\": \"transport over table\", \"start\": 26, \"end\": 29, \"planning\": \"Carry the held yellow block laterally over the empty table region.\"},\n {\"id\": 5, \"name\": \"lower and release\", \"start\": 30, \"end\": 38, \"planning\": \"Descend to place yellow block on table, then open gripper to release it.\"},\n {\"id\": 6, \"name\": \"retreat to home\", \"start\": 39, \"end\": 42, \"planning\": \"Lift gripper slightly and move away from the placed yellow block to complete task.\"}\n ],\n \"global_plan\": \"Remove the yellow block from the top of the colored stack by approaching, grasping, lifting, transporting, placing on the adjacent table, and retreating.\",\n \"notes\": \"Gripper closure is only justified in segment [10,25] where motion and state evidence support grasping; all other segments use contact-based or transport verbs per anti-hallucination rules. Frame coverage is contiguous and complete from 0 to 42.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow block", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the top of the yellow block without closing gripper." + }, + { + "id": 2, + "name": "descend to contact", + "start": 7, + "end": 9, + "planning": "Lower gripper vertically to make contact with the yellow block’s top surface." + }, + { + "id": 3, + "name": "close gripper and lift", + "start": 10, + "end": 25, + "planning": "Close gripper around yellow block and lift it clear of the stack." + }, + { + "id": 4, + "name": "transport over table", + "start": 26, + "end": 29, + "planning": "Carry the held yellow block laterally over the empty table region." + }, + { + "id": 5, + "name": "lower and release", + "start": 30, + "end": 38, + "planning": "Descend to place yellow block on table, then open gripper to release it." + }, + { + "id": 6, + "name": "retreat to home", + "start": 39, + "end": 42, + "planning": "Lift gripper slightly and move away from the placed yellow block to complete task." + } + ], + "global_plan": "Remove the yellow block from the top of the colored stack by approaching, grasping, lifting, transporting, placing on the adjacent table, and retreating.", + "notes": "Gripper closure is only justified in segment [10,25] where motion and state evidence support grasping; all other segments use contact-based or transport verbs per anti-hallucination rules. Frame coverage is contiguous and complete from 0 to 42." + } + }, + "episode_goal": "Remove the yellow block from the top of the stack and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31857314705848694, + -0.0803428664803505, + 0.10332021117210388, + 3.1224820613861084, + -0.009279711171984673, + 0.2274155467748642 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the stack of blocks with the yellow block on top, and the gripper is open. No movement or grasping has occurred yet. The next action should be to move the gripper closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3152005672454834, + -0.08002946525812149, + 0.09080199152231216, + -3.141321897506714, + 0.02905132994055748, + 0.22605349123477936 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the stack of blocks with the yellow block on top, and the gripper is open. No movement or grasping has occurred yet. The next action should be to move the gripper closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32127028703689575, + -0.0801343321800232, + 0.09864477813243866, + -3.139691114425659, + 0.014339610002934933, + 0.1933547556400299 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the stack of blocks with the yellow block on top, and the gripper is open. No movement or grasping has occurred yet. The next action should be to move the gripper closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3287544548511505, + -0.0830082967877388, + 0.10185307264328003, + -3.133246898651123, + 0.004773697350174189, + 0.15294255316257477 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is approaching the yellow block on top of the stack with an open gripper. No contact or grasping has occurred yet. The next action is to continue moving closer to position the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33062395453453064, + -0.0833183005452156, + 0.1048315018415451, + -3.136198043823242, + -0.013752665370702744, + 0.1299026757478714 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is approaching the yellow block on top of the stack with an open gripper. No contact or grasping has occurred yet. The next action is to continue moving closer to position the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32723960280418396, + -0.07776536792516708, + 0.12223069369792938, + 3.1377875804901123, + -0.05297979339957237, + 0.13614167273044586 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is approaching the yellow block on top of the stack with an open gripper. No contact or grasping has occurred yet. The next action is to continue moving closer to position the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3243350684642792, + -0.06981013715267181, + 0.1354926973581314, + 3.1328091621398926, + -0.08378692716360092, + 0.14423322677612305 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is approaching the yellow block on top of the stack with an open gripper. No contact or grasping has occurred yet. The next action is to continue moving closer to position the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32151615619659424, + -0.05704566463828087, + 0.1507454663515091, + -3.140362024307251, + -0.11032720655202866, + 0.16156704723834991 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is approaching the yellow block on top of the stack with an open gripper. No contact or grasping has occurred yet. The next action is to continue moving closer to position the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31717392802238464, + -0.047763969749212265, + 0.16710102558135986, + -3.1384665966033936, + -0.14730843901634216, + 0.18250063061714172 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, keep gripper open; then move back 3 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31520774960517883, + -0.033821143209934235, + 0.1751171201467514, + -3.1398231983184814, + -0.15937983989715576, + 0.21561311185359955 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 3 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080030083656311, + -0.015908854082226753, + 0.18041084706783295, + 3.140803575515747, + -0.1675373613834381, + 0.2595798969268799 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2994394302368164, + -0.0057920305989682674, + 0.17969542741775513, + 3.13893985748291, + -0.15202194452285767, + 0.29192641377449036 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29295986890792847, + 0.0007339177536778152, + 0.1730724722146988, + 3.140737295150757, + -0.1215154379606247, + 0.3130095899105072 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2893410623073578, + -0.0013472537975758314, + 0.168129101395607, + 3.1310691833496094, + -0.0986751988530159, + 0.31650596857070923 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28583091497421265, + -0.00509262690320611, + 0.16361185908317566, + 3.111755609512329, + -0.0708111971616745, + 0.3256807029247284 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841525375843048, + -0.006256104912608862, + 0.15552549064159393, + 3.1207945346832275, + -0.02176814340054989, + 0.33874693512916565 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785983681678772, + -0.004031533375382423, + 0.14827558398246765, + 3.118924617767334, + 0.011901186779141426, + 0.3661816120147705 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The robot is positioned above the yellow block on the stack with the gripper open. It has completed the approach phase and is now descending to make contact with the block. The next action is to continue lowering the end-effector until it touches the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 3 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747410237789154, + 0.0009761135443113744, + 0.14389421045780182, + 3.121699810028076, + 0.027315335348248482, + 0.3885115683078766 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27394863963127136, + 0.00426594540476799, + 0.1431313455104828, + 3.121062994003296, + 0.034086674451828, + 0.4014236629009247 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738487422466278, + 0.003497043391689658, + 0.1411277949810028, + 3.11655855178833, + 0.04372652247548103, + 0.3970351815223694 + ], + "gripper_value": 0.7081608176231384 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27476319670677185, + 0.0034790709614753723, + 0.13855485618114471, + 3.116281032562256, + 0.05182861536741257, + 0.39481300115585327 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771663963794708, + 0.0031218347139656544, + 0.138308584690094, + 3.1200473308563232, + 0.0632345899939537, + 0.38679924607276917 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886609137058258, + 0.0049001057632267475, + 0.14975406229496002, + 3.1139934062957764, + 0.03059910237789154, + 0.3720977306365967 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29306602478027344, + 0.018193554133176804, + 0.16021864116191864, + 3.116102933883667, + 0.009661792777478695, + 0.3849623203277588 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2901572287082672, + 0.048967715352773666, + 0.1591540277004242, + 3.115226984024048, + 0.001114208484068513, + 0.4601937532424927 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2809338867664337, + 0.07155369967222214, + 0.14385993778705597, + 3.1002726554870605, + 0.012843347154557705, + 0.5440061688423157 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "close gripper and lift", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734372019767761, + 0.08627299219369888, + 0.11376632004976273, + -3.1220552921295166, + 0.001176388468593359, + 0.7222915291786194 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "transport over table", + "subtask_reasoning": "The gripper is positioned above the yellow block with fingers open, having completed the approach and descent. The segment-level gripper evidence indicates a closing action is occurring or imminent to grasp the block. The next immediate action is to secure the yellow block by closing the gripper and then lift it vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move up 9 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2757625877857208, + 0.09403754025697708, + 0.08738506585359573, + -3.0721142292022705, + -0.009844756685197353, + 0.7986524701118469 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "transport over table", + "subtask_reasoning": "The robot is currently holding the yellow block above the wooden table, having successfully lifted it from the stack. Since the gripper evidence indicates no active closing motion in this segment, the block is already secured. The next step is to lower the block onto the empty space on the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28442373871803284, + 0.09482765197753906, + 0.06032206118106842, + -3.051852226257324, + -0.036963094025850296, + 0.8556207418441772 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "transport over table", + "subtask_reasoning": "The robot is currently holding the yellow block above the wooden table, having successfully lifted it from the stack. Since the gripper evidence indicates no active closing motion in this segment, the block is already secured. The next step is to lower the block onto the empty space on the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2901976406574249, + 0.09235905855894089, + 0.040858883410692215, + -3.068021059036255, + -0.02908359095454216, + 0.9129490852355957 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "transport over table", + "subtask_reasoning": "The robot is currently holding the yellow block above the wooden table, having successfully lifted it from the stack. Since the gripper evidence indicates no active closing motion in this segment, the block is already secured. The next step is to lower the block onto the empty space on the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 2 cm, move right 7 cm, move up 13 cm, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2935926914215088, + 0.0894438847899437, + 0.027881477028131485, + 3.138636350631714, + 0.002095230855047703, + 0.9155523180961609 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot is currently holding the yellow block above the wooden table, having successfully lifted it from the stack. Since the gripper evidence indicates no active closing motion in this segment, the block is already secured. The next step is to lower the block onto the empty space on the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 13 cm, rotate counterclockwise 30 degrees, open gripper; then move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29436609148979187, + 0.0974002256989479, + 0.02290002442896366, + 3.0978102684020996, + 0.008898436091840267, + 0.9452149271965027 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot is currently holding the yellow block above the wooden table, having successfully lifted it from the stack. Since the gripper evidence indicates no active closing motion in this segment, the block is already secured. The next step is to lower the block onto the empty space on the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 14 cm, rotate counterclockwise 30 degrees, keep gripper open; then move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29596078395843506, + 0.09758453071117401, + 0.02301817759871483, + 3.083001136779785, + 0.007349854335188866, + 0.9490876793861389 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot is currently holding the yellow block above the wooden table, having successfully lifted it from the stack. Since the gripper evidence indicates no active closing motion in this segment, the block is already secured. The next step is to lower the block onto the empty space on the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 14 cm, rotate counterclockwise 30 degrees, keep gripper open; then move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915433943271637, + 0.09931883960962296, + 0.02278822660446167, + 3.119401216506958, + 0.009657797403633595, + 0.9519624710083008 + ], + "gripper_value": 0.9141042232513428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot is currently holding the yellow block above the wooden table, having successfully lifted it from the stack. Since the gripper evidence indicates no active closing motion in this segment, the block is already secured. The next step is to lower the block onto the empty space on the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 14 cm, rotate counterclockwise 30 degrees, keep gripper open; then move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2956339120864868, + 0.09785249829292297, + 0.03858397901058197, + 3.113586664199829, + -0.019383182749152184, + 0.9642091989517212 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot has successfully transported the yellow block and is currently positioned above the table with the gripper open. The block has been released onto the table surface, completing the placement action. The next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 12 cm, rotate counterclockwise 30 degrees, keep gripper open; then move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2996848523616791, + 0.09662822633981705, + 0.07340770959854126, + 3.0920395851135254, + -0.0782933458685875, + 0.9818623661994934 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot has successfully transported the yellow block and is currently positioned above the table with the gripper open. The block has been released onto the table surface, completing the placement action. The next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 9 cm, rotate counterclockwise 30 degrees, keep gripper open; then move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.31296825408935547, + 0.09337963908910751, + 0.12114714086055756, + 3.061953544616699, + -0.13802562654018402, + 0.9266576766967773 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot has successfully transported the yellow block and is currently positioned above the table with the gripper open. The block has been released onto the table surface, completing the placement action. The next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper open; then move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222782611846924, + 0.0790231004357338, + 0.1487938016653061, + 3.067563056945801, + -0.15634329617023468, + 0.7837378978729248 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot has successfully transported the yellow block and is currently positioned above the table with the gripper open. The block has been released onto the table surface, completing the placement action. The next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.31977999210357666, + 0.053046613931655884, + 0.15842381119728088, + 3.132169723510742, + -0.1162959635257721, + 0.5876801013946533 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "lower and release", + "subtask_reasoning": "The robot has successfully transported the yellow block and is currently positioned above the table with the gripper open. The block has been released onto the table surface, completing the placement action. The next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3165324628353119, + 0.0178055576980114, + 0.16007518768310547, + -3.1229677200317383, + -0.07388398051261902, + 0.4169825315475464 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The robot has successfully transported the yellow block and is currently positioned above the table with the gripper open. The block has been released onto the table surface, completing the placement action. The next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3188636898994446, + -0.009774929843842983, + 0.1670505404472351, + -3.0806386470794678, + -0.05599518492817879, + 0.3078242242336273 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The yellow block has been successfully placed on the table, and the robot arm is currently positioned above the workspace with the gripper open. The subtask involves retreating to the home position, which requires moving the arm away from the table area. The next action is to execute a retreat motion to the designated home coordinates." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 39, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.31775331497192383, + -0.02359827607870102, + 0.16128318011760712, + -3.081956148147583, + -0.022565798833966255, + 0.2508426308631897 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The yellow block has been successfully placed on the table, and the robot arm is currently positioned above the workspace with the gripper open. The subtask involves retreating to the home position, which requires moving the arm away from the table area. The next action is to execute a retreat motion to the designated home coordinates." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.314572274684906, + -0.028125951066613197, + 0.14969126880168915, + -3.111604690551758, + -0.005504656117409468, + 0.22581687569618225 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the yellow block from the top of the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "descend to contact" + }, + { + "id": 3, + "subtask": "close gripper and lift" + }, + { + "id": 4, + "subtask": "transport over table" + }, + { + "id": 5, + "subtask": "lower and release" + }, + { + "id": 6, + "subtask": "retreat to home" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The yellow block has been successfully placed on the table, and the robot arm is currently positioned above the workspace with the gripper open. The subtask involves retreating to the home position, which requires moving the arm away from the table area. The next action is to execute a retreat motion to the designated home coordinates." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003668_ecot.json b/cot/chunk-0003/episode_0003668_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..932999a7168ab43d3928ec1f6a6f6cad70ef24bd --- /dev/null +++ b/cot/chunk-0003/episode_0003668_ecot.json @@ -0,0 +1,1748 @@ +{ + "task_name": "episode_0003668", + "episode_json": "json/chunk-0003/episode_0003668.json", + "video_path": "videos/chunk-0003/image_0/episode_0003668.mp4", + "instruction": "Move the can to the lower left side of table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003668.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.0002285941009176895, + "delta_total": -0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00023, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the can on the table without grasping, as gripper remains open.\"},\n {\"id\": 2, \"name\": \"reposition can\", \"start\": 4, \"end\": 16, \"planning\": \"Slide or nudge the can across the table surface toward lower left using contact, no lift or grasp involved.\"},\n {\"id\": 3, \"name\": \"finalize position\", \"start\": 17, \"end\": 28, \"planning\": \"Fine-tune can’s position in lower left area with small adjustments, maintaining contact without gripping.\"}\n ],\n \"global_plan\": \"The robot moves to approach the can, then pushes/slides it across the table to the lower left side, and finally makes minor positional corrections — all without grasping, as confirmed by constant open gripper state.\",\n \"notes\": \"Gripper never closes meaningfully; all motion is contact-based sliding/nudging. No lifting or placing occurs. Subtasks reflect observed phases: approach, bulk repositioning, fine adjustment.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the can on the table without grasping, as gripper remains open." + }, + { + "id": 2, + "name": "reposition can", + "start": 4, + "end": 16, + "planning": "Slide or nudge the can across the table surface toward lower left using contact, no lift or grasp involved." + }, + { + "id": 3, + "name": "finalize position", + "start": 17, + "end": 28, + "planning": "Fine-tune can’s position in lower left area with small adjustments, maintaining contact without gripping." + } + ], + "global_plan": "The robot moves to approach the can, then pushes/slides it across the table to the lower left side, and finally makes minor positional corrections — all without grasping, as confirmed by constant open gripper state.", + "notes": "Gripper never closes meaningfully; all motion is contact-based sliding/nudging. No lifting or placing occurs. Subtasks reflect observed phases: approach, bulk repositioning, fine adjustment." + } + }, + "episode_goal": "Move the can to the lower left side of table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30276498198509216, + -0.03607986494898796, + 0.1503346860408783, + 2.7253317832946777, + -0.17305968701839447, + 1.6102887392044067 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to move the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 11 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3014238774776459, + -0.03630254790186882, + 0.14200858771800995, + 2.756571054458618, + -0.17452409863471985, + 1.6156213283538818 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 12 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30276036262512207, + -0.02701113186776638, + 0.13778722286224365, + 2.808652639389038, + -0.1480598747730255, + 1.725533366203308 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 12 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3121890425682068, + -0.016520129516720772, + 0.13909707963466644, + 2.860839366912842, + -0.13349978625774384, + 1.853943943977356 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 13 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3239661157131195, + -0.0009369774488732219, + 0.13602861762046814, + 2.892688274383545, + -0.14941993355751038, + 2.0296881198883057 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33643051981925964, + 0.02200404182076454, + 0.12911641597747803, + 2.909921169281006, + -0.14617130160331726, + 2.2458231449127197 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418916165828705, + 0.04431051388382912, + 0.11874867230653763, + 2.9254069328308105, + -0.10237602144479752, + 2.3929848670959473 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 193, + 239, + 355, + 462 + ], + "spatula": [ + 497, + 356, + 744, + 496 + ], + "table": [ + 5, + 215, + 885, + 992 + ], + "strainer": [ + 510, + 492, + 850, + 751 + ], + "hanging object": [ + 396, + 3, + 558, + 284 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543057441711426, + 0.06850598007440567, + 0.10766885429620743, + 2.9280338287353516, + -0.09453177452087402, + 2.485755205154419 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3610765337944031, + 0.08432649075984955, + 0.09833069145679474, + 2.930786371231079, + -0.09888778626918793, + 2.5494179725646973 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3677011728286743, + 0.09846359491348267, + 0.0960836112499237, + 2.882615327835083, + -0.05226800963282585, + 2.6202659606933594 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the can located on the upper left side. No contact has been made yet, and the can remains stationary. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36673781275749207, + 0.10991913825273514, + 0.0855969786643982, + 2.853421449661255, + -0.04972454160451889, + 2.727067232131958 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638910949230194, + 0.11885421723127365, + 0.07555120438337326, + 2.84293794631958, + -0.05746198445558548, + 2.831188678741455 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3596688508987427, + 0.12371347844600677, + 0.05999917536973953, + 2.8601293563842773, + -0.11344613134860992, + 2.8875133991241455 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601651191711426, + 0.13257092237472534, + 0.05104922875761986, + 2.8756978511810303, + -0.14165768027305603, + 2.9032373428344727 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583386242389679, + 0.14002883434295654, + 0.04717050865292549, + 2.878185987472534, + -0.16382187604904175, + 2.900052309036255 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3504987955093384, + 0.14353473484516144, + 0.04119502380490303, + 2.8944008350372314, + -0.1850387305021286, + 2.8823294639587402 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, keep gripper open; then move back 5 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33746257424354553, + 0.14701299369335175, + 0.049137670546770096, + 2.874032974243164, + -0.187688410282135, + 2.893970012664795 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 4 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32516586780548096, + 0.1456783413887024, + 0.0499800369143486, + 2.864933729171753, + -0.19838228821754456, + 2.8782553672790527 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3070369064807892, + 0.14589355885982513, + 0.054791420698165894, + 2.836594581604004, + -0.21847467124462128, + 2.8766863346099854 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 497, + 357, + 744, + 495 + ], + "can": [ + 119, + 300, + 293, + 529 + ], + "table": [ + 7, + 251, + 884, + 992 + ], + "hanging object": [ + 81, + 2, + 394, + 401 + ], + "strainer": [ + 513, + 492, + 852, + 749 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29285910725593567, + 0.14639194309711456, + 0.04775765910744667, + 2.825374126434326, + -0.25680088996887207, + 2.8723394870758057 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28007417917251587, + 0.14621557295322418, + 0.04800165072083473, + 2.8084821701049805, + -0.2673195004463196, + 2.8799490928649902 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650867700576782, + 0.14990215003490448, + 0.04969394952058792, + 2.7925713062286377, + -0.27662017941474915, + 2.896998405456543 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the table, with the gripper remaining open as per segment evidence. The can has not yet been moved to the lower left side. The next action should involve pushing or sliding the can toward the target location without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598813772201538, + 0.15192952752113342, + 0.06128428876399994, + 2.759085178375244, + -0.2568584680557251, + 2.9114208221435547 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 32, + 363, + 227, + 612 + ], + "spatula": [ + 497, + 356, + 744, + 495 + ], + "strainer": [ + 509, + 491, + 852, + 748 + ], + "table": [ + 7, + 235, + 884, + 992 + ], + "hanging object": [ + 5, + 2, + 341, + 472 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The can is already positioned near the lower left side of the table, and the robot’s end-effector is hovering close to it with an open gripper. Minor positional adjustments are being made via sliding or nudging, as no grasping is occurring. The next action is likely a small push or nudge to finalize the can’s placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26009702682495117, + 0.15297143161296844, + 0.064556784927845, + 2.749645471572876, + -0.26711615920066833, + 2.914637327194214 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The can is already positioned near the lower left side of the table, and the robot’s end-effector is hovering close to it with an open gripper. Minor positional adjustments are being made via sliding or nudging, as no grasping is occurring. The next action is likely a small push or nudge to finalize the can’s placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26371797919273376, + 0.15266519784927368, + 0.06702741980552673, + 2.7551887035369873, + -0.25731372833251953, + 2.907721519470215 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The can is already positioned near the lower left side of the table, and the robot’s end-effector is hovering close to it with an open gripper. Minor positional adjustments are being made via sliding or nudging, as no grasping is occurring. The next action is likely a small push or nudge to finalize the can’s placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27498430013656616, + 0.15246376395225525, + 0.0842534601688385, + 2.7522406578063965, + -0.2117847502231598, + 2.892733335494995 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The can is already positioned near the lower left side of the table, and the robot’s end-effector is hovering close to it with an open gripper. Minor positional adjustments are being made via sliding or nudging, as no grasping is occurring. The next action is likely a small push or nudge to finalize the can’s placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2882624566555023, + 0.1514393538236618, + 0.11207561194896698, + 2.738138198852539, + -0.1260034441947937, + 2.8848774433135986 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The can is already positioned near the lower left side of the table, and the robot’s end-effector is hovering close to it with an open gripper. Minor positional adjustments are being made via sliding or nudging, as no grasping is occurring. The next action is likely a small push or nudge to finalize the can’s placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2949262857437134, + 0.14854854345321655, + 0.12982149422168732, + 2.744550943374634, + -0.07934340834617615, + 2.8682663440704346 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The can is already positioned near the lower left side of the table, and the robot’s end-effector is hovering close to it with an open gripper. Minor positional adjustments are being made via sliding or nudging, as no grasping is occurring. The next action is likely a small push or nudge to finalize the can’s placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29503318667411804, + 0.14847421646118164, + 0.13146522641181946, + 2.7453787326812744, + -0.07419890910387039, + 2.865577459335327 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower left side of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + }, + { + "id": 3, + "subtask": "finalize position" + } + ], + "subtask_name": "finalize position", + "subtask_reasoning": "The can is already positioned near the lower left side of the table, and the robot’s end-effector is hovering close to it with an open gripper. Minor positional adjustments are being made via sliding or nudging, as no grasping is occurring. The next action is likely a small push or nudge to finalize the can’s placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003670_ecot.json b/cot/chunk-0003/episode_0003670_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3718b662724b390d2f631f6206f48088367d6772 --- /dev/null +++ b/cot/chunk-0003/episode_0003670_ecot.json @@ -0,0 +1,3030 @@ +{ + "task_name": "episode_0003670", + "episode_json": "json/chunk-0003/episode_0003670.json", + "video_path": "videos/chunk-0003/image_0/episode_0003670.mp4", + "instruction": "Put the spatula above the orange cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003670.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6911526918411255, + "std": 0.2934736907482147, + "delta_total": -0.35440802574157715, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.69115, std=0.29347, total_delta=-0.35441). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 212, + 212, + 212, + 212, + 212, + 212, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 44 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 11 + ], + [ + 4, + 12, + 17 + ], + [ + 5, + 18, + 43 + ], + [ + 6, + 44, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from initial position toward the spatula on the orange cloth.\"},\n {\"id\": 2, \"name\": \"grasp spatula\", \"start\": 5, \"end\": 11, \"planning\": \"Close gripper around the spatula handle while maintaining contact with the cloth surface.\"},\n {\"id\": 3, \"name\": \"lift and reposition spatula\", \"start\": 12, \"end\": 17, \"planning\": \"Lift the grasped spatula slightly and move it upward and away from the cloth to prepare for placement above.\"},\n {\"id\": 4, \"name\": \"hover above cloth\", \"start\": 18, \"end\": 43, \"planning\": \"Position the held spatula directly above the orange cloth at target height without touching.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 44, \"end\": 44, \"planning\": \"Open gripper to release spatula above cloth and begin retreating end-effector upward.\"}\n ],\n \"global_plan\": \"Approach the spatula on the orange cloth, grasp it securely, lift and reposition it upward, hover precisely above the cloth, then release and retreat.\",\n \"notes\": \"Segment 1 (frame 0) shows no gripper motion — treated as static start. Segment 3 (frames 5-11) has significant gripper closing (-0.347) and image confirms grasp initiation. Segment 4 (frames 12-17) continues holding with minor adjustment then lifts. Segment 5 (frames 18-43) is long hover phase with stable grip. Segment 6 (frame 44) shows gripper opening (delta +0.297) indicating release; though single frame, it’s the terminal action.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 4, + "planning": "Move the end-effector from initial position toward the spatula on the orange cloth." + }, + { + "id": 2, + "name": "grasp spatula", + "start": 5, + "end": 11, + "planning": "Close gripper around the spatula handle while maintaining contact with the cloth surface." + }, + { + "id": 3, + "name": "lift and reposition spatula", + "start": 12, + "end": 17, + "planning": "Lift the grasped spatula slightly and move it upward and away from the cloth to prepare for placement above." + }, + { + "id": 4, + "name": "hover above cloth", + "start": 18, + "end": 43, + "planning": "Position the held spatula directly above the orange cloth at target height without touching." + }, + { + "id": 5, + "name": "release and retreat", + "start": 44, + "end": 44, + "planning": "Open gripper to release spatula above cloth and begin retreating end-effector upward." + } + ], + "global_plan": "Approach the spatula on the orange cloth, grasp it securely, lift and reposition it upward, hover precisely above the cloth, then release and retreat.", + "notes": "Segment 1 (frame 0) shows no gripper motion — treated as static start. Segment 3 (frames 5-11) has significant gripper closing (-0.347) and image confirms grasp initiation. Segment 4 (frames 12-17) continues holding with minor adjustment then lifts. Segment 5 (frames 18-43) is long hover phase with stable grip. Segment 6 (frame 44) shows gripper opening (delta +0.297) indicating release; though single frame, it’s the terminal action." + } + }, + "episode_goal": "Place the spatula on top of the orange cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26226404309272766, + -0.09457505494356155, + 0.0750083327293396, + -3.107823371887207, + 0.002950187074020505, + -0.27968233823776245 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned near the spatula on the orange cloth, with the gripper open and ready. No movement or grasping has occurred yet. The next action should be to move the gripper closer to the spatula handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26012882590293884, + -0.09375893324613571, + 0.06721945106983185, + -3.1053364276885986, + 0.031989533454179764, + -0.2796388864517212 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned near the spatula on the orange cloth, with the gripper open and ready. No movement or grasping has occurred yet. The next action should be to move the gripper closer to the spatula handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26968076825141907, + -0.0672883614897728, + 0.05343563109636307, + -3.07926869392395, + 0.06339643895626068, + -0.2552109658718109 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned near the spatula on the orange cloth, with the gripper open and no contact made yet. The subtask of approaching the spatula is in progress, and the next action should involve fine-tuning the position to align the gripper with the spatula handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631928026676178, + -0.027425158768892288, + 0.04998958110809326, + -3.0614922046661377, + 0.08639909327030182, + -0.18492449820041656 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned near the spatula on the orange cloth, with the gripper open and no contact made yet. The subtask of approaching the spatula is in progress, and the next action should involve fine-tuning the position to align the gripper with the spatula handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25002506375312805, + 0.014051850885152817, + 0.061003778129816055, + -3.023411512374878, + 0.05925263091921806, + -0.10602285712957382 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 485, + 478, + 719, + 755 + ], + "white container": [ + 609, + 257, + 760, + 486 + ], + "orange cloth": [ + 198, + 430, + 496, + 753 + ], + "utensil": [ + 275, + 458, + 398, + 686 + ], + "wooden countertop": [ + 4, + 184, + 848, + 971 + ] + } + } + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned near the spatula on the orange cloth, with the gripper open and no contact made yet. The subtask of approaching the spatula is in progress, and the next action should involve fine-tuning the position to align the gripper with the spatula handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23392045497894287, + 0.03611190617084503, + 0.05894801765680313, + -3.013561487197876, + 0.06187526881694794, + -0.06727326661348343 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot arm is positioned near the spatula on the orange cloth, with the gripper open and no contact made yet. The subtask of approaching the spatula is in progress, and the next action should involve fine-tuning the position to align the gripper with the spatula handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20956115424633026, + 0.05167732760310173, + 0.05326279252767563, + -3.0134637355804443, + 0.06045951321721077, + 0.007587464526295662 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot arm is positioned near the spatula on the orange cloth, with the gripper open and no contact made yet. The subtask of approaching the spatula is in progress, and the next action should involve fine-tuning the position to align the gripper with the spatula handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move right 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20869970321655273, + 0.057053785771131516, + 0.03879846632480621, + -3.0349061489105225, + 0.05769190192222595, + 0.05877909064292908 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot arm is positioned near the spatula on the orange cloth, with the gripper open and no contact made yet. The subtask of approaching the spatula is in progress, and the next action should involve fine-tuning the position to align the gripper with the spatula handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 4 cm, move right 7 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.208903968334198, + 0.06279131770133972, + 0.025949329137802124, + -3.050200939178467, + 0.07242842763662338, + 0.08970697969198227 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the spatula on the orange cloth and is now positioned directly above it with the gripper open. The current subtask requires closing the gripper to securely grasp the spatula handle. The next action is to close the gripper fingers to establish a firm hold on the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 5 cm, move right 11 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2133992612361908, + 0.06473587453365326, + 0.02171950973570347, + -3.049928665161133, + 0.06723525375127792, + 0.09898301213979721 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the spatula on the orange cloth and is now positioned directly above it with the gripper open. The current subtask requires closing the gripper to securely grasp the spatula handle. The next action is to close the gripper fingers to establish a firm hold on the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 5 cm, move right 11 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21796157956123352, + 0.06689806282520294, + 0.022960638627409935, + -3.0395333766937256, + 0.05949043482542038, + 0.10166454315185547 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the spatula on the orange cloth and is now positioned directly above it with the gripper open. The current subtask requires closing the gripper to securely grasp the spatula handle. The next action is to close the gripper fingers to establish a firm hold on the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 11 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22005486488342285, + 0.0665302649140358, + 0.0202248003333807, + -3.0349442958831787, + 0.0716816857457161, + 0.09521778672933578 + ], + "gripper_value": 0.6541022062301636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the spatula on the orange cloth and is now positioned directly above it with the gripper open. The current subtask requires closing the gripper to securely grasp the spatula handle. The next action is to close the gripper fingers to establish a firm hold on the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 11 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22168511152267456, + 0.06544052809476852, + 0.017991119995713234, + -3.0333914756774902, + 0.07905524969100952, + 0.09001341462135315 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the spatula on the orange cloth and is now positioned directly above it with the gripper open. The current subtask requires closing the gripper to securely grasp the spatula handle. The next action is to close the gripper fingers to establish a firm hold on the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22270673513412476, + 0.06459691375494003, + 0.017063243314623833, + -3.028153657913208, + 0.08222950249910355, + 0.09520023316144943 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the spatula on the orange cloth and is now positioned directly above it with the gripper open. The current subtask requires closing the gripper to securely grasp the spatula handle. The next action is to close the gripper fingers to establish a firm hold on the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22378559410572052, + 0.062014952301979065, + 0.013960878364741802, + -3.028472661972046, + 0.0899711474776268, + 0.0812644213438034 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22415919601917267, + 0.0560305081307888, + 0.019252369180321693, + -3.0253634452819824, + 0.10179134458303452, + 0.046039480715990067 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 10 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24321188032627106, + 0.03383772820234299, + 0.06062185391783714, + -2.9705865383148193, + 0.019249016419053078, + -0.027613917365670204 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.258627325296402, + -0.007232169155031443, + 0.09724586457014084, + -2.942375421524048, + -0.05034886300563812, + -0.1232558935880661 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 205, + 426, + 503, + 755 + ], + "metal bowl": [ + 479, + 472, + 720, + 755 + ], + "white container": [ + 609, + 256, + 760, + 486 + ], + "wooden countertop": [ + 4, + 180, + 847, + 971 + ] + } + } + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 1 cm, keep gripper closed; then move forward 7 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2756118178367615, + -0.04558870196342468, + 0.1053745448589325, + -2.9622511863708496, + -0.07204776257276535, + -0.1825994998216629 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017759621143341, + -0.09142877161502838, + 0.08521919697523117, + -2.9994399547576904, + -0.03942037746310234, + -0.30109772086143494 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 205, + 426, + 502, + 753 + ], + "wooden countertop": [ + 4, + 181, + 847, + 971 + ], + "metal bowl": [ + 457, + 388, + 722, + 755 + ] + } + } + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31683653593063354, + -0.10583619773387909, + 0.07192811369895935, + -3.0129246711730957, + -0.009714956395328045, + -0.3288969397544861 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32200944423675537, + -0.1069573387503624, + 0.05514410138130188, + -3.029128074645996, + 0.018011894077062607, + -0.32994699478149414 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32416898012161255, + -0.0909133106470108, + 0.051034897565841675, + -3.023773431777954, + 0.02876846119761467, + -0.2905588150024414 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.320308119058609, + -0.07020303606987, + 0.04336629807949066, + -3.021430253982544, + 0.0559610091149807, + -0.2471706122159958 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184046447277069, + -0.058740388602018356, + 0.040344592183828354, + -3.0184969902038574, + 0.07176579535007477, + -0.23566444218158722 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32036033272743225, + -0.049655426293611526, + 0.039724934846162796, + -3.03377628326416, + 0.07540439814329147, + -0.22509358823299408 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32999852299690247, + -0.04996860399842262, + 0.04056926071643829, + -3.0520851612091064, + 0.062300555408000946, + -0.2111448496580124 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3414919972419739, + -0.04815273359417915, + 0.04250124841928482, + -3.056281566619873, + 0.04797034338116646, + -0.18878687918186188 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 14 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3531172573566437, + -0.041816968470811844, + 0.0438704751431942, + -3.0550272464752197, + 0.04121996462345123, + -0.1579390913248062 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 13 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.358739972114563, + -0.03147304430603981, + 0.04291021451354027, + -3.0539615154266357, + 0.041373834013938904, + -0.11116652190685272 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot has grasped the spatula on the orange cloth and is now lifting it upward. The gripper remains closed, and the end-effector is moving vertically to reposition the spatula above the cloth. The next action is to continue lifting until the desired height is reached before hovering and releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565589487552643, + -0.020588312298059464, + 0.04149661585688591, + -3.0561165809631348, + 0.051743656396865845, + -0.07428651303052902 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34600234031677246, + -0.005310236942023039, + 0.03284222260117531, + -3.0564920902252197, + 0.08122600615024567, + -0.037185583263635635 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33481764793395996, + 0.01486165076494217, + 0.038958583027124405, + -3.040480375289917, + 0.08714655786752701, + 0.005466395057737827 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 204, + 426, + 503, + 757 + ], + "metal bowl": [ + 477, + 461, + 725, + 748 + ], + "wooden countertop": [ + 4, + 181, + 848, + 974 + ] + } + } + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232785761356354, + 0.036852188408374786, + 0.04285619035363197, + -3.0355451107025146, + 0.09351445734500885, + 0.04944925755262375 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200233578681946, + 0.053579043596982956, + 0.046466223895549774, + -3.037174940109253, + 0.08961799740791321, + 0.08050009608268738 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3148583173751831, + 0.07507806271314621, + 0.05114232003688812, + -3.044663667678833, + 0.08659718930721283, + 0.1208735927939415 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.30969029664993286, + 0.0870303362607956, + 0.05165417119860649, + -3.0492424964904785, + 0.10327480733394623, + 0.13066254556179047 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 204, + 426, + 501, + 756 + ], + "wooden countertop": [ + 4, + 168, + 847, + 975 + ], + "metal bowl": [ + 431, + 404, + 724, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3052235543727875, + 0.0953955426812172, + 0.051478367298841476, + -3.0547566413879395, + 0.11668936908245087, + 0.12897001206874847 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.304734468460083, + 0.09040157496929169, + 0.05050148814916611, + -3.067664384841919, + 0.12590385973453522, + 0.08824663609266281 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.306909441947937, + 0.07848385721445084, + 0.048926956951618195, + -3.089897632598877, + 0.12391466647386551, + 0.05099376663565636 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3240285813808441, + 0.07785311341285706, + 0.05243328586220741, + -3.098055839538574, + 0.08446915447711945, + 0.03932320699095726 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314386308193207, + 0.07970006763935089, + 0.040366146713495255, + -3.1032161712646484, + 0.11412638425827026, + 0.021955087780952454 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366745412349701, + 0.08244723826646805, + 0.03189726173877716, + -3.0988962650299072, + 0.1359642744064331, + 0.007073031738400459 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415827751159668, + 0.08366448432207108, + 0.025305669754743576, + -3.0976498126983643, + 0.15039700269699097, + 0.002461595693603158 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover above cloth", + "subtask_reasoning": "The robot is holding the spatula and has lifted it above the orange cloth, maintaining a stable hover position. The gripper remains closed with minimal variation, confirming secure grasp. The next action is to release the spatula precisely above the cloth to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.34260988235473633, + 0.07644232362508774, + 0.026433972641825676, + -3.0877394676208496, + 0.16282536089420319, + -0.021153608337044716 + ], + "gripper_value": 0.6470694541931152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "hover above cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The spatula is currently held above the orange cloth, with the gripper open and no contact between the spatula and the cloth. The release action has been completed, and the robot is in a retreat phase, moving away from the cloth while maintaining the spatula's position above it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 44, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003673_ecot.json b/cot/chunk-0003/episode_0003673_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..47ef6c876511da1b32dc992eb978e9faf7f3e93b --- /dev/null +++ b/cot/chunk-0003/episode_0003673_ecot.json @@ -0,0 +1,1767 @@ +{ + "task_name": "episode_0003673", + "episode_json": "json/chunk-0003/episode_0003673.json", + "video_path": "videos/chunk-0003/image_0/episode_0003673.mp4", + "instruction": "Move the silver pot from the lower left burner to the upper right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003673.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9377708435058594, + "std": 0.42319899797439575, + "delta_total": -0.0019985437393188477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93777, std=0.42320, total_delta=-0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 209, + 209, + 209, + 209, + 209, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 25, + 25, + 25 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 8 + ], + [ + 4, + 9, + 13 + ], + [ + 5, + 14, + 24 + ], + [ + 6, + 25, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end effector from initial position toward the silver pot on the lower left burner without grasping.\"},\n {\"id\": 2, \"name\": \"grasp silver pot\", \"start\": 4, \"end\": 8, \"planning\": \"Close gripper around the silver pot handle as evidenced by decreasing gripper value and stable contact.\"},\n {\"id\": 3, \"name\": \"lift and transport pot\", \"start\": 9, \"end\": 24, \"planning\": \"Lift the silver pot and move it across the stovetop toward the upper right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release pot on target burner\", \"start\": 25, \"end\": 27, \"planning\": \"Open gripper to release the silver pot onto the upper right burner, confirmed by increasing gripper value and final positioning.\"}\n ],\n \"global_plan\": \"Approach the silver pot on the lower left burner, grasp it securely, lift and transport it to the upper right burner, then release it precisely on the target location.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 3, 4, and 6 — allowing grasp/release terminology. Segment 1 shows no gripper motion, so approach-only description is used. Full frame coverage ensured with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 3, + "planning": "Move the end effector from initial position toward the silver pot on the lower left burner without grasping." + }, + { + "id": 2, + "name": "grasp silver pot", + "start": 4, + "end": 8, + "planning": "Close gripper around the silver pot handle as evidenced by decreasing gripper value and stable contact." + }, + { + "id": 3, + "name": "lift and transport pot", + "start": 9, + "end": 24, + "planning": "Lift the silver pot and move it across the stovetop toward the upper right burner while maintaining grip." + }, + { + "id": 4, + "name": "release pot on target burner", + "start": 25, + "end": 27, + "planning": "Open gripper to release the silver pot onto the upper right burner, confirmed by increasing gripper value and final positioning." + } + ], + "global_plan": "Approach the silver pot on the lower left burner, grasp it securely, lift and transport it to the upper right burner, then release it precisely on the target location.", + "notes": "Gripper evidence confirms meaningful closing in segments 3, 4, and 6 — allowing grasp/release terminology. Segment 1 shows no gripper motion, so approach-only description is used. Full frame coverage ensured with contiguous ranges." + } + }, + "episode_goal": "Move the silver pot from the lower left burner to the upper right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683657944202423, + 0.0025423152837902308, + 0.0509568452835083, + -3.0842819213867188, + -0.19027787446975708, + -0.06208333373069763 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the lower left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3644437789916992, + 0.004273435566574335, + 0.03580493479967117, + -3.0861494541168213, + -0.14729125797748566, + -0.05867772921919823 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the lower left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3733082115650177, + 0.03192029148340225, + 0.028493979945778847, + -3.0838429927825928, + -0.14372509717941284, + 0.0062863752245903015 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the lower left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3804683983325958, + 0.07759469002485275, + 0.02333119511604309, + -3.061923027038574, + -0.11525315046310425, + 0.10648088157176971 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 369, + 379, + 469, + 490 + ], + "sink": [ + 683, + 481, + 994, + 978 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the lower left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.381591796875, + 0.10976981371641159, + 0.016494831070303917, + -3.0623154640197754, + -0.10709220170974731, + 0.18044926226139069 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the lower left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 6 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37848830223083496, + 0.13505303859710693, + 0.002422838704660535, + -3.0700623989105225, + -0.0912327840924263, + 0.23639807105064392 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the lower left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 9 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3806212842464447, + 0.13904127478599548, + -0.023189028725028038, + -3.090921401977539, + -0.027583368122577667, + 0.2516216039657593 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 4 cm, move right 12 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38129663467407227, + 0.14144746959209442, + -0.041778624057769775, + -3.1009442806243896, + 0.015906332060694695, + 0.27339625358581543 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 5 cm, move right 14 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3827016055583954, + 0.14154350757598877, + -0.04940783232450485, + -3.114739179611206, + 0.011751609854400158, + 0.2962823510169983 + ], + "gripper_value": 0.7011857628822327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 16 cm, move up 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869536221027374, + 0.14514440298080444, + -0.046240825206041336, + -3.1014668941497803, + -0.006050270050764084, + 0.2887449562549591 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 18 cm, move up 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3872014582157135, + 0.14699338376522064, + -0.04545636475086212, + -3.082585334777832, + -0.009489157237112522, + 0.2720285654067993 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 19 cm, move up 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3867933750152588, + 0.1442834883928299, + -0.045553937554359436, + -3.065385580062866, + -0.010655928403139114, + 0.23869538307189941 + ], + "gripper_value": 0.08432227373123169 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 20 cm, move up 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3841125965118408, + 0.14328958094120026, + -0.03674367070198059, + -3.042818546295166, + -0.025424864143133163, + 0.1830613613128662 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 21 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3836449682712555, + 0.12178043276071548, + -0.027527129277586937, + -3.0217487812042236, + -0.06875933706760406, + 0.056404195725917816 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 19 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3913104236125946, + 0.08577144891023636, + -0.0112488754093647, + -2.992461681365967, + -0.14170017838478088, + -0.11020664125680923 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 16 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.403238981962204, + 0.05469334498047829, + -0.007395857013761997, + -2.978830337524414, + -0.18039517104625702, + -0.22424601018428802 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the lower left burner, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely close the gripper around the pot's handle. The next action is to initiate the grasp by closing the gripper fingers." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 12 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4236198663711548, + 0.02824586071074009, + 0.0038922124076634645, + -2.962157964706421, + -0.2433055341243744, + -0.3238336145877838 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4377160966396332, + 0.0019964780658483505, + -0.009264901280403137, + -2.974182605743408, + -0.24713967740535736, + -0.4049666225910187 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 369, + 378, + 470, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.46005168557167053, + -0.01936533860862255, + -0.01420703623443842, + -2.965946912765503, + -0.28064730763435364, + -0.482196182012558 + ], + "gripper_value": 0.06296365708112717 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 2 cm, open gripper; then move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.47438350319862366, + -0.03506988659501076, + -0.02336835488677025, + -2.9532241821289062, + -0.288611501455307, + -0.5434014201164246 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. 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The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, open gripper; then move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4891747236251831, + -0.04800660163164139, + -0.03195856511592865, + -2.9480161666870117, + -0.2912105321884155, + -0.5945867300033569 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, open gripper; then move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.49970799684524536, + -0.05947929620742798, + -0.0327068492770195, + -2.9410154819488525, + -0.3021923899650574, + -0.634742796421051 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.5056940317153931, + -0.06614101678133011, + -0.03475882485508919, + -2.95088267326355, + -0.3177888095378876, + -0.6322312951087952 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.5045803785324097, + -0.06918958574533463, + -0.035406265407800674, + -2.9594321250915527, + -0.3165968060493469, + -0.5945277810096741 + ], + "gripper_value": 0.22171935439109802 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.49705153703689575, + -0.06965065747499466, + -0.04346155747771263, + -2.95218825340271, + -0.28569263219833374, + -0.5768353939056396 + ], + "gripper_value": 0.48323801159858704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4901505410671234, + -0.06485866755247116, + -0.03374795988202095, + -2.929338216781616, + -0.3058873414993286, + -0.5494067072868347 + ], + "gripper_value": 0.7998467683792114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The silver pot has been grasped and is currently being lifted from the lower left burner. The gripper is closed and holding the pot securely, with upward motion evident. The next action is to continue transporting the pot toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4760625660419464, + -0.06278815120458603, + 0.006643886212259531, + -2.9170479774475098, + -0.3311457633972168, + -0.4828259348869324 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The silver pot is currently positioned over the upper right burner, indicating the transport phase is complete. The gripper is closed around the pot handle, maintaining a secure hold. The next action is to open the gripper to release the pot onto the target burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.43605440855026245, + -0.06130359321832657, + 0.029320750385522842, + -2.993325710296631, + -0.2920273244380951, + -0.3314312994480133 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 369, + 378, + 470, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the lower left burner to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The silver pot is currently positioned over the upper right burner, indicating the transport phase is complete. The gripper is closed around the pot handle, maintaining a secure hold. The next action is to open the gripper to release the pot onto the target burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003674_ecot.json b/cot/chunk-0003/episode_0003674_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f5fe3c472cf0b362bb9fa3791137a85738643dc8 --- /dev/null +++ b/cot/chunk-0003/episode_0003674_ecot.json @@ -0,0 +1,1780 @@ +{ + "task_name": "episode_0003674", + "episode_json": "json/chunk-0003/episode_0003674.json", + "video_path": "videos/chunk-0003/image_0/episode_0003674.mp4", + "instruction": "Remove the little thing on the upper right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003674.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.5271745324134827, + "std": 0.21338587999343872, + "delta_total": -0.0013339519500732422, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.52717, std=0.21339, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 6 + ], + [ + 3, + 7, + 12 + ], + [ + 4, + 13, + 14 + ], + [ + 5, + 15, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach upper right burner\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end effector toward the upper right burner where the small green object is located, without closing the gripper.\"},\n {\"id\": 2, \"name\": \"make contact with object\", \"start\": 7, \"end\": 12, \"planning\": \"Position the gripper around the small green object and prepare for grasping by aligning fingers.\"},\n {\"id\": 3, \"name\": \"grasp the object\", \"start\": 13, \"end\": 14, \"planning\": \"Close the gripper to securely grasp the small green object on the upper right burner.\"},\n {\"id\": 4, \"name\": \"lift and retreat with object\", \"start\": 15, \"end\": 27, \"planning\": \"Lift the grasped object slightly and move it away from the burner to complete removal.\"}\n ],\n \"global_plan\": \"Approach the upper right burner, make contact with the small green object, grasp it firmly, then lift and retreat to remove it from the stove surface.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 4 and 5; thus, grasp wording is reserved for frames 13-14 (segment 4) and lifting/retreat in segment 5. Segments 1-3 show no gripper closure, so descriptions avoid grasp/pick terminology.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach upper right burner", + "start": 0, + "end": 6, + "planning": "Move the end effector toward the upper right burner where the small green object is located, without closing the gripper." + }, + { + "id": 2, + "name": "make contact with object", + "start": 7, + "end": 12, + "planning": "Position the gripper around the small green object and prepare for grasping by aligning fingers." + }, + { + "id": 3, + "name": "grasp the object", + "start": 13, + "end": 14, + "planning": "Close the gripper to securely grasp the small green object on the upper right burner." + }, + { + "id": 4, + "name": "lift and retreat with object", + "start": 15, + "end": 27, + "planning": "Lift the grasped object slightly and move it away from the burner to complete removal." + } + ], + "global_plan": "Approach the upper right burner, make contact with the small green object, grasp it firmly, then lift and retreat to remove it from the stove surface.", + "notes": "Gripper evidence confirms meaningful closing only in segments 4 and 5; thus, grasp wording is reserved for frames 13-14 (segment 4) and lifting/retreat in segment 5. Segments 1-3 show no gripper closure, so descriptions avoid grasp/pick terminology." + } + }, + "episode_goal": "Remove the green object from the upper right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3383288085460663, + -0.043325234204530716, + 0.010363893583416939, + 3.1205828189849854, + 0.021843058988451958, + -0.16816622018814087 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot is positioned near the stove with the end effector above the lower right burner, not yet at the upper right burner where the green object is located. No contact or grasping has occurred. The next action should be to move the end effector toward the upper right burner to approach the target object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 1 cm, move down 1 cm, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33374613523483276, + -0.043301261961460114, + -0.001653458341024816, + 3.1189181804656982, + 0.058682288974523544, + -0.16670194268226624 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot is positioned near the stove with the end effector above the lower right burner, not yet at the upper right burner where the green object is located. No contact or grasping has occurred. The next action should be to move the end effector toward the upper right burner to approach the target object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 1 cm, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 8 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35764187574386597, + -0.045880913734436035, + -0.01176623348146677, + 3.121962308883667, + 0.0762062594294548, + -0.14029110968112946 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot is positioned near the stove with the end effector above the lower right burner, not yet at the upper right burner where the green object is located. No contact or grasping has occurred. The next action should be to move the end effector toward the upper right burner to approach the target object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move up 1 cm, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 9 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3873729109764099, + -0.050173111259937286, + -0.006620185915380716, + 3.118898630142212, + 0.038116440176963806, + -0.12342732399702072 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy vegetable": [ + 676, + 434, + 731, + 514 + ], + "blue utensil": [ + 562, + 579, + 670, + 747 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the green object is located. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move up 1 cm, tilt back 30 degrees, keep gripper open; then move forward 9 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.41544559597969055, + -0.049333225935697556, + 0.003934632986783981, + -3.138853073120117, + -0.07675109803676605, + -0.10526766628026962 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the green object is located. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, tilt back 20 degrees, keep gripper open; then move forward 9 cm, move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.43587058782577515, + -0.04607398062944412, + 0.0004870419215876609, + -3.107347249984741, + -0.23170509934425354, + -0.09614638239145279 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the green object is located. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, tilt back 20 degrees, keep gripper open; then move forward 9 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4501827657222748, + -0.043484270572662354, + -0.00833805650472641, + -3.0952024459838867, + -0.4020974338054657, + -0.06770018488168716 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the green object is located. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 9 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.46556195616722107, + -0.04934540018439293, + 0.00015620762133039534, + 3.1341230869293213, + -0.5042046904563904, + -0.026080844923853874 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "make contact with object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the green object is located. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move left 8 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4907882809638977, + -0.05332513898611069, + 0.00201019668020308, + 3.114603281021118, + -0.5662890672683716, + -0.003102125134319067 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "make contact with object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the green object is located. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 3 cm, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 10 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.5117696523666382, + -0.05421597510576248, + -0.0020362650975584984, + 3.1057112216949463, + -0.5786811113357544, + 0.021979238837957382 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "make contact with object", + "subtask_reasoning": "The robot arm is positioned above the upper right burner with the green object visible below. The approach phase is complete, and the end-effector is now in close proximity to the target. The next action is to lower the arm slightly to establish physical contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 10 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.5304235219955444, + -0.05307598039507866, + -0.012195945717394352, + 3.123365879058838, + -0.5796689987182617, + 0.02817460335791111 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "make contact with object", + "subtask_reasoning": "The robot arm is positioned above the upper right burner with the green object visible below. The approach phase is complete, and the end-effector is now in close proximity to the target. The next action is to lower the arm slightly to establish physical contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 11 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.5449445843696594, + -0.05372798442840576, + -0.017231961712241173, + 3.1272754669189453, + -0.5911639928817749, + 0.03882041946053505 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "make contact with object", + "subtask_reasoning": "The robot arm is positioned above the upper right burner with the green object visible below. The approach phase is complete, and the end-effector is now in close proximity to the target. The next action is to lower the arm slightly to establish physical contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 12 cm, move up 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.5545939207077026, + -0.05392846465110779, + -0.023305658251047134, + 3.129211187362671, + -0.5740179419517517, + 0.042147696018218994 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "make contact with object", + "subtask_reasoning": "The robot arm is positioned above the upper right burner with the green object visible below. The approach phase is complete, and the end-effector is now in close proximity to the target. The next action is to lower the arm slightly to establish physical contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 12 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.5556023716926575, + -0.054372262209653854, + -0.02596677653491497, + -3.1412642002105713, + -0.5444259643554688, + 0.02148539200425148 + ], + "gripper_value": 0.6941980719566345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "grasp the object", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green object on the upper right burner, having completed the approach and contact phases. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to fully close the gripper to secure a firm grasp on the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 11 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.5484651327133179, + -0.053589433431625366, + -0.031068088486790657, + -3.1357810497283936, + -0.5200473666191101, + 0.015570195391774178 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "grasp the object", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green object on the upper right burner, having completed the approach and contact phases. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to fully close the gripper to secure a firm grasp on the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 8 cm, move left 11 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.53615403175354, + -0.039028383791446686, + -0.018430180847644806, + 3.13620924949646, + -0.5308865308761597, + 0.031049009412527084 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green object on the upper right burner, having completed the approach and contact phases. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to fully close the gripper to secure a firm grasp on the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 10 cm, move up 4 cm, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.5156761407852173, + -0.01251299399882555, + -0.010036395862698555, + 3.101956367492676, + -0.5283034443855286, + 0.08082443475723267 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green object on the upper right burner, having completed the approach and contact phases. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to fully close the gripper to secure a firm grasp on the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move up 4 cm, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.49949872493743896, + 0.036844197660684586, + 0.006286198273301125, + 3.08642840385437, + -0.5411524176597595, + 0.1490708291530609 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy vegetable": [ + 570, + 403, + 645, + 507 + ], + "blue utensil": [ + 562, + 555, + 692, + 747 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green object on the upper right burner, having completed the approach and contact phases. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to fully close the gripper to secure a firm grasp on the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move up 2 cm, tilt forward 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.49015894532203674, + 0.05688920617103577, + 0.0036005584988743067, + 3.0919766426086426, + -0.5099011659622192, + 0.17032139003276825 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 710, + 637, + 992, + 991 + ], + "blue utensil": [ + 563, + 555, + 691, + 747 + ], + "toy vegetable": [ + 503, + 367, + 572, + 466 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green object on the upper right burner, having completed the approach and contact phases. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to fully close the gripper to secure a firm grasp on the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move up 2 cm, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4836777448654175, + 0.06353984028100967, + 0.0015780373942106962, + 3.103938341140747, + -0.46579670906066895, + 0.14401204884052277 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green object on the upper right burner, having completed the approach and contact phases. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to fully close the gripper to secure a firm grasp on the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move up 2 cm, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.47630709409713745, + 0.07331440597772598, + -0.001052805338986218, + 3.093571186065674, + -0.42637524008750916, + 0.13780726492404938 + ], + "gripper_value": 0.5023775696754456 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green object on the upper right burner, having completed the approach and contact phases. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to fully close the gripper to secure a firm grasp on the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move up 3 cm, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4714776277542114, + 0.07641931623220444, + -0.003125328803434968, + 3.1307566165924072, + -0.3961716592311859, + 0.1130172535777092 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot has successfully grasped the green object from the upper right burner, as indicated by the gripper closure evidence. The end-effector is currently positioned just above the stove surface holding the object. The next action is to lift the object vertically and retreat away from the stove to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move up 3 cm, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.466365247964859, + 0.07791414856910706, + -0.005079283379018307, + 3.1348586082458496, + -0.3630048930644989, + 0.1267520636320114 + ], + "gripper_value": 0.9007430672645569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot has successfully grasped the green object from the upper right burner, as indicated by the gripper closure evidence. The end-effector is currently positioned just above the stove surface holding the object. The next action is to lift the object vertically and retreat away from the stove to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.46235349774360657, + 0.07483071833848953, + -0.006891355849802494, + 3.1206977367401123, + -0.3351711928844452, + 0.12105069309473038 + ], + "gripper_value": 1.0295521020889282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot has successfully grasped the green object from the upper right burner, as indicated by the gripper closure evidence. The end-effector is currently positioned just above the stove surface holding the object. The next action is to lift the object vertically and retreat away from the stove to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4546026885509491, + 0.07085436582565308, + -0.008744473569095135, + 3.1037139892578125, + -0.2818194329738617, + 0.11386093497276306 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot has successfully grasped the green object from the upper right burner, as indicated by the gripper closure evidence. The end-effector is currently positioned just above the stove surface holding the object. The next action is to lift the object vertically and retreat away from the stove to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.44481828808784485, + 0.06282700598239899, + 0.019908426329493523, + 3.0626606941223145, + -0.24961711466312408, + 0.11305508017539978 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot has successfully grasped the green object from the upper right burner, as indicated by the gripper closure evidence. The end-effector is currently positioned just above the stove surface holding the object. The next action is to lift the object vertically and retreat away from the stove to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.42694634199142456, + 0.0570598728954792, + 0.03112383931875229, + 3.042168378829956, + -0.15996380150318146, + 0.10449165850877762 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot has successfully grasped the green object from the upper right burner, as indicated by the gripper closure evidence. The end-effector is currently positioned just above the stove surface holding the object. The next action is to lift the object vertically and retreat away from the stove to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4135475158691406, + 0.05203700438141823, + 0.026003852486610413, + 3.05182147026062, + -0.08025535196065903, + 0.10037513077259064 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green object from the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "make contact with object" + }, + { + "id": 3, + "subtask": "grasp the object" + }, + { + "id": 4, + "subtask": "lift and retreat with object" + } + ], + "subtask_name": "lift and retreat with object", + "subtask_reasoning": "The robot has successfully grasped the green object from the upper right burner, as indicated by the gripper closure evidence. The end-effector is currently positioned just above the stove surface holding the object. The next action is to lift the object vertically and retreat away from the stove to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003676_ecot.json b/cot/chunk-0003/episode_0003676_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c2992a14be7beefce0c973c4e7d1a88c4b70a1e6 --- /dev/null +++ b/cot/chunk-0003/episode_0003676_ecot.json @@ -0,0 +1,1487 @@ +{ + "task_name": "episode_0003676", + "episode_json": "json/chunk-0003/episode_0003676.json", + "video_path": "videos/chunk-0003/image_0/episode_0003676.mp4", + "instruction": "Moved the orange object to the bottom right of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003676.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.42881840467453003, + "std": 0.19592051208019257, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42882, std=0.19592, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange object\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper toward the orange object on the table without closing.\"},\n {\"id\": 2, \"name\": \"grasp orange object\", \"start\": 6, \"end\": 13, \"planning\": \"Close the gripper around the orange object and secure it for manipulation.\"},\n {\"id\": 3, \"name\": \"transport to bottom right\", \"start\": 14, \"end\": 19, \"planning\": \"Carry the grasped orange object across the table toward the bottom right target area.\"},\n {\"id\": 4, \"name\": \"release orange object\", \"start\": 20, \"end\": 22, \"planning\": \"Open the gripper to place the orange object at the destination and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the orange object, grasp it securely, transport it to the bottom right of the table, and release it at the target location.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.42421) with image confirmation at frame 13 showing contact; Segment 2 shows gripper opening (delta=+0.42322) with frame 22 confirming release. All subtasks are contiguous and cover full trajectory [0,22].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange object", + "start": 0, + "end": 5, + "planning": "Move the gripper toward the orange object on the table without closing." + }, + { + "id": 2, + "name": "grasp orange object", + "start": 6, + "end": 13, + "planning": "Close the gripper around the orange object and secure it for manipulation." + }, + { + "id": 3, + "name": "transport to bottom right", + "start": 14, + "end": 19, + "planning": "Carry the grasped orange object across the table toward the bottom right target area." + }, + { + "id": 4, + "name": "release orange object", + "start": 20, + "end": 22, + "planning": "Open the gripper to place the orange object at the destination and retreat slightly." + } + ], + "global_plan": "Approach the orange object, grasp it securely, transport it to the bottom right of the table, and release it at the target location.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.42421) with image confirmation at frame 13 showing contact; Segment 2 shows gripper opening (delta=+0.42322) with frame 22 confirming release. All subtasks are contiguous and cover full trajectory [0,22]." + } + }, + "episode_goal": "Move the orange object to the bottom right of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26687151193618774, + -0.06827866286039352, + 0.07021959125995636, + -3.1071672439575195, + -0.11399415135383606, + -0.0690205916762352 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange object visible in front. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26597708463668823, + -0.06801779568195343, + 0.0643167793750763, + -3.1028568744659424, + -0.09312992542982101, + -0.06641656160354614 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange object visible in front. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801626920700073, + -0.05016891658306122, + 0.058284394443035126, + -3.1005287170410156, + -0.09493546932935715, + 0.022426029667258263 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the table with the orange object visible in the scene. The gripper is open and no grasping action has occurred yet. The next step is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.299793004989624, + -0.0353405699133873, + 0.059136487543582916, + -3.0981647968292236, + -0.1448359340429306, + 0.08919926732778549 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the table with the orange object visible in the scene. The gripper is open and no grasping action has occurred yet. The next step is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080470860004425, + -0.013681179843842983, + 0.05161779746413231, + -3.083621025085449, + -0.15940988063812256, + 0.13860321044921875 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the table with the orange object visible in the scene. The gripper is open and no grasping action has occurred yet. The next step is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31338247656822205, + 0.009571944363415241, + 0.042915213853120804, + -3.096770763397217, + -0.16758592426776886, + 0.16472193598747253 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the table with the orange object visible in the scene. The gripper is open and no grasping action has occurred yet. The next step is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper open; then move back 1 cm, move right 4 cm, close gripper; then move right 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30771127343177795, + 0.0354919508099556, + 0.03825261816382408, + -3.117605447769165, + -0.16248729825019836, + 0.20315347611904144 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sushi": [ + 313, + 457, + 428, + 611 + ], + "table": [ + 6, + 109, + 993, + 990 + ], + "wooden block": [ + 241, + 8, + 618, + 335 + ], + "red container": [ + 498, + 111, + 615, + 330 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the table with the orange object visible in the scene. The gripper is open and no grasping action has occurred yet. The next step is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, close gripper; then move back 2 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29990777373313904, + 0.05120224133133888, + 0.031457267701625824, + -3.1106362342834473, + -0.1488804817199707, + 0.240418940782547 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sushi": [ + 312, + 457, + 427, + 611 + ], + "table": [ + 6, + 108, + 993, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the table with the orange object visible in the scene. The gripper is open and no grasping action has occurred yet. The next step is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, close gripper; then move back 2 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29924970865249634, + 0.06000401824712753, + 0.010762475430965424, + -3.1058995723724365, + -0.09533010423183441, + 0.23661142587661743 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the table with the orange object visible in the scene. The gripper is open and no grasping action has occurred yet. The next step is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 3 cm, close gripper; then move back 3 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969459593296051, + 0.061950650066137314, + 0.0027815499342978, + -3.1011781692504883, + -0.08592085540294647, + 0.22785191237926483 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot has approached the orange object and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the orange object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 3 cm, keep gripper closed; then move back 2 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948043942451477, + 0.06391635537147522, + -0.007998543791472912, + -3.079558849334717, + -0.06512946635484695, + 0.2223367691040039 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot has approached the orange object and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the orange object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 4 cm, keep gripper closed; then move back 3 cm, move right 11 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.287431925535202, + 0.05209933593869209, + -0.0062620509415864944, + -3.071410894393921, + -0.06297643482685089, + 0.2368035763502121 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot has approached the orange object and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the orange object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move right 11 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2920389771461487, + 0.03991148620843887, + 0.016625480726361275, + -3.0802454948425293, + -0.11935638636350632, + 0.2698107957839966 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot has approached the orange object and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the orange object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 2 cm, keep gripper closed; then move back 3 cm, move right 11 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29283031821250916, + 0.022554881870746613, + 0.02943204529583454, + -3.111177921295166, + -0.12790121138095856, + 0.28558963537216187 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot has approached the orange object and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the orange object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 11 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29793083667755127, + -0.009349660947918892, + 0.035957857966423035, + 3.1227428913116455, + -0.1321174055337906, + 0.24312756955623627 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "transport to bottom right", + "subtask_reasoning": "The robot has approached the orange object and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the orange object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29447153210639954, + -0.03092019632458687, + 0.032587748020887375, + 3.069699764251709, + -0.11962451785802841, + 0.12292443960905075 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "transport to bottom right", + "subtask_reasoning": "The robot has approached the orange object and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the orange object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2822672724723816, + -0.05512452870607376, + 0.015851011499762535, + 3.071247100830078, + -0.10340484231710434, + 0.0037285955622792244 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "transport to bottom right", + "subtask_reasoning": "The robot is currently holding the orange object and moving it across the table surface toward the bottom right corner. The approach and grasp phases are complete, and the arm is in transit to the target location. The next action is to continue transporting the object until it reaches the designated drop-off point." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733008563518524, + -0.07129751890897751, + -0.0016541823279112577, + 3.0690205097198486, + -0.11118262261152267, + -0.05663800239562988 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "transport to bottom right", + "subtask_reasoning": "The robot is currently holding the orange object and moving it across the table surface toward the bottom right corner. The approach and grasp phases are complete, and the arm is in transit to the target location. The next action is to continue transporting the object until it reaches the designated drop-off point." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27278977632522583, + -0.08958905935287476, + -0.007542523555457592, + 3.075953960418701, + -0.12877817451953888, + -0.09367571026086807 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "transport to bottom right", + "subtask_reasoning": "The robot is currently holding the orange object and moving it across the table surface toward the bottom right corner. The approach and grasp phases are complete, and the arm is in transit to the target location. The next action is to continue transporting the object until it reaches the designated drop-off point." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2731306254863739, + -0.1097540631890297, + -0.008470501750707626, + 3.0933852195739746, + -0.12186264246702194, + -0.08714085817337036 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "transport to bottom right", + "subtask_reasoning": "The robot is currently holding the orange object and moving it across the table surface toward the bottom right corner. The approach and grasp phases are complete, and the arm is in transit to the target location. The next action is to continue transporting the object until it reaches the designated drop-off point." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26927757263183594, + -0.11600766330957413, + -0.007983881048858166, + 3.1103923320770264, + -0.1093020960688591, + -0.08538807928562164 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "release orange object", + "subtask_reasoning": "The robot is currently holding the orange object and moving it across the table surface toward the bottom right corner. The approach and grasp phases are complete, and the arm is in transit to the target location. The next action is to continue transporting the object until it reaches the designated drop-off point." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27146416902542114, + -0.1285819560289383, + 0.013509634882211685, + 3.113795280456543, + -0.12188003212213516, + -0.050464387983083725 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "release orange object", + "subtask_reasoning": "The orange object is currently held by the gripper and positioned over the target area at the bottom right of the table. The gripper is open, indicating the object has been released or is in the process of being released. The next action is to confirm the object is placed and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2756654620170593, + -0.1354738175868988, + 0.056255217641592026, + 3.0965476036071777, + -0.19709591567516327, + 0.014642157591879368 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 104, + 994, + 992 + ], + "wooden block": [ + 241, + 5, + 603, + 419 + ], + "red container": [ + 579, + 676, + 693, + 856 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "transport to bottom right" + }, + { + "id": 4, + "subtask": "release orange object" + } + ], + "subtask_name": "release orange object", + "subtask_reasoning": "The orange object is currently held by the gripper and positioned over the target area at the bottom right of the table. The gripper is open, indicating the object has been released or is in the process of being released. The next action is to confirm the object is placed and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003678_ecot.json b/cot/chunk-0003/episode_0003678_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..28d3a4196d2d2704c4def3b3b42fc22524bafc74 --- /dev/null +++ b/cot/chunk-0003/episode_0003678_ecot.json @@ -0,0 +1,7340 @@ +{ + "task_name": "episode_0003678", + "episode_json": "json/chunk-0003/episode_0003678.json", + "video_path": "videos/chunk-0003/image_0/episode_0003678.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 95, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003678.json" + }, + "fps": 5.0, + "T_eff": 95, + "gripper_behavior_summary": { + "available": true, + "range": 0.6394184827804565, + "std": 0.2198898196220398, + "delta_total": -0.6394184827804565, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.63942, std=0.21989, total_delta=-0.63942). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 214, + 214, + 214, + 114, + 114, + 114, + 114, + 114, + 114, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 514, + 514, + 514, + 514, + 514, + 514, + 414, + 414, + 414, + 414, + 414, + 414, + 414, + 614, + 614, + 614, + 614, + 614, + 614, + 614, + 614, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 16 + ], + [ + 3, + 17, + 22 + ], + [ + 4, + 23, + 50 + ], + [ + 5, + 51, + 56 + ], + [ + 6, + 57, + 63 + ], + [ + 7, + 64, + 71 + ], + [ + 8, + 72, + 94 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the beans while closing the gripper to prepare for contact-based manipulation.\"},\n {\"id\": 2, \"name\": \"reposition to sweep start\", \"start\": 14, \"end\": 16, \"planning\": \"Adjust position and orientation to align with the initial sweep trajectory across the tray.\"},\n {\"id\": 3, \"name\": \"sweep beans leftward\", \"start\": 17, \"end\": 22, \"planning\": \"Drag or nudge beans from right to left using closed gripper as a pusher without grasping.\"},\n {\"id\": 4, \"name\": \"continue sweeping motion\", \"start\": 23, \"end\": 50, \"planning\": \"Extend the sweeping path across the central region of the tray to consolidate scattered beans.\"},\n {\"id\": 5, \"name\": \"sweep toward corner\", \"start\": 51, \"end\": 56, \"planning\": \"Guide remaining beans toward the target accumulation zone near the tray’s left edge.\"},\n {\"id\": 6, \"name\": \"final consolidation sweep\", \"start\": 57, \"end\": 63, \"planning\": \"Perform fine adjustments to gather stray beans into the main pile using gentle pushing motions.\"},\n {\"id\": 7, \"name\": \"retract and reposition\", \"start\": 64, \"end\": 71, \"planning\": \"Lift and move away from the pile to avoid disturbing it while preparing for final pass.\"},\n {\"id\": 8, \"name\": \"final sweep and retreat\", \"start\": 72, \"end\": 94, \"planning\": \"Execute last sweeping motion to merge residual beans into the pile, then retreat to home position.\"}\n ],\n \"global_plan\": \"Sweep scattered beans into a consolidated pile using repeated contact-based pushing motions with a closed gripper, avoiding any grasp or lift actions since no meaningful object support is observed.\",\n \"notes\": \"Gripper closes early (segment 1) but remains statically closed thereafter; all manipulation is contact-based pushing/sliding. No lifting or placing occurs — consistent with ‘sweep into pile’ instruction and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the beans while closing the gripper to prepare for contact-based manipulation." + }, + { + "id": 2, + "name": "reposition to sweep start", + "start": 14, + "end": 16, + "planning": "Adjust position and orientation to align with the initial sweep trajectory across the tray." + }, + { + "id": 3, + "name": "sweep beans leftward", + "start": 17, + "end": 22, + "planning": "Drag or nudge beans from right to left using closed gripper as a pusher without grasping." + }, + { + "id": 4, + "name": "continue sweeping motion", + "start": 23, + "end": 50, + "planning": "Extend the sweeping path across the central region of the tray to consolidate scattered beans." + }, + { + "id": 5, + "name": "sweep toward corner", + "start": 51, + "end": 56, + "planning": "Guide remaining beans toward the target accumulation zone near the tray’s left edge." + }, + { + "id": 6, + "name": "final consolidation sweep", + "start": 57, + "end": 63, + "planning": "Perform fine adjustments to gather stray beans into the main pile using gentle pushing motions." + }, + { + "id": 7, + "name": "retract and reposition", + "start": 64, + "end": 71, + "planning": "Lift and move away from the pile to avoid disturbing it while preparing for final pass." + }, + { + "id": 8, + "name": "final sweep and retreat", + "start": 72, + "end": 94, + "planning": "Execute last sweeping motion to merge residual beans into the pile, then retreat to home position." + } + ], + "global_plan": "Sweep scattered beans into a consolidated pile using repeated contact-based pushing motions with a closed gripper, avoiding any grasp or lift actions since no meaningful object support is observed.", + "notes": "Gripper closes early (segment 1) but remains statically closed thereafter; all manipulation is contact-based pushing/sliding. No lifting or placing occurs — consistent with ‘sweep into pile’ instruction and visual evidence." + } + }, + "episode_goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28557074069976807, + 0.01672348752617836, + 0.24723286926746368, + 2.955925703048706, + -0.10079600661993027, + 0.10395382344722748 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the gripper is currently open. No sweeping has occurred yet. The next action should be to close the gripper to prepare for contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 15 cm, move down 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28792604804039, + 0.01665414124727249, + 0.23844560980796814, + 2.953913450241089, + -0.075309157371521, + 0.10854995995759964 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the gripper is currently open. No sweeping has occurred yet. The next action should be to close the gripper to prepare for contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 15 cm, move down 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29773765802383423, + -0.008068744093179703, + 0.22734132409095764, + 2.9494941234588623, + -0.11553072184324265, + 0.09148618578910828 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the gripper is currently open. No sweeping has occurred yet. The next action should be to close the gripper to prepare for contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 13 cm, move down 13 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3121394217014313, + -0.025960184633731842, + 0.21228255331516266, + 2.953068494796753, + -0.1705869734287262, + 0.11818185448646545 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the gripper is currently open. No sweeping has occurred yet. The next action should be to close the gripper to prepare for contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 11 cm, move down 12 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.331489235162735, + -0.06141047179698944, + 0.18742379546165466, + 2.9606447219848633, + -0.1759539693593979, + 0.11511560529470444 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the gripper is currently open. No sweeping has occurred yet. The next action should be to close the gripper to prepare for contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 10 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34876811504364014, + -0.06878875941038132, + 0.173626109957695, + 2.9620845317840576, + -0.21312974393367767, + 0.1873566210269928 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the gripper is currently open. No sweeping has occurred yet. The next action should be to close the gripper to prepare for contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 8 cm, tilt left 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36289554834365845, + -0.09273175895214081, + 0.15999555587768555, + 3.003099203109741, + -0.2583366930484772, + 0.1819755882024765 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 7 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37072962522506714, + -0.10442160815000534, + 0.149228036403656, + 3.0210816860198975, + -0.26649871468544006, + 0.20234765112400055 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt left 10 degrees, close gripper; then move forward 2 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36786341667175293, + -0.12019259482622147, + 0.14160257577896118, + 3.0392208099365234, + -0.26329198479652405, + 0.181308776140213 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 21, + 24, + 162, + 139 + ], + "blue bracket": [ + 880, + 552, + 995, + 749 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move forward 2 cm, move left 8 cm, keep gripper closed; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.366521954536438, + -0.1268703192472458, + 0.13141746819019318, + 3.058295965194702, + -0.256801575422287, + 0.18398837745189667 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move left 8 cm, keep gripper closed; then move left 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3672592043876648, + -0.13170920312404633, + 0.12010693550109863, + 3.079831838607788, + -0.25280970335006714, + 0.1863723248243332 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move left 8 cm, keep gripper closed; then move back 2 cm, move left 15 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36859479546546936, + -0.1345665603876114, + 0.11251050233840942, + 3.0980191230773926, + -0.2560948431491852, + 0.1865944266319275 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, keep gripper closed; then move back 4 cm, move left 20 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36802932620048523, + -0.13885854184627533, + 0.09532035887241364, + 3.128371477127075, + -0.23155003786087036, + 0.18440662324428558 + ], + "gripper_value": 0.973810613155365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 8 cm, keep gripper closed; then move back 4 cm, move left 24 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36762240529060364, + -0.14086666703224182, + 0.0915253683924675, + 3.129715919494629, + -0.21951384842395782, + 0.18347659707069397 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 8 cm, keep gripper closed; then move back 3 cm, move left 21 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683762550354004, + -0.1386655867099762, + 0.09226559847593307, + 3.1306469440460205, + -0.210396870970726, + 0.1901618242263794 + ], + "gripper_value": 0.400628000497818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No contact or sweeping has occurred yet. The next action should be to lower the gripper slightly and close it to prepare for pushing motions toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, keep gripper closed; then move back 3 cm, move left 21 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716149926185608, + -0.12758974730968475, + 0.09398534148931503, + 3.1253061294555664, + -0.19044612348079681, + 0.2062911093235016 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, keep gripper closed; then move back 3 cm, move left 21 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 11 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37853801250457764, + -0.10368858277797699, + 0.0941714495420456, + 3.1306416988372803, + -0.1848447173833847, + 0.2229127734899521 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, keep gripper closed; then move back 3 cm, move left 21 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3864755928516388, + -0.06166885048151016, + 0.0901537612080574, + -3.1383018493652344, + -0.18949557840824127, + 0.24523629248142242 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 22, + 24, + 162, + 140 + ], + "blue bracket": [ + 881, + 551, + 995, + 749 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 21 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 20 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3911234736442566, + -0.027511417865753174, + 0.0874394029378891, + -3.0709068775177, + -0.20428325235843658, + 0.2554750144481659 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 18 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 26 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38886722922325134, + 0.01380661129951477, + 0.08767063915729523, + -3.002887725830078, + -0.18157823383808136, + 0.31604743003845215 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 30 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36598917841911316, + 0.0879257470369339, + 0.09340415894985199, + -2.9292759895324707, + -0.15960820019245148, + 0.381733238697052 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 22, + 24, + 162, + 140 + ], + "white tray": [ + 11, + 179, + 977, + 932 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move right 33 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34813910722732544, + 0.136713907122612, + 0.1048269122838974, + -2.893244504928589, + -0.12353575229644775, + 0.4441208839416504 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move right 34 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462408185005188, + 0.1768771857023239, + 0.12561343610286713, + -2.945517063140869, + -0.14344438910484314, + 0.4192987084388733 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 33 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3564249575138092, + 0.1527869552373886, + 0.1521359533071518, + 3.1368680000305176, + -0.10573951154947281, + 0.44970640540122986 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 34 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37686994671821594, + 0.09856624901294708, + 0.16286063194274902, + 3.01434326171875, + -0.09918699413537979, + 0.3927622437477112 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 28 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38516631722450256, + 0.047088637948036194, + 0.16770684719085693, + 3.000998020172119, + -0.17347797751426697, + 0.37895065546035767 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 22 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.384463906288147, + -0.000832554476801306, + 0.15813086926937103, + 3.009366750717163, + -0.19980600476264954, + 0.36743471026420593 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 17 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37486013770103455, + -0.051396001130342484, + 0.14987103641033173, + 3.0190794467926025, + -0.21193957328796387, + 0.3412606120109558 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36433643102645874, + -0.10250948369503021, + 0.15109480917453766, + 3.0152289867401123, + -0.2151576280593872, + 0.31854256987571716 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35943928360939026, + -0.1477847695350647, + 0.1451379656791687, + 3.031709909439087, + -0.1956498920917511, + 0.3075079321861267 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 22, + 24, + 162, + 139 + ], + "blue bracket": [ + 879, + 550, + 995, + 752 + ], + "white tray": [ + 17, + 178, + 971, + 933 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35625267028808594, + -0.17756307125091553, + 0.13492149114608765, + 3.0574164390563965, + -0.19709184765815735, + 0.2770148813724518 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35195860266685486, + -0.18285948038101196, + 0.1248626783490181, + 3.0801472663879395, + -0.21327514946460724, + 0.24575313925743103 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35043761134147644, + -0.18119041621685028, + 0.12237326055765152, + 3.083282947540283, + -0.22358965873718262, + 0.22149376571178436 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3474634885787964, + -0.18381303548812866, + 0.12160038948059082, + 3.06978178024292, + -0.20208044350147247, + 0.2065463364124298 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.34767308831214905, + -0.17921975255012512, + 0.12580201029777527, + 3.045379161834717, + -0.15400420129299164, + 0.21682044863700867 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35015031695365906, + -0.17548935115337372, + 0.1379787027835846, + 3.0046496391296387, + -0.16008207201957703, + 0.2172316014766693 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot has approached the scattered black objects and closed its gripper, positioning itself near the right side of the white tray. The current subtask involves repositioning to initiate sweeping motions toward the left side. The next likely action is to begin contact-based pushing of the objects using the blue tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492683470249176, + -0.1722031533718109, + 0.13512912392616272, + 3.0062766075134277, + -0.16361559927463531, + 0.19538243114948273 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3444569706916809, + -0.16691012680530548, + 0.1202818974852562, + 3.0445353984832764, + -0.1649089902639389, + 0.17134809494018555 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.34156370162963867, + -0.16913096606731415, + 0.11513420194387436, + 3.0634191036224365, + -0.17555512487888336, + 0.1277606338262558 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.33499792218208313, + -0.16509667038917542, + 0.10742709040641785, + 3.0809171199798584, + -0.16560810804367065, + 0.097084179520607 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.33200812339782715, + -0.1621970385313034, + 0.11957962065935135, + 3.0670511722564697, + -0.20562392473220825, + 0.08852624893188477 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304007351398468, + -0.15825267136096954, + 0.11088479310274124, + 3.084597587585449, + -0.21306787431240082, + 0.0822705551981926 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.33034390211105347, + -0.15539704263210297, + 0.10515249520540237, + 3.0987796783447266, + -0.22799131274223328, + 0.07886531203985214 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3330373466014862, + -0.15407413244247437, + 0.1035856083035469, + 3.1027731895446777, + -0.24831311404705048, + 0.08495014160871506 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.32806843519210815, + -0.15966327488422394, + 0.09752995520830154, + 3.1092677116394043, + -0.2530788481235504, + 0.07254766672849655 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 23, + 25, + 163, + 139 + ], + "blue bracket": [ + 883, + 594, + 995, + 752 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 14 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.32667359709739685, + -0.1605730801820755, + 0.09428539872169495, + 3.1109204292297363, + -0.2604663074016571, + 0.07809381186962128 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move left 18 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3257884979248047, + -0.16151568293571472, + 0.09271767735481262, + 3.113527536392212, + -0.27019593119621277, + 0.08005522191524506 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 21 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3256530165672302, + -0.1611929088830948, + 0.09111948311328888, + 3.114063262939453, + -0.27384132146835327, + 0.07561187446117401 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 18 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3283778131008148, + -0.1473758965730667, + 0.09083274006843567, + 3.1159141063690186, + -0.2834649682044983, + 0.06468402594327927 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, keep gripper closed; then move back 1 cm, move left 18 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.33225515484809875, + -0.12214502692222595, + 0.08812050521373749, + 3.125760793685913, + -0.2978837490081787, + 0.060426726937294006 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, keep gripper closed; then move back 1 cm, move left 18 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 9 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.33328139781951904, + -0.07816772907972336, + 0.08704778552055359, + 3.1383423805236816, + -0.3189820945262909, + 0.09309262782335281 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 21, + 24, + 161, + 141 + ], + "blue bracket": [ + 880, + 557, + 995, + 753 + ], + "white tray": [ + 21, + 192, + 962, + 932 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "continue sweeping motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper closed; then move back 1 cm, move left 18 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 50 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.3271527588367462, + -0.050953127443790436, + 0.08588877320289612, + -3.133979320526123, + -0.3625495731830597, + 0.07802831381559372 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep toward corner", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 19 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 51, + "end": 56 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3207150399684906, + -0.0015257421182468534, + 0.08934914320707321, + -3.118623733520508, + -0.3690914809703827, + 0.11606485396623611 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep toward corner", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, having completed the approach and gripper closure. The current subtask involves continuing the sweeping motion to push beans toward the left side, as no grasp action is indicated by the stable gripper state. The next action is to execute a lateral push using the blue tool to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 23 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 51, + "end": 56 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.31663864850997925, + 0.03766516223549843, + 0.09160987287759781, + -3.124562978744507, + -0.3459727466106415, + 0.16044074296951294 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep toward corner", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move right 23 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 51, + "end": 56 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.32173487544059753, + 0.0926913172006607, + 0.10907846689224243, + -3.1062979698181152, + -0.3523157835006714, + 0.27136629819869995 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep toward corner", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 3 cm, keep gripper closed; then move forward 9 cm, move right 22 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 51, + "end": 56 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.32533541321754456, + 0.12836672365665436, + 0.12391559034585953, + -3.0970420837402344, + -0.35523974895477295, + 0.3296647369861603 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep toward corner", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 9 cm, move right 22 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 51, + "end": 56 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.32026469707489014, + 0.16307173669338226, + 0.13425616919994354, + -3.0766918659210205, + -0.35811707377433777, + 0.362052857875824 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep toward corner", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 9 cm, move right 22 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 56 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 51, + "end": 56 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3191361427307129, + 0.1285688579082489, + 0.14216209948062897, + 3.0884759426116943, + -0.2835173010826111, + 0.3299420475959778 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 22 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 57, + "end": 63 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3345215618610382, + 0.08744636178016663, + 0.1712004542350769, + 2.9870119094848633, + -0.25732502341270447, + 0.2754811644554138 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 18 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 57, + "end": 63 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479306995868683, + 0.035037703812122345, + 0.16962136328220367, + 3.024024486541748, + -0.2744404971599579, + 0.1767817884683609 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 13 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 57, + "end": 63 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3634048104286194, + -0.017972448840737343, + 0.1525510847568512, + 3.0543839931488037, + -0.2885575294494629, + 0.12194280326366425 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move down 5 cm, keep gripper closed; then move forward 2 cm, move left 11 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 57, + "end": 63 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697659969329834, + -0.0653090626001358, + 0.1427752673625946, + 3.0783607959747314, + -0.3263377249240875, + 0.07819163799285889 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 4 cm, keep gripper closed; then move forward 2 cm, move left 14 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 57, + "end": 63 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.3756667673587799, + -0.10106638818979263, + 0.12417152523994446, + 3.1193907260894775, + -0.3133784234523773, + 0.02085287868976593 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 22, + 24, + 162, + 139 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move left 19 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 57, + "end": 63 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3927563726902008, + -0.10244415700435638, + 0.11751621216535568, + 3.132810592651367, + -0.3242989480495453, + 0.0318845771253109 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 19 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 57, + "end": 63 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.4117184579372406, + -0.09334998577833176, + 0.10330939292907715, + -3.1335606575012207, + -0.32297006249427795, + 0.06067243218421936 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 19 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 64, + "end": 71 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.42173728346824646, + -0.07250208407640457, + 0.10398392379283905, + -3.1312296390533447, + -0.3311130404472351, + 0.0953606441617012 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 17 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 64, + "end": 71 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.4265983998775482, + -0.05702683702111244, + 0.10471190512180328, + -3.1326780319213867, + -0.34499549865722656, + 0.10789978504180908 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The robot is actively sweeping black objects toward the left corner of the white tray using the blue tool with a closed gripper. The gripper remains steady (no closing/opening) during this segment, consistent with contact-based pushing. Next, continue sweeping motion to consolidate scattered objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 64, + "end": 71 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.42657244205474854, + -0.029649369418621063, + 0.09856721758842468, + -3.1304500102996826, + -0.3327152729034424, + 0.11897990852594376 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 64, + "end": 71 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.4234510362148285, + -0.003345080418512225, + 0.09681588411331177, + -3.119776964187622, + -0.3042638897895813, + 0.1379450410604477 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 12 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 64, + "end": 71 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.4258667230606079, + 0.007886114530265331, + 0.09310853481292725, + -3.091583251953125, + -0.306804358959198, + 0.14763440191745758 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 16 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 64, + "end": 71 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.4315768778324127, + 0.016267355531454086, + 0.09336528182029724, + -3.1040756702423096, + -0.27985844016075134, + 0.18449142575263977 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 20 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 64, + "end": 71 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.43321794271469116, + 0.0449504554271698, + 0.09680171310901642, + -3.1303226947784424, + -0.25382745265960693, + 0.2645094394683838 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 21 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 64, + "end": 71 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.4269357919692993, + 0.10080152004957199, + 0.10691014677286148, + 3.1241791248321533, + -0.2509460151195526, + 0.3974618911743164 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 21, + 26, + 162, + 140 + ], + "white tray": [ + 30, + 186, + 986, + 916 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.4243195652961731, + 0.11908562481403351, + 0.12033562362194061, + 3.0845348834991455, + -0.2413000613451004, + 0.43474388122558594 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 20 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.41510525345802307, + 0.13153941929340363, + 0.1082114726305008, + 3.075263500213623, + -0.2204468697309494, + 0.5007797479629517 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 19 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.39962679147720337, + 0.1314488798379898, + 0.11574602872133255, + 3.0453855991363525, + -0.22728881239891052, + 0.5107548832893372 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 16 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.3943156599998474, + 0.08916709572076797, + 0.1386941373348236, + 2.9722251892089844, + -0.19108009338378906, + 0.4175530970096588 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839513957500458, + 0.033943794667720795, + 0.15091107785701752, + 2.9578633308410645, + -0.17236824333667755, + 0.2515580356121063 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.3798905611038208, + -0.015727942809462547, + 0.14791499078273773, + 2.9982101917266846, + -0.14976337552070618, + 0.1263619363307953 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825710117816925, + -0.06294839084148407, + 0.11632893234491348, + 3.0475516319274902, + -0.10400913655757904, + 0.028670649975538254 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 20 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.40374869108200073, + -0.10343126952648163, + 0.11052041500806808, + 3.0863850116729736, + -0.096671462059021, + -0.06780701130628586 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 22, + 25, + 162, + 139 + ], + "white tray": [ + 29, + 172, + 983, + 916 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 25 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.4166284203529358, + -0.10903359204530716, + 0.10567330569028854, + 3.0976617336273193, + -0.08579222857952118, + -0.11728391796350479 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 25 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.42085304856300354, + -0.10177358984947205, + 0.10271286219358444, + 3.109711170196533, + -0.09121199697256088, + -0.1408470869064331 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot has completed the initial approach and gripper closure, positioning the blue tool near the scattered black objects on the white tray. The current subtask involves retracting and repositioning the tool to prepare for the next sweeping motion. The next action should involve moving the tool to a new starting position for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 21 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.42636895179748535, + -0.08138217777013779, + 0.09651175141334534, + 3.109898090362549, + -0.10569491237401962, + -0.11646335572004318 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.42458128929138184, + -0.06181340664625168, + 0.08795887231826782, + 3.111459970474243, + -0.11724240332841873, + -0.09917528927326202 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.42689377069473267, + -0.03131209313869476, + 0.08471716940402985, + 3.1237244606018066, + -0.15011607110500336, + -0.05132012069225311 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.4332618713378906, + -0.007323479745537043, + 0.08711390197277069, + 3.133784055709839, + -0.15958213806152344, + -0.017901280894875526 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.4410982131958008, + 0.013985741883516312, + 0.08952147513628006, + 3.093067169189453, + -0.11075722426176071, + 0.05006686598062515 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.448527455329895, + 0.07792782783508301, + 0.09185145050287247, + 3.084439277648926, + -0.11057772487401962, + 0.19630852341651917 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 21, + 26, + 162, + 139 + ], + "blue bracket": [ + 898, + 531, + 996, + 724 + ], + "white tray": [ + 68, + 159, + 992, + 887 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.43548399209976196, + 0.13692209124565125, + 0.09177903085947037, + 3.1019062995910645, + -0.12356438487768173, + 0.30364781618118286 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.4174357056617737, + 0.14982125163078308, + 0.09326192736625671, + -3.1375179290771484, + -0.1491011083126068, + 0.25251877307891846 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 13 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.3982624411582947, + 0.1444024294614792, + 0.10273031890392303, + 3.091782808303833, + -0.13838618993759155, + 0.247867614030838 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.3984084725379944, + 0.10567096620798111, + 0.1412305235862732, + 2.950430393218994, + -0.16524054110050201, + 0.25201719999313354 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 93, + "state_action_evidence": { + "ee_state_6d": [ + 0.39867573976516724, + 0.0563356913626194, + 0.16316714882850647, + 2.868084192276001, + -0.15545403957366943, + 0.2216951847076416 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + }, + { + "t": 94, + "state_action_evidence": { + "ee_state_6d": [ + 0.37812691926956177, + 0.016123544424772263, + 0.13926148414611816, + 2.9055163860321045, + -0.10976194590330124, + 0.1651342809200287 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the blue tool." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "continue sweeping motion" + }, + { + "id": 5, + "subtask": "sweep toward corner" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "retract and reposition" + }, + { + "id": 8, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The robot is positioned over the white tray with scattered black beans, having completed prior sweeping motions to consolidate them toward the left. The gripper remains open and stable (no closing evidence), indicating contact-based pushing is still active. The next action should be a final rearward sweep motion to gather remaining stragglers into the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 83 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 72, + "end": 94 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003679_ecot.json b/cot/chunk-0003/episode_0003679_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bcc5911296f75fa3bcff15872e957bc65f1b349b --- /dev/null +++ b/cot/chunk-0003/episode_0003679_ecot.json @@ -0,0 +1,2810 @@ +{ + "task_name": "episode_0003679", + "episode_json": "json/chunk-0003/episode_0003679.json", + "video_path": "videos/chunk-0003/image_0/episode_0003679.mp4", + "instruction": "Moved the blue fork on top of the bottom right side burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003679.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.9303523302078247, + "std": 0.3102744221687317, + "delta_total": -0.0066852569580078125, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93035, std=0.31027, total_delta=-0.00669). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 113, + 113, + 113, + 113, + 113, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 125, + 125, + 125, + 125, + 25, + 25, + 25, + 25, + 25, + 25, + 25, + 36, + 36, + 36 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 12 + ], + [ + 4, + 13, + 17 + ], + [ + 5, + 18, + 24 + ], + [ + 6, + 25, + 28 + ], + [ + 7, + 29, + 35 + ], + [ + 8, + 36, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue fork\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector from initial position toward the blue fork on the left burner.\"},\n {\"id\": 2, \"name\": \"grasp blue fork\", \"start\": 4, \"end\": 12, \"planning\": \"Close gripper around the blue fork and secure it for lifting, as confirmed by gripper closure and visual alignment.\"},\n {\"id\": 3, \"name\": \"lift and transport fork\", \"start\": 13, \"end\": 24, \"planning\": \"Lift the grasped blue fork and move it across the countertop toward the bottom right burner.\"},\n {\"id\": 4, \"name\": \"position over target burner\", \"start\": 25, \"end\": 28, \"planning\": \"Fine-tune position above the bottom right burner while maintaining grip, preparing for release.\"},\n {\"id\": 5, \"name\": \"release fork on burner\", \"start\": 29, \"end\": 35, \"planning\": \"Open gripper to place the blue fork onto the bottom right burner, confirmed by gripper opening motion.\"},\n {\"id\": 6, \"name\": \"retreat from scene\", \"start\": 36, \"end\": 38, \"planning\": \"Withdraw end-effector upward and away from the placed fork to complete the task.\"}\n ],\n \"global_plan\": \"The robot approaches the blue fork, grasps it securely, lifts and transports it to the bottom right burner, releases it precisely on target, then retreats — completing the instructed relocation.\",\n \"notes\": \"Gripper evidence supports grasp in segments 3, 6, and 8; release is inferred from gripper opening in segment 7 (frames 29-35) though not explicitly sampled, consistent with task completion. Frame coverage is contiguous and complete from 0 to 38.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue fork", + "start": 0, + "end": 3, + "planning": "Move the end-effector from initial position toward the blue fork on the left burner." + }, + { + "id": 2, + "name": "grasp blue fork", + "start": 4, + "end": 12, + "planning": "Close gripper around the blue fork and secure it for lifting, as confirmed by gripper closure and visual alignment." + }, + { + "id": 3, + "name": "lift and transport fork", + "start": 13, + "end": 24, + "planning": "Lift the grasped blue fork and move it across the countertop toward the bottom right burner." + }, + { + "id": 4, + "name": "position over target burner", + "start": 25, + "end": 28, + "planning": "Fine-tune position above the bottom right burner while maintaining grip, preparing for release." + }, + { + "id": 5, + "name": "release fork on burner", + "start": 29, + "end": 35, + "planning": "Open gripper to place the blue fork onto the bottom right burner, confirmed by gripper opening motion." + }, + { + "id": 6, + "name": "retreat from scene", + "start": 36, + "end": 38, + "planning": "Withdraw end-effector upward and away from the placed fork to complete the task." + } + ], + "global_plan": "The robot approaches the blue fork, grasps it securely, lifts and transports it to the bottom right burner, releases it precisely on target, then retreats — completing the instructed relocation.", + "notes": "Gripper evidence supports grasp in segments 3, 6, and 8; release is inferred from gripper opening in segment 7 (frames 29-35) though not explicitly sampled, consistent with task completion. Frame coverage is contiguous and complete from 0 to 38." + } + }, + "episode_goal": "Place the blue fork on the bottom right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.42531293630599976, + -0.0012027870398014784, + 0.015134641900658607, + -3.029916524887085, + -0.1028786152601242, + -0.18570123612880707 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible on the left burner. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 7 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4163661599159241, + 0.00124821113422513, + -0.008125298656523228, + -3.0414271354675293, + -0.0457625649869442, + -0.17614959180355072 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible on the bottom left burner. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 7 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4041503369808197, + 0.02956377901136875, + -0.025474846363067627, + -3.0468828678131104, + -0.05642256513237953, + -0.11659222096204758 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible on the bottom left burner. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 6 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39744216203689575, + 0.07095733284950256, + -0.026030518114566803, + -3.0379810333251953, + -0.047249335795640945, + -0.024131223559379578 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 327, + 290, + 418, + 418 + ], + "burner coils": [ + 535, + 402, + 733, + 606 + ], + "small pot": [ + 636, + 188, + 806, + 367 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible on the bottom left burner. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move left 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3954882323741913, + 0.10782250016927719, + -0.02521565742790699, + -3.010120391845703, + -0.0775756984949112, + 0.020504828542470932 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible on the bottom left burner. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, close gripper; then move forward 1 cm, move right 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3939906656742096, + 0.1646089255809784, + -0.014832072891294956, + -2.979810953140259, + -0.1300680786371231, + 0.07299916446208954 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible on the bottom left burner. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38561394810676575, + 0.1858002096414566, + -0.013126201927661896, + -2.9578869342803955, + -0.12151435017585754, + 0.09854346513748169 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible on the bottom left burner. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, close gripper; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38437873125076294, + 0.18843506276607513, + -0.017734671011567116, + -2.994248151779175, + -0.13945993781089783, + 0.14290235936641693 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible on the bottom left burner. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 4 cm, move up 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37889647483825684, + 0.1853301227092743, + -0.039677925407886505, + -3.050229072570801, + -0.10885199904441833, + 0.1650853306055069 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3824050724506378, + 0.17956450581550598, + -0.053138285875320435, + -3.0817208290100098, + -0.0729224756360054, + 0.14649763703346252 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3842945992946625, + 0.17755047976970673, + -0.05568395182490349, + -3.081143856048584, + -0.07239161431789398, + 0.1310332864522934 + ], + "gripper_value": 0.7250383496284485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3848799765110016, + 0.1733165979385376, + -0.05644555762410164, + -3.061842203140259, + -0.06480433791875839, + 0.0951913595199585 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move back 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3845764696598053, + 0.16963714361190796, + -0.05373494699597359, + -3.029599189758301, + -0.057977352291345596, + 0.07003676146268845 + ], + "gripper_value": 0.5749470591545105 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move back 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39363282918930054, + 0.16122598946094513, + -0.02698810212314129, + -2.990056037902832, + -0.09487753361463547, + 0.047891948372125626 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40643706917762756, + 0.13460811972618103, + 0.003711108351126313, + -2.9426767826080322, + -0.1598116010427475, + -0.014041917398571968 + ], + "gripper_value": 0.16338585317134857 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41220447421073914, + 0.11330454051494598, + 0.012233116663992405, + -2.939366579055786, + -0.18301761150360107, + -0.06356391310691833 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 350, + 299, + 434, + 434 + ], + "burner coils": [ + 539, + 401, + 732, + 606 + ], + "sink": [ + 694, + 455, + 994, + 945 + ], + "small pot": [ + 638, + 188, + 807, + 374 + ], + "frying pan": [ + 451, + 242, + 620, + 370 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4089750051498413, + 0.11026188731193542, + 0.008712798357009888, + -2.9642086029052734, + -0.17683514952659607, + -0.04545355960726738 + ], + "gripper_value": 0.12527866661548615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4021461009979248, + 0.12098843604326248, + 0.003236321732401848, + -2.9647152423858643, + -0.17799100279808044, + -0.0032631198409944773 + ], + "gripper_value": 0.3080119788646698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has approached the blue fork on the bottom left burner and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the blue fork securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3937736451625824, + 0.14152191579341888, + 0.0016225724248215556, + -2.950273275375366, + -0.17398232221603394, + 0.05475761741399765 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it above the stovetop. The gripper is closed around the fork handle, indicating secure hold during transport. The next action is to move the fork toward the bottom right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3878432810306549, + 0.14919079840183258, + -0.0016930755227804184, + -2.9422807693481445, + -0.14974801242351532, + 0.07042080163955688 + ], + "gripper_value": 0.9082958698272705 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 349, + 299, + 432, + 434 + ], + "burner coils": [ + 539, + 401, + 732, + 607 + ], + "frying pan": [ + 452, + 243, + 618, + 372 + ], + "small pot": [ + 639, + 189, + 807, + 371 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it above the stovetop. The gripper is closed around the fork handle, indicating secure hold during transport. The next action is to move the fork toward the bottom right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38273942470550537, + 0.15789657831192017, + -0.008447602391242981, + -2.9393444061279297, + -0.13398690521717072, + 0.09041237086057663 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it above the stovetop. The gripper is closed around the fork handle, indicating secure hold during transport. The next action is to move the fork toward the bottom right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37466052174568176, + 0.1624467968940735, + -0.027021031826734543, + -2.950005292892456, + -0.08924555778503418, + 0.108758844435215 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it above the stovetop. The gripper is closed around the fork handle, indicating secure hold during transport. The next action is to move the fork toward the bottom right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37706345319747925, + 0.16496537625789642, + -0.03255562111735344, + -2.952115058898926, + -0.07448573410511017, + 0.11629174649715424 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it above the stovetop. The gripper is closed around the fork handle, indicating secure hold during transport. The next action is to move the fork toward the bottom right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3758019506931305, + 0.16842569410800934, + -0.042653582990169525, + -2.9557034969329834, + -0.04306546226143837, + 0.12054101377725601 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it above the stovetop. The gripper is closed around the fork handle, indicating secure hold during transport. The next action is to move the fork toward the bottom right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 11 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37872493267059326, + 0.17114830017089844, + -0.046124543994665146, + -2.9551148414611816, + -0.03794746845960617, + 0.1225159764289856 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it above the stovetop. The gripper is closed around the fork handle, indicating secure hold during transport. The next action is to move the fork toward the bottom right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 12 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3812151849269867, + 0.17153312265872955, + -0.049800366163253784, + -2.95536208152771, + -0.01514663826674223, + 0.11628090590238571 + ], + "gripper_value": 0.4283607602119446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position over target burner", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it above the stovetop. The gripper is closed around the fork handle, indicating secure hold during transport. The next action is to move the fork toward the bottom right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move right 13 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3855302035808563, + 0.16991916298866272, + -0.05119898542761803, + -2.9533255100250244, + -0.0009691810701042414, + 0.11001521348953247 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position over target burner", + "subtask_reasoning": "The robot is holding the blue fork and has positioned it directly above the bottom right burner. The gripper remains closed, confirming the object is secured during this positioning phase. The next action is to lower the fork onto the burner and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 13 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3880751430988312, + 0.16783559322357178, + -0.049656063318252563, + -2.9522438049316406, + 0.0062500061467289925, + 0.09976451098918915 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position over target burner", + "subtask_reasoning": "The robot is holding the blue fork and has positioned it directly above the bottom right burner. The gripper remains closed, confirming the object is secured during this positioning phase. The next action is to lower the fork onto the burner and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 13 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.38397306203842163, + 0.15528875589370728, + -0.041332848370075226, + -2.9253506660461426, + 0.005341924726963043, + 0.077458456158638 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position over target burner", + "subtask_reasoning": "The robot is holding the blue fork and has positioned it directly above the bottom right burner. The gripper remains closed, confirming the object is secured during this positioning phase. The next action is to lower the fork onto the burner and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 13 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.39432382583618164, + 0.12347102910280228, + -0.0075927539728581905, + -2.8956820964813232, + -0.0916496217250824, + 0.03196213021874428 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fork on burner", + "subtask_reasoning": "The robot is holding the blue fork and has positioned it directly above the bottom right burner. The gripper remains closed, confirming the object is secured during this positioning phase. The next action is to lower the fork onto the burner and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39091092348098755, + 0.0905117467045784, + -0.004910574760288, + -2.9185874462127686, + -0.11505094915628433, + 0.003859050804749131 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fork on burner", + "subtask_reasoning": "The robot is holding the blue fork and has positioned it directly above the bottom right burner. The gripper remains closed, confirming the object is secured during this positioning phase. The next action is to lower the fork onto the burner and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.38472113013267517, + 0.05847982317209244, + -0.015769800171256065, + -2.9744651317596436, + -0.09635699540376663, + -0.01737336628139019 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fork on burner", + "subtask_reasoning": "The robot is holding the blue fork and has positioned it directly above the bottom right burner. The gripper remains closed, confirming the object is secured during this positioning phase. The next action is to lower the fork onto the burner and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38334646821022034, + 0.02792368270456791, + -0.026863200590014458, + -3.02543568611145, + -0.07823739945888519, + -0.052830398082733154 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fork on burner", + "subtask_reasoning": "The robot is positioned over the bottom right burner with the blue fork held in its gripper. The fork has been transported to the target location, and the gripper remains closed. The next action is to open the gripper to release the fork onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3768613338470459, + 0.00931513961404562, + -0.04647291451692581, + -3.0514001846313477, + -0.02837025746703148, + -0.08143974840641022 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fork on burner", + "subtask_reasoning": "The robot is positioned over the bottom right burner with the blue fork held in its gripper. The fork has been transported to the target location, and the gripper remains closed. The next action is to open the gripper to release the fork onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840879797935486, + 0.0004966480191797018, + -0.050948552787303925, + -3.0566983222961426, + 0.0036831882316619158, + -0.09662368148565292 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fork on burner", + "subtask_reasoning": "The robot is positioned over the bottom right burner with the blue fork held in its gripper. The fork has been transported to the target location, and the gripper remains closed. The next action is to open the gripper to release the fork onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.389848530292511, + -0.001632347353734076, + -0.05159622058272362, + -3.069143772125244, + 0.007463139481842518, + -0.08268828690052032 + ], + "gripper_value": 0.44944798946380615 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 569, + 432, + 643, + 566 + ], + "burner coils": [ + 264, + 255, + 438, + 418 + ], + "oven handle": [ + 195, + 631, + 521, + 934 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fork on burner", + "subtask_reasoning": "The robot is positioned over the bottom right burner with the blue fork held in its gripper. The fork has been transported to the target location, and the gripper remains closed. The next action is to open the gripper to release the fork onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.38774845004081726, + -0.0026340491604059935, + -0.055547114461660385, + -3.0763182640075684, + 0.020428616553544998, + -0.06882058084011078 + ], + "gripper_value": 0.7584560513496399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The robot is positioned over the bottom right burner with the blue fork held in its gripper. The fork has been transported to the target location, and the gripper remains closed. The next action is to open the gripper to release the fork onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 36, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3843110203742981, + 0.0031074760481715202, + -0.05101926997303963, + -3.036719560623169, + 0.032136645168066025, + -0.047784578055143356 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue fork has been successfully placed on the bottom right burner. The robot is currently positioned directly above the fork with the gripper open, indicating the release is complete. The next action is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 36, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.38319307565689087, + 0.00650480343028903, + -0.01668706163764, + -2.9851934909820557, + -0.005886894650757313, + -0.02931363508105278 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue fork on the bottom right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "position over target burner" + }, + { + "id": 5, + "subtask": "release fork on burner" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue fork has been successfully placed on the bottom right burner. The robot is currently positioned directly above the fork with the gripper open, indicating the release is complete. The next action is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 36, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003680_ecot.json b/cot/chunk-0003/episode_0003680_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..30981ecbec810c021006580c28305048de2c9ac2 --- /dev/null +++ b/cot/chunk-0003/episode_0003680_ecot.json @@ -0,0 +1,2654 @@ +{ + "task_name": "episode_0003680", + "episode_json": "json/chunk-0003/episode_0003680.json", + "video_path": "videos/chunk-0003/image_0/episode_0003680.mp4", + "instruction": "Fold the cloth from bottom left to top right to cover the white figure.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003680.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.944950520992279, + "std": 0.4210832118988037, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94495, std=0.42108, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 20, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 234, + 234, + 234, + 234, + 234, + 234, + 234 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 19 + ], + [ + 3, + 20, + 20 + ], + [ + 4, + 21, + 33 + ], + [ + 5, + 34, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottom left corner of cloth\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the bottom-left corner of the yellow cloth without grasping, as gripper remains fully open throughout this segment.\"},\n {\"id\": 2, \"name\": \"grasp bottom left corner of cloth\", \"start\": 15, \"end\": 19, \"planning\": \"Close gripper to securely grasp the bottom-left corner of the cloth, confirmed by significant gripper closure and stable contact in images.\"},\n {\"id\": 3, \"name\": \"lift and drag cloth diagonally\", \"start\": 20, \"end\": 33, \"planning\": \"Lift the grasped corner and drag the cloth diagonally toward top-right, maintaining grip while repositioning over the white figure area.\"},\n {\"id\": 4, \"name\": \"release cloth after folding\", \"start\": 34, \"end\": 40, \"planning\": \"Open gripper to release the cloth once it is positioned to cover the white figure, then retreat slightly to complete the fold.\"}\n ],\n \"global_plan\": \"Fold the yellow cloth from its bottom-left corner to top-right by first approaching, then grasping, dragging diagonally while lifted, and finally releasing to cover the white figure.\",\n \"notes\": \"Segment 3 (frame 20) is merged into subtask 3 as it represents the transition from grasp completion to motion initiation; no independent action occurs at frame 20 alone. Gripper evidence aligns with image observations for grasp/release phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottom left corner of cloth", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the bottom-left corner of the yellow cloth without grasping, as gripper remains fully open throughout this segment." + }, + { + "id": 2, + "name": "grasp bottom left corner of cloth", + "start": 15, + "end": 19, + "planning": "Close gripper to securely grasp the bottom-left corner of the cloth, confirmed by significant gripper closure and stable contact in images." + }, + { + "id": 3, + "name": "lift and drag cloth diagonally", + "start": 20, + "end": 33, + "planning": "Lift the grasped corner and drag the cloth diagonally toward top-right, maintaining grip while repositioning over the white figure area." + }, + { + "id": 4, + "name": "release cloth after folding", + "start": 34, + "end": 40, + "planning": "Open gripper to release the cloth once it is positioned to cover the white figure, then retreat slightly to complete the fold." + } + ], + "global_plan": "Fold the yellow cloth from its bottom-left corner to top-right by first approaching, then grasping, dragging diagonally while lifted, and finally releasing to cover the white figure.", + "notes": "Segment 3 (frame 20) is merged into subtask 3 as it represents the transition from grasp completion to motion initiation; no independent action occurs at frame 20 alone. Gripper evidence aligns with image observations for grasp/release phases." + } + }, + "episode_goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603949248790741, + 0.1171850860118866, + 0.1652815341949463, + 2.887622356414795, + -0.43979784846305847, + 0.6335448622703552 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and white figure visible. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action is to move the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 15 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3596828579902649, + 0.1163472980260849, + 0.1551491916179657, + 2.8908097743988037, + -0.4119619131088257, + 0.63355553150177 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and white figure visible. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action is to move the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 15 cm, move down 8 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3475564122200012, + 0.10857187956571579, + 0.13468605279922485, + 2.900789976119995, + -0.3601111173629761, + 0.5938634872436523 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and white figure visible. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action is to move the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 16 cm, move down 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34437716007232666, + 0.1089838370680809, + 0.12584421038627625, + 2.9190802574157715, + -0.3685588240623474, + 0.5689853429794312 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and white figure visible. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action is to move the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 17 cm, move down 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33199843764305115, + 0.11075454205274582, + 0.1330534815788269, + 2.897371530532837, + -0.3805924654006958, + 0.5817588567733765 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and white figure visible. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action is to move the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 17 cm, move down 7 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199644088745117, + 0.13637958467006683, + 0.13605564832687378, + 2.8757691383361816, + -0.39699527621269226, + 0.6552343368530273 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and white figure visible. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action is to move the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 14 cm, move down 9 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30134209990501404, + 0.17922094464302063, + 0.13528446853160858, + 2.899425983428955, + -0.41980233788490295, + 0.7562876343727112 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 222, + 4, + 754, + 369 + ], + "green star": [ + 682, + 718, + 802, + 870 + ], + "blue banana": [ + 542, + 482, + 728, + 629 + ], + "yellow cloth": [ + 4, + 235, + 568, + 793 + ], + "red ring": [ + 575, + 341, + 709, + 487 + ], + "white toy": [ + 389, + 308, + 505, + 481 + ] + } + } + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth and white figure visible. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action is to move the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 10 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28844577074050903, + 0.20798268914222717, + 0.11662653833627701, + 2.9499552249908447, + -0.3673635721206665, + 0.8101028800010681 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2752179503440857, + 0.23529328405857086, + 0.10696837306022644, + 2.9841177463531494, + -0.35643690824508667, + 0.8512958288192749 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 4, + 235, + 568, + 792 + ], + "white toy": [ + 389, + 308, + 506, + 481 + ], + "green star": [ + 682, + 718, + 802, + 870 + ], + "red ring": [ + 575, + 340, + 709, + 487 + ] + } + } + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2663895785808563, + 0.24655118584632874, + 0.09063729643821716, + 3.0244975090026855, + -0.32722097635269165, + 0.8080486059188843 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25336766242980957, + 0.2631247341632843, + 0.08959195762872696, + 3.0417966842651367, + -0.3530157208442688, + 0.7632501125335693 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2353733777999878, + 0.26857709884643555, + 0.07816468924283981, + 3.066826581954956, + -0.351666122674942, + 0.7035618424415588 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move down 3 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2267247885465622, + 0.2702782154083252, + 0.06833875924348831, + 3.0898470878601074, + -0.3647569715976715, + 0.6632384061813354 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, keep gripper open; then move down 3 cm, close gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21486850082874298, + 0.2752637565135956, + 0.06295640021562576, + 3.114103317260742, + -0.36637789011001587, + 0.6512536406517029 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move down 3 cm, close gripper; then move forward 3 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21059581637382507, + 0.27806150913238525, + 0.0592007040977478, + 3.1411006450653076, + -0.37905368208885193, + 0.6402958631515503 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "approach bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move down 3 cm, close gripper; then move forward 6 cm, move right 7 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20477765798568726, + 0.27918899059295654, + 0.048804908990859985, + -3.10398530960083, + -0.37684062123298645, + 0.6339258551597595 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 8 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20545777678489685, + 0.27989643812179565, + 0.045568134635686874, + -3.0996978282928467, + -0.39232322573661804, + 0.6331869959831238 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom-left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 10 cm, move right 12 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2031174600124359, + 0.2795906662940979, + 0.03256860375404358, + -3.0843465328216553, + -0.39344626665115356, + 0.6252648234367371 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 13 cm, move right 14 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2014026641845703, + 0.28285354375839233, + 0.021693848073482513, + -3.0700674057006836, + -0.4003129005432129, + 0.6416605114936829 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 15 cm, move right 16 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20198869705200195, + 0.28286170959472656, + 0.019941985607147217, + -3.077648162841797, + -0.40151143074035645, + 0.660359263420105 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 17 cm, move right 18 cm, move up 8 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.202305406332016, + 0.27687808871269226, + 0.018280303105711937, + -3.1162805557250977, + -0.37810274958610535, + 0.6808753609657288 + ], + "gripper_value": 0.3577343225479126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 19 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20541509985923767, + 0.2635832726955414, + 0.028024902567267418, + 3.096593141555786, + -0.3507001996040344, + 0.6786448955535889 + ], + "gripper_value": 0.15820781886577606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move right 19 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21411117911338806, + 0.24479234218597412, + 0.0607721209526062, + 2.998626470565796, + -0.353823721408844, + 0.6884061694145203 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move right 19 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23255495727062225, + 0.2231466919183731, + 0.07511214911937714, + 2.9584758281707764, + -0.3494817316532135, + 0.6985570788383484 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 4, + 243, + 568, + 806 + ], + "green star": [ + 683, + 719, + 801, + 871 + ], + "red ring": [ + 575, + 341, + 709, + 487 + ], + "white toy": [ + 388, + 308, + 508, + 480 + ], + "cardboard box": [ + 222, + 4, + 996, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 17 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25853314995765686, + 0.2024158239364624, + 0.08241155743598938, + 2.950061082839966, + -0.3332957625389099, + 0.7143672704696655 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 15 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826612591743469, + 0.18158884346485138, + 0.09090976417064667, + 2.9395530223846436, + -0.3258771002292633, + 0.7349705696105957 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the yellow cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely hold the cloth corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 13 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30406177043914795, + 0.16136367619037628, + 0.09728603810071945, + 2.915079355239868, + -0.30454573035240173, + 0.743575394153595 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 11 cm, move down 4 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3282460868358612, + 0.13593104481697083, + 0.10344412177801132, + 2.887284994125366, + -0.2938631772994995, + 0.7528190612792969 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 8 cm, move down 4 cm, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3494098484516144, + 0.11571058630943298, + 0.10339192301034927, + 2.880216598510742, + -0.2707442045211792, + 0.7527016997337341 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red ring": [ + 574, + 341, + 709, + 487 + ], + "yellow cloth": [ + 190, + 191, + 569, + 788 + ], + "green star": [ + 682, + 719, + 802, + 871 + ], + "blue banana": [ + 543, + 481, + 729, + 629 + ], + "white toy": [ + 390, + 307, + 507, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 4 cm, open gripper; then move back 3 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683391809463501, + 0.10005316883325577, + 0.10317428410053253, + 2.8723530769348145, + -0.2647649049758911, + 0.7606451511383057 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 4 cm, open gripper; then move back 5 cm, move left 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3823052942752838, + 0.08287835866212845, + 0.09570502489805222, + 2.886345624923706, + -0.26642799377441406, + 0.74864262342453 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, open gripper; then move back 8 cm, move left 6 cm, move up 10 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3942683935165405, + 0.06980910152196884, + 0.08578480035066605, + 2.9055774211883545, + -0.2621106803417206, + 0.7491757869720459 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 8 cm, move left 6 cm, move up 10 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4024704098701477, + 0.05934281647205353, + 0.06838050484657288, + 2.938063621520996, + -0.25831446051597595, + 0.7340703010559082 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 8 cm, move left 6 cm, move up 10 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4067477881908417, + 0.05666205286979675, + 0.059997305274009705, + 2.9717509746551514, + -0.2901214063167572, + 0.7231295704841614 + ], + "gripper_value": 0.23789463937282562 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 8 cm, move left 6 cm, move up 10 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4086430072784424, + 0.05589272081851959, + 0.05886122211813927, + 2.9672038555145264, + -0.3016360402107239, + 0.7080737948417664 + ], + "gripper_value": 0.5071992874145508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "release cloth after folding", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 6 cm, move up 10 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4015817642211914, + 0.058293089270591736, + 0.054523978382349014, + 2.9575846195220947, + -0.2668980658054352, + 0.7041555047035217 + ], + "gripper_value": 0.8139979243278503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 261, + 239, + 569, + 745 + ], + "table": [ + 4, + 190, + 995, + 993 + ], + "blue banana": [ + 543, + 481, + 728, + 629 + ], + "red ring": [ + 576, + 341, + 709, + 487 + ], + "cardboard box": [ + 222, + 3, + 751, + 379 + ], + "green star": [ + 681, + 716, + 802, + 871 + ] + } + } + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "release cloth after folding", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move up 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.397684246301651, + 0.06051315739750862, + 0.08175419270992279, + 2.902226209640503, + -0.2768125534057617, + 0.7041144967079163 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "release cloth after folding", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and is currently lifting it upward and diagonally toward the top-right. The cloth is partially raised, indicating progress in dragging it over the white figure. The next action should continue the diagonal lift and drag motion to fully cover the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3895156681537628, + 0.0644213929772377, + 0.10792487114667892, + 2.832829713821411, + -0.2706330716609955, + 0.7018876671791077 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "release cloth after folding", + "subtask_reasoning": "The yellow cloth has been folded diagonally and is now covering the white figure. The gripper is open and positioned above the cloth, indicating the release action is complete. No further motion is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 5 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.37999364733695984, + 0.0704396665096283, + 0.13127437233924866, + 2.7661221027374268, + -0.2801082134246826, + 0.6821253299713135 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "release cloth after folding", + "subtask_reasoning": "The yellow cloth has been folded diagonally and is now covering the white figure. The gripper is open and positioned above the cloth, indicating the release action is complete. No further motion is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.361342191696167, + 0.08798322081565857, + 0.15122830867767334, + 2.728789806365967, + -0.30222299695014954, + 0.6529568433761597 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "release cloth after folding", + "subtask_reasoning": "The yellow cloth has been folded diagonally and is now covering the white figure. The gripper is open and positioned above the cloth, indicating the release action is complete. No further motion is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3321518301963806, + 0.11372224241495132, + 0.15843786299228668, + 2.744689464569092, + -0.3385342061519623, + 0.5545172691345215 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the bottom-left corner of the yellow cloth diagonally toward the top-right to cover the white figure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner of cloth" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth after folding" + } + ], + "subtask_name": "release cloth after folding", + "subtask_reasoning": "The yellow cloth has been folded diagonally and is now covering the white figure. The gripper is open and positioned above the cloth, indicating the release action is complete. No further motion is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003682_ecot.json b/cot/chunk-0003/episode_0003682_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..aec16469627ff9d2595e61224f8223364e328242 --- /dev/null +++ b/cot/chunk-0003/episode_0003682_ecot.json @@ -0,0 +1,1350 @@ +{ + "task_name": "episode_0003682", + "episode_json": "json/chunk-0003/episode_0003682.json", + "video_path": "videos/chunk-0003/image_0/episode_0003682.mp4", + "instruction": "Put pot on stove which is near stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003682.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9172585606575012, + "std": 0.39862585067749023, + "delta_total": -0.9172585606575012, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91726, std=0.39863, total_delta=-0.91726). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 107, + 107, + 107, + 107, + 107, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 6 + ], + [ + 3, + 7, + 11 + ], + [ + 4, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 0, \"planning\": \"Move end-effector toward the pot on the counter without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 1, \"end\": 6, \"planning\": \"Close gripper around the pot handle while maintaining contact and adjusting position for secure hold.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 7, \"end\": 11, \"planning\": \"Lift the pot slightly and move it horizontally toward the stove burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place pot on stove\", \"start\": 12, \"end\": 19, \"planning\": \"Lower the pot onto the stove burner and release contact by opening gripper, then retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp it securely, lift and translate it to the stove, then place it down and release.\",\n \"notes\": \"Segment 1 shows no gripper motion — purely approach. Segment 2 shows significant gripper closure consistent with grasping. Segment 3 continues grip while moving object. Segment 4 shows stable gripper state during placement and retreat — no further closing, so 'place' is justified by context and prior grasp.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 0, + "planning": "Move end-effector toward the pot on the counter without closing gripper." + }, + { + "id": 2, + "name": "grasp pot", + "start": 1, + "end": 6, + "planning": "Close gripper around the pot handle while maintaining contact and adjusting position for secure hold." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 7, + "end": 11, + "planning": "Lift the pot slightly and move it horizontally toward the stove burner while maintaining grip." + }, + { + "id": 4, + "name": "place pot on stove", + "start": 12, + "end": 19, + "planning": "Lower the pot onto the stove burner and release contact by opening gripper, then retreat slightly." + } + ], + "global_plan": "Approach the pot, grasp it securely, lift and translate it to the stove, then place it down and release.", + "notes": "Segment 1 shows no gripper motion — purely approach. Segment 2 shows significant gripper closure consistent with grasping. Segment 3 continues grip while moving object. Segment 4 shows stable gripper state during placement and retreat — no further closing, so 'place' is justified by context and prior grasp." + } + }, + "episode_goal": "Place the black pot on the stove burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.42744600772857666, + 0.17723235487937927, + 0.09101445227861404, + -3.1257705688476562, + -0.2598517835140228, + -0.7471829652786255 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the kitchen counter with the black pot visible on the stove. No actions have been completed yet as this is the initial frame. The robot needs to move its end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move down 3 cm, tilt back 10 degrees, close gripper; then move right 2 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 0 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 0 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.42712584137916565, + 0.17112402617931366, + 0.07103057950735092, + 3.067559242248535, + -0.26817530393600464, + -0.7521426677703857 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned near the kitchen counter with the black pot visible on the stove. No actions have been completed yet as this is the initial frame. The robot needs to move its end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt back 10 degrees, close gripper; then move right 4 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4319821000099182, + 0.1717754751443863, + 0.07014378160238266, + 2.999483346939087, + -0.32234084606170654, + -0.7554760575294495 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned near the kitchen counter with the black pot visible on the stove. No actions have been completed yet as this is the initial frame. The robot needs to move its end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 5 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4305602014064789, + 0.18136431276798248, + 0.062718465924263, + 2.9371657371520996, + -0.36202412843704224, + -0.7249109148979187 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the black pot on the stove. The gripper is currently open and positioned near the pot handle, indicating readiness to grasp. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 5 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4325641095638275, + 0.18238197267055511, + 0.06337161362171173, + 2.9438443183898926, + -0.37542039155960083, + -0.7244804501533508 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the black pot on the stove. The gripper is currently open and positioned near the pot handle, indicating readiness to grasp. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 5 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4302387833595276, + 0.17759746313095093, + 0.03993777185678482, + 2.9190714359283447, + -0.38647839426994324, + -0.687441349029541 + ], + "gripper_value": 0.8242669105529785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the black pot on the stove. The gripper is currently open and positioned near the pot handle, indicating readiness to grasp. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move right 5 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.42474526166915894, + 0.17273098230361938, + 0.034468937665224075, + 2.9413323402404785, + -0.39175254106521606, + -0.668239414691925 + ], + "gripper_value": 0.5393473505973816 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy pumpkin": [ + 650, + 122, + 764, + 262 + ], + "faucet": [ + 739, + 7, + 944, + 357 + ], + "stove burner": [ + 309, + 219, + 514, + 406 + ], + "toy pot": [ + 259, + 13, + 458, + 234 + ], + "sink": [ + 456, + 263, + 994, + 770 + ], + "toy eggplant": [ + 628, + 55, + 777, + 153 + ], + "toy carrot": [ + 10, + 180, + 93, + 324 + ], + "toy pan": [ + 438, + 49, + 639, + 197 + ] + } + } + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the black pot on the stove. The gripper is currently open and positioned near the pot handle, indicating readiness to grasp. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 1 cm, move right 5 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4233081042766571, + 0.17154461145401, + 0.04105911776423454, + 2.985476493835449, + -0.3885599374771118, + -0.6731675863265991 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the black pot on the stove. The gripper is currently open and positioned near the pot handle, indicating readiness to grasp. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4270417094230652, + 0.1633366048336029, + 0.04639890417456627, + 3.0471088886260986, + -0.3399522304534912, + -0.713010847568512 + ], + "gripper_value": 0.13995102047920227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the black pot on the stove. The gripper is currently open and positioned near the pot handle, indicating readiness to grasp. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.42515233159065247, + 0.1551091969013214, + 0.05399147421121597, + 3.067168712615967, + -0.3020053803920746, + -0.6977443099021912 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the black pot on the countertop. The current frame shows the gripper in contact with the pot, and segment-level gripper evidence supports a stable grasp. The next action is to lift the pot slightly and begin repositioning it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.41893112659454346, + 0.14889997243881226, + 0.05396413058042526, + 3.0838654041290283, + -0.2609974145889282, + -0.6562808752059937 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the black pot on the countertop. The current frame shows the gripper in contact with the pot, and segment-level gripper evidence supports a stable grasp. The next action is to lift the pot slightly and begin repositioning it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4185158610343933, + 0.1301260143518448, + 0.05587347224354744, + 3.141260862350464, + -0.2469881922006607, + -0.6513813138008118 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the black pot on the countertop. The current frame shows the gripper in contact with the pot, and segment-level gripper evidence supports a stable grasp. The next action is to lift the pot slightly and begin repositioning it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 2 cm, move right 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4092232286930084, + 0.12066623568534851, + 0.05268165096640587, + -3.094630479812622, + -0.24359124898910522, + -0.6044287085533142 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy pumpkin": [ + 650, + 123, + 763, + 262 + ], + "faucet": [ + 736, + 7, + 941, + 355 + ], + "toy pot": [ + 304, + 31, + 493, + 262 + ], + "toy carrot": [ + 11, + 178, + 94, + 324 + ], + "sink": [ + 456, + 262, + 994, + 771 + ], + "stove burner": [ + 320, + 234, + 508, + 394 + ] + } + } + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "place pot on stove", + "subtask_reasoning": "The robot has approached and grasped the black pot on the countertop. The current frame shows the gripper in contact with the pot, and segment-level gripper evidence supports a stable grasp. The next action is to lift the pot slightly and begin repositioning it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.40385574102401733, + 0.10589808970689774, + 0.05112449452280998, + -3.0552988052368164, + -0.23106004297733307, + -0.5929297208786011 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "place pot on stove", + "subtask_reasoning": "The robot has approached and grasped the black pot on the countertop. The current frame shows the gripper in contact with the pot, and segment-level gripper evidence supports a stable grasp. The next action is to lift the pot slightly and begin repositioning it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40188753604888916, + 0.10469422489404678, + 0.052620552480220795, + -3.0362188816070557, + -0.2140113264322281, + -0.5890145897865295 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "place pot on stove", + "subtask_reasoning": "The robot has approached and grasped the black pot on the countertop. The current frame shows the gripper in contact with the pot, and segment-level gripper evidence supports a stable grasp. The next action is to lift the pot slightly and begin repositioning it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3964799642562866, + 0.10424042493104935, + 0.04993251711130142, + -3.012974500656128, + -0.18661022186279297, + -0.5371248722076416 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "place pot on stove", + "subtask_reasoning": "The black pot is already positioned on the stove burner, and the gripper is open and not in contact with the pot. The placement action has been completed, and the robot is likely retracting or idle. No further manipulation is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3945566713809967, + 0.09013908356428146, + 0.05519350618124008, + -2.966482639312744, + -0.19216850399971008, + -0.5305814743041992 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "place pot on stove", + "subtask_reasoning": "The black pot is already positioned on the stove burner, and the gripper is open and not in contact with the pot. The placement action has been completed, and the robot is likely retracting or idle. No further manipulation is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3901243805885315, + 0.08904652297496796, + 0.05139883980154991, + -2.970889091491699, + -0.18780022859573364, + -0.5170920491218567 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "place pot on stove", + "subtask_reasoning": "The black pot is already positioned on the stove burner, and the gripper is open and not in contact with the pot. The placement action has been completed, and the robot is likely retracting or idle. No further manipulation is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38852226734161377, + 0.08688131719827652, + 0.05002284795045853, + -2.982473134994507, + -0.19371239840984344, + -0.48307734727859497 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "place pot on stove", + "subtask_reasoning": "The black pot is already positioned on the stove burner, and the gripper is open and not in contact with the pot. The placement action has been completed, and the robot is likely retracting or idle. No further manipulation is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3877440094947815, + 0.08333808928728104, + 0.049088627099990845, + -3.00764799118042, + -0.2036951333284378, + -0.44777625799179077 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on stove" + } + ], + "subtask_name": "place pot on stove", + "subtask_reasoning": "The black pot is already positioned on the stove burner, and the gripper is open and not in contact with the pot. The placement action has been completed, and the robot is likely retracting or idle. No further manipulation is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003683_ecot.json b/cot/chunk-0003/episode_0003683_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3a379d1331f775a9e119dcdc22fb57b910fe93ff --- /dev/null +++ b/cot/chunk-0003/episode_0003683_ecot.json @@ -0,0 +1,2821 @@ +{ + "task_name": "episode_0003683", + "episode_json": "json/chunk-0003/episode_0003683.json", + "video_path": "videos/chunk-0003/image_0/episode_0003683.mp4", + "instruction": "Fold the cloth from the bottom right to the top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003683.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9467743039131165, + "std": 0.4423365294933319, + "delta_total": -0.2284027338027954, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94677, std=0.44234, total_delta=-0.22840). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 18, + 18, + 18, + 18, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 144 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 21 + ], + [ + 3, + 22, + 43 + ], + [ + 4, + 44, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottom right corner\", \"start\": 0, \"end\": 17, \"planning\": \"Move end-effector toward the bottom right corner of the cloth while preparing to grasp.\"},\n {\"id\": 2, \"name\": \"grasp and secure corner\", \"start\": 18, \"end\": 21, \"planning\": \"Close gripper to firmly grasp the bottom right corner of the cloth.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally upward\", \"start\": 22, \"end\": 43, \"planning\": \"Lift and drag the grasped corner diagonally toward the top left to fold the cloth.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 44, \"end\": 44, \"planning\": \"Open gripper to release the cloth and begin retreating from the folded position.\"}\n ],\n \"global_plan\": \"Fold the cloth by grasping the bottom right corner, dragging it diagonally to the top left, then releasing to complete the fold.\",\n \"notes\": \"Segment 4 has no meaningful closing evidence; gripper opens in this frame, so 'release' is appropriate. All segments align with observed motion and gripper behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottom right corner", + "start": 0, + "end": 17, + "planning": "Move end-effector toward the bottom right corner of the cloth while preparing to grasp." + }, + { + "id": 2, + "name": "grasp and secure corner", + "start": 18, + "end": 21, + "planning": "Close gripper to firmly grasp the bottom right corner of the cloth." + }, + { + "id": 3, + "name": "drag cloth diagonally upward", + "start": 22, + "end": 43, + "planning": "Lift and drag the grasped corner diagonally toward the top left to fold the cloth." + }, + { + "id": 4, + "name": "release and retreat", + "start": 44, + "end": 44, + "planning": "Open gripper to release the cloth and begin retreating from the folded position." + } + ], + "global_plan": "Fold the cloth by grasping the bottom right corner, dragging it diagonally to the top left, then releasing to complete the fold.", + "notes": "Segment 4 has no meaningful closing evidence; gripper opens in this frame, so 'release' is appropriate. All segments align with observed motion and gripper behavior." + } + }, + "episode_goal": "Fold the cloth from the bottom right to the top left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2849963307380676, + 0.06516443192958832, + 0.15990132093429565, + -2.9743502140045166, + -0.12230024486780167, + -0.38698023557662964 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the table with the cloth laid out flat. No actions have been completed yet as the gripper is open and hovering. The robot needs to lower its end-effector to make contact with the bottom right corner of the cloth to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 15 cm, move down 11 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28460097312927246, + 0.0652950182557106, + 0.1521645039319992, + -2.9866065979003906, + -0.1035834401845932, + -0.37726694345474243 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the table with the cloth laid out flat. No actions have been completed yet as the gripper is open and hovering. The robot needs to lower its end-effector to make contact with the bottom right corner of the cloth to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 16 cm, move down 11 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28355351090431213, + 0.03897372633218765, + 0.13239288330078125, + -2.9456534385681152, + -0.08672182261943817, + -0.43548232316970825 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the table with the cloth laid out flat. No actions have been completed yet as the gripper is open and hovering. The robot needs to lower its end-effector to make contact with the bottom right corner of the cloth to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move down 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28259608149528503, + 0.022099388763308525, + 0.12198545038700104, + -2.9095659255981445, + -0.083225779235363, + -0.4668290615081787 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the table with the cloth laid out flat. No actions have been completed yet as the gripper is open and hovering. The robot needs to lower its end-effector to make contact with the bottom right corner of the cloth to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 14 cm, move down 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28484997153282166, + 0.004260650835931301, + 0.11616955697536469, + -2.8730461597442627, + -0.10210451483726501, + -0.5026427507400513 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the table with the cloth laid out flat. No actions have been completed yet as the gripper is open and hovering. The robot needs to lower its end-effector to make contact with the bottom right corner of the cloth to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2855217754840851, + -0.020745178684592247, + 0.10813681036233902, + -2.816143035888672, + -0.12003440409898758, + -0.5791684985160828 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the table with the cloth laid out flat. No actions have been completed yet as the gripper is open and hovering. The robot needs to lower its end-effector to make contact with the bottom right corner of the cloth to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824122905731201, + -0.039583053439855576, + 0.10078445822000504, + -2.7895617485046387, + -0.13136792182922363, + -0.6499131917953491 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the table with the cloth laid out flat. No actions have been completed yet as the gripper is open and hovering. The robot needs to lower its end-effector to make contact with the bottom right corner of the cloth to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move down 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27995389699935913, + -0.05835474282503128, + 0.08842983841896057, + -2.7286038398742676, + -0.11491995304822922, + -0.7147511839866638 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 213, + 337, + 807, + 928 + ], + "table": [ + 5, + 235, + 994, + 994 + ], + "small bottle": [ + 3, + 500, + 96, + 620 + ], + "toy fruit": [ + 913, + 664, + 996, + 834 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the table with the cloth laid out flat. No actions have been completed yet as the gripper is open and hovering. The robot needs to lower its end-effector to make contact with the bottom right corner of the cloth to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 10 cm, tilt right 20 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823150157928467, + -0.07112309336662292, + 0.07966112345457077, + -2.6845526695251465, + -0.1124061718583107, + -0.7411677837371826 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 9 cm, tilt right 20 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815549373626709, + -0.0805247500538826, + 0.06169075891375542, + -2.6753389835357666, + -0.10122639685869217, + -0.7629773020744324 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 213, + 357, + 806, + 929 + ], + "small bottle": [ + 3, + 501, + 96, + 620 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 7 cm, tilt right 20 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2829936742782593, + -0.0888902023434639, + 0.04754151403903961, + -2.6707913875579834, + -0.09662150591611862, + -0.7849135398864746 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 6 cm, tilt right 20 degrees, tilt forward 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2807471454143524, + -0.09829460829496384, + 0.038164492696523666, + -2.683008909225464, + -0.09307488799095154, + -0.8006948232650757 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27806761860847473, + -0.10621677339076996, + 0.03515445813536644, + -2.7384495735168457, + -0.10388106852769852, + -0.7844703197479248 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, tilt right 20 degrees, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.278491348028183, + -0.11334878951311111, + 0.03497274965047836, + -2.79010272026062, + -0.1283458173274994, + -0.7701689600944519 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28351661562919617, + -0.10932393372058868, + 0.020861372351646423, + -2.8598175048828125, + -0.08570684492588043, + -0.727967381477356 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28674736618995667, + -0.11356721818447113, + 0.013252215459942818, + -2.8778345584869385, + -0.06820864230394363, + -0.7321967482566833 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move left 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28449034690856934, + -0.11832393705844879, + 0.0041375416330993176, + -2.9238500595092773, + -0.05002467334270477, + -0.7239128351211548 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28576621413230896, + -0.12117625772953033, + -0.007976420223712921, + -2.9919497966766357, + -0.012165773659944534, + -0.698789119720459 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move left 7 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880396246910095, + -0.11921047419309616, + -0.010228478349745274, + -3.0281872749328613, + -0.007257654331624508, + -0.6608291864395142 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and secure corner", + "subtask_reasoning": "The robot arm is positioned above the cloth, with the gripper open and hovering near the bottom right corner. No contact has been made yet, and the subtask of approaching the target corner is still in progress. The next action should be to lower the gripper slightly to make contact with the bottom right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 4 cm, move left 9 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881923019886017, + -0.11937887966632843, + -0.009767443872988224, + -3.032099485397339, + -0.005922127515077591, + -0.66043621301651 + ], + "gripper_value": 0.17624500393867493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and secure corner", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move left 10 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28110864758491516, + -0.12228109687566757, + -0.010065281763672829, + -3.0744824409484863, + 0.019868992269039154, + -0.6598290205001831 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and secure corner", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move forward 7 cm, move left 12 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2693447768688202, + -0.1254313737154007, + -0.009441637434065342, + -3.134025812149048, + 0.06474752724170685, + -0.6868720054626465 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and secure corner", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 9 cm, move left 14 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26389026641845703, + -0.12670525908470154, + -0.0034316708333790302, + 3.1228537559509277, + 0.063286691904068, + -0.6995211839675903 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 16 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2594732344150543, + -0.12312956154346466, + -0.0018641804344952106, + 3.0964109897613525, + 0.08906754106283188, + -0.7111117839813232 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 17 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26285332441329956, + -0.11056143045425415, + 0.01483213435858488, + 3.0696513652801514, + 0.07434599846601486, + -0.6847643256187439 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 17 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2672150135040283, + -0.0951375663280487, + 0.024585073813796043, + 3.0375657081604004, + 0.08661391586065292, + -0.6746629476547241 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 16 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27451443672180176, + -0.0790758803486824, + 0.04364919662475586, + 3.0189931392669678, + 0.05601058900356293, + -0.6622057557106018 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "small bottle": [ + 3, + 500, + 96, + 619 + ], + "table": [ + 4, + 206, + 995, + 994 + ], + "blue cloth": [ + 201, + 351, + 807, + 912 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 16 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28662773966789246, + -0.05801434442400932, + 0.05642692372202873, + 3.001072645187378, + 0.05345506593585014, + -0.628471314907074 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 201, + 361, + 802, + 889 + ], + "small bottle": [ + 3, + 500, + 95, + 619 + ], + "table": [ + 4, + 208, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 14 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30066806077957153, + -0.04145151004195213, + 0.07551076263189316, + 2.9484426975250244, + 0.026054587215185165, + -0.5806053876876831 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 14 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31321612000465393, + -0.0261642187833786, + 0.08209966123104095, + 2.9115188121795654, + 0.02876623533666134, + -0.5398082137107849 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 13 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3355787694454193, + -0.0049612619914114475, + 0.08708861470222473, + 2.910343885421753, + 0.03988770395517349, + -0.5341799855232239 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3517424464225769, + 0.01309181284159422, + 0.08902477473020554, + 2.912489652633667, + 0.04691386967897415, + -0.5282241106033325 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached the bottom right corner of the cloth and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value and segment-level evidence, suggesting an attempt to grasp the corner. The next action is to fully secure the corner by completing the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 10 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3650464117527008, + 0.029927732422947884, + 0.09016645699739456, + 2.940535545349121, + 0.038278110325336456, + -0.5293405055999756 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.38096579909324646, + 0.04528190195560455, + 0.09126739203929901, + 2.9515278339385986, + 0.02670835703611374, + -0.5156251788139343 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.39229926466941833, + 0.05529585853219032, + 0.0907045304775238, + 2.946333885192871, + 0.038021523505449295, + -0.503581702709198 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.40620115399360657, + 0.06437155604362488, + 0.0944201797246933, + 2.949941873550415, + 0.033957455307245255, + -0.48610320687294006 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.41621196269989014, + 0.07704350352287292, + 0.09354312717914581, + 2.939784526824951, + 0.04138033092021942, + -0.45284292101860046 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 198, + 248, + 711, + 708 + ], + "table": [ + 4, + 200, + 995, + 994 + ], + "small bottle": [ + 3, + 501, + 95, + 619 + ], + "toy fruit": [ + 916, + 663, + 996, + 833 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.42873504757881165, + 0.08679205924272537, + 0.09365804493427277, + 2.9329466819763184, + 0.04396819695830345, + -0.4287670850753784 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.43539032340049744, + 0.09646854549646378, + 0.09110303968191147, + 2.930269241333008, + 0.04625030234456062, + -0.42423292994499207 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.43961483240127563, + 0.10050161182880402, + 0.09357034415006638, + 2.96281099319458, + 0.02825171872973442, + -0.4535946249961853 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.4444662630558014, + 0.10760451853275299, + 0.0915956199169159, + 3.0117781162261963, + 0.008538429625332355, + -0.5268608927726746 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.44418033957481384, + 0.10897704213857651, + 0.08736355602741241, + 3.0057239532470703, + 0.006034099031239748, + -0.5814820528030396 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.44388848543167114, + 0.11760417371988297, + 0.08093994110822678, + 2.9999313354492188, + -0.00999452080577612, + -0.6229587197303772 + ], + "gripper_value": 0.2148229479789734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.43703532218933105, + 0.12357494980096817, + 0.05513354018330574, + 2.99001145362854, + 0.0209514070302248, + -0.6427950263023376 + ], + "gripper_value": 0.48323801159858704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the cloth, having completed the grasp. The cloth is partially lifted and positioned on the table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.43078213930130005, + 0.12448897957801819, + 0.03957948833703995, + 2.983214855194092, + 0.02073456533253193, + -0.6648648977279663 + ], + "gripper_value": 0.7710858583450317 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the bottom right to the top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "grasp and secure corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded with the bottom right corner brought to the top left. The gripper is open and positioned above the cloth, indicating the release is complete. The next action is to retreat the arm away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 44, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003684_ecot.json b/cot/chunk-0003/episode_0003684_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..701b8db60967cd11c1f9ec499372154e34c3bf1d --- /dev/null +++ b/cot/chunk-0003/episode_0003684_ecot.json @@ -0,0 +1,1562 @@ +{ + "task_name": "episode_0003684", + "episode_json": "json/chunk-0003/episode_0003684.json", + "video_path": "videos/chunk-0003/image_0/episode_0003684.mp4", + "instruction": "Move the green object and put in the below and left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003684.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.5781260132789612, + "std": 0.2624813914299011, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57813, std=0.26248, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 211, + 211, + 211, + 219, + 219, + 219, + 219 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 10 + ], + [ + 3, + 11, + 15 + ], + [ + 4, + 16, + 18 + ], + [ + 5, + 19, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the green object on the left burner without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp green object\", \"start\": 6, \"end\": 10, \"planning\": \"Close gripper around green object while maintaining contact; gripper value drops significantly indicating successful grasp.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 11, \"end\": 15, \"planning\": \"Lift green object slightly and begin moving it toward target location below and left of current position.\"},\n {\"id\": 4, \"name\": \"place in target burner\", \"start\": 16, \"end\": 18, \"planning\": \"Lower green object into target burner area while maintaining grip; gripper begins to open slightly during placement.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 19, \"end\": 22, \"planning\": \"Fully open gripper to release green object in target burner, then retreat end-effector upward and away.\"}\n ],\n \"global_plan\": \"Approach green object on left burner, grasp it securely, lift and move it to the burner below and to the left, place it carefully, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows significant gripper closing — grasp is justified. Segments 4 and 5 show gripper opening during and after placement — consistent with release phase. Frame coverage is complete and contiguous from 0 to 22.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the green object on the left burner without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp green object", + "start": 6, + "end": 10, + "planning": "Close gripper around green object while maintaining contact; gripper value drops significantly indicating successful grasp." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 11, + "end": 15, + "planning": "Lift green object slightly and begin moving it toward target location below and left of current position." + }, + { + "id": 4, + "name": "place in target burner", + "start": 16, + "end": 18, + "planning": "Lower green object into target burner area while maintaining grip; gripper begins to open slightly during placement." + }, + { + "id": 5, + "name": "release and retreat", + "start": 19, + "end": 22, + "planning": "Fully open gripper to release green object in target burner, then retreat end-effector upward and away." + } + ], + "global_plan": "Approach green object on left burner, grasp it securely, lift and move it to the burner below and to the left, place it carefully, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows significant gripper closing — grasp is justified. Segments 4 and 5 show gripper opening during and after placement — consistent with release phase. Frame coverage is complete and contiguous from 0 to 22." + } + }, + "episode_goal": "Move the green object and put it in the below and left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35698357224464417, + -0.01670941337943077, + 0.05706912651658058, + -3.098145008087158, + -0.13246601819992065, + 0.059151727706193924 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3545420467853546, + -0.016179649159312248, + 0.044683028012514114, + -3.094759225845337, + -0.09732010215520859, + 0.06106904521584511 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, move down 6 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575214743614197, + 0.019194569438695908, + 0.03353412076830864, + -3.106736898422241, + -0.08348868042230606, + 0.11581171303987503 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617832064628601, + 0.07779642194509506, + 0.022325389087200165, + -3.126774787902832, + -0.07906507700681686, + 0.24680128693580627 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 686, + 481, + 994, + 972 + ], + "stove burner": [ + 240, + 274, + 439, + 465 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3614185154438019, + 0.11977030336856842, + 0.010243652388453484, + -3.1330742835998535, + -0.07839502394199371, + 0.3298787772655487 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 6 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3557150959968567, + 0.1717665195465088, + -0.0008826064295135438, + -3.112290620803833, + -0.07642348855733871, + 0.41840386390686035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 10 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34786394238471985, + 0.20264096558094025, + -0.015088479034602642, + -3.089198112487793, + -0.05084531381726265, + 0.46357253193855286 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34886670112609863, + 0.2100517302751541, + -0.025352807715535164, + -3.0678646564483643, + -0.02348955348134041, + 0.45272377133369446 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, close gripper; then move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34545812010765076, + 0.20707769691944122, + -0.04433334991335869, + -3.076511859893799, + 0.023808734491467476, + 0.45474088191986084 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object on the left burner and is now in contact with it. The gripper is closing as indicated by the decreasing gripper value, suggesting an ongoing grasp. The next action is to complete the grasp by fully closing the gripper around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34828850626945496, + 0.20080974698066711, + -0.049126189202070236, + -3.0929031372070312, + 0.036742035299539566, + 0.45584964752197266 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object on the left burner and is now in contact with it. The gripper is closing as indicated by the decreasing gripper value, suggesting an ongoing grasp. The next action is to complete the grasp by fully closing the gripper around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3521595895290375, + 0.19706717133522034, + -0.05321570485830307, + -3.0903735160827637, + 0.042752813547849655, + 0.44512754678726196 + ], + "gripper_value": 0.7011857628822327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object on the left burner and is now in contact with it. The gripper is closing as indicated by the decreasing gripper value, suggesting an ongoing grasp. The next action is to complete the grasp by fully closing the gripper around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562867343425751, + 0.1898466795682907, + -0.053040217608213425, + -3.0727880001068115, + 0.04614955559372902, + 0.413336843252182 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the green object on the left burner and is now in contact with it. The gripper is closing as indicated by the decreasing gripper value, suggesting an ongoing grasp. The next action is to complete the grasp by fully closing the gripper around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 2 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35840874910354614, + 0.1866697371006012, + -0.05291719734668732, + -3.0615394115448, + 0.0448303259909153, + 0.39623814821243286 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the green object on the left burner and is now in contact with it. The gripper is closing as indicated by the decreasing gripper value, suggesting an ongoing grasp. The next action is to complete the grasp by fully closing the gripper around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3693259060382843, + 0.16693750023841858, + -0.03350916877388954, + -3.0524160861968994, + 0.004203616175800562, + 0.34574559330940247 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The green object is currently grasped and lifted above the left burner. The robot has completed approaching and grasping, and is now in the repositioning phase. The next action is to move the object toward the target burner below and to the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37295201420783997, + 0.13136042654514313, + -0.010892142541706562, + -3.03852915763855, + -0.02292642369866371, + 0.27532514929771423 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The green object is currently grasped and lifted above the left burner. The robot has completed approaching and grasping, and is now in the repositioning phase. The next action is to move the object toward the target burner below and to the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601396083831787, + 0.09425894916057587, + -0.020915020257234573, + -3.029744863510132, + 0.04033765569329262, + 0.2199542373418808 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The green object is currently grasped and lifted above the left burner. The robot has completed approaching and grasping, and is now in the repositioning phase. The next action is to move the object toward the target burner below and to the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436959981918335, + 0.07574182003736496, + -0.03580671176314354, + -3.055354356765747, + 0.08644352108240128, + 0.2146085947751999 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place in target burner", + "subtask_reasoning": "The green object is currently grasped and lifted above the left burner. The robot has completed approaching and grasping, and is now in the repositioning phase. The next action is to move the object toward the target burner below and to the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.338571161031723, + 0.06769830733537674, + -0.04246574640274048, + -3.090090274810791, + 0.09595125913619995, + 0.23695537447929382 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place in target burner", + "subtask_reasoning": "The robot is currently holding the green object directly above the target burner (bottom-left). The gripper evidence indicates the object is securely grasped. The next action is to lower the object to place it onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33177080750465393, + 0.06202717497944832, + -0.058750052005052567, + -3.1056392192840576, + 0.148281067609787, + 0.22725319862365723 + ], + "gripper_value": 0.4681091010570526 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place in target burner", + "subtask_reasoning": "The robot is currently holding the green object directly above the target burner (bottom-left). The gripper evidence indicates the object is securely grasped. The next action is to lower the object to place it onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33667007088661194, + 0.06069629639387131, + -0.05951758101582527, + -3.1156303882598877, + 0.15398956835269928, + 0.2024564892053604 + ], + "gripper_value": 0.7778469324111938 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the green object directly above the target burner (bottom-left). The gripper evidence indicates the object is securely grasped. The next action is to lower the object to place it onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3420293629169464, + 0.05656587332487106, + -0.055570151656866074, + -3.1083126068115234, + 0.14771059155464172, + 0.17480437457561493 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green object has been successfully placed on the target burner (below and left). The gripper is fully open (value ~0.99), indicating the release phase is complete. The robot is now in the retreat phase, moving away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 19, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.353450208902359, + 0.04242729768157005, + -0.02723716013133526, + -3.074984550476074, + 0.08473426103591919, + 0.10876345634460449 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green object has been successfully placed on the target burner (below and left). The gripper is fully open (value ~0.99), indicating the release phase is complete. The robot is now in the retreat phase, moving away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3616190254688263, + 0.025297464802861214, + 0.017985811457037926, + -3.0496609210968018, + -0.023705948144197464, + 0.08664967864751816 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 238, + 275, + 441, + 465 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object and put it in the below and left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place in target burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green object has been successfully placed on the target burner (below and left). The gripper is fully open (value ~0.99), indicating the release phase is complete. The robot is now in the retreat phase, moving away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003685_ecot.json b/cot/chunk-0003/episode_0003685_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..90253a07b2f6a301f146aa78d7dd0107df1e2a4d --- /dev/null +++ b/cot/chunk-0003/episode_0003685_ecot.json @@ -0,0 +1,5698 @@ +{ + "task_name": "episode_0003685", + "episode_json": "json/chunk-0003/episode_0003685.json", + "video_path": "videos/chunk-0003/image_0/episode_0003685.mp4", + "instruction": "Put blueberry on plate and spoon in pot or pan in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 73, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003685.json" + }, + "fps": 5.0, + "T_eff": 73, + "gripper_behavior_summary": { + "available": true, + "range": 0.7166545391082764, + "std": 0.2613113522529602, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71665, std=0.26131, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 249, + 249, + 249, + 549, + 549, + 549, + 549, + 649, + 649, + 649, + 649, + 649, + 649, + 649, + 649, + 664, + 664, + 664, + 664, + 664, + 64, + 64, + 64, + 64 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 15 + ], + [ + 3, + 16, + 29 + ], + [ + 4, + 30, + 34 + ], + [ + 5, + 35, + 48 + ], + [ + 6, + 49, + 51 + ], + [ + 7, + 52, + 55 + ], + [ + 8, + 56, + 63 + ], + [ + 9, + 64, + 68 + ], + [ + 10, + 69, + 72 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blueberry on stove\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector toward the blueberry cluster on the green plate atop the stove.\"},\n {\"id\": 2, \"name\": \"contact and nudge blueberry\", \"start\": 16, \"end\": 29, \"planning\": \"Make gentle contact with blueberry and nudge it slightly to reposition for easier pickup.\"},\n {\"id\": 3, \"name\": \"retract after blueberry interaction\", \"start\": 30, \"end\": 34, \"planning\": \"Pull back from the stove area after interacting with the blueberry, no grasp attempted.\"},\n {\"id\": 4, \"name\": \"approach spoon in sink\", \"start\": 35, \"end\": 48, \"planning\": \"Navigate end-effector toward the blue-handled spoon resting in the sink basin.\"},\n {\"id\": 5, \"name\": \"contact and drag spoon\", \"start\": 49, \"end\": 55, \"planning\": \"Make contact with spoon handle and drag it within the sink to align for retrieval.\"},\n {\"id\": 6, \"name\": \"lift and place spoon in pot\", \"start\": 56, \"end\": 63, \"planning\": \"Grasp spoon securely and lift it from sink, then place into metal pot beside sink.\"},\n {\"id\": 7, \"name\": \"retreat from sink area\", \"start\": 64, \"end\": 68, \"planning\": \"Withdraw end-effector from sink region after placing spoon, preparing for final motion.\"},\n {\"id\": 8, \"name\": \"final retreat to home position\", \"start\": 69, \"end\": 72, \"planning\": \"Move end-effector away from task zone to neutral resting pose above counter.\"}\n ],\n \"global_plan\": \"First interact with blueberry on stove via nudging without grasping, then retrieve spoon from sink by dragging and placing into pot, ending with full retreat.\",\n \"notes\": \"No segment shows meaningful gripper closing except Segment 6 (frames 56-63), which is inferred as grasping based on motion context and image evidence of spoon being lifted. All other segments use contact-based verbs per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blueberry on stove", + "start": 0, + "end": 15, + "planning": "Move end-effector toward the blueberry cluster on the green plate atop the stove." + }, + { + "id": 2, + "name": "contact and nudge blueberry", + "start": 16, + "end": 29, + "planning": "Make gentle contact with blueberry and nudge it slightly to reposition for easier pickup." + }, + { + "id": 3, + "name": "retract after blueberry interaction", + "start": 30, + "end": 34, + "planning": "Pull back from the stove area after interacting with the blueberry, no grasp attempted." + }, + { + "id": 4, + "name": "approach spoon in sink", + "start": 35, + "end": 48, + "planning": "Navigate end-effector toward the blue-handled spoon resting in the sink basin." + }, + { + "id": 5, + "name": "contact and drag spoon", + "start": 49, + "end": 55, + "planning": "Make contact with spoon handle and drag it within the sink to align for retrieval." + }, + { + "id": 6, + "name": "lift and place spoon in pot", + "start": 56, + "end": 63, + "planning": "Grasp spoon securely and lift it from sink, then place into metal pot beside sink." + }, + { + "id": 7, + "name": "retreat from sink area", + "start": 64, + "end": 68, + "planning": "Withdraw end-effector from sink region after placing spoon, preparing for final motion." + }, + { + "id": 8, + "name": "final retreat to home position", + "start": 69, + "end": 72, + "planning": "Move end-effector away from task zone to neutral resting pose above counter." + } + ], + "global_plan": "First interact with blueberry on stove via nudging without grasping, then retrieve spoon from sink by dragging and placing into pot, ending with full retreat.", + "notes": "No segment shows meaningful gripper closing except Segment 6 (frames 56-63), which is inferred as grasping based on motion context and image evidence of spoon being lifted. All other segments use contact-based verbs per anti-hallucination rules." + } + }, + "episode_goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107454478740692, + -0.019502507522702217, + 0.08642458915710449, + -2.9872028827667236, + -0.16926471889019012, + -0.035194218158721924 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot has just begun its approach. The next action is to lower the end-effector to make contact with the blueberry for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30725592374801636, + -0.019338980317115784, + 0.07477063685655594, + -2.9883785247802734, + -0.13173721730709076, + -0.03258460387587547 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot has just begun its approach. The next action is to lower the end-effector to make contact with the blueberry for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3124343454837799, + -0.019886119291186333, + 0.06749832630157471, + -3.015192747116089, + -0.14665041863918304, + -0.02744382433593273 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 123, + 3, + 259, + 179 + ] + } + } + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot has just begun its approach. The next action is to lower the end-effector to make contact with the blueberry for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3139456510543823, + -0.0202690027654171, + 0.06039916351437569, + -3.02183198928833, + -0.16944895684719086, + -0.025955751538276672 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot has just begun its approach. The next action is to lower the end-effector to make contact with the blueberry for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3169351816177368, + -0.01856638304889202, + 0.05813145264983177, + -3.0257012844085693, + -0.1820070594549179, + -0.03309802711009979 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot has just begun its approach. The next action is to lower the end-effector to make contact with the blueberry for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31767845153808594, + -0.01745307259261608, + 0.058218084275722504, + -3.0258734226226807, + -0.18512804806232452, + -0.03878512233495712 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot has just begun its approach. The next action is to lower the end-effector to make contact with the blueberry for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3174574375152588, + -0.017064442858099937, + 0.054151978343725204, + -3.029412269592285, + -0.18289370834827423, + -0.03686542063951492 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot has just begun its approach. The next action is to lower the end-effector to make contact with the blueberry for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3170957863330841, + -0.01846407726407051, + 0.049033455550670624, + -3.0377888679504395, + -0.16912201046943665, + -0.03477921336889267 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.317257285118103, + -0.017019491642713547, + 0.046470750123262405, + -3.0425496101379395, + -0.15832559764385223, + -0.031108709052205086 + ], + "gripper_value": 0.9745318293571472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32100042700767517, + -0.018096428364515305, + 0.04266141355037689, + -3.05873441696167, + -0.1434059888124466, + -0.020665472373366356 + ], + "gripper_value": 0.8651953339576721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3221491277217865, + -0.01828148402273655, + 0.045202989131212234, + -3.0675511360168457, + -0.1279531568288803, + -0.014146371744573116 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.322374165058136, + -0.019133543595671654, + 0.04723399505019188, + -3.0700759887695312, + -0.1205296590924263, + -0.006510934792459011 + ], + "gripper_value": 0.7477011680603027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196699023246765, + -0.01993301510810852, + 0.04728289321064949, + -3.066803216934204, + -0.10324665904045105, + -0.0014219743898138404 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31798627972602844, + -0.01984422653913498, + 0.04987597092986107, + -3.061415433883667, + -0.08008759468793869, + -0.009222141467034817 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move forward 5 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3171859085559845, + -0.018537074327468872, + 0.05313550680875778, + -3.0534470081329346, + -0.061394188553094864, + -0.03588477149605751 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move forward 5 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181721568107605, + -0.010696183890104294, + 0.058701686561107635, + -3.0472939014434814, + -0.07437679916620255, + -0.059945665299892426 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach blueberry on stove", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 5 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3245718479156494, + -7.544556865468621e-05, + 0.06221428140997887, + -3.04803204536438, + -0.11008355021476746, + -0.09671872854232788 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33686351776123047, + 0.011528960429131985, + 0.07333628833293915, + -3.043455123901367, + -0.14638540148735046, + -0.12740972638130188 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 124, + 2, + 260, + 179 + ], + "stove": [ + 199, + 164, + 952, + 927 + ], + "grapes": [ + 505, + 290, + 599, + 419 + ] + } + } + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3444932699203491, + 0.021134531125426292, + 0.08367566019296646, + -3.038553237915039, + -0.16143254935741425, + -0.14852625131607056 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 123, + 3, + 260, + 179 + ], + "grapes": [ + 489, + 242, + 582, + 373 + ], + "stove": [ + 201, + 176, + 951, + 925 + ] + } + } + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35151800513267517, + 0.03060893528163433, + 0.08873993158340454, + -3.036050319671631, + -0.16176678240299225, + -0.16819272935390472 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593682646751404, + 0.03988410159945488, + 0.09111583977937698, + -3.03318452835083, + -0.17062164843082428, + -0.18356455862522125 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36750683188438416, + 0.04995908960700035, + 0.08568525314331055, + -3.037745237350464, + -0.16721215844154358, + -0.20180094242095947 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the burner. The gripper is currently open, and the robot appears to be in the initial phase of approaching the blueberry. The next action should involve moving the end-effector closer to the blueberry to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.372897207736969, + 0.05898381769657135, + 0.08738759905099869, + -3.03322434425354, + -0.16722369194030762, + -0.21224582195281982 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3751700818538666, + 0.06512041389942169, + 0.08317076414823532, + -3.0424389839172363, + -0.16282396018505096, + -0.215607687830925 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3743652105331421, + 0.06941613554954529, + 0.07882269471883774, + -3.058828592300415, + -0.15694807469844818, + -0.21696841716766357 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3759353756904602, + 0.07183373719453812, + 0.0788569226861, + -3.055419921875, + -0.1702139526605606, + -0.22726678848266602 + ], + "gripper_value": 0.8270506262779236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3765665292739868, + 0.0699349120259285, + 0.0769810751080513, + -3.055901050567627, + -0.17890377342700958, + -0.21933068335056305 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3674938976764679, + 0.05984409525990486, + 0.06769069284200668, + -3.0701959133148193, + -0.1407454013824463, + -0.19775839149951935 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3595939576625824, + 0.04965340718626976, + 0.07670214772224426, + -3.07096004486084, + -0.10384566336870193, + -0.18024934828281403 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548664152622223, + 0.04021449387073517, + 0.09832103550434113, + -3.0599095821380615, + -0.04666615650057793, + -0.1669105887413025 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and nudge blueberry", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35569941997528076, + 0.037867866456508636, + 0.11362021416425705, + -3.0282082557678223, + -0.013040641322731972, + -0.15823177993297577 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "retract after blueberry interaction", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3547888398170471, + 0.037300992757081985, + 0.11304411292076111, + -3.029665946960449, + -0.0057179625146090984, + -0.15755990147590637 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "retract after blueberry interaction", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35478475689888, + 0.03730076178908348, + 0.11359071731567383, + -3.0293397903442383, + -0.007216852158308029, + -0.1575620174407959 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "retract after blueberry interaction", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552453815937042, + 0.03794645890593529, + 0.11235328018665314, + -3.024667739868164, + -0.02399987354874611, + -0.1671721488237381 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "retract after blueberry interaction", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 5 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31755515933036804, + 0.057240866124629974, + 0.10618050396442413, + -3.005607843399048, + -0.08388875424861908, + -0.20682454109191895 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "retract after blueberry interaction", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open; then move back 4 cm, move left 6 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.29919055104255676, + 0.06812933087348938, + 0.1034567728638649, + -2.9933571815490723, + -0.11081722378730774, + -0.18135660886764526 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 124, + 4, + 257, + 179 + ], + "grapes": [ + 471, + 194, + 561, + 318 + ] + } + } + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29351821541786194, + 0.06573187559843063, + 0.09996417164802551, + -2.992954969406128, + -0.13009798526763916, + -0.21168850362300873 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902732789516449, + 0.07795397937297821, + 0.08925248682498932, + -2.9775242805480957, + -0.16377079486846924, + -0.23421220481395721 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872745990753174, + 0.08928479254245758, + 0.08154464513063431, + -2.9749696254730225, + -0.19672635197639465, + -0.24516181647777557 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grapes": [ + 465, + 192, + 561, + 319 + ], + "stove": [ + 200, + 181, + 951, + 923 + ] + } + } + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28167665004730225, + 0.09497666358947754, + 0.07150030881166458, + -2.98016095161438, + -0.22237356007099152, + -0.24705524742603302 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753826975822449, + 0.09983435273170471, + 0.06173574924468994, + -2.960017204284668, + -0.23395921289920807, + -0.2337951362133026 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot is positioned above the stove with the blueberry visible on the green plate. The gripper is open and hovering near the blueberry, indicating the approach phase is complete but physical contact has not yet occurred. The next action is to lower the end-effector to make contact and nudge the blueberry as planned." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2720591723918915, + 0.103642039000988, + 0.058135148137807846, + -2.9546008110046387, + -0.24036705493927002, + -0.21041323244571686 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, close gripper; then move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.26767274737358093, + 0.1091640517115593, + 0.05444688722491264, + -2.9653751850128174, + -0.25447186827659607, + -0.2096865475177765 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move up 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618623375892639, + 0.11668603122234344, + 0.050027020275592804, + -2.9756100177764893, + -0.2761784791946411, + -0.20968173444271088 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2614520788192749, + 0.1265449970960617, + 0.05034032464027405, + -2.962942361831665, + -0.3097841739654541, + -0.23603998124599457 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2623274326324463, + 0.13282804191112518, + 0.04308215528726578, + -2.966362476348877, + -0.3254024386405945, + -0.2399275004863739 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove": [ + 188, + 176, + 952, + 926 + ], + "grapes": [ + 464, + 192, + 560, + 319 + ], + "plate": [ + 367, + 192, + 573, + 378 + ] + } + } + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move left 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634933590888977, + 0.13558070361614227, + 0.039234090596437454, + -2.9722118377685547, + -0.33922556042671204, + -0.23567281663417816 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move left 3 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.2635875642299652, + 0.13342368602752686, + 0.03288164362311363, + -2.9922409057617188, + -0.33268076181411743, + -0.23260799050331116 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. 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The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move left 3 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631535232067108, + 0.1301736980676651, + 0.03040553443133831, + -3.0059919357299805, + -0.31529849767684937, + -0.22052223980426788 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move left 3 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 48 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.26635393500328064, + 0.124565988779068, + 0.03358430415391922, + -3.042389154434204, + -0.28599604964256287, + -0.18736562132835388 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and drag spoon", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. 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Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 55 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 55 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.263093501329422, + 0.11695213615894318, + 0.03922923654317856, + -3.0664331912994385, + -0.19345539808273315, + -0.17726095020771027 + ], + "gripper_value": 0.3181038796901703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and drag spoon", + "subtask_reasoning": "The robot arm is currently positioned above the stove where the blueberry and green plate are located, having completed the nudging task. Although the current subtask is to approach the spoon in the sink, the robot has not yet moved to that location. The gripper is open, and the next action requires translating the arm towards the sink to locate the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 5 cm, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 55 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 55 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.26280808448791504, + 0.12000072747468948, + 0.061733994632959366, + -3.0370047092437744, + -0.1784965842962265, + -0.18755343556404114 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and drag spoon", + "subtask_reasoning": "The robot arm is currently positioned over the stove, holding a blue object (likely the spoon) near the green plate with blueberries. The blueberry has already been nudged onto the plate. The next action should involve moving the spoon towards the sink to place it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 55 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 49, + "end": 55 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.2624101936817169, + 0.12193918973207474, + 0.07031314074993134, + -3.042982816696167, + -0.14669230580329895, + -0.19491007924079895 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and drag spoon", + "subtask_reasoning": "The robot arm is currently positioned over the stove, holding a blue object (likely the spoon) near the green plate with blueberries. The blueberry has already been nudged onto the plate. The next action should involve moving the spoon towards the sink to place it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 55 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 55 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666833698749542, + 0.12803131341934204, + 0.07921519875526428, + -3.029921293258667, + -0.15053685009479523, + -0.21129873394966125 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and drag spoon", + "subtask_reasoning": "The robot arm is currently positioned over the stove, holding a blue object (likely the spoon) near the green plate with blueberries. The blueberry has already been nudged onto the plate. The next action should involve moving the spoon towards the sink to place it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 55 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 55 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.27012208104133606, + 0.14142651855945587, + 0.08714529126882553, + -3.0021278858184814, + -0.16794688999652863, + -0.23528720438480377 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "contact and drag spoon", + "subtask_reasoning": "The robot arm is currently positioned over the stove, holding a blue object (likely the spoon) near the green plate with blueberries. 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The next action should involve moving the spoon towards the sink to place it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 3 cm, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 55 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 55 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.2695521116256714, + 0.1512659639120102, + 0.08584137260913849, + -2.9992146492004395, + -0.17213118076324463, + -0.24102181196212769 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plate": [ + 366, + 193, + 571, + 376 + ], + "stove": [ + 193, + 178, + 952, + 928 + ], + "grapes": [ + 464, + 192, + 560, + 319 + ] + } + } + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "lift and place spoon in pot", + "subtask_reasoning": "The robot arm is currently positioned over the stove, holding a blue object (likely the spoon) near the green plate with blueberries. The blueberry has already been nudged onto the plate. The next action should involve moving the spoon towards the sink to place it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 56, + "end": 63 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712712287902832, + 0.16144083440303802, + 0.08410963416099548, + -3.000108480453491, + -0.176778182387352, + -0.25362899899482727 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "lift and place spoon in pot", + "subtask_reasoning": "The robot arm is currently positioned over the stove, holding a blue object (likely the spoon) near the green plate with blueberries. 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The robot arm is currently positioned near the sink area with the gripper open. The next action is to retreat the arm away from the sink to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 72 + }, + "cache_ref": { + "anchor_ref_reasoning": 66 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 69, + "end": 72 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.2795029282569885, + 0.14745549857616425, + 0.12876549363136292, + -2.965052604675293, + -0.03553115203976631, + -0.16656503081321716 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plate": [ + 364, + 192, + 573, + 376 + ], + "grapes": [ + 465, + 192, + 560, + 318 + ] + } + } + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "final retreat to home position", + "subtask_reasoning": "The blueberry is successfully placed on the green plate and the spoon is in the pot within the sink. The robot arm is currently positioned above the stove with the gripper open. The next action is to retreat the arm to the home position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 72 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 69, + "end": 72 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856147885322571, + 0.13593541085720062, + 0.13684779405593872, + -2.9497907161712646, + -0.012360997498035431, + -0.19734084606170654 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "final retreat to home position", + "subtask_reasoning": "The blueberry is successfully placed on the green plate and the spoon is in the pot within the sink. The robot arm is currently positioned above the stove with the gripper open. The next action is to retreat the arm to the home position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 72 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 69, + "end": 72 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952507734298706, + 0.13131488859653473, + 0.1465129554271698, + -2.9632222652435303, + -0.05192140117287636, + -0.19405218958854675 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blueberry on the green plate and put the spoon into the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blueberry on stove" + }, + { + "id": 2, + "subtask": "contact and nudge blueberry" + }, + { + "id": 3, + "subtask": "retract after blueberry interaction" + }, + { + "id": 4, + "subtask": "approach spoon in sink" + }, + { + "id": 5, + "subtask": "contact and drag spoon" + }, + { + "id": 6, + "subtask": "lift and place spoon in pot" + }, + { + "id": 7, + "subtask": "retreat from sink area" + }, + { + "id": 8, + "subtask": "final retreat to home position" + } + ], + "subtask_name": "final retreat to home position", + "subtask_reasoning": "The blueberry is successfully placed on the green plate and the spoon is in the pot within the sink. The robot arm is currently positioned above the stove with the gripper open. The next action is to retreat the arm to the home position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 72 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 69, + "end": 72 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003686_ecot.json b/cot/chunk-0003/episode_0003686_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..65071c78ffb80bc69a82dec31a252f8cb2c6b125 --- /dev/null +++ b/cot/chunk-0003/episode_0003686_ecot.json @@ -0,0 +1,1077 @@ +{ + "task_name": "episode_0003686", + "episode_json": "json/chunk-0003/episode_0003686.json", + "video_path": "videos/chunk-0003/image_0/episode_0003686.mp4", + "instruction": "Put corn in pot which is in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003686.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.3494049310684204, + "std": 0.15797753632068634, + "delta_total": -0.1488720178604126, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34940, std=0.15798, total_delta=-0.14887). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 7 + ], + [ + 3, + 8, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper down toward the corn on the counter without closing.\"},\n {\"id\": 2, \"name\": \"grasp corn\", \"start\": 5, \"end\": 7, \"planning\": \"Close the gripper around the corn to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move corn to pot\", \"start\": 8, \"end\": 14, \"planning\": \"Lift the corn and translate it over the pot in the sink while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release corn into pot\", \"start\": 15, \"end\": 15, \"planning\": \"Open the gripper to drop the corn into the pot.\"}\n ],\n \"global_plan\": \"Approach the corn on the counter, grasp it, lift and move it over the pot in the sink, then release it into the pot.\",\n \"notes\": \"Segment 1 shows no meaningful gripper closing — motion is purely positional approach. Segment 2 shows clear gripper closure consistent with grasping. Segment 3 includes transport and ends with gripper opening at frame 15, indicating release. All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 4, + "planning": "Move the gripper down toward the corn on the counter without closing." + }, + { + "id": 2, + "name": "grasp corn", + "start": 5, + "end": 7, + "planning": "Close the gripper around the corn to secure it for lifting." + }, + { + "id": 3, + "name": "lift and move corn to pot", + "start": 8, + "end": 14, + "planning": "Lift the corn and translate it over the pot in the sink while maintaining grip." + }, + { + "id": 4, + "name": "release corn into pot", + "start": 15, + "end": 15, + "planning": "Open the gripper to drop the corn into the pot." + } + ], + "global_plan": "Approach the corn on the counter, grasp it, lift and move it over the pot in the sink, then release it into the pot.", + "notes": "Segment 1 shows no meaningful gripper closing — motion is purely positional approach. Segment 2 shows clear gripper closure consistent with grasping. Segment 3 includes transport and ends with gripper opening at frame 15, indicating release. All frames covered contiguously." + } + }, + "episode_goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38825827836990356, + -0.03802206367254257, + 0.04966495558619499, + -3.087198257446289, + -0.1615339070558548, + 0.18859992921352386 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the countertop near the sink, with the metal pot visible inside the sink. The corn is located on the counter to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3848569691181183, + -0.04096284508705139, + 0.03366999700665474, + -3.0848896503448486, + -0.1204381063580513, + 0.192356675863266 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the countertop near the sink, with the metal pot visible inside the sink. The corn is located on the counter to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move left 6 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.38819536566734314, + -0.04322664812207222, + 0.03249819949269295, + -3.101393699645996, + -0.13230270147323608, + 0.19724008440971375 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the countertop with the gripper open, approaching the yellow corn located to the right of the sink. No objects have been grasped yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move left 9 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.391536682844162, + -0.048327378928661346, + 0.027282219380140305, + -3.1187744140625, + -0.16276122629642487, + 0.2154112309217453 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the countertop with the gripper open, approaching the yellow corn located to the right of the sink. No objects have been grasped yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 3 cm, move left 11 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38690096139907837, + -0.05740205571055412, + 0.016716687008738518, + -3.1384620666503906, + -0.17842170596122742, + 0.2224637120962143 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "chili pepper": [ + 379, + 516, + 526, + 631 + ], + "pumpkin": [ + 77, + 142, + 200, + 276 + ], + "carrot": [ + 159, + 64, + 225, + 193 + ], + "sink": [ + 163, + 222, + 689, + 681 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the countertop with the gripper open, approaching the yellow corn located to the right of the sink. No objects have been grasped yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 3 cm, move left 14 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.38566550612449646, + -0.05969947576522827, + 0.009487291797995567, + 3.114030599594116, + -0.1982365846633911, + 0.23100349307060242 + ], + "gripper_value": 0.8251956701278687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned above the countertop with the gripper open, approaching the yellow corn located to the right of the sink. No objects have been grasped yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 16 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3888377249240875, + -0.060979824513196945, + 0.00856071338057518, + 3.094406843185425, + -0.22294293344020844, + 0.23374775052070618 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot has approached the yellow corn on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 16 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3885885179042816, + -0.060986656695604324, + 0.008072513155639172, + 3.0957727432250977, + -0.2287333905696869, + 0.2322152853012085 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot has approached the yellow corn on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 16 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3793978989124298, + -0.052237506955862045, + 0.012449242174625397, + -3.096667528152466, + -0.15492407977581024, + 0.20514759421348572 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "lift and move corn to pot", + "subtask_reasoning": "The robot has approached the yellow corn on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 16 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3728432059288025, + -0.04029273986816406, + 0.02730194479227066, + -2.9940025806427, + -0.08384353667497635, + 0.15639236569404602 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "lift and move corn to pot", + "subtask_reasoning": "The robot has approached the yellow corn on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 15 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704890012741089, + -0.028855249285697937, + 0.04026001691818237, + -2.9240198135375977, + -0.08979807049036026, + 0.0756218358874321 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "lift and move corn to pot", + "subtask_reasoning": "The robot has approached the yellow corn on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3616876006126404, + 0.003122196765616536, + 0.04090997949242592, + -2.852187156677246, + -0.1061781719326973, + -0.004398250486701727 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "lift and move corn to pot", + "subtask_reasoning": "The robot has grasped the yellow corn and is currently lifting it above the countertop, moving it toward the metal pot in the sink. The gripper remains closed with no further closing motion, indicating the corn is already held. The next action is to continue moving the corn over the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575400412082672, + 0.032925717532634735, + 0.04299614578485489, + -2.814915418624878, + -0.13326534628868103, + -0.04615594819188118 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "chili pepper": [ + 379, + 512, + 525, + 630 + ], + "pumpkin": [ + 77, + 142, + 200, + 276 + ], + "carrot": [ + 159, + 64, + 226, + 192 + ], + "sink": [ + 161, + 222, + 700, + 680 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "lift and move corn to pot", + "subtask_reasoning": "The robot has grasped the yellow corn and is currently lifting it above the countertop, moving it toward the metal pot in the sink. The gripper remains closed with no further closing motion, indicating the corn is already held. The next action is to continue moving the corn over the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35177552700042725, + 0.06015162169933319, + 0.037084855139255524, + -2.798285961151123, + -0.13509078323841095, + -0.07955991476774216 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "lift and move corn to pot", + "subtask_reasoning": "The robot has grasped the yellow corn and is currently lifting it above the countertop, moving it toward the metal pot in the sink. The gripper remains closed with no further closing motion, indicating the corn is already held. The next action is to continue moving the corn over the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3460692763328552, + 0.09025707095861435, + 0.0431198813021183, + -2.773508071899414, + -0.1622065305709839, + -0.11980429291725159 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "lift and move corn to pot", + "subtask_reasoning": "The robot has grasped the yellow corn and is currently lifting it above the countertop, moving it toward the metal pot in the sink. The gripper remains closed with no further closing motion, indicating the corn is already held. The next action is to continue moving the corn over the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34076830744743347, + 0.10815470665693283, + 0.03728317841887474, + -2.7744202613830566, + -0.17289572954177856, + -0.15092095732688904 + ], + "gripper_value": 0.84995037317276 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow corn from the countertop and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to pot" + }, + { + "id": 4, + "subtask": "release corn into pot" + } + ], + "subtask_name": "release corn into pot", + "subtask_reasoning": "The corn is currently held above the metal pot in the sink, with the gripper open and no closing motion detected in this segment. The corn has been successfully transported over the pot, and the next action is to release it by allowing gravity to drop it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003687_ecot.json b/cot/chunk-0003/episode_0003687_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f030afb52060dbf6a1d613ebca8281c128695d51 --- /dev/null +++ b/cot/chunk-0003/episode_0003687_ecot.json @@ -0,0 +1,2352 @@ +{ + "task_name": "episode_0003687", + "episode_json": "json/chunk-0003/episode_0003687.json", + "video_path": "videos/chunk-0003/image_0/episode_0003687.mp4", + "instruction": "Take spatula off plate sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003687.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.6477634906768799, + "std": 0.2901827394962311, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64776, std=0.29018, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 229, + 229, + 229, + 229, + 229 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 13 + ], + [ + 3, + 14, + 18 + ], + [ + 4, + 19, + 28 + ], + [ + 5, + 29, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the spatula resting on the plate in the sink without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp spatula\", \"start\": 4, \"end\": 13, \"planning\": \"Close gripper around spatula handle while maintaining contact with plate; confirmed by significant gripper closure and minimal motion.\"},\n {\"id\": 3, \"name\": \"lift and reposition spatula\", \"start\": 14, \"end\": 18, \"planning\": \"Lift spatula slightly off plate and begin moving it laterally within sink basin while maintaining grip.\"},\n {\"id\": 4, \"name\": \"transport spatula out of sink\", \"start\": 19, \"end\": 28, \"planning\": \"Carry spatula upward and outward from sink area toward countertop, keeping gripper closed as evidenced by stable low gripper values.\"},\n {\"id\": 5, \"name\": \"release spatula on counter\", \"start\": 29, \"end\": 33, \"planning\": \"Open gripper to release spatula onto countertop surface, confirmed by rising gripper value and final retreat motion.\"}\n ],\n \"global_plan\": \"Approach spatula on plate in sink, grasp it firmly, lift and reposition within sink, transport out of sink area, then release onto countertop.\",\n \"notes\": \"Gripper evidence aligns with grasp during segments 2, 4, and 5; segment 1 shows no closure (approach only); segment 3 is inferred as lift/reposition based on motion continuity and gripper state carryover.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the spatula resting on the plate in the sink without closing gripper." + }, + { + "id": 2, + "name": "grasp spatula", + "start": 4, + "end": 13, + "planning": "Close gripper around spatula handle while maintaining contact with plate; confirmed by significant gripper closure and minimal motion." + }, + { + "id": 3, + "name": "lift and reposition spatula", + "start": 14, + "end": 18, + "planning": "Lift spatula slightly off plate and begin moving it laterally within sink basin while maintaining grip." + }, + { + "id": 4, + "name": "transport spatula out of sink", + "start": 19, + "end": 28, + "planning": "Carry spatula upward and outward from sink area toward countertop, keeping gripper closed as evidenced by stable low gripper values." + }, + { + "id": 5, + "name": "release spatula on counter", + "start": 29, + "end": 33, + "planning": "Open gripper to release spatula onto countertop surface, confirmed by rising gripper value and final retreat motion." + } + ], + "global_plan": "Approach spatula on plate in sink, grasp it firmly, lift and reposition within sink, transport out of sink area, then release onto countertop.", + "notes": "Gripper evidence aligns with grasp during segments 2, 4, and 5; segment 1 shows no closure (approach only); segment 3 is inferred as lift/reposition based on motion continuity and gripper state carryover." + } + }, + "episode_goal": "Grasp the spatula in the sink and lift it out of the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29590439796447754, + 0.02693183161318302, + 0.09906059503555298, + 3.1328189373016357, + -0.33787935972213745, + 0.8969631791114807 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned above the sink where a spatula rests on a pink plate. No actions have been completed yet as the gripper remains open and the arm is stationary. The next step is to move the end-effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2928570806980133, + 0.025150321424007416, + 0.08928082138299942, + -3.1261117458343506, + -0.30832338333129883, + 0.9065462350845337 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the sink where a spatula rests on a pink plate. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The robot needs to continue lowering its end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30716177821159363, + 0.010312031954526901, + 0.07351624220609665, + -3.124722480773926, + -0.23630356788635254, + 1.0534225702285767 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the sink where a spatula rests on a pink plate. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The robot needs to continue lowering its end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32191818952560425, + 0.001143398112617433, + 0.05869060382246971, + -3.1235949993133545, + -0.20993566513061523, + 1.1462818384170532 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden spatula": [ + 734, + 501, + 967, + 877 + ], + "pink plate": [ + 503, + 402, + 709, + 599 + ], + "sink": [ + 287, + 205, + 902, + 741 + ], + "stovetop": [ + 4, + 18, + 353, + 410 + ], + "red bottle": [ + 328, + 4, + 427, + 270 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the sink where a spatula rests on a pink plate. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The robot needs to continue lowering its end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32665449380874634, + -0.005915056448429823, + 0.04375404119491577, + 3.1414079666137695, + -0.22569110989570618, + 1.2252085208892822 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the sink where a spatula rests on a pink plate. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The robot needs to continue lowering its end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3334219753742218, + -0.01327245682477951, + 0.038704901933670044, + 3.0871951580047607, + -0.2428082823753357, + 1.2359713315963745 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the sink where a spatula rests on a pink plate. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The robot needs to continue lowering its end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33553341031074524, + -0.01622474193572998, + 0.021562660112977028, + 3.0967769622802734, + -0.2432447224855423, + 1.233786702156067 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the sink where a spatula rests on a pink plate. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The robot needs to continue lowering its end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move left 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33657702803611755, + -0.016032617539167404, + 0.0122322803363204, + 3.102410316467285, + -0.25009894371032715, + 1.244258999824524 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the sink where a spatula rests on a pink plate. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The robot needs to continue lowering its end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436245322227478, + -0.016337718814611435, + 0.008007816970348358, + 3.094158411026001, + -0.25647616386413574, + 1.2503526210784912 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spatula, which rests on a pink plate inside the sink. The gripper is currently open, indicating that the approach phase is complete but contact has not yet been established. The next action is to close the gripper to firmly grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467963635921478, + -0.0151849165558815, + 0.002844171365723014, + 3.0643792152404785, + -0.2756989002227783, + 1.2820087671279907 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spatula, which rests on a pink plate inside the sink. The gripper is currently open, indicating that the approach phase is complete but contact has not yet been established. The next action is to close the gripper to firmly grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454045057296753, + -0.01589357666671276, + -0.002589224139228463, + 3.061164379119873, + -0.2771815359592438, + 1.2778315544128418 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spatula, which rests on a pink plate inside the sink. The gripper is currently open, indicating that the approach phase is complete but contact has not yet been established. The next action is to close the gripper to firmly grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402545750141144, + -0.01507442258298397, + -0.007834725081920624, + 3.0654165744781494, + -0.277737021446228, + 1.2651572227478027 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spatula, which rests on a pink plate inside the sink. The gripper is currently open, indicating that the approach phase is complete but contact has not yet been established. The next action is to close the gripper to firmly grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3382748067378998, + -0.012692675925791264, + -0.010835674591362476, + 3.0599465370178223, + -0.2930806875228882, + 1.257798433303833 + ], + "gripper_value": 0.907461404800415 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden spatula": [ + 734, + 500, + 968, + 878 + ], + "red bottle": [ + 328, + 3, + 427, + 270 + ], + "pink plate": [ + 502, + 429, + 710, + 599 + ], + "stovetop": [ + 4, + 17, + 354, + 412 + ], + "sink": [ + 286, + 201, + 901, + 739 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spatula, which rests on a pink plate inside the sink. The gripper is currently open, indicating that the approach phase is complete but contact has not yet been established. The next action is to close the gripper to firmly grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33945897221565247, + -0.011589236557483673, + -0.010784468613564968, + 3.0515358448028564, + -0.30322420597076416, + 1.257638692855835 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spatula, which rests on a pink plate inside the sink. The gripper is currently open, indicating that the approach phase is complete but contact has not yet been established. The next action is to close the gripper to firmly grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 4 cm, move down 1 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33945897221565247, + -0.011589236557483673, + -0.010784468613564968, + 3.0505805015563965, + -0.3029468059539795, + 1.2608400583267212 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spatula, which rests on a pink plate inside the sink. The gripper is currently open, indicating that the approach phase is complete but contact has not yet been established. The next action is to close the gripper to firmly grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 4 cm, move down 1 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3423849046230316, + -0.008133173920214176, + -0.008528842590749264, + 3.032147169113159, + -0.35230985283851624, + 1.280876636505127 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spatula, which rests on a pink plate inside the sink. The gripper is currently open, indicating that the approach phase is complete but contact has not yet been established. The next action is to close the gripper to firmly grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 4 cm, move down 1 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3442675769329071, + -0.003940929658710957, + 0.005174282938241959, + 3.019110679626465, + -0.3938139081001282, + 1.2875761985778809 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the spatula on the plate within the sink. The gripper is closed and holding the spatula, as confirmed by segment-level evidence. The next action is to lift the spatula slightly and reposition it within the sink to prepare for transport out of the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 5 cm, move down 1 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3490144610404968, + -0.002779735252261162, + 0.029678473249077797, + 2.949976682662964, + -0.4360800087451935, + 1.2909342050552368 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the spatula on the plate within the sink. The gripper is closed and holding the spatula, as confirmed by segment-level evidence. The next action is to lift the spatula slightly and reposition it within the sink to prepare for transport out of the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 5 cm, move down 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453448414802551, + -0.009055156260728836, + 0.041591960936784744, + 2.9747509956359863, + -0.43453916907310486, + 1.1659221649169922 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the spatula on the plate within the sink. The gripper is closed and holding the spatula, as confirmed by segment-level evidence. The next action is to lift the spatula slightly and reposition it within the sink to prepare for transport out of the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 6 cm, move right 5 cm, move down 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33405324816703796, + -0.025198563933372498, + 0.03332604095339775, + 3.0986557006835938, + -0.5000370144844055, + 0.8575617671012878 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot has successfully grasped the spatula on the plate within the sink. The gripper is closed and holding the spatula, as confirmed by segment-level evidence. The next action is to lift the spatula slightly and reposition it within the sink to prepare for transport out of the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 3 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3238365054130554, + -0.04415987432003021, + 0.028655238449573517, + 3.1376006603240967, + -0.4610852897167206, + 0.5927186012268066 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden spatula": [ + 733, + 501, + 968, + 877 + ], + "red bottle": [ + 328, + 3, + 419, + 269 + ], + "pink plate": [ + 503, + 415, + 710, + 602 + ], + "sink": [ + 285, + 201, + 901, + 741 + ], + "stovetop": [ + 4, + 17, + 353, + 410 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot has successfully grasped the spatula on the plate within the sink. The gripper is closed and holding the spatula, as confirmed by segment-level evidence. The next action is to lift the spatula slightly and reposition it within the sink to prepare for transport out of the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 2 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 30 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3126413822174072, + -0.05441261827945709, + 0.026166871190071106, + 3.1384706497192383, + -0.41052186489105225, + 0.42099234461784363 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot has successfully grasped the spatula on the plate within the sink. The gripper is closed and holding the spatula, as confirmed by segment-level evidence. The next action is to lift the spatula slightly and reposition it within the sink to prepare for transport out of the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30398285388946533, + -0.06328865140676498, + 0.022440413013100624, + 3.118746519088745, + -0.3252847492694855, + 0.28768521547317505 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot has successfully grasped the spatula on the plate within the sink. The gripper is closed and holding the spatula, as confirmed by segment-level evidence. The next action is to lift the spatula slightly and reposition it within the sink to prepare for transport out of the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2937309741973877, + -0.06797437369823456, + 0.020682642236351967, + 3.0580861568450928, + -0.1965065747499466, + 0.19900493323802948 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot is currently holding the spatula above the sink, having successfully grasped it from the plate. The gripper state is stable and closed, confirming a secure hold on the object. The next action is to move the arm laterally to transport the spatula out of the sink basin and towards the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913431227207184, + -0.06773345172405243, + 0.022843243554234505, + 3.0352025032043457, + -0.17449824512004852, + 0.1833524852991104 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot is currently holding the spatula above the sink, having successfully grasped it from the plate. The gripper state is stable and closed, confirming a secure hold on the object. The next action is to move the arm laterally to transport the spatula out of the sink basin and towards the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2877305746078491, + -0.06847909837961197, + 0.02532699517905712, + 3.041031837463379, + -0.17039944231510162, + 0.16801558434963226 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot is currently holding the spatula above the sink, having successfully grasped it from the plate. The gripper state is stable and closed, confirming a secure hold on the object. The next action is to move the arm laterally to transport the spatula out of the sink basin and towards the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2853821814060211, + -0.07101952284574509, + 0.02316218614578247, + 3.04793643951416, + -0.17645573616027832, + 0.14462563395500183 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot is currently holding the spatula above the sink, having successfully grasped it from the plate. The gripper state is stable and closed, confirming a secure hold on the object. The next action is to move the arm laterally to transport the spatula out of the sink basin and towards the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810000479221344, + -0.07397719472646713, + 0.018286190927028656, + 3.062727451324463, + -0.1937319040298462, + 0.08625340461730957 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot is currently holding the spatula above the sink, having successfully grasped it from the plate. The gripper state is stable and closed, confirming a secure hold on the object. The next action is to move the arm laterally to transport the spatula out of the sink basin and towards the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2788880467414856, + -0.07586260139942169, + 0.011754301376640797, + 3.0739738941192627, + -0.17348378896713257, + 0.05204188451170921 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "transport spatula out of sink", + "subtask_reasoning": "The robot is currently holding the spatula above the sink, having successfully grasped it from the plate. The gripper state is stable and closed, confirming a secure hold on the object. The next action is to move the arm laterally to transport the spatula out of the sink basin and towards the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823096811771393, + -0.08032707870006561, + 0.0058516571298241615, + 3.058030128479004, + -0.1274368315935135, + 0.03107774257659912 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "release spatula on counter", + "subtask_reasoning": "The robot is currently holding the spatula above the sink, having successfully grasped it from the plate. The gripper state is stable and closed, confirming a secure hold on the object. The next action is to move the arm laterally to transport the spatula out of the sink basin and towards the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28552696108818054, + -0.08288304507732391, + 0.011506753973662853, + 3.0222229957580566, + -0.07921804487705231, + 0.023856177926063538 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "release spatula on counter", + "subtask_reasoning": "The robot is currently holding the spatula above the sink, having successfully grasped it from the plate. The gripper state is stable and closed, confirming a secure hold on the object. The next action is to move the arm laterally to transport the spatula out of the sink basin and towards the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2847830057144165, + -0.08039981126785278, + 0.0156740490347147, + 2.98996639251709, + -0.037511926144361496, + 0.03282427415251732 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "release spatula on counter", + "subtask_reasoning": "The spatula is currently held by the gripper above the sink, with the target countertop location visible to the right. The gripper is open (value ~1.0), indicating the object has not yet been released or is in the process of being placed. The next action is to lower the spatula onto the countertop and release it to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.28709229826927185, + -0.07641007751226425, + 0.029126914218068123, + 2.9564404487609863, + -0.034694887697696686, + 0.06797369569540024 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "release spatula on counter", + "subtask_reasoning": "The spatula is currently held by the gripper above the sink, with the target countertop location visible to the right. The gripper is open (value ~1.0), indicating the object has not yet been released or is in the process of being placed. The next action is to lower the spatula onto the countertop and release it to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.298167884349823, + -0.06673337519168854, + 0.05079954117536545, + 2.952218770980835, + -0.128193199634552, + 0.13545575737953186 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden spatula": [ + 735, + 502, + 966, + 877 + ], + "pink plate": [ + 503, + 408, + 710, + 602 + ], + "red bottle": [ + 328, + 3, + 426, + 269 + ], + "sink": [ + 287, + 201, + 900, + 742 + ], + "stovetop": [ + 3, + 17, + 354, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "transport spatula out of sink" + }, + { + "id": 5, + "subtask": "release spatula on counter" + } + ], + "subtask_name": "release spatula on counter", + "subtask_reasoning": "The spatula is currently held by the gripper above the sink, with the target countertop location visible to the right. The gripper is open (value ~1.0), indicating the object has not yet been released or is in the process of being placed. The next action is to lower the spatula onto the countertop and release it to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003688_ecot.json b/cot/chunk-0003/episode_0003688_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..efaafa4049aedf5639fd113a3ab4a6ac37e069f5 --- /dev/null +++ b/cot/chunk-0003/episode_0003688_ecot.json @@ -0,0 +1,1793 @@ +{ + "task_name": "episode_0003688", + "episode_json": "json/chunk-0003/episode_0003688.json", + "video_path": "videos/chunk-0003/image_0/episode_0003688.mp4", + "instruction": "Fold the cloth from top left to bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003688.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.940247118473053, + "std": 0.4206339716911316, + "delta_total": -0.20754295587539673, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94025, std=0.42063, total_delta=-0.20754). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 225 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 17 + ], + [ + 4, + 18, + 24 + ], + [ + 5, + 25, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach top left corner\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the top-left region of the cloth without grasping, as gripper remains open and no closing evidence exists.\"},\n {\"id\": 2, \"name\": \"grasp and lift top left corner\", \"start\": 4, \"end\": 12, \"planning\": \"Close gripper to grasp the top-left corner of the cloth and lift it slightly, supported by significant gripper closure and motion consistent with picking.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 13, \"end\": 17, \"planning\": \"Pull the grasped corner diagonally across the table toward bottom-right while maintaining grip, continuing the folding motion.\"},\n {\"id\": 4, \"name\": \"release and reposition gripper\", \"start\": 18, \"end\": 24, \"planning\": \"Open gripper to release the cloth at the target fold position, then retract and reposition end-effector away from the folded area.\"},\n {\"id\": 5, \"name\": \"final retreat\", \"start\": 25, \"end\": 25, \"planning\": \"Complete the task by moving the end-effector further back to clear the workspace, with no further manipulation intended.\"}\n ],\n \"global_plan\": \"Fold the cloth by grasping the top-left corner, dragging it diagonally to the bottom-right, releasing it to form the fold, then retreating.\",\n \"notes\": \"Segment 1 has no gripper closure — described as approach only. Segment 2 shows strong gripper closure — grasp and lift is justified. Segment 4 shows gripper opening — release is appropriate. Segment 5 is a single-frame retreat with no manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach top left corner", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the top-left region of the cloth without grasping, as gripper remains open and no closing evidence exists." + }, + { + "id": 2, + "name": "grasp and lift top left corner", + "start": 4, + "end": 12, + "planning": "Close gripper to grasp the top-left corner of the cloth and lift it slightly, supported by significant gripper closure and motion consistent with picking." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 13, + "end": 17, + "planning": "Pull the grasped corner diagonally across the table toward bottom-right while maintaining grip, continuing the folding motion." + }, + { + "id": 4, + "name": "release and reposition gripper", + "start": 18, + "end": 24, + "planning": "Open gripper to release the cloth at the target fold position, then retract and reposition end-effector away from the folded area." + }, + { + "id": 5, + "name": "final retreat", + "start": 25, + "end": 25, + "planning": "Complete the task by moving the end-effector further back to clear the workspace, with no further manipulation intended." + } + ], + "global_plan": "Fold the cloth by grasping the top-left corner, dragging it diagonally to the bottom-right, releasing it to form the fold, then retreating.", + "notes": "Segment 1 has no gripper closure — described as approach only. Segment 2 shows strong gripper closure — grasp and lift is justified. Segment 4 shows gripper opening — release is appropriate. Segment 5 is a single-frame retreat with no manipulation." + } + }, + "episode_goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27242395281791687, + -0.04457554966211319, + 0.11835729330778122, + 2.961714506149292, + -0.4344504177570343, + -0.2829291820526123 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the top-left corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 14 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2721034288406372, + -0.043959688395261765, + 0.11201377958059311, + 2.960348129272461, + -0.41375887393951416, + -0.2832571566104889 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the top-left corner. No contact has been made yet, and the subtask requires moving the end-effector closer to grasp the corner. The next action should be a precise approach to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 14 cm, move left 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28499937057495117, + -0.033889420330524445, + 0.09489049017429352, + 3.0330960750579834, + -0.39341825246810913, + -0.3133079409599304 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the top-left corner. No contact has been made yet, and the subtask requires moving the end-effector closer to grasp the corner. The next action should be a precise approach to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 2 cm, keep gripper open; then move forward 14 cm, move left 7 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105389177799225, + -0.024556497111916542, + 0.08311189711093903, + 3.0994765758514404, + -0.3950258493423462, + -0.35223591327667236 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red chili pepper": [ + 115, + 579, + 263, + 755 + ], + "yellow cloth": [ + 265, + 419, + 896, + 993 + ], + "maki roll": [ + 247, + 402, + 399, + 541 + ], + "wooden bench": [ + 398, + 11, + 995, + 359 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the top-left corner. No contact has been made yet, and the subtask requires moving the end-effector closer to grasp the corner. The next action should be a precise approach to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 14 cm, move left 7 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3396085500717163, + -0.014820145443081856, + 0.07148909568786621, + -3.128563642501831, + -0.4038786292076111, + -0.4039890170097351 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the top-left corner. No contact has been made yet, and the subtask requires moving the end-effector closer to grasp the corner. The next action should be a precise approach to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 7 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37191176414489746, + -0.0056461445055902, + 0.058394234627485275, + -3.0809290409088135, + -0.42558637261390686, + -0.42884930968284607 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the top-left corner. No contact has been made yet, and the subtask requires moving the end-effector closer to grasp the corner. The next action should be a precise approach to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.40184780955314636, + 0.008343222551047802, + 0.04605682194232941, + -3.0768721103668213, + -0.4207099378108978, + -0.4143444001674652 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the top-left corner. No contact has been made yet, and the subtask requires moving the end-effector closer to grasp the corner. The next action should be a precise approach to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 3 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.42968377470970154, + 0.018498972058296204, + 0.033576928079128265, + -3.048229217529297, + -0.4122452139854431, + -0.404401034116745 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the top-left corner. No contact has been made yet, and the subtask requires moving the end-effector closer to grasp the corner. The next action should be a precise approach to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 7 cm, move right 6 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4528141915798187, + 0.026882687583565712, + 0.021997949108481407, + -3.0214312076568604, + -0.39920586347579956, + -0.3952309191226959 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move back 11 cm, move right 10 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4706208109855652, + 0.03635851666331291, + 0.007986708544194698, + -3.0187971591949463, + -0.37054577469825745, + -0.36436307430267334 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, close gripper; then move back 11 cm, move right 10 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4808993339538574, + 0.042303141206502914, + -0.000775847292970866, + -3.008950710296631, + -0.3563254773616791, + -0.35305434465408325 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper closed; then move back 11 cm, move right 10 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.481879323720932, + 0.047301605343818665, + -0.02076015993952751, + -2.993532180786133, + -0.31463539600372314, + -0.35388046503067017 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 11 cm, move right 10 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4826926290988922, + 0.05194609612226486, + -0.028021622449159622, + -2.9708411693573, + -0.3031792938709259, + -0.34411606192588806 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "grasp and lift top left corner", + "subtask_reasoning": "The robot has approached the top-left corner of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 11 cm, move right 10 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 11 cm, move right 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.48325395584106445, + 0.052868328988552094, + -0.028772568330168724, + -2.9599831104278564, + -0.3092444837093353, + -0.33796191215515137 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 10 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 12 cm, move right 7 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.47779911756515503, + 0.047357115894556046, + -0.031031405553221703, + -2.9888319969177246, + -0.32449665665626526, + -0.3346053957939148 + ], + "gripper_value": 0.17027510702610016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 9 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 13 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.46690255403518677, + 0.03505263477563858, + -0.008858229033648968, + -3.0633416175842285, + -0.36012664437294006, + -0.31258949637413025 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the yellow cloth, having successfully grasped and lifted it. The gripper is closed, and the arm is positioned to begin moving the cloth diagonally across the table. The next action is to drag the held corner toward the bottom-right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 8 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 12 cm, move right 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4521244466304779, + 0.021964412182569504, + 0.042963311076164246, + -3.104583263397217, + -0.4670465290546417, + -0.3203584551811218 + ], + "gripper_value": 0.06037256866693497 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red chili pepper": [ + 116, + 578, + 263, + 759 + ], + "yellow cloth": [ + 264, + 337, + 888, + 992 + ], + "maki roll": [ + 248, + 404, + 399, + 540 + ], + "wooden table": [ + 4, + 254, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the yellow cloth, having successfully grasped and lifted it. The gripper is closed, and the arm is positioned to begin moving the cloth diagonally across the table. The next action is to drag the held corner toward the bottom-right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 12 cm, move right 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41818520426750183, + -0.008581406436860561, + 0.06331731379032135, + -3.0826363563537598, + -0.5216243863105774, + -0.45092132687568665 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the yellow cloth, having successfully grasped and lifted it. The gripper is closed, and the arm is positioned to begin moving the cloth diagonally across the table. The next action is to drag the held corner toward the bottom-right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 12 cm, move right 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37574875354766846, + -0.04646902158856392, + 0.04796575754880905, + -3.016988754272461, + -0.4896252453327179, + -0.6442321538925171 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot is currently holding the top-left corner of the yellow cloth, having successfully grasped and lifted it. The gripper is closed, and the arm is positioned to begin moving the cloth diagonally across the table. The next action is to drag the held corner toward the bottom-right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34083858132362366, + -0.06229649856686592, + 0.03773460537195206, + -2.971428632736206, + -0.4722200930118561, + -0.7516665458679199 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot is currently holding the top-left corner of the yellow cloth, having successfully grasped and lifted it. The gripper is closed, and the arm is positioned to begin moving the cloth diagonally across the table. The next action is to drag the held corner toward the bottom-right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039410412311554, + -0.0837726965546608, + 0.035166509449481964, + -2.9361743927001953, + -0.47748249769210815, + -0.869772732257843 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot is currently holding the top-left corner of the yellow cloth, having successfully grasped and lifted it. The gripper is closed, and the arm is positioned to begin moving the cloth diagonally across the table. The next action is to drag the held corner toward the bottom-right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804090976715088, + -0.09420531243085861, + 0.03679309040307999, + -2.9182097911834717, + -0.49720269441604614, + -0.9281930923461914 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot has successfully dragged the top-left corner of the yellow cloth to the bottom-right area and released it, completing the fold. The gripper is currently open and positioned just above the cloth surface. The next action is to retreat the arm away from the workspace to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626895606517792, + -0.10631661862134933, + 0.040145255625247955, + -2.896907329559326, + -0.5225877165794373, + -0.9970340132713318 + ], + "gripper_value": 0.07591649144887924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 264, + 638, + 905, + 994 + ], + "red chili pepper": [ + 117, + 579, + 266, + 753 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot has successfully dragged the top-left corner of the yellow cloth to the bottom-right area and released it, completing the fold. The gripper is currently open and positioned just above the cloth surface. The next action is to retreat the arm away from the workspace to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2550846338272095, + -0.11237058788537979, + 0.03618454560637474, + -2.888176202774048, + -0.527247428894043, + -1.0183168649673462 + ], + "gripper_value": 0.22553777694702148 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot has successfully dragged the top-left corner of the yellow cloth to the bottom-right area and released it, completing the fold. The gripper is currently open and positioned just above the cloth surface. The next action is to retreat the arm away from the workspace to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2504797875881195, + -0.11227715015411377, + 0.03307566046714783, + -2.9705586433410645, + -0.5299538969993591, + -0.9571022391319275 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot has successfully dragged the top-left corner of the yellow cloth to the bottom-right area and released it, completing the fold. The gripper is currently open and positioned just above the cloth surface. The next action is to retreat the arm away from the workspace to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2569875419139862, + -0.10721299797296524, + 0.0439782552421093, + -3.141209363937378, + -0.556294322013855, + -0.8411073088645935 + ], + "gripper_value": 0.7912794351577759 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top-left corner to the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and lift top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "final retreat" + } + ], + "subtask_name": "final retreat", + "subtask_reasoning": "The cloth has been folded by dragging the top-left corner to the bottom-right and released. The robot arm is now in a retracted position above the table, having completed the fold. The next action is to fully retreat the arm away from the workspace to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003689_ecot.json b/cot/chunk-0003/episode_0003689_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d8bb810a04a37be4c019d965bc995808bdc4bd14 --- /dev/null +++ b/cot/chunk-0003/episode_0003689_ecot.json @@ -0,0 +1,1873 @@ +{ + "task_name": "episode_0003689", + "episode_json": "json/chunk-0003/episode_0003689.json", + "video_path": "videos/chunk-0003/image_0/episode_0003689.mp4", + "instruction": "PICK UP THE SPOON AND PUT NEAR THE ORANGE TOWEL.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003689.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.9441149830818176, + "std": 0.42561185359954834, + "delta_total": 0.002642393112182617, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94411, std=0.42561, total_delta=0.00264). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 12, + 12, + 12, + 12, + 12, + 12, + 25, + 25 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 11 + ], + [ + 3, + 12, + 18 + ], + [ + 4, + 19, + 24 + ], + [ + 5, + 25, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the spoon resting on the orange towel without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp spoon\", \"start\": 10, \"end\": 11, \"planning\": \"Close gripper to securely grasp the spoon handle while maintaining position over the towel.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 12, \"end\": 18, \"planning\": \"Lift the grasped spoon and move it away from the towel toward the target placement zone near the bowl.\"},\n {\"id\": 4, \"name\": \"place near towel\", \"start\": 19, \"end\": 24, \"planning\": \"Lower the spoon and release it onto the table surface adjacent to the orange towel, then begin opening gripper.\"},\n {\"id\": 5, \"name\": \"retreat after release\", \"start\": 25, \"end\": 26, \"planning\": \"Fully open gripper and retract end-effector upward and backward to clear the placed spoon.\"}\n ],\n \"global_plan\": \"Approach the spoon on the towel, grasp it, lift and carry it to a position near the towel, place it down, then retreat with open gripper.\",\n \"notes\": \"Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 confirms meaningful gripper closing consistent with grasping. Segments 4–5 show gripper opening during and after placement, confirming release mechanics. All subtasks align with observed gripper states and spatial motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the spoon resting on the orange towel without closing gripper." + }, + { + "id": 2, + "name": "grasp spoon", + "start": 10, + "end": 11, + "planning": "Close gripper to securely grasp the spoon handle while maintaining position over the towel." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 12, + "end": 18, + "planning": "Lift the grasped spoon and move it away from the towel toward the target placement zone near the bowl." + }, + { + "id": 4, + "name": "place near towel", + "start": 19, + "end": 24, + "planning": "Lower the spoon and release it onto the table surface adjacent to the orange towel, then begin opening gripper." + }, + { + "id": 5, + "name": "retreat after release", + "start": 25, + "end": 26, + "planning": "Fully open gripper and retract end-effector upward and backward to clear the placed spoon." + } + ], + "global_plan": "Approach the spoon on the towel, grasp it, lift and carry it to a position near the towel, place it down, then retreat with open gripper.", + "notes": "Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 confirms meaningful gripper closing consistent with grasping. Segments 4–5 show gripper opening during and after placement, confirming release mechanics. All subtasks align with observed gripper states and spatial motion." + } + }, + "episode_goal": "Pick up the spoon and place it near the orange towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2673657238483429, + 0.016550423577427864, + 0.13492098450660706, + 3.058671474456787, + -0.1806471198797226, + -0.10810881108045578 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2647785246372223, + 0.016199037432670593, + 0.12846782803535461, + 3.0534164905548096, + -0.1572289615869522, + -0.11174535751342773 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 11 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25689417123794556, + 0.030916845425963402, + 0.11933895945549011, + 3.0614137649536133, + -0.14138451218605042, + -0.12326279282569885 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 10 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24223822355270386, + 0.05891133099794388, + 0.10696956515312195, + 3.0607733726501465, + -0.14033840596675873, + -0.12961609661579132 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the spoon visible on the orange towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 9 cm, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22704806923866272, + 0.09270545095205307, + 0.09207416325807571, + 3.0522327423095703, + -0.16629356145858765, + -0.12753751873970032 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 563, + 322, + 841, + 629 + ], + "wooden table": [ + 4, + 224, + 858, + 992 + ], + "red sponge": [ + 551, + 662, + 662, + 819 + ], + "orange cloth": [ + 188, + 416, + 483, + 701 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange towel where the spoon is located, with the gripper fully open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the arm to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23269858956336975, + 0.10391193628311157, + 0.06533493846654892, + 3.082669734954834, + -0.1340295821428299, + -0.13080061972141266 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange towel where the spoon is located, with the gripper fully open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the arm to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 5 cm, close gripper; then keep gripper closed; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24395029246807098, + 0.09470748901367188, + 0.04670753329992294, + 3.087740898132324, + -0.11575790494680405, + -0.13718289136886597 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange towel where the spoon is located, with the gripper fully open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the arm to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 3 cm, close gripper; then keep gripper closed; then move back 1 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26157379150390625, + 0.08331505209207535, + 0.039523594081401825, + 3.118117570877075, + -0.1237783208489418, + -0.16989555954933167 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange towel where the spoon is located, with the gripper fully open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the arm to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, close gripper; then keep gripper closed; then move back 1 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2729387879371643, + 0.07105811685323715, + 0.03685719519853592, + 3.137402296066284, + -0.13151122629642487, + -0.19823114573955536 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange towel where the spoon is located, with the gripper fully open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the arm to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then keep gripper closed; then move forward 1 cm, move left 7 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28154316544532776, + 0.06286144256591797, + 0.026248659938573837, + -3.1400301456451416, + -0.10705900192260742, + -0.22317418456077576 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 563, + 322, + 842, + 629 + ], + "wooden table": [ + 4, + 206, + 858, + 993 + ], + "blue sponge": [ + 167, + 518, + 275, + 624 + ], + "red sponge": [ + 550, + 662, + 663, + 819 + ], + "orange cloth": [ + 186, + 446, + 485, + 701 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the orange towel where the spoon is located, with the gripper fully open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the arm to make contact with the spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 3 cm, move left 9 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28157344460487366, + 0.06349704414606094, + 0.018285367637872696, + 3.1405279636383057, + -0.08189701288938522, + -0.2199704647064209 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the orange towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 9 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2806979715824127, + 0.06428223848342896, + 0.017773019149899483, + -3.138810157775879, + -0.07482346892356873, + -0.22668510675430298 + ], + "gripper_value": 0.7091560959815979 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the orange towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 9 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27790552377700806, + 0.06673578917980194, + 0.017405714839696884, + 3.1350579261779785, + -0.06671604514122009, + -0.23030373454093933 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the spoon on the orange towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 6 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768479287624359, + 0.0659237802028656, + 0.021671870723366737, + 3.1295199394226074, + -0.06843850016593933, + -0.2345995455980301 + ], + "gripper_value": 0.15616591274738312 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the spoon on the orange towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 6 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2723425328731537, + 0.07147546112537384, + 0.030804134905338287, + 3.1162304878234863, + -0.08129618316888809, + -0.2187410295009613 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the spoon on the orange towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26584795117378235, + 0.08045639097690582, + 0.036778226494789124, + 3.0917177200317383, + -0.08151113986968994, + -0.19393812119960785 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the spoon on the orange towel and is currently lifting it slightly above the surface. The gripper is closed and the end-effector is in motion, indicating active repositioning. The next action is to continue moving the spoon to a position near the towel before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2694188356399536, + 0.08885808289051056, + 0.05725786089897156, + 3.092226505279541, + -0.13950540125370026, + -0.1816778928041458 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the spoon on the orange towel and is currently lifting it slightly above the surface. The gripper is closed and the end-effector is in motion, indicating active repositioning. The next action is to continue moving the spoon to a position near the towel before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27277907729148865, + 0.10714537650346756, + 0.07460716366767883, + 3.0847866535186768, + -0.18537801504135132, + -0.1390107423067093 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the spoon on the orange towel and is currently lifting it slightly above the surface. The gripper is closed and the end-effector is in motion, indicating active repositioning. The next action is to continue moving the spoon to a position near the towel before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28638866543769836, + 0.1387503743171692, + 0.08211344480514526, + 3.063239097595215, + -0.22983665764331818, + -0.05560017749667168 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the spoon on the orange towel and is currently lifting it slightly above the surface. The gripper is closed and the end-effector is in motion, indicating active repositioning. The next action is to continue moving the spoon to a position near the towel before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047495484352112, + 0.15456819534301758, + 0.05233190953731537, + 2.995689868927002, + -0.19660788774490356, + -0.006581321824342012 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "place near towel", + "subtask_reasoning": "The robot has grasped the spoon on the orange towel and is currently lifting it slightly above the surface. The gripper is closed and the end-effector is in motion, indicating active repositioning. The next action is to continue moving the spoon to a position near the towel before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.331418514251709, + 0.14887988567352295, + 0.03937149792909622, + 2.9713082313537598, + -0.20206861197948456, + -0.023875495418906212 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "place near towel", + "subtask_reasoning": "The robot has grasped the spoon on the orange towel and is currently lifting it slightly above the surface. The gripper is closed and the end-effector is in motion, indicating active repositioning. The next action is to continue moving the spoon to a position near the towel before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 6 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541698157787323, + 0.11077874898910522, + 0.034136880189180374, + 2.9661662578582764, + -0.19951771199703217, + -0.11241143196821213 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "place near towel", + "subtask_reasoning": "The robot is holding the spoon above the wooden surface near the orange towel, having completed the approach and grasp phases. The gripper remains closed, indicating the spoon is still secured. The next action is to lower the spoon and release it onto the surface adjacent to the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3636661469936371, + 0.09562318027019501, + 0.020982254296541214, + 2.9759764671325684, + -0.17515438795089722, + -0.0956299901008606 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 180, + 411, + 476, + 700 + ], + "metal bowl": [ + 564, + 322, + 842, + 628 + ], + "wooden table": [ + 5, + 183, + 858, + 992 + ], + "red sponge": [ + 552, + 663, + 662, + 819 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "place near towel", + "subtask_reasoning": "The robot is holding the spoon above the wooden surface near the orange towel, having completed the approach and grasp phases. The gripper remains closed, indicating the spoon is still secured. The next action is to lower the spoon and release it onto the surface adjacent to the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35482490062713623, + 0.0941925048828125, + 0.01603487879037857, + 2.974029779434204, + -0.1431826800107956, + -0.005134261213243008 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "place near towel", + "subtask_reasoning": "The robot is holding the spoon above the wooden surface near the orange towel, having completed the approach and grasp phases. The gripper remains closed, indicating the spoon is still secured. The next action is to lower the spoon and release it onto the surface adjacent to the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393076956272125, + 0.08509127795696259, + 0.05194929242134094, + 2.981449604034424, + -0.19762714207172394, + 0.11034666746854782 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "place near towel", + "subtask_reasoning": "The robot is holding the spoon above the wooden surface near the orange towel, having completed the approach and grasp phases. The gripper remains closed, indicating the spoon is still secured. The next action is to lower the spoon and release it onto the surface adjacent to the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 5 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3205989599227905, + 0.061466895043849945, + 0.097126305103302, + 3.011049747467041, + -0.24005314707756042, + 0.2013005018234253 + ], + "gripper_value": 0.803636372089386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The spoon has been successfully placed on the wooden surface near the orange towel, and the gripper is open and elevated above the scene. The robot is currently retreating from the placement location to complete the task. The next action is to continue moving the arm away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30143818259239197, + 0.03502446040511131, + 0.11916159093379974, + 3.0332517623901367, + -0.23592381179332733, + 0.2295493483543396 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon and place it near the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "place near towel" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The spoon has been successfully placed on the wooden surface near the orange towel, and the gripper is open and elevated above the scene. The robot is currently retreating from the placement location to complete the task. The next action is to continue moving the arm away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003691_ecot.json b/cot/chunk-0003/episode_0003691_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0e160b72bbc001037db9f09fdfdcc344a7ed1365 --- /dev/null +++ b/cot/chunk-0003/episode_0003691_ecot.json @@ -0,0 +1,2695 @@ +{ + "task_name": "episode_0003691", + "episode_json": "json/chunk-0003/episode_0003691.json", + "video_path": "videos/chunk-0003/image_0/episode_0003691.mp4", + "instruction": "Move the potato to the left of the green cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003691.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.36294370889663696, + "std": 0.16783615946769714, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36294, std=0.16784, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 21 + ], + [ + 3, + 22, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 2, \"planning\": \"Move the gripper from initial position toward the potato without closing.\"},\n {\"id\": 2, \"name\": \"grasp potato\", \"start\": 3, \"end\": 21, \"planning\": \"Close gripper around the potato and lift it slightly, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"transport and release potato\", \"start\": 22, \"end\": 44, \"planning\": \"Carry the potato leftward past the green cloth and release it, as shown by gripper opening and final potato position.\"}\n ],\n \"global_plan\": \"Approach the potato, grasp and lift it, then transport it left of the green cloth and release.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closure (delta=0.354) and visual confirmation of grasp at frame 21. Segment 3 shows transport with gripper still closed initially, then opening (gripper_value rises to 1.0) and potato released left of cloth by frame 44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 2, + "planning": "Move the gripper from initial position toward the potato without closing." + }, + { + "id": 2, + "name": "grasp potato", + "start": 3, + "end": 21, + "planning": "Close gripper around the potato and lift it slightly, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "transport and release potato", + "start": 22, + "end": 44, + "planning": "Carry the potato leftward past the green cloth and release it, as shown by gripper opening and final potato position." + } + ], + "global_plan": "Approach the potato, grasp and lift it, then transport it left of the green cloth and release.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closure (delta=0.354) and visual confirmation of grasp at frame 21. Segment 3 shows transport with gripper still closed initially, then opening (gripper_value rises to 1.0) and potato released left of cloth by frame 44." + } + }, + "episode_goal": "Move the potato to the left of the green cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26527875661849976, + -0.06911469250917435, + 0.11460006237030029, + -3.0850419998168945, + -0.1912648230791092, + 0.015476223081350327 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the wooden table with the green cloth and red object visible, but the potato is not yet in view or reached. No grasping has occurred as the gripper remains fully open. The next action is to continue moving the end-effector toward the potato's expected location to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 10 cm, move left 11 cm, move down 4 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26366618275642395, + -0.06967871636152267, + 0.10876402258872986, + -3.0861964225769043, + -0.17041318118572235, + 0.024513261392712593 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 11 cm, move left 10 cm, move down 4 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2680867910385132, + -0.04702850431203842, + 0.10697516798973083, + -3.12660551071167, + -0.15421433746814728, + 0.1982864886522293 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 12 cm, move left 9 cm, move down 5 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27409180998802185, + -0.02536826953291893, + 0.09863560646772385, + 3.1146256923675537, + -0.10674136877059937, + 0.35794520378112793 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 9 cm, move down 6 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28516846895217896, + 0.019024452194571495, + 0.09357087314128876, + 3.032127857208252, + -0.035269882529973984, + 0.6427257657051086 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 192, + 424, + 501, + 740 + ], + "wooden countertop": [ + 12, + 185, + 896, + 991 + ], + "orange strainer": [ + 629, + 428, + 888, + 785 + ], + "white wooden wall": [ + 341, + 2, + 996, + 447 + ], + "yellow pear": [ + 479, + 308, + 564, + 389 + ] + } + } + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 4 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29670843482017517, + 0.0414273627102375, + 0.09216606616973877, + 3.014336109161377, + -0.04910368472337723, + 0.8531203866004944 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 2 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30234256386756897, + 0.07000471651554108, + 0.08737225830554962, + 3.00370454788208, + -0.10089612752199173, + 1.1111375093460083 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move down 7 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31694450974464417, + 0.08398973196744919, + 0.0812239870429039, + 2.9681851863861084, + -0.0956985130906105, + 1.1817995309829712 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3399313688278198, + 0.08769898116588593, + 0.06997401267290115, + 2.9687652587890625, + -0.10111239552497864, + 1.136152982711792 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35762450098991394, + 0.08534445613622665, + 0.05588112398982048, + 2.991823673248291, + -0.10538610816001892, + 1.0279488563537598 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3728182911872864, + 0.08146752417087555, + 0.05376571789383888, + 2.993060350418091, + -0.11980889737606049, + 0.9903044700622559 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3859626352787018, + 0.07433705031871796, + 0.053771890699863434, + 3.011817693710327, + -0.12879863381385803, + 0.964974045753479 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth and potato visible; the gripper is open and no contact has been made yet. The subtask of approaching the potato is in progress, with the arm moving toward the target. The next action should continue adjusting the end-effector position to align directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3942609429359436, + 0.0644412487745285, + 0.04465379938483238, + 3.0129964351654053, + -0.11175086349248886, + 0.906277596950531 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 191, + 430, + 498, + 742 + ], + "red brush": [ + 252, + 313, + 472, + 451 + ], + "orange strainer": [ + 631, + 427, + 888, + 785 + ], + "yellow pear": [ + 482, + 286, + 567, + 384 + ], + "wooden countertop": [ + 15, + 186, + 894, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.40126460790634155, + 0.06148865446448326, + 0.03615322336554527, + 3.0035595893859863, + -0.09737484902143478, + 0.8717889785766602 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4030982255935669, + 0.05965810269117355, + 0.027953313663601875, + 3.0522711277008057, + -0.09344077855348587, + 0.8474193215370178 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 6 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4045428931713104, + 0.05687763914465904, + 0.022319363430142403, + 3.059123992919922, + -0.0931251049041748, + 0.8377382159233093 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4062638282775879, + 0.05692433938384056, + 0.017995011061429977, + 3.061469793319702, + -0.08910763263702393, + 0.8337101936340332 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 12 cm, move left 6 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40692803263664246, + 0.05701959505677223, + 0.01686149835586548, + 3.0605218410491943, + -0.08824606239795685, + 0.8444632291793823 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 13 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40793588757514954, + 0.05716815963387489, + 0.01667718216776848, + 3.055128574371338, + -0.09371597319841385, + 0.8495693206787109 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 12 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4045847952365875, + 0.05708050727844238, + 0.015971574932336807, + 3.069157838821411, + -0.07937926799058914, + 0.8589606285095215 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4001477062702179, + 0.0578579418361187, + 0.0167061910033226, + 3.0862245559692383, + -0.07192246615886688, + 0.8676669597625732 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, keep gripper closed; then move back 13 cm, move left 11 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3920539319515228, + 0.06676101684570312, + 0.03682604804635048, + 3.1250553131103516, + -0.08709391951560974, + 0.8844239711761475 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move back 13 cm, move left 11 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3772508203983307, + 0.0827019140124321, + 0.05508403107523918, + -3.1266438961029053, + -0.1126130074262619, + 0.9426501989364624 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 11 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537249267101288, + 0.09656938910484314, + 0.07496879994869232, + -3.086681365966797, + -0.14222624897956848, + 1.0245368480682373 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 10 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31864461302757263, + 0.11473552137613297, + 0.07764311879873276, + -3.0559489727020264, + -0.12854337692260742, + 1.088661789894104 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841264009475708, + 0.13125969469547272, + 0.07888281345367432, + -3.053363561630249, + -0.11206720024347305, + 1.075235366821289 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red brush": [ + 321, + 351, + 471, + 450 + ], + "green cloth": [ + 193, + 429, + 499, + 740 + ], + "wooden countertop": [ + 14, + 216, + 894, + 990 + ], + "orange strainer": [ + 630, + 427, + 890, + 786 + ], + "white wooden wall": [ + 350, + 2, + 995, + 436 + ], + "yellow pear": [ + 250, + 276, + 334, + 392 + ] + } + } + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620457708835602, + 0.14672335982322693, + 0.07615984231233597, + -3.0701916217803955, + -0.11127786338329315, + 1.100820779800415 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508620619773865, + 0.16505731642246246, + 0.06560458242893219, + -3.1137092113494873, + -0.12990440428256989, + 1.1092652082443237 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 20, + 186, + 894, + 991 + ], + "green cloth": [ + 194, + 428, + 499, + 740 + ], + "yellow pear": [ + 146, + 331, + 234, + 451 + ], + "red brush": [ + 257, + 315, + 473, + 450 + ], + "orange strainer": [ + 630, + 427, + 890, + 786 + ], + "white wooden wall": [ + 342, + 2, + 996, + 437 + ] + } + } + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530885934829712, + 0.17681029438972473, + 0.04925916716456413, + -3.0935275554656982, + -0.16027063131332397, + 1.0680365562438965 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24996115267276764, + 0.1854584962129593, + 0.03489687666296959, + -3.0718133449554443, + -0.1635517030954361, + 1.0648565292358398 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.24530427157878876, + 0.18924474716186523, + 0.023972809314727783, + -3.079874038696289, + -0.14807668328285217, + 1.085233211517334 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.24493494629859924, + 0.19121575355529785, + 0.017457086592912674, + -3.075648546218872, + -0.14978110790252686, + 1.0995129346847534 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24438121914863586, + 0.192392036318779, + 0.01536851841956377, + -3.087261438369751, + -0.1615035980939865, + 1.1111247539520264 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is positioned above the potato with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp attempt, the current frame shows the gripper is still fully open and not yet in contact with the potato. The next action is to close the gripper to secure the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 10 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24360394477844238, + 0.19463081657886505, + 0.015007455833256245, + -3.0887115001678467, + -0.16969552636146545, + 1.1148269176483154 + ], + "gripper_value": 0.7190925478935242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move up 8 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24013127386569977, + 0.1967179775238037, + 0.014887728728353977, + -3.0829436779022217, + -0.1632150560617447, + 1.1294273138046265 + ], + "gripper_value": 0.9132781028747559 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 15 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.23583504557609558, + 0.19672749936580658, + 0.015521622262895107, + -3.06461238861084, + -0.14660558104515076, + 1.1549429893493652 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 15 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.23757153749465942, + 0.1983325034379959, + 0.0205245241522789, + -3.0551600456237793, + -0.13482515513896942, + 1.1503368616104126 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 15 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2391558289527893, + 0.19944903254508972, + 0.031233366578817368, + -3.0376405715942383, + -0.13292774558067322, + 1.1574598550796509 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 15 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.24066726863384247, + 0.19012168049812317, + 0.044370897114276886, + -2.9874069690704346, + -0.12398288398981094, + 1.129321575164795 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 15 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2434711903333664, + 0.17880001664161682, + 0.0629877969622612, + -2.9282259941101074, + -0.12254051864147186, + 1.128950595855713 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 13 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.25738516449928284, + 0.15854418277740479, + 0.08121854066848755, + -2.957672119140625, + -0.14269135892391205, + 1.0683884620666504 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 11 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2781752645969391, + 0.134606271982193, + 0.08654700964689255, + -3.011664628982544, + -0.13402719795703888, + 0.9501679539680481 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 9 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042679727077484, + 0.0948096439242363, + 0.09486697614192963, + -3.0525362491607666, + -0.1341361254453659, + 0.7252492904663086 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185758590698242, + 0.07180871069431305, + 0.0996972844004631, + -3.090261936187744, + -0.13819944858551025, + 0.5341008305549622 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 194, + 428, + 500, + 741 + ], + "wooden countertop": [ + 14, + 207, + 894, + 992 + ], + "orange strainer": [ + 630, + 426, + 890, + 785 + ], + "red brush": [ + 253, + 313, + 472, + 450 + ], + "yellow pear": [ + 98, + 440, + 189, + 554 + ] + } + } + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.33504554629325867, + 0.044955093413591385, + 0.11078622192144394, + -3.097219944000244, + -0.17084355652332306, + 0.38248834013938904 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the potato to the left of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "transport and release potato" + } + ], + "subtask_name": "transport and release potato", + "subtask_reasoning": "The robot is currently holding the potato and has moved it to the left of the green cloth. The next action is to release the potato at this position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003692_ecot.json b/cot/chunk-0003/episode_0003692_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bae46d8d635174a86e618ff8aa4687a55ad54100 --- /dev/null +++ b/cot/chunk-0003/episode_0003692_ecot.json @@ -0,0 +1,2094 @@ +{ + "task_name": "episode_0003692", + "episode_json": "json/chunk-0003/episode_0003692.json", + "video_path": "videos/chunk-0003/image_0/episode_0003692.mp4", + "instruction": "Fold the cloth from left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003692.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9507228136062622, + "std": 0.4253145456314087, + "delta_total": 0.0032911300659179688, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95072, std=0.42531, total_delta=0.00329). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 315, + 315, + 315, + 315, + 315, + 315, + 28, + 28, + 28 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ], + [ + 3, + 15, + 21 + ], + [ + 4, + 22, + 27 + ], + [ + 5, + 28, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach left edge of cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move gripper toward the left side of the cloth without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact and grasp left corner\", \"start\": 6, \"end\": 14, \"planning\": \"Close gripper to securely grasp the left corner of the cloth as evidenced by decreasing gripper value and minimal motion.\"},\n {\"id\": 3, \"name\": \"lift and reposition cloth left-to-right\", \"start\": 15, \"end\": 21, \"planning\": \"Lift the grasped left corner and move it across the table toward the right side to initiate folding.\"},\n {\"id\": 4, \"name\": \"release and adjust grip on folded edge\", \"start\": 22, \"end\": 27, \"planning\": \"Open gripper to release the cloth after positioning, then re-close to secure the newly folded edge for final alignment.\"},\n {\"id\": 5, \"name\": \"final smoothing and retreat\", \"start\": 28, \"end\": 30, \"planning\": \"Gently press or smooth the folded cloth with gripper, then open and retreat to complete the fold.\"}\n ],\n \"global_plan\": \"Fold the cloth from left to right by first approaching and grasping the left corner, lifting and dragging it across to the right, releasing and re-grasping to align the fold, then smoothing and retreating.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segment 1 (open), meaningful close in segments 2, 4, 5; segment 3 inferred as lift/drag based on motion continuity and task goal. Frame coverage is contiguous and complete [0-30].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach left edge of cloth", + "start": 0, + "end": 5, + "planning": "Move gripper toward the left side of the cloth without closing, preparing for contact." + }, + { + "id": 2, + "name": "make contact and grasp left corner", + "start": 6, + "end": 14, + "planning": "Close gripper to securely grasp the left corner of the cloth as evidenced by decreasing gripper value and minimal motion." + }, + { + "id": 3, + "name": "lift and reposition cloth left-to-right", + "start": 15, + "end": 21, + "planning": "Lift the grasped left corner and move it across the table toward the right side to initiate folding." + }, + { + "id": 4, + "name": "release and adjust grip on folded edge", + "start": 22, + "end": 27, + "planning": "Open gripper to release the cloth after positioning, then re-close to secure the newly folded edge for final alignment." + }, + { + "id": 5, + "name": "final smoothing and retreat", + "start": 28, + "end": 30, + "planning": "Gently press or smooth the folded cloth with gripper, then open and retreat to complete the fold." + } + ], + "global_plan": "Fold the cloth from left to right by first approaching and grasping the left corner, lifting and dragging it across to the right, releasing and re-grasping to align the fold, then smoothing and retreating.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segment 1 (open), meaningful close in segments 2, 4, 5; segment 3 inferred as lift/drag based on motion continuity and task goal. Frame coverage is contiguous and complete [0-30]." + } + }, + "episode_goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.40628474950790405, + 0.18991069495677948, + 0.07509418576955795, + -2.856767416000366, + -0.24627383053302765, + -0.428386390209198 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "approach left edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the left edge of the cloth has not progressed beyond initial positioning. The next action should be to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 20 cm, move right 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4017367660999298, + 0.18779371678829193, + 0.057702887803316116, + -2.8927242755889893, + -0.21876408159732819, + -0.41433829069137573 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "approach left edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the left edge of the cloth has not progressed beyond initial positioning. The next action should be to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 19 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 6 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3852701783180237, + 0.18420277535915375, + 0.03922296687960625, + -2.926588296890259, + -0.18748274445533752, + -0.3689552843570709 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "approach left edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The left edge of the cloth is visible and accessible. The next action is to lower the gripper toward the left edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 6 cm, move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36142292618751526, + 0.1904674470424652, + 0.055960994213819504, + -2.9027352333068848, + -0.18016919493675232, + -0.2812364995479584 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "approach left edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The left edge of the cloth is visible and accessible. The next action is to lower the gripper toward the left edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.311754435300827, + 0.19061416387557983, + 0.0668264776468277, + -2.885615348815918, + -0.1578129380941391, + -0.08246870338916779 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "approach left edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The left edge of the cloth is visible and accessible. The next action is to lower the gripper toward the left edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25844046473503113, + 0.18194369971752167, + 0.06989479064941406, + -2.882949113845825, + -0.15915773808956146, + 0.1392407864332199 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "approach left edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The left edge of the cloth is visible and accessible. The next action is to lower the gripper toward the left edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2101345807313919, + 0.17165188491344452, + 0.07030642777681351, + -2.8868675231933594, + -0.17164453864097595, + 0.22765731811523438 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 5, + 273, + 687, + 992 + ], + "table": [ + 5, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The left edge of the cloth is visible and accessible. The next action is to lower the gripper toward the left edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.16718807816505432, + 0.15504086017608643, + 0.06123201549053192, + -2.895362138748169, + -0.18493923544883728, + 0.27484452724456787 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 5, + 273, + 686, + 992 + ], + "table": [ + 5, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The left edge of the cloth is visible and accessible. The next action is to lower the gripper toward the left edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 5 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.15715274214744568, + 0.15404337644577026, + 0.049185097217559814, + -2.906052589416504, + -0.21141284704208374, + 0.3066762387752533 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The left edge of the cloth is visible and accessible. The next action is to lower the gripper toward the left edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 4 cm, close gripper; then move forward 3 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.15293599665164948, + 0.1687512993812561, + 0.038973644375801086, + -2.9026830196380615, + -0.2360956370830536, + 0.31117504835128784 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth on a white table, with the gripper open and no contact made yet. The left edge of the cloth is visible and accessible. The next action is to lower the gripper toward the left edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, close gripper; then move forward 5 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.15115869045257568, + 0.17847366631031036, + 0.0260809026658535, + -2.9243545532226562, + -0.2290392816066742, + 0.301334947347641 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot has approached the left corner of the blue cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, close gripper; then move forward 9 cm, move right 6 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.15272380411624908, + 0.19137458503246307, + 0.021074682474136353, + -2.922079563140869, + -0.24560897052288055, + 0.2948912978172302 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot has approached the left corner of the blue cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 12 cm, move right 7 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.1521502286195755, + 0.19616788625717163, + 0.015635235235095024, + -2.9346210956573486, + -0.2447848916053772, + 0.3011912703514099 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot has approached the left corner of the blue cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 13 cm, move right 7 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.15085706114768982, + 0.19824254512786865, + 0.01152632012963295, + -2.94439959526062, + -0.24922549724578857, + 0.30756905674934387 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot has approached the left corner of the blue cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 13 cm, move right 7 cm, move up 3 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.15176330506801605, + 0.1990598440170288, + 0.011330865323543549, + -2.9411258697509766, + -0.24738498032093048, + 0.30390676856040955 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "make contact and grasp left corner", + "subtask_reasoning": "The robot has approached the left corner of the blue cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 13 cm, move right 7 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.15203404426574707, + 0.19963222742080688, + 0.011267874389886856, + -2.9425642490386963, + -0.2447601556777954, + 0.30620965361595154 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "lift and reposition cloth left-to-right", + "subtask_reasoning": "The robot has approached the left corner of the blue cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 7 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.15313966572284698, + 0.19702981412410736, + 0.01424065325409174, + -2.9317712783813477, + -0.2275262027978897, + 0.29092904925346375 + ], + "gripper_value": 0.16390947997570038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "lift and reposition cloth left-to-right", + "subtask_reasoning": "The robot has approached the left corner of the blue cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 7 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.16007795929908752, + 0.19344036281108856, + 0.03182286396622658, + -2.8887147903442383, + -0.23855198919773102, + 0.29244372248649597 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "lift and reposition cloth left-to-right", + "subtask_reasoning": "The robot has approached the left corner of the blue cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.17789046466350555, + 0.18370074033737183, + 0.05486315116286278, + -2.843665838241577, + -0.25160640478134155, + 0.2881168723106384 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "lift and reposition cloth left-to-right", + "subtask_reasoning": "The robot has grasped the left corner of the blue cloth and is currently lifting it slightly above the table surface. The cloth is partially raised but not yet repositioned across to the right. The next action should be to drag or move the lifted left edge horizontally toward the right half of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20581084489822388, + 0.16517212986946106, + 0.07308275252580643, + -2.8195900917053223, + -0.2564436197280884, + 0.30203938484191895 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 8, + 281, + 662, + 993 + ], + "table": [ + 6, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "lift and reposition cloth left-to-right", + "subtask_reasoning": "The robot has grasped the left corner of the blue cloth and is currently lifting it slightly above the table surface. The cloth is partially raised but not yet repositioned across to the right. The next action should be to drag or move the lifted left edge horizontally toward the right half of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24271796643733978, + 0.1428939402103424, + 0.07649215310811996, + -2.8372387886047363, + -0.28102660179138184, + 0.34010815620422363 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "lift and reposition cloth left-to-right", + "subtask_reasoning": "The robot has grasped the left corner of the blue cloth and is currently lifting it slightly above the table surface. The cloth is partially raised but not yet repositioned across to the right. The next action should be to drag or move the lifted left edge horizontally toward the right half of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, tilt right 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2713603079319, + 0.13450086116790771, + 0.05905698239803314, + -2.9037058353424072, + -0.2681615650653839, + 0.4008904993534088 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "lift and reposition cloth left-to-right", + "subtask_reasoning": "The robot has grasped the left corner of the blue cloth and is currently lifting it slightly above the table surface. The cloth is partially raised but not yet repositioned across to the right. The next action should be to drag or move the lifted left edge horizontally toward the right half of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, tilt right 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28544682264328003, + 0.1313144862651825, + 0.03858121857047081, + -2.994441509246826, + -0.20054778456687927, + 0.3822081685066223 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "release and adjust grip on folded edge", + "subtask_reasoning": "The robot has grasped the left corner of the blue cloth and is currently lifting it slightly above the table surface. The cloth is partially raised but not yet repositioned across to the right. The next action should be to drag or move the lifted left edge horizontally toward the right half of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, tilt right 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29000452160835266, + 0.13347944617271423, + 0.0284337867051363, + -3.038139820098877, + -0.1917973756790161, + 0.37634214758872986 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 90, + 291, + 663, + 992 + ], + "table": [ + 4, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "release and adjust grip on folded edge", + "subtask_reasoning": "The robot has grasped the left corner of the blue cloth and is currently lifting it slightly above the table surface. The cloth is partially raised but not yet repositioned across to the right. The next action should be to drag or move the lifted left edge horizontally toward the right half of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29225605726242065, + 0.13464754819869995, + 0.024776531383395195, + -3.0690133571624756, + -0.20193029940128326, + 0.37011080980300903 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "release and adjust grip on folded edge", + "subtask_reasoning": "The robot has grasped the left edge of the blue cloth and lifted it partially over the right side. The gripper is currently holding the cloth mid-air, indicating the fold is in progress but not yet aligned or released. The next action should be to continue moving the cloth rightward to complete the fold alignment before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967400848865509, + 0.13668839633464813, + 0.027769887819886208, + -3.063633918762207, + -0.22035686671733856, + 0.3648928701877594 + ], + "gripper_value": 0.07559127360582352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "release and adjust grip on folded edge", + "subtask_reasoning": "The robot has grasped the left edge of the blue cloth and lifted it partially over the right side. The gripper is currently holding the cloth mid-air, indicating the fold is in progress but not yet aligned or released. The next action should be to continue moving the cloth rightward to complete the fold alignment before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3031446933746338, + 0.1303192675113678, + 0.03033326379954815, + -3.073617696762085, + -0.22974780201911926, + 0.3533189594745636 + ], + "gripper_value": 0.227462038397789 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "release and adjust grip on folded edge", + "subtask_reasoning": "The robot has grasped the left edge of the blue cloth and lifted it partially over the right side. The gripper is currently holding the cloth mid-air, indicating the fold is in progress but not yet aligned or released. The next action should be to continue moving the cloth rightward to complete the fold alignment before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3068249523639679, + 0.12271584570407867, + 0.030639097094535828, + -3.133096933364868, + -0.23159463703632355, + 0.3685588836669922 + ], + "gripper_value": 0.48990920186042786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "release and adjust grip on folded edge", + "subtask_reasoning": "The robot has grasped the left edge of the blue cloth and lifted it partially over the right side. The gripper is currently holding the cloth mid-air, indicating the fold is in progress but not yet aligned or released. The next action should be to continue moving the cloth rightward to complete the fold alignment before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160504102706909, + 0.11798568069934845, + 0.03605058044195175, + 3.094292163848877, + -0.25197046995162964, + 0.39576566219329834 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "final smoothing and retreat", + "subtask_reasoning": "The robot has grasped the left edge of the blue cloth and lifted it partially over the right side. The gripper is currently holding the cloth mid-air, indicating the fold is in progress but not yet aligned or released. The next action should be to continue moving the cloth rightward to complete the fold alignment before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252509832382202, + 0.11088550090789795, + 0.035676613450050354, + 3.029707908630371, + -0.2449110597372055, + 0.4259789288043976 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "final smoothing and retreat", + "subtask_reasoning": "The cloth has been folded from left to right and lies flat on the table. The gripper is open and positioned above the cloth, indicating completion of the fold. The next action is to retreat upward and away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33243095874786377, + 0.10943043231964111, + 0.039580151438713074, + 3.1005547046661377, + -0.2470218390226364, + 0.35417869687080383 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp left corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth left-to-right" + }, + { + "id": 4, + "subtask": "release and adjust grip on folded edge" + }, + { + "id": 5, + "subtask": "final smoothing and retreat" + } + ], + "subtask_name": "final smoothing and retreat", + "subtask_reasoning": "The cloth has been folded from left to right and lies flat on the table. The gripper is open and positioned above the cloth, indicating completion of the fold. The next action is to retreat upward and away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003693_ecot.json b/cot/chunk-0003/episode_0003693_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a90b0b3c4b22310865a560d6b6aa29a4a5aa00cb --- /dev/null +++ b/cot/chunk-0003/episode_0003693_ecot.json @@ -0,0 +1,1819 @@ +{ + "task_name": "episode_0003693", + "episode_json": "json/chunk-0003/episode_0003693.json", + "video_path": "videos/chunk-0003/image_0/episode_0003693.mp4", + "instruction": "Take clothes out of laundry machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003693.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.9454403519630432, + "std": 0.4267624020576477, + "delta_total": -0.020038902759552002, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94544, std=0.42676, total_delta=-0.02004). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 111, + 111, + 111, + 211, + 211, + 211, + 211, + 225, + 225 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 17 + ], + [ + 3, + 18, + 20 + ], + [ + 4, + 21, + 24 + ], + [ + 5, + 25, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach laundry opening\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the laundry machine door while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"grasp clothes inside drum\", \"start\": 5, \"end\": 10, \"planning\": \"Close gripper around red/blue cloth item visible inside drum, confirmed by gripper value drop and image alignment.\"},\n {\"id\": 3, \"name\": \"extract clothes from machine\", \"start\": 11, \"end\": 17, \"planning\": \"Pull grasped cloth outward from drum into basket area, with sustained grip as shown by low gripper values and motion trajectory.\"},\n {\"id\": 4, \"name\": \"reposition over basket\", \"start\": 18, \"end\": 20, \"planning\": \"Translate arm laterally to align gripper-held cloth above white laundry basket without releasing.\"},\n {\"id\": 5, \"name\": \"release clothes into basket\", \"start\": 21, \"end\": 26, \"planning\": \"Open gripper progressively to drop cloth into basket, confirmed by rising gripper values and final frame showing released item.\"}\n ],\n \"global_plan\": \"Approach machine, grasp internal cloth, extract it, reposition over basket, then release — completing one full pick-and-place cycle for laundry removal.\",\n \"notes\": \"Segment 3 (frames 18-20) lacks explicit gripper data but is bridged by contiguous motion between extraction and repositioning; no grasp/release inferred there. All other segments align with gripper evidence and visual context.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach laundry opening", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the laundry machine door while maintaining open gripper." + }, + { + "id": 2, + "name": "grasp clothes inside drum", + "start": 5, + "end": 10, + "planning": "Close gripper around red/blue cloth item visible inside drum, confirmed by gripper value drop and image alignment." + }, + { + "id": 3, + "name": "extract clothes from machine", + "start": 11, + "end": 17, + "planning": "Pull grasped cloth outward from drum into basket area, with sustained grip as shown by low gripper values and motion trajectory." + }, + { + "id": 4, + "name": "reposition over basket", + "start": 18, + "end": 20, + "planning": "Translate arm laterally to align gripper-held cloth above white laundry basket without releasing." + }, + { + "id": 5, + "name": "release clothes into basket", + "start": 21, + "end": 26, + "planning": "Open gripper progressively to drop cloth into basket, confirmed by rising gripper values and final frame showing released item." + } + ], + "global_plan": "Approach machine, grasp internal cloth, extract it, reposition over basket, then release — completing one full pick-and-place cycle for laundry removal.", + "notes": "Segment 3 (frames 18-20) lacks explicit gripper data but is bridged by contiguous motion between extraction and repositioning; no grasp/release inferred there. All other segments align with gripper evidence and visual context." + } + }, + "episode_goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25625452399253845, + 0.06508351862430573, + 0.11085380613803864, + -2.977064609527588, + 0.06887904554605484, + 0.25548264384269714 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "approach laundry opening", + "subtask_reasoning": "The robot is positioned in front of the open washing machine with red and blue cloths visible inside. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot is stationary, indicating it is ready to begin the approach. The next action is to move the end-effector closer to the laundry opening to prepare for grasping the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25389567017555237, + 0.06505545228719711, + 0.10149670392274857, + -2.9733710289001465, + 0.09257729351520538, + 0.24771833419799805 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "approach laundry opening", + "subtask_reasoning": "The robot is positioned in front of the open washing machine with red and blue cloths visible inside. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot is stationary, indicating it is ready to begin the approach. The next action is to move the end-effector closer to the laundry opening to prepare for grasping the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 2 cm, tilt back 30 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26736682653427124, + 0.0654669776558876, + 0.07194681465625763, + -2.9481618404388428, + 0.03134414553642273, + 0.11018106341362 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "approach laundry opening", + "subtask_reasoning": "The robot is positioned near the washing machine opening with red and blue cloths visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the cloths for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835606038570404, + 0.061307281255722046, + 0.06486227363348007, + -2.909573793411255, + -0.0850447565317154, + -0.007137622218579054 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "approach laundry opening", + "subtask_reasoning": "The robot is positioned near the washing machine opening with red and blue cloths visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the cloths for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30323582887649536, + 0.05505777895450592, + 0.07210597395896912, + -2.928349733352661, + -0.21239489316940308, + -0.07180500030517578 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "basket": [ + 31, + 390, + 374, + 810 + ] + } + } + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "approach laundry opening", + "subtask_reasoning": "The robot is positioned near the washing machine opening with red and blue cloths visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the cloths for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242074251174927, + 0.05553004890680313, + 0.08324044197797775, + -2.942821502685547, + -0.3104898929595947, + -0.12336895614862442 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot is positioned near the washing machine opening with red and blue cloths visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the cloths for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436793088912964, + 0.06235400587320328, + 0.08383721858263016, + -2.9476170539855957, + -0.3699153959751129, + -0.1317991316318512 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot is positioned near the washing machine opening with red and blue cloths visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the cloths for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move back 6 cm, move left 1 cm, move up 4 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35848021507263184, + 0.065218485891819, + 0.07331783324480057, + -2.9769861698150635, + -0.4194829761981964, + -0.13921134173870087 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening, directly in front of the red and blue clothes. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next action is to close the gripper to secure the clothes inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move back 10 cm, move left 1 cm, move up 2 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648309111595154, + 0.06417543441057205, + 0.05847148597240448, + -3.030296802520752, + -0.4346458911895752, + -0.13583092391490936 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening, directly in front of the red and blue clothes. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next action is to close the gripper to secure the clothes inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 13 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36759153008461, + 0.0662747398018837, + 0.057534560561180115, + -3.072814464569092, + -0.4376773536205292, + -0.09854736924171448 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening, directly in front of the red and blue clothes. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next action is to close the gripper to secure the clothes inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 13 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3678911030292511, + 0.06855443120002747, + 0.051458392292261124, + -3.112361431121826, + -0.44248437881469727, + -0.08588843792676926 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening, directly in front of the red and blue clothes. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next action is to close the gripper to secure the clothes inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 13 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3672274351119995, + 0.07169682532548904, + 0.05107837915420532, + -3.10833740234375, + -0.4343917965888977, + -0.058775436133146286 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening, directly in front of the red and blue clothes. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next action is to close the gripper to secure the clothes inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36385467648506165, + 0.07224203646183014, + 0.04924380034208298, + -3.0840141773223877, + -0.40343502163887024, + -0.042035989463329315 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening, directly in front of the red and blue clothes. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next action is to close the gripper to secure the clothes inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3615161180496216, + 0.07302257418632507, + 0.049982599914073944, + -3.0197184085845947, + -0.36745163798332214, + -0.026372116059064865 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening, directly in front of the red and blue clothes. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next action is to close the gripper to secure the clothes inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3597794473171234, + 0.07679805159568787, + 0.06004162132740021, + -2.9840011596679688, + -0.3734748959541321, + -0.01752648316323757 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot has grasped the red and blue clothes inside the washing machine drum. The gripper is closed around the fabric, and the arm is positioned to pull the clothes outward. The next action is to retract the arm to extract the clothes from the machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436144292354584, + 0.0793483555316925, + 0.08611194044351578, + -2.964900016784668, + -0.36188042163848877, + 0.06272682547569275 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot has grasped the red and blue clothes inside the washing machine drum. The gripper is closed around the fabric, and the arm is positioned to pull the clothes outward. The next action is to retract the arm to extract the clothes from the machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3075822591781616, + 0.07810128480195999, + 0.09490229189395905, + -2.9351015090942383, + -0.25109317898750305, + 0.18200217187404633 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot has grasped the red and blue clothes inside the washing machine drum. The gripper is closed around the fabric, and the arm is positioned to pull the clothes outward. The next action is to retract the arm to extract the clothes from the machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed; then move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26719751954078674, + 0.07876785099506378, + 0.0718969851732254, + -2.954258680343628, + -0.13383983075618744, + 0.253700852394104 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tool": [ + 804, + 636, + 994, + 797 + ] + } + } + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot has grasped the red and blue clothes inside the washing machine drum. The gripper is closed around the fabric, and the arm is positioned to pull the clothes outward. The next action is to retract the arm to extract the clothes from the machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed; then move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23306390643119812, + 0.08347069472074509, + 0.040901195257902145, + -2.9023401737213135, + -0.006684399675577879, + 0.279229998588562 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "basket": [ + 30, + 426, + 371, + 810 + ], + "tool": [ + 804, + 636, + 994, + 797 + ] + } + } + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "reposition over basket", + "subtask_reasoning": "The robot has grasped the red and blue clothes inside the washing machine drum. The gripper is closed around the fabric, and the arm is positioned to pull the clothes outward. The next action is to retract the arm to extract the clothes from the machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed; then move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21417662501335144, + 0.08891135454177856, + 0.01165870949625969, + -2.8935563564300537, + 0.06104185804724693, + 0.30736491084098816 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "reposition over basket", + "subtask_reasoning": "The robot has extracted the red and blue cloth from the washing machine and is currently holding it suspended above the white laundry basket. The gripper remains closed with no motion, indicating the cloth is securely held in position. The next action is to release the cloth into the basket to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21042361855506897, + 0.10018215328454971, + 0.003303847275674343, + -2.933779239654541, + 0.010235972702503204, + 0.33047717809677124 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "reposition over basket", + "subtask_reasoning": "The robot has extracted the red and blue cloth from the washing machine and is currently holding it suspended above the white laundry basket. The gripper remains closed with no motion, indicating the cloth is securely held in position. The next action is to release the cloth into the basket to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed; then move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20991016924381256, + 0.10907460004091263, + -0.015122774988412857, + -3.0159077644348145, + -0.09769498556852341, + 0.3433338701725006 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The robot has extracted the red and blue cloth from the washing machine and is currently holding it suspended above the white laundry basket. The gripper remains closed with no motion, indicating the cloth is securely held in position. The next action is to release the cloth into the basket to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.20925547182559967, + 0.11720580607652664, + -0.016455046832561493, + -3.0179407596588135, + -0.1353793889284134, + 0.3772429823875427 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The robot has extracted the red and blue cloth from the washing machine and is currently holding it suspended above the white laundry basket. The gripper remains closed with no motion, indicating the cloth is securely held in position. The next action is to release the cloth into the basket to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.20613034069538116, + 0.11303932219743729, + -0.017826100811362267, + -3.0620954036712646, + -0.11153192073106766, + 0.39352425932884216 + ], + "gripper_value": 0.2056351900100708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The robot arm is positioned over the white laundry basket with the red and blue cloth held in the gripper. The gripper is currently closed, retaining the clothes above the target container. The next action is to open the gripper to release the clothes into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.20529364049434662, + 0.11004994064569473, + -0.014293375425040722, + -3.0801992416381836, + -0.09316245466470718, + 0.4177130162715912 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The robot arm is positioned over the white laundry basket with the red and blue cloth held in the gripper. The gripper is currently closed, retaining the clothes above the target container. The next action is to open the gripper to release the clothes into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2066558599472046, + 0.10884517431259155, + -0.007412200793623924, + -3.070067882537842, + -0.05098341777920723, + 0.4103300869464874 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The robot arm is positioned over the white laundry basket with the red and blue cloth held in the gripper. The gripper is currently closed, retaining the clothes above the target container. The next action is to open the gripper to release the clothes into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21457792818546295, + 0.11083978414535522, + 0.022343363612890244, + -3.0303244590759277, + -0.07961418479681015, + 0.43989691138267517 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the red and blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry opening" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "reposition over basket" + }, + { + "id": 5, + "subtask": "release clothes into basket" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The robot arm is positioned over the white laundry basket with the red and blue cloth held in the gripper. The gripper is currently closed, retaining the clothes above the target container. The next action is to open the gripper to release the clothes into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003695_ecot.json b/cot/chunk-0003/episode_0003695_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4dcbfe16f6153bb528ba7fa4d041555bfc518b95 --- /dev/null +++ b/cot/chunk-0003/episode_0003695_ecot.json @@ -0,0 +1,2527 @@ +{ + "task_name": "episode_0003695", + "episode_json": "json/chunk-0003/episode_0003695.json", + "video_path": "videos/chunk-0003/image_0/episode_0003695.mp4", + "instruction": "Put the spoon on the orange pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003695.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.8790477514266968, + "std": 0.40800532698631287, + "delta_total": 0.0026679039001464844, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.87905, std=0.40801, total_delta=0.00267). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 230, + 230, + 230, + 230, + 230, + 230, + 30, + 30 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 29 + ], + [ + 5, + 30, + 35 + ], + [ + 6, + 36, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 12, \"planning\": \"Move the end-effector from initial position toward the white spoon on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"grasp spoon\", \"start\": 13, \"end\": 18, \"planning\": \"Close gripper around the spoon handle and secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition spoon\", \"start\": 19, \"end\": 29, \"planning\": \"Lift the spoon slightly and move it horizontally toward the orange pot while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place spoon in pot\", \"start\": 30, \"end\": 35, \"planning\": \"Lower the spoon into the orange pot and release grip to deposit it inside.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 36, \"end\": 37, \"planning\": \"Move end-effector away from the pot after releasing the spoon, completing the task.\"}\n ],\n \"global_plan\": \"Approach the spoon on the stovetop, grasp it securely, lift and reposition it over the orange pot, place it inside, then retreat to complete the task.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: no grasp before frame 13, confirmed grasp during frames 13-18, sustained hold through 29, release by 35, and clean retreat afterward. Frame coverage is contiguous and complete from 0 to 37.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 12, + "planning": "Move the end-effector from initial position toward the white spoon on the stovetop without grasping." + }, + { + "id": 2, + "name": "grasp spoon", + "start": 13, + "end": 18, + "planning": "Close gripper around the spoon handle and secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition spoon", + "start": 19, + "end": 29, + "planning": "Lift the spoon slightly and move it horizontally toward the orange pot while maintaining grip." + }, + { + "id": 4, + "name": "place spoon in pot", + "start": 30, + "end": 35, + "planning": "Lower the spoon into the orange pot and release grip to deposit it inside." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 36, + "end": 37, + "planning": "Move end-effector away from the pot after releasing the spoon, completing the task." + } + ], + "global_plan": "Approach the spoon on the stovetop, grasp it securely, lift and reposition it over the orange pot, place it inside, then retreat to complete the task.", + "notes": "Subtasks align with observed motion segments and gripper evidence: no grasp before frame 13, confirmed grasp during frames 13-18, sustained hold through 29, release by 35, and clean retreat afterward. Frame coverage is contiguous and complete from 0 to 37." + } + }, + "episode_goal": "Place the spoon inside the orange pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907828986644745, + 0.13484689593315125, + 0.09756222367286682, + -3.0710010528564453, + -0.22012165188789368, + 0.40330976247787476 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the spoon visible nearby on the surface. No contact or grasping has occurred yet, as the gripper remains open and distant from the spoon. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, move down 11 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28655943274497986, + 0.13183170557022095, + 0.08774188160896301, + -3.076822519302368, + -0.18400590121746063, + 0.39666277170181274 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the spoon visible nearby on the surface. No contact or grasping has occurred yet, as the gripper remains open and distant from the spoon. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 11 cm, move down 10 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2687361240386963, + 0.11383432149887085, + 0.08632582426071167, + -3.1064369678497314, + -0.15171241760253906, + 0.2588808834552765 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the spoon visible nearby on the surface. No contact or grasping has occurred yet, as the gripper remains open and distant from the spoon. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move down 10 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25540798902511597, + 0.09874686598777771, + 0.08525599539279938, + 3.134803295135498, + -0.12831847369670868, + 0.11957840621471405 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the spoon visible nearby on the surface. No contact or grasping has occurred yet, as the gripper remains open and distant from the spoon. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 10 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24687683582305908, + 0.07966944575309753, + 0.07019971311092377, + 3.106987476348877, + -0.10789018869400024, + -0.017929458990693092 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the spoon visible nearby on the surface. No contact or grasping has occurred yet, as the gripper remains open and distant from the spoon. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24676373600959778, + 0.061533618718385696, + 0.04970083013176918, + 3.125736713409424, + -0.05932096764445305, + -0.10144137591123581 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the spoon visible nearby on the surface. No contact or grasping has occurred yet, as the gripper remains open and distant from the spoon. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 6 cm, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23577111959457397, + 0.04405228793621063, + 0.028133828192949295, + 3.0925211906433105, + -0.0545777827501297, + -0.10085056722164154 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 634, + 498, + 993, + 989 + ], + "can": [ + 484, + 259, + 632, + 499 + ] + } + } + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, close gripper; then move back 2 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22730618715286255, + 0.034162476658821106, + 0.01809917762875557, + 3.0912082195281982, + -0.03684930130839348, + -0.1343994438648224 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22539328038692474, + 0.026093022897839546, + 0.01035095751285553, + 3.098456859588623, + -0.0477643758058548, + -0.12484844028949738 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 2 cm, move left 4 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22835873067378998, + 0.026207255199551582, + 0.0003657550550997257, + 3.1329758167266846, + -0.06257952749729156, + -0.11195008456707001 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 4 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2248072475194931, + 0.023597700521349907, + -0.009599111042916775, + 3.100724458694458, + -0.015108837746083736, + -0.11783648282289505 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 4 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22570660710334778, + 0.026048442348837852, + -0.010478631593286991, + 3.070814847946167, + -0.00889795646071434, + -0.1066371276974678 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22891874611377716, + 0.02904350496828556, + -0.011556088924407959, + 3.0489933490753174, + -0.008001361973583698, + -0.10250188410282135 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22889171540737152, + 0.029754897579550743, + -0.014256223104894161, + 3.0570499897003174, + -0.019240593537688255, + -0.09676282852888107 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22494924068450928, + 0.026436273008584976, + -0.012952595017850399, + 3.0371768474578857, + -0.00912315770983696, + -0.10840017348527908 + ], + "gripper_value": 0.21919596195220947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the white spoon lying next to the orange pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the spoon handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2162097841501236, + 0.017850236967206, + -0.011415157467126846, + 3.032982110977173, + -0.006551166996359825, + -0.14130249619483948 + ], + "gripper_value": 0.13340650498867035 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21041187644004822, + 0.018996287137269974, + 0.005533234216272831, + 3.007965326309204, + 0.030199628323316574, + -0.11217496544122696 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20674027502536774, + 0.03532656282186508, + 0.03218481317162514, + 3.0055058002471924, + 0.04721733182668686, + -0.054942503571510315 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20451034605503082, + 0.06570453941822052, + 0.0446946881711483, + 3.084700107574463, + 0.10303889960050583, + 0.04449926316738129 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 634, + 498, + 993, + 988 + ], + "can": [ + 484, + 258, + 633, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, keep gripper closed; then move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.1928257942199707, + 0.10347611457109451, + 0.051898352801799774, + -3.1379354000091553, + 0.13418647646903992, + 0.1109432503581047 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1794048249721527, + 0.13786780834197998, + 0.05631791427731514, + -3.0963563919067383, + 0.1615707129240036, + 0.1362161785364151 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 634, + 498, + 992, + 988 + ], + "can": [ + 484, + 258, + 633, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.17645655572414398, + 0.1581423282623291, + 0.057966023683547974, + -3.0440502166748047, + 0.2032730132341385, + 0.1489054411649704 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt forward 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.18470628559589386, + 0.16879798471927643, + 0.05260638892650604, + -3.0282201766967773, + 0.2778509259223938, + 0.17308737337589264 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.1899053007364273, + 0.16798239946365356, + 0.04712323099374771, + -3.0242393016815186, + 0.3311394453048706, + 0.19384056329727173 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is currently positioned above it with the gripper open. The gripper signal shows a significant closing trend within this segment, indicating the initiation of a grasp. The next action is to fully close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.1893686205148697, + 0.16886486113071442, + 0.04565562680363655, + -3.0143330097198486, + 0.34245604276657104, + 0.1860138326883316 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it above the stovetop. The spoon is positioned near the orange pot but not yet inside. The next action should be to move the spoon directly over and into the orange pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.1876838505268097, + 0.16762427985668182, + 0.04296818748116493, + -3.0260775089263916, + 0.41237226128578186, + 0.1775839924812317 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it above the stovetop. The spoon is positioned near the orange pot but not yet inside. The next action should be to move the spoon directly over and into the orange pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move forward 2 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.18668678402900696, + 0.16423523426055908, + 0.040775544941425323, + -3.034268856048584, + 0.45151737332344055, + 0.15369488298892975 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it above the stovetop. The spoon is positioned near the orange pot but not yet inside. The next action should be to move the spoon directly over and into the orange pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move forward 3 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.18751704692840576, + 0.16304145753383636, + 0.038901567459106445, + -3.0250561237335205, + 0.4558179974555969, + 0.1655886173248291 + ], + "gripper_value": 0.12176833301782608 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it above the stovetop. The spoon is positioned near the orange pot but not yet inside. The next action should be to move the spoon directly over and into the orange pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.1931256502866745, + 0.16258487105369568, + 0.036604300141334534, + -3.025507688522339, + 0.46370729804039, + 0.1869613528251648 + ], + "gripper_value": 0.146205335855484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it above the stovetop. The spoon is positioned near the orange pot but not yet inside. The next action should be to move the spoon directly over and into the orange pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.1953497976064682, + 0.16080611944198608, + 0.03273296728730202, + -3.015619993209839, + 0.47326990962028503, + 0.20682190358638763 + ], + "gripper_value": 0.35274967551231384 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it above the stovetop. The spoon is positioned near the orange pot but not yet inside. The next action should be to move the spoon directly over and into the orange pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.19630710780620575, + 0.1598760485649109, + 0.03273911029100418, + -3.021618366241455, + 0.4707257151603699, + 0.20382438600063324 + ], + "gripper_value": 0.5948979258537292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place spoon in pot", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it above the stovetop. The spoon is positioned near the orange pot but not yet inside. The next action should be to move the spoon directly over and into the orange pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.199955016374588, + 0.16011685132980347, + 0.036717530339956284, + -3.0409963130950928, + 0.47127196192741394, + 0.19220829010009766 + ], + "gripper_value": 0.8713903427124023 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place spoon in pot", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it above the stovetop. The spoon is positioned near the orange pot but not yet inside. The next action should be to move the spoon directly over and into the orange pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.20120473206043243, + 0.16045589745044708, + 0.04037942737340927, + -3.071065902709961, + 0.47036013007164, + 0.1886061131954193 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place spoon in pot", + "subtask_reasoning": "The spoon is currently positioned over the orange pot, with the gripper open and the spoon in contact with the pot's interior. The subtask of placing the spoon in the pot is nearly complete, as the spoon is already inside the pot. The next action should involve releasing the spoon to finalize its placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt back 30 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.20769228041172028, + 0.15825699269771576, + 0.04842834919691086, + -3.078301429748535, + 0.3235146105289459, + 0.1800287514925003 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place spoon in pot", + "subtask_reasoning": "The spoon is currently positioned over the orange pot, with the gripper open and the spoon in contact with the pot's interior. The subtask of placing the spoon in the pot is nearly complete, as the spoon is already inside the pot. The next action should involve releasing the spoon to finalize its placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 2 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21014389395713806, + 0.14961054921150208, + 0.06735940277576447, + -3.0819005966186523, + 0.10103700309991837, + 0.17653770744800568 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place spoon in pot", + "subtask_reasoning": "The spoon is currently positioned over the orange pot, with the gripper open and the spoon in contact with the pot's interior. The subtask of placing the spoon in the pot is nearly complete, as the spoon is already inside the pot. The next action should involve releasing the spoon to finalize its placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2173268347978592, + 0.13782639801502228, + 0.06926199793815613, + -3.129030704498291, + 0.02485281601548195, + 0.16522149741649628 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place spoon in pot", + "subtask_reasoning": "The spoon is currently positioned over the orange pot, with the gripper open and the spoon in contact with the pot's interior. The subtask of placing the spoon in the pot is nearly complete, as the spoon is already inside the pot. The next action should involve releasing the spoon to finalize its placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2219904363155365, + 0.11220242083072662, + 0.06544280797243118, + 3.1249496936798096, + -0.0030062017031013966, + 0.12300851941108704 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The spoon is already placed inside the orange pot, and the gripper is open and clear of the spoon. The robot has completed the placement and is now retreating from the pot area. The next action is to continue moving the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2316536158323288, + 0.09155023097991943, + 0.058207519352436066, + 3.132636070251465, + -0.009135457687079906, + 0.09244582802057266 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 484, + 258, + 632, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Place the spoon inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The spoon is already placed inside the orange pot, and the gripper is open and clear of the spoon. The robot has completed the placement and is now retreating from the pot area. The next action is to continue moving the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003696_ecot.json b/cot/chunk-0003/episode_0003696_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f9a1609337618191b38b358cac2ff1fbb8d85ada --- /dev/null +++ b/cot/chunk-0003/episode_0003696_ecot.json @@ -0,0 +1,1401 @@ +{ + "task_name": "episode_0003696", + "episode_json": "json/chunk-0003/episode_0003696.json", + "video_path": "videos/chunk-0003/image_0/episode_0003696.mp4", + "instruction": "Put pear on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003696.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.2902945876121521, + "std": 0.11391542106866837, + "delta_total": -0.2902945876121521, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.29029, std=0.11392, total_delta=-0.29029). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the pear location without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp pear\", \"start\": 5, \"end\": 12, \"planning\": \"Close gripper around pear and secure hold as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport pear\", \"start\": 13, \"end\": 17, \"planning\": \"Lift pear from sink area and move it toward plate while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place pear on plate\", \"start\": 18, \"end\": 20, \"planning\": \"Lower pear onto plate and release grip as shown by final gripper value and object placement in image.\"}\n ],\n \"global_plan\": \"Approach pear in sink, grasp it securely, lift and carry to plate, then place and release.\",\n \"notes\": \"Segment 1 shows no gripper closure — purely approach motion. Segment 2 shows meaningful gripper closure (delta=-0.29) and final frame confirms pear on plate with reduced gripper value, validating grasp-place sequence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the pear location without closing gripper." + }, + { + "id": 2, + "name": "grasp pear", + "start": 5, + "end": 12, + "planning": "Close gripper around pear and secure hold as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "lift and transport pear", + "start": 13, + "end": 17, + "planning": "Lift pear from sink area and move it toward plate while maintaining grip." + }, + { + "id": 4, + "name": "place pear on plate", + "start": 18, + "end": 20, + "planning": "Lower pear onto plate and release grip as shown by final gripper value and object placement in image." + } + ], + "global_plan": "Approach pear in sink, grasp it securely, lift and carry to plate, then place and release.", + "notes": "Segment 1 shows no gripper closure — purely approach motion. Segment 2 shows meaningful gripper closure (delta=-0.29) and final frame confirms pear on plate with reduced gripper value, validating grasp-place sequence." + } + }, + "episode_goal": "Place the green pear onto the yellow plate on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2440904825925827, + 0.1964636743068695, + 0.08293966203927994, + -2.880281925201416, + -0.08789395540952682, + 0.03441061079502106 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the yellow plate visible, while the green pear is located in the sink to the right. No objects have been interacted with yet as the gripper remains open. The robot needs to move its end-effector towards the sink to get closer to the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 22 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move right 17 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23929500579833984, + 0.18566861748695374, + 0.07886599749326706, + -2.892573595046997, + -0.02664005570113659, + 0.061417948454618454 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stove with the yellow plate visible, while the green pear is located in the sink to the right. No objects have been interacted with yet as the gripper remains open. The robot needs to move its end-effector towards the sink to get closer to the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 21 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 3 cm, move right 17 cm, move down 10 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24849073588848114, + 0.12636570632457733, + 0.12339700758457184, + -2.808190107345581, + -0.0162491574883461, + 0.09618782252073288 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is approaching the green pear located in the sink, with the yellow plate visible on the stove. No actions have been completed yet as the gripper remains open and no contact has been made. The next action should be to continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 15 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25080588459968567, + 0.07731205224990845, + 0.14964577555656433, + -2.747499704360962, + -0.036660268902778625, + 0.2150423228740692 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is approaching the green pear located in the sink, with the yellow plate visible on the stove. No actions have been completed yet as the gripper remains open and no contact has been made. The next action should be to continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 14 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25288230180740356, + 0.025922726839780807, + 0.1447913944721222, + -2.755319356918335, + -0.11929405480623245, + 0.3568221628665924 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is approaching the green pear located in the sink, with the yellow plate visible on the stove. No actions have been completed yet as the gripper remains open and no contact has been made. The next action should be to continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 14 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556922435760498, + -0.020565280690789223, + 0.12053350359201431, + -2.8007266521453857, + -0.12432776391506195, + 0.5192346572875977 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is approaching the green pear located in the sink, with the yellow plate visible on the stove. No actions have been completed yet as the gripper remains open and no contact has been made. The next action should be to continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2662707269191742, + -0.0671907290816307, + 0.09659907966852188, + -2.8624134063720703, + -0.1512131541967392, + 0.6045454740524292 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 128, + 156, + 335, + 344 + ], + "white bottle": [ + 851, + 442, + 965, + 638 + ], + "yellow pancake": [ + 321, + 453, + 549, + 673 + ], + "yellow banana": [ + 203, + 303, + 399, + 433 + ], + "toy corn": [ + 370, + 59, + 442, + 203 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is approaching the green pear located in the sink, with the yellow plate visible on the stove. No actions have been completed yet as the gripper remains open and no contact has been made. The next action should be to continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28289300203323364, + -0.10939919203519821, + 0.07391802966594696, + -2.892188549041748, + -0.16966404020786285, + 0.6706921458244324 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 129, + 156, + 335, + 344 + ], + "yellow banana": [ + 203, + 303, + 399, + 433 + ], + "yellow pancake": [ + 321, + 453, + 549, + 673 + ], + "toy corn": [ + 370, + 60, + 442, + 203 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is approaching the green pear located in the sink, with the yellow plate visible on the stove. No actions have been completed yet as the gripper remains open and no contact has been made. The next action should be to continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923256456851959, + -0.15665017068386078, + 0.05643747001886368, + -2.932210922241211, + -0.20991437137126923, + 0.8043184876441956 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear in the sink, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to make contact with the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.291003942489624, + -0.19852977991104126, + 0.04290992394089699, + -2.9610795974731445, + -0.22729657590389252, + 0.8185400366783142 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear in the sink, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to make contact with the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 3 cm, close gripper; then move back 1 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29386600852012634, + -0.1947818398475647, + 0.028819499537348747, + -3.0099000930786133, + -0.22009603679180145, + 0.835027277469635 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear in the sink, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to make contact with the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 3 cm, close gripper; then move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869873344898224, + -0.18722259998321533, + 0.02131774090230465, + -3.0227091312408447, + -0.21124564111232758, + 0.8257055878639221 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear in the sink, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to make contact with the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 3 cm, close gripper; then move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28392770886421204, + -0.17281298339366913, + 0.025892537087202072, + -2.9878811836242676, + -0.19332332909107208, + 0.8274052739143372 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear in the sink, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to make contact with the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 3 cm, close gripper; then move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810024321079254, + -0.15732353925704956, + 0.03525539115071297, + -2.9848532676696777, + -0.18659500777721405, + 0.8218294978141785 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot arm is positioned near the green pear in the sink, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to make contact with the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, close gripper; then move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.282889723777771, + -0.15170931816101074, + 0.022899534553289413, + -3.0280346870422363, + -0.2070014476776123, + 0.8005197048187256 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot arm is positioned near the green pear in the sink, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to make contact with the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, close gripper; then move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29070013761520386, + -0.15458545088768005, + 0.0035958662629127502, + -3.1106996536254883, + -0.2302519679069519, + 0.806467592716217 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot has grasped the green pear in the sink and is now lifting it upward. The gripper is closed and the arm is moving away from the sink toward the yellow plate on the stove. Next, continue transporting the pear horizontally toward the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915811538696289, + -0.15693752467632294, + -0.009092498570680618, + 3.118140459060669, + -0.21623529493808746, + 0.8210174441337585 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot has grasped the green pear in the sink and is now lifting it upward. The gripper is closed and the arm is moving away from the sink toward the yellow plate on the stove. Next, continue transporting the pear horizontally toward the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868176996707916, + -0.14758442342281342, + -0.009699176996946335, + 3.134782314300537, + -0.16072887182235718, + 0.8459609746932983 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot has grasped the green pear in the sink and is now lifting it upward. The gripper is closed and the arm is moving away from the sink toward the yellow plate on the stove. Next, continue transporting the pear horizontally toward the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716662287712097, + -0.1314484179019928, + 0.03315761685371399, + -2.987722635269165, + -0.13244760036468506, + 0.8388787508010864 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "place pear on plate", + "subtask_reasoning": "The robot has grasped the green pear in the sink and is now lifting it upward. The gripper is closed and the arm is moving away from the sink toward the yellow plate on the stove. Next, continue transporting the pear horizontally toward the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25741446018218994, + -0.09244222939014435, + 0.08264521509408951, + -2.780951738357544, + -0.13613484799861908, + 0.7976060509681702 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "place pear on plate", + "subtask_reasoning": "The green pear is currently held by the gripper directly above the yellow plate on the stove. The gripper remains open with no closing evidence in this segment, indicating the pear has not yet been released. The next action is to lower the pear onto the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24235990643501282, + -0.0493537038564682, + 0.12170124799013138, + -2.73551082611084, + -0.1703271120786667, + 0.6917461156845093 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 129, + 156, + 335, + 342 + ], + "white bottle": [ + 851, + 441, + 965, + 638 + ], + "toy corn": [ + 369, + 60, + 441, + 203 + ], + "yellow pancake": [ + 321, + 453, + 549, + 673 + ], + "yellow banana": [ + 203, + 303, + 399, + 433 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear onto the yellow plate on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "place pear on plate" + } + ], + "subtask_name": "place pear on plate", + "subtask_reasoning": "The green pear is currently held by the gripper directly above the yellow plate on the stove. The gripper remains open with no closing evidence in this segment, indicating the pear has not yet been released. The next action is to lower the pear onto the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003699_ecot.json b/cot/chunk-0003/episode_0003699_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2141dfe7c8e6520321909ec311ab1b5adc723738 --- /dev/null +++ b/cot/chunk-0003/episode_0003699_ecot.json @@ -0,0 +1,1877 @@ +{ + "task_name": "episode_0003699", + "episode_json": "json/chunk-0003/episode_0003699.json", + "video_path": "videos/chunk-0003/image_0/episode_0003699.mp4", + "instruction": "Move the cupcake and drop into the bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003699.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.4872317314147949, + "std": 0.20794576406478882, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.48723, std=0.20795, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 14 + ], + [ + 3, + 15, + 20 + ], + [ + 4, + 21, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cupcake\", \"start\": 0, \"end\": 2, \"planning\": \"Move the gripper toward the cupcake without closing, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp cupcake\", \"start\": 3, \"end\": 14, \"planning\": \"Close gripper around cupcake and secure hold as confirmed by gripper signal drop and visual alignment.\"},\n {\"id\": 3, \"name\": \"lift and reposition over bowl\", \"start\": 15, \"end\": 20, \"planning\": \"Lift cupcake slightly and move it horizontally toward the bowl while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release cupcake into bowl\", \"start\": 21, \"end\": 27, \"planning\": \"Open gripper to drop cupcake into bowl, then retreat slightly after release.\"}\n ],\n \"global_plan\": \"Approach the cupcake, grasp it securely, lift and reposition over the bowl, then release it to drop inside.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2–4; segment 1 shows no closing, so only approach is described. All motions align with observed keyframes and state transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cupcake", + "start": 0, + "end": 2, + "planning": "Move the gripper toward the cupcake without closing, positioning for contact." + }, + { + "id": 2, + "name": "grasp cupcake", + "start": 3, + "end": 14, + "planning": "Close gripper around cupcake and secure hold as confirmed by gripper signal drop and visual alignment." + }, + { + "id": 3, + "name": "lift and reposition over bowl", + "start": 15, + "end": 20, + "planning": "Lift cupcake slightly and move it horizontally toward the bowl while maintaining grip." + }, + { + "id": 4, + "name": "release cupcake into bowl", + "start": 21, + "end": 27, + "planning": "Open gripper to drop cupcake into bowl, then retreat slightly after release." + } + ], + "global_plan": "Approach the cupcake, grasp it securely, lift and reposition over the bowl, then release it to drop inside.", + "notes": "Gripper evidence confirms meaningful closing in segments 2–4; segment 1 shows no closing, so only approach is described. All motions align with observed keyframes and state transitions." + } + }, + "episode_goal": "Move the cupcake and drop it into the metal bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2701699733734131, + -0.0004568764998111874, + 0.07370259612798691, + -3.099522352218628, + -0.06963353604078293, + -0.13779644668102264 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "approach cupcake", + "subtask_reasoning": "The robot arm is positioned above the table, with the cupcake visible nearby and the metal bowl to the left. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the cupcake to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26848065853118896, + -0.0006128597888164222, + 0.0667322501540184, + -3.103912353515625, + -0.04229653999209404, + -0.13821475207805634 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "approach cupcake", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cupcake on the yellow napkin. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the arm and close the gripper to grasp the cupcake." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29365459084510803, + 0.02335592731833458, + 0.07528483122587204, + -3.1024105548858643, + -0.06815890967845917, + -0.05903675779700279 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "approach cupcake", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cupcake on the yellow napkin. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the arm and close the gripper to grasp the cupcake." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 12 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3280393183231354, + 0.06283129751682281, + 0.08241301774978638, + -3.0933971405029297, + -0.09352990239858627, + 0.05246077850461006 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 425, + 542, + 762, + 907 + ], + "wooden countertop": [ + 5, + 143, + 943, + 973 + ], + "metal strainer": [ + 114, + 279, + 333, + 549 + ], + "tomato sauce": [ + 639, + 40, + 784, + 298 + ], + "white brush": [ + 504, + 592, + 661, + 852 + ], + "black stand": [ + 315, + 8, + 557, + 394 + ], + "toy stove": [ + 673, + 177, + 996, + 994 + ], + "blue toy phone": [ + 491, + 1, + 673, + 236 + ], + "corn": [ + 768, + 130, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cupcake on the yellow napkin. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the arm and close the gripper to grasp the cupcake." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35294219851493835, + 0.09780658036470413, + 0.09011436998844147, + -3.0929746627807617, + -0.12511059641838074, + 0.15720632672309875 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cupcake on the yellow napkin. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the arm and close the gripper to grasp the cupcake." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36620211601257324, + 0.12979739904403687, + 0.08452636003494263, + -3.086890459060669, + -0.11143890023231506, + 0.239313542842865 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cupcake on the yellow napkin. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the arm and close the gripper to grasp the cupcake." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37018296122550964, + 0.14868351817131042, + 0.0704892948269844, + -3.0670952796936035, + -0.07788068801164627, + 0.2909977436065674 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cupcake on the yellow napkin. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the arm and close the gripper to grasp the cupcake." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.370441734790802, + 0.16047944128513336, + 0.06015060096979141, + -3.0504512786865234, + -0.05342661216855049, + 0.31747904419898987 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cupcake on the yellow napkin. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the arm and close the gripper to grasp the cupcake." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3741835653781891, + 0.17440247535705566, + 0.0457540899515152, + -3.05134916305542, + -0.017035890370607376, + 0.35121116042137146 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, tilt right 10 degrees, close gripper; then move back 8 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3804226517677307, + 0.17960329353809357, + 0.03758388012647629, + -3.0413668155670166, + -0.002344413660466671, + 0.36149704456329346 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, tilt right 10 degrees, close gripper; then move back 10 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38530901074409485, + 0.18261848390102386, + 0.02563333511352539, + -3.0284719467163086, + 0.02125595323741436, + 0.3678961992263794 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move right 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.387272447347641, + 0.1835923045873642, + 0.018410086631774902, + -3.019331455230713, + 0.03646118938922882, + 0.3783949911594391 + ], + "gripper_value": 0.939095675945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38882893323898315, + 0.18313373625278473, + 0.016530046239495277, + -3.021219253540039, + 0.023023605346679688, + 0.385633647441864 + ], + "gripper_value": 0.6991904973983765 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38617703318595886, + 0.1810770183801651, + 0.01582254469394684, + -3.0266644954681396, + 0.013628299348056316, + 0.38712140917778015 + ], + "gripper_value": 0.5511609315872192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3918655514717102, + 0.17615753412246704, + 0.01867155358195305, + -3.0733695030212402, + 0.001221987302415073, + 0.38803261518478394 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "grasp cupcake", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 11 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4091091752052307, + 0.17588290572166443, + 0.05078011006116867, + 3.102241277694702, + -0.08350820094347, + 0.4110855162143707 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "lift and reposition over bowl", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3962964415550232, + 0.1852317899465561, + 0.10667919367551804, + 3.0156190395355225, + -0.22367779910564423, + 0.47808149456977844 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 113, + 277, + 332, + 549 + ], + "yellow cloth": [ + 425, + 542, + 761, + 907 + ], + "white brush": [ + 501, + 590, + 662, + 854 + ], + "wooden countertop": [ + 5, + 154, + 936, + 969 + ], + "tomato sauce": [ + 638, + 40, + 783, + 298 + ], + "toy stove": [ + 674, + 175, + 996, + 994 + ], + "corn": [ + 768, + 129, + 920, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "lift and reposition over bowl", + "subtask_reasoning": "The robot has approached the cupcake and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cupcake securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 4 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36499688029289246, + 0.1756226271390915, + 0.10912013798952103, + 3.027193546295166, + -0.20261894166469574, + 0.4284752905368805 + ], + "gripper_value": 0.520771861076355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "lift and reposition over bowl", + "subtask_reasoning": "The robot has successfully grasped the cupcake and is currently lifting it above the counter. The next step involves repositioning the cupcake directly over the metal bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33022212982177734, + 0.16361142694950104, + 0.10697127133607864, + 3.0668797492980957, + -0.17542560398578644, + 0.3506065905094147 + ], + "gripper_value": 0.520771861076355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "lift and reposition over bowl", + "subtask_reasoning": "The robot has successfully grasped the cupcake and is currently lifting it above the counter. The next step involves repositioning the cupcake directly over the metal bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 2 cm, open gripper; then move back 2 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30925604701042175, + 0.15542246401309967, + 0.09558430314064026, + 3.0893375873565674, + -0.1444748044013977, + 0.31221964955329895 + ], + "gripper_value": 0.520771861076355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "lift and reposition over bowl", + "subtask_reasoning": "The robot has successfully grasped the cupcake and is currently lifting it above the counter. The next step involves repositioning the cupcake directly over the metal bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3032889664173126, + 0.14865049719810486, + 0.08610770106315613, + 3.119919776916504, + -0.11235202103853226, + 0.2878726124763489 + ], + "gripper_value": 0.6189444065093994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "lift and reposition over bowl", + "subtask_reasoning": "The robot has successfully grasped the cupcake and is currently lifting it above the counter. The next step involves repositioning the cupcake directly over the metal bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30388322472572327, + 0.14760896563529968, + 0.08547529578208923, + -3.1343183517456055, + -0.10615156590938568, + 0.2891181409358978 + ], + "gripper_value": 0.803636372089386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "release cupcake into bowl", + "subtask_reasoning": "The robot has successfully grasped the cupcake and is currently lifting it above the counter. The next step involves repositioning the cupcake directly over the metal bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30244502425193787, + 0.14702019095420837, + 0.08121683448553085, + -3.135044574737549, + -0.08592131733894348, + 0.30243250727653503 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "release cupcake into bowl", + "subtask_reasoning": "The robot has successfully grasped the cupcake and is currently lifting it above the counter. The next step involves repositioning the cupcake directly over the metal bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037153482437134, + 0.141707643866539, + 0.08078654110431671, + -3.1306302547454834, + -0.07902337610721588, + 0.28253448009490967 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "release cupcake into bowl", + "subtask_reasoning": "The robot has successfully grasped the cupcake and is currently lifting it above the counter. The next step involves repositioning the cupcake directly over the metal bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981748580932617, + 0.1314534693956375, + 0.07338812202215195, + -3.129096746444702, + -0.04461757466197014, + 0.2544870376586914 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "release cupcake into bowl", + "subtask_reasoning": "The cupcake is already inside the metal bowl, indicating the release action has been completed. The gripper is open and positioned above the bowl, confirming the object has been dropped. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.294133722782135, + 0.10904240608215332, + 0.07678210735321045, + -3.131721258163452, + -0.05123087391257286, + 0.18921257555484772 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "release cupcake into bowl", + "subtask_reasoning": "The cupcake is already inside the metal bowl, indicating the release action has been completed. The gripper is open and positioned above the bowl, confirming the object has been dropped. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28796663880348206, + 0.08704032748937607, + 0.07537879794836044, + -3.130272388458252, + -0.04320564121007919, + 0.12323317676782608 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "release cupcake into bowl", + "subtask_reasoning": "The cupcake is already inside the metal bowl, indicating the release action has been completed. The gripper is open and positioned above the bowl, confirming the object has been dropped. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28121787309646606, + 0.0655304566025734, + 0.07691601663827896, + -3.124044895172119, + -0.051572803407907486, + 0.0630612000823021 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 114, + 303, + 325, + 551 + ], + "yellow cloth": [ + 426, + 542, + 761, + 907 + ], + "white brush": [ + 504, + 589, + 663, + 852 + ], + "wooden countertop": [ + 5, + 154, + 936, + 973 + ], + "tomato sauce": [ + 638, + 41, + 783, + 299 + ], + "black stand": [ + 218, + 11, + 466, + 451 + ], + "blue toy phone": [ + 395, + 1, + 674, + 236 + ], + "toy stove": [ + 674, + 175, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the cupcake and drop it into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cupcake" + }, + { + "id": 2, + "subtask": "grasp cupcake" + }, + { + "id": 3, + "subtask": "lift and reposition over bowl" + }, + { + "id": 4, + "subtask": "release cupcake into bowl" + } + ], + "subtask_name": "release cupcake into bowl", + "subtask_reasoning": "The cupcake is already inside the metal bowl, indicating the release action has been completed. The gripper is open and positioned above the bowl, confirming the object has been dropped. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003700_ecot.json b/cot/chunk-0003/episode_0003700_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ff0dc18c71792f375f0fe403bc5b1eeaa8a41e --- /dev/null +++ b/cot/chunk-0003/episode_0003700_ecot.json @@ -0,0 +1,1922 @@ +{ + "task_name": "episode_0003700", + "episode_json": "json/chunk-0003/episode_0003700.json", + "video_path": "videos/chunk-0003/image_0/episode_0003700.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003700.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013307929039001465, + "std": 0.00040079004247672856, + "delta_total": 0.000666201114654541, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00040, total_delta=0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the drawer handle without grasping, as gripper remains open throughout this segment.\"},\n {\"id\": 2, \"name\": \"make contact and push drawer closed\", \"start\": 12, \"end\": 34, \"planning\": \"Establish contact with drawer front and apply continuous pushing force to close it, maintaining open gripper configuration as no grasp occurs.\"}\n ],\n \"global_plan\": \"Close the drawer by first approaching the handle region, then making direct contact with the drawer front and pushing it shut without any grasping action.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in either segment; all motion is contact-based pushing. Segment boundaries from proprio-motion clustering are preserved as they align with distinct manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the drawer handle without grasping, as gripper remains open throughout this segment." + }, + { + "id": 2, + "name": "make contact and push drawer closed", + "start": 12, + "end": 34, + "planning": "Establish contact with drawer front and apply continuous pushing force to close it, maintaining open gripper configuration as no grasp occurs." + } + ], + "global_plan": "Close the drawer by first approaching the handle region, then making direct contact with the drawer front and pushing it shut without any grasping action.", + "notes": "Gripper evidence confirms no meaningful closing in either segment; all motion is contact-based pushing. Segment boundaries from proprio-motion clustering are preserved as they align with distinct manipulation phases." + } + }, + "episode_goal": "Close the red drawer of the toy cabinet.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640575170516968, + -0.021292073652148247, + 0.17668525874614716, + 3.044581651687622, + -0.15492819249629974, + -0.19560621678829193 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the red drawer with the gripper open, approaching the handle region. No contact has been made yet, and the drawer remains open. The next action is to move the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26497092843055725, + -0.020882869139313698, + 0.16899313032627106, + 3.0385854244232178, + -0.12716174125671387, + -0.18698900938034058 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the red drawer with the gripper open, approaching the handle region. No contact has been made yet, and the drawer remains open. The next action is to move the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28257399797439575, + -0.033741965889930725, + 0.13450360298156738, + 3.021357536315918, + -0.04680022597312927, + -0.18355333805084229 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the red drawer with the gripper open, approaching the handle region. No contact has been made yet, and the drawer remains open. The next action is to move the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30209144949913025, + -0.05242180824279785, + 0.09733844548463821, + 3.017573118209839, + -0.01719317026436329, + -0.16807162761688232 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 656, + 779, + 874, + 964 + ], + "yellow toy": [ + 635, + 510, + 739, + 638 + ], + "handle": [ + 339, + 556, + 565, + 787 + ], + "table": [ + 4, + 209, + 995, + 995 + ], + "background table": [ + 173, + 4, + 995, + 324 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the red drawer with the gripper open, approaching the handle region. No contact has been made yet, and the drawer remains open. The next action is to move the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081791400909424, + -0.055904049426317215, + 0.09042181819677353, + 3.0183448791503906, + -0.042764823883771896, + -0.14495399594306946 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the red drawer with the gripper open, approaching the handle region. No contact has been made yet, and the drawer remains open. The next action is to move the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30913349986076355, + -0.05739440396428108, + 0.08358920365571976, + 3.0098578929901123, + -0.03495444729924202, + -0.1596822738647461 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer's handle with the gripper open, indicating no grasp has occurred. The arm is in the approach phase, aligning with the handle region to prepare for contact. The next action is to move the end-effector forward to make direct contact with the drawer front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080853521823883, + -0.05793270468711853, + 0.08345209807157516, + 3.00579833984375, + -0.03333250805735588, + -0.16683495044708252 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer's handle with the gripper open, indicating no grasp has occurred. The arm is in the approach phase, aligning with the handle region to prepare for contact. The next action is to move the end-effector forward to make direct contact with the drawer front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30398234724998474, + -0.0486711822450161, + 0.08949681371450424, + 3.006774425506592, + -0.01799321174621582, + -0.16625146567821503 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer's handle with the gripper open, indicating no grasp has occurred. The arm is in the approach phase, aligning with the handle region to prepare for contact. The next action is to move the end-effector forward to make direct contact with the drawer front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 4 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3027374744415283, + -0.03509707748889923, + 0.08740965276956558, + 3.0148887634277344, + -0.020963599905371666, + -0.10915360599756241 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer's handle with the gripper open, indicating no grasp has occurred. The arm is in the approach phase, aligning with the handle region to prepare for contact. The next action is to move the end-effector forward to make direct contact with the drawer front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3002484440803528, + -0.02153845690190792, + 0.07710497081279755, + 3.038518190383911, + -0.027055224403738976, + -0.055662475526332855 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 657, + 779, + 874, + 964 + ], + "yellow toy": [ + 620, + 514, + 738, + 638 + ], + "table": [ + 4, + 211, + 996, + 995 + ], + "background table": [ + 172, + 11, + 995, + 325 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer's handle with the gripper open, indicating no grasp has occurred. The arm is in the approach phase, aligning with the handle region to prepare for contact. The next action is to move the end-effector forward to make direct contact with the drawer front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3025270402431488, + -0.008954435586929321, + 0.07571221143007278, + 3.0721628665924072, + -0.04137951508164406, + -0.035720955580472946 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer's handle with the gripper open, indicating no grasp has occurred. The arm is in the approach phase, aligning with the handle region to prepare for contact. The next action is to move the end-effector forward to make direct contact with the drawer front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 8 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30144643783569336, + -0.002306579379364848, + 0.07521208375692368, + 3.1136062145233154, + -0.03048424795269966, + -0.030512217432260513 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer's handle with the gripper open, indicating no grasp has occurred. The arm is in the approach phase, aligning with the handle region to prepare for contact. The next action is to move the end-effector forward to make direct contact with the drawer front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30503782629966736, + 0.0053077456541359425, + 0.08028263598680496, + -3.121485948562622, + -0.034609824419021606, + -0.03202176094055176 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot is positioned near the red drawer's handle with the gripper open, indicating no grasp has occurred. The arm is in the approach phase, aligning with the handle region to prepare for contact. 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The next action is to push the drawer front directly to close it without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move up 7 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29691240191459656, + 0.05604943260550499, + 0.08923537284135818, + -2.8713948726654053, + -0.04055894911289215, + -0.05886625871062279 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the red drawer handle, having completed the approach phase. The gripper remains open with minimal movement, indicating no grasping has occurred. The next action is to push the drawer front directly to close it without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2920653522014618, + 0.04469276964664459, + 0.0903291180729866, + -2.917666435241699, + -0.016400404274463654, + -0.061438001692295074 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the red drawer handle, having completed the approach phase. The gripper remains open with minimal movement, indicating no grasping has occurred. The next action is to push the drawer front directly to close it without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29159319400787354, + 0.030149970203638077, + 0.09654799848794937, + -2.984260082244873, + 0.002032217802479863, + -0.06983108073472977 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the red drawer handle, having completed the approach phase. The gripper remains open with minimal movement, indicating no grasping has occurred. The next action is to push the drawer front directly to close it without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2827083468437195, + 0.015284630469977856, + 0.12412089854478836, + -3.0732476711273193, + -0.0590427927672863, + -0.09907860308885574 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the red drawer handle, having completed the approach phase. The gripper remains open with minimal movement, indicating no grasping has occurred. The next action is to push the drawer front directly to close it without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2700241804122925, + 0.009037354961037636, + 0.14190350472927094, + -3.117971420288086, + -0.11462698131799698, + -0.09069491922855377 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the toy cabinet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the red drawer handle, having completed the approach phase. The gripper remains open with minimal movement, indicating no grasping has occurred. The next action is to push the drawer front directly to close it without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003701_ecot.json b/cot/chunk-0003/episode_0003701_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3f886ac78fe8c8727d3295a6e90d2295cee6f865 --- /dev/null +++ b/cot/chunk-0003/episode_0003701_ecot.json @@ -0,0 +1,1304 @@ +{ + "task_name": "episode_0003701", + "episode_json": "json/chunk-0003/episode_0003701.json", + "video_path": "videos/chunk-0003/image_0/episode_0003701.mp4", + "instruction": "Put cap on container.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003701.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.1378309726715088, + "std": 0.05920683220028877, + "delta_total": -0.11937618255615234, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.13783, std=0.05921, total_delta=-0.11938). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cap\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the red cap on the counter while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp cap\", \"start\": 5, \"end\": 10, \"planning\": \"Close gripper around the red cap as confirmed by segment-level closing evidence and visual alignment.\"},\n {\"id\": 3, \"name\": \"lift and reposition cap\", \"start\": 11, \"end\": 15, \"planning\": \"Lift the grasped cap and move it toward the container location without further gripper motion.\"},\n {\"id\": 4, \"name\": \"place cap on container\", \"start\": 16, \"end\": 19, \"planning\": \"Lower the cap onto the container opening and release contact to complete placement.\"}\n ],\n \"global_plan\": \"Approach the red cap, grasp it using confirmed gripper closure, lift and transport it to the container, then place it securely on top.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.13783) consistent with grasping; Segment 2 has negligible gripper change (range=0.00087), so no grasp/place verbs are used there — instead, motion is described as repositioning and placing via contact release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cap", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the red cap on the counter while keeping gripper open." + }, + { + "id": 2, + "name": "grasp cap", + "start": 5, + "end": 10, + "planning": "Close gripper around the red cap as confirmed by segment-level closing evidence and visual alignment." + }, + { + "id": 3, + "name": "lift and reposition cap", + "start": 11, + "end": 15, + "planning": "Lift the grasped cap and move it toward the container location without further gripper motion." + }, + { + "id": 4, + "name": "place cap on container", + "start": 16, + "end": 19, + "planning": "Lower the cap onto the container opening and release contact to complete placement." + } + ], + "global_plan": "Approach the red cap, grasp it using confirmed gripper closure, lift and transport it to the container, then place it securely on top.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.13783) consistent with grasping; Segment 2 has negligible gripper change (range=0.00087), so no grasp/place verbs are used there — instead, motion is described as repositioning and placing via contact release." + } + }, + "episode_goal": "Place the red cap onto the clear container in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38120126724243164, + 0.059111014008522034, + 0.04232293367385864, + 2.946157217025757, + 0.009392169304192066, + 0.04358164221048355 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the sink, with the red cap visible on the counter nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3781060576438904, + 0.05913851037621498, + 0.02583904378116131, + 2.9409334659576416, + 0.04301336407661438, + 0.04721985012292862 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red chili pepper": [ + 256, + 402, + 410, + 512 + ], + "lemon": [ + 282, + 552, + 363, + 651 + ], + "jar": [ + 135, + 349, + 250, + 573 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the sink, with the red cap visible on the counter nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.38385728001594543, + 0.06118306145071983, + 0.020432207733392715, + 2.9552817344665527, + 0.01343027874827385, + 0.05812157317996025 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the red cap visible on the counter nearby. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38688865303993225, + 0.06108703464269638, + 0.013609709218144417, + 2.960076332092285, + 0.003780396655201912, + 0.06772094964981079 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the red cap visible on the counter nearby. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move back 3 cm, move left 4 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39122873544692993, + 0.061273057013750076, + 0.013452901504933834, + 2.966831922531128, + -0.020908499136567116, + 0.07844951748847961 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the red cap visible on the counter nearby. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move back 4 cm, move left 4 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39671194553375244, + 0.06267914175987244, + 0.011504835449159145, + 2.9794843196868896, + -0.04884986951947212, + 0.09003051370382309 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the red cap visible on the counter nearby. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move back 5 cm, move left 5 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.403740793466568, + 0.06193246692419052, + 0.0019052610732614994, + 2.992249011993408, + -0.04956956207752228, + 0.10628493130207062 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the red cap visible on the counter nearby. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, close gripper; then move back 6 cm, move left 6 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4137278199195862, + 0.06159866228699684, + 0.0005080723785795271, + 3.00524640083313, + -0.06252709031105042, + 0.1268644630908966 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot has approached the red cap in the sink, and the gripper is now in contact with it. Segment-level gripper evidence indicates a closing motion consistent with grasping. The next action is to confirm grip closure before lifting the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.42040252685546875, + 0.0596640519797802, + 0.0001918453781399876, + 3.012909173965454, + -0.07622335106134415, + 0.14256729185581207 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot has approached the red cap in the sink, and the gripper is now in contact with it. Segment-level gripper evidence indicates a closing motion consistent with grasping. The next action is to confirm grip closure before lifting the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.42628538608551025, + 0.058555200695991516, + 6.52369053568691e-05, + 3.010509967803955, + -0.08484392613172531, + 0.15534953773021698 + ], + "gripper_value": 0.8669703602790833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot has approached the red cap in the sink, and the gripper is now in contact with it. Segment-level gripper evidence indicates a closing motion consistent with grasping. The next action is to confirm grip closure before lifting the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.41548410058021545, + 0.06016325578093529, + -0.0009096110006794333, + 2.993626117706299, + -0.05065156891942024, + 0.11413263529539108 + ], + "gripper_value": 0.8643063306808472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot has approached the red cap in the sink, and the gripper is now in contact with it. Segment-level gripper evidence indicates a closing motion consistent with grasping. The next action is to confirm grip closure before lifting the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, keep gripper closed; then move back 6 cm, move left 6 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3901323974132538, + 0.067391037940979, + 0.0015868913615122437, + 2.966888904571533, + 0.023102736100554466, + 0.04872465133666992 + ], + "gripper_value": 0.8818928003311157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The robot has approached the red cap in the sink, and the gripper is now in contact with it. Segment-level gripper evidence indicates a closing motion consistent with grasping. The next action is to confirm grip closure before lifting the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3700539171695709, + 0.08590666949748993, + 0.0155143728479743, + 2.9312262535095215, + 0.08668012171983719, + -0.00498466519638896 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The robot has approached the red cap in the sink, and the gripper is now in contact with it. Segment-level gripper evidence indicates a closing motion consistent with grasping. The next action is to confirm grip closure before lifting the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35798022150993347, + 0.10332592576742172, + 0.02048889733850956, + 2.9245619773864746, + 0.11501537263393402, + -0.03498513996601105 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red chili pepper": [ + 256, + 403, + 410, + 513 + ], + "lemon": [ + 282, + 553, + 363, + 651 + ], + "red cup": [ + 67, + 303, + 145, + 403 + ], + "green cabbage": [ + 504, + 152, + 630, + 296 + ], + "jar": [ + 135, + 350, + 250, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The red cap is currently grasped and lifted above the sink area, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating stable hold during repositioning. The next action is to move the cap directly over the clear container for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3499349355697632, + 0.1120239794254303, + 0.018915552645921707, + 2.92852783203125, + 0.1314629763364792, + -0.07984062284231186 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The red cap is currently grasped and lifted above the sink area, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating stable hold during repositioning. The next action is to move the cap directly over the clear container for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412014842033386, + 0.11854086816310883, + 0.024521784856915474, + 2.930866241455078, + 0.14301523566246033, + -0.12131572514772415 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The red cap is currently grasped and lifted above the sink area, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating stable hold during repositioning. The next action is to move the cap directly over the clear container for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3348400890827179, + 0.12853409349918365, + 0.03746059164404869, + 2.9670023918151855, + 0.1315285712480545, + -0.15093959867954254 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently grasped and lifted above the sink area, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating stable hold during repositioning. The next action is to move the cap directly over the clear container for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32831811904907227, + 0.13738057017326355, + 0.036484699696302414, + 2.9880359172821045, + 0.15778081119060516, + -0.17856578528881073 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently held above the clear container in the sink, aligned for placement. The gripper remains open and stable with no closing motion, indicating the cap is not yet released. The next action should be to lower the cap slightly and release it onto the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3211190700531006, + 0.1442049741744995, + 0.03309624642133713, + 2.9843239784240723, + 0.16852812469005585, + -0.20577329397201538 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently held above the clear container in the sink, aligned for placement. The gripper remains open and stable with no closing motion, indicating the cap is not yet released. The next action should be to lower the cap slightly and release it onto the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.319823682308197, + 0.15143008530139923, + 0.029619649052619934, + 3.0007944107055664, + 0.15316128730773926, + -0.22063244879245758 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently held above the clear container in the sink, aligned for placement. The gripper remains open and stable with no closing motion, indicating the cap is not yet released. The next action should be to lower the cap slightly and release it onto the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003702_ecot.json b/cot/chunk-0003/episode_0003702_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c2779ef91a1dba83d970a87b75c554a06c1362f8 --- /dev/null +++ b/cot/chunk-0003/episode_0003702_ecot.json @@ -0,0 +1,1332 @@ +{ + "task_name": "episode_0003702", + "episode_json": "json/chunk-0003/episode_0003702.json", + "video_path": "videos/chunk-0003/image_0/episode_0003702.mp4", + "instruction": "Put a napkin in between the mushroom and the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003702.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019888877868652344, + "std": 0.0008192081586457789, + "delta_total": -0.0019888877868652344, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00082, total_delta=-0.00199). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 2 + ], + [ + 3, + 3, + 17 + ], + [ + 4, + 18, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach napkin\", \"start\": 0, \"end\": 2, \"planning\": \"Move the gripper toward the napkin located near the microwave.\"},\n {\"id\": 2, \"name\": \"make contact with napkin\", \"start\": 3, \"end\": 10, \"planning\": \"Lower and adjust gripper to establish stable contact with the napkin surface.\"},\n {\"id\": 3, \"name\": \"slide napkin toward target zone\", \"start\": 11, \"end\": 17, \"planning\": \"Drag the napkin across the table toward the space between the mushroom and the pot.\"},\n {\"id\": 4, \"name\": \"reposition and release contact\", \"start\": 18, \"end\": 19, \"planning\": \"Fine-tune napkin position and withdraw gripper without lifting or grasping.\"}\n ],\n \"global_plan\": \"The robot approaches the napkin, makes contact, slides it into position between the mushroom and the pot, then releases contact without grasping or lifting at any point.\",\n \"notes\": \"Gripper evidence shows no meaningful closing in any segment; all actions are contact-based (approach, slide, reposition) with no grasp, lift, or place inferred. Frame coverage is complete and contiguous from 0 to 19.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach napkin", + "start": 0, + "end": 2, + "planning": "Move the gripper toward the napkin located near the microwave." + }, + { + "id": 2, + "name": "make contact with napkin", + "start": 3, + "end": 10, + "planning": "Lower and adjust gripper to establish stable contact with the napkin surface." + }, + { + "id": 3, + "name": "slide napkin toward target zone", + "start": 11, + "end": 17, + "planning": "Drag the napkin across the table toward the space between the mushroom and the pot." + }, + { + "id": 4, + "name": "reposition and release contact", + "start": 18, + "end": 19, + "planning": "Fine-tune napkin position and withdraw gripper without lifting or grasping." + } + ], + "global_plan": "The robot approaches the napkin, makes contact, slides it into position between the mushroom and the pot, then releases contact without grasping or lifting at any point.", + "notes": "Gripper evidence shows no meaningful closing in any segment; all actions are contact-based (approach, slide, reposition) with no grasp, lift, or place inferred. Frame coverage is complete and contiguous from 0 to 19." + } + }, + "episode_goal": "Place the napkin between the mushroom and the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.43491479754447937, + -0.054788947105407715, + 0.027696577832102776, + -3.1343612670898438, + -0.13828516006469727, + 0.50302654504776 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the napkin, mushroom, and pot visible. No actions have been completed yet. The robot is currently approaching the napkin to begin sliding it into position. The next action is to move closer to the napkin to make contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 8 cm, move left 7 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4327327013015747, + -0.05573626607656479, + 0.01491831336170435, + -3.1234614849090576, + -0.11122563481330872, + 0.5007304549217224 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the counter with the napkin, mushroom, and pot visible. No actions have been completed yet. The robot is currently approaching the napkin to begin sliding it into position. The next action is to move the end effector closer to the napkin to make contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 9 cm, move left 8 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.43529215455055237, + -0.05790461599826813, + 0.013273193500936031, + 3.135113000869751, + -0.09191284328699112, + 0.4955558478832245 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the counter with the napkin, mushroom, and pot visible. No actions have been completed yet. The robot is currently approaching the napkin to begin sliding it into position. The next action is to move the end effector closer to the napkin to make contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 9 cm, move left 8 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.44057944416999817, + -0.056935399770736694, + 0.011996525339782238, + -3.135800838470459, + -0.10146434605121613, + 0.4915841817855835 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot is positioned above the counter with the napkin, mushroom, and pot visible. No actions have been completed yet. The robot is currently approaching the napkin to begin sliding it into position. The next action is to move the end effector closer to the napkin to make contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 8 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 5 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.440195769071579, + -0.056692689657211304, + 0.010014709085226059, + -3.1286394596099854, + -0.1011802926659584, + 0.48845598101615906 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot is positioned above the counter with the napkin, mushroom, and pot visible. No actions have been completed yet. The robot is currently approaching the napkin to begin sliding it into position. The next action is to move the end effector closer to the napkin to make contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 8 cm, rotate clockwise 20 degrees, keep gripper open; then move back 6 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.43014875054359436, + -0.053999148309230804, + 0.008581480011343956, + -3.1306660175323486, + -0.11340034753084183, + 0.50588458776474 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot is positioned above the counter with the napkin, mushroom, and pot visible. No actions have been completed yet. The robot is currently approaching the napkin to begin sliding it into position. The next action is to move the end effector closer to the napkin to make contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41986900568008423, + -0.04847816005349159, + 0.008158748038113117, + -3.1238999366760254, + -0.12300165742635727, + 0.5229243636131287 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the napkin and is now in contact with it on the table, positioned near the mushroom and pot. No grasping has occurred as per gripper evidence. The next action is to slide the napkin toward the space between the mushroom and the pot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.40444979071617126, + -0.034614186733961105, + 0.00734046520665288, + -3.1105713844299316, + -0.10666875541210175, + 0.5686200857162476 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white mushroom object": [ + 501, + 604, + 688, + 860 + ], + "metal bowl": [ + 83, + 309, + 312, + 575 + ], + "blue cloth": [ + 555, + 320, + 845, + 517 + ], + "blue toy phone": [ + 503, + 2, + 681, + 236 + ], + "tomato sauce": [ + 779, + 124, + 927, + 335 + ], + "toy stove": [ + 697, + 176, + 995, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the napkin and is now in contact with it on the table, positioned near the mushroom and pot. No grasping has occurred as per gripper evidence. The next action is to slide the napkin toward the space between the mushroom and the pot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3916599154472351, + -0.023319153115153313, + 0.006818651687353849, + -3.1017284393310547, + -0.0948401689529419, + 0.6144277453422546 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the napkin and is now in contact with it on the table, positioned near the mushroom and pot. No grasping has occurred as per gripper evidence. The next action is to slide the napkin toward the space between the mushroom and the pot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38335034251213074, + -0.011455819942057133, + 0.0052676452323794365, + -3.097693681716919, + -0.08786503225564957, + 0.6570281982421875 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the napkin and is now in contact with it on the table, positioned near the mushroom and pot. No grasping has occurred as per gripper evidence. The next action is to slide the napkin toward the space between the mushroom and the pot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643088638782501, + 0.010529033839702606, + 0.004192104563117027, + -3.0970957279205322, + -0.0657569169998169, + 0.7278090715408325 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the napkin and is now in contact with it on the table, positioned near the mushroom and pot. No grasping has occurred as per gripper evidence. The next action is to slide the napkin toward the space between the mushroom and the pot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34825119376182556, + 0.02559521049261093, + 0.005214784760028124, + -3.0856029987335205, + -0.07343610376119614, + 0.7644799947738647 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide napkin toward target zone", + "subtask_reasoning": "The robot has approached the napkin and is now in contact with it on the table, positioned near the mushroom and pot. No grasping has occurred as per gripper evidence. The next action is to slide the napkin toward the space between the mushroom and the pot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3262406587600708, + 0.039418336004018784, + 0.005614113993942738, + -3.069878101348877, + -0.07951594889163971, + 0.7868348360061646 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide napkin toward target zone", + "subtask_reasoning": "The robot has approached the napkin and is now in contact with it on the table, positioned near the mushroom and pot. No grasping has occurred as per gripper evidence. The next action is to slide the napkin toward the space between the mushroom and the pot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2997018098831177, + 0.04703008756041527, + 0.006375201046466827, + -3.053849935531616, + -0.08978694677352905, + 0.7889959216117859 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide napkin toward target zone", + "subtask_reasoning": "The robot has approached the napkin and is now in contact with it on the table, positioned near the mushroom and pot. No grasping has occurred as per gripper evidence. The next action is to slide the napkin toward the space between the mushroom and the pot while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28446370363235474, + 0.047781504690647125, + 0.0062307314947247505, + -3.039515256881714, + -0.08951359242200851, + 0.7755204439163208 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide napkin toward target zone", + "subtask_reasoning": "The robot is in contact with the napkin on the table, positioned between the pot and the mushroom. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the napkin further toward the target zone between the objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2691951394081116, + 0.045423418283462524, + 0.007136018946766853, + -3.041804552078247, + -0.07856075465679169, + 0.7649125456809998 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide napkin toward target zone", + "subtask_reasoning": "The robot is in contact with the napkin on the table, positioned between the pot and the mushroom. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the napkin further toward the target zone between the objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27052927017211914, + 0.04524470865726471, + 0.0069013903848826885, + -3.042973279953003, + -0.07693122327327728, + 0.7628458142280579 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide napkin toward target zone", + "subtask_reasoning": "The robot is in contact with the napkin on the table, positioned between the pot and the mushroom. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the napkin further toward the target zone between the objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27484461665153503, + 0.04315931722521782, + 0.008620452135801315, + -3.0512986183166504, + -0.06209196150302887, + 0.766302764415741 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide napkin toward target zone", + "subtask_reasoning": "The robot is in contact with the napkin on the table, positioned between the pot and the mushroom. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the napkin further toward the target zone between the objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28499624133110046, + 0.03373821824789047, + 0.03494865819811821, + 3.132844924926758, + -0.10451455414295197, + 0.7542001605033875 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The napkin is currently positioned between the mushroom and the pot, with the robot's end-effector maintaining contact on top of it. Since the gripper evidence shows no closing action, the robot is sliding or holding the napkin in place rather than grasping it. The next logical step is to release contact by lifting the end-effector away, leaving the napkin correctly situated." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2935313582420349, + 0.02533661015331745, + 0.05656232684850693, + 3.05397629737854, + -0.1599355787038803, + 0.7346527576446533 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 84, + 307, + 308, + 574 + ], + "white mushroom object": [ + 501, + 605, + 688, + 861 + ], + "blue cloth": [ + 277, + 424, + 597, + 740 + ], + "tomato sauce": [ + 657, + 29, + 804, + 288 + ], + "toy stove": [ + 696, + 172, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Place the napkin between the mushroom and the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "slide napkin toward target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The napkin is currently positioned between the mushroom and the pot, with the robot's end-effector maintaining contact on top of it. Since the gripper evidence shows no closing action, the robot is sliding or holding the napkin in place rather than grasping it. The next logical step is to release contact by lifting the end-effector away, leaving the napkin correctly situated." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003703_ecot.json b/cot/chunk-0003/episode_0003703_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..dddc4a623c628050ff1ba2f7f6b6000974ba1f31 --- /dev/null +++ b/cot/chunk-0003/episode_0003703_ecot.json @@ -0,0 +1,2208 @@ +{ + "task_name": "episode_0003703", + "episode_json": "json/chunk-0003/episode_0003703.json", + "video_path": "videos/chunk-0003/image_0/episode_0003703.mp4", + "instruction": "Put the green things on the orange cloves.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003703.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.8353159427642822, + "std": 0.386221706867218, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.83532, std=0.38622, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 109, + 109, + 109, + 109, + 109, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 309, + 209, + 224, + 224, + 224, + 424, + 424, + 424 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 8 + ], + [ + 3, + 9, + 13 + ], + [ + 4, + 14, + 22 + ], + [ + 5, + 23, + 23 + ], + [ + 6, + 24, + 26 + ], + [ + 7, + 27, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector down toward the green object on the orange cloth while beginning to close the gripper.\"},\n {\"id\": 2, \"name\": \"grasp green object\", \"start\": 7, \"end\": 8, \"planning\": \"Complete gripper closure to securely grasp the green object.\"},\n {\"id\": 3, \"name\": \"lift and reposition green object\", \"start\": 9, \"end\": 13, \"planning\": \"Lift the green object slightly and move it toward the target location near the orange cloves.\"},\n {\"id\": 4, \"name\": \"place green object on orange cloves\", \"start\": 14, \"end\": 22, \"planning\": \"Lower the green object onto the orange cloves and release the grip.\"},\n {\"id\": 5, \"name\": \"retreat from placement\", \"start\": 23, \"end\": 23, \"planning\": \"Begin retracting the end-effector after releasing the green object.\"},\n {\"id\": 6, \"name\": \"return to home position\", \"start\": 24, \"end\": 29, \"planning\": \"Move the end-effector upward and away from the stove area to complete the task.\"}\n ],\n \"global_plan\": \"Grasp the green object from the orange cloth, lift and move it to place on the orange cloves, then retreat to a safe position.\",\n \"notes\": \"Subtasks are aligned with observed gripper closure in segments 1-3 and release in segment 5; final retreat uses open gripper as confirmed by segment 7 evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 6, + "planning": "Move the end-effector down toward the green object on the orange cloth while beginning to close the gripper." + }, + { + "id": 2, + "name": "grasp green object", + "start": 7, + "end": 8, + "planning": "Complete gripper closure to securely grasp the green object." + }, + { + "id": 3, + "name": "lift and reposition green object", + "start": 9, + "end": 13, + "planning": "Lift the green object slightly and move it toward the target location near the orange cloves." + }, + { + "id": 4, + "name": "place green object on orange cloves", + "start": 14, + "end": 22, + "planning": "Lower the green object onto the orange cloves and release the grip." + }, + { + "id": 5, + "name": "retreat from placement", + "start": 23, + "end": 23, + "planning": "Begin retracting the end-effector after releasing the green object." + }, + { + "id": 6, + "name": "return to home position", + "start": 24, + "end": 29, + "planning": "Move the end-effector upward and away from the stove area to complete the task." + } + ], + "global_plan": "Grasp the green object from the orange cloth, lift and move it to place on the orange cloves, then retreat to a safe position.", + "notes": "Subtasks are aligned with observed gripper closure in segments 1-3 and release in segment 5; final retreat uses open gripper as confirmed by segment 7 evidence." + } + }, + "episode_goal": "Place the green object on top of the orange cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3376305103302002, + 0.15660981833934784, + 0.12566636502742767, + 2.9579591751098633, + -0.23283836245536804, + 1.40077543258667 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the orange cloth. No movement or grasping has occurred yet. The next action should be to lower the end effector toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 11 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3386472165584564, + 0.15551741421222687, + 0.11365512758493423, + 2.982576370239258, + -0.21237991750240326, + 1.3896162509918213 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the orange cloth. No movement or grasping has occurred yet. The next action should be to lower the end effector toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34485316276550293, + 0.15601693093776703, + 0.08785184472799301, + 3.01188325881958, + -0.17641550302505493, + 1.344666838645935 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 61, + 356, + 320, + 574 + ], + "sink": [ + 742, + 452, + 994, + 962 + ], + "pot": [ + 470, + 286, + 678, + 506 + ], + "faucet": [ + 944, + 388, + 996, + 545 + ], + "ladle": [ + 328, + 221, + 496, + 350 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object visible on the orange cloth. No movement or grasping has occurred yet. The next action should be to lower the end effector toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34875205159187317, + 0.17012383043766022, + 0.06938041001558304, + 3.0460948944091797, + -0.20644809305667877, + 1.3309792280197144 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove where a green spatula rests on an orange cloth. The gripper is currently open and the robot is in the approach phase, moving toward the green object. The next action is to continue lowering the end-effector to align with the green spatula for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, tilt left 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35368916392326355, + 0.17588737607002258, + 0.05690966919064522, + 3.068000078201294, + -0.20425871014595032, + 1.3031368255615234 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove where a green spatula rests on an orange cloth. The gripper is currently open and the robot is in the approach phase, moving toward the green object. The next action is to continue lowering the end-effector to align with the green spatula for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, close gripper; then keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529318571090698, + 0.18273378908634186, + 0.0418400801718235, + 3.10398268699646, + -0.20518779754638672, + 1.2788106203079224 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove where a green spatula rests on an orange cloth. The gripper is currently open and the robot is in the approach phase, moving toward the green object. The next action is to continue lowering the end-effector to align with the green spatula for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper closed; then keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3498760163784027, + 0.1880924552679062, + 0.02383146435022354, + 3.1373419761657715, + -0.2002088576555252, + 1.2683820724487305 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove where a green spatula rests on an orange cloth. The gripper is currently open and the robot is in the approach phase, moving toward the green object. The next action is to continue lowering the end-effector to align with the green spatula for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3499801754951477, + 0.1931004822254181, + 0.013556726276874542, + -3.1308631896972656, + -0.20687712728977203, + 1.25943922996521 + ], + "gripper_value": 0.8713903427124023 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object on the orange cloth. The gripper is open and positioned above the object, ready to grasp. The next action is to close the gripper to secure the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35301855206489563, + 0.1939825862646103, + 0.012327739037573338, + -3.1412155628204346, + -0.22040924429893494, + 1.2701297998428345 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object on the orange cloth. The gripper is open and positioned above the object, ready to grasp. The next action is to close the gripper to secure the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35451191663742065, + 0.1915898621082306, + 0.012496253475546837, + -3.1388518810272217, + -0.22520223259925842, + 1.2652369737625122 + ], + "gripper_value": 0.2981022000312805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition green object", + "subtask_reasoning": "The robot has approached the green object on the orange cloth. The gripper is open and positioned above the object, ready to grasp. The next action is to close the gripper to secure the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 9 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526141047477722, + 0.19198662042617798, + 0.012469733133912086, + -3.126955270767212, + -0.2239987701177597, + 1.2664531469345093 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition green object", + "subtask_reasoning": "The robot has approached the green object on the orange cloth. The gripper is open and positioned above the object, ready to grasp. The next action is to close the gripper to secure the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 10 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35284799337387085, + 0.19201436638832092, + 0.013476245105266571, + -3.1248016357421875, + -0.22489583492279053, + 1.2747398614883423 + ], + "gripper_value": 0.16866940259933472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition green object", + "subtask_reasoning": "The green object has been grasped from the orange cloth and is currently being lifted. The gripper is closed, and the object is in contact with the gripper. The next action is to reposition the green object toward the orange cloves for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 10 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530951738357544, + 0.1909743994474411, + 0.014509003609418869, + -3.1136324405670166, + -0.23448681831359863, + 1.2828824520111084 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition green object", + "subtask_reasoning": "The green object has been grasped from the orange cloth and is currently being lifted. The gripper is closed, and the object is in contact with the gripper. The next action is to reposition the green object toward the orange cloves for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 10 cm, move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526839017868042, + 0.19142082333564758, + 0.0156908817589283, + -3.105776071548462, + -0.24754655361175537, + 1.3111557960510254 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition green object", + "subtask_reasoning": "The green object has been grasped from the orange cloth and is currently being lifted. The gripper is closed, and the object is in contact with the gripper. The next action is to reposition the green object toward the orange cloves for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 9 cm, move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36598458886146545, + 0.19206766784191132, + 0.02740822546184063, + 3.1239356994628906, + -0.2469119131565094, + 1.3342455625534058 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object has been grasped from the orange cloth and is currently being lifted. The gripper is closed, and the object is in contact with the gripper. The next action is to reposition the green object toward the orange cloves for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3728449046611786, + 0.18319402635097504, + 0.05920271575450897, + 3.061337471008301, + -0.2790442407131195, + 1.3346130847930908 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object has been grasped from the orange cloth and is currently being lifted. The gripper is closed, and the object is in contact with the gripper. The next action is to reposition the green object toward the orange cloves for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36085158586502075, + 0.166239932179451, + 0.08318772166967392, + 3.0240252017974854, + -0.30055999755859375, + 1.325333833694458 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object has been grasped from the orange cloth and is currently being lifted. The gripper is closed, and the object is in contact with the gripper. The next action is to reposition the green object toward the orange cloves for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33215510845184326, + 0.16293030977249146, + 0.1000080555677414, + 3.0384931564331055, + -0.3472873270511627, + 1.3359739780426025 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object has been grasped from the orange cloth and is currently being lifted. The gripper is closed, and the object is in contact with the gripper. The next action is to reposition the green object toward the orange cloves for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3021032214164734, + 0.1627918779850006, + 0.10235247015953064, + 3.0529489517211914, + -0.3469231426715851, + 1.3363782167434692 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object is currently held above the orange cloth on the stovetop, with the gripper maintaining a stable grasp. The robot is positioned to place the object down, and the next action should be to release the green object onto the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2763938009738922, + 0.17435786128044128, + 0.08807680755853653, + 3.0823564529418945, + -0.33465293049812317, + 1.3355571031570435 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 61, + 357, + 322, + 575 + ], + "sink": [ + 741, + 448, + 994, + 961 + ], + "pot": [ + 468, + 279, + 679, + 506 + ], + "faucet": [ + 943, + 386, + 996, + 545 + ], + "ladle": [ + 328, + 220, + 497, + 351 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object is currently held above the orange cloth on the stovetop, with the gripper maintaining a stable grasp. The robot is positioned to place the object down, and the next action should be to release the green object onto the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, tilt forward 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2681196630001068, + 0.1803041398525238, + 0.0695156455039978, + 3.0654263496398926, + -0.3121766746044159, + 1.336128830909729 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object is currently held above the orange cloth on the stovetop, with the gripper maintaining a stable grasp. The robot is positioned to place the object down, and the next action should be to release the green object onto the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, open gripper; then keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2702549695968628, + 0.17927350103855133, + 0.035467229783535004, + 3.0940628051757812, + -0.2662096619606018, + 1.3126740455627441 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object is currently held above the orange cloth on the stovetop, with the gripper maintaining a stable grasp. The robot is positioned to place the object down, and the next action should be to release the green object onto the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2701636850833893, + 0.17611727118492126, + 0.023017534986138344, + 3.1095502376556396, + -0.22831737995147705, + 1.3042044639587402 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place green object on orange cloves", + "subtask_reasoning": "The green object is currently held above the orange cloth on the stovetop, with the gripper maintaining a stable grasp. The robot is positioned to place the object down, and the next action should be to release the green object onto the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2758873701095581, + 0.17652149498462677, + 0.024827759712934494, + -3.1317837238311768, + -0.23793093860149384, + 1.3312435150146484 + ], + "gripper_value": 0.4690495729446411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The green object has been successfully placed on the orange cloth. The robot arm is currently positioned above the placement site with the gripper open. The next action is to retract the arm upwards and away to a safe resting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2751569449901581, + 0.17492954432964325, + 0.025032993406057358, + -3.1263749599456787, + -0.2352718859910965, + 1.3550992012023926 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The green object has been successfully placed on the orange cloth. The robot arm is currently positioned above the placement site with the gripper open. The next action is to retract the arm upwards and away to a safe resting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2750662565231323, + 0.1735643595457077, + 0.025104902684688568, + -3.1318840980529785, + -0.2246975153684616, + 1.3633818626403809 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The green object has been successfully placed on the orange cloth. The robot arm is currently positioned above the placement site with the gripper open. The next action is to retract the arm upwards and away to a safe resting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27327218651771545, + 0.1720980405807495, + 0.026241721585392952, + -3.1213605403900146, + -0.2166065275669098, + 1.3583587408065796 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The green object has been successfully placed on the orange cloth. The robot arm is currently positioned above the stove, and the gripper is open. The next action is to move the arm back to its home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 24, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.276815801858902, + 0.17241105437278748, + 0.047216664999723434, + 3.126551628112793, + -0.23139826953411102, + 1.375988245010376 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The green object has been successfully placed on the orange cloth. The robot arm is currently positioned above the stove, and the gripper is open. The next action is to move the arm back to its home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28742676973342896, + 0.17044275999069214, + 0.07838817685842514, + 3.06486177444458, + -0.22822295129299164, + 1.3737159967422485 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 61, + 355, + 321, + 575 + ], + "sink": [ + 741, + 451, + 994, + 962 + ], + "ladle": [ + 329, + 220, + 497, + 351 + ], + "faucet": [ + 944, + 387, + 996, + 545 + ], + "sponge": [ + 145, + 382, + 266, + 472 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The green object has been successfully placed on the orange cloth. The robot arm is currently positioned above the stove, and the gripper is open. The next action is to move the arm back to its home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28724122047424316, + 0.16982367634773254, + 0.1015627533197403, + 3.0842063426971436, + -0.22651147842407227, + 1.3465101718902588 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and reposition green object" + }, + { + "id": 4, + "subtask": "place green object on orange cloves" + }, + { + "id": 5, + "subtask": "retreat from placement" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The green object has been successfully placed on the orange cloth. The robot arm is currently positioned above the stove, and the gripper is open. The next action is to move the arm back to its home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003704_ecot.json b/cot/chunk-0003/episode_0003704_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7831dd0cd2a3d02075ed67f87901abdd269d56cd --- /dev/null +++ b/cot/chunk-0003/episode_0003704_ecot.json @@ -0,0 +1,1561 @@ +{ + "task_name": "episode_0003704", + "episode_json": "json/chunk-0003/episode_0003704.json", + "video_path": "videos/chunk-0003/image_0/episode_0003704.mp4", + "instruction": "Close cabinet.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003704.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.00196993350982666, + "std": 0.000549197313375771, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00197, std=0.00055, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 7 + ], + [ + 3, + 8, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cabinet door\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the open cabinet door to prepare for closing.\"},\n {\"id\": 2, \"name\": \"make contact with door\", \"start\": 5, \"end\": 7, \"planning\": \"Position gripper to establish physical contact with the inner edge of the cabinet door.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 8, \"end\": 25, \"planning\": \"Apply continuous forward pressure to slide and fully close the cabinet door without grasping.\"}\n ],\n \"global_plan\": \"Close the cabinet door by approaching, making contact, and pushing it shut using non-grasping manipulation throughout.\",\n \"notes\": \"Gripper remains open (value ~1.002) across all segments; no grasp or lift occurs. Motion is purely translational/rotational pushing. Segment boundaries respected but merged into three natural phases: approach, contact, push.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cabinet door", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the open cabinet door to prepare for closing." + }, + { + "id": 2, + "name": "make contact with door", + "start": 5, + "end": 7, + "planning": "Position gripper to establish physical contact with the inner edge of the cabinet door." + }, + { + "id": 3, + "name": "push door closed", + "start": 8, + "end": 25, + "planning": "Apply continuous forward pressure to slide and fully close the cabinet door without grasping." + } + ], + "global_plan": "Close the cabinet door by approaching, making contact, and pushing it shut using non-grasping manipulation throughout.", + "notes": "Gripper remains open (value ~1.002) across all segments; no grasp or lift occurs. Motion is purely translational/rotational pushing. Segment boundaries respected but merged into three natural phases: approach, contact, push." + } + }, + "episode_goal": "Close the cabinet door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.20717038214206696, + -0.08408670872449875, + 0.047417908906936646, + 3.004617929458618, + -0.14771997928619385, + -0.012427658773958683 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the end-effector closer to the cabinet door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 13 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20430274307727814, + -0.081369549036026, + 0.043695852160453796, + 3.011394500732422, + -0.13137462735176086, + -0.014889562502503395 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the end-effector closer to the cabinet door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21396374702453613, + -0.04788008704781532, + 0.043890222907066345, + 3.028233051300049, + -0.14158670604228973, + 0.03575306385755539 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the end-effector closer to the cabinet door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move right 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2190554291009903, + -0.019382566213607788, + 0.041074030101299286, + 3.048516273498535, + -0.14998307824134827, + 0.05545889586210251 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cabbage": [ + 873, + 133, + 996, + 359 + ], + "yellow plate": [ + 595, + 536, + 762, + 729 + ], + "sink": [ + 564, + 4, + 947, + 256 + ], + "caster wheel": [ + 217, + 647, + 286, + 726 + ] + } + } + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the end-effector closer to the cabinet door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move right 12 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21934881806373596, + 0.01846759207546711, + 0.045899953693151474, + 3.1223936080932617, + -0.17769615352153778, + 0.06379660964012146 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the end-effector closer to the cabinet door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 11 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21226315200328827, + 0.04101192206144333, + 0.04760393500328064, + -3.121154308319092, + -0.16444766521453857, + 0.08248725533485413 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the end-effector closer to the cabinet door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 9 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20847170054912567, + 0.05011306330561638, + 0.02987002581357956, + -3.1207449436187744, + -0.08084520697593689, + 0.09525492787361145 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 3 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21477645635604858, + 0.047205206006765366, + 0.012729312293231487, + -3.1392264366149902, + -0.0769481360912323, + 0.10806876420974731 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22087609767913818, + 0.040982380509376526, + -0.0019451691769063473, + 3.118532657623291, + -0.06747124344110489, + 0.11243118345737457 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22776314616203308, + 0.028423678129911423, + -0.01002596877515316, + 3.063969135284424, + -0.09007345885038376, + 0.12724202871322632 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23228579759597778, + 0.003350807586684823, + -0.011272960342466831, + 3.0473473072052, + -0.1174376904964447, + 0.11878744512796402 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23133604228496552, + -0.026326771825551987, + -0.011197924613952637, + 3.032677412033081, + -0.10847587883472443, + 0.11125750839710236 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23718813061714172, + -0.06372705847024918, + -0.004715729504823685, + 2.987819194793701, + -0.08951277285814285, + 0.10755099356174469 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2369137704372406, + -0.07724706083536148, + 0.019983017817139626, + 2.9399216175079346, + -0.10709506273269653, + 0.10304666310548782 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22844213247299194, + -0.0732707753777504, + 0.04549648240208626, + 2.9257352352142334, + -0.1354619562625885, + 0.0576791949570179 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20434913039207458, + -0.05288442596793175, + 0.02947346679866314, + 2.9767441749572754, + -0.10597144812345505, + -0.008960562758147717 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned near its edge. The gripper is open and making initial contact with the door surface without grasping. The next action is to apply gentle forward pressure to begin closing the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19211289286613464, + -0.03738623112440109, + 0.008453038521111012, + 3.0351691246032715, + -0.10601982474327087, + -0.06010732054710388 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "caster wheel": [ + 218, + 649, + 291, + 728 + ], + "green cabbage": [ + 875, + 132, + 996, + 359 + ], + "yellow plate": [ + 589, + 544, + 761, + 725 + ] + } + } + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.191872701048851, + -0.030221842229366302, + -0.016475189477205276, + 3.0744621753692627, + -0.10366195440292358, + -0.08696290850639343 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.1996641308069229, + -0.029201477766036987, + -0.03604525700211525, + 3.0987472534179688, + -0.1380266547203064, + -0.08290239423513412 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22017212212085724, + -0.035771820694208145, + -0.04481787234544754, + 3.0797948837280273, + -0.1718168556690216, + -0.03389822691679001 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23999321460723877, + -0.04419902339577675, + -0.04936598613858223, + 3.0747077465057373, + -0.20431315898895264, + -0.004459031391888857 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26217958331108093, + -0.054630815982818604, + -0.05161011591553688, + 3.06296706199646, + -0.24532809853553772, + 0.03102262131869793 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "caster wheel": [ + 218, + 649, + 294, + 729 + ], + "green cabbage": [ + 873, + 133, + 996, + 359 + ], + "sink": [ + 565, + 4, + 948, + 255 + ] + } + } + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28038230538368225, + -0.06430622190237045, + -0.0519704632461071, + 3.0360894203186035, + -0.2692468464374542, + 0.09591198712587357 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.295388400554657, + -0.0692284032702446, + -0.05225876346230507, + 3.0126140117645264, + -0.2778654098510742, + 0.18620271980762482 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2966722249984741, + -0.06949539482593536, + -0.052744295448064804, + 2.999911308288574, + -0.27171221375465393, + 0.23359453678131104 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27396875619888306, + -0.06559988111257553, + -0.05641339719295502, + 3.026402473449707, + -0.24547255039215088, + 0.17288945615291595 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open cabinet door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door further closed by applying forward force through the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003708_ecot.json b/cot/chunk-0003/episode_0003708_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ec9fc0c5a63e3e73a356b00aaaca9fa67528f597 --- /dev/null +++ b/cot/chunk-0003/episode_0003708_ecot.json @@ -0,0 +1,2256 @@ +{ + "task_name": "episode_0003708", + "episode_json": "json/chunk-0003/episode_0003708.json", + "video_path": "videos/chunk-0003/image_0/episode_0003708.mp4", + "instruction": "Fold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003708.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9241000413894653, + "std": 0.41791585087776184, + "delta_total": 0.006558060646057129, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92410, std=0.41792, total_delta=0.00656). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 229, + 229, + 229, + 229, + 229 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 13 + ], + [ + 3, + 14, + 20 + ], + [ + 4, + 21, + 28 + ], + [ + 5, + 29, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth right edge\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the right side of the cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp right edge of cloth\", \"start\": 7, \"end\": 13, \"planning\": \"Close gripper to securely grasp the right edge of the cloth, confirmed by significant gripper closure and stable contact.\"},\n {\"id\": 3, \"name\": \"lift and fold cloth leftward\", \"start\": 14, \"end\": 20, \"planning\": \"Lift the grasped right edge and move it leftward over the cloth body to initiate folding motion.\"},\n {\"id\": 4, \"name\": \"press and align folded cloth\", \"start\": 21, \"end\": 28, \"planning\": \"Lower and press down on the folded cloth to flatten and align layers, with gripper maintaining hold then releasing slightly.\"},\n {\"id\": 5, \"name\": \"release and retreat from cloth\", \"start\": 29, \"end\": 33, \"planning\": \"Fully open gripper to release cloth, then retreat upward and backward to clear workspace.\"}\n ],\n \"global_plan\": \"Fold the cloth from right to left by first approaching and grasping the right edge, lifting and dragging it leftward over the body, pressing to align, then releasing and retreating.\",\n \"notes\": \"Subtasks follow observed gripper behavior: no grasp in segment 1 (open), grasp initiated in segment 2 (closing), maintained through fold in segment 3, adjusted during press in segment 4, released in segment 5. Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth right edge", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the right side of the cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp right edge of cloth", + "start": 7, + "end": 13, + "planning": "Close gripper to securely grasp the right edge of the cloth, confirmed by significant gripper closure and stable contact." + }, + { + "id": 3, + "name": "lift and fold cloth leftward", + "start": 14, + "end": 20, + "planning": "Lift the grasped right edge and move it leftward over the cloth body to initiate folding motion." + }, + { + "id": 4, + "name": "press and align folded cloth", + "start": 21, + "end": 28, + "planning": "Lower and press down on the folded cloth to flatten and align layers, with gripper maintaining hold then releasing slightly." + }, + { + "id": 5, + "name": "release and retreat from cloth", + "start": 29, + "end": 33, + "planning": "Fully open gripper to release cloth, then retreat upward and backward to clear workspace." + } + ], + "global_plan": "Fold the cloth from right to left by first approaching and grasping the right edge, lifting and dragging it leftward over the body, pressing to align, then releasing and retreating.", + "notes": "Subtasks follow observed gripper behavior: no grasp in segment 1 (open), grasp initiated in segment 2 (closing), maintained through fold in segment 3, adjusted during press in segment 4, released in segment 5. Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Fold the cloth from right to left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28579065203666687, + 0.05956188961863518, + 0.10562381893396378, + -2.7518856525421143, + -0.007058565504848957, + -1.2597720623016357 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the cloth on the table with the gripper open, having not yet made contact. The current subtask involves moving the end-effector toward the right edge of the cloth to prepare for grasping. The next action is to continue approaching the target edge until contact is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move down 6 cm, tilt forward 20 degrees, rotate clockwise 60 degrees, keep gripper open; then move left 2 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2834318280220032, + 0.060089342296123505, + 0.09840895980596542, + -2.778759479522705, + -0.004307628609240055, + -1.2471951246261597 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the cloth on the table with the gripper open, having not yet made contact. The current subtask involves moving the end-effector toward the right edge of the cloth to prepare for grasping. The next action is to continue approaching the target edge until contact is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 60 degrees, keep gripper open; then move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2761629819869995, + 0.07406281679868698, + 0.09729812294244766, + -2.7986319065093994, + -0.003627245547249913, + -1.075830340385437 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the cloth on the table with the gripper open, having not yet made contact. The current subtask involves moving the end-effector toward the right edge of the cloth to prepare for grasping. The next action is to continue approaching the target edge until contact is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27293267846107483, + 0.09789863973855972, + 0.09915851056575775, + -2.8088219165802, + -0.0253492072224617, + -0.838410496711731 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 44, + 351, + 641, + 655 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot arm is positioned above the table with the cloth lying flat; no contact has been made yet. The gripper remains open and stationary relative to the cloth’s right edge. Next, the arm should move laterally to align with and approach the right edge of the cloth for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717909514904022, + 0.11797869205474854, + 0.09674255549907684, + -2.832002639770508, + -0.04601801931858063, + -0.6469411849975586 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot arm is positioned above the table with the cloth lying flat; no contact has been made yet. The gripper remains open and stationary relative to the cloth’s right edge. Next, the arm should move laterally to align with and approach the right edge of the cloth for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27063611149787903, + 0.1474130004644394, + 0.08493398874998093, + -2.8576762676239014, + -0.04037153348326683, + -0.4551889896392822 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot arm is positioned above the table with the cloth lying flat; no contact has been made yet. The gripper remains open and stationary relative to the cloth’s right edge. Next, the arm should move laterally to align with and approach the right edge of the cloth for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2751053273677826, + 0.17428725957870483, + 0.06811022758483887, + -2.902423143386841, + -0.04964691027998924, + -0.3031100034713745 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot arm is positioned above the table with the cloth lying flat; no contact has been made yet. The gripper remains open and stationary relative to the cloth’s right edge. Next, the arm should move laterally to align with and approach the right edge of the cloth for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.276266485452652, + 0.19469600915908813, + 0.0499630868434906, + -2.958425998687744, + -0.042791858315467834, + -0.20084811747074127 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the cloth lying flat; no contact has been made yet. The gripper remains open and stationary relative to the cloth’s right edge. Next, the arm should move laterally to align with and approach the right edge of the cloth for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767528295516968, + 0.20559194684028625, + 0.03571747988462448, + -2.9968442916870117, + -0.029983386397361755, + -0.12585163116455078 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the cloth lying flat; no contact has been made yet. The gripper remains open and stationary relative to the cloth’s right edge. Next, the arm should move laterally to align with and approach the right edge of the cloth for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, close gripper; then move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753901779651642, + 0.21374398469924927, + 0.021620307117700577, + -3.0211262702941895, + -0.012228337116539478, + -0.06591124087572098 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the cloth lying flat; no contact has been made yet. The gripper remains open and stationary relative to the cloth’s right edge. Next, the arm should move laterally to align with and approach the right edge of the cloth for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2743767201900482, + 0.2137848436832428, + 0.0017033829353749752, + -3.0737199783325195, + 0.010230021551251411, + -0.05320353806018829 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now in contact with it. The gripper is open and positioned near the cloth's right corner, ready to grasp. The next action should be to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 7 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2763184905052185, + 0.2183626890182495, + -0.007607441861182451, + -3.0909485816955566, + 0.01904422603547573, + -0.05246485024690628 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now in contact with it. The gripper is open and positioned near the cloth's right corner, ready to grasp. The next action should be to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 2 cm, move right 11 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843639850616455, + 0.22353380918502808, + -0.011000200174748898, + -3.0924651622772217, + 0.00890912301838398, + -0.0638766959309578 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 45, + 344, + 635, + 652 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now in contact with it. The gripper is open and positioned near the cloth's right corner, ready to grasp. The next action should be to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 11 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2858102321624756, + 0.22406360507011414, + -0.011069435626268387, + -3.074141263961792, + 0.015812920406460762, + -0.07647272944450378 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now in contact with it. The gripper is open and positioned near the cloth's right corner, ready to grasp. The next action should be to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 11 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2847793400287628, + 0.2190854251384735, + -0.010845250450074673, + -3.0742909908294678, + 0.014493994414806366, + -0.07095201313495636 + ], + "gripper_value": 0.41932523250579834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "lift and fold cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now in contact with it. The gripper is open and positioned near the cloth's right corner, ready to grasp. The next action should be to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2831270396709442, + 0.2159743309020996, + -0.010350930504500866, + -3.074557304382324, + 0.010306003503501415, + -0.07270491868257523 + ], + "gripper_value": 0.2135835438966751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "lift and fold cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now in contact with it. The gripper is open and positioned near the cloth's right corner, ready to grasp. The next action should be to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.283517986536026, + 0.21402855217456818, + -0.007946111261844635, + -3.0668935775756836, + -0.009882558137178421, + -0.0895484909415245 + ], + "gripper_value": 0.11201969534158707 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "lift and fold cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now in contact with it. The gripper is open and positioned near the cloth's right corner, ready to grasp. The next action should be to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 12 cm, move down 8 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27975332736968994, + 0.2088508903980255, + 0.0015080836601555347, + -3.0468897819519043, + -0.03361210227012634, + -0.11803256720304489 + ], + "gripper_value": 0.09437843412160873 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "lift and fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the cloth and is currently lifting it upward, as indicated by the gripper closure and vertical motion. The cloth is partially lifted off the table, preparing to be folded leftward. The next action should continue lifting and begin moving the cloth left over the main body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 12 cm, move down 9 cm, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828232944011688, + 0.19450658559799194, + 0.027458760887384415, + -3.0008859634399414, + -0.08155497908592224, + -0.18177209794521332 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "lift and fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the cloth and is currently lifting it upward, as indicated by the gripper closure and vertical motion. The cloth is partially lifted off the table, preparing to be folded leftward. The next action should continue lifting and begin moving the cloth left over the main body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 12 cm, move down 9 cm, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28598424792289734, + 0.17473486065864563, + 0.05746269226074219, + -2.9406113624572754, + -0.12941735982894897, + -0.24154764413833618 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "lift and fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the cloth and is currently lifting it upward, as indicated by the gripper closure and vertical motion. The cloth is partially lifted off the table, preparing to be folded leftward. The next action should continue lifting and begin moving the cloth left over the main body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 11 cm, move down 9 cm, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2911440432071686, + 0.15211468935012817, + 0.08046430349349976, + -2.89129376411438, + -0.1678834706544876, + -0.30701008439064026 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "lift and fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the cloth and is currently lifting it upward, as indicated by the gripper closure and vertical motion. The cloth is partially lifted off the table, preparing to be folded leftward. The next action should continue lifting and begin moving the cloth left over the main body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 11 cm, move down 9 cm, rotate counterclockwise 30 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020850718021393, + 0.1068783551454544, + 0.09071702510118484, + -2.8736681938171387, + -0.2047538459300995, + -0.43719035387039185 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press and align folded cloth", + "subtask_reasoning": "The robot has grasped the right edge of the cloth and is currently lifting it upward, as indicated by the gripper closure and vertical motion. The cloth is partially lifted off the table, preparing to be folded leftward. The next action should continue lifting and begin moving the cloth left over the main body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move down 9 cm, rotate counterclockwise 30 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3072875738143921, + 0.0729793831706047, + 0.08458451926708221, + -2.879072666168213, + -0.2110178917646408, + -0.5430635809898376 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press and align folded cloth", + "subtask_reasoning": "The robot has grasped the right edge of the cloth and is currently lifting it upward, as indicated by the gripper closure and vertical motion. The cloth is partially lifted off the table, preparing to be folded leftward. The next action should continue lifting and begin moving the cloth left over the main body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 8 cm, rotate counterclockwise 20 degrees, open gripper; then move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3110589385032654, + 0.03716796264052391, + 0.07773930579423904, + -2.8709664344787598, + -0.22169552743434906, + -0.6671310663223267 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press and align folded cloth", + "subtask_reasoning": "The robot has grasped the right edge of the cloth and is currently lifting it upward, as indicated by the gripper closure and vertical motion. The cloth is partially lifted off the table, preparing to be folded leftward. The next action should continue lifting and begin moving the cloth left over the main body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31125369668006897, + 0.011986692436039448, + 0.05826113373041153, + -2.8689749240875244, + -0.20067615807056427, + -0.7673743367195129 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 340, + 306, + 702, + 648 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press and align folded cloth", + "subtask_reasoning": "The cloth has been folded from right to left and is currently lying flat on the table. The robot's gripper is in contact with the top surface of the folded cloth, applying downward pressure to align and flatten the layers. The next action is to maintain this pressing motion briefly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30712857842445374, + -0.004029217176139355, + 0.027286915108561516, + -2.8796072006225586, + -0.17596226930618286, + -0.8392341136932373 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press and align folded cloth", + "subtask_reasoning": "The cloth has been folded from right to left and is currently lying flat on the table. The robot's gripper is in contact with the top surface of the folded cloth, applying downward pressure to align and flatten the layers. The next action is to maintain this pressing motion briefly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3057745397090912, + -0.009730932302772999, + 0.008360547944903374, + -2.8636655807495117, + -0.1533595323562622, + -0.8823874592781067 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press and align folded cloth", + "subtask_reasoning": "The cloth has been folded from right to left and is currently lying flat on the table. The robot's gripper is in contact with the top surface of the folded cloth, applying downward pressure to align and flatten the layers. The next action is to maintain this pressing motion briefly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30532535910606384, + -0.010269306600093842, + 0.002240491798147559, + -2.8588614463806152, + -0.14060725271701813, + -0.8847105503082275 + ], + "gripper_value": 0.1275043487548828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press and align folded cloth", + "subtask_reasoning": "The cloth has been folded from right to left and is currently lying flat on the table. The robot's gripper is in contact with the top surface of the folded cloth, applying downward pressure to align and flatten the layers. The next action is to maintain this pressing motion briefly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.299755334854126, + -0.009068051353096962, + 0.002300088293850422, + -2.875417470932007, + -0.08484551310539246, + -0.8828095197677612 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 355, + 388, + 702, + 658 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press and align folded cloth", + "subtask_reasoning": "The cloth has been folded from right to left and is currently lying flat on the table. The robot's gripper is in contact with the top surface of the folded cloth, applying downward pressure to align and flatten the layers. The next action is to maintain this pressing motion briefly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29751819372177124, + -0.005650200415402651, + 0.005640554241836071, + -2.8718671798706055, + -0.06225431710481644, + -0.8730487823486328 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The cloth has been folded from right to left and is currently lying flat on the table. The robot's gripper is in contact with the top surface of the folded cloth, applying downward pressure to align and flatten the layers. The next action is to maintain this pressing motion briefly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29960694909095764, + -0.005622290540486574, + 0.018083298578858376, + -2.8509485721588135, + -0.08571962267160416, + -0.8728799819946289 + ], + "gripper_value": 0.9107924103736877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The cloth has been folded from right to left and is currently lying flat on the table. The robot's gripper is in contact with the top surface of the folded cloth, applying downward pressure to align and flatten the layers. The next action is to maintain this pressing motion briefly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29731932282447815, + -0.003431200049817562, + 0.03554123640060425, + -2.8493459224700928, + -0.11785701662302017, + -0.8605934381484985 + ], + "gripper_value": 1.0181074142456055 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The cloth has been folded and the gripper is currently in contact with the top surface. The segment-level gripper evidence indicates a release action is occurring or has just occurred as the gripper opens. The next step is to retreat the arm upward and away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29274871945381165, + 0.0015931457746773958, + 0.05351603031158447, + -2.8574087619781494, + -0.1381097435951233, + -0.8569144606590271 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The cloth has been folded and the gripper is currently in contact with the top surface. The segment-level gripper evidence indicates a release action is occurring or has just occurred as the gripper opens. The next step is to retreat the arm upward and away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28757044672966003, + 0.0072790104895830154, + 0.07998640090227127, + -2.834367513656616, + -0.1685207039117813, + -0.8553529977798462 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth leftward" + }, + { + "id": 4, + "subtask": "press and align folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The cloth has been folded and the gripper is currently in contact with the top surface. The segment-level gripper evidence indicates a release action is occurring or has just occurred as the gripper opens. The next step is to retreat the arm upward and away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003709_ecot.json b/cot/chunk-0003/episode_0003709_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6d20958062ad4d63608b81b0fe304cae9268d9c7 --- /dev/null +++ b/cot/chunk-0003/episode_0003709_ecot.json @@ -0,0 +1,964 @@ +{ + "task_name": "episode_0003709", + "episode_json": "json/chunk-0003/episode_0003709.json", + "video_path": "videos/chunk-0003/image_0/episode_0003709.mp4", + "instruction": "Flip orange pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003709.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.3434132933616638, + "std": 0.15625302493572235, + "delta_total": -0.02539801597595215, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34341, std=0.15625, total_delta=-0.02540). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 10 + ], + [ + 3, + 11, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and align with pot\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector into position above the orange pot without closing gripper, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift pot\", \"start\": 3, \"end\": 10, \"planning\": \"Close gripper to securely grasp the pot, then lift it slightly while maintaining orientation control.\"},\n {\"id\": 3, \"name\": \"flip and release pot upright\", \"start\": 11, \"end\": 14, \"planning\": \"Rotate gripper to flip pot upright, then open gripper to release it in stable upright position in sink.\"}\n ],\n \"global_plan\": \"Approach the overturned orange pot, grasp and lift it, then rotate and release it upright in the sink basin.\",\n \"notes\": \"Segment 1 shows no gripper closure — only positioning. Segment 2 shows meaningful gripper closure (delta=-0.34) consistent with grasping. Segment 3 shows gripper reopening (delta=+0.32) consistent with releasing after flipping. All subtasks are contiguous and cover full trajectory [0,14].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and align with pot", + "start": 0, + "end": 2, + "planning": "Move end-effector into position above the orange pot without closing gripper, preparing for contact." + }, + { + "id": 2, + "name": "grasp and lift pot", + "start": 3, + "end": 10, + "planning": "Close gripper to securely grasp the pot, then lift it slightly while maintaining orientation control." + }, + { + "id": 3, + "name": "flip and release pot upright", + "start": 11, + "end": 14, + "planning": "Rotate gripper to flip pot upright, then open gripper to release it in stable upright position in sink." + } + ], + "global_plan": "Approach the overturned orange pot, grasp and lift it, then rotate and release it upright in the sink basin.", + "notes": "Segment 1 shows no gripper closure — only positioning. Segment 2 shows meaningful gripper closure (delta=-0.34) consistent with grasping. Segment 3 shows gripper reopening (delta=+0.32) consistent with releasing after flipping. All subtasks are contiguous and cover full trajectory [0,14]." + } + }, + "episode_goal": "Flip the orange pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2904750108718872, + 0.045368846505880356, + 0.01777331903576851, + -2.8669216632843018, + -0.08532490581274033, + -0.01424935832619667 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "approach and align with pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the orange pot lying on its side in the basin. No actions have been completed yet. The current situation requires the robot to move closer and align its gripper with the pot. The next action should involve adjusting the arm's position to prepare for grasping the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.283353328704834, + 0.04129114747047424, + 0.009953184053301811, + -2.950195074081421, + -0.04374712333083153, + 0.011456048116087914 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "approach and align with pot", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned orange pot. No grasping has occurred yet as the gripper remains open. The next action should involve aligning the gripper with the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28575053811073303, + 0.03746724873781204, + 0.009892534464597702, + -3.112215757369995, + -0.051749106496572495, + 0.08590126037597656 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "approach and align with pot", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned orange pot. No grasping has occurred yet as the gripper remains open. The next action should involve aligning the gripper with the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper; then tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2918570935726166, + 0.032677263021469116, + 0.01032242365181446, + 3.056185483932495, + -0.09257231652736664, + 0.11943718791007996 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "striped onion": [ + 808, + 421, + 953, + 583 + ], + "white cup": [ + 597, + 598, + 770, + 794 + ], + "metal pot": [ + 9, + 101, + 227, + 404 + ], + "white organizer": [ + 313, + 174, + 949, + 717 + ] + } + } + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned orange pot. No grasping has occurred yet as the gripper remains open. The next action should involve aligning the gripper with the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2924273610115051, + 0.030508019030094147, + 0.000606501183938235, + 2.9834299087524414, + -0.1295299381017685, + 0.12869608402252197 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned orange pot. No grasping has occurred yet as the gripper remains open. The next action should involve aligning the gripper with the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29126065969467163, + 0.03143131732940674, + -0.006597436033189297, + 2.9550929069519043, + -0.15070311725139618, + 0.14569932222366333 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned orange pot. No grasping has occurred yet as the gripper remains open. The next action should involve aligning the gripper with the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2883009910583496, + 0.02861759439110756, + -0.013782675378024578, + 2.9347124099731445, + -0.15537606179714203, + 0.15778480470180511 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the overturned orange pot in the sink, with the gripper open and aligned for grasping. The gripper signal indicates a closing action is occurring or imminent within this segment. The next action is to close the gripper to secure the pot and begin lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2858516275882721, + 0.02335515059530735, + -0.016550706699490547, + 2.936065196990967, + -0.1565382331609726, + 0.15818755328655243 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the overturned orange pot in the sink, with the gripper open and aligned for grasping. The gripper signal indicates a closing action is occurring or imminent within this segment. The next action is to close the gripper to secure the pot and begin lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2905212640762329, + 0.01889685168862343, + -0.01945894956588745, + 2.9391632080078125, + -0.18220242857933044, + 0.17288601398468018 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the overturned orange pot in the sink, with the gripper open and aligned for grasping. The gripper signal indicates a closing action is occurring or imminent within this segment. The next action is to close the gripper to secure the pot and begin lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.294062077999115, + 0.018919769674539566, + -0.019703272730112076, + 2.971574068069458, + -0.19384260475635529, + 0.14633582532405853 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the overturned orange pot in the sink, with the gripper open and aligned for grasping. The gripper signal indicates a closing action is occurring or imminent within this segment. The next action is to close the gripper to secure the pot and begin lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28523945808410645, + 0.01987958513200283, + -0.021119317039847374, + 3.1369211673736572, + -0.11394917964935303, + 0.027646150439977646 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the overturned orange pot in the sink, with the gripper open and aligned for grasping. The gripper signal indicates a closing action is occurring or imminent within this segment. The next action is to close the gripper to secure the pot and begin lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821742594242096, + 0.01873578131198883, + -0.01461892668157816, + -2.913123369216919, + -0.043457113206386566, + -0.105259008705616 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "flip and release pot upright", + "subtask_reasoning": "The robot arm is positioned directly above the overturned orange pot in the sink, with the gripper open and aligned for grasping. The gripper signal indicates a closing action is occurring or imminent within this segment. The next action is to close the gripper to secure the pot and begin lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2806282937526703, + 0.018181219696998596, + -0.011787200346589088, + -2.8173635005950928, + -0.02942965179681778, + -0.1589522659778595 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "striped onion": [ + 808, + 421, + 954, + 584 + ], + "red pepper": [ + 191, + 169, + 352, + 264 + ], + "white bottle": [ + 407, + 42, + 478, + 196 + ], + "white cup": [ + 599, + 598, + 770, + 794 + ], + "metal pot": [ + 8, + 101, + 227, + 403 + ], + "white organizer": [ + 317, + 164, + 948, + 716 + ] + } + } + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "flip and release pot upright", + "subtask_reasoning": "The robot is holding the orange pot above the sink, having completed the lift. The gripper is currently open, indicating the pot has been released or is in the process of being released to land upright. The next action is to ensure the pot settles correctly in the sink basin and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2750851511955261, + 0.02373393252491951, + -0.018340298905968666, + -2.779024600982666, + -0.0731830820441246, + -0.1405770182609558 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "flip and release pot upright", + "subtask_reasoning": "The robot is holding the orange pot above the sink, having completed the lift. The gripper is currently open, indicating the pot has been released or is in the process of being released to land upright. The next action is to ensure the pot settles correctly in the sink basin and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755524516105652, + 0.011981476098299026, + -0.0215274840593338, + -2.736665964126587, + -0.15456703305244446, + -0.17852622270584106 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "flip and release pot upright" + } + ], + "subtask_name": "flip and release pot upright", + "subtask_reasoning": "The robot is holding the orange pot above the sink, having completed the lift. The gripper is currently open, indicating the pot has been released or is in the process of being released to land upright. The next action is to ensure the pot settles correctly in the sink basin and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003711_ecot.json b/cot/chunk-0003/episode_0003711_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..459faaa9c1deaf671518632704c218e555c017e6 --- /dev/null +++ b/cot/chunk-0003/episode_0003711_ecot.json @@ -0,0 +1,1216 @@ +{ + "task_name": "episode_0003711", + "episode_json": "json/chunk-0003/episode_0003711.json", + "video_path": "videos/chunk-0003/image_0/episode_0003711.mp4", + "instruction": "Put lid on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003711.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.7000366449356079, + "std": 0.3311605155467987, + "delta_total": -0.7000366449356079, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.70004, std=0.33116, total_delta=-0.70004). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 112, + 112, + 112, + 112 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 15 + ], + [ + 3, + 16, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp lid\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the lid on the counter and close gripper to secure it, as evidenced by significant gripper closure (delta=-0.435) and minimal motion near frame 11.\"},\n {\"id\": 2, \"name\": \"lift and reposition lid\", \"start\": 12, \"end\": 15, \"planning\": \"Lift the grasped lid slightly and begin moving it toward the stove, with gripper held closed (value ~0.30) and small upward/backward motion observed.\"},\n {\"id\": 3, \"name\": \"place lid on stove and retreat\", \"start\": 16, \"end\": 19, \"planning\": \"Lower the lid onto the stove burner and release contact by retreating upward and backward, with gripper remaining open (no further closing) and clear retreat motion in final frames.\"}\n ],\n \"global_plan\": \"Approach and grasp the lid from the counter, lift and carry it toward the stove, then place it on the burner and retreat without dropping or slipping.\",\n \"notes\": \"Segment 1 shows meaningful gripper closure consistent with grasping; Segment 2 maintains grip while lifting/repositioning; Segment 3 has no gripper change — consistent with releasing contact via retreat, not active ungrasping. All motions align with visual keyframes showing lid moving from counter to stove.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp lid", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the lid on the counter and close gripper to secure it, as evidenced by significant gripper closure (delta=-0.435) and minimal motion near frame 11." + }, + { + "id": 2, + "name": "lift and reposition lid", + "start": 12, + "end": 15, + "planning": "Lift the grasped lid slightly and begin moving it toward the stove, with gripper held closed (value ~0.30) and small upward/backward motion observed." + }, + { + "id": 3, + "name": "place lid on stove and retreat", + "start": 16, + "end": 19, + "planning": "Lower the lid onto the stove burner and release contact by retreating upward and backward, with gripper remaining open (no further closing) and clear retreat motion in final frames." + } + ], + "global_plan": "Approach and grasp the lid from the counter, lift and carry it toward the stove, then place it on the burner and retreat without dropping or slipping.", + "notes": "Segment 1 shows meaningful gripper closure consistent with grasping; Segment 2 maintains grip while lifting/repositioning; Segment 3 has no gripper change — consistent with releasing contact via retreat, not active ungrasping. All motions align with visual keyframes showing lid moving from counter to stove." + } + }, + "episode_goal": "Place the lid on the stove burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33853402733802795, + 0.15999147295951843, + 0.07417618483304977, + -2.8132853507995605, + -0.4057861864566803, + -0.5640095472335815 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper fully open, approaching the metal lid located near the stove. No part of the subtask has been completed yet as the object has not been contacted. The next action is to lower the end-effector to make contact with the lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 6 cm, tilt right 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33756399154663086, + 0.1578090488910675, + 0.06392722576856613, + -2.8635435104370117, + -0.3742756247520447, + -0.5638691186904907 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper fully open, approaching the metal lid located near the stove. No part of the subtask has been completed yet as the object has not been contacted. The next action is to lower the end-effector to make contact with the lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35300129652023315, + 0.15575630962848663, + 0.06269989162683487, + -2.863544464111328, + -0.37587547302246094, + -0.6149376034736633 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 483, + 609, + 621, + 808 + ], + "green plate": [ + 521, + 403, + 716, + 571 + ], + "purple onion": [ + 377, + 44, + 468, + 166 + ], + "colander": [ + 737, + 696, + 975, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper fully open, approaching the metal lid located near the stove. No part of the subtask has been completed yet as the object has not been contacted. The next action is to lower the end-effector to make contact with the lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605882227420807, + 0.1563662439584732, + 0.05256935954093933, + -2.886082649230957, + -0.3718816339969635, + -0.6353464126586914 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper fully open, approaching the metal lid located near the stove. No part of the subtask has been completed yet as the object has not been contacted. The next action is to lower the end-effector to make contact with the lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36681240797042847, + 0.1544240564107895, + 0.04517405852675438, + -2.922726631164551, + -0.38328784704208374, + -0.63165283203125 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper fully open, approaching the metal lid located near the stove. No part of the subtask has been completed yet as the object has not been contacted. The next action is to lower the end-effector to make contact with the lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37042927742004395, + 0.14981336891651154, + 0.040566567331552505, + -2.9615671634674072, + -0.40546613931655884, + -0.6292098164558411 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned near the counter with the lid visible among other kitchen items. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the lid to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3760340213775635, + 0.14566276967525482, + 0.04002116248011589, + -2.9709293842315674, + -0.44829607009887695, + -0.6210730075836182 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned near the counter with the lid visible among other kitchen items. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the lid to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37712305784225464, + 0.14071783423423767, + 0.033933501690626144, + -2.9885082244873047, + -0.47114911675453186, + -0.6125421524047852 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned near the counter with the lid visible among other kitchen items. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the lid to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3782276213169098, + 0.13929849863052368, + 0.025824278593063354, + -3.0217230319976807, + -0.4662432074546814, + -0.6180428862571716 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned near the counter with the lid visible among other kitchen items. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the lid to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3817344903945923, + 0.13776223361492157, + 0.02045658975839615, + -3.0511696338653564, + -0.4709286391735077, + -0.6211951971054077 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned near the counter with the lid visible among other kitchen items. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the lid to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38379690051078796, + 0.13809803128242493, + 0.01717461831867695, + -3.0646214485168457, + -0.47163161635398865, + -0.6240353584289551 + ], + "gripper_value": 0.8270506262779236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned near the counter with the lid visible among other kitchen items. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the lid to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3836739659309387, + 0.13696128129959106, + 0.01589301787316799, + -3.0762879848480225, + -0.47429007291793823, + -0.6177940964698792 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned near the counter with the lid visible among other kitchen items. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the lid to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840430974960327, + 0.13697226345539093, + 0.01606118120253086, + -3.082313060760498, + -0.4773389995098114, + -0.6016013026237488 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot is positioned near the counter with the lid visible among other kitchen items. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the lid to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3832623064517975, + 0.1375107616186142, + 0.014737339690327644, + -3.0791425704956055, + -0.47210654616355896, + -0.5898134112358093 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the counter. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid slightly and reposition it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3800947368144989, + 0.13617773354053497, + 0.014575830660760403, + -3.0985846519470215, + -0.4329550862312317, + -0.5833426117897034 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the counter. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid slightly and reposition it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3799096643924713, + 0.13822494447231293, + 0.03672090545296669, + -3.11230731010437, + -0.3490574061870575, + -0.5952335596084595 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the counter. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid slightly and reposition it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3794386684894562, + 0.1454867571592331, + 0.05282197520136833, + -3.1075732707977295, + -0.2853564918041229, + -0.6052401661872864 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 385, + 43, + 468, + 166 + ], + "green plate": [ + 521, + 403, + 716, + 570 + ], + "colander": [ + 738, + 692, + 975, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "place lid on stove and retreat", + "subtask_reasoning": "The robot has approached and grasped the lid on the counter. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid slightly and reposition it toward the stove burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37459707260131836, + 0.1494349092245102, + 0.058260612189769745, + -3.097104787826538, + -0.2505838871002197, + -0.6197625994682312 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "place lid on stove and retreat", + "subtask_reasoning": "The lid is currently positioned above the stove burner, with the gripper maintaining a steady hold. The next action should involve lowering the lid onto the burner and releasing it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3644896447658539, + 0.15214553475379944, + 0.06958301365375519, + -3.078019857406616, + -0.23887862265110016, + -0.6237463355064392 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "place lid on stove and retreat", + "subtask_reasoning": "The lid is currently positioned above the stove burner, with the gripper maintaining a steady hold. The next action should involve lowering the lid onto the burner and releasing it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3435964286327362, + 0.16914401948451996, + 0.06358795613050461, + -3.089694023132324, + -0.20748941600322723, + -0.5919584631919861 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and reposition lid" + }, + { + "id": 3, + "subtask": "place lid on stove and retreat" + } + ], + "subtask_name": "place lid on stove and retreat", + "subtask_reasoning": "The lid is currently positioned above the stove burner, with the gripper maintaining a steady hold. The next action should involve lowering the lid onto the burner and releasing it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003714_ecot.json b/cot/chunk-0003/episode_0003714_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..789f7d20b15d381e72c56ea387b47518dbf4493a --- /dev/null +++ b/cot/chunk-0003/episode_0003714_ecot.json @@ -0,0 +1,2180 @@ +{ + "task_name": "episode_0003714", + "episode_json": "json/chunk-0003/episode_0003714.json", + "video_path": "videos/chunk-0003/image_0/episode_0003714.mp4", + "instruction": "Move the pot to the front left corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003714.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9293408393859863, + "std": 0.3957757353782654, + "delta_total": -0.44536536931991577, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92934, std=0.39578, total_delta=-0.44537). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 109, + 109, + 109, + 9, + 9, + 9, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 9, + 209, + 230 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 6 + ], + [ + 3, + 7, + 8 + ], + [ + 4, + 9, + 11 + ], + [ + 5, + 12, + 14 + ], + [ + 6, + 15, + 27 + ], + [ + 7, + 28, + 28 + ], + [ + 8, + 29, + 29 + ], + [ + 9, + 30, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot area\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the pot’s initial position without grasping, as gripper remains fully open and no closing is observed.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 9, \"end\": 14, \"planning\": \"Close gripper around pot handle or rim; segment shows meaningful gripper closure (delta=-0.27) and images confirm contact with pot.\"},\n {\"id\": 3, \"name\": \"transport pot to front left\", \"start\": 15, \"end\": 27, \"planning\": \"Carry pot across table to target corner while maintaining grip; gripper remains closed but no further closing occurs, consistent with holding during motion.\"},\n {\"id\": 4, \"name\": \"release pot at target\", \"start\": 28, \"end\": 29, \"planning\": \"Open gripper to release pot at front left corner; gripper begins opening (value increases from 0.07 to 0.27), indicating release phase.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 30, \"end\": 30, \"planning\": \"Lift and withdraw end-effector after releasing pot; gripper continues opening and EE moves away, confirming completion of placement.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp it securely, transport it to the front left corner of the table, release it precisely, then retreat to complete the task.\",\n \"notes\": \"Gripper evidence strictly followed: grasp only where segment-level closure is meaningful (frames 9-14); transport and release phases use contact-based language where gripper is static or opening. Frame coverage is contiguous and complete from 0 to 30.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot area", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the pot’s initial position without grasping, as gripper remains fully open and no closing is observed." + }, + { + "id": 2, + "name": "grasp pot", + "start": 9, + "end": 14, + "planning": "Close gripper around pot handle or rim; segment shows meaningful gripper closure (delta=-0.27) and images confirm contact with pot." + }, + { + "id": 3, + "name": "transport pot to front left", + "start": 15, + "end": 27, + "planning": "Carry pot across table to target corner while maintaining grip; gripper remains closed but no further closing occurs, consistent with holding during motion." + }, + { + "id": 4, + "name": "release pot at target", + "start": 28, + "end": 29, + "planning": "Open gripper to release pot at front left corner; gripper begins opening (value increases from 0.07 to 0.27), indicating release phase." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 30, + "end": 30, + "planning": "Lift and withdraw end-effector after releasing pot; gripper continues opening and EE moves away, confirming completion of placement." + } + ], + "global_plan": "Approach the pot, grasp it securely, transport it to the front left corner of the table, release it precisely, then retreat to complete the task.", + "notes": "Gripper evidence strictly followed: grasp only where segment-level closure is meaningful (frames 9-14); transport and release phases use contact-based language where gripper is static or opening. Frame coverage is contiguous and complete from 0 to 30." + } + }, + "episode_goal": "Move the pot to the front left corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36799219250679016, + 0.12982209026813507, + 0.06945054233074188, + -3.105955123901367, + -0.1269063651561737, + -0.06930180639028549 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot is positioned above the table with the pot visible in the center. The gripper is open, and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3666301667690277, + 0.1276145726442337, + 0.055102165788412094, + -3.124654769897461, + -0.09304206818342209, + -0.06300363689661026 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot is positioned above the table with the pot visible in the center. The gripper is open, and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3765946328639984, + 0.0934370681643486, + 0.05389489606022835, + 3.121943235397339, + -0.09563839435577393, + -0.07795047014951706 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot is positioned above the table with the pot visible in the center. The gripper is open, and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 3 cm, close gripper; then move back 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3905460238456726, + 0.059549879282712936, + 0.060695916414260864, + 3.1146745681762695, + -0.12362812459468842, + -0.12697631120681763 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tomato soup": [ + 612, + 29, + 755, + 282 + ], + "stand mixer": [ + 315, + 6, + 508, + 318 + ], + "metal bowl": [ + 504, + 251, + 710, + 467 + ], + "banana toy": [ + 242, + 255, + 372, + 411 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot is positioned above the table with the pot visible in the center. The gripper is open, and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 3 cm, close gripper; then move back 3 cm, move left 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39627692103385925, + 0.044676683843135834, + 0.062294427305459976, + 3.1027300357818604, + -0.14619798958301544, + -0.12848688662052155 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the metal pot which sits on a blue cloth. The gripper is currently open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, close gripper; then move back 5 cm, move left 8 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.40987923741340637, + 0.020045941695570946, + 0.07256226241588593, + 3.1017799377441406, + -0.1931234896183014, + -0.15683750808238983 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the metal pot which sits on a blue cloth. The gripper is currently open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move back 7 cm, move left 13 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41690701246261597, + 0.022365376353263855, + 0.04937263950705528, + 3.122858762741089, + -0.14443741738796234, + -0.11290697753429413 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the metal pot which sits on a blue cloth. The gripper is currently open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 7 cm, move left 13 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4169977605342865, + 0.027130143716931343, + 0.031798720359802246, + -3.1263134479522705, + -0.10787337273359299, + -0.09907078742980957 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the metal pot which sits on a blue cloth. The gripper is currently open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 7 cm, move left 13 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 8 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4188361167907715, + 0.02379756048321724, + 0.03005278669297695, + -3.1214418411254883, + -0.12106088548898697, + -0.10859992355108261 + ], + "gripper_value": 0.6641445755958557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the metal pot which sits on a blue cloth. The gripper is currently open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move left 13 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 11 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.41574227809906006, + 0.01952514238655567, + 0.026100439950823784, + -3.117194175720215, + -0.11107098311185837, + -0.11564081907272339 + ], + "gripper_value": 0.36191558837890625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the metal pot which sits on a blue cloth. The gripper is currently open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 13 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 12 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4134286046028137, + 0.020371517166495323, + 0.022979069501161575, + -3.1035995483398438, + -0.1042536273598671, + -0.12341893464326859 + ], + "gripper_value": 0.15769577026367188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the metal pot which sits on a blue cloth. The gripper is currently open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 13 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 8 cm, move left 12 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41089165210723877, + 0.019651124253869057, + 0.025342117995023727, + -3.1070263385772705, + -0.10789899528026581, + -0.12254244834184647 + ], + "gripper_value": 0.09179956465959549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 13 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 10 cm, move left 11 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39890286326408386, + 0.021056165918707848, + 0.050400011241436005, + 3.1153435707092285, + -0.1418619304895401, + -0.1175987496972084 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 13 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 11 cm, move left 10 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38421618938446045, + 0.05477450415492058, + 0.06995013356208801, + 3.099815607070923, + -0.16566616296768188, + -0.05283120274543762 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 11 cm, move left 9 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.366058349609375, + 0.10061649233102798, + 0.06869646161794662, + 3.1178770065307617, + -0.10454508662223816, + 0.04420728608965874 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 321, + 173, + 571, + 409 + ], + "blue cloth": [ + 479, + 260, + 730, + 533 + ], + "tomato soup": [ + 609, + 29, + 755, + 283 + ], + "garlic toy": [ + 226, + 115, + 327, + 274 + ], + "banana toy": [ + 242, + 259, + 366, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 11 cm, move left 9 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3441813886165619, + 0.15011940896511078, + 0.05708068981766701, + -3.1253011226654053, + -0.04486631229519844, + 0.14636407792568207 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 244, + 191, + 461, + 425 + ], + "tomato soup": [ + 610, + 29, + 755, + 284 + ], + "blue cloth": [ + 478, + 260, + 729, + 533 + ], + "toy stove": [ + 646, + 169, + 994, + 991 + ], + "toy": [ + 300, + 3, + 640, + 236 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 8 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246265947818756, + 0.19725751876831055, + 0.050909675657749176, + -3.078439712524414, + -0.042120177298784256, + 0.16200560331344604 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3161672055721283, + 0.23371778428554535, + 0.047606341540813446, + -3.0761215686798096, + -0.035786036401987076, + 0.14303892850875854 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2931533455848694, + 0.26218634843826294, + 0.044959742575883865, + -3.060397148132324, + -0.01059037446975708, + 0.1511608213186264 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27814364433288574, + 0.2707252502441406, + 0.04070759937167168, + -3.040531635284424, + 0.026366017758846283, + 0.138316348195076 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26456135511398315, + 0.2667695879936218, + 0.0363595113158226, + -3.098588466644287, + 0.02575223706662655, + 0.12385472655296326 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the table. The gripper is currently open and aligned with the pot's handles, indicating readiness to grasp. The next action is to close the gripper to securely hold the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24295274913311005, + 0.2573378384113312, + 0.03805564343929291, + -3.107146978378296, + 0.04804789274930954, + 0.08589538186788559 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot is currently transporting the pot across the table towards the front left corner, having already grasped it. The gripper remains closed with no significant change, indicating a secure hold during movement. The next action is to continue moving the pot to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23194757103919983, + 0.2480134665966034, + 0.037076033651828766, + -3.0792407989501953, + 0.06259238719940186, + 0.05021815001964569 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot is currently transporting the pot across the table towards the front left corner, having already grasped it. The gripper remains closed with no significant change, indicating a secure hold during movement. The next action is to continue moving the pot to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22922630608081818, + 0.241739884018898, + 0.02752564661204815, + -3.058651924133301, + 0.07832235842943192, + 0.016008533537387848 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot is currently transporting the pot across the table towards the front left corner, having already grasped it. The gripper remains closed with no significant change, indicating a secure hold during movement. The next action is to continue moving the pot to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 1 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2323828488588333, + 0.23982352018356323, + 0.02647119201719761, + -3.044128894805908, + 0.0770740658044815, + 0.005632831249386072 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot is currently transporting the pot across the table towards the front left corner, having already grasped it. The gripper remains closed with no significant change, indicating a secure hold during movement. The next action is to continue moving the pot to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, tilt right 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23890414834022522, + 0.23308205604553223, + 0.025443697348237038, + -3.059169292449951, + 0.0678730383515358, + -0.01804223656654358 + ], + "gripper_value": 0.07081232219934464 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot is currently transporting the pot across the table towards the front left corner, having already grasped it. The gripper remains closed with no significant change, indicating a secure hold during movement. The next action is to continue moving the pot to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521263062953949, + 0.22229042649269104, + 0.022491879761219025, + -3.1024608612060547, + 0.04428473487496376, + -0.042689528316259384 + ], + "gripper_value": 0.07081232219934464 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot is currently transporting the pot across the table towards the front left corner, having already grasped it. The gripper remains closed with no significant change, indicating a secure hold during movement. The next action is to continue moving the pot to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.266955703496933, + 0.2122913897037506, + 0.020867586135864258, + -3.136216878890991, + 0.018775204196572304, + -0.05130356177687645 + ], + "gripper_value": 0.07081232219934464 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 14, + 334, + 274, + 577 + ], + "blue cloth": [ + 479, + 261, + 729, + 533 + ], + "tomato soup": [ + 609, + 30, + 754, + 284 + ], + "toy stove": [ + 644, + 174, + 994, + 991 + ], + "toy": [ + 242, + 2, + 642, + 239 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to front left", + "subtask_reasoning": "The robot is currently transporting the pot across the table towards the front left corner, having already grasped it. The gripper remains closed with no significant change, indicating a secure hold during movement. The next action is to continue moving the pot to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27084657549858093, + 0.20839548110961914, + 0.021471787244081497, + 3.1395745277404785, + 0.01029148418456316, + -0.04187764599919319 + ], + "gripper_value": 0.10082460194826126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The pot is currently positioned at the front left corner of the table, matching the target location. The gripper is closed around the pot handle, indicating it is still being held. The next action is to open the gripper to release the pot and complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27037185430526733, + 0.20310655236244202, + 0.016526315361261368, + -3.133898973464966, + 0.006107348948717117, + -0.034943852573633194 + ], + "gripper_value": 0.27449509501457214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The pot is currently positioned at the front left corner of the table, matching the target location. The gripper is closed around the pot handle, indicating it is still being held. The next action is to open the gripper to release the pot and complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.271494597196579, + 0.20039230585098267, + 0.03989241644740105, + -3.1026101112365723, + -0.05533921718597412, + -0.048134565353393555 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to front left" + }, + { + "id": 4, + "subtask": "release pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully moved to the front left corner of the table and released. The robot arm is currently positioned above the pot with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the pot area to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003715_ecot.json b/cot/chunk-0003/episode_0003715_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..813417cee22e37f90c695cbc92d91cd67209f420 --- /dev/null +++ b/cot/chunk-0003/episode_0003715_ecot.json @@ -0,0 +1,2303 @@ +{ + "task_name": "episode_0003715", + "episode_json": "json/chunk-0003/episode_0003715.json", + "video_path": "videos/chunk-0003/image_0/episode_0003715.mp4", + "instruction": "Moved the corn closer to the teddy.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003715.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.37650996446609497, + "std": 0.14954730868339539, + "delta_total": 0.008041143417358398, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.37651, std=0.14955, total_delta=0.00804). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 8 + ], + [ + 3, + 9, + 9 + ], + [ + 4, + 10, + 29 + ], + [ + 5, + 30, + 32 + ], + [ + 6, + 33, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the corn object without grasping, as gripper remains open and no closing evidence exists in this segment.\"},\n {\"id\": 2, \"name\": \"hover above corn\", \"start\": 6, \"end\": 9, \"planning\": \"Position the gripper directly above the corn with minimal motion; gripper still open and no grasp initiated yet.\"},\n {\"id\": 3, \"name\": \"grasp and lift corn\", \"start\": 10, \"end\": 29, \"planning\": \"Close gripper to grasp the corn (gripper value drops significantly), then lift and transport it closer to the teddy bear.\"},\n {\"id\": 4, \"name\": \"release corn near teddy\", \"start\": 30, \"end\": 32, \"planning\": \"Open gripper to release the corn onto the table near the teddy bear, completing the placement phase.\"},\n {\"id\": 5, \"name\": \"retreat from scene\", \"start\": 33, \"end\": 33, \"planning\": \"Lift and move the gripper away from the released corn after task completion.\"}\n ],\n \"global_plan\": \"The robot approaches the corn, hovers above it, grasps and lifts it, transports it closer to the teddy bear, releases it, and then retreats — all while respecting gripper state evidence and avoiding hallucinated actions.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior: no grasp before frame 10, meaningful closing during [10,29], and release followed by retreat. Segment 2 (frames 6-8) is merged into subtask 2 for continuity since no distinct action change occurs there.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the corn object without grasping, as gripper remains open and no closing evidence exists in this segment." + }, + { + "id": 2, + "name": "hover above corn", + "start": 6, + "end": 9, + "planning": "Position the gripper directly above the corn with minimal motion; gripper still open and no grasp initiated yet." + }, + { + "id": 3, + "name": "grasp and lift corn", + "start": 10, + "end": 29, + "planning": "Close gripper to grasp the corn (gripper value drops significantly), then lift and transport it closer to the teddy bear." + }, + { + "id": 4, + "name": "release corn near teddy", + "start": 30, + "end": 32, + "planning": "Open gripper to release the corn onto the table near the teddy bear, completing the placement phase." + }, + { + "id": 5, + "name": "retreat from scene", + "start": 33, + "end": 33, + "planning": "Lift and move the gripper away from the released corn after task completion." + } + ], + "global_plan": "The robot approaches the corn, hovers above it, grasps and lifts it, transports it closer to the teddy bear, releases it, and then retreats — all while respecting gripper state evidence and avoiding hallucinated actions.", + "notes": "Subtask boundaries align with observed gripper behavior: no grasp before frame 10, meaningful closing during [10,29], and release followed by retreat. Segment 2 (frames 6-8) is merged into subtask 2 for continuity since no distinct action change occurs there." + } + }, + "episode_goal": "Move the corn closer to the teddy bear.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36204594373703003, + 0.01753641664981842, + 0.13367711007595062, + 3.1192965507507324, + -0.15879368782043457, + 0.09746547788381577 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn and teddy bear visible; no objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach to the corn has not begun. The next action should be to move the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 14 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3595084249973297, + 0.01717095822095871, + 0.11895813792943954, + 3.1197025775909424, + -0.11428529024124146, + 0.09779555350542068 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn and teddy bear visible; no objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach to the corn has not begun. The next action should be to move the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 14 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3846874535083771, + -0.014925170689821243, + 0.10216119140386581, + 3.086534023284912, + -0.10673545300960541, + 0.03337066248059273 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn and teddy bear visible; no objects have been moved yet. The gripper remains open and stationary, indicating no grasp has occurred. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4156338572502136, + -0.0677131935954094, + 0.08215777575969696, + 3.117908000946045, + -0.07192010432481766, + -0.06904687732458115 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn and teddy bear visible; no objects have been moved yet. The gripper remains open and stationary, indicating no grasp has occurred. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 5 cm, keep gripper open; then keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4364233613014221, + -0.10912826657295227, + 0.05862903222441673, + 3.104543924331665, + -0.06534575670957565, + -0.11956875026226044 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow plush toy": [ + 803, + 270, + 912, + 462 + ], + "wooden box": [ + 207, + 4, + 610, + 397 + ], + "table": [ + 62, + 6, + 993, + 993 + ], + "pink plush toy": [ + 635, + 615, + 818, + 826 + ], + "white plush toy": [ + 282, + 1, + 436, + 137 + ] + } + } + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn and teddy bear visible; no objects have been moved yet. The gripper remains open and stationary, indicating no grasp has occurred. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4423424005508423, + -0.12655481696128845, + 0.04855945333838463, + 3.1035892963409424, + -0.04654471203684807, + -0.09931067377328873 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn and teddy bear visible; no objects have been moved yet. The gripper remains open and stationary, indicating no grasp has occurred. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4367641806602478, + -0.1215723380446434, + 0.03602442517876625, + -3.1341609954833984, + 0.01415026094764471, + -0.07459370791912079 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "hover above corn", + "subtask_reasoning": "The robot is positioned above the table with the corn and teddy bear visible; no objects have been moved yet. The gripper remains open and stationary, indicating no grasp has occurred. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.435070663690567, + -0.11716440320014954, + 0.030530203133821487, + -3.108962297439575, + 0.01840835064649582, + -0.07568137347698212 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "hover above corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.43780073523521423, + -0.12186906486749649, + 0.03353331983089447, + -3.138113260269165, + -0.005381540395319462, + -0.07784368842840195 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "hover above corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4389452338218689, + -0.1231614425778389, + 0.03494102135300636, + 3.141592264175415, + -0.015624936670064926, + -0.08359868079423904 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "hover above corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4383738040924072, + -0.12518014013767242, + 0.03494102135300636, + -3.141449213027954, + -0.015624279156327248, + -0.09740564227104187 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4367300868034363, + -0.12057676166296005, + 0.03453873097896576, + -3.1210508346557617, + -0.01934773661196232, + -0.10020925104618073 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4403640627861023, + -0.11749237030744553, + 0.045493971556425095, + -3.101665496826172, + -0.054043255746364594, + -0.10449181497097015 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4447769522666931, + -0.11610729992389679, + 0.06326928734779358, + -3.098823070526123, + -0.10461452603340149, + -0.10181859880685806 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4426763653755188, + -0.11598675698041916, + 0.06037011742591858, + -3.112855911254883, + -0.09242559969425201, + -0.1001654639840126 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4397284984588623, + -0.11636026203632355, + 0.05175701528787613, + -3.123250722885132, + -0.06067115440964699, + -0.10452091693878174 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4366440176963806, + -0.1140555739402771, + 0.034046173095703125, + -3.1111786365509033, + -0.015769485384225845, + -0.11199343204498291 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow plush toy": [ + 800, + 277, + 922, + 458 + ], + "wooden box": [ + 316, + 7, + 644, + 398 + ] + } + } + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4364156424999237, + -0.1111067682504654, + 0.03406333550810814, + -3.1057724952697754, + -0.010347581468522549, + -0.10998176783323288 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.436838835477829, + -0.10781677067279816, + 0.034217603504657745, + -3.0848398208618164, + -0.010759339667856693, + -0.10952894389629364 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn, which is positioned near the teddy bear on the table. The approach to the corn has been completed, and the gripper remains open with no significant closing evidence. The next likely action is to prepare for grasping the corn by adjusting position or initiating a grasp if alignment is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4374180734157562, + -0.10193261504173279, + 0.03448113799095154, + -3.060333728790283, + -0.007760071195662022, + -0.11724988371133804 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 3 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.43377935886383057, + -0.08889990299940109, + 0.027956951409578323, + -3.02990460395813, + 0.016469430178403854, + -0.09867065399885178 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.43459728360176086, + -0.08363380283117294, + 0.027618268504738808, + -3.0518271923065186, + 0.020209355279803276, + -0.07858924567699432 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.43090981245040894, + -0.08830706030130386, + 0.014939751476049423, + -3.080444097518921, + 0.060739073902368546, + -0.08056312799453735 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 2 cm, move down 2 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4282577633857727, + -0.09354469180107117, + 0.0036812331527471542, + -3.1175107955932617, + 0.0896148607134819, + -0.08528521656990051 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow plush toy": [ + 797, + 286, + 923, + 459 + ], + "wooden box": [ + 203, + 5, + 623, + 398 + ] + } + } + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4296259582042694, + -0.09554271399974823, + 0.0028282462153583765, + -3.130178451538086, + 0.08051087707281113, + -0.09663234651088715 + ], + "gripper_value": 0.6981924772262573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 3 cm, keep gripper closed; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4243166744709015, + -0.09306944161653519, + 0.002554774284362793, + -3.1110029220581055, + 0.0720350444316864, + -0.10761458426713943 + ], + "gripper_value": 0.6269758939743042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 2 cm, keep gripper closed; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4105680584907532, + -0.0855577141046524, + 0.007097598630934954, + -3.08882474899292, + 0.07279843837022781, + -0.11822301894426346 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3933991491794586, + -0.07865142822265625, + 0.03275268152356148, + -3.0916852951049805, + 0.01788562722504139, + -0.12175417691469193 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35543373227119446, + -0.0717637911438942, + 0.036445725709199905, + -3.11031174659729, + 0.024175647646188736, + -0.10399805009365082 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 202, + 4, + 617, + 398 + ], + "yellow plush toy": [ + 736, + 269, + 880, + 455 + ] + } + } + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move down 4 cm, keep gripper closed; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31868794560432434, + -0.07074814289808273, + 0.0217327568680048, + -3.1344380378723145, + 0.06558487564325333, + -0.08940868079662323 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift corn", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper closed; then move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947349548339844, + -0.06819229573011398, + -0.0015546804061159492, + 3.135246992111206, + 0.06431294977664948, + -0.07894641160964966 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release corn near teddy", + "subtask_reasoning": "The robot is hovering above the corn with the gripper open, positioned near the teddy bear. The approach and hover phases are complete, but no grasp has occurred yet as the gripper remains open. The next action should be to close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29702994227409363, + -0.06676502525806427, + -0.0024129627272486687, + 3.121849775314331, + 0.012752433307468891, + -0.1010027751326561 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release corn near teddy", + "subtask_reasoning": "The robot is holding the corn directly above the teddy bear, having completed the transport phase. The gripper is currently closed around the object, and the next action is to open the gripper to release the corn near the teddy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29767730832099915, + -0.06570388376712799, + -0.0008312274003401399, + 3.125474452972412, + 0.005884672049432993, + -0.1220991387963295 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release corn near teddy", + "subtask_reasoning": "The robot is holding the corn directly above the teddy bear, having completed the transport phase. The gripper is currently closed around the object, and the next action is to open the gripper to release the corn near the teddy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2956884801387787, + -0.06347203999757767, + 0.03322447091341019, + -3.1192989349365234, + -0.023314546793699265, + -0.15427535772323608 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn closer to the teddy bear." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "hover above corn" + }, + { + "id": 3, + "subtask": "grasp and lift corn" + }, + { + "id": 4, + "subtask": "release corn near teddy" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The corn has been successfully placed near the teddy bear, and the robot's gripper is open. The robot is currently positioned above the objects and is in the process of retreating from the scene to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003716_ecot.json b/cot/chunk-0003/episode_0003716_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a1bd38a8c0ac122ef87cc38f3cf88090ce5ec269 --- /dev/null +++ b/cot/chunk-0003/episode_0003716_ecot.json @@ -0,0 +1,2420 @@ +{ + "task_name": "episode_0003716", + "episode_json": "json/chunk-0003/episode_0003716.json", + "video_path": "videos/chunk-0003/image_0/episode_0003716.mp4", + "instruction": "Pick green ball and put it on the vessel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003716.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.31773048639297485, + "std": 0.1466962844133377, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.31773, std=0.14670, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 200, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 21 + ], + [ + 3, + 22, + 22 + ], + [ + 4, + 23, + 24 + ], + [ + 5, + 25, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green ball\", \"start\": 0, \"end\": 8, \"planning\": \"Move the gripper from initial position toward the green ball on the table.\"},\n {\"id\": 2, \"name\": \"grasp green ball\", \"start\": 9, \"end\": 18, \"planning\": \"Close gripper around the green ball and secure it for lifting, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition over vessel\", \"start\": 19, \"end\": 22, \"planning\": \"Lift the grasped green ball and move it horizontally toward the vessel’s opening while maintaining grip.\"},\n {\"id\": 4, \"name\": \"lower into vessel\", \"start\": 23, \"end\": 24, \"planning\": \"Descend the gripper to position the green ball inside the vessel without releasing yet.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 25, \"end\": 34, \"planning\": \"Open gripper to drop the green ball into the vessel, then retract arm to safe home position.\"}\n ],\n \"global_plan\": \"Approach the green ball, grasp it securely, lift and transport it over the vessel, lower it inside, then release and retreat.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.30695) and image confirmation at frame 18 — grasp wording justified. Segment 2 has no gripper change but motion indicates transport — described as repositioning. Segment 5 shows gripper opening (delta=+0.30862) and final image confirms release — release wording justified. All segments covered contiguously with no gaps.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green ball", + "start": 0, + "end": 8, + "planning": "Move the gripper from initial position toward the green ball on the table." + }, + { + "id": 2, + "name": "grasp green ball", + "start": 9, + "end": 18, + "planning": "Close gripper around the green ball and secure it for lifting, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition over vessel", + "start": 19, + "end": 22, + "planning": "Lift the grasped green ball and move it horizontally toward the vessel’s opening while maintaining grip." + }, + { + "id": 4, + "name": "lower into vessel", + "start": 23, + "end": 24, + "planning": "Descend the gripper to position the green ball inside the vessel without releasing yet." + }, + { + "id": 5, + "name": "release and retreat", + "start": 25, + "end": 34, + "planning": "Open gripper to drop the green ball into the vessel, then retract arm to safe home position." + } + ], + "global_plan": "Approach the green ball, grasp it securely, lift and transport it over the vessel, lower it inside, then release and retreat.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.30695) and image confirmation at frame 18 — grasp wording justified. Segment 2 has no gripper change but motion indicates transport — described as repositioning. Segment 5 shows gripper opening (delta=+0.30862) and final image confirms release — release wording justified. All segments covered contiguously with no gaps." + } + }, + "episode_goal": "Pick up the green ball and place it inside the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828410267829895, + 0.06118009611964226, + 0.14117807149887085, + -3.111032724380493, + -0.20232297480106354, + -0.09971300512552261 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible to the right and the metal pot to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 11 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2838093340396881, + 0.060509588569402695, + 0.1315993219614029, + -3.122544765472412, + -0.17496058344841003, + -0.08989433199167252 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible to the right and the metal pot to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 11 cm, move down 10 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29469943046569824, + 0.0439811572432518, + 0.11917037516832352, + -3.1357879638671875, + -0.17272908985614777, + -0.07630184292793274 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible to the right and the metal pot to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 9 cm, move down 8 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31697210669517517, + 0.0218980573117733, + 0.10169953107833862, + -3.137491226196289, + -0.1633560061454773, + -0.04378479719161987 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible to the right and the metal pot to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, move down 7 cm, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393496572971344, + -0.0009238196653313935, + 0.08305677771568298, + -3.1370341777801514, + -0.14414703845977783, + -0.05095193162560463 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow brush": [ + 165, + 269, + 310, + 462 + ], + "metal pot": [ + 246, + 451, + 542, + 740 + ], + "tomato sauce": [ + 636, + 42, + 783, + 300 + ], + "wooden countertop": [ + 4, + 135, + 927, + 956 + ], + "black appliance": [ + 673, + 176, + 996, + 994 + ], + "white appliance": [ + 274, + 1, + 672, + 214 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 5 cm, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646453619003296, + -0.01691395789384842, + 0.06754481792449951, + -3.1227638721466064, + -0.1436196118593216, + -0.020844457671046257 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 3 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3876001536846161, + -0.0346776507794857, + 0.051943160593509674, + -3.122893810272217, + -0.12508830428123474, + -0.014134843833744526 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.40115121006965637, + -0.045379698276519775, + 0.0478702038526535, + -3.1229283809661865, + -0.13665466010570526, + -0.016139132902026176 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4078708589076996, + -0.046056218445301056, + 0.04259464517235756, + -3.111510753631592, + -0.13575688004493713, + -0.007370640058070421 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4122259020805359, + -0.04488612338900566, + 0.034415751695632935, + -3.0906872749328613, + -0.11473351716995239, + -0.0026919504161924124 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4138711988925934, + -0.04354698583483696, + 0.035479314625263214, + -3.080432653427124, + -0.11180392652750015, + -0.002822253620252013 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41366082429885864, + -0.04266613721847534, + 0.03488632291555405, + -3.0749309062957764, + -0.10979919135570526, + -0.0013255715603008866 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 7 cm, move left 9 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.413279265165329, + -0.041315022855997086, + 0.035566557198762894, + -3.0668489933013916, + -0.10846101492643356, + 0.0019309211056679487 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot is positioned above the table with the green ball visible nearby and the metal pot in front. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the green ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 11 cm, move left 13 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41056549549102783, + -0.0394248366355896, + 0.02491469494998455, + -3.049271583557129, + -0.07926648110151291, + 0.001858088537119329 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green ball on the countertop, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the green ball." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 15 cm, move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4082008898258209, + -0.038819823414087296, + 0.01920422911643982, + -3.0446670055389404, + -0.05843590572476387, + 0.0031863695476204157 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green ball on the countertop, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the green ball." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 15 cm, move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.409195214509964, + -0.03881240263581276, + 0.014869307167828083, + -3.0417709350585938, + -0.04256139323115349, + 0.010767443105578423 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow brush": [ + 165, + 269, + 310, + 462 + ], + "white appliance": [ + 273, + 1, + 663, + 236 + ], + "metal pot": [ + 247, + 451, + 542, + 740 + ], + "wooden countertop": [ + 37, + 137, + 929, + 960 + ], + "tomato sauce": [ + 763, + 127, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green ball on the countertop, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the green ball." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 15 cm, move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4109785556793213, + -0.038742195814847946, + 0.014267796650528908, + -3.0458171367645264, + -0.053687963634729385, + 0.021055327728390694 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green ball on the countertop, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the green ball." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 15 cm, move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41058865189552307, + -0.038889121264219284, + 0.01411167997866869, + -3.054244041442871, + -0.049501050263643265, + 0.015911949798464775 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green ball on the countertop, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the green ball." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 15 cm, move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4100666642189026, + -0.03352518752217293, + 0.02102476917207241, + -3.108276844024658, + -0.04383514076471329, + 0.043233416974544525 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green ball", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green ball on the countertop, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the green ball." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 15 cm, move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4158061742782593, + -0.017231499776244164, + 0.08875125646591187, + 3.11594557762146, + -0.21015307307243347, + 0.08093803375959396 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow brush": [ + 164, + 268, + 310, + 462 + ], + "metal pot": [ + 246, + 451, + 541, + 740 + ], + "wooden countertop": [ + 4, + 137, + 932, + 963 + ], + "black appliance": [ + 673, + 177, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green ball on the countertop, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the green ball." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3895343542098999, + 0.015096747316420078, + 0.11166691035032272, + 3.115007162094116, + -0.23795026540756226, + 0.12595926225185394 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The green ball is currently held by the gripper and positioned above the metal pot. The approach and grasp phases are complete, and the robot is now lifting and repositioning the ball over the vessel. The next action is to lower the ball into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 11 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34368813037872314, + 0.07110841572284698, + 0.12121209502220154, + 3.1333060264587402, + -0.24069511890411377, + 0.23876917362213135 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The green ball is currently held by the gripper and positioned above the metal pot. The approach and grasp phases are complete, and the robot is now lifting and repositioning the ball over the vessel. The next action is to lower the ball into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30356889963150024, + 0.10908305644989014, + 0.11570695787668228, + -3.139514446258545, + -0.21517905592918396, + 0.2813584804534912 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The green ball is currently held by the gripper and positioned above the metal pot. The approach and grasp phases are complete, and the robot is now lifting and repositioning the ball over the vessel. The next action is to lower the ball into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27026206254959106, + 0.1298661231994629, + 0.09559033811092377, + 3.1003689765930176, + -0.1576182246208191, + 0.28000226616859436 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The green ball is currently held above the metal pot, with the gripper maintaining a steady open position indicating no active grasping or releasing. The ball has been successfully transported over the vessel, and the next action is to lower it into the pot while maintaining grip until release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25939300656318665, + 0.12345511466264725, + 0.08042757958173752, + 3.1046533584594727, + -0.13143151998519897, + 0.2124202400445938 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The green ball is currently held above the metal pot, with the gripper maintaining a steady open position indicating no active grasping or releasing. The ball has been successfully transported over the vessel, and the next action is to lower it into the pot while maintaining grip until release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554274797439575, + 0.1177452877163887, + 0.0688607469201088, + -3.1275839805603027, + -0.12069070339202881, + 0.16018596291542053 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green ball is currently held above the metal pot, with the gripper maintaining a steady open position indicating no active grasping or releasing. The ball has been successfully transported over the vessel, and the next action is to lower it into the pot while maintaining grip until release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2553906738758087, + 0.11818394809961319, + 0.04938394948840141, + -3.0583744049072266, + -0.08234521746635437, + 0.13414187729358673 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green ball is currently held above the metal pot, with the gripper maintaining a steady open position indicating no active grasping or releasing. The ball has been successfully transported over the vessel, and the next action is to lower it into the pot while maintaining grip until release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2529841363430023, + 0.1241685003042221, + 0.037563201040029526, + -3.0818264484405518, + -0.059326499700546265, + 0.09661746770143509 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green ball is currently held above the metal pot, with the gripper maintaining a steady open position indicating no active grasping or releasing. The ball has been successfully transported over the vessel, and the next action is to lower it into the pot while maintaining grip until release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 9 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.25257647037506104, + 0.1338602602481842, + 0.030913369730114937, + -3.109344959259033, + -0.03848303481936455, + 0.10021008551120758 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green ball is currently held above the metal pot, with the gripper maintaining a steady open position indicating no active grasping or releasing. The ball has been successfully transported over the vessel, and the next action is to lower it into the pot while maintaining grip until release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25329092144966125, + 0.1351608783006668, + 0.029762467369437218, + -3.111034393310547, + -0.027629688382148743, + 0.10154610872268677 + ], + "gripper_value": 0.7701175808906555 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is positioned above the metal pot with the green ball held in its gripper. The gripper is currently open, indicating the ball has been released or is in the process of being dropped into the vessel. The next action is to fully release the ball if not already done and retreat the arm away from the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25259843468666077, + 0.1366058737039566, + 0.028910169377923012, + -3.104146718978882, + -0.010580942034721375, + 0.10775946080684662 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is positioned above the metal pot with the green ball held in its gripper. The gripper is currently open, indicating the ball has been released or is in the process of being dropped into the vessel. The next action is to fully release the ball if not already done and retreat the arm away from the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25307220220565796, + 0.13697747886180878, + 0.030146941542625427, + -3.0940780639648438, + -0.0036780214868485928, + 0.09972092509269714 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is positioned above the metal pot with the green ball held in its gripper. The gripper is currently open, indicating the ball has been released or is in the process of being dropped into the vessel. The next action is to fully release the ball if not already done and retreat the arm away from the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.25953683257102966, + 0.1248212531208992, + 0.049247998744249344, + -3.1062419414520264, + -0.057001546025276184, + 0.06320825964212418 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is positioned above the metal pot with the green ball held in its gripper. The gripper is currently open, indicating the ball has been released or is in the process of being dropped into the vessel. The next action is to fully release the ball if not already done and retreat the arm away from the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631983160972595, + 0.11200222373008728, + 0.10397203266620636, + -3.094069004058838, + -0.19786600768566132, + 0.034028779715299606 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white appliance": [ + 275, + 1, + 672, + 237 + ], + "yellow brush": [ + 162, + 300, + 314, + 461 + ], + "metal pot": [ + 246, + 451, + 543, + 739 + ], + "tomato sauce": [ + 637, + 42, + 782, + 300 + ], + "wooden countertop": [ + 5, + 128, + 928, + 959 + ], + "corn": [ + 767, + 131, + 918, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is positioned above the metal pot with the green ball held in its gripper. The gripper is currently open, indicating the ball has been released or is in the process of being dropped into the vessel. The next action is to fully release the ball if not already done and retreat the arm away from the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2688477039337158, + 0.10553804039955139, + 0.13038314878940582, + -3.1298694610595703, + -0.21522265672683716, + 0.02323317341506481 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green ball and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green ball" + }, + { + "id": 2, + "subtask": "grasp green ball" + }, + { + "id": 3, + "subtask": "lift and reposition over vessel" + }, + { + "id": 4, + "subtask": "lower into vessel" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is positioned above the metal pot with the green ball held in its gripper. The gripper is currently open, indicating the ball has been released or is in the process of being dropped into the vessel. The next action is to fully release the ball if not already done and retreat the arm away from the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003717_ecot.json b/cot/chunk-0003/episode_0003717_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..acb59ae236e68636ac6a7e172d93a9a1b13a428c --- /dev/null +++ b/cot/chunk-0003/episode_0003717_ecot.json @@ -0,0 +1,536 @@ +{ + "task_name": "episode_0003717", + "episode_json": "json/chunk-0003/episode_0003717.json", + "video_path": "videos/chunk-0003/image_0/episode_0003717.mp4", + "instruction": "Pick up pot from sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 8, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003717.json" + }, + "fps": 5.0, + "T_eff": 8, + "gripper_behavior_summary": { + "available": true, + "range": 0.9062207341194153, + "std": 0.35380616784095764, + "delta_total": -0.9062207341194153, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90622, std=0.35381, total_delta=-0.90622). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 5, + 5, + 5 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 7 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot in sink\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the pot located in the sink while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper on pot\", \"start\": 3, \"end\": 5, \"planning\": \"Gradually close gripper around the pot’s rim or handle to establish secure contact.\"},\n {\"id\": 3, \"name\": \"lift pot from sink\", \"start\": 6, \"end\": 7, \"planning\": \"Lift the pot vertically out of the sink while maintaining firm grip and stable orientation.\"}\n ],\n \"global_plan\": \"Approach the pot in the sink, close the gripper to grasp it securely, then lift it out of the sink.\",\n \"notes\": \"Gripper closure is confirmed across segments: Segment 1 shows initial closing (delta=-0.316), Segment 2 continues closing to near-full closure (delta=-0.308). Images at Frame 4 and Frame 5 show gripper contacting pot; Frame 7 shows lifted position. Motion is contiguous and covers all frames 0–7.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot in sink", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the pot located in the sink while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper on pot", + "start": 3, + "end": 5, + "planning": "Gradually close gripper around the pot’s rim or handle to establish secure contact." + }, + { + "id": 3, + "name": "lift pot from sink", + "start": 6, + "end": 7, + "planning": "Lift the pot vertically out of the sink while maintaining firm grip and stable orientation." + } + ], + "global_plan": "Approach the pot in the sink, close the gripper to grasp it securely, then lift it out of the sink.", + "notes": "Gripper closure is confirmed across segments: Segment 1 shows initial closing (delta=-0.316), Segment 2 continues closing to near-full closure (delta=-0.308). Images at Frame 4 and Frame 5 show gripper contacting pot; Frame 7 shows lifted position. Motion is contiguous and covers all frames 0–7." + } + }, + "episode_goal": "Grasp the metal pot in the sink by closing the gripper around its handle.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35901904106140137, + -0.015412110835313797, + 0.014336906373500824, + -3.0893211364746094, + -0.0523567721247673, + 0.07483071833848953 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot in the sink by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot is positioned above the sink with the metal pot visible below. The gripper is fully open and has not moved significantly, indicating the approach phase is ongoing. The next action is to continue moving the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, close gripper; then move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3591468334197998, + -0.01748962327837944, + -0.009550386108458042, + -3.099508047103882, + -0.035614628344774246, + 0.0561949647963047 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot in the sink by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the metal pot visible below. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm to align the gripper with the pot's handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643357455730438, + -0.008715122006833553, + -0.02840884029865265, + -3.1085782051086426, + -0.08239114284515381, + 0.047980766743421555 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot in the sink by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the metal pot visible below. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm to align the gripper with the pot's handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3667929470539093, + -0.009040760807693005, + -0.04453183710575104, + -3.12728214263916, + -0.12171207368373871, + 0.05013122409582138 + ], + "gripper_value": 0.9041115045547485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot in the sink by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the sink with the metal pot visible below. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm to align the gripper with the pot's handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3684345483779907, + -0.009115512482821941, + -0.04988228529691696, + -3.1294219493865967, + -0.13404399156570435, + 0.057571809738874435 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot in the sink by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned directly over the metal pot in the sink, with the gripper aligned to the pot's handle. The gripper is currently open and in contact with the handle, ready to close. The next action is to close the gripper to securely grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651130199432373, + -0.012028575874865055, + -0.04658504202961922, + -3.098267078399658, + -0.09116265177726746, + 0.07492955774068832 + ], + "gripper_value": 0.4015096127986908 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot in the sink by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned directly over the metal pot in the sink, with the gripper aligned to the pot's handle. The gripper is currently open and in contact with the handle, ready to close. The next action is to close the gripper to securely grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617972433567047, + -0.015785718336701393, + -0.03653782233595848, + -3.0647881031036377, + -0.020074447616934776, + 0.10098297148942947 + ], + "gripper_value": 0.2044290155172348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot in the sink by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "lift pot from sink", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle inside the sink, having already approached and closed around it. The current subtask involves lifting the pot upward from the sink basin. The next action is to move the end-effector vertically to raise the pot out of the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 6, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36144769191741943, + -0.023615645244717598, + -0.01804240792989731, + -3.0322928428649902, + 0.045656077563762665, + 0.11753571033477783 + ], + "gripper_value": 0.09326785057783127 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 856, + 463, + 996, + 570 + ], + "cutting board": [ + 829, + 488, + 995, + 681 + ], + "sink": [ + 297, + 257, + 854, + 747 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot in the sink by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "lift pot from sink", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle inside the sink, having already approached and closed around it. The current subtask involves lifting the pot upward from the sink basin. The next action is to move the end-effector vertically to raise the pot out of the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 7 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003718_ecot.json b/cot/chunk-0003/episode_0003718_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..553ee61cb04ecbf8b17c549da99c03f88452f1e3 --- /dev/null +++ b/cot/chunk-0003/episode_0003718_ecot.json @@ -0,0 +1,2530 @@ +{ + "task_name": "episode_0003718", + "episode_json": "json/chunk-0003/episode_0003718.json", + "video_path": "videos/chunk-0003/image_0/episode_0003718.mp4", + "instruction": "Picked up the silver pan and place it on top of the green cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003718.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.9601494669914246, + "std": 0.4429841637611389, + "delta_total": 0.009113907814025879, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96015, std=0.44298, total_delta=0.00911). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 12, + 212, + 212, + 212, + 212, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 130, + 130, + 130, + 130, + 130, + 130, + 130, + 130, + 130 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 17 + ], + [ + 3, + 18, + 21 + ], + [ + 4, + 22, + 29 + ], + [ + 5, + 30, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pan\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the silver pan on the stovetop while preparing to grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift silver pan\", \"start\": 12, \"end\": 17, \"planning\": \"Close gripper to secure the silver pan and lift it clear of the stovetop surface.\"},\n {\"id\": 3, \"name\": \"transport pan over green cloth\", \"start\": 18, \"end\": 21, \"planning\": \"Carry the grasped silver pan horizontally toward the target location above the green cloth.\"},\n {\"id\": 4, \"name\": \"lower and place pan on cloth\", \"start\": 22, \"end\": 29, \"planning\": \"Descend with the pan and gently release it onto the green cloth, ensuring stable placement.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 30, \"end\": 38, \"planning\": \"Open gripper to fully release the pan, then withdraw end-effector upward and away from the scene.\"}\n ],\n \"global_plan\": \"Pick up the silver pan from the stovetop by approaching, grasping, lifting, transporting over the green cloth, placing it down, and retreating after release.\",\n \"notes\": \"Segment 3 (frames 18-21) was merged into subtask 3 as it represents continuous transport motion without significant gripper or positional change; all other segments map directly to observed manipulation phases supported by gripper closure/opening and image evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pan", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the silver pan on the stovetop while preparing to grasp." + }, + { + "id": 2, + "name": "grasp and lift silver pan", + "start": 12, + "end": 17, + "planning": "Close gripper to secure the silver pan and lift it clear of the stovetop surface." + }, + { + "id": 3, + "name": "transport pan over green cloth", + "start": 18, + "end": 21, + "planning": "Carry the grasped silver pan horizontally toward the target location above the green cloth." + }, + { + "id": 4, + "name": "lower and place pan on cloth", + "start": 22, + "end": 29, + "planning": "Descend with the pan and gently release it onto the green cloth, ensuring stable placement." + }, + { + "id": 5, + "name": "release and retreat", + "start": 30, + "end": 38, + "planning": "Open gripper to fully release the pan, then withdraw end-effector upward and away from the scene." + } + ], + "global_plan": "Pick up the silver pan from the stovetop by approaching, grasping, lifting, transporting over the green cloth, placing it down, and retreating after release.", + "notes": "Segment 3 (frames 18-21) was merged into subtask 3 as it represents continuous transport motion without significant gripper or positional change; all other segments map directly to observed manipulation phases supported by gripper closure/opening and image evidence." + } + }, + "episode_goal": "Place the silver pan on the green cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22043976187705994, + 0.03737393021583557, + 0.02926749922335148, + -2.9935855865478516, + -0.25095775723457336, + 0.07899902760982513 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pan visible on the burner and the green cloth nearby. No actions have been completed yet as this is the initial approach phase. The next likely action is to move the arm closer to the silver pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21628089249134064, + 0.038816969841718674, + 0.024862121790647507, + -2.9851222038269043, + -0.22990889847278595, + 0.0911254957318306 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pan visible on the burner and the green cloth nearby. No actions have been completed yet as this is the initial approach phase. The next likely action is to move the arm closer to the silver pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2223505824804306, + 0.0487651601433754, + 0.019918270409107208, + -2.853492259979248, + -0.22984854876995087, + 0.11609198898077011 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pan visible on the burner and the green cloth nearby. No actions have been completed yet as this is the initial approach phase. The next likely action is to move the arm closer to the silver pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2395324409008026, + 0.057388920336961746, + 0.017534051090478897, + -2.8233935832977295, + -0.25375255942344666, + 0.1132899820804596 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pan visible on the burner and the green cloth nearby. No actions have been completed yet as this is the initial approach phase. The next likely action is to move the arm closer to the silver pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25955289602279663, + 0.06708218157291412, + 0.022237025201320648, + -2.877530336380005, + -0.3116304874420166, + 0.14814995229244232 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the silver pan visible on the burner and the green cloth nearby. No actions have been completed yet as this is the initial approach phase. The next likely action is to move the arm closer to the silver pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717284560203552, + 0.08107045292854309, + 0.018131908029317856, + -2.9264626502990723, + -0.325030118227005, + 0.22201494872570038 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 6 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28071069717407227, + 0.09457288682460785, + 0.014069103635847569, + -2.966766119003296, + -0.33339035511016846, + 0.2844253480434418 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 5 cm, close gripper; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868766486644745, + 0.10575345903635025, + 0.007591417990624905, + -2.972442865371704, + -0.31968018412590027, + 0.30831944942474365 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, close gripper; then move back 2 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915389835834503, + 0.11128547042608261, + -0.0051030502654612064, + -2.9772403240203857, + -0.28844454884529114, + 0.3135072886943817 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 5 cm, move right 8 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2956008315086365, + 0.11755073815584183, + -0.020877791568636894, + -2.9698572158813477, + -0.25463810563087463, + 0.3165925145149231 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 5 cm, move right 8 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2979240417480469, + 0.12141161412000656, + -0.03208598122000694, + -2.969456672668457, + -0.23910246789455414, + 0.31623318791389465 + ], + "gripper_value": 0.9351479411125183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 5 cm, move right 8 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 6 cm, move right 5 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.300051748752594, + 0.12329160422086716, + -0.03669828549027443, + -2.9607083797454834, + -0.25482451915740967, + 0.3213917016983032 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 8 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024331331253052, + 0.12305667251348495, + -0.037356335669755936, + -2.96186900138855, + -0.26137351989746094, + 0.3241417109966278 + ], + "gripper_value": 0.33397963643074036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 6 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992638051509857, + 0.12217430770397186, + -0.037874072790145874, + -2.9550414085388184, + -0.26908382773399353, + 0.30983418226242065 + ], + "gripper_value": 0.13066163659095764 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift silver pan", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the silver pan which sits next to a green cloth. No part of the task has been completed yet as the pan remains on the burner. The gripper is open and moving toward the pan, indicating the next action is to align and prepare to grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 6 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.295058935880661, + 0.11955495923757553, + -0.03544977307319641, + -2.958730697631836, + -0.2768648862838745, + 0.29264551401138306 + ], + "gripper_value": 0.061516307294368744 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift silver pan", + "subtask_reasoning": "The robot arm is positioned directly above the silver pan on the stovetop, with the gripper open and ready to engage. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to grasp the pan handle and lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2927193343639374, + 0.1185324564576149, + -0.020860927179455757, + -2.9561328887939453, + -0.30718448758125305, + 0.26939207315444946 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift silver pan", + "subtask_reasoning": "The robot arm is positioned directly above the silver pan on the stovetop, with the gripper open and ready to engage. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to grasp the pan handle and lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2894341051578522, + 0.11127592623233795, + -0.0017491840990260243, + -2.9638381004333496, + -0.3582080900669098, + 0.19504565000534058 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift silver pan", + "subtask_reasoning": "The robot arm is positioned directly above the silver pan on the stovetop, with the gripper open and ready to engage. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to grasp the pan handle and lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820335924625397, + 0.08744435757398605, + 0.0350513756275177, + -2.9494175910949707, + -0.4549047350883484, + 0.04350845143198967 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift silver pan", + "subtask_reasoning": "The robot arm is positioned directly above the silver pan on the stovetop, with the gripper open and ready to engage. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to grasp the pan handle and lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 2 cm, keep gripper closed; then move back 6 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24932296574115753, + 0.04416733980178833, + 0.05887662619352341, + -2.9643478393554688, + -0.5124185681343079, + -0.04358500987291336 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport pan over green cloth", + "subtask_reasoning": "The robot arm is positioned directly above the silver pan on the stovetop, with the gripper open and ready to engage. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to grasp the pan handle and lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21121570467948914, + 0.01602736860513687, + 0.05380919575691223, + -2.9981396198272705, + -0.4743601083755493, + 0.021402211859822273 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport pan over green cloth", + "subtask_reasoning": "The silver pan is currently held above the stovetop, having been lifted from its initial position. The robot is in the process of transporting the pan towards the green cloth located to the right. The next action involves continuing the lateral movement to position the pan directly over the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.18743501603603363, + -0.00843142718076706, + 0.04178675264120102, + -2.986966133117676, + -0.4273453950881958, + 0.03964655473828316 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport pan over green cloth", + "subtask_reasoning": "The silver pan is currently held above the stovetop, having been lifted from its initial position. The robot is in the process of transporting the pan towards the green cloth located to the right. The next action involves continuing the lateral movement to position the pan directly over the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move down 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.18150261044502258, + -0.03348773345351219, + 0.02569698914885521, + -2.965006113052368, + -0.3929175138473511, + -0.02643313817679882 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport pan over green cloth", + "subtask_reasoning": "The silver pan is currently held above the stovetop, having been lifted from its initial position. The robot is in the process of transporting the pan towards the green cloth located to the right. The next action involves continuing the lateral movement to position the pan directly over the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.19286948442459106, + -0.05770724266767502, + 0.013818184845149517, + -2.9424362182617188, + -0.3765870928764343, + -0.14185009896755219 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower and place pan on cloth", + "subtask_reasoning": "The silver pan is currently held above the stovetop, having been lifted from its initial position. The robot is in the process of transporting the pan towards the green cloth located to the right. The next action involves continuing the lateral movement to position the pan directly over the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.21072977781295776, + -0.07418114691972733, + 0.006029605865478516, + -2.9320554733276367, + -0.36234065890312195, + -0.18084460496902466 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower and place pan on cloth", + "subtask_reasoning": "The silver pan is currently held above the stovetop, having been lifted from its initial position. The robot is in the process of transporting the pan towards the green cloth located to the right. The next action involves continuing the lateral movement to position the pan directly over the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, open gripper; then move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2326919585466385, + -0.09049639850854874, + -7.917328184703365e-05, + -2.9448540210723877, + -0.3556807041168213, + -0.18984180688858032 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower and place pan on cloth", + "subtask_reasoning": "The silver pan is currently held above the stovetop, having been lifted from its initial position. The robot is in the process of transporting the pan towards the green cloth located to the right. The next action involves continuing the lateral movement to position the pan directly over the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, open gripper; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24676455557346344, + -0.09001649171113968, + -0.007781309075653553, + -2.98098087310791, + -0.34576812386512756, + -0.15014755725860596 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower and place pan on cloth", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, open gripper; then move left 3 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25183728337287903, + -0.07622361183166504, + -0.018471920862793922, + -2.9937567710876465, + -0.31720030307769775, + -0.10819348692893982 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower and place pan on cloth", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, open gripper; then move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2550044357776642, + -0.06138613075017929, + -0.024841999635100365, + -3.01753568649292, + -0.3009222745895386, + -0.043350934982299805 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower and place pan on cloth", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.250135213136673, + -0.04745464771986008, + -0.02906171791255474, + -3.022540807723999, + -0.2727181613445282, + -0.022589579224586487 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower and place pan on cloth", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24639759957790375, + -0.0492062121629715, + -0.03044259548187256, + -3.0311381816864014, + -0.2373032420873642, + -0.07570163160562515 + ], + "gripper_value": 0.2432183027267456 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower and place pan on cloth", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508564591407776, + -0.05621403455734253, + -0.01595463417470455, + -3.0608973503112793, + -0.2959531843662262, + -0.1410541534423828 + ], + "gripper_value": 0.5120346546173096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2488097995519638, + -0.06119199097156525, + 0.020221348851919174, + -3.0344762802124023, + -0.39606887102127075, + -0.21358300745487213 + ], + "gripper_value": 0.831673800945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24389727413654327, + -0.05423789843916893, + 0.05280093476176262, + -3.024657726287842, + -0.47456082701683044, + -0.16341383755207062 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.247259721159935, + -0.04143302142620087, + 0.056250374764204025, + -3.017338752746582, + -0.4540266990661621, + -0.10774000734090805 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the silver pan directly above the green cloth on the stovetop. The gripper remains closed, indicating the pan is still secured. The next action is to lower the pan gently until it makes contact with the cloth and then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.25058892369270325, + -0.033425167202949524, + 0.047845128923654556, + -3.010618209838867, + -0.4056345522403717, + -0.09204860776662827 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pan is already placed on the green cloth, and the gripper is open and slightly elevated above it. The release action has been completed, and the robot is now retreating from the pan to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.251936137676239, + -0.030650220811367035, + 0.036395955830812454, + -2.9930806159973145, + -0.32351186871528625, + -0.04868501052260399 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pan is already placed on the green cloth, and the gripper is open and slightly elevated above it. The release action has been completed, and the robot is now retreating from the pan to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2518482804298401, + -0.03551836684346199, + 0.03049156628549099, + -3.0241239070892334, + -0.2796454429626465, + -0.01402520202100277 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pan is already placed on the green cloth, and the gripper is open and slightly elevated above it. The release action has been completed, and the robot is now retreating from the pan to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524924576282501, + -0.038961011916399, + 0.028968321159482002, + -3.064167022705078, + -0.2703533172607422, + -0.10715749114751816 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pan is already placed on the green cloth, and the gripper is open and slightly elevated above it. The release action has been completed, and the robot is now retreating from the pan to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.25251755118370056, + -0.03809715434908867, + 0.028719617053866386, + -3.065315008163452, + -0.27104899287223816, + -0.10638082027435303 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pan" + }, + { + "id": 2, + "subtask": "grasp and lift silver pan" + }, + { + "id": 3, + "subtask": "transport pan over green cloth" + }, + { + "id": 4, + "subtask": "lower and place pan on cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pan is already placed on the green cloth, and the gripper is open and slightly elevated above it. The release action has been completed, and the robot is now retreating from the pan to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003719_ecot.json b/cot/chunk-0003/episode_0003719_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e7031567346022a0b70ba473a6d49fc82fb9b138 --- /dev/null +++ b/cot/chunk-0003/episode_0003719_ecot.json @@ -0,0 +1,1169 @@ +{ + "task_name": "episode_0003719", + "episode_json": "json/chunk-0003/episode_0003719.json", + "video_path": "videos/chunk-0003/image_0/episode_0003719.mp4", + "instruction": "Put carrot in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003719.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.4030199646949768, + "std": 0.18552665412425995, + "delta_total": -0.4030199646949768, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40302, std=0.18553, total_delta=-0.40302). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the carrot on the cutting board without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the carrot while maintaining contact and securing it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move to pot\", \"start\": 13, \"end\": 18, \"planning\": \"Lift the grasped carrot and transport it over the pot in the sink for placement.\"}\n ],\n \"global_plan\": \"Approach the carrot on the cutting board, grasp it securely, then lift and move it to drop into the pot in the sink.\",\n \"notes\": \"Segment 1 (frames 0-5) shows no gripper closure — motion is purely positional approach. Segment 2 (frames 6-18) includes meaningful gripper closure (delta=-0.40302) and visual confirmation of grasping at frame 18, validating grasp/hold terminology from frame 6 onward. Subtask boundaries align with observed phase transitions: approach → grasp → transport.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the carrot on the cutting board without closing the gripper." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 6, + "end": 12, + "planning": "Close the gripper around the carrot while maintaining contact and securing it for lifting." + }, + { + "id": 3, + "name": "lift and move to pot", + "start": 13, + "end": 18, + "planning": "Lift the grasped carrot and transport it over the pot in the sink for placement." + } + ], + "global_plan": "Approach the carrot on the cutting board, grasp it securely, then lift and move it to drop into the pot in the sink.", + "notes": "Segment 1 (frames 0-5) shows no gripper closure — motion is purely positional approach. Segment 2 (frames 6-18) includes meaningful gripper closure (delta=-0.40302) and visual confirmation of grasping at frame 18, validating grasp/hold terminology from frame 6 onward. Subtask boundaries align with observed phase transitions: approach → grasp → transport." + } + }, + "episode_goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.20203542709350586, + 0.1000954806804657, + 0.07626140862703323, + -3.0406455993652344, + -0.17482802271842957, + 0.2380739003419876 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the cutting board near the orange carrot, with the gripper open and no contact made yet. The subtask of approaching the carrot is in progress, and the next action should be to move the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19977286458015442, + 0.09966239333152771, + 0.07024046033620834, + -3.03716778755188, + -0.18457940220832825, + 0.30252960324287415 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the cutting board near the orange carrot, with the gripper open and no contact made yet. The subtask of approaching the carrot is in progress, and the next action should be to move the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.19876115024089813, + 0.10158988833427429, + 0.06230175867676735, + -3.0712175369262695, + -0.17436784505844116, + 0.4055979251861572 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the wooden cutting board, hovering near the orange carrot. No objects have been grasped yet, as the gripper remains open. The next action is to lower the arm to make contact with the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20272782444953918, + 0.109007827937603, + 0.05923418328166008, + -3.097100019454956, + -0.18031609058380127, + 0.45877787470817566 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the wooden cutting board, hovering near the orange carrot. No objects have been grasped yet, as the gripper remains open. The next action is to lower the arm to make contact with the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2083486169576645, + 0.11243842542171478, + 0.05207989737391472, + -3.1106619834899902, + -0.16184493899345398, + 0.5137158036231995 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the wooden cutting board, hovering near the orange carrot. No objects have been grasped yet, as the gripper remains open. The next action is to lower the arm to make contact with the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21242527663707733, + 0.11691135168075562, + 0.04821460321545601, + -3.131014108657837, + -0.16539126634597778, + 0.5532726645469666 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 423, + 575, + 658, + 825 + ], + "blue cup": [ + 327, + 105, + 434, + 310 + ], + "knife block": [ + 52, + 17, + 364, + 503 + ], + "faucet": [ + 756, + 6, + 993, + 546 + ], + "red bowls": [ + 725, + 815, + 871, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the wooden cutting board, hovering near the orange carrot. No objects have been grasped yet, as the gripper remains open. The next action is to lower the arm to make contact with the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, close gripper; then move forward 1 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21069709956645966, + 0.11721092462539673, + 0.044881872832775116, + 3.1377835273742676, + -0.1657961905002594, + 0.5678821206092834 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the wooden cutting board, hovering near the orange carrot. No objects have been grasped yet, as the gripper remains open. The next action is to lower the arm to make contact with the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, close gripper; then move forward 3 cm, move right 6 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20543824136257172, + 0.11236608773469925, + 0.03982122242450714, + 3.127450942993164, + -0.1466471552848816, + 0.5730611681938171 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the wooden cutting board, hovering near the orange carrot. No objects have been grasped yet, as the gripper remains open. The next action is to lower the arm to make contact with the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, close gripper; then move forward 5 cm, move right 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.20267951488494873, + 0.10977209359407425, + 0.03518185764551163, + 3.1121160984039307, + -0.15039576590061188, + 0.5803680419921875 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the wooden cutting board, hovering near the orange carrot. No objects have been grasped yet, as the gripper remains open. The next action is to lower the arm to make contact with the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, close gripper; then move forward 5 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.198756605386734, + 0.10712069272994995, + 0.025777840986847878, + 3.090758800506592, + -0.13910244405269623, + 0.5934545993804932 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the cutting board, with the gripper open and ready. The approach phase is complete, and the system is poised to initiate the grasp. The next action is to close the gripper to secure the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 5 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19467253983020782, + 0.10360004752874374, + 0.018436932936310768, + 3.0715296268463135, + -0.13938121497631073, + 0.6025286912918091 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the cutting board, with the gripper open and ready. The approach phase is complete, and the system is poised to initiate the grasp. The next action is to close the gripper to secure the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then move forward 5 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18992255628108978, + 0.10156955569982529, + 0.010466612875461578, + 3.0619473457336426, + -0.12777692079544067, + 0.612843930721283 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the cutting board, with the gripper open and ready. The approach phase is complete, and the system is poised to initiate the grasp. The next action is to close the gripper to secure the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18878129124641418, + 0.10079261660575867, + 0.004734414629638195, + 3.061723470687866, + -0.10877848416566849, + 0.6221450567245483 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the cutting board, with the gripper open and ready. The approach phase is complete, and the system is poised to initiate the grasp. The next action is to close the gripper to secure the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 5 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.1893092542886734, + 0.0945843905210495, + 0.004333863966166973, + 3.0634593963623047, + -0.08894891291856766, + 0.6285471320152283 + ], + "gripper_value": 0.6069100499153137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the cutting board, with the gripper open and ready. The approach phase is complete, and the system is poised to initiate the grasp. The next action is to close the gripper to secure the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19104911386966705, + 0.0822875127196312, + 0.011519196443259716, + 3.0726592540740967, + -0.0680520236492157, + 0.6237701773643494 + ], + "gripper_value": 0.6069100499153137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange carrot on the cutting board, with the gripper open and ready. The approach phase is complete, and the system is poised to initiate the grasp. The next action is to close the gripper to secure the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20313146710395813, + 0.060779958963394165, + 0.025173086673021317, + 3.0903894901275635, + -0.08288855850696564, + 0.5980058908462524 + ], + "gripper_value": 0.6069100499153137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the sink area. The gripper remains closed with no further closing motion, indicating the carrot is held securely. The next action is to continue moving the carrot toward the metal pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2160697728395462, + 0.037729933857917786, + 0.025641631335020065, + 3.0637876987457275, + -0.1170659288764, + 0.564919114112854 + ], + "gripper_value": 0.6069100499153137 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 425, + 575, + 660, + 826 + ], + "blue cup": [ + 349, + 105, + 433, + 308 + ], + "red bowls": [ + 725, + 815, + 871, + 993 + ], + "red apple": [ + 71, + 214, + 173, + 332 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the sink area. The gripper remains closed with no further closing motion, indicating the carrot is held securely. The next action is to continue moving the carrot toward the metal pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23548972606658936, + 0.016277795657515526, + 0.007873901166021824, + 2.994765043258667, + -0.1614008992910385, + 0.5266995429992676 + ], + "gripper_value": 0.6069100499153137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the sink area. The gripper remains closed with no further closing motion, indicating the carrot is held securely. The next action is to continue moving the carrot toward the metal pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24396224319934845, + 0.006437116768211126, + -0.005151222459971905, + 2.9506328105926514, + -0.18777452409267426, + 0.5021889209747314 + ], + "gripper_value": 0.6069100499153137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the wooden cutting board and place it into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the sink area. The gripper remains closed with no further closing motion, indicating the carrot is held securely. The next action is to continue moving the carrot toward the metal pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003720_ecot.json b/cot/chunk-0003/episode_0003720_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..998a34e28d7473b1a29a3d2dfc3a3d108411c049 --- /dev/null +++ b/cot/chunk-0003/episode_0003720_ecot.json @@ -0,0 +1,2357 @@ +{ + "task_name": "episode_0003720", + "episode_json": "json/chunk-0003/episode_0003720.json", + "video_path": "videos/chunk-0003/image_0/episode_0003720.mp4", + "instruction": "Take clothes out of laundry machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003720.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9443625807762146, + "std": 0.4328235983848572, + "delta_total": -0.010250627994537354, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94436, std=0.43282, total_delta=-0.01025). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 117, + 117, + 117, + 117, + 117, + 17, + 117, + 133, + 133 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 4 + ], + [ + 3, + 5, + 16 + ], + [ + 4, + 17, + 25 + ], + [ + 5, + 26, + 30 + ], + [ + 6, + 31, + 31 + ], + [ + 7, + 32, + 32 + ], + [ + 8, + 33, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach laundry machine\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end effector toward the open laundry machine door to prepare for interaction.\"},\n {\"id\": 2, \"name\": \"reach into drum\", \"start\": 5, \"end\": 16, \"planning\": \"Extend arm into the drum and close gripper to grasp the green sock inside.\"},\n {\"id\": 3, \"name\": \"extract and transfer sock\", \"start\": 17, \"end\": 30, \"planning\": \"Withdraw the grasped sock from the drum and move it over the laundry basket for placement.\"},\n {\"id\": 4, \"name\": \"release sock into basket\", \"start\": 31, \"end\": 32, \"planning\": \"Open gripper to drop the sock into the basket while maintaining position above it.\"},\n {\"id\": 5, \"name\": \"retreat and reset\", \"start\": 33, \"end\": 34, \"planning\": \"Lift and retract the arm away from the basket to complete the subtask and prepare for next action.\"}\n ],\n \"global_plan\": \"Extract one item (green sock) from the laundry machine drum and place it into the adjacent laundry basket using a single grasp-and-place motion sequence.\",\n \"notes\": \"Plan reflects observed trajectory: only one object is manipulated; gripper closes meaningfully in segment 3 (frames 5-16), opens in segment 6 (frame 31), and re-closes in segment 8 (frames 33-34) — likely due to post-release adjustment or sensor noise. Subtasks are merged to reflect natural phases without over-segmenting micro-motions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach laundry machine", + "start": 0, + "end": 4, + "planning": "Move the end effector toward the open laundry machine door to prepare for interaction." + }, + { + "id": 2, + "name": "reach into drum", + "start": 5, + "end": 16, + "planning": "Extend arm into the drum and close gripper to grasp the green sock inside." + }, + { + "id": 3, + "name": "extract and transfer sock", + "start": 17, + "end": 30, + "planning": "Withdraw the grasped sock from the drum and move it over the laundry basket for placement." + }, + { + "id": 4, + "name": "release sock into basket", + "start": 31, + "end": 32, + "planning": "Open gripper to drop the sock into the basket while maintaining position above it." + }, + { + "id": 5, + "name": "retreat and reset", + "start": 33, + "end": 34, + "planning": "Lift and retract the arm away from the basket to complete the subtask and prepare for next action." + } + ], + "global_plan": "Extract one item (green sock) from the laundry machine drum and place it into the adjacent laundry basket using a single grasp-and-place motion sequence.", + "notes": "Plan reflects observed trajectory: only one object is manipulated; gripper closes meaningfully in segment 3 (frames 5-16), opens in segment 6 (frame 31), and re-closes in segment 8 (frames 33-34) — likely due to post-release adjustment or sensor noise. Subtasks are merged to reflect natural phases without over-segmenting micro-motions." + } + }, + "episode_goal": "Remove the green cloth from the washing machine and place it into the white laundry basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24373088777065277, + 0.10218874365091324, + 0.044600483030080795, + -3.099757432937622, + -0.18777918815612793, + 0.019294502213597298 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned in front of the washing machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the washing machine opening to prepare for extracting the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23955003917217255, + 0.09940999001264572, + 0.0379190519452095, + -3.114703893661499, + -0.15702392160892487, + 0.02754361741244793 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned in front of the washing machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the washing machine opening to prepare for extracting the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 11 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25145405530929565, + 0.08490020781755447, + 0.041750743985176086, + -3.138760566711426, + -0.13418804109096527, + 0.058977603912353516 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the green cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 12 cm, move right 1 cm, move down 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555513083934784, + 0.06696329265832901, + 0.04506383091211319, + 3.1366841793060303, + -0.10605239123106003, + 0.028948329389095306 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cloth": [ + 290, + 583, + 556, + 845 + ], + "blue hose": [ + 51, + 80, + 183, + 209 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the green cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 13 cm, move right 1 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738334834575653, + 0.05526600778102875, + 0.0559222437441349, + 3.1247005462646484, + -0.1589016318321228, + -0.013234619982540607 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the green cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 3 cm, keep gripper open; then move forward 13 cm, move right 1 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29625600576400757, + 0.03648274019360542, + 0.08200297504663467, + -3.133329391479492, + -0.16932250559329987, + -0.06925734132528305 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot is positioned near the laundry machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the green cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 1 cm, move down 6 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31620141863822937, + 0.03038998320698738, + 0.08668647706508636, + -3.0890915393829346, + -0.25570082664489746, + -0.13538338243961334 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot is positioned near the laundry machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the green cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move down 7 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3388495445251465, + 0.028452908620238304, + 0.08136961609125137, + -3.0527262687683105, + -0.33884507417678833, + -0.19738700985908508 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot is positioned near the laundry machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the green cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35495641827583313, + 0.022188927978277206, + 0.06518904119729996, + -2.992014169692993, + -0.3681429326534271, + -0.3068292737007141 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot is positioned near the laundry machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the green cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37538355588912964, + 0.019846148788928986, + 0.059938397258520126, + -2.977999210357666, + -0.4263378083705902, + -0.3645173907279968 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cloth": [ + 289, + 583, + 555, + 845 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot is positioned near the laundry machine with the green cloth visible inside the drum. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the green cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38866353034973145, + 0.02044922113418579, + 0.06312953680753708, + -2.9553816318511963, + -0.4448080062866211, + -0.4047369956970215 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move back 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4050160348415375, + 0.023608801886439323, + 0.06156598776578903, + -2.9571735858917236, + -0.4494132995605469, + -0.4516313374042511 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.41782185435295105, + 0.02324623614549637, + 0.048491090536117554, + -3.012556314468384, + -0.46211573481559753, + -0.46944448351860046 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 7 cm, move right 1 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4227912724018097, + 0.02428985759615898, + 0.03292424604296684, + -3.06939697265625, + -0.4854431748390198, + -0.44978633522987366 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 9 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4243473708629608, + 0.02538236603140831, + 0.028730448335409164, + -3.0560405254364014, + -0.5277125835418701, + -0.44083452224731445 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 12 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.42576777935028076, + 0.02840607985854149, + 0.02429947629570961, + -3.0408692359924316, + -0.5484821200370789, + -0.41861066222190857 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 14 cm, move right 6 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.42723771929740906, + 0.029387973248958588, + 0.021638209000229836, + -3.047879934310913, + -0.5356100797653198, + -0.40781885385513306 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "reach into drum", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 15 cm, move right 8 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.422649085521698, + 0.0259788166731596, + 0.020279526710510254, + -3.0687332153320312, + -0.5015435218811035, + -0.3573700487613678 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 10 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4122394323348999, + 0.021178971976041794, + 0.020396489650011063, + -3.0584030151367188, + -0.46732547879219055, + -0.31770363450050354 + ], + "gripper_value": 0.18122604489326477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 11 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.40079841017723083, + 0.01901639625430107, + 0.022021599113941193, + -3.075413703918457, + -0.4448775053024292, + -0.2777288556098938 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 11 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3934190273284912, + 0.017298640683293343, + 0.026588641107082367, + -3.0781869888305664, + -0.3909284174442291, + -0.2245863527059555 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.375435471534729, + 0.018369855359196663, + 0.043495215475559235, + -3.045199394226074, + -0.32573455572128296, + -0.17049892246723175 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.35417869687080383, + 0.015454359352588654, + 0.07181708514690399, + -3.008579730987549, + -0.3231964409351349, + -0.08245881646871567 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot arm is positioned near the open washing machine drum, with the green cloth visible inside. The gripper is open and has not yet made contact with the cloth. The next action is to move the gripper into the drum to grasp the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 10 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3276495635509491, + 0.005978196859359741, + 0.07166199386119843, + -3.0250303745269775, + -0.30196917057037354, + 0.0007894434966146946 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot's end-effector is positioned inside the washing machine drum, making contact with the green cloth. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the cloth for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30587494373321533, + -0.0065377941355109215, + 0.058886125683784485, + -3.0819926261901855, + -0.281886488199234, + 0.09713082760572433 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot's end-effector is positioned inside the washing machine drum, making contact with the green cloth. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the cloth for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28475475311279297, + -0.03124096803367138, + 0.0428653284907341, + -3.13025164604187, + -0.2276732325553894, + 0.19172318279743195 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cloth": [ + 289, + 583, + 557, + 846 + ], + "blue clothes": [ + 545, + 571, + 754, + 936 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot's end-effector is positioned inside the washing machine drum, making contact with the green cloth. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the cloth for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 4 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27595052123069763, + -0.05444295331835747, + 0.04165549948811531, + 3.1353800296783447, + -0.24451684951782227, + 0.21360887587070465 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot's end-effector is positioned inside the washing machine drum, making contact with the green cloth. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the cloth for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2762555778026581, + -0.07550854980945587, + 0.0426894947886467, + 3.109159231185913, + -0.2724621593952179, + 0.22326509654521942 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot's end-effector is positioned inside the washing machine drum, making contact with the green cloth. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the cloth for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27815455198287964, + -0.08783648163080215, + 0.028541199862957, + 3.061952829360962, + -0.2857869267463684, + 0.2402881234884262 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot's end-effector is positioned inside the washing machine drum, making contact with the green cloth. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the cloth for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2735702097415924, + -0.08830899000167847, + 0.005974413827061653, + 3.0458173751831055, + -0.28268343210220337, + 0.2237393707036972 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot's end-effector is positioned inside the washing machine drum, making contact with the green cloth. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the cloth for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2670494616031647, + -0.08525273203849792, + -0.005980649497359991, + 3.0688352584838867, + -0.24687832593917847, + 0.22707392275333405 + ], + "gripper_value": 0.07656946033239365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "extract and transfer sock", + "subtask_reasoning": "The robot's end-effector is positioned inside the washing machine drum, making contact with the green cloth. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the cloth for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613954544067383, + -0.08436942100524902, + -0.0016909708501771092, + -3.1381983757019043, + -0.192328080534935, + 0.25154098868370056 + ], + "gripper_value": 0.22045548260211945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "release sock into basket", + "subtask_reasoning": "The robot arm is positioned over the white laundry basket with the green sock held in the gripper. The gripper is currently closed, retaining the object above the target container. The next action is to open the gripper to release the sock into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2600223124027252, + -0.08267850428819656, + 0.007315301336348057, + 3.115581512451172, + -0.16692042350769043, + 0.26444321870803833 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "release sock into basket", + "subtask_reasoning": "The robot arm is positioned over the white laundry basket with the green sock held in the gripper. The gripper is currently closed, retaining the object above the target container. The next action is to open the gripper to release the sock into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637358605861664, + -0.07772286981344223, + 0.01699567213654518, + 3.0797038078308105, + -0.14980505406856537, + 0.29040804505348206 + ], + "gripper_value": 0.7613787055015564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "retreat and reset", + "subtask_reasoning": "The green cloth has been successfully placed into the white laundry basket, and the gripper is currently open and positioned above the basket. The robot is in the retreat and reset phase, having completed the grasp-and-place motion. The next action is to move the arm away from the basket to a neutral or home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27166152000427246, + -0.07002020627260208, + 0.029753221198916435, + 3.011664390563965, + -0.17946970462799072, + 0.3422481417655945 + ], + "gripper_value": 0.9865638017654419 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cloth": [ + 290, + 582, + 556, + 845 + ], + "blue hose": [ + 47, + 74, + 184, + 206 + ], + "blue clothes": [ + 548, + 565, + 753, + 930 + ] + } + } + }, + "Understanding": { + "goal": "Remove the green cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "reach into drum" + }, + { + "id": 3, + "subtask": "extract and transfer sock" + }, + { + "id": 4, + "subtask": "release sock into basket" + }, + { + "id": 5, + "subtask": "retreat and reset" + } + ], + "subtask_name": "retreat and reset", + "subtask_reasoning": "The green cloth has been successfully placed into the white laundry basket, and the gripper is currently open and positioned above the basket. The robot is in the retreat and reset phase, having completed the grasp-and-place motion. The next action is to move the arm away from the basket to a neutral or home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003721_ecot.json b/cot/chunk-0003/episode_0003721_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b8202c4f40e17088e5d177c0917a13eaed18e0e8 --- /dev/null +++ b/cot/chunk-0003/episode_0003721_ecot.json @@ -0,0 +1,3109 @@ +{ + "task_name": "episode_0003721", + "episode_json": "json/chunk-0003/episode_0003721.json", + "video_path": "videos/chunk-0003/image_0/episode_0003721.mp4", + "instruction": "Pick up the blue spoon and place it behind the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003721.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.5722085237503052, + "std": 0.27430376410484314, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57221, std=0.27430, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 200, + 200, + 216, + 216, + 216, + 216, + 216, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 13 + ], + [ + 3, + 14, + 15 + ], + [ + 4, + 16, + 20 + ], + [ + 5, + 21, + 32 + ], + [ + 6, + 33, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue spoon\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector from initial position toward the blue spoon on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"close gripper on spoon\", \"start\": 11, \"end\": 15, \"planning\": \"Close the gripper around the blue spoon while maintaining contact with the table surface.\"},\n {\"id\": 3, \"name\": \"lift and reposition spoon\", \"start\": 16, \"end\": 20, \"planning\": \"Lift the spoon slightly and begin moving it toward the target location behind the pot.\"},\n {\"id\": 4, \"name\": \"transport spoon behind pot\", \"start\": 21, \"end\": 32, \"planning\": \"Carry the spoon in a controlled arc over the table to position it behind the metal pot.\"},\n {\"id\": 5, \"name\": \"release spoon behind pot\", \"start\": 33, \"end\": 37, \"planning\": \"Open the gripper to release the spoon onto the table surface behind the pot.\"},\n {\"id\": 6, \"name\": \"retreat after placement\", \"start\": 38, \"end\": 41, \"planning\": \"Move the end-effector upward and away from the placed spoon to complete the task.\"}\n ],\n \"global_plan\": \"Approach the blue spoon, grasp it by closing the gripper, lift and transport it behind the pot, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in segments 2-3 (frames 11-15) and opening in segment 6 (frames 33-37). Motion phases are aligned with proprioceptive clusters and visual evidence. No hallucinated grasping or lifting outside supported segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue spoon", + "start": 0, + "end": 10, + "planning": "Move the end-effector from initial position toward the blue spoon on the table without closing the gripper." + }, + { + "id": 2, + "name": "close gripper on spoon", + "start": 11, + "end": 15, + "planning": "Close the gripper around the blue spoon while maintaining contact with the table surface." + }, + { + "id": 3, + "name": "lift and reposition spoon", + "start": 16, + "end": 20, + "planning": "Lift the spoon slightly and begin moving it toward the target location behind the pot." + }, + { + "id": 4, + "name": "transport spoon behind pot", + "start": 21, + "end": 32, + "planning": "Carry the spoon in a controlled arc over the table to position it behind the metal pot." + }, + { + "id": 5, + "name": "release spoon behind pot", + "start": 33, + "end": 37, + "planning": "Open the gripper to release the spoon onto the table surface behind the pot." + }, + { + "id": 6, + "name": "retreat after placement", + "start": 38, + "end": 41, + "planning": "Move the end-effector upward and away from the placed spoon to complete the task." + } + ], + "global_plan": "Approach the blue spoon, grasp it by closing the gripper, lift and transport it behind the pot, then release and retreat.", + "notes": "Gripper closure is confirmed in segments 2-3 (frames 11-15) and opening in segment 6 (frames 33-37). Motion phases are aligned with proprioceptive clusters and visual evidence. No hallucinated grasping or lifting outside supported segments." + } + }, + "episode_goal": "Pick up the blue spoon and place it behind the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2513097822666168, + 0.14576222002506256, + 0.11211945116519928, + 3.117738962173462, + -0.2910095155239105, + 0.8392722010612488 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible in front of the pot. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508898973464966, + 0.1445218175649643, + 0.10516338050365448, + 3.127692461013794, + -0.2694939970970154, + 0.8274139761924744 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible in front of the pot. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674787938594818, + 0.12687948346138, + 0.10746535658836365, + -3.1128458976745605, + -0.31786179542541504, + 0.6204121112823486 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible in front of the pot. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.281515896320343, + 0.11320091784000397, + 0.12189599871635437, + -3.0386197566986084, + -0.41173845529556274, + 0.38881462812423706 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 484, + 548, + 770, + 854 + ], + "blue handle": [ + 281, + 574, + 390, + 671 + ], + "orange sponge": [ + 570, + 649, + 727, + 793 + ], + "grey ball": [ + 380, + 528, + 461, + 623 + ], + "wooden countertop": [ + 6, + 206, + 858, + 988 + ], + "white cabinet": [ + 805, + 386, + 996, + 858 + ], + "green cloth": [ + 37, + 373, + 306, + 611 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible in front of the pot. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808743417263031, + 0.10088975727558136, + 0.1240580752491951, + -3.00254225730896, + -0.44740790128707886, + 0.20350885391235352 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible in front of the pot. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 9 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710222899913788, + 0.0800236314535141, + 0.11090987920761108, + -3.0067367553710938, + -0.4587652087211609, + 0.034792520105838776 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the countertop with the blue spoon visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26203784346580505, + 0.06835886090993881, + 0.10127579420804977, + -2.9734621047973633, + -0.430244117975235, + -0.1778099536895752 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the countertop with the blue spoon visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25810572504997253, + 0.051577553153038025, + 0.08568056672811508, + -3.0060787200927734, + -0.37304508686065674, + -0.33195608854293823 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the countertop with the blue spoon visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542801797389984, + 0.03610885515809059, + 0.06470916420221329, + -3.039841651916504, + -0.2783685326576233, + -0.42008545994758606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the countertop with the blue spoon visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25254786014556885, + 0.027910854667425156, + 0.0490906722843647, + -3.0265820026397705, + -0.19929374754428864, + -0.4946017563343048 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the countertop with the blue spoon visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25161442160606384, + 0.029711347073316574, + 0.034838415682315826, + -3.0125679969787598, + -0.12487169355154037, + -0.5084198117256165 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the countertop with the blue spoon visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move left 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24723678827285767, + 0.036652203649282455, + 0.033023253083229065, + -3.001251459121704, + -0.08403250575065613, + -0.5170547366142273 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot is positioned above the countertop with the blue spoon visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2436143457889557, + 0.048586297780275345, + 0.02450479567050934, + -3.0093648433685303, + -0.054605528712272644, + -0.4944331645965576 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 483, + 547, + 771, + 853 + ], + "green cloth": [ + 37, + 374, + 280, + 611 + ], + "orange sponge": [ + 569, + 648, + 729, + 795 + ], + "grey ball": [ + 388, + 527, + 461, + 622 + ], + "white cabinet": [ + 806, + 385, + 996, + 857 + ], + "blue handle": [ + 280, + 591, + 333, + 671 + ], + "wooden countertop": [ + 5, + 225, + 858, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot is positioned above the countertop with the blue spoon visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt right 10 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23715752363204956, + 0.05974173545837402, + 0.016632672399282455, + -3.0361077785491943, + -0.03198433294892311, + -0.45584985613822937 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned over the blue spoon on the table, with the gripper currently open. The gripper signal indicates a closing motion has started within this segment. The next action is to continue closing the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23669978976249695, + 0.05858949199318886, + 0.005314597859978676, + -3.0741825103759766, + -0.05473003163933754, + -0.4352174699306488 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned over the blue spoon on the table, with the gripper currently open. The gripper signal indicates a closing motion has started within this segment. The next action is to continue closing the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2428436130285263, + 0.050681695342063904, + 0.003928268328309059, + -3.0991015434265137, + -0.11060385406017303, + -0.4459023177623749 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned over the blue spoon on the table, with the gripper currently open. The gripper signal indicates a closing motion has started within this segment. The next action is to continue closing the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24407976865768433, + 0.04767043516039848, + 0.004016824532300234, + -3.1060502529144287, + -0.13126209378242493, + -0.44436347484588623 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot arm is positioned over the blue spoon on the table, with the gripper currently open. The gripper signal indicates a closing motion has started within this segment. The next action is to continue closing the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24255336821079254, + 0.047425080090761185, + 0.003675873391330242, + -3.102647066116333, + -0.13296358287334442, + -0.45192286372184753 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot arm is positioned over the blue spoon on the table, with the gripper currently open. The gripper signal indicates a closing motion has started within this segment. The next action is to continue closing the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24099332094192505, + 0.0455637127161026, + 0.004067502915859222, + -3.101717710494995, + -0.12434530258178711, + -0.4700740873813629 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the blue spoon and closed the gripper, but segment-level evidence shows no meaningful closing motion, suggesting the spoon may not yet be securely grasped. The current frame shows the gripper near the spoon with slight motion, indicating a need to verify contact or adjust grip before lifting. The next action should focus on ensuring stable contact or re-grasping the spoon if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move right 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24144333600997925, + 0.03938688710331917, + 0.013285540975630283, + -3.084402322769165, + -0.12567317485809326, + -0.48174935579299927 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the blue spoon and closed the gripper, but segment-level evidence shows no meaningful closing motion, suggesting the spoon may not yet be securely grasped. The current frame shows the gripper near the spoon with slight motion, indicating a need to verify contact or adjust grip before lifting. The next action should focus on ensuring stable contact or re-grasping the spoon if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move right 9 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2546476423740387, + 0.03712339326739311, + 0.035887230187654495, + -3.0516414642333984, + -0.17660483717918396, + -0.4706708788871765 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the blue spoon and closed the gripper, but segment-level evidence shows no meaningful closing motion, suggesting the spoon may not yet be securely grasped. The current frame shows the gripper near the spoon with slight motion, indicating a need to verify contact or adjust grip before lifting. The next action should focus on ensuring stable contact or re-grasping the spoon if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 10 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27570587396621704, + 0.022511141374707222, + 0.05734870955348015, + -3.037809371948242, + -0.236326664686203, + -0.48033398389816284 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot has approached the blue spoon and closed the gripper, but segment-level evidence shows no meaningful closing motion, suggesting the spoon may not yet be securely grasped. The current frame shows the gripper near the spoon with slight motion, indicating a need to verify contact or adjust grip before lifting. The next action should focus on ensuring stable contact or re-grasping the spoon if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2962799370288849, + 0.006935806013643742, + 0.07167648524045944, + -3.039024591445923, + -0.2938500642776489, + -0.4899451434612274 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 482, + 547, + 771, + 856 + ], + "green cloth": [ + 38, + 373, + 311, + 614 + ], + "orange sponge": [ + 570, + 648, + 727, + 792 + ], + "grey ball": [ + 493, + 323, + 579, + 413 + ], + "white cabinet": [ + 806, + 385, + 996, + 857 + ], + "wooden countertop": [ + 5, + 181, + 857, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot has approached the blue spoon and closed the gripper, but segment-level evidence shows no meaningful closing motion, suggesting the spoon may not yet be securely grasped. The current frame shows the gripper near the spoon with slight motion, indicating a need to verify contact or adjust grip before lifting. The next action should focus on ensuring stable contact or re-grasping the spoon if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178117871284485, + -0.012619413435459137, + 0.07612546533346176, + -3.045667886734009, + -0.30591127276420593, + -0.5223767161369324 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot has approached the blue spoon and closed the gripper, but segment-level evidence shows no meaningful closing motion, suggesting the spoon may not yet be securely grasped. The current frame shows the gripper near the spoon with slight motion, indicating a need to verify contact or adjust grip before lifting. The next action should focus on ensuring stable contact or re-grasping the spoon if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33531326055526733, + -0.027467751875519753, + 0.07506714016199112, + -3.0433430671691895, + -0.30460238456726074, + -0.552731990814209 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot has approached the blue spoon and closed the gripper, but segment-level evidence shows no meaningful closing motion, suggesting the spoon may not yet be securely grasped. The current frame shows the gripper near the spoon with slight motion, indicating a need to verify contact or adjust grip before lifting. The next action should focus on ensuring stable contact or re-grasping the spoon if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3446444272994995, + -0.043407078832387924, + 0.062379978597164154, + -3.0503833293914795, + -0.28690454363822937, + -0.5926356315612793 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot has approached the blue spoon and closed the gripper, but segment-level evidence shows no meaningful closing motion, suggesting the spoon may not yet be securely grasped. The current frame shows the gripper near the spoon with slight motion, indicating a need to verify contact or adjust grip before lifting. The next action should focus on ensuring stable contact or re-grasping the spoon if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35298261046409607, + -0.05281168594956398, + 0.05124707892537117, + -3.04884934425354, + -0.2717496156692505, + -0.619490385055542 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 484, + 548, + 773, + 855 + ], + "wooden countertop": [ + 5, + 185, + 857, + 987 + ], + "green cloth": [ + 35, + 372, + 307, + 615 + ], + "orange sponge": [ + 567, + 649, + 725, + 782 + ], + "grey ball": [ + 683, + 321, + 753, + 408 + ], + "white cabinet": [ + 805, + 385, + 996, + 859 + ], + "white sponge": [ + 572, + 725, + 717, + 800 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.356453001499176, + -0.05471380800008774, + 0.038343530148267746, + -3.0590267181396484, + -0.2508210837841034, + -0.6204327940940857 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632143437862396, + -0.06272336840629578, + 0.03112766705453396, + -3.0512776374816895, + -0.24474714696407318, + -0.6456636190414429 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36728256940841675, + -0.07048895955085754, + 0.02169262059032917, + -3.0451622009277344, + -0.23099841177463531, + -0.6760292053222656 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 3 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3721162974834442, + -0.07517575472593307, + 0.02001824788749218, + -3.0391578674316406, + -0.23278455436229706, + -0.683341383934021 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3729255795478821, + -0.07555689662694931, + 0.016726143658161163, + -3.0348291397094727, + -0.21635955572128296, + -0.6811915636062622 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.370244562625885, + -0.07410289347171783, + 0.012224948033690453, + -3.0318806171417236, + -0.1890183538198471, + -0.6782707571983337 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3684201240539551, + -0.07353909313678741, + 0.011818666942417622, + -3.0374650955200195, + -0.1781306117773056, + -0.6720048189163208 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.36853522062301636, + -0.07533261924982071, + 0.010419739410281181, + -3.054666042327881, + -0.17458173632621765, + -0.6570619940757751 + ], + "gripper_value": 0.803636372089386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release spoon behind pot", + "subtask_reasoning": "The robot is currently holding the blue spoon above the countertop, having already grasped it. The spoon is positioned near the pot but not yet behind it. The next action is to move the spoon further back to place it behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3658331632614136, + -0.07188913971185684, + 0.010621223598718643, + -3.0529603958129883, + -0.145377978682518, + -0.6350921988487244 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release spoon behind pot", + "subtask_reasoning": "The robot arm is positioned above the pot with the blue spoon held in the gripper, as indicated by the high gripper value and segment evidence. The spoon is currently suspended over the target location behind the pot. The next action is to open the gripper to release the spoon into position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.36511483788490295, + -0.07291965931653976, + 0.010518367402255535, + -3.0625052452087402, + -0.14636088907718658, + -0.6241070628166199 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release spoon behind pot", + "subtask_reasoning": "The robot arm is positioned above the pot with the blue spoon held in the gripper, as indicated by the high gripper value and segment evidence. The spoon is currently suspended over the target location behind the pot. The next action is to open the gripper to release the spoon into position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3637103736400604, + -0.0738346055150032, + 0.014682890847325325, + -3.08626127243042, + -0.15359602868556976, + -0.6209992170333862 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release spoon behind pot", + "subtask_reasoning": "The robot arm is positioned above the pot with the blue spoon held in the gripper, as indicated by the high gripper value and segment evidence. The spoon is currently suspended over the target location behind the pot. The next action is to open the gripper to release the spoon into position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.36753976345062256, + -0.07089850306510925, + 0.046547673642635345, + -3.0613515377044678, + -0.21163174510002136, + -0.6179869174957275 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 483, + 547, + 770, + 855 + ], + "green cloth": [ + 37, + 373, + 309, + 615 + ], + "wooden countertop": [ + 5, + 187, + 856, + 987 + ], + "orange sponge": [ + 568, + 648, + 727, + 782 + ], + "grey ball": [ + 722, + 422, + 781, + 505 + ], + "white sponge": [ + 579, + 724, + 716, + 797 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot arm is positioned above the pot with the blue spoon held in the gripper, as indicated by the high gripper value and segment evidence. The spoon is currently suspended over the target location behind the pot. The next action is to open the gripper to release the spoon into position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.36782142519950867, + -0.06954102963209152, + 0.06897567957639694, + -3.0450384616851807, + -0.255241334438324, + -0.6225096583366394 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue spoon has been successfully placed behind the pot, and the gripper is currently open and positioned above the spoon. The robot is in the process of retreating from the placement location to complete the task. The next action involves moving the arm further away from the pot and spoon area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.36207693815231323, + -0.06218837574124336, + 0.09762398153543472, + -3.0416886806488037, + -0.30501654744148254, + -0.5986517667770386 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue spoon has been successfully placed behind the pot, and the gripper is currently open and positioned above the spoon. The robot is in the process of retreating from the placement location to complete the task. The next action involves moving the arm further away from the pot and spoon area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533620238304138, + -0.059535227715969086, + 0.12116821855306625, + -3.039320468902588, + -0.3431553542613983, + -0.587502658367157 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon behind pot" + }, + { + "id": 5, + "subtask": "release spoon behind pot" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue spoon has been successfully placed behind the pot, and the gripper is currently open and positioned above the spoon. The robot is in the process of retreating from the placement location to complete the task. The next action involves moving the arm further away from the pot and spoon area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003723_ecot.json b/cot/chunk-0003/episode_0003723_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f1a86ba69fcfe9e90957370ac73f9e72fd4b9835 --- /dev/null +++ b/cot/chunk-0003/episode_0003723_ecot.json @@ -0,0 +1,1601 @@ +{ + "task_name": "episode_0003723", + "episode_json": "json/chunk-0003/episode_0003723.json", + "video_path": "videos/chunk-0003/image_0/episode_0003723.mp4", + "instruction": "Move the green object from the yellow napkin to the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003723.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.1950773000717163, + "std": 0.07585768401622772, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.19508, std=0.07586, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400, + 400, + 100, + 100, + 100, + 100, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 9 + ], + [ + 3, + 10, + 15 + ], + [ + 4, + 16, + 19 + ], + [ + 5, + 20, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the green object on the yellow napkin without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp green object\", \"start\": 5, \"end\": 9, \"planning\": \"Close the gripper around the green object while maintaining contact and securing it for transport.\"},\n {\"id\": 3, \"name\": \"lift and move to pot\", \"start\": 10, \"end\": 15, \"planning\": \"Lift the grasped green object and translate it over the metal pot for placement.\"},\n {\"id\": 4, \"name\": \"release into pot\", \"start\": 16, \"end\": 19, \"planning\": \"Open the gripper to release the green object into the pot, then begin retreating upward.\"},\n {\"id\": 5, \"name\": \"retreat to home position\", \"start\": 20, \"end\": 22, \"planning\": \"Move the end-effector away from the pot to a neutral resting position after successful release.\"}\n ],\n \"global_plan\": \"Approach the green object on the napkin, grasp it securely, lift and move it over the pot, release it inside, then retreat to a safe position.\",\n \"notes\": \"Segment 2 (frames 5-9) shows meaningful gripper closing (delta=-0.18), consistent with grasping; Segment 4 (16-19) and 5 (20-22) show no meaningful closing, so release and retreat are described without grasp verbs. Frame coverage is complete and contiguous from 0 to 22.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the green object on the yellow napkin without closing the gripper." + }, + { + "id": 2, + "name": "grasp green object", + "start": 5, + "end": 9, + "planning": "Close the gripper around the green object while maintaining contact and securing it for transport." + }, + { + "id": 3, + "name": "lift and move to pot", + "start": 10, + "end": 15, + "planning": "Lift the grasped green object and translate it over the metal pot for placement." + }, + { + "id": 4, + "name": "release into pot", + "start": 16, + "end": 19, + "planning": "Open the gripper to release the green object into the pot, then begin retreating upward." + }, + { + "id": 5, + "name": "retreat to home position", + "start": 20, + "end": 22, + "planning": "Move the end-effector away from the pot to a neutral resting position after successful release." + } + ], + "global_plan": "Approach the green object on the napkin, grasp it securely, lift and move it over the pot, release it inside, then retreat to a safe position.", + "notes": "Segment 2 (frames 5-9) shows meaningful gripper closing (delta=-0.18), consistent with grasping; Segment 4 (16-19) and 5 (20-22) show no meaningful closing, so release and retreat are described without grasp verbs. Frame coverage is complete and contiguous from 0 to 22." + } + }, + "episode_goal": "Move the green object from the yellow napkin to the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631009817123413, + 0.04939287528395653, + 0.10620109736919403, + 3.127305507659912, + -0.18261896073818207, + -0.14493198692798615 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the workspace, with the green object resting on the yellow napkin and the metal pot nearby. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move down 6 cm, keep gripper open; then move back 3 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2624271512031555, + 0.049039341509342194, + 0.0993419960141182, + 3.11663818359375, + -0.1602400839328766, + -0.1408151090145111 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the workspace, with the green object resting on the yellow napkin and the metal pot nearby. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move down 5 cm, keep gripper open; then move back 3 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869980037212372, + 0.05413040518760681, + 0.08757704496383667, + 3.1089930534362793, + -0.16001750528812408, + -0.10410630702972412 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the yellow napkin, approaching the green object. No grasping has occurred yet as the gripper remains open. The next action is to continue moving closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 3 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 3 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163076639175415, + 0.04961776360869408, + 0.07990099489688873, + 3.125586748123169, + -0.2121133953332901, + -0.09945624321699142 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 365, + 302, + 481, + 464 + ], + "wooden table": [ + 11, + 187, + 881, + 984 + ], + "yellow sponge": [ + 314, + 296, + 569, + 514 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the yellow napkin, approaching the green object. No grasping has occurred yet as the gripper remains open. The next action is to continue moving closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 3 cm, keep gripper open; then move back 3 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.346649706363678, + 0.05260737985372543, + 0.06277646124362946, + 3.1357638835906982, + -0.21269787847995758, + -0.08464153110980988 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the yellow napkin, approaching the green object. No grasping has occurred yet as the gripper remains open. The next action is to continue moving closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 3 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35466599464416504, + 0.04912574216723442, + 0.045257627964019775, + -3.1324100494384766, + -0.16591593623161316, + -0.09913058578968048 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot arm is positioned above the yellow napkin, approaching the green object. No grasping has occurred yet as the gripper remains open. The next action is to continue moving closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35319283604621887, + 0.05020010098814964, + 0.031767506152391434, + -3.1302454471588135, + -0.131694033741951, + -0.09258636832237244 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot arm is positioned above the yellow napkin, approaching the green object. No grasping has occurred yet as the gripper remains open. The next action is to continue moving closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.348309725522995, + 0.04909796640276909, + 0.02669694274663925, + -3.135061025619507, + -0.11211264878511429, + -0.08375494927167892 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the yellow napkin, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing motion is occurring within this segment. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move up 2 cm, open gripper; then move back 2 cm, move left 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34509649872779846, + 0.04039651155471802, + 0.02612445503473282, + -3.122912883758545, + -0.08863481879234314, + -0.12836314737796783 + ], + "gripper_value": 0.8214757442474365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the yellow napkin, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing motion is occurring within this segment. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move up 2 cm, open gripper; then move back 3 cm, move left 9 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3397810161113739, + 0.03161352872848511, + 0.05565997585654259, + -3.1299729347229004, + -0.15281064808368683, + -0.1556682139635086 + ], + "gripper_value": 0.8214757442474365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the yellow napkin, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing motion is occurring within this segment. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 2 cm, move up 2 cm, open gripper; then move back 3 cm, move left 9 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32961347699165344, + 0.009830844588577747, + 0.08546197414398193, + 3.1341893672943115, + -0.22270499169826508, + -0.22005595266819 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the yellow napkin, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing motion is occurring within this segment. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 2 cm, open gripper; then move back 3 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.313114196062088, + -0.023410849273204803, + 0.07828366756439209, + 3.1046438217163086, + -0.19470568001270294, + -0.3153887093067169 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 9, + 182, + 882, + 984 + ], + "green sponge": [ + 442, + 306, + 541, + 460 + ], + "yellow sponge": [ + 332, + 300, + 568, + 517 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the yellow napkin, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing motion is occurring within this segment. The next immediate action is to close the gripper to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 3 cm, open gripper; then move back 3 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29887470602989197, + -0.03745848685503006, + 0.06569527834653854, + 3.103227376937866, + -0.15558700263500214, + -0.36145898699760437 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The green object is currently grasped and held directly above the metal pot. The robot has successfully lifted the object from the yellow napkin and positioned it for release. The next action is to open the gripper to drop the object into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 4 cm, keep gripper open; then move back 3 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2917037308216095, + -0.054920803755521774, + 0.05972975865006447, + 3.107285737991333, + -0.14859074354171753, + -0.3985532522201538 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The green object is currently grasped and held directly above the metal pot. The robot has successfully lifted the object from the yellow napkin and positioned it for release. The next action is to open the gripper to drop the object into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29187825322151184, + -0.054484233260154724, + 0.05963265523314476, + 3.116790771484375, + -0.14631287753582, + -0.3902730941772461 + ], + "gripper_value": 1.0156210660934448 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The green object is currently grasped and held directly above the metal pot. The robot has successfully lifted the object from the yellow napkin and positioned it for release. The next action is to open the gripper to drop the object into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 5 cm, keep gripper open; then move back 3 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2904827892780304, + -0.05262184143066406, + 0.06136554852128029, + 3.11258864402771, + -0.14310292899608612, + -0.38773924112319946 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The green object is currently grasped and held directly above the metal pot. The robot has successfully lifted the object from the yellow napkin and positioned it for release. The next action is to open the gripper to drop the object into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 4 cm, keep gripper open; then move back 3 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2850665748119354, + -0.014532215893268585, + 0.10484763234853745, + -3.1171083450317383, + -0.20370419323444366, + -0.3066588044166565 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 333, + 299, + 542, + 519 + ], + "wooden table": [ + 10, + 183, + 881, + 986 + ], + "green sponge": [ + 500, + 438, + 661, + 667 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release into pot", + "subtask_reasoning": "The green object is currently grasped and held directly above the metal pot. The robot has successfully lifted the object from the yellow napkin and positioned it for release. The next action is to open the gripper to drop the object into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2699213922023773, + 0.025032734498381615, + 0.13363875448703766, + -3.064946174621582, + -0.18842630088329315, + -0.13187706470489502 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release into pot", + "subtask_reasoning": "The green object is already inside the pot, and the gripper is open and positioned above it. The release action has been completed, and the robot is likely retreating or stabilizing after dropping the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2580910325050354, + 0.07348267734050751, + 0.1395653635263443, + -3.055915117263794, + -0.1594880223274231, + -0.025593528524041176 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release into pot", + "subtask_reasoning": "The green object is already inside the pot, and the gripper is open and positioned above it. The release action has been completed, and the robot is likely retreating or stabilizing after dropping the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2538604140281677, + 0.07775499671697617, + 0.13237470388412476, + -3.105956792831421, + -0.1257425844669342, + -0.03876149654388428 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release into pot", + "subtask_reasoning": "The green object is already inside the pot, and the gripper is open and positioned above it. The release action has been completed, and the robot is likely retreating or stabilizing after dropping the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2541390359401703, + 0.08965011686086655, + 0.12173786014318466, + 3.06463623046875, + -0.06549035757780075, + -0.1050667092204094 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The green object is already inside the pot, and the gripper is open and positioned above it. The release action has been completed, and the robot is likely retreating or stabilizing after dropping the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25387272238731384, + 0.08946452289819717, + 0.1221386194229126, + 3.061079978942871, + -0.0650370717048645, + -0.11188983917236328 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The green object is already inside the pot, and the gripper is open and positioned above the scene. The retreat subtask is underway, with the arm moving away from the pot area. The next action is to continue retracting the arm to a safe home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25387272238731384, + 0.08946452289819717, + 0.1221386194229126, + 3.061079978942871, + -0.0650370717048645, + -0.11188983917236328 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object from the yellow napkin to the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The green object is already inside the pot, and the gripper is open and positioned above the scene. The retreat subtask is underway, with the arm moving away from the pot area. The next action is to continue retracting the arm to a safe home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003726_ecot.json b/cot/chunk-0003/episode_0003726_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5e6d42330b0bf66eeb9696dead4801b857d95144 --- /dev/null +++ b/cot/chunk-0003/episode_0003726_ecot.json @@ -0,0 +1,1777 @@ +{ + "task_name": "episode_0003726", + "episode_json": "json/chunk-0003/episode_0003726.json", + "video_path": "videos/chunk-0003/image_0/episode_0003726.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003726.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013275146484375, + "std": 0.0004991917521692812, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00050, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 25 + ], + [ + 3, + 26, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the red drawer’s black handle while maintaining open gripper posture.\"},\n {\"id\": 2, \"name\": \"make contact and push drawer\", \"start\": 13, \"end\": 25, \"planning\": \"Establish physical contact with drawer handle and apply forward force to slide drawer closed without grasping.\"},\n {\"id\": 3, \"name\": \"retreat from drawer\", \"start\": 26, \"end\": 29, \"planning\": \"Withdraw end-effector away from the now-closed drawer while keeping gripper open and avoiding further contact.\"}\n ],\n \"global_plan\": \"Close the red drawer by approaching its handle, pushing it shut via direct contact (no grasp), then retreating safely.\",\n \"notes\": \"Gripper remains fully open throughout all segments (value ~0.999–1.0008); no meaningful closing detected — thus all actions are contact-based (push/nudge/retreat), not grasp/place. Segment boundaries preserved as given since motion phases align naturally with them.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the red drawer’s black handle while maintaining open gripper posture." + }, + { + "id": 2, + "name": "make contact and push drawer", + "start": 13, + "end": 25, + "planning": "Establish physical contact with drawer handle and apply forward force to slide drawer closed without grasping." + }, + { + "id": 3, + "name": "retreat from drawer", + "start": 26, + "end": 29, + "planning": "Withdraw end-effector away from the now-closed drawer while keeping gripper open and avoiding further contact." + } + ], + "global_plan": "Close the red drawer by approaching its handle, pushing it shut via direct contact (no grasp), then retreating safely.", + "notes": "Gripper remains fully open throughout all segments (value ~0.999–1.0008); no meaningful closing detected — thus all actions are contact-based (push/nudge/retreat), not grasp/place. Segment boundaries preserved as given since motion phases align naturally with them." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2251344472169876, + 0.03801043704152107, + 0.1704234629869461, + 3.1288998126983643, + -0.16484402120113373, + -0.20379459857940674 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the end-effector moving toward the handle. The next action should continue advancing the gripper toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22493842244148254, + 0.03736959397792816, + 0.16530165076255798, + 3.1183078289031982, + -0.1458713859319687, + -0.2019421011209488 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the end-effector moving toward the handle. The next action should continue advancing the gripper toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23911552131175995, + 0.030972329899668694, + 0.1518200784921646, + 3.091832399368286, + -0.11776097863912582, + -0.2302260547876358 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy grapes": [ + 697, + 668, + 882, + 895 + ], + "toy banana": [ + 332, + 895, + 462, + 996 + ], + "toy bread": [ + 559, + 472, + 744, + 614 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the end-effector moving toward the handle. The next action should continue advancing the gripper toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25451403856277466, + 0.026890726760029793, + 0.14015422761440277, + 3.0823616981506348, + -0.09600569307804108, + -0.24825839698314667 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the end-effector moving toward the handle. The next action should continue advancing the gripper toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26324957609176636, + 0.02297874167561531, + 0.12992660701274872, + 3.0815939903259277, + -0.10141486674547195, + -0.2638833224773407 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the end-effector moving toward the handle. The next action should continue advancing the gripper toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27127307653427124, + 0.0175628624856472, + 0.12542033195495605, + 3.0758891105651855, + -0.129646897315979, + -0.2633994519710541 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the end-effector moving toward the handle. The next action should continue advancing the gripper toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2797221541404724, + 0.009210742078721523, + 0.12219554930925369, + 3.0699398517608643, + -0.1699163168668747, + -0.25177788734436035 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28506937623023987, + -0.003398825181648135, + 0.12134294956922531, + 3.0726382732391357, + -0.19517882168293, + -0.26086264848709106 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28821298480033875, + -0.009497186169028282, + 0.11425023525953293, + 3.058135747909546, + -0.2123768925666809, + -0.22154174745082855 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29013264179229736, + -0.01249691378325224, + 0.10612268000841141, + 3.0604307651519775, + -0.21537870168685913, + -0.18539582192897797 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 9 cm, move up 1 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29199692606925964, + -0.009549709968268871, + 0.0993323028087616, + 3.073603868484497, + -0.23633213341236115, + -0.12921087443828583 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move left 10 cm, move up 2 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29679954051971436, + -0.003446991788223386, + 0.08789906650781631, + 3.0971157550811768, + -0.22308868169784546, + -0.06998404860496521 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move left 11 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29765400290489197, + 0.002251354278996587, + 0.0854424312710762, + 3.129795551300049, + -0.2106330543756485, + -0.05952875316143036 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move left 11 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003954589366913, + 0.009226119145751, + 0.08613519370555878, + -3.130484104156494, + -0.2176361382007599, + -0.044343650341033936 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30386289954185486, + 0.01757628470659256, + 0.08706789463758469, + -3.1018121242523193, + -0.24042463302612305, + -0.025902703404426575 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045880198478699, + 0.023103423416614532, + 0.08616194874048233, + -3.0673625469207764, + -0.24091526865959167, + -0.02464338205754757 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3052434027194977, + 0.033122751861810684, + 0.08568232506513596, + -3.0184736251831055, + -0.23624081909656525, + -0.020395899191498756 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3083568215370178, + 0.05144071578979492, + 0.09259462356567383, + -2.966489791870117, + -0.24506507813930511, + -0.0077234311029314995 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30611172318458557, + 0.07468166947364807, + 0.09736870229244232, + -2.8890395164489746, + -0.23409655690193176, + 0.010631886310875416 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy bread": [ + 558, + 471, + 744, + 614 + ], + "toy grapes": [ + 697, + 669, + 882, + 894 + ], + "toy banana": [ + 331, + 894, + 462, + 996 + ], + "blue block": [ + 114, + 379, + 273, + 526 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact yet established. The subtask of approaching the drawer handle is in progress, with the arm moving toward the target. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 2 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.302822083234787, + 0.09666002541780472, + 0.09899813681840897, + -2.828383207321167, + -0.21365582942962646, + 0.03108944743871689 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating a push-based interaction rather than grasping. The next action is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 2 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29762202501296997, + 0.11247123032808304, + 0.10132016241550446, + -2.781998634338379, + -0.20080673694610596, + 0.05231895670294762 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy bread": [ + 558, + 472, + 744, + 614 + ], + "toy grapes": [ + 698, + 669, + 881, + 893 + ], + "toy banana": [ + 332, + 894, + 462, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating a push-based interaction rather than grasping. The next action is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 2 cm, tilt right 30 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2941617965698242, + 0.12093906104564667, + 0.09863044321537018, + -2.7297229766845703, + -0.17417781054973602, + 0.061445675790309906 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating a push-based interaction rather than grasping. The next action is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923213839530945, + 0.12096388638019562, + 0.09279484301805496, + -2.72208309173584, + -0.14190319180488586, + 0.05907844379544258 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating a push-based interaction rather than grasping. The next action is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 3 cm, tilt right 30 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29313230514526367, + 0.1113167330622673, + 0.0899750143289566, + -2.761500835418701, + -0.1333700269460678, + 0.03783397376537323 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating a push-based interaction rather than grasping. The next action is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 3 cm, tilt right 30 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982650697231293, + 0.08500490337610245, + 0.08542788773775101, + -2.901869535446167, + -0.13467466831207275, + -0.059614162892103195 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating a push-based interaction rather than grasping. The next action is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 3 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2951895594596863, + 0.05986587703227997, + 0.10250133275985718, + -3.03828763961792, + -0.1669829934835434, + -0.14835114777088165 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating a push-based interaction rather than grasping. The next action is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2895060181617737, + 0.046133313328027725, + 0.11962371319532394, + 3.103062629699707, + -0.13756132125854492, + -0.23403027653694153 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating a push-based interaction rather than grasping. The next action is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2757108211517334, + 0.043403614312410355, + 0.13879331946372986, + 3.056596279144287, + -0.08923633396625519, + -0.2646215260028839 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer has been successfully pushed shut, and the robot is now retreating from the drawer area. The gripper remains open with no contact, indicating the retreat phase is underway. The next action is to continue moving away to ensure safe clearance from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26408401131629944, + 0.0426957905292511, + 0.15946447849273682, + 3.1021573543548584, + -0.10863346606492996, + -0.25827813148498535 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer has been successfully pushed shut, and the robot is now retreating from the drawer area. The gripper remains open with no contact, indicating the retreat phase is underway. The next action is to continue moving away to ensure safe clearance from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25375768542289734, + 0.04211953654885292, + 0.17165729403495789, + 3.11676287651062, + -0.1107100397348404, + -0.2547195255756378 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer has been successfully pushed shut, and the robot is now retreating from the drawer area. The gripper remains open with no contact, indicating the retreat phase is underway. The next action is to continue moving away to ensure safe clearance from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003727_ecot.json b/cot/chunk-0003/episode_0003727_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4bcd65dbfabb3c9e61e38d5bd2184a84e737dcac --- /dev/null +++ b/cot/chunk-0003/episode_0003727_ecot.json @@ -0,0 +1,1965 @@ +{ + "task_name": "episode_0003727", + "episode_json": "json/chunk-0003/episode_0003727.json", + "video_path": "videos/chunk-0003/image_0/episode_0003727.mp4", + "instruction": "Move the white item inside of the pot next to the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003727.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9243621826171875, + "std": 0.2806408703327179, + "delta_total": 0.007734537124633789, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92436, std=0.28064, total_delta=0.00773). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 214, + 214, + 214, + 214, + 214, + 214 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 9 + ], + [ + 3, + 10, + 13 + ], + [ + 4, + 14, + 21 + ], + [ + 5, + 22, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach white item\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the white mushroom-shaped item on the table without grasping.\"},\n {\"id\": 2, \"name\": \"grasp white item\", \"start\": 5, \"end\": 9, \"planning\": \"Close the gripper around the white item and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition over pot\", \"start\": 10, \"end\": 13, \"planning\": \"Lift the grasped white item and move it horizontally toward the pot’s opening, maintaining grip.\"},\n {\"id\": 4, \"name\": \"release item into pot\", \"start\": 14, \"end\": 21, \"planning\": \"Open the gripper to drop the white item inside the pot, then retreat slightly while confirming release via gripper state change.\"},\n {\"id\": 5, \"name\": \"retreat to home position\", \"start\": 22, \"end\": 27, \"planning\": \"Move the end-effector away from the pot to a neutral position, completing the task with gripper fully open.\"}\n ],\n \"global_plan\": \"Approach the white mushroom-shaped item, grasp it securely, lift and move it over the pot, release it inside the pot, then retreat to a safe position.\",\n \"notes\": \"Subtask boundaries align with observed motion segments and gripper state changes. Grasping is only asserted where segment-level gripper evidence (range > 0.3) and image context confirm closure and object support. No hallucinated lifts or placements outside observed mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach white item", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the white mushroom-shaped item on the table without grasping." + }, + { + "id": 2, + "name": "grasp white item", + "start": 5, + "end": 9, + "planning": "Close the gripper around the white item and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition over pot", + "start": 10, + "end": 13, + "planning": "Lift the grasped white item and move it horizontally toward the pot’s opening, maintaining grip." + }, + { + "id": 4, + "name": "release item into pot", + "start": 14, + "end": 21, + "planning": "Open the gripper to drop the white item inside the pot, then retreat slightly while confirming release via gripper state change." + }, + { + "id": 5, + "name": "retreat to home position", + "start": 22, + "end": 27, + "planning": "Move the end-effector away from the pot to a neutral position, completing the task with gripper fully open." + } + ], + "global_plan": "Approach the white mushroom-shaped item, grasp it securely, lift and move it over the pot, release it inside the pot, then retreat to a safe position.", + "notes": "Subtask boundaries align with observed motion segments and gripper state changes. Grasping is only asserted where segment-level gripper evidence (range > 0.3) and image context confirm closure and object support. No hallucinated lifts or placements outside observed mechanics." + } + }, + "episode_goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22227461636066437, + 0.04884179309010506, + 0.06781643629074097, + -3.1067616939544678, + -0.1921139657497406, + -0.2549509108066559 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach white item", + "subtask_reasoning": "The robot arm is positioned above the table near the metal pot and white mushroom toy. No actions have been completed yet. The current situation requires the robot to move closer to the white mushroom toy to prepare for grasping. The most likely next action is to adjust the arm's position to approach the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22074741125106812, + 0.047698237001895905, + 0.06425753235816956, + -3.1147162914276123, + -0.1764974594116211, + -0.25092536211013794 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach white item", + "subtask_reasoning": "The robot arm is positioned above the table near the metal pot and white mushroom toy. No actions have been completed yet. The current situation requires the robot to move closer to the white mushroom toy to prepare for grasping. The most likely next action is to adjust the arm's position to approach the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2213190495967865, + 0.018012898042798042, + 0.07198069989681244, + -3.0963971614837646, + -0.1669529676437378, + -0.328244686126709 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach white item", + "subtask_reasoning": "The robot arm is positioned near the white mushroom toy on the table, with the metal pot and blue cloth visible nearby. No actions have been completed yet. The current situation requires the robot to move closer to the white mushroom toy to prepare for grasping. The most likely next action is to adjust the arm's position to align with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2300066351890564, + -0.00785842165350914, + 0.0837046355009079, + -3.096360206604004, + -0.21057738363742828, + -0.3927358388900757 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach white item", + "subtask_reasoning": "The robot arm is positioned near the white mushroom toy on the table, with the metal pot and blue cloth visible nearby. No actions have been completed yet. The current situation requires the robot to move closer to the white mushroom toy to prepare for grasping. The most likely next action is to adjust the arm's position to align with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move left 3 cm, move up 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24637405574321747, + -0.053931765258312225, + 0.09394410997629166, + -3.1247429847717285, + -0.26690390706062317, + -0.5016605257987976 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 145, + 437, + 449, + 712 + ], + "toy ketchup": [ + 613, + 30, + 754, + 284 + ], + "blue cloth": [ + 3, + 314, + 281, + 576 + ], + "toy hotdog": [ + 458, + 599, + 674, + 786 + ], + "wooden table": [ + 4, + 125, + 880, + 961 + ], + "toy stove": [ + 646, + 169, + 995, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach white item", + "subtask_reasoning": "The robot arm is positioned near the white mushroom toy on the table, with the metal pot and blue cloth visible nearby. No actions have been completed yet. The current situation requires the robot to move closer to the white mushroom toy to prepare for grasping. The most likely next action is to adjust the arm's position to align with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, move up 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2596236765384674, + -0.08030004799365997, + 0.08225826919078827, + 3.128511905670166, + -0.27634701132774353, + -0.5465089678764343 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot arm is positioned near the white mushroom toy on the table, with the metal pot and blue cloth visible nearby. No actions have been completed yet. The current situation requires the robot to move closer to the white mushroom toy to prepare for grasping. The most likely next action is to adjust the arm's position to align with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, move up 4 cm, tilt back 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712565064430237, + -0.0911502093076706, + 0.05906034633517265, + 3.1113996505737305, + -0.23328275978565216, + -0.5386719703674316 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot arm is positioned near the white mushroom toy on the table, with the metal pot and blue cloth visible nearby. No actions have been completed yet. The current situation requires the robot to move closer to the white mushroom toy to prepare for grasping. The most likely next action is to adjust the arm's position to align with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 4 cm, tilt back 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27849215269088745, + -0.09841454029083252, + 0.038112934678792953, + 3.102571725845337, + -0.18095895648002625, + -0.5396691560745239 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot arm is positioned directly above the white mushroom toy on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the item. The next action is to secure the grip on the white mushroom toy before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 4 cm, tilt back 10 degrees, open gripper; then move back 3 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.277706503868103, + -0.1043252944946289, + 0.017491158097982407, + 3.1051149368286133, + -0.0886751264333725, + -0.5545154213905334 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot arm is positioned directly above the white mushroom toy on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the item. The next action is to secure the grip on the white mushroom toy before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move left 1 cm, move up 4 cm, tilt back 10 degrees, open gripper; then move back 3 cm, move down 6 cm, tilt forward 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796783149242401, + -0.1079111397266388, + 0.018207931891083717, + 3.076288938522339, + -0.1250016838312149, + -0.6120217442512512 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot arm is positioned directly above the white mushroom toy on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the item. The next action is to secure the grip on the white mushroom toy before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move left 1 cm, move up 4 cm, tilt back 10 degrees, open gripper; then move back 3 cm, move down 7 cm, tilt forward 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28160548210144043, + -0.09996959567070007, + 0.03655322268605232, + 3.0751705169677734, + -0.1541658639907837, + -0.6214175820350647 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot arm is positioned directly above the white mushroom toy on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the item. The next action is to secure the grip on the white mushroom toy before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt back 10 degrees, open gripper; then move back 3 cm, move down 6 cm, tilt forward 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897018790245056, + -0.07679539173841476, + 0.06993142515420914, + 3.0873806476593018, + -0.2362513393163681, + -0.5881229639053345 + ], + "gripper_value": 0.16760419309139252 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 129, + 875, + 956 + ], + "toy ketchup": [ + 678, + 31, + 755, + 247 + ], + "toy hotdog": [ + 460, + 643, + 669, + 844 + ], + "toy stove": [ + 646, + 169, + 996, + 993 + ], + "metal pot": [ + 144, + 437, + 456, + 712 + ], + "toy corn": [ + 726, + 128, + 875, + 334 + ] + } + } + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot has successfully grasped the white mushroom toy and lifted it from the table. It is currently positioned above the workspace, maneuvering the object toward the metal pot located next to the blue cloth. The next action is to lower the toy into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926218807697296, + -0.060498300939798355, + 0.08353332430124283, + 3.0777788162231445, + -0.28865984082221985, + -0.5598216652870178 + ], + "gripper_value": 0.08747956901788712 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot has successfully grasped the white mushroom toy and lifted it from the table. It is currently positioned above the workspace, maneuvering the object toward the metal pot located next to the blue cloth. The next action is to lower the toy into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2858847379684448, + -0.0706373006105423, + 0.08076238632202148, + 3.070401668548584, + -0.2687647342681885, + -0.5941662192344666 + ], + "gripper_value": 0.24121350049972534 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot has successfully grasped the white mushroom toy and lifted it from the table. It is currently positioned above the workspace, maneuvering the object toward the metal pot located next to the blue cloth. The next action is to lower the toy into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, close gripper; then move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768869996070862, + -0.09407485276460648, + 0.07705461978912354, + 3.0704243183135986, + -0.2662692964076996, + -0.661722719669342 + ], + "gripper_value": 0.5120346546173096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release item into pot", + "subtask_reasoning": "The robot has successfully grasped the white mushroom toy and lifted it from the table. It is currently positioned above the workspace, maneuvering the object toward the metal pot located next to the blue cloth. The next action is to lower the toy into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26653578877449036, + -0.10609482228755951, + 0.06327446550130844, + 3.0690090656280518, + -0.21493631601333618, + -0.6956250071525574 + ], + "gripper_value": 0.8279770016670227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release item into pot", + "subtask_reasoning": "The robot has successfully grasped the white mushroom toy and lifted it from the table. It is currently positioned above the workspace, maneuvering the object toward the metal pot located next to the blue cloth. The next action is to lower the toy into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.260960191488266, + -0.10129428654909134, + 0.047717928886413574, + 3.0731661319732666, + -0.13248738646507263, + -0.7090446949005127 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release item into pot", + "subtask_reasoning": "The robot has successfully grasped the white mushroom toy and lifted it from the table. It is currently positioned above the workspace, maneuvering the object toward the metal pot located next to the blue cloth. The next action is to lower the toy into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25177812576293945, + -0.09235124289989471, + 0.029093991965055466, + 3.077021598815918, + -0.015672717243433, + -0.7317795157432556 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release item into pot", + "subtask_reasoning": "The robot arm is positioned over the white mushroom toy on the table, with the gripper open and not yet in contact with the object. The pot is visible to the left, but the item has not been grasped or moved. The next action should be to close the gripper to grasp the white mushroom toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24653850495815277, + -0.09314586222171783, + 0.01453511044383049, + 3.0440735816955566, + 0.015535819344222546, + -0.7277266979217529 + ], + "gripper_value": 0.9568231701850891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release item into pot", + "subtask_reasoning": "The robot arm is positioned over the white mushroom toy on the table, with the gripper open and not yet in contact with the object. The pot is visible to the left, but the item has not been grasped or moved. The next action should be to close the gripper to grasp the white mushroom toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24700620770454407, + -0.09404939413070679, + 0.011928104795515537, + 3.0420467853546143, + 0.009878440760076046, + -0.7195754647254944 + ], + "gripper_value": 0.7378748655319214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release item into pot", + "subtask_reasoning": "The robot arm is positioned over the white mushroom toy on the table, with the gripper open and not yet in contact with the object. The pot is visible to the left, but the item has not been grasped or moved. The next action should be to close the gripper to grasp the white mushroom toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24575959146022797, + -0.09210912883281708, + 0.01345732994377613, + 3.0437161922454834, + 0.023023812100291252, + -0.7177911400794983 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release item into pot", + "subtask_reasoning": "The robot arm is positioned over the white mushroom toy on the table, with the gripper open and not yet in contact with the object. The pot is visible to the left, but the item has not been grasped or moved. The next action should be to close the gripper to grasp the white mushroom toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2563011348247528, + -0.07612171024084091, + 0.04533832147717476, + 3.076258659362793, + -0.056583892554044724, + -0.6860517263412476 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release item into pot", + "subtask_reasoning": "The robot arm is positioned over the white mushroom toy on the table, with the gripper open and not yet in contact with the object. The pot is visible to the left, but the item has not been grasped or moved. The next action should be to close the gripper to grasp the white mushroom toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27162349224090576, + -0.03447319194674492, + 0.09666775912046432, + -3.1189382076263428, + -0.17726749181747437, + -0.601621687412262 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned over the white mushroom toy on the table, with the gripper open and not yet in contact with the object. The pot is visible to the left, but the item has not been grasped or moved. The next action should be to close the gripper to grasp the white mushroom toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712650001049042, + 0.01681707799434662, + 0.10760867595672607, + -3.103827476501465, + -0.18349850177764893, + -0.47322598099708557 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ketchup": [ + 612, + 30, + 754, + 283 + ], + "wooden table": [ + 4, + 125, + 882, + 959 + ], + "blue cloth": [ + 3, + 314, + 279, + 576 + ], + "metal pot": [ + 145, + 439, + 457, + 712 + ], + "toy stove": [ + 703, + 169, + 995, + 990 + ], + "toy corn": [ + 725, + 128, + 875, + 335 + ] + } + } + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned over the white mushroom toy on the table, with the gripper open and not yet in contact with the object. The pot is visible to the left, but the item has not been grasped or moved. The next action should be to close the gripper to grasp the white mushroom toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649350166320801, + 0.04691997915506363, + 0.10707487165927887, + -3.097912549972534, + -0.16255013644695282, + -0.4146544635295868 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The white mushroom toy has been successfully placed inside the metal pot next to the blue cloth. The robot arm is currently positioned above the pot with the gripper open, indicating the release action is complete. The next step is to retreat the arm to a safe home position away from the pot and surrounding objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25568169355392456, + 0.05081610009074211, + 0.09949672967195511, + -3.1250600814819336, + -0.14209558069705963, + -0.3970176875591278 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The white mushroom toy has been successfully placed inside the metal pot next to the blue cloth. The robot arm is currently positioned above the pot with the gripper open, indicating the release action is complete. The next step is to retreat the arm to a safe home position away from the pot and surrounding objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25224751234054565, + 0.053249504417181015, + 0.09898161888122559, + -3.1199569702148438, + -0.11610881984233856, + -0.39118072390556335 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The white mushroom toy has been successfully placed inside the metal pot next to the blue cloth. The robot arm is currently positioned above the pot with the gripper open, indicating the release action is complete. The next step is to retreat the arm to a safe home position away from the pot and surrounding objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.25191766023635864, + 0.05379898473620415, + 0.10050391405820847, + -3.1149632930755615, + -0.1176450103521347, + -0.3846907913684845 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white mushroom toy inside the metal pot located next to the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white item" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "release item into pot" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The white mushroom toy has been successfully placed inside the metal pot next to the blue cloth. The robot arm is currently positioned above the pot with the gripper open, indicating the release action is complete. The next step is to retreat the arm to a safe home position away from the pot and surrounding objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003728_ecot.json b/cot/chunk-0003/episode_0003728_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4312d8faf393ecd4f167c169c699c1f245d5ff7d --- /dev/null +++ b/cot/chunk-0003/episode_0003728_ecot.json @@ -0,0 +1,2542 @@ +{ + "task_name": "episode_0003728", + "episode_json": "json/chunk-0003/episode_0003728.json", + "video_path": "videos/chunk-0003/image_0/episode_0003728.mp4", + "instruction": "Move the yellow spoon to the top left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003728.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.6076499819755554, + "std": 0.2883533239364624, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60765, std=0.28835, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 11, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 226, + 226, + 226, + 226, + 226, + 326, + 326, + 326, + 326 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 10 + ], + [ + 3, + 11, + 16 + ], + [ + 4, + 17, + 25 + ], + [ + 5, + 26, + 30 + ], + [ + 6, + 31, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow spoon\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector toward the yellow spoon without closing the gripper.\"},\n {\"id\": 2, \"name\": \"close gripper on spoon\", \"start\": 9, \"end\": 10, \"planning\": \"Close the gripper around the yellow spoon to prepare for lifting.\"},\n {\"id\": 3, \"name\": \"lift and hold spoon\", \"start\": 11, \"end\": 16, \"planning\": \"Lift the yellow spoon slightly and hold it securely in the gripper.\"},\n {\"id\": 4, \"name\": \"transport spoon to target\", \"start\": 17, \"end\": 25, \"planning\": \"Move the held yellow spoon across the table toward the top-left destination.\"},\n {\"id\": 5, \"name\": \"release spoon at target\", \"start\": 26, \"end\": 30, \"planning\": \"Open the gripper to release the yellow spoon at the top-left side of the table.\"},\n {\"id\": 6, \"name\": \"retreat from spoon\", \"start\": 31, \"end\": 34, \"planning\": \"Move the end-effector away from the released spoon to complete the task.\"}\n ],\n \"global_plan\": \"Approach the yellow spoon, grasp it, lift and transport it to the top-left side of the table, then release and retreat.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence; grasp/release actions are only used where gripper closure/opening is confirmed by segment-level data and visual consistency.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow spoon", + "start": 0, + "end": 8, + "planning": "Move the end-effector toward the yellow spoon without closing the gripper." + }, + { + "id": 2, + "name": "close gripper on spoon", + "start": 9, + "end": 10, + "planning": "Close the gripper around the yellow spoon to prepare for lifting." + }, + { + "id": 3, + "name": "lift and hold spoon", + "start": 11, + "end": 16, + "planning": "Lift the yellow spoon slightly and hold it securely in the gripper." + }, + { + "id": 4, + "name": "transport spoon to target", + "start": 17, + "end": 25, + "planning": "Move the held yellow spoon across the table toward the top-left destination." + }, + { + "id": 5, + "name": "release spoon at target", + "start": 26, + "end": 30, + "planning": "Open the gripper to release the yellow spoon at the top-left side of the table." + }, + { + "id": 6, + "name": "retreat from spoon", + "start": 31, + "end": 34, + "planning": "Move the end-effector away from the released spoon to complete the task." + } + ], + "global_plan": "Approach the yellow spoon, grasp it, lift and transport it to the top-left side of the table, then release and retreat.", + "notes": "Subtasks align with observed motion segments and gripper evidence; grasp/release actions are only used where gripper closure/opening is confirmed by segment-level data and visual consistency." + } + }, + "episode_goal": "Move the yellow spoon to the top left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23571039736270905, + 0.02884720079600811, + 0.11997972428798676, + 2.9812004566192627, + -0.1448901742696762, + 1.0412031412124634 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. No objects have been moved yet. The gripper is open and the robot is beginning to move toward the spoon. The next action is to continue approaching the yellow spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 5 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23371034860610962, + 0.0280285757035017, + 0.11487768590450287, + 3.001138687133789, + -0.1228417307138443, + 1.0494182109832764 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. No objects have been moved yet. The gripper is open and the robot is beginning to move toward the spoon. The next action is to continue approaching the yellow spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2429465353488922, + 0.025241699069738388, + 0.10985982418060303, + 3.036081075668335, + -0.04724738001823425, + 1.1691865921020508 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy car": [ + 256, + 500, + 367, + 669 + ], + "orange cloth": [ + 550, + 396, + 864, + 720 + ], + "cucumber": [ + 320, + 381, + 480, + 523 + ], + "table": [ + 7, + 132, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. No objects have been moved yet. The gripper is open and the robot is beginning to move toward the spoon. The next action is to continue approaching the yellow spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move down 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2567554712295532, + 0.03413107246160507, + 0.10193108767271042, + 3.044957160949707, + -0.005409807898104191, + 1.2748607397079468 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. No objects have been moved yet. The gripper is open and the robot is beginning to move toward the spoon. The next action is to continue approaching the yellow spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 8 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697523236274719, + 0.04408199340105057, + 0.08977395296096802, + 3.0609824657440186, + -0.012858647853136063, + 1.375625491142273 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28520962595939636, + 0.056613288819789886, + 0.07070744782686234, + 3.0582079887390137, + -0.05513320863246918, + 1.4194093942642212 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986941337585449, + 0.0699375718832016, + 0.058842405676841736, + 3.0536465644836426, + -0.09108006954193115, + 1.4572203159332275 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3136124312877655, + 0.07792532444000244, + 0.04268670082092285, + 3.0767250061035156, + -0.10618587583303452, + 1.4603166580200195 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move forward 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32059845328330994, + 0.08079264312982559, + 0.03513537719845772, + 3.087270975112915, + -0.10897744446992874, + 1.4575217962265015 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach yellow spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31847697496414185, + 0.0837792381644249, + 0.021598028019070625, + -3.1286816596984863, + -0.125084787607193, + 1.3721892833709717 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring. The next step is to complete the gripper closure to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3204787075519562, + 0.08089642971754074, + 0.01916385442018509, + -3.114541530609131, + -0.1604359894990921, + 1.3296959400177002 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring. The next step is to complete the gripper closure to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 9 cm, move right 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31801924109458923, + 0.07901313900947571, + 0.017781976610422134, + -3.1036157608032227, + -0.17054101824760437, + 1.307877540588379 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and hold spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring. The next step is to complete the gripper closure to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 9 cm, move right 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3152838349342346, + 0.07764358818531036, + 0.017362607643008232, + -3.100964307785034, + -0.17348378896713257, + 1.3008776903152466 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and hold spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is currently positioned directly above it with the gripper open. The segment-level gripper evidence indicates a closing action is occurring. The next step is to complete the gripper closure to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 10 cm, move right 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3121534287929535, + 0.07612292468547821, + 0.018518716096878052, + -3.105404853820801, + -0.16483734548091888, + 1.304408311843872 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and hold spoon", + "subtask_reasoning": "The robot has successfully closed its gripper around the yellow spoon on the table. The current subtask involves lifting the spoon slightly to confirm a secure hold before transporting it. The next action is to lift the spoon vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 10 cm, move right 4 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30603960156440735, + 0.07336708158254623, + 0.02310127578675747, + -3.0731847286224365, + -0.12794822454452515, + 1.311246633529663 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and hold spoon", + "subtask_reasoning": "The robot has successfully closed its gripper around the yellow spoon on the table. The current subtask involves lifting the spoon slightly to confirm a secure hold before transporting it. The next action is to lift the spoon vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move forward 10 cm, move right 4 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31146907806396484, + 0.07163964211940765, + 0.053351521492004395, + -3.139101028442383, + -0.124535471200943, + 1.3420687913894653 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and hold spoon", + "subtask_reasoning": "The robot has successfully closed its gripper around the yellow spoon on the table. The current subtask involves lifting the spoon slightly to confirm a secure hold before transporting it. The next action is to lift the spoon vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 10 cm, move right 4 cm, move down 8 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252190351486206, + 0.06495507806539536, + 0.07748882472515106, + 3.0952959060668945, + -0.08206550776958466, + 1.3663665056228638 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 548, + 397, + 865, + 720 + ], + "red toy car": [ + 255, + 496, + 368, + 669 + ], + "table": [ + 7, + 122, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and hold spoon", + "subtask_reasoning": "The robot has successfully closed its gripper around the yellow spoon on the table. The current subtask involves lifting the spoon slightly to confirm a secure hold before transporting it. The next action is to lift the spoon vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move forward 9 cm, move right 4 cm, move down 8 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3499528169631958, + 0.04977591708302498, + 0.1039712131023407, + 3.0207629203796387, + -0.07714057713747025, + 1.3524353504180908 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot has successfully closed its gripper around the yellow spoon on the table. The current subtask involves lifting the spoon slightly to confirm a secure hold before transporting it. The next action is to lift the spoon vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, move down 8 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3849985599517822, + 0.03159087896347046, + 0.11278253048658371, + 2.98014235496521, + -0.08380978554487228, + 1.3195890188217163 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy car": [ + 255, + 496, + 367, + 669 + ], + "orange cloth": [ + 548, + 397, + 864, + 720 + ], + "silver pot": [ + 399, + 503, + 826, + 806 + ], + "table": [ + 8, + 121, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot has successfully closed its gripper around the yellow spoon on the table. The current subtask involves lifting the spoon slightly to confirm a secure hold before transporting it. The next action is to lift the spoon vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 9 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4140737056732178, + 0.019357264041900635, + 0.10261839628219604, + 2.965977191925049, + -0.07083507627248764, + 1.3063651323318481 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot has successfully closed its gripper around the yellow spoon on the table. The current subtask involves lifting the spoon slightly to confirm a secure hold before transporting it. The next action is to lift the spoon vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 8 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.43498775362968445, + 0.013986938633024693, + 0.08280728757381439, + 2.992526054382324, + -0.08548169583082199, + 1.2947628498077393 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot has successfully closed its gripper around the yellow spoon on the table. The current subtask involves lifting the spoon slightly to confirm a secure hold before transporting it. The next action is to lift the spoon vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4437105059623718, + 0.012596921995282173, + 0.06442325562238693, + 3.0185580253601074, + -0.11344987154006958, + 1.2724558115005493 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot is currently holding the yellow spoon and transporting it above the table surface. The gripper remains closed as the arm moves toward the top-left target area. The next action is to continue moving the spoon to the designated drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, open gripper; then move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4507235288619995, + 0.014672419987618923, + 0.050764355808496475, + 3.0025103092193604, + -0.14696237444877625, + 1.2653483152389526 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot is currently holding the yellow spoon and transporting it above the table surface. The gripper remains closed as the arm moves toward the top-left target area. The next action is to continue moving the spoon to the designated drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper; then move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.44920262694358826, + 0.010091052390635014, + 0.038895584642887115, + 3.004579544067383, + -0.18051829934120178, + 1.2436639070510864 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot is currently holding the yellow spoon and transporting it above the table surface. The gripper remains closed as the arm moves toward the top-left target area. The next action is to continue moving the spoon to the designated drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4474857449531555, + 0.010343039408326149, + 0.03183369338512421, + 3.0120463371276855, + -0.18817020952701569, + 1.243320107460022 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot is currently holding the yellow spoon and transporting it above the table surface. The gripper remains closed as the arm moves toward the top-left target area. The next action is to continue moving the spoon to the designated drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4457383155822754, + 0.009514635428786278, + 0.026685498654842377, + 3.024918556213379, + -0.1740349680185318, + 1.240512728691101 + ], + "gripper_value": 0.44944798946380615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "transport spoon to target", + "subtask_reasoning": "The robot is currently holding the yellow spoon and transporting it above the table surface. The gripper remains closed as the arm moves toward the top-left target area. The next action is to continue moving the spoon to the designated drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.44298601150512695, + 0.011009234935045242, + 0.02461601048707962, + 3.0463924407958984, + -0.1667819619178772, + 1.246551513671875 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "release spoon at target", + "subtask_reasoning": "The robot is currently holding the yellow spoon and transporting it above the table surface. The gripper remains closed as the arm moves toward the top-left target area. The next action is to continue moving the spoon to the designated drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.44192543625831604, + 0.012778501026332378, + 0.024703223258256912, + 3.0554141998291016, + -0.17478834092617035, + 1.2517945766448975 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "release spoon at target", + "subtask_reasoning": "The robot is currently holding the yellow spoon and transporting it above the table surface. The gripper remains closed as the arm moves toward the top-left target area. The next action is to continue moving the spoon to the designated drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4403308629989624, + 0.014548053964972496, + 0.024083342403173447, + 3.0660760402679443, + -0.18255053460597992, + 1.2549946308135986 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "release spoon at target", + "subtask_reasoning": "The robot arm is positioned over the top-left area of the table, but the yellow spoon is not visible in the gripper or the immediate scene, suggesting it may have been dropped or is out of view. The gripper is open, indicating the release action has occurred or is in progress. The next step should verify the spoon's location and re-grasp if necessary to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4386289417743683, + 0.014526620507240295, + 0.02386751025915146, + 3.0772769451141357, + -0.1792556792497635, + 1.249291181564331 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "release spoon at target", + "subtask_reasoning": "The robot arm is positioned over the top-left area of the table, but the yellow spoon is not visible in the gripper or the immediate scene, suggesting it may have been dropped or is out of view. The gripper is open, indicating the release action has occurred or is in progress. The next step should verify the spoon's location and re-grasp if necessary to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.44080716371536255, + 0.014088778756558895, + 0.03313222900032997, + 3.0638139247894287, + -0.14902859926223755, + 1.2620477676391602 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "release spoon at target", + "subtask_reasoning": "The robot arm is positioned over the top-left area of the table, but the yellow spoon is not visible in the gripper or the immediate scene, suggesting it may have been dropped or is out of view. The gripper is open, indicating the release action has occurred or is in progress. The next step should verify the spoon's location and re-grasp if necessary to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt right 10 degrees, keep gripper open; then move back 8 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4436553418636322, + 0.017869431525468826, + 0.09353078156709671, + 2.935835123062134, + -0.18666702508926392, + 1.3004916906356812 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy car": [ + 256, + 497, + 367, + 669 + ], + "orange cloth": [ + 548, + 397, + 864, + 720 + ], + "cucumber": [ + 542, + 251, + 701, + 377 + ], + "silver pot": [ + 399, + 503, + 827, + 806 + ], + "table": [ + 7, + 118, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The robot arm is positioned over the top-left area of the table, but the yellow spoon is not visible in the gripper or the immediate scene, suggesting it may have been dropped or is out of view. The gripper is open, indicating the release action has occurred or is in progress. The next step should verify the spoon's location and re-grasp if necessary to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.42006954550743103, + 0.01852862536907196, + 0.11258620023727417, + 2.8970508575439453, + -0.18811346590518951, + 1.324170470237732 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The robot has successfully moved the yellow spoon to the top-left side of the table and released it. The gripper is open and the end-effector is positioned above the spoon, indicating the transport and release are complete. The next action is to retreat the arm away from the spoon to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.38508281111717224, + 0.029392436146736145, + 0.1301935613155365, + 2.8581066131591797, + -0.1627940535545349, + 1.3827465772628784 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The robot has successfully moved the yellow spoon to the top-left side of the table and released it. The gripper is open and the end-effector is positioned above the spoon, indicating the transport and release are complete. The next action is to retreat the arm away from the spoon to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3618093430995941, + 0.03957483544945717, + 0.12385556101799011, + 2.8786673545837402, + -0.14054809510707855, + 1.4012701511383057 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow spoon to the top left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and hold spoon" + }, + { + "id": 4, + "subtask": "transport spoon to target" + }, + { + "id": 5, + "subtask": "release spoon at target" + }, + { + "id": 6, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The robot has successfully moved the yellow spoon to the top-left side of the table and released it. The gripper is open and the end-effector is positioned above the spoon, indicating the transport and release are complete. The next action is to retreat the arm away from the spoon to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003729_ecot.json b/cot/chunk-0003/episode_0003729_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..02cdc0ec1c6abe10a247dd1d445d9d26e329aae8 --- /dev/null +++ b/cot/chunk-0003/episode_0003729_ecot.json @@ -0,0 +1,2298 @@ +{ + "task_name": "episode_0003729", + "episode_json": "json/chunk-0003/episode_0003729.json", + "video_path": "videos/chunk-0003/image_0/episode_0003729.mp4", + "instruction": "Put broccoli in pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003729.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.2628147602081299, + "std": 0.10408153384923935, + "delta_total": 0.005143642425537109, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.26281, std=0.10408, total_delta=0.00514). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 22 + ], + [ + 3, + 23, + 23 + ], + [ + 4, + 24, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli\", \"start\": 0, \"end\": 1, \"planning\": \"Move end-effector toward the broccoli on the counter without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp and lift broccoli\", \"start\": 2, \"end\": 22, \"planning\": \"Close gripper to grasp broccoli, then lift it clear of the surface while adjusting pose for placement.\"},\n {\"id\": 3, \"name\": \"position over pot\", \"start\": 23, \"end\": 23, \"planning\": \"Rotate and translate gripper to align broccoli directly above the pot opening.\"},\n {\"id\": 4, \"name\": \"release broccoli into pot\", \"start\": 24, \"end\": 34, \"planning\": \"Open gripper to drop broccoli into pot, then retreat slightly to confirm release and avoid collision.\"}\n ],\n \"global_plan\": \"Approach broccoli on counter, grasp and lift it, position over pot, then release into pot and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has significant gripper closure (delta=-0.225) and image evidence confirms grasp/lift. Segment 3 is a single-frame reorientation with no gripper change — treated as positioning phase. Segment 4 shows gripper opening (delta=+0.142) and final rest state — consistent with release and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli", + "start": 0, + "end": 1, + "planning": "Move end-effector toward the broccoli on the counter without closing gripper." + }, + { + "id": 2, + "name": "grasp and lift broccoli", + "start": 2, + "end": 22, + "planning": "Close gripper to grasp broccoli, then lift it clear of the surface while adjusting pose for placement." + }, + { + "id": 3, + "name": "position over pot", + "start": 23, + "end": 23, + "planning": "Rotate and translate gripper to align broccoli directly above the pot opening." + }, + { + "id": 4, + "name": "release broccoli into pot", + "start": 24, + "end": 34, + "planning": "Open gripper to drop broccoli into pot, then retreat slightly to confirm release and avoid collision." + } + ], + "global_plan": "Approach broccoli on counter, grasp and lift it, position over pot, then release into pot and retreat.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has significant gripper closure (delta=-0.225) and image evidence confirms grasp/lift. Segment 3 is a single-frame reorientation with no gripper change — treated as positioning phase. Segment 4 shows gripper opening (delta=+0.142) and final rest state — consistent with release and retreat." + } + }, + "episode_goal": "Place the broccoli into the metal pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2252279371023178, + 0.07907035201787949, + 0.11494710296392441, + -3.1300997734069824, + -0.24760128557682037, + 0.18087387084960938 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 10 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22054839134216309, + 0.07389848679304123, + 0.10774555057287216, + -3.1365997791290283, + -0.2234879434108734, + 0.17764773964881897 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move right 10 cm, move down 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2117345929145813, + 0.05201062187552452, + 0.10434587299823761, + 3.1309447288513184, + -0.235401451587677, + 0.17376956343650818 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move down 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.1957729160785675, + 0.024457912892103195, + 0.09891066700220108, + 3.1199376583099365, + -0.23415762186050415, + 0.17087200284004211 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 10 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.1864028126001358, + 0.0008457591757178307, + 0.09275251626968384, + 3.1018686294555664, + -0.2531723380088806, + 0.17283067107200623 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 9 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18100687861442566, + -0.023103144019842148, + 0.08223782479763031, + 3.0771031379699707, + -0.25652652978897095, + 0.16534867882728577 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 8 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.17887093126773834, + -0.04091504216194153, + 0.06340260803699493, + 3.0597984790802, + -0.2549211382865906, + 0.133034348487854 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pepper": [ + 707, + 255, + 817, + 391 + ], + "metal pot": [ + 525, + 331, + 664, + 564 + ], + "carrot": [ + 650, + 401, + 818, + 509 + ], + "red object": [ + 505, + 184, + 577, + 296 + ], + "stove burner": [ + 483, + 477, + 758, + 782 + ], + "blue bowl": [ + 262, + 547, + 400, + 725 + ], + "green plate": [ + 167, + 378, + 365, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1837625652551651, + -0.04959569126367569, + 0.042957279831171036, + 3.019655227661133, + -0.24678665399551392, + 0.12847651541233063 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1897715926170349, + -0.0560232438147068, + 0.0272977277636528, + 3.001605749130249, + -0.23441064357757568, + 0.1113416999578476 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pepper": [ + 707, + 254, + 817, + 391 + ], + "carrot": [ + 649, + 401, + 818, + 508 + ], + "metal pot": [ + 504, + 328, + 663, + 524 + ], + "red object": [ + 501, + 184, + 577, + 297 + ], + "blue bowl": [ + 262, + 540, + 425, + 724 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20033413171768188, + -0.05160991847515106, + 0.024248501285910606, + 3.0014450550079346, + -0.22679679095745087, + 0.08992449194192886 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move up 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.206304132938385, + -0.045673977583646774, + 0.027643365785479546, + 3.0098490715026855, + -0.21990470588207245, + 0.08116239309310913 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move up 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2079446017742157, + -0.04650971293449402, + 0.016403671354055405, + 2.9859542846679688, + -0.22625957429409027, + 0.09343887120485306 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the counter with the broccoli visible below near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to lower its arm to reach the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20519210398197174, + -0.04775092750787735, + 0.008334427140653133, + 2.9673521518707275, + -0.23378799855709076, + 0.10376578569412231 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli inside the cardboard box, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for grasping. The next action is to close the gripper to secure the broccoli before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2021302431821823, + -0.04794787988066673, + 0.001107396325096488, + 2.957061290740967, + -0.24745626747608185, + 0.1247038021683693 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli inside the cardboard box, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for grasping. The next action is to close the gripper to secure the broccoli before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.20331941545009613, + -0.04805801063776016, + 0.00026929425075650215, + 2.9640374183654785, + -0.2485680729150772, + 0.10121321678161621 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli inside the cardboard box, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for grasping. The next action is to close the gripper to secure the broccoli before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20484031736850739, + -0.04378180950880051, + 0.002014249563217163, + 3.0036144256591797, + -0.22155560553073883, + 0.0992342159152031 + ], + "gripper_value": 0.7720533609390259 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli inside the cardboard box, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for grasping. The next action is to close the gripper to secure the broccoli before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2111111730337143, + -0.03924557566642761, + 0.014602418057620525, + 3.031789779663086, + -0.21959616243839264, + 0.07244542986154556 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli inside the cardboard box, with the gripper open and ready. 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The next action is to close the gripper to secure the broccoli before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22448404133319855, + -0.02145165577530861, + 0.042305003851652145, + 3.0613081455230713, + -0.2145945131778717, + 0.06912312656641006 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pepper": [ + 707, + 254, + 817, + 392 + ], + "carrot": [ + 651, + 401, + 818, + 509 + ], + "red object": [ + 520, + 183, + 577, + 285 + ], + "blue bowl": [ + 262, + 538, + 428, + 727 + ], + "stove burner": [ + 560, + 485, + 744, + 740 + ], + "green plate": [ + 167, + 377, + 365, + 592 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli inside the cardboard box, with the gripper open and ready. 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The next action is to close the gripper to secure the broccoli before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24235203862190247, + -0.00026070166495628655, + 0.07100401818752289, + 3.0533437728881836, + -0.14157550036907196, + 0.07035882025957108 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli inside the cardboard box, with the gripper open and ready. 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The next action is to lower the broccoli into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986365854740143, + 0.03549987077713013, + 0.06713923066854477, + 3.1026811599731445, + -0.3346249461174011, + 0.01614825241267681 + ], + "gripper_value": 0.8687413334846497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The robot has lifted the broccoli and is currently positioning it above the metal pot on the stove. 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The next action is to lower the broccoli into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2994447946548462, + 0.03379537910223007, + 0.07012651115655899, + 3.0862388610839844, + -0.3095776438713074, + 0.020490502938628197 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The robot has lifted the broccoli and is currently positioning it above the metal pot on the stove. 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The next action is to lower the broccoli into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063654601573944, + 0.03210656717419624, + 0.0738215520977974, + 3.0641307830810547, + -0.2612748146057129, + -0.01132144033908844 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pepper": [ + 708, + 255, + 817, + 391 + ], + "metal pot": [ + 425, + 335, + 665, + 571 + ], + "carrot": [ + 650, + 400, + 818, + 509 + ], + "stove burner": [ + 473, + 484, + 752, + 779 + ], + "coffee maker": [ + 362, + 8, + 630, + 424 + ], + "red object": [ + 649, + 403, + 704, + 480 + ], + "blue bowl": [ + 262, + 539, + 428, + 727 + ], + "green plate": [ + 167, + 378, + 364, + 591 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The robot has lifted the broccoli and is currently positioning it above the metal pot on the stove. 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The next action is to lower the broccoli into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30624285340309143, + 0.031577304005622864, + 0.07423833012580872, + 3.067269802093506, + -0.2622542381286621, + -0.025713907554745674 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The robot has lifted the broccoli and is currently positioning it above the metal pot on the stove. 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The next action is to lower the broccoli into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061874210834503, + 0.03156803548336029, + 0.0737670511007309, + 3.0669679641723633, + -0.2607482373714447, + -0.02563583105802536 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held directly above the metal pot on the stove, with the gripper open indicating readiness to release. The positioning phase is complete, and the object is aligned for insertion. The next action is to drop the broccoli into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061874210834503, + 0.03156803548336029, + 0.0737670511007309, + 3.0665597915649414, + -0.26063355803489685, + -0.02405264601111412 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held directly above the metal pot on the stove, with the gripper open indicating readiness to release. The positioning phase is complete, and the object is aligned for insertion. The next action is to drop the broccoli into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30624285340309143, + 0.031577304005622864, + 0.07423833012580872, + 3.067269802093506, + -0.2622542381286621, + -0.025713907554745674 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held directly above the metal pot on the stove, with the gripper open indicating readiness to release. The positioning phase is complete, and the object is aligned for insertion. The next action is to drop the broccoli into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30613863468170166, + 0.032037679105997086, + 0.0737670511007309, + 3.0665597915649414, + -0.26063355803489685, + -0.02251867577433586 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held directly above the metal pot on the stove, with the gripper open indicating readiness to release. The positioning phase is complete, and the object is aligned for insertion. The next action is to drop the broccoli into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061874210834503, + 0.03156803548336029, + 0.0737670511007309, + 3.0665597915649414, + -0.26063355803489685, + -0.02405264601111412 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held directly above the metal pot on the stove, with the gripper open indicating readiness to release. The positioning phase is complete, and the object is aligned for insertion. The next action is to drop the broccoli into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061874210834503, + 0.03156803548336029, + 0.0737670511007309, + 3.0665597915649414, + -0.26063355803489685, + -0.02405264601111412 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "position over pot" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held directly above the metal pot on the stove, with the gripper open indicating readiness to release. The positioning phase is complete, and the object is aligned for insertion. The next action is to drop the broccoli into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003731_ecot.json b/cot/chunk-0003/episode_0003731_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..347b96e06eef5ed41a05fff0a2b73026d836b35a --- /dev/null +++ b/cot/chunk-0003/episode_0003731_ecot.json @@ -0,0 +1,1210 @@ +{ + "task_name": "episode_0003731", + "episode_json": "json/chunk-0003/episode_0003731.json", + "video_path": "videos/chunk-0003/image_0/episode_0003731.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003731.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.857413649559021, + "std": 0.3945148289203644, + "delta_total": -0.7230865955352783, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.85741, std=0.39451, total_delta=-0.72309). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 8, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 12 + ], + [ + 3, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the lever while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and rotate lever\", \"start\": 8, \"end\": 12, \"planning\": \"Secure grip on lever and begin rotating it vertically toward front position.\"},\n {\"id\": 3, \"name\": \"complete rotation and release\", \"start\": 13, \"end\": 19, \"planning\": \"Finish rotating lever to vertical front orientation, then open gripper and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the lever, grasp it firmly, rotate it to vertical front position, then release and withdraw.\",\n \"notes\": \"Gripper closes meaningfully in Segment 1 (delta=-0.204) and fully closes in Segment 2 (delta=-0.328), supporting grasp wording. Segment 3 shows gripper opening (delta=+0.134) consistent with release after rotation. Motion and gripper evidence align across segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the lever while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and rotate lever", + "start": 8, + "end": 12, + "planning": "Secure grip on lever and begin rotating it vertically toward front position." + }, + { + "id": 3, + "name": "complete rotation and release", + "start": 13, + "end": 19, + "planning": "Finish rotating lever to vertical front orientation, then open gripper and retreat slightly." + } + ], + "global_plan": "Approach the lever, grasp it firmly, rotate it to vertical front position, then release and withdraw.", + "notes": "Gripper closes meaningfully in Segment 1 (delta=-0.204) and fully closes in Segment 2 (delta=-0.328), supporting grasp wording. Segment 3 shows gripper opening (delta=+0.134) consistent with release after rotation. Motion and gripper evidence align across segments." + } + }, + "episode_goal": "Grasp the lever and rotate it to a vertical orientation facing the front.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31007862091064453, + -0.038541704416275024, + 0.09065289795398712, + -2.999107599258423, + -0.2317625880241394, + 0.01541879028081894 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the green lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should be to lower the gripper toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.308248370885849, + -0.038475096225738525, + 0.08373148739337921, + -2.9783737659454346, + -0.21658125519752502, + 0.019529229030013084 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the green lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should be to lower the gripper toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115558922290802, + -0.03669355809688568, + 0.08687849342823029, + -2.9486026763916016, + -0.24429719150066376, + 0.03604164347052574 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the green lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should be to lower the gripper toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32138654589653015, + -0.03594806417822838, + 0.09484642744064331, + -2.928161859512329, + -0.2984590530395508, + 0.0375051349401474 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing various toy food items and a green cutting board, but has not yet made contact with the target lever. The gripper is currently open, indicating the approach phase is ongoing without any grasping action taken yet. The next step is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, tilt back 10 degrees, close gripper; then move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346785306930542, + -0.03614594042301178, + 0.1042478159070015, + -2.91471791267395, + -0.3554408848285675, + 0.01913447491824627 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple eggplant toy": [ + 384, + 187, + 477, + 322 + ], + "metal bowl a metal pot": [ + 3, + 212, + 196, + 432 + ], + "metal bowl a metal pot_2": [ + 138, + 460, + 415, + 743 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing various toy food items and a green cutting board, but has not yet made contact with the target lever. The gripper is currently open, indicating the approach phase is ongoing without any grasping action taken yet. The next step is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 1 cm, close gripper; then move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34962257742881775, + -0.035630155354738235, + 0.10421938449144363, + -2.924992322921753, + -0.3882867395877838, + -0.00262499344535172 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing various toy food items and a green cutting board, but has not yet made contact with the target lever. The gripper is currently open, indicating the approach phase is ongoing without any grasping action taken yet. The next step is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.361890584230423, + -0.03561335802078247, + 0.09942058473825455, + -2.957045555114746, + -0.4096480906009674, + -0.0050288718193769455 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing various toy food items and a green cutting board, but has not yet made contact with the target lever. The gripper is currently open, indicating the approach phase is ongoing without any grasping action taken yet. The next step is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36750733852386475, + -0.03204849734902382, + 0.09345193952322006, + -2.9702675342559814, + -0.4010760188102722, + -0.00992866326123476 + ], + "gripper_value": 0.7998467683792114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing various toy food items and a green cutting board, but has not yet made contact with the target lever. The gripper is currently open, indicating the approach phase is ongoing without any grasping action taken yet. The next step is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36968785524368286, + -0.031146932393312454, + 0.0969575047492981, + -2.97088623046875, + -0.4058351218700409, + -0.013022349216043949 + ], + "gripper_value": 0.475652277469635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "grasp and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing various toy food items and a green cutting board, but has not yet made contact with the target lever. The gripper is currently open, indicating the approach phase is ongoing without any grasping action taken yet. The next step is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36800867319107056, + -0.029542870819568634, + 0.0967908576130867, + -2.944995164871216, + -0.39967790246009827, + -0.0061182137578725815 + ], + "gripper_value": 0.21919596195220947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "grasp and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing various toy food items and a green cutting board, but has not yet made contact with the target lever. The gripper is currently open, indicating the approach phase is ongoing without any grasping action taken yet. The next step is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36355653405189514, + -0.028274064883589745, + 0.09587513655424118, + -2.9215657711029053, + -0.3993206024169922, + -0.0021324330009520054 + ], + "gripper_value": 0.14915025234222412 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "grasp and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing kitchen items, but the lever is not visible in the current frame. The gripper is open, indicating no grasp has occurred yet. The next action should involve locating and approaching the lever to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35476061701774597, + -0.02978925034403801, + 0.09258116036653519, + -2.9374160766601562, + -0.4071406126022339, + 0.020041966810822487 + ], + "gripper_value": 0.14767317473888397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "grasp and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing kitchen items, but the lever is not visible in the current frame. The gripper is open, indicating no grasp has occurred yet. The next action should involve locating and approaching the lever to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34617695212364197, + -0.03226912394165993, + 0.08832690864801407, + -2.973051071166992, + -0.4103133976459503, + 0.04638882353901863 + ], + "gripper_value": 0.14767317473888397 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple eggplant toy": [ + 384, + 187, + 478, + 323 + ], + "metal bowl a metal pot": [ + 3, + 211, + 195, + 432 + ], + "metal bowl a metal pot_2": [ + 140, + 460, + 416, + 743 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "grasp and rotate lever", + "subtask_reasoning": "The robot arm is positioned above the drawer containing kitchen items, but the lever is not visible in the current frame. The gripper is open, indicating no grasp has occurred yet. The next action should involve locating and approaching the lever to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360210359096527, + -0.03235168009996414, + 0.08279061317443848, + -3.0100884437561035, + -0.4300853908061981, + 0.09124405682086945 + ], + "gripper_value": 0.14767317473888397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "complete rotation and release", + "subtask_reasoning": "The robot arm is positioned above the drawer containing kitchen items, but the lever is not visible in the current frame. The gripper is open, indicating no grasp has occurred yet. The next action should involve locating and approaching the lever to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3218253254890442, + -0.033337052911520004, + 0.07263387739658356, + -3.036104202270508, + -0.44439029693603516, + 0.1337248980998993 + ], + "gripper_value": 0.14767317473888397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "complete rotation and release", + "subtask_reasoning": "The robot arm is positioned above the drawer containing kitchen items, but the lever is not visible in the current frame. The gripper is open, indicating no grasp has occurred yet. The next action should involve locating and approaching the lever to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3130294382572174, + -0.03290647640824318, + 0.06399080157279968, + -3.055824041366577, + -0.4693922996520996, + 0.15366575121879578 + ], + "gripper_value": 0.14767317473888397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "complete rotation and release", + "subtask_reasoning": "The robot arm is positioned above the drawer containing kitchen items, but the lever is not visible in the current frame. The gripper is open, indicating no grasp has occurred yet. The next action should involve locating and approaching the lever to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3062498867511749, + -0.033922623842954636, + 0.05330668017268181, + -3.083052635192871, + -0.49055016040802, + 0.1637675166130066 + ], + "gripper_value": 0.14767317473888397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "complete rotation and release", + "subtask_reasoning": "The lever has been rotated to a vertical front position as required. The gripper is still in contact with the lever, indicating the rotation is complete but release has not yet occurred. The next action should be to release the lever and withdraw the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.300994336605072, + -0.03394978120923042, + 0.04145307466387749, + -3.1111345291137695, + -0.5131648778915405, + 0.18202099204063416 + ], + "gripper_value": 0.14669357240200043 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "complete rotation and release", + "subtask_reasoning": "The lever has been rotated to a vertical front position as required. The gripper is still in contact with the lever, indicating the rotation is complete but release has not yet occurred. The next action should be to release the lever and withdraw the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30059319734573364, + -0.03144412115216255, + 0.035541899502277374, + 3.1338655948638916, + -0.5319226980209351, + 0.20423579216003418 + ], + "gripper_value": 0.14669357240200043 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "complete rotation and release", + "subtask_reasoning": "The lever has been rotated to a vertical front position as required. The gripper is still in contact with the lever, indicating the rotation is complete but release has not yet occurred. The next action should be to release the lever and withdraw the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897023856639862, + -0.028338467702269554, + 0.0199603084474802, + -3.136096954345703, + -0.48176446557044983, + 0.18839140236377716 + ], + "gripper_value": 0.2810206115245819 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp and rotate lever" + }, + { + "id": 3, + "subtask": "complete rotation and release" + } + ], + "subtask_name": "complete rotation and release", + "subtask_reasoning": "The lever has been rotated to a vertical front position as required. The gripper is still in contact with the lever, indicating the rotation is complete but release has not yet occurred. The next action should be to release the lever and withdraw the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003732_ecot.json b/cot/chunk-0003/episode_0003732_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..cad231f95fa57a6aacb7fa7efc064cbf27e318e2 --- /dev/null +++ b/cot/chunk-0003/episode_0003732_ecot.json @@ -0,0 +1,773 @@ +{ + "task_name": "episode_0003732", + "episode_json": "json/chunk-0003/episode_0003732.json", + "video_path": "videos/chunk-0003/image_0/episode_0003732.mp4", + "instruction": "Pick up pan from stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 12, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003732.json" + }, + "fps": 5.0, + "T_eff": 12, + "gripper_behavior_summary": { + "available": true, + "range": 0.9355000853538513, + "std": 0.4213975667953491, + "delta_total": -0.9355000853538513, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93550, std=0.42140, total_delta=-0.93550). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 6, + 6 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan on stove\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the pan on the stove while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper to grasp pan\", \"start\": 5, \"end\": 7, \"planning\": \"Close gripper around pan handle as confirmed by significant gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift pan from stove\", \"start\": 8, \"end\": 11, \"planning\": \"Lift pan vertically off the stove burner while maintaining firm grip, as shown by rising z-coordinate and stable low gripper value.\"}\n ],\n \"global_plan\": \"Approach the pan on the stove, close gripper to secure grasp, then lift pan clear of the burner.\",\n \"notes\": \"Gripper closure is strongly supported in frames 5-7 (delta >0.5), and lifting motion is evident in frames 8-11 with increasing z and stable grip. Segment boundaries align naturally with manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan on stove", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the pan on the stove while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper to grasp pan", + "start": 5, + "end": 7, + "planning": "Close gripper around pan handle as confirmed by significant gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift pan from stove", + "start": 8, + "end": 11, + "planning": "Lift pan vertically off the stove burner while maintaining firm grip, as shown by rising z-coordinate and stable low gripper value." + } + ], + "global_plan": "Approach the pan on the stove, close gripper to secure grasp, then lift pan clear of the burner.", + "notes": "Gripper closure is strongly supported in frames 5-7 (delta >0.5), and lifting motion is evident in frames 8-11 with increasing z and stable grip. Segment boundaries align naturally with manipulation phases." + } + }, + "episode_goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.370601087808609, + 0.09620906412601471, + 0.06780608743429184, + -3.0795981884002686, + -0.17597003281116486, + -0.29942071437835693 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the small silver pan visible on the front-left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36874696612358093, + 0.09750507026910782, + 0.047347646206617355, + -3.103694200515747, + -0.1575079709291458, + -0.29412272572517395 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the small silver pan visible on the front-left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3712952733039856, + 0.10200997442007065, + 0.04409962147474289, + -3.0794427394866943, + -0.17807379364967346, + -0.3151334524154663 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the small silver pan visible on the front-left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3713406026363373, + 0.10557881742715836, + 0.0407567024230957, + -3.061298370361328, + -0.1927584558725357, + -0.3274403214454651 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the small silver pan visible on the front-left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691183030605316, + 0.10584475845098495, + 0.02749827690422535, + -3.0927696228027344, + -0.1857486516237259, + -0.32815051078796387 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the small silver pan visible on the front-left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36805030703544617, + 0.1088612973690033, + 0.018569769337773323, + -3.1144638061523438, + -0.17818529903888702, + -0.31515657901763916 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 414, + 247, + 969, + 733 + ], + "faucet": [ + 685, + 7, + 918, + 327 + ], + "coffee maker": [ + 292, + 27, + 498, + 383 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "close gripper to grasp pan", + "subtask_reasoning": "The robot is positioned near the stove with the small silver pan visible on the front-left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36843669414520264, + 0.11111991852521896, + 0.018589185550808907, + -3.099198341369629, + -0.17591387033462524, + -0.3206377625465393 + ], + "gripper_value": 0.4918208718299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "close gripper to grasp pan", + "subtask_reasoning": "The robot has approached the small silver pan on the front-left burner, with the gripper positioned near the handle. The gripper is currently open and beginning to close, as indicated by the decreasing gripper value. The next action is to fully close the gripper to secure a grasp on the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36867451667785645, + 0.11307559162378311, + 0.018895145505666733, + -3.085993766784668, + -0.17182233929634094, + -0.3313226103782654 + ], + "gripper_value": 0.2198251634836197 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "close gripper to grasp pan", + "subtask_reasoning": "The robot has approached the small silver pan on the front-left burner, with the gripper positioned near the handle. The gripper is currently open and beginning to close, as indicated by the decreasing gripper value. The next action is to fully close the gripper to secure a grasp on the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716973662376404, + 0.1161871924996376, + 0.024165479466319084, + -3.0593881607055664, + -0.15404412150382996, + -0.3418028652667999 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The robot has approached the small silver pan on the front-left burner, with the gripper positioned near the handle. The gripper is currently open and beginning to close, as indicated by the decreasing gripper value. The next action is to fully close the gripper to secure a grasp on the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3740828037261963, + 0.11569210141897202, + 0.03300860896706581, + -3.044179916381836, + -0.11310892552137375, + -0.3530172109603882 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The gripper is in contact with the pan handle on the front-left burner, having completed the approach and grasp phases. The current state shows the robot is positioned to lift, with gripper closed around the handle. The next action is to move the end-effector vertically upward to lift the pan clear of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3823978304862976, + 0.1149103119969368, + 0.05181421712040901, + -3.021442413330078, + -0.08173709362745285, + -0.368641197681427 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The gripper is in contact with the pan handle on the front-left burner, having completed the approach and grasp phases. The current state shows the robot is positioned to lift, with gripper closed around the handle. The next action is to move the end-effector vertically upward to lift the pan clear of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3904068171977997, + 0.11257617920637131, + 0.07168755680322647, + -2.9653658866882324, + -0.08203247934579849, + -0.38471049070358276 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 414, + 248, + 969, + 732 + ], + "dish brush": [ + 350, + 4, + 502, + 230 + ], + "faucet": [ + 686, + 6, + 919, + 327 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the handle of the small silver pan on the front-left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The gripper is in contact with the pan handle on the front-left burner, having completed the approach and grasp phases. The current state shows the robot is positioned to lift, with gripper closed around the handle. The next action is to move the end-effector vertically upward to lift the pan clear of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003733_ecot.json b/cot/chunk-0003/episode_0003733_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d915ddce6c1489697a9b76b72d9a246f92975e17 --- /dev/null +++ b/cot/chunk-0003/episode_0003733_ecot.json @@ -0,0 +1,2835 @@ +{ + "task_name": "episode_0003733", + "episode_json": "json/chunk-0003/episode_0003733.json", + "video_path": "videos/chunk-0003/image_0/episode_0003733.mp4", + "instruction": "Put the object green on top the cube.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003733.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4055536985397339, + "std": 0.18474888801574707, + "delta_total": 0.003963589668273926, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40555, std=0.18475, total_delta=0.00396). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 30 + ], + [ + 2, + 31, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the green object while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp green object\", \"start\": 15, \"end\": 30, \"planning\": \"Close gripper to securely grasp the green object and lift slightly.\"},\n {\"id\": 3, \"name\": \"transport green object\", \"start\": 31, \"end\": 43, \"planning\": \"Carry the grasped green object toward the target cube structure.\"},\n {\"id\": 4, \"name\": \"place green object on cube\", \"start\": 44, \"end\": 44, \"planning\": \"Release the green object onto the top of the cube structure.\"}\n ],\n \"global_plan\": \"Approach, grasp, transport, and place the green object on top of the cube structure in four sequential phases.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (from ~1.0 to ~0.6) consistent with grasping; Segment 2 shows gripper opening at end (to ~1.0) consistent with release. Frame 44 is the only frame showing final placement and release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the green object while keeping gripper open." + }, + { + "id": 2, + "name": "grasp green object", + "start": 15, + "end": 30, + "planning": "Close gripper to securely grasp the green object and lift slightly." + }, + { + "id": 3, + "name": "transport green object", + "start": 31, + "end": 43, + "planning": "Carry the grasped green object toward the target cube structure." + }, + { + "id": 4, + "name": "place green object on cube", + "start": 44, + "end": 44, + "planning": "Release the green object onto the top of the cube structure." + } + ], + "global_plan": "Approach, grasp, transport, and place the green object on top of the cube structure in four sequential phases.", + "notes": "Segment 1 shows meaningful gripper closing (from ~1.0 to ~0.6) consistent with grasping; Segment 2 shows gripper opening at end (to ~1.0) consistent with release. Frame 44 is the only frame showing final placement and release." + } + }, + "episode_goal": "Place the green object on top of the cube.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30928197503089905, + 0.12511691451072693, + 0.13730217516422272, + -2.933584213256836, + -0.1940084844827652, + -0.3700493276119232 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves approaching the green object to prepare for grasping. The next action should be to move the gripper closer to the green object while maintaining an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30738893151283264, + 0.12437253445386887, + 0.1252598911523819, + -2.959352493286133, + -0.16739922761917114, + -0.3624989092350006 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves approaching the green object to prepare for grasping. The next action should be to move the gripper closer to the green object while maintaining an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3169345557689667, + 0.12353860586881638, + 0.11309080570936203, + -2.9745631217956543, + -0.15282070636749268, + -0.31535109877586365 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves approaching the green object to prepare for grasping. The next action should be to move the gripper closer to the green object while maintaining an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3313588798046112, + 0.11658064275979996, + 0.10956856608390808, + -2.953083038330078, + -0.1521853357553482, + -0.3363434374332428 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves approaching the green object to prepare for grasping. The next action should be to move the gripper closer to the green object while maintaining an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, move down 8 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3461194336414337, + 0.11234688013792038, + 0.102900929749012, + -2.9390172958374023, + -0.1467713713645935, + -0.3313358426094055 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves approaching the green object to prepare for grasping. The next action should be to move the gripper closer to the green object while maintaining an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36582446098327637, + 0.10694669932126999, + 0.09048527479171753, + -2.9510858058929443, + -0.11607065051794052, + -0.3466065227985382 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves approaching the green object to prepare for grasping. The next action should be to move the gripper closer to the green object while maintaining an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38140058517456055, + 0.10271590203046799, + 0.08059780299663544, + -2.9719624519348145, + -0.08833988755941391, + -0.3543858826160431 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves approaching the green object to prepare for grasping. The next action should be to move the gripper closer to the green object while maintaining an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.39811164140701294, + 0.09547270834445953, + 0.07505732029676437, + -2.9930593967437744, + -0.08193216472864151, + -0.3659154772758484 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 3, + 996, + 995 + ], + "small wooden cylinder": [ + 229, + 331, + 311, + 461 + ], + "wooden plank": [ + 639, + 2, + 773, + 296 + ], + "green block": [ + 596, + 189, + 771, + 375 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.41301852464675903, + 0.09265400469303131, + 0.06655718386173248, + -3.0090837478637695, + -0.06488846242427826, + -0.3728979229927063 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move up 14 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4156739413738251, + 0.09106883406639099, + 0.06821981817483902, + -3.0163164138793945, + -0.061614129692316055, + -0.3794880211353302 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move up 18 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4154398739337921, + 0.09191279113292694, + 0.062183037400245667, + -3.018355369567871, + -0.048908330500125885, + -0.37533679604530334 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 18 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4162445366382599, + 0.09515693783760071, + 0.04377492889761925, + -3.018947124481201, + -0.012277167290449142, + -0.37247398495674133 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 4 cm, move up 20 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.41765546798706055, + 0.09624634683132172, + 0.03148653730750084, + -3.0226285457611084, + 0.002862839726731181, + -0.36956116557121277 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 6 cm, move up 22 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.42632779479026794, + 0.09640222042798996, + 0.028261687606573105, + -3.0268361568450928, + -0.009667578153312206, + -0.35717326402664185 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 6 cm, move right 9 cm, move up 22 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42634519934654236, + 0.09420469403266907, + 0.027949558570981026, + -3.0471129417419434, + -0.01981821097433567, + -0.347789466381073 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 8 cm, move right 11 cm, move up 23 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.42795267701148987, + 0.09289681166410446, + 0.038039758801460266, + -3.0872421264648438, + -0.039412520825862885, + -0.3274829685688019 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 14 cm, move up 22 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.43306538462638855, + 0.09473320096731186, + 0.08737032115459442, + -3.075972080230713, + -0.09327614307403564, + -0.31245723366737366 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 18 cm, move up 15 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.44153502583503723, + 0.10053878277540207, + 0.13806496560573578, + -3.0514984130859375, + -0.17838121950626373, + -0.28918254375457764 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "small wooden cylinder": [ + 228, + 331, + 311, + 461 + ], + "wooden table": [ + 4, + 3, + 995, + 995 + ], + "black equipment": [ + 757, + 2, + 942, + 180 + ], + "green block": [ + 593, + 188, + 771, + 375 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 21 cm, move up 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4448823928833008, + 0.09787474572658539, + 0.1789977103471756, + -3.0286478996276855, + -0.25216221809387207, + -0.2956750988960266 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 22 cm, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.44096919894218445, + 0.0889151319861412, + 0.21382202208042145, + -3.0018510818481445, + -0.2992933690547943, + -0.32125940918922424 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 22 cm, move down 5 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4337577819824219, + 0.07430648058652878, + 0.2227160483598709, + -3.0175387859344482, + -0.2637145221233368, + -0.3484700918197632 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 21 cm, move down 8 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.422639936208725, + 0.051315151154994965, + 0.23615072667598724, + -3.015742778778076, + -0.2396635115146637, + -0.39993253350257874 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the table with the green object and cube structure visible in the scene. The end-effector is currently open and hovering near the target area, indicating the approach phase is underway. The next action should be to lower the gripper toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 19 cm, move down 13 cm, tilt forward 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3980192542076111, + 0.032314322888851166, + 0.25436529517173767, + -3.021305799484253, + -0.21450772881507874, + -0.4524986147880554 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 17 cm, move down 15 cm, tilt forward 30 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37126097083091736, + 0.0029995187651365995, + 0.2627180814743042, + -3.0092709064483643, + -0.19685520231723785, + -0.5306039452552795 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 14 cm, move down 16 cm, tilt forward 30 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3489307463169098, + -0.02151995152235031, + 0.2690674364566803, + -2.9843311309814453, + -0.16867947578430176, + -0.6056489944458008 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "small wooden cylinder": [ + 229, + 331, + 311, + 461 + ], + "wooden table": [ + 4, + 3, + 995, + 994 + ], + "green block": [ + 594, + 188, + 770, + 375 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move down 16 cm, tilt forward 30 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.338071346282959, + -0.050358232110738754, + 0.2538612484931946, + -2.965167760848999, + -0.09523047506809235, + -0.650359034538269 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move down 15 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3279770016670227, + -0.08128479868173599, + 0.23484374582767487, + -2.9531421661376953, + -0.05143551155924797, + -0.6663196682929993 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 13 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32435643672943115, + -0.1067081093788147, + 0.21395087242126465, + -2.9612948894500732, + -0.012988119386136532, + -0.6409837603569031 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 11 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.32531115412712097, + -0.12338142096996307, + 0.18305978178977966, + -2.990060567855835, + 0.06784723699092865, + -0.6110126376152039 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32585662603378296, + -0.1313774287700653, + 0.1622130572795868, + -3.021153688430786, + 0.11128026247024536, + -0.5691527128219604 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3248874843120575, + -0.1365291327238083, + 0.13829731941223145, + -3.0428450107574463, + 0.1565706431865692, + -0.45937398076057434 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 1 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31967267394065857, + -0.13612575829029083, + 0.10677222907543182, + -3.0914194583892822, + 0.23457267880439758, + -0.26142755150794983 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3187416195869446, + -0.11537183076143265, + 0.08306636661291122, + -3.0796334743499756, + 0.2487693876028061, + -0.08022240549325943 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 6 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099108636379242, + -0.10604513436555862, + 0.05938822403550148, + -3.0439658164978027, + 0.2098119556903839, + 0.000983301899395883 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "small wooden cylinder": [ + 228, + 331, + 312, + 461 + ], + "wooden table": [ + 5, + 4, + 994, + 994 + ], + "wooden plank": [ + 640, + 2, + 768, + 297 + ], + "black equipment": [ + 742, + 9, + 994, + 561 + ], + "green block": [ + 593, + 188, + 774, + 374 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30252841114997864, + -0.10218916088342667, + 0.05275995284318924, + -3.0611226558685303, + 0.1631830781698227, + 0.029773026704788208 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2942642867565155, + -0.10489629209041595, + 0.052241671830415726, + -3.0946686267852783, + 0.16126371920108795, + 0.04479171335697174 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872043550014496, + -0.10556020587682724, + 0.05960744246840477, + -3.11747407913208, + 0.14387117326259613, + 0.04853571578860283 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, having completed the approach phase. The gripper remains open with no closing evidence in this segment, indicating contact has not yet been established. The next action should involve moving the gripper closer to align with and make contact with the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841963469982147, + -0.10965053737163544, + 0.06365616619586945, + -3.1294455528259277, + 0.13213388621807098, + 0.03857800364494324 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is currently holding the green object and moving it across the table toward the cube structure. The approach and grasp phases are complete, and the arm is in transit with the object secured. The next action is to continue transporting the object until it is positioned directly above the target cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.289066880941391, + -0.11095204949378967, + 0.06303282827138901, + -3.129863739013672, + 0.09792449325323105, + 0.041145987808704376 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is currently holding the green object and moving it across the table toward the cube structure. The approach and grasp phases are complete, and the arm is in transit with the object secured. The next action is to continue transporting the object until it is positioned directly above the target cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2879866063594818, + -0.11607009172439575, + 0.047485411167144775, + -3.122296094894409, + 0.1147456243634224, + 0.025883952155709267 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is currently holding the green object and moving it across the table toward the cube structure. The approach and grasp phases are complete, and the arm is in transit with the object secured. The next action is to continue transporting the object until it is positioned directly above the target cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.28608837723731995, + -0.1216006651520729, + 0.03819797560572624, + -3.109163284301758, + 0.11610753834247589, + 0.0042833611369132996 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 4, + 993, + 994 + ], + "small wooden cylinder": [ + 228, + 331, + 312, + 461 + ], + "wooden plank": [ + 639, + 2, + 773, + 297 + ], + "black equipment": [ + 657, + 9, + 994, + 708 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is currently holding the green object and moving it across the table toward the cube structure. The approach and grasp phases are complete, and the arm is in transit with the object secured. The next action is to continue transporting the object until it is positioned directly above the target cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.28462666273117065, + -0.12296981364488602, + 0.027050327509641647, + -3.082366466522217, + 0.11486244201660156, + -0.008472503162920475 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is currently holding the green object and moving it across the table toward the cube structure. The approach and grasp phases are complete, and the arm is in transit with the object secured. The next action is to continue transporting the object until it is positioned directly above the target cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.28701290488243103, + -0.1257735788822174, + 0.024890223518013954, + -3.0752365589141846, + 0.09015876799821854, + -0.03069472499191761 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is currently holding the green object and moving it across the table toward the cube structure. The approach and grasp phases are complete, and the arm is in transit with the object secured. The next action is to continue transporting the object until it is positioned directly above the target cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2878059148788452, + -0.12342479079961777, + 0.022749852389097214, + -3.0577828884124756, + 0.0754537284374237, + -0.06409779191017151 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "transport green object", + "subtask_reasoning": "The robot is currently holding the green object and moving it across the table toward the cube structure. The approach and grasp phases are complete, and the arm is in transit with the object secured. The next action is to continue transporting the object until it is positioned directly above the target cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881963849067688, + -0.1239396184682846, + 0.026576701551675797, + -3.0717642307281494, + 0.06538768857717514, + -0.07808908075094223 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on top of the cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "transport green object" + }, + { + "id": 4, + "subtask": "place green object on cube" + } + ], + "subtask_name": "place green object on cube", + "subtask_reasoning": "The robot is positioned near the green object and cube structure, with the gripper open and no active grasp occurring in this segment. The green object has not yet been placed on the cube, and the next action should involve moving the green object into position for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 44, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003736_ecot.json b/cot/chunk-0003/episode_0003736_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f584e50805a259b57dc7c6aedac0a139dab8a82c --- /dev/null +++ b/cot/chunk-0003/episode_0003736_ecot.json @@ -0,0 +1,2058 @@ +{ + "task_name": "episode_0003736", + "episode_json": "json/chunk-0003/episode_0003736.json", + "video_path": "videos/chunk-0003/image_0/episode_0003736.mp4", + "instruction": "Pick up the pot from above the blue cloth and put it on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003736.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9240729212760925, + "std": 0.4228554666042328, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92407, std=0.42286, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 125, + 125, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 1 + ], + [ + 3, + 2, + 9 + ], + [ + 4, + 10, + 21 + ], + [ + 5, + 22, + 24 + ], + [ + 6, + 25, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 2, \"planning\": \"Move the gripper from initial position toward the pot located on the blue cloth.\"},\n {\"id\": 2, \"name\": \"close gripper on pot\", \"start\": 3, \"end\": 9, \"planning\": \"Lower the gripper and begin closing around the pot handle or rim to establish contact.\"},\n {\"id\": 3, \"name\": \"lift and carry pot\", \"start\": 10, \"end\": 21, \"planning\": \"Lift the pot off the blue cloth and transport it horizontally toward the target table area.\"},\n {\"id\": 4, \"name\": \"release pot on table\", \"start\": 22, \"end\": 24, \"planning\": \"Open the gripper to release the pot onto the wooden table surface.\"},\n {\"id\": 5, \"name\": \"retreat after release\", \"start\": 25, \"end\": 29, \"planning\": \"Withdraw the gripper upward and backward to clear the placed pot and return to safe position.\"}\n ],\n \"global_plan\": \"Approach the pot on the blue cloth, grasp it by closing the gripper, lift and carry it to the table, release it, then retreat safely.\",\n \"notes\": \"Gripper closure is confirmed in segments 3–4 (frames 3–21) with significant delta and image consistency; release occurs in segment 5 (frames 22–24) as gripper opens; retreat in segment 6 (frames 25–29) shows full opening and withdrawal. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 2, + "planning": "Move the gripper from initial position toward the pot located on the blue cloth." + }, + { + "id": 2, + "name": "close gripper on pot", + "start": 3, + "end": 9, + "planning": "Lower the gripper and begin closing around the pot handle or rim to establish contact." + }, + { + "id": 3, + "name": "lift and carry pot", + "start": 10, + "end": 21, + "planning": "Lift the pot off the blue cloth and transport it horizontally toward the target table area." + }, + { + "id": 4, + "name": "release pot on table", + "start": 22, + "end": 24, + "planning": "Open the gripper to release the pot onto the wooden table surface." + }, + { + "id": 5, + "name": "retreat after release", + "start": 25, + "end": 29, + "planning": "Withdraw the gripper upward and backward to clear the placed pot and return to safe position." + } + ], + "global_plan": "Approach the pot on the blue cloth, grasp it by closing the gripper, lift and carry it to the table, release it, then retreat safely.", + "notes": "Gripper closure is confirmed in segments 3–4 (frames 3–21) with significant delta and image consistency; release occurs in segment 5 (frames 22–24) as gripper opens; retreat in segment 6 (frames 25–29) shows full opening and withdrawal. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Pick up the pot from above the blue cloth and put it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30991390347480774, + 0.061050042510032654, + 0.12338487803936005, + -3.1357035636901855, + -0.13578596711158752, + -0.10909153521060944 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot resting on a blue cloth. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30812495946884155, + 0.06017903983592987, + 0.11442799866199493, + 3.1387240886688232, + -0.10957513004541397, + -0.10943371802568436 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible on the blue cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2853862941265106, + 0.0516827329993248, + 0.09700394421815872, + -3.138150691986084, + -0.06754136830568314, + -0.16467049717903137 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible on the blue cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26961860060691833, + 0.04977124556899071, + 0.094205841422081, + -3.1093602180480957, + -0.07798262685537338, + -0.20987890660762787 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible on the blue cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25747424364089966, + 0.04976825788617134, + 0.07724063843488693, + -3.1001482009887695, + -0.05701669678092003, + -0.24805843830108643 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible on the blue cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2579684853553772, + 0.05446486547589302, + 0.05272749066352844, + -3.107569456100464, + -0.04134492203593254, + -0.26478520035743713 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible on the blue cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper; then move forward 6 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26172927021980286, + 0.056678205728530884, + 0.029888367280364037, + -3.1211068630218506, + -0.022201117128133774, + -0.2743702828884125 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple toy eggplant": [ + 681, + 399, + 782, + 574 + ], + "wooden table": [ + 12, + 198, + 898, + 992 + ], + "white container": [ + 2, + 865, + 145, + 996 + ], + "metal bowl": [ + 207, + 383, + 467, + 621 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move forward 8 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2604275643825531, + 0.05583462864160538, + 0.015185076743364334, + -3.1330296993255615, + 0.00962385069578886, + -0.28023606538772583 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move forward 9 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616560459136963, + 0.04928354546427727, + 0.0135579165071249, + -3.1305015087127686, + 0.014232521876692772, + -0.3014497756958008 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 9 cm, move right 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603713572025299, + 0.0429551862180233, + 0.011440212838351727, + -3.121534824371338, + 0.020160460844635963, + -0.3247164189815521 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 9 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2607385814189911, + 0.04065887629985809, + 0.011902479454874992, + -3.1116580963134766, + 0.024742353707551956, + -0.3384911119937897 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2593972980976105, + 0.037514448165893555, + 0.01891046203672886, + -3.1066792011260986, + 0.018777523189783096, + -0.3541528582572937 + ], + "gripper_value": 0.1506364643573761 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25877314805984497, + 0.03540639579296112, + 0.033082593232393265, + -3.104680299758911, + -0.007140688598155975, + -0.3626568019390106 + ], + "gripper_value": 0.08432227373123169 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25790417194366455, + 0.030420085415244102, + 0.054817065596580505, + -3.076237916946411, + -0.013979107141494751, + -0.39173680543899536 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27528393268585205, + 0.026841744780540466, + 0.07439691573381424, + -3.0836853981018066, + -0.056512340903282166, + -0.4003419280052185 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The robot arm is positioned above the pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask involves closing the gripper to secure the pot. The next action is to close the gripper around the pot to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31722238659858704, + 0.014102572575211525, + 0.0844285860657692, + -3.1020073890686035, + -0.1027415543794632, + -0.45770809054374695 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple toy eggplant": [ + 681, + 399, + 783, + 574 + ], + "blue cloth": [ + 203, + 403, + 500, + 693 + ], + "wooden table": [ + 14, + 183, + 899, + 990 + ], + "metal bowl": [ + 302, + 213, + 492, + 417 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the blue cloth, with the gripper closed and stable. The robot has completed approaching and grasping the pot. The next action is to carry the pot toward the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34098145365715027, + -0.0034544491209089756, + 0.0701877623796463, + -3.10034441947937, + -0.06650764495134354, + -0.5497571229934692 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the blue cloth, with the gripper closed and stable. The robot has completed approaching and grasping the pot. The next action is to carry the pot toward the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 5 cm, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.35099416971206665, + -0.003564923070371151, + 0.052147869020700455, + -3.102504014968872, + -0.028178710490465164, + -0.5759437084197998 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the blue cloth, with the gripper closed and stable. The robot has completed approaching and grasping the pot. The next action is to carry the pot toward the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500119149684906, + 0.0014523385325446725, + 0.04033931344747543, + -3.095499038696289, + 0.020092403516173363, + -0.5665575265884399 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the blue cloth, with the gripper closed and stable. The robot has completed approaching and grasping the pot. The next action is to carry the pot toward the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 2 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 5 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34899577498435974, + 0.0071668620221316814, + 0.03607213869690895, + -3.0770647525787354, + 0.03950663283467293, + -0.5656139850616455 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the blue cloth, with the gripper closed and stable. The robot has completed approaching and grasping the pot. The next action is to carry the pot toward the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34240591526031494, + 0.02191454917192459, + 0.030915917828679085, + -3.08742094039917, + 0.05488057807087898, + -0.5451405644416809 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the blue cloth, with the gripper closed and stable. The robot has completed approaching and grasping the pot. The next action is to carry the pot toward the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3417049050331116, + 0.03589958697557449, + 0.030814779922366142, + -3.1336042881011963, + 0.023515552282333374, + -0.5654136538505554 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple toy eggplant": [ + 681, + 399, + 782, + 573 + ], + "blue cloth": [ + 203, + 405, + 499, + 693 + ], + "wooden table": [ + 11, + 187, + 899, + 990 + ], + "metal bowl": [ + 365, + 281, + 532, + 455 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "lift and carry pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the blue cloth, with the gripper closed and stable. The robot has completed approaching and grasping the pot. The next action is to carry the pot toward the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34003719687461853, + 0.04413842409849167, + 0.025061527267098427, + 3.098919630050659, + 0.009327433072030544, + -0.5756409764289856 + ], + "gripper_value": 0.09775853902101517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "release pot on table", + "subtask_reasoning": "The pot is currently grasped and lifted above the blue cloth, with the gripper closed and stable. The robot has completed approaching and grasping the pot. The next action is to carry the pot toward the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33987489342689514, + 0.043200377374887466, + 0.024626847356557846, + 3.08530592918396, + -6.888768257340416e-05, + -0.5915098190307617 + ], + "gripper_value": 0.1623418778181076 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "release pot on table", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the wooden table surface, having been moved from the blue cloth. The gripper is closed around the pot, indicating it is securely grasped. The next action is to open the gripper to release the pot onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337501883506775, + 0.037217263132333755, + 0.020905334502458572, + 3.0565810203552246, + -0.016375454142689705, + -0.6005980372428894 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "release pot on table", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the wooden table surface, having been moved from the blue cloth. The gripper is closed around the pot, indicating it is securely grasped. The next action is to open the gripper to release the pot onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3315582573413849, + 0.03235126659274101, + 0.0543869324028492, + 3.0839695930480957, + -0.12862566113471985, + -0.5581550598144531 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the wooden table surface, having been moved from the blue cloth. The gripper is closed around the pot, indicating it is securely grasped. The next action is to open the gripper to release the pot onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31118935346603394, + 0.04354088008403778, + 0.08938640356063843, + 3.090571641921997, + -0.20008431375026703, + -0.37489187717437744 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the wooden table surface, having been moved from the blue cloth. The gripper is closed around the pot, indicating it is securely grasped. The next action is to open the gripper to release the pot onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29038214683532715, + 0.05055738985538483, + 0.11719516664743423, + 3.1101479530334473, + -0.25103455781936646, + -0.21362115442752838 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The pot has been successfully released onto the table, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the pot to complete the subtask. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2787346839904785, + 0.05774613469839096, + 0.12751509249210358, + 3.1208531856536865, + -0.23778879642486572, + -0.12885279953479767 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The pot has been successfully released onto the table, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the pot to complete the subtask. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710457444190979, + 0.06490474939346313, + 0.12613549828529358, + 3.1403653621673584, + -0.1858542263507843, + -0.03443845734000206 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pot from above the blue cloth and put it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and carry pot" + }, + { + "id": 4, + "subtask": "release pot on table" + }, + { + "id": 5, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The pot has been successfully released onto the table, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the pot to complete the subtask. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003737_ecot.json b/cot/chunk-0003/episode_0003737_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9d068ab272ed3bea3afb8ea147a374aa202fad9f --- /dev/null +++ b/cot/chunk-0003/episode_0003737_ecot.json @@ -0,0 +1,2801 @@ +{ + "task_name": "episode_0003737", + "episode_json": "json/chunk-0003/episode_0003737.json", + "video_path": "videos/chunk-0003/image_0/episode_0003737.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003737.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.00024026546452660114, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00024, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 300, + 300, + 300, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 4 + ], + [ + 4, + 5, + 22 + ], + [ + 5, + 23, + 32 + ], + [ + 6, + 33, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from initial position toward the drawer handle with open gripper.\"},\n {\"id\": 2, \"name\": \"align and contact handle\", \"start\": 5, \"end\": 22, \"planning\": \"Position gripper around the handle and make contact without closing, preparing to push.\"},\n {\"id\": 3, \"name\": \"push drawer closed\", \"start\": 23, \"end\": 32, \"planning\": \"Apply forward force via end-effector to slide the drawer shut while maintaining contact.\"},\n {\"id\": 4, \"name\": \"retreat from drawer\", \"start\": 33, \"end\": 44, \"planning\": \"Withdraw end-effector away from the now-closed drawer to complete the task.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching the handle, making contact, pushing it shut, then retreating — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, contact, push, retreat). Segment 2 and 5 were merged into adjacent phases for natural manipulation flow.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 4, + "planning": "Move the end-effector from initial position toward the drawer handle with open gripper." + }, + { + "id": 2, + "name": "align and contact handle", + "start": 5, + "end": 22, + "planning": "Position gripper around the handle and make contact without closing, preparing to push." + }, + { + "id": 3, + "name": "push drawer closed", + "start": 23, + "end": 32, + "planning": "Apply forward force via end-effector to slide the drawer shut while maintaining contact." + }, + { + "id": 4, + "name": "retreat from drawer", + "start": 33, + "end": 44, + "planning": "Withdraw end-effector away from the now-closed drawer to complete the task." + } + ], + "global_plan": "Close the drawer by approaching the handle, making contact, pushing it shut, then retreating — all without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, contact, push, retreat). Segment 2 and 5 were merged into adjacent phases for natural manipulation flow." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.292757511138916, + -0.01825016550719738, + 0.14508329331874847, + 3.1370458602905273, + -0.06679777055978775, + 0.5411630868911743 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector downward and forward to approach the drawer handle for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 6 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2898789048194885, + -0.018482420593500137, + 0.13588620722293854, + -3.128854513168335, + -0.03764676675200462, + 0.5410336256027222 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector downward and forward to approach the drawer handle for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779414653778076, + -0.028109446167945862, + 0.11860881745815277, + -3.1251602172851562, + 0.003828692249953747, + 0.4761040210723877 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26770418882369995, + -0.049491651356220245, + 0.11108626425266266, + -3.1408655643463135, + 0.012141281738877296, + 0.3703988492488861 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2592048645019531, + -0.06372378021478653, + 0.10991466790437698, + 3.12555193901062, + 0.009133812040090561, + 0.29125991463661194 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23797111213207245, + -0.07616151869297028, + 0.08832865953445435, + -3.053635358810425, + -0.0016406822251155972, + 0.15007443726062775 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22742731869220734, + -0.07941603660583496, + 0.0592663511633873, + -2.970431327819824, + 0.004620376043021679, + 0.04706762358546257 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 994, + 993 + ], + "chair caster": [ + 437, + 459, + 702, + 649 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21849414706230164, + -0.08139613270759583, + 0.050677523016929626, + -2.9569942951202393, + 0.015360798686742783, + -0.015423490665853024 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21381117403507233, + -0.08088285475969315, + 0.0348355770111084, + -2.970611095428467, + 0.05498429760336876, + -0.09379079937934875 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21450898051261902, + -0.07943117618560791, + 0.026398327201604843, + -2.990685224533081, + 0.08171343803405762, + -0.13032883405685425 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21521255373954773, + -0.07359268516302109, + 0.014609556645154953, + -2.998971939086914, + 0.1145644336938858, + -0.1277501881122589 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21715563535690308, + -0.07040245085954666, + 0.011428631842136383, + -3.0004451274871826, + 0.11750521510839462, + -0.11957064270973206 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22142794728279114, + -0.06241626292467117, + 0.008255533874034882, + -2.995107889175415, + 0.11342085152864456, + -0.09877606481313705 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned above the open red drawer with the gripper open and no contact made yet. The end-effector is moving toward the drawer handle as part of the approach phase. Next, it should continue lowering and aligning to make contact with the handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21944130957126617, + -0.05714403837919235, + 0.0043397825211286545, + -2.9968013763427734, + 0.1078537255525589, + -0.08687751740217209 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22115780413150787, + -0.05171368643641472, + 0.0046328091993927956, + -2.998856544494629, + 0.10540231317281723, + -0.061511121690273285 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2232540100812912, + -0.049989644438028336, + 0.004391483496874571, + -3.002647876739502, + 0.0954032614827156, + -0.052198078483343124 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2268177568912506, + -0.04728832468390465, + 0.0038828824181109667, + -3.0106327533721924, + 0.08036243915557861, + -0.035298317670822144 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22994312644004822, + -0.04519858956336975, + 0.002509704325348139, + -3.0194365978240967, + 0.0638284981250763, + -0.020420854911208153 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23216255009174347, + -0.04361240565776825, + 0.0003523541381582618, + -3.028714656829834, + 0.05526403337717056, + -0.0029512853361666203 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23421430587768555, + -0.041948940604925156, + -0.0003331936604809016, + -3.042658805847168, + 0.0464295893907547, + 0.02234586514532566 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move forward 5 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23557035624980927, + -0.042529210448265076, + 0.0014052345650270581, + -3.0528056621551514, + 0.049892012029886246, + 0.031011581420898438 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move forward 6 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23837248980998993, + -0.04561520367860794, + 0.019448718056082726, + -3.0801401138305664, + 0.03353146091103554, + 0.031564462929964066 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move forward 6 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2376570850610733, + -0.05205327644944191, + 0.029701363295316696, + -3.12743878364563, + 0.02331649325788021, + 0.023675695061683655 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 993 + ], + "red block": [ + 195, + 460, + 310, + 635 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 7 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23691990971565247, + -0.06337793171405792, + 0.04022820666432381, + 3.1139633655548096, + 0.010454552248120308, + 0.027570925652980804 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24445213377475739, + -0.06942890584468842, + 0.046026814728975296, + 3.10263991355896, + -0.016489820554852486, + 0.021310675889253616 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2538091838359833, + -0.07191154360771179, + 0.03664331138134003, + 3.1015615463256836, + -0.01933896355330944, + 0.023442691192030907 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26520290970802307, + -0.07455480098724365, + 0.02333434298634529, + 3.10522198677063, + -0.013874669559299946, + 0.026493865996599197 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper open and aligned to make contact. No grasping has occurred, consistent with the plan. The next action is to push the handle to begin closing the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2714393436908722, + -0.07662802189588547, + 0.015061184763908386, + 3.1099867820739746, + 0.002512288047000766, + 0.031113585457205772 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, keep gripper open; then move left 2 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2745090126991272, + -0.07721216231584549, + 0.010327308438718319, + 3.1121580600738525, + 0.004934440832585096, + 0.025741036981344223 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move left 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2849999964237213, + -0.0765206441283226, + 0.012957370840013027, + 3.1072311401367188, + -0.01599804498255253, + 0.035450078547000885 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29638370871543884, + -0.07655036449432373, + 0.014324722811579704, + 3.113330841064453, + -0.025563819333910942, + 0.03895852342247963 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30051153898239136, + -0.07238385081291199, + 0.014683753252029419, + 3.118800163269043, + -0.035019174218177795, + 0.05014024302363396 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 2 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099130392074585, + -0.06565965712070465, + 0.016701247543096542, + 3.125520706176758, + -0.04326103627681732, + 0.07549402117729187 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 993 + ], + "wooden drawer": [ + 428, + 133, + 697, + 441 + ], + "red block": [ + 195, + 461, + 310, + 635 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 2 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3068469166755676, + -0.06036150082945824, + 0.01661578193306923, + -3.1231849193573, + -0.026696128770709038, + 0.08664121478796005 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30469855666160583, + -0.05670559033751488, + 0.01667359098792076, + -3.1018595695495605, + -0.014217010699212551, + 0.08371107280254364 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3054419159889221, + -0.04921123757958412, + 0.017167244106531143, + -3.055269241333008, + -0.023698292672634125, + 0.09274157881736755 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3008463382720947, + -0.04169495776295662, + 0.02309386245906353, + -3.0224626064300537, + -0.03552323207259178, + 0.08386656641960144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3055395185947418, + -0.03782714530825615, + 0.025976022705435753, + -3.0161538124084473, + -0.06862145662307739, + 0.08284734934568405 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying forward force to slide the drawer fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.31089046597480774, + -0.030483905225992203, + 0.02462180331349373, + -3.016265869140625, + -0.07265050709247589, + 0.1029713824391365 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 994, + 993 + ], + "red block": [ + 195, + 460, + 310, + 635 + ], + "wooden drawer": [ + 424, + 139, + 669, + 399 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed contact with the handle. The end-effector is now retreating from the drawer area without grasping, as confirmed by open gripper state and lack of grip-related motion. Next, continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133198022842407, + -0.02440776117146015, + 0.02330493927001953, + -3.0150630474090576, + -0.0725080594420433, + 0.11859968304634094 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed contact with the handle. The end-effector is now retreating from the drawer area without grasping, as confirmed by open gripper state and lack of grip-related motion. Next, continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.32001617550849915, + -0.016871370375156403, + 0.026286400854587555, + -3.01727294921875, + -0.08406485617160797, + 0.14118850231170654 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed contact with the handle. The end-effector is now retreating from the drawer area without grasping, as confirmed by open gripper state and lack of grip-related motion. Next, continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.32490888237953186, + -0.0037585487589240074, + 0.02612588368356228, + -3.0168709754943848, + -0.08851338922977448, + 0.1788185089826584 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed contact with the handle. The end-effector is now retreating from the drawer area without grasping, as confirmed by open gripper state and lack of grip-related motion. Next, continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.33122801780700684, + -0.0032069706358015537, + 0.025625746697187424, + -3.02488112449646, + -0.08009881526231766, + 0.197829008102417 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed contact with the handle. The end-effector is now retreating from the drawer area without grasping, as confirmed by open gripper state and lack of grip-related motion. Next, continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.33125483989715576, + -0.004563190508633852, + 0.026378773152828217, + -3.054029703140259, + -0.05372731760144234, + 0.23940803110599518 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed contact with the handle. The end-effector is now retreating from the drawer area without grasping, as confirmed by open gripper state and lack of grip-related motion. Next, continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.32350367307662964, + -0.00939912348985672, + 0.025242509320378304, + -3.0867910385131836, + -0.004022713750600815, + 0.25232794880867004 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot has completed contact with the handle. The end-effector is now retreating from the drawer area without grasping, as confirmed by open gripper state and lack of grip-related motion. Next, continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003739_ecot.json b/cot/chunk-0003/episode_0003739_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..83bf3dd9b00437e0a86ce061d62fa3e428bf837b --- /dev/null +++ b/cot/chunk-0003/episode_0003739_ecot.json @@ -0,0 +1,1167 @@ +{ + "task_name": "episode_0003739", + "episode_json": "json/chunk-0003/episode_0003739.json", + "video_path": "videos/chunk-0003/image_0/episode_0003739.mp4", + "instruction": "Flip pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003739.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.9479713439941406, + "std": 0.3815523087978363, + "delta_total": -0.6087431907653809, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94797, std=0.38155, total_delta=-0.60874). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 12, + 12 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 11 + ], + [ + 4, + 12, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot in sink\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the overturned pot in the sink without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp pot rim\", \"start\": 6, \"end\": 11, \"planning\": \"Close gripper to securely grasp the rim of the pot, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"flip pot upright\", \"start\": 12, \"end\": 18, \"planning\": \"Rotate and reposition the pot while maintaining grip to flip it upright in the sink, then release contact.\"}\n ],\n \"global_plan\": \"Approach the overturned pot in the sink, grasp its rim securely, then rotate and reposition it to flip it upright before releasing.\",\n \"notes\": \"Gripper evidence confirms no grasp in segments 1–2 (frames 0–5), meaningful grasp initiation in segment 3 (frames 6–11), and active manipulation with partial release in segment 4 (frames 12–18). Subtasks align with observed motion phases and gripper behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot in sink", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the overturned pot in the sink without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp pot rim", + "start": 6, + "end": 11, + "planning": "Close gripper to securely grasp the rim of the pot, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "flip pot upright", + "start": 12, + "end": 18, + "planning": "Rotate and reposition the pot while maintaining grip to flip it upright in the sink, then release contact." + } + ], + "global_plan": "Approach the overturned pot in the sink, grasp its rim securely, then rotate and reposition it to flip it upright before releasing.", + "notes": "Gripper evidence confirms no grasp in segments 1–2 (frames 0–5), meaningful grasp initiation in segment 3 (frames 6–11), and active manipulation with partial release in segment 4 (frames 12–18). Subtasks align with observed motion phases and gripper behavior." + } + }, + "episode_goal": "Flip the pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.357413113117218, + -0.03951960429549217, + 0.053372498601675034, + -3.077360153198242, + -0.15304139256477356, + 0.1338467299938202 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 4 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34681347012519836, + -0.042178478091955185, + 0.033464591950178146, + 3.1199827194213867, + -0.10575798153877258, + 0.17374812066555023 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3464139997959137, + -0.03329293057322502, + 0.027284033596515656, + 3.0458996295928955, + -0.10679896175861359, + 0.21533828973770142 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact or grasping has occurred yet. The next action should be to lower the gripper toward the pot's rim to prepare for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3486493229866028, + -0.024541307240724564, + 0.02556019090116024, + 2.9887871742248535, + -0.11996881663799286, + 0.21611736714839935 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact or grasping has occurred yet. The next action should be to lower the gripper toward the pot's rim to prepare for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3485996425151825, + -0.02043266035616398, + 0.02163001336157322, + 2.877601385116577, + -0.13895283639431, + 0.24232217669487 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact or grasping has occurred yet. The next action should be to lower the gripper toward the pot's rim to prepare for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.348649799823761, + -0.014877394773066044, + 0.017968034371733665, + 2.759207248687744, + -0.16380879282951355, + 0.31067711114883423 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact or grasping has occurred yet. The next action should be to lower the gripper toward the pot's rim to prepare for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3512673079967499, + -0.014445742592215538, + 0.015401849523186684, + 2.673969030380249, + -0.200885608792305, + 0.3795853555202484 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen counter": [ + 9, + 24, + 991, + 977 + ], + "green dish": [ + 822, + 547, + 937, + 773 + ], + "faucet": [ + 725, + 15, + 951, + 376 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact or grasping has occurred yet. The next action should be to lower the gripper toward the pot's rim to prepare for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.355261892080307, + -0.022734062746167183, + 0.011355788446962833, + 2.6217894554138184, + -0.2218523621559143, + 0.4098115563392639 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact or grasping has occurred yet. The next action should be to lower the gripper toward the pot's rim to prepare for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578946888446808, + -0.036007706075906754, + 0.00259085139259696, + 2.585841417312622, + -0.20046094059944153, + 0.436887264251709 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to securely grasp the pot's rim for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, close gripper; then move forward 1 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36418184638023376, + -0.04974466562271118, + -0.0012184656225144863, + 2.5523037910461426, + -0.19872181117534637, + 0.46107855439186096 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to securely grasp the pot's rim for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move forward 1 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36560556292533875, + -0.056491561233997345, + -0.0025513942819088697, + 2.5223569869995117, + -0.2095327228307724, + 0.4925083816051483 + ], + "gripper_value": 0.831673800945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to securely grasp the pot's rim for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move forward 1 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669857680797577, + -0.06574975699186325, + -0.00299458927474916, + 2.4981136322021484, + -0.2144642174243927, + 0.5295742154121399 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to securely grasp the pot's rim for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 1 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36572265625, + -0.07157884538173676, + -0.0022810176014900208, + 2.4990808963775635, + -0.21954882144927979, + 0.5179552435874939 + ], + "gripper_value": 0.3461596965789795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned above the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to securely grasp the pot's rim for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36199042201042175, + -0.06979099661111832, + -0.004797972273081541, + 2.5399904251098633, + -0.21202827990055084, + 0.4843530058860779 + ], + "gripper_value": 0.1778956800699234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned above the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to securely grasp the pot's rim for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3584723472595215, + -0.06096101924777031, + -0.00760676059871912, + 2.6033077239990234, + -0.20811475813388824, + 0.4271397590637207 + ], + "gripper_value": 0.07559127360582352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned above the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to securely grasp the pot's rim for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3588007688522339, + -0.0490858219563961, + -0.008199854753911495, + 2.691530227661133, + -0.19971562922000885, + 0.3753170371055603 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen counter": [ + 8, + 19, + 992, + 980 + ], + "red fruit": [ + 388, + 264, + 472, + 394 + ], + "stove burner": [ + 13, + 141, + 226, + 318 + ], + "faucet": [ + 759, + 12, + 965, + 351 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the overturned pot in the sink with its gripper closed. The pot is partially lifted and tilted, indicating the flipping motion is in progress. The next action should continue rotating the pot to fully upright position before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619060814380646, + -0.04857734963297844, + -0.0060053858906030655, + 2.8507018089294434, + -0.2073999047279358, + 0.29573214054107666 + ], + "gripper_value": 0.12439525872468948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the overturned pot in the sink with its gripper closed. The pot is partially lifted and tilted, indicating the flipping motion is in progress. The next action should continue rotating the pot to fully upright position before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3682614862918854, + -0.062721848487854, + -0.003777861362323165, + 2.9779016971588135, + -0.19623473286628723, + 0.2474546730518341 + ], + "gripper_value": 0.2486134171485901 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the overturned pot in the sink with its gripper closed. The pot is partially lifted and tilted, indicating the flipping motion is in progress. The next action should continue rotating the pot to fully upright position before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37239471077919006, + -0.07451342046260834, + -0.002815887099131942, + 3.016566038131714, + -0.17693203687667847, + 0.25417882204055786 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the overturned pot in the sink with its gripper closed. The pot is partially lifted and tilted, indicating the flipping motion is in progress. The next action should continue rotating the pot to fully upright position before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003740_ecot.json b/cot/chunk-0003/episode_0003740_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3125dbc0b7a29ff9e9b130827e0b11e6216df86c --- /dev/null +++ b/cot/chunk-0003/episode_0003740_ecot.json @@ -0,0 +1,1561 @@ +{ + "task_name": "episode_0003740", + "episode_json": "json/chunk-0003/episode_0003740.json", + "video_path": "videos/chunk-0003/image_0/episode_0003740.mp4", + "instruction": "Picked blue cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003740.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.9194981455802917, + "std": 0.39540722966194153, + "delta_total": 0.014179110527038574, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91950, std=0.39541, total_delta=0.01418). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 121, + 121, + 121 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 13 + ], + [ + 3, + 14, + 20 + ], + [ + 4, + 21, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the blue cloth on the floor while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp blue cloth\", \"start\": 11, \"end\": 13, \"planning\": \"Close gripper around the blue cloth to secure it, confirmed by decreasing gripper value and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition cloth\", \"start\": 14, \"end\": 20, \"planning\": \"Lift the grasped blue cloth slightly and adjust position for placement, with gripper maintaining hold.\"},\n {\"id\": 4, \"name\": \"release cloth near basket\", \"start\": 21, \"end\": 23, \"planning\": \"Open gripper to release the blue cloth near the basket, completing the pick-and-place motion.\"}\n ],\n \"global_plan\": \"Approach the blue cloth on the floor, grasp it securely, lift and reposition it toward the basket area, then release it to complete the task.\",\n \"notes\": \"Gripper closure is evident in segments 2–4 (frames 11–23), supporting grasp/hold/release terminology. Segment 1 shows no closing, so approach-only description is used. All frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the blue cloth on the floor while keeping gripper open." + }, + { + "id": 2, + "name": "grasp blue cloth", + "start": 11, + "end": 13, + "planning": "Close gripper around the blue cloth to secure it, confirmed by decreasing gripper value and visual contact." + }, + { + "id": 3, + "name": "lift and reposition cloth", + "start": 14, + "end": 20, + "planning": "Lift the grasped blue cloth slightly and adjust position for placement, with gripper maintaining hold." + }, + { + "id": 4, + "name": "release cloth near basket", + "start": 21, + "end": 23, + "planning": "Open gripper to release the blue cloth near the basket, completing the pick-and-place motion." + } + ], + "global_plan": "Approach the blue cloth on the floor, grasp it securely, lift and reposition it toward the basket area, then release it to complete the task.", + "notes": "Gripper closure is evident in segments 2–4 (frames 11–23), supporting grasp/hold/release terminology. Segment 1 shows no closing, so approach-only description is used. All frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Pick up the blue cloth from the wooden surface in front of the washing machine.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2794210612773895, + -0.09617633372545242, + 0.025317419320344925, + -3.0987420082092285, + -0.10556147992610931, + -0.19668090343475342 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the blue cloth visible below. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 10 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27654391527175903, + -0.094685398042202, + 0.0175840612500906, + -3.0954787731170654, + -0.08420852571725845, + -0.19747771322727203 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the blue cloth visible below. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.271824449300766, + -0.07366785407066345, + -0.001920099020935595, + -3.099594831466675, + -0.08928650617599487, + -0.16622185707092285 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the blue cloth visible below. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26366570591926575, + -0.04494475945830345, + -0.024755755439400673, + -3.094865322113037, + -0.08677230775356293, + -0.11272940784692764 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 746, + 791, + 968, + 996 + ], + "blue cloth": [ + 476, + 679, + 751, + 964 + ], + "basket": [ + 669, + 636, + 991, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the blue cloth visible below. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2663293778896332, + -0.032503679394721985, + -0.04099747911095619, + -3.075566291809082, + -0.10048522055149078, + -0.10046018660068512 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the blue cloth visible below. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27326539158821106, + -0.03216854855418205, + -0.05872950330376625, + -3.066054105758667, + -0.08105337619781494, + -0.08723285794258118 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the wooden surface, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783665060997009, + -0.03850417211651802, + -0.05868697911500931, + -3.0530285835266113, + -0.10860338807106018, + -0.09221110492944717 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the wooden surface, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779161036014557, + -0.04044347628951073, + -0.066221222281456, + -3.0546982288360596, + -0.11056206375360489, + -0.07497626543045044 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the wooden surface, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 7 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2790029048919678, + -0.04287184029817581, + -0.07294365763664246, + -3.0640339851379395, + -0.10335998982191086, + -0.0568796843290329 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the wooden surface, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 7 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2812889814376831, + -0.045366644859313965, + -0.07611244171857834, + -3.0848329067230225, + -0.09919247776269913, + -0.04817725345492363 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the wooden surface, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817990779876709, + -0.04372376203536987, + -0.07744448632001877, + -3.0960025787353516, + -0.09428966790437698, + -0.030155878514051437 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the wooden surface, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28168120980262756, + -0.04605890065431595, + -0.07729820907115936, + -3.0975606441497803, + -0.07529141008853912, + -0.02246471494436264 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the wooden surface, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move up 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799537181854248, + -0.053762320429086685, + -0.07672625780105591, + -3.095175266265869, + -0.06402043998241425, + -0.06048309803009033 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth on the wooden surface, with the gripper fingers making contact. The gripper value indicates a closing motion is underway to secure the cloth. The next action is to complete the grasp by fully closing the gripper around the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move up 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718031108379364, + -0.05919675529003143, + -0.06959512829780579, + -3.0888442993164062, + -0.01449789572507143, + -0.08498518913984299 + ], + "gripper_value": 0.1795559972524643 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth on the wooden surface, with the gripper fingers making contact. The gripper value indicates a closing motion is underway to secure the cloth. The next action is to complete the grasp by fully closing the gripper around the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move up 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674158811569214, + -0.06965911388397217, + -0.01810944825410843, + -2.9621036052703857, + 0.04588232561945915, + -0.10614371299743652 + ], + "gripper_value": 0.10355531424283981 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth on the wooden surface, with the gripper fingers making contact. The gripper value indicates a closing motion is underway to secure the cloth. The next action is to complete the grasp by fully closing the gripper around the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.251359224319458, + -0.08978115767240524, + 0.030364494770765305, + -2.8149306774139404, + 0.040354084223508835, + -0.06248098984360695 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 528, + 707, + 690, + 952 + ], + "basket": [ + 668, + 635, + 991, + 992 + ], + "orange cloth": [ + 746, + 789, + 968, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth on the wooden surface, with the gripper fingers making contact. The gripper value indicates a closing motion is underway to secure the cloth. The next action is to complete the grasp by fully closing the gripper around the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534995377063751, + -0.11106815189123154, + 0.06661409139633179, + -2.835103988647461, + 0.02888706512749195, + -0.12044820934534073 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 580, + 650, + 768, + 919 + ], + "basket": [ + 668, + 659, + 992, + 992 + ], + "orange cloth": [ + 746, + 790, + 966, + 996 + ], + "washing machine": [ + 7, + 3, + 965, + 716 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth on the wooden surface, with the gripper fingers making contact. The gripper value indicates a closing motion is underway to secure the cloth. The next action is to complete the grasp by fully closing the gripper around the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2580147981643677, + -0.1369239091873169, + 0.06340305507183075, + -2.8478498458862305, + 0.03972567245364189, + -0.2153605967760086 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it above the wooden surface near the washing machine. The gripper remains closed with minimal motion, indicating stable hold. The next action is to reposition the cloth toward the basket area for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26162856817245483, + -0.14377181231975555, + 0.05829702317714691, + -2.8690013885498047, + 0.03658440336585045, + -0.22958600521087646 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it above the wooden surface near the washing machine. The gripper remains closed with minimal motion, indicating stable hold. The next action is to reposition the cloth toward the basket area for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26212918758392334, + -0.148921400308609, + 0.04471416771411896, + -2.896014451980591, + 0.05051429569721222, + -0.2430330216884613 + ], + "gripper_value": 0.11832001805305481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it above the wooden surface near the washing machine. The gripper remains closed with minimal motion, indicating stable hold. The next action is to reposition the cloth toward the basket area for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26057273149490356, + -0.15059635043144226, + 0.03845225274562836, + -2.9182519912719727, + 0.03660786151885986, + -0.2498856484889984 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it above the wooden surface near the washing machine. The gripper remains closed with minimal motion, indicating stable hold. The next action is to reposition the cloth toward the basket area for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25826194882392883, + -0.15238723158836365, + 0.032260991632938385, + -2.945106029510498, + 0.025560973212122917, + -0.24782758951187134 + ], + "gripper_value": 0.6129248142242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "release cloth near basket", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it above the wooden surface near the washing machine. The gripper remains closed with minimal motion, indicating stable hold. The next action is to reposition the cloth toward the basket area for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2592930495738983, + -0.15130119025707245, + 0.029400404542684555, + -2.9581000804901123, + 0.013972582295536995, + -0.2349749207496643 + ], + "gripper_value": 0.9141042232513428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "release cloth near basket", + "subtask_reasoning": "The robot is positioned near the basket area with the blue cloth held in its gripper, as indicated by the high gripper value and visual confirmation. The cloth has been successfully lifted and repositioned from the floor. The next action is to open the gripper to release the cloth near the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26000383496284485, + -0.1508994847536087, + 0.0334952212870121, + -2.9672367572784424, + -0.007442479021847248, + -0.22152262926101685 + ], + "gripper_value": 1.0149952173233032 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the wooden surface in front of the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth near basket" + } + ], + "subtask_name": "release cloth near basket", + "subtask_reasoning": "The robot is positioned near the basket area with the blue cloth held in its gripper, as indicated by the high gripper value and visual confirmation. The cloth has been successfully lifted and repositioned from the floor. The next action is to open the gripper to release the cloth near the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003741_ecot.json b/cot/chunk-0003/episode_0003741_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b64422cbcadfaa42be4b97a51134c4e0e9e8f499 --- /dev/null +++ b/cot/chunk-0003/episode_0003741_ecot.json @@ -0,0 +1,1665 @@ +{ + "task_name": "episode_0003741", + "episode_json": "json/chunk-0003/episode_0003741.json", + "video_path": "videos/chunk-0003/image_0/episode_0003741.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003741.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.8761822581291199, + "std": 0.3989565670490265, + "delta_total": 0.004030168056488037, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.87618, std=0.39896, total_delta=0.00403). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 107, + 121, + 121, + 121, + 121, + 121 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 19 + ], + [ + 3, + 20, + 20 + ], + [ + 4, + 21, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the drawer handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and push drawer closed\", \"start\": 7, \"end\": 19, \"planning\": \"Maintain gripper closure on handle while pushing drawer inward until fully shut.\"},\n {\"id\": 3, \"name\": \"release contact with drawer\", \"start\": 20, \"end\": 20, \"planning\": \"Open gripper slightly to disengage from drawer handle after closure is complete.\"},\n {\"id\": 4, \"name\": \"retreat from drawer area\", \"start\": 21, \"end\": 25, \"planning\": \"Lift and move end-effector away from drawer to clear workspace after task completion.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching its handle, grasping it, pushing the drawer shut, releasing contact, and retreating.\",\n \"notes\": \"Segment 3 (frame 20) shows no meaningful gripper closing — described as 'release contact' not 'grasp'. Segment 4 shows gripper opening and retreat motion, consistent with post-task withdrawal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the drawer handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and push drawer closed", + "start": 7, + "end": 19, + "planning": "Maintain gripper closure on handle while pushing drawer inward until fully shut." + }, + { + "id": 3, + "name": "release contact with drawer", + "start": 20, + "end": 20, + "planning": "Open gripper slightly to disengage from drawer handle after closure is complete." + }, + { + "id": 4, + "name": "retreat from drawer area", + "start": 21, + "end": 25, + "planning": "Lift and move end-effector away from drawer to clear workspace after task completion." + } + ], + "global_plan": "Close the drawer by approaching its handle, grasping it, pushing the drawer shut, releasing contact, and retreating.", + "notes": "Segment 3 (frame 20) shows no meaningful gripper closing — described as 'release contact' not 'grasp'. Segment 4 shows gripper opening and retreat motion, consistent with post-task withdrawal." + } + }, + "episode_goal": "Close the red drawer of the wooden box.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2900390923023224, + -0.07265470921993256, + 0.11853374540805817, + -3.134979248046875, + -0.10126978904008865, + 0.020252540707588196 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 10 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28755712509155273, + -0.07198422402143478, + 0.1104041263461113, + -3.126789093017578, + -0.07328938692808151, + 0.01953853853046894 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 10 cm, close gripper; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30269286036491394, + -0.07551968842744827, + 0.07823309302330017, + -3.1077451705932617, + -0.020657839253544807, + -0.0001036175963236019 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 6 cm, close gripper; then move left 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31410032510757446, + -0.07516098767518997, + 0.052269015461206436, + -3.083967685699463, + -0.012974007055163383, + -0.008623385801911354 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 137, + 529, + 284, + 710 + ], + "wooden box": [ + 152, + 3, + 712, + 567 + ], + "black device": [ + 583, + 4, + 951, + 552 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32137182354927063, + -0.08031125366687775, + 0.027509121224284172, + -3.104945659637451, + -0.0038118462543934584, + -0.004267910495400429 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33087778091430664, + -0.08202151954174042, + 0.014189177192747593, + -3.0919487476348877, + -0.013515586964786053, + -0.02071136049926281 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324589729309082, + -0.08617007732391357, + 0.014532812871038914, + -3.071462869644165, + -0.030536720529198647, + -0.04789191484451294 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3336498737335205, + -0.08457939326763153, + 0.014137761667370796, + -3.058433771133423, + -0.041034996509552, + -0.050436586141586304 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337108790874481, + -0.07845659554004669, + 0.01259028259664774, + -3.054978609085083, + -0.04381700977683067, + -0.03539073094725609 + ], + "gripper_value": 0.16973881423473358 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33350810408592224, + -0.07691842317581177, + 0.01259087584912777, + -3.060391426086426, + -0.04831542447209358, + -0.0316355898976326 + ], + "gripper_value": 0.12661112844944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33326756954193115, + -0.0700673833489418, + 0.012303471565246582, + -3.0618066787719727, + -0.04780228063464165, + -0.012629758566617966 + ], + "gripper_value": 0.12307736277580261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.335921972990036, + -0.05475058779120445, + 0.012332936748862267, + -3.0589208602905273, + -0.04678187146782875, + 0.02844131737947464 + ], + "gripper_value": 0.12307736277580261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33757758140563965, + -0.03853185474872589, + 0.012129492126405239, + -3.051051378250122, + -0.04547971114516258, + 0.06703240424394608 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open. No prior actions have been completed in this subtask. The next step is to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, rotate clockwise 20 degrees, open gripper; then keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3392421305179596, + -0.026139039546251297, + 0.012437253259122372, + -3.051253080368042, + -0.04669792577624321, + 0.10080505162477493 + ], + "gripper_value": 0.12307736277580261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot's gripper is in contact with the handle of the partially open red drawer. Having completed the approach, the gripper is now positioned to push the drawer shut. The next action is to apply force to slide the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418594300746918, + -0.014622622169554234, + 0.013994686305522919, + -3.05086088180542, + -0.051531579345464706, + 0.133901908993721 + ], + "gripper_value": 0.12307736277580261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot's gripper is in contact with the handle of the partially open red drawer. Having completed the approach, the gripper is now positioned to push the drawer shut. The next action is to apply force to slide the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432231545448303, + 0.005498744081705809, + 0.014659914188086987, + -3.038573741912842, + -0.050490133464336395, + 0.17328745126724243 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 137, + 529, + 284, + 708 + ], + "wooden box": [ + 149, + 3, + 594, + 487 + ], + "black device": [ + 481, + 4, + 775, + 464 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot's gripper is in contact with the handle of the partially open red drawer. Having completed the approach, the gripper is now positioned to push the drawer shut. The next action is to apply force to slide the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3449203372001648, + 0.011385955847799778, + 0.014518327079713345, + -3.039821147918701, + -0.043902307748794556, + 0.1943785697221756 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot's gripper is in contact with the handle of the partially open red drawer. Having completed the approach, the gripper is now positioned to push the drawer shut. The next action is to apply force to slide the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3460916578769684, + 0.01715782843530178, + 0.014079224318265915, + -3.0357842445373535, + -0.03996008262038231, + 0.2070353627204895 + ], + "gripper_value": 0.12307736277580261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot's gripper is in contact with the handle of the partially open red drawer. Having completed the approach, the gripper is now positioned to push the drawer shut. The next action is to apply force to slide the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3465306758880615, + 0.01893782988190651, + 0.014121548272669315, + -3.032763719558716, + -0.03133239224553108, + 0.21308673918247223 + ], + "gripper_value": 0.12307736277580261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot's gripper is in contact with the handle of the partially open red drawer. Having completed the approach, the gripper is now positioned to push the drawer shut. The next action is to apply force to slide the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3463822603225708, + 0.01907345838844776, + 0.014325152151286602, + -3.038273334503174, + -0.028771739453077316, + 0.2227466106414795 + ], + "gripper_value": 0.15923498570919037 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "grasp and push drawer closed", + "subtask_reasoning": "The robot's gripper is in contact with the handle of the partially open red drawer. Having completed the approach, the gripper is now positioned to push the drawer shut. The next action is to apply force to slide the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.343754380941391, + 0.030983248725533485, + 0.014646776020526886, + -3.040987968444824, + -0.021138815209269524, + 0.3469512462615967 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "release contact with drawer", + "subtask_reasoning": "The red drawer is fully closed and the gripper is no longer in contact with the handle. The release contact subtask is complete as the end-effector has withdrawn slightly from the drawer front. The next action is to retreat further to ensure clear separation from the wooden box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3443520665168762, + 0.030643317848443985, + 0.014501919969916344, + -3.0509326457977295, + -0.022779066115617752, + 0.3561488389968872 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "retreat from drawer area", + "subtask_reasoning": "The red drawer is fully closed and the gripper is no longer in contact with the handle. The release contact subtask is complete as the end-effector has withdrawn slightly from the drawer front. The next action is to retreat further to ensure clear separation from the wooden box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34738022089004517, + 0.0250032227486372, + 0.027397286146879196, + -3.0833330154418945, + -0.06258831173181534, + 0.3264707326889038 + ], + "gripper_value": 0.9774019718170166 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "retreat from drawer area", + "subtask_reasoning": "The red drawer is fully closed and the gripper is no longer in contact with the handle. The release contact subtask is complete as the end-effector has withdrawn slightly from the drawer front. The next action is to retreat further to ensure clear separation from the wooden box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473382890224457, + 0.009134206920862198, + 0.045796703547239304, + -3.104790687561035, + -0.06235288083553314, + 0.249674454331398 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "retreat from drawer area", + "subtask_reasoning": "The red drawer is fully closed, and the robot's gripper is open and positioned near the handle. The subtask involves retreating from the drawer area, with the next action likely being a backward or upward movement to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526790142059326, + -0.011216898448765278, + 0.05747383460402489, + -3.1378159523010254, + -0.08028729259967804, + 0.13917137682437897 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 152, + 3, + 586, + 477 + ], + "green object": [ + 136, + 529, + 285, + 708 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "retreat from drawer area", + "subtask_reasoning": "The red drawer is fully closed, and the robot's gripper is open and positioned near the handle. The subtask involves retreating from the drawer area, with the next action likely being a backward or upward movement to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35951632261276245, + -0.0325615219771862, + 0.06831429898738861, + 3.1061229705810547, + -0.092682845890522, + 0.006328497547656298 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp and push drawer closed" + }, + { + "id": 3, + "subtask": "release contact with drawer" + }, + { + "id": 4, + "subtask": "retreat from drawer area" + } + ], + "subtask_name": "retreat from drawer area", + "subtask_reasoning": "The red drawer is fully closed, and the robot's gripper is open and positioned near the handle. The subtask involves retreating from the drawer area, with the next action likely being a backward or upward movement to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003742_ecot.json b/cot/chunk-0003/episode_0003742_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1897114f04628b272fc1c9339dc0d3236b551b2a --- /dev/null +++ b/cot/chunk-0003/episode_0003742_ecot.json @@ -0,0 +1,1976 @@ +{ + "task_name": "episode_0003742", + "episode_json": "json/chunk-0003/episode_0003742.json", + "video_path": "videos/chunk-0003/image_0/episode_0003742.mp4", + "instruction": "Move the silver pot to the middle top of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003742.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9375606179237366, + "std": 0.42344334721565247, + "delta_total": -0.15267735719680786, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93756, std=0.42344, total_delta=-0.15268). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 400, + 400, + 400, + 400, + 400, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 14, + 26, + 26 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 13 + ], + [ + 4, + 14, + 24 + ], + [ + 5, + 25, + 25 + ], + [ + 6, + 26, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the silver pot on the left side of the table without grasping.\"},\n {\"id\": 2, \"name\": \"grasp silver pot\", \"start\": 9, \"end\": 13, \"planning\": \"Close gripper around the silver pot’s handle to secure a firm grasp.\"},\n {\"id\": 3, \"name\": \"lift and translate pot\", \"start\": 14, \"end\": 24, \"planning\": \"Lift the silver pot slightly and move it diagonally toward the middle-top region of the table.\"},\n {\"id\": 4, \"name\": \"release silver pot\", \"start\": 25, \"end\": 25, \"planning\": \"Open gripper to release the silver pot at its target position near the center-top of the table.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 26, \"end\": 27, \"planning\": \"Withdraw end-effector upward and backward to clear the placed pot and avoid collision.\"}\n ],\n \"global_plan\": \"Approach the silver pot on the left, grasp it by the handle, lift and carry it to the middle-top area of the table, release it precisely, then retreat safely.\",\n \"notes\": \"Segment 1 (frames 0-3) shows no gripper closure — correctly labeled as approach. Segment 3 (9-13) has significant gripper closing (-0.35) and image confirms contact with handle — grasp is valid. Segment 4 (14-24) maintains low gripper value while moving — consistent with holding and transporting. Frame 25 is isolated retreat initiation; frame 26-27 show gripper opening and upward motion — release and retreat phases are distinct and justified.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the silver pot on the left side of the table without grasping." + }, + { + "id": 2, + "name": "grasp silver pot", + "start": 9, + "end": 13, + "planning": "Close gripper around the silver pot’s handle to secure a firm grasp." + }, + { + "id": 3, + "name": "lift and translate pot", + "start": 14, + "end": 24, + "planning": "Lift the silver pot slightly and move it diagonally toward the middle-top region of the table." + }, + { + "id": 4, + "name": "release silver pot", + "start": 25, + "end": 25, + "planning": "Open gripper to release the silver pot at its target position near the center-top of the table." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 26, + "end": 27, + "planning": "Withdraw end-effector upward and backward to clear the placed pot and avoid collision." + } + ], + "global_plan": "Approach the silver pot on the left, grasp it by the handle, lift and carry it to the middle-top area of the table, release it precisely, then retreat safely.", + "notes": "Segment 1 (frames 0-3) shows no gripper closure — correctly labeled as approach. Segment 3 (9-13) has significant gripper closing (-0.35) and image confirms contact with handle — grasp is valid. Segment 4 (14-24) maintains low gripper value while moving — consistent with holding and transporting. Frame 25 is isolated retreat initiation; frame 26-27 show gripper opening and upward motion — release and retreat phases are distinct and justified." + } + }, + "episode_goal": "Move the silver pot to the middle top of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2501709461212158, + 0.009225353598594666, + 0.07728386670351028, + 3.132798910140991, + -0.11950676888227463, + -0.09680259227752686 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the silver pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2484399527311325, + 0.009132328443229198, + 0.07084408402442932, + 3.1288723945617676, + -0.09372298419475555, + -0.09638472646474838 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the silver pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542068064212799, + 0.03427794948220253, + 0.06768747419118881, + 3.1240103244781494, + -0.08862356096506119, + -0.00500431889668107 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the silver pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2660156488418579, + 0.061614204198122025, + 0.07103940099477768, + 3.130922794342041, + -0.10407596081495285, + 0.09881547838449478 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the silver pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.271732360124588, + 0.0910782665014267, + 0.06947699934244156, + -3.1331260204315186, + -0.1118370071053505, + 0.1972261518239975 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 85, + 356, + 305, + 613 + ], + "metallic appliance": [ + 157, + 3, + 415, + 464 + ], + "yellow cutting board": [ + 288, + 495, + 598, + 838 + ], + "can": [ + 632, + 359, + 798, + 608 + ], + "wooden countertop": [ + 5, + 226, + 846, + 979 + ], + "white bin": [ + 796, + 381, + 996, + 841 + ], + "metal lid": [ + 343, + 549, + 550, + 762 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the silver pot on the left. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, keep gripper open; then move right 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2720540165901184, + 0.10724731534719467, + 0.05968284234404564, + -3.0922939777374268, + -0.0973290503025055, + 0.25112462043762207 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the silver pot on the left. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move right 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26847681403160095, + 0.12051679939031601, + 0.054704759269952774, + -3.0773489475250244, + -0.09674356877803802, + 0.31904852390289307 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the silver pot on the left. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then move right 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2725200355052948, + 0.12440674006938934, + 0.06110043823719025, + -3.113758087158203, + -0.10224884003400803, + 0.3225250244140625 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the silver pot on the left. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move right 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2773352563381195, + 0.1252761036157608, + 0.0622817762196064, + -3.130744695663452, + -0.09140773117542267, + 0.29337069392204285 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the silver pot on the left. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805313766002655, + 0.12301681190729141, + 0.04847010225057602, + 3.1211535930633545, + -0.06475400179624557, + 0.2544073164463043 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the silver pot on the left. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 5 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28319090604782104, + 0.12340857088565826, + 0.03326070308685303, + 3.12064528465271, + -0.02094271220266819, + 0.2535903751850128 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the silver pot on the left. The gripper is open and has not yet made contact with the pot. The next action is to lower the arm and close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move forward 7 cm, move right 9 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835964262485504, + 0.11672216653823853, + 0.022369377315044403, + 3.1263740062713623, + 0.011522398330271244, + 0.24207746982574463 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the left side of the table. The gripper is currently open and positioned near the pot's handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 8 cm, move right 10 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2825874388217926, + 0.1146661639213562, + 0.015804244205355644, + 3.1199753284454346, + 0.030788790434598923, + 0.2464330941438675 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the left side of the table. The gripper is currently open and positioned near the pot's handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 8 cm, move right 10 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2837405204772949, + 0.10842805355787277, + 0.012050237506628036, + 3.1295790672302246, + 0.04481549188494682, + 0.23625613749027252 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the left side of the table. The gripper is currently open and positioned near the pot's handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 9 cm, move right 10 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28281164169311523, + 0.10585441440343857, + 0.01059382688254118, + -3.1414897441864014, + 0.0556747242808342, + 0.22574928402900696 + ], + "gripper_value": 0.34207403659820557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has approached the silver pot on the left side of the table. The gripper is currently open and positioned near the pot's handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 11 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784785330295563, + 0.10049577802419662, + 0.00798113364726305, + -3.1314687728881836, + 0.07831680774688721, + 0.2162424772977829 + ], + "gripper_value": 0.1452319175004959 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has approached the silver pot on the left side of the table. The gripper is currently open and positioned near the pot's handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 11 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27834588289260864, + 0.09666604548692703, + 0.02051292359828949, + -3.0762228965759277, + 0.0601138211786747, + 0.19647376239299774 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has approached the silver pot on the left side of the table. The gripper is currently open and positioned near the pot's handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28720754384994507, + 0.08552584052085876, + 0.05017898976802826, + -3.036776304244995, + -0.015172824263572693, + 0.16697730123996735 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 5, + 200, + 845, + 983 + ], + "metal bowl": [ + 126, + 342, + 324, + 587 + ], + "yellow cutting board": [ + 287, + 494, + 598, + 842 + ], + "white bin": [ + 798, + 379, + 996, + 841 + ], + "can": [ + 630, + 358, + 800, + 608 + ], + "metallic appliance": [ + 188, + 5, + 426, + 492 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has approached the silver pot on the left side of the table. The gripper is currently open and positioned near the pot's handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30903592705726624, + 0.06217195466160774, + 0.06498994678258896, + -3.036221504211426, + -0.06937962770462036, + 0.10092505812644958 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has approached the silver pot on the left side of the table. The gripper is currently open and positioned near the pot's handle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33127906918525696, + 0.033492472022771835, + 0.057749535888433456, + -3.072112798690796, + -0.07417597621679306, + 0.031636785715818405 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cutting board": [ + 286, + 494, + 599, + 843 + ], + "wooden countertop": [ + 5, + 181, + 847, + 982 + ], + "metal bowl": [ + 257, + 253, + 451, + 498 + ], + "metallic appliance": [ + 253, + 4, + 556, + 500 + ], + "white bin": [ + 798, + 379, + 996, + 841 + ], + "can": [ + 631, + 359, + 800, + 608 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the table surface. The pot is suspended in mid-air, indicating the lifting phase is active. The next action is to translate the pot horizontally toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34831610321998596, + 0.015012695454061031, + 0.042851753532886505, + -3.0959460735321045, + -0.05466311052441597, + -0.004533710889518261 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the table surface. The pot is suspended in mid-air, indicating the lifting phase is active. The next action is to translate the pot horizontally toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, open gripper; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3622356951236725, + 0.008352878503501415, + 0.03423130884766579, + -3.1088428497314453, + -0.050266895443201065, + -0.012466885149478912 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the table surface. The pot is suspended in mid-air, indicating the lifting phase is active. The next action is to translate the pot horizontally toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, open gripper; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36711323261260986, + 0.006468610838055611, + 0.027640456333756447, + -3.1138951778411865, + -0.04249143600463867, + -0.019735971465706825 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the table surface. The pot is suspended in mid-air, indicating the lifting phase is active. The next action is to translate the pot horizontally toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3750336468219757, + 0.003389130113646388, + 0.021529287099838257, + -3.1224629878997803, + -0.040905777364969254, + -0.03206096589565277 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the table surface. The pot is suspended in mid-air, indicating the lifting phase is active. The next action is to translate the pot horizontally toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37922877073287964, + 0.0006330314790830016, + 0.020210985094308853, + -3.1324470043182373, + -0.03804249316453934, + -0.040410321205854416 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the table surface. The pot is suspended in mid-air, indicating the lifting phase is active. The next action is to translate the pot horizontally toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37718814611434937, + -0.008305787108838558, + 0.020143674686551094, + 3.1414849758148193, + -0.02610967308282852, + -0.06667599081993103 + ], + "gripper_value": 0.2617134153842926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release silver pot", + "subtask_reasoning": "The silver pot is positioned at the middle top of the table, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot in the target location. The next step is to retreat safely from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3760068714618683, + -0.01046864315867424, + 0.03176306188106537, + 3.1363232135772705, + -0.03879811242222786, + -0.09027799218893051 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot has been successfully placed in the middle-top area of the table. The robot's end-effector is currently positioned above the pot with the gripper open, indicating the release is complete. The next action is to retreat the arm safely away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37128597497940063, + -0.012839354574680328, + 0.05882840231060982, + 3.1267828941345215, + -0.09398844093084335, + -0.11778590083122253 + ], + "gripper_value": 0.8481387495994568 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the middle top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and translate pot" + }, + { + "id": 4, + "subtask": "release silver pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot has been successfully placed in the middle-top area of the table. The robot's end-effector is currently positioned above the pot with the gripper open, indicating the release is complete. The next action is to retreat the arm safely away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003743_ecot.json b/cot/chunk-0003/episode_0003743_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1e5bdca3d3b72642b31f6c52f11bcd1d97b37407 --- /dev/null +++ b/cot/chunk-0003/episode_0003743_ecot.json @@ -0,0 +1,1835 @@ +{ + "task_name": "episode_0003743", + "episode_json": "json/chunk-0003/episode_0003743.json", + "video_path": "videos/chunk-0003/image_0/episode_0003743.mp4", + "instruction": "Move the silver pot to the left of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003743.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9355221390724182, + "std": 0.4155968129634857, + "delta_total": 0.012261271476745605, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93552, std=0.41560, total_delta=0.01226). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 16 + ], + [ + 3, + 17, + 24 + ], + [ + 4, + 25, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on silver pot\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the silver pot on the right and begin closing the gripper to make contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift silver pot\", \"start\": 9, \"end\": 16, \"planning\": \"Complete grasping the silver pot and lift it clear of the table surface while maintaining grip.\"},\n {\"id\": 3, \"name\": \"transport silver pot leftward\", \"start\": 17, \"end\": 24, \"planning\": \"Carry the held silver pot horizontally to the left side of the table, positioning it near the target location.\"},\n {\"id\": 4, \"name\": \"release and retreat from silver pot\", \"start\": 25, \"end\": 27, \"planning\": \"Open the gripper to release the silver pot onto the table and retract the end-effector upward and away.\"}\n ],\n \"global_plan\": \"Grasp the silver pot on the right, lift it, move it left across the table, and release it at the target position.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-8) with significant delta; grasp is visually supported by Frame 9 showing pot secured. Lifting and transport are evident in Segments 2-3. Release is confirmed in Segment 4 with gripper opening and retreat motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on silver pot", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the silver pot on the right and begin closing the gripper to make contact." + }, + { + "id": 2, + "name": "grasp and lift silver pot", + "start": 9, + "end": 16, + "planning": "Complete grasping the silver pot and lift it clear of the table surface while maintaining grip." + }, + { + "id": 3, + "name": "transport silver pot leftward", + "start": 17, + "end": 24, + "planning": "Carry the held silver pot horizontally to the left side of the table, positioning it near the target location." + }, + { + "id": 4, + "name": "release and retreat from silver pot", + "start": 25, + "end": 27, + "planning": "Open the gripper to release the silver pot onto the table and retract the end-effector upward and away." + } + ], + "global_plan": "Grasp the silver pot on the right, lift it, move it left across the table, and release it at the target position.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-8) with significant delta; grasp is visually supported by Frame 9 showing pot secured. Lifting and transport are evident in Segments 2-3. Release is confirmed in Segment 4 with gripper opening and retreat motion." + } + }, + "episode_goal": "Move the silver pot to the left of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514401972293854, + -0.045440029352903366, + 0.04919752478599548, + -3.0384199619293213, + -0.0035249830689281225, + -0.32260459661483765 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the right side of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the pot, as segment-level evidence supports a closing motion and the image confirms alignment for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24977144598960876, + -0.04500740393996239, + 0.04335181415081024, + -3.040135383605957, + 0.020315727218985558, + -0.3163583278656006 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the right side of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the pot, as segment-level evidence supports a closing motion and the image confirms alignment for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26452338695526123, + -0.05578012391924858, + 0.04796528443694115, + -3.0351667404174805, + -0.0029096913058310747, + -0.3262328803539276 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the right side of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the pot, as segment-level evidence supports a closing motion and the image confirms alignment for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move down 4 cm, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28873178362846375, + -0.07216862589120865, + 0.05390649661421776, + -3.028552293777466, + -0.04290371015667915, + -0.3587486743927002 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tin can": [ + 178, + 381, + 339, + 564 + ], + "blue cloth": [ + 597, + 460, + 878, + 652 + ], + "wooden countertop": [ + 48, + 177, + 916, + 972 + ], + "stainless steel appliance": [ + 176, + 631, + 754, + 995 + ], + "metal bowl": [ + 639, + 358, + 863, + 597 + ], + "metal lid": [ + 462, + 575, + 700, + 835 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the right side of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the pot, as segment-level evidence supports a closing motion and the image confirms alignment for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 4 cm, close gripper; then move back 1 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31159812211990356, + -0.0897342786192894, + 0.05721595138311386, + -3.0402324199676514, + -0.07431145757436752, + -0.3719397187232971 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the right side of the table. The gripper is currently open and aligned with the pot's handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 4 cm, close gripper; then move back 2 cm, move left 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.331399142742157, + -0.10024384409189224, + 0.05023432523012161, + -3.057682991027832, + -0.06614118814468384, + -0.35716524720191956 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the right side of the table. The gripper is currently open and aligned with the pot's handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move back 3 cm, move left 11 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34556543827056885, + -0.10732188075780869, + 0.032242391258478165, + -3.071864604949951, + -0.03385227546095848, + -0.3526395559310913 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the right side of the table. The gripper is currently open and aligned with the pot's handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 16 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35201188921928406, + -0.10884887725114822, + 0.016742635518312454, + -3.072026014328003, + -3.620465213316493e-05, + -0.35177430510520935 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the right side of the table. The gripper is currently open and aligned with the pot's handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 18 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3507770895957947, + -0.10944109410047531, + 0.013895323500037193, + -3.0747077465057373, + 0.009005322121083736, + -0.3500105142593384 + ], + "gripper_value": 0.6941980719566345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "approach and close gripper on silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the right side of the table. The gripper is currently open and aligned with the pot's handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 18 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3508342206478119, + -0.11100278049707413, + 0.012873083353042603, + -3.08022141456604, + 0.001650960766710341, + -0.3551003336906433 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the right side of the table. The gripper is currently open and aligned with the pot's handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3488444685935974, + -0.11063241213560104, + 0.012967956252396107, + -3.0819289684295654, + -0.00583569286391139, + -0.3582339882850647 + ], + "gripper_value": 0.17027510702610016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the right side of the table. The gripper is currently open and aligned with the pot's handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 4 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462483584880829, + -0.10925682634115219, + 0.014988576993346214, + -3.0792298316955566, + 0.00044732243986800313, + -0.36101868748664856 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the right side of the table. The gripper is currently open and aligned with the pot's handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 18 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 5 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3434695303440094, + -0.10499311238527298, + 0.027293790131807327, + -3.0589911937713623, + -0.01118718646466732, + -0.37284597754478455 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot gripper is in contact with the silver pot on the right side of the table, having completed the approach and closure phases. The gripper value indicates a firm hold, consistent with the segment-level evidence of grasping. The next action is to lift the pot vertically to prepare for moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 17 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 5 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3395865857601166, + -0.0933968648314476, + 0.05681445822119713, + -3.0274856090545654, + -0.06686084717512131, + -0.3854309916496277 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot gripper is in contact with the silver pot on the right side of the table, having completed the approach and closure phases. The gripper value indicates a firm hold, consistent with the segment-level evidence of grasping. The next action is to lift the pot vertically to prepare for moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3326362073421478, + -0.04762805253267288, + 0.07936827093362808, + -3.0015645027160645, + -0.10359576344490051, + -0.284567266702652 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot gripper is in contact with the silver pot on the right side of the table, having completed the approach and closure phases. The gripper value indicates a firm hold, consistent with the segment-level evidence of grasping. The next action is to lift the pot vertically to prepare for moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250029385089874, + -0.003883200464770198, + 0.07578873634338379, + -2.990852117538452, + -0.08022139221429825, + -0.1756611317396164 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 561, + 357, + 858, + 648 + ], + "tin can": [ + 178, + 380, + 340, + 564 + ], + "metal bowl": [ + 425, + 193, + 616, + 429 + ], + "wooden countertop": [ + 52, + 182, + 914, + 976 + ], + "metal lid": [ + 465, + 577, + 698, + 833 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot gripper is in contact with the silver pot on the right side of the table, having completed the approach and closure phases. The gripper value indicates a firm hold, consistent with the segment-level evidence of grasping. The next action is to lift the pot vertically to prepare for moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3278653919696808, + 0.04429740831255913, + 0.06647580116987228, + -2.9800117015838623, + -0.06577939540147781, + -0.0576767772436142 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot gripper is in contact with the silver pot on the right side of the table, having completed the approach and closure phases. The gripper value indicates a firm hold, consistent with the segment-level evidence of grasping. The next action is to lift the pot vertically to prepare for moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 4 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3420659303665161, + 0.06701817363500595, + 0.057132329791784286, + -2.9595868587493896, + -0.05758415907621384, + -0.014083459973335266 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "transport silver pot leftward", + "subtask_reasoning": "The robot gripper is in contact with the silver pot on the right side of the table, having completed the approach and closure phases. The gripper value indicates a firm hold, consistent with the segment-level evidence of grasping. The next action is to lift the pot vertically to prepare for moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 4 cm, open gripper; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3511705994606018, + 0.08333123475313187, + 0.043607380241155624, + -2.9464378356933594, + -0.034204818308353424, + 0.020010214298963547 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "transport silver pot leftward", + "subtask_reasoning": "The robot gripper is in contact with the silver pot on the right side of the table, having completed the approach and closure phases. The gripper value indicates a firm hold, consistent with the segment-level evidence of grasping. The next action is to lift the pot vertically to prepare for moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500794768333435, + 0.10293684154748917, + 0.035156652331352234, + -2.927633285522461, + -0.006970851682126522, + 0.059940140694379807 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 560, + 354, + 859, + 649 + ], + "metal bowl": [ + 167, + 202, + 442, + 405 + ], + "wooden countertop": [ + 51, + 161, + 914, + 980 + ], + "stainless steel appliance": [ + 238, + 4, + 559, + 379 + ], + "tin can": [ + 178, + 381, + 340, + 564 + ], + "metal lid": [ + 468, + 576, + 699, + 837 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "transport silver pot leftward", + "subtask_reasoning": "The robot gripper is in contact with the silver pot on the right side of the table, having completed the approach and closure phases. The gripper value indicates a firm hold, consistent with the segment-level evidence of grasping. The next action is to lift the pot vertically to prepare for moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.346823126077652, + 0.1094026267528534, + 0.026279570534825325, + -2.914546489715576, + 0.019367605447769165, + 0.06282343715429306 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "transport silver pot leftward", + "subtask_reasoning": "The robot is currently holding the silver pot above the table, having successfully lifted it from its initial position. The gripper is closed and stable, indicating a secure grasp during the transport phase. The next action is to move the arm leftward to position the pot over the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451038599014282, + 0.119857557117939, + 0.02341284789144993, + -2.9171016216278076, + 0.013527575880289078, + 0.08339237421751022 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "transport silver pot leftward", + "subtask_reasoning": "The robot is currently holding the silver pot above the table, having successfully lifted it from its initial position. The gripper is closed and stable, indicating a secure grasp during the transport phase. The next action is to move the arm leftward to position the pot over the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466234803199768, + 0.11955221742391586, + 0.013600070029497147, + -2.928955078125, + 0.01817278563976288, + 0.060323335230350494 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "transport silver pot leftward", + "subtask_reasoning": "The robot is currently holding the silver pot above the table, having successfully lifted it from its initial position. The gripper is closed and stable, indicating a secure grasp during the transport phase. The next action is to move the arm leftward to position the pot over the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.351726770401001, + 0.11899745464324951, + 0.013218705542385578, + -2.9303948879241943, + -0.009253980591893196, + 0.03244936838746071 + ], + "gripper_value": 0.09813859313726425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "transport silver pot leftward", + "subtask_reasoning": "The robot is currently holding the silver pot above the table, having successfully lifted it from its initial position. The gripper is closed and stable, indicating a secure grasp during the transport phase. The next action is to move the arm leftward to position the pot over the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35446637868881226, + 0.11685096472501755, + 0.013210263103246689, + -2.941120147705078, + -0.020109696313738823, + 0.011842594482004642 + ], + "gripper_value": 0.265934020280838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "transport silver pot leftward", + "subtask_reasoning": "The robot is currently holding the silver pot above the table, having successfully lifted it from its initial position. The gripper is closed and stable, indicating a secure grasp during the transport phase. The next action is to move the arm leftward to position the pot over the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3517097234725952, + 0.11452235281467438, + 0.013406503014266491, + -2.941523313522339, + 0.0005659034941345453, + 0.0042611174285411835 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "release and retreat from silver pot", + "subtask_reasoning": "The robot is currently holding the silver pot above the table, having successfully lifted it from its initial position. The gripper is closed and stable, indicating a secure grasp during the transport phase. The next action is to move the arm leftward to position the pot over the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35712292790412903, + 0.11074846982955933, + 0.040631283074617386, + -2.9428904056549072, + -0.05989106371998787, + -0.02038516476750374 + ], + "gripper_value": 0.850854754447937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "release and retreat from silver pot", + "subtask_reasoning": "The silver pot has been successfully placed on the left side of the table, and the gripper is currently open and positioned above it. The subtask of releasing and retreating is nearly complete, with the robot needing only to move its arm further away to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3545125126838684, + 0.10201495885848999, + 0.06768454611301422, + -3.0019032955169678, + -0.09853983670473099, + -0.053574688732624054 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on silver pot" + }, + { + "id": 2, + "subtask": "grasp and lift silver pot" + }, + { + "id": 3, + "subtask": "transport silver pot leftward" + }, + { + "id": 4, + "subtask": "release and retreat from silver pot" + } + ], + "subtask_name": "release and retreat from silver pot", + "subtask_reasoning": "The silver pot has been successfully placed on the left side of the table, and the gripper is currently open and positioned above it. The subtask of releasing and retreating is nearly complete, with the robot needing only to move its arm further away to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003744_ecot.json b/cot/chunk-0003/episode_0003744_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..dd24a999dfc5e01ba6a99b8cdb3c462d714c72f5 --- /dev/null +++ b/cot/chunk-0003/episode_0003744_ecot.json @@ -0,0 +1,2411 @@ +{ + "task_name": "episode_0003744", + "episode_json": "json/chunk-0003/episode_0003744.json", + "video_path": "videos/chunk-0003/image_0/episode_0003744.mp4", + "instruction": "Put the gray object on the top of the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003744.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9131718277931213, + "std": 0.4038257896900177, + "delta_total": 0.0019794702529907227, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91317, std=0.40383, total_delta=0.00198). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 331, + 331, + 331 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 10 + ], + [ + 3, + 11, + 13 + ], + [ + 4, + 14, + 22 + ], + [ + 5, + 23, + 30 + ], + [ + 6, + 31, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach gray object\", \"start\": 0, \"end\": 10, \"planning\": \"Move the gripper toward the gray object on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp gray object\", \"start\": 11, \"end\": 13, \"planning\": \"Close the gripper around the gray object to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport gray object\", \"start\": 14, \"end\": 22, \"planning\": \"Lift the grasped gray object and move it upward and toward the top of the drawer.\"},\n {\"id\": 4, \"name\": \"position above drawer top\", \"start\": 23, \"end\": 30, \"planning\": \"Hold the gray object steady above the drawer top while preparing for release.\"},\n {\"id\": 5, \"name\": \"release gray object on drawer\", \"start\": 31, \"end\": 33, \"planning\": \"Open the gripper to place the gray object onto the top surface of the drawer.\"}\n ],\n \"global_plan\": \"Approach the gray object on the table, grasp it securely, lift and transport it to a position above the drawer top, then release it to complete placement.\",\n \"notes\": \"Subtasks align with observed gripper closure in segments 3–4 and opening in segment 6; no grasping is claimed in segment 1 where gripper remains open. Frame coverage is contiguous and complete from 0 to 33.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach gray object", + "start": 0, + "end": 10, + "planning": "Move the gripper toward the gray object on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp gray object", + "start": 11, + "end": 13, + "planning": "Close the gripper around the gray object to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport gray object", + "start": 14, + "end": 22, + "planning": "Lift the grasped gray object and move it upward and toward the top of the drawer." + }, + { + "id": 4, + "name": "position above drawer top", + "start": 23, + "end": 30, + "planning": "Hold the gray object steady above the drawer top while preparing for release." + }, + { + "id": 5, + "name": "release gray object on drawer", + "start": 31, + "end": 33, + "planning": "Open the gripper to place the gray object onto the top surface of the drawer." + } + ], + "global_plan": "Approach the gray object on the table, grasp it securely, lift and transport it to a position above the drawer top, then release it to complete placement.", + "notes": "Subtasks align with observed gripper closure in segments 3–4 and opening in segment 6; no grasping is claimed in segment 1 where gripper remains open. Frame coverage is contiguous and complete from 0 to 33." + } + }, + "episode_goal": "Place the gray plush toy on top of the wooden drawer box.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28496870398521423, + -0.10290421545505524, + 0.09489012509584427, + 3.096510171890259, + -0.10360794514417648, + -0.05559926480054855 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned near the table with the gray object visible but not yet approached closely. No grasping has occurred as the gripper remains open and stationary. The next action should be to move the end-effector closer to the gray object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 3 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28236716985702515, + -0.10198913514614105, + 0.08608721196651459, + 3.1056408882141113, + -0.07272781431674957, + -0.05795358493924141 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned near the table with the gray object visible but not yet approached closely. No grasping has occurred as the gripper remains open and stationary. The next action should be to move the end-effector closer to the gray object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 3 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31515243649482727, + -0.11322900652885437, + 0.09374463558197021, + 3.1040146350860596, + -0.11884644627571106, + -0.10792389512062073 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned near the table with the gray object visible but not yet approached closely. No grasping has occurred as the gripper remains open and stationary. The next action should be to move the end-effector closer to the gray object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35419613122940063, + -0.12573619186878204, + 0.09625156223773956, + 3.1142642498016357, + -0.1478501856327057, + -0.16608826816082 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 335, + 654, + 539, + 872 + ], + "yellow plush toy": [ + 607, + 711, + 769, + 982 + ], + "blue plush toy": [ + 620, + 167, + 773, + 341 + ], + "blue cloth": [ + 387, + 238, + 604, + 451 + ], + "white table": [ + 4, + 3, + 994, + 995 + ], + "wooden box": [ + 76, + 20, + 696, + 670 + ], + "grey plush toy": [ + 774, + 334, + 934, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned near the table with the gray object visible but not yet approached closely. No grasping has occurred as the gripper remains open and stationary. The next action should be to move the end-effector closer to the gray object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3810688853263855, + -0.13271915912628174, + 0.09019740670919418, + 3.1344759464263916, + -0.15236172080039978, + -0.203107550740242 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned near the table with the gray object visible but not yet approached closely. No grasping has occurred as the gripper remains open and stationary. The next action should be to move the end-effector closer to the gray object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3970692753791809, + -0.131182000041008, + 0.07900536060333252, + -3.11423397064209, + -0.13408666849136353, + -0.23561307787895203 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned above the table with the gray plush toy visible to the right of the wooden drawer. No objects have been moved yet. The gripper is open and the robot is approaching the gray object, likely moving closer to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.39777877926826477, + -0.11991224437952042, + 0.07049759477376938, + -3.081310510635376, + -0.09886020421981812, + -0.22927632927894592 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned above the table with the gray plush toy visible to the right of the wooden drawer. No objects have been moved yet. The gripper is open and the robot is approaching the gray object, likely moving closer to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4032098948955536, + -0.09987182915210724, + 0.05721881240606308, + -3.0835039615631104, + -0.07777084410190582, + -0.14504356682300568 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned above the table with the gray plush toy visible to the right of the wooden drawer. No objects have been moved yet. The gripper is open and the robot is approaching the gray object, likely moving closer to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.40674373507499695, + -0.08832452446222305, + 0.042724817991256714, + -3.0928797721862793, + -0.04383860528469086, + -0.08239009231328964 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow plush toy": [ + 607, + 714, + 768, + 981 + ], + "green toy": [ + 335, + 654, + 540, + 871 + ], + "blue plush toy": [ + 620, + 168, + 770, + 338 + ], + "blue cloth": [ + 386, + 240, + 604, + 450 + ], + "grey plush toy": [ + 785, + 333, + 935, + 502 + ], + "black handle": [ + 565, + 397, + 787, + 667 + ], + "wooden box": [ + 133, + 20, + 696, + 670 + ], + "white table": [ + 43, + 3, + 994, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned above the table with the gray plush toy visible to the right of the wooden drawer. No objects have been moved yet. The gripper is open and the robot is approaching the gray object, likely moving closer to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4056642949581146, + -0.07954726368188858, + 0.033865731209516525, + -3.088127374649048, + -0.013791409321129322, + -0.029743455350399017 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned above the table with the gray plush toy visible to the right of the wooden drawer. No objects have been moved yet. The gripper is open and the robot is approaching the gray object, likely moving closer to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.40484103560447693, + -0.07210665196180344, + 0.02598201110959053, + -3.1357076168060303, + -0.010945463553071022, + 0.062057673931121826 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "approach gray object", + "subtask_reasoning": "The robot is positioned above the table with the gray plush toy visible to the right of the wooden drawer. No objects have been moved yet. The gripper is open and the robot is approaching the gray object, likely moving closer to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper closed; then move up 14 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40074554085731506, + -0.07445133477449417, + 0.016323737800121307, + 3.0947747230529785, + 0.0046843658201396465, + 0.10956834256649017 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "grasp gray object", + "subtask_reasoning": "The robot is positioned above the table with the gray plush toy visible to the right of the wooden drawer. No objects have been moved yet. The gripper is open and the robot is approaching the gray object, likely moving closer to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 2 cm, move left 4 cm, move up 16 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3965280055999756, + -0.079984150826931, + 0.010965730994939804, + 3.092672109603882, + 0.010651218704879284, + 0.10948864370584488 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "grasp gray object", + "subtask_reasoning": "The robot's end-effector is positioned near the gray plush toy on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the object. The next action is to finalize the grasp by fully closing the gripper around the gray toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 7 cm, move up 18 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39252620935440063, + -0.08163461089134216, + 0.009413208812475204, + 3.0823988914489746, + 0.0013564814580604434, + 0.1187363788485527 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "grasp gray object", + "subtask_reasoning": "The robot's end-effector is positioned near the gray plush toy on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the object. The next action is to finalize the grasp by fully closing the gripper around the gray toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move left 9 cm, move up 18 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39336270093917847, + -0.08491726219654083, + 0.013436952605843544, + 3.0872554779052734, + -0.009619779884815216, + 0.10640198737382889 + ], + "gripper_value": 0.4747070372104645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot's end-effector is positioned near the gray plush toy on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the object. The next action is to finalize the grasp by fully closing the gripper around the gray toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 9 cm, move up 18 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39621278643608093, + -0.09077416360378265, + 0.018437381833791733, + 3.102726697921753, + -0.02432779036462307, + 0.06327064335346222 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot's end-effector is positioned near the gray plush toy on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the object. The next action is to finalize the grasp by fully closing the gripper around the gray toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 10 cm, move up 18 cm, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4019116759300232, + -0.10381358116865158, + 0.02960534207522869, + 3.088848114013672, + -0.045059118419885635, + 0.023993711918592453 + ], + "gripper_value": 0.31187212467193604 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot's end-effector is positioned near the gray plush toy on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the object. The next action is to finalize the grasp by fully closing the gripper around the gray toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 11 cm, move up 17 cm, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40928781032562256, + -0.11665453016757965, + 0.045315664261579514, + 3.0708682537078857, + -0.0776437371969223, + -0.010203709825873375 + ], + "gripper_value": 0.25545796751976013 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot's end-effector is positioned near the gray plush toy on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the object. The next action is to finalize the grasp by fully closing the gripper around the gray toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 13 cm, move up 15 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 9 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.41699934005737305, + -0.11771592497825623, + 0.08113659918308258, + 3.0679080486297607, + -0.14228421449661255, + -0.02941204234957695 + ], + "gripper_value": 0.20382753014564514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot has successfully grasped the gray plush toy and is currently lifting it above the table surface. The gripper is closed, and the object is being transported toward the wooden drawer box. The next action is to continue moving the object horizontally toward a position directly above the drawer top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 13 cm, move up 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 10 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4137084186077118, + -0.11008808761835098, + 0.1048617959022522, + 3.0791783332824707, + -0.1625821590423584, + -0.03866228461265564 + ], + "gripper_value": 0.15515124797821045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot has successfully grasped the gray plush toy and is currently lifting it above the table surface. The gripper is closed, and the object is being transported toward the wooden drawer box. The next action is to continue moving the object horizontally toward a position directly above the drawer top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 12 cm, move up 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 10 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3977311849594116, + -0.08529030531644821, + 0.14854270219802856, + 3.0914831161499023, + -0.19526007771492004, + -0.02558770589530468 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 335, + 655, + 540, + 872 + ], + "yellow plush toy": [ + 608, + 713, + 767, + 980 + ], + "blue plush toy": [ + 619, + 166, + 776, + 342 + ], + "blue cloth": [ + 382, + 239, + 602, + 450 + ], + "black handle": [ + 563, + 393, + 789, + 667 + ], + "white table": [ + 4, + 3, + 995, + 994 + ], + "wooden box": [ + 76, + 19, + 703, + 670 + ] + } + } + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot has successfully grasped the gray plush toy and is currently lifting it above the table surface. The gripper is closed, and the object is being transported toward the wooden drawer box. The next action is to continue moving the object horizontally toward a position directly above the drawer top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 9 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 10 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3740900754928589, + -0.046524614095687866, + 0.17618229985237122, + 3.092715263366699, + -0.2087000012397766, + 0.019566776230931282 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot has successfully grasped the gray plush toy and is currently lifting it above the table surface. The gripper is closed, and the object is being transported toward the wooden drawer box. The next action is to continue moving the object horizontally toward a position directly above the drawer top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move left 9 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3490101099014282, + -0.017440523952245712, + 0.19031983613967896, + 3.1133525371551514, + -0.17458011209964752, + 0.04847444221377373 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "lift and transport gray object", + "subtask_reasoning": "The robot has successfully grasped the gray plush toy and is currently lifting it above the table surface. The gripper is closed, and the object is being transported toward the wooden drawer box. The next action is to continue moving the object horizontally toward a position directly above the drawer top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 9 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3254983723163605, + 0.009347165934741497, + 0.19676004350185394, + -3.1310863494873047, + -0.14843298494815826, + 0.09064799547195435 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "position above drawer top", + "subtask_reasoning": "The robot has successfully grasped the gray plush toy and is currently lifting it above the table surface. 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The gripper is closed, and the object is being transported toward the wooden drawer box. The next action is to continue moving the object horizontally toward a position directly above the drawer top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29668179154396057, + 0.05959165841341019, + 0.17743046581745148, + -3.111768960952759, + -0.11057478934526443, + 0.1834488809108734 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 334, + 654, + 540, + 871 + ], + "yellow plush toy": [ + 606, + 711, + 770, + 982 + ], + "blue plush toy": [ + 620, + 166, + 776, + 343 + ], + "black handle": [ + 565, + 395, + 789, + 668 + ], + "blue cloth": [ + 385, + 237, + 604, + 450 + ], + "white table": [ + 4, + 4, + 995, + 994 + ], + "wooden box": [ + 77, + 19, + 712, + 671 + ] + } + } + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "position above drawer top", + "subtask_reasoning": "The robot has successfully grasped the gray plush toy and is currently lifting it above the table surface. The gripper is closed, and the object is being transported toward the wooden drawer box. The next action is to continue moving the object horizontally toward a position directly above the drawer top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28557103872299194, + 0.08909778296947479, + 0.1608782261610031, + -3.1111364364624023, + -0.09948091953992844, + 0.2214784175157547 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "position above drawer top", + "subtask_reasoning": "The robot is holding the gray plush toy and has positioned it directly above the wooden drawer box. The gripper remains closed, maintaining a secure grasp on the object. The next action is to release the toy to place it on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28290969133377075, + 0.10076262056827545, + 0.14162780344486237, + -3.124948024749756, + -0.041329752653837204, + 0.22039780020713806 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "position above drawer top", + "subtask_reasoning": "The robot is holding the gray plush toy and has positioned it directly above the wooden drawer box. The gripper remains closed, maintaining a secure grasp on the object. The next action is to release the toy to place it on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27893537282943726, + 0.10597779601812363, + 0.1393006145954132, + -3.1136279106140137, + -0.017707280814647675, + 0.2046787142753601 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "position above drawer top", + "subtask_reasoning": "The robot is holding the gray plush toy and has positioned it directly above the wooden drawer box. The gripper remains closed, maintaining a secure grasp on the object. The next action is to release the toy to place it on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771836817264557, + 0.10707943141460419, + 0.1384861320257187, + -3.107562303543091, + -0.007464963011443615, + 0.20286020636558533 + ], + "gripper_value": 0.11535319685935974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "position above drawer top", + "subtask_reasoning": "The robot is holding the gray plush toy and has positioned it directly above the wooden drawer box. The gripper remains closed, maintaining a secure grasp on the object. The next action is to release the toy to place it on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27465561032295227, + 0.10692759603261948, + 0.1384999305009842, + -3.1051323413848877, + 0.0076509141363203526, + 0.2221662700176239 + ], + "gripper_value": 0.31342363357543945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "position above drawer top", + "subtask_reasoning": "The robot is holding the gray plush toy and has positioned it directly above the wooden drawer box. The gripper remains closed, maintaining a secure grasp on the object. The next action is to release the toy to place it on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2714005708694458, + 0.10425186157226562, + 0.1407412439584732, + -3.09372615814209, + 0.0297450739890337, + 0.2278808355331421 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "release gray object on drawer", + "subtask_reasoning": "The robot is holding the gray plush toy and has positioned it directly above the wooden drawer box. The gripper remains closed, maintaining a secure grasp on the object. The next action is to release the toy to place it on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.27389082312583923, + 0.09852080047130585, + 0.16288377344608307, + -3.090670108795166, + -0.02426540106534958, + 0.21607473492622375 + ], + "gripper_value": 0.9091293215751648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "release gray object on drawer", + "subtask_reasoning": "The gray plush toy is already positioned on top of the wooden drawer box, indicating the placement goal is achieved. The gripper is open and hovering above the toy, confirming the release action has been completed. No further manipulation is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2814694344997406, + 0.0789339542388916, + 0.1872686892747879, + -3.0992040634155273, + -0.08453121781349182, + 0.13395002484321594 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the gray plush toy on top of the wooden drawer box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach gray object" + }, + { + "id": 2, + "subtask": "grasp gray object" + }, + { + "id": 3, + "subtask": "lift and transport gray object" + }, + { + "id": 4, + "subtask": "position above drawer top" + }, + { + "id": 5, + "subtask": "release gray object on drawer" + } + ], + "subtask_name": "release gray object on drawer", + "subtask_reasoning": "The gray plush toy is already positioned on top of the wooden drawer box, indicating the placement goal is achieved. The gripper is open and hovering above the toy, confirming the release action has been completed. No further manipulation is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003745_ecot.json b/cot/chunk-0003/episode_0003745_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..319cd4414f38bcf6a89e180045222f1d95bf9ea3 --- /dev/null +++ b/cot/chunk-0003/episode_0003745_ecot.json @@ -0,0 +1,2464 @@ +{ + "task_name": "episode_0003745", + "episode_json": "json/chunk-0003/episode_0003745.json", + "video_path": "videos/chunk-0003/image_0/episode_0003745.mp4", + "instruction": "Move the silver lid to the top left of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003745.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.7323706150054932, + "std": 0.3287722170352936, + "delta_total": 0.0019888877868652344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.73237, std=0.32877, total_delta=0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 121, + 121, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 13 + ], + [ + 3, + 14, + 20 + ], + [ + 4, + 21, + 22 + ], + [ + 5, + 23, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver lid\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector toward the silver lid on the table while preparing to grasp it.\"},\n {\"id\": 2, \"name\": \"grasp and lift silver lid\", \"start\": 9, \"end\": 13, \"planning\": \"Close the gripper to securely grasp the silver lid and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"transport lid to target zone\", \"start\": 14, \"end\": 20, \"planning\": \"Carry the grasped silver lid across the table toward the top-left region near the purple cloth.\"},\n {\"id\": 4, \"name\": \"release lid at destination\", \"start\": 21, \"end\": 22, \"planning\": \"Open the gripper to release the silver lid onto the table at the top-left position.\"},\n {\"id\": 5, \"name\": \"retreat from released lid\", \"start\": 23, \"end\": 35, \"planning\": \"Withdraw the end-effector upward and away from the placed lid to complete the task.\"}\n ],\n \"global_plan\": \"Approach the silver lid, grasp and lift it, transport it to the top-left of the table, release it there, then retreat to finish.\",\n \"notes\": \"Segment 1 shows approach with gripper closing at end; Segment 2 confirms grasp and lift via motion and sustained low gripper value; Segment 3 (frames 14-20) is inferred as transport based on continuity and endpoint position in Frame 21; Segment 4 shows gripper opening and minor repositioning consistent with release; Segment 5 shows static retreat phase with no further manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver lid", + "start": 0, + "end": 8, + "planning": "Move the end-effector toward the silver lid on the table while preparing to grasp it." + }, + { + "id": 2, + "name": "grasp and lift silver lid", + "start": 9, + "end": 13, + "planning": "Close the gripper to securely grasp the silver lid and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "transport lid to target zone", + "start": 14, + "end": 20, + "planning": "Carry the grasped silver lid across the table toward the top-left region near the purple cloth." + }, + { + "id": 4, + "name": "release lid at destination", + "start": 21, + "end": 22, + "planning": "Open the gripper to release the silver lid onto the table at the top-left position." + }, + { + "id": 5, + "name": "retreat from released lid", + "start": 23, + "end": 35, + "planning": "Withdraw the end-effector upward and away from the placed lid to complete the task." + } + ], + "global_plan": "Approach the silver lid, grasp and lift it, transport it to the top-left of the table, release it there, then retreat to finish.", + "notes": "Segment 1 shows approach with gripper closing at end; Segment 2 confirms grasp and lift via motion and sustained low gripper value; Segment 3 (frames 14-20) is inferred as transport based on continuity and endpoint position in Frame 21; Segment 4 shows gripper opening and minor repositioning consistent with release; Segment 5 shows static retreat phase with no further manipulation." + } + }, + "episode_goal": "Move the silver lid to the top left of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27583208680152893, + 0.11834533512592316, + 0.06250005215406418, + -3.1055421829223633, + -0.16672150790691376, + 0.022207673639059067 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, near a purple cloth and a silver lid. The gripper is open, indicating no object is currently held. The next action should involve moving the arm closer to the silver lid to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 12 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27408334612846375, + 0.11606727540493011, + 0.053683001548051834, + -3.1182541847229004, + -0.14006692171096802, + 0.028695330023765564 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, near a purple cloth and a silver lid. The gripper is open, indicating no object is currently held. The next action should involve moving the arm closer to the silver lid to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947453260421753, + 0.08207260817289352, + 0.054967667907476425, + -3.1249377727508545, + -0.151846244931221, + -0.0361497662961483 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, near a purple cloth and a silver lid. The gripper is open, indicating no object is currently held. The next action should involve moving the arm closer to the silver lid to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32161906361579895, + 0.04189440608024597, + 0.05261744558811188, + -3.1254045963287354, + -0.16281010210514069, + -0.12250041961669922 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, near a purple cloth and a silver lid. The gripper is open, indicating no object is currently held. The next action should involve moving the arm closer to the silver lid to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move down 2 cm, close gripper; then move left 9 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35221368074417114, + 0.008669300936162472, + 0.04998422786593437, + -3.134199380874634, + -0.18167701363563538, + -0.15462975203990936 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 89, + 425, + 382, + 710 + ], + "wooden countertop": [ + 6, + 214, + 838, + 990 + ], + "large metal bowl": [ + 486, + 322, + 696, + 539 + ], + "can": [ + 531, + 573, + 731, + 924 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver lid located near the center. No objects have been moved yet. The gripper is open and descending toward the lid, indicating the next action is to make contact and prepare to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 14 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3753635287284851, + -0.010713444091379642, + 0.04735385999083519, + 3.140827178955078, + -0.19251485168933868, + -0.1576899141073227 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver lid located near the center. No objects have been moved yet. The gripper is open and descending toward the lid, indicating the next action is to make contact and prepare to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 14 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38262054324150085, + -0.009975604712963104, + 0.03829329460859299, + -3.1390676498413086, + -0.17749425768852234, + -0.137578085064888 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver lid located near the center. No objects have been moved yet. The gripper is open and descending toward the lid, indicating the next action is to make contact and prepare to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 2 cm, move left 14 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3806595504283905, + -0.006824150215834379, + 0.03057027980685234, + -3.123011589050293, + -0.1522822380065918, + -0.132722407579422 + ], + "gripper_value": 0.9343546032905579 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver lid located near the center. No objects have been moved yet. The gripper is open and descending toward the lid, indicating the next action is to make contact and prepare to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 14 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3799700140953064, + -0.005907175596803427, + 0.030790988355875015, + -3.113840103149414, + -0.1419532746076584, + -0.14052170515060425 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver lid located near the center. No objects have been moved yet. The gripper is open and descending toward the lid, indicating the next action is to make contact and prepare to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 14 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3802163600921631, + -0.005683279130607843, + 0.03260745480656624, + -3.1156258583068848, + -0.13589051365852356, + -0.1475975662469864 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "grasp and lift silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver lid located near the center. No objects have been moved yet. The gripper is open and descending toward the lid, indicating the next action is to make contact and prepare to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869043290615082, + -0.006826453842222691, + 0.040248893201351166, + -3.1381032466888428, + -0.15438570082187653, + -0.14318029582500458 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "grasp and lift silver lid", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver lid located near the center. No objects have been moved yet. The gripper is open and descending toward the lid, indicating the next action is to make contact and prepare to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907926380634308, + 0.006019468419253826, + 0.04811922460794449, + 3.126491069793701, + -0.1727321892976761, + -0.10170315206050873 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "grasp and lift silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid on the wooden table. The gripper is currently open and hovering just above the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the lid in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3932056128978729, + 0.037517860531806946, + 0.08248117566108704, + -3.1367852687835693, + -0.25928792357444763, + -0.017192799597978592 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "grasp and lift silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid on the wooden table. The gripper is currently open and hovering just above the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the lid in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37648728489875793, + 0.08656373620033264, + 0.07668061554431915, + -3.1183841228485107, + -0.224321648478508, + 0.12698563933372498 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "grasp and lift silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid on the wooden table. The gripper is currently open and hovering just above the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the lid in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594059944152832, + 0.1370954066514969, + 0.07163450121879578, + -3.094895362854004, + -0.20819829404354095, + 0.24758324027061462 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 88, + 425, + 382, + 713 + ], + "wooden countertop": [ + 7, + 209, + 838, + 989 + ], + "large metal bowl": [ + 488, + 319, + 696, + 540 + ], + "can": [ + 530, + 573, + 731, + 924 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "transport lid to target zone", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid on the wooden table. The gripper is currently open and hovering just above the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the lid in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3484356701374054, + 0.16132567822933197, + 0.05502302572131157, + -3.064565420150757, + -0.16888266801834106, + 0.30021795630455017 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "transport lid to target zone", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid on the wooden table. The gripper is currently open and hovering just above the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the lid in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.340114027261734, + 0.17271915078163147, + 0.03559699282050133, + -3.0389015674591064, + -0.11561648547649384, + 0.326008677482605 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "transport lid to target zone", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid on the wooden table. The gripper is currently open and hovering just above the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the lid in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34028419852256775, + 0.1863609105348587, + 0.020934490486979485, + -3.0244529247283936, + -0.09683488309383392, + 0.36387166380882263 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "transport lid to target zone", + "subtask_reasoning": "The robot is currently holding the silver lid above the table, having completed the approach and grasp phases. The end-effector is positioned near the center-right of the workspace, indicating the transport to the top-left target zone is in progress but not yet complete. The next action is to continue moving the lid towards the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473964333534241, + 0.19264961779117584, + 0.006500813644379377, + -3.0187692642211914, + -0.08657895773649216, + 0.3830430805683136 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "transport lid to target zone", + "subtask_reasoning": "The robot is currently holding the silver lid above the table, having completed the approach and grasp phases. The end-effector is positioned near the center-right of the workspace, indicating the transport to the top-left target zone is in progress but not yet complete. The next action is to continue moving the lid towards the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3488022983074188, + 0.19955259561538696, + 0.006200732197612524, + -3.015273094177246, + -0.09243867546319962, + 0.4052281677722931 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "transport lid to target zone", + "subtask_reasoning": "The robot is currently holding the silver lid above the table, having completed the approach and grasp phases. The end-effector is positioned near the center-right of the workspace, indicating the transport to the top-left target zone is in progress but not yet complete. The next action is to continue moving the lid towards the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3493551015853882, + 0.20140312612056732, + 0.006516790483146906, + -3.0065174102783203, + -0.10137642920017242, + 0.4119338393211365 + ], + "gripper_value": 0.34288913011550903 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "transport lid to target zone", + "subtask_reasoning": "The robot is currently holding the silver lid above the table, having completed the approach and grasp phases. The end-effector is positioned near the center-right of the workspace, indicating the transport to the top-left target zone is in progress but not yet complete. The next action is to continue moving the lid towards the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3427964448928833, + 0.19746944308280945, + 0.0038449608255177736, + -3.009944200515747, + -0.07778623700141907, + 0.39698126912117004 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "release lid at destination", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, near the purple cloth. The gripper is open and no longer in contact with the lid, indicating the release action has been completed. The next step is to retreat from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34398359060287476, + 0.19251447916030884, + 0.01987380161881447, + -3.034123659133911, + -0.0644364207983017, + 0.28987550735473633 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "release lid at destination", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, near the purple cloth. The gripper is open and no longer in contact with the lid, indicating the release action has been completed. The next step is to retreat from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34826353192329407, + 0.19079096615314484, + 0.03893948346376419, + -3.075756311416626, + -0.0843658298254013, + 0.14293846487998962 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 89, + 430, + 382, + 713 + ], + "wooden countertop": [ + 6, + 237, + 839, + 989 + ], + "large metal bowl": [ + 439, + 283, + 696, + 539 + ], + "can": [ + 529, + 572, + 731, + 924 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, near the purple cloth. The gripper is open and no longer in contact with the lid, indicating the release action has been completed. The next step is to retreat from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3476954400539398, + 0.1946435123682022, + 0.04754415526986122, + -3.103813886642456, + -0.07378634810447693, + 0.0677669569849968 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, near the purple cloth. The gripper is open and no longer in contact with the lid, indicating the release action has been completed. The next step is to retreat from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34765878319740295, + 0.19483841955661774, + 0.0472804419696331, + -3.106543779373169, + -0.0733732059597969, + 0.06467464566230774 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, near the purple cloth. The gripper is open and no longer in contact with the lid, indicating the release action has been completed. The next step is to retreat from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.348145067691803, + 0.1941671371459961, + 0.0478920079767704, + -3.1071410179138184, + -0.07535797357559204, + 0.0638270378112793 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, near the purple cloth. The gripper is open and no longer in contact with the lid, indicating the release action has been completed. The next step is to retreat from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478468060493469, + 0.1947009563446045, + 0.0478920079767704, + -3.1071410179138184, + -0.07535797357559204, + 0.06536102294921875 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 89, + 430, + 382, + 714 + ], + "wooden countertop": [ + 6, + 224, + 838, + 990 + ], + "large metal bowl": [ + 438, + 281, + 695, + 538 + ], + "can": [ + 529, + 573, + 731, + 924 + ], + "white bin": [ + 791, + 403, + 996, + 863 + ], + "small metal bowl": [ + 174, + 302, + 342, + 444 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, near the purple cloth. The gripper is open and no longer in contact with the lid, indicating the release action has been completed. The next step is to retreat from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478468060493469, + 0.1947009563446045, + 0.0478920079767704, + -3.1071410179138184, + -0.07535797357559204, + 0.06536102294921875 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, near the purple cloth. The gripper is open and no longer in contact with the lid, indicating the release action has been completed. The next step is to retreat from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34776240587234497, + 0.19465366005897522, + 0.04728059098124504, + -3.1078038215637207, + -0.07397366315126419, + 0.06541046500205994 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, and the gripper is open and stationary above it. The retreat subtask is complete as the robot has moved away from the lid after release. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479505479335785, + 0.19451627135276794, + 0.04789245128631592, + -3.1084024906158447, + -0.0759579986333847, + 0.06609731167554855 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, and the gripper is open and stationary above it. The retreat subtask is complete as the robot has moved away from the lid after release. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34806060791015625, + 0.19411997497081757, + 0.04728059098124504, + -3.1078038215637207, + -0.07397366315126419, + 0.06387647986412048 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, and the gripper is open and stationary above it. The retreat subtask is complete as the robot has moved away from the lid after release. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34776240587234497, + 0.19465366005897522, + 0.04728059098124504, + -3.1078038215637207, + -0.07397366315126419, + 0.06541046500205994 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, and the gripper is open and stationary above it. The retreat subtask is complete as the robot has moved away from the lid after release. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34776240587234497, + 0.19465366005897522, + 0.04728059098124504, + -3.1078038215637207, + -0.07397366315126419, + 0.06541046500205994 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, and the gripper is open and stationary above it. The retreat subtask is complete as the robot has moved away from the lid after release. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.34806060791015625, + 0.19411997497081757, + 0.04728059098124504, + -3.1078038215637207, + -0.07397366315126419, + 0.06387647986412048 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, and the gripper is open and stationary above it. The retreat subtask is complete as the robot has moved away from the lid after release. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.34806060791015625, + 0.19411997497081757, + 0.04728059098124504, + -3.1078038215637207, + -0.07397366315126419, + 0.06387647986412048 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift silver lid" + }, + { + "id": 3, + "subtask": "transport lid to target zone" + }, + { + "id": 4, + "subtask": "release lid at destination" + }, + { + "id": 5, + "subtask": "retreat from released lid" + } + ], + "subtask_name": "retreat from released lid", + "subtask_reasoning": "The silver lid is already placed at the top-left of the table, and the gripper is open and stationary above it. The retreat subtask is complete as the robot has moved away from the lid after release. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003746_ecot.json b/cot/chunk-0003/episode_0003746_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2fc7d2d7f6eb53fb59fd9fa087ce1803765367 --- /dev/null +++ b/cot/chunk-0003/episode_0003746_ecot.json @@ -0,0 +1,1429 @@ +{ + "task_name": "episode_0003746", + "episode_json": "json/chunk-0003/episode_0003746.json", + "video_path": "videos/chunk-0003/image_0/episode_0003746.mp4", + "instruction": "Put lid on pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003746.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.7208249568939209, + "std": 0.343631774187088, + "delta_total": -0.7208249568939209, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72082, std=0.34363, total_delta=-0.72082). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 212, + 212, + 212, + 212, + 212 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 15 + ], + [ + 4, + 16, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the lid on the left burner without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 8, \"end\": 11, \"planning\": \"Close gripper to securely grasp the lid while maintaining position over it.\"},\n {\"id\": 3, \"name\": \"lift and reposition lid\", \"start\": 12, \"end\": 15, \"planning\": \"Lift the grasped lid and move it horizontally toward the pot on the right.\"},\n {\"id\": 4, \"name\": \"place lid on pot\", \"start\": 16, \"end\": 20, \"planning\": \"Lower the lid onto the pot and release contact by opening gripper slightly (though gripper value remains constant, motion implies placement).\"}\n ],\n \"global_plan\": \"Approach the lid on the left burner, grasp it, lift and carry it to the pot on the right, then place it on top.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 2 and 3; segment 1 shows no closing (approach only), segment 4 shows no further closing but motion suggests placement. Frame 20 image shows lid resting on pot, confirming successful placement despite constant gripper value.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the lid on the left burner without closing gripper." + }, + { + "id": 2, + "name": "grasp lid", + "start": 8, + "end": 11, + "planning": "Close gripper to securely grasp the lid while maintaining position over it." + }, + { + "id": 3, + "name": "lift and reposition lid", + "start": 12, + "end": 15, + "planning": "Lift the grasped lid and move it horizontally toward the pot on the right." + }, + { + "id": 4, + "name": "place lid on pot", + "start": 16, + "end": 20, + "planning": "Lower the lid onto the pot and release contact by opening gripper slightly (though gripper value remains constant, motion implies placement)." + } + ], + "global_plan": "Approach the lid on the left burner, grasp it, lift and carry it to the pot on the right, then place it on top.", + "notes": "Gripper evidence confirms meaningful closing only in segments 2 and 3; segment 1 shows no closing (approach only), segment 4 shows no further closing but motion suggests placement. Frame 20 image shows lid resting on pot, confirming successful placement despite constant gripper value." + } + }, + "episode_goal": "Place the lid on top of the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22716353833675385, + 0.010259384289383888, + 0.157314270734787, + 3.139521360397339, + -0.17340102791786194, + 0.17440086603164673 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the left burner where the lid is located, with the gripper open and no contact yet. The subtask involves moving closer to the lid to prepare for grasping. The next action should be a small forward adjustment to align the gripper with the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 19 cm, move down 11 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2256232053041458, + 0.01247597485780716, + 0.1502998173236847, + -3.124882221221924, + -0.15119826793670654, + 0.16654089093208313 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the left burner where the lid is located, with the gripper open and no contact yet. The subtask involves moving closer to the lid to prepare for grasping. The next action should be a small forward adjustment to align the gripper with the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 19 cm, move down 10 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23238573968410492, + 0.03546585887670517, + 0.14038622379302979, + -3.0412564277648926, + -0.14161540567874908, + 0.10815475881099701 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the left burner where the lid is located, with the gripper open and no contact yet. The subtask involves moving closer to the lid to prepare for grasping. The next action should be a small forward adjustment to align the gripper with the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 17 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24237434566020966, + 0.06876788288354874, + 0.12169516086578369, + -3.018357515335083, + -0.11299110949039459, + 0.04638589546084404 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plastic banana": [ + 494, + 295, + 648, + 466 + ], + "plastic carrot": [ + 464, + 330, + 578, + 436 + ], + "plastic red pepper": [ + 374, + 367, + 467, + 563 + ], + "metal pot": [ + 622, + 369, + 904, + 734 + ], + "toy kitchen set": [ + 35, + 16, + 975, + 976 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the stove with the lid visible on the left burner and the pot on the right. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25111979246139526, + 0.10521768778562546, + 0.10139662027359009, + -3.0449752807617188, + -0.10046099126338959, + -0.0005862527177669108 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the stove with the lid visible on the left burner and the pot on the right. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26399722695350647, + 0.13680745661258698, + 0.09158848226070404, + -3.041498899459839, + -0.11936040222644806, + -0.07404187321662903 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the stove with the lid visible on the left burner and the pot on the right. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move right 6 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717139720916748, + 0.1702890247106552, + 0.08073993027210236, + -3.039313316345215, + -0.14494280517101288, + -0.13911032676696777 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the stove with the lid visible on the left burner and the pot on the right. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 10 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810424268245697, + 0.192905992269516, + 0.065292589366436, + -3.0901079177856445, + -0.17227599024772644, + -0.16745354235172272 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 620, + 369, + 905, + 734 + ], + "plastic banana": [ + 494, + 296, + 647, + 466 + ], + "plastic carrot": [ + 463, + 330, + 578, + 436 + ], + "toy kitchen set": [ + 31, + 11, + 970, + 980 + ], + "silver lamp": [ + 30, + 2, + 281, + 432 + ], + "plastic red pepper": [ + 374, + 367, + 468, + 563 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the stove with the lid visible on the left burner and the pot on the right. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 10 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28765445947647095, + 0.20165827870368958, + 0.04906165227293968, + 3.1285831928253174, + -0.1737929880619049, + -0.1959562450647354 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the lid visible on the left burner and the pot on the right. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 10 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2968454360961914, + 0.20873963832855225, + 0.0419434979557991, + 3.1079633235931396, + -0.176316037774086, + -0.23312655091285706 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the red lid on the left burner and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to complete the grasp by closing the fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 10 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 14 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30441969633102417, + 0.2104557454586029, + 0.03693673014640808, + 3.087446451187134, + -0.1868705302476883, + -0.2499317079782486 + ], + "gripper_value": 0.8896691203117371 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the red lid on the left burner and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to complete the grasp by closing the fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 10 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 19 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3072873055934906, + 0.2095049023628235, + 0.03455037996172905, + 3.0751171112060547, + -0.20606695115566254, + -0.26062798500061035 + ], + "gripper_value": 0.6199479699134827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the red lid on the left burner and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to complete the grasp by closing the fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 10 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 19 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30865368247032166, + 0.21112112700939178, + 0.032825224101543427, + 3.093386650085449, + -0.2209479957818985, + -0.2577146589756012 + ], + "gripper_value": 0.325195848941803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached the red lid on the left burner and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is occurring within this segment. The next immediate action is to complete the grasp by closing the fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 19 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067830801010132, + 0.21009093523025513, + 0.03292074427008629, + 3.1015145778656006, + -0.23285707831382751, + -0.254648357629776 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached and grasped the red lid on the left burner. The gripper is closed around the lid, and the arm is positioned to lift it. The next action is to lift the lid vertically and begin moving it toward the pot on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 19 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29887208342552185, + 0.1994137465953827, + 0.038446202874183655, + 3.0619020462036133, + -0.1701543629169464, + -0.2390463799238205 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached and grasped the red lid on the left burner. The gripper is closed around the lid, and the arm is positioned to lift it. The next action is to lift the lid vertically and begin moving it toward the pot on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 9 cm, rotate clockwise 20 degrees, keep gripper closed; then move right 19 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30618929862976074, + 0.1537659913301468, + 0.08661390095949173, + 3.025714635848999, + -0.12358443439006805, + -0.17104649543762207 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached and grasped the red lid on the left burner. The gripper is closed around the lid, and the arm is positioned to lift it. The next action is to lift the lid vertically and begin moving it toward the pot on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 19 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29939210414886475, + 0.1125822365283966, + 0.12833525240421295, + 2.9717793464660645, + -0.08882000297307968, + 0.02061968483030796 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has approached and grasped the red lid on the left burner. The gripper is closed around the lid, and the arm is positioned to lift it. The next action is to lift the lid vertically and begin moving it toward the pot on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 19 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29617542028427124, + 0.06573431193828583, + 0.1466689109802246, + 2.9208552837371826, + -0.09602770954370499, + 0.0708930715918541 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has approached and grasped the red lid on the left burner. The gripper is closed around the lid, and the arm is positioned to lift it. The next action is to lift the lid vertically and begin moving it toward the pot on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 14 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2924186587333679, + 0.01738337054848671, + 0.14837662875652313, + 2.880690813064575, + -0.04605276510119438, + 0.12196654826402664 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The lid is currently held above the pot on the right burner, aligned for placement. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next action is to lower the lid onto the pot to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2931956946849823, + -0.0323609784245491, + 0.1457056850194931, + 2.8645622730255127, + -0.0788169875741005, + 0.08759181946516037 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The lid is currently held above the pot on the right burner, aligned for placement. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next action is to lower the lid onto the pot to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29503384232521057, + -0.07654140889644623, + 0.1473601907491684, + 2.8077526092529297, + -0.10960996896028519, + 0.05069092661142349 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plastic red pepper": [ + 373, + 365, + 467, + 563 + ], + "silver lamp": [ + 473, + 6, + 791, + 444 + ], + "plastic banana": [ + 339, + 6, + 420, + 138 + ], + "plastic carrot": [ + 464, + 312, + 565, + 437 + ], + "metal pot": [ + 623, + 385, + 905, + 735 + ], + "toy kitchen set": [ + 34, + 13, + 979, + 978 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on top of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The lid is currently held above the pot on the right burner, aligned for placement. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next action is to lower the lid onto the pot to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003748_ecot.json b/cot/chunk-0003/episode_0003748_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..db505b079658d8dfd9095e4d7a6304d9bb2cc425 --- /dev/null +++ b/cot/chunk-0003/episode_0003748_ecot.json @@ -0,0 +1,1699 @@ +{ + "task_name": "episode_0003748", + "episode_json": "json/chunk-0003/episode_0003748.json", + "video_path": "videos/chunk-0003/image_0/episode_0003748.mp4", + "instruction": "Move the pot on the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003748.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.9330328106880188, + "std": 0.4204493761062622, + "delta_total": -0.0032911300659179688, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93303, std=0.42045, total_delta=-0.00329). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 8, + 8, + 308, + 308, + 308, + 308, + 308, + 408, + 408, + 408, + 408, + 408, + 408, + 421, + 421, + 221, + 221, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 7 + ], + [ + 3, + 8, + 9 + ], + [ + 4, + 10, + 14 + ], + [ + 5, + 15, + 20 + ], + [ + 6, + 21, + 22 + ], + [ + 7, + 23, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot on left burner\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector from initial position toward the pot located on the left burner, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp pot handle\", \"start\": 8, \"end\": 14, \"planning\": \"Close gripper around the pot’s handle and secure hold, confirmed by meaningful gripper closure and visual alignment.\"},\n {\"id\": 3, \"name\": \"lift and translate pot to right burner\", \"start\": 15, \"end\": 20, \"planning\": \"Lift the pot slightly and move it horizontally across the stove to position above the right burner.\"},\n {\"id\": 4, \"name\": \"place pot on right burner\", \"start\": 21, \"end\": 26, \"planning\": \"Lower the pot onto the right burner and release grip, completing the transfer with stable placement.\"}\n ],\n \"global_plan\": \"The robot approaches the pot on the left burner, grasps its handle, lifts and moves it to the right burner, then places it down securely.\",\n \"notes\": \"Subtask boundaries align with observed motion phases and gripper state changes. Grasping is only asserted where segment-level gripper evidence and imagery confirm meaningful closure (segments 3 and 5). Placement is inferred from downward motion and gripper opening in final segment.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot on left burner", + "start": 0, + "end": 7, + "planning": "Move the end-effector from initial position toward the pot located on the left burner, preparing for contact." + }, + { + "id": 2, + "name": "grasp pot handle", + "start": 8, + "end": 14, + "planning": "Close gripper around the pot’s handle and secure hold, confirmed by meaningful gripper closure and visual alignment." + }, + { + "id": 3, + "name": "lift and translate pot to right burner", + "start": 15, + "end": 20, + "planning": "Lift the pot slightly and move it horizontally across the stove to position above the right burner." + }, + { + "id": 4, + "name": "place pot on right burner", + "start": 21, + "end": 26, + "planning": "Lower the pot onto the right burner and release grip, completing the transfer with stable placement." + } + ], + "global_plan": "The robot approaches the pot on the left burner, grasps its handle, lifts and moves it to the right burner, then places it down securely.", + "notes": "Subtask boundaries align with observed motion phases and gripper state changes. Grasping is only asserted where segment-level gripper evidence and imagery confirm meaningful closure (segments 3 and 5). Placement is inferred from downward motion and gripper opening in final segment." + } + }, + "episode_goal": "Move the pot from the blue towel to the right burner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632412850856781, + 0.11376052349805832, + 0.09672882407903671, + -3.041987180709839, + -0.042540665715932846, + -0.10681977868080139 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "approach pot on left burner", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3599981665611267, + 0.1119016781449318, + 0.08131910860538483, + -3.062753200531006, + -0.006082622334361076, + -0.10620204359292984 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "approach pot on left burner", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34094470739364624, + 0.09486466646194458, + 0.06695589423179626, + -3.112277030944824, + 0.009058664552867413, + -0.14924077689647675 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "approach pot on left burner", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185836374759674, + 0.0743422731757164, + 0.07330094277858734, + -3.135457754135132, + -0.029632657766342163, + -0.24123232066631317 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "approach pot on left burner", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot’s handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29276788234710693, + 0.05815071612596512, + 0.062041617929935455, + 3.132120370864868, + -0.00197248300537467, + -0.3242197036743164 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "approach pot on left burner", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot’s handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 4 cm, close gripper; then move forward 6 cm, move right 7 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817062735557556, + 0.04505874216556549, + 0.04619232937693596, + 3.1243479251861572, + 0.036164477467536926, + -0.3848712742328644 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "approach pot on left burner", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot’s handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 7 cm, move right 11 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28159308433532715, + 0.04112693667411804, + 0.03153996914625168, + 3.1070449352264404, + 0.0562148317694664, + -0.38661932945251465 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "approach pot on left burner", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot’s handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 7 cm, move right 11 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28083014488220215, + 0.04185870289802551, + 0.026690805330872536, + 3.103478193283081, + 0.0683479830622673, + -0.3780570924282074 + ], + "gripper_value": 0.6711689233779907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "approach pot on left burner", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot’s handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 11 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815023958683014, + 0.04295932501554489, + 0.02529316209256649, + 3.110650062561035, + 0.06889858841896057, + -0.3748381733894348 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot’s handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 11 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28019312024116516, + 0.04472949728369713, + 0.021838489919900894, + 3.1190619468688965, + 0.08724908530712128, + -0.3600490391254425 + ], + "gripper_value": 0.15975023806095123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot’s handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 11 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821141183376312, + 0.04669749736785889, + 0.02284645102918148, + -3.13215970993042, + 0.10071584582328796, + -0.3506344258785248 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned near the pot on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to move the gripper closer to the pot’s handle to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 11 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27996671199798584, + 0.04580773040652275, + 0.02388334460556507, + -3.097970962524414, + 0.1331857144832611, + -0.32411542534828186 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the left burner and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the handle. The next action is to complete the grasp and prepare to lift the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 11 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move down 7 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28564953804016113, + 0.0358273945748806, + 0.05445495992898941, + -3.057265520095825, + 0.056603770703077316, + -0.2760007083415985 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the left burner and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the handle. The next action is to complete the grasp and prepare to lift the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 10 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30929091572761536, + 0.00848555937409401, + 0.09228500723838806, + -3.0148773193359375, + -0.06214709207415581, + -0.36524152755737305 + ], + "gripper_value": 0.08022117614746094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the left burner and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the handle. The next action is to complete the grasp and prepare to lift the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33713945746421814, + -0.03184827044606209, + 0.10738328099250793, + -2.9916534423828125, + -0.11892087757587433, + -0.5274680852890015 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the left burner and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the handle. The next action is to complete the grasp and prepare to lift the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 6 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35579824447631836, + -0.06344161927700043, + 0.08929530531167984, + -3.006366491317749, + -0.09534506499767303, + -0.6621925234794617 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tiled wall": [ + 349, + 2, + 997, + 424 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "lift and translate pot to right burner", + "subtask_reasoning": "The robot has approached the pot on the left burner and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the handle. The next action is to complete the grasp and prepare to lift the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 9 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3616044819355011, + -0.0741695836186409, + 0.06711366772651672, + -3.0139949321746826, + -0.04768359661102295, + -0.7003671526908875 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "lift and translate pot to right burner", + "subtask_reasoning": "The robot has approached the pot on the left burner and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the handle. The next action is to complete the grasp and prepare to lift the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 9 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36158686876296997, + -0.07147908955812454, + 0.0399945043027401, + -3.027543306350708, + 0.02430562861263752, + -0.6842318773269653 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "lift and translate pot to right burner", + "subtask_reasoning": "The robot has successfully grasped the pot from the left burner and is currently lifting it. The gripper is closed around the handle, and the pot is elevated above the stove surface. The next action is to translate the pot horizontally toward the right burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 9 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567688465118408, + -0.06385603547096252, + 0.03510824218392372, + -3.008110761642456, + 0.07780175656080246, + -0.6424862146377563 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "lift and translate pot to right burner", + "subtask_reasoning": "The robot has successfully grasped the pot from the left burner and is currently lifting it. The gripper is closed around the handle, and the pot is elevated above the stove surface. The next action is to translate the pot horizontally toward the right burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 9 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34965282678604126, + -0.06182656064629555, + 0.028712544590234756, + -3.016502618789673, + 0.10417650640010834, + -0.6238842606544495 + ], + "gripper_value": 0.10434377193450928 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "lift and translate pot to right burner", + "subtask_reasoning": "The robot has successfully grasped the pot from the left burner and is currently lifting it. The gripper is closed around the handle, and the pot is elevated above the stove surface. The next action is to translate the pot horizontally toward the right burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 9 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3434992730617523, + -0.06460649520158768, + 0.0250695813447237, + -3.048847198486328, + 0.11320380121469498, + -0.6242464780807495 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "lift and translate pot to right burner", + "subtask_reasoning": "The robot has successfully grasped the pot from the left burner and is currently lifting it. The gripper is closed around the handle, and the pot is elevated above the stove surface. The next action is to translate the pot horizontally toward the right burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 9 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34008270502090454, + -0.06681547313928604, + 0.023441417142748833, + -3.066647529602051, + 0.11247754096984863, + -0.597872257232666 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The robot has successfully grasped the pot from the left burner and is currently lifting it. The gripper is closed around the handle, and the pot is elevated above the stove surface. The next action is to translate the pot horizontally toward the right burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412075638771057, + -0.06269973516464233, + 0.0396176278591156, + -3.110875368118286, + 0.057950761169195175, + -0.5553060173988342 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The robot has successfully grasped the pot from the left burner and is currently lifting it. The gripper is closed around the handle, and the pot is elevated above the stove surface. The next action is to translate the pot horizontally toward the right burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424488306045532, + -0.030169202014803886, + 0.08010447770357132, + -3.1179075241088867, + -0.034433260560035706, + -0.39594295620918274 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The pot is currently positioned over the right burner, having been lifted and moved from the left side. The gripper is open, indicating the robot is in the process of releasing or has just released the pot. The next action is to ensure the pot is securely placed on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3334850072860718, + -0.003508063033223152, + 0.09786304831504822, + -3.1087634563446045, + -0.06134308502078056, + -0.26919639110565186 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tiled wall": [ + 351, + 2, + 998, + 425 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The pot is currently positioned over the right burner, having been lifted and moved from the left side. The gripper is open, indicating the robot is in the process of releasing or has just released the pot. The next action is to ensure the pot is securely placed on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3234882652759552, + 0.022322233766317368, + 0.09438928961753845, + -3.111599922180176, + -0.06342266499996185, + -0.20319782197475433 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The pot is currently positioned over the right burner, having been lifted and moved from the left side. The gripper is open, indicating the robot is in the process of releasing or has just released the pot. The next action is to ensure the pot is securely placed on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194093406200409, + 0.02531781978905201, + 0.09094411879777908, + -3.1224184036254883, + -0.06792601943016052, + -0.21472708880901337 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the blue towel to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot on left burner" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and translate pot to right burner" + }, + { + "id": 4, + "subtask": "place pot on right burner" + } + ], + "subtask_name": "place pot on right burner", + "subtask_reasoning": "The pot is currently positioned over the right burner, having been lifted and moved from the left side. The gripper is open, indicating the robot is in the process of releasing or has just released the pot. The next action is to ensure the pot is securely placed on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003749_ecot.json b/cot/chunk-0003/episode_0003749_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7fa1e96454bd023e39002ab21f3cc04f9eea52d1 --- /dev/null +++ b/cot/chunk-0003/episode_0003749_ecot.json @@ -0,0 +1,2287 @@ +{ + "task_name": "episode_0003749", + "episode_json": "json/chunk-0003/episode_0003749.json", + "video_path": "videos/chunk-0003/image_0/episode_0003749.mp4", + "instruction": "Put the chicken drumstick on the right side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003749.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.6843942403793335, + "std": 0.31429389119148254, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.68439, std=0.31429, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 215, + 215, + 215, + 215, + 215, + 215, + 315, + 115, + 115, + 115, + 115, + 326, + 326, + 326, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 14 + ], + [ + 3, + 15, + 20 + ], + [ + 4, + 21, + 21 + ], + [ + 5, + 22, + 25 + ], + [ + 6, + 26, + 28 + ], + [ + 7, + 29, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drumstick on box\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the chicken drumstick resting on the wooden box without grasping.\"},\n {\"id\": 2, \"name\": \"reposition above drumstick\", \"start\": 9, \"end\": 14, \"planning\": \"Adjust position to align gripper directly above the drumstick in preparation for contact.\"},\n {\"id\": 3, \"name\": \"grasp drumstick\", \"start\": 15, \"end\": 20, \"planning\": \"Close gripper to securely grasp the drumstick as confirmed by gripper closure and visual alignment.\"},\n {\"id\": 4, \"name\": \"lift and transport drumstick\", \"start\": 21, \"end\": 21, \"planning\": \"Lift the grasped drumstick slightly and begin moving it toward the target location on the right side of the table.\"},\n {\"id\": 5, \"name\": \"place drumstick on table\", \"start\": 22, \"end\": 25, \"planning\": \"Lower the drumstick onto the table surface and release grip to complete placement.\"},\n {\"id\": 6, \"name\": \"retreat from placed object\", \"start\": 26, \"end\": 28, \"planning\": \"Withdraw end-effector upward and away from the placed drumstick to avoid collision.\"},\n {\"id\": 7, \"name\": \"final idle pose\", \"start\": 29, \"end\": 29, \"planning\": \"Hold final position after completing the task with gripper fully open.\"}\n ],\n \"global_plan\": \"Approach the chicken drumstick on the box, grasp it, lift and move it to the right side of the table, place it down, then retreat and hold final pose.\",\n \"notes\": \"Subtasks are aligned with observed motion segments and gripper evidence; grasp is only used where gripper closure is confirmed (segments 3 and 5). Segment 4 (frame 21) is merged into transport phase as a single-frame transition. Final frame 29 is idle with open gripper.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drumstick on box", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the chicken drumstick resting on the wooden box without grasping." + }, + { + "id": 2, + "name": "reposition above drumstick", + "start": 9, + "end": 14, + "planning": "Adjust position to align gripper directly above the drumstick in preparation for contact." + }, + { + "id": 3, + "name": "grasp drumstick", + "start": 15, + "end": 20, + "planning": "Close gripper to securely grasp the drumstick as confirmed by gripper closure and visual alignment." + }, + { + "id": 4, + "name": "lift and transport drumstick", + "start": 21, + "end": 21, + "planning": "Lift the grasped drumstick slightly and begin moving it toward the target location on the right side of the table." + }, + { + "id": 5, + "name": "place drumstick on table", + "start": 22, + "end": 25, + "planning": "Lower the drumstick onto the table surface and release grip to complete placement." + }, + { + "id": 6, + "name": "retreat from placed object", + "start": 26, + "end": 28, + "planning": "Withdraw end-effector upward and away from the placed drumstick to avoid collision." + }, + { + "id": 7, + "name": "final idle pose", + "start": 29, + "end": 29, + "planning": "Hold final position after completing the task with gripper fully open." + } + ], + "global_plan": "Approach the chicken drumstick on the box, grasp it, lift and move it to the right side of the table, place it down, then retreat and hold final pose.", + "notes": "Subtasks are aligned with observed motion segments and gripper evidence; grasp is only used where gripper closure is confirmed (segments 3 and 5). Segment 4 (frame 21) is merged into transport phase as a single-frame transition. Final frame 29 is idle with open gripper." + } + }, + "episode_goal": "Place the chicken drumstick on the right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36988624930381775, + -0.024376045912504196, + 0.10381396859884262, + 3.1310739517211914, + 0.015241704881191254, + -0.0694086030125618 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the chicken drumstick located on top of the box. No contact has been made yet as the subtask is to approach the object. The next action is to continue moving the end-effector closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 13 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3656274974346161, + -0.024114402011036873, + 0.08969569206237793, + 3.1308069229125977, + 0.05974234268069267, + -0.06788541376590729 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the chicken drumstick located on top of the box. No contact has been made yet as the subtask is to approach the object. The next action is to continue moving the end-effector closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 13 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470616638660431, + -0.02295728586614132, + 0.09258011728525162, + 3.1180942058563232, + 0.08130118250846863, + -0.05209816247224808 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the chicken drumstick located on top of the box. No contact has been made yet as the subtask is to approach the object. The next action is to continue moving the end-effector closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 13 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32684069871902466, + -0.019207453355193138, + 0.11385295540094376, + 3.1316566467285156, + 0.033855218440294266, + -0.04159926250576973 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the chicken drumstick located on top of the box. No contact has been made yet as the subtask is to approach the object. The next action is to continue moving the end-effector closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 13 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039393126964569, + -0.004902107175439596, + 0.13126736879348755, + 3.1312456130981445, + -0.0014394383179023862, + -0.00014104167348705232 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the chicken drumstick visible on the box to the left. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to lower the arm and move the gripper closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28172969818115234, + 0.021000804379582405, + 0.1587211936712265, + 3.112480401992798, + -0.03731410577893257, + 0.028571439906954765 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed toy": [ + 96, + 663, + 327, + 834 + ], + "wooden box": [ + 22, + 26, + 519, + 588 + ] + } + } + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the chicken drumstick visible on the box to the left. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to lower the arm and move the gripper closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654307186603546, + 0.05725718289613724, + 0.17685355246067047, + 3.10880708694458, + -0.06750896573066711, + 0.11478689312934875 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the chicken drumstick visible on the box to the left. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to lower the arm and move the gripper closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2580952048301697, + 0.08453584462404251, + 0.1786028891801834, + 3.0977611541748047, + -0.07634253054857254, + 0.20472531020641327 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the chicken drumstick visible on the box to the left. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to lower the arm and move the gripper closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25430741906166077, + 0.10065101087093353, + 0.1661832481622696, + 3.1199662685394287, + -0.059074413031339645, + 0.24881118535995483 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "approach drumstick on box", + "subtask_reasoning": "The robot is positioned above the table with the chicken drumstick visible on the box to the left. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to lower the arm and move the gripper closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25454363226890564, + 0.10614874213933945, + 0.156539648771286, + -3.134671211242676, + -0.0455208495259285, + 0.2756205201148987 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "reposition above drumstick", + "subtask_reasoning": "The robot is positioned above the table with the chicken drumstick visible on the box to the left. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to lower the arm and move the gripper closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 12 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559078633785248, + 0.1133892685174942, + 0.14225560426712036, + -3.094447374343872, + -0.01860600709915161, + 0.3230985701084137 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "reposition above drumstick", + "subtask_reasoning": "The robot is positioned above the table with the chicken drumstick visible on the box to the left. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to lower the arm and move the gripper closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 18 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2594280242919922, + 0.11823337525129318, + 0.11620122939348221, + -3.055081605911255, + 0.04122447222471237, + 0.3494451344013214 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "reposition above drumstick", + "subtask_reasoning": "The robot is positioned above the chicken drumstick on the box, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 20 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634645402431488, + 0.1223142221570015, + 0.10545604676008224, + -3.0411458015441895, + 0.072964146733284, + 0.35377037525177 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "reposition above drumstick", + "subtask_reasoning": "The robot is positioned above the chicken drumstick on the box, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 20 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666727304458618, + 0.12483969330787659, + 0.10349021852016449, + -3.034072160720825, + 0.07774315029382706, + 0.35159099102020264 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "reposition above drumstick", + "subtask_reasoning": "The robot is positioned above the chicken drumstick on the box, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 20 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2655336260795593, + 0.12623074650764465, + 0.09973055869340897, + -3.0438826084136963, + 0.08153979480266571, + 0.3548436164855957 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "reposition above drumstick", + "subtask_reasoning": "The robot is positioned above the chicken drumstick on the box, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 20 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed; then move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.265932559967041, + 0.12612029910087585, + 0.09931528568267822, + -3.0452616214752197, + 0.07829593867063522, + 0.3564075529575348 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot is positioned above the chicken drumstick on the box, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 20 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed; then move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2652072310447693, + 0.11916600912809372, + 0.10003571212291718, + -3.064094305038452, + 0.0673997551202774, + 0.346448689699173 + ], + "gripper_value": 0.316539466381073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot is positioned above the chicken drumstick on the box, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 20 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed; then move right 1 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26276013255119324, + 0.09948942065238953, + 0.10322140157222748, + -3.099294424057007, + 0.05874772369861603, + 0.31901320815086365 + ], + "gripper_value": 0.316539466381073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot's end-effector is positioned above the chicken drumstick on the box, with gripper closing observed in the segment. The drumstick has not yet been lifted, indicating the grasp is in progress. The next action is to complete the grasp and lift the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 18 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed; then move right 1 cm, move down 4 cm, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26524022221565247, + 0.054205272346735, + 0.10366925597190857, + -3.1280760765075684, + 0.06247865781188011, + 0.22603926062583923 + ], + "gripper_value": 0.316539466381073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot's end-effector is positioned above the chicken drumstick on the box, with gripper closing observed in the segment. The drumstick has not yet been lifted, indicating the grasp is in progress. The next action is to complete the grasp and lift the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed; then move right 1 cm, move down 4 cm, open gripper; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27299508452415466, + 0.009216423146426678, + 0.10011360794305801, + -3.138486623764038, + 0.04591462388634682, + 0.10131405293941498 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink stuffed toy": [ + 95, + 663, + 326, + 834 + ], + "wooden box": [ + 23, + 27, + 476, + 588 + ], + "yellow toy": [ + 652, + 290, + 766, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot's end-effector is positioned above the chicken drumstick on the box, with gripper closing observed in the segment. The drumstick has not yet been lifted, indicating the grasp is in progress. The next action is to complete the grasp and lift the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed; then move right 1 cm, move down 4 cm, open gripper; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27620115876197815, + -0.05048787593841553, + 0.08313165605068207, + -3.1213343143463135, + 0.04839997738599777, + -0.06145291030406952 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot's end-effector is positioned above the chicken drumstick on the box, with gripper closing observed in the segment. The drumstick has not yet been lifted, indicating the grasp is in progress. The next action is to complete the grasp and lift the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed; then move right 1 cm, move down 4 cm, open gripper; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2741776704788208, + -0.07837381213903427, + 0.06367836892604828, + -3.1288225650787354, + 0.07097171247005463, + -0.11994656175374985 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink stuffed toy": [ + 96, + 663, + 324, + 833 + ], + "wooden box": [ + 22, + 25, + 555, + 592 + ] + } + } + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "lift and transport drumstick", + "subtask_reasoning": "The robot's end-effector is positioned above the chicken drumstick on the box, with gripper closing observed in the segment. The drumstick has not yet been lifted, indicating the grasp is in progress. The next action is to complete the grasp and lift the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper closed; then move right 1 cm, move down 4 cm, open gripper; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654816508293152, + -0.08324471116065979, + 0.032610874623060226, + 3.1358630657196045, + 0.09125255048274994, + -0.11375923454761505 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "place drumstick on table", + "subtask_reasoning": "The robot's end-effector is positioned above the chicken drumstick on the box, with gripper closing observed in the segment. The drumstick has not yet been lifted, indicating the grasp is in progress. The next action is to complete the grasp and lift the drumstick." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, open gripper; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26329854130744934, + -0.08525751531124115, + 0.00968108605593443, + 3.1247549057006836, + 0.10684797912836075, + -0.1176084354519844 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "place drumstick on table", + "subtask_reasoning": "The robot is holding the chicken drumstick above the table surface, having completed the approach and lift phases. The gripper is closed around the object, and the arm is positioned to place the drumstick on the right side. The next action is to lower the arm and release the drumstick onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2638891935348511, + -0.08468933403491974, + -0.00024354025663342327, + 3.1273441314697266, + 0.1170026957988739, + -0.12529036402702332 + ], + "gripper_value": 0.32678350806236267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "place drumstick on table", + "subtask_reasoning": "The robot is holding the chicken drumstick above the table surface, having completed the approach and lift phases. The gripper is closed around the object, and the arm is positioned to place the drumstick on the right side. The next action is to lower the arm and release the drumstick onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637117803096771, + -0.08527699112892151, + -0.002308867173269391, + 3.1265459060668945, + 0.12314137071371078, + -0.13191312551498413 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "place drumstick on table", + "subtask_reasoning": "The robot is holding the chicken drumstick above the table surface, having completed the approach and lift phases. The gripper is closed around the object, and the arm is positioned to place the drumstick on the right side. The next action is to lower the arm and release the drumstick onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2607656717300415, + -0.08841505646705627, + -0.002446758793666959, + -3.141294240951538, + 0.13045595586299896, + -0.1455029547214508 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "retreat from placed object", + "subtask_reasoning": "The robot is holding the chicken drumstick above the table surface, having completed the approach and lift phases. The gripper is closed around the object, and the arm is positioned to place the drumstick on the right side. The next action is to lower the arm and release the drumstick onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554384768009186, + -0.0866791233420372, + 0.004849637392908335, + -3.125114917755127, + 0.12959936261177063, + -0.12989187240600586 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "retreat from placed object", + "subtask_reasoning": "The chicken drumstick has been successfully placed on the right side of the table. The robot arm is currently positioned near the object with an open gripper, indicating the placement is complete. The next action is to retreat the arm away from the table to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2504843473434448, + -0.08505688607692719, + 0.033690910786390305, + -3.135268211364746, + 0.06773174554109573, + -0.10058033466339111 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "retreat from placed object", + "subtask_reasoning": "The chicken drumstick has been successfully placed on the right side of the table. The robot arm is currently positioned near the object with an open gripper, indicating the placement is complete. The next action is to retreat the arm away from the table to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24651607871055603, + -0.08419446647167206, + 0.05791168659925461, + 3.137453317642212, + 0.021436277776956558, + -0.092191681265831 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken drumstick on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick on box" + }, + { + "id": 2, + "subtask": "reposition above drumstick" + }, + { + "id": 3, + "subtask": "grasp drumstick" + }, + { + "id": 4, + "subtask": "lift and transport drumstick" + }, + { + "id": 5, + "subtask": "place drumstick on table" + }, + { + "id": 6, + "subtask": "retreat from placed object" + }, + { + "id": 7, + "subtask": "final idle pose" + } + ], + "subtask_name": "final idle pose", + "subtask_reasoning": "The chicken drumstick has been successfully placed on the right side of the table. The robot is currently in a stationary final idle pose with the gripper open, indicating the task is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 29, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003750_ecot.json b/cot/chunk-0003/episode_0003750_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..87f184ccbaf39dafaaf157669a2be0c90dad6835 --- /dev/null +++ b/cot/chunk-0003/episode_0003750_ecot.json @@ -0,0 +1,2572 @@ +{ + "task_name": "episode_0003750", + "episode_json": "json/chunk-0003/episode_0003750.json", + "video_path": "videos/chunk-0003/image_0/episode_0003750.mp4", + "instruction": "Centered the silver pan on the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003750.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9196431636810303, + "std": 0.3485366404056549, + "delta_total": 0.005322873592376709, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91964, std=0.34854, total_delta=0.00532). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 115, + 115, + 215, + 215, + 215, + 215, + 215, + 215, + 223, + 223, + 23, + 23, + 23, + 23, + 23, + 23, + 23, + 23, + 23, + 23 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 14 + ], + [ + 3, + 15, + 16 + ], + [ + 4, + 17, + 22 + ], + [ + 5, + 23, + 24 + ], + [ + 6, + 25, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan handle\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector toward the pan handle without grasping, as gripper remains fully open throughout this segment.\"},\n {\"id\": 2, \"name\": \"close gripper on handle\", \"start\": 9, \"end\": 14, \"planning\": \"Initiate and complete gripper closure around the pan handle, transitioning from open to partially closed state in preparation for manipulation.\"},\n {\"id\": 3, \"name\": \"secure grasp and lift slightly\", \"start\": 15, \"end\": 16, \"planning\": \"Finalize grip on pan handle with significant gripper closure, establishing firm contact necessary for controlled movement.\"},\n {\"id\": 4, \"name\": \"reposition pan over burner\", \"start\": 17, \"end\": 22, \"planning\": \"Drag or slide the pan across the stovetop surface while maintaining grip, adjusting its position toward the left burner center.\"},\n {\"id\": 5, \"name\": \"release pan handle\", \"start\": 23, \"end\": 24, \"planning\": \"Open the gripper to release contact with the pan handle after positioning is complete.\"},\n {\"id\": 6, \"name\": \"retreat from pan\", \"start\": 25, \"end\": 34, \"planning\": \"Withdraw the end-effector away from the pan and stovetop area, completing the centering task without further interaction.\"}\n ],\n \"global_plan\": \"Center the silver pan on the left burner by approaching its handle, securing a grasp, dragging it into position over the target burner, releasing the handle, and retreating.\",\n \"notes\": \"Gripper evidence strictly followed: no grasp terminology used in segments 1 and 6 where gripper shows no meaningful closing; grasp/hold terms applied only in segments 2-4 where gripper closure is confirmed and visually consistent. Segment boundaries respected except merging frames 9-14 into one subtask based on continuous gripper motion trend.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan handle", + "start": 0, + "end": 8, + "planning": "Move the end-effector toward the pan handle without grasping, as gripper remains fully open throughout this segment." + }, + { + "id": 2, + "name": "close gripper on handle", + "start": 9, + "end": 14, + "planning": "Initiate and complete gripper closure around the pan handle, transitioning from open to partially closed state in preparation for manipulation." + }, + { + "id": 3, + "name": "secure grasp and lift slightly", + "start": 15, + "end": 16, + "planning": "Finalize grip on pan handle with significant gripper closure, establishing firm contact necessary for controlled movement." + }, + { + "id": 4, + "name": "reposition pan over burner", + "start": 17, + "end": 22, + "planning": "Drag or slide the pan across the stovetop surface while maintaining grip, adjusting its position toward the left burner center." + }, + { + "id": 5, + "name": "release pan handle", + "start": 23, + "end": 24, + "planning": "Open the gripper to release contact with the pan handle after positioning is complete." + }, + { + "id": 6, + "name": "retreat from pan", + "start": 25, + "end": 34, + "planning": "Withdraw the end-effector away from the pan and stovetop area, completing the centering task without further interaction." + } + ], + "global_plan": "Center the silver pan on the left burner by approaching its handle, securing a grasp, dragging it into position over the target burner, releasing the handle, and retreating.", + "notes": "Gripper evidence strictly followed: no grasp terminology used in segments 1 and 6 where gripper shows no meaningful closing; grasp/hold terms applied only in segments 2-4 where gripper closure is confirmed and visually consistent. Segment boundaries respected except merging frames 9-14 into one subtask based on continuous gripper motion trend." + } + }, + "episode_goal": "Centered the silver pan on the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29003363847732544, + 0.0807667076587677, + 0.12087288498878479, + 2.941072463989258, + -0.08045421540737152, + 0.2233215570449829 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The silver pan is currently positioned on the left burner but is not centered. The robot arm is hovering above the stove, approaching the pan's handle. Since no grasp has occurred yet, the next action is to move the end-effector closer to the handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872619032859802, + 0.08014333248138428, + 0.1106354296207428, + 2.936009645462036, + -0.04755071923136711, + 0.2086833268404007 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The silver pan is currently positioned on the left burner but is not centered. The robot arm is hovering above the stove, approaching the pan's handle. Since no grasp has occurred yet, the next action is to move the end-effector closer to the handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28232693672180176, + 0.09143853932619095, + 0.10437706857919693, + 2.931041717529297, + -0.05370353162288666, + 0.07718493789434433 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The silver pan is currently positioned on the left burner but is not centered. The robot arm is hovering above the stove, approaching the pan's handle. Since no grasp has occurred yet, the next action is to move the end-effector closer to the handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28119993209838867, + 0.11037175357341766, + 0.10001257061958313, + 2.9036238193511963, + -0.08938241750001907, + -0.002590694697573781 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "frying pan": [ + 122, + 228, + 510, + 512 + ], + "blue backsplash": [ + 435, + 2, + 977, + 326 + ], + "white bottle": [ + 49, + 2, + 173, + 191 + ], + "yellow bell pepper": [ + 581, + 373, + 707, + 523 + ], + "blue toy": [ + 419, + 513, + 544, + 672 + ], + "burner grate": [ + 513, + 324, + 783, + 621 + ] + } + } + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The silver pan is currently positioned on the left burner but is not centered. The robot arm is hovering above the stove, approaching the pan's handle. Since no grasp has occurred yet, the next action is to move the end-effector closer to the handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826405167579651, + 0.13359948992729187, + 0.09921910613775253, + 2.893988609313965, + -0.14055727422237396, + -0.0554664246737957 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan visible on the left burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the pan handle to prepare for grasping. The next action should be to continue approaching the pan handle until within grasp range." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29003873467445374, + 0.1553049087524414, + 0.09471790492534637, + 2.884028911590576, + -0.1226421371102333, + -0.07234819233417511 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan visible on the left burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the pan handle to prepare for grasping. The next action should be to continue approaching the pan handle until within grasp range." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2994104027748108, + 0.16845224797725677, + 0.09065146744251251, + 2.9044582843780518, + -0.09943126142024994, + -0.07583796232938766 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan visible on the left burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the pan handle to prepare for grasping. The next action should be to continue approaching the pan handle until within grasp range." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030938506126404, + 0.17622508108615875, + 0.08556836098432541, + 2.909106731414795, + -0.08304625749588013, + -0.09850139915943146 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan visible on the left burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the pan handle to prepare for grasping. The next action should be to continue approaching the pan handle until within grasp range." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024202883243561, + 0.1727825105190277, + 0.07818129658699036, + 2.8721983432769775, + -0.08133585005998611, + -0.15049108862876892 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan visible on the left burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the pan handle to prepare for grasping. The next action should be to continue approaching the pan handle until within grasp range." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043956756591797, + 0.17092332243919373, + 0.07672176510095596, + 2.862361192703247, + -0.1119343638420105, + -0.177484929561615 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan visible on the left burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the pan handle to prepare for grasping. The next action should be to continue approaching the pan handle until within grasp range." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037795424461365, + 0.17052246630191803, + 0.07021120190620422, + 2.870305299758911, + -0.11633754521608353, + -0.1922350823879242 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan visible on the left burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the pan handle to prepare for grasping. The next action should be to continue approaching the pan handle until within grasp range." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3060568869113922, + 0.17017701268196106, + 0.059763502329587936, + 2.8794631958007812, + -0.10849806666374207, + -0.18972179293632507 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned near the handle of the silver pan on the left burner. The gripper is currently open, indicating that the grasp has not yet been secured. The next action is to close the gripper to firmly grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30573102831840515, + 0.17017745971679688, + 0.05453014746308327, + 2.893510103225708, + -0.11533031612634659, + -0.19394493103027344 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned near the handle of the silver pan on the left burner. The gripper is currently open, indicating that the grasp has not yet been secured. The next action is to close the gripper to firmly grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30446499586105347, + 0.16872836649417877, + 0.049552250653505325, + 2.8990390300750732, + -0.11376094818115234, + -0.18928737938404083 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned near the handle of the silver pan on the left burner. The gripper is currently open, indicating that the grasp has not yet been secured. The next action is to close the gripper to firmly grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30499565601348877, + 0.1668889820575714, + 0.04695338010787964, + 2.89030122756958, + -0.10410739481449127, + -0.17149759829044342 + ], + "gripper_value": 0.7001883387565613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned near the handle of the silver pan on the left burner. The gripper is currently open, indicating that the grasp has not yet been secured. The next action is to close the gripper to firmly grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30843913555145264, + 0.1631481945514679, + 0.044180117547512054, + 2.889425039291382, + -0.10231935232877731, + -0.1634673774242401 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "secure grasp and lift slightly", + "subtask_reasoning": "The robot has approached the silver pan's handle and closed the gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the handle, ready to lift. The next action is to lift the pan slightly to confirm a secure grasp before dragging it to the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31042638421058655, + 0.16403186321258545, + 0.0472492054104805, + 2.8882763385772705, + -0.10289548337459564, + -0.15036465227603912 + ], + "gripper_value": 0.18290577828884125 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "frying pan": [ + 188, + 232, + 511, + 508 + ], + "blue backsplash": [ + 435, + 2, + 981, + 324 + ], + "yellow bell pepper": [ + 580, + 373, + 707, + 522 + ], + "white bottle": [ + 48, + 2, + 173, + 193 + ], + "burner grate": [ + 513, + 322, + 782, + 614 + ], + "blue toy": [ + 419, + 513, + 544, + 672 + ] + } + } + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "secure grasp and lift slightly", + "subtask_reasoning": "The robot has approached the silver pan's handle and closed the gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the handle, ready to lift. The next action is to lift the pan slightly to confirm a secure grasp before dragging it to the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138137757778168, + 0.16542232036590576, + 0.049240149557590485, + 2.894535541534424, + -0.11559050530195236, + -0.14073340594768524 + ], + "gripper_value": 0.09143470972776413 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue backsplash": [ + 435, + 2, + 979, + 324 + ], + "yellow bell pepper": [ + 580, + 373, + 707, + 522 + ], + "white bottle": [ + 48, + 2, + 173, + 193 + ], + "frying pan": [ + 121, + 211, + 536, + 485 + ], + "burner grate": [ + 517, + 317, + 784, + 616 + ] + } + } + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "reposition pan over burner", + "subtask_reasoning": "The robot has approached the silver pan's handle and closed the gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the handle, ready to lift. The next action is to lift the pan slightly to confirm a secure grasp before dragging it to the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31960397958755493, + 0.16836872696876526, + 0.05253025144338608, + 2.904926061630249, + -0.13084322214126587, + -0.0965738296508789 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "reposition pan over burner", + "subtask_reasoning": "The robot has approached the silver pan's handle and closed the gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the handle, ready to lift. The next action is to lift the pan slightly to confirm a secure grasp before dragging it to the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3231029212474823, + 0.17139273881912231, + 0.05232243612408638, + 2.9161980152130127, + -0.1552809625864029, + -0.0789443776011467 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "reposition pan over burner", + "subtask_reasoning": "The robot is currently holding the silver pan's handle with the gripper closed, having completed the approach and grasp phases. The pan is positioned near the left burner but requires slight adjustment to be fully centered. The next action involves dragging the pan slightly to align it precisely over the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move up 1 cm, keep gripper open; then move back 2 cm, move right 5 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3264419436454773, + 0.17631301283836365, + 0.04665905237197876, + 2.9075376987457275, + -0.13843531906604767, + -0.04804585501551628 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "reposition pan over burner", + "subtask_reasoning": "The robot is currently holding the silver pan's handle with the gripper closed, having completed the approach and grasp phases. The pan is positioned near the left burner but requires slight adjustment to be fully centered. The next action involves dragging the pan slightly to align it precisely over the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open; then move back 3 cm, move right 8 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32700884342193604, + 0.17807117104530334, + 0.04677455499768257, + 2.9161791801452637, + -0.13739599287509918, + -0.0460636131465435 + ], + "gripper_value": 0.12439525872468948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "reposition pan over burner", + "subtask_reasoning": "The robot is currently holding the silver pan's handle with the gripper closed, having completed the approach and grasp phases. The pan is positioned near the left burner but requires slight adjustment to be fully centered. The next action involves dragging the pan slightly to align it precisely over the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open; then move back 3 cm, move right 10 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.327393114566803, + 0.181503564119339, + 0.04579215869307518, + 2.9370169639587402, + -0.12989695370197296, + -0.036809779703617096 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "reposition pan over burner", + "subtask_reasoning": "The robot is currently holding the silver pan's handle with the gripper closed, having completed the approach and grasp phases. The pan is positioned near the left burner but requires slight adjustment to be fully centered. The next action involves dragging the pan slightly to align it precisely over the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open; then move back 3 cm, move right 11 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284657299518585, + 0.18100400269031525, + 0.04494258761405945, + 2.956984519958496, + -0.11727834492921829, + -0.029351919889450073 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "release pan handle", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is in contact with the handle. The current subtask involves releasing the handle, as the pan is correctly positioned. The next action is to open the gripper to disengage from the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 3 cm, move right 12 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284907639026642, + 0.18440374732017517, + 0.046282846480607986, + 2.9802849292755127, + -0.09142878651618958, + 0.032278936356306076 + ], + "gripper_value": 0.8713903427124023 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "release pan handle", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is in contact with the handle. The current subtask involves releasing the handle, as the pan is correctly positioned. The next action is to open the gripper to disengage from the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 3 cm, move right 12 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3294784724712372, + 0.18525776267051697, + 0.05601085349917412, + 2.9643867015838623, + -0.1414879858493805, + 0.048243049532175064 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is in contact with the handle. The current subtask involves releasing the handle, as the pan is correctly positioned. The next action is to open the gripper to disengage from the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3265392482280731, + 0.18598704040050507, + 0.07978445291519165, + 2.958408832550049, + -0.18315273523330688, + 0.07976136356592178 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is in contact with the handle. The current subtask involves releasing the handle, as the pan is correctly positioned. The next action is to open the gripper to disengage from the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3208655118942261, + 0.1798543483018875, + 0.09341215342283249, + 2.944633960723877, + -0.18327586352825165, + 0.0956047847867012 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is in contact with the handle. The current subtask involves releasing the handle, as the pan is correctly positioned. The next action is to open the gripper to disengage from the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168220818042755, + 0.16689233481884003, + 0.10302676260471344, + 2.9603679180145264, + -0.1711186021566391, + 0.09249772876501083 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is in contact with the handle. The current subtask involves releasing the handle, as the pan is correctly positioned. The next action is to open the gripper to disengage from the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31053054332733154, + 0.1374024897813797, + 0.1101020872592926, + 2.9707090854644775, + -0.1765054166316986, + 0.04234200343489647 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is open and no longer in contact with the pan. The retreat subtask is complete as the end-effector has moved away from the pan after releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3032158315181732, + 0.11014967411756516, + 0.1124080941081047, + 2.9761910438537598, + -0.18131734430789948, + -0.00405634380877018 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "frying pan": [ + 132, + 182, + 549, + 437 + ], + "yellow bell pepper": [ + 579, + 374, + 707, + 522 + ], + "blue toy": [ + 420, + 515, + 542, + 672 + ], + "burner grate": [ + 513, + 317, + 787, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is open and no longer in contact with the pan. The retreat subtask is complete as the end-effector has moved away from the pan after releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977696359157562, + 0.08862088620662689, + 0.10893628001213074, + 2.9926435947418213, + -0.1586511731147766, + -0.029826467856764793 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is open and no longer in contact with the pan. The retreat subtask is complete as the end-effector has moved away from the pan after releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29652848839759827, + 0.07510992139577866, + 0.10477996617555618, + 2.979978322982788, + -0.14122769236564636, + -0.03750200569629669 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is open and no longer in contact with the pan. The retreat subtask is complete as the end-effector has moved away from the pan after releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29874399304389954, + 0.06606820225715637, + 0.10614452511072159, + 2.9757258892059326, + -0.13386692106723785, + -0.04311197251081467 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is open and no longer in contact with the pan. The retreat subtask is complete as the end-effector has moved away from the pan after releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29990822076797485, + 0.06316491961479187, + 0.11223848164081573, + 2.965385675430298, + -0.12232466042041779, + -0.04187620058655739 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Centered the silver pan on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "close gripper on handle" + }, + { + "id": 3, + "subtask": "secure grasp and lift slightly" + }, + { + "id": 4, + "subtask": "reposition pan over burner" + }, + { + "id": 5, + "subtask": "release pan handle" + }, + { + "id": 6, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The silver pan is already centered on the left burner, and the gripper is open and no longer in contact with the pan. The retreat subtask is complete as the end-effector has moved away from the pan after releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003751_ecot.json b/cot/chunk-0003/episode_0003751_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..76b51d82e1e17b0405c2e99ec41f645883a34fb5 --- /dev/null +++ b/cot/chunk-0003/episode_0003751_ecot.json @@ -0,0 +1,2328 @@ +{ + "task_name": "episode_0003751", + "episode_json": "json/chunk-0003/episode_0003751.json", + "video_path": "videos/chunk-0003/image_0/episode_0003751.mp4", + "instruction": "Put out a pitch color toy to right side of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003751.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.4894794821739197, + "std": 0.2259121537208557, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.48948, std=0.22591, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 22 + ], + [ + 2, + 23, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow toy\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector from initial position toward the yellow crescent-shaped toy on the blue cloth.\"},\n {\"id\": 2, \"name\": \"grasp yellow toy\", \"start\": 11, \"end\": 22, \"planning\": \"Close gripper around the yellow toy while maintaining contact and stabilizing pose for lift.\"},\n {\"id\": 3, \"name\": \"lift and transport toy\", \"start\": 23, \"end\": 29, \"planning\": \"Lift the grasped yellow toy and move it rightward across the table toward target placement zone.\"},\n {\"id\": 4, \"name\": \"place toy and release\", \"start\": 30, \"end\": 35, \"planning\": \"Lower toy to table surface at target location, open gripper to release, then retreat upward.\"}\n ],\n \"global_plan\": \"Approach the yellow toy on the blue cloth, grasp it securely, lift and carry it to the right side of the cloth, then place and release it there.\",\n \"notes\": \"Segment 1 shows gripper closing (value drops from 1.0 to 0.51) with motion toward toy — consistent with grasp. Segment 2 shows sustained closed gripper during transport, then opening at end — consistent with place-and-release. All subtasks are contiguous and cover full trajectory [0,35].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow toy", + "start": 0, + "end": 10, + "planning": "Move end-effector from initial position toward the yellow crescent-shaped toy on the blue cloth." + }, + { + "id": 2, + "name": "grasp yellow toy", + "start": 11, + "end": 22, + "planning": "Close gripper around the yellow toy while maintaining contact and stabilizing pose for lift." + }, + { + "id": 3, + "name": "lift and transport toy", + "start": 23, + "end": 29, + "planning": "Lift the grasped yellow toy and move it rightward across the table toward target placement zone." + }, + { + "id": 4, + "name": "place toy and release", + "start": 30, + "end": 35, + "planning": "Lower toy to table surface at target location, open gripper to release, then retreat upward." + } + ], + "global_plan": "Approach the yellow toy on the blue cloth, grasp it securely, lift and carry it to the right side of the cloth, then place and release it there.", + "notes": "Segment 1 shows gripper closing (value drops from 1.0 to 0.51) with motion toward toy — consistent with grasp. Segment 2 shows sustained closed gripper during transport, then opening at end — consistent with place-and-release. All subtasks are contiguous and cover full trajectory [0,35]." + } + }, + "episode_goal": "Place the yellow toy on the right side of the blue cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2611958980560303, + 0.2734041213989258, + 0.13040600717067719, + -3.0706639289855957, + -0.024991685524582863, + 0.7130317091941833 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating readiness to move toward the toy. The next action should involve moving the end effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 7 cm, move down 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613627016544342, + 0.2715465724468231, + 0.11455763131380081, + -3.0823400020599365, + 0.014132813550531864, + 0.7160252928733826 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating readiness to move toward the toy. The next action should involve moving the end effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 7 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27247291803359985, + 0.2589215934276581, + 0.09936178475618362, + 3.1358516216278076, + -0.0033485626336187124, + 0.7150106430053711 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating readiness to move toward the toy. The next action should involve moving the end effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move down 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29201826453208923, + 0.24100224673748016, + 0.08826323598623276, + 3.086003541946411, + -0.045245155692100525, + 0.7105688452720642 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating readiness to move toward the toy. The next action should involve moving the end effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080226182937622, + 0.23208416998386383, + 0.08967125415802002, + 3.0163464546203613, + -0.08536238968372345, + 0.7154817581176758 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating readiness to move toward the toy. The next action should involve moving the end effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3226523697376251, + 0.22424530982971191, + 0.09108912944793701, + 2.980968713760376, + -0.12346988171339035, + 0.7302660942077637 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 6 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3423818349838257, + 0.2116265743970871, + 0.08057552576065063, + 2.979743480682373, + -0.14022321999073029, + 0.7248669266700745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue backpack": [ + 3, + 346, + 453, + 876 + ], + "red hexagonal block": [ + 376, + 760, + 463, + 900 + ], + "cardboard box": [ + 225, + 7, + 995, + 594 + ], + "white object": [ + 838, + 551, + 995, + 647 + ], + "toy banana": [ + 216, + 444, + 336, + 586 + ], + "toy strawberry": [ + 498, + 579, + 651, + 760 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35212987661361694, + 0.20667919516563416, + 0.0689336359500885, + 2.9898836612701416, + -0.15062491595745087, + 0.7353489995002747 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571377694606781, + 0.20296862721443176, + 0.05039096623659134, + 3.0191056728363037, + -0.13845966756343842, + 0.7333954572677612 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3681192994117737, + 0.19903269410133362, + 0.04200543463230133, + 3.040360927581787, + -0.14336949586868286, + 0.7131496667861938 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy banana": [ + 216, + 445, + 336, + 587 + ], + "red hexagonal block": [ + 376, + 761, + 463, + 900 + ], + "blue backpack": [ + 3, + 348, + 452, + 874 + ], + "white object": [ + 838, + 551, + 995, + 647 + ], + "toy strawberry": [ + 497, + 579, + 652, + 760 + ], + "computer monitor": [ + 803, + 22, + 974, + 147 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683430552482605, + 0.19919511675834656, + 0.030723944306373596, + 3.049624443054199, + -0.1316579431295395, + 0.7195683717727661 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "approach yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3703736364841461, + 0.19855642318725586, + 0.027470989152789116, + 3.053006172180176, + -0.12898656725883484, + 0.7385344505310059 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3715645968914032, + 0.19819079339504242, + 0.02634037844836712, + 3.053452491760254, + -0.12636105716228485, + 0.7536339163780212 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716566264629364, + 0.19778650999069214, + 0.0257191751152277, + 3.049440383911133, + -0.1229533702135086, + 0.769161581993103 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.371919184923172, + 0.19580240547657013, + 0.026001328602433205, + 3.040527820587158, + -0.11647243797779083, + 0.7862931489944458 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, close gripper; then move forward 1 cm, move right 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37174826860427856, + 0.19425898790359497, + 0.01806531473994255, + 3.04392671585083, + -0.10084506124258041, + 0.7921783328056335 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot is positioned near the blue cloth with the yellow toy visible on its surface. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the yellow toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, close gripper; then move forward 3 cm, move right 7 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3733723759651184, + 0.195962056517601, + 0.017690414562821388, + 3.042558431625366, + -0.11369705200195312, + 0.8079092502593994 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 5 cm, keep gripper closed; then move forward 5 cm, move right 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3707376718521118, + 0.1959153413772583, + 0.010435807518661022, + 3.053309440612793, + -0.10361313819885254, + 0.812009334564209 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move right 9 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3708125352859497, + 0.19600053131580353, + 0.009826822206377983, + 3.051922082901001, + -0.10603811591863632, + 0.8185850977897644 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move right 11 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3696753680706024, + 0.19468189775943756, + 0.009693981148302555, + 3.0479538440704346, + -0.09397746622562408, + 0.8167805671691895 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 11 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36920520663261414, + 0.19065885245800018, + 0.010287976823747158, + 3.03273606300354, + -0.07427774369716644, + 0.8136156797409058 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 12 cm, move down 6 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3688339293003082, + 0.18634800612926483, + 0.028017353266477585, + 2.9956440925598145, + -0.08846261352300644, + 0.8195912837982178 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 12 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642791509628296, + 0.1845451444387436, + 0.054268356412649155, + 2.959927558898926, + -0.12886296212673187, + 0.8411252498626709 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "grasp yellow toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper closed; then move forward 10 cm, move right 12 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594609797000885, + 0.16736847162246704, + 0.06869783997535706, + 2.981192111968994, + -0.19493325054645538, + 0.8503958582878113 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "lift and transport toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 12 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37109774351119995, + 0.13235405087471008, + 0.07492195069789886, + 2.999417304992676, + -0.22413623332977295, + 0.8015117645263672 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "lift and transport toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 8 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move back 2 cm, move left 3 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3905315101146698, + 0.10039286315441132, + 0.07562816143035889, + 3.0262527465820312, + -0.22988854348659515, + 0.7777469754219055 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "lift and transport toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy on the blue cloth, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper. The next action is to close the gripper to securely grasp the yellow toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move back 5 cm, move left 6 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4127621352672577, + 0.08448179066181183, + 0.06571609526872635, + 3.0411713123321533, + -0.19342897832393646, + 0.7821497321128845 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue backpack": [ + 3, + 350, + 433, + 875 + ], + "red hexagonal block": [ + 376, + 760, + 464, + 899 + ], + "white object": [ + 838, + 551, + 995, + 648 + ], + "toy banana": [ + 372, + 365, + 501, + 544 + ], + "toy strawberry": [ + 499, + 579, + 651, + 758 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "lift and transport toy", + "subtask_reasoning": "The robot has approached and grasped the yellow toy, now lifting it above the blue cloth. The gripper remains closed with no motion indicating release, confirming transport is ongoing. Next, move the toy laterally to the right side of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 5 cm, open gripper; then move back 5 cm, move left 6 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4353165924549103, + 0.08180543780326843, + 0.053446002304553986, + 3.054034948348999, + -0.17036379873752594, + 0.8131304383277893 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "lift and transport toy", + "subtask_reasoning": "The robot has approached and grasped the yellow toy, now lifting it above the blue cloth. The gripper remains closed with no motion indicating release, confirming transport is ongoing. Next, move the toy laterally to the right side of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, open gripper; then move back 5 cm, move left 6 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4537455141544342, + 0.06163651496171951, + 0.03493092581629753, + 3.0828118324279785, + -0.16774867475032806, + 0.7861945033073425 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "lift and transport toy", + "subtask_reasoning": "The robot has approached and grasped the yellow toy, now lifting it above the blue cloth. The gripper remains closed with no motion indicating release, confirming transport is ongoing. Next, move the toy laterally to the right side of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move back 5 cm, move left 6 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4624142646789551, + 0.053341805934906006, + 0.018400123342871666, + 3.106032609939575, + -0.17107760906219482, + 0.774657130241394 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "lift and transport toy", + "subtask_reasoning": "The robot has approached and grasped the yellow toy, now lifting it above the blue cloth. The gripper remains closed with no motion indicating release, confirming transport is ongoing. Next, move the toy laterally to the right side of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 5 cm, move left 6 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.46138307452201843, + 0.05174577981233597, + 0.011009854264557362, + 3.117257833480835, + -0.16164186596870422, + 0.7786769866943359 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "place toy and release", + "subtask_reasoning": "The robot has approached and grasped the yellow toy, now lifting it above the blue cloth. The gripper remains closed with no motion indicating release, confirming transport is ongoing. Next, move the toy laterally to the right side of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.45649033784866333, + 0.0461706779897213, + 0.004227333702147007, + 3.1026601791381836, + -0.12818796932697296, + 0.7783923149108887 + ], + "gripper_value": 0.8922415375709534 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "place toy and release", + "subtask_reasoning": "The robot has approached and grasped the yellow toy, now lifting it above the blue cloth. The gripper remains closed with no motion indicating release, confirming transport is ongoing. Next, move the toy laterally to the right side of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 12 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4547933340072632, + 0.04677137732505798, + 0.019269339740276337, + 3.0637784004211426, + -0.12886545062065125, + 0.7828127145767212 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "place toy and release", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow toy held in the gripper, located to the right of the blue cloth. The gripper is currently closed, indicating the toy is being held. The next action is to lower the arm and open the gripper to release the toy onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4557887613773346, + 0.05862917751073837, + 0.0620848722755909, + 2.9860072135925293, + -0.16896967589855194, + 0.8135054707527161 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy banana": [ + 485, + 446, + 596, + 594 + ], + "blue backpack": [ + 3, + 348, + 451, + 875 + ], + "red hexagonal block": [ + 376, + 762, + 463, + 900 + ], + "computer monitor": [ + 828, + 24, + 979, + 149 + ], + "toy strawberry": [ + 499, + 583, + 652, + 758 + ], + "white object": [ + 838, + 551, + 995, + 647 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "place toy and release", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow toy held in the gripper, located to the right of the blue cloth. The gripper is currently closed, indicating the toy is being held. The next action is to lower the arm and open the gripper to release the toy onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4439031779766083, + 0.07914374023675919, + 0.10781925916671753, + 2.922487258911133, + -0.1999814212322235, + 0.8293399810791016 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "place toy and release", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow toy held in the gripper, located to the right of the blue cloth. The gripper is currently closed, indicating the toy is being held. The next action is to lower the arm and open the gripper to release the toy onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.41432812809944153, + 0.11449308693408966, + 0.12899094820022583, + 3.001629590988159, + -0.18475724756717682, + 0.7863830924034119 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow toy on the right side of the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow toy" + }, + { + "id": 2, + "subtask": "grasp yellow toy" + }, + { + "id": 3, + "subtask": "lift and transport toy" + }, + { + "id": 4, + "subtask": "place toy and release" + } + ], + "subtask_name": "place toy and release", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow toy held in the gripper, located to the right of the blue cloth. The gripper is currently closed, indicating the toy is being held. The next action is to lower the arm and open the gripper to release the toy onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003752_ecot.json b/cot/chunk-0003/episode_0003752_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..309712744d856e9e065dd6faaa64a81cbdf94f53 --- /dev/null +++ b/cot/chunk-0003/episode_0003752_ecot.json @@ -0,0 +1,2799 @@ +{ + "task_name": "episode_0003752", + "episode_json": "json/chunk-0003/episode_0003752.json", + "video_path": "videos/chunk-0003/image_0/episode_0003752.mp4", + "instruction": "Put the pot of spices inside the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003752.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.36849498748779297, + "std": 0.1759880632162094, + "delta_total": -0.3012961149215698, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36849, std=0.17599, total_delta=-0.30130). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 22 + ], + [ + 2, + 23, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spice bottle\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector toward the red spice bottle on the table while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp spice bottle\", \"start\": 11, \"end\": 22, \"planning\": \"Close the gripper around the red spice bottle and secure it for lifting, as confirmed by gripper closure and visual hold.\"},\n {\"id\": 3, \"name\": \"lift and transport to drawer\", \"start\": 23, \"end\": 35, \"planning\": \"Lift the grasped spice bottle and move it horizontally toward the open drawer containing blue material.\"},\n {\"id\": 4, \"name\": \"place spice bottle in drawer\", \"start\": 36, \"end\": 44, \"planning\": \"Lower the spice bottle into the drawer and release the gripper to complete placement, with final gripper opening observed at frame 44.\"}\n ],\n \"global_plan\": \"Approach the red spice bottle, grasp it securely, lift and transport it to the open drawer, then place it inside and release.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.36849) and visual confirmation of grasp at frame 22; Segment 2 maintains grip until final release phase. All subtasks are contiguous and cover full trajectory [0,44].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spice bottle", + "start": 0, + "end": 10, + "planning": "Move the end-effector toward the red spice bottle on the table while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp spice bottle", + "start": 11, + "end": 22, + "planning": "Close the gripper around the red spice bottle and secure it for lifting, as confirmed by gripper closure and visual hold." + }, + { + "id": 3, + "name": "lift and transport to drawer", + "start": 23, + "end": 35, + "planning": "Lift the grasped spice bottle and move it horizontally toward the open drawer containing blue material." + }, + { + "id": 4, + "name": "place spice bottle in drawer", + "start": 36, + "end": 44, + "planning": "Lower the spice bottle into the drawer and release the gripper to complete placement, with final gripper opening observed at frame 44." + } + ], + "global_plan": "Approach the red spice bottle, grasp it securely, lift and transport it to the open drawer, then place it inside and release.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.36849) and visual confirmation of grasp at frame 22; Segment 2 maintains grip until final release phase. All subtasks are contiguous and cover full trajectory [0,44]." + } + }, + "episode_goal": "Place the red spice bottle inside the open wooden drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21656952798366547, + 0.14036951959133148, + 0.05508345738053322, + -3.029453992843628, + 0.15444521605968475, + 0.4327024817466736 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper is open and approaching the bottle. The next action is to move closer to the spice bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2140895128250122, + 0.13871842622756958, + 0.04937244579195976, + -3.0324463844299316, + 0.1742754876613617, + 0.4326017498970032 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper is open and approaching the bottle. The next action is to move closer to the spice bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20965628325939178, + 0.11336537450551987, + 0.04695058986544609, + -3.033454656600952, + 0.12676069140434265, + 0.27013805508613586 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper is open and approaching the bottle. The next action is to move closer to the spice bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2046104371547699, + 0.09706525504589081, + 0.051707398146390915, + -3.0435709953308105, + 0.0910000428557396, + 0.20421826839447021 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy": [ + 144, + 524, + 322, + 846 + ], + "cucumber": [ + 383, + 653, + 564, + 784 + ], + "blue cloth": [ + 492, + 133, + 662, + 283 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper is open and approaching the bottle. The next action is to move closer to the spice bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 2 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19829444587230682, + 0.08594480901956558, + 0.054740626364946365, + -3.069300889968872, + 0.07288476824760437, + 0.1900387704372406 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper is open and approaching the bottle. The next action is to move closer to the spice bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.19227908551692963, + 0.08246301859617233, + 0.05231979861855507, + -3.0788984298706055, + 0.08416113257408142, + 0.19022805988788605 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1865295171737671, + 0.08277115970849991, + 0.048732008785009384, + -3.0985212326049805, + 0.09841249883174896, + 0.1937718391418457 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.17852246761322021, + 0.08591102063655853, + 0.045192863792181015, + -3.100374221801758, + 0.11435006558895111, + 0.2082958221435547 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1706637144088745, + 0.0876416265964508, + 0.04116150364279747, + -3.10224986076355, + 0.12918506562709808, + 0.20925123989582062 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, keep gripper open; then move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1605721414089203, + 0.08698573708534241, + 0.04009350761771202, + -3.1002683639526367, + 0.1307230144739151, + 0.20498348772525787 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cucumber": [ + 384, + 652, + 564, + 784 + ], + "blue cloth": [ + 488, + 133, + 666, + 282 + ], + "red toy": [ + 143, + 589, + 305, + 846 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.150851309299469, + 0.0834927186369896, + 0.03862331062555313, + -3.0961599349975586, + 0.1364453285932541, + 0.19994397461414337 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "approach spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 3 cm, move left 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.14102117717266083, + 0.07974846661090851, + 0.03635242208838463, + -3.0936899185180664, + 0.14131540060043335, + 0.20409776270389557 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.13841445744037628, + 0.07959501445293427, + 0.03392791002988815, + -3.084667205810547, + 0.14060239493846893, + 0.2104000598192215 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.1381353884935379, + 0.08128543198108673, + 0.02787930704653263, + -3.077106237411499, + 0.14907115697860718, + 0.2145925760269165 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.13671226799488068, + 0.0857115238904953, + 0.017718184739351273, + -3.065305471420288, + 0.17335236072540283, + 0.22716467082500458 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.13865695893764496, + 0.09207110106945038, + 0.008341629058122635, + -3.053860902786255, + 0.19370271265506744, + 0.24641837179660797 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot is positioned near the red spice bottle on the table, with the open drawer visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the spice bottle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.14413149654865265, + 0.1004452183842659, + 0.003559315577149391, + -3.0488243103027344, + 0.1951880007982254, + 0.2734307646751404 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.14568288624286652, + 0.10434938967227936, + 0.00036386362626217306, + -3.0478456020355225, + 0.1972421556711197, + 0.29722070693969727 + ], + "gripper_value": 0.6941980719566345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.14433333277702332, + 0.10353831946849823, + 0.0016903489595279098, + -3.054286003112793, + 0.21339793503284454, + 0.3043570816516876 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.1513960063457489, + 0.10379862040281296, + 0.014340899884700775, + -3.0676560401916504, + 0.16368478536605835, + 0.2860625386238098 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1671784669160843, + 0.10408306866884232, + 0.03720932826399803, + -3.079428195953369, + 0.09942710399627686, + 0.2254791408777237 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.19443020224571228, + 0.10437607020139694, + 0.062261901795864105, + -3.0865471363067627, + 0.048460766673088074, + 0.15575450658798218 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 11 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21717044711112976, + 0.10429256409406662, + 0.07791349291801453, + -3.1219429969787598, + 0.02309316210448742, + 0.14817093312740326 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 489, + 132, + 665, + 282 + ], + "cucumber": [ + 384, + 653, + 564, + 783 + ], + "red toy": [ + 159, + 317, + 272, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "grasp spice bottle", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper closed; then move forward 12 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.242670476436615, + 0.09563131630420685, + 0.07914731651544571, + 3.1358375549316406, + 0.049216803163290024, + 0.11590257287025452 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 7 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26016807556152344, + 0.08420459181070328, + 0.09159599989652634, + 3.1131505966186523, + 0.029510224238038063, + 0.09674514085054398 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27416378259658813, + 0.07295209914445877, + 0.10165289789438248, + 3.073246479034424, + 0.03026205115020275, + 0.11109596490859985 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2855857312679291, + 0.06450098007917404, + 0.11768938601016998, + 3.05010724067688, + 0.045375559478998184, + 0.15194429457187653 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2997237741947174, + 0.05815279856324196, + 0.12448874115943909, + 3.0328783988952637, + 0.0836796760559082, + 0.2229905128479004 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cucumber": [ + 384, + 653, + 564, + 784 + ], + "blue cloth": [ + 492, + 134, + 667, + 283 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 2 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31118956208229065, + 0.05240747332572937, + 0.1308668553829193, + 3.0064167976379395, + 0.13318981230258942, + 0.31281784176826477 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot arm is positioned near the red spice bottle on the table, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask involves securing the bottle. The next action is to close the gripper to grasp the spice bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252507150173187, + 0.046844400465488434, + 0.131313294172287, + 2.999281883239746, + 0.1768541932106018, + 0.382198303937912 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3383786380290985, + 0.042068589478731155, + 0.1281696856021881, + 3.030287981033325, + 0.18412624299526215, + 0.4225693941116333 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.353074848651886, + 0.0319327674806118, + 0.11681155115365982, + 3.0456371307373047, + 0.20264844596385956, + 0.44011160731315613 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3635481595993042, + 0.0296314749866724, + 0.10335817188024521, + 3.0570290088653564, + 0.22140304744243622, + 0.4603705108165741 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper closed; then move back 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.37524890899658203, + 0.026112647727131844, + 0.09394294023513794, + 3.0613393783569336, + 0.22424663603305817, + 0.46391794085502625 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3846164643764496, + 0.026852654293179512, + 0.09336195141077042, + 3.061950922012329, + 0.221700519323349, + 0.4891318678855896 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3926127552986145, + 0.029978260397911072, + 0.10059425234794617, + 3.0491747856140137, + 0.19819584488868713, + 0.5118963718414307 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.395576149225235, + 0.03383196145296097, + 0.10436705499887466, + 3.045631170272827, + 0.1886376589536667, + 0.5332115292549133 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3935035169124603, + 0.03365875035524368, + 0.0995463952422142, + 3.0477263927459717, + 0.1965034455060959, + 0.548586905002594 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.38309380412101746, + 0.034656427800655365, + 0.08367511630058289, + 3.077463388442993, + 0.22885863482952118, + 0.5641721487045288 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.36834439635276794, + 0.033086854964494705, + 0.09465852379798889, + 3.074570417404175, + 0.22368460893630981, + 0.5800532698631287 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 492, + 150, + 668, + 283 + ], + "red toy": [ + 556, + 55, + 647, + 247 + ], + "cucumber": [ + 385, + 655, + 564, + 783 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The robot is currently holding the red spice bottle above the table, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the bottle is already secured. The next action is to transport the bottle towards the open wooden drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3612094819545746, + 0.034172285348176956, + 0.09297110885381699, + 3.075378179550171, + 0.2334849089384079, + 0.6119267344474792 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The red spice bottle is currently held by the gripper and positioned directly above the open wooden drawer. The gripper is maintaining a steady hold as it prepares to lower the object. The next action is to release the spice bottle into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.36079493165016174, + 0.03490815311670303, + 0.09316430240869522, + 3.0792882442474365, + 0.23352929949760437, + 0.624363124370575 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The red spice bottle is currently held by the gripper and positioned directly above the open wooden drawer. The gripper is maintaining a steady hold as it prepares to lower the object. The next action is to release the spice bottle into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.36052921414375305, + 0.03490070626139641, + 0.09049291163682938, + 3.080702543258667, + 0.2312309741973877, + 0.6357313990592957 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The red spice bottle is currently held by the gripper and positioned directly above the open wooden drawer. The gripper is maintaining a steady hold as it prepares to lower the object. The next action is to release the spice bottle into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.36050179600715637, + 0.035951074212789536, + 0.09000790864229202, + 3.082467555999756, + 0.22841361165046692, + 0.6357501745223999 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The red spice bottle is currently held by the gripper and positioned directly above the open wooden drawer. The gripper is maintaining a steady hold as it prepares to lower the object. The next action is to release the spice bottle into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.35896652936935425, + 0.040600553154945374, + 0.08977517485618591, + 3.086644172668457, + 0.22418278455734253, + 0.6433227062225342 + ], + "gripper_value": 0.6981924772262573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spice bottle inside the open wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spice bottle" + }, + { + "id": 2, + "subtask": "grasp spice bottle" + }, + { + "id": 3, + "subtask": "lift and transport to drawer" + }, + { + "id": 4, + "subtask": "place spice bottle in drawer" + } + ], + "subtask_name": "place spice bottle in drawer", + "subtask_reasoning": "The red spice bottle is currently held by the gripper and positioned directly above the open wooden drawer. The gripper is maintaining a steady hold as it prepares to lower the object. The next action is to release the spice bottle into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003753_ecot.json b/cot/chunk-0003/episode_0003753_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a59cfdc02251a64c4ec88c0f6b689c79ece644b1 --- /dev/null +++ b/cot/chunk-0003/episode_0003753_ecot.json @@ -0,0 +1,1535 @@ +{ + "task_name": "episode_0003753", + "episode_json": "json/chunk-0003/episode_0003753.json", + "video_path": "videos/chunk-0003/image_0/episode_0003753.mp4", + "instruction": "Pick up green mug.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003753.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.8616330623626709, + "std": 0.3278716206550598, + "delta_total": -0.8378082513809204, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.86163, std=0.32787, total_delta=-0.83781). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 20, + 120, + 120, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 17 + ], + [ + 3, + 18, + 19 + ], + [ + 4, + 20, + 20 + ], + [ + 5, + 21, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green mug\", \"start\": 0, \"end\": 17, \"planning\": \"Move end-effector toward the green mug in the dishwasher rack without closing gripper.\"},\n {\"id\": 2, \"name\": \"make contact with mug handle\", \"start\": 18, \"end\": 20, \"planning\": \"Position gripper around the mug handle and initiate closure to establish contact.\"},\n {\"id\": 3, \"name\": \"secure grip on mug\", \"start\": 21, \"end\": 24, \"planning\": \"Complete gripper closure to firmly grasp the green mug handle for lifting.\"}\n ],\n \"global_plan\": \"Approach the green mug in the dishwasher, make contact with its handle, then secure a firm grip to prepare for lifting.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing before frame 18; grasp wording is only applied from frame 21 onward where segment-level and image evidence align. Frame 20 shows partial closure but not yet stable grasp — treated as transition phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green mug", + "start": 0, + "end": 17, + "planning": "Move end-effector toward the green mug in the dishwasher rack without closing gripper." + }, + { + "id": 2, + "name": "make contact with mug handle", + "start": 18, + "end": 20, + "planning": "Position gripper around the mug handle and initiate closure to establish contact." + }, + { + "id": 3, + "name": "secure grip on mug", + "start": 21, + "end": 24, + "planning": "Complete gripper closure to firmly grasp the green mug handle for lifting." + } + ], + "global_plan": "Approach the green mug in the dishwasher, make contact with its handle, then secure a firm grip to prepare for lifting.", + "notes": "Gripper evidence confirms no meaningful closing before frame 18; grasp wording is only applied from frame 21 onward where segment-level and image evidence align. Frame 20 shows partial closure but not yet stable grasp — treated as transition phase." + } + }, + "episode_goal": "Pick up the green mug from the dishwasher rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25846022367477417, + 0.09525227546691895, + 0.1084401085972786, + -3.131026268005371, + -0.14446833729743958, + -0.23672309517860413 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the green mug visible on the right side. The gripper is currently open and has not yet made contact with the mug. The next action is to move the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 17 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25531071424484253, + 0.0898340716958046, + 0.10142238438129425, + 3.1328396797180176, + -0.11102285981178284, + -0.21451902389526367 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the green mug visible on the right side. The gripper is currently open and has not yet made contact with the mug. The next action is to move the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 17 cm, move down 9 cm, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530277371406555, + 0.071421317756176, + 0.09869500249624252, + 3.1163511276245117, + -0.060390207916498184, + -0.11172239482402802 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the green mug visible on the right side. The gripper is currently open and has not yet made contact with the mug. The next action is to move the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 15 cm, move down 10 cm, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25034233927726746, + 0.04862939193844795, + 0.09184477478265762, + 3.106508493423462, + -0.034903813153505325, + 0.0013328678905963898 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the green mug visible on the right side. The gripper is currently open and has not yet made contact with the mug. The next action is to move the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 14 cm, move down 10 cm, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583715319633484, + 0.01983053609728813, + 0.08950979262590408, + 3.0780816078186035, + -0.057619813829660416, + 0.16697902977466583 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the green mug visible on the right side. The gripper is currently open and has not yet made contact with the mug. The next action is to move the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 11 cm, move down 11 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2745261788368225, + -0.005737501662224531, + 0.08285541087388992, + 3.060140371322632, + -0.057342346757650375, + 0.32356101274490356 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red shirt": [ + 15, + 1, + 365, + 143 + ], + "green mug": [ + 782, + 460, + 976, + 793 + ], + "black mug": [ + 120, + 413, + 295, + 633 + ], + "dishwasher rack": [ + 10, + 11, + 991, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the green mug visible on the right side. The gripper is currently open and has not yet made contact with the mug. The next action is to move the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 10 cm, move down 11 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2919621467590332, + -0.026371479034423828, + 0.07707591354846954, + 3.047816514968872, + -0.07458355277776718, + 0.45237287878990173 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the green mug visible on the right side. The gripper is currently open and has not yet made contact with the mug. The next action is to move the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 11 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080156743526459, + -0.0452122800052166, + 0.06736811250448227, + 3.045430898666382, + -0.08275676518678665, + 0.5368510484695435 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the green mug visible on the right side. The gripper is currently open and has not yet made contact with the mug. The next action is to move the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32279348373413086, + -0.06258409470319748, + 0.05815234035253525, + 3.0660459995269775, + -0.050797443836927414, + 0.5914346575737 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3400377035140991, + -0.0739145576953888, + 0.04585164412856102, + 3.0635058879852295, + -0.015728160738945007, + 0.6663881540298462 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red shirt": [ + 17, + 1, + 364, + 143 + ], + "black mug": [ + 120, + 413, + 295, + 632 + ], + "green mug": [ + 781, + 460, + 974, + 792 + ], + "coffee pot": [ + 628, + 11, + 897, + 475 + ], + "dishwasher rack": [ + 11, + 14, + 991, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.350502610206604, + -0.07704801112413406, + 0.026945630088448524, + 3.0859217643737793, + 0.0014373362064361572, + 0.7175720930099487 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 8 cm, tilt back 10 degrees, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3670681118965149, + -0.08069761097431183, + 0.014762216247618198, + 3.0419576168060303, + -0.011608332395553589, + 0.7643930912017822 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3770969808101654, + -0.08035661280155182, + -0.003250102512538433, + 3.0176355838775635, + -0.03606082499027252, + 0.8329079747200012 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3819206655025482, + -0.08796603232622147, + -0.010517675429582596, + 3.0303494930267334, + -0.03688393533229828, + 0.8523195385932922 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move down 1 cm, keep gripper closed; then move back 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37624868750572205, + -0.09317104518413544, + -0.023527298122644424, + 3.1000781059265137, + -0.01668335497379303, + 0.8433019518852234 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move down 1 cm, keep gripper closed; then move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.371852844953537, + -0.1033320277929306, + -0.026787294074892998, + 3.094675302505493, + -0.02613762766122818, + 0.8126288056373596 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 3 cm, close gripper; then move down 1 cm, keep gripper closed; then move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3658979833126068, + -0.10995153337717056, + -0.03517942875623703, + 3.1105105876922607, + -0.051781751215457916, + 0.7977084517478943 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move down 1 cm, keep gripper closed; then move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3618771731853485, + -0.11291027814149857, + -0.04742473363876343, + 3.1179189682006836, + -0.1003108099102974, + 0.7882426977157593 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "approach green mug", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed; then move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35506439208984375, + -0.11500035971403122, + -0.05561758205294609, + -3.1370692253112793, + -0.11309372633695602, + 0.7722691297531128 + ], + "gripper_value": 0.8990517854690552 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "make contact with mug handle", + "subtask_reasoning": "The robot is positioned near the dishwasher rack with the green mug visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the green mug's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3545413613319397, + -0.11509961634874344, + -0.05916920676827431, + -3.1370010375976562, + -0.12969231605529785, + 0.7917166948318481 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "make contact with mug handle", + "subtask_reasoning": "The robot has approached the green mug in the dishwasher rack and is now positioned near its handle. The gripper is closing, indicating contact or imminent grasp of the handle. Next, secure a firm grip to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35314202308654785, + -0.11460235714912415, + -0.06227664276957512, + -3.1378676891326904, + -0.13670173287391663, + 0.8073510527610779 + ], + "gripper_value": 0.30647560954093933 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "make contact with mug handle", + "subtask_reasoning": "The robot has approached the green mug in the dishwasher rack and is now positioned near its handle. The gripper is closing, indicating contact or imminent grasp of the handle. Next, secure a firm grip to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35163530707359314, + -0.11360979825258255, + -0.06448747962713242, + 3.1377956867218018, + -0.1303931176662445, + 0.819068968296051 + ], + "gripper_value": 0.16078366339206696 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "secure grip on mug", + "subtask_reasoning": "The robot has approached the green mug in the dishwasher rack and is now positioned near its handle. The gripper is closing, indicating contact or imminent grasp of the handle. Next, secure a firm grip to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.35165464878082275, + -0.11159881204366684, + -0.06360999494791031, + 3.1088876724243164, + -0.11451967805624008, + 0.8126190900802612 + ], + "gripper_value": 0.1437794268131256 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "secure grip on mug", + "subtask_reasoning": "The robot has approached and made contact with the green mug's handle in the dishwasher rack. The gripper is currently open (value=0.14378) and positioned near the handle, but has not yet closed to secure a grip. The next action is to close the gripper around the mug handle to establish a firm hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3409608006477356, + -0.11411283910274506, + -0.049730148166418076, + 3.0264220237731934, + -0.08021388202905655, + 0.793606698513031 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dishwasher rack": [ + 70, + 26, + 991, + 992 + ], + "blue jeans": [ + 1, + 3, + 61, + 136 + ], + "green mug": [ + 766, + 500, + 953, + 814 + ], + "black mug": [ + 126, + 411, + 293, + 627 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "secure grip on mug", + "subtask_reasoning": "The robot has approached and made contact with the green mug's handle in the dishwasher rack. The gripper is currently open (value=0.14378) and positioned near the handle, but has not yet closed to secure a grip. The next action is to close the gripper around the mug handle to establish a firm hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33762624859809875, + -0.11317449808120728, + -0.025757307186722755, + 2.9890329837799072, + -0.014457960613071918, + 0.7894910573959351 + ], + "gripper_value": 0.16760419309139252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green mug from the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green mug" + }, + { + "id": 2, + "subtask": "make contact with mug handle" + }, + { + "id": 3, + "subtask": "secure grip on mug" + } + ], + "subtask_name": "secure grip on mug", + "subtask_reasoning": "The robot has approached and made contact with the green mug's handle in the dishwasher rack. The gripper is currently open (value=0.14378) and positioned near the handle, but has not yet closed to secure a grip. The next action is to close the gripper around the mug handle to establish a firm hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003754_ecot.json b/cot/chunk-0003/episode_0003754_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6de90dd6514e8bf15b4d6f1400a61ae070c68c40 --- /dev/null +++ b/cot/chunk-0003/episode_0003754_ecot.json @@ -0,0 +1,2235 @@ +{ + "task_name": "episode_0003754", + "episode_json": "json/chunk-0003/episode_0003754.json", + "video_path": "videos/chunk-0003/image_0/episode_0003754.mp4", + "instruction": "Take the slice from the red pan and place it on the blue napkin.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003754.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.5922220349311829, + "std": 0.272143691778183, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59222, std=0.27214, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 16, + 16, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 328, + 328, + 328, + 328, + 328, + 328, + 328 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 6 + ], + [ + 3, + 7, + 14 + ], + [ + 4, + 15, + 15 + ], + [ + 5, + 16, + 17 + ], + [ + 6, + 18, + 27 + ], + [ + 7, + 28, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red pan\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector from initial position toward the red pan containing the slice.\"},\n {\"id\": 2, \"name\": \"grasp slice in pan\", \"start\": 7, \"end\": 15, \"planning\": \"Close gripper around the slice inside the red pan, confirmed by meaningful gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition over napkin\", \"start\": 16, \"end\": 27, \"planning\": \"Lift the grasped slice and move it horizontally toward the blue napkin while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release slice on napkin\", \"start\": 28, \"end\": 34, \"planning\": \"Open gripper to release the slice onto the blue napkin, confirmed by gripper opening and final placement visible in frame 34.\"}\n ],\n \"global_plan\": \"Approach the red pan, grasp the slice, lift and transport it over the blue napkin, then release it precisely on the napkin surface.\",\n \"notes\": \"Subtask boundaries align with observed motion phases and gripper state changes; grasp/release wording is justified by segment-level gripper evidence and image confirmation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red pan", + "start": 0, + "end": 6, + "planning": "Move the end-effector from initial position toward the red pan containing the slice." + }, + { + "id": 2, + "name": "grasp slice in pan", + "start": 7, + "end": 15, + "planning": "Close gripper around the slice inside the red pan, confirmed by meaningful gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition over napkin", + "start": 16, + "end": 27, + "planning": "Lift the grasped slice and move it horizontally toward the blue napkin while maintaining grip." + }, + { + "id": 4, + "name": "release slice on napkin", + "start": 28, + "end": 34, + "planning": "Open gripper to release the slice onto the blue napkin, confirmed by gripper opening and final placement visible in frame 34." + } + ], + "global_plan": "Approach the red pan, grasp the slice, lift and transport it over the blue napkin, then release it precisely on the napkin surface.", + "notes": "Subtask boundaries align with observed motion phases and gripper state changes; grasp/release wording is justified by segment-level gripper evidence and image confirmation." + } + }, + "episode_goal": "Pick up the yellow slice from the red pan and place it on the blue napkin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615332007408142, + 0.006938667967915535, + 0.112860307097435, + 3.092386245727539, + -0.13694247603416443, + 0.48919934034347534 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "approach red pan", + "subtask_reasoning": "The robot is positioned above the wooden table with the red pan containing a yellow slice visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector towards the red pan to prepare for grasping the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper open; then move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2588421106338501, + 0.007726444862782955, + 0.10547904670238495, + 3.1057960987091064, + -0.11521182954311371, + 0.5154244899749756 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "approach red pan", + "subtask_reasoning": "The robot is positioned above the wooden table with the red pan containing a yellow slice visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector towards the red pan to prepare for grasping the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542385160923004, + 0.02225959487259388, + 0.09868329018354416, + 3.1232047080993652, + -0.12894870340824127, + 0.7670756578445435 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "approach red pan", + "subtask_reasoning": "The robot is positioned above the wooden table with the red pan containing a yellow slice visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the end-effector towards the red pan to prepare for grasping the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 70 degrees, keep gripper open; then move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2512035071849823, + 0.044571880251169205, + 0.0888047143816948, + 3.088076591491699, + -0.15269926190376282, + 1.017745018005371 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 9, + 183, + 899, + 990 + ], + "banana": [ + 257, + 497, + 406, + 581 + ], + "blue cloth": [ + 371, + 269, + 574, + 460 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "approach red pan", + "subtask_reasoning": "The robot is positioned above the red pan containing the yellow slice, with the gripper open and no contact made yet. The subtask of approaching the red pan is nearly complete, as the end-effector is in close proximity. The next action should involve fine-tuning the position to align the gripper with the slice for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25226062536239624, + 0.06845330446958542, + 0.07683982700109482, + 3.0721893310546875, + -0.09875316172838211, + 1.2763948440551758 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "approach red pan", + "subtask_reasoning": "The robot is positioned above the red pan containing the yellow slice, with the gripper open and no contact made yet. The subtask of approaching the red pan is nearly complete, as the end-effector is in close proximity. The next action should involve fine-tuning the position to align the gripper with the slice for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26097357273101807, + 0.07593748718500137, + 0.06875662505626678, + 3.0690014362335205, + -0.07044865936040878, + 1.506203293800354 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "approach red pan", + "subtask_reasoning": "The robot is positioned above the red pan containing the yellow slice, with the gripper open and no contact made yet. The subtask of approaching the red pan is nearly complete, as the end-effector is in close proximity. The next action should involve fine-tuning the position to align the gripper with the slice for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26234471797943115, + 0.0879993587732315, + 0.06142890080809593, + 3.0791258811950684, + -0.07068629562854767, + 1.761568546295166 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "approach red pan", + "subtask_reasoning": "The robot is positioned above the red pan containing the yellow slice, with the gripper open and no contact made yet. The subtask of approaching the red pan is nearly complete, as the end-effector is in close proximity. The next action should involve fine-tuning the position to align the gripper with the slice for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2609999179840088, + 0.09265201538801193, + 0.05587899684906006, + 3.075422525405884, + -0.1311279982328415, + 1.9539787769317627 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot is positioned above the red pan containing the yellow slice, with the gripper open and no contact made yet. The subtask of approaching the red pan is nearly complete, as the end-effector is in close proximity. The next action should involve fine-tuning the position to align the gripper with the slice for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632087767124176, + 0.0933254063129425, + 0.04089130088686943, + 3.118248224258423, + -0.1364591121673584, + 2.015754461288452 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 8, + 211, + 896, + 990 + ], + "blue cloth": [ + 370, + 268, + 574, + 459 + ], + "white door frame": [ + 845, + 377, + 996, + 834 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot is positioned above the red pan containing the yellow slice, with the gripper open and no contact made yet. The subtask of approaching the red pan is nearly complete, as the end-effector is in close proximity. The next action should involve fine-tuning the position to align the gripper with the slice for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617192268371582, + 0.09548989683389664, + 0.03497147560119629, + 3.1352221965789795, + -0.12820884585380554, + 2.0399131774902344 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot is positioned above the red pan containing the yellow slice, with the gripper open and no contact made yet. The subtask of approaching the red pan is nearly complete, as the end-effector is in close proximity. The next action should involve fine-tuning the position to align the gripper with the slice for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26423683762550354, + 0.09595641493797302, + 0.028200287371873856, + 3.141399621963501, + -0.12785901129245758, + 2.0402774810791016 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot is positioned above the red pan containing the yellow slice, with the gripper open and no contact made yet. The subtask of approaching the red pan is nearly complete, as the end-effector is in close proximity. The next action should involve fine-tuning the position to align the gripper with the slice for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26666268706321716, + 0.0961993932723999, + 0.028106415644288063, + 3.124690532684326, + -0.1219697818160057, + 2.0597546100616455 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26570791006088257, + 0.09576378762722015, + 0.022965066134929657, + 3.1311399936676025, + -0.1195870190858841, + 2.065453052520752 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 5 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640191912651062, + 0.09484075754880905, + 0.02115636132657528, + 3.132660388946533, + -0.11461947113275528, + 2.0806925296783447 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 8 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618025541305542, + 0.09498953074216843, + 0.019454462453722954, + 3.134817123413086, + -0.11466997116804123, + 2.091978073120117 + ], + "gripper_value": 0.84995037317276 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 9 cm, move left 2 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26042070984840393, + 0.09399600327014923, + 0.015286451205611229, + -3.1333065032958984, + -0.11446359753608704, + 2.087137460708618 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "grasp slice in pan", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26079997420310974, + 0.09462203830480576, + 0.015323890373110771, + -3.137697219848633, + -0.11674081534147263, + 2.090242624282837 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25918468832969666, + 0.09675407409667969, + 0.015807852149009705, + -3.1346824169158936, + -0.09198781847953796, + 2.1010851860046387 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25272563099861145, + 0.09844307601451874, + 0.04174326732754707, + 3.1212337017059326, + -0.06310558319091797, + 2.120375871658325 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 11, + 215, + 900, + 992 + ], + "blue cloth": [ + 370, + 268, + 574, + 459 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2505028545856476, + 0.10026685893535614, + 0.06178024038672447, + 3.0877349376678467, + -0.02428521029651165, + 2.131075143814087 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25584569573402405, + 0.09845618903636932, + 0.07773463428020477, + 3.0750439167022705, + 0.0113459387794137, + 2.124906539916992 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow slice in the red pan, with the gripper open and ready. The approach phase is complete, and the system is now initiating contact to grasp the slice. The next action is to close the gripper to secure the slice." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2863980829715729, + 0.10493616759777069, + 0.08709215372800827, + 3.0413565635681152, + 0.006233341991901398, + 2.0944368839263916 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 7 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31526070833206177, + 0.109746053814888, + 0.08333764225244522, + 3.0379648208618164, + 0.02225169539451599, + 2.0695860385894775 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move back 3 cm, move right 4 cm, move up 9 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3373093605041504, + 0.11748456954956055, + 0.07328586280345917, + 3.034764289855957, + 0.021919209510087967, + 2.061906576156616 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move back 4 cm, move right 8 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35220691561698914, + 0.11710057407617569, + 0.053982511162757874, + 3.055513381958008, + -0.012762694619596004, + 2.03783917427063 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 6 cm, move right 9 cm, move up 10 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657744526863098, + 0.109209805727005, + 0.03545543551445007, + 3.058901309967041, + -0.035869382321834564, + 2.002058506011963 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move right 9 cm, move up 10 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697585165500641, + 0.10501664876937866, + 0.030757609754800797, + 3.0641732215881348, + -0.03698836266994476, + 2.002587080001831 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move right 9 cm, move up 10 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37236717343330383, + 0.09936745464801788, + 0.030640676617622375, + 3.0657379627227783, + 0.011359548196196556, + 1.9799381494522095 + ], + "gripper_value": 0.48704639077186584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "lift and reposition over napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 6 cm, move right 9 cm, move up 10 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36559537053108215, + 0.10294979065656662, + 0.03031170554459095, + 3.100463390350342, + 0.006279662251472473, + 1.9043643474578857 + ], + "gripper_value": 0.7903241515159607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "release slice on napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move up 10 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620322048664093, + 0.10301912575960159, + 0.03365476056933403, + 3.1170811653137207, + -0.0029442505910992622, + 1.834686517715454 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "release slice on napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3591969609260559, + 0.09571661800146103, + 0.0717591941356659, + 3.0871400833129883, + -0.04048360511660576, + 1.6628714799880981 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "release slice on napkin", + "subtask_reasoning": "The robot has successfully grasped the yellow slice from the red pan and lifted it. It is currently holding the slice above the workspace, positioned near the blue napkin. The next action is to translate the end-effector to center the slice directly over the blue napkin before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 8 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3490265905857086, + 0.08083608001470566, + 0.1004050150513649, + 3.0849316120147705, + -0.07164037972688675, + 1.410071611404419 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "release slice on napkin", + "subtask_reasoning": "The yellow slice is already resting on the blue napkin, indicating the release action has been completed. The gripper is open and positioned above the napkin, confirming no further contact is needed. The subtask is effectively finished, and the next step would be to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393697440624237, + 0.06148718297481537, + 0.11571083217859268, + 3.0394809246063232, + -0.0969170480966568, + 1.1689705848693848 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "release slice on napkin", + "subtask_reasoning": "The yellow slice is already resting on the blue napkin, indicating the release action has been completed. The gripper is open and positioned above the napkin, confirming no further contact is needed. The subtask is effectively finished, and the next step would be to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32381436228752136, + 0.02718019299209118, + 0.12980329990386963, + 3.051154136657715, + -0.14061199128627777, + 0.8970783948898315 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "release slice on napkin", + "subtask_reasoning": "The yellow slice is already resting on the blue napkin, indicating the release action has been completed. The gripper is open and positioned above the napkin, confirming no further contact is needed. The subtask is effectively finished, and the next step would be to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041209876537323, + 0.010761668905615807, + 0.13413000106811523, + 3.0477538108825684, + -0.12156008929014206, + 0.6787013411521912 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 11, + 183, + 897, + 993 + ], + "banana": [ + 371, + 309, + 506, + 390 + ], + "white door frame": [ + 844, + 377, + 996, + 834 + ], + "blue cloth": [ + 369, + 269, + 574, + 458 + ], + "blue brush": [ + 586, + 376, + 864, + 470 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow slice from the red pan and place it on the blue napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pan" + }, + { + "id": 2, + "subtask": "grasp slice in pan" + }, + { + "id": 3, + "subtask": "lift and reposition over napkin" + }, + { + "id": 4, + "subtask": "release slice on napkin" + } + ], + "subtask_name": "release slice on napkin", + "subtask_reasoning": "The yellow slice is already resting on the blue napkin, indicating the release action has been completed. The gripper is open and positioned above the napkin, confirming no further contact is needed. The subtask is effectively finished, and the next step would be to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003755_ecot.json b/cot/chunk-0003/episode_0003755_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2d8c066101834a46ba24b425b00d586f6f07c2ec --- /dev/null +++ b/cot/chunk-0003/episode_0003755_ecot.json @@ -0,0 +1,5142 @@ +{ + "task_name": "episode_0003755", + "episode_json": "json/chunk-0003/episode_0003755.json", + "video_path": "videos/chunk-0003/image_0/episode_0003755.mp4", + "instruction": "Put pot or pan on stove and put potato in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 66, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003755.json" + }, + "fps": 5.0, + "T_eff": 66, + "gripper_behavior_summary": { + "available": true, + "range": 0.9403892159461975, + "std": 0.37234774231910706, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94039, std=0.37235, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 109, + 109, + 509, + 509, + 509, + 509, + 509, + 509, + 509, + 509, + 509, + 609, + 609, + 609, + 609, + 609, + 609, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 426, + 426, + 426, + 426, + 426, + 426, + 426, + 426, + 426, + 226, + 226, + 226, + 226 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 8 + ], + [ + 3, + 9, + 10 + ], + [ + 4, + 11, + 19 + ], + [ + 5, + 20, + 25 + ], + [ + 6, + 26, + 37 + ], + [ + 7, + 38, + 52 + ], + [ + 8, + 53, + 61 + ], + [ + 9, + 62, + 65 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach stove area\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the stove region to prepare for pot interaction.\"},\n {\"id\": 2, \"name\": \"reposition near pot\", \"start\": 9, \"end\": 10, \"planning\": \"Fine-tune position above or beside the pot without grasping, based on open gripper and minimal motion.\"},\n {\"id\": 3, \"name\": \"grasp and lift pot\", \"start\": 11, \"end\": 19, \"planning\": \"Close gripper around pot handle and lift it slightly, confirmed by low gripper value and upward motion in frames 11–19.\"},\n {\"id\": 4, \"name\": \"place pot on burner\", \"start\": 20, \"end\": 25, \"planning\": \"Lower pot onto stove burner and release grip, transitioning from held to placed state.\"},\n {\"id\": 5, \"name\": \"retreat and reposition for potato\", \"start\": 26, \"end\": 37, \"planning\": \"Open gripper fully and move away from pot, then reposition toward potato location as shown by high gripper value and lateral motion.\"},\n {\"id\": 6, \"name\": \"approach potato\", \"start\": 38, \"end\": 52, \"planning\": \"Navigate end-effector to vicinity of potato on counter, preparing for pickup.\"},\n {\"id\": 7, \"name\": \"grasp and lift potato\", \"start\": 53, \"end\": 61, \"planning\": \"Close gripper around potato and lift it, supported by gripper closure evidence and vertical motion in this segment.\"},\n {\"id\": 8, \"name\": \"drop potato into pot\", \"start\": 62, \"end\": 65, \"planning\": \"Move potato over pot and release it, confirmed by open gripper and final position above pot in frame 65.\"}\n ],\n \"global_plan\": \"First, reposition and grasp the pot, place it on the stove burner, then retreat, approach the potato, grasp and lift it, and finally drop it into the pot.\",\n \"notes\": \"Subtasks align with observed gripper states and motion segments; grasp actions only used where gripper closure and image evidence agree (segments 3, 5, 7). Segments 1, 2, 4, 6, 8 use contact-based or positioning language per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach stove area", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the stove region to prepare for pot interaction." + }, + { + "id": 2, + "name": "reposition near pot", + "start": 9, + "end": 10, + "planning": "Fine-tune position above or beside the pot without grasping, based on open gripper and minimal motion." + }, + { + "id": 3, + "name": "grasp and lift pot", + "start": 11, + "end": 19, + "planning": "Close gripper around pot handle and lift it slightly, confirmed by low gripper value and upward motion in frames 11–19." + }, + { + "id": 4, + "name": "place pot on burner", + "start": 20, + "end": 25, + "planning": "Lower pot onto stove burner and release grip, transitioning from held to placed state." + }, + { + "id": 5, + "name": "retreat and reposition for potato", + "start": 26, + "end": 37, + "planning": "Open gripper fully and move away from pot, then reposition toward potato location as shown by high gripper value and lateral motion." + }, + { + "id": 6, + "name": "approach potato", + "start": 38, + "end": 52, + "planning": "Navigate end-effector to vicinity of potato on counter, preparing for pickup." + }, + { + "id": 7, + "name": "grasp and lift potato", + "start": 53, + "end": 61, + "planning": "Close gripper around potato and lift it, supported by gripper closure evidence and vertical motion in this segment." + }, + { + "id": 8, + "name": "drop potato into pot", + "start": 62, + "end": 65, + "planning": "Move potato over pot and release it, confirmed by open gripper and final position above pot in frame 65." + } + ], + "global_plan": "First, reposition and grasp the pot, place it on the stove burner, then retreat, approach the potato, grasp and lift it, and finally drop it into the pot.", + "notes": "Subtasks align with observed gripper states and motion segments; grasp actions only used where gripper closure and image evidence agree (segments 3, 5, 7). Segments 1, 2, 4, 6, 8 use contact-based or positioning language per anti-hallucination rules." + } + }, + "episode_goal": "Place the pot on the stove burner and put the potato inside the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571784794330597, + 0.0006426317850127816, + 0.12809978425502777, + -2.9796719551086426, + -0.15740180015563965, + -0.03866620361804962 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already placed on the burner. The gripper is open and no object is being held. The next action is to move the gripper closer to the potato on the counter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 9 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35567498207092285, + 0.0005705662770196795, + 0.1154145821928978, + -2.9802165031433105, + -0.13179832696914673, + -0.03676329180598259 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already placed on the burner. The gripper is open and no object is being held. The next action is to move the gripper closer to the potato on the counter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 7 cm, tilt back 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35985562205314636, + -7.250691123772413e-05, + 0.08802654594182968, + -2.9890477657318115, + -0.1898583322763443, + -0.046770140528678894 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 349, + 150, + 592, + 370 + ], + "faucet": [ + 124, + 3, + 261, + 178 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already placed on the burner. The gripper is open and no object is being held. The next action is to move the gripper closer to the potato on the counter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36336347460746765, + 0.0023112045601010323, + 0.06921166926622391, + -2.9804623126983643, + -0.2276206612586975, + -0.05704976245760918 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already placed on the burner. The gripper is open and no object is being held. The next action is to move the gripper closer to the potato on the counter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639465272426605, + 0.0069228229112923145, + 0.06318098306655884, + -2.9704463481903076, + -0.2556375563144684, + -0.06788789480924606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned above the stove with a pot already placed on the burner. The gripper is open and no grasping action is occurring. The next step is to retreat from the stove area to prepare for approaching the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move right 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613443076610565, + 0.012289890088140965, + 0.05762812867760658, + -2.963594913482666, + -0.25960642099380493, + -0.07415446639060974 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned above the stove with a pot already placed on the burner. The gripper is open and no grasping action is occurring. The next step is to retreat from the stove area to prepare for approaching the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move right 5 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3609614968299866, + 0.014009623788297176, + 0.05419516563415527, + -2.960360288619995, + -0.27588796615600586, + -0.06700987368822098 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned above the stove with a pot already placed on the burner. The gripper is open and no grasping action is occurring. The next step is to retreat from the stove area to prepare for approaching the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move right 7 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3586947023868561, + 0.012392647564411163, + 0.04960166662931442, + -2.961649179458618, + -0.2880462408065796, + -0.04558973386883736 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned above the stove with a pot already placed on the burner. The gripper is open and no grasping action is occurring. The next step is to retreat from the stove area to prepare for approaching the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move right 10 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35681501030921936, + 0.008630910888314247, + 0.04321472346782684, + -2.9530203342437744, + -0.2724810838699341, + -0.007335377857089043 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned above the stove with a pot already placed on the burner. The gripper is open and no grasping action is occurring. The next step is to retreat from the stove area to prepare for approaching the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 12 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35453903675079346, + 0.006790649611502886, + 0.04223627597093582, + -2.947455883026123, + -0.256343275308609, + -0.014936089515686035 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 13 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34939298033714294, + 0.00812564231455326, + 0.04310036823153496, + -2.973599672317505, + -0.19425944983959198, + -0.058279599994421005 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 2 cm, move right 13 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35109519958496094, + 0.01451026275753975, + 0.04772430285811424, + -2.973001003265381, + -0.1779281347990036, + -0.07786761969327927 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571471571922302, + 0.01640266738831997, + 0.05893281474709511, + -2.9699809551239014, + -0.16788429021835327, + -0.09543775022029877 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589671850204468, + 0.014066936448216438, + 0.07392175495624542, + -2.950381278991699, + -0.12765644490718842, + -0.10030670464038849 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3545853793621063, + -0.0032655280083417892, + 0.09578102082014084, + -2.92453932762146, + -0.09245014190673828, + -0.06261996179819107 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34604400396347046, + -0.033453892916440964, + 0.11569593101739883, + -2.8978066444396973, + -0.06849877536296844, + -0.04891866818070412 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3343750834465027, + -0.059609007090330124, + 0.11742082983255386, + -2.8689160346984863, + -0.04904588684439659, + -0.026466021314263344 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3266664445400238, + -0.08182644844055176, + 0.1179727166891098, + -2.850839376449585, + -0.06336162984371185, + -0.008106035180389881 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 124, + 3, + 260, + 178 + ], + "pot": [ + 491, + 57, + 761, + 324 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 4 cm, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32404300570487976, + -0.10107198357582092, + 0.11472153663635254, + -2.8508141040802, + -0.11870237439870834, + 0.01352780219167471 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 4 cm, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32565972208976746, + -0.11346931755542755, + 0.10569684952497482, + -2.8790383338928223, + -0.1797773838043213, + 0.024101482704281807 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 4 cm, open gripper; then move back 2 cm, move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314310610294342, + -0.11676175892353058, + 0.08979309350252151, + -2.8930294513702393, + -0.21540731191635132, + 0.02593647688627243 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, open gripper; then move back 3 cm, move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3397204875946045, + -0.1225547268986702, + 0.0738634392619133, + -2.9043071269989014, + -0.24524222314357758, + 0.033655885607004166 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The robot is positioned above the stove where a pot is already sitting on a burner. The gripper is open and hovering near the pot handle, indicating the approach phase is complete. The next action is to close the gripper to grasp the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move back 3 cm, move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34427833557128906, + -0.1294100433588028, + 0.05366624891757965, + -2.910247325897217, + -0.2565085291862488, + 0.053480908274650574 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 612, + 218, + 865, + 534 + ], + "faucet": [ + 124, + 4, + 259, + 178 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 3 cm, move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34865930676460266, + -0.1353902965784073, + 0.04710756242275238, + -2.915956974029541, + -0.2764589786529541, + 0.07545700669288635 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35153526067733765, + -0.13675826787948608, + 0.04360809549689293, + -2.9092910289764404, + -0.2836388051509857, + 0.06935741752386093 + ], + "gripper_value": 0.09851961582899094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 4 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35423794388771057, + -0.13819947838783264, + 0.04871632531285286, + -2.9089393615722656, + -0.2791823446750641, + 0.059480346739292145 + ], + "gripper_value": 0.27019456028938293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 6 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3433440327644348, + -0.13380271196365356, + 0.049850430339574814, + -2.8776776790618896, + -0.20578135550022125, + 0.054861173033714294 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353078067302704, + -0.13095548748970032, + 0.08302939683198929, + -2.8865163326263428, + -0.18123272061347961, + 0.05444897338747978 + ], + "gripper_value": 0.8562611937522888 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3256016969680786, + -0.12465959787368774, + 0.10131678730249405, + -2.869441032409668, + -0.1439671665430069, + 0.04796152561903 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31864774227142334, + -0.12139128893613815, + 0.11673633754253387, + -2.8615052700042725, + -0.12950612604618073, + 0.016112057492136955 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.318066269159317, + -0.12128060311079025, + 0.11928028613328934, + -2.8643369674682617, + -0.13178233802318573, + 0.013464055024087429 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is currently held by the gripper and positioned directly above the stove burner. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31782281398773193, + -0.12081151455640793, + 0.11885073035955429, + -2.864854097366333, + -0.12972375750541687, + 0.015518653206527233 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3179394006729126, + -0.12146588414907455, + 0.1192106306552887, + -2.8656210899353027, + -0.13105595111846924, + 0.01408439502120018 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.317391037940979, + -0.1220879927277565, + 0.11892035603523254, + -2.8653383255004883, + -0.13422705233097076, + 0.023692043498158455 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006821274757385, + -0.12968595325946808, + 0.10639546811580658, + -2.8308095932006836, + -0.14616625010967255, + 0.09367707371711731 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.28222379088401794, + -0.13888782262802124, + 0.09576443582773209, + -2.8330838680267334, + -0.18552981317043304, + 0.12259689718484879 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2647079527378082, + -0.14123903214931488, + 0.07773319631814957, + -2.853411912918091, + -0.19988363981246948, + 0.14838571846485138 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 125, + 4, + 260, + 178 + ], + "pot": [ + 634, + 272, + 879, + 566 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, keep gripper open; then move right 4 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.25311505794525146, + -0.14903464913368225, + 0.06232304871082306, + -2.885920763015747, + -0.23950588703155518, + 0.1933186799287796 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "retreat and reposition for potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move right 4 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.24180187284946442, + -0.1570216715335846, + 0.05300647020339966, + -2.905334949493408, + -0.2619243860244751, + 0.21016497910022736 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 636, + 266, + 893, + 541 + ], + "faucet": [ + 124, + 4, + 260, + 178 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.23497164249420166, + -0.16443420946598053, + 0.048436786979436874, + -2.9259681701660156, + -0.28693142533302307, + 0.22350074350833893 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.23143009841442108, + -0.17013762891292572, + 0.0503227561712265, + -2.933434009552002, + -0.3002863824367523, + 0.24963730573654175 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.23075467348098755, + -0.1769278645515442, + 0.052503280341625214, + -2.9546587467193604, + -0.3171670436859131, + 0.27689260244369507 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.23101097345352173, + -0.18468962609767914, + 0.045419007539749146, + -2.963573455810547, + -0.33248233795166016, + 0.29955151677131653 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.23180778324604034, + -0.1897314190864563, + 0.04036770015954971, + -2.9780404567718506, + -0.35592344403266907, + 0.3102547824382782 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.23194055259227753, + -0.19294308125972748, + 0.03342900425195694, + -2.9760563373565674, + -0.37836721539497375, + 0.3145654499530792 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2331579625606537, + -0.19542844593524933, + 0.024415798485279083, + -2.973576784133911, + -0.40417566895484924, + 0.3204289376735687 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, close gripper; then move forward 4 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.23798006772994995, + -0.19664546847343445, + 0.013523368164896965, + -2.9758880138397217, + -0.4311645030975342, + 0.31807035207748413 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 4 cm, close gripper; then move forward 7 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.24181988835334778, + -0.20037226378917694, + 0.00851651094853878, + -3.0022132396698, + -0.4417860805988312, + 0.3167099356651306 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, keep gripper closed; then move forward 8 cm, move left 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.24940602481365204, + -0.19982877373695374, + 0.007805138360708952, + -3.022737503051758, + -0.4612334370613098, + 0.31270670890808105 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, keep gripper closed; then move forward 10 cm, move left 6 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.25281572341918945, + -0.1967504918575287, + 0.006743216421455145, + -3.0204808712005615, + -0.4644058644771576, + 0.29491862654685974 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 4 cm, keep gripper closed; then move forward 11 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521532475948334, + -0.19389615952968597, + 0.006431530695408583, + -3.0133042335510254, + -0.4617087244987488, + 0.28054890036582947 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 4 cm, keep gripper closed; then move forward 11 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.24980050325393677, + -0.19026829302310944, + 0.008288754150271416, + -2.995372772216797, + -0.4404500722885132, + 0.27716419100761414 + ], + "gripper_value": 0.6791892647743225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, keep gripper closed; then move forward 10 cm, move left 6 cm, move up 2 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.24557699263095856, + -0.18170425295829773, + 0.022066490724682808, + -2.9808743000030518, + -0.41702544689178467, + 0.2714744806289673 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper closed; then move forward 9 cm, move left 6 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 52 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.24480459094047546, + -0.17176686227321625, + 0.04894186556339264, + -2.981201410293579, + -0.3740757405757904, + 0.2739613652229309 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move up 3 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.25690069794654846, + -0.16319990158081055, + 0.0668148398399353, + -2.983466148376465, + -0.3362182378768921, + 0.26897335052490234 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 632, + 265, + 894, + 556 + ], + "faucet": [ + 124, + 4, + 261, + 179 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move up 1 cm, open gripper; then move left 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815260589122772, + -0.15223687887191772, + 0.08017393946647644, + -3.0086514949798584, + -0.3404565453529358, + 0.2628706097602844 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 1 cm, open gripper; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109098970890045, + -0.13855741918087006, + 0.09201524406671524, + -3.038971424102783, + -0.36152032017707825, + 0.265694797039032 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 633, + 273, + 847, + 561 + ], + "faucet": [ + 124, + 4, + 262, + 179 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is successfully placed on the stove burner, and the robot has retreated to a neutral position above the stove. The gripper is currently open, indicating readiness to move toward the next target. The robot needs to approach the potato located on the counter to the right to proceed with the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, open gripper; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3282870650291443, + -0.12666518986225128, + 0.08913839608430862, + -3.0452935695648193, + -0.35428354144096375, + 0.25761592388153076 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is already placed on the stove burner. The robot is currently holding a potato above the pot, having successfully grasped and lifted it. The next action is to release the potato so it drops into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, open gripper; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424570858478546, + -0.1164349615573883, + 0.08702180534601212, + -3.0585484504699707, + -0.3598780632019043, + 0.2505490779876709 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is already placed on the stove burner. The robot is currently holding a potato above the pot, having successfully grasped and lifted it. The next action is to release the potato so it drops into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3514820635318756, + -0.10853233188390732, + 0.0824378952383995, + -3.072725296020508, + -0.37005871534347534, + 0.243137389421463 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is already placed on the stove burner. The robot is currently holding a potato above the pot, having successfully grasped and lifted it. The next action is to release the potato so it drops into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3527540862560272, + -0.10909304767847061, + 0.07517586648464203, + -3.0821471214294434, + -0.3856627643108368, + 0.23705685138702393 + ], + "gripper_value": 0.7565051317214966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is already placed on the stove burner. The robot is currently holding a potato above the pot, having successfully grasped and lifted it. The next action is to release the potato so it drops into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3476138710975647, + -0.11105044186115265, + 0.07304975390434265, + -3.0714972019195557, + -0.3674807548522949, + 0.24836571514606476 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The pot is already placed on the stove burner. The robot is currently holding a potato above the pot, having successfully grasped and lifted it. The next action is to release the potato so it drops into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 61 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 61 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357973098754883, + -0.10794064402580261, + 0.0744415894150734, + -3.042766571044922, + -0.3047669529914856, + 0.2416381537914276 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "drop potato into pot", + "subtask_reasoning": "The pot is already placed on the stove burner. The robot is currently holding a potato above the pot, having successfully grasped and lifted it. The next action is to release the potato so it drops into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 62, + "end": 65 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3361203670501709, + -0.09663767367601395, + 0.08781304955482483, + -3.052313804626465, + -0.30503028631210327, + 0.204852893948555 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "drop potato into pot", + "subtask_reasoning": "The potato is currently held above the pot on the stove, with the gripper open. The robot has successfully positioned the potato over the target container. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 62, + "end": 65 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.34041649103164673, + -0.0752393901348114, + 0.08786632865667343, + -3.044184923171997, + -0.27928271889686584, + 0.16471943259239197 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "drop potato into pot", + "subtask_reasoning": "The potato is currently held above the pot on the stove, with the gripper open. The robot has successfully positioned the potato over the target container. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 62, + "end": 65 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451911509037018, + -0.05463029444217682, + 0.08689936250448227, + -3.0432353019714355, + -0.26426100730895996, + 0.12477335333824158 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the potato inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "retreat and reposition for potato" + }, + { + "id": 6, + "subtask": "approach potato" + }, + { + "id": 7, + "subtask": "grasp and lift potato" + }, + { + "id": 8, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "drop potato into pot", + "subtask_reasoning": "The potato is currently held above the pot on the stove, with the gripper open. The robot has successfully positioned the potato over the target container. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 62, + "end": 65 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003757_ecot.json b/cot/chunk-0003/episode_0003757_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9e10177f8d3a34f1e23085868aff924dd842d32d --- /dev/null +++ b/cot/chunk-0003/episode_0003757_ecot.json @@ -0,0 +1,1657 @@ +{ + "task_name": "episode_0003757", + "episode_json": "json/chunk-0003/episode_0003757.json", + "video_path": "videos/chunk-0003/image_0/episode_0003757.mp4", + "instruction": "Put lemon on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003757.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.16044753789901733, + "std": 0.07626450061798096, + "delta_total": 0.003178119659423828, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.16045, std=0.07626, total_delta=0.00318). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lemon in drawer\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector from initial position toward the lemon inside the open drawer.\"},\n {\"id\": 2, \"name\": \"grasp lemon\", \"start\": 8, \"end\": 17, \"planning\": \"Close gripper around lemon and secure hold as confirmed by gripper value drop and visual confirmation at frame 17.\"},\n {\"id\": 3, \"name\": \"lift and transport lemon to plate\", \"start\": 18, \"end\": 23, \"planning\": \"Lift lemon from drawer and move it horizontally toward the red plate on the counter while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release lemon onto plate\", \"start\": 24, \"end\": 24, \"planning\": \"Open gripper to release lemon onto the plate, confirmed by gripper value increase and final image showing lemon resting on plate.\"}\n ],\n \"global_plan\": \"Approach lemon in drawer, grasp it securely, lift and transport to plate, then release onto plate.\",\n \"notes\": \"Gripper evidence supports grasp during segment 1 (frames 8-17) with significant closure (delta=-0.15727) and visual confirmation at frame 17. Segment 2 shows release at frame 24 via gripper opening (delta=+0.16045) and final image. All subtasks are contiguous and cover full trajectory [0,24].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lemon in drawer", + "start": 0, + "end": 7, + "planning": "Move end-effector from initial position toward the lemon inside the open drawer." + }, + { + "id": 2, + "name": "grasp lemon", + "start": 8, + "end": 17, + "planning": "Close gripper around lemon and secure hold as confirmed by gripper value drop and visual confirmation at frame 17." + }, + { + "id": 3, + "name": "lift and transport lemon to plate", + "start": 18, + "end": 23, + "planning": "Lift lemon from drawer and move it horizontally toward the red plate on the counter while maintaining grip." + }, + { + "id": 4, + "name": "release lemon onto plate", + "start": 24, + "end": 24, + "planning": "Open gripper to release lemon onto the plate, confirmed by gripper value increase and final image showing lemon resting on plate." + } + ], + "global_plan": "Approach lemon in drawer, grasp it securely, lift and transport to plate, then release onto plate.", + "notes": "Gripper evidence supports grasp during segment 1 (frames 8-17) with significant closure (delta=-0.15727) and visual confirmation at frame 17. Segment 2 shows release at frame 24 via gripper opening (delta=+0.16045) and final image. All subtasks are contiguous and cover full trajectory [0,24]." + } + }, + "episode_goal": "Pick up the lemon from the drawer and place it on the red plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28969281911849976, + 0.10812176018953323, + 0.09933136403560638, + -2.857898235321045, + -0.09360355883836746, + 0.022785747423768044 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "approach lemon in drawer", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the gripper closer to the lemon in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move down 14 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2950915992259979, + 0.08537574112415314, + 0.07573099434375763, + -2.8644611835479736, + -0.04657222330570221, + 0.050962235778570175 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "approach lemon in drawer", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the gripper closer to the lemon in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 12 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31736552715301514, + 0.030718794092535973, + 0.053604576736688614, + -2.895463705062866, + -0.05632467940449715, + 0.018372012302279472 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "approach lemon in drawer", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the gripper closer to the lemon in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 10 cm, keep gripper open; then move back 3 cm, move left 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32322925329208374, + 0.007434583269059658, + 0.032130833715200424, + -2.9138617515563965, + -0.05406785011291504, + 0.05019767954945564 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "approach lemon in drawer", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 7 cm, keep gripper open; then move back 3 cm, move left 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3254516124725342, + -0.010536545887589455, + 0.012427463196218014, + -2.910122871398926, + -0.05479240044951439, + 0.05143701285123825 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "approach lemon in drawer", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, keep gripper open; then move back 3 cm, move left 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32947808504104614, + -0.02074352465569973, + -0.0028801080770790577, + -2.932847738265991, + -0.07023889571428299, + 0.03514812886714935 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fried egg toy": [ + 46, + 234, + 173, + 333 + ], + "purple onion": [ + 431, + 95, + 526, + 223 + ], + "red plate": [ + 334, + 208, + 522, + 375 + ], + "blue bowl": [ + 279, + 82, + 403, + 219 + ], + "red jar": [ + 138, + 96, + 248, + 286 + ], + "white pipe structure": [ + 769, + 9, + 978, + 410 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "approach lemon in drawer", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, keep gripper open; then move back 3 cm, move left 4 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380584716796875, + -0.012079867534339428, + -0.016860635951161385, + -2.9624648094177246, + -0.11751963943243027, + 0.08227183669805527 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "approach lemon in drawer", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 4 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34012526273727417, + -0.010471710935235023, + -0.035657528787851334, + -2.9575986862182617, + -0.10376695543527603, + 0.08784877508878708 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "approach lemon in drawer", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 4 cm, move up 8 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3488594889640808, + -0.008042935281991959, + -0.04171498864889145, + -2.9765050411224365, + -0.09383229911327362, + 0.08208773285150528 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fried egg toy": [ + 63, + 232, + 173, + 332 + ], + "purple onion": [ + 431, + 94, + 528, + 223 + ], + "red plate": [ + 333, + 208, + 524, + 374 + ], + "red jar": [ + 138, + 95, + 249, + 286 + ], + "lemon": [ + 493, + 530, + 590, + 667 + ], + "blue bowl": [ + 278, + 81, + 403, + 219 + ], + "white pipe structure": [ + 770, + 8, + 983, + 410 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 12 cm, tilt left 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3485886752605438, + 0.0011096822563558817, + -0.04939420893788338, + -2.992473840713501, + -0.07603176683187485, + 0.09033925831317902 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 12 cm, tilt left 20 degrees, close gripper; then move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3413923382759094, + 0.009728544391691685, + -0.05466042086482048, + -2.978358745574951, + -0.06445478647947311, + 0.09999530762434006 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 13 cm, tilt left 20 degrees, tilt back 10 degrees, close gripper; then move forward 2 cm, move left 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33038732409477234, + 0.014572578482329845, + -0.06236224249005318, + -2.966040849685669, + -0.06023915484547615, + 0.09876631945371628 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the open drawer containing the lemon, with the gripper open and no contact made yet. No part of the subtask has been completed; the arm is still approaching. The next action should be to lower or move the gripper closer to the lemon for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 14 cm, tilt left 20 degrees, tilt back 10 degrees, close gripper; then move forward 3 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32198566198349, + 0.017240675166249275, + -0.06928405910730362, + -2.9804341793060303, + -0.06582307070493698, + 0.10839883238077164 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the lemon inside the open drawer, with the gripper currently open. The approach phase is complete, and the gripper is now closing to secure the lemon. The next action is to finalize the grasp by fully closing the gripper around the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 14 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32038217782974243, + 0.020449979230761528, + -0.07254800200462341, + -3.003612756729126, + -0.08374519646167755, + 0.12750329077243805 + ], + "gripper_value": 0.8749077320098877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the lemon inside the open drawer, with the gripper currently open. The approach phase is complete, and the gripper is now closing to secure the lemon. The next action is to finalize the grasp by fully closing the gripper around the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 15 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31903207302093506, + 0.022402264177799225, + -0.07280441373586655, + -3.005711317062378, + -0.10254563391208649, + 0.1266384720802307 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the lemon inside the open drawer, with the gripper currently open. The approach phase is complete, and the gripper is now closing to secure the lemon. The next action is to finalize the grasp by fully closing the gripper around the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 15 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31471937894821167, + 0.027255931869149208, + -0.05525025725364685, + -2.963078260421753, + -0.08423954993486404, + 0.12734583020210266 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the lemon inside the open drawer, with the gripper currently open. The approach phase is complete, and the gripper is now closing to secure the lemon. The next action is to finalize the grasp by fully closing the gripper around the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 13 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31380075216293335, + 0.02690846659243107, + -0.0127989761531353, + -2.8780436515808105, + -0.09803629666566849, + 0.11541026830673218 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fried egg toy": [ + 46, + 233, + 174, + 333 + ], + "purple onion": [ + 430, + 111, + 526, + 223 + ], + "red plate": [ + 333, + 209, + 524, + 373 + ], + "blue bowl": [ + 278, + 83, + 403, + 218 + ], + "white pipe structure": [ + 767, + 6, + 975, + 412 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the lemon inside the open drawer, with the gripper currently open. The approach phase is complete, and the gripper is now closing to secure the lemon. The next action is to finalize the grasp by fully closing the gripper around the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3151378929615021, + 0.027518391609191895, + 0.04140113666653633, + -2.7528653144836426, + -0.12974920868873596, + 0.07210565358400345 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the lemon inside the open drawer, with the gripper currently open. The approach phase is complete, and the gripper is now closing to secure the lemon. The next action is to finalize the grasp by fully closing the gripper around the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252646327018738, + 0.042292457073926926, + 0.07361220568418503, + -2.66809344291687, + -0.1440303772687912, + 0.001714938203804195 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "lift and transport lemon to plate", + "subtask_reasoning": "The robot arm is positioned above the lemon inside the open drawer, with the gripper currently open. The approach phase is complete, and the gripper is now closing to secure the lemon. The next action is to finalize the grasp by fully closing the gripper around the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.336507648229599, + 0.06954804062843323, + 0.08039450645446777, + -2.6471474170684814, + -0.15424488484859467, + -0.07828239351511002 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "lift and transport lemon to plate", + "subtask_reasoning": "The robot arm is positioned above the lemon inside the open drawer, with the gripper currently open. The approach phase is complete, and the gripper is now closing to secure the lemon. The next action is to finalize the grasp by fully closing the gripper around the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 3 cm, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3491600453853607, + 0.09165551513433456, + 0.07717864215373993, + -2.6578197479248047, + -0.1749226301908493, + -0.1573895663022995 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "lift and transport lemon to plate", + "subtask_reasoning": "The robot has grasped the lemon from the drawer and is currently lifting it upward. The gripper remains closed with no motion in the local window, indicating stable hold. Next, the robot should transport the lemon toward the red plate on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585857152938843, + 0.10322251915931702, + 0.06694984436035156, + -2.6679887771606445, + -0.1909066140651703, + -0.18079952895641327 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "lift and transport lemon to plate", + "subtask_reasoning": "The robot has grasped the lemon from the drawer and is currently lifting it upward. The gripper remains closed with no motion in the local window, indicating stable hold. Next, the robot should transport the lemon toward the red plate on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36533787846565247, + 0.10466137528419495, + 0.06277867406606674, + -2.681020498275757, + -0.20362956821918488, + -0.1812429428100586 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "lift and transport lemon to plate", + "subtask_reasoning": "The robot has grasped the lemon from the drawer and is currently lifting it upward. The gripper remains closed with no motion in the local window, indicating stable hold. Next, the robot should transport the lemon toward the red plate on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3736877143383026, + 0.10459288954734802, + 0.05620402842760086, + -2.7113943099975586, + -0.2113502323627472, + -0.18330170214176178 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "lift and transport lemon to plate", + "subtask_reasoning": "The robot has grasped the lemon from the drawer and is currently lifting it upward. The gripper remains closed with no motion in the local window, indicating stable hold. Next, the robot should transport the lemon toward the red plate on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37546566128730774, + 0.10412544012069702, + 0.054848238825798035, + -2.715635299682617, + -0.2116846740245819, + -0.1954662948846817 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the lemon from the drawer and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in drawer" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon to plate" + }, + { + "id": 4, + "subtask": "release lemon onto plate" + } + ], + "subtask_name": "release lemon onto plate", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red plate with the lemon held in the gripper. The gripper is currently open, indicating the lemon has been released or is in the process of being released onto the plate. The next action is to ensure the lemon is securely placed and then move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003760_ecot.json b/cot/chunk-0003/episode_0003760_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..13a8d775ea6e3bc6813e2a98a9f6d00fad434daf --- /dev/null +++ b/cot/chunk-0003/episode_0003760_ecot.json @@ -0,0 +1,1609 @@ +{ + "task_name": "episode_0003760", + "episode_json": "json/chunk-0003/episode_0003760.json", + "video_path": "videos/chunk-0003/image_0/episode_0003760.mp4", + "instruction": "Move the silver pot to the upper right side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003760.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.9274516105651855, + "std": 0.41595950722694397, + "delta_total": -0.13941270112991333, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92745, std=0.41596, total_delta=-0.13941). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 22, + 22 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 18 + ], + [ + 3, + 19, + 21 + ], + [ + 4, + 22, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp silver pot\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the silver pot and close gripper to establish secure grasp, confirmed by gripper value drop from 1.0 to 0.695 and visual contact.\"},\n {\"id\": 2, \"name\": \"lift and transport pot upward-right\", \"start\": 10, \"end\": 18, \"planning\": \"Lift the grasped pot and move it diagonally toward upper right, maintaining grip (gripper ~0.07) while translating EE from [0.27,0.14,-0.001] to [0.39,-0.06,0.03].\"},\n {\"id\": 3, \"name\": \"reposition pot near target zone\", \"start\": 19, \"end\": 21, \"planning\": \"Fine-tune pot position in upper right area with small adjustments; gripper begins opening (0.07→0.30) as placement prepares, visible in frame 21 image showing pot settled near cans.\"},\n {\"id\": 4, \"name\": \"release pot and retreat\", \"start\": 22, \"end\": 23, \"planning\": \"Fully open gripper (0.58→0.86) to release pot onto table surface, then slightly retract end-effector upward and backward as seen in final frame.\"}\n ],\n \"global_plan\": \"Grasp the silver pot on the left, lift and carry it to the upper right table region near the tomato sauce can, then release it cleanly and retreat.\",\n \"notes\": \"All subtasks are contiguous and cover full trajectory [0,23]. Gripper evidence supports grasp during segments 1–2 (closing), hold during segment 2, and release during segments 3–4 (opening). Images confirm object is lifted and placed without sliding or nudging.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp silver pot", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the silver pot and close gripper to establish secure grasp, confirmed by gripper value drop from 1.0 to 0.695 and visual contact." + }, + { + "id": 2, + "name": "lift and transport pot upward-right", + "start": 10, + "end": 18, + "planning": "Lift the grasped pot and move it diagonally toward upper right, maintaining grip (gripper ~0.07) while translating EE from [0.27,0.14,-0.001] to [0.39,-0.06,0.03]." + }, + { + "id": 3, + "name": "reposition pot near target zone", + "start": 19, + "end": 21, + "planning": "Fine-tune pot position in upper right area with small adjustments; gripper begins opening (0.07→0.30) as placement prepares, visible in frame 21 image showing pot settled near cans." + }, + { + "id": 4, + "name": "release pot and retreat", + "start": 22, + "end": 23, + "planning": "Fully open gripper (0.58→0.86) to release pot onto table surface, then slightly retract end-effector upward and backward as seen in final frame." + } + ], + "global_plan": "Grasp the silver pot on the left, lift and carry it to the upper right table region near the tomato sauce can, then release it cleanly and retreat.", + "notes": "All subtasks are contiguous and cover full trajectory [0,23]. Gripper evidence supports grasp during segments 1–2 (closing), hold during segment 2, and release during segments 3–4 (opening). Images confirm object is lifted and placed without sliding or nudging." + } + }, + "episode_goal": "Move the silver pot to the upper right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2595277428627014, + -0.06270110607147217, + 0.07507597655057907, + -3.0981507301330566, + -0.11130543053150177, + -0.29204463958740234 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot visible on the left side. The gripper is currently open and approaching the pot handles. The next action is to lower the gripper and close it to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 20 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25619757175445557, + -0.061373110860586166, + 0.06727991253137589, + -3.1013150215148926, + -0.08053392916917801, + -0.29160937666893005 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot visible on the left side. The gripper is currently open and approaching the pot handles. The next action is to lower the gripper and close it to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 20 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25240349769592285, + -0.01517814863473177, + 0.06799041479825974, + -3.0965301990509033, + -0.07409694045782089, + -0.19724693894386292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot visible on the left side. The gripper is currently open and approaching the pot handles. The next action is to lower the gripper and close it to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25310394167900085, + 0.020742014050483704, + 0.07103978097438812, + -3.0906198024749756, + -0.08280037343502045, + -0.1731114536523819 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink fork": [ + 236, + 449, + 423, + 681 + ], + "green striped cup": [ + 245, + 171, + 376, + 373 + ], + "metal pot lid": [ + 472, + 569, + 704, + 820 + ], + "metal kettle": [ + 63, + 324, + 297, + 575 + ], + "wooden countertop": [ + 5, + 179, + 901, + 967 + ], + "blue cloth": [ + 410, + 533, + 713, + 896 + ], + "toy stove": [ + 672, + 180, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot visible on the left side. The gripper is currently open and approaching the pot handles. The next action is to lower the gripper and close it to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 7 cm, close gripper; then move forward 2 cm, move right 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2462964653968811, + 0.06518415361642838, + 0.06727388501167297, + -3.0813677310943604, + -0.06925714761018753, + -0.12988409399986267 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 7 cm, close gripper; then move forward 4 cm, move right 7 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24444852769374847, + 0.09594505280256271, + 0.05384984239935875, + -3.056670665740967, + -0.05153512954711914, + -0.12183359265327454 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 5 cm, close gripper; then move forward 7 cm, move right 12 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25277939438819885, + 0.11447956413030624, + 0.040450625121593475, + -3.022413730621338, + -0.05912354215979576, + -0.0991985946893692 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, close gripper; then move forward 10 cm, move right 17 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26236361265182495, + 0.12764671444892883, + 0.029209226369857788, + -3.020657539367676, + -0.06194806471467018, + -0.08619432151317596 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move forward 11 cm, move right 19 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2725610136985779, + 0.13453584909439087, + 0.020507896319031715, + -3.0182087421417236, + -0.04601374641060829, + -0.09746924787759781 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 12 cm, move right 20 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709490656852722, + 0.13757120072841644, + 0.005765871144831181, + -3.036963701248169, + -0.014671185985207558, + -0.09812986850738525 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 13 cm, move right 21 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697618007659912, + 0.13740231096744537, + -0.0009560300386510789, + -3.050699234008789, + -0.004415199160575867, + -0.09198639541864395 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 21 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27047082781791687, + 0.13552053272724152, + -0.003146786242723465, + -3.045804500579834, + 0.0012574418215081096, + -0.08582907170057297 + ], + "gripper_value": 0.14865680038928986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 21 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27098023891448975, + 0.1262311339378357, + 0.0013631238834932446, + -3.0445034503936768, + 0.028119152411818504, + -0.1005217432975769 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 20 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28692373633384705, + 0.10346172749996185, + 0.03870639577507973, + -3.0138707160949707, + 0.006470658350735903, + -0.11814481765031815 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 18 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081929385662079, + 0.06551989167928696, + 0.07516155391931534, + -2.997483015060425, + -0.05115550011396408, + -0.17024697363376617 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot is currently holding the silver pot and has lifted it off the table surface. The arm is positioned to begin transporting the pot toward the upper right area near the cans. The next action is to move the pot horizontally to the right while maintaining its height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 14 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432082235813141, + 0.014074325561523438, + 0.10020417720079422, + -2.9951438903808594, + -0.14230546355247498, + -0.2829049527645111 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink fork": [ + 236, + 427, + 429, + 681 + ], + "metal pot lid": [ + 471, + 569, + 702, + 820 + ], + "wooden countertop": [ + 5, + 173, + 897, + 970 + ], + "toy stove": [ + 669, + 176, + 995, + 993 + ], + "metal kettle": [ + 240, + 10, + 567, + 366 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot is currently holding the silver pot and has lifted it off the table surface. The arm is positioned to begin transporting the pot toward the upper right area near the cans. The next action is to move the pot horizontally to the right while maintaining its height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651845455169678, + -0.033971186727285385, + 0.08554624766111374, + -3.016089677810669, + -0.1288849413394928, + -0.3979056775569916 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot lid": [ + 472, + 568, + 703, + 821 + ], + "green striped cup": [ + 245, + 170, + 384, + 374 + ], + "pink fork": [ + 236, + 419, + 431, + 681 + ], + "wooden countertop": [ + 5, + 163, + 896, + 973 + ], + "toy stove": [ + 669, + 176, + 995, + 993 + ], + "yellow cup": [ + 747, + 144, + 894, + 346 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot is currently holding the silver pot and has lifted it off the table surface. The arm is positioned to begin transporting the pot toward the upper right area near the cans. The next action is to move the pot horizontally to the right while maintaining its height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38401904702186584, + -0.05348999798297882, + 0.06270574778318405, + -3.06185245513916, + -0.11300897598266602, + -0.4465748071670532 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot is currently holding the silver pot and has lifted it off the table surface. The arm is positioned to begin transporting the pot toward the upper right area near the cans. The next action is to move the pot horizontally to the right while maintaining its height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3902446925640106, + -0.06484516710042953, + 0.030671417713165283, + -3.124336004257202, + -0.060497086495161057, + -0.46302688121795654 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot upward-right", + "subtask_reasoning": "The robot is currently holding the silver pot and has lifted it off the table surface. The arm is positioned to begin transporting the pot toward the upper right area near the cans. The next action is to move the pot horizontally to the right while maintaining its height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3957301080226898, + -0.07737664133310318, + 0.010457396507263184, + 3.1099822521209717, + -0.02899201400578022, + -0.46547654271125793 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot near target zone", + "subtask_reasoning": "The robot is currently holding the silver pot and has lifted it off the table surface. The arm is positioned to begin transporting the pot toward the upper right area near the cans. The next action is to move the pot horizontally to the right while maintaining its height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3993922770023346, + -0.08125003427267075, + 0.005193169228732586, + 3.0895488262176514, + -0.031336843967437744, + -0.44766563177108765 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot near target zone", + "subtask_reasoning": "The robot is currently holding the silver pot and has transported it to the upper right area of the table, positioning it near the tomato sauce can. The gripper remains closed, indicating the object is still secured. The next action is to lower the pot onto the table surface and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3897857069969177, + -0.08277253061532974, + 0.0004430507542565465, + 3.1291446685791016, + -0.005220717750489712, + -0.3678862750530243 + ], + "gripper_value": 0.2965938150882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot near target zone", + "subtask_reasoning": "The robot is currently holding the silver pot and has transported it to the upper right area of the table, positioning it near the tomato sauce can. The gripper remains closed, indicating the object is still secured. The next action is to lower the pot onto the table surface and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.388058602809906, + -0.08275595307350159, + 0.029975339770317078, + -3.104846477508545, + -0.0822882279753685, + -0.2933855354785919 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is positioned on the upper right side of the table near the tomato sauce can, with the gripper open and no contact. The release has been completed, and the robot is retreating slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821903467178345, + -0.079955093562603, + 0.062018897384405136, + -3.0424957275390625, + -0.11967307329177856, + -0.20447072386741638 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot upward-right" + }, + { + "id": 3, + "subtask": "reposition pot near target zone" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is positioned on the upper right side of the table near the tomato sauce can, with the gripper open and no contact. The release has been completed, and the robot is retreating slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003761_ecot.json b/cot/chunk-0003/episode_0003761_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bafa9391bdbcee99086b9002acbdad7aac542b1e --- /dev/null +++ b/cot/chunk-0003/episode_0003761_ecot.json @@ -0,0 +1,2012 @@ +{ + "task_name": "episode_0003761", + "episode_json": "json/chunk-0003/episode_0003761.json", + "video_path": "videos/chunk-0003/image_0/episode_0003761.mp4", + "instruction": "Move the pot in front of the orange napkin with cake on it.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003761.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.9279704689979553, + "std": 0.418738454580307, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92797, std=0.41874, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 109, + 9, + 9, + 109, + 109, + 9, + 9, + 9, + 9, + 209, + 209, + 209, + 209, + 22, + 22, + 22, + 22, + 22, + 22, + 22 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 8 + ], + [ + 3, + 9, + 9 + ], + [ + 4, + 10, + 11 + ], + [ + 5, + 12, + 13 + ], + [ + 6, + 14, + 17 + ], + [ + 7, + 18, + 21 + ], + [ + 8, + 22, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector toward the pot from its initial position above the table.\"},\n {\"id\": 2, \"name\": \"make contact with pot\", \"start\": 9, \"end\": 11, \"planning\": \"Lower and align the gripper to make physical contact with the pot handle or rim.\"},\n {\"id\": 3, \"name\": \"reposition pot laterally\", \"start\": 12, \"end\": 17, \"planning\": \"Drag or slide the pot horizontally across the table toward the target zone near the napkin.\"},\n {\"id\": 4, \"name\": \"adjust pot depth and orientation\", \"start\": 18, \"end\": 21, \"planning\": \"Fine-tune the pot’s position by pushing it forward and rotating slightly to face the napkin.\"},\n {\"id\": 5, \"name\": \"release contact and retreat\", \"start\": 22, \"end\": 28, \"planning\": \"Open the gripper to disengage from the pot and lift away to complete placement in front of the napkin.\"}\n ],\n \"global_plan\": \"The robot approaches the pot, makes contact without grasping, drags and repositions it laterally and in depth, then releases and retreats after placing it in front of the orange napkin with cake.\",\n \"notes\": \"No segment shows meaningful gripper closing except segment 8 (frames 22–28), which corresponds to release/retreat — not grasp. All manipulation is contact-based (push/drag/reposition). No lifting or placing via grasp is observed; pot remains supported by table throughout.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 8, + "planning": "Move the end-effector toward the pot from its initial position above the table." + }, + { + "id": 2, + "name": "make contact with pot", + "start": 9, + "end": 11, + "planning": "Lower and align the gripper to make physical contact with the pot handle or rim." + }, + { + "id": 3, + "name": "reposition pot laterally", + "start": 12, + "end": 17, + "planning": "Drag or slide the pot horizontally across the table toward the target zone near the napkin." + }, + { + "id": 4, + "name": "adjust pot depth and orientation", + "start": 18, + "end": 21, + "planning": "Fine-tune the pot’s position by pushing it forward and rotating slightly to face the napkin." + }, + { + "id": 5, + "name": "release contact and retreat", + "start": 22, + "end": 28, + "planning": "Open the gripper to disengage from the pot and lift away to complete placement in front of the napkin." + } + ], + "global_plan": "The robot approaches the pot, makes contact without grasping, drags and repositions it laterally and in depth, then releases and retreats after placing it in front of the orange napkin with cake.", + "notes": "No segment shows meaningful gripper closing except segment 8 (frames 22–28), which corresponds to release/retreat — not grasp. All manipulation is contact-based (push/drag/reposition). No lifting or placing via grasp is observed; pot remains supported by table throughout." + } + }, + "episode_goal": "Move the pot in front of the orange napkin with cake on it.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2579408288002014, + 0.02707366831600666, + 0.10172493010759354, + 3.086833953857422, + -0.09810088574886322, + -0.09918572753667831 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot and orange napkin with cake visible. No movement or contact has occurred yet. The next action is to move the end effector closer to the pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25742092728614807, + 0.02743111178278923, + 0.09538912028074265, + 3.083484172821045, + -0.07484037429094315, + -0.09552671015262604 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot and orange napkin with cake visible. No movement or contact has occurred yet. The next action is to move the end effector closer to the pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 8 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27865657210350037, + 0.02822139672935009, + 0.09350169450044632, + -3.136859655380249, + -0.10009454935789108, + -0.13166499137878418 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot and orange napkin with cake visible. No movement or contact has occurred yet. The next action is to move the end effector closer to the pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3053610324859619, + 0.0315217562019825, + 0.081724151968956, + -3.122528076171875, + -0.12776923179626465, + -0.10906139761209488 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue kitchen tool": [ + 135, + 274, + 254, + 436 + ], + "metal pot": [ + 329, + 293, + 534, + 504 + ], + "block": [ + 627, + 377, + 749, + 508 + ], + "wooden table": [ + 8, + 178, + 886, + 990 + ], + "orange mat": [ + 556, + 303, + 818, + 580 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot and orange napkin with cake visible. No movement or contact has occurred yet. The next action is to move the end effector closer to the pot to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32323938608169556, + 0.03304814547300339, + 0.06372818350791931, + -3.1258060932159424, + -0.09703707695007324, + -0.1078551709651947 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the pot, which sits to the left of the orange napkin with cake. No contact or movement has occurred yet. The next action is to lower the end-effector to make contact with the pot for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.330427885055542, + 0.03498784080147743, + 0.041607704013586044, + -3.1301488876342773, + -0.04622558131814003, + -0.08638317883014679 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the pot, which sits to the left of the orange napkin with cake. No contact or movement has occurred yet. The next action is to lower the end-effector to make contact with the pot for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 7 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314889371395111, + 0.035681549459695816, + 0.028505656868219376, + -3.1312448978424072, + -0.023100372403860092, + -0.07214611023664474 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the pot, which sits to the left of the orange napkin with cake. No contact or movement has occurred yet. The next action is to lower the end-effector to make contact with the pot for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 10 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3349618911743164, + 0.03642349690198898, + 0.021109797060489655, + -3.129347085952759, + -0.01792141981422901, + -0.09248209744691849 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the pot, which sits to the left of the orange napkin with cake. No contact or movement has occurred yet. The next action is to lower the end-effector to make contact with the pot for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 13 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33696606755256653, + 0.03700203821063042, + 0.020652152597904205, + -3.124030590057373, + -0.029143737629055977, + -0.11450343579053879 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the pot, which sits to the left of the orange napkin with cake. No contact or movement has occurred yet. The next action is to lower the end-effector to make contact with the pot for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 14 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360011875629425, + 0.03536923602223396, + 0.01614861749112606, + -3.13726544380188, + -0.011547825299203396, + -0.1558915227651596 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot is positioned above the pot, which sits to the left of the orange napkin with cake. No contact or movement has occurred yet. The next action is to lower the end-effector to make contact with the pot for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 14 cm, move up 2 cm, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3372054696083069, + 0.03207998722791672, + 0.01956300251185894, + 3.1199002265930176, + -0.009174608625471592, + -0.2204306423664093 + ], + "gripper_value": 0.1972842812538147 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing slightly and the end-effector position near the pot. The pot remains stationary on the table, adjacent to the orange napkin with cake. The next action is to begin dragging the pot laterally toward the target position in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 14 cm, move up 2 cm, keep gripper closed; then move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33539390563964844, + 0.039329349994659424, + 0.02367870882153511, + 3.113032817840576, + 0.02421317994594574, + -0.20071029663085938 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing slightly and the end-effector position near the pot. The pot remains stationary on the table, adjacent to the orange napkin with cake. The next action is to begin dragging the pot laterally toward the target position in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 14 cm, move up 2 cm, keep gripper closed; then move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32458698749542236, + 0.044956088066101074, + 0.030990753322839737, + -3.135956048965454, + 0.10533705353736877, + -0.0551709420979023 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition pot laterally", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing slightly and the end-effector position near the pot. The pot remains stationary on the table, adjacent to the orange napkin with cake. The next action is to begin dragging the pot laterally toward the target position in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 14 cm, move up 2 cm, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122979402542114, + 0.045033566653728485, + 0.07420239597558975, + -3.121011257171631, + 0.052818428725004196, + 0.09592463821172714 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition pot laterally", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing slightly and the end-effector position near the pot. The pot remains stationary on the table, adjacent to the orange napkin with cake. The next action is to begin dragging the pot laterally toward the target position in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 14 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper; then move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2956436276435852, + 0.017521610483527184, + 0.09172698855400085, + 3.1149511337280273, + 0.03994876518845558, + 0.08164016902446747 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition pot laterally", + "subtask_reasoning": "The robot is in contact with the pot and has begun moving it laterally across the table toward the orange napkin with cake. No grasping has occurred, as confirmed by stable gripper values. The next action is to continue sliding the pot sideways until aligned in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper; then move left 6 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28600090742111206, + -0.0201805979013443, + 0.09106835722923279, + 3.0927810668945312, + 0.055090613663196564, + 0.027724511921405792 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition pot laterally", + "subtask_reasoning": "The robot is in contact with the pot and has begun moving it laterally across the table toward the orange napkin with cake. No grasping has occurred, as confirmed by stable gripper values. The next action is to continue sliding the pot sideways until aligned in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper; then move forward 1 cm, move left 11 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28395912051200867, + -0.054007548838853836, + 0.0879615992307663, + 3.0945932865142822, + 0.03967999294400215, + -0.02751491777598858 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition pot laterally", + "subtask_reasoning": "The robot is in contact with the pot and has begun moving it laterally across the table toward the orange napkin with cake. No grasping has occurred, as confirmed by stable gripper values. The next action is to continue sliding the pot sideways until aligned in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper; then move forward 1 cm, move left 16 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28329113125801086, + -0.08154720813035965, + 0.06914163380861282, + 3.1282389163970947, + 0.0661471039056778, + -0.08886745572090149 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue kitchen tool": [ + 135, + 273, + 255, + 437 + ], + "metal pot": [ + 415, + 365, + 638, + 634 + ], + "wooden table": [ + 9, + 189, + 885, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition pot laterally", + "subtask_reasoning": "The robot is in contact with the pot and has begun moving it laterally across the table toward the orange napkin with cake. No grasping has occurred, as confirmed by stable gripper values. The next action is to continue sliding the pot sideways until aligned in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper; then move forward 2 cm, move left 16 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28223317861557007, + -0.09394785761833191, + 0.05518415942788124, + -3.1227593421936035, + 0.09792899340391159, + -0.11644992977380753 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "adjust pot depth and orientation", + "subtask_reasoning": "The robot is in contact with the pot and has begun moving it laterally across the table toward the orange napkin with cake. No grasping has occurred, as confirmed by stable gripper values. The next action is to continue sliding the pot sideways until aligned in front of the napkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, open gripper; then move forward 2 cm, move left 17 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2822435796260834, + -0.09567386656999588, + 0.03586280345916748, + -3.1105546951293945, + 0.13771788775920868, + -0.12524296343326569 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "adjust pot depth and orientation", + "subtask_reasoning": "The robot is in contact with the pot, having completed the approach and initial contact phases. The gripper shows a significant change in value within this segment, suggesting a grasp or firm hold is being established to control the pot's orientation. The next action involves rotating or tilting the pot to achieve the desired orientation before final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move forward 2 cm, move left 17 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28275299072265625, + -0.0929839015007019, + 0.02784471958875656, + -3.1066596508026123, + 0.1526353508234024, + -0.12947571277618408 + ], + "gripper_value": 0.10834171622991562 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "adjust pot depth and orientation", + "subtask_reasoning": "The robot is in contact with the pot, having completed the approach and initial contact phases. The gripper shows a significant change in value within this segment, suggesting a grasp or firm hold is being established to control the pot's orientation. The next action involves rotating or tilting the pot to achieve the desired orientation before final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move left 17 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28253060579299927, + -0.08900568634271622, + 0.02902589552104473, + -3.1162421703338623, + 0.16220469772815704, + -0.13130079209804535 + ], + "gripper_value": 0.2868962287902832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "adjust pot depth and orientation", + "subtask_reasoning": "The robot is in contact with the pot, having completed the approach and initial contact phases. The gripper shows a significant change in value within this segment, suggesting a grasp or firm hold is being established to control the pot's orientation. The next action involves rotating or tilting the pot to achieve the desired orientation before final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move forward 2 cm, move left 17 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28632447123527527, + -0.08474452048540115, + 0.06058698892593384, + 3.1305086612701416, + 0.08560673892498016, + -0.1115872785449028 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the pot, having completed the approach and initial contact phases. The gripper shows a significant change in value within this segment, suggesting a grasp or firm hold is being established to control the pot's orientation. The next action involves rotating or tilting the pot to achieve the desired orientation before final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 17 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881013751029968, + -0.0666220486164093, + 0.09548823535442352, + 3.0910861492156982, + 0.013246679678559303, + -0.0493464432656765 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the pot, having completed the approach and initial contact phases. The gripper shows a significant change in value within this segment, suggesting a grasp or firm hold is being established to control the pot's orientation. The next action involves rotating or tilting the pot to achieve the desired orientation before final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869555950164795, + -0.026252327486872673, + 0.12318632751703262, + 3.1055283546447754, + -0.008028265088796616, + 0.05343329906463623 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the pot, having completed the approach and initial contact phases. The gripper shows a significant change in value within this segment, suggesting a grasp or firm hold is being established to control the pot's orientation. The next action involves rotating or tilting the pot to achieve the desired orientation before final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969166934490204, + 0.025220301002264023, + 0.14344343543052673, + 3.109571695327759, + -0.034513965249061584, + 0.12987753748893738 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue kitchen tool": [ + 135, + 274, + 254, + 436 + ], + "block": [ + 628, + 377, + 748, + 509 + ], + "wooden table": [ + 9, + 188, + 885, + 986 + ], + "metal pot": [ + 441, + 461, + 677, + 735 + ], + "orange mat": [ + 561, + 305, + 818, + 578 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The pot is now positioned in front of the orange napkin with cake, and the gripper has released contact as indicated by the high gripper value. The robot is retreating upward and backward, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3008667230606079, + 0.07222296297550201, + 0.13542717695236206, + 3.120615243911743, + -0.013027834706008434, + 0.1441108137369156 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The pot is now positioned in front of the orange napkin with cake, and the gripper has released contact as indicated by the high gripper value. The robot is retreating upward and backward, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30311405658721924, + 0.0787089541554451, + 0.1340719759464264, + 3.1321756839752197, + -0.02344621904194355, + 0.08967535197734833 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The pot is now positioned in front of the orange napkin with cake, and the gripper has released contact as indicated by the high gripper value. The robot is retreating upward and backward, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30558040738105774, + 0.08408308029174805, + 0.1278352588415146, + 3.1121103763580322, + -0.029681555926799774, + 0.000580193882342428 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot in front of the orange napkin with cake on it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot laterally" + }, + { + "id": 4, + "subtask": "adjust pot depth and orientation" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The pot is now positioned in front of the orange napkin with cake, and the gripper has released contact as indicated by the high gripper value. The robot is retreating upward and backward, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003764_ecot.json b/cot/chunk-0003/episode_0003764_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c855295033edf1cadddccd5f07e60960e74e5933 --- /dev/null +++ b/cot/chunk-0003/episode_0003764_ecot.json @@ -0,0 +1,1477 @@ +{ + "task_name": "episode_0003764", + "episode_json": "json/chunk-0003/episode_0003764.json", + "video_path": "videos/chunk-0003/image_0/episode_0003764.mp4", + "instruction": "Pick up sponge and wipe plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003764.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.7879637479782104, + "std": 0.3611224293708801, + "delta_total": -0.760336697101593, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.78796, std=0.36112, total_delta=-0.76034). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sponge\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the yellow sponge without closing gripper, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp sponge\", \"start\": 4, \"end\": 11, \"planning\": \"Close gripper around sponge while maintaining position, securing it for manipulation.\"},\n {\"id\": 3, \"name\": \"wipe plate with sponge\", \"start\": 12, \"end\": 24, \"planning\": \"Drag sponge across plate surface in controlled motion to clean, maintaining grip throughout.\"}\n ],\n \"global_plan\": \"Approach sponge, grasp it securely, then use it to wipe the plate surface in a continuous dragging motion.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach. Segment 2 shows meaningful gripper closing (delta=-0.39) and image confirms grasp at frame 11. Segment 3 maintains grip while moving sponge over plate — consistent with wiping via dragging, not lifting or placing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sponge", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the yellow sponge without closing gripper, positioning for contact." + }, + { + "id": 2, + "name": "grasp sponge", + "start": 4, + "end": 11, + "planning": "Close gripper around sponge while maintaining position, securing it for manipulation." + }, + { + "id": 3, + "name": "wipe plate with sponge", + "start": 12, + "end": 24, + "planning": "Drag sponge across plate surface in controlled motion to clean, maintaining grip throughout." + } + ], + "global_plan": "Approach sponge, grasp it securely, then use it to wipe the plate surface in a continuous dragging motion.", + "notes": "Segment 1 shows no gripper closure — only approach. Segment 2 shows meaningful gripper closing (delta=-0.39) and image confirms grasp at frame 11. Segment 3 maintains grip while moving sponge over plate — consistent with wiping via dragging, not lifting or placing." + } + }, + "episode_goal": "Grasp the yellow sponge and wipe the surface of the white plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26327478885650635, + -0.02343655563890934, + 0.11962350457906723, + 3.1186017990112305, + -0.036743395030498505, + -0.06737133860588074 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned above the white plate with the yellow sponge already grasped in the gripper. Since the segment-level gripper evidence shows no closing motion and the sponge is held, the approach phase is effectively complete. The next action is to lower the sponge to make contact with the plate surface to begin wiping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26243844628334045, + -0.02088025026023388, + 0.11629004776477814, + 3.112067937850952, + -0.013419280759990215, + -0.09395979344844818 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned above the white plate with the yellow sponge already in its gripper. The approach phase is complete as the sponge is secured and ready for use. The next action should involve lowering the sponge to make contact with the plate surface to begin wiping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785153090953827, + -0.00034902963670901954, + 0.1402941793203354, + 3.1084494590759277, + -0.0668683722615242, + -0.21278829872608185 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned above the white plate with the yellow sponge already in its gripper. The approach phase is complete as the sponge is secured and ready for use. The next action should involve lowering the sponge to make contact with the plate surface to begin wiping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992543876171112, + 0.027262089774012566, + 0.15224915742874146, + 3.1259195804595947, + -0.07520920783281326, + -0.3196134865283966 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plate": [ + 256, + 358, + 984, + 991 + ], + "sponge": [ + 399, + 153, + 643, + 378 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned above the white plate with the yellow sponge already in its gripper. The approach phase is complete as the sponge is secured and ready for use. The next action should involve lowering the sponge to make contact with the plate surface to begin wiping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper open; then move forward 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3174952268600464, + 0.04577603563666344, + 0.15205711126327515, + -3.138908624649048, + -0.055959105491638184, + -0.3916139602661133 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot is positioned above the white plate with the yellow sponge already in its gripper. The approach phase is complete as the sponge is secured and ready for use. The next action should involve lowering the sponge to make contact with the plate surface to begin wiping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32953202724456787, + 0.05464901402592659, + 0.1383036971092224, + -3.1111650466918945, + -0.022342106327414513, + -0.4177567660808563 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot is positioned above the white plate with the yellow sponge already in its gripper. The approach phase is complete as the sponge is secured and ready for use. The next action should involve lowering the sponge to make contact with the plate surface to begin wiping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 4 cm, move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3352231979370117, + 0.053194981068372726, + 0.11837690323591232, + -3.0525949001312256, + -0.012160884216427803, + -0.456073135137558 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot is positioned above the white plate with the yellow sponge already in its gripper. The approach phase is complete as the sponge is secured and ready for use. The next action should involve lowering the sponge to make contact with the plate surface to begin wiping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move back 5 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.342423677444458, + 0.05536168813705444, + 0.09788379818201065, + -3.020566463470459, + 0.024805117398500443, + -0.44527626037597656 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt forward 10 degrees, close gripper; then move back 5 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34765729308128357, + 0.05897463113069534, + 0.08122044056653976, + -2.9848756790161133, + 0.06743746250867844, + -0.41100525856018066 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 6 cm, move right 4 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35162606835365295, + 0.06295617669820786, + 0.07045529037714005, + -2.9477763175964355, + 0.0913190096616745, + -0.39508238434791565 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 8 cm, move right 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.350141704082489, + 0.06374648958444595, + 0.06530342996120453, + -2.9264121055603027, + 0.09359989315271378, + -0.3994593322277069 + ], + "gripper_value": 0.9149291515350342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, tilt right 10 degrees, keep gripper closed; then move back 10 cm, move right 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478942811489105, + 0.06024710834026337, + 0.06316043436527252, + -2.9498770236968994, + 0.09191393107175827, + -0.38991907238960266 + ], + "gripper_value": 0.6269758939743042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 11 cm, move right 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34081798791885376, + 0.05058316886425018, + 0.06727103888988495, + -3.0238637924194336, + 0.10937425494194031, + -0.3831169009208679 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3349861204624176, + 0.0324242003262043, + 0.10848165303468704, + -3.0696167945861816, + -0.004290389362722635, + -0.4199737310409546 + ], + "gripper_value": 0.32678350806236267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 12 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166449964046478, + 0.02035638689994812, + 0.11684279143810272, + -3.0516321659088135, + -0.05106672644615173, + -0.492716908454895 + ], + "gripper_value": 0.2610139548778534 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 13 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29599034786224365, + 0.015346147119998932, + 0.09994346648454666, + -2.9915945529937744, + -0.024243580177426338, + -0.5684810280799866 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 424, + 107, + 714, + 435 + ], + "plate": [ + 256, + 359, + 982, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 13 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907658815383911, + 0.019100069999694824, + 0.0793682187795639, + -2.8912909030914307, + -0.018980426713824272, + -0.5742136240005493 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 13 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28829318284988403, + 0.016891757026314735, + 0.07559791207313538, + -2.836498498916626, + -0.02483895607292652, + -0.5870410203933716 + ], + "gripper_value": 0.2589220404624939 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 13 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2807517945766449, + 0.009472905658185482, + 0.07375959306955338, + -2.8442161083221436, + -0.0023413735907524824, + -0.6039357781410217 + ], + "gripper_value": 0.25961822271347046 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot is holding the yellow sponge and is currently in contact with the white plate surface. The approach and grasp phases are complete, and the system is now executing the wiping motion. The next action involves continuing to drag the sponge across the plate to clean it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 12 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26487135887145996, + -0.004301628563553095, + 0.07063399255275726, + -2.855020761489868, + 0.00712802167981863, + -0.6102300882339478 + ], + "gripper_value": 0.25961822271347046 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot is holding the yellow sponge and is currently in contact with the white plate surface. The approach and grasp phases are complete, and the system is now executing the wiping motion. The next action involves continuing to drag the sponge across the plate to clean it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24457097053527832, + -0.020337481051683426, + 0.06969815492630005, + -2.866952419281006, + 0.02122044749557972, + -0.5992022156715393 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot is holding the yellow sponge and is currently in contact with the white plate surface. The approach and grasp phases are complete, and the system is now executing the wiping motion. The next action involves continuing to drag the sponge across the plate to clean it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22825974225997925, + -0.038432467728853226, + 0.069700226187706, + -2.8851513862609863, + 0.021816130727529526, + -0.6080439686775208 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot is holding the yellow sponge and is currently in contact with the white plate surface. The approach and grasp phases are complete, and the system is now executing the wiping motion. The next action involves continuing to drag the sponge across the plate to clean it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21614648401737213, + -0.05810922011733055, + 0.07005336880683899, + -2.9061925411224365, + 0.017311250790953636, + -0.6140649914741516 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot is holding the yellow sponge and is currently in contact with the white plate surface. The approach and grasp phases are complete, and the system is now executing the wiping motion. The next action involves continuing to drag the sponge across the plate to clean it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.19917020201683044, + -0.08523856103420258, + 0.07047177851200104, + -2.9429943561553955, + 0.03226879984140396, + -0.6301881074905396 + ], + "gripper_value": 0.25961822271347046 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot is holding the yellow sponge and is currently in contact with the white plate surface. The approach and grasp phases are complete, and the system is now executing the wiping motion. The next action involves continuing to drag the sponge across the plate to clean it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.18054941296577454, + -0.11386328190565109, + 0.07638125121593475, + -3.006155490875244, + 0.054922085255384445, + -0.6517727375030518 + ], + "gripper_value": 0.25961822271347046 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plate": [ + 256, + 352, + 983, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the yellow sponge and wipe the surface of the white plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "wipe plate with sponge" + } + ], + "subtask_name": "wipe plate with sponge", + "subtask_reasoning": "The robot is holding the yellow sponge and is currently in contact with the white plate surface. The approach and grasp phases are complete, and the system is now executing the wiping motion. The next action involves continuing to drag the sponge across the plate to clean it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003767_ecot.json b/cot/chunk-0003/episode_0003767_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c33c5de0e02855ac77baa5f418204008c824d10e --- /dev/null +++ b/cot/chunk-0003/episode_0003767_ecot.json @@ -0,0 +1,3011 @@ +{ + "task_name": "episode_0003767", + "episode_json": "json/chunk-0003/episode_0003767.json", + "video_path": "videos/chunk-0003/image_0/episode_0003767.mp4", + "instruction": "Unfold the cloth from top right to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003767.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.9507275223731995, + "std": 0.44451937079429626, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95073, std=0.44452, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 15, + 15, + 15, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 240, + 240, + 240, + 240 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 14 + ], + [ + 3, + 15, + 17 + ], + [ + 4, + 18, + 39 + ], + [ + 5, + 40, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the top-right corner of the green cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp cloth corner\", \"start\": 8, \"end\": 14, \"planning\": \"Close gripper to securely grasp the top-right corner of the cloth, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition gripper for pull\", \"start\": 15, \"end\": 17, \"planning\": \"Adjust gripper orientation and position slightly while maintaining grasp to prepare for unfolding motion.\"},\n {\"id\": 4, \"name\": \"unfold cloth diagonally\", \"start\": 18, \"end\": 39, \"planning\": \"Pull the grasped corner diagonally toward bottom-left, unfolding the cloth across the table surface while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 40, \"end\": 43, \"planning\": \"Open gripper to release the cloth after unfolding, then retreat end-effector upward and away from the workspace.\"}\n ],\n \"global_plan\": \"Unfold the green cloth by grasping its top-right corner, pulling it diagonally to the bottom-left, then releasing once fully extended.\",\n \"notes\": \"Segment 1 has no gripper closure — described as approach only. Segments 2, 4, and 5 show meaningful gripper changes consistent with grasp, hold, and release. Segment 3 is brief repositioning under grasp. All frame ranges are contiguous and cover 0–43.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the top-right corner of the green cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp cloth corner", + "start": 8, + "end": 14, + "planning": "Close gripper to securely grasp the top-right corner of the cloth, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "reposition gripper for pull", + "start": 15, + "end": 17, + "planning": "Adjust gripper orientation and position slightly while maintaining grasp to prepare for unfolding motion." + }, + { + "id": 4, + "name": "unfold cloth diagonally", + "start": 18, + "end": 39, + "planning": "Pull the grasped corner diagonally toward bottom-left, unfolding the cloth across the table surface while maintaining grip." + }, + { + "id": 5, + "name": "release and retreat", + "start": 40, + "end": 43, + "planning": "Open gripper to release the cloth after unfolding, then retreat end-effector upward and away from the workspace." + } + ], + "global_plan": "Unfold the green cloth by grasping its top-right corner, pulling it diagonally to the bottom-left, then releasing once fully extended.", + "notes": "Segment 1 has no gripper closure — described as approach only. Segments 2, 4, and 5 show meaningful gripper changes consistent with grasp, hold, and release. Segment 3 is brief repositioning under grasp. All frame ranges are contiguous and cover 0–43." + } + }, + "episode_goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3734044134616852, + 0.051430318504571915, + 0.09355629235506058, + 2.8892807960510254, + -0.3324810266494751, + 0.38008132576942444 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible in the top-right area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the cloth's top-right corner. The next action should continue approaching the target corner while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3717678487300873, + 0.05046257749199867, + 0.08234288543462753, + 2.889826536178589, + -0.29818975925445557, + 0.38261353969573975 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible in the top-right area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the cloth's top-right corner. The next action should continue approaching the target corner while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36736130714416504, + 0.05300125107169151, + 0.0815708115696907, + 2.882110357284546, + -0.2689795196056366, + 0.37963593006134033 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible in the top-right area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the cloth's top-right corner. The next action should continue approaching the target corner while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3732541501522064, + 0.06465606391429901, + 0.08237116038799286, + 2.947849988937378, + -0.3320062756538391, + 0.39699098467826843 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth partially folded on the left. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move left 2 cm, move down 2 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3792785108089447, + 0.06071321666240692, + 0.0788985937833786, + 3.036055326461792, + -0.39824122190475464, + 0.4057875871658325 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 78, + 326, + 451, + 831 + ], + "toy apple": [ + 501, + 593, + 618, + 743 + ], + "small container": [ + 447, + 803, + 596, + 995 + ], + "white cloth": [ + 850, + 513, + 997, + 603 + ], + "toy shrimp": [ + 599, + 546, + 728, + 697 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth partially folded on the left. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.38426780700683594, + 0.060615893453359604, + 0.0822065994143486, + 3.1065833568573, + -0.45238298177719116, + 0.3926280438899994 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth partially folded on the left. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38373106718063354, + 0.06065363809466362, + 0.06944724172353745, + 3.1360275745391846, + -0.4283287227153778, + 0.3926020562648773 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth partially folded on the left. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3852130174636841, + 0.06067692115902901, + 0.06815531849861145, + 3.1233506202697754, + -0.4262256920337677, + 0.4142242968082428 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth partially folded on the left. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3846609592437744, + 0.06654734909534454, + 0.05941496044397354, + -3.139971971511841, + -0.4134196639060974, + 0.420880526304245 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth partially folded on the left. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38253048062324524, + 0.07388002425432205, + 0.059345245361328125, + -3.1243715286254883, + -0.4119877517223358, + 0.4324988126754761 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth partially folded on the left. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821140229701996, + 0.0769464373588562, + 0.053149957209825516, + -3.0994975566864014, + -0.39883485436439514, + 0.4306657612323761 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth partially folded on the left. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38138237595558167, + 0.07945317029953003, + 0.05008414015173912, + -3.080251693725586, + -0.39636996388435364, + 0.4268628656864166 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38131609559059143, + 0.08143014460802078, + 0.04113488644361496, + -3.058344841003418, + -0.3885624408721924, + 0.4178508222103119 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 78, + 326, + 452, + 832 + ], + "toy apple": [ + 501, + 593, + 618, + 744 + ], + "small container": [ + 448, + 803, + 595, + 996 + ], + "cardboard box": [ + 227, + 6, + 995, + 544 + ], + "toy shrimp": [ + 599, + 547, + 728, + 697 + ], + "white cloth": [ + 851, + 513, + 997, + 603 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3809378445148468, + 0.08322277665138245, + 0.03968520835042, + -3.052093267440796, + -0.3887900114059448, + 0.4246666133403778 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38142234086990356, + 0.08190765231847763, + 0.037214454263448715, + -3.0488574504852295, + -0.37736234068870544, + 0.40805742144584656 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move left 5 cm, move up 6 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38057827949523926, + 0.07914616167545319, + 0.03563473001122475, + -3.059260606765747, + -0.36107802391052246, + 0.3897522985935211 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper for pull", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move left 5 cm, move up 7 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.379239022731781, + 0.07740768790245056, + 0.03601367399096489, + -3.0896499156951904, + -0.3267604410648346, + 0.3722357153892517 + ], + "gripper_value": 0.16920356452465057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper for pull", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move left 6 cm, move up 8 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3800627291202545, + 0.07871876657009125, + 0.04088111221790314, + -3.140242099761963, + -0.2956392168998718, + 0.3727070987224579 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper for pull", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move left 8 cm, move up 8 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38363125920295715, + 0.08445560932159424, + 0.05586765706539154, + 3.071472406387329, + -0.2870165705680847, + 0.40521782636642456 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3830829858779907, + 0.08909747004508972, + 0.06547671556472778, + 3.028888702392578, + -0.2790287137031555, + 0.4238019287586212 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3781585097312927, + 0.10070794075727463, + 0.0759592205286026, + 2.987722396850586, + -0.2812964916229248, + 0.45374587178230286 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 12 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37092697620391846, + 0.1075928658246994, + 0.08527638018131256, + 2.9273955821990967, + -0.26256263256073, + 0.46994805335998535 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36189529299736023, + 0.12074200809001923, + 0.10407313704490662, + 2.8498103618621826, + -0.25199010968208313, + 0.4958277940750122 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy apple": [ + 502, + 594, + 619, + 743 + ], + "green cloth": [ + 108, + 322, + 440, + 852 + ], + "small container": [ + 448, + 803, + 596, + 996 + ], + "white cloth": [ + 851, + 514, + 997, + 603 + ], + "toy shrimp": [ + 599, + 547, + 728, + 698 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 16 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35772350430488586, + 0.1239478662610054, + 0.11007906496524811, + 2.795854330062866, + -0.2268611490726471, + 0.4956708252429962 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 18 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3561092019081116, + 0.12995821237564087, + 0.1184040904045105, + 2.763782024383545, + -0.21779334545135498, + 0.5066842436790466 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 19 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35608452558517456, + 0.13447430729866028, + 0.12666715681552887, + 2.745496988296509, + -0.21441389620304108, + 0.516272246837616 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 21 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548692762851715, + 0.14574116468429565, + 0.13441674411296844, + 2.7263195514678955, + -0.2244528830051422, + 0.5448881387710571 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 21 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35036253929138184, + 0.16840201616287231, + 0.13900898396968842, + 2.729463577270508, + -0.24298077821731567, + 0.5979299545288086 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the green cloth, having completed the grasp. The arm is positioned above the cloth, preparing to initiate the diagonal pull towards the bottom-left. The next action is to translate the end-effector to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 19 cm, move down 6 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3448055684566498, + 0.1897110491991043, + 0.13304610550403595, + 2.765836238861084, + -0.27038925886154175, + 0.6184278726577759 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 17 cm, move down 8 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33588773012161255, + 0.20335792005062103, + 0.12720192968845367, + 2.785848617553711, + -0.2787880301475525, + 0.599740207195282 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 15 cm, move down 7 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32169482111930847, + 0.22309859097003937, + 0.12065447866916656, + 2.7774202823638916, + -0.26154738664627075, + 0.5801239609718323 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 11 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30902382731437683, + 0.2546096444129944, + 0.11489956825971603, + 2.788620710372925, + -0.26267701387405396, + 0.5641924738883972 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2980978786945343, + 0.2803184390068054, + 0.10509403795003891, + 2.8112332820892334, + -0.27218154072761536, + 0.5379335880279541 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28740164637565613, + 0.3040306270122528, + 0.09998434782028198, + 2.8307173252105713, + -0.28501471877098083, + 0.5301842093467712 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy apple": [ + 502, + 594, + 618, + 745 + ], + "small container": [ + 447, + 803, + 595, + 995 + ], + "toy shrimp": [ + 598, + 546, + 728, + 698 + ], + "toy carrot": [ + 259, + 389, + 389, + 623 + ], + "cardboard box": [ + 223, + 5, + 995, + 553 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808791995048523, + 0.3216685950756073, + 0.09659763425588608, + 2.8557045459747314, + -0.29363468289375305, + 0.5126121044158936 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2713436484336853, + 0.34165051579475403, + 0.08572101593017578, + 2.8886544704437256, + -0.276766300201416, + 0.516724705696106 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy apple": [ + 502, + 593, + 618, + 745 + ], + "toy shrimp": [ + 598, + 546, + 729, + 698 + ], + "toy carrot": [ + 235, + 389, + 383, + 614 + ], + "small container": [ + 448, + 802, + 595, + 995 + ], + "cardboard box": [ + 223, + 4, + 995, + 552 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.26152077317237854, + 0.3537294268608093, + 0.0830267146229744, + 2.9321236610412598, + -0.27182823419570923, + 0.5330318808555603 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2569448947906494, + 0.362664133310318, + 0.07639709115028381, + 2.983360528945923, + -0.27999740839004517, + 0.5712226033210754 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500985562801361, + 0.3565441370010376, + 0.04926219582557678, + 2.9960851669311523, + -0.27830106019973755, + 0.6077092289924622 + ], + "gripper_value": 0.21544429659843445 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.24877426028251648, + 0.35072460770606995, + 0.06018313392996788, + 3.0135624408721924, + -0.3468674421310425, + 0.6126096248626709 + ], + "gripper_value": 0.4615449905395508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.250436395406723, + 0.3354858458042145, + 0.07511580735445023, + 3.0265824794769287, + -0.41725975275039673, + 0.48713433742523193 + ], + "gripper_value": 0.7691487669944763 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the top-right corner of the green cloth, which is partially lifted and folded. The gripper is closed, confirming a secure grasp as the cloth is being manipulated. The next action involves pulling the cloth diagonally towards the bottom-left to continue unfolding it flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536972463130951, + 0.31650686264038086, + 0.09824350476264954, + 3.0201895236968994, + -0.4527868926525116, + 0.40317991375923157 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table with the gripper no longer in contact, indicating the release phase is complete. The robot has retreated slightly from the cloth, and the scene shows no active manipulation. The next action is to confirm task completion or proceed to a neutral resting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 40, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.26307177543640137, + 0.2908679246902466, + 0.11534033715724945, + 3.0561978816986084, + -0.43541479110717773, + 0.2126493752002716 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table with the gripper no longer in contact, indicating the release phase is complete. The robot has retreated slightly from the cloth, and the scene shows no active manipulation. The next action is to confirm task completion or proceed to a neutral resting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719583511352539, + 0.26487717032432556, + 0.12338600307703018, + 3.1277692317962646, + -0.4418482780456543, + 0.0912499651312828 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper for pull" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table with the gripper no longer in contact, indicating the release phase is complete. The robot has retreated slightly from the cloth, and the scene shows no active manipulation. The next action is to confirm task completion or proceed to a neutral resting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003768_ecot.json b/cot/chunk-0003/episode_0003768_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3030a83e34f6d9a6fef73563577baaa1d7d3d0b6 --- /dev/null +++ b/cot/chunk-0003/episode_0003768_ecot.json @@ -0,0 +1,2356 @@ +{ + "task_name": "episode_0003768", + "episode_json": "json/chunk-0003/episode_0003768.json", + "video_path": "videos/chunk-0003/image_0/episode_0003768.mp4", + "instruction": "Put the steak knife on the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003768.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.3775140643119812, + "std": 0.1809355467557907, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.37751, std=0.18094, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 25 + ], + [ + 3, + 26, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp steak knife\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector toward the steak knife on the right, close gripper to secure it by frame 15 as confirmed by gripper value drop to 0.62497 and visual contact.\"},\n {\"id\": 2, \"name\": \"transport knife across table\", \"start\": 16, \"end\": 25, \"planning\": \"Carry the grasped steak knife from right to left side of table while maintaining grip; gripper remains closed (value ~0.624) with no meaningful change, consistent with holding during motion.\"},\n {\"id\": 3, \"name\": \"release knife and retreat\", \"start\": 26, \"end\": 38, \"planning\": \"Position knife at target location on left, open gripper fully by frame 38 (gripper value returns to 1.00015), and lift away to complete placement.\"}\n ],\n \"global_plan\": \"Grasp the steak knife on the right, move it horizontally to the left side of the table, then release and retreat to finalize placement.\",\n \"notes\": \"Segment 1 shows clear gripper closing (delta=-0.37519) and image confirmation at frame 15 — grasp wording justified. Segment 2 has negligible gripper change — described as transport while holding, not re-grasping. Segment 3 shows gripper opening back to full — release is visually and numerically supported. All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp steak knife", + "start": 0, + "end": 15, + "planning": "Move end-effector toward the steak knife on the right, close gripper to secure it by frame 15 as confirmed by gripper value drop to 0.62497 and visual contact." + }, + { + "id": 2, + "name": "transport knife across table", + "start": 16, + "end": 25, + "planning": "Carry the grasped steak knife from right to left side of table while maintaining grip; gripper remains closed (value ~0.624) with no meaningful change, consistent with holding during motion." + }, + { + "id": 3, + "name": "release knife and retreat", + "start": 26, + "end": 38, + "planning": "Position knife at target location on left, open gripper fully by frame 38 (gripper value returns to 1.00015), and lift away to complete placement." + } + ], + "global_plan": "Grasp the steak knife on the right, move it horizontally to the left side of the table, then release and retreat to finalize placement.", + "notes": "Segment 1 shows clear gripper closing (delta=-0.37519) and image confirmation at frame 15 — grasp wording justified. Segment 2 has negligible gripper change — described as transport while holding, not re-grasping. Segment 3 shows gripper opening back to full — release is visually and numerically supported. All frames covered contiguously." + } + }, + "episode_goal": "Place the steak knife on the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27372774481773376, + 0.01419061329215765, + 0.1320972591638565, + -3.121119737625122, + -0.12157884985208511, + 0.18587619066238403 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near a metal bowl and a folded purple cloth. The steak knife is visible on the right side of the table, but the robot has not yet moved towards it. The next action is to translate the end-effector towards the steak knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 7 cm, move down 12 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727104723453522, + 0.013076991774141788, + 0.12422338873147964, + -3.1214280128479004, + -0.09223458915948868, + 0.1919291615486145 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near a metal bowl and a folded purple cloth. The steak knife is visible on the right side of the table, but the robot has not yet moved towards it. The next action is to translate the end-effector towards the steak knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 7 cm, move down 12 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2776787281036377, + -0.005440565291792154, + 0.11281973123550415, + -3.1356756687164307, + -0.05598454549908638, + 0.16749180853366852 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near a metal bowl and a folded purple cloth. The steak knife is visible on the right side of the table, but the robot has not yet moved towards it. The next action is to translate the end-effector towards the steak knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move down 11 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28718554973602295, + -0.018994053825736046, + 0.10618116706609726, + -3.134681463241577, + -0.05673002451658249, + 0.14745835959911346 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near a metal bowl and a folded purple cloth. The steak knife is visible on the right side of the table, but the robot has not yet moved towards it. The next action is to translate the end-effector towards the steak knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 10 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2995396554470062, + -0.03943684324622154, + 0.09300056844949722, + -3.130983591079712, + -0.06973766535520554, + 0.11543790996074677 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near a metal bowl and a folded purple cloth. The steak knife is visible on the right side of the table, but the robot has not yet moved towards it. The next action is to translate the end-effector towards the steak knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31490209698677063, + -0.058299221098423004, + 0.07358831912279129, + -3.062162160873413, + -0.14518845081329346, + 0.06890206784009933 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near a metal bowl and a folded purple cloth. The steak knife is visible on the right side of the table, but the robot has not yet moved towards it. The next action is to translate the end-effector towards the steak knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3328512907028198, + -0.06874291598796844, + 0.06268806755542755, + -3.006427049636841, + -0.21490050852298737, + 0.02605234645307064 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white soap": [ + 451, + 529, + 554, + 676 + ], + "wooden countertop": [ + 15, + 186, + 897, + 988 + ], + "purple towel": [ + 366, + 491, + 682, + 842 + ], + "green object": [ + 671, + 512, + 739, + 638 + ], + "black post": [ + 277, + 3, + 375, + 280 + ], + "metal bowl": [ + 309, + 266, + 516, + 484 + ], + "grey cabinet": [ + 144, + 641, + 733, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near a metal bowl and a folded purple cloth. The steak knife is visible on the right side of the table, but the robot has not yet moved towards it. The next action is to translate the end-effector towards the steak knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3485286235809326, + -0.07083743065595627, + 0.048475150018930435, + -2.986299514770508, + -0.221461683511734, + 0.0168293546885252 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3520493507385254, + -0.07013404369354248, + 0.029845254495739937, + -2.9861106872558594, + -0.1900840848684311, + 0.019474904984235764 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35496678948402405, + -0.060559652745723724, + 0.012485764920711517, + -3.0168545246124268, + -0.15892581641674042, + 0.06868356466293335 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 8 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35767480731010437, + -0.055914945900440216, + 0.007626791950315237, + -3.0863230228424072, + -0.13680529594421387, + 0.14404690265655518 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, keep gripper closed; then move back 4 cm, move left 13 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3555627167224884, + -0.05558589845895767, + 0.003060047747567296, + -3.105475664138794, + -0.12260692566633224, + 0.16539649665355682 + ], + "gripper_value": 0.9351479411125183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, keep gripper closed; then move back 5 cm, move left 18 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542751371860504, + -0.0550706647336483, + 0.002412293804809451, + -3.1004862785339355, + -0.11454501003026962, + 0.16296279430389404 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper closed; then move back 5 cm, move left 23 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35270237922668457, + -0.05446140468120575, + 0.0049315402284264565, + -3.0965774059295654, + -0.11074401438236237, + 0.15790803730487823 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper closed; then move back 5 cm, move left 26 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.344364732503891, + -0.05234004184603691, + 0.007936734706163406, + -3.0875332355499268, + -0.09600554406642914, + 0.1547330766916275 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, keep gripper closed; then move back 5 cm, move left 27 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34110161662101746, + -0.05472920089960098, + 0.024461423978209496, + -3.1106836795806885, + -0.10566651076078415, + 0.1530837118625641 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "approach and grasp steak knife", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move back 6 cm, move left 25 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33955830335617065, + -0.050239235162734985, + 0.06600501388311386, + 3.128066301345825, + -0.1676703542470932, + 0.16047336161136627 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 23 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33655813336372375, + -0.032114967703819275, + 0.09783793240785599, + 3.0971157550811768, + -0.24612222611904144, + 0.2143677920103073 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 356, + 495, + 672, + 857 + ], + "wooden countertop": [ + 12, + 188, + 895, + 987 + ], + "black post": [ + 277, + 4, + 375, + 280 + ], + "green object": [ + 603, + 364, + 677, + 495 + ], + "white soap": [ + 441, + 535, + 545, + 684 + ], + "metal bowl": [ + 309, + 267, + 515, + 484 + ] + } + } + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 21 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32640916109085083, + -0.011163326911628246, + 0.11690288037061691, + 3.0737648010253906, + -0.28436338901519775, + 0.25733762979507446 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 19 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31196328997612, + 0.032673873007297516, + 0.11108075827360153, + 3.074601888656616, + -0.25456753373146057, + 0.3041573166847229 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is positioned above the table with the steak knife visible on the right side. The gripper is currently open and approaching the knife handle. The next action is to close the gripper to grasp the steak knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 15 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985363304615021, + 0.08048434555530548, + 0.10951477289199829, + 3.0673012733459473, + -0.2315988540649414, + 0.30704638361930847 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2875264883041382, + 0.1282735913991928, + 0.09398679435253143, + 3.025616407394409, + -0.1998101770877838, + 0.20565403997898102 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2891197204589844, + 0.17720463871955872, + 0.08522406965494156, + 3.0102627277374268, + -0.21674808859825134, + 0.06389083713293076 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 309, + 263, + 515, + 483 + ], + "purple towel": [ + 355, + 494, + 673, + 857 + ], + "wooden countertop": [ + 13, + 189, + 894, + 984 + ], + "white soap": [ + 441, + 537, + 545, + 687 + ], + "green object": [ + 141, + 254, + 239, + 377 + ], + "black post": [ + 277, + 3, + 374, + 279 + ], + "grey cabinet": [ + 144, + 638, + 734, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930903732776642, + 0.20668190717697144, + 0.07219605892896652, + 3.0129141807556152, + -0.20679396390914917, + -0.0026730727404356003 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29141852259635925, + 0.21594113111495972, + 0.0584772452712059, + 3.0481090545654297, + -0.17305566370487213, + -0.056629009544849396 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move right 2 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27686113119125366, + 0.1986468881368637, + 0.034604478627443314, + 3.121274709701538, + -0.05191586911678314, + -0.10921622812747955 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "transport knife across table", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper closed; then move right 1 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27725881338119507, + 0.182306706905365, + 0.07311566919088364, + -3.080883502960205, + -0.10814578831195831, + -0.12370660901069641 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27189525961875916, + 0.17871412634849548, + 0.08340027183294296, + -3.085752010345459, + -0.11482985317707062, + -0.08140213787555695 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2685498893260956, + 0.17412516474723816, + 0.07872433960437775, + -3.0743448734283447, + -0.09152007848024368, + -0.059837840497493744 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683025300502777, + 0.17081032693386078, + 0.07095924764871597, + -3.057330369949341, + -0.09827687591314316, + -0.06393473595380783 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27296122908592224, + 0.16087529063224792, + 0.06096372753381729, + -3.0295557975769043, + -0.12109428644180298, + -0.076431043446064 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.27826815843582153, + 0.14790338277816772, + 0.0433887355029583, + -3.013953924179077, + -0.1079435795545578, + -0.10216952860355377 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The robot is currently positioned over a metal bowl containing a green object, with a folded purple towel and white object nearby on the wooden table. The approach and grasp of the steak knife have been completed, and the robot is now in the transport phase moving the knife across the table. The gripper remains closed with minimal variation, indicating the knife is being held securely during transit. The next action is to continue moving the knife horizontally toward the left side of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.282309353351593, + 0.14268480241298676, + 0.02311432920396328, + -3.0211803913116455, + -0.08272193372249603, + -0.09862323850393295 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The steak knife has been transported to the left side of the table and is currently held above the surface. The gripper is open, indicating the release phase is underway or complete. The next action is to retreat the end-effector upward to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 11 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28411272168159485, + 0.1458582729101181, + 0.010037284344434738, + -3.0309159755706787, + -0.05111927539110184, + -0.10050366818904877 + ], + "gripper_value": 0.7200843095779419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The steak knife has been transported to the left side of the table and is currently held above the surface. The gripper is open, indicating the release phase is underway or complete. The next action is to retreat the end-effector upward to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27813178300857544, + 0.16156546771526337, + 0.011084705591201782, + -3.038292407989502, + -0.0363423116505146, + -0.06206927448511124 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The steak knife has been transported to the left side of the table and is currently held above the surface. The gripper is open, indicating the release phase is underway or complete. The next action is to retreat the end-effector upward to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771274149417877, + 0.17065858840942383, + 0.01719946414232254, + -3.0566635131835938, + -0.03486872836947441, + -0.039901427924633026 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The steak knife has been transported to the left side of the table and is currently held above the surface. The gripper is open, indicating the release phase is underway or complete. The next action is to retreat the end-effector upward to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.26931890845298767, + 0.16975505650043488, + 0.037684131413698196, + -3.0822110176086426, + -0.026380805298686028, + -0.024088166654109955 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The steak knife has been transported to the left side of the table and is currently held above the surface. The gripper is open, indicating the release phase is underway or complete. The next action is to retreat the end-effector upward to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.26774901151657104, + 0.15956594049930573, + 0.09364360570907593, + -3.075498342514038, + -0.08768030256032944, + 0.0036945263855159283 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The steak knife has been transported to the left side of the table and is currently held above the surface. The gripper is open, indicating the release phase is underway or complete. The next action is to retreat the end-effector upward to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.26484954357147217, + 0.14005522429943085, + 0.13113833963871002, + -3.0946199893951416, + -0.11374066770076752, + 0.029723547399044037 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white soap": [ + 441, + 537, + 545, + 687 + ], + "metal bowl": [ + 309, + 265, + 517, + 483 + ], + "purple towel": [ + 355, + 494, + 673, + 857 + ], + "wooden countertop": [ + 16, + 188, + 894, + 988 + ], + "green object": [ + 177, + 468, + 238, + 584 + ] + } + } + }, + "Understanding": { + "goal": "Place the steak knife on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp steak knife" + }, + { + "id": 2, + "subtask": "transport knife across table" + }, + { + "id": 3, + "subtask": "release knife and retreat" + } + ], + "subtask_name": "release knife and retreat", + "subtask_reasoning": "The steak knife has been transported to the left side of the table and is currently held above the surface. The gripper is open, indicating the release phase is underway or complete. The next action is to retreat the end-effector upward to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003769_ecot.json b/cot/chunk-0003/episode_0003769_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8cbd626f346e12c1fd31da7b17664d66cbc6277f --- /dev/null +++ b/cot/chunk-0003/episode_0003769_ecot.json @@ -0,0 +1,1314 @@ +{ + "task_name": "episode_0003769", + "episode_json": "json/chunk-0003/episode_0003769.json", + "video_path": "videos/chunk-0003/image_0/episode_0003769.mp4", + "instruction": "Put pan from drying rack into sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003769.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9447466731071472, + "std": 0.42802557349205017, + "delta_total": -0.9447466731071472, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94475, std=0.42803, total_delta=-0.94475). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 212, + 212, + 212, + 212, + 212 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan in drying rack\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the pan resting in the orange drying rack without closing gripper.\"},\n {\"id\": 2, \"name\": \"close gripper to grasp pan handle\", \"start\": 6, \"end\": 11, \"planning\": \"Begin closing gripper around the pan’s handle as end-effector positions for secure contact.\"},\n {\"id\": 3, \"name\": \"secure grip and lift pan slightly\", \"start\": 12, \"end\": 14, \"planning\": \"Complete gripper closure to firmly hold pan, then initiate small upward motion to disengage from rack.\"},\n {\"id\": 4, \"name\": \"transport pan over sink and release\", \"start\": 15, \"end\": 19, \"planning\": \"Move pan horizontally over sink basin while maintaining grip, then open gripper to drop pan into sink.\"}\n ],\n \"global_plan\": \"Approach pan in drying rack, grasp its handle with controlled gripper closure, lift slightly to clear rack, transport over sink, and release to drop pan into sink basin.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 2 and 3; segment 1 shows no closure (approach phase), segment 4 shows static closed state during transport and release. Frame 19 image confirms pan is no longer in rack and is mid-air above sink, consistent with release action.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan in drying rack", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the pan resting in the orange drying rack without closing gripper." + }, + { + "id": 2, + "name": "close gripper to grasp pan handle", + "start": 6, + "end": 11, + "planning": "Begin closing gripper around the pan’s handle as end-effector positions for secure contact." + }, + { + "id": 3, + "name": "secure grip and lift pan slightly", + "start": 12, + "end": 14, + "planning": "Complete gripper closure to firmly hold pan, then initiate small upward motion to disengage from rack." + }, + { + "id": 4, + "name": "transport pan over sink and release", + "start": 15, + "end": 19, + "planning": "Move pan horizontally over sink basin while maintaining grip, then open gripper to drop pan into sink." + } + ], + "global_plan": "Approach pan in drying rack, grasp its handle with controlled gripper closure, lift slightly to clear rack, transport over sink, and release to drop pan into sink basin.", + "notes": "Gripper evidence confirms meaningful closing only in segments 2 and 3; segment 1 shows no closure (approach phase), segment 4 shows static closed state during transport and release. Frame 19 image confirms pan is no longer in rack and is mid-air above sink, consistent with release action." + } + }, + "episode_goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23673443496227264, + -0.07135628163814545, + 0.1734818071126938, + -3.049011468887329, + -0.15241417288780212, + -0.12419621646404266 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "approach pan in drying rack", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible in the orange drying rack. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot is beginning to move toward the pan handle. The next action is to continue approaching the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2324325144290924, + -0.07870060205459595, + 0.16825439035892487, + -3.0485146045684814, + -0.12267962098121643, + -0.09355789422988892 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "approach pan in drying rack", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible in the orange drying rack. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot is beginning to move toward the pan handle. The next action is to continue approaching the pan handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2308853566646576, + -0.09886827319860458, + 0.171475350856781, + -3.0479934215545654, + -0.13550056517124176, + -0.06016594544053078 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "approach pan in drying rack", + "subtask_reasoning": "The robot is positioned above the orange drying rack with the metal pan visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to lower the end-effector toward the pan handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23062832653522491, + -0.11202685534954071, + 0.17191796004772186, + -3.0615949630737305, + -0.1585465371608734, + -0.03181682899594307 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "approach pan in drying rack", + "subtask_reasoning": "The robot is positioned above the orange drying rack with the metal pan visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to lower the end-effector toward the pan handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23229824006557465, + -0.12433025985956192, + 0.16753679513931274, + -3.1086792945861816, + -0.19170501828193665, + 0.023077717050909996 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "approach pan in drying rack", + "subtask_reasoning": "The robot is positioned above the orange drying rack with the metal pan visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to lower the end-effector toward the pan handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23067934811115265, + -0.13240022957324982, + 0.16138465702533722, + -3.130052328109741, + -0.20141728222370148, + 0.04591257497668266 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "approach pan in drying rack", + "subtask_reasoning": "The robot is positioned above the orange drying rack with the metal pan visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to lower the end-effector toward the pan handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22675979137420654, + -0.13300828635692596, + 0.15044692158699036, + 3.1207146644592285, + -0.1723269820213318, + 0.08100494742393494 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "close gripper to grasp pan handle", + "subtask_reasoning": "The robot is positioned above the orange drying rack with the metal pan visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to lower the end-effector toward the pan handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2227047085762024, + -0.1283000111579895, + 0.13980533182621002, + 3.11716890335083, + -0.1470053493976593, + 0.09242020547389984 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wire rack": [ + 663, + 2, + 870, + 214 + ], + "blue tray": [ + 2, + 4, + 427, + 412 + ], + "metal cup": [ + 6, + 4, + 238, + 237 + ], + "faucet": [ + 415, + 1, + 510, + 124 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "close gripper to grasp pan handle", + "subtask_reasoning": "The robot is positioned above the orange drying rack with the metal pan visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to lower the end-effector toward the pan handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2167472094297409, + -0.12210308015346527, + 0.13442665338516235, + 3.119051694869995, + -0.14504681527614594, + 0.10408150404691696 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "close gripper to grasp pan handle", + "subtask_reasoning": "The robot end-effector is positioned near the pan handle in the orange drying rack, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the handle. The next action is to fully close the gripper to establish a firm grasp before lifting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 5 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21165812015533447, + -0.11303085833787918, + 0.12665487825870514, + 3.0869524478912354, + -0.16316990554332733, + 0.11927970498800278 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "close gripper to grasp pan handle", + "subtask_reasoning": "The robot end-effector is positioned near the pan handle in the orange drying rack, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the handle. The next action is to fully close the gripper to establish a firm grasp before lifting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21047914028167725, + -0.106106236577034, + 0.1160798966884613, + 3.0453238487243652, + -0.171202152967453, + 0.14658337831497192 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "close gripper to grasp pan handle", + "subtask_reasoning": "The robot end-effector is positioned near the pan handle in the orange drying rack, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the handle. The next action is to fully close the gripper to establish a firm grasp before lifting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21122410893440247, + -0.10511921346187592, + 0.11187472939491272, + 3.0264604091644287, + -0.1747799962759018, + 0.1721426546573639 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "close gripper to grasp pan handle", + "subtask_reasoning": "The robot end-effector is positioned near the pan handle in the orange drying rack, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the handle. The next action is to fully close the gripper to establish a firm grasp before lifting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21033549308776855, + -0.106744684278965, + 0.11220285296440125, + 3.0302717685699463, + -0.17630071938037872, + 0.1820773333311081 + ], + "gripper_value": 0.4624805450439453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "secure grip and lift pan slightly", + "subtask_reasoning": "The robot end-effector is positioned near the pan handle in the orange drying rack, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the handle. The next action is to fully close the gripper to establish a firm grasp before lifting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2112310230731964, + -0.11081865429878235, + 0.1160544604063034, + 3.035320281982422, + -0.16721853613853455, + 0.18941761553287506 + ], + "gripper_value": 0.22045548260211945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "secure grip and lift pan slightly", + "subtask_reasoning": "The gripper has closed around the metal pan handle in the orange drying rack, as confirmed by segment-level gripper evidence and current frame state. The pan is now secured but not yet lifted. The next action is to lift the pan slightly to clear the rack before transporting it toward the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2140771448612213, + -0.11323470622301102, + 0.12141385674476624, + 3.0629661083221436, + -0.16777494549751282, + 0.19063067436218262 + ], + "gripper_value": 0.08890553563833237 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "secure grip and lift pan slightly", + "subtask_reasoning": "The gripper has closed around the metal pan handle in the orange drying rack, as confirmed by segment-level gripper evidence and current frame state. The pan is now secured but not yet lifted. The next action is to lift the pan slightly to clear the rack before transporting it toward the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21519292891025543, + -0.11239635944366455, + 0.13095226883888245, + -3.127664566040039, + -0.11468194425106049, + 0.1715061515569687 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "transport pan over sink and release", + "subtask_reasoning": "The gripper has closed around the metal pan handle in the orange drying rack, as confirmed by segment-level gripper evidence and current frame state. The pan is now secured but not yet lifted. The next action is to lift the pan slightly to clear the rack before transporting it toward the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21877190470695496, + -0.10363847017288208, + 0.14660967886447906, + -3.0489115715026855, + -0.10412906110286713, + 0.14710989594459534 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "transport pan over sink and release", + "subtask_reasoning": "The gripper has closed around the metal pan handle in the orange drying rack, as confirmed by segment-level gripper evidence and current frame state. The pan is now secured but not yet lifted. The next action is to lift the pan slightly to clear the rack before transporting it toward the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21686691045761108, + -0.08752568811178207, + 0.15439867973327637, + -2.9988460540771484, + -0.13539715111255646, + 0.12196575105190277 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "transport pan over sink and release", + "subtask_reasoning": "The robot is currently holding the metal pan above the orange drying rack, having successfully lifted it from its resting position. The gripper state remains constant, indicating a stable hold without active grasping or releasing at this moment. The next action is to translate the arm horizontally to position the pan directly over the sink basin before initiating the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21473583579063416, + -0.06595800817012787, + 0.1574317365884781, + -2.9222612380981445, + -0.1603488177061081, + 0.08063238114118576 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tray": [ + 2, + 4, + 425, + 412 + ], + "spoon": [ + 221, + 5, + 316, + 195 + ], + "wire rack": [ + 827, + 10, + 994, + 335 + ], + "faucet": [ + 414, + 1, + 512, + 124 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "transport pan over sink and release", + "subtask_reasoning": "The robot is currently holding the metal pan above the orange drying rack, having successfully lifted it from its resting position. The gripper state remains constant, indicating a stable hold without active grasping or releasing at this moment. The next action is to translate the arm horizontally to position the pan directly over the sink basin before initiating the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21628253161907196, + -0.04104522615671158, + 0.1558937430381775, + -2.878818988800049, + -0.22286397218704224, + 0.0470733605325222 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pan from the orange drying rack and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan handle" + }, + { + "id": 3, + "subtask": "secure grip and lift pan slightly" + }, + { + "id": 4, + "subtask": "transport pan over sink and release" + } + ], + "subtask_name": "transport pan over sink and release", + "subtask_reasoning": "The robot is currently holding the metal pan above the orange drying rack, having successfully lifted it from its resting position. The gripper state remains constant, indicating a stable hold without active grasping or releasing at this moment. The next action is to translate the arm horizontally to position the pan directly over the sink basin before initiating the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003772_ecot.json b/cot/chunk-0003/episode_0003772_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6462a4e1ed6093d6348e66dc0ea23a137d002962 --- /dev/null +++ b/cot/chunk-0003/episode_0003772_ecot.json @@ -0,0 +1,2100 @@ +{ + "task_name": "episode_0003772", + "episode_json": "json/chunk-0003/episode_0003772.json", + "video_path": "videos/chunk-0003/image_0/episode_0003772.mp4", + "instruction": "Moved the blue clot to the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003772.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.948101818561554, + "std": 0.4225030839443207, + "delta_total": 0.003330826759338379, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94810, std=0.42250, total_delta=0.00333). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 24, + 24, + 24, + 24, + 124, + 124 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 13 + ], + [ + 4, + 14, + 23 + ], + [ + 5, + 24, + 27 + ], + [ + 6, + 28, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue cloth on the left burner without grasping.\"},\n {\"id\": 2, \"name\": \"grasp blue cloth\", \"start\": 6, \"end\": 13, \"planning\": \"Close gripper to securely grasp the blue cloth, confirmed by significant gripper closure and stable hold.\"},\n {\"id\": 3, \"name\": \"transport cloth right\", \"start\": 14, \"end\": 23, \"planning\": \"Lift and move the grasped blue cloth horizontally toward the right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release cloth on burner\", \"start\": 24, \"end\": 27, \"planning\": \"Open gripper to release the blue cloth onto the right burner surface.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 28, \"end\": 29, \"planning\": \"Withdraw end-effector away from the placed cloth without further interaction.\"}\n ],\n \"global_plan\": \"Approach, grasp, transport, release, and retreat — moving the blue cloth from left to right burner using coordinated gripper and motion control.\",\n \"notes\": \"Gripper evidence supports grasp in segments 3 and 4 (meaningful closure), while segments 1, 2, 5, 6 show no meaningful closing — thus only contact-based or retreat actions are described there. Frame coverage is complete and contiguous across all 30 frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue cloth on the left burner without grasping." + }, + { + "id": 2, + "name": "grasp blue cloth", + "start": 6, + "end": 13, + "planning": "Close gripper to securely grasp the blue cloth, confirmed by significant gripper closure and stable hold." + }, + { + "id": 3, + "name": "transport cloth right", + "start": 14, + "end": 23, + "planning": "Lift and move the grasped blue cloth horizontally toward the right burner while maintaining grip." + }, + { + "id": 4, + "name": "release cloth on burner", + "start": 24, + "end": 27, + "planning": "Open gripper to release the blue cloth onto the right burner surface." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 28, + "end": 29, + "planning": "Withdraw end-effector away from the placed cloth without further interaction." + } + ], + "global_plan": "Approach, grasp, transport, release, and retreat — moving the blue cloth from left to right burner using coordinated gripper and motion control.", + "notes": "Gripper evidence supports grasp in segments 3 and 4 (meaningful closure), while segments 1, 2, 5, 6 show no meaningful closing — thus only contact-based or retreat actions are described there. Frame coverage is complete and contiguous across all 30 frames." + } + }, + "episode_goal": "Move the blue cloth to the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3308100700378418, + 0.1805368810892105, + 0.02028287947177887, + 3.139699697494507, + -0.08520130068063736, + 0.2995769679546356 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the left burner where the blue cloth is located, with the gripper open and ready. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper toward the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then move right 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3249874711036682, + 0.17795592546463013, + 0.0042303442023694515, + 3.1306073665618896, + -0.041680291295051575, + 0.3002185523509979 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the left burner where the blue cloth is located, with the gripper open and ready. No movement or contact has occurred yet in this subtask. The next action should be to lower the gripper toward the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250712752342224, + 0.18815413117408752, + -0.0003896449343301356, + -3.1244914531707764, + -0.07642857730388641, + 0.261480450630188 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the left burner where the blue cloth is located. The gripper is open and approaching the cloth, with no contact yet established. The next action is to lower the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, close gripper; then move forward 1 cm, move right 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32813405990600586, + 0.20197594165802002, + -0.0014026978751644492, + -3.113798141479492, + -0.09257721900939941, + 0.24817606806755066 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the left burner where the blue cloth is located. The gripper is open and approaching the cloth, with no contact yet established. The next action is to lower the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367583155632019, + 0.22205853462219238, + -0.008241739124059677, + -3.0688583850860596, + -0.12031406909227371, + 0.2506321966648102 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the left burner where the blue cloth is located. The gripper is open and approaching the cloth, with no contact yet established. The next action is to lower the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3400438129901886, + 0.23748517036437988, + -0.010815050452947617, + -3.052560329437256, + -0.14983664453029633, + 0.25423476099967957 + ], + "gripper_value": 0.7061693072319031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the left burner where the blue cloth is located. The gripper is open and approaching the cloth, with no contact yet established. The next action is to lower the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move forward 2 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34205642342567444, + 0.25453561544418335, + -0.013714602217078209, + -3.0548906326293945, + -0.19925658404827118, + 0.2972663938999176 + ], + "gripper_value": 0.43108752369880676 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot arm is positioned above the left burner where the blue cloth is located. The gripper is open and approaching the cloth, with no contact yet established. The next action is to lower the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470441699028015, + 0.26411014795303345, + -0.026055755093693733, + -3.049286127090454, + -0.2720373272895813, + 0.33310529589653015 + ], + "gripper_value": 0.20867010951042175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot arm is positioned above the left burner where the blue cloth is located. The gripper is open and approaching the cloth, with no contact yet established. The next action is to lower the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34665647149086, + 0.2618919610977173, + -0.040206048637628555, + -3.056370496749878, + -0.2726954221725464, + 0.32347172498703003 + ], + "gripper_value": 0.07591649144887924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 326, + 454, + 494, + 739 + ], + "yellow bowl": [ + 2, + 353, + 136, + 538 + ], + "sink": [ + 501, + 437, + 993, + 982 + ], + "blue cloth": [ + 54, + 207, + 378, + 455 + ], + "faucet": [ + 796, + 210, + 992, + 527 + ], + "induction cooktop": [ + 56, + 262, + 559, + 650 + ], + "green object": [ + 51, + 366, + 131, + 452 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot arm is positioned above the left burner where the blue cloth is located. The gripper is open and approaching the cloth, with no contact yet established. The next action is to lower the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34621286392211914, + 0.25665122270584106, + -0.04573201388120651, + -3.078432321548462, + -0.2536408007144928, + 0.34508129954338074 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 10 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466673493385315, + 0.24548840522766113, + -0.04855059087276459, + -3.087071657180786, + -0.21946197748184204, + 0.3146982789039612 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, keep gripper closed; then move forward 2 cm, move right 11 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34878095984458923, + 0.23771566152572632, + -0.04997291415929794, + -3.0912232398986816, + -0.21221406757831573, + 0.32852280139923096 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, keep gripper closed; then move forward 2 cm, move right 11 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35198095440864563, + 0.2274095118045807, + -0.052510131150484085, + -3.105081558227539, + -0.2227892130613327, + 0.3091031610965729 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper closed; then move forward 2 cm, move right 11 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.356660395860672, + 0.2167884260416031, + -0.053317591547966, + -3.1229822635650635, + -0.2390439212322235, + 0.2812606692314148 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper closed; then move forward 2 cm, move right 11 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632918894290924, + 0.201759934425354, + -0.05256228148937225, + 3.1404922008514404, + -0.22915814816951752, + 0.2405349314212799 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3656173050403595, + 0.18412300944328308, + -0.05351835489273071, + 3.108569860458374, + -0.19751255214214325, + 0.23671883344650269 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 6 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.368360698223114, + 0.14926162362098694, + -0.052313972264528275, + 3.0684666633605957, + -0.12713487446308136, + 0.26105546951293945 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.373471200466156, + 0.12355266511440277, + -0.05367448553442955, + 3.054593801498413, + -0.10462384670972824, + 0.24805577099323273 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bowl": [ + 2, + 351, + 137, + 538 + ], + "sink": [ + 501, + 437, + 992, + 980 + ], + "green object": [ + 51, + 367, + 132, + 452 + ], + "blue cloth": [ + 213, + 247, + 546, + 481 + ], + "induction cooktop": [ + 54, + 219, + 557, + 656 + ], + "faucet": [ + 796, + 210, + 992, + 526 + ], + "can": [ + 326, + 455, + 495, + 739 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot has approached the blue cloth on the left burner and is now in contact with it. The gripper is closing (value 0.05298, decreasing from prior frames), indicating active grasping. Next, the robot should secure the cloth fully before lifting and transporting it to the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move back 3 cm, move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37405237555503845, + 0.10889428108930588, + -0.0541762039065361, + 3.0409607887268066, + -0.10517290979623795, + 0.2273833155632019 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot is currently holding the blue cloth and moving it toward the right burner. The cloth has been grasped and is being transported across the stove surface. The next action is to continue moving the cloth rightward until it reaches the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, open gripper; then move back 5 cm, move left 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37739744782447815, + 0.1010160818696022, + -0.05443985387682915, + 3.0259335041046143, + -0.12124346941709518, + 0.2151973694562912 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot is currently holding the blue cloth and moving it toward the right burner. The cloth has been grasped and is being transported across the stove surface. The next action is to continue moving the cloth rightward until it reaches the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, open gripper; then move back 5 cm, move left 4 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3798154592514038, + 0.09437476098537445, + -0.0544724278151989, + 3.0184009075164795, + -0.1264311969280243, + 0.2102421075105667 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot is currently holding the blue cloth and moving it toward the right burner. The cloth has been grasped and is being transported across the stove surface. The next action is to continue moving the cloth rightward until it reaches the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 5 cm, move left 4 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3786906599998474, + 0.0935736820101738, + -0.05416889116168022, + 3.043041467666626, + -0.14961683750152588, + 0.2085222750902176 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot is currently holding the blue cloth and moving it toward the right burner. The cloth has been grasped and is being transported across the stove surface. The next action is to continue moving the cloth rightward until it reaches the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 5 cm, move left 4 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37838855385780334, + 0.09417758882045746, + -0.0493287555873394, + 3.074265718460083, + -0.1548215001821518, + 0.22146061062812805 + ], + "gripper_value": 0.19552281498908997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot is currently holding the blue cloth and moving it toward the right burner. The cloth has been grasped and is being transported across the stove surface. The next action is to continue moving the cloth rightward until it reaches the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 5 cm, move left 4 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3801661431789398, + 0.09651781618595123, + -0.02182045206427574, + 3.0843966007232666, + -0.19503389298915863, + 0.23809564113616943 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth right", + "subtask_reasoning": "The robot is currently holding the blue cloth and moving it toward the right burner. The cloth has been grasped and is being transported across the stove surface. The next action is to continue moving the cloth rightward until it reaches the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 5 cm, move left 4 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3738804757595062, + 0.10465027391910553, + 0.005716300569474697, + 3.0772876739501953, + -0.2660606801509857, + 0.22185638546943665 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The robot is currently holding the blue cloth and moving it toward the right burner. The cloth has been grasped and is being transported across the stove surface. The next action is to continue moving the cloth rightward until it reaches the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36232149600982666, + 0.10840103030204773, + 0.02869110368192196, + 3.063880681991577, + -0.32314980030059814, + 0.20796316862106323 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The blue cloth is already placed on the right burner, and the gripper is open and elevated above it, indicating release has occurred. The current subtask 'release cloth on burner' is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506263196468353, + 0.11252526193857193, + 0.032548364251852036, + 3.0846481323242188, + -0.30889055132865906, + 0.18268325924873352 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The blue cloth is already placed on the right burner, and the gripper is open and elevated above it, indicating release has occurred. The current subtask 'release cloth on burner' is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402787148952484, + 0.12247445434331894, + 0.031838711351156235, + 3.118105173110962, + -0.28568023443222046, + 0.16655123233795166 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The blue cloth is already placed on the right burner, and the gripper is open and elevated above it, indicating release has occurred. The current subtask 'release cloth on burner' is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3287176489830017, + 0.1409074366092682, + 0.02983207069337368, + -3.1316778659820557, + -0.2848942279815674, + 0.16290540993213654 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The blue cloth is already positioned on the right burner, and the gripper is open and elevated above it. The retreat subtask is underway, with the arm moving away from the cloth. The next action is to continue retracting the arm to a safe distance, completing the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30593279004096985, + 0.17148718237876892, + 0.02830745279788971, + -3.112102746963501, + -0.24217663705348969, + 0.13516207039356232 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 268, + 249, + 605, + 528 + ], + "sink": [ + 502, + 437, + 992, + 980 + ], + "faucet": [ + 795, + 210, + 992, + 527 + ], + "can": [ + 327, + 454, + 494, + 739 + ], + "green object": [ + 51, + 367, + 131, + 451 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth right" + }, + { + "id": 4, + "subtask": "release cloth on burner" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The blue cloth is already positioned on the right burner, and the gripper is open and elevated above it. The retreat subtask is underway, with the arm moving away from the cloth. The next action is to continue retracting the arm to a safe distance, completing the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003773_ecot.json b/cot/chunk-0003/episode_0003773_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..574dcab922e07dec1ce4a179f3e7a79f630e07dd --- /dev/null +++ b/cot/chunk-0003/episode_0003773_ecot.json @@ -0,0 +1,1280 @@ +{ + "task_name": "episode_0003773", + "episode_json": "json/chunk-0003/episode_0003773.json", + "video_path": "videos/chunk-0003/image_0/episode_0003773.mp4", + "instruction": "Take carrot off plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003773.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.3340487480163574, + "std": 0.1547885239124298, + "delta_total": -0.3340487480163574, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.33405, std=0.15479, total_delta=-0.33405). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot on plate\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector from initial position toward the carrot located on the green plate, maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"close gripper to grasp carrot\", \"start\": 8, \"end\": 16, \"planning\": \"Execute gripper closure while maintaining contact with carrot; gripper value drops significantly indicating successful grasp initiation and hold.\"},\n {\"id\": 3, \"name\": \"lift and retreat with carrot\", \"start\": 17, \"end\": 21, \"planning\": \"Lift carrot off plate and retract arm slightly while maintaining fixed gripper state to secure object during motion.\"}\n ],\n \"global_plan\": \"Approach the carrot on the plate, close gripper to grasp it securely, then lift and retreat while holding the carrot.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.33405) consistent with grasping; Segment 2 has no gripper change but images confirm carrot is held and lifted — so 'hold' and 'lift' are justified by visual evidence despite static gripper signal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot on plate", + "start": 0, + "end": 7, + "planning": "Move end-effector from initial position toward the carrot located on the green plate, maintaining open gripper." + }, + { + "id": 2, + "name": "close gripper to grasp carrot", + "start": 8, + "end": 16, + "planning": "Execute gripper closure while maintaining contact with carrot; gripper value drops significantly indicating successful grasp initiation and hold." + }, + { + "id": 3, + "name": "lift and retreat with carrot", + "start": 17, + "end": 21, + "planning": "Lift carrot off plate and retract arm slightly while maintaining fixed gripper state to secure object during motion." + } + ], + "global_plan": "Approach the carrot on the plate, close gripper to grasp it securely, then lift and retreat while holding the carrot.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.33405) consistent with grasping; Segment 2 has no gripper change but images confirm carrot is held and lifted — so 'hold' and 'lift' are justified by visual evidence despite static gripper signal." + } + }, + "episode_goal": "Grasp the carrot on the green plate and lift it off the plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.18150782585144043, + 0.0178371611982584, + 0.12853005528450012, + -2.964548110961914, + 0.07359127700328827, + -0.0220851618796587 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "approach carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink, with the carrot visible on the green plate to the right. No grasping action has occurred yet as the gripper remains open. The next step is to move the arm closer to the carrot on the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 22 cm, move right 15 cm, move down 6 cm, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2003680318593979, + 0.005485170520842075, + 0.12366335093975067, + -2.9819321632385254, + 0.1142251268029213, + 0.1233365386724472 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "approach carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink, with the carrot visible on the green plate to the right. No grasping action has occurred yet as the gripper remains open. The next step is to move the arm closer to the carrot on the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 21 cm, move right 14 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24963070452213287, + -0.02416369505226612, + 0.12181595712900162, + -2.9826626777648926, + 0.10830899327993393, + 0.3492807149887085 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "approach carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink, with the carrot visible on the green plate to the right. No grasping action has occurred yet as the gripper remains open. The next step is to move the arm closer to the carrot on the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 11 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28697469830513, + -0.053945392370224, + 0.11128176003694534, + -2.9975552558898926, + 0.06741847097873688, + 0.49472349882125854 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "approach carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 8 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177434802055359, + -0.07425916194915771, + 0.0992821529507637, + -3.0136842727661133, + 0.0015955737326294184, + 0.5790054202079773 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "approach carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34186431765556335, + -0.08867396414279938, + 0.08855750411748886, + -3.027541399002075, + -0.04314752668142319, + 0.5987101793289185 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "approach carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37167906761169434, + -0.10740987211465836, + 0.08143308758735657, + -3.052405595779419, + -0.0624573715031147, + 0.6002541184425354 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "approach carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 6 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3927748203277588, + -0.12374630570411682, + 0.07609853893518448, + -3.034823179244995, + -0.08639928698539734, + 0.6007406711578369 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "approach carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4059470593929291, + -0.12976866960525513, + 0.0672898218035698, + -3.0295591354370117, + -0.10495152324438095, + 0.589134156703949 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4151461720466614, + -0.1317700445652008, + 0.06195678189396858, + -3.054086208343506, + -0.1332169473171234, + 0.5924510359764099 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4181336462497711, + -0.13190750777721405, + 0.053456861525774, + -3.0736443996429443, + -0.15431813895702362, + 0.5904942750930786 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 7 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4171134829521179, + -0.12973877787590027, + 0.03854548931121826, + -3.0808544158935547, + -0.17360641062259674, + 0.5722715854644775 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the carrot visible on the green plate to the right. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the carrot on the plate to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4158513844013214, + -0.1270916610956192, + 0.024501699954271317, + -3.096282958984375, + -0.18657779693603516, + 0.5619731545448303 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the green plate. The gripper is currently open, and the segment-level evidence indicates a closing motion is underway. The next action is to continue closing the gripper fingers to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4159156084060669, + -0.12104354053735733, + 0.014466483145952225, + -3.113041400909424, + -0.19290751218795776, + 0.5677086114883423 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the green plate. The gripper is currently open, and the segment-level evidence indicates a closing motion is underway. The next action is to continue closing the gripper fingers to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.41615989804267883, + -0.12173658609390259, + 0.006803598720580339, + 3.1296637058258057, + -0.19212816655635834, + 0.5815405249595642 + ], + "gripper_value": 0.7720533609390259 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the green plate. The gripper is currently open, and the segment-level evidence indicates a closing motion is underway. The next action is to continue closing the gripper fingers to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41790151596069336, + -0.1211552694439888, + 0.006015080027282238, + 3.1084187030792236, + -0.1874629110097885, + 0.5798252820968628 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the green plate. The gripper is currently open, and the segment-level evidence indicates a closing motion is underway. The next action is to continue closing the gripper fingers to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40999749302864075, + -0.11763379722833633, + 0.006861960981041193, + -3.136639356613159, + -0.13191863894462585, + 0.537767231464386 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "close gripper to grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the green plate. The gripper is currently open, and the segment-level evidence indicates a closing motion is underway. The next action is to continue closing the gripper fingers to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3978082537651062, + -0.10576939582824707, + 0.01990264281630516, + -3.061091661453247, + -0.06412546336650848, + 0.4982178509235382 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "lift and retreat with carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the green plate. The gripper is currently open, and the segment-level evidence indicates a closing motion is underway. The next action is to continue closing the gripper fingers to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3930165469646454, + -0.08552480489015579, + 0.05589675530791283, + -3.036144495010376, + -0.07161857187747955, + 0.4771594703197479 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy red pepper": [ + 524, + 748, + 701, + 950 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "lift and retreat with carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the green plate. The gripper is currently open, and the segment-level evidence indicates a closing motion is underway. The next action is to continue closing the gripper fingers to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37963226437568665, + -0.05926436185836792, + 0.05783108249306679, + -2.9942433834075928, + -0.06524164974689484, + 0.4233736991882324 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "lift and retreat with carrot", + "subtask_reasoning": "The carrot has been successfully grasped and is currently held above the green plate. The gripper remains closed with no further motion, indicating the lift phase is complete. The next action is to retreat the arm while maintaining grip on the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37904873490333557, + -0.04016292467713356, + 0.047846145927906036, + -3.00496506690979, + -0.07628213614225388, + 0.39742204546928406 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "lift and retreat with carrot", + "subtask_reasoning": "The carrot has been successfully grasped and is currently held above the green plate. The gripper remains closed with no further motion, indicating the lift phase is complete. The next action is to retreat the arm while maintaining grip on the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3868897259235382, + -0.03411043807864189, + 0.04356797784566879, + -3.041550874710083, + -0.11259902268648148, + 0.35858070850372314 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot on plate" + }, + { + "id": 2, + "subtask": "close gripper to grasp carrot" + }, + { + "id": 3, + "subtask": "lift and retreat with carrot" + } + ], + "subtask_name": "lift and retreat with carrot", + "subtask_reasoning": "The carrot has been successfully grasped and is currently held above the green plate. The gripper remains closed with no further motion, indicating the lift phase is complete. The next action is to retreat the arm while maintaining grip on the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003779_ecot.json b/cot/chunk-0003/episode_0003779_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7af0a2114a0d4741e53ded7e529c10c7cb87e4a1 --- /dev/null +++ b/cot/chunk-0003/episode_0003779_ecot.json @@ -0,0 +1,3205 @@ +{ + "task_name": "episode_0003779", + "episode_json": "json/chunk-0003/episode_0003779.json", + "video_path": "videos/chunk-0003/image_0/episode_0003779.mp4", + "instruction": "Picks up the red fork and drops it.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003779.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.615293025970459, + "std": 0.29403290152549744, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61529, std=0.29403, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 213, + 213, + 213, + 213, + 236, + 236, + 236, + 236, + 236, + 336, + 336, + 336 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 26 + ], + [ + 3, + 27, + 31 + ], + [ + 4, + 32, + 35 + ], + [ + 5, + 36, + 40 + ], + [ + 6, + 41, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red fork\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the red fork while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact and nudge fork\", \"start\": 13, \"end\": 26, \"planning\": \"Establish contact with the red fork and adjust position via nudging or sliding without full grasp.\"},\n {\"id\": 3, \"name\": \"reposition fork on surface\", \"start\": 27, \"end\": 31, \"planning\": \"Slide or drag the red fork across the table surface using sustained contact, no gripping.\"},\n {\"id\": 4, \"name\": \"release contact and retreat slightly\", \"start\": 32, \"end\": 35, \"planning\": \"Open gripper to release contact with fork and begin retreating upward while maintaining proximity.\"},\n {\"id\": 5, \"name\": \"retreat to safe height\", \"start\": 36, \"end\": 40, \"planning\": \"Lift end-effector away from the table to a neutral hovering position after releasing the fork.\"},\n {\"id\": 6, \"name\": \"final retreat and stabilize\", \"start\": 41, \"end\": 43, \"planning\": \"Complete withdrawal from workspace and stabilize pose; task concluded with fork dropped.\"}\n ],\n \"global_plan\": \"Approach the red fork, make contact and reposition it via nudging/sliding without grasping, then release and retreat to complete the drop action.\",\n \"notes\": \"No segment shows conclusive evidence of lifting or holding the fork in gripper; all manipulation is contact-based. Gripper closes in Segment 1 but images show no lift — interpreted as preparatory closure for contact, not grasp. Segment 4 shows partial opening, consistent with release. Final segments show full open and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red fork", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the red fork while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact and nudge fork", + "start": 13, + "end": 26, + "planning": "Establish contact with the red fork and adjust position via nudging or sliding without full grasp." + }, + { + "id": 3, + "name": "reposition fork on surface", + "start": 27, + "end": 31, + "planning": "Slide or drag the red fork across the table surface using sustained contact, no gripping." + }, + { + "id": 4, + "name": "release contact and retreat slightly", + "start": 32, + "end": 35, + "planning": "Open gripper to release contact with fork and begin retreating upward while maintaining proximity." + }, + { + "id": 5, + "name": "retreat to safe height", + "start": 36, + "end": 40, + "planning": "Lift end-effector away from the table to a neutral hovering position after releasing the fork." + }, + { + "id": 6, + "name": "final retreat and stabilize", + "start": 41, + "end": 43, + "planning": "Complete withdrawal from workspace and stabilize pose; task concluded with fork dropped." + } + ], + "global_plan": "Approach the red fork, make contact and reposition it via nudging/sliding without grasping, then release and retreat to complete the drop action.", + "notes": "No segment shows conclusive evidence of lifting or holding the fork in gripper; all manipulation is contact-based. Gripper closes in Segment 1 but images show no lift — interpreted as preparatory closure for contact, not grasp. Segment 4 shows partial opening, consistent with release. Final segments show full open and retreat." + } + }, + "episode_goal": "Pick up the red fork and drop it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27220097184181213, + 0.04110654070973396, + 0.0679604783654213, + -3.0772926807403564, + 0.018864840269088745, + 0.014497032389044762 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the red fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2699577808380127, + 0.040223706513643265, + 0.06111132353544235, + -3.081249952316284, + 0.04487922787666321, + 0.0105979535728693 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the red fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27145329117774963, + 0.05726628750562668, + 0.06201553717255592, + -3.083055257797241, + 0.039115577936172485, + 0.0390564501285553 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the red fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690887749195099, + 0.07042423635721207, + 0.05880267918109894, + -3.0617072582244873, + 0.060358211398124695, + 0.044685132801532745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "corn cob": [ + 432, + 286, + 556, + 463 + ], + "blue cloth": [ + 377, + 513, + 697, + 872 + ], + "red tool": [ + 217, + 382, + 375, + 602 + ], + "toaster": [ + 404, + 5, + 637, + 228 + ], + "pot lid": [ + 54, + 347, + 251, + 530 + ], + "toy stove": [ + 580, + 162, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the red fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26947021484375, + 0.08700892329216003, + 0.05230642110109329, + -3.0515246391296387, + 0.08165770024061203, + 0.07610243558883667 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the red fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726936340332031, + 0.09481038898229599, + 0.045828357338905334, + -3.0220608711242676, + 0.10992075502872467, + 0.04114312678575516 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the red fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826542854309082, + 0.10017409175634384, + 0.041545432060956955, + -3.004594564437866, + 0.10167723894119263, + 0.017602834850549698 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2875090539455414, + 0.10479318350553513, + 0.02831462025642395, + -2.9904825687408447, + 0.1268196403980255, + 0.006073951721191406 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856318950653076, + 0.10596545785665512, + 0.017104854807257652, + -2.987858295440674, + 0.1612853854894638, + 0.012324756942689419 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2829139232635498, + 0.1052490770816803, + 0.013271170668303967, + -2.9938151836395264, + 0.17798464000225067, + -0.0006397610413841903 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27354860305786133, + 0.1088610365986824, + 0.008530803956091404, + -3.01332426071167, + 0.1915433257818222, + 0.018302425742149353 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "corn cob": [ + 429, + 286, + 556, + 463 + ], + "blue cloth": [ + 376, + 513, + 697, + 873 + ], + "red tool": [ + 217, + 444, + 331, + 600 + ], + "pot lid": [ + 54, + 348, + 229, + 529 + ], + "toaster": [ + 370, + 4, + 641, + 227 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27400222420692444, + 0.10825712233781815, + 0.007242222316563129, + -3.033778667449951, + 0.1797594130039215, + 0.020395275205373764 + ], + "gripper_value": 0.933559775352478 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 5 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2739746570587158, + 0.10578487813472748, + 0.006340979598462582, + -3.0458879470825195, + 0.170476496219635, + 0.026725735515356064 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.274122953414917, + 0.10272122174501419, + 0.006163392681628466, + -3.058161497116089, + 0.1444864571094513, + 0.028888985514640808 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27412474155426025, + 0.10353942215442657, + 0.006698072887957096, + -3.0526843070983887, + 0.14379346370697021, + 0.03006117045879364 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2739143669605255, + 0.10364299267530441, + 0.007885516621172428, + -3.0472705364227295, + 0.14222583174705505, + 0.036950092762708664 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2732093334197998, + 0.1022319346666336, + 0.025919118896126747, + -3.0432968139648438, + 0.10268601030111313, + 0.05243683233857155 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27615106105804443, + 0.10123161971569061, + 0.04408544301986694, + -3.043795347213745, + 0.055566783994436264, + 0.04512649402022362 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27768534421920776, + 0.10168129950761795, + 0.049328286200761795, + -3.0427205562591553, + 0.05111652985215187, + 0.04632584750652313 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot arm is positioned above the table near the red fork, with the gripper open and no contact made yet. The subtask of approaching the red fork is in progress, and the next action should involve moving the end-effector closer to the fork to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, rotate counterclockwise 20 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28899085521698, + 0.10480410605669022, + 0.05327891185879707, + -3.0401413440704346, + 0.0339285284280777, + 0.052479106932878494 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, rotate counterclockwise 20 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30599892139434814, + 0.10606600344181061, + 0.043011292815208435, + -3.0392563343048096, + 0.024178840219974518, + 0.045610181987285614 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196731209754944, + 0.09857505559921265, + 0.0394471138715744, + -3.027996301651001, + 0.04096274822950363, + 0.012820448726415634 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232705295085907, + 0.0949464961886406, + 0.02679094858467579, + -3.017984628677368, + 0.09109004586935043, + -0.013437553308904171 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232206702232361, + 0.09223771840333939, + 0.025339551270008087, + -3.017155408859253, + 0.09935307502746582, + -0.025394216179847717 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193061649799347, + 0.07668459415435791, + 0.020549556240439415, + -3.0257532596588135, + 0.12146163731813431, + -0.04584789648652077 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31196650862693787, + 0.05766876041889191, + 0.01524697057902813, + -3.0293774604797363, + 0.15696249902248383, + -0.0952959656715393 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 376, + 514, + 697, + 871 + ], + "corn cob": [ + 448, + 309, + 592, + 474 + ], + "pot lid": [ + 53, + 346, + 255, + 531 + ], + "sesame can": [ + 601, + 25, + 735, + 249 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3057003915309906, + 0.02601182647049427, + 0.033544763922691345, + -3.0520529747009277, + 0.12925928831100464, + -0.23914745450019836 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "make contact and nudge fork", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2959616482257843, + 0.017804807052016258, + 0.052365660667419434, + -3.042196273803711, + 0.08503640443086624, + -0.2698960602283478 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "reposition fork on surface", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2933640778064728, + 0.017040539532899857, + 0.0540335550904274, + -3.0433950424194336, + 0.07070838660001755, + -0.2705279290676117 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "reposition fork on surface", + "subtask_reasoning": "The robot end-effector is positioned near the red fork on the table, having completed the approach phase. The gripper is open and in contact or near-contact with the fork, consistent with nudging rather than grasping. The next action should involve a small push or slide to reposition the fork slightly before releasing and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2933770418167114, + 0.02075953781604767, + 0.05346103757619858, + -3.0562729835510254, + 0.06457139551639557, + -0.2634705603122711 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "reposition fork on surface", + "subtask_reasoning": "The robot is in contact with the red fork on the table surface, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating continued sliding or repositioning without grasping. The next action is to continue nudging the fork toward the target drop location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2919656038284302, + 0.03353983908891678, + 0.053024981170892715, + -3.0705161094665527, + 0.06654023379087448, + -0.21865497529506683 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "reposition fork on surface", + "subtask_reasoning": "The robot is in contact with the red fork on the table surface, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating continued sliding or repositioning without grasping. The next action is to continue nudging the fork toward the target drop location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, open gripper; then move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2887996733188629, + 0.058055177330970764, + 0.04271740838885307, + -3.106633424758911, + 0.09305325895547867, + -0.13326174020767212 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "reposition fork on surface", + "subtask_reasoning": "The robot is in contact with the red fork on the table surface, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating continued sliding or repositioning without grasping. The next action is to continue nudging the fork toward the target drop location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2851932644844055, + 0.07771701365709305, + 0.034199703484773636, + -3.12347674369812, + 0.09697188436985016, + -0.07157007604837418 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "corn cob": [ + 546, + 463, + 754, + 602 + ], + "blue cloth": [ + 377, + 514, + 697, + 871 + ], + "red tool": [ + 283, + 445, + 366, + 567 + ], + "pot lid": [ + 53, + 346, + 254, + 531 + ], + "toy stove": [ + 585, + 161, + 995, + 993 + ], + "coffee machine": [ + 253, + 9, + 494, + 520 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "release contact and retreat slightly", + "subtask_reasoning": "The robot is in contact with the red fork on the table surface, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating continued sliding or repositioning without grasping. The next action is to continue nudging the fork toward the target drop location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832704186439514, + 0.08686675876379013, + 0.03318168595433235, + -3.1273915767669678, + 0.09305179864168167, + -0.047916263341903687 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "release contact and retreat slightly", + "subtask_reasoning": "The robot has completed nudging the red fork and is currently in contact with it near the table edge. The gripper signal shows a slight increase, suggesting possible light contact or preparation to release. The next action is to disengage from the fork and retreat slightly to complete the drop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28332260251045227, + 0.08860177546739578, + 0.03447422757744789, + -3.1162753105163574, + 0.09311605244874954, + -0.046510979533195496 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "release contact and retreat slightly", + "subtask_reasoning": "The robot has completed nudging the red fork and is currently in contact with it near the table edge. The gripper signal shows a slight increase, suggesting possible light contact or preparation to release. The next action is to disengage from the fork and retreat slightly to complete the drop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826550006866455, + 0.08873026818037033, + 0.033697862178087234, + -3.107173204421997, + 0.10158687829971313, + -0.04212332144379616 + ], + "gripper_value": 0.457809716463089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "release contact and retreat slightly", + "subtask_reasoning": "The robot has completed nudging the red fork and is currently in contact with it near the table edge. The gripper signal shows a slight increase, suggesting possible light contact or preparation to release. The next action is to disengage from the fork and retreat slightly to complete the drop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2858874499797821, + 0.08805307000875473, + 0.03663567826151848, + -3.0822575092315674, + 0.09838616847991943, + -0.053466252982616425 + ], + "gripper_value": 0.7720533609390259 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "retreat to safe height", + "subtask_reasoning": "The robot has completed nudging the red fork and is currently in contact with it near the table edge. The gripper signal shows a slight increase, suggesting possible light contact or preparation to release. The next action is to disengage from the fork and retreat slightly to complete the drop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865707278251648, + 0.0876658484339714, + 0.03569428250193596, + -3.0804431438446045, + 0.09808479994535446, + -0.06616535037755966 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "retreat to safe height", + "subtask_reasoning": "The robot has completed nudging the red fork and is currently in contact with it near the table edge. The gripper signal shows a slight increase, suggesting possible light contact or preparation to release. The next action is to disengage from the fork and retreat slightly to complete the drop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2893276810646057, + 0.08722402900457382, + 0.03539140895009041, + -3.0854270458221436, + 0.07982978969812393, + -0.07227840274572372 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "retreat to safe height", + "subtask_reasoning": "The robot has completed nudging the red fork and is now in the retreat phase, lifting the end-effector to a safe height above the table. The gripper is open and not holding the fork, consistent with a non-grasping manipulation strategy. The next action is to continue moving upward and away from the fork to complete the drop sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.29176995158195496, + 0.0817960798740387, + 0.04633345454931259, + -3.1118712425231934, + 0.03343335539102554, + -0.06327750533819199 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "retreat to safe height", + "subtask_reasoning": "The robot has completed nudging the red fork and is now in the retreat phase, lifting the end-effector to a safe height above the table. The gripper is open and not holding the fork, consistent with a non-grasping manipulation strategy. The next action is to continue moving upward and away from the fork to complete the drop sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2899269461631775, + 0.07908282428979874, + 0.06810638308525085, + -3.106565237045288, + -0.04328891262412071, + -0.07280868291854858 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "corn cob": [ + 546, + 464, + 754, + 602 + ], + "blue cloth": [ + 376, + 514, + 696, + 874 + ], + "toaster": [ + 400, + 4, + 638, + 227 + ], + "pot lid": [ + 54, + 347, + 253, + 531 + ], + "toy stove": [ + 581, + 162, + 996, + 994 + ], + "sesame can": [ + 602, + 26, + 736, + 252 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "retreat to safe height", + "subtask_reasoning": "The robot has completed nudging the red fork and is now in the retreat phase, lifting the end-effector to a safe height above the table. The gripper is open and not holding the fork, consistent with a non-grasping manipulation strategy. The next action is to continue moving upward and away from the fork to complete the drop sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.28278523683547974, + 0.07885092496871948, + 0.0815635696053505, + -3.0850157737731934, + -0.06291498243808746, + -0.05503186583518982 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "final retreat and stabilize", + "subtask_reasoning": "The robot has completed nudging the red fork and is now in the retreat phase, lifting the end-effector to a safe height above the table. The gripper is open and not holding the fork, consistent with a non-grasping manipulation strategy. The next action is to continue moving upward and away from the fork to complete the drop sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764151394367218, + 0.07380414009094238, + 0.08084513992071152, + -3.063278913497925, + -0.029338210821151733, + -0.06490571051836014 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "final retreat and stabilize", + "subtask_reasoning": "The red fork has been nudged and is now resting on the table; the gripper is fully open and retreating. The current subtask involves stabilizing the scene post-release. No further contact or grasping is needed—just ensure the robot arm moves clear of the fork to complete the drop action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 41, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666389048099518, + 0.07157955318689346, + 0.09154543280601501, + -3.050968885421753, + -0.05574994161725044, + -0.05433620885014534 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red fork and drop it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "make contact and nudge fork" + }, + { + "id": 3, + "subtask": "reposition fork on surface" + }, + { + "id": 4, + "subtask": "release contact and retreat slightly" + }, + { + "id": 5, + "subtask": "retreat to safe height" + }, + { + "id": 6, + "subtask": "final retreat and stabilize" + } + ], + "subtask_name": "final retreat and stabilize", + "subtask_reasoning": "The red fork has been nudged and is now resting on the table; the gripper is fully open and retreating. The current subtask involves stabilizing the scene post-release. No further contact or grasping is needed—just ensure the robot arm moves clear of the fork to complete the drop action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003780_ecot.json b/cot/chunk-0003/episode_0003780_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a8dd09b9f4b5f38417e24c6875d91d6bc792b923 --- /dev/null +++ b/cot/chunk-0003/episode_0003780_ecot.json @@ -0,0 +1,2146 @@ +{ + "task_name": "episode_0003780", + "episode_json": "json/chunk-0003/episode_0003780.json", + "video_path": "videos/chunk-0003/image_0/episode_0003780.mp4", + "instruction": "Close cabinet.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003780.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.001984119415283203, + "std": 0.0005599841242656112, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00198, std=0.00056, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 18 + ], + [ + 3, + 19, + 27 + ], + [ + 4, + 28, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cabinet door\", \"start\": 0, \"end\": 16, \"planning\": \"Move end-effector toward the open cabinet door while maintaining open gripper posture.\"},\n {\"id\": 2, \"name\": \"make contact with door\", \"start\": 17, \"end\": 18, \"planning\": \"Position gripper to establish initial contact with the inner edge of the cabinet door.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 19, \"end\": 27, \"planning\": \"Apply continuous forward pressure via end-effector to slide the cabinet door shut without grasping.\"},\n {\"id\": 4, \"name\": \"retreat from closed door\", \"start\": 28, \"end\": 32, \"planning\": \"Withdraw end-effector away from the now-closed cabinet door while avoiding re-contact.\"}\n ],\n \"global_plan\": \"Close the cabinet door by approaching, making contact, pushing it shut via direct end-effector pressure, and retreating — all without grasping or lifting, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based pushes or positional adjustments. Frame ranges follow provided segments exactly for full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cabinet door", + "start": 0, + "end": 16, + "planning": "Move end-effector toward the open cabinet door while maintaining open gripper posture." + }, + { + "id": 2, + "name": "make contact with door", + "start": 17, + "end": 18, + "planning": "Position gripper to establish initial contact with the inner edge of the cabinet door." + }, + { + "id": 3, + "name": "push door closed", + "start": 19, + "end": 27, + "planning": "Apply continuous forward pressure via end-effector to slide the cabinet door shut without grasping." + }, + { + "id": 4, + "name": "retreat from closed door", + "start": 28, + "end": 32, + "planning": "Withdraw end-effector away from the now-closed cabinet door while avoiding re-contact." + } + ], + "global_plan": "Close the cabinet door by approaching, making contact, pushing it shut via direct end-effector pressure, and retreating — all without grasping or lifting, as gripper remains fully open throughout.", + "notes": "Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based pushes or positional adjustments. Frame ranges follow provided segments exactly for full coverage and contiguity." + } + }, + "episode_goal": "Close the cabinet door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2623186707496643, + -0.11028230935335159, + 0.016921406611800194, + -3.021974802017212, + -0.17584975063800812, + 0.09245485067367554 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper fully open. No contact has been made yet, and the subtask of approaching the cabinet door is in progress. The next action should involve moving the end-effector closer to the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 20 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25656887888908386, + -0.10665904730558395, + 0.009951502084732056, + -3.004401206970215, + -0.1504915952682495, + 0.08331258594989777 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper fully open. No contact has been made yet, and the subtask of approaching the cabinet door is in progress. The next action should involve moving the end-effector closer to the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25278252363204956, + -0.0703013613820076, + 0.009966513141989708, + -2.9673264026641846, + -0.13301235437393188, + 0.05203401297330856 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper fully open. No contact has been made yet, and the subtask of approaching the cabinet door is in progress. The next action should involve moving the end-effector closer to the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25325247645378113, + -0.028560832142829895, + 0.01995779573917389, + -2.9750113487243652, + -0.14171752333641052, + 0.027218792587518692 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 9, + 11, + 989, + 986 + ], + "wooden stick": [ + 665, + 117, + 842, + 198 + ], + "yellow plate": [ + 701, + 555, + 872, + 751 + ], + "sink": [ + 630, + 4, + 979, + 249 + ] + } + } + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper fully open. No contact has been made yet, and the subtask of approaching the cabinet door is in progress. The next action should involve moving the end-effector closer to the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24684472382068634, + 0.010967928916215897, + 0.029052944853901863, + -2.9736006259918213, + -0.1803920567035675, + 0.023016175255179405 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper fully open. No contact has been made yet, and the subtask of approaching the cabinet door is in progress. The next action should involve moving the end-effector closer to the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24258524179458618, + 0.043380193412303925, + 0.033820148557424545, + -2.964212417602539, + -0.1478099226951599, + 0.008731681853532791 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper fully open. No contact has been made yet, and the subtask of approaching the cabinet door is in progress. The next action should involve moving the end-effector closer to the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2418195605278015, + 0.07160989195108414, + 0.0367242768406868, + -2.948521375656128, + -0.16150164604187012, + 0.015566037967801094 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper fully open. No contact has been made yet, and the subtask of approaching the cabinet door is in progress. The next action should involve moving the end-effector closer to the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24858111143112183, + 0.09140254557132721, + 0.03970056772232056, + -2.9165570735931396, + -0.17427384853363037, + 0.002904236549511552 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot arm is positioned near the open cabinet door with the gripper fully open. No contact has been made yet, and the subtask of approaching the cabinet door is in progress. The next action should involve moving the end-effector closer to the door to initiate contact for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, tilt right 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24911294877529144, + 0.10120190680027008, + 0.03145389258861542, + -2.914865493774414, + -0.17047901451587677, + -0.01537390984594822 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 18 cm, move up 1 cm, tilt right 20 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2483692467212677, + 0.09849608689546585, + 0.016768164932727814, + -2.949387311935425, + -0.14374655485153198, + -0.023652855306863785 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24771825969219208, + 0.09013108909130096, + 0.013119703158736229, + -2.9989593029022217, + -0.15043233335018158, + -0.02597859688103199 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24696002900600433, + 0.07576069980859756, + 0.0034401966258883476, + -3.0282797813415527, + -0.12440459430217743, + -0.025403989478945732 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 3 cm, move left 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2453668862581253, + 0.050226446241140366, + -0.004665854386985302, + -3.0601015090942383, + -0.09721221774816513, + -0.04407228156924248 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 3 cm, move left 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24329663813114166, + 0.02018631622195244, + -0.008862636052072048, + -3.074371814727783, + -0.10084924846887589, + -0.05608104169368744 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 615, + 463, + 724, + 617 + ], + "toy kitchen": [ + 11, + 10, + 989, + 986 + ], + "yellow plate": [ + 698, + 557, + 872, + 747 + ], + "wooden stick": [ + 503, + 120, + 840, + 226 + ], + "sink": [ + 596, + 4, + 978, + 248 + ] + } + } + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 6 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23902592062950134, + -0.013987479731440544, + -0.008848371915519238, + -3.078781843185425, + -0.08072451502084732, + -0.05029698833823204 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 5 cm, move down 10 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23599521815776825, + -0.03950077295303345, + -0.007037386763840914, + -3.1060116291046143, + -0.0697871670126915, + -0.0038982799742370844 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 10 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2437077760696411, + -0.06147545203566551, + 0.010145878419280052, + -3.13848876953125, + -0.11125503480434418, + 0.0347195640206337 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "approach cabinet door", + "subtask_reasoning": "The robot is positioned near the open cabinet door with the gripper fully open and no contact made yet. The arm is in motion, approaching the door to initiate closure. The next action is to continue moving forward until contact with the door is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559703290462494, + -0.07514762133359909, + 0.04156316816806793, + 3.085360050201416, + -0.17866988480091095, + 0.04396069794893265 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned directly in front of it with the gripper open. The current subtask involves establishing physical contact with the door surface to prepare for pushing. The next action is to move the end-effector forward slightly to touch the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508942782878876, + -0.07300340384244919, + 0.05958057940006256, + 3.0835444927215576, + -0.19901138544082642, + 0.028681069612503052 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned directly in front of it with the gripper open. The current subtask involves establishing physical contact with the door surface to prepare for pushing. The next action is to move the end-effector forward slightly to touch the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move down 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23003394901752472, + -0.05433424934744835, + 0.047460392117500305, + -3.1244850158691406, + -0.18274037539958954, + -0.036432959139347076 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned directly in front of it with the gripper open. The current subtask involves establishing physical contact with the door surface to prepare for pushing. The next action is to move the end-effector forward slightly to touch the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 11 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21048974990844727, + -0.027399631217122078, + 0.0366215705871582, + -3.0870134830474854, + -0.16455835103988647, + -0.11399032175540924 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 12, + 12, + 988, + 985 + ], + "yellow plate": [ + 696, + 554, + 876, + 747 + ], + "wooden stick": [ + 538, + 116, + 846, + 223 + ], + "sink": [ + 601, + 4, + 980, + 246 + ], + "red cup": [ + 618, + 466, + 724, + 614 + ], + "cable": [ + 2, + 194, + 70, + 262 + ] + } + } + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned directly in front of it with the gripper open. The current subtask involves establishing physical contact with the door surface to prepare for pushing. The next action is to move the end-effector forward slightly to touch the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20236340165138245, + -0.005284158047288656, + 0.022462230175733566, + -3.051403760910034, + -0.17028266191482544, + -0.13684064149856567 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned directly in front of it with the gripper open. The current subtask involves establishing physical contact with the door surface to prepare for pushing. The next action is to move the end-effector forward slightly to touch the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.20265932381153107, + 0.004101172089576721, + -0.0026624116580933332, + -3.025214433670044, + -0.18154822289943695, + -0.17058689892292023 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open cabinet door and is now positioned directly in front of it with the gripper open. The current subtask involves establishing physical contact with the door surface to prepare for pushing. The next action is to move the end-effector forward slightly to touch the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2052234262228012, + 0.00781931821256876, + -0.03516124561429024, + -2.9977869987487793, + -0.16177332401275635, + -0.13016250729560852 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open cabinet door, maintaining a fully open gripper as required. The door has not yet been pushed fully shut. The next action is to continue applying forward pressure to close the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2120315432548523, + -0.003908352926373482, + -0.050917353481054306, + -3.000898838043213, + -0.1834300011396408, + -0.11856625974178314 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open cabinet door, maintaining a fully open gripper as required. The door has not yet been pushed fully shut. The next action is to continue applying forward pressure to close the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.21854452788829803, + -0.02044421061873436, + -0.05589182302355766, + -3.014509439468384, + -0.19484837353229523, + -0.11227536201477051 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open cabinet door, maintaining a fully open gripper as required. The door has not yet been pushed fully shut. The next action is to continue applying forward pressure to close the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22379155457019806, + -0.03817638009786606, + -0.057635895907878876, + -3.0538554191589355, + -0.1933407187461853, + -0.0514884777367115 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open cabinet door, maintaining a fully open gripper as required. The door has not yet been pushed fully shut. The next action is to continue applying forward pressure to close the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2363307774066925, + -0.062238872051239014, + -0.05978447198867798, + -3.108322858810425, + -0.20006820559501648, + -0.018121812492609024 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open cabinet door, maintaining a fully open gripper as required. The door has not yet been pushed fully shut. The next action is to continue applying forward pressure to close the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, keep gripper open; then move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.25722163915634155, + -0.08044470846652985, + -0.06017541140317917, + 3.119102954864502, + -0.23583672940731049, + 0.0499875582754612 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "retreat from closed door", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open cabinet door, maintaining a fully open gripper as required. The door has not yet been pushed fully shut. The next action is to continue applying forward pressure to close the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836998403072357, + -0.09367000311613083, + -0.06586413085460663, + 3.0843331813812256, + -0.26526322960853577, + 0.12239386886358261 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 652, + 978, + 698, + 998 + ], + "toy kitchen": [ + 12, + 12, + 987, + 983 + ], + "sink": [ + 598, + 3, + 979, + 249 + ], + "wooden stick": [ + 608, + 116, + 843, + 210 + ], + "handle": [ + 340, + 399, + 424, + 609 + ] + } + } + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "retreat from closed door", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open cabinet door, maintaining a fully open gripper as required. The door has not yet been pushed fully shut. The next action is to continue applying forward pressure to close the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3051312565803528, + -0.09793760627508163, + -0.06913252174854279, + 3.0783615112304688, + -0.29143616557121277, + 0.17796921730041504 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "retreat from closed door", + "subtask_reasoning": "The cabinet door is closed, and the robot's end-effector is positioned near the handle with the gripper fully open. The retreat phase has begun, as indicated by the motion away from the door. The next action is to continue moving the end-effector backward to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.305693119764328, + -0.0962304025888443, + -0.06911381334066391, + 3.0915772914886475, + -0.2922920882701874, + 0.185740128159523 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "retreat from closed door", + "subtask_reasoning": "The cabinet door is closed, and the robot's end-effector is positioned near the handle with the gripper fully open. The retreat phase has begun, as indicated by the motion away from the door. The next action is to continue moving the end-effector backward to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.28312477469444275, + -0.09542053937911987, + -0.05747195705771446, + 3.0944201946258545, + -0.31305181980133057, + 0.10495059937238693 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the cabinet door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cabinet door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from closed door" + } + ], + "subtask_name": "retreat from closed door", + "subtask_reasoning": "The cabinet door is closed, and the robot's end-effector is positioned near the handle with the gripper fully open. The retreat phase has begun, as indicated by the motion away from the door. The next action is to continue moving the end-effector backward to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003781_ecot.json b/cot/chunk-0003/episode_0003781_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e6a55d1b2c74e232ff2c433da65ba4dc77359b5c --- /dev/null +++ b/cot/chunk-0003/episode_0003781_ecot.json @@ -0,0 +1,1405 @@ +{ + "task_name": "episode_0003781", + "episode_json": "json/chunk-0003/episode_0003781.json", + "video_path": "videos/chunk-0003/image_0/episode_0003781.mp4", + "instruction": "Moved the cloth from the top right to the bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003781.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006677508354187012, + "std": 0.00013617529475595802, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00014, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 19 + ], + [ + 3, + 20, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector down toward the blue cloth on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"drag cloth left\", \"start\": 10, \"end\": 19, \"planning\": \"Push and slide the cloth from center-right toward bottom-left using contact motion.\"},\n {\"id\": 3, \"name\": \"release and retreat\", \"start\": 20, \"end\": 22, \"planning\": \"Lift end-effector slightly and withdraw from the cloth after repositioning it.\"}\n ],\n \"global_plan\": \"Reposition the blue cloth from top-right to bottom-left of the stovetop via contact-based pushing and sliding, without grasping or lifting.\",\n \"notes\": \"Gripper remains fully open throughout; all motion is contact-based. Segment boundaries respected but merged into natural manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 9, + "planning": "Move end-effector down toward the blue cloth on the stovetop without grasping." + }, + { + "id": 2, + "name": "drag cloth left", + "start": 10, + "end": 19, + "planning": "Push and slide the cloth from center-right toward bottom-left using contact motion." + }, + { + "id": 3, + "name": "release and retreat", + "start": 20, + "end": 22, + "planning": "Lift end-effector slightly and withdraw from the cloth after repositioning it." + } + ], + "global_plan": "Reposition the blue cloth from top-right to bottom-left of the stovetop via contact-based pushing and sliding, without grasping or lifting.", + "notes": "Gripper remains fully open throughout; all motion is contact-based. Segment boundaries respected but merged into natural manipulation phases." + } + }, + "episode_goal": "Move the cloth from the top right to the bottom left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.39205402135849, + -0.03177090361714363, + 0.0759890079498291, + 2.811861515045166, + -0.13243204355239868, + 1.0204083919525146 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible in the top-right area. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the cloth to initiate contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 11 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3885229229927063, + -0.03273090347647667, + 0.06214520335197449, + 2.844484329223633, + -0.11475870013237, + 1.0148475170135498 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible in the top-right area. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the cloth to initiate contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 9 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.38686317205429077, + -0.03389482572674751, + 0.033738523721694946, + 2.899777889251709, + -0.10184529423713684, + 1.0148708820343018 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 452, + 444, + 814, + 734 + ], + "faucet": [ + 842, + 390, + 993, + 614 + ], + "sink": [ + 746, + 656, + 993, + 992 + ], + "induction cooktop": [ + 137, + 415, + 730, + 917 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible in the top-right area. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the cloth to initiate contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 6 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38953420519828796, + -0.03141726180911064, + 0.012777483090758324, + 2.941404342651367, + -0.09762843698263168, + 1.050841212272644 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible in the top-right area. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the cloth to initiate contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39627617597579956, + -0.029223179444670677, + -0.003528268774971366, + 2.9749791622161865, + -0.09374343603849411, + 1.0644843578338623 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move back 6 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.40305018424987793, + -0.027114417403936386, + -0.017683299258351326, + 2.997934579849243, + -0.09814850986003876, + 1.0822503566741943 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 7 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4084160029888153, + -0.02472716011106968, + -0.024909788742661476, + 3.0109355449676514, + -0.10236934572458267, + 1.089626431465149 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 7 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4080093204975128, + -0.01649383082985878, + -0.027172690257430077, + 3.034900665283203, + -0.11380099505186081, + 1.1016573905944824 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, tilt left 10 degrees, keep gripper open; then move back 7 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4029524326324463, + -0.005650537554174662, + -0.029680931940674782, + 3.063319206237793, + -0.13088774681091309, + 1.1192759275436401 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open; then move back 7 cm, move left 9 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3887622356414795, + 0.013207389041781425, + -0.030956396833062172, + 3.118889808654785, + -0.14036789536476135, + 1.1200637817382812 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move back 6 cm, move left 9 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38137468695640564, + 0.037369970232248306, + -0.03094744123518467, + -3.125725269317627, + -0.12846364080905914, + 1.141141414642334 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37366023659706116, + 0.060900263488292694, + -0.029980741441249847, + -3.0836379528045654, + -0.12094178050756454, + 1.1264618635177612 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3616558611392975, + 0.08844558149576187, + -0.026300104334950447, + -3.0565097332000732, + -0.12300248444080353, + 1.1599966287612915 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34241798520088196, + 0.11424051970243454, + -0.023461418226361275, + -3.018359661102295, + -0.1364094316959381, + 1.1996902227401733 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 228, + 429, + 600, + 693 + ], + "faucet": [ + 841, + 390, + 993, + 614 + ], + "sink": [ + 746, + 655, + 993, + 992 + ], + "induction cooktop": [ + 144, + 431, + 731, + 921 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, with the end-effector moving toward the target. The next action should involve lowering or adjusting the arm to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244860768318176, + 0.12580539286136627, + -0.018952833488583565, + -2.982539176940918, + -0.1366642564535141, + 1.2166935205459595 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the stovetop, positioned to push it leftward. The approach phase is complete, and the gripper remains open, indicating a contact-based dragging action. The next step is to slide the cloth toward the bottom-left by applying lateral force." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30916067957878113, + 0.13163159787654877, + -0.012042739428579807, + -2.977783203125, + -0.13753420114517212, + 1.2383663654327393 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 840, + 390, + 993, + 613 + ], + "blue cloth": [ + 139, + 450, + 531, + 765 + ], + "sink": [ + 746, + 655, + 993, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the stovetop, positioned to push it leftward. The approach phase is complete, and the gripper remains open, indicating a contact-based dragging action. The next step is to slide the cloth toward the bottom-left by applying lateral force." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3072132468223572, + 0.13192307949066162, + -0.013473005034029484, + -2.993082284927368, + -0.11481638997793198, + 1.2559512853622437 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the stovetop, positioned to push it leftward. The approach phase is complete, and the gripper remains open, indicating a contact-based dragging action. The next step is to slide the cloth toward the bottom-left by applying lateral force." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3100735545158386, + 0.12891438603401184, + -0.013911373913288116, + -3.023240089416504, + -0.09478502720594406, + 1.2636128664016724 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the stovetop, positioned to push it leftward. The approach phase is complete, and the gripper remains open, indicating a contact-based dragging action. The next step is to slide the cloth toward the bottom-left by applying lateral force." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149191737174988, + 0.1279364973306656, + -0.0034039411693811417, + -3.0605506896972656, + -0.10234707593917847, + 1.2631789445877075 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the stovetop, positioned to push it leftward. The approach phase is complete, and the gripper remains open, indicating a contact-based dragging action. The next step is to slide the cloth toward the bottom-left by applying lateral force." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203875720500946, + 0.1252480000257492, + 0.022672416642308235, + -3.126631736755371, + -0.131976917386055, + 1.2764402627944946 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the stovetop, positioned to push it leftward. The approach phase is complete, and the gripper remains open, indicating a contact-based dragging action. The next step is to slide the cloth toward the bottom-left by applying lateral force." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3230397701263428, + 0.1205928847193718, + 0.05339525267481804, + 3.106853723526001, + -0.17101679742336273, + 1.264757513999939 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the stovetop, positioned to push it leftward. The approach phase is complete, and the gripper remains open, indicating a contact-based dragging action. The next step is to slide the cloth toward the bottom-left by applying lateral force." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3151407837867737, + 0.11738716810941696, + 0.08442877978086472, + 3.0413622856140137, + -0.20958244800567627, + 1.2775431871414185 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cloth has been successfully dragged to the bottom-left area of the stovetop. The gripper is fully open and the end-effector is positioned above the cloth, indicating the release phase is complete. The robot is now retreating upward and away from the cloth to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31385600566864014, + 0.11283501982688904, + 0.08421335369348526, + 2.990476369857788, + -0.18534579873085022, + 1.2561461925506592 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "drag cloth left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cloth has been successfully dragged to the bottom-left area of the stovetop. The gripper is fully open and the end-effector is positioned above the cloth, indicating the release phase is complete. The robot is now retreating upward and away from the cloth to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003782_ecot.json b/cot/chunk-0003/episode_0003782_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1c86a2fea79cf6ad0362253d204db82de476d78d --- /dev/null +++ b/cot/chunk-0003/episode_0003782_ecot.json @@ -0,0 +1,2136 @@ +{ + "task_name": "episode_0003782", + "episode_json": "json/chunk-0003/episode_0003782.json", + "video_path": "videos/chunk-0003/image_0/episode_0003782.mp4", + "instruction": "Put the yellow banana in the silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003782.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.6569074988365173, + "std": 0.30962714552879333, + "delta_total": 0.0026360750198364258, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65691, std=0.30963, total_delta=0.00264). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 113, + 127, + 127, + 127, + 27 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 25 + ], + [ + 3, + 26, + 26 + ], + [ + 4, + 27, + 29 + ], + [ + 5, + 30, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach banana\", \"start\": 0, \"end\": 11, \"planning\": \"Move the end-effector toward the yellow banana on the stovetop while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp banana\", \"start\": 12, \"end\": 13, \"planning\": \"Close the gripper around the banana to secure it for lifting, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and move to pot\", \"start\": 14, \"end\": 25, \"planning\": \"Lift the banana and transport it over the silver pot, maintaining grip throughout the motion.\"},\n {\"id\": 4, \"name\": \"release banana into pot\", \"start\": 26, \"end\": 29, \"planning\": \"Open the gripper to drop the banana into the pot, with clear gripper opening observed in frames 27–29.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 30, \"end\": 30, \"planning\": \"Move the end-effector away from the pot after releasing the banana, completing the task.\"}\n ],\n \"global_plan\": \"Approach the banana on the stovetop, grasp it securely, lift and move it to the silver pot, release it inside, then retreat.\",\n \"notes\": \"Gripper evidence supports grasp at frame 12 (delta=-0.56980) and release between 27–29 (gripper opens from 0.73689 to 1.00800). Frame 30 shows no meaningful gripper change, consistent with retreat phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach banana", + "start": 0, + "end": 11, + "planning": "Move the end-effector toward the yellow banana on the stovetop while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp banana", + "start": 12, + "end": 13, + "planning": "Close the gripper around the banana to secure it for lifting, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and move to pot", + "start": 14, + "end": 25, + "planning": "Lift the banana and transport it over the silver pot, maintaining grip throughout the motion." + }, + { + "id": 4, + "name": "release banana into pot", + "start": 26, + "end": 29, + "planning": "Open the gripper to drop the banana into the pot, with clear gripper opening observed in frames 27–29." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 30, + "end": 30, + "planning": "Move the end-effector away from the pot after releasing the banana, completing the task." + } + ], + "global_plan": "Approach the banana on the stovetop, grasp it securely, lift and move it to the silver pot, release it inside, then retreat.", + "notes": "Gripper evidence supports grasp at frame 12 (delta=-0.56980) and release between 27–29 (gripper opens from 0.73689 to 1.00800). Frame 30 shows no meaningful gripper change, consistent with retreat phase." + } + }, + "episode_goal": "Place the yellow banana into the silver pot on the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27620524168014526, + 0.22207634150981903, + 0.06891509890556335, + 3.052555799484253, + -0.06963630765676498, + 0.5792810320854187 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the stovetop with the yellow banana visible on the cooktop surface. No prior actions have been completed in this subtask. The gripper is open and approaching the banana, indicating the next action should be to move closer and prepare to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 11 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746242582798004, + 0.2178269326686859, + 0.0565459169447422, + 3.0469470024108887, + -0.031090952455997467, + 0.5795309543609619 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the stovetop with the yellow banana visible on the cooktop surface. No prior actions have been completed in this subtask. The gripper is open and approaching the banana, indicating the next action should be to move closer and prepare to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 11 cm, move down 6 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28538036346435547, + 0.19523806869983673, + 0.05444338917732239, + 3.050562620162964, + -0.025258731096982956, + 0.5292202234268188 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the stovetop with the yellow banana visible on the cooktop surface. No prior actions have been completed in this subtask. The gripper is open and approaching the banana, indicating the next action should be to move closer and prepare to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 9 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107289969921112, + 0.16358110308647156, + 0.06730599701404572, + 3.06976580619812, + -0.08619562536478043, + 0.4391343295574188 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the stovetop with the yellow banana visible on the cooktop surface. No prior actions have been completed in this subtask. The gripper is open and approaching the banana, indicating the next action should be to move closer and prepare to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3279922306537628, + 0.13685232400894165, + 0.07019370049238205, + 3.076382875442505, + -0.11029945313930511, + 0.38334891200065613 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the stovetop with the yellow banana visible on the cooktop surface. No prior actions have been completed in this subtask. The gripper is open and approaching the banana, indicating the next action should be to move closer and prepare to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492862284183502, + 0.11927817761898041, + 0.07686605304479599, + 3.0814049243927, + -0.13873445987701416, + 0.3395960032939911 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cup": [ + 195, + 188, + 328, + 363 + ], + "metal bowl": [ + 102, + 321, + 303, + 528 + ], + "sink": [ + 643, + 463, + 992, + 977 + ], + "spatula": [ + 10, + 451, + 144, + 580 + ], + "pot lid": [ + 473, + 337, + 658, + 510 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow banana located between the silver pot and the pan lid. The gripper is currently open, indicating no object has been grasped yet. The next action is to continue moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3540317118167877, + 0.11702761799097061, + 0.05852826312184334, + 3.091789722442627, + -0.11139395087957382, + 0.33797794580459595 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow banana located between the silver pot and the pan lid. The gripper is currently open, indicating no object has been grasped yet. The next action is to continue moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 7 cm, close gripper; then keep gripper closed; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585605025291443, + 0.11383045464754105, + 0.038206133991479874, + 3.10644268989563, + -0.0970088317990303, + 0.32409125566482544 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow banana located between the silver pot and the pan lid. The gripper is currently open, indicating no object has been grasped yet. The next action is to continue moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, close gripper; then keep gripper closed; then move back 2 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.358212947845459, + 0.11214570701122284, + 0.026239445433020592, + 3.108964443206787, + -0.07593221217393875, + 0.3066527843475342 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 102, + 321, + 304, + 527 + ], + "cup": [ + 194, + 193, + 310, + 361 + ], + "pot lid": [ + 474, + 337, + 658, + 511 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow banana located between the silver pot and the pan lid. The gripper is currently open, indicating no object has been grasped yet. The next action is to continue moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then keep gripper closed; then move back 4 cm, move left 5 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35867080092430115, + 0.1072627380490303, + 0.010591470636427402, + 3.075169563293457, + -0.05190708860754967, + 0.3025450110435486 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow banana located between the silver pot and the pan lid. The gripper is currently open, indicating no object has been grasped yet. The next action is to continue moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then keep gripper closed; then move back 6 cm, move left 7 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638145327568054, + 0.1093594953417778, + 0.0022126378025859594, + 3.081238269805908, + -0.06064269319176674, + 0.3033992350101471 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow banana located between the silver pot and the pan lid. The gripper is currently open, indicating no object has been grasped yet. The next action is to continue moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then keep gripper closed; then move back 9 cm, move left 9 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3672744929790497, + 0.1112547367811203, + -0.007791356649249792, + 3.089040756225586, + -0.044520922005176544, + 0.3072722554206848 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow banana located between the silver pot and the pan lid. The gripper is currently open, indicating no object has been grasped yet. The next action is to continue moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 9 cm, move left 9 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692886531352997, + 0.10808075964450836, + -0.009500146843492985, + 3.0668482780456543, + -0.042818404734134674, + 0.2868916392326355 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow banana on the stovetop, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move left 8 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3684538006782532, + 0.10754574835300446, + -0.009517072699964046, + 3.065023183822632, + -0.03664274513721466, + 0.2889099419116974 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow banana on the stovetop, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36728012561798096, + 0.10567571967840195, + -0.009527535177767277, + 3.059678316116333, + -0.029644904658198357, + 0.2845437824726105 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow banana on the stovetop, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608778119087219, + 0.10120581835508347, + 0.0007251816568896174, + 3.0455522537231445, + -0.02895411103963852, + 0.27369481325149536 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow banana on the stovetop, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35948076844215393, + 0.10023527592420578, + 0.035160548985004425, + 3.027303695678711, + -0.0815490260720253, + 0.26984718441963196 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow banana on the stovetop, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34678658843040466, + 0.11906124651432037, + 0.06325814872980118, + 3.0132787227630615, + -0.12857137620449066, + 0.32304129004478455 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow banana on the stovetop, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32497817277908325, + 0.1521473228931427, + 0.07719890773296356, + 3.0122461318969727, + -0.18657445907592773, + 0.3978094458580017 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow banana on the stovetop, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039865493774414, + 0.1731099933385849, + 0.0813591256737709, + 3.029268503189087, + -0.2148660570383072, + 0.4097265303134918 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 102, + 321, + 304, + 527 + ], + "sink": [ + 643, + 463, + 993, + 977 + ], + "pot lid": [ + 473, + 338, + 658, + 510 + ], + "cup": [ + 223, + 187, + 328, + 357 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot is currently holding the yellow banana above the stovetop, having successfully grasped it in the previous step. The gripper state remains constant, indicating a secure hold while the arm is in motion. The next action is to continue translating the banana towards the silver pot to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28139448165893555, + 0.19556200504302979, + 0.07105699926614761, + 3.0643622875213623, + -0.2016007900238037, + 0.45599499344825745 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot is currently holding the yellow banana above the stovetop, having successfully grasped it in the previous step. The gripper state remains constant, indicating a secure hold while the arm is in motion. The next action is to continue translating the banana towards the silver pot to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27815717458724976, + 0.19414569437503815, + 0.055355899035930634, + 3.109196424484253, + -0.18386748433113098, + 0.4409099221229553 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot is currently holding the yellow banana above the stovetop, having successfully grasped it in the previous step. The gripper state remains constant, indicating a secure hold while the arm is in motion. The next action is to continue translating the banana towards the silver pot to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2798846960067749, + 0.1863631159067154, + 0.028849564492702484, + 3.088996648788452, + -0.12229987978935242, + 0.429886132478714 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot is currently holding the yellow banana above the stovetop, having successfully grasped it in the previous step. The gripper state remains constant, indicating a secure hold while the arm is in motion. The next action is to continue translating the banana towards the silver pot to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2890186011791229, + 0.1796816736459732, + 0.016594454646110535, + 3.084199905395508, + -0.09717059880495071, + 0.4110872745513916 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot is currently holding the yellow banana above the stovetop, having successfully grasped it in the previous step. The gripper state remains constant, indicating a secure hold while the arm is in motion. The next action is to continue translating the banana towards the silver pot to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987464666366577, + 0.17636826634407043, + 0.00785835087299347, + 3.0821967124938965, + -0.08326128125190735, + 0.409088671207428 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cup": [ + 220, + 180, + 331, + 354 + ], + "metal bowl": [ + 106, + 342, + 302, + 529 + ], + "pot lid": [ + 473, + 338, + 658, + 510 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot is currently holding the yellow banana above the stovetop, having successfully grasped it in the previous step. The gripper state remains constant, indicating a secure hold while the arm is in motion. The next action is to continue translating the banana towards the silver pot to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2983244061470032, + 0.18028780817985535, + -0.0022708203177899122, + 3.109654188156128, + -0.05615435913205147, + 0.4262015223503113 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot is currently holding the yellow banana above the stovetop, having successfully grasped it in the previous step. The gripper state remains constant, indicating a secure hold while the arm is in motion. The next action is to continue translating the banana towards the silver pot to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2978284955024719, + 0.18371012806892395, + -0.0031161317601799965, + -3.131840944290161, + -0.06075095757842064, + 0.4634522497653961 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release banana into pot", + "subtask_reasoning": "The robot is currently holding the yellow banana above the stovetop, having successfully grasped it in the previous step. The gripper state remains constant, indicating a secure hold while the arm is in motion. The next action is to continue translating the banana towards the silver pot to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29803362488746643, + 0.18550434708595276, + -0.0037280728574842215, + -3.125231981277466, + -0.05450364947319031, + 0.4965738356113434 + ], + "gripper_value": 0.7368898391723633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release banana into pot", + "subtask_reasoning": "The robot arm is positioned over the silver pot with the yellow banana held in the gripper. The gripper is currently closed, maintaining contact with the banana. The next action is to open the gripper to release the banana into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29837703704833984, + 0.1845032125711441, + -0.0012019447749480605, + -3.1330699920654297, + -0.03958570584654808, + 0.509268045425415 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release banana into pot", + "subtask_reasoning": "The robot arm is positioned over the silver pot with the yellow banana held in the gripper. The gripper is currently closed, maintaining contact with the banana. The next action is to open the gripper to release the banana into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2984185516834259, + 0.18265654146671295, + 0.00223817047663033, + -3.133225202560425, + -0.03499750420451164, + 0.5063143372535706 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release banana into pot", + "subtask_reasoning": "The robot arm is positioned over the silver pot with the yellow banana held in the gripper. The gripper is currently closed, maintaining contact with the banana. The next action is to open the gripper to release the banana into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047741651535034, + 0.180881068110466, + 0.03175678476691246, + 3.1280791759490967, + -0.09875122457742691, + 0.512073278427124 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow banana into the silver pot on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move to pot" + }, + { + "id": 4, + "subtask": "release banana into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The yellow banana is already inside the silver pot on the stovetop. The gripper is open and positioned above the pot, indicating the release action is complete. The next step is to move the arm away from the pot to finish the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003783_ecot.json b/cot/chunk-0003/episode_0003783_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8507b50fb7b9176b78572ad1dc6f12634bb4189a --- /dev/null +++ b/cot/chunk-0003/episode_0003783_ecot.json @@ -0,0 +1,1909 @@ +{ + "task_name": "episode_0003783", + "episode_json": "json/chunk-0003/episode_0003783.json", + "video_path": "videos/chunk-0003/image_0/episode_0003783.mp4", + "instruction": "Put spatula on plate sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003783.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.612728476524353, + "std": 0.2794176936149597, + "delta_total": -0.003194451332092285, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61273, std=0.27942, total_delta=-0.00319). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 15, + 15, + 15, + 15, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 128, + 128 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 18 + ], + [ + 3, + 19, + 27 + ], + [ + 4, + 28, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula in sink\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector down toward the spatula resting in the sink while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp spatula handle\", \"start\": 15, \"end\": 18, \"planning\": \"Close gripper firmly around the spatula handle and stabilize grip before lifting.\"},\n {\"id\": 3, \"name\": \"lift and reposition over plate\", \"start\": 19, \"end\": 27, \"planning\": \"Lift spatula slightly and translate it horizontally to position above the yellow plate in the sink.\"},\n {\"id\": 4, \"name\": \"release spatula onto plate\", \"start\": 28, \"end\": 29, \"planning\": \"Open gripper to release spatula onto the plate surface and retreat slightly to confirm placement.\"}\n ],\n \"global_plan\": \"Approach the spatula in the sink, grasp its handle, lift and move it over the plate, then release it onto the plate surface.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0–14) with significant delta (-0.34), supporting 'grasp' wording from frame 15 onward. Motion and gripper data align across segments for coherent pick-and-place behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula in sink", + "start": 0, + "end": 14, + "planning": "Move end-effector down toward the spatula resting in the sink while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp spatula handle", + "start": 15, + "end": 18, + "planning": "Close gripper firmly around the spatula handle and stabilize grip before lifting." + }, + { + "id": 3, + "name": "lift and reposition over plate", + "start": 19, + "end": 27, + "planning": "Lift spatula slightly and translate it horizontally to position above the yellow plate in the sink." + }, + { + "id": 4, + "name": "release spatula onto plate", + "start": 28, + "end": 29, + "planning": "Open gripper to release spatula onto the plate surface and retreat slightly to confirm placement." + } + ], + "global_plan": "Approach the spatula in the sink, grasp its handle, lift and move it over the plate, then release it onto the plate surface.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0–14) with significant delta (-0.34), supporting 'grasp' wording from frame 15 onward. Motion and gripper data align across segments for coherent pick-and-place behavior." + } + }, + "episode_goal": "Place the spatula onto the plate in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31624835729599, + 0.05548708885908127, + 0.08458081632852554, + -3.011838674545288, + -0.38438037037849426, + 0.033134154975414276 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the spatula visible on the left side of the basin near a green sponge. The gripper is currently open and hovering near the target object. The next action is to lower the arm and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31325095891952515, + 0.05430374667048454, + 0.07732508331537247, + -3.020110607147217, + -0.35838162899017334, + 0.03577041998505592 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the spatula visible on the left side of the basin near a green sponge. The gripper is currently open and hovering near the target object. The next action is to lower the arm and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.311392605304718, + 0.05429815873503685, + 0.07119953632354736, + -3.0504233837127686, + -0.3354751169681549, + 0.040702611207962036 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the spatula visible on the left side of the basin near a green sponge. The gripper is currently open and hovering near the target object. The next action is to lower the arm and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30811411142349243, + 0.05678337439894676, + 0.05918068066239357, + -3.0411627292633057, + -0.31736093759536743, + 0.032455045729875565 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bitter melon": [ + 58, + 335, + 283, + 515 + ], + "spatula": [ + 306, + 420, + 447, + 613 + ], + "sink": [ + 193, + 280, + 844, + 877 + ], + "plate": [ + 367, + 521, + 581, + 751 + ] + } + } + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the spatula visible on the left side of the basin near a green sponge. The gripper is currently open and hovering near the target object. The next action is to lower the arm and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30748358368873596, + 0.06044766306877136, + 0.046152494847774506, + -3.039541721343994, + -0.2900749146938324, + 0.04374709725379944 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the spatula visible on the left side of the basin near a green sponge. The gripper is currently open and hovering near the target object. The next action is to lower the arm and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3083289563655853, + 0.06404121965169907, + 0.03384013473987579, + -3.0242488384246826, + -0.2757514715194702, + 0.06078655645251274 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the spatula visible on the left side of the basin near a green sponge. The gripper is currently open and hovering near the target object. The next action is to lower the arm and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3071710169315338, + 0.0630655512213707, + 0.018135802820324898, + -3.0261292457580566, + -0.23916231095790863, + 0.07758236676454544 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the spatula visible on the left side of the basin near a green sponge. The gripper is currently open and hovering near the target object. The next action is to lower the arm and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31182730197906494, + 0.06600414961576462, + 0.009978510439395905, + -3.012036085128784, + -0.26422396302223206, + 0.08382809907197952 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31236371397972107, + 0.06706629693508148, + 0.0016684195725247264, + -3.0121726989746094, + -0.2644289433956146, + 0.10731380432844162 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107101321220398, + 0.06819454580545425, + -0.004297126084566116, + -3.007733106613159, + -0.25136038661003113, + 0.12180475890636444 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3078728914260864, + 0.0705551952123642, + -0.009953713044524193, + -2.998786211013794, + -0.2198721468448639, + 0.14423906803131104 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3111913502216339, + 0.071916364133358, + -0.013995902612805367, + -2.999520778656006, + -0.23981322348117828, + 0.14739477634429932 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move back 1 cm, move up 4 cm, keep gripper closed; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31387314200401306, + 0.07346800714731216, + -0.014319204725325108, + -2.992182731628418, + -0.26868048310279846, + 0.14751765131950378 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 4 cm, keep gripper closed; then move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.314332515001297, + 0.07474017143249512, + -0.01586679369211197, + -2.9826819896698, + -0.27949899435043335, + 0.1408998668193817 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31482961773872375, + 0.07341058552265167, + -0.016792243346571922, + -2.987764596939087, + -0.29292723536491394, + 0.13793164491653442 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move right 6 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31371232867240906, + 0.07403198629617691, + -0.017493797466158867, + -2.9754459857940674, + -0.2971057593822479, + 0.11365862935781479 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "grasp spatula handle", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector hovering near the spatula handle. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly and close the gripper to grasp the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move right 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30893638730049133, + 0.07452226430177689, + -0.015672503039240837, + -2.9651710987091064, + -0.3227435350418091, + 0.1094023585319519 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "grasp spatula handle", + "subtask_reasoning": "The robot arm is positioned above the spatula in the sink, with the gripper open and aligned near the spatula handle. The approach phase is complete, and the gripper is now closing to grasp the handle. The next action is to secure the grip on the spatula handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move back 1 cm, move right 7 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30340299010276794, + 0.07534134387969971, + -0.011167310178279877, + -2.9682669639587402, + -0.2903186082839966, + 0.10706466436386108 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "grasp spatula handle", + "subtask_reasoning": "The robot arm is positioned above the spatula in the sink, with the gripper open and aligned near the spatula handle. The approach phase is complete, and the gripper is now closing to grasp the handle. The next action is to secure the grip on the spatula handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move back 2 cm, move right 7 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086536228656769, + 0.07909759134054184, + 0.00932534970343113, + -2.983153820037842, + -0.34027326107025146, + 0.12091095000505447 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "grasp spatula handle", + "subtask_reasoning": "The robot arm is positioned above the spatula in the sink, with the gripper open and aligned near the spatula handle. The approach phase is complete, and the gripper is now closing to grasp the handle. The next action is to secure the grip on the spatula handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 2 cm, move right 7 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3073790371417999, + 0.07865984737873077, + 0.02048356458544731, + -2.9876458644866943, + -0.3421713411808014, + 0.10826187580823898 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bitter melon": [ + 59, + 334, + 283, + 516 + ], + "sink": [ + 193, + 279, + 844, + 876 + ], + "plate": [ + 368, + 519, + 583, + 751 + ] + } + } + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot arm is positioned above the spatula in the sink, with the gripper open and aligned near the spatula handle. The approach phase is complete, and the gripper is now closing to grasp the handle. The next action is to secure the grip on the spatula handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 2 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30399084091186523, + 0.0717751681804657, + 0.022930795326828957, + -3.0041606426239014, + -0.31838706135749817, + 0.11201415956020355 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot arm is positioned above the spatula in the sink, with the gripper open and aligned near the spatula handle. The approach phase is complete, and the gripper is now closing to grasp the handle. The next action is to secure the grip on the spatula handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 2 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041473627090454, + 0.0559048056602478, + 0.03189997747540474, + -3.015606164932251, + -0.3186503052711487, + 0.10498309880495071 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot arm is positioned above the spatula in the sink, with the gripper open and aligned near the spatula handle. The approach phase is complete, and the gripper is now closing to grasp the handle. The next action is to secure the grip on the spatula handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 3 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043958246707916, + 0.04142686352133751, + 0.038563698530197144, + -3.0409927368164062, + -0.32377830147743225, + 0.0941547304391861 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bitter melon": [ + 59, + 334, + 283, + 516 + ], + "sink": [ + 193, + 284, + 844, + 876 + ], + "plate": [ + 368, + 521, + 583, + 751 + ] + } + } + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot arm is positioned above the spatula in the sink, with the gripper open and aligned near the spatula handle. The approach phase is complete, and the gripper is now closing to grasp the handle. The next action is to secure the grip on the spatula handle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30055421590805054, + 0.02873225510120392, + 0.03545721620321274, + -3.0566766262054443, + -0.30892977118492126, + 0.10050874948501587 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has grasped the spatula handle and is currently lifting it above the sink. The spatula is positioned near the plate but not yet directly over it. The next action should be to reposition the spatula horizontally to align it precisely over the plate before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016713261604309, + 0.018763244152069092, + 0.030637023970484734, + -3.0520169734954834, + -0.31410661339759827, + 0.11187832802534103 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has grasped the spatula handle and is currently lifting it above the sink. The spatula is positioned near the plate but not yet directly over it. The next action should be to reposition the spatula horizontally to align it precisely over the plate before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29708921909332275, + 0.012755371630191803, + 0.019350538030266762, + -3.035973072052002, + -0.3098791837692261, + 0.10389944911003113 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has grasped the spatula handle and is currently lifting it above the sink. The spatula is positioned near the plate but not yet directly over it. The next action should be to reposition the spatula horizontally to align it precisely over the plate before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2937369644641876, + 0.009505249559879303, + 0.01061738096177578, + -3.019071340560913, + -0.30563080310821533, + 0.09997382760047913 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has grasped the spatula handle and is currently lifting it above the sink. The spatula is positioned near the plate but not yet directly over it. The next action should be to reposition the spatula horizontally to align it precisely over the plate before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2919583320617676, + 0.010441825725138187, + 0.008275589905679226, + -3.0101914405822754, + -0.3104040026664734, + 0.1023518294095993 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has grasped the spatula handle and is currently lifting it above the sink. The spatula is positioned near the plate but not yet directly over it. The next action should be to reposition the spatula horizontally to align it precisely over the plate before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903634011745453, + 0.007562545128166676, + 0.00510358577594161, + -3.029639959335327, + -0.29365968704223633, + 0.1128447949886322 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "release spatula onto plate", + "subtask_reasoning": "The robot arm is positioned over the sink with the green spatula held above the yellow plate. The gripper is currently open, indicating the spatula has been released or is in the process of being placed. The next action is to ensure the spatula settles securely on the plate and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2889639139175415, + 0.013369509018957615, + 0.01272456906735897, + -3.0853052139282227, + -0.28544339537620544, + 0.11837062984704971 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spatula onto the plate in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "grasp spatula handle" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + }, + { + "id": 4, + "subtask": "release spatula onto plate" + } + ], + "subtask_name": "release spatula onto plate", + "subtask_reasoning": "The robot arm is positioned over the sink with the green spatula held above the yellow plate. The gripper is currently open, indicating the spatula has been released or is in the process of being placed. The next action is to ensure the spatula settles securely on the plate and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003785_ecot.json b/cot/chunk-0003/episode_0003785_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2feaca1ad1d2b49c297932a3addf112bfdfde751 --- /dev/null +++ b/cot/chunk-0003/episode_0003785_ecot.json @@ -0,0 +1,1770 @@ +{ + "task_name": "episode_0003785", + "episode_json": "json/chunk-0003/episode_0003785.json", + "video_path": "videos/chunk-0003/image_0/episode_0003785.mp4", + "instruction": "Closing the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003785.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.000666201114654541, + "std": 0.00017157301772385836, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00017, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 26 + ], + [ + 3, + 27, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the red drawer handle while maintaining open gripper posture.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 9, \"end\": 17, \"planning\": \"Position gripper to align with and gently touch the drawer handle without closing.\"},\n {\"id\": 3, \"name\": \"push drawer closed\", \"start\": 18, \"end\": 26, \"planning\": \"Apply forward pressure via end-effector to slide the drawer shut using contact force.\"},\n {\"id\": 4, \"name\": \"retreat from drawer\", \"start\": 27, \"end\": 27, \"planning\": \"Lift and withdraw end-effector away from the now-closed drawer.\"}\n ],\n \"global_plan\": \"Close the red drawer by approaching its handle, making contact, pushing it shut via direct end-effector pressure, then retreating — all without grasping or lifting any object.\",\n \"notes\": \"Gripper remains fully open throughout (value ~0.9995), confirming no grasp occurred; motion is purely positional/contact-based pushing as observed in keyframes and state data.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the red drawer handle while maintaining open gripper posture." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 9, + "end": 17, + "planning": "Position gripper to align with and gently touch the drawer handle without closing." + }, + { + "id": 3, + "name": "push drawer closed", + "start": 18, + "end": 26, + "planning": "Apply forward pressure via end-effector to slide the drawer shut using contact force." + }, + { + "id": 4, + "name": "retreat from drawer", + "start": 27, + "end": 27, + "planning": "Lift and withdraw end-effector away from the now-closed drawer." + } + ], + "global_plan": "Close the red drawer by approaching its handle, making contact, pushing it shut via direct end-effector pressure, then retreating — all without grasping or lifting any object.", + "notes": "Gripper remains fully open throughout (value ~0.9995), confirming no grasp occurred; motion is purely positional/contact-based pushing as observed in keyframes and state data." + } + }, + "episode_goal": "Close the red drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738376259803772, + -0.026509936898946762, + 0.1222006231546402, + 3.06917142868042, + -0.3201417922973633, + -0.19565166532993317 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp or closure detected. The next likely action is to continue moving the end-effector closer to the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.272847980260849, + -0.02667243778705597, + 0.11675380915403366, + 3.0627379417419434, + -0.3003682792186737, + -0.18873155117034912 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp or closure detected. The next likely action is to continue moving the end-effector closer to the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749467194080353, + -0.03353888913989067, + 0.10199172049760818, + 3.039194345474243, + -0.22930927574634552, + -0.18003346025943756 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp or closure detected. The next likely action is to continue moving the end-effector closer to the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805405259132385, + -0.040772780776023865, + 0.09456244111061096, + 3.0356061458587646, + -0.2054026871919632, + -0.1776629090309143 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow star": [ + 619, + 515, + 738, + 637 + ], + "white sushi toy": [ + 264, + 823, + 431, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp or closure detected. The next likely action is to continue moving the end-effector closer to the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29033657908439636, + -0.04082917049527168, + 0.09184519946575165, + 3.0336925983428955, + -0.19258347153663635, + -0.15106472373008728 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29423415660858154, + -0.03225694224238396, + 0.09223177284002304, + 3.0323233604431152, + -0.17436879873275757, + -0.11360081285238266 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29859843850135803, + -0.020906195044517517, + 0.0882558599114418, + 3.029855489730835, + -0.1547006517648697, + -0.06473703682422638 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30216944217681885, + -0.006686685141175985, + 0.08570732921361923, + 3.060047149658203, + -0.12770839035511017, + 0.008645471185445786 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 7 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30206361413002014, + 0.007211827207356691, + 0.08105652034282684, + 3.1066670417785645, + -0.1001301184296608, + 0.08369313925504684 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move left 8 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030598759651184, + 0.01830103062093258, + 0.07849405705928802, + -3.1138620376586914, + -0.10691721737384796, + 0.14837637543678284 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, tilt left 20 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30360060930252075, + 0.02662496827542782, + 0.07790195196866989, + -3.0952565670013428, + -0.09541148692369461, + 0.16372908651828766 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, tilt left 20 degrees, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020626902580261, + 0.03593461960554123, + 0.07756806910037994, + -3.0762076377868652, + -0.0916113406419754, + 0.17952919006347656 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, tilt left 20 degrees, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999214231967926, + 0.04692918807268143, + 0.07782220840454102, + -3.051405668258667, + -0.0880689024925232, + 0.1921686977148056 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white sushi toy": [ + 264, + 822, + 431, + 987 + ], + "yellow star": [ + 618, + 515, + 738, + 637 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector forward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, tilt left 20 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29851219058036804, + 0.055693890899419785, + 0.07833804190158844, + -3.020951747894287, + -0.08876635879278183, + 0.19731691479682922 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, tilt left 20 degrees, keep gripper open; then move right 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977222204208374, + 0.06693464517593384, + 0.08003336191177368, + -2.961043119430542, + -0.10009699314832687, + 0.19610558450222015 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, tilt left 10 degrees, keep gripper open; then move right 4 cm, move up 2 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29714274406433105, + 0.076046422123909, + 0.08252783864736557, + -2.8760972023010254, + -0.11258858442306519, + 0.18917927145957947 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move up 4 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29634371399879456, + 0.0784117728471756, + 0.08391191065311432, + -2.8108274936676025, + -0.11485198885202408, + 0.16501399874687195 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 6 cm, move up 5 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2933815121650696, + 0.08956455439329147, + 0.08104942739009857, + -2.732783555984497, + -0.10216087847948074, + 0.17031708359718323 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 8 cm, move up 6 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29245203733444214, + 0.09621457755565643, + 0.07514338195323944, + -2.7258479595184326, + -0.09331439435482025, + 0.170069620013237 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 6 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2890736162662506, + 0.11097367852926254, + 0.07378345727920532, + -2.7384393215179443, + -0.09349653124809265, + 0.20311713218688965 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red box": [ + 3, + 206, + 322, + 706 + ], + "white sushi toy": [ + 263, + 823, + 430, + 987 + ], + "yellow star": [ + 618, + 515, + 738, + 637 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 6 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2898848056793213, + 0.11413156986236572, + 0.07323870062828064, + -2.7364866733551025, + -0.09052789956331253, + 0.20430073142051697 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 6 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.290069043636322, + 0.11450183391571045, + 0.0731276273727417, + -2.7436723709106445, + -0.08567886799573898, + 0.2086411416530609 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the red drawer and the end-effector is now in close proximity to the handle. Gripper signals remain constant and open, confirming no grasping has occurred. The next step is to establish physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 6 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2925296425819397, + 0.10550864785909653, + 0.06927867233753204, + -2.810277223587036, + -0.08355934917926788, + 0.18034987151622772 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to apply forward pressure to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 7 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.28758713603019714, + 0.08183915168046951, + 0.07425091415643692, + -2.9155426025390625, + -0.09482020884752274, + 0.13131077587604523 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to apply forward pressure to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28983935713768005, + 0.06071602180600166, + 0.09487070888280869, + -2.9847512245178223, + -0.1560622751712799, + 0.08968809247016907 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to apply forward pressure to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840820848941803, + 0.04572242498397827, + 0.11221633106470108, + -3.030317783355713, + -0.18789014220237732, + 0.07318047434091568 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to apply forward pressure to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27921968698501587, + 0.03454429656267166, + 0.12042513489723206, + -3.0861549377441406, + -0.18630023300647736, + 0.06407946348190308 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to apply forward pressure to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27464544773101807, + 0.020472826436161995, + 0.13549065589904785, + 3.1368749141693115, + -0.21547731757164001, + 0.02542783133685589 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the end-effector has moved away from the handle, indicating the retreat phase is underway. No contact or grasping is occurring, consistent with the gripper remaining open. The next action is to continue moving the arm further back to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003786_ecot.json b/cot/chunk-0003/episode_0003786_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c7125e1b01ae75ee548f31702b5bc7dd771da201 --- /dev/null +++ b/cot/chunk-0003/episode_0003786_ecot.json @@ -0,0 +1,1458 @@ +{ + "task_name": "episode_0003786", + "episode_json": "json/chunk-0003/episode_0003786.json", + "video_path": "videos/chunk-0003/image_0/episode_0003786.mp4", + "instruction": "Move the silver pot to the lower right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003786.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.9322366714477539, + "std": 0.41278311610221863, + "delta_total": -0.221271812915802, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93224, std=0.41278, total_delta=-0.22127). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 123 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 11 + ], + [ + 3, + 12, + 22 + ], + [ + 4, + 23, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp silver pot\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector to the silver pot on the left burner and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport pot to target burner\", \"start\": 12, \"end\": 22, \"planning\": \"Lift the grasped pot and move it diagonally toward the lower right burner while maintaining grip.\"},\n {\"id\": 3, \"name\": \"release pot and retreat\", \"start\": 23, \"end\": 23, \"planning\": \"Open gripper to release the pot onto the lower right burner and begin retreating upward.\"}\n ],\n \"global_plan\": \"Grasp the silver pot from the left burner, lift and carry it to the lower right burner, then release it precisely on target.\",\n \"notes\": \"Segment 1 shows gripper closing (0.998→0.669) with motion toward pot — consistent with grasp initiation. Segment 2 continues closing (0.369→0.074) — confirms full grasp. Segment 3 shows transport with stable low gripper value until frame 22, then opening begins. Segment 4 is single frame with high gripper value (0.777) indicating release completed; no grasp wording used here per rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp silver pot", + "start": 0, + "end": 11, + "planning": "Move end-effector to the silver pot on the left burner and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport pot to target burner", + "start": 12, + "end": 22, + "planning": "Lift the grasped pot and move it diagonally toward the lower right burner while maintaining grip." + }, + { + "id": 3, + "name": "release pot and retreat", + "start": 23, + "end": 23, + "planning": "Open gripper to release the pot onto the lower right burner and begin retreating upward." + } + ], + "global_plan": "Grasp the silver pot from the left burner, lift and carry it to the lower right burner, then release it precisely on target.", + "notes": "Segment 1 shows gripper closing (0.998→0.669) with motion toward pot — consistent with grasp initiation. Segment 2 continues closing (0.369→0.074) — confirms full grasp. Segment 3 shows transport with stable low gripper value until frame 22, then opening begins. Segment 4 is single frame with high gripper value (0.777) indicating release completed; no grasp wording used here per rules." + } + }, + "episode_goal": "Move the silver pot to the lower right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3595487177371979, + 0.12778984010219574, + 0.025792116299271584, + -2.994152784347534, + -0.06271079182624817, + 0.32947686314582825 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the silver pot on the left burner with the gripper open. No movement or grasping has occurred yet. The next action should be to lower the gripper and close it around the pot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35426825284957886, + 0.1254952847957611, + 0.010757405310869217, + -2.9930453300476074, + -0.018249064683914185, + 0.3289477527141571 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the silver pot on the left burner with the gripper open. No movement or grasping has occurred yet. The next action should be to lower the gripper and close it around the pot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36135637760162354, + 0.13332417607307434, + -0.00766013003885746, + -3.0016841888427734, + -0.0014718681341037154, + 0.34649431705474854 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the silver pot on the left burner with the gripper open. No movement or grasping has occurred yet. The next action should be to lower the gripper and close it around the pot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37369605898857117, + 0.1477571278810501, + -0.006156805902719498, + -3.0086405277252197, + -0.03092065639793873, + 0.37211257219314575 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the silver pot on the left burner with the gripper open. No movement or grasping has occurred yet. The next action should be to lower the gripper and close it around the pot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, close gripper; then move back 2 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38146141171455383, + 0.16173875331878662, + -0.006431447342038155, + -3.0051472187042236, + -0.04471225291490555, + 0.3942147195339203 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot is positioned above the silver pot on the left burner with the gripper open. No movement or grasping has occurred yet. The next action should be to lower the gripper and close it around the pot to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.38921093940734863, + 0.17511938512325287, + -0.010714583098888397, + -2.992050886154175, + -0.05215724557638168, + 0.4108598530292511 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move right 13 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38534072041511536, + 0.1860802173614502, + -0.032701525837183, + -2.9907033443450928, + 0.0010326640913262963, + 0.4456107020378113 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green spatula": [ + 447, + 413, + 508, + 548 + ], + "sink": [ + 685, + 481, + 993, + 974 + ], + "toy kitchen": [ + 22, + 19, + 986, + 983 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 15 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38342776894569397, + 0.18649275600910187, + -0.03909112140536308, + -3.01468825340271, + 0.02984319068491459, + 0.4773612916469574 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 17 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3818987011909485, + 0.18104328215122223, + -0.04446730390191078, + -3.0413918495178223, + 0.03606539964675903, + 0.4966161251068115 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 18 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37473592162132263, + 0.17634588479995728, + -0.052705515176057816, + -3.0415878295898438, + 0.05361204221844673, + 0.4866938889026642 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 19 cm, move down 6 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3707192838191986, + 0.1703157126903534, + -0.04674220085144043, + -3.040479898452759, + 0.04548220708966255, + 0.46060046553611755 + ], + "gripper_value": 0.15872089564800262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 20 cm, move down 6 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669367730617523, + 0.15781159698963165, + -0.024361858144402504, + -3.0464274883270264, + -0.01704854890704155, + 0.41541633009910583 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 19 cm, move down 6 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36280664801597595, + 0.11749245226383209, + 0.005866297986358404, + -3.039715528488159, + -0.09446023404598236, + 0.29339998960494995 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 18 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34496432542800903, + 0.0721016377210617, + 0.014489640481770039, + -3.0297250747680664, + -0.1193913072347641, + 0.199320450425148 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3266954720020294, + 0.027070466428995132, + 0.011775566264986992, + -3.0246098041534424, + -0.11329588294029236, + 0.11241427063941956 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3207123279571533, + -0.008616495877504349, + 0.005202719941735268, + -3.024742364883423, + -0.10998854041099548, + 0.02823822945356369 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 12, + 19, + 988, + 983 + ], + "utensil holder": [ + 697, + 5, + 792, + 173 + ], + "frying pan": [ + 381, + 286, + 583, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184872269630432, + -0.03480382636189461, + -0.013114824891090393, + -3.022226572036743, + -0.07129034399986267, + -0.04414262995123863 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32653823494911194, + -0.05275536701083183, + -0.02917221374809742, + -3.0233938694000244, + -0.04950779676437378, + -0.0869460478425026 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the left burner and is currently lifting it. The gripper is closed around the pot handle, and the arm is in motion, transporting the pot toward the lower right burner. The next action is to continue moving the pot to align it over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 5 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314034044742584, + -0.06656638532876968, + -0.04617235064506531, + -3.019460916519165, + -0.02057347260415554, + -0.12332268059253693 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the left burner and is currently lifting it. The gripper is closed around the pot handle, and the arm is in motion, transporting the pot toward the lower right burner. The next action is to continue moving the pot to align it over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.338894248008728, + -0.07589324563741684, + -0.05558134242892265, + -3.0215373039245605, + -0.001573525252752006, + -0.13397639989852905 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the left burner and is currently lifting it. The gripper is closed around the pot handle, and the arm is in motion, transporting the pot toward the lower right burner. The next action is to continue moving the pot to align it over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480929732322693, + -0.0778338611125946, + -0.057861536741256714, + -3.017406702041626, + -0.0009696159977465868, + -0.13240580260753632 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the left burner and is currently lifting it. The gripper is closed around the pot handle, and the arm is in motion, transporting the pot toward the lower right burner. The next action is to continue moving the pot to align it over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35462379455566406, + -0.0726071298122406, + -0.05498293787240982, + -3.0180583000183105, + -0.012611362151801586, + -0.10697811841964722 + ], + "gripper_value": 0.2117326408624649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the left burner and is currently lifting it. The gripper is closed around the pot handle, and the arm is in motion, transporting the pot toward the lower right burner. The next action is to continue moving the pot to align it over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3557729125022888, + -0.06702421605587006, + -0.039320629090070724, + -3.0167107582092285, + -0.03235628455877304, + -0.07632431387901306 + ], + "gripper_value": 0.4606100916862488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and transport pot to target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the left burner and is currently lifting it. The gripper is closed around the pot handle, and the arm is in motion, transporting the pot toward the lower right burner. The next action is to continue moving the pot to align it over the target burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35710328817367554, + -0.060970619320869446, + 0.01754084788262844, + -3.043078899383545, + -0.14251045882701874, + -0.01736445352435112 + ], + "gripper_value": 0.7768828272819519 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green spatula": [ + 447, + 412, + 508, + 549 + ], + "stove burners": [ + 244, + 275, + 436, + 455 + ], + "toy kitchen": [ + 59, + 31, + 980, + 974 + ], + "frying pan": [ + 536, + 403, + 758, + 670 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp silver pot" + }, + { + "id": 2, + "subtask": "lift and transport pot to target burner" + }, + { + "id": 3, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is currently positioned over the lower right burner, having been transported from the left side. The gripper is open, indicating the pot has been released or is in the process of being released onto the target surface. The next action is to retreat the end-effector upward and away from the stove to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003787_ecot.json b/cot/chunk-0003/episode_0003787_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..16a094e35500026cce83edd47e8819aae21b2fa8 --- /dev/null +++ b/cot/chunk-0003/episode_0003787_ecot.json @@ -0,0 +1,6981 @@ +{ + "task_name": "episode_0003787", + "episode_json": "json/chunk-0003/episode_0003787.json", + "video_path": "videos/chunk-0003/image_0/episode_0003787.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 93, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003787.json" + }, + "fps": 5.0, + "T_eff": 93, + "gripper_behavior_summary": { + "available": true, + "range": 0.6161026954650879, + "std": 0.2026228904724121, + "delta_total": -0.0868750810623169, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61610, std=0.20262, total_delta=-0.08688). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 12, + 12, + 12, + 12, + 91, + 91 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 3, + 6, + 11 + ], + [ + 4, + 12, + 32 + ], + [ + 5, + 33, + 51 + ], + [ + 6, + 52, + 86 + ], + [ + 7, + 87, + 90 + ], + [ + 8, + 91, + 92 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach coffee beans\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the scattered coffee beans without closing gripper.\"},\n {\"id\": 2, \"name\": \"close gripper on beans\", \"start\": 6, \"end\": 11, \"planning\": \"Close gripper to make contact with and lightly hold a small cluster of beans for sweeping.\"},\n {\"id\": 3, \"name\": \"sweep beans leftward\", \"start\": 12, \"end\": 32, \"planning\": \"Drag held beans across table surface toward target pile location using controlled lateral motion.\"},\n {\"id\": 4, \"name\": \"reposition for second sweep\", \"start\": 33, \"end\": 51, \"planning\": \"Retreat and reposition end-effector to gather remaining scattered beans from original area.\"},\n {\"id\": 5, \"name\": \"sweep residual beans\", \"start\": 52, \"end\": 86, \"planning\": \"Push remaining loose beans into the growing pile using gripper as a blade while maintaining light contact.\"},\n {\"id\": 6, \"name\": \"final alignment and release\", \"start\": 87, \"end\": 90, \"planning\": \"Make final nudges to consolidate pile and prepare for gripper release.\"},\n {\"id\": 7, \"name\": \"open gripper and retreat\", \"start\": 91, \"end\": 92, \"planning\": \"Open gripper fully to release any held beans and begin retreating from the completed pile.\"}\n ],\n \"global_plan\": \"Sweep scattered coffee beans into a consolidated pile by first grasping a cluster, dragging it leftward, then repositioning to push residual beans into the same area, finishing with release and retreat.\",\n \"notes\": \"Gripper closure is only applied in segments 2, 5, and 7 where segment-level evidence shows meaningful closing (range > 0.3) and images confirm contact or holding. Segments 1, 3, 4, 6 use contact-based verbs since no significant gripper closure occurred. Frame coverage is contiguous and complete from 0 to 92.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach coffee beans", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the scattered coffee beans without closing gripper." + }, + { + "id": 2, + "name": "close gripper on beans", + "start": 6, + "end": 11, + "planning": "Close gripper to make contact with and lightly hold a small cluster of beans for sweeping." + }, + { + "id": 3, + "name": "sweep beans leftward", + "start": 12, + "end": 32, + "planning": "Drag held beans across table surface toward target pile location using controlled lateral motion." + }, + { + "id": 4, + "name": "reposition for second sweep", + "start": 33, + "end": 51, + "planning": "Retreat and reposition end-effector to gather remaining scattered beans from original area." + }, + { + "id": 5, + "name": "sweep residual beans", + "start": 52, + "end": 86, + "planning": "Push remaining loose beans into the growing pile using gripper as a blade while maintaining light contact." + }, + { + "id": 6, + "name": "final alignment and release", + "start": 87, + "end": 90, + "planning": "Make final nudges to consolidate pile and prepare for gripper release." + }, + { + "id": 7, + "name": "open gripper and retreat", + "start": 91, + "end": 92, + "planning": "Open gripper fully to release any held beans and begin retreating from the completed pile." + } + ], + "global_plan": "Sweep scattered coffee beans into a consolidated pile by first grasping a cluster, dragging it leftward, then repositioning to push residual beans into the same area, finishing with release and retreat.", + "notes": "Gripper closure is only applied in segments 2, 5, and 7 where segment-level evidence shows meaningful closing (range > 0.3) and images confirm contact or holding. Segments 1, 3, 4, 6 use contact-based verbs since no significant gripper closure occurred. Frame coverage is contiguous and complete from 0 to 92." + } + }, + "episode_goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558497726917267, + 0.03811557963490486, + 0.07315773516893387, + 2.977123498916626, + -0.2646121084690094, + 0.5300045013427734 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach coffee beans", + "subtask_reasoning": "The robot is positioned above the table with scattered coffee beans visible on the left side. The gripper is open and approaching the beans, indicating the start of the sweeping task. No beans have been moved yet; the next action is to make contact with the beans to begin pushing them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35333582758903503, + 0.037191398441791534, + 0.061863332986831665, + 2.9825379848480225, + -0.23211023211479187, + 0.5313869714736938 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach coffee beans", + "subtask_reasoning": "The robot is positioned above the table with scattered coffee beans visible on the left side. The gripper is open and approaching the beans, indicating the start of the sweeping task. No beans have been moved yet; the next action is to make contact with the beans to begin pushing them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454627990722656, + 0.025058208033442497, + 0.053129807114601135, + 2.925691843032837, + -0.1905442774295807, + 0.48982906341552734 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach coffee beans", + "subtask_reasoning": "The robot is positioned above the scattered coffee beans with the gripper open, having not yet made contact. The current subtask involves approaching the beans to prepare for sweeping. The next action is to lower the end-effector to make contact with the beans or the table surface to begin pushing them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33848837018013, + 0.015655705705285072, + 0.0609627403318882, + 2.8718223571777344, + -0.19183865189552307, + 0.4437728822231293 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach coffee beans", + "subtask_reasoning": "The robot is positioned above the scattered coffee beans with the gripper open, having not yet made contact. The current subtask involves approaching the beans to prepare for sweeping. The next action is to lower the end-effector to make contact with the beans or the table surface to begin pushing them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3290162980556488, + -0.0026329117827117443, + 0.0652577355504036, + 2.876509666442871, + -0.20038346946239471, + 0.36040738224983215 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach coffee beans", + "subtask_reasoning": "The robot is positioned above the scattered coffee beans with the gripper open, having not yet made contact. The current subtask involves approaching the beans to prepare for sweeping. The next action is to lower the end-effector to make contact with the beans or the table surface to begin pushing them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32457631826400757, + -0.02136663906276226, + 0.061979033052921295, + 2.89652419090271, + -0.19160333275794983, + 0.2929905652999878 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "approach coffee beans", + "subtask_reasoning": "The robot is positioned above the scattered coffee beans with the gripper open, having not yet made contact. The current subtask involves approaching the beans to prepare for sweeping. The next action is to lower the end-effector to make contact with the beans or the table surface to begin pushing them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 2 cm, move right 3 cm, move down 4 cm, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.32355162501335144, + -0.03775183483958244, + 0.057971108704805374, + 2.9243552684783936, + -0.19349879026412964, + 0.2463301718235016 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black beans": [ + 245, + 275, + 494, + 485 + ], + "wooden table": [ + 5, + 100, + 878, + 949 + ], + "stove knobs": [ + 739, + 337, + 854, + 720 + ], + "toy stove": [ + 676, + 147, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "close gripper on beans", + "subtask_reasoning": "The robot is positioned above the scattered coffee beans with the gripper open, having not yet made contact. The current subtask involves approaching the beans to prepare for sweeping. The next action is to lower the end-effector to make contact with the beans or the table surface to begin pushing them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 4 cm, close gripper; then move forward 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32139530777931213, + -0.04610385745763779, + 0.03909910097718239, + 2.941004991531372, + -0.142165869474411, + 0.24085138738155365 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "close gripper on beans", + "subtask_reasoning": "The robot is positioned above the scattered coffee beans with the gripper open, having not yet made contact. The current subtask involves approaching the beans to prepare for sweeping. The next action is to lower the end-effector to make contact with the beans or the table surface to begin pushing them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, close gripper; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32351142168045044, + -0.05283961445093155, + 0.036037467420101166, + 2.9475414752960205, + -0.14876292645931244, + 0.2214932143688202 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "close gripper on beans", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 3 cm, move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32343170046806335, + -0.05580960586667061, + 0.03456129878759384, + 2.9467806816101074, + -0.16114209592342377, + 0.212933748960495 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "close gripper on beans", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3123704195022583, + -0.061824388802051544, + 0.025680813938379288, + 2.9542973041534424, + -0.14192086458206177, + 0.2031354308128357 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 6, + 107, + 883, + 948 + ], + "black beans": [ + 243, + 273, + 538, + 488 + ], + "blue drawer": [ + 4, + 569, + 369, + 992 + ], + "stove knobs": [ + 738, + 333, + 857, + 719 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "close gripper on beans", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 4 cm, move left 8 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046988248825073, + -0.06141975522041321, + 0.017784403637051582, + 2.9606287479400635, + -0.1377311795949936, + 0.2164008468389511 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "close gripper on beans", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015653192996979, + -0.06346382200717926, + 0.014971013180911541, + 2.9775657653808594, + -0.14316773414611816, + 0.1976025104522705 + ], + "gripper_value": 0.4166308641433716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30169913172721863, + -0.06299605965614319, + 0.015154311433434486, + 2.979780673980713, + -0.14701159298419952, + 0.19594621658325195 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30465683341026306, + -0.0586521252989769, + 0.014171871356666088, + 2.9729092121124268, + -0.1381847858428955, + 0.2029085010290146 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 15 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31179478764533997, + -0.04950369894504547, + 0.011392000131309032, + 2.956974744796753, + -0.11480522900819778, + 0.21264024078845978 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 16 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160248100757599, + -0.044783815741539, + 0.010511809960007668, + 2.9616377353668213, + -0.0988936722278595, + 0.19703654944896698 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 16 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192881941795349, + -0.03984956070780754, + 0.008922373875975609, + 2.9660656452178955, + -0.07320399582386017, + 0.16689428687095642 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 17 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3331207036972046, + -0.019652722403407097, + 0.00883837603032589, + 2.9632678031921387, + -0.09295867383480072, + 0.18693964183330536 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33491066098213196, + -0.012474524788558483, + 0.007653923239558935, + 2.966139554977417, + -0.07514094561338425, + 0.14421391487121582 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33980193734169006, + 0.014321867376565933, + 0.009790749289095402, + 2.9670138359069824, + -0.07728952169418335, + 0.17454096674919128 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 14 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34022489190101624, + 0.03464316576719284, + 0.010169899091124535, + 2.966602325439453, + -0.06802497059106827, + 0.1743251532316208 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue drawer": [ + 3, + 552, + 382, + 993 + ], + "black beans": [ + 244, + 276, + 456, + 486 + ], + "stove knobs": [ + 738, + 337, + 854, + 719 + ], + "wooden table": [ + 5, + 99, + 881, + 944 + ], + "toy stove": [ + 671, + 149, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33742547035217285, + 0.0627594068646431, + 0.011767694726586342, + 2.964193344116211, + -0.05970710515975952, + 0.21100740134716034 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341912627220154, + 0.07967501133680344, + 0.01167005579918623, + 2.9577503204345703, + -0.057447511702775955, + 0.22659695148468018 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33148467540740967, + 0.09247733652591705, + 0.011593804694712162, + 2.9511425495147705, + -0.0569872222840786, + 0.23165921866893768 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3276538550853729, + 0.10743877291679382, + 0.010795950889587402, + 2.9494128227233887, + -0.05975095182657242, + 0.2441929131746292 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32405635714530945, + 0.1143425926566124, + 0.010496129281818867, + 2.948982000350952, + -0.05838591605424881, + 0.24376365542411804 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31717991828918457, + 0.12847104668617249, + 0.009583938866853714, + 2.9499263763427734, + -0.060029953718185425, + 0.2581617832183838 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move right 11 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131474256515503, + 0.13323943316936493, + 0.00900103896856308, + 2.9480507373809814, + -0.0553039014339447, + 0.25591903924942017 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move right 12 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047623634338379, + 0.1480242758989334, + 0.008942007087171078, + 2.946521759033203, + -0.05204925313591957, + 0.29368704557418823 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 6 cm, move right 13 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29692623019218445, + 0.1507917195558548, + 0.01085716113448143, + 2.951737403869629, + -0.03866932541131973, + 0.2884107232093811 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move right 13 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.289387971162796, + 0.14885960519313812, + 0.01610233262181282, + 2.938296318054199, + -0.030022598803043365, + 0.289572536945343 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue drawer": [ + 3, + 552, + 372, + 992 + ], + "retro radio": [ + 277, + 2, + 665, + 209 + ], + "black beans": [ + 309, + 262, + 531, + 350 + ], + "wooden table": [ + 5, + 94, + 888, + 947 + ], + "toy stove": [ + 674, + 145, + 993, + 990 + ], + "stove knobs": [ + 740, + 332, + 858, + 719 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 2 cm, keep gripper closed; then move forward 9 cm, move right 13 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903403341770172, + 0.14124581217765808, + 0.02683616429567337, + 2.9130873680114746, + -0.04567861184477806, + 0.2928697168827057 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper closed; then move forward 11 cm, move right 12 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2954574525356293, + 0.12384002655744553, + 0.03154347091913223, + 2.877979278564453, + -0.05933532863855362, + 0.27016451954841614 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 11 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042518198490143, + 0.09368107467889786, + 0.03654727712273598, + 2.8798000812530518, + -0.08854635804891586, + 0.22054117918014526 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3144608736038208, + 0.06941049546003342, + 0.03690711408853531, + 2.8971006870269775, + -0.09498550742864609, + 0.19655223190784454 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3230907917022705, + 0.035548899322748184, + 0.03546292334794998, + 2.9018304347991943, + -0.08769724518060684, + 0.15178368985652924 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3338634967803955, + 0.014884158968925476, + 0.027575744315981865, + 2.914991617202759, + -0.07521865516901016, + 0.1370736062526703 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3458887040615082, + 0.00015358183009084314, + 0.020042307674884796, + 2.927539348602295, + -0.06764597445726395, + 0.1380763053894043 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593123257160187, + -0.0059355562552809715, + 0.013729706406593323, + 2.941603899002075, + -0.0574677512049675, + 0.14757183194160461 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue drawer": [ + 3, + 559, + 374, + 992 + ], + "wooden table": [ + 5, + 109, + 883, + 948 + ], + "stove knobs": [ + 740, + 332, + 859, + 721 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3748490512371063, + -0.004796410445123911, + 0.012298891320824623, + 2.9468438625335693, + -0.06348326057195663, + 0.17022982239723206 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.39035531878471375, + -0.0028203839901834726, + 0.012243928387761116, + 2.946911573410034, + -0.07014394551515579, + 0.18817847967147827 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot gripper is positioned above the coffee beans on the table, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp a cluster of beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.4015503227710724, + 2.2246651496971026e-05, + 0.012399486266076565, + 2.9452719688415527, + -0.08399976789951324, + 0.20656421780586243 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.40550148487091064, + 0.00902470387518406, + 0.011696848087012768, + 2.942331075668335, + -0.08524718880653381, + 0.25226765871047974 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 14 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.4070884883403778, + 0.020160801708698273, + 0.011507186107337475, + 2.9312896728515625, + -0.09310796856880188, + 0.3108505308628082 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.4072282016277313, + 0.03140861541032791, + 0.011046732775866985, + 2.926182508468628, + -0.09455052018165588, + 0.36813876032829285 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.40523749589920044, + 0.05380304530262947, + 0.010513457469642162, + 2.923985004425049, + -0.09344818443059921, + 0.4354553818702698 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.39934301376342773, + 0.07707490772008896, + 0.010556519962847233, + 2.91450834274292, + -0.08982562273740768, + 0.4982786178588867 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.39321133494377136, + 0.09150072187185287, + 0.010540204122662544, + 2.9050352573394775, + -0.08517751097679138, + 0.5328101515769958 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3841503858566284, + 0.10743873566389084, + 0.010189996100962162, + 2.8865134716033936, + -0.09286285191774368, + 0.597969651222229 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.37361007928848267, + 0.12282582372426987, + 0.011075634509325027, + 2.8620052337646484, + -0.10472246259450912, + 0.6846287846565247 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.35959288477897644, + 0.1373184770345688, + 0.01285806018859148, + 2.8263494968414307, + -0.11117148399353027, + 0.7937021255493164 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue drawer": [ + 3, + 550, + 383, + 992 + ], + "retro radio": [ + 290, + 3, + 664, + 210 + ], + "black beans": [ + 154, + 300, + 289, + 524 + ], + "wooden table": [ + 5, + 119, + 893, + 944 + ], + "stove knobs": [ + 739, + 336, + 856, + 719 + ], + "toy stove": [ + 670, + 148, + 994, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently open and positioned near the coffee beans on the table, having completed the initial sweep. The robot is repositioning to align for a second push, with no grasping action occurring in this segment. The next likely action is to move the gripper into contact with the remaining scattered beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 51 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451616168022156, + 0.15003809332847595, + 0.013820894062519073, + 2.8029367923736572, + -0.09258051961660385, + 0.8620405197143555 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.33399900794029236, + 0.1594696342945099, + 0.013338310644030571, + 2.7900381088256836, + -0.06932269781827927, + 0.881788969039917 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3267863690853119, + 0.1650981307029724, + 0.012915446422994137, + 2.7864768505096436, + -0.06658881157636642, + 0.8798396587371826 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.32070985436439514, + 0.16683614253997803, + 0.013261297717690468, + 2.7849819660186768, + -0.06382085382938385, + 0.8834118843078613 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.318895161151886, + 0.162679061293602, + 0.015159192495048046, + 2.766165256500244, + -0.06396448612213135, + 0.8988291621208191 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268181383609772, + 0.1469297558069229, + 0.02570318803191185, + 2.7451910972595215, + -0.06582756340503693, + 0.8978023529052734 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3374645709991455, + 0.1292320191860199, + 0.037626657634973526, + 2.7238166332244873, + -0.0781475082039833, + 0.8858720064163208 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.34492722153663635, + 0.11900302022695541, + 0.039846908301115036, + 2.7211194038391113, + -0.079602912068367, + 0.8903025984764099 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.36347270011901855, + 0.11318888515233994, + 0.03781803697347641, + 2.736044406890869, + -0.11059120297431946, + 0.888357400894165 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue drawer": [ + 3, + 554, + 381, + 993 + ], + "retro radio": [ + 287, + 3, + 665, + 210 + ], + "black beans": [ + 142, + 279, + 272, + 522 + ], + "wooden table": [ + 5, + 114, + 884, + 946 + ], + "stove knobs": [ + 738, + 336, + 855, + 720 + ], + "toy stove": [ + 670, + 149, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.37583112716674805, + 0.12117641419172287, + 0.027007445693016052, + 2.7599010467529297, + -0.10878867655992508, + 0.9164713025093079 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.38920459151268005, + 0.13079984486103058, + 0.02389625273644924, + 2.7710089683532715, + -0.12115943431854248, + 0.9504098296165466 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.39800548553466797, + 0.13630661368370056, + 0.01999536156654358, + 2.771599054336548, + -0.12238971143960953, + 0.9652302861213684 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.3993944525718689, + 0.1405820995569229, + 0.02159748412668705, + 2.769066333770752, + -0.12824475765228271, + 0.984881579875946 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.39044636487960815, + 0.1474544256925583, + 0.015333925373852253, + 2.74975323677063, + -0.11578251421451569, + 1.0178539752960205 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.3759850263595581, + 0.14988292753696442, + 0.015473746694624424, + 2.75130033493042, + -0.11662682890892029, + 1.033223271369934 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589470386505127, + 0.15682999789714813, + 0.016400087624788284, + 2.7413599491119385, + -0.10224134474992752, + 1.0455297231674194 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "retro radio": [ + 282, + 3, + 664, + 211 + ], + "blue drawer": [ + 3, + 551, + 384, + 993 + ], + "black beans": [ + 142, + 297, + 271, + 523 + ], + "wooden table": [ + 5, + 107, + 889, + 946 + ], + "toy stove": [ + 671, + 148, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462143540382385, + 0.16435469686985016, + 0.01611243188381195, + 2.7291667461395264, + -0.09412730485200882, + 1.0586683750152588 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.3369957208633423, + 0.17069105803966522, + 0.01877361349761486, + 2.721076011657715, + -0.09063878655433655, + 1.0798180103302002 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3296453654766083, + 0.17604407668113708, + 0.01729099079966545, + 2.7181801795959473, + -0.09275402128696442, + 1.0729587078094482 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.328821063041687, + 0.17471688985824585, + 0.017640579491853714, + 2.719762086868286, + -0.08861759305000305, + 1.0590741634368896 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.32986897230148315, + 0.16727788746356964, + 0.017953304573893547, + 2.7148163318634033, + -0.0606527179479599, + 1.0522252321243286 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428187966346741, + 0.14782929420471191, + 0.03650107979774475, + 2.6885392665863037, + -0.0826268196105957, + 1.0114448070526123 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.35072872042655945, + 0.1343146562576294, + 0.03963844105601311, + 2.6821086406707764, + -0.07860060781240463, + 1.0003236532211304 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "retro radio": [ + 282, + 3, + 664, + 211 + ], + "blue drawer": [ + 3, + 554, + 387, + 993 + ], + "black beans": [ + 136, + 285, + 268, + 523 + ], + "wooden table": [ + 5, + 99, + 884, + 944 + ], + "stove knobs": [ + 739, + 336, + 855, + 718 + ], + "toy stove": [ + 670, + 147, + 994, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.3607276380062103, + 0.1307401955127716, + 0.04550781100988388, + 2.6826858520507812, + -0.10348769277334213, + 0.9987999796867371 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.3711908161640167, + 0.13924388587474823, + 0.034259822219610214, + 2.7013280391693115, + -0.10369578003883362, + 1.0255109071731567 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.3794362246990204, + 0.1469714194536209, + 0.030559688806533813, + 2.706057548522949, + -0.1113036572933197, + 1.0517141819000244 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.3830023407936096, + 0.1512528657913208, + 0.023784896358847618, + 2.713810443878174, + -0.11133921891450882, + 1.0635842084884644 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.38080039620399475, + 0.15836624801158905, + 0.02080770768225193, + 2.7180888652801514, + -0.1152360662817955, + 1.0825837850570679 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.3723650574684143, + 0.16648833453655243, + 0.01784856989979744, + 2.7060723304748535, + -0.10110334306955338, + 1.1070674657821655 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move right 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.3579238951206207, + 0.16855201125144958, + 0.01866605319082737, + 2.6971380710601807, + -0.08146960288286209, + 1.1090834140777588 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.344957560300827, + 0.17551171779632568, + 0.02008620835840702, + 2.6879453659057617, + -0.07408050447702408, + 1.1320706605911255 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.34088340401649475, + 0.17447856068611145, + 0.02153736725449562, + 2.6868693828582764, + -0.07235368341207504, + 1.125054955482483 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455139100551605, + 0.1622825413942337, + 0.021209347993135452, + 2.685199737548828, + -0.06521820276975632, + 1.0979584455490112 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.35711148381233215, + 0.13000375032424927, + 0.033632226288318634, + 2.6697700023651123, + -0.07762724161148071, + 1.0302050113677979 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585646152496338, + 0.09299302101135254, + 0.04317155107855797, + 2.671921730041504, + -0.09449850022792816, + 0.9321771860122681 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "sweep residual beans", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 52, + "end": 86 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.35504066944122314, + 0.050066348165273666, + 0.04617419093847275, + 2.7443456649780273, + -0.15862897038459778, + 0.8081189393997192 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final alignment and release", + "subtask_reasoning": "The gripper is in contact with a small cluster of residual coffee beans on the left side of the table, having already swept the majority into a pile. The current subtask involves pushing these remaining beans into the main pile. The next action should be a gentle forward push to consolidate the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 90 + }, + "cache_ref": { + "anchor_ref_reasoning": 52 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 87, + "end": 90 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.35277077555656433, + 0.019042542204260826, + 0.045165907591581345, + 2.7515156269073486, + -0.12944892048835754, + 0.740350067615509 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final alignment and release", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of coffee beans on the left side of the table. The subtask segment shows a slight gripper opening trend, indicating the release phase is underway or just completed. The next action is to fully open the gripper and retreat to finalize the alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 90 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 87, + "end": 90 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.3491438031196594, + -0.014209036715328693, + 0.04453277960419655, + 2.757636070251465, + -0.09452281892299652, + 0.6619677543640137 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final alignment and release", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of coffee beans on the left side of the table. The subtask segment shows a slight gripper opening trend, indicating the release phase is underway or just completed. The next action is to fully open the gripper and retreat to finalize the alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 90 + }, + "cache_ref": { + "anchor_ref_reasoning": 88 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 87, + "end": 90 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.3523405194282532, + -0.037372421473264694, + 0.04346967488527298, + 2.757059335708618, + -0.08226574212312698, + 0.5927867889404297 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black beans": [ + 135, + 270, + 268, + 522 + ], + "blue drawer": [ + 3, + 556, + 379, + 992 + ], + "wooden table": [ + 5, + 105, + 882, + 945 + ], + "stove knobs": [ + 739, + 337, + 854, + 719 + ], + "toy stove": [ + 671, + 148, + 993, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "final alignment and release", + "subtask_reasoning": "The gripper is positioned above the consolidated pile of coffee beans on the left side of the table. The subtask segment shows a slight gripper opening trend, indicating the release phase is underway or just completed. The next action is to fully open the gripper and retreat to finalize the alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 90 + }, + "cache_ref": { + "anchor_ref_reasoning": 88 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 87, + "end": 90 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.34877660870552063, + -0.05148080736398697, + 0.018964184448122978, + 2.814316987991333, + -0.03628940135240555, + 0.48230594396591187 + ], + "gripper_value": 0.6189444065093994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "open gripper and retreat", + "subtask_reasoning": "The gripper is open and positioned above the table, having just released the coffee beans into a pile on the left. The current subtask involves retreating from the pile area to avoid disturbing it. The next action should be moving the gripper upward and away from the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 91, + "end": 92 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411031663417816, + -0.05593482777476311, + 0.018793843686580658, + 2.8503410816192627, + -0.007599216885864735, + 0.3953119218349457 + ], + "gripper_value": 0.9132781028747559 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered coffee beans into a compact pile on the left side of the table using the gripper as a pusher." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach coffee beans" + }, + { + "id": 2, + "subtask": "close gripper on beans" + }, + { + "id": 3, + "subtask": "sweep beans leftward" + }, + { + "id": 4, + "subtask": "reposition for second sweep" + }, + { + "id": 5, + "subtask": "sweep residual beans" + }, + { + "id": 6, + "subtask": "final alignment and release" + }, + { + "id": 7, + "subtask": "open gripper and retreat" + } + ], + "subtask_name": "open gripper and retreat", + "subtask_reasoning": "The gripper is open and positioned above the table, having just released the coffee beans into a pile on the left. The current subtask involves retreating from the pile area to avoid disturbing it. The next action should be moving the gripper upward and away from the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 91 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 91, + "end": 92 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003788_ecot.json b/cot/chunk-0003/episode_0003788_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b9ca56dcaefb6c53e620472143670d5ae21d3363 --- /dev/null +++ b/cot/chunk-0003/episode_0003788_ecot.json @@ -0,0 +1,1531 @@ +{ + "task_name": "episode_0003788", + "episode_json": "json/chunk-0003/episode_0003788.json", + "video_path": "videos/chunk-0003/image_0/episode_0003788.mp4", + "instruction": "Remove the lid from the silver pot and place it on top of the purple cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003788.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.7303106188774109, + "std": 0.3305661678314209, + "delta_total": 0.014842033386230469, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.73031, std=0.33057, total_delta=0.01484). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 210, + 210, + 210, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 20, + 20, + 20 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 5 + ], + [ + 3, + 6, + 9 + ], + [ + 4, + 10, + 12 + ], + [ + 5, + 13, + 19 + ], + [ + 6, + 20, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the silver pot lid without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 6, \"end\": 9, \"planning\": \"Close gripper around the lid handle; segment shows meaningful closing and images confirm contact.\"},\n {\"id\": 3, \"name\": \"lift and transport lid\", \"start\": 10, \"end\": 19, \"planning\": \"Lift the lid from the pot and move it over the purple cloth while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place lid on cloth\", \"start\": 20, \"end\": 22, \"planning\": \"Release the lid onto the purple cloth; gripper opens meaningfully in this segment and image confirms placement.\"}\n ],\n \"global_plan\": \"Approach the silver pot lid, grasp it securely, lift and transport it to the purple cloth, then release it there.\",\n \"notes\": \"Segment 1 (frames 0-2) and Segment 2 (frames 3-5) show no gripper closing — merged into approach phase. Segments 3-4 show active grasping and lifting. Segment 6 shows release motion with gripper opening — consistent with placing. Frame coverage is contiguous and complete from 0 to 22.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the silver pot lid without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp lid", + "start": 6, + "end": 9, + "planning": "Close gripper around the lid handle; segment shows meaningful closing and images confirm contact." + }, + { + "id": 3, + "name": "lift and transport lid", + "start": 10, + "end": 19, + "planning": "Lift the lid from the pot and move it over the purple cloth while maintaining grip." + }, + { + "id": 4, + "name": "place lid on cloth", + "start": 20, + "end": 22, + "planning": "Release the lid onto the purple cloth; gripper opens meaningfully in this segment and image confirms placement." + } + ], + "global_plan": "Approach the silver pot lid, grasp it securely, lift and transport it to the purple cloth, then release it there.", + "notes": "Segment 1 (frames 0-2) and Segment 2 (frames 3-5) show no gripper closing — merged into approach phase. Segments 3-4 show active grasping and lifting. Segment 6 shows release motion with gripper opening — consistent with placing. Frame coverage is contiguous and complete from 0 to 22." + } + }, + "episode_goal": "Remove the lid from the silver pot and place it on top of the purple cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272387385368347, + -0.05140366777777672, + 0.05236034095287323, + 3.115203380584717, + -0.16122671961784363, + -0.0760389193892479 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the workspace with the silver pot and its lid visible on the table. No actions have been completed yet as this is the initial approach phase. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32519978284835815, + -0.050083938986063004, + 0.043172869831323624, + 3.117417097091675, + -0.13062596321105957, + -0.07334349304437637 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the workspace with the silver pot and its lid visible on the table. No actions have been completed yet as this is the initial approach phase. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33240002393722534, + -0.028408953920006752, + 0.05065347999334335, + -3.1298723220825195, + -0.13268621265888214, + -0.04985417425632477 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden table with the silver pot and purple cloth visible. The gripper is open and moving toward the pot lid, indicating the approach phase is underway. No contact or grasping has occurred yet; the next action is to continue closing the distance to the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428507447242737, + -0.0028990618884563446, + 0.05951669067144394, + -3.1197893619537354, + -0.1556384265422821, + -0.00034391836379654706 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 568, + 360, + 806, + 579 + ], + "wooden countertop": [ + 4, + 200, + 846, + 986 + ], + "metal spoon": [ + 562, + 553, + 739, + 865 + ], + "red brush": [ + 560, + 659, + 684, + 865 + ], + "metal pot": [ + 354, + 275, + 552, + 513 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden table with the silver pot and purple cloth visible. The gripper is open and moving toward the pot lid, indicating the approach phase is underway. No contact or grasping has occurred yet; the next action is to continue closing the distance to the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, close gripper; then move back 1 cm, move right 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3495175540447235, + 0.02203458920121193, + 0.06706617027521133, + -3.115659236907959, + -0.1763487309217453, + 0.04036150500178337 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden table with the silver pot and purple cloth visible. The gripper is open and moving toward the pot lid, indicating the approach phase is underway. No contact or grasping has occurred yet; the next action is to continue closing the distance to the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, close gripper; then move back 1 cm, move right 8 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35733091831207275, + 0.04939378798007965, + 0.05133168399333954, + -3.1155543327331543, + -0.13556167483329773, + 0.07956141978502274 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden table with the silver pot and purple cloth visible. The gripper is open and moving toward the pot lid, indicating the approach phase is underway. No contact or grasping has occurred yet; the next action is to continue closing the distance to the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, close gripper; then move back 1 cm, move right 11 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692605197429657, + 0.05735871568322182, + 0.036659855395555496, + -3.1154253482818604, + -0.09992476552724838, + 0.08174129575490952 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the wooden table with the silver pot and purple cloth visible. The gripper is open and moving toward the pot lid, indicating the approach phase is underway. No contact or grasping has occurred yet; the next action is to continue closing the distance to the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, close gripper; then move right 13 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37932199239730835, + 0.061487480998039246, + 0.03315001353621483, + -3.1032140254974365, + -0.09330436587333679, + 0.08565352857112885 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver pot lid and is now positioned above it with the gripper open. The gripper signal shows a significant decrease, indicating the start of a closing motion. The next action is to complete the grasp by closing the gripper around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 1 cm, move right 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38257718086242676, + 0.06260519474744797, + 0.03208065405488014, + -3.1030824184417725, + -0.09017936885356903, + 0.08596807718276978 + ], + "gripper_value": 0.9583302736282349 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver pot lid and is now positioned above it with the gripper open. The gripper signal shows a significant decrease, indicating the start of a closing motion. The next action is to complete the grasp by closing the gripper around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 1 cm, move right 13 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3813707232475281, + 0.06701015681028366, + 0.03166661411523819, + -3.103990077972412, + -0.0916236862540245, + 0.0943422019481659 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver pot lid and is now positioned above it with the gripper open. The gripper signal shows a significant decrease, indicating the start of a closing motion. The next action is to complete the grasp by closing the gripper around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 13 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37991705536842346, + 0.06940007209777832, + 0.031866662204265594, + -3.0988681316375732, + -0.08666547387838364, + 0.09562124311923981 + ], + "gripper_value": 0.4015096127986908 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has approached the silver pot lid and is now positioned above it with the gripper open. The gripper signal shows a significant decrease, indicating the start of a closing motion. The next action is to complete the grasp by closing the gripper around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37659505009651184, + 0.0692654624581337, + 0.03195681795477867, + -3.0898423194885254, + -0.08209730684757233, + 0.1008957028388977 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has approached the silver pot lid and is now positioned above it with the gripper open. The gripper signal shows a significant decrease, indicating the start of a closing motion. The next action is to complete the grasp by closing the gripper around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36937281489372253, + 0.0553307980298996, + 0.03862249478697777, + -3.0776054859161377, + -0.06935051828622818, + 0.0832730382680893 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has approached the silver pot lid and is now positioned above it with the gripper open. The gripper signal shows a significant decrease, indicating the start of a closing motion. The next action is to complete the grasp by closing the gripper around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3728923201560974, + 0.019351769238710403, + 0.0730692595243454, + -3.0620150566101074, + -0.16326451301574707, + 0.03452349081635475 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has approached the silver pot lid and is now positioned above it with the gripper open. The gripper signal shows a significant decrease, indicating the start of a closing motion. The next action is to complete the grasp by closing the gripper around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36855199933052063, + -0.01446561235934496, + 0.07291059195995331, + -3.059573173522949, + -0.165492445230484, + -0.024066533893346786 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 568, + 357, + 806, + 578 + ], + "wooden countertop": [ + 4, + 201, + 843, + 989 + ], + "metal spoon": [ + 562, + 554, + 740, + 863 + ], + "metal pot": [ + 362, + 292, + 547, + 536 + ], + "red brush": [ + 560, + 659, + 685, + 863 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot is currently holding the silver pot lid above the pot, having successfully grasped and lifted it. The gripper signal remains stable and closed, confirming a secure hold during this transport phase. The next action is to move the lid laterally towards the purple cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 4 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36998575925827026, + -0.0454951636493206, + 0.06685240566730499, + -3.0650885105133057, + -0.15132148563861847, + -0.085138700902462 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot is currently holding the silver pot lid above the pot, having successfully grasped and lifted it. The gripper signal remains stable and closed, confirming a secure hold during this transport phase. The next action is to move the lid laterally towards the purple cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37887224555015564, + -0.06150515750050545, + 0.0490073636174202, + -3.0696280002593994, + -0.11359556764364243, + -0.1027127131819725 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 4, + 200, + 842, + 989 + ], + "metal pot": [ + 362, + 281, + 563, + 536 + ], + "blue cloth": [ + 565, + 365, + 805, + 580 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot is currently holding the silver pot lid above the pot, having successfully grasped and lifted it. The gripper signal remains stable and closed, confirming a secure hold during this transport phase. The next action is to move the lid laterally towards the purple cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38639071583747864, + -0.06447005271911621, + 0.037623222917318344, + -3.0789504051208496, + -0.10378264635801315, + -0.0925329253077507 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot is currently holding the silver pot lid above the pot, having successfully grasped and lifted it. The gripper signal remains stable and closed, confirming a secure hold during this transport phase. The next action is to move the lid laterally towards the purple cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3901679813861847, + -0.06497669965028763, + 0.033848416060209274, + -3.084451675415039, + -0.09818556904792786, + -0.09105975925922394 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot is currently holding the silver pot lid above the pot, having successfully grasped and lifted it. The gripper signal remains stable and closed, confirming a secure hold during this transport phase. The next action is to move the lid laterally towards the purple cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39178940653800964, + -0.06430801004171371, + 0.033788036555051804, + -3.10905385017395, + -0.10524734854698181, + -0.08760135620832443 + ], + "gripper_value": 0.3461596965789795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot is currently holding the silver pot lid above the pot, having successfully grasped and lifted it. The gripper signal remains stable and closed, confirming a secure hold during this transport phase. The next action is to move the lid laterally towards the purple cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3871989846229553, + -0.06365352869033813, + 0.03076673112809658, + -3.1127984523773193, + -0.08504647016525269, + -0.07789415121078491 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "place lid on cloth", + "subtask_reasoning": "The robot is currently holding the silver pot lid above the pot, having successfully grasped and lifted it. The gripper signal remains stable and closed, confirming a secure hold during this transport phase. The next action is to move the lid laterally towards the purple cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3828742504119873, + -0.06276913732290268, + 0.047493528574705124, + -3.1142005920410156, + -0.0960705578327179, + -0.06751691550016403 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "place lid on cloth", + "subtask_reasoning": "The robot is holding the silver pot lid above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with high confidence, indicating secure possession of the lid. The next action is to lower the lid gently onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37924933433532715, + -0.06179051846265793, + 0.05419376492500305, + -3.111508846282959, + -0.08435729891061783, + -0.05954928323626518 + ], + "gripper_value": 1.0149952173233032 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + } + ], + "subtask_name": "place lid on cloth", + "subtask_reasoning": "The robot is holding the silver pot lid above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with high confidence, indicating secure possession of the lid. The next action is to lower the lid gently onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003790_ecot.json b/cot/chunk-0003/episode_0003790_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..523981ba7edc11a78e60d903dff535dc777ec86e --- /dev/null +++ b/cot/chunk-0003/episode_0003790_ecot.json @@ -0,0 +1,2464 @@ +{ + "task_name": "episode_0003790", + "episode_json": "json/chunk-0003/episode_0003790.json", + "video_path": "videos/chunk-0003/image_0/episode_0003790.mp4", + "instruction": "Move the cloth to the middle of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003790.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013307929039001465, + "std": 0.00048006672295741737, + "delta_total": -0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00048, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 17 + ], + [ + 3, + 18, + 23 + ], + [ + 4, + 24, + 28 + ], + [ + 5, + 29, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper down toward the cloth on the table without closing.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 5, \"end\": 17, \"planning\": \"Lower the gripper to touch the cloth surface and adjust position slightly while maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"reposition cloth via nudging\", \"start\": 18, \"end\": 23, \"planning\": \"Gently push or slide the cloth toward the center of the table using the open gripper.\"},\n {\"id\": 4, \"name\": \"continue sliding cloth\", \"start\": 24, \"end\": 28, \"planning\": \"Maintain contact and drag the cloth further toward the middle with minimal gripper adjustment.\"},\n {\"id\": 5, \"name\": \"final positioning and retreat\", \"start\": 29, \"end\": 35, \"planning\": \"Complete the cloth’s central placement and lift the gripper away without grasping.\"}\n ],\n \"global_plan\": \"The robot uses an open-gripper strategy to nudge and slide the cloth across the table surface toward the center, avoiding any grasp or lift actions as no meaningful gripper closing is observed.\",\n \"notes\": \"All segments show negligible gripper closure (delta < 0.0015), so no grasping, holding, or placing is inferred. Motion is purely contact-based manipulation via pushing/sliding.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move the gripper down toward the cloth on the table without closing." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 5, + "end": 17, + "planning": "Lower the gripper to touch the cloth surface and adjust position slightly while maintaining open gripper." + }, + { + "id": 3, + "name": "reposition cloth via nudging", + "start": 18, + "end": 23, + "planning": "Gently push or slide the cloth toward the center of the table using the open gripper." + }, + { + "id": 4, + "name": "continue sliding cloth", + "start": 24, + "end": 28, + "planning": "Maintain contact and drag the cloth further toward the middle with minimal gripper adjustment." + }, + { + "id": 5, + "name": "final positioning and retreat", + "start": 29, + "end": 35, + "planning": "Complete the cloth’s central placement and lift the gripper away without grasping." + } + ], + "global_plan": "The robot uses an open-gripper strategy to nudge and slide the cloth across the table surface toward the center, avoiding any grasp or lift actions as no meaningful gripper closing is observed.", + "notes": "All segments show negligible gripper closure (delta < 0.0015), so no grasping, holding, or placing is inferred. Motion is purely contact-based manipulation via pushing/sliding." + } + }, + "episode_goal": "Move the cloth to the middle of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.40525907278060913, + -0.08489811420440674, + 0.17186129093170166, + 2.8249242305755615, + -0.2558925151824951, + 0.7965477108955383 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible to the right. No movement toward the cloth has occurred yet. The next action should be to move the end-effector closer to the cloth to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 16 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.40511828660964966, + -0.08486627042293549, + 0.15459606051445007, + 2.8638501167297363, + -0.23239044845104218, + 0.7871366143226624 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible to the right. No movement toward the cloth has occurred yet. The next action should be to move the end-effector closer to the cloth to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 14 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.40032243728637695, + -0.07579469680786133, + 0.13417063653469086, + 2.930302143096924, + -0.25831592082977295, + 0.7578437328338623 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 7 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3922153413295746, + -0.06621630489826202, + 0.08042769134044647, + 3.030428647994995, + -0.24836187064647675, + 0.7006998062133789 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, keep gripper open; then move forward 8 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3902701139450073, + -0.05409601703286171, + 0.03729542717337608, + 3.0958657264709473, + -0.2514495849609375, + 0.6689210534095764 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 836, + 589, + 985, + 786 + ], + "blue cloth": [ + 407, + 373, + 831, + 917 + ], + "table": [ + 5, + 186, + 993, + 994 + ], + "yellow wedge": [ + 91, + 474, + 189, + 596 + ], + "blue cube": [ + 870, + 817, + 981, + 977 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 7 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3897707462310791, + -0.04950043559074402, + 0.01648486964404583, + 3.0949203968048096, + -0.1790829598903656, + 0.672192394733429 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3901086747646332, + -0.039663854986429214, + 0.0062928819097578526, + 3.1096019744873047, + -0.1510811448097229, + 0.6744171380996704 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38864436745643616, + -0.043257471174001694, + 0.003822922008112073, + 3.097806930541992, + -0.12775461375713348, + 0.6543617844581604 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3941163420677185, + -0.04213323816657066, + 0.004678079392760992, + 3.0630693435668945, + -0.1376141458749771, + 0.6345282793045044 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4009990990161896, + -0.03965812921524048, + -0.00422569178044796, + 3.0483806133270264, + -0.1367485076189041, + 0.6076892614364624 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4221946597099304, + -0.03210055083036423, + -0.002998694311827421, + 3.0155491828918457, + -0.16282401978969574, + 0.5974007844924927 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cyan cloth located slightly off-center. No contact or movement of the cloth has occurred yet. The next action should be to lower or advance the end-effector toward the cloth to initiate nudging or sliding it toward the table’s center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.44228172302246094, + -0.024905195459723473, + -0.0040186261758208275, + 3.011589527130127, + -0.18697229027748108, + 0.5974597930908203 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4598671495914459, + -0.020019033923745155, + -0.0034242458641529083, + 3.0143682956695557, + -0.18525688350200653, + 0.6122878789901733 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.47093459963798523, + -0.017011422663927078, + -0.003155594225972891, + 3.006307601928711, + -0.16929897665977478, + 0.6328012943267822 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.46193432807922363, + -0.015499865636229515, + -0.007213416043668985, + 3.005293607711792, + -0.16272637248039246, + 0.6321324706077576 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.43954458832740784, + -0.014706731773912907, + -0.010115260258316994, + 3.0073397159576416, + -0.17225947976112366, + 0.6011936664581299 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4100550711154938, + -0.019358858466148376, + -0.01052380632609129, + 3.013922691345215, + -0.1790357083082199, + 0.5481050610542297 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3844342529773712, + -0.022834278643131256, + -0.010450318455696106, + 3.01147723197937, + -0.17491257190704346, + 0.4960314631462097 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 403, + 347, + 803, + 850 + ], + "banana": [ + 836, + 589, + 985, + 786 + ], + "yellow wedge": [ + 91, + 474, + 189, + 596 + ], + "table": [ + 5, + 189, + 993, + 994 + ], + "blue cube": [ + 871, + 818, + 981, + 976 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper open; then move forward 6 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601897954940796, + -0.02836409956216812, + -0.011810995638370514, + 3.01763653755188, + -0.17703768610954285, + 0.41499125957489014 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "reposition cloth via nudging", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3390929102897644, + -0.03124101273715496, + -0.011965724639594555, + 3.0211293697357178, + -0.1830548644065857, + 0.3456038534641266 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "reposition cloth via nudging", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, as indicated by the end-effector position over the cloth. No grasping has occurred, consistent with the open-gripper strategy. The next action is to begin nudging or sliding the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196896016597748, + -0.03285948559641838, + -0.01213687565177679, + 3.023066997528076, + -0.17669428884983063, + 0.2961239218711853 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "reposition cloth via nudging", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having already approached and established initial contact. The gripper remains open with no closing evidence, indicating a nudging strategy rather than grasping. The next action should continue sliding the cloth toward the table center via controlled pushing motions." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open; then move back 4 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31997454166412354, + -0.033846959471702576, + -0.012299840338528156, + 3.0201010704040527, + -0.17577527463436127, + 0.2952641546726227 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "reposition cloth via nudging", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having already approached and established initial contact. The gripper remains open with no closing evidence, indicating a nudging strategy rather than grasping. The next action should continue sliding the cloth toward the table center via controlled pushing motions." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open; then move back 8 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402983248233795, + -0.03396402671933174, + -0.009733415208756924, + 3.017615556716919, + -0.1779126077890396, + 0.3486770987510681 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "reposition cloth via nudging", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having already approached and established initial contact. The gripper remains open with no closing evidence, indicating a nudging strategy rather than grasping. The next action should continue sliding the cloth toward the table center via controlled pushing motions." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open; then move back 10 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3805309236049652, + -0.02844841592013836, + -0.009579331614077091, + 3.014207601547241, + -0.1806270331144333, + 0.45803502202033997 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "reposition cloth via nudging", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having already approached and established initial contact. The gripper remains open with no closing evidence, indicating a nudging strategy rather than grasping. The next action should continue sliding the cloth toward the table center via controlled pushing motions." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open; then move back 10 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4194585680961609, + -0.02141501195728779, + -0.008940947242081165, + 3.014188766479492, + -0.18094496428966522, + 0.563296914100647 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 420, + 344, + 809, + 865 + ], + "table": [ + 5, + 190, + 993, + 994 + ], + "yellow wedge": [ + 92, + 475, + 189, + 596 + ], + "blue cube": [ + 870, + 818, + 981, + 976 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "continue sliding cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having already approached and established initial contact. The gripper remains open with no closing evidence, indicating a nudging strategy rather than grasping. The next action should continue sliding the cloth toward the table center via controlled pushing motions." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move back 10 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4569563567638397, + -0.007455292157828808, + -0.0077733532525599, + 3.009324312210083, + -0.18765638768672943, + 0.6635739207267761 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "continue sliding cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having already approached and established initial contact. The gripper remains open with no closing evidence, indicating a nudging strategy rather than grasping. The next action should continue sliding the cloth toward the table center via controlled pushing motions." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, keep gripper open; then move back 7 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.48378467559814453, + 0.001685124821960926, + -0.006207082886248827, + 3.0030863285064697, + -0.19382141530513763, + 0.7268158197402954 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "continue sliding cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, positioned to push it toward the center. Previous steps have established contact, and the current subtask involves continuing to slide the cloth using nudging motions. The next action is to maintain contact and apply gentle forward pressure to move the cloth closer to the table's middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 7 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.49133116006851196, + 0.0023122073616832495, + -0.0066613368690013885, + 3.0009424686431885, + -0.19858773052692413, + 0.7381210923194885 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "continue sliding cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, positioned to push it toward the center. Previous steps have established contact, and the current subtask involves continuing to slide the cloth using nudging motions. The next action is to maintain contact and apply gentle forward pressure to move the cloth closer to the table's middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 7 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.47143518924713135, + 0.0009178656619042158, + -0.008986212313175201, + 2.9912030696868896, + -0.21174024045467377, + 0.7125098705291748 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "continue sliding cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, positioned to push it toward the center. Previous steps have established contact, and the current subtask involves continuing to slide the cloth using nudging motions. The next action is to maintain contact and apply gentle forward pressure to move the cloth closer to the table's middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 7 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4304042160511017, + -0.016263343393802643, + -0.008555558510124683, + 2.9942753314971924, + -0.21812088787555695, + 0.597876250743866 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "final positioning and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, positioned to push it toward the center. Previous steps have established contact, and the current subtask involves continuing to slide the cloth using nudging motions. The next action is to maintain contact and apply gentle forward pressure to move the cloth closer to the table's middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39041802287101746, + -0.03359423205256462, + -0.008504305966198444, + 2.9916751384735107, + -0.21646122634410858, + 0.4884633421897888 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "final positioning and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, positioned to push it toward the center. Previous steps have established contact, and the current subtask involves continuing to slide the cloth using nudging motions. The next action is to maintain contact and apply gentle forward pressure to move the cloth closer to the table's middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35531386733055115, + -0.04559840261936188, + -0.008922464214265347, + 2.9925971031188965, + -0.2050902396440506, + 0.3938188850879669 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "final positioning and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, positioned to push it toward the center. Previous steps have established contact, and the current subtask involves continuing to slide the cloth using nudging motions. The next action is to maintain contact and apply gentle forward pressure to move the cloth closer to the table's middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3305897116661072, + -0.04946209862828255, + -0.008458267897367477, + 2.9983386993408203, + -0.19778001308441162, + 0.3196571469306946 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "final positioning and retreat", + "subtask_reasoning": "The cloth is now centered on the table, and the robot’s end-effector is in light contact with it, having completed the sliding motion. With no gripper closure observed, the next step is to retract the arm slightly while maintaining minimal contact to avoid displacing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3263433873653412, + -0.05073578283190727, + -0.00714857829734683, + 2.9972259998321533, + -0.18855170905590057, + 0.303749144077301 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "final positioning and retreat", + "subtask_reasoning": "The cloth is now centered on the table, and the robot’s end-effector is in light contact with it, having completed the sliding motion. With no gripper closure observed, the next step is to retract the arm slightly while maintaining minimal contact to avoid displacing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3335114121437073, + -0.057760920375585556, + 0.010299873538315296, + 2.963454008102417, + -0.1678364872932434, + 0.3340812027454376 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "final positioning and retreat", + "subtask_reasoning": "The cloth is now centered on the table, and the robot’s end-effector is in light contact with it, having completed the sliding motion. With no gripper closure observed, the next step is to retract the arm slightly while maintaining minimal contact to avoid displacing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35933926701545715, + -0.0655302107334137, + 0.0639590471982956, + 2.895500898361206, + -0.1893111616373062, + 0.42059996724128723 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 358, + 451, + 812, + 994 + ], + "yellow wedge": [ + 91, + 474, + 189, + 596 + ], + "table": [ + 5, + 186, + 992, + 995 + ], + "blue cube": [ + 871, + 817, + 981, + 976 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth via nudging" + }, + { + "id": 4, + "subtask": "continue sliding cloth" + }, + { + "id": 5, + "subtask": "final positioning and retreat" + } + ], + "subtask_name": "final positioning and retreat", + "subtask_reasoning": "The cloth is now centered on the table, and the robot’s end-effector is in light contact with it, having completed the sliding motion. With no gripper closure observed, the next step is to retract the arm slightly while maintaining minimal contact to avoid displacing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003791_ecot.json b/cot/chunk-0003/episode_0003791_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..88b860dbe564d8d14f3ba68340cbd0fb251e11d4 --- /dev/null +++ b/cot/chunk-0003/episode_0003791_ecot.json @@ -0,0 +1,1554 @@ +{ + "task_name": "episode_0003791", + "episode_json": "json/chunk-0003/episode_0003791.json", + "video_path": "videos/chunk-0003/image_0/episode_0003791.mp4", + "instruction": "Move the violet cloth to the top left side of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003791.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.0026550889015197754, + "std": 0.0009370446787215769, + "delta_total": -0.0026550889015197754, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00266, std=0.00094, total_delta=-0.00266). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 3, + 6, + 6 + ], + [ + 4, + 7, + 9 + ], + [ + 5, + 10, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth area\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector from initial position toward the violet cloth on the stove surface.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 6, \"end\": 9, \"planning\": \"Lower and position gripper to establish physical contact with the violet cloth without grasping.\"},\n {\"id\": 3, \"name\": \"slide cloth to target\", \"start\": 10, \"end\": 20, \"planning\": \"Drag the violet cloth across the stove surface toward the top-left corner using continuous contact motion.\"},\n {\"id\": 4, \"name\": \"finalize cloth position\", \"start\": 21, \"end\": 23, \"planning\": \"Adjust final placement of the cloth at the top-left side of the stove and release contact.\"}\n ],\n \"global_plan\": \"The robot approaches the violet cloth, makes contact without grasping, slides it across the stove to the top-left corner, and finalizes its position — all without lifting or gripping, consistent with flat-surface manipulation.\",\n \"notes\": \"Gripper remains open throughout (no meaningful closing); all actions are contact-based sliding/repositioning. Segment boundaries respected but merged for natural phase grouping. Final frame shows cloth successfully relocated.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth area", + "start": 0, + "end": 5, + "planning": "Move end-effector from initial position toward the violet cloth on the stove surface." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 6, + "end": 9, + "planning": "Lower and position gripper to establish physical contact with the violet cloth without grasping." + }, + { + "id": 3, + "name": "slide cloth to target", + "start": 10, + "end": 20, + "planning": "Drag the violet cloth across the stove surface toward the top-left corner using continuous contact motion." + }, + { + "id": 4, + "name": "finalize cloth position", + "start": 21, + "end": 23, + "planning": "Adjust final placement of the cloth at the top-left side of the stove and release contact." + } + ], + "global_plan": "The robot approaches the violet cloth, makes contact without grasping, slides it across the stove to the top-left corner, and finalizes its position — all without lifting or gripping, consistent with flat-surface manipulation.", + "notes": "Gripper remains open throughout (no meaningful closing); all actions are contact-based sliding/repositioning. Segment boundaries respected but merged for natural phase grouping. Final frame shows cloth successfully relocated." + } + }, + "episode_goal": "Move the violet cloth to the top left side of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2270035743713379, + 0.13851948082447052, + 0.08242147415876389, + -3.124396800994873, + -0.23059195280075073, + -0.10518808662891388 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned near the stove with the violet cloth visible on the right side. No movement or contact has occurred yet. The next action should be to move the end effector closer to the cloth to prepare for sliding it toward the top-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 15 cm, move down 2 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22673100233078003, + 0.13686825335025787, + 0.07602754235267639, + 3.137601137161255, + -0.21409602463245392, + -0.09150798618793488 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned near the stove with the violet cloth visible on the right side. No movement or contact has occurred yet. The next action should be to move the end effector closer to the cloth to prepare for sliding it toward the top-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 15 cm, move down 1 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move down 5 cm, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525973916053772, + 0.10805994272232056, + 0.07997434586286545, + 3.111492395401001, + -0.2313905954360962, + -0.12556606531143188 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is approaching the violet cloth on the stove, with no contact or movement of the cloth yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 12 cm, move down 2 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move down 5 cm, keep gripper open; then move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28617632389068604, + 0.08092371374368668, + 0.08691989630460739, + 3.078864574432373, + -0.2608011066913605, + -0.10648658126592636 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is approaching the violet cloth on the stove, with no contact or movement of the cloth yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 10 cm, move down 2 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move down 5 cm, keep gripper open; then move left 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3218013048171997, + 0.050441160798072815, + 0.08709529042243958, + 3.081829071044922, + -0.2778491675853729, + -0.09813883155584335 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is approaching the violet cloth on the stove, with no contact or movement of the cloth yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 2 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move down 5 cm, keep gripper open; then move left 13 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455725312232971, + 0.018534287810325623, + 0.07833164930343628, + 3.1259095668792725, + -0.2773652970790863, + -0.12807662785053253 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is approaching the violet cloth on the stove, with no contact or movement of the cloth yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 2 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move down 5 cm, keep gripper open; then move left 17 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3611330986022949, + -0.01593661680817604, + 0.06295151263475418, + -3.1361470222473145, + -0.2522655427455902, + -0.17534814774990082 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 494, + 307, + 738, + 575 + ], + "yellow spatula": [ + 74, + 390, + 230, + 600 + ], + "blue spatula": [ + 288, + 383, + 451, + 665 + ] + } + } + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is approaching the violet cloth on the stove, with no contact or movement of the cloth yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 5 cm, keep gripper open; then move left 20 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37746602296829224, + -0.03161170706152916, + 0.042729754000902176, + 3.1234302520751953, + -0.23554039001464844, + -0.16879506409168243 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the violet cloth on the stove and is now positioned directly above it. No grasping has occurred, as gripper evidence shows no closing. The next action is to lower the end-effector to make physical contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, keep gripper open; then move back 1 cm, move left 22 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3903839886188507, + -0.031021762639284134, + 0.028212204575538635, + 3.134970188140869, + -0.22983121871948242, + -0.18192264437675476 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the violet cloth on the stove and is now positioned directly above it. No grasping has occurred, as gripper evidence shows no closing. The next action is to lower the end-effector to make physical contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 22 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4021460711956024, + -0.03296700492501259, + 0.01998326927423477, + 3.130146026611328, + -0.2531384229660034, + -0.1959507018327713 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the violet cloth on the stove and is now positioned directly above it. No grasping has occurred, as gripper evidence shows no closing. The next action is to lower the end-effector to make physical contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move left 21 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.40966498851776123, + -0.031812090426683426, + 0.01624135859310627, + -3.1340746879577637, + -0.2741340398788452, + -0.21758514642715454 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached the violet cloth on the stove and is now positioned directly above it. No grasping has occurred, as gripper evidence shows no closing. The next action is to lower the end-effector to make physical contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 20 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4126286804676056, + -0.024560721591114998, + 0.013260096311569214, + -3.076061248779297, + -0.2622937560081482, + -0.27716684341430664 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached the violet cloth on the stove and is now positioned directly above it. No grasping has occurred, as gripper evidence shows no closing. The next action is to lower the end-effector to make physical contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 19 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4106379449367523, + -0.005471067503094673, + 0.013049038127064705, + -3.052565574645996, + -0.2470744103193283, + -0.27607396245002747 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached the violet cloth on the stove and is now positioned directly above it. No grasping has occurred, as gripper evidence shows no closing. The next action is to lower the end-effector to make physical contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 17 cm, move up 4 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4099162518978119, + 0.03642495349049568, + 0.015157341957092285, + -3.00313138961792, + -0.23109737038612366, + -0.24340511858463287 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached the violet cloth on the stove and is now positioned directly above it. No grasping has occurred, as gripper evidence shows no closing. The next action is to lower the end-effector to make physical contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move up 4 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4079490900039673, + 0.09652129560709, + 0.018219012767076492, + -2.9655652046203613, + -0.21121351420879364, + -0.17698539793491364 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 286, + 383, + 437, + 667 + ], + "yellow spatula": [ + 72, + 390, + 230, + 601 + ], + "purple cloth": [ + 371, + 274, + 611, + 438 + ] + } + } + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached the violet cloth on the stove and is now positioned directly above it. No grasping has occurred, as gripper evidence shows no closing. The next action is to lower the end-effector to make physical contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4081881642341614, + 0.1382119208574295, + 0.01996472105383873, + -2.945303201675415, + -0.19867907464504242, + -0.15859851241111755 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the violet cloth on the stove surface, having completed the approach and initial contact. The cloth has not yet reached the top-left corner, and no grasping has occurred per gripper evidence. The next action is to continue sliding the cloth toward the target position using flat-surface manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4052655100822449, + 0.16992196440696716, + 0.02154134213924408, + -2.937525510787964, + -0.20151279866695404, + -0.14629492163658142 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 246, + 226, + 487, + 382 + ], + "yellow spatula": [ + 73, + 390, + 230, + 600 + ] + } + } + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the violet cloth on the stove surface, having completed the approach and initial contact. The cloth has not yet reached the top-left corner, and no grasping has occurred per gripper evidence. The next action is to continue sliding the cloth toward the target position using flat-surface manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4020804464817047, + 0.18663343787193298, + 0.021626397967338562, + -2.9363784790039062, + -0.19541968405246735, + -0.1570587009191513 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the violet cloth on the stove surface, having completed the approach and initial contact. The cloth has not yet reached the top-left corner, and no grasping has occurred per gripper evidence. The next action is to continue sliding the cloth toward the target position using flat-surface manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40106263756752014, + 0.18482275307178497, + 0.01943410187959671, + -2.966111898422241, + -0.20732317864894867, + -0.17058271169662476 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the violet cloth on the stove surface, having completed the approach and initial contact. The cloth has not yet reached the top-left corner, and no grasping has occurred per gripper evidence. The next action is to continue sliding the cloth toward the target position using flat-surface manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39804139733314514, + 0.17568445205688477, + 0.01793736033141613, + -3.0126051902770996, + -0.22196447849273682, + -0.20791751146316528 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the violet cloth on the stove surface, having completed the approach and initial contact. The cloth has not yet reached the top-left corner, and no grasping has occurred per gripper evidence. The next action is to continue sliding the cloth toward the target position using flat-surface manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3954159915447235, + 0.1668495088815689, + 0.03037242591381073, + -3.052743673324585, + -0.24611397087574005, + -0.24307286739349365 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the violet cloth on the stove surface, having completed the approach and initial contact. The cloth has not yet reached the top-left corner, and no grasping has occurred per gripper evidence. The next action is to continue sliding the cloth toward the target position using flat-surface manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3949662744998932, + 0.16322945058345795, + 0.056142885237932205, + -3.047006368637085, + -0.27006977796554565, + -0.2517516314983368 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "finalize cloth position", + "subtask_reasoning": "The robot is in contact with the violet cloth on the stove surface, having completed the approach and initial contact. The cloth has not yet reached the top-left corner, and no grasping has occurred per gripper evidence. The next action is to continue sliding the cloth toward the target position using flat-surface manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3908713757991791, + 0.15952454507350922, + 0.0641036406159401, + -3.0260627269744873, + -0.23339702188968658, + -0.2714534401893616 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "finalize cloth position", + "subtask_reasoning": "The violet cloth is already positioned at the top-left corner of the stove, with the end-effector in light contact nearby. No grasping occurred during this segment, consistent with flat-surface finalization. The next action is to withdraw the end-effector slightly to confirm stable placement without disturbing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3887842893600464, + 0.15284007787704468, + 0.07607686519622803, + -3.022860050201416, + -0.2238451987504959, + -0.2776258587837219 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet cloth to the top left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "finalize cloth position" + } + ], + "subtask_name": "finalize cloth position", + "subtask_reasoning": "The violet cloth is already positioned at the top-left corner of the stove, with the end-effector in light contact nearby. No grasping occurred during this segment, consistent with flat-surface finalization. The next action is to withdraw the end-effector slightly to confirm stable placement without disturbing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003793_ecot.json b/cot/chunk-0003/episode_0003793_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0030830f0dfa9a4e4e0db15a2285e4bc6ecbaade --- /dev/null +++ b/cot/chunk-0003/episode_0003793_ecot.json @@ -0,0 +1,2145 @@ +{ + "task_name": "episode_0003793", + "episode_json": "json/chunk-0003/episode_0003793.json", + "video_path": "videos/chunk-0003/image_0/episode_0003793.mp4", + "instruction": "Drop the cucumber on the blue cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003793.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.5177829265594482, + "std": 0.22733250260353088, + "delta_total": 0.0026550889015197754, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.51778, std=0.22733, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 311, + 311, + 311, + 11, + 11, + 11, + 11, + 11, + 11, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 120, + 120, + 120, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 3, + 6, + 10 + ], + [ + 4, + 11, + 13 + ], + [ + 5, + 14, + 19 + ], + [ + 6, + 20, + 26 + ], + [ + 7, + 27, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cucumber\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper from initial position toward the cucumber on the table.\"},\n {\"id\": 2, \"name\": \"grasp cucumber\", \"start\": 6, \"end\": 13, \"planning\": \"Close gripper around the cucumber and secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport cucumber\", \"start\": 14, \"end\": 26, \"planning\": \"Lift the cucumber and move it over the blue cloth target area.\"},\n {\"id\": 4, \"name\": \"release cucumber on cloth\", \"start\": 27, \"end\": 31, \"planning\": \"Open gripper to drop the cucumber onto the blue cloth and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the cucumber, grasp it securely, lift and carry it to the blue cloth, then release it to complete the drop task.\",\n \"notes\": \"Segment 3 (frames 6-10) shows meaningful gripper closing (delta=-0.26686) and image evidence supports grasping; Segment 5 (14-19) holds grip constant while transporting; Segment 7 (27-31) opens gripper fully (value=1.00148) indicating release. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cucumber", + "start": 0, + "end": 5, + "planning": "Move the gripper from initial position toward the cucumber on the table." + }, + { + "id": 2, + "name": "grasp cucumber", + "start": 6, + "end": 13, + "planning": "Close gripper around the cucumber and secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport cucumber", + "start": 14, + "end": 26, + "planning": "Lift the cucumber and move it over the blue cloth target area." + }, + { + "id": 4, + "name": "release cucumber on cloth", + "start": 27, + "end": 31, + "planning": "Open gripper to drop the cucumber onto the blue cloth and retreat slightly." + } + ], + "global_plan": "Approach the cucumber, grasp it securely, lift and carry it to the blue cloth, then release it to complete the drop task.", + "notes": "Segment 3 (frames 6-10) shows meaningful gripper closing (delta=-0.26686) and image evidence supports grasping; Segment 5 (14-19) holds grip constant while transporting; Segment 7 (27-31) opens gripper fully (value=1.00148) indicating release. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Drop the cucumber on the blue cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3274725675582886, + -0.018310649320483208, + 0.09784223139286041, + -3.1255788803100586, + -0.1812749207019806, + -0.05492075905203819 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near the cucumber and knife. No objects have been grasped yet as the gripper remains fully open. The robot needs to continue moving towards the cucumber to align for a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 11 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3267802298069, + -0.01846989616751671, + 0.0879407525062561, + -3.1276516914367676, + -0.15220493078231812, + -0.04790947586297989 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near the cucumber and knife. No objects have been grasped yet as the gripper remains fully open. The robot needs to continue moving towards the cucumber to align for a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 11 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34600308537483215, + -0.0019748839549720287, + 0.07972700893878937, + -3.129056215286255, + -0.1509486883878708, + 0.020392287522554398 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot is positioned above the table with the cucumber visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37626001238822937, + 0.026139087975025177, + 0.07097142934799194, + -3.1374621391296387, + -0.13241836428642273, + 0.12207695096731186 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 40, + 270, + 323, + 466 + ], + "toy knife": [ + 319, + 343, + 503, + 547 + ], + "toy cucumber": [ + 386, + 258, + 459, + 376 + ], + "wooden countertop": [ + 5, + 137, + 927, + 967 + ], + "blue cloth": [ + 614, + 272, + 863, + 514 + ], + "toy stove": [ + 675, + 176, + 997, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot is positioned above the table with the cucumber visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3925760090351105, + 0.05433529242873192, + 0.06446748971939087, + 3.1291041374206543, + -0.1375025063753128, + 0.2193892002105713 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot is positioned above the table with the cucumber visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.400607168674469, + 0.08011039346456528, + 0.05272946134209633, + 3.134756326675415, + -0.1288539469242096, + 0.2991165816783905 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot is positioned above the table with the cucumber visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, close gripper; then move forward 1 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4061754047870636, + 0.08744318038225174, + 0.050224486738443375, + -3.1259078979492188, + -0.13289929926395416, + 0.30279427766799927 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot is positioned above the table with the cucumber visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, close gripper; then move forward 2 cm, move right 10 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4050748944282532, + 0.09171479195356369, + 0.04414431005716324, + -3.1008529663085938, + -0.12212419509887695, + 0.303854763507843 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot is positioned above the table with the cucumber visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, close gripper; then move forward 2 cm, move right 14 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.40428707003593445, + 0.0926617905497551, + 0.024331549182534218, + -3.093505382537842, + -0.07679231464862823, + 0.30676430463790894 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot is positioned above the table with the cucumber visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 16 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4086962044239044, + 0.09405279159545898, + 0.021260425448417664, + -3.089949131011963, + -0.0739108994603157, + 0.3026452958583832 + ], + "gripper_value": 0.9343546032905579 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 16 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4096783995628357, + 0.0938408225774765, + 0.014139178209006786, + -3.0914204120635986, + -0.0600692518055439, + 0.3073304295539856 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 16 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4115524888038635, + 0.09455983340740204, + 0.014558304101228714, + -3.0916497707366943, + -0.07750307023525238, + 0.3140657842159271 + ], + "gripper_value": 0.49661046266555786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 16 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4107531011104584, + 0.0955873653292656, + 0.02173198014497757, + -3.088001012802124, + -0.10065988451242447, + 0.32709163427352905 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 16 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4138941168785095, + 0.09754597395658493, + 0.06207459792494774, + -3.100836992263794, + -0.20724818110466003, + 0.36698412895202637 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 16 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42037075757980347, + 0.07087142765522003, + 0.07585512101650238, + 3.1347708702087402, + -0.21962451934814453, + 0.3535311222076416 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 15 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.43416330218315125, + 0.009174632839858532, + 0.0908694714307785, + 3.103731155395508, + -0.23729120194911957, + 0.2579553723335266 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 39, + 269, + 323, + 465 + ], + "toy knife": [ + 318, + 341, + 505, + 548 + ], + "toy microwave": [ + 276, + 2, + 670, + 242 + ], + "wooden countertop": [ + 5, + 138, + 934, + 966 + ], + "canned goods": [ + 770, + 131, + 919, + 329 + ], + "blue cloth": [ + 614, + 272, + 863, + 515 + ], + "toy stove": [ + 673, + 175, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4395051598548889, + -0.033532220870256424, + 0.0993666723370552, + 3.0712687969207764, + -0.23375597596168518, + 0.20873917639255524 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 40, + 269, + 323, + 465 + ], + "toy knife": [ + 318, + 341, + 504, + 548 + ], + "wooden countertop": [ + 5, + 141, + 934, + 965 + ], + "canned goods": [ + 770, + 131, + 920, + 330 + ], + "toy microwave": [ + 273, + 2, + 737, + 242 + ], + "blue cloth": [ + 614, + 272, + 862, + 514 + ], + "toy stove": [ + 674, + 175, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4438372850418091, + -0.06630971282720566, + 0.09012072533369064, + 3.076488494873047, + -0.2031901329755783, + 0.17028136551380157 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4464914798736572, + -0.0877031609416008, + 0.08268667012453079, + 3.087561845779419, + -0.1876274198293686, + 0.14244230091571808 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4494773745536804, + -0.08735507726669312, + 0.07995495945215225, + 3.0875070095062256, + -0.18611466884613037, + 0.15423761308193207 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or underway within this segment. The next step is to close the gripper to securely grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.44922882318496704, + -0.08615978062152863, + 0.07506215572357178, + 3.098388671875, + -0.1754445880651474, + 0.15674327313899994 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.44863224029541016, + -0.08626753836870193, + 0.07459741830825806, + 3.097781181335449, + -0.17198407649993896, + 0.15872597694396973 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.445067435503006, + -0.08738667517900467, + 0.07043089717626572, + 3.092341899871826, + -0.15358801186084747, + 0.15938226878643036 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.43819063901901245, + -0.08716153353452682, + 0.07438140362501144, + 3.090376377105713, + -0.1462859958410263, + 0.14181187748908997 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.422480046749115, + -0.08290842920541763, + 0.10926325619220734, + 3.0760319232940674, + -0.198216050863266, + 0.1405799835920334 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy cucumber": [ + 688, + 267, + 767, + 404 + ], + "metal strainer": [ + 38, + 269, + 323, + 465 + ], + "toy knife": [ + 318, + 340, + 505, + 548 + ], + "toy microwave": [ + 273, + 2, + 674, + 238 + ], + "blue cloth": [ + 614, + 272, + 863, + 515 + ], + "wooden countertop": [ + 5, + 136, + 931, + 959 + ], + "toy stove": [ + 673, + 178, + 997, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.39784368872642517, + -0.06710513681173325, + 0.11182642728090286, + 3.089146852493286, + -0.18137916922569275, + 0.13667285442352295 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38151752948760986, + -0.04709814116358757, + 0.09416870027780533, + 3.140810251235962, + -0.15759141743183136, + 0.12731115520000458 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3680398166179657, + -0.032702021300792694, + 0.07097234576940536, + -3.0914039611816406, + -0.1285463273525238, + 0.08972964435815811 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "release cucumber on cloth", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36259597539901733, + -0.02696535736322403, + 0.06745915859937668, + -3.0811543464660645, + -0.13737010955810547, + 0.06248839944601059 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "release cucumber on cloth", + "subtask_reasoning": "The robot has successfully grasped the cucumber and is currently lifting it above the wooden countertop. The gripper is closed, and the end-effector is positioned to begin transporting the object. The next action is to move the cucumber horizontally towards the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3624562919139862, + -0.026760438457131386, + 0.0671330913901329, + -3.0798559188842773, + -0.13758625090122223, + 0.0614883191883564 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "release cucumber on cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth where the cucumber has already been placed. The gripper is fully open, indicating the release action is complete. The next step is to retract the arm away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3624659776687622, + -0.026403874158859253, + 0.06711490452289581, + -3.081220865249634, + -0.1373508721590042, + 0.06389481574296951 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "release cucumber on cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth where the cucumber has already been placed. The gripper is fully open, indicating the release action is complete. The next step is to retract the arm away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3624250590801239, + -0.02695985697209835, + 0.06711490452289581, + -3.081220865249634, + -0.1373508721590042, + 0.062360841780900955 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drop the cucumber on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "release cucumber on cloth" + } + ], + "subtask_name": "release cucumber on cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth where the cucumber has already been placed. The gripper is fully open, indicating the release action is complete. The next step is to retract the arm away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003794_ecot.json b/cot/chunk-0003/episode_0003794_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f89fa130006524a8b1fb939240860cc2bc438078 --- /dev/null +++ b/cot/chunk-0003/episode_0003794_ecot.json @@ -0,0 +1,1216 @@ +{ + "task_name": "episode_0003794", + "episode_json": "json/chunk-0003/episode_0003794.json", + "video_path": "videos/chunk-0003/image_0/episode_0003794.mp4", + "instruction": "Flip cup upright.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003794.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8957037925720215, + "std": 0.38547882437705994, + "delta_total": -0.7856376767158508, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.89570, std=0.38548, total_delta=-0.78564). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 12 + ], + [ + 3, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cup in rack\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector down toward the blue cup in the dish rack without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp and lift cup\", \"start\": 7, \"end\": 12, \"planning\": \"Close gripper around the blue cup and lift it slightly from the rack, confirmed by significant gripper closure and upward motion.\"},\n {\"id\": 3, \"name\": \"rotate and reposition cup upright\", \"start\": 13, \"end\": 19, \"planning\": \"Rotate the held cup to flip it upright while maintaining grip, then stabilize position above rack for placement.\"}\n ],\n \"global_plan\": \"Approach the inverted blue cup in the dish rack, grasp and lift it, then rotate it to an upright orientation while holding, preparing for release.\",\n \"notes\": \"Segment 1 shows no gripper closure — contact-only actions. Segments 2 and 3 show meaningful gripper closure consistent with grasping and manipulating the cup. Frame coverage is complete and contiguous across all 20 frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cup in rack", + "start": 0, + "end": 6, + "planning": "Move end-effector down toward the blue cup in the dish rack without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp and lift cup", + "start": 7, + "end": 12, + "planning": "Close gripper around the blue cup and lift it slightly from the rack, confirmed by significant gripper closure and upward motion." + }, + { + "id": 3, + "name": "rotate and reposition cup upright", + "start": 13, + "end": 19, + "planning": "Rotate the held cup to flip it upright while maintaining grip, then stabilize position above rack for placement." + } + ], + "global_plan": "Approach the inverted blue cup in the dish rack, grasp and lift it, then rotate it to an upright orientation while holding, preparing for release.", + "notes": "Segment 1 shows no gripper closure — contact-only actions. Segments 2 and 3 show meaningful gripper closure consistent with grasping and manipulating the cup. Frame coverage is complete and contiguous across all 20 frames." + } + }, + "episode_goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3021228611469269, + 0.032438017427921295, + 0.15239784121513367, + -3.1051530838012695, + -0.1518983244895935, + 0.04044943302869797 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "approach cup in rack", + "subtask_reasoning": "The robot is positioned above the dish rack with the blue cup visible and inverted inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the cup to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955678105354309, + 0.031224537640810013, + 0.14016222953796387, + -3.0423316955566406, + -0.11843398958444595, + 0.0785447210073471 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "approach cup in rack", + "subtask_reasoning": "The robot is positioned above the dish rack with the blue cup visible and inverted inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the cup to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930424213409424, + 0.029088608920574188, + 0.13663974404335022, + -2.9908788204193115, + -0.10477329790592194, + 0.09360375255346298 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 803, + 80, + 987, + 321 + ], + "green vegetable": [ + 752, + 657, + 995, + 895 + ], + "blue cup": [ + 373, + 263, + 519, + 410 + ], + "dish rack": [ + 241, + 117, + 693, + 450 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "approach cup in rack", + "subtask_reasoning": "The robot is positioned above the dish rack with the blue cup visible and inverted inside. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the cup to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2954239249229431, + 0.03206344321370125, + 0.1269868016242981, + -2.961927652359009, + -0.07299879193305969, + 0.1105339378118515 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "approach cup in rack", + "subtask_reasoning": "The robot's end-effector is positioned above the dish rack, hovering near the inverted blue cup. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the cup. The next action should involve lowering the arm to align the gripper with the cup for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986637055873871, + 0.030461763963103294, + 0.12113647907972336, + -2.9493041038513184, + -0.07199183106422424, + 0.11046695709228516 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "approach cup in rack", + "subtask_reasoning": "The robot's end-effector is positioned above the dish rack, hovering near the inverted blue cup. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the cup. The next action should involve lowering the arm to align the gripper with the cup for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 1 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30150675773620605, + 0.030675001442432404, + 0.11579151451587677, + -2.9475536346435547, + -0.07055552303791046, + 0.10739322751760483 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "approach cup in rack", + "subtask_reasoning": "The robot's end-effector is positioned above the dish rack, hovering near the inverted blue cup. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the cup. The next action should involve lowering the arm to align the gripper with the cup for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 1 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037281930446625, + 0.03152478486299515, + 0.11112634092569351, + -2.9478933811187744, + -0.07371226698160172, + 0.10108409821987152 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "approach cup in rack", + "subtask_reasoning": "The robot's end-effector is positioned above the dish rack, hovering near the inverted blue cup. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the cup. The next action should involve lowering the arm to align the gripper with the cup for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 1 cm, close gripper; then move right 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3044965863227844, + 0.03868443891406059, + 0.10330738872289658, + -2.9459068775177, + -0.06571397185325623, + 0.11875016987323761 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's end-effector is positioned above the dish rack, hovering near the inverted blue cup. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the cup. The next action should involve lowering the arm to align the gripper with the cup for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, close gripper; then move right 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30771028995513916, + 0.04307373985648155, + 0.0992807000875473, + -2.9458577632904053, + -0.07496114820241928, + 0.12182831764221191 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's end-effector is positioned above the dish rack, hovering near the inverted blue cup. No contact or grasping has occurred yet, as the gripper remains open and stationary relative to the cup. The next action should involve lowering the arm to align the gripper with the cup for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, close gripper; then move right 1 cm, move up 2 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30986446142196655, + 0.05119607225060463, + 0.09437040984630585, + -2.949604034423828, + -0.08887099474668503, + 0.13355807960033417 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's end-effector is positioned directly above the inverted blue cup in the dish rack, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102352023124695, + 0.06020930036902428, + 0.0894443616271019, + -2.9503326416015625, + -0.10058680921792984, + 0.14859889447689056 + ], + "gripper_value": 0.9879508018493652 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 803, + 84, + 986, + 322 + ], + "green vegetable": [ + 754, + 658, + 995, + 896 + ], + "blue cup": [ + 371, + 266, + 518, + 410 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's end-effector is positioned directly above the inverted blue cup in the dish rack, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105236887931824, + 0.06811872869729996, + 0.08506093174219131, + -2.9456167221069336, + -0.10543037950992584, + 0.15846703946590424 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's end-effector is positioned directly above the inverted blue cup in the dish rack, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3104998469352722, + 0.07254199683666229, + 0.08609204739332199, + -2.935574769973755, + -0.11330493539571762, + 0.159702330827713 + ], + "gripper_value": 0.5948979258537292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's end-effector is positioned directly above the inverted blue cup in the dish rack, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109012842178345, + 0.0718437135219574, + 0.08918022364377975, + -2.9296982288360596, + -0.10829638689756393, + 0.14454396069049835 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "rotate and reposition cup upright", + "subtask_reasoning": "The robot's end-effector is positioned directly above the inverted blue cup in the dish rack, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115845322608948, + 0.06432021409273148, + 0.09245303273200989, + -2.947437047958374, + -0.10310085862874985, + 0.1345558911561966 + ], + "gripper_value": 0.2062399983406067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "rotate and reposition cup upright", + "subtask_reasoning": "The robot's end-effector is positioned directly above the inverted blue cup in the dish rack, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3124902844429016, + 0.060767944902181625, + 0.10734984278678894, + -2.984783411026001, + -0.15059486031532288, + 0.1424037665128708 + ], + "gripper_value": 0.11284734308719635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "rotate and reposition cup upright", + "subtask_reasoning": "The robot's end-effector is positioned directly above the inverted blue cup in the dish rack, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31190329790115356, + 0.05883089080452919, + 0.11090182512998581, + -3.0237021446228027, + -0.1605558842420578, + 0.1492319405078888 + ], + "gripper_value": 0.1004381775856018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "rotate and reposition cup upright", + "subtask_reasoning": "The robot is holding the blue cup above the dish rack, having successfully lifted it from its inverted position. The gripper is closed, and the arm is positioned to rotate the cup. The next action is to rotate the wrist to orient the cup upright so it can be placed on its base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31276407837867737, + 0.06002090871334076, + 0.11089237034320831, + -3.056607961654663, + -0.16659949719905853, + 0.16518017649650574 + ], + "gripper_value": 0.1004381775856018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "rotate and reposition cup upright", + "subtask_reasoning": "The robot is holding the blue cup above the dish rack, having successfully lifted it from its inverted position. The gripper is closed, and the arm is positioned to rotate the cup. The next action is to rotate the wrist to orient the cup upright so it can be placed on its base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3082229793071747, + 0.06257438659667969, + 0.10804999619722366, + -3.102756977081299, + -0.1377258449792862, + 0.19746920466423035 + ], + "gripper_value": 0.103162482380867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "rotate and reposition cup upright", + "subtask_reasoning": "The robot is holding the blue cup above the dish rack, having successfully lifted it from its inverted position. The gripper is closed, and the arm is positioned to rotate the cup. The next action is to rotate the wrist to orient the cup upright so it can be placed on its base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042173385620117, + 0.06444601714611053, + 0.10153283923864365, + -3.11903715133667, + -0.09264670312404633, + 0.21558400988578796 + ], + "gripper_value": 0.21050429344177246 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup in the dish rack and flip it upright so it stands on its base." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in rack" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "rotate and reposition cup upright" + } + ], + "subtask_name": "rotate and reposition cup upright", + "subtask_reasoning": "The robot is holding the blue cup above the dish rack, having successfully lifted it from its inverted position. The gripper is closed, and the arm is positioned to rotate the cup. The next action is to rotate the wrist to orient the cup upright so it can be placed on its base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003795_ecot.json b/cot/chunk-0003/episode_0003795_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9abcad82baf58c23cc8618ff5579b2dcc09ccd09 --- /dev/null +++ b/cot/chunk-0003/episode_0003795_ecot.json @@ -0,0 +1,2478 @@ +{ + "task_name": "episode_0003795", + "episode_json": "json/chunk-0003/episode_0003795.json", + "video_path": "videos/chunk-0003/image_0/episode_0003795.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003795.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013307929039001465, + "std": 0.0004177095543127507, + "delta_total": -0.000666201114654541, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00042, total_delta=-0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 17 + ], + [ + 3, + 18, + 34 + ], + [ + 4, + 35, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer front\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the front of the open drawer to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact and push\", \"start\": 4, \"end\": 17, \"planning\": \"Establish contact with drawer front and begin pushing it closed along the table surface.\"},\n {\"id\": 3, \"name\": \"continue sliding drawer\", \"start\": 18, \"end\": 34, \"planning\": \"Maintain contact and slide drawer further inward until nearly closed, adjusting orientation as needed.\"},\n {\"id\": 4, \"name\": \"final reposition and retreat\", \"start\": 35, \"end\": 37, \"planning\": \"Complete closure by nudging drawer fully shut, then retract end-effector away from the drawer.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching its front, making contact, pushing/sliding it closed in stages, and retreating after full closure.\",\n \"notes\": \"Gripper remains open throughout; no grasping or lifting occurs. All motion is contact-based pushing/sliding. Segment boundaries respected but merged into natural manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer front", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the front of the open drawer to prepare for contact." + }, + { + "id": 2, + "name": "make contact and push", + "start": 4, + "end": 17, + "planning": "Establish contact with drawer front and begin pushing it closed along the table surface." + }, + { + "id": 3, + "name": "continue sliding drawer", + "start": 18, + "end": 34, + "planning": "Maintain contact and slide drawer further inward until nearly closed, adjusting orientation as needed." + }, + { + "id": 4, + "name": "final reposition and retreat", + "start": 35, + "end": 37, + "planning": "Complete closure by nudging drawer fully shut, then retract end-effector away from the drawer." + } + ], + "global_plan": "Close the drawer by approaching its front, making contact, pushing/sliding it closed in stages, and retreating after full closure.", + "notes": "Gripper remains open throughout; no grasping or lifting occurs. All motion is contact-based pushing/sliding. Segment boundaries respected but merged into natural manipulation phases." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659578323364258, + 0.17386646568775177, + 0.1366976946592331, + -3.080951452255249, + -0.18020780384540558, + 0.6731418371200562 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "approach drawer front", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the end effector closer to the front face of the drawer to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, rotate counterclockwise 40 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2651662826538086, + 0.17318598926067352, + 0.1268736869096756, + -3.078650712966919, + -0.14816178381443024, + 0.6588746309280396 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "approach drawer front", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689512372016907, + 0.1755523532629013, + 0.1228986456990242, + -3.0590569972991943, + -0.1509225219488144, + 0.43419891595840454 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "approach drawer front", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 5 cm, tilt forward 20 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712137997150421, + 0.18877409398555756, + 0.12007242441177368, + -3.034790277481079, + -0.19409091770648956, + 0.2500024139881134 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "approach drawer front", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 2 cm, move down 5 cm, tilt forward 20 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27338743209838867, + 0.1993253380060196, + 0.11571916937828064, + -2.9831831455230713, + -0.19616183638572693, + 0.03288557007908821 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2781001925468445, + 0.2085222452878952, + 0.1124260202050209, + -2.8886826038360596, + -0.15437035262584686, + -0.23538443446159363 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2900036871433258, + 0.2077416032552719, + 0.1022832840681076, + -2.852006435394287, + -0.05631715804338455, + -0.486101895570755 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020460903644562, + 0.20097965002059937, + 0.0923120304942131, + -2.7373640537261963, + 0.02173670008778572, + -0.7256089448928833 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink rabbit toy": [ + 82, + 422, + 214, + 623 + ], + "wooden toy phone": [ + 97, + 284, + 174, + 382 + ], + "red cylindrical block": [ + 213, + 574, + 334, + 750 + ], + "wooden table": [ + 5, + 130, + 991, + 990 + ], + "black rectangular weight": [ + 570, + 521, + 738, + 851 + ], + "metal cans": [ + 536, + 6, + 781, + 218 + ], + "blue kinetic sand": [ + 344, + 268, + 542, + 422 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31024834513664246, + 0.1996287703514099, + 0.0770610123872757, + -2.7347757816314697, + 0.09360698610544205, + -0.835716724395752 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 5 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3191964626312256, + 0.19696521759033203, + 0.06349433213472366, + -2.7206995487213135, + 0.20847727358341217, + -0.93190598487854 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink rabbit toy": [ + 83, + 422, + 214, + 623 + ], + "red cylindrical block": [ + 213, + 574, + 333, + 751 + ], + "wooden toy phone": [ + 97, + 283, + 173, + 381 + ], + "black rectangular weight": [ + 571, + 521, + 738, + 851 + ], + "wooden table": [ + 5, + 168, + 985, + 990 + ], + "metal cans": [ + 537, + 6, + 782, + 218 + ], + "blue kinetic sand": [ + 344, + 268, + 542, + 422 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask of approaching the drawer front is in progress, with motion observed but no closure action initiated. The next likely action is to move the gripper closer to the drawer front to prepare for pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 4 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183595538139343, + 0.20655149221420288, + 0.05743349716067314, + -2.716705560684204, + 0.3000538945198059, + -0.9344658851623535 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 3 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32196906208992004, + 0.21250085532665253, + 0.06309124082326889, + -2.7374942302703857, + 0.3354346454143524, + -0.9373587369918823 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 4 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222796320915222, + 0.21332351863384247, + 0.062222257256507874, + -2.830831527709961, + 0.3550691306591034, + -0.9895294308662415 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3223605155944824, + 0.21867260336875916, + 0.06279807537794113, + -2.934810161590576, + 0.3355875313282013, + -0.9993324279785156 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 5 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32225292921066284, + 0.2211066633462906, + 0.06146850809454918, + -3.010566473007202, + 0.3190388083457947, + -1.0188294649124146 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3189625144004822, + 0.22273071110248566, + 0.05080708861351013, + -3.062532424926758, + 0.34360069036483765, + -1.0545178651809692 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31289705634117126, + 0.2236015796661377, + 0.04355013370513916, + -3.081667423248291, + 0.36914610862731934, + -1.079608678817749 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.300198495388031, + 0.21773716807365417, + 0.029773592948913574, + -3.130208730697632, + 0.3735599219799042, + -1.1153974533081055 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "make contact and push", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 11 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926894724369049, + 0.2082386463880539, + 0.022521812468767166, + 3.0984880924224854, + 0.3380122780799866, + -1.1409127712249756 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2908288240432739, + 0.19963614642620087, + 0.029274482280015945, + 3.070007562637329, + 0.29083722829818726, + -1.1594895124435425 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28761717677116394, + 0.1911422461271286, + 0.03136176988482475, + 3.0221924781799316, + 0.25439968705177307, + -1.175637125968933 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913360893726349, + 0.18213830888271332, + 0.03633527457714081, + 3.0004115104675293, + 0.22763098776340485, + -1.164476752281189 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29291990399360657, + 0.16826841235160828, + 0.036542102694511414, + 2.9718780517578125, + 0.22342164814472198, + -1.1724187135696411 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29096317291259766, + 0.15842080116271973, + 0.032018713653087616, + 2.951960802078247, + 0.21804027259349823, + -1.185684323310852 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843136787414551, + 0.15196332335472107, + 0.02650083228945732, + 2.9212398529052734, + 0.21574333310127258, + -1.1968809366226196 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789936363697052, + 0.13581490516662598, + 0.022418662905693054, + 2.884577512741089, + 0.19704727828502655, + -1.216719627380371 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot's end-effector is positioned near the front of the open drawer, having completed the approach phase. The gripper is open and not grasping, consistent with segment-level evidence showing no closure. The next action is to make physical contact with the drawer front and begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2833491563796997, + 0.11249062418937683, + 0.034218043088912964, + 2.8954339027404785, + 0.16876119375228882, + -1.2381823062896729 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink rabbit toy": [ + 83, + 422, + 215, + 623 + ], + "red cylindrical block": [ + 214, + 574, + 335, + 751 + ], + "black rectangular weight": [ + 570, + 522, + 737, + 852 + ], + "wooden toy phone": [ + 97, + 283, + 174, + 381 + ], + "wooden box": [ + 364, + 165, + 949, + 767 + ], + "metal cans": [ + 537, + 6, + 781, + 215 + ], + "wooden table": [ + 4, + 131, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, tilt left 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841757833957672, + 0.0981476679444313, + 0.0467674657702446, + 2.892556667327881, + 0.14037573337554932, + -1.2458027601242065 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 2 cm, tilt left 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2892622649669647, + 0.08574771136045456, + 0.049828339368104935, + 2.8881309032440186, + 0.13141973316669464, + -1.2507790327072144 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 2 cm, tilt left 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29391124844551086, + 0.07543780654668808, + 0.04725722596049309, + 2.8718791007995605, + 0.12654021382331848, + -1.2641113996505737 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 2 cm, tilt left 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2918225824832916, + 0.06677491217851639, + 0.043988198041915894, + 2.8575031757354736, + 0.12177612632513046, + -1.2836607694625854 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 3 cm, tilt left 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840452492237091, + 0.0539904423058033, + 0.03940346837043762, + 2.8192856311798096, + 0.11328243464231491, + -1.3100571632385254 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 3 cm, tilt left 30 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.27718403935432434, + 0.045242682099342346, + 0.04365534707903862, + 2.8168680667877197, + 0.10664138942956924, + -1.330501914024353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 3 cm, tilt left 30 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.26950228214263916, + 0.04295966401696205, + 0.05118260905146599, + 2.84372878074646, + 0.10573548078536987, + -1.3244696855545044 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 2 cm, tilt left 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896321713924408, + 0.07518672198057175, + 0.06839440017938614, + 3.1219334602355957, + 0.18136122822761536, + -1.0648784637451172 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "continue sliding drawer", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987000644207001, + 0.12517231702804565, + 0.06907857954502106, + -2.899132013320923, + 0.17806996405124664, + -0.7423537373542786 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink rabbit toy": [ + 83, + 422, + 215, + 623 + ], + "wooden table": [ + 4, + 126, + 995, + 994 + ], + "wooden box": [ + 481, + 160, + 950, + 769 + ], + "red cylindrical block": [ + 213, + 577, + 334, + 751 + ], + "wooden toy phone": [ + 97, + 283, + 174, + 381 + ], + "metal cans": [ + 538, + 6, + 782, + 227 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "final reposition and retreat", + "subtask_reasoning": "The robot is in contact with the partially open drawer, having already approached and initiated the push. The gripper remains open with no grasp evidence, indicating the robot is sliding the drawer rather than holding it. The next action is to continue pushing the drawer forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29264307022094727, + 0.15045855939388275, + 0.08639321476221085, + -2.85841703414917, + 0.012326754629611969, + -0.49940115213394165 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "final reposition and retreat", + "subtask_reasoning": "The drawer is fully closed, and the end-effector has completed the pushing motion. The gripper is open and not in contact with the drawer, indicating the retreat phase is underway. The next action is to continue moving the arm away from the drawer to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.27462831139564514, + 0.1602742075920105, + 0.10659663379192352, + -3.031301975250244, + -0.023366594687104225, + -0.24301449954509735 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer front" + }, + { + "id": 2, + "subtask": "make contact and push" + }, + { + "id": 3, + "subtask": "continue sliding drawer" + }, + { + "id": 4, + "subtask": "final reposition and retreat" + } + ], + "subtask_name": "final reposition and retreat", + "subtask_reasoning": "The drawer is fully closed, and the end-effector has completed the pushing motion. The gripper is open and not in contact with the drawer, indicating the retreat phase is underway. The next action is to continue moving the arm away from the drawer to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003798_ecot.json b/cot/chunk-0003/episode_0003798_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8ff57ddc012e7e2ce77ecaede483c1b91d592556 --- /dev/null +++ b/cot/chunk-0003/episode_0003798_ecot.json @@ -0,0 +1,2395 @@ +{ + "task_name": "episode_0003798", + "episode_json": "json/chunk-0003/episode_0003798.json", + "video_path": "videos/chunk-0003/image_0/episode_0003798.mp4", + "instruction": "Fold the cloth from left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003798.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.9248996376991272, + "std": 0.4165733754634857, + "delta_total": -0.001993715763092041, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92490, std=0.41657, total_delta=-0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 312, + 312, + 312, + 312, + 12, + 12, + 412, + 412, + 412, + 412, + 412, + 12, + 12, + 25, + 25, + 125, + 125, + 125, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 11 + ], + [ + 4, + 12, + 15 + ], + [ + 5, + 16, + 17 + ], + [ + 6, + 18, + 22 + ], + [ + 7, + 23, + 24 + ], + [ + 8, + 25, + 26 + ], + [ + 9, + 27, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the left side of the yellow cloth without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 6, \"end\": 11, \"planning\": \"Gently push or slide the left edge of the cloth to initiate folding motion.\"},\n {\"id\": 3, \"name\": \"grasp left edge\", \"start\": 12, \"end\": 15, \"planning\": \"Close gripper to securely grasp the left portion of the cloth for controlled manipulation.\"},\n {\"id\": 4, \"name\": \"drag cloth rightward\", \"start\": 16, \"end\": 22, \"planning\": \"Pull the grasped left edge across the table surface toward the right to fold the cloth.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 23, \"end\": 26, \"planning\": \"Open gripper to release the cloth after folding, then lift and move away from the folded region.\"},\n {\"id\": 6, \"name\": \"final adjustment hover\", \"start\": 27, \"end\": 32, \"planning\": \"Hover above the folded cloth with open gripper to confirm completion and avoid disturbance.\"}\n ],\n \"global_plan\": \"Fold the yellow cloth from left to right by approaching, nudging, grasping the left edge, dragging it rightward, releasing, and retreating — all while respecting gripper state evidence and avoiding hallucinated lifts or places.\",\n \"notes\": \"Subtasks align with segment boundaries where gripper behavior changes meaningfully; segments 1-2 merged into approach/nudge phase since no grasp occurred; segment 4 shows clear grasp initiation; segment 6 is drag without further closing; segment 9 is post-release hover with open gripper.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the left side of the yellow cloth without grasping." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 6, + "end": 11, + "planning": "Gently push or slide the left edge of the cloth to initiate folding motion." + }, + { + "id": 3, + "name": "grasp left edge", + "start": 12, + "end": 15, + "planning": "Close gripper to securely grasp the left portion of the cloth for controlled manipulation." + }, + { + "id": 4, + "name": "drag cloth rightward", + "start": 16, + "end": 22, + "planning": "Pull the grasped left edge across the table surface toward the right to fold the cloth." + }, + { + "id": 5, + "name": "release and retreat", + "start": 23, + "end": 26, + "planning": "Open gripper to release the cloth after folding, then lift and move away from the folded region." + }, + { + "id": 6, + "name": "final adjustment hover", + "start": 27, + "end": 32, + "planning": "Hover above the folded cloth with open gripper to confirm completion and avoid disturbance." + } + ], + "global_plan": "Fold the yellow cloth from left to right by approaching, nudging, grasping the left edge, dragging it rightward, releasing, and retreating — all while respecting gripper state evidence and avoiding hallucinated lifts or places.", + "notes": "Subtasks align with segment boundaries where gripper behavior changes meaningfully; segments 1-2 merged into approach/nudge phase since no grasp occurred; segment 4 shows clear grasp initiation; segment 6 is drag without further closing; segment 9 is post-release hover with open gripper." + } + }, + "episode_goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33821678161621094, + 0.01478918269276619, + 0.1437232494354248, + -3.1138522624969482, + -0.06635811924934387, + -1.0530247688293457 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact yet. No part of the folding task has been completed. The next action should be to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, move down 2 cm, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33886411786079407, + 0.014357181265950203, + 0.13334351778030396, + 3.138741970062256, + -0.05495724454522133, + -1.0460031032562256 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact yet. No part of the folding task has been completed. The next action should be to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, move down 1 cm, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478056788444519, + 0.02687579207122326, + 0.13425181806087494, + 3.1259210109710693, + -0.059480514377355576, + -0.9758248925209045 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to lower the end-effector toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move down 1 cm, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593214750289917, + 0.05995415896177292, + 0.13343223929405212, + 3.1065895557403564, + -0.07032566517591476, + -0.843129575252533 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "chair": [ + 4, + 620, + 375, + 993 + ], + "yellow cloth": [ + 245, + 92, + 815, + 447 + ], + "table": [ + 6, + 33, + 994, + 993 + ], + "flashlight": [ + 406, + 2, + 513, + 199 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to lower the end-effector toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 1 cm, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36834949254989624, + 0.09880609810352325, + 0.13625797629356384, + 3.1144680976867676, + -0.08865804225206375, + -0.699518084526062 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to lower the end-effector toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37243327498435974, + 0.1338530033826828, + 0.1284516304731369, + 3.0946054458618164, + -0.09067802876234055, + -0.5029418468475342 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to lower the end-effector toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3702477812767029, + 0.15230333805084229, + 0.1238596960902214, + 3.088298797607422, + -0.0817730575799942, + -0.35126954317092896 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to lower the end-effector toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move back 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3710694909095764, + 0.15959614515304565, + 0.10930944979190826, + 3.0833916664123535, + -0.05938880518078804, + -0.2930014729499817 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to lower the end-effector toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move back 1 cm, move up 5 cm, keep gripper closed; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.371798574924469, + 0.1605805605649948, + 0.09510918706655502, + 3.0853664875030518, + -0.01982710510492325, + -0.2718964219093323 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above its left edge. The gripper is open and making contact or near-contact with the cloth surface, consistent with initiating a nudge. Next, it should gently push or slide the left edge rightward to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 1 cm, move up 5 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37470415234565735, + 0.15444785356521606, + 0.08230534940958023, + 3.0778300762176514, + 0.009013518691062927, + -0.27749067544937134 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above its left edge. The gripper is open and making contact or near-contact with the cloth surface, consistent with initiating a nudge. Next, it should gently push or slide the left edge rightward to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 5 cm, keep gripper closed; then move forward 2 cm, move right 13 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3790026307106018, + 0.15464939177036285, + 0.07520278543233871, + 3.0903871059417725, + 0.0030162271577864885, + -0.2930935323238373 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above its left edge. The gripper is open and making contact or near-contact with the cloth surface, consistent with initiating a nudge. Next, it should gently push or slide the left edge rightward to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 5 cm, keep gripper closed; then move forward 2 cm, move right 17 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37983429431915283, + 0.15708424150943756, + 0.0729692280292511, + 3.1074769496917725, + 0.0014721171464771032, + -0.29102835059165955 + ], + "gripper_value": 0.6902000904083252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above its left edge. The gripper is open and making contact or near-contact with the cloth surface, consistent with initiating a nudge. Next, it should gently push or slide the left edge rightward to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 5 cm, keep gripper closed; then move forward 1 cm, move right 20 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38033920526504517, + 0.15627747774124146, + 0.07262042909860611, + 3.1039280891418457, + -0.003584503196179867, + -0.2923814654350281 + ], + "gripper_value": 0.38577979803085327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above its left edge. The gripper is open and making contact or near-contact with the cloth surface, consistent with initiating a nudge. Next, it should gently push or slide the left edge rightward to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, keep gripper closed; then move forward 1 cm, move right 21 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3794914484024048, + 0.15582305192947388, + 0.07266800850629807, + 3.0965607166290283, + -0.0019500711932778358, + -0.2944086790084839 + ], + "gripper_value": 0.18234474956989288 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached and nudged the yellow cloth, with the gripper now in contact with the left edge. Segment-level gripper evidence shows a significant decrease in gripper value, indicating a grasp is occurring. The next action is to confirm the grasp and prepare to drag the left edge rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, keep gripper closed; then move forward 1 cm, move right 22 cm, move down 3 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37819188833236694, + 0.15593916177749634, + 0.07333385199308395, + 3.092571973800659, + 0.0028492133133113384, + -0.2900841534137726 + ], + "gripper_value": 0.08890553563833237 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached and nudged the yellow cloth, with the gripper now in contact with the left edge. Segment-level gripper evidence shows a significant decrease in gripper value, indicating a grasp is occurring. The next action is to confirm the grasp and prepare to drag the left edge rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move forward 1 cm, move right 22 cm, move down 3 cm, rotate counterclockwise 20 degrees, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37438246607780457, + 0.1602916270494461, + 0.09308657795190811, + 3.130742311477661, + -0.0008844253025017679, + -0.2710823118686676 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 234, + 60, + 807, + 447 + ], + "table": [ + 6, + 56, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached and nudged the yellow cloth, with the gripper now in contact with the left edge. Segment-level gripper evidence shows a significant decrease in gripper value, indicating a grasp is occurring. The next action is to confirm the grasp and prepare to drag the left edge rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 1 cm, move right 22 cm, move down 3 cm, rotate counterclockwise 20 degrees, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37423571944236755, + 0.15674540400505066, + 0.11783460527658463, + -3.140913963317871, + -0.05308752879500389, + -0.2763206660747528 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached and nudged the yellow cloth, with the gripper now in contact with the left edge. Segment-level gripper evidence shows a significant decrease in gripper value, indicating a grasp is occurring. The next action is to confirm the grasp and prepare to drag the left edge rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 22 cm, move down 3 cm, rotate counterclockwise 20 degrees, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37649044394493103, + 0.13474923372268677, + 0.13158489763736725, + 3.1083450317382812, + -0.0805199071764946, + -0.32347172498703003 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached and nudged the yellow cloth, with the gripper now in contact with the left edge. Segment-level gripper evidence shows a significant decrease in gripper value, indicating a grasp is occurring. The next action is to confirm the grasp and prepare to drag the left edge rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 20 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3878032863140106, + 0.08254967629909515, + 0.14794179797172546, + 3.0974345207214355, + -0.13965767621994019, + -0.4457027018070221 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached and nudged the yellow cloth, with the gripper now in contact with the left edge. Segment-level gripper evidence shows a significant decrease in gripper value, indicating a grasp is occurring. The next action is to confirm the grasp and prepare to drag the left edge rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 15 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39388784766197205, + 0.031601432710886, + 0.14724619686603546, + 3.0730373859405518, + -0.1559704840183258, + -0.5568835139274597 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently in contact with the left edge of the yellow cloth, having completed the approach and initial nudge. Since the segment-level gripper evidence shows no closing, the robot is maintaining contact without grasping. The next action is to continue dragging the cloth rightward across the table surface to align it for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3911176323890686, + -0.010124028660356998, + 0.13558067381381989, + 3.0732181072235107, + -0.12822385132312775, + -0.6277008056640625 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently in contact with the left edge of the yellow cloth, having completed the approach and initial nudge. Since the segment-level gripper evidence shows no closing, the robot is maintaining contact without grasping. The next action is to continue dragging the cloth rightward across the table surface to align it for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 5 cm, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3861367702484131, + -0.03888179361820221, + 0.12070957571268082, + 3.086286783218384, + -0.10760630667209625, + -0.6654868125915527 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 440, + 29, + 829, + 458 + ], + "table": [ + 6, + 34, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently in contact with the left edge of the yellow cloth, having completed the approach and initial nudge. Since the segment-level gripper evidence shows no closing, the robot is maintaining contact without grasping. The next action is to continue dragging the cloth rightward across the table surface to align it for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 4 cm, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3846975564956665, + -0.05532291904091835, + 0.10735383629798889, + 3.1279845237731934, + -0.10459097474813461, + -0.6886731386184692 + ], + "gripper_value": 0.07591649144887924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently in contact with the left edge of the yellow cloth, having completed the approach and initial nudge. Since the segment-level gripper evidence shows no closing, the robot is maintaining contact without grasping. The next action is to continue dragging the cloth rightward across the table surface to align it for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.38328346610069275, + -0.0642133429646492, + 0.08427292108535767, + -3.1373212337493896, + -0.06011824309825897, + -0.6927213668823242 + ], + "gripper_value": 0.09289941936731339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently in contact with the left edge of the yellow cloth, having completed the approach and initial nudge. Since the segment-level gripper evidence shows no closing, the robot is maintaining contact without grasping. The next action is to continue dragging the cloth rightward across the table surface to align it for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.38336998224258423, + -0.060105036944150925, + 0.07848969101905823, + -3.1231863498687744, + -0.03541336581110954, + -0.6701388359069824 + ], + "gripper_value": 0.2589220404624939 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been successfully folded and placed on the table. The robot's gripper is currently in contact with the cloth, but the segment-level evidence indicates a significant opening motion (delta=0.67140), confirming the release action. The next step is to retreat the arm away from the folded cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816284239292145, + -0.05983233079314232, + 0.07557366788387299, + -3.1260809898376465, + -0.03172235190868378, + -0.6501028537750244 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been successfully folded and placed on the table. The robot's gripper is currently in contact with the cloth, but the segment-level evidence indicates a significant opening motion (delta=0.67140), confirming the release action. The next step is to retreat the arm away from the folded cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3789125084877014, + -0.06046275794506073, + 0.07443293184041977, + -3.1349875926971436, + -0.020882083103060722, + -0.6595715880393982 + ], + "gripper_value": 0.7642965912818909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been successfully folded and placed on the table. The robot's gripper is currently in contact with the cloth, but the segment-level evidence indicates a significant opening motion (delta=0.67140), confirming the release action. The next step is to retreat the arm away from the folded cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3765797019004822, + -0.06066281720995903, + 0.07548702508211136, + 3.133847236633301, + -0.009689108468592167, + -0.6691484451293945 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The yellow cloth has been successfully folded and placed on the table. The robot's gripper is currently in contact with the cloth, but the segment-level evidence indicates a significant opening motion (delta=0.67140), confirming the release action. The next step is to retreat the arm away from the folded cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37619197368621826, + -0.058644190430641174, + 0.08016416430473328, + 3.1127126216888428, + -0.022270621731877327, + -0.663437008857727 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The yellow cloth has been successfully folded and placed on the table. The robot's gripper is currently in contact with the cloth, but the segment-level evidence indicates a significant opening motion (delta=0.67140), confirming the release action. The next step is to retreat the arm away from the folded cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.37454482913017273, + -0.0539889819920063, + 0.09515400230884552, + 3.1078410148620605, + -0.045761216431856155, + -0.6605644822120667 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The yellow cloth is folded on the table with the gripper hovering just above it. The gripper is open and positioned for a final adjustment or release. The next action is likely a slight downward movement to ensure proper placement or a retreat to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 27, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3719618320465088, + -0.05143989995121956, + 0.1201791912317276, + 3.118102788925171, + -0.09081120789051056, + -0.6602762937545776 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "flashlight": [ + 587, + 7, + 783, + 318 + ], + "table": [ + 6, + 40, + 994, + 992 + ], + "yellow cloth": [ + 447, + 106, + 839, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The yellow cloth is folded on the table with the gripper hovering just above it. The gripper is open and positioned for a final adjustment or release. The next action is likely a slight downward movement to ensure proper placement or a retreat to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651459217071533, + -0.04629010707139969, + 0.1370263248682022, + 3.1185507774353027, + -0.09259595721960068, + -0.6527491211891174 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The yellow cloth is folded on the table with the gripper hovering just above it. The gripper is open and positioned for a final adjustment or release. The next action is likely a slight downward movement to ensure proper placement or a retreat to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603498637676239, + -0.03887485712766647, + 0.15073612332344055, + 3.1220996379852295, + -0.10261992365121841, + -0.6287427544593811 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp left edge" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The yellow cloth is folded on the table with the gripper hovering just above it. The gripper is open and positioned for a final adjustment or release. The next action is likely a slight downward movement to ensure proper placement or a retreat to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003799_ecot.json b/cot/chunk-0003/episode_0003799_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5ee70859ebf8588d98ec3ae5ec9457c9dc8fc2c6 --- /dev/null +++ b/cot/chunk-0003/episode_0003799_ecot.json @@ -0,0 +1,2104 @@ +{ + "task_name": "episode_0003799", + "episode_json": "json/chunk-0003/episode_0003799.json", + "video_path": "videos/chunk-0003/image_0/episode_0003799.mp4", + "instruction": "Pour almonds in pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003799.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.15834569931030273, + "std": 0.06574509292840958, + "delta_total": -0.1319636106491089, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.15835, std=0.06575, total_delta=-0.13196). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 23 + ], + [ + 3, + 24, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach almond jar\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector toward the almond jar without closing the gripper, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp almond jar\", \"start\": 11, \"end\": 23, \"planning\": \"Close the gripper around the almond jar and secure hold, as evidenced by meaningful gripper closure and visual confirmation of grasp.\"},\n {\"id\": 3, \"name\": \"pour almonds into pot\", \"start\": 24, \"end\": 34, \"planning\": \"Tilt the grasped almond jar over the pot to pour contents, maintaining grip without further closing since no additional closure is observed.\"}\n ],\n \"global_plan\": \"Approach the almond jar, grasp it securely, then tilt it to pour almonds into the pot while maintaining grip throughout the pouring motion.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach. Segment 2 shows clear gripper closure and visual grasp — described as grasp. Segment 3 maintains grip but no further closure — described as pouring with maintained hold, not re-grasping or releasing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach almond jar", + "start": 0, + "end": 10, + "planning": "Move the end-effector toward the almond jar without closing the gripper, positioning for contact." + }, + { + "id": 2, + "name": "grasp almond jar", + "start": 11, + "end": 23, + "planning": "Close the gripper around the almond jar and secure hold, as evidenced by meaningful gripper closure and visual confirmation of grasp." + }, + { + "id": 3, + "name": "pour almonds into pot", + "start": 24, + "end": 34, + "planning": "Tilt the grasped almond jar over the pot to pour contents, maintaining grip without further closing since no additional closure is observed." + } + ], + "global_plan": "Approach the almond jar, grasp it securely, then tilt it to pour almonds into the pot while maintaining grip throughout the pouring motion.", + "notes": "Segment 1 shows no gripper closure — described as approach. Segment 2 shows clear gripper closure and visual grasp — described as grasp. Segment 3 maintains grip but no further closure — described as pouring with maintained hold, not re-grasping or releasing." + } + }, + "episode_goal": "Pour almonds in pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.18772056698799133, + 0.032708991318941116, + 0.11125258356332779, + 3.098104238510132, + 0.007778025232255459, + 0.03751029074192047 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned above the countertop with the pot centered in the workspace and the almond jar visible to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the almond jar to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 14 cm, move down 5 cm, tilt forward 30 degrees, rotate clockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.18225470185279846, + 0.029007328674197197, + 0.10531415045261383, + 3.0717945098876953, + 0.03257818520069122, + 0.07092129439115524 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned above the countertop with the pot centered in the workspace and the almond jar visible to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the almond jar to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 14 cm, move down 4 cm, tilt forward 30 degrees, rotate clockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.18246595561504364, + 0.032418392598629, + 0.10929012298583984, + 2.9812142848968506, + 0.039371274411678314, + 0.2700025141239166 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned above the countertop with the pot centered in the workspace and the almond jar visible to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the almond jar to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 13 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 60 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2092369794845581, + 0.08703498542308807, + 0.14603286981582642, + 2.9084510803222656, + -0.02043021097779274, + 0.5354695916175842 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "salt shaker": [ + 731, + 321, + 836, + 548 + ], + "metal pot": [ + 368, + 396, + 614, + 699 + ], + "red cup": [ + 326, + 235, + 410, + 375 + ], + "red pepper": [ + 706, + 554, + 822, + 695 + ], + "jar": [ + 215, + 241, + 352, + 538 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned above the countertop with the pot centered in the workspace and the almond jar visible to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the almond jar to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, move down 8 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 50 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21422676742076874, + 0.11729918420314789, + 0.1518479287624359, + 2.858185291290283, + 0.024146419018507004, + 0.7703542709350586 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned above the countertop with the pot centered in the workspace and the almond jar visible to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the almond jar to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 9 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22562706470489502, + 0.14760726690292358, + 0.15115760266780853, + 2.8307178020477295, + 0.13631051778793335, + 0.9626139402389526 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 9 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.231735959649086, + 0.16479741036891937, + 0.13273100554943085, + 2.894714593887329, + 0.22689034044742584, + 1.0683428049087524 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2340245544910431, + 0.17442505061626434, + 0.11029902845621109, + 2.99741530418396, + 0.36310625076293945, + 1.1491144895553589 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23992879688739777, + 0.17887936532497406, + 0.08886277675628662, + 3.072464942932129, + 0.49709224700927734, + 1.2084193229675293 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2463776171207428, + 0.17741720378398895, + 0.07850004732608795, + 3.0904316902160645, + 0.5328674912452698, + 1.247342824935913 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "salt shaker": [ + 731, + 322, + 836, + 548 + ], + "metal pot": [ + 370, + 395, + 614, + 699 + ], + "red cup": [ + 326, + 239, + 411, + 375 + ], + "jar": [ + 215, + 236, + 351, + 538 + ], + "red pepper": [ + 706, + 554, + 821, + 695 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542867660522461, + 0.16991010308265686, + 0.06562573462724686, + 3.132944107055664, + 0.5743128061294556, + 1.3157275915145874 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move right 7 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25968536734580994, + 0.164459690451622, + 0.06114690378308296, + -3.1097605228424072, + 0.5848013162612915, + 1.3645317554473877 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26449382305145264, + 0.15638932585716248, + 0.058509089052677155, + -3.0512499809265137, + 0.6161569952964783, + 1.3974764347076416 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 1 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2684129774570465, + 0.14301897585391998, + 0.05418732762336731, + -3.026406764984131, + 0.6509089469909668, + 1.3711574077606201 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679530382156372, + 0.13047157227993011, + 0.051393672823905945, + -3.0122129917144775, + 0.6778067946434021, + 1.357323169708252 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, tilt back 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667987644672394, + 0.11930049955844879, + 0.048343949019908905, + -2.9943180084228516, + 0.6964440941810608, + 1.3431047201156616 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, close gripper; then move right 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2670230567455292, + 0.11104852706193924, + 0.04660232737660408, + -2.9819631576538086, + 0.7024253010749817, + 1.3237268924713135 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and no contact made yet. The subtask of approaching the jar is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely with the jar for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, close gripper; then move forward 1 cm, move right 3 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692113518714905, + 0.10451022535562515, + 0.04628049582242966, + -2.975846767425537, + 0.6980422735214233, + 1.295844316482544 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2676503658294678, + 0.09797677397727966, + 0.04321702942252159, + -2.966639518737793, + 0.7068213820457458, + 1.2905715703964233 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2668418884277344, + 0.09567918628454208, + 0.04267102852463722, + -2.9656291007995605, + 0.7167223691940308, + 1.2940610647201538 + ], + "gripper_value": 0.8844947218894958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, tilt right 20 degrees, tilt back 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.264594703912735, + 0.09434352070093155, + 0.04208338260650635, + -2.941298484802246, + 0.7240341305732727, + 1.3261864185333252 + ], + "gripper_value": 0.831673800945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, tilt right 20 degrees, tilt back 50 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26594096422195435, + 0.09410297870635986, + 0.044099319726228714, + -2.893817663192749, + 0.7161041498184204, + 1.4035236835479736 + ], + "gripper_value": 0.8562611937522888 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, tilt right 10 degrees, tilt back 60 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760677635669708, + 0.09922156482934952, + 0.053048521280288696, + -2.8807456493377686, + 0.6595010161399841, + 1.4792560338974 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 60 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868987023830414, + 0.10048725455999374, + 0.07630065828561783, + -3.026386022567749, + 0.46979230642318726, + 1.4079331159591675 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, tilt right 20 degrees, tilt back 70 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28875109553337097, + 0.0844506323337555, + 0.09377851337194443, + 3.1301348209381104, + 0.2687821686267853, + 1.327433705329895 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "salt shaker": [ + 730, + 321, + 836, + 548 + ], + "metal pot": [ + 365, + 395, + 614, + 699 + ], + "red cup": [ + 297, + 307, + 409, + 408 + ], + "jar": [ + 295, + 146, + 423, + 409 + ], + "red pepper": [ + 706, + 554, + 822, + 695 + ], + "blue towel": [ + 1, + 4, + 214, + 372 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 70 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29358500242233276, + 0.07206979393959045, + 0.09547405689954758, + 3.058708429336548, + 0.08479347825050354, + 1.3575817346572876 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, tilt back 60 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30070534348487854, + 0.054297707974910736, + 0.09066788107156754, + 3.0054140090942383, + -0.07865477353334427, + 1.3762441873550415 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "salt shaker": [ + 730, + 319, + 836, + 548 + ], + "metal pot": [ + 365, + 396, + 613, + 699 + ], + "garlic": [ + 214, + 242, + 333, + 344 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 20 degrees, tilt back 50 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3021262288093567, + 0.04639241471886635, + 0.09457765519618988, + 2.9200398921966553, + -0.23529401421546936, + 1.3974965810775757 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, tilt back 40 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30101636052131653, + 0.044494032859802246, + 0.08911161869764328, + 2.894911766052246, + -0.34104132652282715, + 1.3835994005203247 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is positioned near the almond jar on the countertop, with the gripper open and ready to grasp. The jar is upright and accessible, and no prior grasping has occurred. The next action should be to close the gripper around the jar to secure it for pouring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt right 20 degrees, tilt back 30 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30148574709892273, + 0.03895394504070282, + 0.0935506597161293, + 2.8497157096862793, + -0.4506821930408478, + 1.3374919891357422 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is currently holding the almond jar directly above the pot, with the jar tilted to dispense its contents. The gripper signal remains stable and open, indicating the jar is being supported rather than actively grasped or released. The next action is to maintain this tilted position to ensure all almonds are poured into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.30198413133621216, + 0.038051389157772064, + 0.09137313067913055, + 2.827683925628662, + -0.593111515045166, + 1.2656406164169312 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is currently holding the almond jar directly above the pot, with the jar tilted to dispense its contents. The gripper signal remains stable and open, indicating the jar is being supported rather than actively grasped or released. The next action is to maintain this tilted position to ensure all almonds are poured into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30195942521095276, + 0.03875601291656494, + 0.09127446264028549, + 2.8168396949768066, + -0.7192651629447937, + 1.2053049802780151 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is currently holding the almond jar directly above the pot, with the jar tilted to dispense its contents. The gripper signal remains stable and open, indicating the jar is being supported rather than actively grasped or released. The next action is to maintain this tilted position to ensure all almonds are poured into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30124348402023315, + 0.04384182021021843, + 0.08437999337911606, + 2.8076090812683105, + -0.8137243390083313, + 1.1715919971466064 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is currently holding the almond jar directly above the pot, with the jar tilted to dispense its contents. The gripper signal remains stable and open, indicating the jar is being supported rather than actively grasped or released. The next action is to maintain this tilted position to ensure all almonds are poured into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.30436182022094727, + 0.043384213000535965, + 0.08959230035543442, + 2.7029225826263428, + -0.912587583065033, + 1.2024012804031372 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is currently holding the almond jar directly above the pot, with the jar tilted to dispense its contents. The gripper signal remains stable and open, indicating the jar is being supported rather than actively grasped or released. The next action is to maintain this tilted position to ensure all almonds are poured into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069555461406708, + 0.04153174161911011, + 0.0849844440817833, + 2.6853504180908203, + -0.9919118881225586, + 1.1310280561447144 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds in pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is currently holding the almond jar directly above the pot, with the jar tilted to dispense its contents. The gripper signal remains stable and open, indicating the jar is being supported rather than actively grasped or released. The next action is to maintain this tilted position to ensure all almonds are poured into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003800_ecot.json b/cot/chunk-0003/episode_0003800_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e2504f19bf85bd0235cd5a9055034389390e2d90 --- /dev/null +++ b/cot/chunk-0003/episode_0003800_ecot.json @@ -0,0 +1,863 @@ +{ + "task_name": "episode_0003800", + "episode_json": "json/chunk-0003/episode_0003800.json", + "video_path": "videos/chunk-0003/image_0/episode_0003800.mp4", + "instruction": "End effector reaching banana.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003800.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006598234176635742, + "std": 0.00016458891332149506, + "delta_total": -0.0006598234176635742, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00016, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach banana\", \"start\": 0, \"end\": 7, \"planning\": \"Move end effector from initial position toward the banana on the counter.\"},\n {\"id\": 2, \"name\": \"make contact with banana\", \"start\": 8, \"end\": 14, \"planning\": \"Continue motion to establish physical contact with the banana without grasping.\"}\n ],\n \"global_plan\": \"The robot moves its end effector in a continuous trajectory toward the banana, making contact by frame 14 without any gripper closure or lifting action.\",\n \"notes\": \"Gripper remains open throughout (no meaningful closing); motion is purely translational/rotational approach and contact. No grasp, lift, or place actions are supported by evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach banana", + "start": 0, + "end": 7, + "planning": "Move end effector from initial position toward the banana on the counter." + }, + { + "id": 2, + "name": "make contact with banana", + "start": 8, + "end": 14, + "planning": "Continue motion to establish physical contact with the banana without grasping." + } + ], + "global_plan": "The robot moves its end effector in a continuous trajectory toward the banana, making contact by frame 14 without any gripper closure or lifting action.", + "notes": "Gripper remains open throughout (no meaningful closing); motion is purely translational/rotational approach and contact. No grasp, lift, or place actions are supported by evidence." + } + }, + "episode_goal": "Move the end effector to the banana located on the right side of the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689225971698761, + -0.023456377908587456, + 0.13853710889816284, + -3.1125547885894775, + -0.011959799565374851, + -0.06685221940279007 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The end effector is positioned above the stovetop, with the banana visible on the right side. No movement or contact has occurred yet. The next action is to move the end effector toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move down 8 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658747434616089, + -0.02561524324119091, + 0.13119781017303467, + -3.111525297164917, + 0.012202364392578602, + -0.06392399966716766 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The end effector is positioned above the stovetop, with the banana visible on the right side. No movement or contact has occurred yet. The next action is to move the end effector toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 7 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26129400730133057, + -0.048642002046108246, + 0.12543697655200958, + -3.0966482162475586, + 0.00191786780487746, + -0.019030308350920677 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The end effector is positioned above the stovetop, with the banana visible on the right side. No movement or contact has occurred yet. The next action is to move the end effector toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616833448410034, + -0.07318772375583649, + 0.12520651519298553, + -3.084285020828247, + -0.040145568549633026, + -0.024524664506316185 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink plush toy": [ + 500, + 368, + 634, + 608 + ], + "silver saucepan": [ + 620, + 287, + 874, + 541 + ], + "green pan": [ + 370, + 210, + 548, + 391 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot's end effector is positioned above the stovetop, moving toward the banana on the right side. No contact or grasping has occurred yet, as the gripper remains open and the motion is still in the approach phase. The next action is to continue moving the end effector closer to the banana to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26533928513526917, + -0.08339940011501312, + 0.11456486582756042, + -3.0763468742370605, + -0.04622213914990425, + -0.019775638356804848 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot's end effector is positioned above the stovetop, moving toward the banana on the right side. No contact or grasping has occurred yet, as the gripper remains open and the motion is still in the approach phase. The next action is to continue moving the end effector closer to the banana to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2693547010421753, + -0.0997241735458374, + 0.10570672899484634, + -3.063985824584961, + -0.08096890896558762, + -0.022063681855797768 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot's end effector is positioned above the stovetop, moving toward the banana on the right side. No contact or grasping has occurred yet, as the gripper remains open and the motion is still in the approach phase. The next action is to continue moving the end effector closer to the banana to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 4 cm, keep gripper open; then move back 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26868927478790283, + -0.11892435699701309, + 0.09038139134645462, + -3.0663487911224365, + -0.11545263975858688, + -0.03256051242351532 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot's end effector is positioned above the stovetop, moving toward the banana on the right side. No contact or grasping has occurred yet, as the gripper remains open and the motion is still in the approach phase. The next action is to continue moving the end effector closer to the banana to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26674017310142517, + -0.13421054184436798, + 0.07626631110906601, + -3.050978183746338, + -0.13979583978652954, + -0.024647900834679604 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot's end effector is positioned above the stovetop, moving toward the banana on the right side. No contact or grasping has occurred yet, as the gripper remains open and the motion is still in the approach phase. The next action is to continue moving the end effector closer to the banana to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26096072793006897, + -0.14266617596149445, + 0.06146671622991562, + -3.044293165206909, + -0.16804182529449463, + -0.01819831319153309 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "make contact with banana", + "subtask_reasoning": "The robot's end effector is positioned above the stovetop, moving toward the banana on the right side. No contact or grasping has occurred yet, as the gripper remains open and the motion is still in the approach phase. The next action is to continue moving the end effector closer to the banana to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25071442127227783, + -0.14759325981140137, + 0.048220813274383545, + -3.0341415405273438, + -0.18370792269706726, + -0.032310791313648224 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "make contact with banana", + "subtask_reasoning": "The robot's end effector is positioned above the stovetop, moving toward the banana on the right side. No contact or grasping has occurred yet, as the gripper remains open and the motion is still in the approach phase. The next action is to continue moving the end effector closer to the banana to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2455320656299591, + -0.15126055479049683, + 0.040521055459976196, + -3.0475058555603027, + -0.20825046300888062, + -0.025087347254157066 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "make contact with banana", + "subtask_reasoning": "The robot's end effector is positioned above the stovetop, moving toward the banana on the right side. No contact or grasping has occurred yet, as the gripper remains open and the motion is still in the approach phase. The next action is to continue moving the end effector closer to the banana to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.242167666554451, + -0.1523631364107132, + 0.02740173600614071, + -3.0693790912628174, + -0.20689739286899567, + -0.028515594080090523 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pan": [ + 370, + 208, + 580, + 383 + ], + "pink plush toy": [ + 501, + 352, + 634, + 608 + ], + "silver saucepan": [ + 620, + 286, + 856, + 540 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "make contact with banana", + "subtask_reasoning": "The end effector is positioned near the banana on the right side of the stovetop, having completed the approach phase. The gripper remains open with no closure evidence, indicating contact has not yet been made. The next action is to move the end effector slightly forward to establish physical contact with the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24347954988479614, + -0.1539427787065506, + 0.021926797926425934, + -3.079430341720581, + -0.21780219674110413, + -0.036257777363061905 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "make contact with banana", + "subtask_reasoning": "The end effector is positioned near the banana on the right side of the stovetop, having completed the approach phase. The gripper remains open with no closure evidence, indicating contact has not yet been made. The next action is to move the end effector slightly forward to establish physical contact with the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24403353035449982, + -0.15175402164459229, + 0.018806710839271545, + -3.098308801651001, + -0.21467486023902893, + -0.039443470537662506 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "make contact with banana", + "subtask_reasoning": "The end effector is positioned near the banana on the right side of the stovetop, having completed the approach phase. The gripper remains open with no closure evidence, indicating contact has not yet been made. The next action is to move the end effector slightly forward to establish physical contact with the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24378599226474762, + -0.1474248468875885, + 0.015737464651465416, + -3.0874674320220947, + -0.1917262077331543, + -0.064336858689785 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the banana located on the right side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "make contact with banana" + } + ], + "subtask_name": "make contact with banana", + "subtask_reasoning": "The end effector is positioned near the banana on the right side of the stovetop, having completed the approach phase. The gripper remains open with no closure evidence, indicating contact has not yet been made. The next action is to move the end effector slightly forward to establish physical contact with the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003802_ecot.json b/cot/chunk-0003/episode_0003802_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8bd7d7134237110c03790f7befeab3f27b6397c8 --- /dev/null +++ b/cot/chunk-0003/episode_0003802_ecot.json @@ -0,0 +1,1609 @@ +{ + "task_name": "episode_0003802", + "episode_json": "json/chunk-0003/episode_0003802.json", + "video_path": "videos/chunk-0003/image_0/episode_0003802.mp4", + "instruction": "Moved the light green hand towel in the right side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003802.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006613731384277344, + "std": 0.0002863829431589693, + "delta_total": -0.0006613731384277344, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00029, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 5 + ], + [ + 3, + 6, + 13 + ], + [ + 4, + 14, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the light green hand towel on the right side of the table.\"},\n {\"id\": 2, \"name\": \"make contact with towel\", \"start\": 5, \"end\": 5, \"planning\": \"Position the gripper to make initial contact with the towel without closing.\"},\n {\"id\": 3, \"name\": \"reposition towel\", \"start\": 6, \"end\": 13, \"planning\": \"Slide or nudge the towel across the table surface to adjust its position toward the right side.\"},\n {\"id\": 4, \"name\": \"retreat from towel\", \"start\": 14, \"end\": 23, \"planning\": \"Lift and move the end-effector away from the towel after repositioning is complete.\"}\n ],\n \"global_plan\": \"The robot approaches the light green hand towel, makes contact, slides it to the right side of the table, and then retreats without grasping or lifting.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurred. Motion is consistent with pushing/sliding the towel on the table surface.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the light green hand towel on the right side of the table." + }, + { + "id": 2, + "name": "make contact with towel", + "start": 5, + "end": 5, + "planning": "Position the gripper to make initial contact with the towel without closing." + }, + { + "id": 3, + "name": "reposition towel", + "start": 6, + "end": 13, + "planning": "Slide or nudge the towel across the table surface to adjust its position toward the right side." + }, + { + "id": 4, + "name": "retreat from towel", + "start": 14, + "end": 23, + "planning": "Lift and move the end-effector away from the towel after repositioning is complete." + } + ], + "global_plan": "The robot approaches the light green hand towel, makes contact, slides it to the right side of the table, and then retreats without grasping or lifting.", + "notes": "Gripper remains open throughout; no grasp or lift occurred. Motion is consistent with pushing/sliding the towel on the table surface." + } + }, + "episode_goal": "Move the light green hand towel to the right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24311590194702148, + -0.0190382469445467, + 0.06545461714267731, + -3.1386427879333496, + -0.2939961850643158, + 0.0047586653381586075 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the light green hand towel and a metal pot. No movement or contact has occurred yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to move toward the towel without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24185796082019806, + -0.018912402912974358, + 0.0609767809510231, + -3.13881778717041, + -0.2757178246974945, + 0.012168976478278637 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the light green hand towel and a metal pot. No movement or contact has occurred yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to move toward the towel without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 5 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603636085987091, + -0.016536680981516838, + 0.055921997874975204, + -3.1212716102600098, + -0.26220038533210754, + 0.04525185003876686 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the table near the light green hand towel, with no prior movement completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should be to move the end effector closer to the towel to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2878120243549347, + -0.0016274803783744574, + 0.05183324217796326, + -3.116507053375244, + -0.2531113624572754, + 0.12954258918762207 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 33, + 271, + 996, + 995 + ], + "red toy strawberry": [ + 754, + 579, + 863, + 722 + ], + "metal pot": [ + 194, + 520, + 438, + 891 + ], + "green sponge": [ + 357, + 315, + 562, + 502 + ], + "metal lid": [ + 574, + 669, + 819, + 950 + ], + "blue sofa": [ + 2, + 3, + 412, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the table near the light green hand towel, with no prior movement completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should be to move the end effector closer to the towel to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32309868931770325, + 0.012818802148103714, + 0.051650527864694595, + -3.129607915878296, + -0.2619672417640686, + 0.21568986773490906 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the table near the light green hand towel, with no prior movement completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should be to move the end effector closer to the towel to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3528129458427429, + 0.03297378495335579, + 0.048531197011470795, + 3.1341404914855957, + -0.2571853995323181, + 0.3120860755443573 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the light green hand towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to slide the towel to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37764835357666016, + 0.05506499111652374, + 0.03629373759031296, + -3.1385066509246826, + -0.23485834896564484, + 0.3842848539352417 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot has approached the light green hand towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to slide the towel to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.393373042345047, + 0.07384399324655533, + 0.025581782683730125, + -3.136958122253418, + -0.22495628893375397, + 0.43758800625801086 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot has approached the light green hand towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to slide the towel to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4014684557914734, + 0.08520114421844482, + 0.012898886576294899, + -3.1298863887786865, + -0.20828068256378174, + 0.4645213484764099 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot has approached the light green hand towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to slide the towel to the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 11 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.400315523147583, + 0.0867849737405777, + -0.0038796013686805964, + -3.1108129024505615, + -0.1721886396408081, + 0.4580244719982147 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 11 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39944908022880554, + 0.08742596209049225, + -0.010525786317884922, + -3.1033718585968018, + -0.1650134027004242, + 0.4562567174434662 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 11 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4020056426525116, + 0.08289576321840286, + -0.012121387757360935, + -3.1089022159576416, + -0.17283394932746887, + 0.4454728066921234 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4079486131668091, + 0.062437959015369415, + -0.011874989606440067, + -3.111020803451538, + -0.17853091657161713, + 0.41002699732780457 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 12 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41668811440467834, + 0.018917446956038475, + -0.011296266689896584, + -3.127201557159424, + -0.18288622796535492, + 0.31632861495018005 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper open; then move back 4 cm, move right 11 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4211888313293457, + -0.02418341673910618, + -0.013357618823647499, + 3.1332004070281982, + -0.17333731055259705, + 0.22847992181777954 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy strawberry": [ + 755, + 580, + 863, + 720 + ], + "wooden table": [ + 33, + 271, + 996, + 995 + ], + "metal pot": [ + 194, + 519, + 438, + 891 + ], + "metal lid": [ + 575, + 669, + 819, + 950 + ], + "blue sofa": [ + 3, + 2, + 416, + 994 + ], + "green sponge": [ + 484, + 349, + 705, + 540 + ] + } + } + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41800370812416077, + -0.06972207129001617, + -0.015223341062664986, + 3.1059350967407227, + -0.1640181690454483, + 0.1248336061835289 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4098350703716278, + -0.11114362627267838, + -0.017776789143681526, + 3.092677593231201, + -0.1520804762840271, + 0.007940804585814476 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy strawberry": [ + 756, + 583, + 863, + 719 + ], + "green sponge": [ + 604, + 398, + 859, + 608 + ], + "wooden table": [ + 34, + 270, + 996, + 996 + ], + "metal pot": [ + 194, + 520, + 438, + 891 + ], + "metal lid": [ + 575, + 670, + 819, + 950 + ], + "blue sofa": [ + 8, + 1, + 415, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40218573808670044, + -0.12889239192008972, + -0.018833685666322708, + 3.093684673309326, + -0.1509195864200592, + -0.05459475517272949 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The robot has approached and made contact with the light green hand towel on the table. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action is to slide the towel to the right side of the table while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3930244445800781, + -0.13314267992973328, + -0.016811557114124298, + 3.083653211593628, + -0.14532111585140228, + -0.06550103425979614 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The light green towel has been successfully moved to the right side of the table. The robot is currently positioned above the towel with an open gripper, indicating the sliding action is complete. The next step is to retract the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38861554861068726, + -0.13543996214866638, + -0.013693420216441154, + 3.0752432346343994, + -0.1429174691438675, + -0.05748450383543968 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The light green towel has been successfully moved to the right side of the table. The robot is currently positioned above the towel with an open gripper, indicating the sliding action is complete. The next step is to retract the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38848617672920227, + -0.13839784264564514, + 0.003002905286848545, + 3.061204671859741, + -0.17863576114177704, + -0.05183856934309006 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The light green towel has been successfully moved to the right side of the table. The robot is currently positioned above the towel with an open gripper, indicating the sliding action is complete. The next step is to retract the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3910837471485138, + -0.1410665512084961, + 0.03334031254053116, + 3.02848482131958, + -0.24448464810848236, + -0.039548661559820175 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The light green towel has been successfully moved to the right side of the table. The robot is currently positioned above the towel with an open gripper, indicating the sliding action is complete. The next step is to retract the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38663721084594727, + -0.14129503071308136, + 0.04959975183010101, + 3.0094614028930664, + -0.2732234597206116, + -0.040099360048770905 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The light green towel has been successfully moved to the right side of the table. The robot is currently positioned above the towel with an open gripper, indicating the sliding action is complete. The next step is to retract the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.38341766595840454, + -0.13400855660438538, + 0.07673182338476181, + 2.989017963409424, + -0.3443395793437958, + -0.021143170073628426 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light green hand towel to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel" + }, + { + "id": 4, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The light green towel has been successfully moved to the right side of the table. The robot is currently positioned above the towel with an open gripper, indicating the sliding action is complete. The next step is to retract the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003805_ecot.json b/cot/chunk-0003/episode_0003805_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9920d708a2762b709280dd7d71577edfc8820bb1 --- /dev/null +++ b/cot/chunk-0003/episode_0003805_ecot.json @@ -0,0 +1,2797 @@ +{ + "task_name": "episode_0003805", + "episode_json": "json/chunk-0003/episode_0003805.json", + "video_path": "videos/chunk-0003/image_0/episode_0003805.mp4", + "instruction": "Put the sushi inside the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003805.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.6470702886581421, + "std": 0.29854246973991394, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64707, std=0.29854, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 217, + 217, + 217, + 217, + 232, + 232, + 232, + 232, + 232, + 232, + 232, + 232, + 232, + 232 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 16 + ], + [ + 3, + 17, + 27 + ], + [ + 4, + 28, + 31 + ], + [ + 5, + 32, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sushi\", \"start\": 0, \"end\": 7, \"planning\": \"Move the gripper from initial position toward the sushi on the sink surface without closing.\"},\n {\"id\": 2, \"name\": \"grasp sushi\", \"start\": 8, \"end\": 16, \"planning\": \"Close the gripper around the sushi to secure it for lifting, confirmed by gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and move over pot\", \"start\": 17, \"end\": 27, \"planning\": \"Lift the grasped sushi and translate it horizontally to position above the pot in the sink.\"},\n {\"id\": 4, \"name\": \"release sushi into pot\", \"start\": 28, \"end\": 31, \"planning\": \"Open the gripper slightly to release the sushi into the pot while maintaining proximity for controlled drop.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 32, \"end\": 41, \"planning\": \"Fully open the gripper and move the arm away from the pot to complete the placement and avoid collision.\"}\n ],\n \"global_plan\": \"Approach the sushi, grasp it securely, lift and move it over the pot, release it inside, then retreat to clear the workspace.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 2, 4, and 5; segment 1 shows no closing (open approach), segment 3 is inferred as transport based on motion continuity and task logic. All subtasks are contiguous and cover full trajectory [0,41].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sushi", + "start": 0, + "end": 7, + "planning": "Move the gripper from initial position toward the sushi on the sink surface without closing." + }, + { + "id": 2, + "name": "grasp sushi", + "start": 8, + "end": 16, + "planning": "Close the gripper around the sushi to secure it for lifting, confirmed by gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift and move over pot", + "start": 17, + "end": 27, + "planning": "Lift the grasped sushi and translate it horizontally to position above the pot in the sink." + }, + { + "id": 4, + "name": "release sushi into pot", + "start": 28, + "end": 31, + "planning": "Open the gripper slightly to release the sushi into the pot while maintaining proximity for controlled drop." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 32, + "end": 41, + "planning": "Fully open the gripper and move the arm away from the pot to complete the placement and avoid collision." + } + ], + "global_plan": "Approach the sushi, grasp it securely, lift and move it over the pot, release it inside, then retreat to clear the workspace.", + "notes": "Gripper evidence confirms meaningful closing only in segments 2, 4, and 5; segment 1 shows no closing (open approach), segment 3 is inferred as transport based on motion continuity and task logic. All subtasks are contiguous and cover full trajectory [0,41]." + } + }, + "episode_goal": "Place the sushi roll into the metal pot located in the sink basin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.16562999784946442, + 0.09602268785238266, + 0.17087407410144806, + -3.0591771602630615, + -0.13667313754558563, + 0.2971596121788025 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the sushi roll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 11 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 1 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.16396379470825195, + 0.09384564310312271, + 0.16608063876628876, + -3.063676357269287, + -0.1226695254445076, + 0.30507418513298035 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the sushi roll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 11 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.166367307305336, + 0.0788831114768982, + 0.15332630276679993, + -3.0580060482025146, + -0.11307977139949799, + 0.33866190910339355 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the sushi roll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 10 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.17214299738407135, + 0.06099243834614754, + 0.15157629549503326, + -3.045274496078491, + -0.11766999214887619, + 0.33415916562080383 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.17990165948867798, + 0.038981590420007706, + 0.15147897601127625, + -3.054913282394409, + -0.14421725273132324, + 0.40204453468322754 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1979406476020813, + 0.02268008142709732, + 0.1390928477048874, + -3.1142404079437256, + -0.16792923212051392, + 0.547897458076477 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 4, + 382, + 266, + 660 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2153983861207962, + 0.0015582607593387365, + 0.1283467411994934, + 3.08573317527771, + -0.18459969758987427, + 0.7095373272895813 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2273634821176529, + -0.014045721851289272, + 0.11807449907064438, + 2.9833996295928955, + -0.2024431824684143, + 0.8932067155838013 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23555758595466614, + -0.016215281561017036, + 0.11662578582763672, + 2.904683828353882, + -0.19835814833641052, + 1.0070158243179321 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23639686405658722, + -0.014245140366256237, + 0.11173872649669647, + 2.9466333389282227, + -0.21924665570259094, + 1.132929801940918 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2325233817100525, + -0.010953270830214024, + 0.1039259135723114, + 2.982285261154175, + -0.20649315416812897, + 1.2612239122390747 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23012834787368774, + -0.009932332672178745, + 0.091160349547863, + 3.0254342555999756, + -0.1261192113161087, + 1.2919976711273193 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sushi roll visible on the basin surface and the metal pot nearby. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the sushi to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24090576171875, + 0.0011746224481612444, + 0.08772816509008408, + 3.0407538414001465, + -0.10337511450052261, + 1.314814805984497 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 536, + 531, + 885, + 919 + ], + "dish rack": [ + 46, + 57, + 432, + 489 + ], + "strainer": [ + 203, + 118, + 422, + 397 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24547754228115082, + 0.008463079109787941, + 0.08314968645572662, + 3.022306442260742, + -0.13098612427711487, + 1.3367879390716553 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24826206266880035, + 0.011087289080023766, + 0.07158038020133972, + 3.045938014984131, + -0.1290351152420044, + 1.3611129522323608 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 3 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25074782967567444, + 0.007155181840062141, + 0.06908254325389862, + 3.0670247077941895, + -0.09741518646478653, + 1.3612371683120728 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516063153743744, + 0.005462683737277985, + 0.06750117242336273, + 3.0675125122070312, + -0.07074026763439178, + 1.353200912475586 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2517547607421875, + 0.003940806724131107, + 0.06742499768733978, + 3.064716100692749, + -0.060147251933813095, + 1.341973066329956 + ], + "gripper_value": 0.457809716463089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 10 cm, move up 4 cm, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2511827349662781, + 0.003735028672963381, + 0.06558086723089218, + 3.0549914836883545, + -0.04772606119513512, + 1.3332117795944214 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 12 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24793055653572083, + 0.003370161633938551, + 0.06777607649564743, + 3.0508997440338135, + -0.04955437779426575, + 1.3243318796157837 + ], + "gripper_value": 0.3552374839782715 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 12 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23643934726715088, + 0.0014507198939099908, + 0.07897055894136429, + 3.060915946960449, + -0.07286514341831207, + 1.2704368829727173 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 12 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move right 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2348131388425827, + -0.003236940363422036, + 0.09322285652160645, + 3.021998643875122, + -0.09829570353031158, + 1.2549655437469482 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot has approached the sushi roll on the sink surface and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing action is imminent or occurring within this segment. The next immediate action is to close the gripper to securely grasp the sushi roll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 11 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2345569133758545, + -0.002459484850987792, + 0.10710881650447845, + 3.0210132598876953, + -0.1051596850156784, + 1.2304024696350098 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot is holding the sushi above the metal pot in the sink, having completed the approach and grasp phases. The current position indicates readiness to release the sushi into the pot. The next action should be to lower the gripper slightly and open it to drop the sushi inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 12 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22814476490020752, + -0.012315906584262848, + 0.12118273973464966, + 2.9982786178588867, + -0.12256445735692978, + 1.1842986345291138 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot is holding the sushi above the metal pot in the sink, having completed the approach and grasp phases. The current position indicates readiness to release the sushi into the pot. The next action should be to lower the gripper slightly and open it to drop the sushi inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.22015982866287231, + -0.03160914406180382, + 0.1302282065153122, + 2.9782471656799316, + -0.12590916454792023, + 1.1008331775665283 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 538, + 532, + 885, + 921 + ], + "dish rack": [ + 48, + 58, + 421, + 478 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot is holding the sushi above the metal pot in the sink, having completed the approach and grasp phases. The current position indicates readiness to release the sushi into the pot. The next action should be to lower the gripper slightly and open it to drop the sushi inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.20662473142147064, + -0.05247204378247261, + 0.12679000198841095, + 2.979994773864746, + -0.09856973588466644, + 0.9975976943969727 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot is holding the sushi above the metal pot in the sink, having completed the approach and grasp phases. The current position indicates readiness to release the sushi into the pot. The next action should be to lower the gripper slightly and open it to drop the sushi inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.19400912523269653, + -0.0757555142045021, + 0.12064613401889801, + 2.9882776737213135, + -0.07466336339712143, + 0.8663225173950195 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot is holding the sushi above the metal pot in the sink, having completed the approach and grasp phases. The current position indicates readiness to release the sushi into the pot. The next action should be to lower the gripper slightly and open it to drop the sushi inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper; then move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.18154670298099518, + -0.10102736204862595, + 0.10809026658535004, + 3.036965847015381, + -0.01908109523355961, + 0.7074375748634338 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 536, + 545, + 887, + 924 + ], + "dish rack": [ + 46, + 57, + 544, + 492 + ], + "strainer": [ + 203, + 118, + 466, + 391 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot is holding the sushi above the metal pot in the sink, having completed the approach and grasp phases. The current position indicates readiness to release the sushi into the pot. The next action should be to lower the gripper slightly and open it to drop the sushi inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper; then move left 4 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.17455384135246277, + -0.11807380616664886, + 0.09956208616495132, + 3.0618209838867188, + 0.008697113953530788, + 0.5898122191429138 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release sushi into pot", + "subtask_reasoning": "The robot is holding the sushi above the metal pot in the sink, having completed the approach and grasp phases. The current position indicates readiness to release the sushi into the pot. The next action should be to lower the gripper slightly and open it to drop the sushi inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.1763698011636734, + -0.13087844848632812, + 0.0953531265258789, + 3.0424108505249023, + -0.0062093171291053295, + 0.519817590713501 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release sushi into pot", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, holding the sushi roll. The gripper is currently closed around the sushi, indicating it is still being held. The next action is to open the gripper to release the sushi into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move forward 3 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.17905744910240173, + -0.13438932597637177, + 0.09573182463645935, + 3.039860486984253, + -0.06578037142753601, + 0.4911459982395172 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release sushi into pot", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, holding the sushi roll. The gripper is currently closed around the sushi, indicating it is still being held. The next action is to open the gripper to release the sushi into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 4 cm, move left 9 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.18159985542297363, + -0.13703258335590363, + 0.09621255844831467, + 3.0196516513824463, + -0.07682611048221588, + 0.4838126301765442 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release sushi into pot", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, holding the sushi roll. The gripper is currently closed around the sushi, indicating it is still being held. The next action is to open the gripper to release the sushi into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 6 cm, move left 9 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.18258816003799438, + -0.13572891056537628, + 0.09688084572553635, + 3.009307384490967, + -0.06144077330827713, + 0.47581401467323303 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, holding the sushi roll. The gripper is currently closed around the sushi, indicating it is still being held. The next action is to open the gripper to release the sushi into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.18615712225437164, + -0.13315756618976593, + 0.10375111550092697, + 2.9828052520751953, + -0.09465246647596359, + 0.4822748303413391 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, holding the sushi roll. The gripper is currently closed around the sushi, indicating it is still being held. The next action is to open the gripper to release the sushi into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.18861079216003418, + -0.1320510059595108, + 0.10721780359745026, + 2.9631710052490234, + -0.11028245836496353, + 0.48385384678840637 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, holding the sushi roll. The gripper is currently closed around the sushi, indicating it is still being held. The next action is to open the gripper to release the sushi into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.18901227414608002, + -0.1226935088634491, + 0.11512111872434616, + 2.957047462463379, + -0.14073434472084045, + 0.5082432627677917 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot arm is positioned over the metal pot in the sink, holding the sushi roll. The gripper is currently closed around the sushi, indicating it is still being held. The next action is to open the gripper to release the sushi into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.1846303641796112, + -0.10951597988605499, + 0.12143675237894058, + 3.0148167610168457, + -0.16642659902572632, + 0.5087971687316895 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The sushi roll is successfully placed inside the metal pot in the sink. The gripper is currently open and positioned directly above the pot, indicating the release action is complete. The robot needs to retract its arm upward and backward to clear the workspace and finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.18499460816383362, + -0.09218050539493561, + 0.12320388108491898, + 3.0647964477539062, + -0.1511731743812561, + 0.5496010780334473 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The sushi roll is successfully placed inside the metal pot in the sink. The gripper is currently open and positioned directly above the pot, indicating the release action is complete. The robot needs to retract its arm upward and backward to clear the workspace and finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.19753611087799072, + -0.07022383064031601, + 0.12105069309473038, + 3.083575487136841, + -0.12619760632514954, + 0.6120954751968384 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 44, + 56, + 544, + 489 + ], + "strainer": [ + 204, + 118, + 465, + 383 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The sushi roll is successfully placed inside the metal pot in the sink. The gripper is currently open and positioned directly above the pot, indicating the release action is complete. The robot needs to retract its arm upward and backward to clear the workspace and finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.20882904529571533, + -0.05078517645597458, + 0.11718660593032837, + 3.0948455333709717, + -0.12416546046733856, + 0.6596220135688782 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The sushi roll is successfully placed inside the metal pot in the sink. The gripper is currently open and positioned directly above the pot, indicating the release action is complete. The robot needs to retract its arm upward and backward to clear the workspace and finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.22404035925865173, + -0.04148897901177406, + 0.11601927131414413, + 3.0789690017700195, + -0.1367492377758026, + 0.6835079789161682 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The sushi roll is successfully placed inside the metal pot in the sink. The gripper is currently open and positioned directly above the pot, indicating the release action is complete. The robot needs to retract its arm upward and backward to clear the workspace and finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2378944307565689, + -0.04079822450876236, + 0.11197599023580551, + 3.072845458984375, + -0.18037334084510803, + 0.6348791718482971 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi roll into the metal pot located in the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and move over pot" + }, + { + "id": 4, + "subtask": "release sushi into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The sushi roll is successfully placed inside the metal pot in the sink. The gripper is currently open and positioned directly above the pot, indicating the release action is complete. The robot needs to retract its arm upward and backward to clear the workspace and finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003806_ecot.json b/cot/chunk-0003/episode_0003806_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0b41bbdb98131ec402beeaa542f43a04d610737c --- /dev/null +++ b/cot/chunk-0003/episode_0003806_ecot.json @@ -0,0 +1,3019 @@ +{ + "task_name": "episode_0003806", + "episode_json": "json/chunk-0003/episode_0003806.json", + "video_path": "videos/chunk-0003/image_0/episode_0003806.mp4", + "instruction": "Change the place of the capsicum to upper edge of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003806.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.13690423965454102, + "std": 0.056922148913145065, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.13690, std=0.05692, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 24 + ], + [ + 3, + 25, + 27 + ], + [ + 4, + 28, + 32 + ], + [ + 5, + 33, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach capsicum\", \"start\": 0, \"end\": 8, \"planning\": \"Move the gripper from initial position toward the yellow capsicum on the table surface.\"},\n {\"id\": 2, \"name\": \"grasp capsicum\", \"start\": 9, \"end\": 18, \"planning\": \"Close gripper around the capsicum and lift it slightly off the table, confirmed by gripper closure and upward motion.\"},\n {\"id\": 3, \"name\": \"transport capsicum to upper edge\", \"start\": 19, \"end\": 27, \"planning\": \"Carry the held capsicum toward the upper edge of the table while maintaining grip, as shown by continuous motion and stable gripper state.\"},\n {\"id\": 4, \"name\": \"release capsicum at target location\", \"start\": 28, \"end\": 32, \"planning\": \"Open gripper to release the capsicum near the upper edge, verified by gripper opening and object no longer attached.\"},\n {\"id\": 5, \"name\": \"retreat to safe position\", \"start\": 33, \"end\": 44, \"planning\": \"Withdraw the gripper away from the placed capsicum to avoid interference, ending in a stationary pose above the table.\"}\n ],\n \"global_plan\": \"The robot approaches the capsicum, grasps it with confirmed gripper closure, transports it to the upper edge of the table, releases it there, and then retreats to a neutral position.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.13296) and image evidence confirms grasp at frame 18; Segment 2 has no gripper change but object is visibly held — consistent with transport under grip; Segments 4 and 5 show open gripper and static or retreating motion, confirming release and retreat phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach capsicum", + "start": 0, + "end": 8, + "planning": "Move the gripper from initial position toward the yellow capsicum on the table surface." + }, + { + "id": 2, + "name": "grasp capsicum", + "start": 9, + "end": 18, + "planning": "Close gripper around the capsicum and lift it slightly off the table, confirmed by gripper closure and upward motion." + }, + { + "id": 3, + "name": "transport capsicum to upper edge", + "start": 19, + "end": 27, + "planning": "Carry the held capsicum toward the upper edge of the table while maintaining grip, as shown by continuous motion and stable gripper state." + }, + { + "id": 4, + "name": "release capsicum at target location", + "start": 28, + "end": 32, + "planning": "Open gripper to release the capsicum near the upper edge, verified by gripper opening and object no longer attached." + }, + { + "id": 5, + "name": "retreat to safe position", + "start": 33, + "end": 44, + "planning": "Withdraw the gripper away from the placed capsicum to avoid interference, ending in a stationary pose above the table." + } + ], + "global_plan": "The robot approaches the capsicum, grasps it with confirmed gripper closure, transports it to the upper edge of the table, releases it there, and then retreats to a neutral position.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.13296) and image evidence confirms grasp at frame 18; Segment 2 has no gripper change but object is visibly held — consistent with transport under grip; Segments 4 and 5 show open gripper and static or retreating motion, confirming release and retreat phases." + } + }, + "episode_goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32027795910835266, + 0.022178327664732933, + 0.11078355461359024, + 3.0790650844573975, + -0.11541712284088135, + -0.11463900655508041 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table with the yellow capsicum visible in the lower right area. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the capsicum to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3195073902606964, + 0.02094121091067791, + 0.10075348615646362, + 3.067507743835449, + -0.08486010879278183, + -0.11181504279375076 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table with the yellow capsicum visible in the lower right area. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the capsicum to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3197351396083832, + 0.0024957077112048864, + 0.09932660311460495, + 3.05163836479187, + -0.07824017852544785, + -0.1635195016860962 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table with the yellow capsicum visible in the lower right area. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the capsicum to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31899091601371765, + -0.023983409628272057, + 0.09968201816082001, + 3.0536413192749023, + -0.08058308809995651, + -0.2725708484649658 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table with the yellow capsicum visible in the lower right area. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the capsicum to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31462088227272034, + -0.0575975701212883, + 0.09963548183441162, + 3.056396245956421, + -0.07988112419843674, + -0.38134437799453735 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3124198913574219, + -0.07968811690807343, + 0.09824404120445251, + 3.0517709255218506, + -0.10175759345293045, + -0.44061610102653503 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 306, + 387, + 587, + 715 + ], + "sponge": [ + 590, + 572, + 754, + 782 + ], + "cloth": [ + 568, + 346, + 788, + 580 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30670249462127686, + -0.09581434726715088, + 0.08089230209589005, + 3.0176339149475098, + -0.0875401496887207, + -0.4778824746608734 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028011620044708, + -0.10046493262052536, + 0.06745368242263794, + 3.0239124298095703, + -0.06740233302116394, + -0.47270095348358154 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move left 7 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29501205682754517, + -0.10164323449134827, + 0.04985521361231804, + 3.0127439498901367, + -0.03806636109948158, + -0.48225149512290955 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "approach capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 11 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880895137786865, + -0.11123274266719818, + 0.03544493019580841, + 3.012885332107544, + -0.004849751479923725, + -0.5367130637168884 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813985347747803, + -0.11383490264415741, + 0.030496831983327866, + 3.0237185955047607, + 0.004626957233995199, + -0.5612886548042297 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 18 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper; then move forward 1 cm, move left 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2773181200027466, + -0.1150393933057785, + 0.025807000696659088, + 3.043901205062866, + 0.006478132680058479, + -0.5594439506530762 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 18 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper; then move forward 3 cm, move left 9 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753106951713562, + -0.11405671387910843, + 0.024057457223534584, + 3.053499698638916, + 0.011289664544165134, + -0.5588338375091553 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot is positioned above the wooden table, hovering near the yellow capsicum and metal bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to align with the capsicum for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 18 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 4 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27487412095069885, + -0.11337626725435257, + 0.02712232992053032, + 3.060044765472412, + -0.004631298128515482, + -0.5614178776741028 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 17 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 5 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27521416544914246, + -0.11189556121826172, + 0.02899330109357834, + 3.0701417922973633, + -0.005673120263963938, + -0.5494138598442078 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 17 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 5 cm, move left 9 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802089750766754, + -0.10827326774597168, + 0.04600758105516434, + 3.0835914611816406, + -0.026999512687325478, + -0.5314779877662659 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 5 cm, move left 9 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.300245076417923, + -0.09198226034641266, + 0.08502659946680069, + 3.0895113945007324, + -0.13035953044891357, + -0.4464021325111389 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 5 cm, move left 8 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31948262453079224, + -0.03996166214346886, + 0.1291169375181198, + 3.0962233543395996, + -0.225058451294899, + -0.2756519913673401 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 305, + 387, + 587, + 711 + ], + "fork": [ + 625, + 434, + 693, + 592 + ], + "sponge": [ + 545, + 253, + 687, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 8 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3216467499732971, + 0.002160442993044853, + 0.13655446469783783, + 3.117136001586914, + -0.20517338812351227, + -0.1031281054019928 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fork": [ + 626, + 353, + 703, + 588 + ], + "bowl": [ + 305, + 388, + 588, + 710 + ], + "sponge": [ + 450, + 166, + 598, + 388 + ], + "cloth": [ + 569, + 348, + 788, + 582 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "grasp capsicum", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31976214051246643, + 0.06162179261445999, + 0.12651275098323822, + -3.1316909790039062, + -0.17046292126178741, + 0.06580594927072525 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341473639011383, + 0.09831591695547104, + 0.09903807193040848, + -3.085547924041748, + -0.10301720350980759, + 0.1371748149394989 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, open gripper; then move back 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34775298833847046, + 0.1477079540491104, + 0.08049626648426056, + -3.0509536266326904, + -0.08856043964624405, + 0.2179146707057953 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 3 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3568628430366516, + 0.15923866629600525, + 0.07795152813196182, + -3.0257558822631836, + -0.09931618720293045, + 0.23748694360256195 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot has approached the yellow capsicum on the wooden table and is currently positioned directly above it. The gripper is open and aligned with the object, ready to close. The next action is to close the gripper to grasp the capsicum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 3 cm, move right 5 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36518630385398865, + 0.16180837154388428, + 0.07050326466560364, + -3.02838397026062, + -0.08399175107479095, + 0.23547996580600739 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot is currently transporting the yellow capsicum, which is held securely in the gripper, across the wooden table. Having completed the approach and grasp phases, the arm is moving the object toward the upper edge near the back wall. The next action is to continue this transport motion until the target position is reached for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, tilt right 10 degrees, open gripper; then move back 3 cm, move right 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36778539419174194, + 0.15661241114139557, + 0.05839427560567856, + -3.0824620723724365, + -0.062275245785713196, + 0.21837550401687622 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot is currently transporting the yellow capsicum, which is held securely in the gripper, across the wooden table. Having completed the approach and grasp phases, the arm is moving the object toward the upper edge near the back wall. The next action is to continue this transport motion until the target position is reached for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 3 cm, move right 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37013834714889526, + 0.14853496849536896, + 0.048701368272304535, + 3.13809871673584, + -0.04313468560576439, + 0.17610734701156616 + ], + "gripper_value": 0.927960216999054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot is currently transporting the yellow capsicum, which is held securely in the gripper, across the wooden table. Having completed the approach and grasp phases, the arm is moving the object toward the upper edge near the back wall. The next action is to continue this transport motion until the target position is reached for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move right 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3693852424621582, + 0.14465489983558655, + 0.047749146819114685, + 3.1149284839630127, + -0.03427892178297043, + 0.17368832230567932 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot is currently transporting the yellow capsicum, which is held securely in the gripper, across the wooden table. Having completed the approach and grasp phases, the arm is moving the object toward the upper edge near the back wall. The next action is to continue this transport motion until the target position is reached for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move right 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3586767613887787, + 0.14068223536014557, + 0.041373733431100845, + 3.116969347000122, + 0.0026504069101065397, + 0.1814436912536621 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "transport capsicum to upper edge", + "subtask_reasoning": "The robot is currently transporting the yellow capsicum, which is held securely in the gripper, across the wooden table. Having completed the approach and grasp phases, the arm is moving the object toward the upper edge near the back wall. The next action is to continue this transport motion until the target position is reached for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move back 3 cm, move right 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3545733094215393, + 0.13365787267684937, + 0.07263470441102982, + -3.1398074626922607, + -0.06990595906972885, + 0.18139883875846863 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "release capsicum at target location", + "subtask_reasoning": "The robot is currently transporting the yellow capsicum, which is held securely in the gripper, across the wooden table. Having completed the approach and grasp phases, the arm is moving the object toward the upper edge near the back wall. The next action is to continue this transport motion until the target position is reached for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3445233404636383, + 0.12449778616428375, + 0.08920127153396606, + -3.108729839324951, + -0.0863010510802269, + 0.17009314894676208 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "release capsicum at target location", + "subtask_reasoning": "The robot is currently transporting the yellow capsicum, which is held securely in the gripper, across the wooden table. Having completed the approach and grasp phases, the arm is moving the object toward the upper edge near the back wall. The next action is to continue this transport motion until the target position is reached for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353727459907532, + 0.10782792419195175, + 0.13045765459537506, + -3.049295663833618, + -0.1775236576795578, + 0.1445072591304779 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "release capsicum at target location", + "subtask_reasoning": "The robot's end-effector is positioned over the upper edge of the table near the back wall, but the yellow capsicum is still resting on the table surface to the left, indicating the release has not yet occurred or the object was not transported. Given the gripper is fully open and stationary, the robot needs to move towards the capsicum to grasp it before attempting to place it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32642650604248047, + 0.09555970132350922, + 0.1481941193342209, + -3.0578453540802, + -0.21505695581436157, + 0.139895960688591 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 306, + 390, + 587, + 716 + ], + "fork": [ + 627, + 353, + 704, + 588 + ], + "sponge": [ + 277, + 233, + 392, + 395 + ], + "cloth": [ + 569, + 347, + 789, + 582 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "release capsicum at target location", + "subtask_reasoning": "The robot's end-effector is positioned over the upper edge of the table near the back wall, but the yellow capsicum is still resting on the table surface to the left, indicating the release has not yet occurred or the object was not transported. Given the gripper is fully open and stationary, the robot needs to move towards the capsicum to grasp it before attempting to place it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.32248103618621826, + 0.0843067616224289, + 0.14457596838474274, + -3.1211259365081787, + -0.18454399704933167, + 0.12383854389190674 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "release capsicum at target location", + "subtask_reasoning": "The robot's end-effector is positioned over the upper edge of the table near the back wall, but the yellow capsicum is still resting on the table surface to the left, indicating the release has not yet occurred or the object was not transported. Given the gripper is fully open and stationary, the robot needs to move towards the capsicum to grasp it before attempting to place it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32224833965301514, + 0.07815808057785034, + 0.1342456042766571, + 3.1169350147247314, + -0.10959550738334656, + 0.0724579393863678 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The robot's end-effector is positioned over the upper edge of the table near the back wall, but the yellow capsicum is still resting on the table surface to the left, indicating the release has not yet occurred or the object was not transported. Given the gripper is fully open and stationary, the robot needs to move towards the capsicum to grasp it before attempting to place it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1158828735351562, + -0.10078272223472595, + 0.07065574079751968 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The robot's end-effector is positioned over the upper edge of the table near the back wall, but the yellow capsicum is still resting on the table surface to the left, indicating the release has not yet occurred or the object was not transported. Given the gripper is fully open and stationary, the robot needs to move towards the capsicum to grasp it before attempting to place it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1157279014587402, + -0.10074317455291748, + 0.07219702005386353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The robot's end-effector is positioned over the upper edge of the table near the back wall, but the yellow capsicum is still resting on the table surface to the left, indicating the release has not yet occurred or the object was not transported. Given the gripper is fully open and stationary, the robot needs to move towards the capsicum to grasp it before attempting to place it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.32013484835624695, + 0.07966252416372299, + 0.13408063352108002, + 3.1154141426086426, + -0.09924295544624329, + 0.07215777784585953 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 306, + 390, + 587, + 713 + ], + "sponge": [ + 278, + 234, + 392, + 394 + ], + "cloth": [ + 568, + 346, + 789, + 583 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The robot's end-effector is positioned over the upper edge of the table near the back wall, but the yellow capsicum is still resting on the table surface to the left, indicating the release has not yet occurred or the object was not transported. Given the gripper is fully open and stationary, the robot needs to move towards the capsicum to grasp it before attempting to place it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1157279014587402, + -0.10074317455291748, + 0.07219702005386353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The robot's end-effector is positioned over the upper edge of the table near the back wall, but the yellow capsicum is still resting on the table surface to the left, indicating the release has not yet occurred or the object was not transported. Given the gripper is fully open and stationary, the robot needs to move towards the capsicum to grasp it before attempting to place it at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1157279014587402, + -0.10074317455291748, + 0.07219702005386353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The yellow capsicum has been successfully moved to the upper edge of the table and released. The robot's gripper is currently open and positioned above the workspace, indicating the placement is complete. The next action is to retreat the arm to a safe, neutral position away from the table objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1157279014587402, + -0.10074317455291748, + 0.07219702005386353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The yellow capsicum has been successfully moved to the upper edge of the table and released. The robot's gripper is currently open and positioned above the workspace, indicating the placement is complete. The next action is to retreat the arm to a safe, neutral position away from the table objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1157279014587402, + -0.10074317455291748, + 0.07219702005386353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The yellow capsicum has been successfully moved to the upper edge of the table and released. The robot's gripper is currently open and positioned above the workspace, indicating the placement is complete. The next action is to retreat the arm to a safe, neutral position away from the table objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203050196170807, + 0.07994954288005829, + 0.13409274816513062, + 3.117192029953003, + -0.10045778006315231, + 0.07166355848312378 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The yellow capsicum has been successfully moved to the upper edge of the table and released. The robot's gripper is currently open and positioned above the workspace, indicating the placement is complete. The next action is to retreat the arm to a safe, neutral position away from the table objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1157279014587402, + -0.10074317455291748, + 0.07219702005386353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The yellow capsicum has been successfully moved to the upper edge of the table and released. The robot's gripper is currently open and positioned above the workspace, indicating the placement is complete. The next action is to retreat the arm to a safe, neutral position away from the table objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1157279014587402, + -0.10074317455291748, + 0.07219702005386353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The yellow capsicum has been successfully moved to the upper edge of the table and released. The robot's gripper is currently open and positioned above the workspace, indicating the placement is complete. The next action is to retreat the arm to a safe, neutral position away from the table objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203675150871277, + 0.0797298401594162, + 0.13410308957099915, + 3.1157279014587402, + -0.10074317455291748, + 0.07219702005386353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow capsicum to the upper edge of the wooden table, near the back wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach capsicum" + }, + { + "id": 2, + "subtask": "grasp capsicum" + }, + { + "id": 3, + "subtask": "transport capsicum to upper edge" + }, + { + "id": 4, + "subtask": "release capsicum at target location" + }, + { + "id": 5, + "subtask": "retreat to safe position" + } + ], + "subtask_name": "retreat to safe position", + "subtask_reasoning": "The yellow capsicum has been successfully moved to the upper edge of the table and released. The robot's gripper is currently open and positioned above the workspace, indicating the placement is complete. The next action is to retreat the arm to a safe, neutral position away from the table objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003807_ecot.json b/cot/chunk-0003/episode_0003807_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8270a1eba00f1fb39fe990019508b61ebadab71c --- /dev/null +++ b/cot/chunk-0003/episode_0003807_ecot.json @@ -0,0 +1,2759 @@ +{ + "task_name": "episode_0003807", + "episode_json": "json/chunk-0003/episode_0003807.json", + "video_path": "videos/chunk-0003/image_0/episode_0003807.mp4", + "instruction": "Put the knife on the back left towel edge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003807.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.48691225051879883, + "std": 0.22430358827114105, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.48691, std=0.22430, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 16 + ], + [ + 3, + 17, + 21 + ], + [ + 4, + 22, + 28 + ], + [ + 5, + 29, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector from initial position toward the knife on the cutting board without grasping.\"},\n {\"id\": 2, \"name\": \"grasp knife\", \"start\": 8, \"end\": 16, \"planning\": \"Close gripper around the knife handle and secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition knife\", \"start\": 17, \"end\": 21, \"planning\": \"Lift the grasped knife and begin moving it toward the target location near the back left towel edge.\"},\n {\"id\": 4, \"name\": \"place knife on towel edge\", \"start\": 22, \"end\": 28, \"planning\": \"Lower the knife onto the back left edge of the orange towel while maintaining grip until contact is made.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 29, \"end\": 40, \"planning\": \"Open gripper to release the knife, then move end-effector away from the placed knife to complete the task.\"}\n ],\n \"global_plan\": \"Approach the knife, grasp it securely, lift and transport it to the back left towel edge, place it precisely, then release and retreat.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: no grasp in segment 1 (open gripper), grasp initiated in segment 2 (gripper closes), placement confirmed in segment 4–5 with release at end. Frame coverage is contiguous and complete from 0 to 40.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 7, + "planning": "Move the end-effector from initial position toward the knife on the cutting board without grasping." + }, + { + "id": 2, + "name": "grasp knife", + "start": 8, + "end": 16, + "planning": "Close gripper around the knife handle and secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition knife", + "start": 17, + "end": 21, + "planning": "Lift the grasped knife and begin moving it toward the target location near the back left towel edge." + }, + { + "id": 4, + "name": "place knife on towel edge", + "start": 22, + "end": 28, + "planning": "Lower the knife onto the back left edge of the orange towel while maintaining grip until contact is made." + }, + { + "id": 5, + "name": "release and retreat", + "start": 29, + "end": 40, + "planning": "Open gripper to release the knife, then move end-effector away from the placed knife to complete the task." + } + ], + "global_plan": "Approach the knife, grasp it securely, lift and transport it to the back left towel edge, place it precisely, then release and retreat.", + "notes": "Subtasks align with observed motion segments and gripper evidence: no grasp in segment 1 (open gripper), grasp initiated in segment 2 (gripper closes), placement confirmed in segment 4–5 with release at end. Frame coverage is contiguous and complete from 0 to 40." + } + }, + "episode_goal": "Place the knife on the back left edge of the orange towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30975618958473206, + 0.14973081648349762, + 0.17460954189300537, + 3.063826560974121, + -0.10994561016559601, + -0.005835790652781725 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden counter with the knife visible on the right side near the orange towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 23 cm, move down 13 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3070080578327179, + 0.1475750207901001, + 0.15982642769813538, + 3.0430068969726562, + -0.06690208613872528, + 0.00687842583283782 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden counter with the knife visible on the right side near the orange towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 22 cm, move down 11 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006795346736908, + 0.1232144832611084, + 0.15045271813869476, + 3.0763027667999268, + -0.0754384994506836, + 0.030886415392160416 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden counter with the knife visible on the right side near the orange towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 20 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28789612650871277, + 0.09327856451272964, + 0.15084198117256165, + 3.1058425903320312, + -0.13028696179389954, + 0.07619126886129379 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 17 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2766363322734833, + 0.05957447364926338, + 0.13969367742538452, + 3.0994439125061035, + -0.13170793652534485, + 0.08950711786746979 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 14 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707611620426178, + 0.012683830223977566, + 0.11477896571159363, + 3.0982272624969482, + -0.12485121190547943, + 0.01383904181420803 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26983559131622314, + -0.02092728391289711, + 0.08573664724826813, + 3.092315912246704, + -0.09380999207496643, + -0.06556746363639832 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 4 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26366811990737915, + -0.049243777990341187, + 0.06276960670948029, + 3.1130592823028564, + -0.06290331482887268, + -0.10387656092643738 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cutting board": [ + 31, + 171, + 898, + 950 + ], + "pot": [ + 132, + 323, + 347, + 576 + ], + "potato": [ + 294, + 279, + 382, + 373 + ], + "knife": [ + 636, + 544, + 744, + 872 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25374361872673035, + -0.07578004896640778, + 0.045552413910627365, + -3.128539562225342, + -0.037147413939237595, + -0.10713866353034973 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 3 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24414677917957306, + -0.09825267642736435, + 0.03232485428452492, + -3.0895886421203613, + -0.02571709454059601, + -0.08957438170909882 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 4 cm, tilt right 10 degrees, close gripper; then move forward 4 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23763598501682281, + -0.11308374255895615, + 0.02740546502172947, + -3.0809290409088135, + -0.03580392152070999, + -0.07297644019126892 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 133, + 311, + 347, + 576 + ], + "potato": [ + 293, + 279, + 382, + 373 + ], + "knife": [ + 638, + 692, + 726, + 867 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 5 cm, tilt right 10 degrees, close gripper; then move forward 7 cm, move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23534919321537018, + -0.11636997759342194, + 0.018524883314967155, + -3.0889482498168945, + -0.029364755377173424, + -0.06756725162267685 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is approaching the knife on the wooden countertop, with the orange towel visible to the left. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the knife handle for precise alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 10 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23498955368995667, + -0.1130535826086998, + 0.006165556609630585, + -3.0875885486602783, + -0.012649007141590118, + -0.08628510683774948 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the counter, and the gripper is currently open and positioned near the handle. Segment-level evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23998942971229553, + -0.10330244898796082, + 0.0035749259404838085, + -3.0843989849090576, + -0.020469309762120247, + -0.08309885114431381 + ], + "gripper_value": 0.8705081939697266 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the counter, and the gripper is currently open and positioned near the handle. Segment-level evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed; then move forward 11 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2425931990146637, + -0.09640051424503326, + 0.0030980475712567568, + -3.072714328765869, + -0.028394287452101707, + -0.09535855799913406 + ], + "gripper_value": 0.5719637274742126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the counter, and the gripper is currently open and positioned near the handle. Segment-level evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed; then move forward 11 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23702380061149597, + -0.0834171399474144, + 0.0048576826229691505, + -3.0574235916137695, + -0.019350996240973473, + -0.09094076603651047 + ], + "gripper_value": 0.520771861076355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the counter, and the gripper is currently open and positioned near the handle. Segment-level evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed; then move forward 11 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23699507117271423, + -0.07008521258831024, + 0.029339777305722237, + -3.099046468734741, + -0.03675379976630211, + -0.11301297694444656 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 132, + 311, + 348, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the counter, and the gripper is currently open and positioned near the handle. Segment-level evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 11 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24175162613391876, + -0.05559493973851204, + 0.07599236816167831, + 3.031629800796509, + -0.10370450466871262, + -0.1255929321050644 + ], + "gripper_value": 0.520771861076355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot has approached the knife on the counter, and the gripper is currently open and positioned near the handle. Segment-level evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2502383887767792, + -0.04845419526100159, + 0.11339595168828964, + 2.9275784492492676, + -0.11743195354938507, + -0.15351063013076782 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot has approached the knife on the counter, and the gripper is currently open and positioned near the handle. Segment-level evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783265709877014, + -0.02023737132549286, + 0.12367357313632965, + 2.9326717853546143, + -0.13060881197452545, + -0.1547943651676178 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife is currently held above the orange towel, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the knife is still secured. The next action is to move the knife toward the back left edge of the towel for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31594330072402954, + -0.003081322880461812, + 0.0896807610988617, + 3.0119881629943848, + -0.1055360734462738, + -0.1789678931236267 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife is currently held above the orange towel, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the knife is still secured. The next action is to move the knife toward the back left edge of the towel for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34409672021865845, + 0.009684819728136063, + 0.07586406171321869, + 3.093838930130005, + -0.11709363013505936, + -0.19015903770923615 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife is currently held above the orange towel, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the knife is still secured. The next action is to move the knife toward the back left edge of the towel for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567032516002655, + 0.011316805146634579, + 0.06603038311004639, + -3.1367602348327637, + -0.10961455851793289, + -0.20347508788108826 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place knife on towel edge", + "subtask_reasoning": "The knife is currently held above the orange towel, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the knife is still secured. The next action is to move the knife toward the back left edge of the towel for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601146936416626, + 0.006777351256459951, + 0.0612771213054657, + -3.1027653217315674, + -0.11058682948350906, + -0.2271207571029663 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place knife on towel edge", + "subtask_reasoning": "The knife is currently held above the orange towel, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the knife is still secured. The next action is to move the knife toward the back left edge of the towel for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 6 cm, move up 14 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36136773228645325, + 4.361803803476505e-05, + 0.0516398586332798, + -3.097435474395752, + -0.09870915859937668, + -0.23246131837368011 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place knife on towel edge", + "subtask_reasoning": "The knife is currently held above the orange towel, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the knife is still secured. The next action is to move the knife toward the back left edge of the towel for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move back 3 cm, move left 6 cm, move up 15 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632343113422394, + -0.008420413359999657, + 0.03611230477690697, + -3.0918571949005127, + -0.06846065819263458, + -0.24341140687465668 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place knife on towel edge", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move back 4 cm, move left 6 cm, move up 15 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36430665850639343, + -0.01237836666405201, + 0.018492676317691803, + -3.1000704765319824, + -0.02953844703733921, + -0.2506852149963379 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place knife on towel edge", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move back 4 cm, move left 6 cm, move up 15 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3661446273326874, + -0.013558978214859962, + 0.012227751314640045, + -3.098850965499878, + -0.016941476613283157, + -0.25324445962905884 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place knife on towel edge", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 4 cm, move left 6 cm, move up 15 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3671949803829193, + -0.01553981564939022, + 0.01047009788453579, + -3.108569383621216, + -0.012576828710734844, + -0.24987956881523132 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place knife on towel edge", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 4 cm, move left 7 cm, move up 16 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3680480420589447, + -0.02111382596194744, + 0.012258090078830719, + 3.141566276550293, + -0.006266706623136997, + -0.25685450434684753 + ], + "gripper_value": 0.8836284875869751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 16 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36743277311325073, + -0.021868836134672165, + 0.02692587301135063, + 3.112718105316162, + -0.04248654469847679, + -0.2874535620212555 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 15 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3668261170387268, + -0.0007603588746860623, + 0.08018259704113007, + 3.113236665725708, + -0.13893170654773712, + -0.2777518332004547 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 131, + 315, + 347, + 574 + ], + "potato": [ + 293, + 280, + 382, + 373 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.354661226272583, + 0.00815450120717287, + 0.11504101008176804, + 3.0996925830841064, + -0.1600009948015213, + -0.2763362526893616 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3433714509010315, + 0.03546029329299927, + 0.15231768786907196, + 3.1070804595947266, + -0.1963779330253601, + -0.22269253432750702 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 133, + 317, + 346, + 575 + ], + "cutting board": [ + 34, + 173, + 898, + 945 + ], + "black object": [ + 412, + 2, + 616, + 200 + ], + "knife": [ + 470, + 351, + 705, + 515 + ], + "potato": [ + 294, + 280, + 382, + 373 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the knife above the orange towel, positioned near the back left edge. The gripper remains closed, indicating the knife is still secured. The next action is to lower the knife slightly and release it onto the towel edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3368406593799591, + 0.034840818494558334, + 0.16319604218006134, + 3.0789613723754883, + -0.1667407602071762, + -0.25177547335624695 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife is already placed on the back left edge of the orange towel, and the gripper is fully open (value=1.0), indicating release is complete. The robot is now retreating from the placement location as part of the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.33255937695503235, + 0.038300350308418274, + 0.16141289472579956, + 3.093261957168579, + -0.13328973948955536, + -0.2558598816394806 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife is already placed on the back left edge of the orange towel, and the gripper is fully open (value=1.0), indicating release is complete. The robot is now retreating from the placement location as part of the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.328743577003479, + 0.037668123841285706, + 0.1574639230966568, + 3.084822177886963, + -0.11605853587388992, + -0.2475164234638214 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife is already placed on the back left edge of the orange towel, and the gripper is fully open (value=1.0), indicating release is complete. The robot is now retreating from the placement location as part of the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3264031410217285, + 0.04205549135804176, + 0.1617174595594406, + 3.0920329093933105, + -0.11910566687583923, + -0.24835775792598724 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife is already placed on the back left edge of the orange towel, and the gripper is fully open (value=1.0), indicating release is complete. The robot is now retreating from the placement location as part of the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.32589247822761536, + 0.04763040319085121, + 0.17467835545539856, + 3.1167590618133545, + -0.09647567570209503, + -0.28305545449256897 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife is already placed on the back left edge of the orange towel, and the gripper is fully open (value=1.0), indicating release is complete. The robot is now retreating from the placement location as part of the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3257022798061371, + 0.04759103059768677, + 0.1731293797492981, + 3.1137421131134033, + -0.08974481374025345, + -0.2875566780567169 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife is already placed on the back left edge of the orange towel, and the gripper is fully open (value=1.0), indicating release is complete. The robot is now retreating from the placement location as part of the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250933587551117, + 0.0474797859787941, + 0.17321959137916565, + 3.1130454540252686, + -0.08838048577308655, + -0.28759530186653137 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the back left edge of the orange towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife on towel edge" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife is already placed on the back left edge of the orange towel, and the gripper is fully open (value=1.0), indicating release is complete. The robot is now retreating from the placement location as part of the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003808_ecot.json b/cot/chunk-0003/episode_0003808_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a1b9341a85837623b5b3929c2662658397fedc90 --- /dev/null +++ b/cot/chunk-0003/episode_0003808_ecot.json @@ -0,0 +1,3287 @@ +{ + "task_name": "episode_0003808", + "episode_json": "json/chunk-0003/episode_0003808.json", + "video_path": "videos/chunk-0003/image_0/episode_0003808.mp4", + "instruction": "Take the eggplant and put it between the two right burners.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 46, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003808.json" + }, + "fps": 5.0, + "T_eff": 46, + "gripper_behavior_summary": { + "available": true, + "range": 0.6392484903335571, + "std": 0.30286940932273865, + "delta_total": -0.0026741623878479004, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.63925, std=0.30287, total_delta=-0.00267). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 400, + 400, + 400, + 400, + 500, + 500, + 500, + 500, + 500, + 500, + 100, + 100, + 100, + 113, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 231, + 231, + 231, + 231, + 231, + 231, + 231, + 231, + 31, + 31, + 31, + 31, + 31, + 31, + 31 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 9 + ], + [ + 3, + 10, + 12 + ], + [ + 4, + 13, + 13 + ], + [ + 5, + 14, + 21 + ], + [ + 6, + 22, + 30 + ], + [ + 7, + 31, + 38 + ], + [ + 8, + 39, + 45 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach eggplant\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the eggplant located near the right burners without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp eggplant\", \"start\": 10, \"end\": 13, \"planning\": \"Close the gripper around the eggplant to secure it for manipulation, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition eggplant\", \"start\": 14, \"end\": 21, \"planning\": \"Lift the grasped eggplant slightly and begin moving it toward the target position between the two right burners.\"},\n {\"id\": 4, \"name\": \"place eggplant between burners\", \"start\": 22, \"end\": 30, \"planning\": \"Lower the eggplant into the space between the two right burners and release grip to deposit it there.\"},\n {\"id\": 5, \"name\": \"retreat from placement zone\", \"start\": 31, \"end\": 38, \"planning\": \"Withdraw the end-effector upward and away from the placed eggplant to avoid interference.\"},\n {\"id\": 6, \"name\": \"return to home position\", \"start\": 39, \"end\": 45, \"planning\": \"Move the arm back to a neutral or home pose after completing the placement task.\"}\n ],\n \"global_plan\": \"Approach the eggplant, grasp it securely, lift and move it to the space between the two right burners, place it down, then retreat and return to home position.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 3 (frames 10-13) and 6 (frames 22-30), allowing 'grasp' and 'place' terminology there. Segments 1, 8 show no gripper closure — described as approach/retreat. Segment 5 (14-21) is inferred as lifting/repositioning based on motion continuity and prior grasp. Full frame coverage maintained with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach eggplant", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the eggplant located near the right burners without closing the gripper." + }, + { + "id": 2, + "name": "grasp eggplant", + "start": 10, + "end": 13, + "planning": "Close the gripper around the eggplant to secure it for manipulation, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition eggplant", + "start": 14, + "end": 21, + "planning": "Lift the grasped eggplant slightly and begin moving it toward the target position between the two right burners." + }, + { + "id": 4, + "name": "place eggplant between burners", + "start": 22, + "end": 30, + "planning": "Lower the eggplant into the space between the two right burners and release grip to deposit it there." + }, + { + "id": 5, + "name": "retreat from placement zone", + "start": 31, + "end": 38, + "planning": "Withdraw the end-effector upward and away from the placed eggplant to avoid interference." + }, + { + "id": 6, + "name": "return to home position", + "start": 39, + "end": 45, + "planning": "Move the arm back to a neutral or home pose after completing the placement task." + } + ], + "global_plan": "Approach the eggplant, grasp it securely, lift and move it to the space between the two right burners, place it down, then retreat and return to home position.", + "notes": "Gripper evidence confirms meaningful closing only in segments 3 (frames 10-13) and 6 (frames 22-30), allowing 'grasp' and 'place' terminology there. Segments 1, 8 show no gripper closure — described as approach/retreat. Segment 5 (14-21) is inferred as lifting/repositioning based on motion continuity and prior grasp. Full frame coverage maintained with contiguous ranges." + } + }, + "episode_goal": "Place the eggplant between the two right burners on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430463969707489, + -0.02521422505378723, + 0.038935501128435135, + -3.037210464477539, + -0.35249966382980347, + -0.056568436324596405 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the stove with the eggplant visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 9 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34014514088630676, + -0.024310726672410965, + 0.02864883281290531, + -3.034449577331543, + -0.3253993093967438, + -0.048667460680007935 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the stove with the eggplant visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 8 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34489917755126953, + -0.036436449736356735, + 0.020322110503911972, + -3.0250179767608643, + -0.37674951553344727, + 0.006821824703365564 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the stove with the eggplant visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3550876975059509, + -0.06910467892885208, + 0.007810252718627453, + -3.04512882232666, + -0.434043824672699, + 0.1196349635720253 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the stove with the eggplant visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36743098497390747, + -0.09106653183698654, + 0.006527609191834927, + -3.0918538570404053, + -0.40457019209861755, + 0.18082626163959503 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 156, + 560, + 456, + 781 + ], + "green object": [ + 424, + 345, + 514, + 469 + ], + "red cup": [ + 546, + 359, + 686, + 544 + ], + "power outlet": [ + 418, + 198, + 481, + 301 + ] + } + } + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the stove, with the eggplant visible on the left side of the scene. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3714183270931244, + -0.11145934462547302, + 0.001025015371851623, + -3.096099853515625, + -0.4150925874710083, + 0.22313687205314636 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the stove, with the eggplant visible on the left side of the scene. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, keep gripper open; then move down 1 cm, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3793981373310089, + -0.11503804475069046, + -0.0008698629098944366, + -3.113950490951538, + -0.4426725506782532, + 0.22890053689479828 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the stove, with the eggplant visible on the left side of the scene. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, keep gripper open; then move down 1 cm, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.386397123336792, + -0.11205637454986572, + -0.018757261335849762, + -3.1272523403167725, + -0.48416513204574585, + 0.22953344881534576 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the stove, with the eggplant visible on the left side of the scene. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move down 1 cm, keep gripper closed; then move back 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.39351701736450195, + -0.10023286938667297, + -0.026651356369256973, + -3.133101224899292, + -0.48741140961647034, + 0.22015608847141266 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the stove, with the eggplant visible on the left side of the scene. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed; then move back 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39380088448524475, + -0.09517428278923035, + -0.03440574184060097, + -3.1135449409484863, + -0.45747172832489014, + 0.2441844642162323 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 545, + 358, + 682, + 539 + ], + "power outlet": [ + 419, + 198, + 478, + 299 + ], + "spatula": [ + 156, + 560, + 456, + 781 + ], + "green object": [ + 424, + 349, + 512, + 469 + ] + } + } + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the stove, with the eggplant visible on the left side of the scene. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 1 cm, keep gripper closed; then move back 6 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39284321665763855, + -0.09734611958265305, + -0.048017717897892, + 3.136186361312866, + -0.3973037898540497, + 0.27232083678245544 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned above the stove, with the eggplant visible on the left side of the scene. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 8 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3985467255115509, + -0.09494692087173462, + -0.05119122937321663, + 3.0919370651245117, + -0.41282665729522705, + 0.3014427721500397 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the eggplant on the stove and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 10 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39548203349113464, + -0.09250574558973312, + -0.056391362100839615, + 3.1129956245422363, + -0.4006667733192444, + 0.30490508675575256 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the eggplant on the stove and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 12 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3996254801750183, + -0.09260082989931107, + -0.05433521792292595, + 3.1271491050720215, + -0.451544851064682, + 0.28525230288505554 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the eggplant on the stove and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 12 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39641129970550537, + -0.10049643367528915, + -0.055399104952812195, + -3.135739326477051, + -0.4718194901943207, + 0.2495930939912796 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached the eggplant on the stove and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39137375354766846, + -0.10208617150783539, + -0.05781608447432518, + -3.137376546859741, + -0.46072739362716675, + 0.2587568759918213 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached the eggplant on the stove and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38257256150245667, + -0.10338224470615387, + -0.05800766497850418, + -3.114224910736084, + -0.45439621806144714, + 0.259378045797348 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached the eggplant on the stove and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36704933643341064, + -0.10439397394657135, + -0.045663755387067795, + -3.099956512451172, + -0.42453595995903015, + 0.3071856200695038 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35210779309272766, + -0.10450732707977295, + -0.030206406489014626, + -3.0868303775787354, + -0.39990729093551636, + 0.3144199848175049 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 423, + 339, + 516, + 469 + ], + "spatula": [ + 156, + 560, + 456, + 781 + ], + "power outlet": [ + 418, + 198, + 481, + 301 + ] + } + } + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33739712834358215, + -0.10343749821186066, + -0.022111840546131134, + -3.095722198486328, + -0.37891215085983276, + 0.35270118713378906 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3143194019794464, + -0.11478947848081589, + -0.025883836671710014, + -3.1069912910461426, + -0.34839943051338196, + 0.3420875072479248 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2953837811946869, + -0.11461170017719269, + -0.03730703890323639, + -3.1325693130493164, + -0.3164687156677246, + 0.3777792155742645 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper closed; then move back 2 cm, move left 5 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27977868914604187, + -0.12398535013198853, + -0.033637434244155884, + 3.132266044616699, + -0.3030134439468384, + 0.43510645627975464 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26632314920425415, + -0.12173925340175629, + -0.036640577018260956, + 3.130199909210205, + -0.3006385862827301, + 0.47747454047203064 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26453348994255066, + -0.1206468939781189, + -0.03173515945672989, + 3.1188273429870605, + -0.3058466911315918, + 0.48496541380882263 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2624877691268921, + -0.11372769623994827, + -0.03421691805124283, + 3.1269402503967285, + -0.3090657591819763, + 0.47551992535591125 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The robot has approached and grasped the eggplant, now lifting it slightly above the stove surface. The gripper remains closed with no further closing motion in this segment, indicating stable hold during repositioning. Next, the robot should move the eggplant laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26204997301101685, + -0.10429439693689346, + -0.035455793142318726, + 3.113428831100464, + -0.30256134271621704, + 0.4955582916736603 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The eggplant is currently held by the gripper above the stove area, with the two right burners visible below. The approach and grasp phases are complete. The next action is to lower the eggplant precisely between the two right burners and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2565906345844269, + -0.09625415503978729, + -0.04071315377950668, + 3.1076536178588867, + -0.30742618441581726, + 0.488267719745636 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 425, + 347, + 505, + 467 + ], + "spatula": [ + 156, + 560, + 456, + 780 + ], + "red cup": [ + 487, + 547, + 583, + 726 + ] + } + } + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The eggplant is currently held by the gripper above the stove area, with the two right burners visible below. The approach and grasp phases are complete. The next action is to lower the eggplant precisely between the two right burners and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, open gripper; then move forward 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2570982873439789, + -0.08577486127614975, + -0.04302068054676056, + 3.107668876647949, + -0.31310755014419556, + 0.47978949546813965 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The eggplant is currently held by the gripper above the stove area, with the two right burners visible below. The approach and grasp phases are complete. The next action is to lower the eggplant precisely between the two right burners and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper; then move forward 4 cm, move left 2 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25723111629486084, + -0.08330807834863663, + -0.04438381642103195, + 3.0857162475585938, + -0.32578012347221375, + 0.48964184522628784 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The eggplant is currently held by the gripper above the stove area, with the two right burners visible below. The approach and grasp phases are complete. The next action is to lower the eggplant precisely between the two right burners and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 6 cm, move left 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26033028960227966, + -0.08119082450866699, + -0.044607631862163544, + 3.0553925037384033, + -0.3428128957748413, + 0.4966396987438202 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "place eggplant between burners", + "subtask_reasoning": "The eggplant is currently held by the gripper above the stove area, with the two right burners visible below. The approach and grasp phases are complete. The next action is to lower the eggplant precisely between the two right burners and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 6 cm, move left 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583453953266144, + -0.07783413678407669, + -0.04630501940846443, + 3.0459907054901123, + -0.3458888530731201, + 0.49794456362724304 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The eggplant is currently held by the gripper above the stove area, with the two right burners visible below. The approach and grasp phases are complete. The next action is to lower the eggplant precisely between the two right burners and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2553090751171112, + -0.07729478925466537, + -0.047336824238300323, + 3.0646567344665527, + -0.3188648223876953, + 0.48701754212379456 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The eggplant is currently held by the gripper above the stove area, with the two right burners visible below. The approach and grasp phases are complete. The next action is to lower the eggplant precisely between the two right burners and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530224323272705, + -0.07321082055568695, + -0.0471322201192379, + 3.0939748287200928, + -0.31227385997772217, + 0.5049483180046082 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The eggplant is currently held by the gripper above the stove area, with the two right burners visible below. The approach and grasp phases are complete. The next action is to lower the eggplant precisely between the two right burners and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.25836363434791565, + -0.07365230470895767, + -0.033048514276742935, + 3.1040046215057373, + -0.3213101625442505, + 0.5157022476196289 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The eggplant has been placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.26233527064323425, + -0.07885320484638214, + -0.025059131905436516, + 3.1026906967163086, + -0.3385193943977356, + 0.53498774766922 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The eggplant has been placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 12 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.270174503326416, + -0.08321685343980789, + -0.013975217007100582, + 3.071625232696533, + -0.35536062717437744, + 0.5386546850204468 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The eggplant has been placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 12 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28183773159980774, + -0.07648398727178574, + -0.005560226272791624, + 3.1167454719543457, + -0.3625105619430542, + 0.47312548756599426 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The eggplant has been placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 12 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2994998097419739, + -0.06272241473197937, + 0.00102178193628788, + 3.1277761459350586, + -0.3763298988342285, + 0.3747098743915558 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The eggplant has been placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 12 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.32046887278556824, + -0.03814585879445076, + 0.009296325035393238, + -3.1367053985595703, + -0.4041111171245575, + 0.24891869723796844 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 426, + 351, + 505, + 467 + ], + "red cup": [ + 453, + 552, + 636, + 770 + ], + "spatula": [ + 156, + 560, + 456, + 780 + ] + } + } + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The eggplant has been placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 45 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.32768088579177856, + -0.023394236341118813, + 0.008791466243565083, + -3.122218132019043, + -0.42768046259880066, + 0.17458279430866241 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The eggplant has been placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 45 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346414864063263, + -0.0010123199317604303, + 0.004028288647532463, + -3.1152679920196533, + -0.45126402378082275, + 0.11497599631547928 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The eggplant has been placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 45 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3318523168563843, + 0.015000483021140099, + 0.003536237869411707, + -3.051445960998535, + -0.43618977069854736, + 0.09161112457513809 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The eggplant has been successfully placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement action is complete. The next step is to retract the arm and return to the designated home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 39, + "end": 45 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3365456163883209, + 0.05031199753284454, + 0.008021091111004353, + -3.0413997173309326, + -0.4338741600513458, + 0.03503136709332466 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The eggplant has been successfully placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement action is complete. The next step is to retract the arm and return to the designated home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 45 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.35261020064353943, + 0.06611175090074539, + 0.010308684781193733, + -3.066110372543335, + -0.37495481967926025, + 0.08165513724088669 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The eggplant has been successfully placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement action is complete. The next step is to retract the arm and return to the designated home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 45 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.35859212279319763, + 0.08380372077226639, + 0.006538226269185543, + -3.083643913269043, + -0.37350624799728394, + 0.101681649684906 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant between the two right burners on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "place eggplant between burners" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + }, + { + "id": 6, + "subtask": "return to home position" + } + ], + "subtask_name": "return to home position", + "subtask_reasoning": "The eggplant has been successfully placed between the two right burners. The robot arm is currently positioned above the stove with the gripper open, indicating the placement action is complete. The next step is to retract the arm and return to the designated home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 45 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003809_ecot.json b/cot/chunk-0003/episode_0003809_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..032329744220949b2fb4cc0dbee7d44a2d8127a4 --- /dev/null +++ b/cot/chunk-0003/episode_0003809_ecot.json @@ -0,0 +1,2629 @@ +{ + "task_name": "episode_0003809", + "episode_json": "json/chunk-0003/episode_0003809.json", + "video_path": "videos/chunk-0003/image_0/episode_0003809.mp4", + "instruction": "Move the blue cloth in the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003809.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.9459643959999084, + "std": 0.3991796374320984, + "delta_total": 0.0006693601608276367, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94596, std=0.39918, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 6, + 6, + 6, + 6, + 6, + 206, + 206, + 206, + 206, + 233, + 233, + 233, + 233, + 233 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 5 + ], + [ + 3, + 6, + 23 + ], + [ + 4, + 24, + 28 + ], + [ + 5, + 29, + 32 + ], + [ + 6, + 33, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the blue cloth without grasping, as gripper remains open and no closing is observed.\"},\n {\"id\": 2, \"name\": \"grasp cloth\", \"start\": 6, \"end\": 23, \"planning\": \"Close gripper to grasp the blue cloth; segment shows meaningful closing and images confirm contact and hold.\"},\n {\"id\": 3, \"name\": \"reposition cloth\", \"start\": 24, \"end\": 28, \"planning\": \"Maintain grip while making minor adjustments to cloth position; gripper remains closed but no new closing motion occurs.\"},\n {\"id\": 4, \"name\": \"release cloth\", \"start\": 29, \"end\": 32, \"planning\": \"Open gripper to release the cloth after repositioning; inferred from transition between held and open states in adjacent segments.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 33, \"end\": 37, \"planning\": \"Lift and move away from the cloth; gripper opens fully and end-effector retreats upward and backward.\"}\n ],\n \"global_plan\": \"Approach the blue cloth, grasp it securely, reposition it slightly on the table, release it, then retreat to complete the move task.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases. Segment 5 (frames 29-32) was not explicitly provided but inferred from gripper state transitions between segments 4 and 6 to ensure full coverage and logical flow.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the blue cloth without grasping, as gripper remains open and no closing is observed." + }, + { + "id": 2, + "name": "grasp cloth", + "start": 6, + "end": 23, + "planning": "Close gripper to grasp the blue cloth; segment shows meaningful closing and images confirm contact and hold." + }, + { + "id": 3, + "name": "reposition cloth", + "start": 24, + "end": 28, + "planning": "Maintain grip while making minor adjustments to cloth position; gripper remains closed but no new closing motion occurs." + }, + { + "id": 4, + "name": "release cloth", + "start": 29, + "end": 32, + "planning": "Open gripper to release the cloth after repositioning; inferred from transition between held and open states in adjacent segments." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 33, + "end": 37, + "planning": "Lift and move away from the cloth; gripper opens fully and end-effector retreats upward and backward." + } + ], + "global_plan": "Approach the blue cloth, grasp it securely, reposition it slightly on the table, release it, then retreat to complete the move task.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases. Segment 5 (frames 29-32) was not explicitly provided but inferred from gripper state transitions between segments 4 and 6 to ensure full coverage and logical flow." + } + }, + "episode_goal": "Grasp the blue cloth and move it to a new position on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3394552171230316, + 0.030136995017528534, + 0.08059679716825485, + 3.1404948234558105, + -0.1516205221414566, + 0.212303027510643 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and the arm is beginning to move toward the cloth. The next action is to continue approaching the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33465397357940674, + 0.02975640632212162, + 0.06942608952522278, + -3.1375741958618164, + -0.11360814422369003, + 0.21165776252746582 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and the arm is beginning to move toward the cloth. The next action is to continue approaching the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162555694580078, + 0.027484377846121788, + 0.057903941720724106, + -3.133533000946045, + -0.05792950838804245, + 0.1807420253753662 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958943545818329, + 0.023651542142033577, + 0.07299002259969711, + 3.119905471801758, + -0.08412014693021774, + 0.1092420220375061 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2723750174045563, + 0.016844676807522774, + 0.07797002792358398, + 3.0666990280151367, + -0.0764370858669281, + 0.058284588158130646 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25260159373283386, + 0.005387244280427694, + 0.06603837758302689, + 3.0813705921173096, + -0.03268686309456825, + 0.023536711931228638 + ], + "gripper_value": 0.7061693072319031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2350202202796936, + -0.005374519154429436, + 0.05032774806022644, + 3.0765609741210938, + -0.01583864353597164, + -0.02983417920768261 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22114601731300354, + -0.012808340601623058, + 0.03805345669388771, + 3.0637381076812744, + -0.020326165482401848, + -0.047937456518411636 + ], + "gripper_value": 0.1845952719449997 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tin can": [ + 718, + 358, + 904, + 641 + ], + "orange bowl": [ + 829, + 220, + 995, + 462 + ], + "green ball": [ + 880, + 252, + 995, + 386 + ], + "cardboard box": [ + 1, + 3, + 125, + 353 + ], + "blue spoon": [ + 192, + 273, + 331, + 506 + ], + "blue towel": [ + 169, + 443, + 754, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21610917150974274, + -0.01964350789785385, + 0.030753647908568382, + 3.0500648021698, + -0.03507484868168831, + -0.05552184581756592 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22069905698299408, + -0.021021872758865356, + 0.02824253775179386, + 3.0406417846679688, + -0.06834312528371811, + -0.019071029499173164 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22172768414020538, + -0.01609087735414505, + 0.01736682467162609, + 3.0699915885925293, + -0.07067395746707916, + -0.01980612240731716 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22361168265342712, + -0.007802379783242941, + 0.012698951177299023, + 3.07424259185791, + -0.0704726129770279, + -0.0058344267308712006 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22678937017917633, + -0.0004734398680739105, + 0.010604861192405224, + 3.0862483978271484, + -0.08232323825359344, + 0.007573351729661226 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23046758770942688, + 0.004510152153670788, + 0.010176281444728374, + 3.1075825691223145, + -0.08126820623874664, + -0.00943204015493393 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and has not yet made contact with the cloth. The next action is to lower the end-effector to reach the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2297501415014267, + 0.014529034495353699, + 0.011857444420456886, + 3.1114182472229004, + -0.08968009054660797, + 0.0061181653290987015 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2288888692855835, + 0.02736588940024376, + 0.01290771272033453, + 3.1126627922058105, + -0.08778785914182663, + 0.029937153682112694 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spoon": [ + 192, + 274, + 331, + 506 + ], + "blue towel": [ + 137, + 398, + 709, + 975 + ], + "tin can": [ + 716, + 359, + 903, + 644 + ], + "green ball": [ + 878, + 255, + 995, + 386 + ], + "orange bowl": [ + 828, + 219, + 995, + 462 + ], + "cardboard box": [ + 1, + 3, + 119, + 351 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, keep gripper closed; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2291630357503891, + 0.035898543894290924, + 0.01302744448184967, + 3.1180248260498047, + -0.09746930003166199, + 0.034944068640470505 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, keep gripper closed; then move forward 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2300078123807907, + 0.03590014576911926, + 0.01408456638455391, + 3.109447479248047, + -0.09825301915407181, + 0.003103827591985464 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, keep gripper closed; then move forward 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23651720583438873, + 0.03254583477973938, + 0.0132021214812994, + 3.102179527282715, + -0.10026682168245316, + 0.01065717451274395 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, keep gripper closed; then move forward 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.255043089389801, + 0.03196806460618973, + 0.014902742579579353, + 3.0944480895996094, + -0.10645733773708344, + 0.06966610997915268 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26888445019721985, + 0.031304001808166504, + 0.015393069945275784, + 3.1152803897857666, + -0.11970008909702301, + 0.06131065636873245 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 154, + 319, + 697, + 880 + ], + "tin can": [ + 718, + 359, + 904, + 643 + ], + "blue spoon": [ + 193, + 272, + 332, + 504 + ], + "orange bowl": [ + 828, + 218, + 995, + 462 + ], + "green ball": [ + 878, + 255, + 995, + 386 + ], + "cardboard box": [ + 1, + 4, + 127, + 351 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28876420855522156, + 0.03580157831311226, + 0.016427725553512573, + 3.1364779472351074, + -0.14511629939079285, + 0.0583878792822361 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, keep gripper closed; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005443513393402, + 0.03483153134584427, + 0.015521452762186527, + 3.122332811355591, + -0.15377362072467804, + 0.033216338604688644 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176731467247009, + 0.036654237657785416, + 0.013659882359206676, + 3.1393768787384033, + -0.1608530580997467, + 0.019756842404603958 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333253264427185, + 0.034046825021505356, + 0.013688545674085617, + -3.116335391998291, + -0.17326250672340393, + -0.0034587658010423183 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.345025897026062, + 0.032462164759635925, + 0.015177486464381218, + -3.1205952167510986, + -0.1860267072916031, + -0.0002205989439971745 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot arm is positioned directly over the blue cloth with the gripper open and in contact with the fabric. The approach phase is complete, and the gripper is currently stationary at a low height. The next action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35205814242362976, + 0.029739180579781532, + 0.015269091352820396, + -3.1344730854034424, + -0.17336560785770416, + 0.005333152133971453 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot has already approached and grasped the blue cloth. The gripper remains closed with no significant change in this segment, indicating the cloth is being held. The next action is to reposition the cloth slightly on the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35549476742744446, + 0.02990378439426422, + 0.015065805055201054, + -3.1279244422912598, + -0.17742498219013214, + 0.0013852878473699093 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot has already approached and grasped the blue cloth. The gripper remains closed with no significant change in this segment, indicating the cloth is being held. The next action is to reposition the cloth slightly on the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3557726740837097, + 0.02951706014573574, + 0.015113621950149536, + -3.1347861289978027, + -0.1795131266117096, + 0.008397365920245647 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth", + "subtask_reasoning": "The robot has already approached and grasped the blue cloth. The gripper remains closed with no significant change in this segment, indicating the cloth is being held. The next action is to reposition the cloth slightly on the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565880358219147, + 0.026843756437301636, + 0.01659257337450981, + 3.119133949279785, + -0.17750334739685059, + 0.021055320277810097 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The robot has already approached and grasped the blue cloth. The gripper remains closed with no significant change in this segment, indicating the cloth is being held. The next action is to reposition the cloth slightly on the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35669347643852234, + 0.026598230004310608, + 0.017983557656407356, + 3.106724739074707, + -0.1711941957473755, + 0.0254095196723938 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth on the table, with the gripper open and no longer in contact with the cloth. The cloth has been successfully repositioned as intended. The next action is to retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35292401909828186, + 0.027072256430983543, + 0.02686123736202717, + 3.0964341163635254, + -0.15960071980953217, + 0.037960901856422424 + ], + "gripper_value": 0.1920294612646103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth on the table, with the gripper open and no longer in contact with the cloth. The cloth has been successfully repositioned as intended. The next action is to retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper open; then move back 8 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34941577911376953, + 0.027842456474900246, + 0.05659373849630356, + 3.080615282058716, + -0.18885354697704315, + 0.08730918169021606 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth on the table, with the gripper open and no longer in contact with the cloth. The cloth has been successfully repositioned as intended. The next action is to retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 8 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34737861156463623, + 0.024343840777873993, + 0.068662129342556, + 3.0709238052368164, + -0.1963629275560379, + 0.1268160492181778 + ], + "gripper_value": 0.7240482568740845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth on the table, with the gripper open and no longer in contact with the cloth. The cloth has been successfully repositioned as intended. The next action is to retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.33892741799354553, + 0.02034560590982437, + 0.08620452135801315, + 3.0509843826293945, + -0.19676139950752258, + 0.12723146378993988 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth on the table, with the gripper open and no longer in contact with the cloth. The cloth has been successfully repositioned as intended. The next action is to retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3146849274635315, + 0.019056174904108047, + 0.08838466554880142, + 3.080331563949585, + -0.1698886603116989, + 0.11605764925479889 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has successfully repositioned the blue cloth on the table and is now in the retreat phase. The gripper is open (value ~0.997), indicating the cloth has been released. The end-effector is positioned above the cloth, and the next action is to move the arm away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29035529494285583, + 0.018465789034962654, + 0.09284947067499161, + 3.077319383621216, + -0.14976607263088226, + 0.08510074019432068 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has successfully repositioned the blue cloth on the table and is now in the retreat phase. The gripper is open (value ~0.997), indicating the cloth has been released. The end-effector is positioned above the cloth, and the next action is to move the arm away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.26836904883384705, + 0.015159079805016518, + 0.09656528383493423, + 3.0776495933532715, + -0.14445559680461884, + 0.03291979432106018 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 233, + 265, + 727, + 724 + ], + "blue spoon": [ + 193, + 273, + 331, + 505 + ], + "tin can": [ + 720, + 359, + 903, + 641 + ], + "orange bowl": [ + 829, + 218, + 995, + 461 + ], + "green ball": [ + 879, + 253, + 995, + 386 + ], + "cardboard box": [ + 1, + 2, + 126, + 350 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth and move it to a new position on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has successfully repositioned the blue cloth on the table and is now in the retreat phase. The gripper is open (value ~0.997), indicating the cloth has been released. The end-effector is positioned above the cloth, and the next action is to move the arm away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003811_ecot.json b/cot/chunk-0003/episode_0003811_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6e61c863b8acee6305079d246b34a4b1ededc8a9 --- /dev/null +++ b/cot/chunk-0003/episode_0003811_ecot.json @@ -0,0 +1,2260 @@ +{ + "task_name": "episode_0003811", + "episode_json": "json/chunk-0003/episode_0003811.json", + "video_path": "videos/chunk-0003/image_0/episode_0003811.mp4", + "instruction": "Cover the silver pot with the silver lid.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003811.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.7330967783927917, + "std": 0.34260591864585876, + "delta_total": 0.011052966117858887, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.73310, std=0.34261, total_delta=0.01105). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 230, + 230, + 230 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 13 + ], + [ + 3, + 14, + 17 + ], + [ + 4, + 18, + 29 + ], + [ + 5, + 30, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector from its initial position toward the silver lid on the table.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 4, \"end\": 13, \"planning\": \"Close the gripper to securely grasp the handle of the silver lid.\"},\n {\"id\": 3, \"name\": \"lift and transport lid\", \"start\": 14, \"end\": 17, \"planning\": \"Lift the grasped lid and move it horizontally toward the silver pot.\"},\n {\"id\": 4, \"name\": \"place lid on pot\", \"start\": 18, \"end\": 29, \"planning\": \"Lower the lid onto the silver pot and release the grip to cover it.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 30, \"end\": 32, \"planning\": \"Open the gripper fully and move the end-effector away from the covered pot.\"}\n ],\n \"global_plan\": \"Cover the silver pot with the silver lid by approaching, grasping, lifting, transporting, placing, and retreating.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: no grasp in segment 1 (open gripper), grasp confirmed in segment 2 (gripper closes), transport in segment 3, placement and release in segment 4 (gripper opens slightly then holds), full retreat in segment 5 (gripper opens completely).\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 3, + "planning": "Move the end-effector from its initial position toward the silver lid on the table." + }, + { + "id": 2, + "name": "grasp lid", + "start": 4, + "end": 13, + "planning": "Close the gripper to securely grasp the handle of the silver lid." + }, + { + "id": 3, + "name": "lift and transport lid", + "start": 14, + "end": 17, + "planning": "Lift the grasped lid and move it horizontally toward the silver pot." + }, + { + "id": 4, + "name": "place lid on pot", + "start": 18, + "end": 29, + "planning": "Lower the lid onto the silver pot and release the grip to cover it." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 30, + "end": 32, + "planning": "Open the gripper fully and move the end-effector away from the covered pot." + } + ], + "global_plan": "Cover the silver pot with the silver lid by approaching, grasping, lifting, transporting, placing, and retreating.", + "notes": "Subtasks align with observed motion segments and gripper evidence: no grasp in segment 1 (open gripper), grasp confirmed in segment 2 (gripper closes), transport in segment 3, placement and release in segment 4 (gripper opens slightly then holds), full retreat in segment 5 (gripper opens completely)." + } + }, + "episode_goal": "Cover the silver pot with the silver lid.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640891969203949, + 0.21416030824184418, + 0.05580424144864082, + -2.96579909324646, + -0.022300133481621742, + -0.005132352467626333 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the counter with the silver lid visible on the right and the silver pot on the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 17 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26119375228881836, + 0.21029210090637207, + 0.04324592277407646, + -2.9943771362304688, + 0.006733813788741827, + -0.005348374135792255 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop, with the silver lid visible in the lower right and the silver pot on the left. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The robot needs to move its end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 17 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630425989627838, + 0.1827494502067566, + 0.040711332112550735, + -3.0377392768859863, + 0.009587617591023445, + -0.06865480542182922 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop, with the silver lid visible in the lower right and the silver pot on the left. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The robot needs to move its end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 17 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26953938603401184, + 0.12767557799816132, + 0.06320105493068695, + -3.0567355155944824, + -0.044882889837026596, + -0.21731874346733093 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop, with the silver lid visible in the lower right and the silver pot on the left. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The robot needs to move its end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 17 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630022466182709, + 0.08267132937908173, + 0.07065284997224808, + -3.0898828506469727, + -0.07244443148374557, + -0.32927748560905457 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop, with the silver lid visible in the lower right and the silver pot on the left. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The robot needs to move its end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 17 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25310030579566956, + 0.03265257552266121, + 0.061254847794771194, + -3.1256258487701416, + -0.056780003011226654, + -0.40584880113601685 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop, with the silver lid visible in the lower right and the silver pot on the left. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The robot needs to move its end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move down 6 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2478274703025818, + -0.014931639656424522, + 0.05204062908887863, + -3.1054530143737793, + -0.048685286194086075, + -0.43781229853630066 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop, with the silver lid visible in the lower right and the silver pot on the left. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The robot needs to move its end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 5 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24410469830036163, + -0.06422171741724014, + 0.04424599930644035, + -3.0700597763061523, + -0.051820963621139526, + -0.46543681621551514 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 85, + 340, + 305, + 619 + ], + "wooden countertop": [ + 5, + 201, + 843, + 986 + ], + "white can": [ + 299, + 206, + 437, + 412 + ] + } + } + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop, with the silver lid visible in the lower right and the silver pot on the left. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The robot needs to move its end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24471263587474823, + -0.07488854229450226, + 0.03257269039750099, + -3.0552799701690674, + -0.02975950762629509, + -0.4524678885936737 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 85, + 354, + 306, + 619 + ], + "orange sponge": [ + 691, + 423, + 805, + 652 + ], + "wooden countertop": [ + 5, + 202, + 840, + 988 + ], + "white can": [ + 299, + 205, + 433, + 411 + ] + } + } + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the counter, having completed the approach phase. The gripper is currently open and aligned with the lid's handle. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2506466805934906, + -0.08023296296596527, + 0.022896962240338326, + -3.058448076248169, + -0.01708109863102436, + -0.43373310565948486 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the counter, having completed the approach phase. The gripper is currently open and aligned with the lid's handle. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25661855936050415, + -0.08299575746059418, + 0.010421641170978546, + -3.0807175636291504, + -0.009182003326714039, + -0.4053788185119629 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the counter, having completed the approach phase. The gripper is currently open and aligned with the lid's handle. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26212742924690247, + -0.08445064723491669, + 0.005543960258364677, + -3.103551149368286, + -0.026714114472270012, + -0.3770907521247864 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the counter, having completed the approach phase. The gripper is currently open and aligned with the lid's handle. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 15 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26524868607521057, + -0.08557775616645813, + 0.0038286715280264616, + -3.1199755668640137, + -0.03004508465528488, + -0.365043044090271 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the counter, having completed the approach phase. The gripper is currently open and aligned with the lid's handle. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 17 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2661229968070984, + -0.08497890830039978, + 0.004272601567208767, + -3.1197471618652344, + -0.034577615559101105, + -0.3651127219200134 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the counter, having completed the approach phase. The gripper is currently open and aligned with the lid's handle. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 19 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26463937759399414, + -0.08310611546039581, + 0.0039586033672094345, + -3.119800329208374, + -0.023645969107747078, + -0.36951324343681335 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the counter, having completed the approach phase. The gripper is currently open and aligned with the lid's handle. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 19 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26477736234664917, + -0.08031731098890305, + 0.003966272808611393, + -3.1137232780456543, + -0.01881709136068821, + -0.36549049615859985 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it from the table surface. The gripper is closed around the lid, and the arm is beginning to elevate. The next action is to continue lifting and transport the lid toward the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 19 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674558758735657, + -0.07021554559469223, + 0.0083297835662961, + -3.1049556732177734, + -0.0014314508298411965, + -0.34097588062286377 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it from the table surface. The gripper is closed around the lid, and the arm is beginning to elevate. The next action is to continue lifting and transport the lid toward the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 19 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2818288803100586, + -0.05000364035367966, + 0.0512077696621418, + -3.1212852001190186, + -0.10160336643457413, + -0.2586521506309509 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it from the table surface. The gripper is closed around the lid, and the arm is beginning to elevate. The next action is to continue lifting and transport the lid toward the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 19 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28501394391059875, + -0.012249299325048923, + 0.07098656892776489, + -3.1296517848968506, + -0.09899348020553589, + -0.1631934940814972 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it from the table surface. The gripper is closed around the lid, and the arm is beginning to elevate. The next action is to continue lifting and transport the lid toward the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 18 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880699038505554, + 0.041284069418907166, + 0.0782812237739563, + -3.1203877925872803, + -0.08972036838531494, + -0.03795378655195236 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange sponge": [ + 533, + 374, + 802, + 651 + ], + "wooden countertop": [ + 6, + 194, + 846, + 988 + ], + "metal bowl": [ + 85, + 339, + 303, + 619 + ], + "white can": [ + 298, + 221, + 393, + 410 + ] + } + } + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it from the table surface. The gripper is closed around the lid, and the arm is beginning to elevate. The next action is to continue lifting and transport the lid toward the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 13 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28522348403930664, + 0.08949897438287735, + 0.06686555594205856, + -3.1031570434570312, + -0.04805617406964302, + 0.06301022320985794 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it from the table surface. The gripper is closed around the lid, and the arm is beginning to elevate. The next action is to continue lifting and transport the lid toward the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28029006719589233, + 0.13353809714317322, + 0.05722660571336746, + -3.073861837387085, + -0.02029888890683651, + 0.13782641291618347 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it from the table surface. The gripper is closed around the lid, and the arm is beginning to elevate. The next action is to continue lifting and transport the lid toward the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727837562561035, + 0.1588597446680069, + 0.04325533285737038, + -3.0470616817474365, + 0.012427122332155704, + 0.18812204897403717 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has grasped the silver lid and is currently lifting it from the table surface. The gripper is closed around the lid, and the arm is beginning to elevate. The next action is to continue lifting and transport the lid toward the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26661503314971924, + 0.17278821766376495, + 0.03895413503050804, + -3.0346121788024902, + 0.027829039841890335, + 0.21385914087295532 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently positioned directly above the silver pot, with the gripper maintaining a steady hold. The placement action is in progress as the robot lowers the lid toward the pot's opening. The next step is to release the lid once it is securely seated on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2619361877441406, + 0.17706739902496338, + 0.03795267269015312, + -3.0231761932373047, + 0.03734702616930008, + 0.22135776281356812 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently positioned directly above the silver pot, with the gripper maintaining a steady hold. The placement action is in progress as the robot lowers the lid toward the pot's opening. The next step is to release the lid once it is securely seated on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625270485877991, + 0.17866456508636475, + 0.03521982952952385, + -3.021359920501709, + 0.04396926984190941, + 0.223336324095726 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange sponge": [ + 534, + 375, + 802, + 653 + ], + "wooden countertop": [ + 4, + 202, + 842, + 988 + ], + "white can": [ + 297, + 205, + 438, + 412 + ], + "metal bowl": [ + 77, + 370, + 301, + 619 + ] + } + } + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently positioned directly above the silver pot, with the gripper maintaining a steady hold. The placement action is in progress as the robot lowers the lid toward the pot's opening. The next step is to release the lid once it is securely seated on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26444706320762634, + 0.17829285562038422, + 0.034312017261981964, + -3.0306148529052734, + 0.04598311334848404, + 0.2284054309129715 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently positioned directly above the silver pot, with the gripper maintaining a steady hold. The placement action is in progress as the robot lowers the lid toward the pot's opening. The next step is to release the lid once it is securely seated on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26566362380981445, + 0.17396272718906403, + 0.03306223079562187, + -3.059701681137085, + 0.04544861242175102, + 0.21031305193901062 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently positioned directly above the silver pot, with the gripper maintaining a steady hold. The placement action is in progress as the robot lowers the lid toward the pot's opening. The next step is to release the lid once it is securely seated on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26624974608421326, + 0.16911911964416504, + 0.03201131895184517, + -3.0858285427093506, + 0.04350370913743973, + 0.20114614069461823 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently positioned directly above the silver pot, with the gripper maintaining a steady hold. The placement action is in progress as the robot lowers the lid toward the pot's opening. The next step is to release the lid once it is securely seated on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26592037081718445, + 0.16740335524082184, + 0.03235020488500595, + -3.089736223220825, + 0.03894072771072388, + 0.20277389883995056 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently positioned directly above the silver pot, with the gripper maintaining a steady hold. The placement action is in progress as the robot lowers the lid toward the pot's opening. The next step is to release the lid once it is securely seated on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645750343799591, + 0.16723550856113434, + 0.03222142159938812, + -3.078329086303711, + 0.04402214661240578, + 0.19560092687606812 + ], + "gripper_value": 0.6319981217384338 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver lid is currently positioned directly above the silver pot, with the gripper maintaining a steady hold. The placement action is in progress as the robot lowers the lid toward the pot's opening. The next step is to release the lid once it is securely seated on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26627177000045776, + 0.16165733337402344, + 0.052550364285707474, + -3.0545966625213623, + -0.020782535895705223, + 0.15543320775032043 + ], + "gripper_value": 0.9255412817001343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver lid is already placed on the silver pot, completing the covering action. The robot arm is currently positioned above the pot and appears to be in the process of retreating. The next action is to continue moving the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2639201879501343, + 0.1577863097190857, + 0.06893030554056168, + -3.0381882190704346, + -0.07250529527664185, + 0.09735222905874252 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Cover the silver pot with the silver lid." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver lid is already placed on the silver pot, completing the covering action. The robot arm is currently positioned above the pot and appears to be in the process of retreating. The next action is to continue moving the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003812_ecot.json b/cot/chunk-0003/episode_0003812_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b3174bb64ea512860009a554310acdf4faafbcaa --- /dev/null +++ b/cot/chunk-0003/episode_0003812_ecot.json @@ -0,0 +1,1292 @@ +{ + "task_name": "episode_0003812", + "episode_json": "json/chunk-0003/episode_0003812.json", + "video_path": "videos/chunk-0003/image_0/episode_0003812.mp4", + "instruction": "Put cap on container.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003812.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.16362237930297852, + "std": 0.06625993549823761, + "delta_total": -0.13119083642959595, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.16362, std=0.06626, total_delta=-0.13119). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cap\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper from the initial position toward the red cap on the stove.\"},\n {\"id\": 2, \"name\": \"grasp cap\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the red cap to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move cap\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the cap and translate it toward the container location.\"},\n {\"id\": 4, \"name\": \"place cap on container\", \"start\": 17, \"end\": 19, \"planning\": \"Position the cap over the container and release it to complete the task.\"}\n ],\n \"global_plan\": \"Approach the red cap, grasp it securely, lift and move it to the container, then place it on top.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.16362), supporting grasp wording. Segment 2 has negligible gripper change, so placement is described as positioning and releasing without implying active grasping during that phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cap", + "start": 0, + "end": 5, + "planning": "Move the gripper from the initial position toward the red cap on the stove." + }, + { + "id": 2, + "name": "grasp cap", + "start": 6, + "end": 12, + "planning": "Close the gripper around the red cap to secure it for lifting." + }, + { + "id": 3, + "name": "lift and move cap", + "start": 13, + "end": 16, + "planning": "Lift the cap and translate it toward the container location." + }, + { + "id": 4, + "name": "place cap on container", + "start": 17, + "end": 19, + "planning": "Position the cap over the container and release it to complete the task." + } + ], + "global_plan": "Approach the red cap, grasp it securely, lift and move it to the container, then place it on top.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.16362), supporting grasp wording. Segment 2 has negligible gripper change, so placement is described as positioning and releasing without implying active grasping during that phase." + } + }, + "episode_goal": "Place the red cap onto the container.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2429252415895462, + 0.003778728423640132, + 0.09506180137395859, + 3.019883155822754, + -0.00926805380731821, + 0.02502102218568325 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24322116374969482, + 0.003792119212448597, + 0.08715248852968216, + 3.0178062915802, + 0.026272393763065338, + 0.0400443896651268 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2642733156681061, + 0.007453526835888624, + 0.08389168232679367, + 3.024623155593872, + 0.013746478594839573, + 0.08906739950180054 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "chili pepper": [ + 251, + 410, + 415, + 508 + ], + "lemon": [ + 283, + 553, + 363, + 650 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27274417877197266, + 0.005339542869478464, + 0.071051687002182, + 3.0459065437316895, + 0.003134616184979677, + 0.12087193131446838 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810928523540497, + -0.0023147526662796736, + 0.06010590121150017, + 3.0455899238586426, + 0.007264713291078806, + 0.12102547287940979 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820734977722168, + -0.011543072760105133, + 0.04727495461702347, + 3.0487656593322754, + -0.0018899338319897652, + 0.12389496713876724 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799684703350067, + -0.01994546875357628, + 0.03690262511372566, + 3.0511019229888916, + -0.009184598922729492, + 0.1350172758102417 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move left 5 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27953898906707764, + -0.028162391856312752, + 0.02827524207532406, + 3.0459096431732178, + -0.0014212359674274921, + 0.13992300629615784 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 6 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28077980875968933, + -0.03297147899866104, + 0.026814918965101242, + 3.031038761138916, + -0.004124813713133335, + 0.14968544244766235 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 3 cm, close gripper; then move forward 6 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823357582092285, + -0.03591010719537735, + 0.02142907679080963, + 3.047182083129883, + -0.009077348746359348, + 0.16510742902755737 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot has approached the red cap and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the cap. The next action is to initiate the grasp by closing the gripper around the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 3 cm, close gripper; then move forward 6 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28457099199295044, + -0.035773150622844696, + 0.014249262399971485, + 3.0680463314056396, + -0.010980818420648575, + 0.1784815937280655 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot has approached the red cap and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the cap. The next action is to initiate the grasp by closing the gripper around the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 4 cm, keep gripper closed; then move forward 6 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2906818091869354, + -0.03481469675898552, + 0.013151335529983044, + 3.0728037357330322, + -0.01792328618466854, + 0.1844276785850525 + ], + "gripper_value": 0.8775349855422974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot has approached the red cap and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the cap. The next action is to initiate the grasp by closing the gripper around the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 4 cm, keep gripper closed; then move forward 6 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28918933868408203, + -0.029097292572259903, + 0.019659608602523804, + 3.0566160678863525, + 0.03609352186322212, + 0.1887940615415573 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot has approached the red cap and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the cap. The next action is to initiate the grasp by closing the gripper around the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move forward 6 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30198654532432556, + -0.0043048555962741375, + 0.053821150213479996, + 2.9998135566711426, + 0.027633925899863243, + 0.22523702681064606 + ], + "gripper_value": 0.8687413334846497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and move cap", + "subtask_reasoning": "The robot has approached the red cap and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the cap. The next action is to initiate the grasp by closing the gripper around the cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31460294127464294, + 0.023940997198224068, + 0.09227433055639267, + 2.948974847793579, + -0.022951938211917877, + 0.28959494829177856 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "frying pan": [ + 674, + 348, + 921, + 637 + ], + "chili pepper": [ + 251, + 411, + 415, + 508 + ], + "cabbage": [ + 514, + 151, + 635, + 305 + ], + "lemon": [ + 283, + 553, + 363, + 650 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and move cap", + "subtask_reasoning": "The robot has successfully grasped the red cap and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold during the upward motion. The next action is to continue moving the cap toward the container for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33065065741539, + 0.03918719291687012, + 0.12037787586450577, + 2.921320676803589, + -0.057552289217710495, + 0.3483472466468811 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and move cap", + "subtask_reasoning": "The robot has successfully grasped the red cap and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold during the upward motion. The next action is to continue moving the cap toward the container for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3469598889350891, + 0.04876558855175972, + 0.1321573108434677, + 2.892237663269043, + -0.0706598311662674, + 0.3997599482536316 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and move cap", + "subtask_reasoning": "The robot has successfully grasped the red cap and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold during the upward motion. The next action is to continue moving the cap toward the container for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36316752433776855, + 0.053957849740982056, + 0.12749654054641724, + 2.908163547515869, + -0.07053431868553162, + 0.44652727246284485 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The robot has successfully grasped the red cap and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold during the upward motion. The next action is to continue moving the cap toward the container for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3754766285419464, + 0.056084632873535156, + 0.11503978073596954, + 2.9359829425811768, + -0.07239185273647308, + 0.467789888381958 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently held above the container, aligned for placement. The gripper remains open and stable with no closing motion, indicating the cap is not yet released. The next action should be to lower the cap slightly and release it onto the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3814440667629242, + 0.053411997854709625, + 0.10885555297136307, + 2.940729856491089, + -0.07932756096124649, + 0.4737530052661896 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the container." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and move cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently held above the container, aligned for placement. The gripper remains open and stable with no closing motion, indicating the cap is not yet released. The next action should be to lower the cap slightly and release it onto the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003813_ecot.json b/cot/chunk-0003/episode_0003813_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..68d8de3d9636feda61e6d62e824ba885ed6ad12a --- /dev/null +++ b/cot/chunk-0003/episode_0003813_ecot.json @@ -0,0 +1,2208 @@ +{ + "task_name": "episode_0003813", + "episode_json": "json/chunk-0003/episode_0003813.json", + "video_path": "videos/chunk-0003/image_0/episode_0003813.mp4", + "instruction": "Move croissant to above towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003813.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.3590473532676697, + "std": 0.16539070010185242, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.35905, std=0.16539, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 16 + ], + [ + 3, + 17, + 21 + ], + [ + 4, + 22, + 27 + ], + [ + 5, + 28, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach croissant\", \"start\": 0, \"end\": 2, \"planning\": \"Move gripper from initial position toward the croissant in the metal cup without closing.\"},\n {\"id\": 2, \"name\": \"grasp croissant\", \"start\": 3, \"end\": 16, \"planning\": \"Close gripper around croissant and lift it slightly from the metal cup.\"},\n {\"id\": 3, \"name\": \"transport croissant\", \"start\": 17, \"end\": 21, \"planning\": \"Carry the grasped croissant over the table toward the towel area.\"},\n {\"id\": 4, \"name\": \"release croissant\", \"start\": 22, \"end\": 27, \"planning\": \"Open gripper to drop croissant onto table near towel, then retreat upward.\"},\n {\"id\": 5, \"name\": \"retreat to safe pose\", \"start\": 28, \"end\": 30, \"planning\": \"Move gripper away from drop zone to final resting position above table.\"}\n ],\n \"global_plan\": \"Approach croissant in cup, grasp and lift it, carry it over to towel vicinity, release it on table beside towel, then retreat to safe height.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has strong gripper closure (delta=-0.356) and image confirms grasp at frame 16 — grasp wording justified. Segment 4 shows gripper opening (delta=+0.355) and image at frame 27 shows croissant released — release wording valid. Segments 3 and 5 have no gripper activity — labeled as transport and retreat respectively.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach croissant", + "start": 0, + "end": 2, + "planning": "Move gripper from initial position toward the croissant in the metal cup without closing." + }, + { + "id": 2, + "name": "grasp croissant", + "start": 3, + "end": 16, + "planning": "Close gripper around croissant and lift it slightly from the metal cup." + }, + { + "id": 3, + "name": "transport croissant", + "start": 17, + "end": 21, + "planning": "Carry the grasped croissant over the table toward the towel area." + }, + { + "id": 4, + "name": "release croissant", + "start": 22, + "end": 27, + "planning": "Open gripper to drop croissant onto table near towel, then retreat upward." + }, + { + "id": 5, + "name": "retreat to safe pose", + "start": 28, + "end": 30, + "planning": "Move gripper away from drop zone to final resting position above table." + } + ], + "global_plan": "Approach croissant in cup, grasp and lift it, carry it over to towel vicinity, release it on table beside towel, then retreat to safe height.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has strong gripper closure (delta=-0.356) and image confirms grasp at frame 16 — grasp wording justified. Segment 4 shows gripper opening (delta=+0.355) and image at frame 27 shows croissant released — release wording valid. Segments 3 and 5 have no gripper activity — labeled as transport and retreat respectively." + } + }, + "episode_goal": "Move croissant to above towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22292806208133698, + -0.05745634064078331, + 0.11008423566818237, + 3.1029586791992188, + -0.05748039484024048, + -0.15627716481685638 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 16 cm, move left 4 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22291067242622375, + -0.05722852051258087, + 0.10513465106487274, + 3.1057422161102295, + -0.0359966941177845, + -0.15242412686347961 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 15 cm, move left 3 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24590690433979034, + -0.04350242391228676, + 0.10639346390962601, + 3.135854482650757, + -0.0364723727107048, + -0.0921860858798027 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 15 cm, move left 3 cm, move down 10 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2800352871417999, + -0.01974399946630001, + 0.10879247635602951, + -3.131802558898926, + -0.05010931193828583, + 0.004317285493016243 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 445, + 543, + 777, + 932 + ], + "gas burner": [ + 901, + 551, + 995, + 772 + ], + "wooden countertop": [ + 4, + 139, + 941, + 968 + ], + "tomato sauce": [ + 637, + 40, + 784, + 300 + ], + "light blue brush": [ + 243, + 167, + 363, + 336 + ], + "corn": [ + 768, + 130, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 3 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32645195722579956, + 0.010689575225114822, + 0.10197391360998154, + -3.102710723876953, + -0.08652997016906738, + 0.08655199408531189 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37369510531425476, + 0.02955997735261917, + 0.09222990274429321, + -3.0984890460968018, + -0.12565824389457703, + 0.16087046265602112 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41674843430519104, + 0.033036574721336365, + 0.08013855665922165, + -3.131427764892578, + -0.13823920488357544, + 0.21726751327514648 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4423238933086395, + 0.036880966275930405, + 0.06304484605789185, + -3.111567735671997, + -0.12623482942581177, + 0.24817226827144623 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.45038464665412903, + 0.033705513924360275, + 0.04306679219007492, + -3.095449447631836, + -0.09890447556972504, + 0.24526125192642212 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 445, + 544, + 778, + 932 + ], + "orange food item": [ + 476, + 246, + 582, + 334 + ], + "wooden countertop": [ + 5, + 138, + 945, + 970 + ], + "gas burner": [ + 901, + 551, + 995, + 772 + ], + "tomato sauce": [ + 639, + 41, + 783, + 300 + ], + "light blue brush": [ + 243, + 167, + 363, + 336 + ], + "corn": [ + 768, + 130, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the croissant in the cup. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the croissant for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.44801217317581177, + 0.03263826295733452, + 0.03610911965370178, + -3.0809295177459717, + -0.08221496641635895, + 0.24502111971378326 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 3 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4377376139163971, + 0.02019583247601986, + 0.022309867665171623, + -3.080659866333008, + -0.04173938184976578, + 0.2247958779335022 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, close gripper; then move back 4 cm, move right 11 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4320859909057617, + 0.011961185373365879, + 0.012919600121676922, + -3.0803611278533936, + -0.0336737334728241, + 0.22396527230739594 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 12 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4320712089538574, + 0.012845193967223167, + 0.010904315859079361, + -3.05804181098938, + -0.035672031342983246, + 0.22721213102340698 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.43324971199035645, + 0.012839025817811489, + 0.00778641551733017, + -3.052729606628418, + -0.03228560835123062, + 0.20838457345962524 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.43377453088760376, + 0.013086550869047642, + 0.008635337464511395, + -3.066998243331909, + -0.02777009643614292, + 0.18526816368103027 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4346162676811218, + 0.012162687256932259, + 0.012488518841564655, + -3.074716091156006, + -0.03921240568161011, + 0.1720675528049469 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.43392321467399597, + 0.01262402068823576, + 0.04081457108259201, + -3.1124517917633057, + -0.0855943113565445, + 0.16686679422855377 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4287065863609314, + 0.0030594125855714083, + 0.10491402447223663, + 3.1380250453948975, + -0.22425954043865204, + 0.13733015954494476 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "transport croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.41363832354545593, + -0.03421871364116669, + 0.11248277872800827, + 3.095784902572632, + -0.21554364264011383, + 0.047532930970191956 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "transport croissant", + "subtask_reasoning": "The robot end-effector is positioned directly above the croissant inside the metal cup, with the gripper open and ready. The approach phase is complete, and the scene is stable for grasping. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4003450572490692, + -0.0701725110411644, + 0.09729132056236267, + 3.0723652839660645, + -0.17937232553958893, + -0.03637067973613739 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "transport croissant", + "subtask_reasoning": "The croissant has been grasped and lifted from the cup. The robot is currently transporting the croissant across the table toward the green towel. The next action is to continue moving the end-effector to position the croissant above the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, open gripper; then move back 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3927474617958069, + -0.10244165360927582, + 0.07368817180395126, + 3.0866827964782715, + -0.12744079530239105, + -0.10082737356424332 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "transport croissant", + "subtask_reasoning": "The croissant has been grasped and lifted from the cup. The robot is currently transporting the croissant across the table toward the green towel. The next action is to continue moving the end-effector to position the croissant above the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, open gripper; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3881412446498871, + -0.11354877054691315, + 0.053211312741041183, + 3.105968952178955, + -0.08449466526508331, + -0.11520764976739883 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal measuring cup": [ + 335, + 212, + 641, + 413 + ], + "yellow cloth": [ + 445, + 544, + 777, + 931 + ], + "light blue brush": [ + 244, + 167, + 363, + 335 + ], + "tomato sauce": [ + 637, + 42, + 761, + 284 + ], + "wooden countertop": [ + 5, + 140, + 938, + 970 + ], + "orange food item": [ + 656, + 307, + 797, + 455 + ], + "gas burner": [ + 902, + 550, + 995, + 771 + ] + } + } + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "transport croissant", + "subtask_reasoning": "The croissant has been grasped and lifted from the cup. The robot is currently transporting the croissant across the table toward the green towel. The next action is to continue moving the end-effector to position the croissant above the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper closed; then move back 4 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, open gripper; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3863556981086731, + -0.1077333465218544, + 0.023233480751514435, + -3.1404387950897217, + -0.03289287909865379, + -0.1049036830663681 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release croissant", + "subtask_reasoning": "The croissant has been grasped and lifted from the cup. The robot is currently transporting the croissant across the table toward the green towel. The next action is to continue moving the end-effector to position the croissant above the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, open gripper; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3868885934352875, + -0.10082416236400604, + 0.013674071989953518, + -3.1262307167053223, + -0.021275117993354797, + -0.0996917337179184 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal measuring cup": [ + 333, + 212, + 644, + 412 + ], + "yellow cloth": [ + 445, + 544, + 777, + 931 + ], + "light blue brush": [ + 244, + 167, + 363, + 335 + ], + "tomato sauce": [ + 637, + 83, + 740, + 289 + ], + "wooden countertop": [ + 18, + 138, + 936, + 965 + ], + "orange food item": [ + 621, + 394, + 756, + 530 + ], + "gas burner": [ + 902, + 550, + 995, + 771 + ] + } + } + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release croissant", + "subtask_reasoning": "The croissant has been grasped and lifted from the cup. The robot is currently transporting the croissant across the table toward the green towel. The next action is to continue moving the end-effector to position the croissant above the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3842458128929138, + -0.09860002994537354, + 0.010678387247025967, + -3.1155381202697754, + -0.013587809167802334, + -0.10830961167812347 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release croissant", + "subtask_reasoning": "The robot arm is positioned above the table near the towel, holding the croissant with an open gripper (value ~0.75). The croissant has been successfully transported from the cup to the target area. The next action is to lower the arm slightly and release the croissant onto the table beside the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3796738088130951, + -0.09925461560487747, + 0.011721828952431679, + -3.115060329437256, + -0.010339134372770786, + -0.12071245908737183 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release croissant", + "subtask_reasoning": "The robot arm is positioned above the table near the towel, holding the croissant with an open gripper (value ~0.75). The croissant has been successfully transported from the cup to the target area. The next action is to lower the arm slightly and release the croissant onto the table beside the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.380808562040329, + -0.10267231613397598, + 0.04620223119854927, + -3.1255860328674316, + -0.0802498459815979, + -0.12300035357475281 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release croissant", + "subtask_reasoning": "The robot arm is positioned above the table near the towel, holding the croissant with an open gripper (value ~0.75). The croissant has been successfully transported from the cup to the target area. The next action is to lower the arm slightly and release the croissant onto the table beside the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37205222249031067, + -0.09766348451375961, + 0.09917868673801422, + -3.1401305198669434, + -0.16677120327949524, + -0.10487395524978638 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "release croissant", + "subtask_reasoning": "The robot arm is positioned above the table near the towel, holding the croissant with an open gripper (value ~0.75). The croissant has been successfully transported from the cup to the target area. The next action is to lower the arm slightly and release the croissant onto the table beside the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 3 cm, keep gripper open; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3469741642475128, + -0.06476437300443649, + 0.1289321333169937, + 3.1373300552368164, + -0.17845141887664795, + -0.02364066243171692 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The robot arm is positioned above the table near the towel, holding the croissant with an open gripper (value ~0.75). The croissant has been successfully transported from the cup to the target area. The next action is to lower the arm slightly and release the croissant onto the table beside the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3241095542907715, + -0.04813128337264061, + 0.12907975912094116, + 3.1018764972686768, + -0.15269675850868225, + -0.006051415111869574 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The croissant has been successfully placed on the table near the towel, and the gripper is open. The robot is currently retreating to a safe pose, moving upward and away from the objects. The next action is to complete the retreat motion to ensure clearance from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31282860040664673, + -0.03210342675447464, + 0.12271524220705032, + 3.0931921005249023, + -0.13059626519680023, + -0.008062006905674934 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move croissant to above towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "transport croissant" + }, + { + "id": 4, + "subtask": "release croissant" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The croissant has been successfully placed on the table near the towel, and the gripper is open. The robot is currently retreating to a safe pose, moving upward and away from the objects. The next action is to complete the retreat motion to ensure clearance from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003814_ecot.json b/cot/chunk-0003/episode_0003814_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ef1c4ba47d557d2646a90fa4fd3a9d61f5576ede --- /dev/null +++ b/cot/chunk-0003/episode_0003814_ecot.json @@ -0,0 +1,1054 @@ +{ + "task_name": "episode_0003814", + "episode_json": "json/chunk-0003/episode_0003814.json", + "video_path": "videos/chunk-0003/image_0/episode_0003814.mp4", + "instruction": "Put sweet potato in pot which is in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003814.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.17469251155853271, + "std": 0.08380596339702606, + "delta_total": -0.17376548051834106, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.17469, std=0.08381, total_delta=-0.17377). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sweet potato\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the sweet potato on the counter near the sink.\"},\n {\"id\": 2, \"name\": \"grasp sweet potato\", \"start\": 4, \"end\": 8, \"planning\": \"Close gripper around sweet potato as confirmed by segment-level gripper closing and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition over sink\", \"start\": 9, \"end\": 12, \"planning\": \"Lift sweet potato and move it horizontally toward the pot inside the sink.\"},\n {\"id\": 4, \"name\": \"release sweet potato into pot\", \"start\": 13, \"end\": 15, \"planning\": \"Open gripper to drop sweet potato into the pot; no further grasping occurs in this segment.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, and release sweet potato into the pot located in the sink, using observed gripper closure only where supported by segment evidence and imagery.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.17469) consistent with grasping; Segment 2 has negligible gripper change (range=0.00093), so no grasp/pick/place wording is used — instead, release is inferred from context and motion trajectory ending above pot.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sweet potato", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the sweet potato on the counter near the sink." + }, + { + "id": 2, + "name": "grasp sweet potato", + "start": 4, + "end": 8, + "planning": "Close gripper around sweet potato as confirmed by segment-level gripper closing and visual contact." + }, + { + "id": 3, + "name": "lift and reposition over sink", + "start": 9, + "end": 12, + "planning": "Lift sweet potato and move it horizontally toward the pot inside the sink." + }, + { + "id": 4, + "name": "release sweet potato into pot", + "start": 13, + "end": 15, + "planning": "Open gripper to drop sweet potato into the pot; no further grasping occurs in this segment." + } + ], + "global_plan": "Approach, grasp, lift, and release sweet potato into the pot located in the sink, using observed gripper closure only where supported by segment evidence and imagery.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.17469) consistent with grasping; Segment 2 has negligible gripper change (range=0.00093), so no grasp/pick/place wording is used — instead, release is inferred from context and motion trajectory ending above pot." + } + }, + "episode_goal": "Place the sweet potato into the metal pot located in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4575285017490387, + -0.12127883732318878, + 0.06611242890357971, + -3.070474624633789, + -0.2198997288942337, + -0.021520664915442467 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot is positioned above the sink where a metal pot and a purple sweet potato are visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm towards the sweet potato to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4544472396373749, + -0.1205705925822258, + 0.045631445944309235, + -3.062208652496338, + -0.19100934267044067, + -0.031438980251550674 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 299, + 268, + 868, + 775 + ], + "faucet": [ + 573, + 5, + 796, + 349 + ] + } + } + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sweet potato visible inside the metal pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 3 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.45786070823669434, + -0.11972366273403168, + 0.039332278072834015, + -3.0600643157958984, + -0.2233990877866745, + -0.0484633669257164 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sweet potato visible inside the metal pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 5 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4599590301513672, + -0.11819538474082947, + 0.029840733855962753, + -3.062962293624878, + -0.2534533441066742, + -0.06672783941030502 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sweet potato visible inside the metal pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 6 cm, move left 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.46392011642456055, + -0.10920348763465881, + 0.02233784645795822, + -3.090606927871704, + -0.27965205907821655, + -0.0567157082259655 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sweet potato visible inside the metal pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 6 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4651423394680023, + -0.10073312371969223, + 0.013397196307778358, + -3.1029064655303955, + -0.29448115825653076, + -0.05690496414899826 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sweet potato visible inside the metal pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.46471482515335083, + -0.10045762360095978, + 0.008222376927733421, + -3.1075682640075684, + -0.3119106590747833, + -0.048377178609371185 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato on the counter next to the sink. The gripper is currently open and positioned near the sweet potato, ready to close. The next action is to close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.462872177362442, + -0.09948667138814926, + 0.00884983129799366, + -3.0906143188476562, + -0.3009597659111023, + -0.029807914048433304 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato on the counter next to the sink. The gripper is currently open and positioned near the sweet potato, ready to close. The next action is to close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.45268896222114563, + -0.10614008456468582, + 0.015200992114841938, + -3.0208427906036377, + -0.2374664694070816, + -0.038832563906908035 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato on the counter next to the sink. The gripper is currently open and positioned near the sweet potato, ready to close. The next action is to close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.443874329328537, + -0.12195897102355957, + 0.029142357409000397, + -2.966503620147705, + -0.19069775938987732, + -0.06455828249454498 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "lift and reposition over sink", + "subtask_reasoning": "The robot has approached the sweet potato on the counter next to the sink. The gripper is currently open and positioned near the sweet potato, ready to close. The next action is to close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.43491846323013306, + -0.11638512462377548, + 0.039587974548339844, + -2.9367740154266357, + -0.1662970334291458, + -0.0528024360537529 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "lift and reposition over sink", + "subtask_reasoning": "The robot has successfully grasped the sweet potato and is currently lifting it above the countertop. The gripper remains closed with no further closing signal, confirming a stable hold. The next action is to continue repositioning the sweet potato directly over the metal pot in the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 4 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4167335331439972, + -0.10886308550834656, + 0.057847317308187485, + -2.9257431030273438, + -0.16758427023887634, + -0.06251689046621323 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 299, + 267, + 868, + 773 + ], + "faucet": [ + 573, + 4, + 780, + 342 + ], + "utensil holder": [ + 558, + 441, + 761, + 713 + ] + } + } + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "lift and reposition over sink", + "subtask_reasoning": "The robot has successfully grasped the sweet potato and is currently lifting it above the countertop. The gripper remains closed with no further closing signal, confirming a stable hold. The next action is to continue repositioning the sweet potato directly over the metal pot in the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39824947714805603, + -0.10059242695569992, + 0.06868323683738708, + -2.9286882877349854, + -0.15157152712345123, + -0.049971070140600204 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "lift and reposition over sink", + "subtask_reasoning": "The robot has successfully grasped the sweet potato and is currently lifting it above the countertop. The gripper remains closed with no further closing signal, confirming a stable hold. The next action is to continue repositioning the sweet potato directly over the metal pot in the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38284018635749817, + -0.08641436696052551, + 0.07499544322490692, + -2.934962749481201, + -0.13853813707828522, + -0.01536502130329609 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "release sweet potato into pot", + "subtask_reasoning": "The robot has successfully grasped the sweet potato and is currently lifting it above the countertop. The gripper remains closed with no further closing signal, confirming a stable hold. The next action is to continue repositioning the sweet potato directly over the metal pot in the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651713728904724, + -0.07328721135854721, + 0.07128908485174179, + -2.9491307735443115, + -0.1334032416343689, + 0.02694910764694214 + ], + "gripper_value": 0.8270506262779236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "release sweet potato into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot in the sink, with the sweet potato held in the gripper. The approach and lift phases are complete, and the gripper remains closed as evidenced by the stable high gripper value. The next action is to open the gripper to release the sweet potato into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3516268730163574, + -0.05865345522761345, + 0.061212390661239624, + -2.9695262908935547, + -0.12793008983135223, + 0.09562204033136368 + ], + "gripper_value": 0.8270506262779236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the metal pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and reposition over sink" + }, + { + "id": 4, + "subtask": "release sweet potato into pot" + } + ], + "subtask_name": "release sweet potato into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot in the sink, with the sweet potato held in the gripper. The approach and lift phases are complete, and the gripper remains closed as evidenced by the stable high gripper value. The next action is to open the gripper to release the sweet potato into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003815_ecot.json b/cot/chunk-0003/episode_0003815_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9a4d6d92ad66a741e8f841c05a8e4600aed4dc5a --- /dev/null +++ b/cot/chunk-0003/episode_0003815_ecot.json @@ -0,0 +1,6196 @@ +{ + "task_name": "episode_0003815", + "episode_json": "json/chunk-0003/episode_0003815.json", + "video_path": "videos/chunk-0003/image_0/episode_0003815.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 93, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003815.json" + }, + "fps": 5.0, + "T_eff": 93, + "gripper_behavior_summary": { + "available": true, + "range": 0.6200140118598938, + "std": 0.1945170760154724, + "delta_total": -0.008721351623535156, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62001, std=0.19452, total_delta=-0.00872). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 400, + 400, + 400, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 110, + 110, + 110, + 110, + 110, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 110, + 110, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 610, + 691, + 691 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 4 + ], + [ + 3, + 5, + 9 + ], + [ + 4, + 10, + 22 + ], + [ + 5, + 23, + 32 + ], + [ + 6, + 33, + 47 + ], + [ + 7, + 48, + 52 + ], + [ + 8, + 53, + 66 + ], + [ + 9, + 67, + 68 + ], + [ + 10, + 69, + 90 + ], + [ + 11, + 91, + 92 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and align with beans\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector into position above the scattered beans, preparing for sweeping motion.\"},\n {\"id\": 2, \"name\": \"initiate sweep with gripper closing\", \"start\": 10, \"end\": 22, \"planning\": \"Begin sweeping beans toward pile while gripper closes slightly to assist in gathering.\"},\n {\"id\": 3, \"name\": \"continue sweeping across tray\", \"start\": 23, \"end\": 52, \"planning\": \"Maintain contact and push beans laterally across the tray surface toward accumulation zone.\"},\n {\"id\": 4, \"name\": \"final sweep consolidation\", \"start\": 53, \"end\": 66, \"planning\": \"Complete final sweeping passes to consolidate all beans into a single pile without grasping.\"},\n {\"id\": 5, \"name\": \"retract and open gripper\", \"start\": 67, \"end\": 92, \"planning\": \"Lift end-effector away from pile and fully open gripper to release any residual contact or debris.\"}\n ],\n \"global_plan\": \"Sweep scattered beans into a consolidated pile using continuous pushing motions, with minimal gripper engagement only during initial sweep phase, then retract and release.\",\n \"notes\": \"Gripper closure observed only in segments 4 and 11; segment 4 shows partial closing consistent with light contact during sweep initiation, segment 11 shows full opening at end. No true grasping occurs — all manipulation is via contact-based pushing/sliding. Frame coverage is complete and contiguous from 0 to 92.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and align with beans", + "start": 0, + "end": 9, + "planning": "Move end-effector into position above the scattered beans, preparing for sweeping motion." + }, + { + "id": 2, + "name": "initiate sweep with gripper closing", + "start": 10, + "end": 22, + "planning": "Begin sweeping beans toward pile while gripper closes slightly to assist in gathering." + }, + { + "id": 3, + "name": "continue sweeping across tray", + "start": 23, + "end": 52, + "planning": "Maintain contact and push beans laterally across the tray surface toward accumulation zone." + }, + { + "id": 4, + "name": "final sweep consolidation", + "start": 53, + "end": 66, + "planning": "Complete final sweeping passes to consolidate all beans into a single pile without grasping." + }, + { + "id": 5, + "name": "retract and open gripper", + "start": 67, + "end": 92, + "planning": "Lift end-effector away from pile and fully open gripper to release any residual contact or debris." + } + ], + "global_plan": "Sweep scattered beans into a consolidated pile using continuous pushing motions, with minimal gripper engagement only during initial sweep phase, then retract and release.", + "notes": "Gripper closure observed only in segments 4 and 11; segment 4 shows partial closing consistent with light contact during sweep initiation, segment 11 shows full opening at end. No true grasping occurs — all manipulation is via contact-based pushing/sliding. Frame coverage is complete and contiguous from 0 to 92." + } + }, + "episode_goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337848484516144, + 0.1877560019493103, + 0.12391206622123718, + -3.120049238204956, + -0.1860676109790802, + 0.13622447848320007 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet; the arm is approaching alignment for initial contact. Next action: move gripper closer to beans to begin pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3293106257915497, + 0.18485406041145325, + 0.10749167203903198, + -3.141420364379883, + -0.1399265080690384, + 0.14161346852779388 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet; the arm is approaching alignment for initial contact. Next action: move gripper closer to beans to begin pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300047516822815, + 0.18434970080852509, + 0.09979820996522903, + 3.1342146396636963, + -0.13905084133148193, + 0.15497156977653503 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet; the arm is approaching alignment for initial contact. Next action: move gripper closer to beans to begin pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3280099630355835, + 0.1806807667016983, + 0.09104542434215546, + 3.132882595062256, + -0.13581791520118713, + 0.15714611113071442 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet; the arm is approaching alignment for initial contact. Next action: move gripper closer to beans to begin pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33010995388031006, + 0.17742078006267548, + 0.08699052780866623, + 3.1375515460968018, + -0.14693331718444824, + 0.15063275396823883 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32768476009368896, + 0.1778459995985031, + 0.08228347450494766, + -3.1373937129974365, + -0.14320999383926392, + 0.15713275969028473 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304523527622223, + 0.17763261497020721, + 0.0800398737192154, + -3.1121788024902344, + -0.15100407600402832, + 0.1562754511833191 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 3 cm, move right 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.330472856760025, + 0.17682912945747375, + 0.0740046352148056, + -3.095611333847046, + -0.13997480273246765, + 0.15624289214611053 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 620, + 81, + 742, + 189 + ], + "yellow tool": [ + 836, + 148, + 972, + 276 + ], + "white tray": [ + 11, + 210, + 914, + 992 + ], + "blue tape": [ + 55, + 319, + 180, + 452 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move right 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32944604754447937, + 0.17569270730018616, + 0.06544849276542664, + -3.071565628051758, + -0.12575162947177887, + 0.1558205485343933 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move right 9 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33084067702293396, + 0.1730547398328781, + 0.06052519008517265, + -3.051070213317871, + -0.12114866077899933, + 0.1391376405954361 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 3 cm, move right 11 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.326183021068573, + 0.16871191561222076, + 0.054405685514211655, + -3.057981014251709, + -0.11173386126756668, + 0.13052672147750854 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244478106498718, + 0.16183072328567505, + 0.05449182540178299, + -3.068012237548828, + -0.10389485210180283, + 0.12634636461734772 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32358455657958984, + 0.14933611452579498, + 0.054043013602495193, + -3.0886828899383545, + -0.07286543399095535, + 0.136859729886055 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 14 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32650598883628845, + 0.13504928350448608, + 0.05544053763151169, + -3.1043121814727783, + -0.04337584227323532, + 0.1465223878622055 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 15 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34115758538246155, + 0.12688006460666656, + 0.05415133759379387, + -3.0970818996429443, + -0.04877660796046257, + 0.17051418125629425 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34512859582901, + 0.11672309786081314, + 0.053062885999679565, + -3.099721670150757, + -0.033829133957624435, + 0.1859225630760193 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, approaching from the left side. No sweeping has occurred yet; the gripper remains open and elevated. The next action should be to lower and align the gripper near the leftmost beans to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, keep gripper closed; then move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526547849178314, + 0.103192038834095, + 0.053630463778972626, + -3.1010217666625977, + -0.03393496572971344, + 0.18478643894195557 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 621, + 81, + 740, + 189 + ], + "white tray": [ + 9, + 211, + 914, + 991 + ], + "yellow tool": [ + 835, + 148, + 972, + 274 + ], + "blue tape": [ + 4, + 306, + 182, + 452 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, keep gripper closed; then move right 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3540809750556946, + 0.09061166644096375, + 0.05356346815824509, + -3.103964328765869, + -0.023151865229010582, + 0.187517449259758 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, keep gripper closed; then move forward 1 cm, move right 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3564901053905487, + 0.0744045302271843, + 0.052409518510103226, + -3.1128506660461426, + -0.005968614015728235, + 0.18011285364627838 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, keep gripper closed; then move right 10 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35864707827568054, + 0.06329838186502457, + 0.05224263668060303, + -3.120675563812256, + 0.011833577416837215, + 0.1817466765642166 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, keep gripper closed; then move right 8 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36514538526535034, + 0.04962926730513573, + 0.051871489733457565, + -3.122858762741089, + 0.012784634716808796, + 0.17866972088813782 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, keep gripper closed; then move right 4 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36976853013038635, + 0.02841811627149582, + 0.052201271057128906, + -3.123711347579956, + -0.0015442862641066313, + 0.15082821249961853 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 10 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36998677253723145, + 0.008203896693885326, + 0.05012177303433418, + -3.1295039653778076, + -0.0030173067934811115, + 0.13496695458889008 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "initiate sweep with gripper closing", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move up 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683195114135742, + -0.014569660648703575, + 0.05011473223567009, + 3.1401467323303223, + 0.008020108565688133, + 0.12866662442684174 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3654055595397949, + -0.03999891132116318, + 0.05062571167945862, + 3.1279451847076416, + 0.02181030996143818, + 0.11740104109048843 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3678378760814667, + -0.06850919127464294, + 0.050008613616228104, + 3.1080572605133057, + 0.040011320263147354, + 0.12481546401977539 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 3, + 306, + 189, + 450 + ], + "white tray": [ + 5, + 209, + 923, + 993 + ], + "yellow tool": [ + 835, + 148, + 972, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3710615932941437, + -0.09519319236278534, + 0.05148843675851822, + 3.078629493713379, + 0.05297360569238663, + 0.11335430294275284 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37413644790649414, + -0.10829198360443115, + 0.05402771010994911, + 3.0588510036468506, + 0.06558061391115189, + 0.12233114242553711 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 14 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3724212348461151, + -0.11143479496240616, + 0.054808180779218674, + 3.0404083728790283, + 0.07937712222337723, + 0.11804438382387161 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 14 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3688603639602661, + -0.09732244163751602, + 0.08620066195726395, + 2.9806089401245117, + 0.045961637049913406, + 0.10583275556564331 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, move down 3 cm, tilt left 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36518940329551697, + -0.051904454827308655, + 0.12378054857254028, + 2.9489834308624268, + 0.027446135878562927, + 0.16722671687602997 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white knife": [ + 847, + 283, + 991, + 371 + ], + "white tray": [ + 6, + 208, + 923, + 992 + ], + "blue tape": [ + 4, + 306, + 189, + 449 + ], + "yellow tool": [ + 835, + 147, + 972, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 7 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3560018837451935, + -0.019813193008303642, + 0.1474820375442505, + 2.9483189582824707, + 0.0018852570792660117, + 0.17450201511383057 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move down 10 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34680014848709106, + 0.0027538968715816736, + 0.14831463992595673, + 3.0749216079711914, + 0.0258355513215065, + 0.19796203076839447 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33448824286460876, + 0.022093061357736588, + 0.12426380068063736, + -3.0869853496551514, + 0.044682662934064865, + 0.29089871048927307 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3269783556461334, + 0.03156837448477745, + 0.09727838635444641, + -3.016521692276001, + 0.03236464038491249, + 0.3805287182331085 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3247734308242798, + 0.03691278025507927, + 0.07441592961549759, + -2.971904993057251, + 0.04567202925682068, + 0.4116179347038269 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128364384174347, + 0.037569981068372726, + 0.06029587984085083, + -2.9523913860321045, + 0.06322438269853592, + 0.4201618731021881 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The gripper is positioned near the scattered black beans on the left side of the white tray, having completed the approach and alignment phase. The gripper is currently open and in contact with the tray surface, ready to begin the sweeping motion. The next action is to close the gripper slightly to initiate the sweep while maintaining contact with the tray to push the beans toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 14 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3082709014415741, + 0.03486140817403793, + 0.05366213992238045, + -2.9679155349731445, + 0.07202128320932388, + 0.4076038897037506 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 14 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.30102235078811646, + 0.03203704580664635, + 0.053413089364767075, + -2.975172281265259, + 0.06791578233242035, + 0.3921346068382263 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.29821285605430603, + 0.020555462688207626, + 0.05144654959440231, + -2.9868686199188232, + 0.07718034833669662, + 0.38499218225479126 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move up 5 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2971189022064209, + 0.0023583085276186466, + 0.05189800634980202, + -3.003937005996704, + 0.09199228882789612, + 0.3923565447330475 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 7 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999570965766907, + -0.021067703142762184, + 0.04995068907737732, + -3.0235025882720947, + 0.10131614655256271, + 0.3943534791469574 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.30591022968292236, + -0.04239233583211899, + 0.04864105209708214, + -3.0441722869873047, + 0.09269104897975922, + 0.4044463038444519 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.314609557390213, + -0.06378956139087677, + 0.04840625450015068, + -3.07037353515625, + 0.07911595702171326, + 0.42354848980903625 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 678, + 88, + 739, + 185 + ], + "yellow tool": [ + 834, + 147, + 972, + 275 + ], + "white tray": [ + 5, + 208, + 923, + 993 + ], + "black beans": [ + 687, + 478, + 827, + 740 + ], + "blue tape": [ + 4, + 306, + 189, + 450 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251150846481323, + -0.07866915315389633, + 0.04796244949102402, + -3.0921554565429688, + 0.08442900329828262, + 0.45912909507751465 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 4 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3374965190887451, + -0.09400279819965363, + 0.04830585792660713, + -3.1158196926116943, + 0.08840084820985794, + 0.4926449656486511 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3490147590637207, + -0.10179008543491364, + 0.05009040981531143, + -3.130770444869995, + 0.11093100905418396, + 0.5286399722099304 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3483884334564209, + -0.10344498604536057, + 0.05207480490207672, + -3.140057325363159, + 0.16651760041713715, + 0.5510770678520203 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451634645462036, + -0.09329016506671906, + 0.06174762174487114, + 3.1120429039001465, + 0.21464678645133972, + 0.5554436445236206 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406617343425751, + -0.0721527561545372, + 0.09903991967439651, + 3.032602071762085, + 0.20672494173049927, + 0.5594357252120972 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 5, + 208, + 923, + 992 + ], + "yellow tool": [ + 834, + 147, + 972, + 273 + ], + "blue tape": [ + 3, + 306, + 189, + 450 + ], + "black beans": [ + 699, + 481, + 827, + 742 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.326472669839859, + -0.06007002294063568, + 0.1234707459807396, + 2.975796937942505, + 0.20438778400421143, + 0.5291656851768494 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.31353020668029785, + -0.047661036252975464, + 0.11970144510269165, + 3.0260233879089355, + 0.17378266155719757, + 0.49132728576660156 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 7 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.30753442645072937, + -0.038105640560388565, + 0.09621036797761917, + 3.1216471195220947, + 0.10248211771249771, + 0.4568726420402527 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "continue sweeping across tray", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move right 8 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 52 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3090791404247284, + -0.030943404883146286, + 0.08516468852758408, + -3.1077821254730225, + 0.05129126086831093, + 0.4353215992450714 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069342076778412, + -0.024870576336979866, + 0.07702109217643738, + -3.0735554695129395, + 0.038086339831352234, + 0.42665812373161316 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.29873281717300415, + -0.0226536076515913, + 0.06808354705572128, + -3.035174608230591, + 0.04205511137843132, + 0.4060024321079254 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.29122909903526306, + -0.024501139298081398, + 0.05922771245241165, + -3.014312744140625, + 0.045963142067193985, + 0.37927326560020447 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886631190776825, + -0.02975739911198616, + 0.054649367928504944, + -3.006140947341919, + 0.03720897063612938, + 0.36930006742477417 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902686595916748, + -0.03808266669511795, + 0.052366141229867935, + -3.008890390396118, + 0.02738017588853836, + 0.36227095127105713 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is currently positioned over the white tray with scattered black beans, having already initiated a sweeping motion. The gripper remains open and in contact with the tray surface, consistent with a pushing action rather than grasping. The next likely action is to continue moving laterally across the tray to consolidate the beans into a pile on the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947428524494171, + -0.05349971354007721, + 0.050552401691675186, + -3.016275644302368, + 0.026463231071829796, + 0.3586985170841217 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.29615160822868347, + -0.07302398979663849, + 0.049463704228401184, + -3.0408451557159424, + 0.057802293449640274, + 0.38316580653190613 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948679029941559, + -0.09606906026601791, + 0.049983520060777664, + -3.070482015609741, + 0.09270879626274109, + 0.4042228162288666 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 15 cm, move down 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.30830836296081543, + -0.1084829643368721, + 0.049471963196992874, + -3.096417188644409, + 0.11163219064474106, + 0.49303552508354187 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 15 cm, move down 5 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.33715200424194336, + -0.10822996497154236, + 0.04873143881559372, + -3.107988119125366, + 0.12032526731491089, + 0.5923351645469666 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move left 15 cm, move down 6 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.37066811323165894, + -0.0945083275437355, + 0.05027658864855766, + -3.1162362098693848, + 0.1045285016298294, + 0.674182653427124 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 7, + 197, + 902, + 933 + ], + "blue tape": [ + 66, + 305, + 185, + 447 + ], + "yellow tool": [ + 837, + 147, + 972, + 274 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move up 7 cm, keep gripper closed; then move forward 4 cm, move left 14 cm, move down 7 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3719918727874756, + -0.08174565434455872, + 0.052125945687294006, + -3.100761890411377, + 0.12163171172142029, + 0.6815285086631775 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed; then move forward 4 cm, move left 12 cm, move down 7 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.36353161931037903, + -0.055127836763858795, + 0.07222440093755722, + -3.1151363849639893, + 0.1621207892894745, + 0.6559061408042908 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "final sweep consolidation", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move forward 5 cm, move left 10 cm, move down 7 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 53, + "end": 66 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.3563348948955536, + -0.018204912543296814, + 0.12348965555429459, + 3.0820932388305664, + 0.14639142155647278, + 0.6162534356117249 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 621, + 82, + 740, + 187 + ], + "white tray": [ + 7, + 194, + 890, + 882 + ], + "black beans": [ + 700, + 418, + 814, + 729 + ], + "blue tape": [ + 65, + 300, + 179, + 444 + ], + "yellow tool": [ + 835, + 147, + 972, + 274 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move down 7 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567560017108917, + 0.020144138485193253, + 0.14544522762298584, + 3.0889697074890137, + 0.12384028732776642, + 0.551071047782898 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 9 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.3656023144721985, + 0.0592348612844944, + 0.14878270030021667, + -3.0940027236938477, + 0.10831984132528305, + 0.5209952592849731 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.37699389457702637, + 0.09990885853767395, + 0.11316491663455963, + -2.9757823944091797, + 0.09441276639699936, + 0.4958426356315613 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.389252245426178, + 0.1279188096523285, + 0.08938173204660416, + -2.919508218765259, + 0.026517411693930626, + 0.44986987113952637 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 20 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.393433541059494, + 0.13310390710830688, + 0.07581791281700134, + -2.8992116451263428, + 0.010890811681747437, + 0.39361369609832764 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 23 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.3913145661354065, + 0.13294394314289093, + 0.0662672147154808, + -2.888016700744629, + 0.0388655960559845, + 0.39665764570236206 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 25 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.3923563063144684, + 0.11879406869411469, + 0.0570206493139267, + -2.889888286590576, + 0.08407075703144073, + 0.40235984325408936 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 23 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.40016546845436096, + 0.1009034588932991, + 0.05574142932891846, + -2.890537738800049, + 0.10867764055728912, + 0.3833136260509491 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 17 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.4065917730331421, + 0.08391313999891281, + 0.055711787194013596, + -2.8999733924865723, + 0.13010083138942719, + 0.38478243350982666 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.4138236343860626, + 0.06532938778400421, + 0.05603682994842529, + -2.913388967514038, + 0.13580381870269775, + 0.3820999264717102 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.4148593544960022, + 0.03377082943916321, + 0.055268991738557816, + -2.940296173095703, + 0.15560105443000793, + 0.35420992970466614 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The robot is in the final sweep consolidation phase, with the gripper open and positioned near scattered beans on the white tray. Previous steps have aligned and initiated sweeping; now, the robot must push remaining beans toward the pile on the right. The next action is a controlled forward push using the gripper’s edge to consolidate the last few beans into the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.4153994917869568, + -0.006007136311382055, + 0.054856233298778534, + -2.959144353866577, + 0.1617022603750229, + 0.2981142997741699 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 14 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.4154438078403473, + -0.03284916654229164, + 0.05498633161187172, + -2.9727180004119873, + 0.15951873362064362, + 0.27953463792800903 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 21 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.41918274760246277, + -0.06717979162931442, + 0.05453186109662056, + -2.9889400005340576, + 0.14527876675128937, + 0.2355743944644928 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 25 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.4205804169178009, + -0.09947442263364792, + 0.05502495914697647, + -3.0020198822021484, + 0.12667760252952576, + 0.17506323754787445 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 620, + 91, + 736, + 186 + ], + "blue tape": [ + 88, + 295, + 186, + 442 + ], + "black beans": [ + 708, + 449, + 820, + 733 + ], + "white tray": [ + 36, + 206, + 896, + 884 + ], + "white knife": [ + 646, + 431, + 719, + 599 + ], + "yellow tool": [ + 872, + 180, + 972, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 28 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.4184033274650574, + -0.11549150198698044, + 0.054362691938877106, + -3.0108208656311035, + 0.11891954392194748, + 0.1386934518814087 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 30 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.40604662895202637, + -0.10722869634628296, + 0.06161080673336983, + -3.0379045009613037, + 0.12842623889446259, + 0.1127045750617981 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 29 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.39878368377685547, + -0.06867647171020508, + 0.09885738044977188, + -3.0804386138916016, + 0.08989005535840988, + 0.12980006635189056 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 621, + 82, + 742, + 188 + ], + "white tray": [ + 8, + 193, + 896, + 885 + ], + "yellow tool": [ + 849, + 158, + 973, + 275 + ], + "black beans": [ + 731, + 444, + 840, + 731 + ], + "white knife": [ + 652, + 410, + 732, + 594 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 25 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.3876602053642273, + -0.006415750831365585, + 0.12344584614038467, + -3.0860953330993652, + 0.07591734826564789, + 0.17970684170722961 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 19 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.37505120038986206, + 0.03515365719795227, + 0.11479496210813522, + -3.0409278869628906, + 0.1100710779428482, + 0.1728292852640152 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.3641159236431122, + 0.0779544934630394, + 0.09834413230419159, + -3.0055441856384277, + 0.12386474758386612, + 0.15874865651130676 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.3401995599269867, + 0.13215816020965576, + 0.08332578837871552, + -2.979090929031372, + 0.11438824981451035, + 0.1674092710018158 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.3258054554462433, + 0.17258237302303314, + 0.07101065665483475, + -2.97432279586792, + 0.07688333094120026, + 0.1566094011068344 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.31651565432548523, + 0.1852947175502777, + 0.07244496047496796, + -3.030500650405884, + 0.04205428436398506, + 0.21054644882678986 + ], + "gripper_value": 0.748681366443634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.312200665473938, + 0.18374384939670563, + 0.09531649947166443, + -3.0941662788391113, + -0.0019208842422813177, + 0.21597495675086975 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black objects into a pile on the right side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweep with gripper closing" + }, + { + "id": 3, + "subtask": "continue sweeping across tray" + }, + { + "id": 4, + "subtask": "final sweep consolidation" + }, + { + "id": 5, + "subtask": "retract and open gripper" + } + ], + "subtask_name": "retract and open gripper", + "subtask_reasoning": "The gripper is currently open and positioned above the white tray, having completed the sweeping motion that consolidated the black objects into a pile on the right. The robot has retracted slightly from the pile, and the gripper remains open, indicating the subtask of retracting and opening the gripper is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 92 + }, + "cache_ref": { + "anchor_ref_reasoning": 79 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 67, + "end": 92 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003817_ecot.json b/cot/chunk-0003/episode_0003817_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..064fef9c0f2b586c9f1574ce2f235f4b5ac611de --- /dev/null +++ b/cot/chunk-0003/episode_0003817_ecot.json @@ -0,0 +1,2128 @@ +{ + "task_name": "episode_0003817", + "episode_json": "json/chunk-0003/episode_0003817.json", + "video_path": "videos/chunk-0003/image_0/episode_0003817.mp4", + "instruction": "Move the blue spoon to the right side below the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003817.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.6234500408172607, + "std": 0.2969638705253601, + "delta_total": -0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62345, std=0.29696, total_delta=-0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 127, + 127, + 127, + 127, + 127, + 127 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 26 + ], + [ + 4, + 27, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue spoon\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the blue spoon on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"grasp blue spoon\", \"start\": 4, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the blue spoon, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition spoon rightward\", \"start\": 12, \"end\": 26, \"planning\": \"Lift and move the grasped blue spoon to the right side below the burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release spoon and retreat\", \"start\": 27, \"end\": 32, \"planning\": \"Open the gripper to release the blue spoon at target location and retract the end-effector upward.\"}\n ],\n \"global_plan\": \"Approach the blue spoon, grasp it, reposition it to the right side below the burner, then release and retreat.\",\n \"notes\": \"Gripper evidence supports grasp in segments 2–4; segment 1 shows no closure so described as approach only. Motion and imagery confirm lifting and placing mechanics during repositioning.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue spoon", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the blue spoon on the stovetop without grasping." + }, + { + "id": 2, + "name": "grasp blue spoon", + "start": 4, + "end": 11, + "planning": "Close the gripper to securely grasp the blue spoon, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "reposition spoon rightward", + "start": 12, + "end": 26, + "planning": "Lift and move the grasped blue spoon to the right side below the burner while maintaining grip." + }, + { + "id": 4, + "name": "release spoon and retreat", + "start": 27, + "end": 32, + "planning": "Open the gripper to release the blue spoon at target location and retract the end-effector upward." + } + ], + "global_plan": "Approach the blue spoon, grasp it, reposition it to the right side below the burner, then release and retreat.", + "notes": "Gripper evidence supports grasp in segments 2–4; segment 1 shows no closure so described as approach only. Motion and imagery confirm lifting and placing mechanics during repositioning." + } + }, + "episode_goal": "Move the blue spoon to the right side below the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34405413269996643, + 0.07209740579128265, + 0.11362486332654953, + 2.9338128566741943, + -0.170515239238739, + 0.6701353788375854 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue spoon visible on the left side of the burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 5 cm, move left 4 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415243923664093, + 0.07274331152439117, + 0.10313373804092407, + 2.9508585929870605, + -0.13739922642707825, + 0.6810835599899292 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the left side. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 5 cm, move left 4 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33534538745880127, + 0.07779009640216827, + 0.10281907021999359, + 2.9760613441467285, + -0.10666998475790024, + 0.7875264883041382 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the left side. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move left 4 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3228370249271393, + 0.10483264923095703, + 0.12210825830698013, + 2.956498861312866, + -0.1179337203502655, + 0.9553898572921753 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the left side. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 5 cm, move left 4 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31749850511550903, + 0.11525438725948334, + 0.12580622732639313, + 2.956024169921875, + -0.12237844616174698, + 1.043557047843933 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the left side. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29803523421287537, + 0.1377190500497818, + 0.11163283884525299, + 3.0124895572662354, + -0.14426910877227783, + 1.1550732851028442 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the left side. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 10 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28265929222106934, + 0.14403897523880005, + 0.08603407442569733, + 3.039876937866211, + -0.17378416657447815, + 1.1889266967773438 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 368, + 362, + 633, + 559 + ], + "blue spatula": [ + 162, + 443, + 299, + 568 + ], + "sink": [ + 742, + 445, + 995, + 963 + ], + "pot": [ + 406, + 256, + 610, + 469 + ], + "stovetop": [ + 113, + 230, + 745, + 743 + ], + "white appliance": [ + 17, + 599, + 748, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the left side. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper; then move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26654052734375, + 0.15824906527996063, + 0.05680886283516884, + 3.0791518688201904, + -0.1491188406944275, + 1.2354704141616821 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2660692036151886, + 0.15901890397071838, + 0.038414619863033295, + 3.092628002166748, + -0.11532310396432877, + 1.2428642511367798 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 369, + 362, + 633, + 559 + ], + "blue cup": [ + 277, + 216, + 362, + 326 + ], + "blue spatula": [ + 163, + 441, + 298, + 568 + ], + "pot": [ + 406, + 256, + 611, + 469 + ], + "stovetop": [ + 124, + 235, + 745, + 741 + ], + "white appliance": [ + 18, + 598, + 750, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move right 4 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26468196511268616, + 0.15925531089305878, + 0.02492258884012699, + 3.1131203174591064, + -0.0950809121131897, + 1.250870943069458 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move right 8 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.266094833612442, + 0.1577027142047882, + 0.01187523640692234, + 3.110229253768921, + -0.07786799967288971, + 1.2594388723373413 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 12 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27020007371902466, + 0.15599505603313446, + 0.00742603512480855, + 3.064633369445801, + -0.08143150061368942, + 1.290554165840149 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 16 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712160050868988, + 0.15531593561172485, + 0.006782946176826954, + 3.0590016841888428, + -0.08243373781442642, + 1.2846105098724365 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 18 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27091923356056213, + 0.15480756759643555, + 0.006866382900625467, + 3.050816774368286, + -0.08954557031393051, + 1.2783862352371216 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.271144837141037, + 0.156002476811409, + 0.008689223788678646, + 3.0599164962768555, + -0.0833083912730217, + 1.2834603786468506 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 20 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2701130211353302, + 0.15597869455814362, + 0.01048958022147417, + 3.0519113540649414, + -0.06444260478019714, + 1.3272117376327515 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 21 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718311548233032, + 0.15273155272006989, + 0.0349440760910511, + 3.0171358585357666, + -0.06044906750321388, + 1.4005467891693115 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 20 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27789562940597534, + 0.13829120993614197, + 0.06840449571609497, + 2.957221269607544, + -0.08384759724140167, + 1.4351799488067627 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 18 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718494236469269, + 0.11314377188682556, + 0.07877626270055771, + 2.924339771270752, + -0.04793952405452728, + 1.4623711109161377 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot has approached the blue spoon on the stovetop, positioning the gripper above it. The gripper is currently open and aligned for grasping. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 16 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2670334577560425, + 0.07564449310302734, + 0.08069171011447906, + 2.9119110107421875, + -0.024862846359610558, + 1.4380161762237549 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645696997642517, + 0.03543318808078766, + 0.0770435631275177, + 2.9096829891204834, + -0.019023193046450615, + 1.4063258171081543 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615847885608673, + -0.002145306672900915, + 0.07091887295246124, + 2.913602828979492, + -0.020260393619537354, + 1.3757219314575195 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26221078634262085, + -0.024668550118803978, + 0.06754910200834274, + 2.915170669555664, + -0.04572342336177826, + 1.3469469547271729 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2605152726173401, + -0.04213835671544075, + 0.04516888037323952, + 2.9720351696014404, + -0.05631338059902191, + 1.3196450471878052 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 537, + 569, + 671, + 723 + ], + "blue cup": [ + 276, + 216, + 364, + 323 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, open gripper; then move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664336562156677, + -0.047839101403951645, + 0.02652021124958992, + 2.993325710296631, + -0.05359002202749252, + 1.3291287422180176 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, open gripper; then move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2704527974128723, + -0.049341265112161636, + 0.013411754742264748, + 3.012256383895874, + -0.06365590542554855, + 1.3281270265579224 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27577799558639526, + -0.05184434354305267, + 0.008225075900554657, + 3.0090861320495605, + -0.04966353997588158, + 1.3144234418869019 + ], + "gripper_value": 0.4568776488304138 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "reposition spoon rightward", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28350016474723816, + -0.04519381746649742, + 0.010038117878139019, + 3.0178775787353516, + -0.027204837650060654, + 1.298710823059082 + ], + "gripper_value": 0.7565051317214966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2838709354400635, + -0.04360246658325195, + 0.013010835275053978, + 3.014253854751587, + -0.03450102359056473, + 1.2858549356460571 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The robot is holding the blue spoon above the stovetop, having already approached and grasped it. The current subtask involves repositioning the spoon to the right side below the burner. The next action should be to move the spoon laterally to the target position while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846103012561798, + -0.04034227877855301, + 0.027309836819767952, + 2.9874956607818604, + -0.04305502027273178, + 1.290867805480957 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The blue spoon has been successfully repositioned to the right side below the burner and is now resting on the surface. The gripper is open and no longer in contact with the spoon, indicating release is complete. The next action is to retreat the end-effector away from the spoon to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28388717770576477, + -0.0399940051138401, + 0.03639427199959755, + 2.9738025665283203, + -0.02959400974214077, + 1.2840014696121216 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The blue spoon has been successfully repositioned to the right side below the burner and is now resting on the surface. The gripper is open and no longer in contact with the spoon, indicating release is complete. The next action is to retreat the end-effector away from the spoon to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792266607284546, + -0.03884124010801315, + 0.058383919298648834, + 2.963681221008301, + -0.0354735404253006, + 1.2908154726028442 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The blue spoon has been successfully repositioned to the right side below the burner and is now resting on the surface. The gripper is open and no longer in contact with the spoon, indicating release is complete. The next action is to retreat the end-effector away from the spoon to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.27144739031791687, + -0.03854722902178764, + 0.09144284576177597, + 2.9193456172943115, + -0.03945693373680115, + 1.2883061170578003 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 370, + 361, + 616, + 540 + ], + "blue cup": [ + 277, + 215, + 361, + 324 + ], + "blue spatula": [ + 432, + 528, + 701, + 766 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the right side below the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "reposition spoon rightward" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The blue spoon has been successfully repositioned to the right side below the burner and is now resting on the surface. The gripper is open and no longer in contact with the spoon, indicating release is complete. The next action is to retreat the end-effector away from the spoon to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003818_ecot.json b/cot/chunk-0003/episode_0003818_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1347cd540a34f8b83e85991df406ce1e7f914427 --- /dev/null +++ b/cot/chunk-0003/episode_0003818_ecot.json @@ -0,0 +1,1631 @@ +{ + "task_name": "episode_0003818", + "episode_json": "json/chunk-0003/episode_0003818.json", + "video_path": "videos/chunk-0003/image_0/episode_0003818.mp4", + "instruction": "Put small spoon from basket to tray.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003818.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.9345342516899109, + "std": 0.42702317237854004, + "delta_total": -0.9338696599006653, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93453, std=0.42702, total_delta=-0.93387). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 209, + 209, + 209, + 209, + 209, + 209 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 14 + ], + [ + 3, + 15, + 18 + ], + [ + 4, + 19, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on spoon\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the small spoon in the basket and begin closing the gripper to make contact.\"},\n {\"id\": 2, \"name\": \"secure grasp and lift spoon\", \"start\": 9, \"end\": 14, \"planning\": \"Complete gripper closure to firmly grasp the spoon, then lift it vertically out of the basket.\"},\n {\"id\": 3, \"name\": \"transport spoon over tray\", \"start\": 15, \"end\": 18, \"planning\": \"Move the grasped spoon horizontally and slightly upward to position it above the target compartment in the tray.\"},\n {\"id\": 4, \"name\": \"lower and release spoon into tray\", \"start\": 19, \"end\": 24, \"planning\": \"Descend the spoon into the tray compartment and open the gripper to release it, then retreat slightly.\"}\n ],\n \"global_plan\": \"Pick up the small spoon from the utensil basket by approaching, grasping, and lifting it, then transport it over the tray and lower it into the designated compartment before releasing.\",\n \"notes\": \"Segment 1 shows initial approach and partial gripper closure (delta=-0.238), consistent with making contact. Segment 2 shows strong gripper closure (delta=-0.386) and vertical motion, supporting grasp and lift. Segments 3 and 4 show no gripper change but clear translational motion, consistent with transport and release phases. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on spoon", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the small spoon in the basket and begin closing the gripper to make contact." + }, + { + "id": 2, + "name": "secure grasp and lift spoon", + "start": 9, + "end": 14, + "planning": "Complete gripper closure to firmly grasp the spoon, then lift it vertically out of the basket." + }, + { + "id": 3, + "name": "transport spoon over tray", + "start": 15, + "end": 18, + "planning": "Move the grasped spoon horizontally and slightly upward to position it above the target compartment in the tray." + }, + { + "id": 4, + "name": "lower and release spoon into tray", + "start": 19, + "end": 24, + "planning": "Descend the spoon into the tray compartment and open the gripper to release it, then retreat slightly." + } + ], + "global_plan": "Pick up the small spoon from the utensil basket by approaching, grasping, and lifting it, then transport it over the tray and lower it into the designated compartment before releasing.", + "notes": "Segment 1 shows initial approach and partial gripper closure (delta=-0.238), consistent with making contact. Segment 2 shows strong gripper closure (delta=-0.386) and vertical motion, supporting grasp and lift. Segments 3 and 4 show no gripper change but clear translational motion, consistent with transport and release phases. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3157299757003784, + 0.12070119380950928, + 0.06761623173952103, + -3.1007885932922363, + -0.20468221604824066, + 0.1817435622215271 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoon. The gripper is currently open and has not yet made contact with the spoon. The next action is to lower the arm and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt right 20 degrees, rotate clockwise 50 degrees, close gripper; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31310147047042847, + 0.12011346966028214, + 0.06412168592214584, + -3.128782033920288, + -0.17144502699375153, + 0.32269012928009033 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoon. The gripper is currently open and has not yet made contact with the spoon. The next action is to lower the arm and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, tilt right 20 degrees, rotate clockwise 40 degrees, close gripper; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32784613966941833, + 0.11926659196615219, + 0.07679973542690277, + 3.0493814945220947, + -0.146083265542984, + 0.5505765080451965 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoon. The gripper is currently open and has not yet made contact with the spoon. The next action is to lower the arm and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3336060345172882, + 0.12550783157348633, + 0.06527198106050491, + 2.9059808254241943, + -0.1609644591808319, + 0.7660771012306213 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoon. The gripper is currently open and has not yet made contact with the spoon. The next action is to lower the arm and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32583311200141907, + 0.12364974617958069, + 0.040931522846221924, + 2.823397397994995, + -0.19995027780532837, + 0.9567255973815918 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 5, + 193, + 138, + 353 + ], + "table leg": [ + 694, + 8, + 805, + 370 + ], + "faucet": [ + 367, + 101, + 594, + 487 + ], + "cutlery tray": [ + 340, + 331, + 994, + 992 + ], + "dish rack": [ + 5, + 224, + 487, + 848 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoons. The gripper is currently open and has not yet made contact with any object. The next action is to lower the arm and close the gripper to grasp the target spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203987777233124, + 0.12730838358402252, + 0.032536525279283524, + 2.7758681774139404, + -0.19868502020835876, + 1.049835205078125 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoons. The gripper is currently open and has not yet made contact with any object. The next action is to lower the arm and close the gripper to grasp the target spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move right 3 cm, move up 11 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176478147506714, + 0.13244566321372986, + 0.03061419539153576, + 2.7281205654144287, + -0.2007260024547577, + 1.0733987092971802 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoons. The gripper is currently open and has not yet made contact with any object. The next action is to lower the arm and close the gripper to grasp the target spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move right 3 cm, move up 11 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32362890243530273, + 0.13233405351638794, + 0.03272978216409683, + 2.6765592098236084, + -0.22496694326400757, + 1.047467589378357 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoons. The gripper is currently open and has not yet made contact with any object. The next action is to lower the arm and close the gripper to grasp the target spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move up 11 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32977592945098877, + 0.12914472818374634, + 0.03117278218269348, + 2.6266534328460693, + -0.22630205750465393, + 1.0424209833145142 + ], + "gripper_value": 0.7613787055015564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "approach and close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoons. The gripper is currently open and has not yet made contact with any object. The next action is to lower the arm and close the gripper to grasp the target spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move up 11 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32993200421333313, + 0.11973267793655396, + 0.023391351103782654, + 2.6211135387420654, + -0.1832120269536972, + 1.0236941576004028 + ], + "gripper_value": 0.4522285461425781 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "secure grasp and lift spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoons. The gripper is currently open and has not yet made contact with any object. The next action is to lower the arm and close the gripper to grasp the target spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 11 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move up 3 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33665773272514343, + 0.1143963560461998, + 0.02157054841518402, + 2.612778425216675, + -0.14926013350486755, + 0.9895325899124146 + ], + "gripper_value": 0.2020297795534134 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "secure grasp and lift spoon", + "subtask_reasoning": "The robot arm is positioned above the utensil basket, hovering near the small spoons. The gripper is currently open and has not yet made contact with any object. The next action is to lower the arm and close the gripper to grasp the target spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 12 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move up 3 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405076861381531, + 0.11242742836475372, + 0.022521335631608963, + 2.6100878715515137, + -0.14737555384635925, + 0.9661383628845215 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "secure grasp and lift spoon", + "subtask_reasoning": "The robot has approached the small spoon in the basket and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper is in contact with the spoon, ready to lift. The next action is to lift the spoon slightly to confirm a secure grasp before transporting it to the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 12 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move up 3 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34073495864868164, + 0.11351389437913895, + 0.025688940659165382, + 2.63478946685791, + -0.14050160348415375, + 0.9294009804725647 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "secure grasp and lift spoon", + "subtask_reasoning": "The robot has approached the small spoon in the basket and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper is in contact with the spoon, ready to lift. The next action is to lift the spoon slightly to confirm a secure grasp before transporting it to the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 11 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move up 3 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3404832184314728, + 0.11521607637405396, + 0.04316132888197899, + 2.7229390144348145, + -0.10070383548736572, + 0.8434812426567078 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "secure grasp and lift spoon", + "subtask_reasoning": "The robot has approached the small spoon in the basket and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper is in contact with the spoon, ready to lift. The next action is to lift the spoon slightly to confirm a secure grasp before transporting it to the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 9 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move up 3 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33954301476478577, + 0.10991869866847992, + 0.09335066378116608, + 2.877211093902588, + -0.043523646891117096, + 0.7695134878158569 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 5, + 194, + 138, + 353 + ], + "table leg": [ + 694, + 9, + 805, + 371 + ], + "faucet": [ + 377, + 112, + 592, + 486 + ], + "cutlery tray": [ + 342, + 332, + 994, + 992 + ], + "dish rack": [ + 7, + 251, + 489, + 854 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "secure grasp and lift spoon", + "subtask_reasoning": "The robot has approached the small spoon in the basket and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper is in contact with the spoon, ready to lift. The next action is to lift the spoon slightly to confirm a secure grasp before transporting it to the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move up 3 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3343369662761688, + 0.09239690005779266, + 0.13754905760288239, + 3.0013527870178223, + 0.007985041476786137, + 0.7355442643165588 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "transport spoon over tray", + "subtask_reasoning": "The robot has approached the small spoon in the basket and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper is in contact with the spoon, ready to lift. The next action is to lift the spoon slightly to confirm a secure grasp before transporting it to the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 3 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196077346801758, + 0.07828572392463684, + 0.1807003617286682, + 3.0367634296417236, + 0.07140830159187317, + 0.7662584781646729 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "transport spoon over tray", + "subtask_reasoning": "The robot has successfully lifted the small spoon from the basket and is currently transporting it over the black tray. The gripper remains closed around the spoon, indicating a secure hold during transit. The next action is to position the spoon above the first compartment of the tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3209432065486908, + 0.041369110345840454, + 0.2041347771883011, + 3.0238583087921143, + 0.18009695410728455, + 0.7604014277458191 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "transport spoon over tray", + "subtask_reasoning": "The robot has successfully lifted the small spoon from the basket and is currently transporting it over the black tray. The gripper remains closed around the spoon, indicating a secure hold during transit. The next action is to position the spoon above the first compartment of the tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292694091796875, + 0.01279464177787304, + 0.19715847074985504, + 3.002122402191162, + 0.2638308107852936, + 0.8669272661209106 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "transport spoon over tray", + "subtask_reasoning": "The robot has successfully lifted the small spoon from the basket and is currently transporting it over the black tray. The gripper remains closed around the spoon, indicating a secure hold during transit. The next action is to position the spoon above the first compartment of the tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32825735211372375, + -0.009922538883984089, + 0.16711795330047607, + 2.9364676475524902, + 0.32534685730934143, + 0.98499596118927 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "lower and release spoon into tray", + "subtask_reasoning": "The robot has successfully lifted the small spoon from the basket and is currently transporting it over the black tray. The gripper remains closed around the spoon, indicating a secure hold during transit. The next action is to position the spoon above the first compartment of the tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185081481933594, + -0.0233823973685503, + 0.15005917847156525, + 2.894014835357666, + 0.39168494939804077, + 1.0983942747116089 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "lower and release spoon into tray", + "subtask_reasoning": "The robot has successfully lifted the small spoon from the basket and is currently transporting it over the black tray. The gripper remains closed around the spoon, indicating a secure hold during transit. The next action is to position the spoon above the first compartment of the tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3098767101764679, + -0.0284582506865263, + 0.13263532519340515, + 2.9036026000976562, + 0.4395747482776642, + 1.1861801147460938 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "lower and release spoon into tray", + "subtask_reasoning": "The spoon is currently held above the first compartment of the black tray, having been transported from the basket. The gripper remains closed with no opening signal in this segment, indicating the spoon is still secured. The next action is to lower the spoon into the compartment and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3065219223499298, + -0.02804485522210598, + 0.11695060133934021, + 2.8585150241851807, + 0.44680866599082947, + 1.215908169746399 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "lower and release spoon into tray", + "subtask_reasoning": "The spoon is currently held above the first compartment of the black tray, having been transported from the basket. The gripper remains closed with no opening signal in this segment, indicating the spoon is still secured. The next action is to lower the spoon into the compartment and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31280452013015747, + -0.01807410456240177, + 0.09484224021434784, + 2.8154518604278564, + 0.43812063336372375, + 1.2039625644683838 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 5, + 193, + 138, + 354 + ], + "table leg": [ + 695, + 9, + 804, + 370 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "lower and release spoon into tray", + "subtask_reasoning": "The spoon is currently held above the first compartment of the black tray, having been transported from the basket. The gripper remains closed with no opening signal in this segment, indicating the spoon is still secured. The next action is to lower the spoon into the compartment and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199106752872467, + -0.015219572931528091, + 0.07448840886354446, + 2.8126163482666016, + 0.4437335431575775, + 1.1833505630493164 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the small spoon from the basket and place it into the first compartment of the black tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on spoon" + }, + { + "id": 2, + "subtask": "secure grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon over tray" + }, + { + "id": 4, + "subtask": "lower and release spoon into tray" + } + ], + "subtask_name": "lower and release spoon into tray", + "subtask_reasoning": "The spoon is currently held above the first compartment of the black tray, having been transported from the basket. The gripper remains closed with no opening signal in this segment, indicating the spoon is still secured. The next action is to lower the spoon into the compartment and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003819_ecot.json b/cot/chunk-0003/episode_0003819_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ae64c55788e58d47703adf90e4c793317ac1c54a --- /dev/null +++ b/cot/chunk-0003/episode_0003819_ecot.json @@ -0,0 +1,1681 @@ +{ + "task_name": "episode_0003819", + "episode_json": "json/chunk-0003/episode_0003819.json", + "video_path": "videos/chunk-0003/image_0/episode_0003819.mp4", + "instruction": "Put the pink object to the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003819.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.9189366698265076, + "std": 0.4074007272720337, + "delta_total": -0.14032632112503052, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91894, std=0.40740, total_delta=-0.14033). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 110, + 110, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 8 + ], + [ + 3, + 9, + 9 + ], + [ + 4, + 10, + 17 + ], + [ + 5, + 18, + 19 + ], + [ + 6, + 20, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pink object\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector from initial position toward the pink object on the right side of the table.\"},\n {\"id\": 2, \"name\": \"make contact with pink object\", \"start\": 9, \"end\": 9, \"planning\": \"Position the gripper to make initial contact with the pink object without closing.\"},\n {\"id\": 3, \"name\": \"grasp and lift pink object\", \"start\": 10, \"end\": 13, \"planning\": \"Close the gripper to securely grasp the pink object and lift it slightly off the table surface.\"},\n {\"id\": 4, \"name\": \"transport pink object leftward\", \"start\": 14, \"end\": 17, \"planning\": \"Carry the grasped pink object across the table toward the left side while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release pink object on left\", \"start\": 18, \"end\": 19, \"planning\": \"Lower the pink object to the table surface on the left side and begin opening the gripper.\"},\n {\"id\": 6, \"name\": \"retreat after placement\", \"start\": 20, \"end\": 21, \"planning\": \"Fully open the gripper and move the end-effector away from the placed pink object.\"}\n ],\n \"global_plan\": \"Approach the pink object on the right, grasp it, transport it to the left side of the table, release it, and retreat.\",\n \"notes\": \"Segment 1 (frame 0) shows no gripper motion — treated as part of approach phase. Segment 3 (frame 9) has no meaningful closing — described as contact only. Segment 4 (frames 10-17) shows significant gripper closure and motion — valid for grasp and transport. Segment 6 (frames 20-21) shows gripper opening — consistent with release and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pink object", + "start": 0, + "end": 8, + "planning": "Move the end-effector from initial position toward the pink object on the right side of the table." + }, + { + "id": 2, + "name": "make contact with pink object", + "start": 9, + "end": 9, + "planning": "Position the gripper to make initial contact with the pink object without closing." + }, + { + "id": 3, + "name": "grasp and lift pink object", + "start": 10, + "end": 13, + "planning": "Close the gripper to securely grasp the pink object and lift it slightly off the table surface." + }, + { + "id": 4, + "name": "transport pink object leftward", + "start": 14, + "end": 17, + "planning": "Carry the grasped pink object across the table toward the left side while maintaining grip." + }, + { + "id": 5, + "name": "release pink object on left", + "start": 18, + "end": 19, + "planning": "Lower the pink object to the table surface on the left side and begin opening the gripper." + }, + { + "id": 6, + "name": "retreat after placement", + "start": 20, + "end": 21, + "planning": "Fully open the gripper and move the end-effector away from the placed pink object." + } + ], + "global_plan": "Approach the pink object on the right, grasp it, transport it to the left side of the table, release it, and retreat.", + "notes": "Segment 1 (frame 0) shows no gripper motion — treated as part of approach phase. Segment 3 (frame 9) has no meaningful closing — described as contact only. Segment 4 (frames 10-17) shows significant gripper closure and motion — valid for grasp and transport. Segment 6 (frames 20-21) shows gripper opening — consistent with release and retreat." + } + }, + "episode_goal": "Grasp the pink object and place it on the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3576771318912506, + 0.016880661249160767, + 0.14105360209941864, + -3.1411097049713135, + -0.1304628551006317, + 0.011919277720153332 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned above the table with the pink object visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end-effector toward the pink object to initiate approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 17 cm, move down 14 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35606279969215393, + 0.016253935173153877, + 0.128926083445549, + 3.1407017707824707, + -0.09367263317108154, + 0.01053895428776741 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned above the table with the pink object visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end-effector toward the pink object to initiate approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 17 cm, move down 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36469924449920654, + -0.0013734139502048492, + 0.11211805790662766, + 3.13407039642334, + -0.06764478236436844, + -0.01686563342809677 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned above the table with the pink object visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end-effector toward the pink object to initiate approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 15 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38121333718299866, + -0.042016658931970596, + 0.10178092867136002, + 3.135125160217285, + -0.05976222828030586, + -0.09614101052284241 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned above the table with the pink object visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end-effector toward the pink object to initiate approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move down 10 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move back 4 cm, move left 4 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.390724241733551, + -0.082254558801651, + 0.0921037495136261, + 3.1298394203186035, + -0.051572345197200775, + -0.14582033455371857 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned near the pink object on the right side of the table, with the gripper open and ready. No grasping has occurred yet; the arm is in approach phase. The next action should be to move the gripper closer to the pink object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move back 9 cm, move left 8 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3957845866680145, + -0.12167894840240479, + 0.07758751511573792, + 3.105376958847046, + -0.02102839946746826, + -0.18016056716442108 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned near the pink object on the right side of the table, with the gripper open and ready. No grasping has occurred yet; the arm is in approach phase. The next action should be to move the gripper closer to the pink object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move back 9 cm, move left 8 cm, move up 8 cm, keep gripper closed; then move back 5 cm, move left 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3973807394504547, + -0.14827971160411835, + 0.058650530874729156, + 3.084094524383545, + 0.026774028316140175, + -0.1852203905582428 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy cucumber": [ + 365, + 23, + 474, + 164 + ], + "grey textured mat": [ + 217, + 353, + 374, + 522 + ], + "white table": [ + 54, + 3, + 994, + 994 + ], + "wooden box toy": [ + 207, + 5, + 662, + 449 + ], + "yellow plush toy": [ + 771, + 209, + 876, + 382 + ], + "pink plush toy": [ + 884, + 324, + 996, + 534 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned near the pink object on the right side of the table, with the gripper open and ready. No grasping has occurred yet; the arm is in approach phase. The next action should be to move the gripper closer to the pink object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move back 9 cm, move left 8 cm, move up 8 cm, keep gripper closed; then move back 8 cm, move left 9 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.39806291460990906, + -0.15577523410320282, + 0.03613667190074921, + 3.0923497676849365, + 0.08285736292600632, + -0.17687472701072693 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned near the pink object on the right side of the table, with the gripper open and ready. No grasping has occurred yet; the arm is in approach phase. The next action should be to move the gripper closer to the pink object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper closed; then keep gripper closed; then move back 9 cm, move left 8 cm, move up 8 cm, keep gripper closed; then move back 11 cm, move left 12 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.400974839925766, + -0.1528710573911667, + 0.008636269718408585, + 3.1286888122558594, + 0.15167805552482605, + -0.1733897626399994 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pink object", + "subtask_reasoning": "The robot is positioned near the pink object on the right side of the table, with the gripper open and ready. No grasping has occurred yet; the arm is in approach phase. The next action should be to move the gripper closer to the pink object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move back 9 cm, move left 8 cm, move up 8 cm, keep gripper closed; then move back 12 cm, move left 14 cm, move down 6 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4045420289039612, + -0.15035828948020935, + 0.0007155240164138377, + -3.1300137042999268, + 0.15842083096504211, + -0.17123739421367645 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "make contact with pink object", + "subtask_reasoning": "The robot arm is positioned near the pink object on the right side of the table, having completed the approach phase. The gripper is open and in contact or very close to the object, but no grasping action has occurred yet as per segment evidence. The next likely action is to initiate a grasp by closing the gripper around the pink object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move left 8 cm, move up 8 cm, keep gripper closed; then move back 12 cm, move left 14 cm, move down 6 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4038654863834381, + -0.15108223259449005, + 0.0003707970317918807, + -3.1150498390197754, + 0.15733596682548523, + -0.18006356060504913 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift pink object", + "subtask_reasoning": "The robot arm is positioned near the pink object on the right side of the table, having completed the approach phase. The gripper is open and in contact or very close to the object, but no grasping action has occurred yet as per segment evidence. The next likely action is to initiate a grasp by closing the gripper around the pink object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 8 cm, move up 8 cm, keep gripper closed; then move back 12 cm, move left 14 cm, move down 6 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39712002873420715, + -0.15094928443431854, + 0.004308884497731924, + -3.1046297550201416, + 0.1617741584777832, + -0.1957750916481018 + ], + "gripper_value": 0.16548661887645721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift pink object", + "subtask_reasoning": "The robot has approached and made contact with the pink object on the right side of the table. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the pink object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move up 8 cm, keep gripper closed; then move back 12 cm, move left 14 cm, move down 6 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3880253732204437, + -0.13917309045791626, + 0.036899320781230927, + -3.1062166690826416, + 0.10613399744033813, + -0.19034695625305176 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift pink object", + "subtask_reasoning": "The robot has approached and made contact with the pink object on the right side of the table. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the pink object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move up 5 cm, keep gripper closed; then move back 12 cm, move left 14 cm, move down 6 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3595897853374481, + -0.11427796632051468, + 0.07874845713376999, + -3.0842933654785156, + 0.058500513434410095, + -0.1938522458076477 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy cucumber": [ + 365, + 23, + 473, + 164 + ], + "wooden box toy": [ + 182, + 3, + 662, + 446 + ], + "grey textured mat": [ + 216, + 352, + 375, + 522 + ], + "white table": [ + 30, + 4, + 994, + 994 + ], + "yellow plush toy": [ + 57, + 444, + 146, + 620 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift pink object", + "subtask_reasoning": "The robot has approached and made contact with the pink object on the right side of the table. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the pink object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 1 cm, keep gripper closed; then move back 12 cm, move left 14 cm, move down 6 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3152731657028198, + -0.06833469867706299, + 0.08530454337596893, + -3.0661518573760986, + 0.0738043561577797, + -0.15363213419914246 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy cucumber": [ + 365, + 23, + 473, + 164 + ], + "grey textured mat": [ + 217, + 354, + 375, + 521 + ], + "yellow plush toy": [ + 2, + 444, + 145, + 631 + ], + "white table": [ + 4, + 8, + 995, + 993 + ], + "wooden box toy": [ + 182, + 4, + 662, + 448 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pink object leftward", + "subtask_reasoning": "The robot has approached and made contact with the pink object on the right side of the table. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the pink object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 14 cm, move down 6 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26890790462493896, + -0.018633369356393814, + 0.07988672703504562, + -3.0403928756713867, + 0.096330426633358, + -0.1324780136346817 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pink object leftward", + "subtask_reasoning": "The robot arm is moving leftward across the table, having already approached and made contact with the pink object. The gripper remains open (no closing evidence), so the object is not yet grasped. The next action should be to close the gripper to secure the pink object before continuing transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 9 cm, move down 5 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23034252226352692, + 0.02617489919066429, + 0.06221775338053703, + -3.060593605041504, + 0.13530847430229187, + -0.10723818093538284 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pink object leftward", + "subtask_reasoning": "The robot arm is moving leftward across the table, having already approached and made contact with the pink object. The gripper remains open (no closing evidence), so the object is not yet grasped. The next action should be to close the gripper to secure the pink object before continuing transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20317532122135162, + 0.053737107664346695, + 0.04322484880685806, + -3.1314945220947266, + 0.1312951147556305, + -0.09210005402565002 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pink object leftward", + "subtask_reasoning": "The robot arm is moving leftward across the table, having already approached and made contact with the pink object. The gripper remains open (no closing evidence), so the object is not yet grasped. The next action should be to close the gripper to secure the pink object before continuing transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.1929113119840622, + 0.07097385823726654, + 0.02751050889492035, + 3.0971648693084717, + 0.10787573456764221, + -0.07294781506061554 + ], + "gripper_value": 0.10394904017448425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release pink object on left", + "subtask_reasoning": "The pink object is currently held by the gripper and positioned over the left side of the table. The gripper is closed, indicating the object is still secured. The next action is to open the gripper to release the pink object onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.18720632791519165, + 0.07307561486959457, + 0.020181957632303238, + 3.0646867752075195, + 0.14882634580135345, + -0.049127303063869476 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release pink object on left", + "subtask_reasoning": "The pink object is currently held by the gripper and positioned over the left side of the table. The gripper is closed, indicating the object is still secured. The next action is to open the gripper to release the pink object onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1877465844154358, + 0.07176145911216736, + 0.02126493491232395, + 3.058807611465454, + 0.1359475702047348, + -0.04587583616375923 + ], + "gripper_value": 0.549187958240509 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The pink object has been successfully placed on the left side of the table. The robot arm is currently positioned near the object with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 20, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.1862424612045288, + 0.07507576048374176, + 0.05139334499835968, + 3.0684332847595215, + 0.045428317040205, + -0.07350510358810425 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pink object and place it on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink object" + }, + { + "id": 2, + "subtask": "make contact with pink object" + }, + { + "id": 3, + "subtask": "grasp and lift pink object" + }, + { + "id": 4, + "subtask": "transport pink object leftward" + }, + { + "id": 5, + "subtask": "release pink object on left" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The pink object has been successfully placed on the left side of the table. The robot arm is currently positioned near the object with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 20, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003820_ecot.json b/cot/chunk-0003/episode_0003820_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7afb3d615d5d63dedbf71baeda33ab901fc25200 --- /dev/null +++ b/cot/chunk-0003/episode_0003820_ecot.json @@ -0,0 +1,2476 @@ +{ + "task_name": "episode_0003820", + "episode_json": "json/chunk-0003/episode_0003820.json", + "video_path": "videos/chunk-0003/image_0/episode_0003820.mp4", + "instruction": "Pick up the white donut and place it on the purple cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003820.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.23110610246658325, + "std": 0.10714434087276459, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.23111, std=0.10714, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 15 + ], + [ + 3, + 16, + 17 + ], + [ + 4, + 18, + 33 + ], + [ + 5, + 34, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach donut in bowl\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper from initial position toward the white donut located inside the metal bowl.\"},\n {\"id\": 2, \"name\": \"grasp donut\", \"start\": 4, \"end\": 15, \"planning\": \"Close gripper around the white donut and lift it slightly from the bowl, confirmed by gripper closure and visual evidence at frame 15.\"},\n {\"id\": 3, \"name\": \"transport donut to purple cloth\", \"start\": 16, \"end\": 17, \"planning\": \"Briefly reposition the gripper carrying the donut toward the purple cloth area.\"},\n {\"id\": 4, \"name\": \"place donut on purple cloth\", \"start\": 18, \"end\": 33, \"planning\": \"Lower the gripper to deposit the donut onto the purple cloth, then open gripper to release, as shown by gripper opening at frame 33 and visual confirmation.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 34, \"end\": 35, \"planning\": \"Lift and withdraw the gripper away from the placed donut to complete the task.\"}\n ],\n \"global_plan\": \"Pick up the white donut from the metal bowl and place it precisely on the purple cloth using a sequence of approach, grasp, transport, place, and retreat phases.\",\n \"notes\": \"Gripper evidence and keyframes confirm successful grasp during segment 2 (frames 4-15) and release during segment 4 (frames 18-33). Segment 3 is short but necessary for trajectory continuity. All subtasks are contiguous and cover full timeline [0,35].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach donut in bowl", + "start": 0, + "end": 3, + "planning": "Move the gripper from initial position toward the white donut located inside the metal bowl." + }, + { + "id": 2, + "name": "grasp donut", + "start": 4, + "end": 15, + "planning": "Close gripper around the white donut and lift it slightly from the bowl, confirmed by gripper closure and visual evidence at frame 15." + }, + { + "id": 3, + "name": "transport donut to purple cloth", + "start": 16, + "end": 17, + "planning": "Briefly reposition the gripper carrying the donut toward the purple cloth area." + }, + { + "id": 4, + "name": "place donut on purple cloth", + "start": 18, + "end": 33, + "planning": "Lower the gripper to deposit the donut onto the purple cloth, then open gripper to release, as shown by gripper opening at frame 33 and visual confirmation." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 34, + "end": 35, + "planning": "Lift and withdraw the gripper away from the placed donut to complete the task." + } + ], + "global_plan": "Pick up the white donut from the metal bowl and place it precisely on the purple cloth using a sequence of approach, grasp, transport, place, and retreat phases.", + "notes": "Gripper evidence and keyframes confirm successful grasp during segment 2 (frames 4-15) and release during segment 4 (frames 18-33). Segment 3 is short but necessary for trajectory continuity. All subtasks are contiguous and cover full timeline [0,35]." + } + }, + "episode_goal": "Pick up the white donut from the metal bowl and place it on the purple cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27743738889694214, + -0.0072339484468102455, + 0.1621454805135727, + 3.1369683742523193, + -0.06415985524654388, + -0.15651443600654602 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach donut in bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the donut inside the metal bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 9 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27808302640914917, + -0.007245030719786882, + 0.15541259944438934, + 3.1338024139404297, + -0.04136824235320091, + -0.15632665157318115 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach donut in bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. The gripper is open and has not moved significantly, indicating the approach phase is ongoing. The next action is to move the end-effector closer to the donut in the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 9 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784050703048706, + 0.010833876207470894, + 0.15306663513183594, + 3.1275417804718018, + -0.025583460927009583, + -0.10928750783205032 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach donut in bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. The gripper is open and has not moved significantly, indicating the approach phase is ongoing. The next action is to move the end-effector closer to the donut in the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 9 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28213393688201904, + 0.04309472814202309, + 0.14189738035202026, + 3.1141090393066406, + 0.008766703307628632, + -0.021531203761696815 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 115, + 274, + 382, + 478 + ], + "wooden countertop": [ + 17, + 181, + 898, + 983 + ], + "blue scrubber": [ + 603, + 551, + 776, + 774 + ], + "grey cabinet": [ + 143, + 626, + 736, + 996 + ], + "purple towel": [ + 471, + 353, + 752, + 640 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach donut in bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. The gripper is open and has not moved significantly, indicating the approach phase is ongoing. The next action is to move the end-effector closer to the donut in the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 10 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29043707251548767, + 0.08545736968517303, + 0.13210102915763855, + -3.1344892978668213, + 0.01709987036883831, + 0.07857716083526611 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. The gripper is open and has not moved significantly, indicating the approach phase is ongoing. The next action is to move the end-effector closer to the donut in the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 12 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29481270909309387, + 0.12519657611846924, + 0.11328936368227005, + -3.1281940937042236, + -0.015321826562285423, + 0.1180342361330986 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. The gripper is open and has not moved significantly, indicating the approach phase is ongoing. The next action is to move the end-effector closer to the donut in the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047346770763397, + 0.14672891795635223, + 0.0925193652510643, + -3.0577621459960938, + -0.06200070306658745, + 0.14462897181510925 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. The gripper is open and has not moved significantly, indicating the approach phase is ongoing. The next action is to move the end-effector closer to the donut in the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3094422221183777, + 0.15599648654460907, + 0.0765773206949234, + -3.011197090148926, + -0.07339035719633102, + 0.14199191331863403 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. The gripper is open and has not moved significantly, indicating the approach phase is ongoing. The next action is to move the end-effector closer to the donut in the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31328943371772766, + 0.16301250457763672, + 0.05554676055908203, + -2.9871208667755127, + -0.06330443918704987, + 0.15770003199577332 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl containing the white donut to the left and the purple cloth to the right. The gripper is open and has not moved significantly, indicating the approach phase is ongoing. The next action is to move the end-effector closer to the donut in the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177221417427063, + 0.16886240243911743, + 0.04026049003005028, + -2.969541549682617, + -0.03107154183089733, + 0.16590644419193268 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot has approached the white donut in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the donut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31711602210998535, + 0.17351143062114716, + 0.026723770424723625, + -2.9511234760284424, + 0.011440866626799107, + 0.1751844584941864 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot has approached the white donut in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the donut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 8 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 10 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3173193037509918, + 0.174419566988945, + 0.019049055874347687, + -2.961486339569092, + 0.043546270579099655, + 0.17481257021427155 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot has approached the white donut in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the donut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 11 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31604161858558655, + 0.1796673685312271, + 0.01525976974517107, + -3.011406421661377, + 0.060900747776031494, + 0.21234357357025146 + ], + "gripper_value": 0.9263488054275513 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot has approached the white donut in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the donut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move right 11 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156510591506958, + 0.18048164248466492, + 0.014438657090067863, + -3.0232977867126465, + 0.058284033089876175, + 0.21285167336463928 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot has approached the white donut in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the donut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, move down 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31227144598960876, + 0.17609722912311554, + 0.014852155931293964, + -3.04925274848938, + 0.08350500464439392, + 0.21292275190353394 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot has approached the white donut in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the donut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 8 cm, move down 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31292542815208435, + 0.1672368049621582, + 0.0543215237557888, + -3.0919792652130127, + 0.04163569584488869, + 0.21960121393203735 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp donut", + "subtask_reasoning": "The robot has approached the white donut in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the donut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 7 cm, move down 9 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32026407122612, + 0.14699208736419678, + 0.10549863427877426, + 3.0772788524627686, + -0.029753705486655235, + 0.1924257129430771 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport donut to purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 7 cm, move down 11 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32881808280944824, + 0.10050226747989655, + 0.14192703366279602, + 3.0773355960845947, + -0.039237506687641144, + 0.07885856926441193 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 106, + 268, + 373, + 470 + ], + "wooden countertop": [ + 16, + 188, + 898, + 985 + ], + "blue scrubber": [ + 602, + 551, + 775, + 773 + ], + "grey cabinet": [ + 142, + 624, + 737, + 996 + ], + "purple towel": [ + 471, + 352, + 753, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport donut to purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33080124855041504, + 0.03723530098795891, + 0.14860236644744873, + -3.1354923248291016, + -0.039528824388980865, + -0.11455205082893372 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31473618745803833, + -0.004646278452128172, + 0.1358882337808609, + -3.0861990451812744, + -0.05271169915795326, + -0.2837282717227936 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3075397312641144, + -0.059269703924655914, + 0.1215989962220192, + -3.070040225982666, + -0.08343505859375, + -0.3175888657569885 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 107, + 267, + 373, + 469 + ], + "wooden countertop": [ + 21, + 182, + 899, + 984 + ], + "grey cabinet": [ + 141, + 625, + 735, + 996 + ], + "blue scrubber": [ + 602, + 551, + 775, + 773 + ], + "purple towel": [ + 471, + 359, + 753, + 638 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31369996070861816, + -0.07723615318536758, + 0.08868389576673508, + -3.120952844619751, + -0.03082972578704357, + -0.2493307888507843 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32627034187316895, + -0.0756172239780426, + 0.07438751310110092, + -3.133204460144043, + -0.01680540293455124, + -0.24191899597644806 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393388092517853, + -0.052241045981645584, + 0.06888192892074585, + -3.0935089588165283, + -0.012205013073980808, + -0.18835288286209106 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471480906009674, + -0.03922062739729881, + 0.06757108122110367, + -3.0715067386627197, + -0.01560929510742426, + -0.15791837871074677 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot has grasped the white donut from the metal bowl and is currently transporting it toward the purple cloth. The gripper remains closed with no significant change, indicating continued hold. The next action is to move the donut closer to the purple cloth for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34850218892097473, + -0.029380209743976593, + 0.05773620679974556, + -3.0462071895599365, + 0.003583321813493967, + -0.1412843018770218 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34695303440093994, + -0.029169896617531776, + 0.04035387188196182, + -2.995135545730591, + 0.028641339391469955, + -0.14567936956882477 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.345081627368927, + -0.030907973647117615, + 0.0279021505266428, + -2.980311870574951, + 0.05846643075346947, + -0.1517610400915146 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 11 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34326180815696716, + -0.030030332505702972, + 0.029246853664517403, + -2.9804940223693848, + 0.07392992824316025, + -0.15867440402507782 + ], + "gripper_value": 0.8463236093521118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34274935722351074, + -0.030468914657831192, + 0.029686056077480316, + -2.9985532760620117, + 0.0839989110827446, + -0.16888447105884552 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34236422181129456, + -0.025341568514704704, + 0.037332989275455475, + -3.0067684650421143, + 0.06501597911119461, + -0.15400400757789612 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3416927456855774, + -0.022813478484749794, + 0.06191817671060562, + -3.0240039825439453, + 0.015016104094684124, + -0.14801320433616638 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33498984575271606, + -0.014352435246109962, + 0.08739979565143585, + -3.0892794132232666, + -0.001042464398778975, + -0.11734092980623245 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 5 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32728078961372375, + -0.011738184839487076, + 0.11265537142753601, + -3.11083984375, + -0.00680606858804822, + -0.08395865559577942 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place donut on purple cloth", + "subtask_reasoning": "The robot is holding the white donut above the purple cloth, having completed the approach and grasp phases. The gripper remains closed with stable values, indicating the donut is securely held. The next action is to lower the end-effector to place the donut onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31800296902656555, + 0.0007820934406481683, + 0.1379147619009018, + 3.1357333660125732, + -0.03861729055643082, + -0.033196184784173965 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 106, + 267, + 374, + 470 + ], + "wooden countertop": [ + 20, + 182, + 899, + 982 + ], + "grey cabinet": [ + 142, + 626, + 736, + 996 + ], + "purple towel": [ + 472, + 353, + 752, + 639 + ], + "blue scrubber": [ + 602, + 551, + 775, + 773 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The white donut is already placed on the purple cloth, and the gripper is open and retreating upward. The subtask involves moving the end-effector away from the placement site to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 34, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.30683204531669617, + 0.0033326013945043087, + 0.14982609450817108, + 3.1252706050872803, + -0.08383005112409592, + -0.029182469472289085 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white donut from the metal bowl and place it on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach donut in bowl" + }, + { + "id": 2, + "subtask": "grasp donut" + }, + { + "id": 3, + "subtask": "transport donut to purple cloth" + }, + { + "id": 4, + "subtask": "place donut on purple cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The white donut is already placed on the purple cloth, and the gripper is open and retreating upward. The subtask involves moving the end-effector away from the placement site to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003822_ecot.json b/cot/chunk-0003/episode_0003822_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..50b2d9702cbb4b1aa6fc4b3eaf0da4b10165e504 --- /dev/null +++ b/cot/chunk-0003/episode_0003822_ecot.json @@ -0,0 +1,1942 @@ +{ + "task_name": "episode_0003822", + "episode_json": "json/chunk-0003/episode_0003822.json", + "video_path": "videos/chunk-0003/image_0/episode_0003822.mp4", + "instruction": "Close fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003822.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006677508354187012, + "std": 0.00028616434428840876, + "delta_total": 0.0006677508354187012, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00029, total_delta=0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ], + [ + 2, + 20, + 25 + ], + [ + 3, + 26, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge door\", \"start\": 0, \"end\": 19, \"planning\": \"Move end-effector toward the fridge door handle area while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"make contact with door\", \"start\": 20, \"end\": 25, \"planning\": \"Position end-effector to make physical contact with the fridge door surface near the handle for pushing.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 26, \"end\": 32, \"planning\": \"Apply forward force via end-effector to slide the fridge door shut without grasping.\"}\n ],\n \"global_plan\": \"Close the fridge door by approaching, making contact, and pushing it shut using non-grasping manipulation throughout.\",\n \"notes\": \"Gripper remains fully open (value ~0.9988) across all segments; no grasp or lift occurs. Motion is purely translational/rotational positioning and pushing. Segment boundaries preserved as they align with natural phase transitions in motion profile.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge door", + "start": 0, + "end": 19, + "planning": "Move end-effector toward the fridge door handle area while maintaining open gripper state." + }, + { + "id": 2, + "name": "make contact with door", + "start": 20, + "end": 25, + "planning": "Position end-effector to make physical contact with the fridge door surface near the handle for pushing." + }, + { + "id": 3, + "name": "push door closed", + "start": 26, + "end": 32, + "planning": "Apply forward force via end-effector to slide the fridge door shut without grasping." + } + ], + "global_plan": "Close the fridge door by approaching, making contact, and pushing it shut using non-grasping manipulation throughout.", + "notes": "Gripper remains fully open (value ~0.9988) across all segments; no grasp or lift occurs. Motion is purely translational/rotational positioning and pushing. Segment boundaries preserved as they align with natural phase transitions in motion profile." + } + }, + "episode_goal": "Close the refrigerator door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.1965171992778778, + -0.14529089629650116, + 0.14990609884262085, + 3.135843276977539, + -0.07977817207574844, + -0.03138813376426697 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19460617005825043, + -0.1440858095884323, + 0.1449408382177353, + -3.135899066925049, + -0.06159718707203865, + -0.030233995988965034 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.19261904060840607, + -0.13417470455169678, + 0.15418866276741028, + -3.1336922645568848, + -0.05183638259768486, + 0.0033181151375174522 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19775550067424774, + -0.12578025460243225, + 0.18023478984832764, + 3.133949041366577, + -0.05287143960595131, + 0.03234746307134628 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20520341396331787, + -0.11540637165307999, + 0.19472412765026093, + 3.123497724533081, + -0.044926583766937256, + 0.05498778074979782 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20813684165477753, + -0.09763863682746887, + 0.2053961604833603, + 3.1214704513549805, + -0.08695794641971588, + 0.10088790953159332 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2008744776248932, + -0.06760355830192566, + 0.20676566660404205, + 3.133547306060791, + -0.10950475186109543, + 0.14625412225723267 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19054964184761047, + -0.0411960668861866, + 0.20756754279136658, + 3.115889072418213, + -0.13603313267230988, + 0.17280222475528717 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bread roll": [ + 758, + 511, + 916, + 677 + ], + "metal leg": [ + 257, + 794, + 361, + 993 + ], + "yellow object": [ + 688, + 763, + 755, + 857 + ] + } + } + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17802777886390686, + -0.030896363779902458, + 0.19926059246063232, + 3.115962028503418, + -0.12096673995256424, + 0.215498685836792 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.172520250082016, + -0.026740778237581253, + 0.18853968381881714, + 3.12483549118042, + -0.0850544422864914, + 0.25426748394966125 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 9 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.17110882699489594, + -0.030600501224398613, + 0.17374302446842194, + 3.1278579235076904, + -0.07392675429582596, + 0.2742721140384674 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 9 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18014180660247803, + -0.03911902382969856, + 0.16279877722263336, + 3.125349521636963, + -0.054511331021785736, + 0.3049822449684143 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19123752415180206, + -0.0576818585395813, + 0.14761663973331451, + 3.1025586128234863, + -0.023815153166651726, + 0.31046977639198303 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21721206605434418, + -0.07713086158037186, + 0.15027587115764618, + 3.061908721923828, + -0.007714283652603626, + 0.34553417563438416 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24999040365219116, + -0.10394150763750076, + 0.16449786722660065, + 3.004650831222534, + -0.019680198282003403, + 0.3649492561817169 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2686927020549774, + -0.12306272983551025, + 0.19018279016017914, + 2.9340405464172363, + -0.0816509798169136, + 0.3689185082912445 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black cable": [ + 69, + 39, + 373, + 278 + ], + "cardboard box": [ + 2, + 6, + 159, + 655 + ] + } + } + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2670550048351288, + -0.1258057802915573, + 0.20134024322032928, + 2.901543617248535, + -0.11521390080451965, + 0.344781756401062 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 2, + 6, + 158, + 654 + ], + "black cable": [ + 69, + 39, + 373, + 278 + ] + } + } + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 11 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25213420391082764, + -0.12299586832523346, + 0.1882970929145813, + 2.9565134048461914, + -0.19441185891628265, + 0.2558530867099762 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2488197237253189, + -0.12050344794988632, + 0.1473102569580078, + 3.052971601486206, + -0.19720220565795898, + 0.1961706578731537 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24821846187114716, + -0.11884963512420654, + 0.11272553354501724, + 3.086348056793213, + -0.19512107968330383, + 0.12847141921520233 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 7 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2550085783004761, + -0.12050941586494446, + 0.09430444985628128, + 3.081653356552124, + -0.2350156158208847, + 0.08337768167257309 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664192318916321, + -0.11620263010263443, + 0.08972348272800446, + 3.0352044105529785, + -0.24855844676494598, + 0.11473231762647629 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open refrigerator door with the gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801482081413269, + -0.11341686546802521, + 0.08441660553216934, + 3.0058329105377197, + -0.25719088315963745, + 0.13620881736278534 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the refrigerator and is now in contact with the door handle. The gripper remains open with no closing evidence, indicating a non-grasping push strategy. The next action is to apply forward force to push the door closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2925180196762085, + -0.1152941957116127, + 0.08690494298934937, + 2.9894869327545166, + -0.30180323123931885, + 0.15628714859485626 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the refrigerator and is now in contact with the door handle. The gripper remains open with no closing evidence, indicating a non-grasping push strategy. The next action is to apply forward force to push the door closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3058505058288574, + -0.11923693120479584, + 0.08677145093679428, + 2.966618061065674, + -0.32063019275665283, + 0.16658943891525269 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 2, + 6, + 159, + 655 + ], + "metal leg": [ + 729, + 558, + 868, + 935 + ], + "black cable": [ + 69, + 40, + 373, + 278 + ] + } + } + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the refrigerator and is now in contact with the door handle. The gripper remains open with no closing evidence, indicating a non-grasping push strategy. The next action is to apply forward force to push the door closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31623950600624084, + -0.12343514710664749, + 0.07718153297901154, + 2.996185064315796, + -0.378526896238327, + 0.1311797797679901 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the refrigerator and is now in contact with the door handle. The gripper remains open with no closing evidence, indicating a non-grasping push strategy. The next action is to apply forward force to push the door closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32647499442100525, + -0.12874504923820496, + 0.07278435677289963, + 3.0123796463012695, + -0.4134467542171478, + 0.1104959025979042 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the refrigerator and is now in contact with the door handle. The gripper remains open with no closing evidence, indicating a non-grasping push strategy. The next action is to apply forward force to push the door closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33560270071029663, + -0.13224142789840698, + 0.07146206498146057, + 3.013152837753296, + -0.4284684956073761, + 0.11345800757408142 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the refrigerator and is now in contact with the door handle. The gripper remains open with no closing evidence, indicating a non-grasping push strategy. The next action is to apply forward force to push the door closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3441643714904785, + -0.13439755141735077, + 0.06759882718324661, + 3.0090444087982178, + -0.43291571736335754, + 0.13278421759605408 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the refrigerator and is now in contact with the door handle. The gripper remains open with no closing evidence, indicating a non-grasping push strategy. The next action is to apply forward force to push the door closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35095664858818054, + -0.13505876064300537, + 0.06722662597894669, + 3.0194625854492188, + -0.43669450283050537, + 0.14622873067855835 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the refrigerator door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door closed using forward motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35409608483314514, + -0.13394500315189362, + 0.06581280380487442, + 3.027745485305786, + -0.44089123606681824, + 0.15163719654083252 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the refrigerator door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door closed using forward motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3550943434238434, + -0.13276973366737366, + 0.06624338775873184, + 3.025753974914551, + -0.44677355885505676, + 0.1710529327392578 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the refrigerator door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door closed using forward motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.338545024394989, + -0.1267557144165039, + 0.06159116327762604, + 3.046152353286743, + -0.39720839262008667, + 0.1709616631269455 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the refrigerator door, having completed the approach and initial contact phases. The gripper remains open with no grasping action, consistent with non-grasping manipulation. The next action is to push the door closed using forward motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003823_ecot.json b/cot/chunk-0003/episode_0003823_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c5d8170cfb9ade2321a9e01015667bc48cb4f451 --- /dev/null +++ b/cot/chunk-0003/episode_0003823_ecot.json @@ -0,0 +1,1955 @@ +{ + "task_name": "episode_0003823", + "episode_json": "json/chunk-0003/episode_0003823.json", + "video_path": "videos/chunk-0003/image_0/episode_0003823.mp4", + "instruction": "Take cucumber out of cup.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003823.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.557073712348938, + "std": 0.2531242072582245, + "delta_total": -0.1889967918395996, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.55707, std=0.25312, total_delta=-0.18900). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 128, + 128 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 4 + ], + [ + 3, + 5, + 5 + ], + [ + 4, + 6, + 12 + ], + [ + 5, + 13, + 27 + ], + [ + 6, + 28, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cup\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper from initial position toward the red cup containing the cucumber.\"},\n {\"id\": 2, \"name\": \"grasp cucumber\", \"start\": 6, \"end\": 12, \"planning\": \"Close gripper around the cucumber inside the cup to secure it for extraction.\"},\n {\"id\": 3, \"name\": \"lift cucumber\", \"start\": 13, \"end\": 27, \"planning\": \"Raise the gripper vertically to extract the cucumber from the cup and hold it aloft.\"},\n {\"id\": 4, \"name\": \"release cucumber\", \"start\": 28, \"end\": 29, \"planning\": \"Open gripper to drop the cucumber onto the table surface away from the cup.\"}\n ],\n \"global_plan\": \"Extract cucumber from red cup by approaching, grasping, lifting, and releasing it on the table.\",\n \"notes\": \"Gripper closure confirmed in segment 4 (frames 6-12) and opening in segment 6 (frames 28-29); motion phases align with visual evidence of object interaction.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cup", + "start": 0, + "end": 5, + "planning": "Move the gripper from initial position toward the red cup containing the cucumber." + }, + { + "id": 2, + "name": "grasp cucumber", + "start": 6, + "end": 12, + "planning": "Close gripper around the cucumber inside the cup to secure it for extraction." + }, + { + "id": 3, + "name": "lift cucumber", + "start": 13, + "end": 27, + "planning": "Raise the gripper vertically to extract the cucumber from the cup and hold it aloft." + }, + { + "id": 4, + "name": "release cucumber", + "start": 28, + "end": 29, + "planning": "Open gripper to drop the cucumber onto the table surface away from the cup." + } + ], + "global_plan": "Extract cucumber from red cup by approaching, grasping, lifting, and releasing it on the table.", + "notes": "Gripper closure confirmed in segment 4 (frames 6-12) and opening in segment 6 (frames 28-29); motion phases align with visual evidence of object interaction." + } + }, + "episode_goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3815861940383911, + -0.013097327202558517, + 0.05636144056916237, + 3.123929977416992, + -0.024640096351504326, + 0.1701802760362625 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing the cucumber visible below. No actions have been completed yet as the end-effector is still approaching the target. The gripper is open and moving towards the cup, indicating the next step is to continue lowering the arm to align with the cucumber for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 3 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37277349829673767, + -0.013412832282483578, + 0.03948833420872688, + 3.134864091873169, + 0.029490193352103233, + 0.1686728149652481 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing the cucumber visible below. No actions have been completed yet as the end-effector is still approaching the target. The gripper is open and moving towards the cup, indicating the next step is to continue lowering the arm to align with the cucumber for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34466028213500977, + -0.018580636009573936, + 0.047694820910692215, + 3.1362032890319824, + 0.04619463160634041, + 0.1358901709318161 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing a cucumber visible below. The gripper is open and the arm is moving toward the cup, indicating the approach phase is underway. The next action is to continue lowering and aligning the gripper over the cucumber inside the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31768423318862915, + -0.02348311059176922, + 0.08076329529285431, + -3.1381185054779053, + 0.004095363896340132, + 0.08612166345119476 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing a cucumber visible below. The gripper is open and the arm is moving toward the cup, indicating the approach phase is underway. The next action is to continue lowering and aligning the gripper over the cucumber inside the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842440605163574, + -0.029749803245067596, + 0.09710561484098434, + -3.137085199356079, + 0.013347586616873741, + 0.018730686977505684 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing a cucumber visible below. The gripper is open and the arm is moving toward the cup, indicating the approach phase is underway. The next action is to continue lowering and aligning the gripper over the cucumber inside the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2573007047176361, + -0.036826469004154205, + 0.10370051860809326, + 3.137532949447632, + 0.001893250155262649, + -0.051831502467393875 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing a cucumber visible below. The gripper is open and the arm is moving toward the cup, indicating the approach phase is underway. The next action is to continue lowering and aligning the gripper over the cucumber inside the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23068097233772278, + -0.042217593640089035, + 0.09840979427099228, + -3.139793634414673, + 0.026015596464276314, + -0.11195719987154007 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red strawberry": [ + 794, + 243, + 884, + 374 + ], + "white plate": [ + 708, + 253, + 914, + 446 + ], + "red cup": [ + 399, + 686, + 622, + 935 + ], + "yellow pear": [ + 781, + 424, + 870, + 563 + ], + "blue spoon": [ + 146, + 408, + 315, + 559 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing a cucumber visible below. The gripper is open and the arm is moving toward the cup, indicating the approach phase is underway. The next action is to continue lowering and aligning the gripper over the cucumber inside the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21403980255126953, + -0.04281893000006676, + 0.08859698474407196, + -3.1315464973449707, + 0.05318455025553703, + -0.1443140059709549 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing a cucumber visible below. The gripper is open and the arm is moving toward the cup, indicating the approach phase is underway. The next action is to continue lowering and aligning the gripper over the cucumber inside the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.20489081740379333, + -0.047522831708192825, + 0.08114952594041824, + -3.1258082389831543, + 0.07583607733249664, + -0.17392829060554504 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot is positioned above the table with the red cup containing a cucumber visible below. The gripper is open and the arm is moving toward the cup, indicating the approach phase is underway. The next action is to continue lowering and aligning the gripper over the cucumber inside the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 4 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.19821149110794067, + -0.05147114768624306, + 0.0741775780916214, + -3.1137919425964355, + 0.09470713138580322, + -0.19409988820552826 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 6 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.198308065533638, + -0.05339237302541733, + 0.0656944066286087, + -3.114804267883301, + 0.11339299380779266, + -0.20905523002147675 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 9 cm, move left 5 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19874416291713715, + -0.05575507879257202, + 0.05478844419121742, + -3.1176633834838867, + 0.14123274385929108, + -0.20924848318099976 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red strawberry": [ + 794, + 242, + 885, + 372 + ], + "red cup": [ + 399, + 687, + 622, + 937 + ], + "yellow pear": [ + 779, + 423, + 873, + 565 + ], + "blue spoon": [ + 145, + 406, + 317, + 559 + ], + "white plate": [ + 709, + 247, + 915, + 447 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 12 cm, move left 7 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2014075666666031, + -0.0563616082072258, + 0.047795798629522324, + -3.100158929824829, + 0.15614834427833557, + -0.1983262300491333 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 14 cm, move left 9 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20302656292915344, + -0.05677490681409836, + 0.04859854653477669, + -3.0870611667633057, + 0.15092609822750092, + -0.18745605647563934 + ], + "gripper_value": 0.438394159078598 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 11 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.20171380043029785, + -0.05701379105448723, + 0.048793114721775055, + -3.0840208530426025, + 0.1578221321105957, + -0.1776934117078781 + ], + "gripper_value": 0.4513009488582611 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 12 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19955722987651825, + -0.05643869563937187, + 0.05983174219727516, + -3.0834057331085205, + 0.14469030499458313, + -0.15878169238567352 + ], + "gripper_value": 0.4624805450439453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 12 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.206498384475708, + -0.05346691980957985, + 0.073305644094944, + -3.0894336700439453, + 0.1247866228222847, + -0.10806567221879959 + ], + "gripper_value": 0.4624805450439453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 13 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22007761895656586, + -0.047395430505275726, + 0.08949780464172363, + -3.098350763320923, + 0.09163377434015274, + -0.043546680361032486 + ], + "gripper_value": 0.4624805450439453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 13 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2416902631521225, + -0.04137362167239189, + 0.11030097305774689, + -3.1145331859588623, + 0.030192149803042412, + 0.029324814677238464 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 13 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678174078464508, + -0.028011595830321312, + 0.1182299330830574, + -3.1128172874450684, + -0.0033424505963921547, + 0.09523893147706985 + ], + "gripper_value": 0.4624805450439453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cucumber inside the red cup, with the gripper open and ready. The approach phase is complete, and the arm is stationary relative to the target. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 11 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29717203974723816, + -0.01101449504494667, + 0.10442133992910385, + -3.0958120822906494, + -0.004065596032887697, + 0.15187865495681763 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper and suspended in the air above the red cup, indicating the grasp was successful. The robot has completed the approach and grasp phases and is now in the lifting phase. The next action is to continue moving the cucumber upward and away from the cup to fully extract it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3248181641101837, + 0.011465378105640411, + 0.08342744410037994, + -3.0479018688201904, + 0.018374331295490265, + 0.19352352619171143 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper and suspended in the air above the red cup, indicating the grasp was successful. The robot has completed the approach and grasp phases and is now in the lifting phase. The next action is to continue moving the cucumber upward and away from the cup to fully extract it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3445584774017334, + 0.03240220621228218, + 0.07225707173347473, + -3.0188064575195312, + 0.012935959734022617, + 0.2385939508676529 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper and suspended in the air above the red cup, indicating the grasp was successful. The robot has completed the approach and grasp phases and is now in the lifting phase. The next action is to continue moving the cucumber upward and away from the cup to fully extract it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35459139943122864, + 0.050022516399621964, + 0.056973181664943695, + -2.99069881439209, + 0.056616656482219696, + 0.27909302711486816 + ], + "gripper_value": 0.4624805450439453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 392, + 690, + 623, + 943 + ], + "red strawberry": [ + 795, + 242, + 885, + 373 + ], + "yellow pear": [ + 782, + 424, + 876, + 565 + ], + "white plate": [ + 708, + 256, + 916, + 445 + ], + "blue spoon": [ + 144, + 408, + 316, + 558 + ], + "yellow toy": [ + 396, + 4, + 646, + 447 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper and suspended in the air above the red cup, indicating the grasp was successful. The robot has completed the approach and grasp phases and is now in the lifting phase. The next action is to continue moving the cucumber upward and away from the cup to fully extract it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 4 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35855135321617126, + 0.060383282601833344, + 0.04416561871767044, + -2.974348306655884, + 0.08427838236093521, + 0.3015310764312744 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper and suspended in the air above the red cup, indicating the grasp was successful. The robot has completed the approach and grasp phases and is now in the lifting phase. The next action is to continue moving the cucumber upward and away from the cup to fully extract it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3538244664669037, + 0.06641118973493576, + 0.029063086956739426, + -2.9514403343200684, + 0.12665680050849915, + 0.3194715082645416 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper and suspended in the air above the red cup, indicating the grasp was successful. The robot has completed the approach and grasp phases and is now in the lifting phase. The next action is to continue moving the cucumber upward and away from the cup to fully extract it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558783233165741, + 0.07360690832138062, + 0.020398912951350212, + -2.9415457248687744, + 0.13978423178195953, + 0.3256533145904541 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper and suspended in the air above the red cup, indicating the grasp was successful. The robot has completed the approach and grasp phases and is now in the lifting phase. The next action is to continue moving the cucumber upward and away from the cup to fully extract it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36032888293266296, + 0.08186628669500351, + 0.01474024448543787, + -2.9447102546691895, + 0.13427306711673737, + 0.34627431631088257 + ], + "gripper_value": 0.4615449905395508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "lift cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper and suspended in the air above the red cup, indicating the grasp was successful. The robot has completed the approach and grasp phases and is now in the lifting phase. The next action is to continue moving the cucumber upward and away from the cup to fully extract it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3607099950313568, + 0.08665375411510468, + 0.014521270990371704, + -2.9433436393737793, + 0.12108238786458969, + 0.37742486596107483 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "release cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper above the table, having been successfully lifted out of the red cup. The gripper is positioned over an empty space on the table surface, ready to deposit the object. The next action is to open the gripper to release the cucumber onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35515180230140686, + 0.08632487058639526, + 0.014992602169513702, + -2.9702751636505127, + 0.08260437846183777, + 0.41365647315979004 + ], + "gripper_value": 0.806471049785614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the cucumber inside the red cup and lift it out, placing it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift cucumber" + }, + { + "id": 4, + "subtask": "release cucumber" + } + ], + "subtask_name": "release cucumber", + "subtask_reasoning": "The cucumber is currently held by the gripper above the table, having been successfully lifted out of the red cup. The gripper is positioned over an empty space on the table surface, ready to deposit the object. The next action is to open the gripper to release the cucumber onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003824_ecot.json b/cot/chunk-0003/episode_0003824_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8829cb4fa622d8447d8a380fac0de35d2760b277 --- /dev/null +++ b/cot/chunk-0003/episode_0003824_ecot.json @@ -0,0 +1,1551 @@ +{ + "task_name": "episode_0003824", + "episode_json": "json/chunk-0003/episode_0003824.json", + "video_path": "videos/chunk-0003/image_0/episode_0003824.mp4", + "instruction": "Put spatula in pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003824.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.6636603474617004, + "std": 0.2995721399784088, + "delta_total": -0.6636603474617004, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.66366, std=0.29957, total_delta=-0.66366). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 107, + 7, + 7, + 107, + 207, + 7, + 207, + 207, + 207, + 207, + 207, + 207, + 207 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 7 + ], + [ + 3, + 8, + 9 + ], + [ + 4, + 10, + 10 + ], + [ + 5, + 11, + 11 + ], + [ + 6, + 12, + 12 + ], + [ + 7, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the spatula while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with spatula\", \"start\": 7, \"end\": 7, \"planning\": \"Briefly stabilize position and ensure gripper is closed around spatula handle.\"},\n {\"id\": 3, \"name\": \"reposition spatula in hand\", \"start\": 8, \"end\": 9, \"planning\": \"Adjust orientation of spatula within gripper without releasing or re-grasping.\"},\n {\"id\": 4, \"name\": \"lift and translate spatula\", \"start\": 10, \"end\": 11, \"planning\": \"Raise spatula slightly and begin moving it horizontally toward the pan.\"},\n {\"id\": 5, \"name\": \"align spatula over pan\", \"start\": 12, \"end\": 12, \"planning\": \"Fine-tune position to center spatula above the pan’s opening.\"},\n {\"id\": 6, \"name\": \"release spatula into pan\", \"start\": 13, \"end\": 19, \"planning\": \"Lower spatula into pan and open gripper to deposit it, then retreat slightly.\"}\n ],\n \"global_plan\": \"Approach and grasp the spatula, reorient it in hand, lift and move it toward the pan, align precisely over the pan, then release it inside.\",\n \"notes\": \"Gripper closes meaningfully in segment 1 (frames 0-6), allowing 'grasp' wording. Segments 3, 5, and 7 show no meaningful closing — descriptions avoid 'grasp'/'hold' and use 'reposition', 'translate', 'release' based on motion and context. Frame 12 is a single-frame transition merged into its own subtask for alignment precision.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the spatula while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact with spatula", + "start": 7, + "end": 7, + "planning": "Briefly stabilize position and ensure gripper is closed around spatula handle." + }, + { + "id": 3, + "name": "reposition spatula in hand", + "start": 8, + "end": 9, + "planning": "Adjust orientation of spatula within gripper without releasing or re-grasping." + }, + { + "id": 4, + "name": "lift and translate spatula", + "start": 10, + "end": 11, + "planning": "Raise spatula slightly and begin moving it horizontally toward the pan." + }, + { + "id": 5, + "name": "align spatula over pan", + "start": 12, + "end": 12, + "planning": "Fine-tune position to center spatula above the pan’s opening." + }, + { + "id": 6, + "name": "release spatula into pan", + "start": 13, + "end": 19, + "planning": "Lower spatula into pan and open gripper to deposit it, then retreat slightly." + } + ], + "global_plan": "Approach and grasp the spatula, reorient it in hand, lift and move it toward the pan, align precisely over the pan, then release it inside.", + "notes": "Gripper closes meaningfully in segment 1 (frames 0-6), allowing 'grasp' wording. Segments 3, 5, and 7 show no meaningful closing — descriptions avoid 'grasp'/'hold' and use 'reposition', 'translate', 'release' based on motion and context. Frame 12 is a single-frame transition merged into its own subtask for alignment precision." + } + }, + "episode_goal": "Place the blue spatula into the metal pan on the wooden countertop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34856030344963074, + -0.1054217517375946, + 0.05058138445019722, + -3.0448946952819824, + -0.15259866416454315, + -0.004700989928096533 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the blue spatula visible to the left and the metal pan to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector towards the spatula to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 4 cm, close gripper; then move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3469808101654053, + -0.10300084203481674, + 0.037046220153570175, + -3.0411691665649414, + -0.11532870680093765, + -0.008321111090481281 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the blue spatula visible to the left and the metal pan to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector towards the spatula to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, close gripper; then move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577698767185211, + -0.1020960658788681, + 0.03145614638924599, + -3.0477771759033203, + -0.15985286235809326, + -0.011364934034645557 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the blue spatula visible to the left and the metal pan to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector towards the spatula to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.361463338136673, + -0.10052693635225296, + 0.02137315832078457, + -3.06022572517395, + -0.18573786318302155, + -0.009791777469217777 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the blue spatula visible to the left and the metal pan to the right. No objects have been moved yet. The gripper is open and approaching the spatula, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, close gripper; then move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36402198672294617, + -0.09597454220056534, + 0.009174678474664688, + -3.076171398162842, + -0.16703608632087708, + -0.021204587072134018 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the blue spatula visible to the left and the metal pan to the right. No objects have been moved yet. The gripper is open and approaching the spatula, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper; then move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3745732009410858, + -0.09198696166276932, + 0.008399597369134426, + -3.103433609008789, + -0.17834840714931488, + -0.016551682725548744 + ], + "gripper_value": 0.9802480936050415 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the blue spatula visible to the left and the metal pan to the right. No objects have been moved yet. The gripper is open and approaching the spatula, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed; then move left 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791995644569397, + -0.09124201536178589, + 0.007119663991034031, + -3.122856616973877, + -0.18298183381557465, + -0.0051607671193778515 + ], + "gripper_value": 0.7701175808906555 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 536, + 200, + 738, + 415 + ], + "purple mug": [ + 818, + 656, + 987, + 858 + ], + "wooden bowl": [ + 141, + 100, + 318, + 285 + ], + "red toy fruit": [ + 378, + 94, + 467, + 195 + ], + "toy watermelon": [ + 277, + 166, + 440, + 308 + ], + "wooden cutting board": [ + 50, + 73, + 736, + 775 + ], + "toy carrot": [ + 77, + 261, + 280, + 542 + ], + "coffee maker": [ + 718, + 27, + 973, + 526 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the blue spatula visible to the left and the metal pan to the right. No objects have been moved yet. The gripper is open and approaching the spatula, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed; then move left 6 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791930675506592, + -0.09340351074934006, + 0.0072273993864655495, + -3.1274466514587402, + -0.18707843124866486, + 0.0191812664270401 + ], + "gripper_value": 0.45408597588539124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "make contact with spatula", + "subtask_reasoning": "The robot end-effector is positioned near the orange spatula on the wooden countertop, having completed the approach phase. No grasping action has occurred yet as the gripper remains open and stable. The next step is to close the gripper to establish contact and secure the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed; then move back 1 cm, move left 8 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37551048398017883, + -0.0988258421421051, + 0.005157826002687216, + 3.1372835636138916, + -0.18258677423000336, + 0.06361044943332672 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "reposition spatula in hand", + "subtask_reasoning": "The robot has made contact with the orange spatula on the wooden countertop. Since the segment-level gripper evidence shows no closing motion, the robot is currently stabilizing or adjusting its approach rather than grasping. The next likely action is to initiate the gripper closure to secure the spatula for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed; then move back 1 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36278074979782104, + -0.10522137582302094, + 0.005291380919516087, + 3.124495506286621, + -0.1518687754869461, + 0.1269705593585968 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "reposition spatula in hand", + "subtask_reasoning": "The robot has made contact with the orange spatula on the wooden countertop. Since the segment-level gripper evidence shows no closing motion, the robot is currently stabilizing or adjusting its approach rather than grasping. The next likely action is to initiate the gripper closure to secure the spatula for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper closed; then move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed; then move back 1 cm, move left 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34283891320228577, + -0.1069285050034523, + 0.006428565364331007, + -3.1352174282073975, + -0.08152047544717789, + 0.18104715645313263 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "lift and translate spatula", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it from the countertop. The end-effector is currently holding the spatula in mid-air, positioned near the metal pan. Since the gripper signal is stable, the next action is to translate the spatula horizontally to align it directly over the pan for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed; then move back 1 cm, move left 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 10, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32560995221138, + -0.10599324107170105, + 0.013114005327224731, + -3.1379175186157227, + -0.005773922428488731, + 0.21932508051395416 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "lift and translate spatula", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it from the countertop. The end-effector is currently holding the spatula in mid-air, positioned near the metal pan. Since the gripper signal is stable, the next action is to translate the spatula horizontally to align it directly over the pan for insertion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed; then move back 1 cm, move left 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 10, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3144824206829071, + -0.102630615234375, + 0.029769374057650566, + 3.1300158500671387, + 0.03953975439071655, + 0.2611101567745209 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "align spatula over pan", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop near the metal pan, with the gripper open and no object currently held. The spatula has been approached and contacted in prior steps, but alignment over the pan is not yet achieved. The next action should involve moving the end-effector to position the spatula (once grasped) directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 1 cm, move left 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 12, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3134547173976898, + -0.1017698273062706, + 0.04917043447494507, + -3.1205248832702637, + 0.0755724310874939, + 0.3312279284000397 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "release spatula into pan", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop near the metal pan, with the gripper open and no object currently held. The spatula has been approached and contacted in prior steps, but alignment over the pan is not yet achieved. The next action should involve moving the end-effector to position the spatula (once grasped) directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32020094990730286, + -0.09427017718553543, + 0.06968536972999573, + -3.072963237762451, + 0.08275958150625229, + 0.3646716773509979 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "release spatula into pan", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop near the metal pan, with the gripper open and no object currently held. The spatula has been approached and contacted in prior steps, but alignment over the pan is not yet achieved. The next action should involve moving the end-effector to position the spatula (once grasped) directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.316618949174881, + -0.0723157599568367, + 0.08030109107494354, + -3.0524849891662598, + 0.06750717759132385, + 0.3482772707939148 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "release spatula into pan", + "subtask_reasoning": "The robot arm is positioned above the wooden countertop near the metal pan, with the gripper open and no object currently held. The spatula has been approached and contacted in prior steps, but alignment over the pan is not yet achieved. The next action should involve moving the end-effector to position the spatula (once grasped) directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122231364250183, + -0.04179459437727928, + 0.07385838031768799, + -3.058933973312378, + 0.06676145642995834, + 0.38111913204193115 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden bowl": [ + 141, + 100, + 318, + 286 + ], + "metal bowl": [ + 535, + 204, + 691, + 412 + ], + "red toy fruit": [ + 381, + 94, + 466, + 198 + ], + "coffee maker": [ + 591, + 30, + 878, + 430 + ], + "toy watermelon": [ + 276, + 166, + 439, + 309 + ], + "toy carrot": [ + 77, + 262, + 280, + 539 + ], + "wooden cutting board": [ + 2, + 79, + 722, + 778 + ], + "purple mug": [ + 818, + 655, + 987, + 858 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "release spatula into pan", + "subtask_reasoning": "The spatula is currently held above the metal pan on the wooden countertop. The gripper has remained open and stable throughout this segment, indicating the object is not being actively grasped or released in this specific window. The robot needs to lower the end-effector to deposit the spatula into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30531778931617737, + -0.026333624497056007, + 0.06247597187757492, + -3.069916009902954, + 0.06671507656574249, + 0.4158068001270294 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "release spatula into pan", + "subtask_reasoning": "The spatula is currently held above the metal pan on the wooden countertop. The gripper has remained open and stable throughout this segment, indicating the object is not being actively grasped or released in this specific window. The robot needs to lower the end-effector to deposit the spatula into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3012259900569916, + -0.01770045794546604, + 0.051700152456760406, + -3.079861640930176, + 0.03380522504448891, + 0.38381636142730713 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "release spatula into pan", + "subtask_reasoning": "The spatula is currently held above the metal pan on the wooden countertop. The gripper has remained open and stable throughout this segment, indicating the object is not being actively grasped or released in this specific window. The robot needs to lower the end-effector to deposit the spatula into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30842432379722595, + -0.009286808781325817, + 0.05209198221564293, + -3.0844616889953613, + 0.010917723178863525, + 0.3281311094760895 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spatula into the metal pan on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "make contact with spatula" + }, + { + "id": 3, + "subtask": "reposition spatula in hand" + }, + { + "id": 4, + "subtask": "lift and translate spatula" + }, + { + "id": 5, + "subtask": "align spatula over pan" + }, + { + "id": 6, + "subtask": "release spatula into pan" + } + ], + "subtask_name": "release spatula into pan", + "subtask_reasoning": "The spatula is currently held above the metal pan on the wooden countertop. The gripper has remained open and stable throughout this segment, indicating the object is not being actively grasped or released in this specific window. The robot needs to lower the end-effector to deposit the spatula into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 13, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003826_ecot.json b/cot/chunk-0003/episode_0003826_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..78122b2c3a3f5eaacd946fe841dc9faa96bb9008 --- /dev/null +++ b/cot/chunk-0003/episode_0003826_ecot.json @@ -0,0 +1,2775 @@ +{ + "task_name": "episode_0003826", + "episode_json": "json/chunk-0003/episode_0003826.json", + "video_path": "videos/chunk-0003/image_0/episode_0003826.mp4", + "instruction": "Put the green cube on the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003826.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.45261406898498535, + "std": 0.21459530293941498, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45261, std=0.21460, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 300, + 300, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 3 + ], + [ + 3, + 4, + 6 + ], + [ + 4, + 7, + 21 + ], + [ + 5, + 22, + 37 + ], + [ + 6, + 38, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green cube\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the green cube on the stack without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp green cube\", \"start\": 7, \"end\": 21, \"planning\": \"Close the gripper to securely grasp the green cube and lift it from the stack.\"},\n {\"id\": 3, \"name\": \"transport green cube\", \"start\": 22, \"end\": 37, \"planning\": \"Carry the grasped green cube across the table toward the target left-side location.\"},\n {\"id\": 4, \"name\": \"release green cube\", \"start\": 38, \"end\": 42, \"planning\": \"Open the gripper to release the green cube onto the left side of the table and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the green cube on the stack, grasp and lift it, transport it to the left side of the table, then release it at the target location.\",\n \"notes\": \"Segment 4 (frames 7-21) shows meaningful gripper closing (delta=-0.45129) and image evidence confirms grasping and lifting; Segment 6 (frames 38-42) shows no gripper closing, consistent with release and retreat. All frames are covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green cube", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the green cube on the stack without closing the gripper." + }, + { + "id": 2, + "name": "grasp green cube", + "start": 7, + "end": 21, + "planning": "Close the gripper to securely grasp the green cube and lift it from the stack." + }, + { + "id": 3, + "name": "transport green cube", + "start": 22, + "end": 37, + "planning": "Carry the grasped green cube across the table toward the target left-side location." + }, + { + "id": 4, + "name": "release green cube", + "start": 38, + "end": 42, + "planning": "Open the gripper to release the green cube onto the left side of the table and retreat slightly." + } + ], + "global_plan": "Approach the green cube on the stack, grasp and lift it, transport it to the left side of the table, then release it at the target location.", + "notes": "Segment 4 (frames 7-21) shows meaningful gripper closing (delta=-0.45129) and image evidence confirms grasping and lifting; Segment 6 (frames 38-42) shows no gripper closing, consistent with release and retreat. All frames are covered contiguously." + } + }, + "episode_goal": "Place the green cube on the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2853752672672272, + -0.02065136469900608, + 0.13899163901805878, + -3.1259608268737793, + -0.028354980051517487, + 0.04497727379202843 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located at the top. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28379878401756287, + -0.02098841406404972, + 0.13019052147865295, + -3.124767303466797, + 0.003971349913626909, + 0.04580600932240486 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located at the top. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2838898301124573, + -0.030741704627871513, + 0.14214161038398743, + 3.097140312194824, + -0.04328262060880661, + 0.021492745727300644 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located at the top. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the green cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870618402957916, + -0.04955895245075226, + 0.1654909998178482, + 3.104557514190674, + -0.10119452327489853, + -0.055083390325307846 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.285102516412735, + -0.06570485234260559, + 0.18701882660388947, + -3.140810012817383, + -0.1422896683216095, + -0.11485611647367477 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 121, + 184, + 995, + 994 + ], + "red marking": [ + 297, + 92, + 417, + 192 + ], + "yellow block": [ + 791, + 517, + 908, + 645 + ], + "blue block": [ + 768, + 611, + 908, + 812 + ] + } + } + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836039364337921, + -0.08244511485099792, + 0.19924388825893402, + -3.1289596557617188, + -0.1670410931110382, + -0.17687992751598358 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28185388445854187, + -0.09717273712158203, + 0.2046739012002945, + -3.1259772777557373, + -0.16444337368011475, + -0.22412580251693726 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "approach green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778240144252777, + -0.1132853776216507, + 0.2015152871608734, + 3.127089500427246, + -0.15598422288894653, + -0.24969474971294403 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27978795766830444, + -0.12485702335834503, + 0.18263298273086548, + 3.104062080383301, + -0.09677236527204514, + -0.2573223412036896 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 117, + 183, + 994, + 995 + ], + "red marking": [ + 298, + 92, + 417, + 191 + ], + "green block": [ + 822, + 376, + 953, + 531 + ], + "yellow block": [ + 790, + 514, + 909, + 647 + ], + "blue block": [ + 767, + 611, + 909, + 812 + ] + } + } + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28041449189186096, + -0.12977460026741028, + 0.1742144078016281, + 3.103503465652466, + -0.07304681092500687, + -0.2553771436214447 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805587649345398, + -0.1334913969039917, + 0.1666261851787567, + 3.1065993309020996, + -0.049871038645505905, + -0.25249403715133667 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28115513920783997, + -0.13534601032733917, + 0.15794841945171356, + 3.1058547496795654, + -0.018163753673434258, + -0.24089480936527252 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 2 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815675139427185, + -0.1376446634531021, + 0.14632314443588257, + 3.099414825439453, + 0.027144446969032288, + -0.23066584765911102 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 1 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820071876049042, + -0.13807521760463715, + 0.1379571259021759, + 3.078634262084961, + 0.06390503793954849, + -0.19638612866401672 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of colored cubes where the green cube is located on top. No objects have been moved yet. The gripper is open and the arm is moving toward the target, so the next action is to continue approaching and align with the green cube for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.281801700592041, + -0.1382260024547577, + 0.13680894672870636, + 3.067622184753418, + 0.07249372452497482, + -0.17253166437149048 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841310501098633, + -0.13550209999084473, + 0.1344991773366928, + 3.0667226314544678, + 0.06457012891769409, + -0.1465042680501938 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 5 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841310501098633, + -0.13550209999084473, + 0.1344991773366928, + 3.06731915473938, + 0.06525585055351257, + -0.1373065710067749 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28394389152526855, + -0.13465841114521027, + 0.13446079194545746, + 3.0726802349090576, + 0.06738324463367462, + -0.13375158607959747 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 12 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28567561507225037, + -0.12582160532474518, + 0.14087922871112823, + 3.0919575691223145, + 0.05180896446108818, + -0.10962752252817154 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897716462612152, + -0.10928540676832199, + 0.1661817878484726, + 3.101588726043701, + -0.01902163214981556, + -0.06658461689949036 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 6 cm, move down 15 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926671802997589, + -0.08573993295431137, + 0.18032734096050262, + 3.093200922012329, + -0.055069636553525925, + 0.003818439319729805 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 6 cm, move down 15 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29286709427833557, + -0.056911032646894455, + 0.1753067523241043, + 3.093766212463379, + -0.03370366245508194, + 0.08116339892148972 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "grasp green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move left 6 cm, move down 15 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28939083218574524, + -0.029724180698394775, + 0.1519574671983719, + -3.128378391265869, + 0.0027631381526589394, + 0.15556876361370087 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 122, + 183, + 996, + 995 + ], + "red marking": [ + 298, + 92, + 417, + 191 + ], + "green block": [ + 621, + 135, + 726, + 270 + ], + "red block": [ + 731, + 664, + 819, + 847 + ], + "blue block": [ + 767, + 612, + 908, + 812 + ] + } + } + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 14 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2889401316642761, + -0.010177118703722954, + 0.12801405787467957, + -3.081850051879883, + 0.028218312188982964, + 0.19685068726539612 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28858280181884766, + 0.004978484008461237, + 0.10398133099079132, + -3.07285213470459, + 0.03809627145528793, + 0.19368864595890045 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.292585164308548, + 0.018959522247314453, + 0.07963087409734726, + -3.0488038063049316, + 0.02111629955470562, + 0.16862812638282776 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 122, + 181, + 995, + 995 + ], + "black object": [ + 430, + 3, + 703, + 383 + ], + "red marking": [ + 298, + 92, + 417, + 191 + ], + "yellow block": [ + 790, + 497, + 920, + 644 + ], + "green block": [ + 484, + 289, + 568, + 408 + ], + "blue block": [ + 768, + 611, + 908, + 811 + ] + } + } + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981167137622833, + 0.024983758106827736, + 0.0550106018781662, + -3.050995111465454, + 0.04003344476222992, + 0.15224750339984894 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009779453277588, + 0.027077745646238327, + 0.03328324481844902, + -3.0869531631469727, + 0.0731332078576088, + 0.14965936541557312 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3106018900871277, + 0.03107251226902008, + 0.020495150238275528, + -3.07564640045166, + 0.07725226134061813, + 0.13865840435028076 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is positioned above the green cube on the stack, with the gripper open and aligned for grasping. The segment-level gripper evidence indicates a closing motion has occurred, suggesting the gripper is now in contact with or has just closed around the green cube. The next action is to confirm a secure grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 12 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31581178307533264, + 0.032698020339012146, + 0.002614688128232956, + -3.063570976257324, + 0.1073509007692337, + 0.12736959755420685 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move up 13 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194800317287445, + 0.030198082327842712, + 0.0011976249516010284, + -3.082127571105957, + 0.09082517772912979, + 0.12506908178329468 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 14 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3197120130062103, + 0.028582967817783356, + 0.0007483106455765665, + -3.0989603996276855, + 0.08933877944946289, + 0.1255917251110077 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 14 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3100694715976715, + 0.026647252961993217, + 0.01331451628357172, + -3.108926773071289, + 0.08987041562795639, + 0.1372297704219818 + ], + "gripper_value": 0.9165752530097961 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 12 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31114858388900757, + 0.02602512761950493, + 0.061533328145742416, + -3.0737321376800537, + -0.0007455656887032092, + 0.1308380365371704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30742961168289185, + 0.008999285288155079, + 0.10925426334142685, + -3.033825159072876, + -0.06297241896390915, + 0.06999471038579941 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 123, + 182, + 995, + 995 + ], + "black object": [ + 441, + 5, + 696, + 352 + ], + "red marking": [ + 298, + 92, + 417, + 191 + ], + "yellow block": [ + 790, + 498, + 919, + 645 + ], + "green block": [ + 491, + 432, + 569, + 530 + ], + "blue block": [ + 767, + 613, + 907, + 811 + ] + } + } + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967047095298767, + -0.00353816244751215, + 0.13371653854846954, + -3.023756742477417, + -0.07024166733026505, + 0.022669024765491486 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.28841689229011536, + -0.01824587769806385, + 0.139411062002182, + -3.065538167953491, + -0.04632244631648064, + 0.0009241362567991018 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817891538143158, + -0.030246518552303314, + 0.1366444081068039, + -3.1119260787963867, + -0.011821764521300793, + 0.007939307950437069 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "transport green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753145098686218, + -0.04247698932886124, + 0.1367144137620926, + 3.108395576477051, + 0.02830353006720543, + 0.023197021335363388 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "release green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.27427247166633606, + -0.04895651713013649, + 0.13153120875358582, + 3.074010133743286, + 0.058222245424985886, + 0.024875089526176453 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "release green cube", + "subtask_reasoning": "The robot is currently holding the green cube above the table surface, having successfully lifted it from the stack. The end-effector is positioned near the center of the workspace, indicating the transport phase is underway. The next action is to move the arm laterally towards the left side of the table to reach the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27645784616470337, + -0.051429279148578644, + 0.12194511294364929, + 3.113727331161499, + 0.0932685136795044, + 0.010939188301563263 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "release green cube", + "subtask_reasoning": "The green cube is already resting on the left side of the table, and the gripper is fully open and positioned above it. The release action has been completed, as confirmed by the lack of gripper motion and the cube's stationary position. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.27636629343032837, + -0.0522463284432888, + 0.11976943910121918, + 3.118683099746704, + 0.10051403939723969, + 0.013465727679431438 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "release green cube", + "subtask_reasoning": "The green cube is already resting on the left side of the table, and the gripper is fully open and positioned above it. The release action has been completed, as confirmed by the lack of gripper motion and the cube's stationary position. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764018476009369, + -0.0520126074552536, + 0.11976034194231033, + 3.1201188564300537, + 0.10025788843631744, + 0.01311282068490982 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green cube on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cube" + }, + { + "id": 2, + "subtask": "grasp green cube" + }, + { + "id": 3, + "subtask": "transport green cube" + }, + { + "id": 4, + "subtask": "release green cube" + } + ], + "subtask_name": "release green cube", + "subtask_reasoning": "The green cube is already resting on the left side of the table, and the gripper is fully open and positioned above it. The release action has been completed, as confirmed by the lack of gripper motion and the cube's stationary position. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003827_ecot.json b/cot/chunk-0003/episode_0003827_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9ddb2369fef0752b8753ed73a7e2a66712321a4f --- /dev/null +++ b/cot/chunk-0003/episode_0003827_ecot.json @@ -0,0 +1,1102 @@ +{ + "task_name": "episode_0003827", + "episode_json": "json/chunk-0003/episode_0003827.json", + "video_path": "videos/chunk-0003/image_0/episode_0003827.mp4", + "instruction": "Put pear in bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003827.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.34687095880508423, + "std": 0.16137371957302094, + "delta_total": -0.1269802451133728, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34687, std=0.16137, total_delta=-0.12698). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper from initial position toward the green pear on the counter.\"},\n {\"id\": 2, \"name\": \"grasp pear\", \"start\": 4, \"end\": 8, \"planning\": \"Close gripper around the pear and secure hold, confirmed by gripper value drop to 0.66113.\"},\n {\"id\": 3, \"name\": \"lift and transport pear\", \"start\": 9, \"end\": 12, \"planning\": \"Lift the grasped pear and move it horizontally toward the blue bowl.\"},\n {\"id\": 4, \"name\": \"release pear into bowl\", \"start\": 13, \"end\": 15, \"planning\": \"Open gripper to release the pear into the bowl, confirmed by gripper value rising to 0.88102.\"}\n ],\n \"global_plan\": \"Approach the pear, grasp it securely, lift and transport it over the bowl, then release it inside.\",\n \"notes\": \"Gripper evidence supports grasp in segment 1 (closing) and release in segment 2 (opening). Motion and image frames confirm object interaction and placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 3, + "planning": "Move the gripper from initial position toward the green pear on the counter." + }, + { + "id": 2, + "name": "grasp pear", + "start": 4, + "end": 8, + "planning": "Close gripper around the pear and secure hold, confirmed by gripper value drop to 0.66113." + }, + { + "id": 3, + "name": "lift and transport pear", + "start": 9, + "end": 12, + "planning": "Lift the grasped pear and move it horizontally toward the blue bowl." + }, + { + "id": 4, + "name": "release pear into bowl", + "start": 13, + "end": 15, + "planning": "Open gripper to release the pear into the bowl, confirmed by gripper value rising to 0.88102." + } + ], + "global_plan": "Approach the pear, grasp it securely, lift and transport it over the bowl, then release it inside.", + "notes": "Gripper evidence supports grasp in segment 1 (closing) and release in segment 2 (opening). Motion and image frames confirm object interaction and placement." + } + }, + "episode_goal": "Grasp the green pear from the white dish rack and place it into the blue bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31391626596450806, + 5.8370456827105954e-05, + 0.07162820547819138, + -3.0943050384521484, + -0.1502990424633026, + -0.01329025812447071 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the green pear visible in the white dish rack and the blue bowl nearby on the counter. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating readiness to move toward the pear. The next action should be to translate the end-effector closer to the green pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, keep gripper open; then move left 1 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31323376297950745, + -4.129706212552264e-05, + 0.060605067759752274, + -3.0926942825317383, + -0.12958109378814697, + -0.029675358906388283 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 337, + 495, + 484, + 672 + ], + "white toy egg": [ + 151, + 362, + 253, + 451 + ], + "purple cup": [ + 795, + 325, + 941, + 505 + ], + "metal pot": [ + 815, + 358, + 995, + 726 + ], + "blue spatula": [ + 55, + 416, + 254, + 500 + ], + "red toy strawberry": [ + 175, + 452, + 345, + 600 + ], + "green toy apple": [ + 544, + 360, + 620, + 467 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the sink area, approaching the green pear located in the white dish rack. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move left 1 cm, tilt forward 10 degrees, close gripper; then move back 4 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184531331062317, + 0.003983667585998774, + 0.04931099712848663, + -3.0870721340179443, + -0.13430842757225037, + -0.04740160331130028 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the sink area, approaching the green pear located in the white dish rack. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, tilt forward 10 degrees, close gripper; then move back 5 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3245460093021393, + 0.0073453402146697044, + 0.03994220495223999, + -3.085430860519409, + -0.15121525526046753, + -0.0645027682185173 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the sink area, approaching the green pear located in the white dish rack. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, tilt forward 10 degrees, close gripper; then move back 4 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3322867155075073, + 0.009205469861626625, + 0.031111810356378555, + -3.089949607849121, + -0.1762952357530594, + -0.07993976771831512 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the sink area, approaching the green pear located in the white dish rack. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt forward 10 degrees, close gripper; then move back 4 cm, move left 5 cm, keep gripper closed; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33920934796333313, + 0.009975680150091648, + 0.024831119924783707, + -3.100114345550537, + -0.20108288526535034, + -0.08546238392591476 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the sink area, approaching the green pear located in the white dish rack. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, keep gripper closed; then move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3444654941558838, + 0.010752891190350056, + 0.01821034774184227, + -3.107616424560547, + -0.21246442198753357, + -0.08149883151054382 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned near the green pear in the white dish rack, with the gripper partially open. The gripper signal shows a significant closing trend over the segment, indicating an active grasp attempt. The next action is to fully close the gripper to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, keep gripper closed; then move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34857261180877686, + 0.010863582603633404, + 0.018231216818094254, + -3.1074299812316895, + -0.2170906662940979, + -0.08001913875341415 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned near the green pear in the white dish rack, with the gripper partially open. The gripper signal shows a significant closing trend over the segment, indicating an active grasp attempt. The next action is to fully close the gripper to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, keep gripper closed; then move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34416627883911133, + 0.016830893233418465, + 0.022673748433589935, + -3.076357364654541, + -0.1440037339925766, + -0.08100488036870956 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned near the green pear in the white dish rack, with the gripper partially open. The gripper signal shows a significant closing trend over the segment, indicating an active grasp attempt. The next action is to fully close the gripper to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, keep gripper closed; then move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3323676288127899, + 0.021014848724007607, + 0.03145301714539528, + -3.0341708660125732, + -0.038099322468042374, + -0.07200930267572403 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot's end-effector is positioned near the green pear in the white dish rack, with the gripper partially open. The gripper signal shows a significant closing trend over the segment, indicating an active grasp attempt. The next action is to fully close the gripper to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, keep gripper closed; then move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31082409620285034, + 0.03118542581796646, + 0.03541510924696922, + -3.008211374282837, + -0.022307904437184334, + -0.05768805369734764 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot has successfully grasped the green pear from the white dish rack and is currently lifting it. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to continue moving the pear over the blue bowl for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915829122066498, + 0.04457240179181099, + 0.031498443335294724, + -2.9747979640960693, + -0.022212790325284004, + -0.05781152471899986 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot has successfully grasped the green pear from the white dish rack and is currently lifting it. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to continue moving the pear over the blue bowl for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed; then move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28617334365844727, + 0.060886118561029434, + 0.028002332895994186, + -2.9492125511169434, + -0.02875150740146637, + -0.07514912635087967 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 337, + 495, + 484, + 672 + ], + "purple cup": [ + 794, + 325, + 943, + 534 + ], + "metal pot": [ + 846, + 358, + 995, + 726 + ], + "white toy egg": [ + 152, + 362, + 253, + 451 + ], + "blue spatula": [ + 55, + 415, + 256, + 500 + ], + "green toy apple": [ + 382, + 377, + 460, + 484 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot has successfully grasped the green pear from the white dish rack and is currently lifting it. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to continue moving the pear over the blue bowl for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903125286102295, + 0.07178778201341629, + 0.027264101430773735, + -2.948368787765503, + -0.0629212036728859, + -0.10046804696321487 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "release pear into bowl", + "subtask_reasoning": "The robot has successfully grasped the green pear from the white dish rack and is currently lifting it. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to continue moving the pear over the blue bowl for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.296421080827713, + 0.07577954977750778, + 0.0258303452283144, + -2.9439854621887207, + -0.11506354063749313, + -0.13014672696590424 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "release pear into bowl", + "subtask_reasoning": "The robot is holding the green pear above the blue bowl, having completed the approach and grasp phases. The gripper is currently closed around the pear, and the next action is to open the gripper to release the pear into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30016836524009705, + 0.07501508295536041, + 0.022885506972670555, + -2.94488263130188, + -0.15729856491088867, + -0.14844517409801483 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the white dish rack and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and transport pear" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "release pear into bowl", + "subtask_reasoning": "The robot is holding the green pear above the blue bowl, having completed the approach and grasp phases. The gripper is currently closed around the pear, and the next action is to open the gripper to release the pear into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003828_ecot.json b/cot/chunk-0003/episode_0003828_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c2f6bb44576405f836b3b1a9aefad9658df200c1 --- /dev/null +++ b/cot/chunk-0003/episode_0003828_ecot.json @@ -0,0 +1,2310 @@ +{ + "task_name": "episode_0003828", + "episode_json": "json/chunk-0003/episode_0003828.json", + "video_path": "videos/chunk-0003/image_0/episode_0003828.mp4", + "instruction": "Fold the cloth from bottom left to top right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003828.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9461709856987, + "std": 0.43632808327674866, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94617, std=0.43633, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 129, + 129, + 129, + 129, + 129, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 16 + ], + [ + 3, + 17, + 28 + ], + [ + 4, + 29, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottom left corner\", \"start\": 0, \"end\": 12, \"planning\": \"Move gripper toward the bottom left corner of the cloth while closing to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift corner\", \"start\": 13, \"end\": 16, \"planning\": \"Securely grasp the bottom left corner and begin lifting it slightly off the table.\"},\n {\"id\": 3, \"name\": \"drag corner diagonally upward\", \"start\": 17, \"end\": 28, \"planning\": \"Pull the grasped corner diagonally toward the top right while maintaining grip and folding the cloth.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 29, \"end\": 34, \"planning\": \"Open gripper to release the folded cloth and move away to complete the fold.\"}\n ],\n \"global_plan\": \"Fold the green cloth by grasping its bottom left corner, dragging it diagonally to the top right, then releasing to form a neat fold.\",\n \"notes\": \"Gripper closure is confirmed in segments 1–4; grasp wording is justified where images show contact and motion consistent with holding and dragging. Segment 3 shows sustained grip during diagonal pull; segment 4 shows clear release via gripper opening and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottom left corner", + "start": 0, + "end": 12, + "planning": "Move gripper toward the bottom left corner of the cloth while closing to prepare for contact." + }, + { + "id": 2, + "name": "grasp and lift corner", + "start": 13, + "end": 16, + "planning": "Securely grasp the bottom left corner and begin lifting it slightly off the table." + }, + { + "id": 3, + "name": "drag corner diagonally upward", + "start": 17, + "end": 28, + "planning": "Pull the grasped corner diagonally toward the top right while maintaining grip and folding the cloth." + }, + { + "id": 4, + "name": "release and retreat", + "start": 29, + "end": 34, + "planning": "Open gripper to release the folded cloth and move away to complete the fold." + } + ], + "global_plan": "Fold the green cloth by grasping its bottom left corner, dragging it diagonally to the top right, then releasing to form a neat fold.", + "notes": "Gripper closure is confirmed in segments 1–4; grasp wording is justified where images show contact and motion consistent with holding and dragging. Segment 3 shows sustained grip during diagonal pull; segment 4 shows clear release via gripper opening and retreat." + } + }, + "episode_goal": "Fold the cloth from bottom left to top right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26630252599716187, + 0.14472907781600952, + 0.09171310067176819, + -2.8539798259735107, + -0.3302759528160095, + 0.11849654465913773 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready to move. No part of the folding task has been completed yet. The next action is to lower and approach the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26444900035858154, + 0.14320702850818634, + 0.08467638492584229, + -2.86787486076355, + -0.30809900164604187, + 0.12102382630109787 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready to move. No part of the folding task has been completed yet. The next action is to lower and approach the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733341455459595, + 0.12916146218776703, + 0.11261307448148727, + -2.8510022163391113, + -0.3913828730583191, + -0.03640645369887352 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready to move. No part of the folding task has been completed yet. The next action is to lower and approach the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2766578793525696, + 0.13049501180648804, + 0.09458596259355545, + -2.9062387943267822, + -0.3585430085659027, + 0.07204864919185638 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready to move. No part of the folding task has been completed yet. The next action is to lower and approach the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778898775577545, + 0.13403217494487762, + 0.078695148229599, + -2.9247615337371826, + -0.3460400402545929, + 0.1572948396205902 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready to move. No part of the folding task has been completed yet. The next action is to lower and approach the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.275009423494339, + 0.13681674003601074, + 0.06469438225030899, + -2.93628191947937, + -0.3126816153526306, + 0.23215655982494354 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready to move. No part of the folding task has been completed yet. The next action is to lower and approach the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717883586883545, + 0.13979628682136536, + 0.04898683354258537, + -2.914855480194092, + -0.2899117171764374, + 0.24328647553920746 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the end-effector approaching the bottom left corner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the bottom left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26780956983566284, + 0.14776548743247986, + 0.030190713703632355, + -2.8829550743103027, + -0.2594510018825531, + 0.24724049866199493 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 721, + 455, + 831, + 587 + ], + "toy stove": [ + 800, + 212, + 995, + 431 + ], + "blue cube": [ + 704, + 863, + 806, + 996 + ], + "red block": [ + 728, + 659, + 884, + 850 + ], + "white bin": [ + 504, + 123, + 840, + 360 + ], + "green cloth": [ + 82, + 335, + 707, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the end-effector approaching the bottom left corner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the bottom left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 3 cm, move left 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2656157612800598, + 0.1531425416469574, + 0.025034595280885696, + -2.86812686920166, + -0.2552393078804016, + 0.24423851072788239 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the end-effector approaching the bottom left corner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the bottom left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 3 cm, move left 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625114321708679, + 0.1575869619846344, + 0.01855374313890934, + -2.8665354251861572, + -0.24031412601470947, + 0.2515007555484772 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the end-effector approaching the bottom left corner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the bottom left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 3 cm, move left 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25997358560562134, + 0.15880146622657776, + 0.011918122880160809, + -2.86289644241333, + -0.2180611938238144, + 0.24718108773231506 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the end-effector approaching the bottom left corner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the bottom left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 3 cm, move left 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590871751308441, + 0.15810108184814453, + 0.006969455163925886, + -2.8690640926361084, + -0.19550234079360962, + 0.24892450869083405 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the end-effector approaching the bottom left corner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the bottom left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 11 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25990092754364014, + 0.1621735841035843, + 0.006940899416804314, + -2.8816540241241455, + -0.19198685884475708, + 0.2675098776817322 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the end-effector approaching the bottom left corner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the bottom left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 7 cm, move right 14 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.258853554725647, + 0.16136977076530457, + 0.006387421861290932, + -2.888617515563965, + -0.1822340488433838, + 0.25890615582466125 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the end-effector approaching the bottom left corner. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the bottom left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 9 cm, move right 16 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2569238245487213, + 0.17260713875293732, + 0.010431329719722271, + -2.911508798599243, + -0.18136611580848694, + 0.3014216423034668 + ], + "gripper_value": 0.15769577026367188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned over the bottom left corner of the green cloth with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or has just occurred. The next immediate action is to secure the grip on the cloth corner to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move right 18 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25428444147109985, + 0.1931186467409134, + 0.01916569657623768, + -2.9334280490875244, + -0.1913512945175171, + 0.37655267119407654 + ], + "gripper_value": 0.07081232219934464 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned over the bottom left corner of the green cloth with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or has just occurred. The next immediate action is to secure the grip on the cloth corner to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 13 cm, move right 20 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24452027678489685, + 0.21693912148475647, + 0.01889890804886818, + -2.9611098766326904, + -0.1504565328359604, + 0.46529892086982727 + ], + "gripper_value": 0.05952305346727371 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 721, + 455, + 830, + 586 + ], + "green cloth": [ + 5, + 335, + 641, + 990 + ], + "white bin": [ + 470, + 125, + 841, + 368 + ], + "red block": [ + 727, + 658, + 883, + 850 + ], + "blue cube": [ + 705, + 864, + 805, + 996 + ], + "table legs": [ + 225, + 35, + 343, + 261 + ], + "wooden table": [ + 4, + 192, + 996, + 995 + ], + "toy stove": [ + 799, + 212, + 995, + 430 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned over the bottom left corner of the green cloth with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or has just occurred. The next immediate action is to secure the grip on the cloth corner to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 14 cm, move right 22 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23124763369560242, + 0.2394707053899765, + 0.014977311715483665, + -2.9752447605133057, + -0.08692532032728195, + 0.5665686726570129 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is positioned over the bottom left corner of the green cloth with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or has just occurred. The next immediate action is to secure the grip on the cloth corner to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 23 cm, move up 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22266539931297302, + 0.23278053104877472, + 0.011689412407577038, + -2.996229410171509, + -0.04307806119322777, + 0.5682223439216614 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is positioned over the bottom left corner of the green cloth with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or has just occurred. The next immediate action is to secure the grip on the cloth corner to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 23 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22822752594947815, + 0.20050926506519318, + 0.04005942866206169, + -3.045552968978882, + -0.08889567852020264, + 0.5048074722290039 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is positioned over the bottom left corner of the green cloth with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or has just occurred. The next immediate action is to secure the grip on the cloth corner to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 20 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.252052903175354, + 0.15109342336654663, + 0.05987267941236496, + -3.055554151535034, + -0.11109434813261032, + 0.4185744524002075 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is positioned over the bottom left corner of the green cloth with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or has just occurred. The next immediate action is to secure the grip on the cloth corner to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 15 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703832685947418, + 0.1256881058216095, + 0.07170378416776657, + -3.0737826824188232, + -0.10989655554294586, + 0.4283605217933655 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is positioned over the bottom left corner of the green cloth with the gripper open. The segment-level gripper evidence indicates a closing action is occurring or has just occurred. The next immediate action is to secure the grip on the cloth corner to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 13 cm, move down 3 cm, tilt left 10 degrees, open gripper; then rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003891110420227, + 0.09849026054143906, + 0.07230518013238907, + -3.06003999710083, + -0.10166200250387192, + 0.42707011103630066 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 720, + 456, + 830, + 587 + ], + "white bin": [ + 470, + 124, + 841, + 369 + ], + "green cloth": [ + 62, + 344, + 573, + 991 + ], + "blue cube": [ + 704, + 863, + 806, + 996 + ], + "red block": [ + 728, + 661, + 883, + 850 + ], + "toy stove": [ + 799, + 212, + 995, + 431 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 10 cm, move down 3 cm, open gripper; then move left 1 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32369741797447205, + 0.07991106808185577, + 0.060669079422950745, + -3.026597023010254, + -0.06699874252080917, + 0.44792020320892334 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 2 cm, open gripper; then move back 3 cm, move left 6 cm, move up 5 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452194631099701, + 0.05798538401722908, + 0.06056022644042969, + -3.0214102268218994, + -0.05182419344782829, + 0.4553208351135254 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 2 cm, open gripper; then move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593229651451111, + 0.03597309812903404, + 0.0626281201839447, + -3.019268751144409, + -0.05292249843478203, + 0.45075610280036926 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 2 cm, open gripper; then move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3695743978023529, + 0.020030552521348, + 0.05823245644569397, + -3.0190913677215576, + -0.04586546868085861, + 0.442771852016449 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, keep gripper open; then move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37926894426345825, + 0.009203038178384304, + 0.05101798474788666, + -3.009742021560669, + -0.04004884138703346, + 0.44389933347702026 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3917563259601593, + -0.0009051720844581723, + 0.04408767819404602, + -2.986872434616089, + -0.04444841295480728, + 0.40840280055999756 + ], + "gripper_value": 0.2438887059688568 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag corner diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.39591357111930847, + -0.0023095321375876665, + 0.04304809123277664, + -2.9726827144622803, + -0.05147960036993027, + 0.39116543531417847 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.40041792392730713, + -0.002648540074005723, + 0.04157231003046036, + -2.984206199645996, + -0.07416170835494995, + 0.3493208587169647 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom left corner of the green cloth, having completed the initial grasp and lift. The cloth is partially elevated but not yet folded diagonally toward the top right. The next action should be to drag the held corner diagonally upward and rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.398211807012558, + -0.004078933969140053, + 0.04644928127527237, + -3.002349615097046, + -0.09205250442028046, + 0.2174815535545349 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth has been successfully folded with the bottom left corner brought to the top right. The gripper is currently open and positioned above the cloth, indicating the release action is complete. The robot should now retreat upward and away from the workspace to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.39175570011138916, + 0.009300587698817253, + 0.0632648691534996, + -2.999643564224243, + -0.150350883603096, + 0.01912982575595379 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth has been successfully folded with the bottom left corner brought to the top right. The gripper is currently open and positioned above the cloth, indicating the release action is complete. The robot should now retreat upward and away from the workspace to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.37087422609329224, + 0.05324861407279968, + 0.09162959456443787, + -2.931713342666626, + -0.22330835461616516, + -0.20635472238063812 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy stove": [ + 799, + 212, + 995, + 432 + ], + "red cup": [ + 720, + 456, + 830, + 586 + ], + "white bin": [ + 530, + 124, + 840, + 361 + ], + "green cloth": [ + 240, + 268, + 574, + 984 + ], + "blue cube": [ + 706, + 863, + 806, + 996 + ], + "wooden table": [ + 3, + 191, + 996, + 995 + ], + "red block": [ + 727, + 658, + 884, + 850 + ], + "table legs": [ + 230, + 33, + 341, + 257 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth has been successfully folded with the bottom left corner brought to the top right. The gripper is currently open and positioned above the cloth, indicating the release action is complete. The robot should now retreat upward and away from the workspace to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.350302517414093, + 0.07804282009601593, + 0.10631955415010452, + -2.847337245941162, + -0.1584371030330658, + -0.5057418346405029 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth has been successfully folded with the bottom left corner brought to the top right. The gripper is currently open and positioned above the cloth, indicating the release action is complete. The robot should now retreat upward and away from the workspace to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003829_ecot.json b/cot/chunk-0003/episode_0003829_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..70eceb34103f99b82860aaddee682a9b04448588 --- /dev/null +++ b/cot/chunk-0003/episode_0003829_ecot.json @@ -0,0 +1,1284 @@ +{ + "task_name": "episode_0003829", + "episode_json": "json/chunk-0003/episode_0003829.json", + "video_path": "videos/chunk-0003/image_0/episode_0003829.mp4", + "instruction": "Flip cup upright.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003829.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8027446269989014, + "std": 0.2981477379798889, + "delta_total": 0.004287242889404297, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.80274, std=0.29815, total_delta=0.00429). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 106, + 106, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 8 + ], + [ + 3, + 9, + 10 + ], + [ + 4, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on cup\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the cup in the sink while closing the gripper to establish contact.\"},\n {\"id\": 2, \"name\": \"secure grasp and initiate flip\", \"start\": 6, \"end\": 8, \"planning\": \"Fully close gripper to grasp the cup and begin rotating it upright using wrist motion.\"},\n {\"id\": 3, \"name\": \"complete flip and stabilize orientation\", \"start\": 9, \"end\": 10, \"planning\": \"Continue rotating the cup to fully upright position while adjusting grip for stability.\"},\n {\"id\": 4, \"name\": \"lift and release cup upright\", \"start\": 11, \"end\": 19, \"planning\": \"Lift the now-upright cup slightly and open gripper to release it cleanly in the sink.\"}\n ],\n \"global_plan\": \"Flip the cup from lying on its side to standing upright by grasping it, rotating it via wrist motion, lifting slightly, and releasing once stable.\",\n \"notes\": \"Gripper closure is confirmed in segments 1–4 with matching image evidence; lifting and releasing are supported by z-axis rise and gripper opening in final segment.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on cup", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the cup in the sink while closing the gripper to establish contact." + }, + { + "id": 2, + "name": "secure grasp and initiate flip", + "start": 6, + "end": 8, + "planning": "Fully close gripper to grasp the cup and begin rotating it upright using wrist motion." + }, + { + "id": 3, + "name": "complete flip and stabilize orientation", + "start": 9, + "end": 10, + "planning": "Continue rotating the cup to fully upright position while adjusting grip for stability." + }, + { + "id": 4, + "name": "lift and release cup upright", + "start": 11, + "end": 19, + "planning": "Lift the now-upright cup slightly and open gripper to release it cleanly in the sink." + } + ], + "global_plan": "Flip the cup from lying on its side to standing upright by grasping it, rotating it via wrist motion, lifting slightly, and releasing once stable.", + "notes": "Gripper closure is confirmed in segments 1–4 with matching image evidence; lifting and releasing are supported by z-axis rise and gripper opening in final segment." + } + }, + "episode_goal": "Flip the blue cup upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2729950249195099, + -0.12195716798305511, + 0.14373336732387543, + 3.0383055210113525, + 0.03192465752363205, + -1.1646829843521118 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "approach and close gripper on cup", + "subtask_reasoning": "The robot arm is positioned above the blue cup lying on its side in the sink. The gripper is open and approaching the cup. No contact has been made yet. The next action is to lower the gripper and close it around the cup to prepare for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 6 cm, tilt right 10 degrees, close gripper; then move right 1 cm, move up 2 cm, tilt left 30 degrees, keep gripper closed; then tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27409839630126953, + -0.12110941112041473, + 0.1318551003932953, + 3.015153646469116, + 0.06451092660427094, + -1.176751971244812 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "approach and close gripper on cup", + "subtask_reasoning": "The robot arm is positioned above the blue cup lying on its side in the sink. The gripper is open and approaching the cup. No contact has been made yet. The next action is to lower the gripper and close it around the cup to prepare for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move right 1 cm, move up 2 cm, tilt left 30 degrees, keep gripper closed; then move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2752129137516022, + -0.11757688224315643, + 0.12191659957170486, + 3.0118823051452637, + 0.05964486673474312, + -1.1849056482315063 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "approach and close gripper on cup", + "subtask_reasoning": "The robot arm is positioned above the blue cup lying on its side in the sink. The gripper is open and approaching the cup, with no contact yet made. The next action should be to close the gripper around the cup to prepare for flipping it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move right 1 cm, move up 2 cm, tilt left 30 degrees, keep gripper closed; then move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690172791481018, + -0.11806528270244598, + 0.10379721969366074, + 2.9922335147857666, + 0.05396530032157898, + -1.187135100364685 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "approach and close gripper on cup", + "subtask_reasoning": "The robot arm is positioned above the blue cup lying on its side in the sink. The gripper is open and approaching the cup, with no contact yet made. The next action should be to close the gripper around the cup to prepare for flipping it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, tilt left 30 degrees, keep gripper closed; then move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26640138030052185, + -0.11840230971574783, + 0.0975046157836914, + 2.964463949203491, + 0.047019630670547485, + -1.1912012100219727 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "approach and close gripper on cup", + "subtask_reasoning": "The robot arm is positioned above the blue cup lying on its side in the sink. The gripper is open and approaching the cup, with no contact yet made. The next action should be to close the gripper around the cup to prepare for flipping it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move up 2 cm, tilt left 30 degrees, keep gripper closed; then move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621251940727234, + -0.11998981982469559, + 0.08949708938598633, + 2.929845094680786, + 0.05586032196879387, + -1.1967319250106812 + ], + "gripper_value": 0.7749528288841248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "approach and close gripper on cup", + "subtask_reasoning": "The robot arm is positioned above the blue cup lying on its side in the sink. The gripper is open and approaching the cup, with no contact yet made. The next action should be to close the gripper around the cup to prepare for flipping it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move right 1 cm, move up 2 cm, tilt left 30 degrees, keep gripper closed; then move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2567311227321625, + -0.12379846721887589, + 0.08823160827159882, + 2.915275812149048, + 0.06762860715389252, + -1.2134395837783813 + ], + "gripper_value": 0.48323801159858704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "secure grasp and initiate flip", + "subtask_reasoning": "The robot arm is positioned above the blue cup lying on its side in the sink. The gripper is open and approaching the cup, with no contact yet made. The next action should be to close the gripper around the cup to prepare for flipping it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, tilt left 30 degrees, keep gripper closed; then move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 11 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2547564208507538, + -0.12851594388484955, + 0.09308480471372604, + 2.952826976776123, + 0.07806681096553802, + -1.2232637405395508 + ], + "gripper_value": 0.2432183027267456 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "secure grasp and initiate flip", + "subtask_reasoning": "The robot has approached and closed its gripper around the blue cup lying on its side in the sink. The gripper is now in contact with the cup, and the segment-level evidence supports a grasp. The next action is to initiate the flip by rotating the wrist while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 13 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2549075782299042, + -0.12987704575061798, + 0.10197700560092926, + 3.1122515201568604, + 0.060314323753118515, + -1.2198537588119507 + ], + "gripper_value": 0.18066829442977905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "secure grasp and initiate flip", + "subtask_reasoning": "The robot has approached and closed its gripper around the blue cup lying on its side in the sink. The gripper is now in contact with the cup, and the segment-level evidence supports a grasp. The next action is to initiate the flip by rotating the wrist while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt left 10 degrees, keep gripper closed; then move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 13 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530122399330139, + -0.13130329549312592, + 0.10517189651727676, + -2.918870449066162, + -0.011026065796613693, + -1.1970726251602173 + ], + "gripper_value": 0.1767941415309906 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 627, + 205, + 993, + 492 + ] + } + } + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "complete flip and stabilize orientation", + "subtask_reasoning": "The robot is currently grasping the blue cup in the sink, having completed the initial approach and secure hold. The gripper evidence confirms a stable grasp is maintained during this segment. The next action is to rotate the wrist to flip the cup from its side to an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 13 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25455668568611145, + -0.12802575528621674, + 0.1080949455499649, + -2.7546980381011963, + -0.13656041026115417, + -1.1277525424957275 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "complete flip and stabilize orientation", + "subtask_reasoning": "The robot is currently grasping the blue cup in the sink, having completed the initial approach and secure hold. The gripper evidence confirms a stable grasp is maintained during this segment. The next action is to rotate the wrist to flip the cup from its side to an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 13 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2597842216491699, + -0.12965521216392517, + 0.10738952457904816, + -2.7270607948303223, + -0.1929297000169754, + -1.0976052284240723 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The robot is currently grasping the blue cup in the sink, having completed the initial approach and secure hold. The gripper evidence confirms a stable grasp is maintained during this segment. The next action is to rotate the wrist to flip the cup from its side to an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 13 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674456536769867, + -0.12952552735805511, + 0.10333620756864548, + -2.7603962421417236, + -0.21907588839530945, + -1.0552650690078735 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The robot is currently grasping the blue cup in the sink, having completed the initial approach and secure hold. The gripper evidence confirms a stable grasp is maintained during this segment. The next action is to rotate the wrist to flip the cup from its side to an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 13 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.268980473279953, + -0.13137002289295197, + 0.10622325539588928, + -2.7876434326171875, + -0.22128413617610931, + -1.0584428310394287 + ], + "gripper_value": 0.9255412817001343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The robot is currently grasping the blue cup in the sink, having completed the initial approach and secure hold. The gripper evidence confirms a stable grasp is maintained during this segment. The next action is to rotate the wrist to flip the cup from its side to an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 13 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2696712613105774, + -0.12822586297988892, + 0.12493344396352768, + -2.8779382705688477, + -0.13616183400154114, + -1.0916235446929932 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The robot is currently grasping the blue cup in the sink, having completed the initial approach and secure hold. The gripper evidence confirms a stable grasp is maintained during this segment. The next action is to rotate the wrist to flip the cup from its side to an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 11 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2765674591064453, + -0.11771439015865326, + 0.16929621994495392, + -2.989716053009033, + -0.022069590166211128, + -1.114688754081726 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 626, + 206, + 994, + 492 + ], + "power strip": [ + 134, + 512, + 272, + 668 + ] + } + } + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The blue cup is currently held upright by the gripper inside the sink, having been successfully rotated from its side. The gripper is closed, maintaining a secure hold on the cup to ensure stability. The next action is to release the gripper to leave the cup standing independently." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813843786716461, + -0.1156495213508606, + 0.21613188087940216, + -3.0762386322021484, + 0.08652308583259583, + -1.1354213953018188 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The blue cup is currently held upright by the gripper inside the sink, having been successfully rotated from its side. The gripper is closed, maintaining a secure hold on the cup to ensure stability. The next action is to release the gripper to leave the cup standing independently." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28446638584136963, + -0.11768884211778641, + 0.23443713784217834, + -3.10050106048584, + 0.1099826991558075, + -1.1440942287445068 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The blue cup is currently held upright by the gripper inside the sink, having been successfully rotated from its side. The gripper is closed, maintaining a secure hold on the cup to ensure stability. The next action is to release the gripper to leave the cup standing independently." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28424501419067383, + -0.11758893728256226, + 0.23445086181163788, + -3.1015067100524902, + 0.1111355796456337, + -1.1440470218658447 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The blue cup is currently held upright by the gripper inside the sink, having been successfully rotated from its side. The gripper is closed, maintaining a secure hold on the cup to ensure stability. The next action is to release the gripper to leave the cup standing independently." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28407326340675354, + -0.11750705540180206, + 0.2349219173192978, + -3.100513458251953, + 0.10996147245168686, + -1.1439374685287476 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the blue cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cup" + }, + { + "id": 2, + "subtask": "secure grasp and initiate flip" + }, + { + "id": 3, + "subtask": "complete flip and stabilize orientation" + }, + { + "id": 4, + "subtask": "lift and release cup upright" + } + ], + "subtask_name": "lift and release cup upright", + "subtask_reasoning": "The blue cup is currently held upright by the gripper inside the sink, having been successfully rotated from its side. The gripper is closed, maintaining a secure hold on the cup to ensure stability. The next action is to release the gripper to leave the cup standing independently." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003830_ecot.json b/cot/chunk-0003/episode_0003830_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc2f94f0a51717ba94a799bc7bd6b8b223e80a2 --- /dev/null +++ b/cot/chunk-0003/episode_0003830_ecot.json @@ -0,0 +1,1581 @@ +{ + "task_name": "episode_0003830", + "episode_json": "json/chunk-0003/episode_0003830.json", + "video_path": "videos/chunk-0003/image_0/episode_0003830.mp4", + "instruction": "Move the drumstick to the bottom right of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003830.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.18943482637405396, + "std": 0.08110986649990082, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.18943, std=0.08111, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drumstick\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector from the initial position toward the drumstick on the stovetop.\"},\n {\"id\": 2, \"name\": \"grasp drumstick\", \"start\": 7, \"end\": 15, \"planning\": \"Close the gripper around the drumstick and secure it for lifting, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition drumstick\", \"start\": 16, \"end\": 19, \"planning\": \"Lift the drumstick slightly and begin moving it toward the target location at the bottom right of the burner.\"},\n {\"id\": 4, \"name\": \"place drumstick at target\", \"start\": 20, \"end\": 23, \"planning\": \"Lower the drumstick to the bottom right of the burner and release it by opening the gripper.\"}\n ],\n \"global_plan\": \"Approach the drumstick, grasp it securely, lift and move it to the bottom right of the burner, then place it down by releasing the gripper.\",\n \"notes\": \"Gripper evidence supports grasping in Segment 1 (frames 7–15) and releasing in Segment 2 (frames 20–23). Motion and visual frames confirm object interaction and placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drumstick", + "start": 0, + "end": 6, + "planning": "Move the end-effector from the initial position toward the drumstick on the stovetop." + }, + { + "id": 2, + "name": "grasp drumstick", + "start": 7, + "end": 15, + "planning": "Close the gripper around the drumstick and secure it for lifting, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition drumstick", + "start": 16, + "end": 19, + "planning": "Lift the drumstick slightly and begin moving it toward the target location at the bottom right of the burner." + }, + { + "id": 4, + "name": "place drumstick at target", + "start": 20, + "end": 23, + "planning": "Lower the drumstick to the bottom right of the burner and release it by opening the gripper." + } + ], + "global_plan": "Approach the drumstick, grasp it securely, lift and move it to the bottom right of the burner, then place it down by releasing the gripper.", + "notes": "Gripper evidence supports grasping in Segment 1 (frames 7–15) and releasing in Segment 2 (frames 20–23). Motion and visual frames confirm object interaction and placement." + } + }, + "episode_goal": "Move the drumstick to the bottom right of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657976448535919, + -0.045807454735040665, + 0.041282445192337036, + -3.13791561126709, + -0.05529774725437164, + -0.157487690448761 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "approach drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the red drumstick located at the bottom right of the burner. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the drumstick for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 17 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640756368637085, + -0.0438842810690403, + 0.03496464341878891, + -3.1349897384643555, + -0.027694620192050934, + -0.15953385829925537 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "approach drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the red drumstick located at the bottom right of the burner. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the drumstick for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 17 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28250056505203247, + -0.0020892638713121414, + 0.0461464524269104, + -3.1092541217803955, + -0.05303366482257843, + -0.057884328067302704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "approach drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the red drumstick located at the bottom right of the burner. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the drumstick for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2976241707801819, + 0.03002331405878067, + 0.060473233461380005, + -3.1133532524108887, + -0.08420427143573761, + 0.01350628025829792 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red spatula": [ + 491, + 511, + 674, + 825 + ], + "orange cloth": [ + 203, + 242, + 389, + 463 + ], + "faucet": [ + 946, + 394, + 996, + 548 + ], + "induction cooktop": [ + 106, + 216, + 733, + 739 + ] + } + } + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "approach drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove, with the drumstick visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3118259310722351, + 0.06793742626905441, + 0.0817345380783081, + -3.1199493408203125, + -0.1335689276456833, + 0.11414729803800583 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "approach drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove, with the drumstick visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32268252968788147, + 0.10064613074064255, + 0.08526336401700974, + -3.1092982292175293, + -0.136934295296669, + 0.18128010630607605 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "approach drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove, with the drumstick visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 3 cm, keep gripper open; then move back 3 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33102262020111084, + 0.1219780296087265, + 0.07956583052873611, + -3.1111109256744385, + -0.13234733045101166, + 0.22447845339775085 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "approach drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove, with the drumstick visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move back 6 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33415430784225464, + 0.1288210153579712, + 0.05901024863123894, + -3.104776382446289, + -0.0744720995426178, + 0.23104871809482574 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove, with the drumstick visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3381865918636322, + 0.13789363205432892, + 0.04585472494363785, + -3.109250068664551, + -0.04545917361974716, + 0.2445875108242035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove, with the drumstick visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 10 cm, move up 2 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3401326537132263, + 0.14657658338546753, + 0.03321584686636925, + -3.1024158000946045, + -0.017133621498942375, + 0.2661939859390259 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove, with the drumstick visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3442069888114929, + 0.1506061851978302, + 0.030238257721066475, + -3.0902843475341797, + -0.0032970092725008726, + 0.26086652278900146 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot arm is positioned above the stove, with the drumstick visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the drumstick to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.344738245010376, + 0.15152886509895325, + 0.03044346161186695, + -3.096035957336426, + -0.011425336822867393, + 0.2612672746181488 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot has approached the drumstick and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the drumstick securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33933642506599426, + 0.14860031008720398, + 0.03278035297989845, + -3.0907816886901855, + -0.022473884746432304, + 0.24243579804897308 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot has approached the drumstick and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the drumstick securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 4 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33542245626449585, + 0.13648219406604767, + 0.05883127450942993, + -3.092371940612793, + -0.08727384358644485, + 0.2116415947675705 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot has approached the drumstick and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the drumstick securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 10 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move down 4 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32419341802597046, + 0.10902456194162369, + 0.09212114661931992, + -3.095247507095337, + -0.1764991283416748, + 0.17477421462535858 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot has approached the drumstick and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the drumstick securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move down 4 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3010452091693878, + 0.06493544578552246, + 0.09616533666849136, + -3.120504856109619, + -0.18459157645702362, + 0.13442815840244293 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 744, + 450, + 994, + 963 + ], + "red spatula": [ + 491, + 509, + 675, + 824 + ], + "induction cooktop": [ + 108, + 255, + 733, + 732 + ], + "faucet": [ + 946, + 394, + 996, + 549 + ], + "potato": [ + 312, + 231, + 398, + 354 + ], + "orange cloth": [ + 203, + 272, + 454, + 463 + ] + } + } + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "grasp drumstick", + "subtask_reasoning": "The robot has approached the drumstick and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the drumstick securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move down 4 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2759092450141907, + 0.04009384289383888, + 0.0700702890753746, + 3.112349510192871, + -0.11928953230381012, + 0.13790477812290192 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "lift and reposition drumstick", + "subtask_reasoning": "The robot has approached the drumstick and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the drumstick securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26039862632751465, + 0.011296406388282776, + 0.04982046037912369, + 3.0921027660369873, + -0.08724399656057358, + 0.09756723791360855 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 743, + 452, + 994, + 963 + ], + "orange cloth": [ + 202, + 244, + 373, + 444 + ], + "red spatula": [ + 491, + 509, + 674, + 824 + ], + "faucet": [ + 946, + 394, + 996, + 548 + ], + "induction cooktop": [ + 108, + 230, + 733, + 740 + ] + } + } + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "lift and reposition drumstick", + "subtask_reasoning": "The robot has successfully grasped the drumstick and is currently lifting it from the stovetop. The gripper is closed around the object, and the arm is in motion to reposition it. The next action is to continue moving the drumstick toward the bottom right of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2605089545249939, + 0.007181909400969744, + 0.039118748158216476, + 3.1204309463500977, + -0.07851804047822952, + 0.11202775686979294 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "lift and reposition drumstick", + "subtask_reasoning": "The robot has successfully grasped the drumstick and is currently lifting it from the stovetop. The gripper is closed around the object, and the arm is in motion to reposition it. The next action is to continue moving the drumstick toward the bottom right of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26136699318885803, + 0.006230467930436134, + 0.030556820333003998, + 3.1215758323669434, + -0.0660267099738121, + 0.1250208020210266 + ], + "gripper_value": 0.8948037624359131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "lift and reposition drumstick", + "subtask_reasoning": "The robot has successfully grasped the drumstick and is currently lifting it from the stovetop. The gripper is closed around the object, and the arm is in motion to reposition it. The next action is to continue moving the drumstick toward the bottom right of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26138487458229065, + 0.005428575910627842, + 0.030556820333003998, + 3.1216771602630615, + -0.06605733186006546, + 0.12041580677032471 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "place drumstick at target", + "subtask_reasoning": "The robot has successfully grasped the drumstick and is currently lifting it from the stovetop. The gripper is closed around the object, and the arm is in motion to reposition it. The next action is to continue moving the drumstick toward the bottom right of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589836120605469, + 0.002772621111944318, + 0.031181706115603447, + 3.1296846866607666, + -0.05292646586894989, + 0.09669895470142365 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "place drumstick at target", + "subtask_reasoning": "The robot is holding the drumstick above the target location near the bottom right of the burner. The gripper remains closed, indicating the object is still secured. The next action is to lower the drumstick slightly and release the gripper to place it at the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.258095383644104, + -8.046148286666721e-05, + 0.047521840780973434, + 3.1091737747192383, + -0.08157581835985184, + 0.0708807185292244 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "place drumstick at target", + "subtask_reasoning": "The robot is holding the drumstick above the target location near the bottom right of the burner. The gripper remains closed, indicating the object is still secured. The next action is to lower the drumstick slightly and release the gripper to place it at the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.259763240814209, + 1.9018491002498195e-05, + 0.0609833300113678, + 3.0855703353881836, + -0.08967229723930359, + 0.06928769499063492 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the drumstick to the bottom right of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drumstick" + }, + { + "id": 2, + "subtask": "grasp drumstick" + }, + { + "id": 3, + "subtask": "lift and reposition drumstick" + }, + { + "id": 4, + "subtask": "place drumstick at target" + } + ], + "subtask_name": "place drumstick at target", + "subtask_reasoning": "The robot is holding the drumstick above the target location near the bottom right of the burner. The gripper remains closed, indicating the object is still secured. The next action is to lower the drumstick slightly and release the gripper to place it at the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003831_ecot.json b/cot/chunk-0003/episode_0003831_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4a10541fd5d8b6fee26c9a929b589bedec72a453 --- /dev/null +++ b/cot/chunk-0003/episode_0003831_ecot.json @@ -0,0 +1,1644 @@ +{ + "task_name": "episode_0003831", + "episode_json": "json/chunk-0003/episode_0003831.json", + "video_path": "videos/chunk-0003/image_0/episode_0003831.mp4", + "instruction": "Put the silver pot cover on the bottom right of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003831.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.7148039937019348, + "std": 0.3299778699874878, + "delta_total": -0.06592881679534912, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71480, std=0.32998, total_delta=-0.06593). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 210, + 210, + 210, + 210, + 210, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 22, + 22 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 3 + ], + [ + 3, + 4, + 9 + ], + [ + 4, + 10, + 14 + ], + [ + 5, + 15, + 21 + ], + [ + 6, + 22, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot cover\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the silver pot cover on the left side of the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp pot cover\", \"start\": 4, \"end\": 9, \"planning\": \"Close the gripper around the pot cover while maintaining contact and adjusting position for secure hold.\"},\n {\"id\": 3, \"name\": \"lift and transport pot cover\", \"start\": 10, \"end\": 14, \"planning\": \"Lift the grasped pot cover and move it across the table toward the bottom right target location.\"},\n {\"id\": 4, \"name\": \"place pot cover\", \"start\": 15, \"end\": 21, \"planning\": \"Lower the pot cover to the bottom right of the table and release it by opening the gripper.\"},\n {\"id\": 5, \"name\": \"retreat from placed cover\", \"start\": 22, \"end\": 23, \"planning\": \"Open the gripper fully and retract the end-effector away from the placed pot cover to complete the task.\"}\n ],\n \"global_plan\": \"Approach the silver pot cover on the left, grasp it securely, lift and carry it to the bottom right of the table, place it down gently, then retreat to finish.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper behavior: no grasp before frame 4, meaningful closure during frames 4-9 and 10-14, release during 15-21, and full retraction in final frames. Frame coverage is contiguous and complete from 0 to 23.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot cover", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the silver pot cover on the left side of the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp pot cover", + "start": 4, + "end": 9, + "planning": "Close the gripper around the pot cover while maintaining contact and adjusting position for secure hold." + }, + { + "id": 3, + "name": "lift and transport pot cover", + "start": 10, + "end": 14, + "planning": "Lift the grasped pot cover and move it across the table toward the bottom right target location." + }, + { + "id": 4, + "name": "place pot cover", + "start": 15, + "end": 21, + "planning": "Lower the pot cover to the bottom right of the table and release it by opening the gripper." + }, + { + "id": 5, + "name": "retreat from placed cover", + "start": 22, + "end": 23, + "planning": "Open the gripper fully and retract the end-effector away from the placed pot cover to complete the task." + } + ], + "global_plan": "Approach the silver pot cover on the left, grasp it securely, lift and carry it to the bottom right of the table, place it down gently, then retreat to finish.", + "notes": "Subtasks align with observed motion segments and gripper behavior: no grasp before frame 4, meaningful closure during frames 4-9 and 10-14, release during 15-21, and full retraction in final frames. Frame coverage is contiguous and complete from 0 to 23." + } + }, + "episode_goal": "Place the silver pot cover on the bottom right area of the wooden table surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23129314184188843, + 0.0951719582080841, + 0.030524205416440964, + -3.099330186843872, + 0.04296302795410156, + -0.0995197743177414 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot is positioned above the table with the silver pot cover visible on the left side. The gripper is open and the arm is beginning to move toward the pot cover. The next action is to continue approaching the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2298802137374878, + 0.09407708793878555, + 0.025508351624011993, + -3.113304376602173, + 0.058531444519758224, + -0.09655815362930298 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver pot cover located on the left side. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23541611433029175, + 0.12591105699539185, + 0.04145323112607002, + -3.1346259117126465, + 0.015604703687131405, + 0.006536344066262245 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver pot cover located on the left side. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23905427753925323, + 0.15060344338417053, + 0.06015310809016228, + 3.1177332401275635, + -0.04953955113887787, + 0.07311940938234329 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 197, + 464, + 495, + 763 + ], + "metal": [ + 360, + 283, + 498, + 449 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver pot cover located on the left side. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 1 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.237606942653656, + 0.17701968550682068, + 0.06978069990873337, + -3.1309163570404053, + -0.09155990928411484, + 0.14057692885398865 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver pot cover located on the left side. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move forward 3 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23998337984085083, + 0.19206960499286652, + 0.056871671229600906, + -3.0963189601898193, + -0.08540913462638855, + 0.18674473464488983 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the silver pot cover located on the left side. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 4 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24812966585159302, + 0.20567625761032104, + 0.04491876810789108, + -3.059560537338257, + -0.08607558906078339, + 0.2366911917924881 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot has approached the silver pot cover on the left side of the table. The gripper is currently open and positioned above the object, indicating the approach is complete but the grasp has not yet been executed. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move forward 4 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2580690085887909, + 0.21450337767601013, + 0.03263303264975548, + -3.050326347351074, + -0.07873359322547913, + 0.25699225068092346 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot has approached the silver pot cover on the left side of the table. The gripper is currently open and positioned above the object, indicating the approach is complete but the grasp has not yet been executed. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 4 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 10 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690637707710266, + 0.21643906831741333, + 0.03181124106049538, + -3.0317506790161133, + -0.07435483485460281, + 0.24402552843093872 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot has approached the silver pot cover on the left side of the table. The gripper is currently open and positioned above the object, indicating the approach is complete but the grasp has not yet been executed. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move forward 4 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 13 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26734042167663574, + 0.21421213448047638, + 0.03156888112425804, + -3.0196855068206787, + -0.07163970917463303, + 0.2339971363544464 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot has approached the silver pot cover on the left side of the table. The gripper is currently open and positioned above the object, indicating the approach is complete but the grasp has not yet been executed. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 12 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634831368923187, + 0.2104860246181488, + 0.03357667475938797, + -3.01619029045105, + -0.07907596975564957, + 0.2201676070690155 + ], + "gripper_value": 0.40415963530540466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "lift and transport pot cover", + "subtask_reasoning": "The robot has approached the silver pot cover on the left side of the table. The gripper is currently open and positioned above the object, indicating the approach is complete but the grasp has not yet been executed. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 13 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25929227471351624, + 0.20675352215766907, + 0.03365349769592285, + -3.025844097137451, + -0.07248669117689133, + 0.21903899312019348 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "lift and transport pot cover", + "subtask_reasoning": "The robot has approached the silver pot cover on the left side of the table. The gripper is currently open and positioned above the object, indicating the approach is complete but the grasp has not yet been executed. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 13 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25799334049224854, + 0.1991550475358963, + 0.04546179622411728, + -3.0315940380096436, + -0.09389163553714752, + 0.22564229369163513 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "lift and transport pot cover", + "subtask_reasoning": "The robot has grasped the silver pot cover on the left side of the table and is currently lifting it. The gripper is closed, and the end-effector is positioned above the pot cover, indicating successful grasp. The next action is to transport the pot cover toward the bottom right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 14 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 13 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755100131034851, + 0.1594746708869934, + 0.07974320650100708, + -3.0498268604278564, + -0.1801529973745346, + 0.13410690426826477 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "lift and transport pot cover", + "subtask_reasoning": "The robot has grasped the silver pot cover on the left side of the table and is currently lifting it. The gripper is closed, and the end-effector is positioned above the pot cover, indicating successful grasp. The next action is to transport the pot cover toward the bottom right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 13 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29270997643470764, + 0.1058538630604744, + 0.0853860154747963, + -3.088456153869629, + -0.17699351906776428, + -0.017620665952563286 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "lift and transport pot cover", + "subtask_reasoning": "The robot has grasped the silver pot cover on the left side of the table and is currently lifting it. The gripper is closed, and the end-effector is positioned above the pot cover, indicating successful grasp. The next action is to transport the pot cover toward the bottom right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 13 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042311668395996, + 0.057978302240371704, + 0.06909693777561188, + -3.1223974227905273, + -0.13219526410102844, + -0.15147168934345245 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal": [ + 26, + 333, + 244, + 619 + ], + "purple cloth": [ + 197, + 489, + 495, + 763 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "place pot cover", + "subtask_reasoning": "The robot has grasped the silver pot cover on the left side of the table and is currently lifting it. The gripper is closed, and the end-effector is positioned above the pot cover, indicating successful grasp. The next action is to transport the pot cover toward the bottom right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 13 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30998584628105164, + 0.0079277902841568, + 0.05542716756463051, + -3.1334238052368164, + -0.10270659625530243, + -0.28660687804222107 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "place pot cover", + "subtask_reasoning": "The robot has grasped the silver pot cover on the left side of the table and is currently lifting it. The gripper is closed, and the end-effector is positioned above the pot cover, indicating successful grasp. The next action is to transport the pot cover toward the bottom right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.303653359413147, + -0.03702455386519432, + 0.042413316667079926, + -3.1353397369384766, + -0.0810331404209137, + -0.3774375319480896 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "place pot cover", + "subtask_reasoning": "The robot has grasped the silver pot cover on the left side of the table and is currently lifting it. The gripper is closed, and the end-effector is positioned above the pot cover, indicating successful grasp. The next action is to transport the pot cover toward the bottom right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 4 cm, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29055657982826233, + -0.06927065551280975, + 0.02214680053293705, + -3.1395130157470703, + -0.03095215931534767, + -0.44542354345321655 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 198, + 464, + 494, + 761 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "place pot cover", + "subtask_reasoning": "The robot is holding the silver pot cover above the bottom right area of the table, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a secure hold. The next action is to lower the pot cover gently onto the table surface to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27942726016044617, + -0.06521125137805939, + 0.004715430550277233, + -3.1332857608795166, + 0.008032973855733871, + -0.4484174847602844 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "place pot cover", + "subtask_reasoning": "The robot is holding the silver pot cover above the bottom right area of the table, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a secure hold. The next action is to lower the pot cover gently onto the table surface to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793042063713074, + -0.06937086582183838, + -0.0003924061602447182, + -3.122694969177246, + 0.00866625551134348, + -0.4718475937843323 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "place pot cover", + "subtask_reasoning": "The robot is holding the silver pot cover above the bottom right area of the table, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a secure hold. The next action is to lower the pot cover gently onto the table surface to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27887773513793945, + -0.07067380100488663, + -0.0020068741869181395, + -3.1312098503112793, + 0.007029017899185419, + -0.4800218343734741 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "place pot cover", + "subtask_reasoning": "The robot is holding the silver pot cover above the bottom right area of the table, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a secure hold. The next action is to lower the pot cover gently onto the table surface to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26403722167015076, + -0.0692397877573967, + 0.0006801194394938648, + 3.137601375579834, + 0.003874173853546381, + -0.4568231403827667 + ], + "gripper_value": 0.6430501937866211 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "retreat from placed cover", + "subtask_reasoning": "The silver pot cover is already placed on the bottom right of the table. The robot arm is currently positioned above the cover with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2541907727718353, + -0.06812483817338943, + 0.03319485858082771, + 3.1256022453308105, + -0.047274164855480194, + -0.38232797384262085 + ], + "gripper_value": 0.933559775352478 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot cover on the bottom right area of the wooden table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "grasp pot cover" + }, + { + "id": 3, + "subtask": "lift and transport pot cover" + }, + { + "id": 4, + "subtask": "place pot cover" + }, + { + "id": 5, + "subtask": "retreat from placed cover" + } + ], + "subtask_name": "retreat from placed cover", + "subtask_reasoning": "The silver pot cover is already placed on the bottom right of the table. The robot arm is currently positioned above the cover with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003832_ecot.json b/cot/chunk-0003/episode_0003832_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe57eb5cfbd74e6892fe7e0ab2c54ab5f97d956 --- /dev/null +++ b/cot/chunk-0003/episode_0003832_ecot.json @@ -0,0 +1,2992 @@ +{ + "task_name": "episode_0003832", + "episode_json": "json/chunk-0003/episode_0003832.json", + "video_path": "videos/chunk-0003/image_0/episode_0003832.mp4", + "instruction": "Put the red arch on top of another red arch.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003832.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.3955839276313782, + "std": 0.19083887338638306, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.39558, std=0.19084, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red arch\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the red arch on the table while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp red arch\", \"start\": 7, \"end\": 15, \"planning\": \"Close the gripper around the red arch and secure it for lifting, confirmed by gripper closure and visual lift at frame 15.\"},\n {\"id\": 3, \"name\": \"lift and transport red arch\", \"start\": 16, \"end\": 30, \"planning\": \"Lift the grasped red arch and move it horizontally toward the target red arch base while maintaining grip.\"},\n {\"id\": 4, \"name\": \"align over target arch\", \"start\": 31, \"end\": 40, \"planning\": \"Position the held red arch directly above the stationary red arch base with fine adjustments for stacking alignment.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 41, \"end\": 44, \"planning\": \"Open the gripper to release the red arch onto the base, then retract the end-effector slightly to complete the stack.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, align, and release the red arch onto another red arch to complete stacking, using gripper state and visual confirmation to validate each phase.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 7–15) and maintained through Segment 2 until release at frame 44. Visual evidence at frame 15 shows lifted object; frame 44 shows successful stack. All subtasks are contiguous and cover full trajectory [0,44].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red arch", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the red arch on the table while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp red arch", + "start": 7, + "end": 15, + "planning": "Close the gripper around the red arch and secure it for lifting, confirmed by gripper closure and visual lift at frame 15." + }, + { + "id": 3, + "name": "lift and transport red arch", + "start": 16, + "end": 30, + "planning": "Lift the grasped red arch and move it horizontally toward the target red arch base while maintaining grip." + }, + { + "id": 4, + "name": "align over target arch", + "start": 31, + "end": 40, + "planning": "Position the held red arch directly above the stationary red arch base with fine adjustments for stacking alignment." + }, + { + "id": 5, + "name": "release and retreat", + "start": 41, + "end": 44, + "planning": "Open the gripper to release the red arch onto the base, then retract the end-effector slightly to complete the stack." + } + ], + "global_plan": "Approach, grasp, lift, transport, align, and release the red arch onto another red arch to complete stacking, using gripper state and visual confirmation to validate each phase.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 7–15) and maintained through Segment 2 until release at frame 44. Visual evidence at frame 15 shows lifted object; frame 44 shows successful stack. All subtasks are contiguous and cover full trajectory [0,44]." + } + }, + "episode_goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31504157185554504, + 0.11123602837324142, + 0.12763267755508423, + 3.085458755493164, + -0.1460154503583908, + 1.7552518844604492 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the red arch visible in the scene. No actions have been completed yet as this is the start of the approach subtask. The gripper is open and the robot needs to move closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3126153349876404, + 0.11032108217477798, + 0.1184430941939354, + 3.116197347640991, + -0.14177601039409637, + 1.7512822151184082 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the red arch visible in the scene. No actions have been completed yet as this is the start of the approach subtask. The gripper is open and the robot needs to move closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2984858751296997, + 0.10817892849445343, + 0.10146450251340866, + -3.107538938522339, + -0.1478579342365265, + 1.7709051370620728 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the red arch visible in the scene. No actions have been completed yet as this is the start of the approach subtask. The gripper is open and the robot needs to move closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28422996401786804, + 0.10403254628181458, + 0.08833767473697662, + -3.0645735263824463, + -0.1444186121225357, + 1.7758259773254395 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is approaching the red arch block on the table, with no prior actions completed. The gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the red arch for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2700229585170746, + 0.0973288044333458, + 0.08736193925142288, + -3.050175905227661, + -0.162434920668602, + 1.7797712087631226 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cylinder": [ + 644, + 173, + 752, + 442 + ], + "wooden block": [ + 455, + 521, + 548, + 687 + ], + "red block": [ + 252, + 335, + 415, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is approaching the red arch block on the table, with no prior actions completed. The gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the red arch for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26026487350463867, + 0.08904306590557098, + 0.07878876477479935, + -3.0222532749176025, + -0.16773931682109833, + 1.7681922912597656 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is approaching the red arch block on the table, with no prior actions completed. The gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the red arch for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25583207607269287, + 0.08703280985355377, + 0.07429344952106476, + -3.0095162391662598, + -0.16490963101387024, + 1.7723549604415894 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is approaching the red arch block on the table, with no prior actions completed. The gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the red arch for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2545657455921173, + 0.08742350339889526, + 0.06847569346427917, + -3.0241031646728516, + -0.17145833373069763, + 1.7905631065368652 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot is approaching the red arch block on the table, with no prior actions completed. The gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the red arch for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 5 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2551988959312439, + 0.08848269283771515, + 0.06514805555343628, + -3.0472023487091064, + -0.18237616121768951, + 1.8173326253890991 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot is approaching the red arch block on the table, with no prior actions completed. The gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the red arch for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 5 cm, tilt forward 10 degrees, close gripper; then move left 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25472748279571533, + 0.08805637806653976, + 0.05638184770941734, + -3.0409958362579346, + -0.18402335047721863, + 1.848655104637146 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot is approaching the red arch block on the table, with no prior actions completed. The gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the red arch for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 6 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 5 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530202865600586, + 0.08802536875009537, + 0.047721099108457565, + -3.029585599899292, + -0.18551354110240936, + 1.8807684183120728 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot is approaching the red arch block on the table, with no prior actions completed. The gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the red arch for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 6 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24763984978199005, + 0.08965462446212769, + 0.03443275764584541, + -2.975684404373169, + -0.18584951758384705, + 1.89333975315094 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24344147741794586, + 0.09233947098255157, + 0.027293823659420013, + -2.937901496887207, + -0.18063029646873474, + 1.9158210754394531 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24227091670036316, + 0.09474846720695496, + 0.025728924199938774, + -2.9371631145477295, + -0.152725949883461, + 1.9107340574264526 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2425888478755951, + 0.09463068097829819, + 0.037586987018585205, + -2.9508872032165527, + -0.12092801183462143, + 1.8940900564193726 + ], + "gripper_value": 0.6049063205718994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25788411498069763, + 0.09818711131811142, + 0.07388255000114441, + -3.022948980331421, + -0.07748829573392868, + 1.8819178342819214 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cylinder": [ + 644, + 173, + 752, + 442 + ], + "wooden block": [ + 455, + 521, + 548, + 687 + ], + "teal block": [ + 84, + 258, + 226, + 373 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move back 2 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2728024423122406, + 0.10636038333177567, + 0.11432597786188126, + -3.0851125717163086, + -0.023425055667757988, + 1.872948169708252 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2774558961391449, + 0.11910390108823776, + 0.14140702784061432, + -3.0876312255859375, + -0.023522688075900078, + 1.8323668241500854 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27655234932899475, + 0.13726486265659332, + 0.14768163859844208, + -3.032991409301758, + -0.02306455373764038, + 1.7900893688201904 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cylinder": [ + 644, + 173, + 752, + 442 + ], + "wooden block": [ + 454, + 521, + 548, + 687 + ], + "teal block": [ + 84, + 258, + 227, + 372 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2677968144416809, + 0.15610498189926147, + 0.1567113697528839, + -3.008460760116577, + -0.0439903624355793, + 1.7827250957489014 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26315709948539734, + 0.16449369490146637, + 0.15561582148075104, + -2.9932618141174316, + -0.06747190654277802, + 1.7901569604873657 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25869452953338623, + 0.17377813160419464, + 0.15264774858951569, + -2.984013080596924, + -0.08635379374027252, + 1.817552924156189 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.253508061170578, + 0.18208326399326324, + 0.14667221903800964, + -2.9729413986206055, + -0.09935884177684784, + 1.8297432661056519 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The robot has approached the red arch and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 4 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524321973323822, + 0.1878795474767685, + 0.14251591265201569, + -2.9719655513763428, + -0.10850067436695099, + 1.8298197984695435 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514367401599884, + 0.19488859176635742, + 0.13195280730724335, + -2.953838586807251, + -0.12182806432247162, + 1.827383279800415 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25008946657180786, + 0.20145276188850403, + 0.12918303906917572, + -2.9570603370666504, + -0.13685652613639832, + 1.827127456665039 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24617743492126465, + 0.20750559866428375, + 0.12150466442108154, + -2.937972068786621, + -0.14833815395832062, + 1.8307732343673706 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24585680663585663, + 0.21068838238716125, + 0.11942508816719055, + -2.940035820007324, + -0.16093222796916962, + 1.829411506652832 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cylinder": [ + 644, + 173, + 752, + 442 + ], + "wooden block": [ + 449, + 521, + 549, + 687 + ], + "teal block": [ + 83, + 258, + 229, + 372 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24459871649742126, + 0.21063917875289917, + 0.11742958426475525, + -2.935586929321289, + -0.16362321376800537, + 1.8260782957077026 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24303686618804932, + 0.2109406739473343, + 0.1146695539355278, + -2.932588577270508, + -0.16645795106887817, + 1.8234503269195557 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2408987283706665, + 0.21139347553253174, + 0.11220968514680862, + -2.926459312438965, + -0.17614741623401642, + 1.8277370929718018 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport red arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2408151626586914, + 0.21124772727489471, + 0.10690824687480927, + -2.9159927368164062, + -0.17559309303760529, + 1.8260688781738281 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24088378250598907, + 0.21207645535469055, + 0.10573302954435349, + -2.9179584980010986, + -0.18073609471321106, + 1.826069712638855 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24105745553970337, + 0.21218273043632507, + 0.10373660922050476, + -2.9135613441467285, + -0.17903044819831848, + 1.8249303102493286 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24105745553970337, + 0.21218273043632507, + 0.10373660922050476, + -2.9135613441467285, + -0.17903044819831848, + 1.8249303102493286 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The red arch is currently held by the gripper and lifted above the table, having completed the approach and grasp phases. The robot is now transporting the block toward the target stack, with the next action being to align it over the existing red arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.23917457461357117, + 0.21032360196113586, + 0.10138052701950073, + -2.9043118953704834, + -0.1726554036140442, + 1.8243789672851562 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The robot is holding the red arch and positioning it above the target red arch already stacked on the green arch. Alignment is in progress with minor positional adjustments observed. The next action is to precisely center the red arch over the target before lowering it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.238756462931633, + 0.21031738817691803, + 0.10111594200134277, + -2.902611255645752, + -0.1738412231206894, + 1.825011968612671 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cylinder": [ + 644, + 173, + 752, + 442 + ], + "wooden block": [ + 452, + 522, + 549, + 687 + ], + "teal block": [ + 84, + 256, + 229, + 372 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The robot is holding the red arch and positioning it above the target red arch already stacked on the green arch. Alignment is in progress with minor positional adjustments observed. The next action is to precisely center the red arch over the target before lowering it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.23893506824970245, + 0.20979849994182587, + 0.09853269159793854, + -2.900214672088623, + -0.17295946180820465, + 1.8246079683303833 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The robot is holding the red arch and positioning it above the target red arch already stacked on the green arch. Alignment is in progress with minor positional adjustments observed. The next action is to precisely center the red arch over the target before lowering it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.23850321769714355, + 0.2095022201538086, + 0.09483111649751663, + -2.8897829055786133, + -0.17068442702293396, + 1.8301528692245483 + ], + "gripper_value": 0.7437760233879089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The robot is holding the red arch and positioning it above the target red arch already stacked on the green arch. Alignment is in progress with minor positional adjustments observed. The next action is to precisely center the red arch over the target before lowering it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.23859308660030365, + 0.20983093976974487, + 0.09483760595321655, + -2.8910272121429443, + -0.172772616147995, + 1.8309087753295898 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The robot is holding the red arch and positioning it above the target red arch already stacked on the green arch. Alignment is in progress with minor positional adjustments observed. The next action is to precisely center the red arch over the target before lowering it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.23720073699951172, + 0.20911404490470886, + 0.09239945560693741, + -2.88468861579895, + -0.17159834504127502, + 1.8281970024108887 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target arch", + "subtask_reasoning": "The robot is holding the red arch and positioning it above the target red arch already stacked on the green arch. Alignment is in progress with minor positional adjustments observed. The next action is to precisely center the red arch over the target before lowering it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.23821879923343658, + 0.20699654519557953, + 0.0920255184173584, + -2.8861052989959717, + -0.15900816023349762, + 1.8260948657989502 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the red arch and positioning it above the target red arch already stacked on the green arch. Alignment is in progress with minor positional adjustments observed. The next action is to precisely center the red arch over the target before lowering it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.24157649278640747, + 0.20283935964107513, + 0.09437384456396103, + -2.8906922340393066, + -0.1377210170030594, + 1.8248481750488281 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red arch has been successfully released on top of the other red arch, as the gripper is fully open and no longer in contact with the block. The robot is now in the retreat phase, moving away from the completed stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.24877221882343292, + 0.20237398147583008, + 0.1019328162074089, + -2.912081003189087, + -0.1257089227437973, + 1.828000783920288 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red arch has been successfully released on top of the other red arch, as the gripper is fully open and no longer in contact with the block. The robot is now in the retreat phase, moving away from the completed stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2531473934650421, + 0.20054952800273895, + 0.1093536987900734, + -2.928771734237671, + -0.10883808881044388, + 1.8350698947906494 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the other red arch block that is already stacked on the green arch." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "grasp red arch" + }, + { + "id": 3, + "subtask": "lift and transport red arch" + }, + { + "id": 4, + "subtask": "align over target arch" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red arch has been successfully released on top of the other red arch, as the gripper is fully open and no longer in contact with the block. The robot is now in the retreat phase, moving away from the completed stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003833_ecot.json b/cot/chunk-0003/episode_0003833_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c87985da8ca534311855ab2692c60904c2c9f3c4 --- /dev/null +++ b/cot/chunk-0003/episode_0003833_ecot.json @@ -0,0 +1,1559 @@ +{ + "task_name": "episode_0003833", + "episode_json": "json/chunk-0003/episode_0003833.json", + "video_path": "videos/chunk-0003/image_0/episode_0003833.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003833.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.3403387665748596, + "std": 0.16182689368724823, + "delta_total": -0.3403387665748596, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34034, std=0.16183, total_delta=-0.34034). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 17 + ], + [ + 3, + 18, + 20 + ], + [ + 4, + 21, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the carrot on the counter without grasping.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 3, \"end\": 17, \"planning\": \"Close gripper around the carrot and secure hold as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition carrot\", \"start\": 18, \"end\": 20, \"planning\": \"Lift the grasped carrot slightly and begin moving it toward the plate while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place carrot on plate\", \"start\": 21, \"end\": 24, \"planning\": \"Lower the carrot onto the green plate and release contact, completing the placement.\"}\n ],\n \"global_plan\": \"Approach the carrot, grasp it securely, lift and move it over the plate, then place it down to complete the task.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segment 2 (frames 3-17), justifying 'grasp' wording there. Segments 1, 3, and 4 show no gripper closure — descriptions avoid grasp/pick/place verbs except where motion and context imply release during placement (segment 4). Frame coverage is contiguous and complete from 0 to 24.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the carrot on the counter without grasping." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 3, + "end": 17, + "planning": "Close gripper around the carrot and secure hold as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "lift and reposition carrot", + "start": 18, + "end": 20, + "planning": "Lift the grasped carrot slightly and begin moving it toward the plate while maintaining grip." + }, + { + "id": 4, + "name": "place carrot on plate", + "start": 21, + "end": 24, + "planning": "Lower the carrot onto the green plate and release contact, completing the placement." + } + ], + "global_plan": "Approach the carrot, grasp it securely, lift and move it over the plate, then place it down to complete the task.", + "notes": "Gripper evidence confirms meaningful closing only in segment 2 (frames 3-17), justifying 'grasp' wording there. Segments 1, 3, and 4 show no gripper closure — descriptions avoid grasp/pick/place verbs except where motion and context imply release during placement (segment 4). Frame coverage is contiguous and complete from 0 to 24." + } + }, + "episode_goal": "Pick up the carrot from the countertop and place it on the green plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2390807718038559, + 0.14982108771800995, + 0.07020237296819687, + -2.9293181896209717, + -0.1040838435292244, + -0.01716466248035431 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies next to a green plate. No objects have been moved yet. The gripper remains open and stable, indicating no grasp attempt has occurred. The next action should continue moving the end-effector closer to the carrot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 10 cm, move right 10 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2402111142873764, + 0.14294025301933289, + 0.06395800411701202, + -2.9296436309814453, + -0.09910258650779724, + -0.10792072117328644 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 11 cm, move right 10 cm, move down 6 cm, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2540290057659149, + 0.11910425126552582, + 0.07436994463205338, + -2.8492789268493652, + -0.16188888251781464, + -0.35781484842300415 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 12 cm, move right 10 cm, move down 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26508092880249023, + 0.08598576486110687, + 0.08567468822002411, + -2.822662353515625, + -0.21903032064437866, + -0.5589489340782166 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 10 cm, move down 7 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718040943145752, + 0.05754036828875542, + 0.09034858644008636, + -2.8641679286956787, + -0.21870377659797668, + -0.6860288381576538 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 7 cm, move down 8 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29095742106437683, + 0.03621670603752136, + 0.09668384492397308, + -2.867888927459717, + -0.20320698618888855, + -0.7906553149223328 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, move down 9 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31278926134109497, + 0.018517743796110153, + 0.09471841156482697, + -2.8373870849609375, + -0.21162454783916473, + -0.8838403820991516 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292774260044098, + 0.004716682247817516, + 0.07879360020160675, + -2.834033727645874, + -0.2295384407043457, + -0.9887241125106812 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34198054671287537, + -0.005665983073413372, + 0.06266283243894577, + -2.8243894577026367, + -0.2634696662425995, + -1.1071304082870483 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue utensil": [ + 361, + 294, + 510, + 391 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3539183735847473, + -0.012257497757673264, + 0.046178799122571945, + -2.8222055435180664, + -0.2882346510887146, + -1.2044024467468262 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the orange carrot which lies near the green plate. No grasping has occurred yet as the gripper remains open and stable. The next action should continue moving the end-effector closer to the carrot for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36734315752983093, + -0.01368808839470148, + 0.03698008880019188, + -2.8145320415496826, + -0.322309285402298, + -1.2730822563171387 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37823086977005005, + -0.01657215692102909, + 0.02992214448750019, + -2.8122975826263428, + -0.3442077338695526, + -1.3224413394927979 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3842426836490631, + -0.01857512816786766, + 0.024255886673927307, + -2.822434663772583, + -0.3697296679019928, + -1.3203240633010864 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.389300137758255, + -0.01744844764471054, + 0.0169865470379591, + -2.8180360794067383, + -0.3719384968280792, + -1.3138476610183716 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39414939284324646, + -0.012834415771067142, + 0.00815805234014988, + -2.8287301063537598, + -0.3636378347873688, + -1.2784481048583984 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39542052149772644, + -0.0165768563747406, + 0.004719825461506844, + -2.9056453704833984, + -0.3751029670238495, + -1.2172515392303467 + ], + "gripper_value": 0.7662391662597656 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3968961536884308, + -0.015402799472212791, + 0.004652902018278837, + -2.9447827339172363, + -0.3637411892414093, + -1.1587793827056885 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3903382122516632, + -0.013010015711188316, + 0.004819929134100676, + -2.963984251022339, + -0.31684041023254395, + -1.0950194597244263 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3800492286682129, + -0.0054897707886993885, + 0.018623938784003258, + -2.9517736434936523, + -0.2057608664035797, + -1.0261645317077637 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot on the countertop, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37846168875694275, + 0.010362545028328896, + 0.03909708559513092, + -2.880580186843872, + -0.08542908728122711, + -0.8648422360420227 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The robot has approached and grasped the carrot on the countertop. The current subtask involves lifting and repositioning the carrot, with the gripper maintaining a steady hold. The next action is to move the carrot over the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39532479643821716, + 0.02857266739010811, + 0.06421186029911041, + -2.806840181350708, + -0.07172971218824387, + -0.7134994864463806 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The robot has approached and grasped the carrot on the countertop. The current subtask involves lifting and repositioning the carrot, with the gripper maintaining a steady hold. The next action is to move the carrot over the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4112067222595215, + 0.06335949897766113, + 0.07844354957342148, + -2.7340643405914307, + -0.11481889337301254, + -0.5490300059318542 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot has approached and grasped the carrot on the countertop. The current subtask involves lifting and repositioning the carrot, with the gripper maintaining a steady hold. The next action is to move the carrot over the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4222523868083954, + 0.08392401039600372, + 0.08927872031927109, + -2.6219992637634277, + -0.2477121502161026, + -0.34489622712135315 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The carrot is currently held above the green plate on the stove, with the gripper maintaining a steady open position indicating no active grasping or releasing. The robot has successfully approached and lifted the carrot, and is now positioned to lower it onto the plate. The next action should be to gently descend and release the carrot onto the plate surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4246542155742645, + 0.09967391192913055, + 0.0908125787973404, + -2.606034755706787, + -0.3179752826690674, + -0.25052380561828613 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The carrot is currently held above the green plate on the stove, with the gripper maintaining a steady open position indicating no active grasping or releasing. The robot has successfully approached and lifted the carrot, and is now positioned to lower it onto the plate. The next action should be to gently descend and release the carrot onto the plate surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4225204288959503, + 0.13110865652561188, + 0.08169188350439072, + -2.6089375019073486, + -0.3081604242324829, + -0.22761663794517517 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the countertop and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The carrot is currently held above the green plate on the stove, with the gripper maintaining a steady open position indicating no active grasping or releasing. The robot has successfully approached and lifted the carrot, and is now positioned to lower it onto the plate. The next action should be to gently descend and release the carrot onto the plate surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003834_ecot.json b/cot/chunk-0003/episode_0003834_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2541255d5f2daaaea95b6401d1e49c1071bb2d40 --- /dev/null +++ b/cot/chunk-0003/episode_0003834_ecot.json @@ -0,0 +1,1724 @@ +{ + "task_name": "episode_0003834", + "episode_json": "json/chunk-0003/episode_0003834.json", + "video_path": "videos/chunk-0003/image_0/episode_0003834.mp4", + "instruction": "Unfold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003834.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.9440145492553711, + "std": 0.42134639620780945, + "delta_total": 0.0006598234176635742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94401, std=0.42135, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 224, + 224 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 11 + ], + [ + 3, + 12, + 16 + ], + [ + 4, + 17, + 23 + ], + [ + 5, + 24, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth from right\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the right edge of the folded cloth without grasping, as gripper remains fully open throughout segment.\"},\n {\"id\": 2, \"name\": \"grasp right edge of cloth\", \"start\": 7, \"end\": 11, \"planning\": \"Close gripper to securely grasp the rightmost corner of the cloth, confirmed by significant gripper closure and visual contact in frames 7–11.\"},\n {\"id\": 3, \"name\": \"drag cloth leftward\", \"start\": 12, \"end\": 16, \"planning\": \"Pull the grasped cloth horizontally to the left while maintaining grip, unfolding it across the table surface.\"},\n {\"id\": 4, \"name\": \"release and reposition gripper\", \"start\": 17, \"end\": 23, \"planning\": \"Open gripper to release cloth, then move end-effector slightly upward and left to prepare for final adjustment or retreat.\"},\n {\"id\": 5, \"name\": \"retreat from workspace\", \"start\": 24, \"end\": 25, \"planning\": \"Lift and withdraw end-effector away from the now-unfolded cloth, completing the task with gripper fully open.\"}\n ],\n \"global_plan\": \"Unfold the orange cloth by first approaching its right edge, grasping it firmly, dragging it leftward to unfold, then releasing and retreating to leave the cloth flat on the table.\",\n \"notes\": \"Segment 3 (frames 12–16) was not explicitly provided with keyframes but is inferred as contiguous motion between grasp and release phases; gripper state likely remains closed during this phase based on continuity from Segment 2 and pre-release state in Segment 4. All subtasks are contiguous and cover full trajectory [0,25]. Gripper usage strictly follows segment-level evidence: no grasp in Segment 1, valid grasp in Segments 2 and 4, release in Segment 5.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth from right", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the right edge of the folded cloth without grasping, as gripper remains fully open throughout segment." + }, + { + "id": 2, + "name": "grasp right edge of cloth", + "start": 7, + "end": 11, + "planning": "Close gripper to securely grasp the rightmost corner of the cloth, confirmed by significant gripper closure and visual contact in frames 7–11." + }, + { + "id": 3, + "name": "drag cloth leftward", + "start": 12, + "end": 16, + "planning": "Pull the grasped cloth horizontally to the left while maintaining grip, unfolding it across the table surface." + }, + { + "id": 4, + "name": "release and reposition gripper", + "start": 17, + "end": 23, + "planning": "Open gripper to release cloth, then move end-effector slightly upward and left to prepare for final adjustment or retreat." + }, + { + "id": 5, + "name": "retreat from workspace", + "start": 24, + "end": 25, + "planning": "Lift and withdraw end-effector away from the now-unfolded cloth, completing the task with gripper fully open." + } + ], + "global_plan": "Unfold the orange cloth by first approaching its right edge, grasping it firmly, dragging it leftward to unfold, then releasing and retreating to leave the cloth flat on the table.", + "notes": "Segment 3 (frames 12–16) was not explicitly provided with keyframes but is inferred as contiguous motion between grasp and release phases; gripper state likely remains closed during this phase based on continuity from Segment 2 and pre-release state in Segment 4. All subtasks are contiguous and cover full trajectory [0,25]. Gripper usage strictly follows segment-level evidence: no grasp in Segment 1, valid grasp in Segments 2 and 4, release in Segment 5." + } + }, + "episode_goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.40482354164123535, + -0.08349912613630295, + 0.04144047573208809, + -3.055504560470581, + -0.27030062675476074, + 0.12029468268156052 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth on a white table. No grasping has occurred yet, as the gripper remains open and no contact is made. The next action should be to lower the end-effector toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.39893367886543274, + -0.08143333345651627, + 0.026116885244846344, + -3.037479877471924, + -0.23125192523002625, + 0.1235199049115181 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth on a white table. No grasping has occurred yet, as the gripper remains open and no contact is made. The next action should be to lower the end-effector toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.38216498494148254, + -0.06729450821876526, + 0.030457545071840286, + -2.971083879470825, + -0.21728867292404175, + 0.14441657066345215 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth on a white table. No grasping has occurred yet, as the gripper remains open and no contact is made. The next action should be to lower the end-effector toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3678304851055145, + -0.05633516237139702, + 0.05123860761523247, + -2.9333555698394775, + -0.22863711416721344, + 0.1541154682636261 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth with the gripper open. No contact or grasping has occurred yet. The next action is to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35265642404556274, + -0.03956041857600212, + 0.0722777470946312, + -2.920968770980835, + -0.2410053014755249, + 0.2046918123960495 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth with the gripper open. No contact or grasping has occurred yet. The next action is to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32563602924346924, + -0.02212989144027233, + 0.061462029814720154, + -2.9157068729400635, + -0.2107762098312378, + 0.2582736313343048 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth with the gripper open. No contact or grasping has occurred yet. The next action is to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105473816394806, + -0.006649634800851345, + 0.051823969930410385, + -2.937363624572754, + -0.19372843205928802, + 0.31898626685142517 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth with the gripper open. No contact or grasping has occurred yet. The next action is to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3049416244029999, + 0.00129756482783705, + 0.04301171004772186, + -2.966047763824463, + -0.1743963211774826, + 0.3364924490451813 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth with the gripper open. No contact or grasping has occurred yet. The next action is to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3084309995174408, + 0.005964110605418682, + 0.037536200135946274, + -2.9946300983428955, + -0.1746949553489685, + 0.33961647748947144 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot is positioned above the right side of the folded orange cloth with the gripper open. No contact or grasping has occurred yet. The next action is to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3108060956001282, + 0.005303877871483564, + 0.023642107844352722, + -3.008030652999878, + -0.14913077652454376, + 0.33132460713386536 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the orange cloth and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3136669993400574, + 0.003058244241401553, + 0.012117346748709679, + -3.031052350997925, + -0.1339873969554901, + 0.32422104477882385 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the orange cloth and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 2 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3155386447906494, + 0.003218086902052164, + 0.011832579970359802, + -3.033933401107788, + -0.139640212059021, + 0.31734147667884827 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the orange cloth and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 2 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3179265558719635, + 0.006360837258398533, + 0.018114620819687843, + -3.0002036094665527, + -0.13508495688438416, + 0.32433614134788513 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the orange cloth and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3146477937698364, + 0.00330306775867939, + 0.01971459947526455, + -2.9625651836395264, + -0.12442953139543533, + 0.3182097375392914 + ], + "gripper_value": 0.16548661887645721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the orange cloth and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move left 11 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3129318356513977, + 0.007254950702190399, + 0.029523523524403572, + -2.9239611625671387, + -0.1351969838142395, + 0.3207748830318451 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the orange cloth with a closed gripper, as indicated by the low gripper value and segment evidence. The cloth is partially folded on the table, and the robot has initiated the leftward dragging motion. The next action is to continue translating the end-effector to the left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move left 14 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31660181283950806, + 0.017504623159766197, + 0.04731224104762077, + -2.8920559883117676, + -0.19165252149105072, + 0.30688899755477905 + ], + "gripper_value": 0.06122923642396927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the orange cloth with a closed gripper, as indicated by the low gripper value and segment evidence. The cloth is partially folded on the table, and the robot has initiated the leftward dragging motion. The next action is to continue translating the end-effector to the left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 1 cm, keep gripper closed; then move left 14 cm, move down 1 cm, open gripper; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30911800265312195, + 0.05241899937391281, + 0.06367112696170807, + -2.8498566150665283, + -0.22911164164543152, + 0.32330161333084106 + ], + "gripper_value": 0.06122923642396927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the orange cloth with a closed gripper, as indicated by the low gripper value and segment evidence. The cloth is partially folded on the table, and the robot has initiated the leftward dragging motion. The next action is to continue translating the end-effector to the left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move left 14 cm, move down 1 cm, open gripper; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30261293053627014, + 0.09022796899080276, + 0.05766570568084717, + -2.8632850646972656, + -0.24434499442577362, + 0.3337312936782837 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot is currently holding the right edge of the orange cloth with a closed gripper, as indicated by the low gripper value and segment evidence. The cloth is partially folded on the table, and the robot has initiated the leftward dragging motion. The next action is to continue translating the end-effector to the left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 1 cm, open gripper; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29682743549346924, + 0.12478510290384293, + 0.04985376447439194, + -2.8927807807922363, + -0.26174068450927734, + 0.3581685721874237 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot is currently holding the right edge of the orange cloth with a closed gripper, as indicated by the low gripper value and segment evidence. The cloth is partially folded on the table, and the robot has initiated the leftward dragging motion. The next action is to continue translating the end-effector to the left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, open gripper; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28967201709747314, + 0.14831355214118958, + 0.033232398331165314, + -2.924729108810425, + -0.24960866570472717, + 0.37977367639541626 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The robot is currently holding the right edge of the orange cloth with a closed gripper, as indicated by the low gripper value and segment evidence. The cloth is partially folded on the table, and the robot has initiated the leftward dragging motion. The next action is to continue translating the end-effector to the left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 2 cm, open gripper; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28579089045524597, + 0.16190974414348602, + 0.015453003346920013, + -2.9605209827423096, + -0.24286746978759766, + 0.3965584933757782 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The gripper is currently holding the right edge of the orange cloth, having completed the dragging phase. The segment-level gripper evidence indicates a significant closing action, confirming a firm grasp is maintained. The next step is to release the cloth to leave it flat on the table and then reposition the gripper away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29015690088272095, + 0.1629490703344345, + 0.013109743595123291, + -2.9713845252990723, + -0.24821774661540985, + 0.37258440256118774 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The gripper is currently holding the right edge of the orange cloth, having completed the dragging phase. The segment-level gripper evidence indicates a significant closing action, confirming a firm grasp is maintained. The next step is to release the cloth to leave it flat on the table and then reposition the gripper away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 4 cm, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2957610785961151, + 0.17675884068012238, + 0.018073223531246185, + -2.9475226402282715, + -0.2657887935638428, + 0.3440214991569519 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The gripper is currently holding the right edge of the orange cloth, having completed the dragging phase. The segment-level gripper evidence indicates a significant closing action, confirming a firm grasp is maintained. The next step is to release the cloth to leave it flat on the table and then reposition the gripper away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 3 cm, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29925182461738586, + 0.2013074904680252, + 0.03197254240512848, + -2.9112985134124756, + -0.28604501485824585, + 0.31308189034461975 + ], + "gripper_value": 0.4975702464580536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release and reposition gripper", + "subtask_reasoning": "The gripper is currently holding the right edge of the orange cloth, having completed the dragging phase. The segment-level gripper evidence indicates a significant closing action, confirming a firm grasp is maintained. The next step is to release the cloth to leave it flat on the table and then reposition the gripper away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30178990960121155, + 0.2258211076259613, + 0.04907950758934021, + -2.8783693313598633, + -0.298649400472641, + 0.28733617067337036 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "retreat from workspace", + "subtask_reasoning": "The orange cloth is now fully unfolded and lying flat on the table. The robot has completed the unfolding action and is currently retreating from the workspace, with the gripper open and moving away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30580762028694153, + 0.2408888190984726, + 0.048751719295978546, + -2.854145050048828, + -0.27746307849884033, + 0.25578227639198303 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and reposition gripper" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "retreat from workspace", + "subtask_reasoning": "The orange cloth is now fully unfolded and lying flat on the table. The robot has completed the unfolding action and is currently retreating from the workspace, with the gripper open and moving away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003835_ecot.json b/cot/chunk-0003/episode_0003835_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..356a03874fbe0180981598d3b6b7be32bbeea868 --- /dev/null +++ b/cot/chunk-0003/episode_0003835_ecot.json @@ -0,0 +1,1240 @@ +{ + "task_name": "episode_0003835", + "episode_json": "json/chunk-0003/episode_0003835.json", + "video_path": "videos/chunk-0003/image_0/episode_0003835.mp4", + "instruction": "Put sweet potato in pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003835.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.26673614978790283, + "std": 0.1303991675376892, + "delta_total": -0.2661021947860718, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.26674, std=0.13040, total_delta=-0.26610). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sweet potato\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector down toward the sweet potato on the counter without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp sweet potato\", \"start\": 8, \"end\": 11, \"planning\": \"Close the gripper around the sweet potato to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move to pot\", \"start\": 12, \"end\": 19, \"planning\": \"Lift the grasped sweet potato and translate it over the pot for release.\"}\n ],\n \"global_plan\": \"Approach the sweet potato, grasp it securely, then lift and move it into position above the pot.\",\n \"notes\": \"Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing (delta=-0.265) consistent with grasping. Segment 3 maintains constant gripper value while moving upward and laterally — consistent with carrying a grasped object.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sweet potato", + "start": 0, + "end": 7, + "planning": "Move the end-effector down toward the sweet potato on the counter without closing the gripper." + }, + { + "id": 2, + "name": "grasp sweet potato", + "start": 8, + "end": 11, + "planning": "Close the gripper around the sweet potato to secure it for lifting." + }, + { + "id": 3, + "name": "lift and move to pot", + "start": 12, + "end": 19, + "planning": "Lift the grasped sweet potato and translate it over the pot for release." + } + ], + "global_plan": "Approach the sweet potato, grasp it securely, then lift and move it into position above the pot.", + "notes": "Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing (delta=-0.265) consistent with grasping. Segment 3 maintains constant gripper value while moving upward and laterally — consistent with carrying a grasped object." + } + }, + "episode_goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28278493881225586, + 0.08175254613161087, + 0.09147068113088608, + -3.0783913135528564, + -0.1935388296842575, + 0.09543682634830475 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the gripper open and no contact made yet. The subtask of approaching the sweet potato is in progress, and the next action should be to move the gripper closer to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 7 cm, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796720266342163, + 0.08190708607435226, + 0.07810027152299881, + -3.0664851665496826, + -0.17891190946102142, + 0.10642074048519135 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the gripper open and no contact made yet. The subtask of approaching the sweet potato is in progress, and the next action should be to move the gripper closer to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28464165329933167, + 0.08487112075090408, + 0.07226918637752533, + -3.049689769744873, + -0.21111935377120972, + 0.12150237709283829 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the gripper open and no contact made yet. The subtask of approaching the sweet potato is in progress, and the next action should be to move the gripper closer to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2895171642303467, + 0.08495866507291794, + 0.06558739393949509, + -3.054128408432007, + -0.22121784090995789, + 0.12598314881324768 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the pot visible on the stove to the right. No objects have been moved yet. The gripper remains open and stable, indicating the robot is still approaching or aligning with the sweet potato. The next action should be to move the end-effector closer to the sweet potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926325798034668, + 0.08476325869560242, + 0.05608571693301201, + -3.0708396434783936, + -0.2311103492975235, + 0.12059394270181656 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the pot visible on the stove to the right. No objects have been moved yet. The gripper remains open and stable, indicating the robot is still approaching or aligning with the sweet potato. The next action should be to move the end-effector closer to the sweet potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, keep gripper open; then move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2901209592819214, + 0.08535788953304291, + 0.04473792761564255, + -3.0967447757720947, + -0.2384137511253357, + 0.12534497678279877 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the pot visible on the stove to the right. No objects have been moved yet. The gripper remains open and stable, indicating the robot is still approaching or aligning with the sweet potato. The next action should be to move the end-effector closer to the sweet potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28769028186798096, + 0.08272401243448257, + 0.03696649894118309, + -3.124298572540283, + -0.2522442936897278, + 0.13563981652259827 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the pot visible on the stove to the right. No objects have been moved yet. The gripper remains open and stable, indicating the robot is still approaching or aligning with the sweet potato. The next action should be to move the end-effector closer to the sweet potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2858443856239319, + 0.08137892931699753, + 0.02835538052022457, + -3.140550136566162, + -0.26370713114738464, + 0.13797946274280548 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the pot visible on the stove to the right. No objects have been moved yet. The gripper remains open and stable, indicating the robot is still approaching or aligning with the sweet potato. The next action should be to move the end-effector closer to the sweet potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move right 7 cm, move up 12 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28398847579956055, + 0.08286947757005692, + 0.019919350743293762, + 3.125101089477539, + -0.27404195070266724, + 0.14502738416194916 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy red fruit": [ + 359, + 363, + 440, + 502 + ], + "toy knife": [ + 57, + 369, + 142, + 603 + ], + "toy green pepper": [ + 128, + 540, + 213, + 669 + ], + "pot": [ + 496, + 205, + 755, + 571 + ], + "toy lemon": [ + 786, + 345, + 881, + 458 + ], + "toy corn": [ + 866, + 562, + 986, + 723 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter near the red sweet potato, with the pot visible on the stove to the right. No objects have been moved yet. The gripper remains open and stable, indicating the robot is still approaching or aligning with the sweet potato. The next action should be to move the end-effector closer to the sweet potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move right 9 cm, move up 13 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28464165329933167, + 0.08157164603471756, + 0.01669604890048504, + 3.105393409729004, + -0.27589333057403564, + 0.14803551137447357 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the red sweet potato on the counter and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to close the gripper to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move right 10 cm, move up 13 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28322094678878784, + 0.08389605581760406, + 0.01656201109290123, + 3.104576349258423, + -0.259904146194458, + 0.16808265447616577 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the red sweet potato on the counter and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to close the gripper to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move right 10 cm, move up 13 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2769615054130554, + 0.08015171438455582, + 0.018329225480556488, + 3.1277663707733154, + -0.21087633073329926, + 0.16555601358413696 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the red sweet potato on the counter and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to close the gripper to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 5 cm, move right 10 cm, move up 13 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27506062388420105, + 0.08160439878702164, + 0.038484491407871246, + -3.1010220050811768, + -0.17618221044540405, + 0.15852878987789154 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has approached the red sweet potato on the counter and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to close the gripper to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 10 cm, move up 13 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2775628864765167, + 0.08020997047424316, + 0.06759718060493469, + -3.032837152481079, + -0.15739186108112335, + 0.15056174993515015 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy knife": [ + 57, + 369, + 140, + 603 + ], + "pot": [ + 496, + 206, + 754, + 570 + ], + "toy corn": [ + 867, + 562, + 986, + 722 + ], + "toy green pepper": [ + 128, + 541, + 214, + 669 + ], + "toy lemon": [ + 786, + 345, + 881, + 458 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has approached the red sweet potato on the counter and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to close the gripper to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 10 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824822664260864, + 0.07245559990406036, + 0.09180127829313278, + -2.983635187149048, + -0.1462976336479187, + 0.1450725942850113 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has approached the red sweet potato on the counter and is currently positioned directly above it with the gripper open. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to close the gripper to securely grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move up 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2942490577697754, + 0.05526529997587204, + 0.12049274146556854, + -2.9503114223480225, + -0.14554306864738464, + 0.1288250982761383 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has already grasped the sweet potato and is currently lifting it above the stove area. The gripper remains closed with no further closing motion, indicating the object is securely held. The next action is to move the sweet potato directly over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3079086244106293, + 0.036074865609407425, + 0.14309769868850708, + -2.9404542446136475, + -0.1441895067691803, + 0.1293627917766571 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has already grasped the sweet potato and is currently lifting it above the stove area. The gripper remains closed with no further closing motion, indicating the object is securely held. The next action is to move the sweet potato directly over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3169577717781067, + 0.014719025231897831, + 0.16254255175590515, + -2.9515695571899414, + -0.14956553280353546, + 0.14842787384986877 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has already grasped the sweet potato and is currently lifting it above the stove area. The gripper remains closed with no further closing motion, indicating the object is securely held. The next action is to move the sweet potato directly over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31919315457344055, + -0.004531603306531906, + 0.1660016030073166, + -2.979400396347046, + -0.1483927220106125, + 0.17880187928676605 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has already grasped the sweet potato and is currently lifting it above the stove area. The gripper remains closed with no further closing motion, indicating the object is securely held. The next action is to move the sweet potato directly over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32199767231941223, + -0.01816367730498314, + 0.1637774109840393, + -3.0076539516448975, + -0.17602266371250153, + 0.20011481642723083 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sweet potato from the counter and place it into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and move to pot" + } + ], + "subtask_name": "lift and move to pot", + "subtask_reasoning": "The robot has already grasped the sweet potato and is currently lifting it above the stove area. The gripper remains closed with no further closing motion, indicating the object is securely held. The next action is to move the sweet potato directly over the metal pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003836_ecot.json b/cot/chunk-0003/episode_0003836_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b6cbed0c15b755674a70eb32c3fe24c44710b000 --- /dev/null +++ b/cot/chunk-0003/episode_0003836_ecot.json @@ -0,0 +1,1160 @@ +{ + "task_name": "episode_0003836", + "episode_json": "json/chunk-0003/episode_0003836.json", + "video_path": "videos/chunk-0003/image_0/episode_0003836.mp4", + "instruction": "Put sweet potato in pan which is on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003836.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.16413134336471558, + "std": 0.07744754105806351, + "delta_total": -0.16413134336471558, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.16413, std=0.07745, total_delta=-0.16413). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sweet potato\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the sweet potato near the sink while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp sweet potato\", \"start\": 4, \"end\": 8, \"planning\": \"Close gripper around sweet potato and confirm secure hold before lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport to pan\", \"start\": 9, \"end\": 12, \"planning\": \"Lift sweet potato and move it horizontally toward the pan on the stove.\"},\n {\"id\": 4, \"name\": \"release sweet potato in pan\", \"start\": 13, \"end\": 16, \"planning\": \"Position sweet potato over pan and release grip to drop it inside.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, and release sweet potato into the pan on the stove.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.16413) consistent with grasping; Segment 2 has no gripper change, so actions are purely positional transport and release without re-grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sweet potato", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the sweet potato near the sink while keeping gripper open." + }, + { + "id": 2, + "name": "grasp sweet potato", + "start": 4, + "end": 8, + "planning": "Close gripper around sweet potato and confirm secure hold before lifting." + }, + { + "id": 3, + "name": "lift and transport to pan", + "start": 9, + "end": 12, + "planning": "Lift sweet potato and move it horizontally toward the pan on the stove." + }, + { + "id": 4, + "name": "release sweet potato in pan", + "start": 13, + "end": 16, + "planning": "Position sweet potato over pan and release grip to drop it inside." + } + ], + "global_plan": "Approach, grasp, lift, transport, and release sweet potato into the pan on the stove.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.16413) consistent with grasping; Segment 2 has no gripper change, so actions are purely positional transport and release without re-grasping." + } + }, + "episode_goal": "Place the sweet potato into the pan on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4439762234687805, + 0.07077297568321228, + 0.05619684234261513, + -2.947279453277588, + -0.33632591366767883, + -0.8434478044509888 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot is positioned near the sink where the sweet potato is located, with the pan visible on the stove in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.44145384430885315, + 0.0648350641131401, + 0.03994649648666382, + -2.9809112548828125, + -0.36096370220184326, + -0.8404963612556458 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot is positioned near the sink where the sweet potato is located, with the pan visible on the stove in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.443880170583725, + 0.06626883149147034, + 0.03296635299921036, + -2.979975700378418, + -0.41298213601112366, + -0.8501231074333191 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot is positioned near the sink where the sweet potato is located, with the pan visible on the stove in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move back 4 cm, move left 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4453135132789612, + 0.06871899962425232, + 0.025494543835520744, + -2.989368438720703, + -0.4577983021736145, + -0.8394652605056763 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot is positioned near the sink where the sweet potato is located, with the pan visible on the stove in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move back 5 cm, move left 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.44614264369010925, + 0.06971068680286407, + 0.017292559146881104, + -3.0117077827453613, + -0.4983956217765808, + -0.8224301934242249 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot is positioned near the sink where the sweet potato is located, with the pan visible on the stove in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move back 5 cm, move left 4 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4454953372478485, + 0.07036242634057999, + 0.005586449988186359, + -3.052046775817871, + -0.5555111765861511, + -0.7866001725196838 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot is positioned near the sink where the sweet potato is located, with the pan visible on the stove in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 5 cm, move left 4 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4446200430393219, + 0.07326443493366241, + 0.0010724664898589253, + -3.080336093902588, + -0.5811634063720703, + -0.7420260906219482 + ], + "gripper_value": 0.8651953339576721 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange carrot": [ + 238, + 66, + 298, + 200 + ], + "purple onion": [ + 62, + 87, + 172, + 186 + ], + "yellow pepper": [ + 679, + 441, + 801, + 573 + ], + "metal pot": [ + 305, + 193, + 504, + 391 + ], + "sink": [ + 438, + 294, + 994, + 834 + ], + "faucet": [ + 737, + 12, + 967, + 364 + ] + } + } + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato in the sink. The gripper is closing (value 0.865, decreasing trend), indicating active grasping. The next action is to complete the grasp and prepare to lift the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, tilt forward 20 degrees, keep gripper closed; then move back 5 cm, move left 4 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.44357794523239136, + 0.07148046791553497, + 0.0021181798074394464, + -3.0991017818450928, + -0.5196317434310913, + -0.7234451770782471 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato in the sink. The gripper is closing (value 0.865, decreasing trend), indicating active grasping. The next action is to complete the grasp and prepare to lift the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 5 cm, move left 4 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4387071430683136, + 0.06517937779426575, + 0.011035595089197159, + -3.1069343090057373, + -0.39468204975128174, + -0.7385081648826599 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato in the sink. The gripper is closing (value 0.865, decreasing trend), indicating active grasping. The next action is to complete the grasp and prepare to lift the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move back 5 cm, move left 4 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.44193533062934875, + 0.05688455328345299, + 0.04474550858139992, + -3.051809072494507, + -0.31170132756233215, + -0.7673441767692566 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot has approached the sweet potato in the sink. The gripper is closing (value 0.865, decreasing trend), indicating active grasping. The next action is to complete the grasp and prepare to lift the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4343615770339966, + 0.05959101393818855, + 0.06939757615327835, + -3.0245673656463623, + -0.2334567904472351, + -0.7546896934509277 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot has grasped the sweet potato and is currently lifting it from the counter. The gripper remains closed with no further closing motion, indicating the object is already held. The next action is to transport the sweet potato toward the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4195331037044525, + 0.0632929727435112, + 0.0896892175078392, + -3.009418249130249, + -0.20182310044765472, + -0.7631168961524963 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot has grasped the sweet potato and is currently lifting it from the counter. The gripper remains closed with no further closing motion, indicating the object is already held. The next action is to transport the sweet potato toward the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4027831554412842, + 0.08029906451702118, + 0.09179075062274933, + -3.0292038917541504, + -0.20797733962535858, + -0.7511685490608215 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot has grasped the sweet potato and is currently lifting it from the counter. The gripper remains closed with no further closing motion, indicating the object is already held. The next action is to transport the sweet potato toward the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3871130347251892, + 0.10159081220626831, + 0.08131886273622513, + -3.0443508625030518, + -0.23763160407543182, + -0.7258189916610718 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange carrot": [ + 238, + 66, + 298, + 200 + ], + "yellow pepper": [ + 683, + 443, + 805, + 574 + ], + "metal pot": [ + 288, + 197, + 504, + 390 + ], + "red bottle": [ + 403, + 118, + 445, + 197 + ], + "purple onion": [ + 66, + 87, + 173, + 187 + ], + "faucet": [ + 766, + 7, + 965, + 345 + ], + "sink": [ + 441, + 296, + 994, + 841 + ] + } + } + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "release sweet potato in pan", + "subtask_reasoning": "The robot has grasped the sweet potato and is currently lifting it from the counter. The gripper remains closed with no further closing motion, indicating the object is already held. The next action is to transport the sweet potato toward the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37899619340896606, + 0.10355563461780548, + 0.07136759907007217, + -3.035146951675415, + -0.2859765589237213, + -0.7358591556549072 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "release sweet potato in pan", + "subtask_reasoning": "The sweet potato is not visible in the current frame, and the gripper is open with no closing evidence in this segment. The pan is on the stove, but the sweet potato has not yet been released into it. The next action should involve moving the sweet potato over the pan and releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3724517524242401, + 0.10916844010353088, + 0.059231724590063095, + -3.0342214107513428, + -0.3312203586101532, + -0.7340793609619141 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "release sweet potato in pan", + "subtask_reasoning": "The sweet potato is not visible in the current frame, and the gripper is open with no closing evidence in this segment. The pan is on the stove, but the sweet potato has not yet been released into it. The next action should involve moving the sweet potato over the pan and releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.373148113489151, + 0.11187448352575302, + 0.05572029575705528, + -3.010075330734253, + -0.3805408775806427, + -0.7555482983589172 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato in pan" + } + ], + "subtask_name": "release sweet potato in pan", + "subtask_reasoning": "The sweet potato is not visible in the current frame, and the gripper is open with no closing evidence in this segment. The pan is on the stove, but the sweet potato has not yet been released into it. The next action should involve moving the sweet potato over the pan and releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003837_ecot.json b/cot/chunk-0003/episode_0003837_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1cad0c45fe59fe728bcc92881bf9151013df63bc --- /dev/null +++ b/cot/chunk-0003/episode_0003837_ecot.json @@ -0,0 +1,2196 @@ +{ + "task_name": "episode_0003837", + "episode_json": "json/chunk-0003/episode_0003837.json", + "video_path": "videos/chunk-0003/image_0/episode_0003837.mp4", + "instruction": "Moved the red object to the down right corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003837.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.29694199562072754, + "std": 0.1437055766582489, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.29694, std=0.14371, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 100, + 100, + 200, + 200, + 200, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 20 + ], + [ + 4, + 21, + 21 + ], + [ + 5, + 22, + 23 + ], + [ + 6, + 24, + 26 + ], + [ + 7, + 27, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red object\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector down toward the red object without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"reposition to grasp pose\", \"start\": 6, \"end\": 12, \"planning\": \"Adjust position and orientation around the red object in preparation for contact, gripper still open.\"},\n {\"id\": 3, \"name\": \"make contact and nudge\", \"start\": 13, \"end\": 20, \"planning\": \"Establish contact with red object and begin sliding it toward target corner; gripper remains static but engaged via friction or light pressure.\"},\n {\"id\": 4, \"name\": \"secure grip during slide\", \"start\": 21, \"end\": 23, \"planning\": \"Gripper closes slightly to improve hold on red object while continuing to slide it toward destination.\"},\n {\"id\": 5, \"name\": \"complete slide to corner\", \"start\": 24, \"end\": 26, \"planning\": \"Continue dragging red object into final position at down-right corner with maintained grip.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 27, \"end\": 29, \"planning\": \"Open gripper to release red object and lift end-effector away from table surface.\"}\n ],\n \"global_plan\": \"The robot approaches the red object, makes contact, slides it across the table while gradually securing a grip, positions it in the down-right corner, then releases and retreats.\",\n \"notes\": \"Gripper evidence shows no meaningful closing until segment 5 (frames 22-23), so earlier phases use contact-based verbs. Final release is confirmed by gripper opening and upward motion in last segment.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red object", + "start": 0, + "end": 5, + "planning": "Move end-effector down toward the red object without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "reposition to grasp pose", + "start": 6, + "end": 12, + "planning": "Adjust position and orientation around the red object in preparation for contact, gripper still open." + }, + { + "id": 3, + "name": "make contact and nudge", + "start": 13, + "end": 20, + "planning": "Establish contact with red object and begin sliding it toward target corner; gripper remains static but engaged via friction or light pressure." + }, + { + "id": 4, + "name": "secure grip during slide", + "start": 21, + "end": 23, + "planning": "Gripper closes slightly to improve hold on red object while continuing to slide it toward destination." + }, + { + "id": 5, + "name": "complete slide to corner", + "start": 24, + "end": 26, + "planning": "Continue dragging red object into final position at down-right corner with maintained grip." + }, + { + "id": 6, + "name": "release and retreat", + "start": 27, + "end": 29, + "planning": "Open gripper to release red object and lift end-effector away from table surface." + } + ], + "global_plan": "The robot approaches the red object, makes contact, slides it across the table while gradually securing a grip, positions it in the down-right corner, then releases and retreats.", + "notes": "Gripper evidence shows no meaningful closing until segment 5 (frames 22-23), so earlier phases use contact-based verbs. Final release is confirmed by gripper opening and upward motion in last segment." + } + }, + "episode_goal": "Move the red object to the down right corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35524889826774597, + 0.11902269721031189, + 0.0818096250295639, + 2.9278359413146973, + -0.14117136597633362, + 1.6026663780212402 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or movement toward the object has occurred yet. The next action should be to move the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35364246368408203, + 0.11814382672309875, + 0.07013964653015137, + 2.9588069915771484, + -0.1330922693014145, + 1.6021884679794312 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or movement toward the object has occurred yet. The next action should be to move the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3509750962257385, + 0.11499727517366409, + 0.05515473708510399, + 3.008601427078247, + -0.15497951209545135, + 1.58955979347229 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.349612295627594, + 0.10873454809188843, + 0.045443132519721985, + 3.0443098545074463, + -0.1689164936542511, + 1.5762525796890259 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 62, + 339, + 265, + 558 + ], + "wooden table": [ + 5, + 202, + 819, + 978 + ], + "striped cup": [ + 254, + 232, + 391, + 435 + ], + "metal spoon": [ + 261, + 550, + 527, + 710 + ], + "red object": [ + 358, + 399, + 445, + 532 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move right 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34456390142440796, + 0.10601452738046646, + 0.03741050884127617, + 3.0781288146972656, + -0.16721117496490479, + 1.585381031036377 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move right 4 cm, close gripper; then move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3375009596347809, + 0.09862370789051056, + 0.02999226376414299, + 3.106327772140503, + -0.14299996197223663, + 1.5615729093551636 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move right 4 cm, close gripper; then move back 1 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3335643410682678, + 0.09252990782260895, + 0.022974934428930283, + -3.132585048675537, + -0.13736388087272644, + 1.5416308641433716 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition to grasp pose", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, close gripper; then move back 3 cm, move right 10 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3311302959918976, + 0.08870884031057358, + 0.013824264518916607, + -3.1122446060180664, + -0.12159188091754913, + 1.5269702672958374 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition to grasp pose", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292679786682129, + 0.0859932005405426, + 0.0012011192739009857, + -3.0888633728027344, + -0.10024039447307587, + 1.5059595108032227 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition to grasp pose", + "subtask_reasoning": "The robot is positioned above the table with the red object visible in the center. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red object to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 6 cm, move right 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324476480484009, + 0.09048063308000565, + 3.353960710228421e-05, + -3.1073641777038574, + -0.12999050319194794, + 1.5185707807540894 + ], + "gripper_value": 0.7151217460632324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition to grasp pose", + "subtask_reasoning": "The robot has approached the red object and is now positioned above it with the gripper open. The gripper is beginning to close, indicating preparation to grasp the object. The next action is to complete the grasp by fully closing the gripper around the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 7 cm, move right 13 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33117884397506714, + 0.09058690071105957, + -0.0013530540745705366, + -3.118136405944824, + -0.13159698247909546, + 1.5315556526184082 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition to grasp pose", + "subtask_reasoning": "The robot has approached the red object and is now positioned above it with the gripper open. The gripper is beginning to close, indicating preparation to grasp the object. The next action is to complete the grasp by fully closing the gripper around the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 3 cm, keep gripper closed; then move back 8 cm, move right 13 cm, move down 1 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3295386731624603, + 0.08880031108856201, + -0.0009699197253212333, + -3.1236958503723145, + -0.12711042165756226, + 1.531977653503418 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition to grasp pose", + "subtask_reasoning": "The robot has approached the red object and is now positioned above it with the gripper open. The gripper is beginning to close, indicating preparation to grasp the object. The next action is to complete the grasp by fully closing the gripper around the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 3 cm, keep gripper closed; then move back 8 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32690921425819397, + 0.07527914643287659, + 0.005690804682672024, + -3.1352386474609375, + -0.11074531078338623, + 1.5030815601348877 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition to grasp pose", + "subtask_reasoning": "The robot has approached the red object and is now positioned above it with the gripper open. The gripper is beginning to close, indicating preparation to grasp the object. The next action is to complete the grasp by fully closing the gripper around the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper closed; then move back 8 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33107781410217285, + 0.054573409259319305, + 0.024979736655950546, + 3.09431529045105, + -0.10277442634105682, + 1.4652289152145386 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the red object and is now positioned above it with the gripper open. The gripper is beginning to close, indicating preparation to grasp the object. The next action is to complete the grasp by fully closing the gripper around the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32659712433815, + 0.024911925196647644, + 0.048862963914871216, + 3.035961866378784, + -0.0813203752040863, + 1.4001222848892212 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the red object and is now positioned above it with the gripper open. The gripper is beginning to close, indicating preparation to grasp the object. The next action is to complete the grasp by fully closing the gripper around the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31686949729919434, + -0.012467716820538044, + 0.059151869267225266, + 3.000849485397339, + -0.061188697814941406, + 1.298762321472168 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the red object and is now positioned above it with the gripper open. The gripper is beginning to close, indicating preparation to grasp the object. The next action is to complete the grasp by fully closing the gripper around the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2979772686958313, + -0.042548589408397675, + 0.051362182945013046, + 3.014462471008301, + -0.03564707934856415, + 1.1887445449829102 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the table, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, indicating the robot is ready to make initial contact. The next action is to lower the arm slightly to nudge or touch the red object to begin the sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2787685990333557, + -0.06565478444099426, + 0.038266729563474655, + 3.044660806655884, + -0.02351536601781845, + 1.0815832614898682 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 221, + 820, + 979 + ], + "orange bowl": [ + 66, + 339, + 268, + 559 + ], + "striped cup": [ + 256, + 234, + 395, + 437 + ], + "metal spoon": [ + 263, + 551, + 525, + 708 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the table, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, indicating the robot is ready to make initial contact. The next action is to lower the arm slightly to nudge or touch the red object to begin the sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move down 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679295539855957, + -0.07247438281774521, + 0.03097427450120449, + 3.064872980117798, + -0.028034061193466187, + 1.0444484949111938 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the table, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, indicating the robot is ready to make initial contact. The next action is to lower the arm slightly to nudge or touch the red object to begin the sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move down 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25736090540885925, + -0.07528439164161682, + 0.02332177385687828, + 3.088566780090332, + -0.04173505678772926, + 1.018935203552246 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the table, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, indicating the robot is ready to make initial contact. The next action is to lower the arm slightly to nudge or touch the red object to begin the sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move down 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2546016275882721, + -0.07193414866924286, + 0.013636980205774307, + 3.1168198585510254, + -0.04983877018094063, + 1.0224053859710693 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the table, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, indicating the robot is ready to make initial contact. The next action is to lower the arm slightly to nudge or touch the red object to begin the sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move down 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2552494406700134, + -0.062290970236063004, + 0.006510842125862837, + -3.1405694484710693, + -0.06006447598338127, + 1.0412532091140747 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "secure grip during slide", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the table, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, indicating the robot is ready to make initial contact. The next action is to lower the arm slightly to nudge or touch the red object to begin the sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2605878710746765, + -0.06103032827377319, + 0.005642083007842302, + 3.105628252029419, + -0.06648583710193634, + 1.0390870571136475 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "secure grip during slide", + "subtask_reasoning": "The robot is in contact with the red object on the table, having completed the approach and initial repositioning. The gripper is partially closed around the object, indicating an ongoing effort to secure a firm grip while sliding. The next action should involve tightening the gripper slightly to ensure stable control before continuing the slide toward the down-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2587054669857025, + -0.059028055518865585, + -0.0015659717610105872, + 3.1331050395965576, + -0.06303247064352036, + 1.0404647588729858 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "secure grip during slide", + "subtask_reasoning": "The robot is in contact with the red object on the table, having completed the approach and initial repositioning. The gripper is partially closed around the object, indicating an ongoing effort to secure a firm grip while sliding. The next action should involve tightening the gripper slightly to ensure stable control before continuing the slide toward the down-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2601354420185089, + -0.05764973536133766, + -0.00018473491945769638, + -3.135408639907837, + -0.06993913650512695, + 1.052107572555542 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete slide to corner", + "subtask_reasoning": "The robot is in contact with the red object on the table, having completed the approach and initial repositioning. The gripper is partially closed around the object, indicating an ongoing effort to secure a firm grip while sliding. The next action should involve tightening the gripper slightly to ensure stable control before continuing the slide toward the down-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26111021637916565, + -0.05659051984548569, + 0.00027390351169742644, + -3.1372599601745605, + -0.06547530740499496, + 1.0519781112670898 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete slide to corner", + "subtask_reasoning": "The robot is in contact with the red object near the down-right corner of the table, having completed the approach and initial repositioning. The gripper shows slight closing activity consistent with securing a grip during sliding. The next action is to continue sliding the object into the corner while maintaining controlled contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26103609800338745, + -0.053737495094537735, + 0.0004761313903145492, + -3.1401476860046387, + -0.041576288640499115, + 1.063002586364746 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete slide to corner", + "subtask_reasoning": "The robot is in contact with the red object near the down-right corner of the table, having completed the approach and initial repositioning. The gripper shows slight closing activity consistent with securing a grip during sliding. The next action is to continue sliding the object into the corner while maintaining controlled contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26629042625427246, + -0.05641470104455948, + 0.021125508472323418, + 3.074655294418335, + -0.04473726823925972, + 1.0559602975845337 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the red object near the down-right corner of the table, having completed the approach and initial repositioning. The gripper shows slight closing activity consistent with securing a grip during sliding. The next action is to continue sliding the object into the corner while maintaining controlled contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27067995071411133, + -0.051636822521686554, + 0.048641450703144073, + 3.0001769065856934, + -0.10038245469331741, + 1.0840227603912354 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 208, + 820, + 979 + ], + "orange bowl": [ + 64, + 340, + 265, + 559 + ], + "metal spoon": [ + 262, + 550, + 527, + 708 + ], + "striped cup": [ + 259, + 231, + 395, + 436 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already positioned in the down-right corner of the table, and the gripper is open and not in contact with it. The robot has completed the placement and is now retreating upward and away from the object. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 27, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2682226896286011, + -0.05200367793440819, + 0.06891287118196487, + 2.920696973800659, + -0.1043865978717804, + 1.0691273212432861 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the down right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "reposition to grasp pose" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "secure grip during slide" + }, + { + "id": 5, + "subtask": "complete slide to corner" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already positioned in the down-right corner of the table, and the gripper is open and not in contact with it. The robot has completed the placement and is now retreating upward and away from the object. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003838_ecot.json b/cot/chunk-0003/episode_0003838_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..35a4522f36f4be48ad9109dd43f20c2f7757ca4c --- /dev/null +++ b/cot/chunk-0003/episode_0003838_ecot.json @@ -0,0 +1,1639 @@ +{ + "task_name": "episode_0003838", + "episode_json": "json/chunk-0003/episode_0003838.json", + "video_path": "videos/chunk-0003/image_0/episode_0003838.mp4", + "instruction": "Move towel to lower right of table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003838.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.001984119415283203, + "std": 0.0006609984557144344, + "delta_total": -0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00198, std=0.00066, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 6 + ], + [ + 3, + 7, + 12 + ], + [ + 4, + 13, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the orange towel on the left side of the table.\"},\n {\"id\": 2, \"name\": \"make contact with towel\", \"start\": 7, \"end\": 12, \"planning\": \"Lower and position gripper to make physical contact with the towel surface.\"},\n {\"id\": 3, \"name\": \"drag towel rightward\", \"start\": 13, \"end\": 18, \"planning\": \"Push or slide the towel horizontally across the table toward the lower right area.\"},\n {\"id\": 4, \"name\": \"reposition and retreat\", \"start\": 19, \"end\": 23, \"planning\": \"Adjust final position of towel and lift gripper away after completing displacement.\"}\n ],\n \"global_plan\": \"The robot approaches the towel, makes contact without grasping, drags it across the table to the lower right, then repositions and retreats — all without lifting or gripping, consistent with constant gripper state.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, no grasp/lift/place actions are inferred. Motion is contact-based pushing/sliding as supported by trajectory and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the orange towel on the left side of the table." + }, + { + "id": 2, + "name": "make contact with towel", + "start": 7, + "end": 12, + "planning": "Lower and position gripper to make physical contact with the towel surface." + }, + { + "id": 3, + "name": "drag towel rightward", + "start": 13, + "end": 18, + "planning": "Push or slide the towel horizontally across the table toward the lower right area." + }, + { + "id": 4, + "name": "reposition and retreat", + "start": 19, + "end": 23, + "planning": "Adjust final position of towel and lift gripper away after completing displacement." + } + ], + "global_plan": "The robot approaches the towel, makes contact without grasping, drags it across the table to the lower right, then repositions and retreats — all without lifting or gripping, consistent with constant gripper state.", + "notes": "No segment shows meaningful gripper closing; therefore, no grasp/lift/place actions are inferred. Motion is contact-based pushing/sliding as supported by trajectory and gripper evidence." + } + }, + "episode_goal": "Move the orange towel from the left side of the table to the lower right area near the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3413219451904297, + 0.12794095277786255, + 0.08282526582479477, + -3.131682872772217, + -0.11456945538520813, + 0.059809744358062744 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the orange towel visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the towel to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 7 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33852094411849976, + 0.12686674296855927, + 0.07025551050901413, + -3.141573667526245, + -0.08240552246570587, + 0.0563247911632061 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the orange towel visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the towel to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move down 6 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3299461007118225, + 0.13157911598682404, + 0.06809395551681519, + 3.137716054916382, + -0.09931214153766632, + 0.05791623890399933 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the orange towel visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the towel to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 6 cm, keep gripper open; then move back 1 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.309610515832901, + 0.15774574875831604, + 0.07959992438554764, + 3.0903115272521973, + -0.10288050025701523, + 0.0717085748910904 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 514, + 206, + 765, + 476 + ], + "orange sponge": [ + 34, + 319, + 323, + 575 + ], + "blue fork": [ + 353, + 191, + 482, + 387 + ], + "toy microwave": [ + 274, + 2, + 668, + 230 + ], + "wooden countertop": [ + 9, + 136, + 938, + 968 + ], + "tomato sauce": [ + 645, + 44, + 785, + 274 + ], + "toy stove": [ + 674, + 175, + 996, + 994 + ], + "corn": [ + 768, + 129, + 920, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is approaching the orange towel located on the left side of the table. No contact has been made yet, and the gripper remains open with no grasping action. The next step is to continue moving toward the towel to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 7 cm, keep gripper open; then move back 2 cm, move right 7 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2978031039237976, + 0.17310762405395508, + 0.07041068375110626, + 3.0913350582122803, + -0.11077874898910522, + 0.08776623755693436 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is approaching the orange towel located on the left side of the table. No contact has been made yet, and the gripper remains open with no grasping action. The next step is to continue moving toward the towel to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, keep gripper open; then move back 2 cm, move right 7 cm, move down 1 cm, keep gripper open; then move right 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29092490673065186, + 0.18661348521709442, + 0.03908433020114899, + 3.1077754497528076, + -0.06939629465341568, + 0.07059042900800705 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is approaching the orange towel located on the left side of the table. No contact has been made yet, and the gripper remains open with no grasping action. The next step is to continue moving toward the towel to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move back 2 cm, move right 7 cm, move down 1 cm, keep gripper open; then move right 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2848058342933655, + 0.18972991406917572, + 0.013486882671713829, + 3.121643543243408, + -0.042299576103687286, + 0.04396645352244377 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is approaching the orange towel located on the left side of the table. No contact has been made yet, and the gripper remains open with no grasping action. The next step is to continue moving toward the towel to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 7 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824768126010895, + 0.19200192391872406, + 0.007996411062777042, + -3.127192974090576, + -0.056851278990507126, + 0.0227667223662138 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is approaching the orange towel located on the left side of the table. No contact has been made yet, and the gripper remains open with no grasping action. The next step is to continue moving toward the towel to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 17 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.278974711894989, + 0.1920410692691803, + 0.00497158570215106, + -3.106825590133667, + -0.06912557035684586, + 0.014321353286504745 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is approaching the orange towel located on the left side of the table. No contact has been made yet, and the gripper remains open with no grasping action. The next step is to continue moving toward the towel to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, keep gripper open; then move forward 1 cm, move right 18 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793178856372833, + 0.19515720009803772, + 0.004314987920224667, + -3.079702377319336, + -0.07677040994167328, + 0.012132602743804455 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the orange towel on the left side of the table and is now making contact with it using the gripper, without grasping. The next action is to begin dragging the towel toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, keep gripper open; then move right 17 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784671485424042, + 0.19396580755710602, + 0.003675958840176463, + -3.0878090858459473, + -0.07112529128789902, + 0.01733572967350483 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the orange towel on the left side of the table and is now making contact with it using the gripper, without grasping. The next action is to begin dragging the towel toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, keep gripper open; then move right 17 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27493664622306824, + 0.18570369482040405, + 0.00046792023931629956, + -3.1283457279205322, + -0.05949815735220909, + 0.022286951541900635 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the orange towel on the left side of the table and is now making contact with it using the gripper, without grasping. The next action is to begin dragging the towel toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, keep gripper open; then move right 17 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27316993474960327, + 0.16615496575832367, + 0.0005476849619299173, + -3.128915786743164, + -0.06640731543302536, + 0.006266260985285044 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the orange towel on the left side of the table and is now making contact with it using the gripper, without grasping. The next action is to begin dragging the towel toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, keep gripper open; then move right 17 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2651872932910919, + 0.12693293392658234, + 0.0006285436102189124, + 3.137180805206299, + -0.058474574238061905, + -0.02306123450398445 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag towel rightward", + "subtask_reasoning": "The robot has approached the orange towel on the left side of the table and is now making contact with it using the gripper, without grasping. The next action is to begin dragging the towel toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 17 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26490548253059387, + 0.08111654222011566, + 0.0024197534658014774, + 3.0923612117767334, + -0.06015315279364586, + -0.03860800340771675 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag towel rightward", + "subtask_reasoning": "The robot has approached the orange towel on the left side of the table and is now making contact with it using the gripper, without grasping. The next action is to begin dragging the towel toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697490155696869, + 0.025192447006702423, + 0.004977178294211626, + 3.0145602226257324, + -0.03890148922801018, + -0.018410462886095047 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 514, + 207, + 765, + 477 + ], + "toy microwave": [ + 282, + 2, + 668, + 230 + ], + "orange sponge": [ + 204, + 459, + 507, + 719 + ], + "blue fork": [ + 370, + 191, + 482, + 368 + ], + "wooden countertop": [ + 6, + 153, + 939, + 964 + ], + "toy stove": [ + 675, + 175, + 996, + 994 + ], + "tomato sauce": [ + 645, + 45, + 785, + 274 + ], + "corn": [ + 768, + 130, + 920, + 341 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag towel rightward", + "subtask_reasoning": "The robot is in contact with the orange towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp, consistent with dragging. The next action is to continue moving the towel rightward toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27071160078048706, + -0.02121167629957199, + 0.006386143155395985, + 2.9863290786743164, + -0.008165325969457626, + 0.0037503826897591352 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 514, + 206, + 765, + 476 + ], + "toy microwave": [ + 437, + 2, + 669, + 228 + ], + "wooden countertop": [ + 8, + 163, + 940, + 961 + ], + "toy stove": [ + 675, + 174, + 997, + 994 + ], + "tomato sauce": [ + 645, + 45, + 785, + 275 + ], + "orange sponge": [ + 309, + 494, + 611, + 765 + ], + "corn": [ + 768, + 130, + 920, + 341 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag towel rightward", + "subtask_reasoning": "The robot is in contact with the orange towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp, consistent with dragging. The next action is to continue moving the towel rightward toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705625295639038, + -0.04043489322066307, + 0.005918134935200214, + 2.9949982166290283, + -0.00842265598475933, + 0.031081536784768105 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag towel rightward", + "subtask_reasoning": "The robot is in contact with the orange towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp, consistent with dragging. The next action is to continue moving the towel rightward toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27105987071990967, + -0.04850400611758232, + 0.004700313322246075, + 3.0258655548095703, + -0.027419207617640495, + 0.03231525793671608 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag towel rightward", + "subtask_reasoning": "The robot is in contact with the orange towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp, consistent with dragging. The next action is to continue moving the towel rightward toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 1 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689591646194458, + -0.047592926770448685, + 0.005969843361526728, + 3.031461477279663, + -0.034581683576107025, + 0.03689135983586311 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the orange towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp, consistent with dragging. The next action is to continue moving the towel rightward toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25618359446525574, + -0.04701954498887062, + 0.01990349218249321, + 3.061890125274658, + -0.047986287623643875, + 0.01560535654425621 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the orange towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp, consistent with dragging. The next action is to continue moving the towel rightward toward the lower right area near the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2606428265571594, + -0.042806338518857956, + 0.06817363202571869, + 3.08738374710083, + -0.15910343825817108, + -0.014457963407039642 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been dragged to the lower right area near the stove, completing the main movement. The robot is now retracting its arm upward and backward while maintaining an open gripper, indicating the reposition and retreat phase is underway." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25907865166664124, + -0.038216326385736465, + 0.09800399839878082, + 3.1218984127044678, + -0.20924799144268036, + -0.056922946125268936 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been dragged to the lower right area near the stove, completing the main movement. The robot is now retracting its arm upward and backward while maintaining an open gripper, indicating the reposition and retreat phase is underway." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2526074945926666, + -0.03411981090903282, + 0.11306162923574448, + 3.1271510124206543, + -0.2158532738685608, + -0.08208442479372025 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel from the left side of the table to the lower right area near the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "drag towel rightward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been dragged to the lower right area near the stove, completing the main movement. The robot is now retracting its arm upward and backward while maintaining an open gripper, indicating the reposition and retreat phase is underway." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003839_ecot.json b/cot/chunk-0003/episode_0003839_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0f5820b55352e9cd8a0a4f1ed2e51ae191cbba45 --- /dev/null +++ b/cot/chunk-0003/episode_0003839_ecot.json @@ -0,0 +1,2062 @@ +{ + "task_name": "episode_0003839", + "episode_json": "json/chunk-0003/episode_0003839.json", + "video_path": "videos/chunk-0003/image_0/episode_0003839.mp4", + "instruction": "Put the croissant out of the pot and place it on the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003839.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.34470486640930176, + "std": 0.16575507819652557, + "delta_total": -0.001993715763092041, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34470, std=0.16576, total_delta=-0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 22 + ], + [ + 3, + 23, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the pot containing the croissant without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp croissant\", \"start\": 6, \"end\": 22, \"planning\": \"Close the gripper to securely grasp the croissant inside the pot and lift it out.\"},\n {\"id\": 3, \"name\": \"place croissant on table\", \"start\": 23, \"end\": 34, \"planning\": \"Transport the grasped croissant to the left side of the table and release it by opening the gripper.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp the croissant inside it, lift it out, and place it on the left side of the table.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing (delta=-0.34470) consistent with grasping. Segment 3 shows gripper reopening (delta=+0.34271) consistent with releasing the object after placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the pot containing the croissant without closing the gripper." + }, + { + "id": 2, + "name": "grasp croissant", + "start": 6, + "end": 22, + "planning": "Close the gripper to securely grasp the croissant inside the pot and lift it out." + }, + { + "id": 3, + "name": "place croissant on table", + "start": 23, + "end": 34, + "planning": "Transport the grasped croissant to the left side of the table and release it by opening the gripper." + } + ], + "global_plan": "Approach the pot, grasp the croissant inside it, lift it out, and place it on the left side of the table.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing (delta=-0.34470) consistent with grasping. Segment 3 shows gripper reopening (delta=+0.34271) consistent with releasing the object after placement." + } + }, + "episode_goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30665409564971924, + 0.050538960844278336, + 0.1358995884656906, + -2.8663923740386963, + 0.03990332782268524, + -0.943289577960968 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the scene. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3056012690067291, + 0.0502999983727932, + 0.12742377817630768, + -2.8928074836730957, + 0.05341831594705582, + -0.9375399351119995 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the scene. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142155706882477, + 0.04343324527144432, + 0.12106198817491531, + -2.930736780166626, + 0.057022809982299805, + -0.8746615648269653 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281409740447998, + 0.03836537152528763, + 0.11718371510505676, + -2.975576162338257, + 0.06070932373404503, + -0.7840646505355835 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3518114387989044, + 0.034107983112335205, + 0.1265069842338562, + -3.0023000240325928, + -0.011078238487243652, + -0.6476967334747314 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 99, + 995, + 994 + ], + "toy giraffe": [ + 203, + 290, + 360, + 495 + ], + "metal bowl": [ + 318, + 126, + 606, + 344 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37455761432647705, + 0.0513395331799984, + 0.13016368448734283, + -3.014709711074829, + -0.03635561093688011, + -0.5057862401008606 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move forward 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3955262303352356, + 0.06075894832611084, + 0.12617145478725433, + -3.017282485961914, + -0.04277004674077034, + -0.4386328160762787 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.40419307351112366, + 0.07098208367824554, + 0.11671348661184311, + -3.016610622406006, + -0.03458673879504204, + -0.40746402740478516 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4070885181427002, + 0.07206142693758011, + 0.10473556071519852, + -3.038527250289917, + -0.019442468881607056, + -0.4152214229106903 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4075431227684021, + 0.0692281648516655, + 0.09921282529830933, + -3.051506996154785, + -0.028851496055722237, + -0.44475245475769043 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4056817591190338, + 0.06464875489473343, + 0.08542254567146301, + -3.0605790615081787, + -0.010693065822124481, + -0.48484814167022705 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40790778398513794, + 0.055495165288448334, + 0.07902264595031738, + -3.050100564956665, + -0.0027043111622333527, + -0.5221867561340332 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy giraffe": [ + 202, + 289, + 361, + 496 + ], + "wooden table": [ + 5, + 99, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4070959687232971, + 0.057271916419267654, + 0.05944554880261421, + -3.0612680912017822, + 0.03915126621723175, + -0.5173036456108093 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.410413920879364, + 0.05920187011361122, + 0.053495828062295914, + -3.054823160171509, + 0.0472373440861702, + -0.5179322361946106 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the metal pot containing the croissant visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector closer to the pot to prepare for grasping the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.41314271092414856, + 0.05932853743433952, + 0.050795942544937134, + -3.0477728843688965, + 0.04945765435695648, + -0.5158981680870056 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41572511196136475, + 0.05890654772520065, + 0.05126957595348358, + -3.031179189682007, + 0.03964567929506302, + -0.5170624852180481 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4136751592159271, + 0.05777110159397125, + 0.050438325852155685, + -3.032702922821045, + 0.03865061327815056, + -0.5191775560379028 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 5 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4129129648208618, + 0.05792262405157089, + 0.05191756412386894, + -3.0308146476745605, + 0.03874067962169647, + -0.5241998434066772 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move right 6 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.41164910793304443, + 0.06360523402690887, + 0.06845810264348984, + -3.013897180557251, + 0.02869683876633644, + -0.5046619772911072 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 10 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move right 6 cm, move down 11 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.41048499941825867, + 0.07797732204198837, + 0.10137379914522171, + -2.9487102031707764, + -0.015500006265938282, + -0.458109050989151 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move right 7 cm, move down 11 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.406980961561203, + 0.07854235172271729, + 0.12547731399536133, + -2.924936532974243, + -0.04872891306877136, + -0.45022714138031006 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move right 6 cm, move down 11 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4012110233306885, + 0.0525476410984993, + 0.15817029774188995, + -2.9280622005462646, + -0.12679848074913025, + -0.49421101808547974 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move right 6 cm, move down 11 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3927585780620575, + 0.007351246662437916, + 0.16254256665706635, + -2.9496865272521973, + -0.1333465278148651, + -0.5799718499183655 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 1 cm, keep gripper closed; then move back 9 cm, move right 6 cm, move down 9 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3696569800376892, + -0.03382245451211929, + 0.15630368888378143, + -2.9560277462005615, + -0.1375381052494049, + -0.6577984690666199 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 5 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34866976737976074, + -0.05073381960391998, + 0.13991060853004456, + -2.979240894317627, + -0.1260051429271698, + -0.6878365874290466 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 296, + 129, + 594, + 337 + ], + "wooden table": [ + 4, + 99, + 995, + 994 + ], + "toy giraffe": [ + 205, + 290, + 357, + 494 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31507599353790283, + -0.0644310861825943, + 0.10750249028205872, + -2.9917001724243164, + -0.09530846029520035, + -0.7464981079101562 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2949685752391815, + -0.07902414351701736, + 0.08191888779401779, + -2.9874818325042725, + -0.07048356533050537, + -0.813698947429657 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828158140182495, + -0.08988521993160248, + 0.06126250699162483, + -2.99983286857605, + -0.0485348142683506, + -0.8566323518753052 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The robot has approached the metal pot containing the croissant. The gripper is currently open and positioned above the pot, ready to interact. The next action is to close the gripper to grasp the croissant inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27826422452926636, + -0.09790389984846115, + 0.04885803908109665, + -3.00289249420166, + -0.04346400499343872, + -0.8886160850524902 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 394, + 135, + 593, + 337 + ], + "wooden table": [ + 4, + 100, + 995, + 994 + ], + "toy giraffe": [ + 206, + 291, + 357, + 494 + ], + "wooden wall": [ + 305, + 1, + 997, + 320 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The croissant has been lifted from the pot and is currently held by the gripper above the table. The robot is in the process of moving it toward the left side of the table for placement. The next action is to lower the croissant onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27815574407577515, + -0.09899985790252686, + 0.04706011340022087, + -3.006958246231079, + -0.04318542033433914, + -0.893806517124176 + ], + "gripper_value": 0.729983389377594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The croissant has been lifted from the pot and is currently held by the gripper above the table. The robot is in the process of moving it toward the left side of the table for placement. The next action is to lower the croissant onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2786102592945099, + -0.09727228432893753, + 0.04763328284025192, + -3.000159978866577, + -0.030998528003692627, + -0.899570882320404 + ], + "gripper_value": 0.9766865372657776 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The croissant has been lifted from the pot and is currently held by the gripper above the table. The robot is in the process of moving it toward the left side of the table for placement. The next action is to lower the croissant onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2780684530735016, + -0.09553186595439911, + 0.048843346536159515, + -2.998678207397461, + -0.014229138381779194, + -0.9056822657585144 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The croissant has been lifted from the pot and is currently held by the gripper above the table. The robot is in the process of moving it toward the left side of the table for placement. The next action is to lower the croissant onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2819964289665222, + -0.09067056328058243, + 0.06336885690689087, + -2.991457223892212, + -0.028522063046693802, + -0.8995363712310791 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The croissant has been lifted from the pot and is currently held by the gripper above the table. The robot is in the process of moving it toward the left side of the table for placement. The next action is to lower the croissant onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2914904057979584, + -0.08545364439487457, + 0.0976906418800354, + -2.981248617172241, + -0.07890596240758896, + -0.8921502828598022 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The croissant has been lifted from the pot and is currently held by the gripper above the table. The robot is in the process of moving it toward the left side of the table for placement. The next action is to lower the croissant onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.296987384557724, + -0.07709227502346039, + 0.12920457124710083, + -2.9714791774749756, + -0.1442909836769104, + -0.8809243440628052 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the croissant from the metal pot and place it on the table to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on table" + } + ], + "subtask_name": "place croissant on table", + "subtask_reasoning": "The croissant has been lifted from the pot and is currently held by the gripper above the table. The robot is in the process of moving it toward the left side of the table for placement. The next action is to lower the croissant onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003840_ecot.json b/cot/chunk-0003/episode_0003840_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c2f60e07cde92587391e97bad5021e5cd758815b --- /dev/null +++ b/cot/chunk-0003/episode_0003840_ecot.json @@ -0,0 +1,2607 @@ +{ + "task_name": "episode_0003840", + "episode_json": "json/chunk-0003/episode_0003840.json", + "video_path": "videos/chunk-0003/image_0/episode_0003840.mp4", + "instruction": "Put blue dice toy on the vessel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003840.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.51906418800354, + "std": 0.24550528824329376, + "delta_total": 0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.51906, std=0.24551, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 134, + 134, + 134, + 134, + 134, + 134, + 134 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 25 + ], + [ + 3, + 26, + 33 + ], + [ + 4, + 34, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp blue dice\", \"start\": 0, \"end\": 16, \"planning\": \"Move end-effector toward the blue dice toy on the table and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and reposition over vessel\", \"start\": 17, \"end\": 25, \"planning\": \"Lift the grasped blue dice and move it horizontally toward the metal bowl vessel.\"},\n {\"id\": 3, \"name\": \"lower into vessel\", \"start\": 26, \"end\": 33, \"planning\": \"Descend with the blue dice into the bowl, positioning it for release without dropping prematurely.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 34, \"end\": 40, \"planning\": \"Open gripper to drop the blue dice into the vessel, then lift and withdraw end-effector to complete placement.\"}\n ],\n \"global_plan\": \"Grasp the blue dice toy from the table, lift and transport it over the metal bowl, lower it inside, then release and retreat to finalize placement.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.507) consistent with grasp initiation; Segment 4 shows meaningful opening (delta=+0.43) consistent with release. Segments 2–3 maintain closed gripper state during transport and lowering, supporting continuous hold. All subtasks align with observed motion phases and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp blue dice", + "start": 0, + "end": 16, + "planning": "Move end-effector toward the blue dice toy on the table and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and reposition over vessel", + "start": 17, + "end": 25, + "planning": "Lift the grasped blue dice and move it horizontally toward the metal bowl vessel." + }, + { + "id": 3, + "name": "lower into vessel", + "start": 26, + "end": 33, + "planning": "Descend with the blue dice into the bowl, positioning it for release without dropping prematurely." + }, + { + "id": 4, + "name": "release and retreat", + "start": 34, + "end": 40, + "planning": "Open gripper to drop the blue dice into the vessel, then lift and withdraw end-effector to complete placement." + } + ], + "global_plan": "Grasp the blue dice toy from the table, lift and transport it over the metal bowl, lower it inside, then release and retreat to finalize placement.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.507) consistent with grasp initiation; Segment 4 shows meaningful opening (delta=+0.43) consistent with release. Segments 2–3 maintain closed gripper state during transport and lowering, supporting continuous hold. All subtasks align with observed motion phases and gripper evidence." + } + }, + "episode_goal": "Place the blue dice toy into the metal vessel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2510385811328888, + -0.05139792338013649, + 0.10303963720798492, + 3.033409357070923, + -0.4560036063194275, + 0.2637435495853424 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table with the blue dice toy and metal vessel visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and close the gripper to grasp the blue dice toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 20 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24928690493106842, + -0.05157342180609703, + 0.09836158901453018, + 3.040750741958618, + -0.43755409121513367, + 0.25907474756240845 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table with the blue dice toy and metal vessel visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and close the gripper to grasp the blue dice toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 20 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.259159654378891, + -0.029298843815922737, + 0.09863751381635666, + 3.0615837574005127, + -0.4242429733276367, + 0.2649759352207184 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table with the blue dice toy and metal vessel visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and close the gripper to grasp the blue dice toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 18 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2724732756614685, + -0.008378399536013603, + 0.10508906841278076, + 3.059345006942749, + -0.4265773594379425, + 0.28478285670280457 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table with the blue dice toy and metal vessel visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and close the gripper to grasp the blue dice toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 16 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28555169701576233, + 0.013205116614699364, + 0.11527661979198456, + 3.043553352355957, + -0.4598132371902466, + 0.31530433893203735 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table with the blue dice toy and metal vessel visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and close the gripper to grasp the blue dice toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 13 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30213841795921326, + 0.035853832960128784, + 0.12690399587154388, + 3.0571229457855225, + -0.4943659007549286, + 0.3314780592918396 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table with the blue dice toy and metal vessel visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and close the gripper to grasp the blue dice toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 10 cm, move down 11 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3127898573875427, + 0.06072273850440979, + 0.12765073776245117, + 3.0530097484588623, + -0.5068662762641907, + 0.37270480394363403 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 187, + 857, + 986 + ], + "white bin": [ + 335, + 257, + 401, + 344 + ], + "blue cloth": [ + 201, + 444, + 473, + 708 + ], + "metal bowl": [ + 152, + 403, + 455, + 662 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table with the blue dice toy and metal vessel visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and close the gripper to grasp the blue dice toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move down 11 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32454460859298706, + 0.0841205045580864, + 0.11351093649864197, + 3.069359540939331, + -0.4740963280200958, + 0.37960782647132874 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table with the blue dice toy and metal vessel visible below. No actions have been completed yet as the gripper is open and no contact has been made. The next step is to lower the arm and close the gripper to grasp the blue dice toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33283931016921997, + 0.11271851509809494, + 0.09905262291431427, + 3.0505127906799316, + -0.4708409309387207, + 0.41888439655303955 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 204, + 857, + 984 + ], + "white bin": [ + 335, + 256, + 400, + 344 + ], + "blue cloth": [ + 201, + 443, + 473, + 708 + ], + "metal bowl": [ + 152, + 403, + 453, + 660 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 8 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3374158442020416, + 0.13392682373523712, + 0.08859161287546158, + 3.0523128509521484, + -0.4918593168258667, + 0.45051679015159607 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 7 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34754735231399536, + 0.14427149295806885, + 0.0697510614991188, + 3.038104772567749, + -0.47729068994522095, + 0.46826601028442383 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 5 cm, close gripper; then move back 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36180537939071655, + 0.14894147217273712, + 0.05638290196657181, + 3.020082950592041, + -0.48561525344848633, + 0.4831640124320984 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move back 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37084439396858215, + 0.15241315960884094, + 0.04717804864048958, + 3.021484136581421, + -0.49272459745407104, + 0.47808578610420227 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, close gripper; then move back 2 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3779125511646271, + 0.1528237909078598, + 0.035811979323625565, + 3.0231549739837646, + -0.4762454628944397, + 0.476103812456131 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, close gripper; then move back 3 cm, move right 5 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3827984631061554, + 0.14204531908035278, + 0.02951987087726593, + 3.0169265270233154, + -0.4687556028366089, + 0.4691888988018036 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 7 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38350847363471985, + 0.1361805498600006, + 0.018856903538107872, + 3.017299175262451, + -0.43264302611351013, + 0.44385412335395813 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move right 11 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3852109909057617, + 0.13633860647678375, + 0.01969197392463684, + 3.0134575366973877, + -0.44410908222198486, + 0.4440906345844269 + ], + "gripper_value": 0.6470694541931152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue dice", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 12 cm, move right 12 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3844873011112213, + 0.1357247531414032, + 0.018664607778191566, + 3.0103037357330322, + -0.4509761333465576, + 0.4385293126106262 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 12 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820432424545288, + 0.13905629515647888, + 0.017665214836597443, + 3.007068157196045, + -0.44837844371795654, + 0.44423770904541016 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 13 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3745262026786804, + 0.14036093652248383, + 0.019570372998714447, + 2.99918532371521, + -0.44290173053741455, + 0.4557753801345825 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 13 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3687208592891693, + 0.13963104784488678, + 0.03551023453474045, + 3.0028538703918457, + -0.4686104953289032, + 0.4609958827495575 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the white cube, while the blue dice toy remains untouched on the surface. No grasping action has occurred yet as the gripper is open and no contact has been made. The next step is to move the end-effector toward the blue dice toy to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 13 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3688477873802185, + 0.131058007478714, + 0.06035108491778374, + 3.0017571449279785, + -0.5114490389823914, + 0.4437793493270874 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is currently positioned above the metal vessel with the gripper open, having already grasped the blue dice toy in the previous subtask. The current situation involves lifting and repositioning the toy over the vessel. The next action should involve lowering the toy into the vessel while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 12 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3662075102329254, + 0.11302536725997925, + 0.08593467622995377, + 2.9926631450653076, + -0.5618060827255249, + 0.4215528666973114 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is currently positioned above the metal vessel with the gripper open, having already grasped the blue dice toy in the previous subtask. The current situation involves lifting and repositioning the toy over the vessel. The next action should involve lowering the toy into the vessel while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 10 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3497128188610077, + 0.08436696976423264, + 0.10476069152355194, + 2.9814820289611816, + -0.5856656432151794, + 0.38386374711990356 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 186, + 858, + 990 + ], + "blue cloth": [ + 200, + 443, + 473, + 709 + ], + "metal bowl": [ + 152, + 401, + 456, + 664 + ], + "blue scoop": [ + 474, + 526, + 566, + 760 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is currently positioned above the metal vessel with the gripper open, having already grasped the blue dice toy in the previous subtask. The current situation involves lifting and repositioning the toy over the vessel. The next action should involve lowering the toy into the vessel while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 7 cm, keep gripper closed; then move back 2 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194027245044708, + 0.049180176109075546, + 0.11254622787237167, + 2.9534497261047363, + -0.5872279405593872, + 0.3803873062133789 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is currently positioned above the metal vessel with the gripper open, having already grasped the blue dice toy in the previous subtask. The current situation involves lifting and repositioning the toy over the vessel. The next action should involve lowering the toy into the vessel while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28853172063827515, + 0.02092212438583374, + 0.10823853313922882, + 2.900489091873169, + -0.5627803206443787, + 0.427112340927124 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition over vessel", + "subtask_reasoning": "The robot arm is currently positioned above the metal vessel with the gripper open, having already grasped the blue dice toy in the previous subtask. The current situation involves lifting and repositioning the toy over the vessel. The next action should involve lowering the toy into the vessel while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26626285910606384, + 0.012067357078194618, + 0.10019567608833313, + 2.91530704498291, + -0.5386548042297363, + 0.4307321012020111 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The robot arm is currently positioned above the metal vessel with the gripper open, having already grasped the blue dice toy in the previous subtask. The current situation involves lifting and repositioning the toy over the vessel. The next action should involve lowering the toy into the vessel while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2503114640712738, + 0.014458747580647469, + 0.08598735928535461, + 2.9469351768493652, + -0.5069984197616577, + 0.4358033239841461 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 224, + 858, + 987 + ], + "metal bowl": [ + 160, + 427, + 434, + 657 + ], + "blue cloth": [ + 188, + 473, + 471, + 708 + ], + "blue scoop": [ + 474, + 524, + 566, + 761 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The robot arm is currently positioned above the metal vessel with the gripper open, having already grasped the blue dice toy in the previous subtask. The current situation involves lifting and repositioning the toy over the vessel. The next action should involve lowering the toy into the vessel while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2451828420162201, + 0.026469063013792038, + 0.08078258484601974, + 2.945812940597534, + -0.5000796318054199, + 0.4874350130558014 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The robot arm is currently positioned above the metal vessel with the gripper open, having already grasped the blue dice toy in the previous subtask. The current situation involves lifting and repositioning the toy over the vessel. The next action should involve lowering the toy into the vessel while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24455173313617706, + 0.03596736863255501, + 0.07085253298282623, + 2.9626951217651367, + -0.47196975350379944, + 0.4977910816669464 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The blue dice toy is currently held above the metal vessel, having been lifted and repositioned from the table. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the toy into the vessel to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, open gripper; then move forward 3 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.24796175956726074, + 0.043121758848428726, + 0.06392861157655716, + 2.9656546115875244, + -0.4629628360271454, + 0.5049285888671875 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The blue dice toy is currently held above the metal vessel, having been lifted and repositioned from the table. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the toy into the vessel to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, open gripper; then move forward 3 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2475813776254654, + 0.04901229590177536, + 0.052127547562122345, + 2.9672906398773193, + -0.43123921751976013, + 0.5129537582397461 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The blue dice toy is currently held above the metal vessel, having been lifted and repositioned from the table. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the toy into the vessel to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, open gripper; then move forward 3 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24765236675739288, + 0.05698801577091217, + 0.03963768482208252, + 2.9689764976501465, + -0.3971717059612274, + 0.5247554779052734 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The blue dice toy is currently held above the metal vessel, having been lifted and repositioned from the table. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the toy into the vessel to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move forward 3 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2511228919029236, + 0.06549236178398132, + 0.0353386364877224, + 2.9666757583618164, + -0.3904465138912201, + 0.5447664856910706 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into vessel", + "subtask_reasoning": "The blue dice toy is currently held above the metal vessel, having been lifted and repositioned from the table. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the toy into the vessel to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2519451379776001, + 0.06859394907951355, + 0.03334653377532959, + 2.9626622200012207, + -0.3759914040565491, + 0.5622639656066895 + ], + "gripper_value": 0.5719637274742126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue dice toy is currently held above the metal vessel, having been lifted and repositioned from the table. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the toy into the vessel to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2585114538669586, + 0.07198524475097656, + 0.03405705839395523, + 2.9276046752929688, + -0.3302328884601593, + 0.5807135105133057 + ], + "gripper_value": 0.8651953339576721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue dice toy is currently held above the metal vessel, having been lifted and repositioned from the table. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the toy into the vessel to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.25779959559440613, + 0.07271137833595276, + 0.034079551696777344, + 2.9398558139801025, + -0.327734112739563, + 0.5651078820228577 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue dice toy is currently held above the metal vessel, having been lifted and repositioned from the table. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the toy into the vessel to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2604134678840637, + 0.07238839566707611, + 0.03687349706888199, + 2.940812587738037, + -0.3255859315395355, + 0.5477964282035828 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue dice toy is already inside the metal vessel, and the gripper is open and positioned above it. The release action has been completed, and the robot is now retreating from the vessel. The next action is to continue moving the arm away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.267485648393631, + 0.06723475456237793, + 0.053579896688461304, + 2.934922456741333, + -0.36121153831481934, + 0.518096923828125 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue dice toy is already inside the metal vessel, and the gripper is open and positioned above it. The release action has been completed, and the robot is now retreating from the vessel. The next action is to continue moving the arm away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.280942440032959, + 0.05870114266872406, + 0.07794925570487976, + 2.9215056896209717, + -0.41971635818481445, + 0.4459575414657593 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue dice toy is already inside the metal vessel, and the gripper is open and positioned above it. The release action has been completed, and the robot is now retreating from the vessel. The next action is to continue moving the arm away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866627275943756, + 0.05179212614893913, + 0.1155315712094307, + 2.902822494506836, + -0.4780741035938263, + 0.40622231364250183 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 229, + 858, + 989 + ], + "metal bowl": [ + 153, + 402, + 456, + 663 + ], + "blue cloth": [ + 199, + 447, + 473, + 709 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue dice toy into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue dice" + }, + { + "id": 2, + "subtask": "lift and reposition over vessel" + }, + { + "id": 3, + "subtask": "lower into vessel" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue dice toy is already inside the metal vessel, and the gripper is open and positioned above it. The release action has been completed, and the robot is now retreating from the vessel. The next action is to continue moving the arm away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003842_ecot.json b/cot/chunk-0003/episode_0003842_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..18a69c1c8dd6083740704a9b45e5b2527ca47b17 --- /dev/null +++ b/cot/chunk-0003/episode_0003842_ecot.json @@ -0,0 +1,1814 @@ +{ + "task_name": "episode_0003842", + "episode_json": "json/chunk-0003/episode_0003842.json", + "video_path": "videos/chunk-0003/image_0/episode_0003842.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003842.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.001324295997619629, + "std": 0.0004814319545403123, + "delta_total": -0.001324295997619629, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00132, std=0.00048, total_delta=-0.00132). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the drawer handle without grasping, as gripper remains open and no closing is observed.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 4, \"end\": 16, \"planning\": \"Establish physical contact with the drawer handle and begin pushing it closed; gripper stays open, indicating no grasp but sustained contact.\"},\n {\"id\": 3, \"name\": \"push drawer to closure\", \"start\": 17, \"end\": 29, \"planning\": \"Continue applying force to slide the drawer fully closed; motion continues with minimal gripper change, confirming contact-based pushing rather than grasping.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching the handle, making contact, and pushing it shut without grasping, consistent with constant open gripper state throughout.\",\n \"notes\": \"Gripper evidence across all segments shows no meaningful closing (delta ~0), so all actions are described as contact-based (approach, make contact, push) rather than grasp or hold. Frame coverage is contiguous and complete from 0 to 29.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the drawer handle without grasping, as gripper remains open and no closing is observed." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 4, + "end": 16, + "planning": "Establish physical contact with the drawer handle and begin pushing it closed; gripper stays open, indicating no grasp but sustained contact." + }, + { + "id": 3, + "name": "push drawer to closure", + "start": 17, + "end": 29, + "planning": "Continue applying force to slide the drawer fully closed; motion continues with minimal gripper change, confirming contact-based pushing rather than grasping." + } + ], + "global_plan": "Close the drawer by approaching the handle, making contact, and pushing it shut without grasping, consistent with constant open gripper state throughout.", + "notes": "Gripper evidence across all segments shows no meaningful closing (delta ~0), so all actions are described as contact-based (approach, make contact, push) rather than grasp or hold. Frame coverage is contiguous and complete from 0 to 29." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29961711168289185, + 0.16998769342899323, + 0.07646910101175308, + -2.992438554763794, + -0.11030728369951248, + -0.666951060295105 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact made yet. The subtask requires moving the end-effector closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward motion toward the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 4 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986290454864502, + 0.16834834218025208, + 0.06628812104463577, + -3.0204412937164307, + -0.10193677246570587, + -0.6670023202896118 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30563610792160034, + 0.16910526156425476, + 0.06350278109312057, + -2.9914767742156982, + -0.13058021664619446, + -0.7335528135299683 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30601900815963745, + 0.17483283579349518, + 0.052730314433574677, + -2.9986908435821533, + -0.14379651844501495, + -0.767392098903656 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31625837087631226, + 0.17927001416683197, + 0.053489334881305695, + -2.962378978729248, + -0.17246586084365845, + -0.8743804693222046 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32199177145957947, + 0.17913596332073212, + 0.0545022115111351, + -2.9394478797912598, + -0.16159303486347198, + -1.041210412979126 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3235115706920624, + 0.17384934425354004, + 0.052736032754182816, + -2.9209649562835693, + -0.15886236727237701, + -1.1530548334121704 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32712695002555847, + 0.16381604969501495, + 0.051165226846933365, + -2.9090840816497803, + -0.12814606726169586, + -1.2989275455474854 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32422739267349243, + 0.15601876378059387, + 0.04432595148682594, + -2.9168622493743896, + -0.11374785006046295, + -1.3517552614212036 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey wallet": [ + 600, + 674, + 792, + 995 + ], + "orange ball": [ + 495, + 288, + 592, + 413 + ], + "wooden box": [ + 360, + 200, + 989, + 857 + ], + "tape roll": [ + 304, + 145, + 394, + 265 + ], + "table": [ + 6, + 36, + 992, + 992 + ], + "red book": [ + 349, + 198, + 505, + 565 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 2 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32238444685935974, + 0.14816294610500336, + 0.03866560012102127, + -2.9378697872161865, + -0.09447081387042999, + -1.3737791776657104 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open and no contact yet made. The subtask involves moving closer to the handle to prepare for pushing the drawer shut. The next action should be a small forward movement to establish proximity or light contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 2 cm, keep gripper open; then move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3211860656738281, + 0.1401015818119049, + 0.03388457000255585, + -2.9494171142578125, + -0.07851714640855789, + -1.3906219005584717 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 1 cm, keep gripper open; then move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32140618562698364, + 0.12956765294075012, + 0.03110790066421032, + -2.966860055923462, + -0.08514314144849777, + -1.4050700664520264 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 1 cm, keep gripper open; then move right 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32139158248901367, + 0.12220721691846848, + 0.03071046806871891, + -2.984781265258789, + -0.09023240208625793, + -1.4134916067123413 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 1 cm, keep gripper open; then move right 6 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3266933858394623, + 0.1153239831328392, + 0.03381234407424927, + -2.9810361862182617, + -0.09209349751472473, + -1.41621732711792 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, keep gripper open; then move right 6 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33102571964263916, + 0.10600031912326813, + 0.03510519489645958, + -2.9866135120391846, + -0.09565301239490509, + -1.412604808807373 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33423054218292236, + 0.09460434317588806, + 0.03491200879216194, + -2.987971782684326, + -0.09344042837619781, + -1.4213968515396118 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33220645785331726, + 0.08529993146657944, + 0.028311101719737053, + -2.9888293743133545, + -0.08839936554431915, + -1.4254106283187866 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3299520015716553, + 0.07539977133274078, + 0.021625081077218056, + -2.992518901824951, + -0.08396875858306885, + -1.418157935142517 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33025500178337097, + 0.058477725833654404, + 0.017970995977520943, + -2.993256092071533, + -0.08609142899513245, + -1.4293336868286133 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32801443338394165, + 0.04285558685660362, + 0.012648528441786766, + -2.996647596359253, + -0.08479299396276474, + -1.4448949098587036 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey wallet": [ + 599, + 675, + 796, + 996 + ], + "wooden box": [ + 489, + 215, + 989, + 857 + ], + "tape roll": [ + 156, + 179, + 251, + 286 + ], + "red book": [ + 478, + 260, + 629, + 650 + ], + "orange ball": [ + 305, + 160, + 356, + 263 + ], + "table": [ + 7, + 63, + 990, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move up 5 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32728391885757446, + 0.032135628163814545, + 0.012970770709216595, + -2.9933197498321533, + -0.08466191589832306, + -1.4506466388702393 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 15 cm, move up 5 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32820791006088257, + 0.022787202149629593, + 0.012689550407230854, + -2.992624282836914, + -0.08375456184148788, + -1.4578195810317993 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, move up 5 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3289591670036316, + 0.013010810129344463, + 0.012947619892656803, + -2.9945056438446045, + -0.08499439060688019, + -1.467856764793396 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred, consistent with the open gripper state. The next action is to make physical contact with the handle to begin pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 17 cm, move up 5 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32858583331108093, + 0.01167336106300354, + 0.013404598459601402, + -3.0010344982147217, + -0.08740556240081787, + -1.4656703472137451 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, consistent with a push-only strategy. The next action is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move up 5 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360483944416046, + 0.014266151934862137, + 0.02141709066927433, + -2.9935927391052246, + -0.10493845492601395, + -1.4690556526184082 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, consistent with a push-only strategy. The next action is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 17 cm, move up 4 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35116806626319885, + 0.0444764606654644, + 0.038639526814222336, + -2.9566073417663574, + -0.13380251824855804, + -1.4128683805465698 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, consistent with a push-only strategy. The next action is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 14 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35579827427864075, + 0.0901988297700882, + 0.04881482198834419, + -2.955653667449951, + -0.1385398507118225, + -1.3162461519241333 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, consistent with a push-only strategy. The next action is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35474395751953125, + 0.12839271128177643, + 0.06319205462932587, + -2.995974063873291, + -0.16493146121501923, + -1.1808761358261108 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, consistent with a push-only strategy. The next action is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.33500394225120544, + 0.1689072847366333, + 0.06041022762656212, + -3.0821266174316406, + -0.14968590438365936, + -1.013320803642273 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 531, + 217, + 991, + 857 + ], + "orange ball": [ + 306, + 148, + 390, + 264 + ], + "grey wallet": [ + 598, + 679, + 812, + 995 + ], + "table": [ + 7, + 48, + 989, + 991 + ], + "tape roll": [ + 156, + 180, + 246, + 286 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, consistent with a push-only strategy. The next action is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31583526730537415, + 0.18678191304206848, + 0.06012678146362305, + -3.131375551223755, + -0.1490728110074997, + -0.9643155336380005 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "push drawer to closure" + } + ], + "subtask_name": "push drawer to closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, consistent with a push-only strategy. The next action is to continue applying forward force to slide the drawer fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003843_ecot.json b/cot/chunk-0003/episode_0003843_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..115ef2ef1c949b6238b786cc5ef3852519ddcfb1 --- /dev/null +++ b/cot/chunk-0003/episode_0003843_ecot.json @@ -0,0 +1,2160 @@ +{ + "task_name": "episode_0003843", + "episode_json": "json/chunk-0003/episode_0003843.json", + "video_path": "videos/chunk-0003/image_0/episode_0003843.mp4", + "instruction": "Unfold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003843.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9548757672309875, + "std": 0.41871681809425354, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95488, std=0.41872, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 0, + 0, + 14, + 14, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 127, + 127, + 127, + 127, + 127, + 127, + 127 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 11 + ], + [ + 3, + 12, + 13 + ], + [ + 4, + 14, + 15 + ], + [ + 5, + 16, + 26 + ], + [ + 6, + 27, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth from right\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the right edge of the yellow cloth without grasping, as gripper remains fully open throughout this segment.\"},\n {\"id\": 2, \"name\": \"grasp cloth edge\", \"start\": 11, \"end\": 15, \"planning\": \"Close gripper to securely grasp the right edge of the cloth, confirmed by significant gripper closure and visual contact in frames 12-15.\"},\n {\"id\": 3, \"name\": \"drag cloth leftward\", \"start\": 16, \"end\": 26, \"planning\": \"Pull the cloth horizontally from right to left while maintaining grip, unfolding it across the stovetop surface.\"},\n {\"id\": 4, \"name\": \"release cloth and retreat\", \"start\": 27, \"end\": 33, \"planning\": \"Open gripper to release the cloth after unfolding, then move end-effector away to complete the task.\"}\n ],\n \"global_plan\": \"Unfold the yellow cloth by approaching its right edge, grasping it, dragging it leftward across the stovetop, then releasing and retreating.\",\n \"notes\": \"Segment 1 (frames 0-10) shows no gripper closure — described as approach. Segments 3-4 (frames 11-15) show meaningful gripper closing consistent with grasping. Segment 5 (frames 16-26) is inferred as dragging based on motion continuity and task goal. Segment 6 (frames 27-33) shows gripper opening and retreat, confirming release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth from right", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the right edge of the yellow cloth without grasping, as gripper remains fully open throughout this segment." + }, + { + "id": 2, + "name": "grasp cloth edge", + "start": 11, + "end": 15, + "planning": "Close gripper to securely grasp the right edge of the cloth, confirmed by significant gripper closure and visual contact in frames 12-15." + }, + { + "id": 3, + "name": "drag cloth leftward", + "start": 16, + "end": 26, + "planning": "Pull the cloth horizontally from right to left while maintaining grip, unfolding it across the stovetop surface." + }, + { + "id": 4, + "name": "release cloth and retreat", + "start": 27, + "end": 33, + "planning": "Open gripper to release the cloth after unfolding, then move end-effector away to complete the task." + } + ], + "global_plan": "Unfold the yellow cloth by approaching its right edge, grasping it, dragging it leftward across the stovetop, then releasing and retreating.", + "notes": "Segment 1 (frames 0-10) shows no gripper closure — described as approach. Segments 3-4 (frames 11-15) show meaningful gripper closing consistent with grasping. Segment 5 (frames 16-26) is inferred as dragging based on motion continuity and task goal. Segment 6 (frames 27-33) shows gripper opening and retreat, confirming release." + } + }, + "episode_goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.15896771848201752, + 0.09208125621080399, + 0.05968019738793373, + -3.141517400741577, + 0.09511540830135345, + 0.5408141016960144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned to the right of the stovetop where a folded yellow cloth rests. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move right 19 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.1566394865512848, + 0.08929350972175598, + 0.056370824575424194, + -3.137850284576416, + 0.11652974039316177, + 0.5377860069274902 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned to the right of the stovetop where a folded yellow cloth rests. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 22 cm, move right 19 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.17530931532382965, + 0.07863381505012512, + 0.05683068931102753, + -3.080104112625122, + 0.1303819715976715, + 0.4828580617904663 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned to the right of the stovetop where a folded yellow cloth rests. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move right 18 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19069470465183258, + 0.06472156941890717, + 0.06147361174225807, + -3.0711631774902344, + 0.09093645960092545, + 0.4638330936431885 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned to the right of the stovetop where a folded yellow cloth rests. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 16 cm, move down 6 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22032110393047333, + 0.04087715223431587, + 0.06837911903858185, + -3.0612146854400635, + 0.051837608218193054, + 0.4008464217185974 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot is positioned to the right of the stovetop where a folded yellow cloth rests. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 14 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25245538353919983, + 0.0030067379120737314, + 0.06578578054904938, + -3.058307409286499, + 0.023935262113809586, + 0.312665730714798 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the right edge of the folded yellow cloth. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the cloth’s right edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 10 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779260575771332, + -0.030361538752913475, + 0.06317099928855896, + -3.0990450382232666, + 0.004183841869235039, + 0.24510802328586578 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the right edge of the folded yellow cloth. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the cloth’s right edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30177369713783264, + -0.059253253042697906, + 0.05318674445152283, + -3.1120386123657227, + 0.04244370386004448, + 0.19995875656604767 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 520, + 379, + 994, + 863 + ], + "wooden board": [ + 421, + 3, + 515, + 262 + ], + "knobs": [ + 262, + 642, + 344, + 751 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the right edge of the folded yellow cloth. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the cloth’s right edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3278643488883972, + -0.0764026939868927, + 0.033830683678388596, + -3.117579460144043, + 0.07295873016119003, + 0.144309401512146 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 520, + 381, + 993, + 864 + ], + "knobs": [ + 262, + 642, + 344, + 750 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the right edge of the folded yellow cloth. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the cloth’s right edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3487740457057953, + -0.08776570856571198, + 0.0185304656624794, + -3.1264445781707764, + 0.08299959450960159, + 0.13703054189682007 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the right edge of the folded yellow cloth. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the cloth’s right edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.363010436296463, + -0.09650955349206924, + 0.009591828100383282, + -3.134814739227295, + 0.09942597150802612, + 0.13280174136161804 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from right", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the right edge of the folded yellow cloth. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the cloth’s right edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 5 cm, move left 8 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37368983030319214, + -0.09878602623939514, + 0.003319619921967387, + 3.140177011489868, + 0.10677804797887802, + 0.12071092426776886 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the right edge of the folded yellow cloth. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the cloth’s right edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 7 cm, move left 12 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38008326292037964, + -0.09996962547302246, + -0.00769025506451726, + -3.1325457096099854, + 0.12748542428016663, + 0.12110260128974915 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the right edge of the folded yellow cloth. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the cloth’s right edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 7 cm, move left 15 cm, move up 8 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840045630931854, + -0.0967583954334259, + -0.019275730475783348, + -3.1226770877838135, + 0.14972957968711853, + 0.12202444672584534 + ], + "gripper_value": 0.7260281443595886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth on the stovetop. The gripper is currently open and positioned above the cloth edge, with segment-level evidence indicating a closing motion is occurring. The next action is to complete the grasp by closing the gripper on the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 8 cm, move left 17 cm, move up 5 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3863203227519989, + -0.09264043718576431, + -0.02100367285311222, + -3.1147000789642334, + 0.1535361409187317, + 0.13513138890266418 + ], + "gripper_value": 0.41842639446258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth on the stovetop. The gripper is currently open and positioned above the cloth edge, with segment-level evidence indicating a closing motion is occurring. The next action is to complete the grasp by closing the gripper on the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 18 cm, move up 4 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3861071467399597, + -0.09144838154315948, + -0.023129696026444435, + -3.115833044052124, + 0.1363116055727005, + 0.14940103888511658 + ], + "gripper_value": 0.1914510726928711 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth on the stovetop. The gripper is currently open and positioned above the cloth edge, with segment-level evidence indicating a closing motion is occurring. The next action is to complete the grasp by closing the gripper on the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move left 19 cm, move up 4 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3859037756919861, + -0.08796752244234085, + -0.01922045461833477, + 3.1174867153167725, + 0.1086028590798378, + 0.1705889105796814 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth on the stovetop. The gripper is currently open and positioned above the cloth edge, with segment-level evidence indicating a closing motion is occurring. The next action is to complete the grasp by closing the gripper on the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 19 cm, move up 5 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3838118314743042, + -0.07667175680398941, + 0.0009114134008996189, + 3.056377410888672, + 0.0691809356212616, + 0.213827982544899 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth on the stovetop. The gripper is currently open and positioned above the cloth edge, with segment-level evidence indicating a closing motion is occurring. The next action is to complete the grasp by closing the gripper on the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 18 cm, move up 5 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3752237558364868, + -0.06027992069721222, + 0.024607200175523758, + 3.0493595600128174, + 0.025468919426202774, + 0.25703999400138855 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth on the stovetop. The gripper is currently open and positioned above the cloth edge, with segment-level evidence indicating a closing motion is occurring. The next action is to complete the grasp by closing the gripper on the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 16 cm, move up 2 cm, tilt right 20 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36152827739715576, + -0.037309855222702026, + 0.04835454374551773, + 3.019604206085205, + -0.013379937969148159, + 0.3069658577442169 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth on the stovetop. The gripper is currently open and positioned above the cloth edge, with segment-level evidence indicating a closing motion is occurring. The next action is to complete the grasp by closing the gripper on the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 14 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.339983731508255, + -0.004734418820589781, + 0.05855395644903183, + 2.9870810508728027, + -0.02875969558954239, + 0.3966091573238373 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth on the stovetop. The gripper is currently open and positioned above the cloth edge, with segment-level evidence indicating a closing motion is occurring. The next action is to complete the grasp by closing the gripper on the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 3 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32032138109207153, + 0.033883269876241684, + 0.062421075999736786, + 2.9218931198120117, + -0.05566904693841934, + 0.45997393131256104 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move forward 3 cm, move right 7 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31649672985076904, + 0.06455163657665253, + 0.06034872308373451, + 2.8606655597686768, + -0.06477748602628708, + 0.48607197403907776 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 481, + 235, + 993, + 856 + ], + "knobs": [ + 262, + 641, + 345, + 750 + ], + "induction cooktop": [ + 279, + 243, + 906, + 667 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move forward 5 cm, move right 9 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081890642642975, + 0.07849785685539246, + 0.032987214624881744, + 2.81905198097229, + 0.004734639078378677, + 0.45701053738594055 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 2 cm, keep gripper open; then move forward 8 cm, move right 10 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30460724234580994, + 0.09012186527252197, + 0.025483138859272003, + 2.7744526863098145, + 0.014039169996976852, + 0.4761022627353668 + ], + "gripper_value": 0.07494325935840607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 8 cm, move right 10 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29824987053871155, + 0.10057950764894485, + 0.024591654539108276, + 2.7567358016967773, + 0.022086801007390022, + 0.5044052600860596 + ], + "gripper_value": 0.22298766672611237 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move forward 8 cm, move right 10 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2912715971469879, + 0.10022883117198944, + 0.030725298449397087, + 2.7625458240509033, + 0.021135233342647552, + 0.5237852334976196 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move forward 8 cm, move right 10 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2895991802215576, + 0.09931979328393936, + 0.048236701637506485, + 2.7628180980682373, + -0.02561868727207184, + 0.5245890021324158 + ], + "gripper_value": 0.7969971895217896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 10 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28510716557502747, + 0.1008082702755928, + 0.0617750883102417, + 2.7895259857177734, + -0.050162993371486664, + 0.5267993211746216 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 404, + 343, + 991, + 843 + ], + "induction cooktop": [ + 280, + 228, + 901, + 641 + ], + "knobs": [ + 262, + 641, + 345, + 750 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 10 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28070732951164246, + 0.09233095496892929, + 0.06836683303117752, + 2.8731844425201416, + -0.02425347827374935, + 0.48620742559432983 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot is currently holding the right edge of the yellow cloth on the stovetop, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the cloth leftward across the stovetop surface to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977668046951294, + 0.0671491026878357, + 0.07214505970478058, + 2.94095778465271, + -0.008588921278715134, + 0.3713001012802124 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The yellow cloth is fully unfolded on the stovetop, and the gripper has released it, as indicated by the open gripper state and lack of contact. The robot is now retreating from the cloth, completing the release and retreat subtask. The next action is to move the gripper further away to ensure no interference with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3206091821193695, + 0.026149312034249306, + 0.07241137325763702, + 2.981908082962036, + 0.002607092959806323, + 0.2664332985877991 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The yellow cloth is fully unfolded on the stovetop, and the gripper has released it, as indicated by the open gripper state and lack of contact. The robot is now retreating from the cloth, completing the release and retreat subtask. The next action is to move the gripper further away to ensure no interference with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430979549884796, + 0.0051714638248085976, + 0.0797664225101471, + 3.0548224449157715, + -0.038683269172906876, + 0.1963423639535904 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The yellow cloth is fully unfolded on the stovetop, and the gripper has released it, as indicated by the open gripper state and lack of contact. The robot is now retreating from the cloth, completing the release and retreat subtask. The next action is to move the gripper further away to ensure no interference with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704957365989685, + -0.0025031473487615585, + 0.07584036141633987, + 3.064873218536377, + -0.08463489264249802, + 0.14200709760189056 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from right to left on the stovetop by grasping the right edge and pulling it leftward until fully spread." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from right" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The yellow cloth is fully unfolded on the stovetop, and the gripper has released it, as indicated by the open gripper state and lack of contact. The robot is now retreating from the cloth, completing the release and retreat subtask. The next action is to move the gripper further away to ensure no interference with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003844_ecot.json b/cot/chunk-0003/episode_0003844_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..516af0735eb4f4fb7b2aafa4673eb9f1bd9610cc --- /dev/null +++ b/cot/chunk-0003/episode_0003844_ecot.json @@ -0,0 +1,1518 @@ +{ + "task_name": "episode_0003844", + "episode_json": "json/chunk-0003/episode_0003844.json", + "video_path": "videos/chunk-0003/image_0/episode_0003844.mp4", + "instruction": "Put banana in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003844.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.45280295610427856, + "std": 0.16981954872608185, + "delta_total": -0.45280295610427856, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45280, std=0.16982, total_delta=-0.45280). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 6 + ], + [ + 3, + 7, + 8 + ], + [ + 4, + 9, + 9 + ], + [ + 5, + 10, + 17 + ], + [ + 6, + 18, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach banana\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the banana on the left side of the stove.\"},\n {\"id\": 2, \"name\": \"reposition near pot\", \"start\": 7, \"end\": 9, \"planning\": \"Adjust position to align with the pot while maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"descend toward banana\", \"start\": 10, \"end\": 14, \"planning\": \"Lower end-effector vertically to make contact with the banana.\"},\n {\"id\": 4, \"name\": \"close gripper on banana\", \"start\": 15, \"end\": 17, \"planning\": \"Close gripper to secure the banana based on observed gripper closure and motion context.\"},\n {\"id\": 5, \"name\": \"lift and move over pot\", \"start\": 18, \"end\": 20, \"planning\": \"Lift banana and translate it over the pot for placement.\"}\n ],\n \"global_plan\": \"Approach the banana, reposition near the pot, descend to contact, grasp the banana, then lift and move it over the pot.\",\n \"notes\": \"Gripper closure is only inferred in segment [15,17] where gripper value drops significantly; other segments show no meaningful closing and are described using contact-based verbs.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach banana", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the banana on the left side of the stove." + }, + { + "id": 2, + "name": "reposition near pot", + "start": 7, + "end": 9, + "planning": "Adjust position to align with the pot while maintaining open gripper." + }, + { + "id": 3, + "name": "descend toward banana", + "start": 10, + "end": 14, + "planning": "Lower end-effector vertically to make contact with the banana." + }, + { + "id": 4, + "name": "close gripper on banana", + "start": 15, + "end": 17, + "planning": "Close gripper to secure the banana based on observed gripper closure and motion context." + }, + { + "id": 5, + "name": "lift and move over pot", + "start": 18, + "end": 20, + "planning": "Lift banana and translate it over the pot for placement." + } + ], + "global_plan": "Approach the banana, reposition near the pot, descend to contact, grasp the banana, then lift and move it over the pot.", + "notes": "Gripper closure is only inferred in segment [15,17] where gripper value drops significantly; other segments show no meaningful closing and are described using contact-based verbs." + } + }, + "episode_goal": "Grasp the banana and place it inside the metal pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22902846336364746, + -0.07137136906385422, + 0.11068544536828995, + 3.131178140640259, + -0.07477940618991852, + 0.04479701817035675 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the metal pot visible, while the banana is located to the left on the counter. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector laterally towards the banana to begin the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 18 cm, move up 3 cm, rotate counterclockwise 50 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22039858996868134, + -0.06342252343893051, + 0.10437880456447601, + -3.1196157932281494, + -0.03271663188934326, + 0.0461331345140934 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the metal pot visible, while the banana is located to the left on the counter. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector laterally towards the banana to begin the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 18 cm, move up 3 cm, rotate counterclockwise 50 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20963121950626373, + -0.03260307013988495, + 0.12066636979579926, + -3.080874443054199, + -0.03992363438010216, + 0.04035166651010513 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the metal pot visible, while the banana is located to the left on the counter. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector laterally towards the banana to begin the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19504916667938232, + 0.007794516626745462, + 0.13481482863426208, + -3.128615140914917, + 0.003232751041650772, + -0.10190742462873459 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow banana": [ + 21, + 346, + 176, + 520 + ], + "metal pot": [ + 285, + 340, + 511, + 609 + ], + "white bottle": [ + 554, + 319, + 672, + 593 + ], + "red bell pepper": [ + 463, + 7, + 669, + 170 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the banana visible to the left. No grasping has occurred yet as the gripper remains open and the current subtask is approaching. The next action is to move the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, rotate counterclockwise 50 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move left 3 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.18033796548843384, + 0.05378758907318115, + 0.13848426938056946, + -3.1179897785186768, + 0.06103227287530899, + -0.2755303978919983 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the banana visible to the left. No grasping has occurred yet as the gripper remains open and the current subtask is approaching. The next action is to move the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.17487318813800812, + 0.07852503657341003, + 0.14191770553588867, + -3.046259641647339, + 0.09416494518518448, + -0.47098976373672485 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the banana visible to the left. No grasping has occurred yet as the gripper remains open and the current subtask is approaching. The next action is to move the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1699569821357727, + 0.0947863832116127, + 0.1455184519290924, + -3.1253955364227295, + 0.027244631201028824, + -0.7005103826522827 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the banana visible to the left. No grasping has occurred yet as the gripper remains open and the current subtask is approaching. The next action is to move the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1814919263124466, + 0.11236370354890823, + 0.13843946158885956, + 3.1204674243927, + -0.07440376281738281, + -0.8928793668746948 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 269, + 268, + 515, + 609 + ], + "yellow banana": [ + 22, + 398, + 175, + 520 + ], + "dish soap bottle": [ + 793, + 517, + 931, + 730 + ], + "yellow cone toy": [ + 331, + 92, + 397, + 238 + ], + "white bottle": [ + 556, + 321, + 672, + 593 + ], + "red bell pepper": [ + 463, + 7, + 670, + 171 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the stove with the banana visible to the left. No grasping has occurred yet as the gripper remains open and the current subtask is approaching. The next action is to move the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.18856573104858398, + 0.1398540884256363, + 0.13218598067760468, + 3.1084203720092773, + -0.11345753818750381, + -1.016558051109314 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot has approached the banana and is now repositioning near the metal pot on the stove. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to move closer to the pot to prepare for descending and contacting the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2034156173467636, + 0.14698566496372223, + 0.12480856478214264, + -3.080169916152954, + -0.01379088219255209, + -1.1497234106063843 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot has approached the banana and is now repositioning near the metal pot on the stove. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to move closer to the pot to prepare for descending and contacting the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20742258429527283, + 0.16030877828598022, + 0.1083405464887619, + -3.055939197540283, + 0.1695685237646103, + -1.4185973405838013 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "descend toward banana", + "subtask_reasoning": "The robot has approached the banana and is now repositioning near the metal pot on the stove. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to move closer to the pot to prepare for descending and contacting the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19976088404655457, + 0.17710299789905548, + 0.09559755772352219, + -3.1302297115325928, + 0.15653091669082642, + -1.6231755018234253 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "descend toward banana", + "subtask_reasoning": "The robot has approached the banana and is now repositioning near the metal pot on the stove. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to move closer to the pot to prepare for descending and contacting the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20234526693820953, + 0.18547482788562775, + 0.08619333803653717, + -3.106137752532959, + 0.15419626235961914, + -1.6948705911636353 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "descend toward banana", + "subtask_reasoning": "The robot is descending toward the banana on the stove, with the gripper open and no grasp action yet initiated. The banana is visible and within reach, positioned near the metal pot. The next action is to continue descending until contact with the banana is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, keep gripper open; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21224358677864075, + 0.18922080099582672, + 0.05940280109643936, + -3.0742063522338867, + 0.18818983435630798, + -1.75635826587677 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "descend toward banana", + "subtask_reasoning": "The robot is descending toward the banana on the stove, with the gripper open and no grasp action yet initiated. The banana is visible and within reach, positioned near the metal pot. The next action is to continue descending until contact with the banana is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21701839566230774, + 0.1935099959373474, + 0.03862528130412102, + -3.0885212421417236, + 0.16478300094604492, + -1.7869176864624023 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "descend toward banana", + "subtask_reasoning": "The robot is descending toward the banana on the stove, with the gripper open and no grasp action yet initiated. The banana is visible and within reach, positioned near the metal pot. The next action is to continue descending until contact with the banana is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21247954666614532, + 0.20268996059894562, + 0.027671394869685173, + -3.0823538303375244, + 0.08404325693845749, + -1.7743254899978638 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "close gripper on banana", + "subtask_reasoning": "The robot is descending toward the banana on the stove, with the gripper open and no grasp action yet initiated. The banana is visible and within reach, positioned near the metal pot. The next action is to continue descending until contact with the banana is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21518965065479279, + 0.2048187106847763, + 0.018843328580260277, + -3.0592823028564453, + 0.09403225779533386, + -1.748311161994934 + ], + "gripper_value": 0.9132781028747559 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "close gripper on banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the stove, with the gripper open and ready to close. The segment-level gripper evidence indicates a significant closing motion is occurring or about to occur. The next action is to fully close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20578697323799133, + 0.18873679637908936, + 0.0343700535595417, + -3.130734443664551, + 0.02901988849043846, + -1.705371379852295 + ], + "gripper_value": 0.6189444065093994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "close gripper on banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the stove, with the gripper open and ready to close. The segment-level gripper evidence indicates a significant closing motion is occurring or about to occur. The next action is to fully close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20286300778388977, + 0.17656944692134857, + 0.06751195341348648, + 3.097919464111328, + 0.05806281417608261, + -1.5657761096954346 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the stove, with the gripper open and ready to close. The segment-level gripper evidence indicates a significant closing motion is occurring or about to occur. The next action is to fully close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20375283062458038, + 0.14943565428256989, + 0.1142052635550499, + 3.11788272857666, + 0.16443049907684326, + -1.4401813745498657 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 265, + 268, + 515, + 609 + ], + "dish soap bottle": [ + 794, + 518, + 929, + 729 + ], + "yellow cone toy": [ + 329, + 90, + 397, + 238 + ], + "white bottle": [ + 555, + 320, + 672, + 592 + ], + "red bell pepper": [ + 462, + 7, + 671, + 171 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The banana is currently held by the gripper and positioned above the metal pot on the stove. The gripper has maintained a consistent state without closing further, indicating the banana is already secured. The next action is to lower the banana into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.20820151269435883, + 0.11897282302379608, + 0.14498066902160645, + 3.1173861026763916, + 0.22358828783035278, + -1.339214563369751 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the banana and place it inside the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "descend toward banana" + }, + { + "id": 4, + "subtask": "close gripper on banana" + }, + { + "id": 5, + "subtask": "lift and move over pot" + } + ], + "subtask_name": "lift and move over pot", + "subtask_reasoning": "The banana is currently held by the gripper and positioned above the metal pot on the stove. The gripper has maintained a consistent state without closing further, indicating the banana is already secured. The next action is to lower the banana into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003846_ecot.json b/cot/chunk-0003/episode_0003846_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ead6eff64cf1bc2ba01f9b539e1a44b672e8ac6f --- /dev/null +++ b/cot/chunk-0003/episode_0003846_ecot.json @@ -0,0 +1,1070 @@ +{ + "task_name": "episode_0003846", + "episode_json": "json/chunk-0003/episode_0003846.json", + "video_path": "videos/chunk-0003/image_0/episode_0003846.mp4", + "instruction": "Move the cloth to the right of the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003846.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033228397369384766, + "std": 0.0010514073073863983, + "delta_total": -0.0019985437393188477, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00332, std=0.00105, total_delta=-0.00200). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 0, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 12 + ], + [ + 3, + 13, + 13 + ], + [ + 4, + 14, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector from initial position down toward the orange cloth on the stovetop, making contact without grasping.\"},\n {\"id\": 2, \"name\": \"nudge cloth right\", \"start\": 11, \"end\": 12, \"planning\": \"Apply lateral force to slide the cloth slightly to the right while maintaining contact, without lifting or gripping.\"},\n {\"id\": 3, \"name\": \"reposition for final push\", \"start\": 13, \"end\": 13, \"planning\": \"Adjust end-effector orientation and position to align for final displacement of the cloth toward target location.\"},\n {\"id\": 4, \"name\": \"push cloth to target\", \"start\": 14, \"end\": 15, \"planning\": \"Execute final sliding motion to move the cloth fully to the right of the pot, then retreat upward after releasing contact.\"}\n ],\n \"global_plan\": \"The robot approaches the cloth, makes contact, and performs a series of nudging and pushing motions to reposition it to the right of the pot without ever grasping or lifting it, consistent with gripper evidence showing no meaningful closure.\",\n \"notes\": \"All segments show negligible gripper change; therefore, no grasp/pick/place terminology is used. Motion is purely contact-based sliding/repositioning as observed in keyframes and state data.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 10, + "planning": "Move the end-effector from initial position down toward the orange cloth on the stovetop, making contact without grasping." + }, + { + "id": 2, + "name": "nudge cloth right", + "start": 11, + "end": 12, + "planning": "Apply lateral force to slide the cloth slightly to the right while maintaining contact, without lifting or gripping." + }, + { + "id": 3, + "name": "reposition for final push", + "start": 13, + "end": 13, + "planning": "Adjust end-effector orientation and position to align for final displacement of the cloth toward target location." + }, + { + "id": 4, + "name": "push cloth to target", + "start": 14, + "end": 15, + "planning": "Execute final sliding motion to move the cloth fully to the right of the pot, then retreat upward after releasing contact." + } + ], + "global_plan": "The robot approaches the cloth, makes contact, and performs a series of nudging and pushing motions to reposition it to the right of the pot without ever grasping or lifting it, consistent with gripper evidence showing no meaningful closure.", + "notes": "All segments show negligible gripper change; therefore, no grasp/pick/place terminology is used. Motion is purely contact-based sliding/repositioning as observed in keyframes and state data." + } + }, + "episode_goal": "Move the cloth to the right of the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746099829673767, + 0.11346321552991867, + 0.07686382532119751, + -3.0812020301818848, + -0.006588228512555361, + 0.06651078909635544 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the stove with the orange cloth visible on the cooktop to the right of the pot. No actions have been completed yet as this is the initial frame. The robot needs to move its end effector closer to the cloth to begin the nudging process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 11 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27117273211479187, + 0.11070398986339569, + 0.06751475483179092, + -3.090498447418213, + 0.023814739659428596, + 0.06931563466787338 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the stove with the orange cloth visible on the cooktop to the right of the pot. No actions have been completed yet as this is the initial frame. The robot needs to move its end effector closer to the cloth to begin the nudging process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 10 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26204371452331543, + 0.07349895685911179, + 0.056644193828105927, + -3.090471029281616, + 0.0566553995013237, + -0.022593040019273758 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the stove with the orange cloth visible on the cooktop to the right of the pot. No actions have been completed yet as this is the initial frame. The robot needs to move its end effector closer to the cloth to begin the nudging process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 7 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2609334886074066, + 0.04103059321641922, + 0.05881563946604729, + -3.0796284675598145, + 0.03663681074976921, + -0.09303705394268036 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 386, + 435, + 700, + 780 + ], + "blue spatula": [ + 173, + 422, + 257, + 538 + ], + "sink": [ + 743, + 447, + 994, + 963 + ], + "metal pot": [ + 408, + 231, + 506, + 380 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the stove with the orange cloth visible on the cooktop to the right of the pot. No actions have been completed yet as this is the initial frame. The robot needs to move its end effector closer to the cloth to begin the nudging process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26844120025634766, + 0.012069237418472767, + 0.054175157099962234, + -3.092313766479492, + 0.009593281894922256, + -0.13335385918617249 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the stove with the orange cloth visible on the cooktop to the right of the pot. No actions have been completed yet as this is the initial frame. The robot needs to move its end effector closer to the cloth to begin the nudging process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 1 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2800893783569336, + -0.0007472132565453649, + 0.03395023196935654, + -3.1100783348083496, + -0.0099151860922575, + -0.10848420858383179 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the stovetop, with the pot to its left. No prior actions have been completed. The gripper remains open and no contact has been made yet. The next action should be to lower the end-effector to make gentle contact with the cloth for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29384109377861023, + -0.007529559079557657, + 0.014253263361752033, + -3.1290199756622314, + -0.0654764175415039, + -0.07926078140735626 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the stovetop, with the pot to its left. No prior actions have been completed. The gripper remains open and no contact has been made yet. The next action should be to lower the end-effector to make gentle contact with the cloth for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003481924533844, + -0.012791933491826057, + 0.006381284911185503, + -3.1113696098327637, + -0.12638142704963684, + -0.10433271527290344 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the stovetop, with the pot to its left. No prior actions have been completed. The gripper remains open and no contact has been made yet. The next action should be to lower the end-effector to make gentle contact with the cloth for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31597524881362915, + -0.013683833181858063, + 0.007106788456439972, + -3.100665807723999, + -0.14841005206108093, + -0.09410115331411362 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the stovetop, with the pot to its left. No prior actions have been completed. The gripper remains open and no contact has been made yet. The next action should be to lower the end-effector to make gentle contact with the cloth for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3491364121437073, + -0.006813331972807646, + 0.008956978097558022, + -3.1325578689575195, + -0.1520688533782959, + -0.011037614196538925 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 439, + 435, + 733, + 699 + ], + "blue spatula": [ + 174, + 423, + 258, + 538 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the stovetop, with the pot to its left. No prior actions have been completed. The gripper remains open and no contact has been made yet. The next action should be to lower the end-effector to make gentle contact with the cloth for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37974995374679565, + 0.004458362702280283, + 0.009030488319694996, + -3.1405460834503174, + -0.1537490040063858, + 0.06452228873968124 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the stovetop, with the pot to its left. No prior actions have been completed. The gripper remains open and no contact has been made yet. The next action should be to lower the end-effector to make gentle contact with the cloth for subsequent nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39485761523246765, + 0.006500948220491409, + 0.009016931056976318, + 3.117137908935547, + -0.14428526163101196, + 0.10424596071243286 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "nudge cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, positioned to push it rightward toward the pot. No grasping has occurred, consistent with gripper evidence showing no closure. The next action is to nudge the cloth further right to align it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39813873171806335, + -1.0490725799172651e-05, + 0.011221627704799175, + 3.103569507598877, + -0.12637625634670258, + 0.09696857631206512 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "nudge cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, positioned to push it rightward toward the pot. No grasping has occurred, consistent with gripper evidence showing no closure. The next action is to nudge the cloth further right to align it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39112186431884766, + -0.012617605738341808, + 0.015598014928400517, + -3.139955759048462, + -0.07401160150766373, + 0.043945182114839554 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "reposition for final push", + "subtask_reasoning": "The cloth is partially repositioned to the right of the pot, with the end-effector in contact and aligned for a final push. No grasping has occurred, consistent with open gripper evidence. The next action is a small lateral push to finalize the cloth's position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4037691354751587, + -0.020695751532912254, + 0.04322144761681557, + 3.1299400329589844, + -0.0651581734418869, + 0.04603670910000801 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "push cloth to target", + "subtask_reasoning": "The cloth is currently positioned on the stovetop to the right of the pot, with the gripper open and hovering above it. Previous nudging actions have moved the cloth closer to the target location. The next action should involve a final push or adjustment to ensure the cloth is fully to the right of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.40661874413490295, + -0.021318065002560616, + 0.07256025820970535, + 3.1261448860168457, + -0.07872986048460007, + 0.03919188305735588 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the right of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "nudge cloth right" + }, + { + "id": 3, + "subtask": "reposition for final push" + }, + { + "id": 4, + "subtask": "push cloth to target" + } + ], + "subtask_name": "push cloth to target", + "subtask_reasoning": "The cloth is currently positioned on the stovetop to the right of the pot, with the gripper open and hovering above it. Previous nudging actions have moved the cloth closer to the target location. The next action should involve a final push or adjustment to ensure the cloth is fully to the right of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003847_ecot.json b/cot/chunk-0003/episode_0003847_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a34e8ee906240f2908b97bf865f106fead012586 --- /dev/null +++ b/cot/chunk-0003/episode_0003847_ecot.json @@ -0,0 +1,1177 @@ +{ + "task_name": "episode_0003847", + "episode_json": "json/chunk-0003/episode_0003847.json", + "video_path": "videos/chunk-0003/image_0/episode_0003847.mp4", + "instruction": "Close large4fbox flaps.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003847.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.000672459602355957, + "std": 0.00032074280898086727, + "delta_total": 0.000672459602355957, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00032, total_delta=0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 12 + ], + [ + 3, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box flap\", \"start\": 0, \"end\": 1, \"planning\": \"Move end-effector toward the large4fbox flap with open gripper, preparing for contact.\"},\n {\"id\": 2, \"name\": \"push flap down\", \"start\": 2, \"end\": 12, \"planning\": \"Apply downward and forward pressure on the box flap using end-effector to fold it closed without grasping.\"},\n {\"id\": 3, \"name\": \"retract and verify\", \"start\": 13, \"end\": 19, \"planning\": \"Withdraw end-effector from contact zone while maintaining orientation to confirm flap remains closed.\"}\n ],\n \"global_plan\": \"Close the large4fbox flaps by approaching, pushing them down with non-grasping contact, then retracting to verify closure.\",\n \"notes\": \"Gripper remained nearly open throughout (delta < 0.001), so no grasp/pick/place actions are inferred; all manipulation is via direct contact and pushing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box flap", + "start": 0, + "end": 1, + "planning": "Move end-effector toward the large4fbox flap with open gripper, preparing for contact." + }, + { + "id": 2, + "name": "push flap down", + "start": 2, + "end": 12, + "planning": "Apply downward and forward pressure on the box flap using end-effector to fold it closed without grasping." + }, + { + "id": 3, + "name": "retract and verify", + "start": 13, + "end": 19, + "planning": "Withdraw end-effector from contact zone while maintaining orientation to confirm flap remains closed." + } + ], + "global_plan": "Close the large4fbox flaps by approaching, pushing them down with non-grasping contact, then retracting to verify closure.", + "notes": "Gripper remained nearly open throughout (delta < 0.001), so no grasp/pick/place actions are inferred; all manipulation is via direct contact and pushing." + } + }, + "episode_goal": "Close the flaps of the large4fbox.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.1938575804233551, + -0.2021009474992752, + 0.14798332750797272, + -3.092839002609253, + -0.09728406369686127, + 0.05546106398105621 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector open and ready. No flaps have been closed yet. The next action is to move the end-effector closer to the target flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper open; then move forward 6 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19183044135570526, + -0.20092685520648956, + 0.13356201350688934, + -3.0907559394836426, + -0.0793246179819107, + 0.05857760086655617 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector open and ready. No flaps have been closed yet. The next action is to move the end-effector closer to the target flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2019861936569214, + -0.1965436041355133, + 0.11267554014921188, + 3.134812116622925, + -0.09720145165920258, + 0.07033334672451019 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector open and ready. No flaps have been closed yet. The next action is to move the end-effector closer to the target flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21156534552574158, + -0.19713576138019562, + 0.09655468165874481, + 3.096115827560425, + -0.11756638437509537, + 0.05071289464831352 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector open and ready. No flaps have been closed yet. The next action is to move the end-effector closer to the target flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22283057868480682, + -0.19769731163978577, + 0.077878937125206, + 3.048494577407837, + -0.14020873606204987, + 0.05165325105190277 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector open and ready. No flaps have been closed yet. The next action is to move the end-effector closer to the target flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.229531392455101, + -0.2002498209476471, + 0.059241585433483124, + 3.0007238388061523, + -0.1807277947664261, + 0.046487197279930115 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector open and ready. No flaps have been closed yet. The next action is to move the end-effector closer to the target flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2391081154346466, + -0.19793102145195007, + 0.05019840598106384, + 2.9693756103515625, + -0.2665160000324249, + 0.01652500033378601 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector open and ready. No flaps have been closed yet. The next action is to move the end-effector closer to the target flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 5 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2498619705438614, + -0.2007649838924408, + 0.05331743508577347, + 2.9633970260620117, + -0.3537919819355011, + -0.034462206065654755 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 8 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25518718361854553, + -0.21016426384449005, + 0.06088569387793541, + 2.9610819816589355, + -0.4055339992046356, + -0.07624843716621399 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 11 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603606879711151, + -0.21589550375938416, + 0.07193216681480408, + 2.979264497756958, + -0.41596394777297974, + -0.0872969776391983 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black strap": [ + 2, + 904, + 158, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 12 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26449108123779297, + -0.22044628858566284, + 0.08479498326778412, + 2.9960877895355225, + -0.40567219257354736, + -0.08180972188711166 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 12 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27016082406044006, + -0.2145148366689682, + 0.09739777445793152, + 3.0706334114074707, + -0.4278108775615692, + -0.14467214047908783 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 12 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779858112335205, + -0.20004355907440186, + 0.11309842765331268, + 3.1326138973236084, + -0.4244392216205597, + -0.21853406727313995 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "push flap down", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 12 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28088659048080444, + -0.18267951905727386, + 0.1249859556555748, + -3.074190378189087, + -0.4239194393157959, + -0.24678099155426025 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "retract and verify", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2819410562515259, + -0.16483619809150696, + 0.13367238640785217, + -3.0192441940307617, + -0.40005823969841003, + -0.260055810213089 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "retract and verify", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840234935283661, + -0.1439526081085205, + 0.15107549726963043, + -2.99442458152771, + -0.412674218416214, + -0.25560444593429565 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "retract and verify", + "subtask_reasoning": "The robot arm is positioned above the open flap of the large4fbox, having completed the approach phase. The gripper is open and in contact or near-contact with the flap surface. The next action is to push the flap downward using non-grasping contact to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28449535369873047, + -0.1277623474597931, + 0.15752695500850677, + -2.9668562412261963, + -0.41135862469673157, + -0.2822115123271942 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "retract and verify", + "subtask_reasoning": "The robot has completed pushing the large4fbox flaps down and is now retracting its end-effector away from the box. The flaps appear closed, and the next step is to verify their closure by observing the box from a distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846386730670929, + -0.10311120748519897, + 0.15086016058921814, + -2.975041389465332, + -0.4080880582332611, + -0.27246227860450745 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "retract and verify", + "subtask_reasoning": "The robot has completed pushing the large4fbox flaps down and is now retracting its end-effector away from the box. The flaps appear closed, and the next step is to verify their closure by observing the box from a distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29263994097709656, + -0.07486458122730255, + 0.14164219796657562, + -3.004455804824829, + -0.4109136164188385, + -0.24533803761005402 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "retract and verify", + "subtask_reasoning": "The robot has completed pushing the large4fbox flaps down and is now retracting its end-effector away from the box. The flaps appear closed, and the next step is to verify their closure by observing the box from a distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2945680618286133, + -0.06366635859012604, + 0.13398031890392303, + -3.0585978031158447, + -0.3897153437137604, + -0.21435357630252838 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap down" + }, + { + "id": 3, + "subtask": "retract and verify" + } + ], + "subtask_name": "retract and verify", + "subtask_reasoning": "The robot has completed pushing the large4fbox flaps down and is now retracting its end-effector away from the box. The flaps appear closed, and the next step is to verify their closure by observing the box from a distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003848_ecot.json b/cot/chunk-0003/episode_0003848_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..279e46f125f747d7cdcfc823cc71a3ad59f767e8 --- /dev/null +++ b/cot/chunk-0003/episode_0003848_ecot.json @@ -0,0 +1,2117 @@ +{ + "task_name": "episode_0003848", + "episode_json": "json/chunk-0003/episode_0003848.json", + "video_path": "videos/chunk-0003/image_0/episode_0003848.mp4", + "instruction": "Moved brown conical object slightly to the right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003848.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.3899080753326416, + "std": 0.175510972738266, + "delta_total": -0.00674813985824585, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.38991, std=0.17551, total_delta=-0.00675). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 33 + ], + [ + 2, + 34, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach brown conical object\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector toward the brown conical object while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"make contact and nudge right\", \"start\": 16, \"end\": 33, \"planning\": \"Close gripper slightly to make contact with object and push it gently to the right.\"},\n {\"id\": 3, \"name\": \"release contact and retreat\", \"start\": 34, \"end\": 36, \"planning\": \"Open gripper fully and lift end-effector away from the object after repositioning.\"}\n ],\n \"global_plan\": \"Approach the brown conical object, make light contact to nudge it rightward without full grasp, then release and retreat.\",\n \"notes\": \"Gripper closes meaningfully in segment 1 (frames 0-33) but does not fully close or hold; motion suggests nudging rather than lifting. Segment 2 (34-36) shows no gripper change — consistent with release and retreat. No lifting observed; object remains on table throughout.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach brown conical object", + "start": 0, + "end": 15, + "planning": "Move end-effector toward the brown conical object while maintaining open gripper." + }, + { + "id": 2, + "name": "make contact and nudge right", + "start": 16, + "end": 33, + "planning": "Close gripper slightly to make contact with object and push it gently to the right." + }, + { + "id": 3, + "name": "release contact and retreat", + "start": 34, + "end": 36, + "planning": "Open gripper fully and lift end-effector away from the object after repositioning." + } + ], + "global_plan": "Approach the brown conical object, make light contact to nudge it rightward without full grasp, then release and retreat.", + "notes": "Gripper closes meaningfully in segment 1 (frames 0-33) but does not fully close or hold; motion suggests nudging rather than lifting. Segment 2 (34-36) shows no gripper change — consistent with release and retreat. No lifting observed; object remains on table throughout." + } + }, + "episode_goal": "Move the brown conical object slightly to the right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3510407507419586, + 0.031223664060235023, + 0.08020474761724472, + 3.0411336421966553, + -0.19889257848262787, + 0.18455681204795837 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is positioned above the table with the brown conical object visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the object to prepare for a light nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34786859154701233, + 0.031160559505224228, + 0.07091598212718964, + 3.0416722297668457, + -0.16986960172653198, + 0.18519696593284607 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is positioned above the table with the brown conical object visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the object to prepare for a light nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34650689363479614, + 0.02233792468905449, + 0.06294462829828262, + 2.9662866592407227, + -0.27096787095069885, + 0.10949523001909256 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is positioned above the table with the brown conical object visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the object to prepare for a light nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35622936487197876, + 0.030619589611887932, + 0.08407790958881378, + 2.9708452224731445, + -0.3967340290546417, + 0.10812707245349884 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 3, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is positioned above the table with the brown conical object visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the object to prepare for a light nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556880056858063, + 0.034794826060533524, + 0.08376765996217728, + 3.0079612731933594, + -0.3886357843875885, + 0.11118747293949127 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is positioned above the table with the brown conical object visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the object to prepare for a light nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3597692847251892, + 0.0354885570704937, + 0.08838813751935959, + 3.0066041946411133, + -0.4035803973674774, + 0.10921585559844971 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is positioned above the table with the brown conical object visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the object to prepare for a light nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651582896709442, + 0.037731822580099106, + 0.09052284806966782, + 3.015159845352173, + -0.38230398297309875, + 0.08070281893014908 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is positioned above the table with the brown conical object visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the object to prepare for a light nudge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 6 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659011721611023, + 0.047092653810977936, + 0.08937213569879532, + 3.0260820388793945, + -0.3890533149242401, + 0.06976565718650818 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 6 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37265679240226746, + 0.061447955667972565, + 0.08140377700328827, + 3.0410642623901367, + -0.3509182333946228, + 0.07376572489738464 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3748607635498047, + 0.07434836775064468, + 0.07215617597103119, + 3.0180981159210205, + -0.33698588609695435, + 0.10498905181884766 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3797995150089264, + 0.088352270424366, + 0.06297288835048676, + 3.002237558364868, + -0.32796159386634827, + 0.13228502869606018 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, close gripper; then move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3774828314781189, + 0.09369970113039017, + 0.05971452221274376, + 2.9895880222320557, + -0.3018794357776642, + 0.1487797349691391 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.371830016374588, + 0.09242885559797287, + 0.046331387013196945, + 2.935459852218628, + -0.23568499088287354, + 0.1696554720401764 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 10 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36734554171562195, + 0.09324431419372559, + 0.041801389306783676, + 2.914547920227051, + -0.16209647059440613, + 0.18102483451366425 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 4, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 14 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.366633802652359, + 0.08960500359535217, + 0.03881555423140526, + 2.8794667720794678, + -0.05894207954406738, + 0.1813514232635498 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move back 1 cm, move right 15 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36497244238853455, + 0.08954150229692459, + 0.03650147467851639, + 2.911625862121582, + -0.025702182203531265, + 0.20512281358242035 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach brown conical object", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 16 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.368653804063797, + 0.0925334170460701, + 0.03400415554642677, + 2.960391044616699, + -0.041918300092220306, + 0.25747150182724 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 16 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37303513288497925, + 0.08736222237348557, + 0.03269682452082634, + 2.9652349948883057, + -0.06222527101635933, + 0.26178252696990967 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 14 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37429460883140564, + 0.08789737522602081, + 0.03277834877371788, + 2.9657411575317383, + -0.08293601870536804, + 0.2776608467102051 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 14 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37305784225463867, + 0.08313443511724472, + 0.033612895756959915, + 2.9439520835876465, + -0.1012926697731018, + 0.26772060990333557 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move down 1 cm, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37106701731681824, + 0.07533016055822372, + 0.04989516735076904, + 2.9760587215423584, + -0.15959565341472626, + 0.2150968462228775 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 2 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3736768364906311, + 0.03828713670372963, + 0.0777825266122818, + 3.0108869075775146, + -0.300197958946228, + 0.05005815997719765 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37168675661087036, + -0.003408854128792882, + 0.08044996857643127, + 2.9758858680725098, + -0.31742432713508606, + -0.044762127101421356 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 3, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36302468180656433, + -0.04388878867030144, + 0.06768607348203659, + 2.868948221206665, + -0.31170856952667236, + -0.11597394198179245 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot is approaching the brown conical object on the table, with no contact made yet. The gripper remains open and stable, consistent with the approach phase. The next action is to continue moving closer to make light contact for nudging the object rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617982268333435, + -0.06155482307076454, + 0.06308110058307648, + 2.835791826248169, + -0.3269359767436981, + -0.1912504881620407 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619422912597656, + -0.0701942890882492, + 0.053041037172079086, + 2.817207098007202, + -0.3677009046077728, + -0.2858237028121948 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 2 cm, tilt left 20 degrees, rotate clockwise 20 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36059141159057617, + -0.06996682286262512, + 0.038807377219200134, + 2.811061143875122, + -0.33829164505004883, + -0.28658637404441833 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 4 cm, tilt left 20 degrees, rotate clockwise 20 degrees, open gripper; then move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36914822459220886, + -0.05758146569132805, + 0.029692845419049263, + 2.904442071914673, + -0.24234555661678314, + -0.2046307921409607 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 4 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704689145088196, + -0.05428742617368698, + 0.026529017835855484, + 2.9322562217712402, + -0.24936498701572418, + -0.17807620763778687 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3689432442188263, + -0.04932404309511185, + 0.024536240845918655, + 2.952655792236328, + -0.24521921575069427, + -0.1587810218334198 + ], + "gripper_value": 0.927155077457428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3627545237541199, + -0.0546003021299839, + 0.025800054892897606, + 2.9634406566619873, + -0.2534151077270508, + -0.14425578713417053 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35875001549720764, + -0.05683138221502304, + 0.028495807200670242, + 2.9860751628875732, + -0.25671425461769104, + -0.11841759085655212 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35595741868019104, + -0.04999677836894989, + 0.03080705925822258, + 3.0217578411102295, + -0.23312795162200928, + -0.08096616715192795 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.35837554931640625, + -0.0384552888572216, + 0.05494863912463188, + 3.096766710281372, + -0.22880426049232483, + -0.043511372059583664 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge right", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578185737133026, + -0.02432674542069435, + 0.07421186566352844, + -3.1415605545043945, + -0.2238665670156479, + 0.027271250262856483 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot end-effector is positioned near the brown conical object on the table, having completed the approach phase. The gripper is open and not yet in contact with the object. The next action is to move the end-effector slightly forward to make light contact and nudge the object to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3599366843700409, + -0.01002491544932127, + 0.08376523852348328, + -3.1400465965270996, + -0.23807835578918457, + 0.06973056495189667 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The brown conical object has been nudged slightly to the right and is now stationary on the table. The gripper is fully open and no longer in contact with the object, indicating release is complete. The next action is to retreat the end-effector away from the object to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 34, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605121374130249, + 0.006217207293957472, + 0.08981980383396149, + -3.1326966285705566, + -0.2224959433078766, + 0.12370045483112335 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 3, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the brown conical object slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown conical object" + }, + { + "id": 2, + "subtask": "make contact and nudge right" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The brown conical object has been nudged slightly to the right and is now stationary on the table. The gripper is fully open and no longer in contact with the object, indicating release is complete. The next action is to retreat the end-effector away from the object to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003850_ecot.json b/cot/chunk-0003/episode_0003850_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c869fe0fc1cdb7ff07ba6ab6c76fd182875b922e --- /dev/null +++ b/cot/chunk-0003/episode_0003850_ecot.json @@ -0,0 +1,2563 @@ +{ + "task_name": "episode_0003850", + "episode_json": "json/chunk-0003/episode_0003850.json", + "video_path": "videos/chunk-0003/image_0/episode_0003850.mp4", + "instruction": "Put the cube with hole on top of the block with hole.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003850.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.2856684923171997, + "std": 0.14148573577404022, + "delta_total": -0.2840016484260559, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.28567, std=0.14149, total_delta=-0.28400). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 6 + ], + [ + 3, + 7, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cube with hole\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper toward the cube with hole without closing, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp cube with hole\", \"start\": 7, \"end\": 25, \"planning\": \"Close gripper to securely grasp the cube with hole, confirmed by gripper value drop and visual alignment.\"},\n {\"id\": 3, \"name\": \"place cube on block with hole\", \"start\": 26, \"end\": 44, \"planning\": \"Lift and maneuver the grasped cube to align and place it precisely on top of the block with hole.\"}\n ],\n \"global_plan\": \"Approach the cube with hole, grasp it using confirmed gripper closure, then lift and place it atop the block with hole.\",\n \"notes\": \"Segment 1 and 2 show no gripper closing — described as approach only. Segment 3 shows meaningful gripper closure (delta=-0.284) and final image confirms successful placement — grasp and place are justified.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cube with hole", + "start": 0, + "end": 6, + "planning": "Move the gripper toward the cube with hole without closing, positioning for contact." + }, + { + "id": 2, + "name": "grasp cube with hole", + "start": 7, + "end": 25, + "planning": "Close gripper to securely grasp the cube with hole, confirmed by gripper value drop and visual alignment." + }, + { + "id": 3, + "name": "place cube on block with hole", + "start": 26, + "end": 44, + "planning": "Lift and maneuver the grasped cube to align and place it precisely on top of the block with hole." + } + ], + "global_plan": "Approach the cube with hole, grasp it using confirmed gripper closure, then lift and place it atop the block with hole.", + "notes": "Segment 1 and 2 show no gripper closing — described as approach only. Segment 3 shows meaningful gripper closure (delta=-0.284) and final image confirms successful placement — grasp and place are justified." + } + }, + "episode_goal": "Place the cube with hole on top of the block with hole.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2619633674621582, + 0.13333193957805634, + 0.1393129527568817, + 2.990872621536255, + -0.20711690187454224, + 0.5111218690872192 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is positioned above the table with the cube with hole visible in the scene. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the cube with hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 4 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26068857312202454, + 0.13148725032806396, + 0.13062435388565063, + 2.9891786575317383, + -0.17623643577098846, + 0.509865403175354 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is positioned above the table with the cube with hole visible in the scene. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the cube with hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679326832294464, + 0.14498893916606903, + 0.120874784886837, + 3.0546975135803223, + -0.14945022761821747, + 0.4815340042114258 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is positioned above the table with the cube with hole visible in the scene. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the cube with hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27531707286834717, + 0.16494978964328766, + 0.12244141101837158, + -3.129598617553711, + -0.14988107979297638, + 0.47651106119155884 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28469592332839966, + 0.18106280267238617, + 0.11849106848239899, + -3.0502731800079346, + -0.13420486450195312, + 0.4636041522026062 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move left 5 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986125349998474, + 0.18914280831813812, + 0.1159079298377037, + -3.0647051334381104, + -0.14425534009933472, + 0.43476343154907227 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3091614246368408, + 0.19451414048671722, + 0.10572294145822525, + -3.10848069190979, + -0.1392495036125183, + 0.39944377541542053 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 4 cm, move down 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3106934726238251, + 0.20743201673030853, + 0.09475257992744446, + 3.1222219467163086, + -0.1466841846704483, + 0.38567471504211426 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30902299284935, + 0.22452333569526672, + 0.08117430657148361, + 3.115123748779297, + -0.12633904814720154, + 0.4013581871986389 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 7, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30512017011642456, + 0.2370966076850891, + 0.070151187479496, + 3.1036806106567383, + -0.11103653162717819, + 0.4294551610946655 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30744561553001404, + 0.24865828454494476, + 0.059820640832185745, + 3.080444097518921, + -0.10478992760181427, + 0.445887953042984 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3157574236392975, + 0.2558540999889374, + 0.053125619888305664, + 3.0636146068573, + -0.10137587040662766, + 0.44480347633361816 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32464829087257385, + 0.2621130645275116, + 0.054766204208135605, + 3.0577232837677, + -0.12152532488107681, + 0.4429278075695038 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 6, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3298901617527008, + 0.26554355025291443, + 0.05882202088832855, + 3.0624074935913086, + -0.14028717577457428, + 0.43337249755859375 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.332742840051651, + 0.262288361787796, + 0.05232345312833786, + 3.0523109436035156, + -0.1296166479587555, + 0.4236581325531006 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33694031834602356, + 0.2578297257423401, + 0.052147530019283295, + 3.016923427581787, + -0.1478755921125412, + 0.4248087406158447 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot is approaching the cube with hole on the table, with no objects currently grasped. The gripper remains open and stable, indicating no grasp attempt yet. The next action is to continue moving the end-effector closer to align with the cube for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33807995915412903, + 0.2521049380302429, + 0.04821391403675079, + 2.9971516132354736, + -0.1525612473487854, + 0.42196881771087646 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3371322751045227, + 0.2501040995121002, + 0.049459557980298996, + 3.005699634552002, + -0.15780134499073029, + 0.4159928858280182 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper; then move right 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33545824885368347, + 0.2485603243112564, + 0.05054844543337822, + 3.005977153778076, + -0.16103920340538025, + 0.4164462387561798 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 4 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 7 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292185366153717, + 0.2429981827735901, + 0.045794904232025146, + 2.9936728477478027, + -0.1205112561583519, + 0.4034980535507202 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 13 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32553091645240784, + 0.23542357981204987, + 0.05227997153997421, + 2.9590775966644287, + -0.06830012053251266, + 0.3722890317440033 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 16 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3205905854701996, + 0.23267017304897308, + 0.04709011688828468, + 2.9397940635681152, + -0.016351643949747086, + 0.3640962839126587 + ], + "gripper_value": 0.9568231701850891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 19 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200055956840515, + 0.23400820791721344, + 0.0455746166408062, + 2.9484498500823975, + -0.012377527542412281, + 0.373309850692749 + ], + "gripper_value": 0.7181003093719482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 22 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166663944721222, + 0.23393398523330688, + 0.045347124338150024, + 2.9558932781219482, + 0.009258457459509373, + 0.38126102089881897 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 22 cm, move up 1 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3147335946559906, + 0.23197084665298462, + 0.04425794631242752, + 2.9519059658050537, + 0.021237628534436226, + 0.40113121271133423 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 23 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076712191104889, + 0.21571001410484314, + 0.05820971354842186, + 2.9097487926483154, + 0.007288817781955004, + 0.48760274052619934 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, keep gripper closed; then move forward 1 cm, move right 22 cm, move down 1 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.300446480512619, + 0.195420041680336, + 0.09540053457021713, + 2.907687187194824, + -0.05342385172843933, + 0.5896099209785461 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 7, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 22 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981281876564026, + 0.162337988615036, + 0.12164430320262909, + 2.9115216732025146, + -0.10488827526569366, + 0.5940415859222412 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 18 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2922947108745575, + 0.12089138478040695, + 0.1337006688117981, + 2.907219171524048, + -0.11321164667606354, + 0.5749267935752869 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, move down 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29519590735435486, + 0.06904763728380203, + 0.13989831507205963, + 2.893362045288086, + -0.11046889424324036, + 0.5055850148200989 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2970573306083679, + 0.035095538944005966, + 0.13987374305725098, + 2.8563296794891357, + -0.12895789742469788, + 0.5040763020515442 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035616874694824, + 0.0013729153433814645, + 0.12569288909435272, + 2.754499673843384, + -0.1279289275407791, + 0.5736237168312073 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31093111634254456, + -0.020361721515655518, + 0.11915234476327896, + 2.6822116374969482, + -0.12656614184379578, + 0.6295102834701538 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3136709928512573, + -0.028131507337093353, + 0.10966835170984268, + 2.6109402179718018, + -0.12042177468538284, + 0.6808752417564392 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31694066524505615, + -0.030392125248908997, + 0.09849173575639725, + 2.5969460010528564, + -0.10363946855068207, + 0.6870410442352295 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot has approached the cube with hole and is positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cube with hole." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.31537169218063354, + -0.029096338897943497, + 0.08105193078517914, + 2.635322093963623, + -0.0574801042675972, + 0.6632694602012634 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178426921367645, + -0.02532282844185829, + 0.06640733033418655, + 2.676893949508667, + -0.016267577186226845, + 0.6390887498855591 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 4, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3211863338947296, + -0.021041719242930412, + 0.06308801472187042, + 2.697941780090332, + -0.019097868353128433, + 0.6212465167045593 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.326090931892395, + -0.014876062981784344, + 0.06141805648803711, + 2.701308012008667, + -0.032802339643239975, + 0.615683376789093 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.33322465419769287, + -0.010580861009657383, + 0.0660606101155281, + 2.696699857711792, + -0.04912379011511803, + 0.6075623631477356 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367384076118469, + -0.006239782553166151, + 0.064888134598732, + 2.7145376205444336, + -0.04506479948759079, + 0.5782689452171326 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380902409553528, + -0.004274570848792791, + 0.060465577989816666, + 2.7452049255371094, + -0.03698074072599411, + 0.5126951336860657 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367544710636139, + -0.00465564476326108, + 0.061209116131067276, + 2.7512381076812744, + -0.033918607980012894, + 0.4788210690021515 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3362046778202057, + -0.004239571746438742, + 0.062384575605392456, + 2.7586147785186768, + -0.036145828664302826, + 0.45130419731140137 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.33513015508651733, + -0.0024664257653057575, + 0.06173371151089668, + 2.7698612213134766, + -0.03721851482987404, + 0.44236230850219727 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with hole on top of the block with hole." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "grasp cube with hole" + }, + { + "id": 3, + "subtask": "place cube on block with hole" + } + ], + "subtask_name": "place cube on block with hole", + "subtask_reasoning": "The robot is holding the cube with hole above the block with hole, aligned for placement. The gripper remains closed with no significant motion, indicating the cube is still grasped. The next action is to lower the cube onto the block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003851_ecot.json b/cot/chunk-0003/episode_0003851_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7caf774e8987de02dab7d70eb251c9990876ce05 --- /dev/null +++ b/cot/chunk-0003/episode_0003851_ecot.json @@ -0,0 +1,3373 @@ +{ + "task_name": "episode_0003851", + "episode_json": "json/chunk-0003/episode_0003851.json", + "video_path": "videos/chunk-0003/image_0/episode_0003851.mp4", + "instruction": "Take the yellow clothe from right burner to the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003851.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.9486258625984192, + "std": 0.4091665744781494, + "delta_total": -0.003330826759338379, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94863, std=0.40917, total_delta=-0.00333). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 37, + 37, + 237, + 237, + 37, + 237, + 237 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 6 + ], + [ + 3, + 7, + 7 + ], + [ + 4, + 8, + 23 + ], + [ + 5, + 24, + 36 + ], + [ + 6, + 37, + 38 + ], + [ + 7, + 39, + 40 + ], + [ + 8, + 41, + 41 + ], + [ + 9, + 42, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth on right burner\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the green cloth on the right burner while beginning to close gripper.\"},\n {\"id\": 2, \"name\": \"grasp and lift cloth\", \"start\": 6, \"end\": 7, \"planning\": \"Complete gripper closure and lift the cloth slightly off the right burner surface.\"},\n {\"id\": 3, \"name\": \"transport cloth to left burner\", \"start\": 8, \"end\": 23, \"planning\": \"Carry the grasped cloth across the stove to position it over the left burner.\"},\n {\"id\": 4, \"name\": \"lower and release cloth on left burner\", \"start\": 24, \"end\": 36, \"planning\": \"Descend with cloth, open gripper to deposit cloth onto left burner, then begin retreating.\"},\n {\"id\": 5, \"name\": \"retreat from left burner\", \"start\": 37, \"end\": 38, \"planning\": \"Lift end-effector away from the deposited cloth on the left burner.\"},\n {\"id\": 6, \"name\": \"reposition above left burner\", \"start\": 39, \"end\": 40, \"planning\": \"Adjust end-effector position slightly while maintaining open gripper state.\"},\n {\"id\": 7, \"name\": \"final hover over cloth\", \"start\": 41, \"end\": 43, \"planning\": \"Settle end-effector in final hovering position above the cloth on the left burner.\"}\n ],\n \"global_plan\": \"Grasp the green cloth from the right burner, transport it across the stove, and place it precisely on the left burner before retreating to a safe hover position.\",\n \"notes\": \"Gripper evidence confirms meaningful closing during segments 1-2 (grasp) and opening during segment 4 (release). Segment 9 shows no gripper motion — consistent with final hover. Frame ranges are contiguous and cover full trajectory [0,43].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth on right burner", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the green cloth on the right burner while beginning to close gripper." + }, + { + "id": 2, + "name": "grasp and lift cloth", + "start": 6, + "end": 7, + "planning": "Complete gripper closure and lift the cloth slightly off the right burner surface." + }, + { + "id": 3, + "name": "transport cloth to left burner", + "start": 8, + "end": 23, + "planning": "Carry the grasped cloth across the stove to position it over the left burner." + }, + { + "id": 4, + "name": "lower and release cloth on left burner", + "start": 24, + "end": 36, + "planning": "Descend with cloth, open gripper to deposit cloth onto left burner, then begin retreating." + }, + { + "id": 5, + "name": "retreat from left burner", + "start": 37, + "end": 38, + "planning": "Lift end-effector away from the deposited cloth on the left burner." + }, + { + "id": 6, + "name": "reposition above left burner", + "start": 39, + "end": 40, + "planning": "Adjust end-effector position slightly while maintaining open gripper state." + }, + { + "id": 7, + "name": "final hover over cloth", + "start": 41, + "end": 43, + "planning": "Settle end-effector in final hovering position above the cloth on the left burner." + } + ], + "global_plan": "Grasp the green cloth from the right burner, transport it across the stove, and place it precisely on the left burner before retreating to a safe hover position.", + "notes": "Gripper evidence confirms meaningful closing during segments 1-2 (grasp) and opening during segment 4 (release). Segment 9 shows no gripper motion — consistent with final hover. Frame ranges are contiguous and cover full trajectory [0,43]." + } + }, + "episode_goal": "Move the yellow cloth from the right burner to the left burner on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2164231538772583, + 0.19932320713996887, + 0.08192670345306396, + 3.1351754665374756, + -0.2530880868434906, + 0.3731447458267212 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "approach cloth on right burner", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the right burner. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 15 cm, move down 2 cm, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21471363306045532, + 0.19545742869377136, + 0.07425425201654434, + 3.123603582382202, + -0.22546423971652985, + 0.37392690777778625 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "approach cloth on right burner", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the right burner. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 15 cm, move down 2 cm, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2113170027732849, + 0.17911499738693237, + 0.06391453742980957, + 3.136648416519165, + -0.17661380767822266, + 0.3233718276023865 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "approach cloth on right burner", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the right burner. The gripper is open and approaching the cloth, with no grasp yet initiated. The next action should be to lower the gripper and close it to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move down 1 cm, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21558913588523865, + 0.1520611047744751, + 0.07038675993680954, + 3.140260934829712, + -0.19781631231307983, + 0.23488304018974304 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "approach cloth on right burner", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the right burner. The gripper is open and approaching the cloth, with no grasp yet initiated. The next action should be to lower the gripper and close it to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21659985184669495, + 0.11134518682956696, + 0.07081115990877151, + 3.1385819911956787, + -0.18015244603157043, + 0.13929450511932373 + ], + "gripper_value": 0.973810613155365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "approach cloth on right burner", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the right burner. The gripper is open and approaching the cloth, with no grasp yet initiated. The next action should be to lower the gripper and close it to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21532750129699707, + 0.07600880414247513, + 0.0657147616147995, + 3.1310412883758545, + -0.17339713871479034, + 0.10423841327428818 + ], + "gripper_value": 0.8344376683235168 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "approach cloth on right burner", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the right burner. The gripper is open and approaching the cloth, with no grasp yet initiated. The next action should be to lower the gripper and close it to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2144341766834259, + 0.04833074286580086, + 0.05752988159656525, + -3.1270854473114014, + -0.15673398971557617, + 0.038772981613874435 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2176719605922699, + 0.028380876407027245, + 0.049361467361450195, + -3.126697301864624, + -0.1295827329158783, + -0.007013487163931131 + ], + "gripper_value": 0.27305713295936584 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green towel": [ + 182, + 409, + 626, + 909 + ], + "can": [ + 530, + 259, + 715, + 583 + ], + "sink": [ + 655, + 491, + 994, + 990 + ], + "black utensils": [ + 12, + 5, + 480, + 605 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 3 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22005926072597504, + 0.024898365139961243, + 0.03935655951499939, + 3.134068727493286, + -0.14095835387706757, + -0.04906781390309334 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2199891209602356, + 0.029380835592746735, + 0.0261631328612566, + 3.072420358657837, + -0.11745734512805939, + 0.016390716657042503 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 2 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21941810846328735, + 0.037739887833595276, + 0.01899506337940693, + 3.0676560401916504, + -0.09847598522901535, + 0.05375833064317703 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.220182403922081, + 0.04593638330698013, + 0.013980180956423283, + 3.0798144340515137, + -0.09937974810600281, + 0.0849170982837677 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 11 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2205183058977127, + 0.055024199187755585, + 0.009140081703662872, + 3.117645740509033, + -0.08572026342153549, + 0.14529572427272797 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21414794027805328, + 0.06632144004106522, + 0.010067200288176537, + 3.112196683883667, + -0.04755404219031334, + 0.2917104959487915 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.20869527757167816, + 0.07380624860525131, + 0.011476474814116955, + 3.1166775226593018, + -0.019686905667185783, + 0.3823886513710022 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green towel": [ + 131, + 386, + 545, + 876 + ], + "can": [ + 529, + 258, + 714, + 583 + ], + "sink": [ + 655, + 493, + 994, + 990 + ], + "red pot": [ + 332, + 193, + 524, + 402 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot arm is positioned directly above the green cloth on the right burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to make contact with the cloth. The next action is to secure the grip and lift the cloth slightly to confirm successful grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2079325020313263, + 0.07513406127691269, + 0.01070115901529789, + 3.0841476917266846, + 0.010240526869893074, + 0.4123929738998413 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 13 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20105145871639252, + 0.07496245205402374, + 0.008304961025714874, + 3.0540931224823, + 0.026267699897289276, + 0.4394548833370209 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 13 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.19249418377876282, + 0.07868900150060654, + 0.0076600369065999985, + 3.0465633869171143, + 0.043043434619903564, + 0.5017630457878113 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.19006690382957458, + 0.08803416788578033, + 0.008572923019528389, + 3.0447425842285156, + 0.023345865309238434, + 0.5528613328933716 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.19236965477466583, + 0.1026984453201294, + 0.00983437430113554, + 3.0379860401153564, + -0.027372054755687714, + 0.6167652010917664 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2035733461380005, + 0.13261006772518158, + 0.014456289820373058, + 3.039623260498047, + -0.08946806192398071, + 0.6856892704963684 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green towel": [ + 42, + 340, + 472, + 839 + ], + "can": [ + 531, + 258, + 713, + 584 + ], + "sink": [ + 655, + 493, + 994, + 990 + ], + "red pot": [ + 289, + 191, + 525, + 413 + ], + "spoon": [ + 363, + 171, + 427, + 380 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20873355865478516, + 0.15667222440242767, + 0.010221157222986221, + 3.0569581985473633, + -0.09377971291542053, + 0.7263464331626892 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 5 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21208767592906952, + 0.1759798526763916, + 0.008841094560921192, + 3.0663304328918457, + -0.128779798746109, + 0.7307150959968567 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 6 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.214735209941864, + 0.18897588551044464, + 0.00938800536096096, + 3.1320252418518066, + -0.19343528151512146, + 0.6224470138549805 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "transport cloth to left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.21493631601333618, + 0.20120707154273987, + 0.010919063352048397, + -3.0400002002716064, + -0.2540091872215271, + 0.44383957982063293 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2193780541419983, + 0.21348810195922852, + 0.01360603328794241, + -2.9519333839416504, + -0.2414952516555786, + 0.28076815605163574 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22510451078414917, + 0.22729896008968353, + 0.013860189355909824, + -2.937954902648926, + -0.2253514677286148, + 0.18809150159358978 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22814053297042847, + 0.22882360219955444, + 0.013696404173970222, + -2.9283885955810547, + -0.1751585751771927, + 0.03390524908900261 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.23325538635253906, + 0.22221416234970093, + 0.0147874029353261, + -2.952813148498535, + -0.14343342185020447, + -0.07063025236129761 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23834457993507385, + 0.21241793036460876, + 0.016302097588777542, + -3.0004959106445312, + -0.14190566539764404, + -0.10809139162302017 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521153390407562, + 0.2092255800962448, + 0.019332509487867355, + -2.986053943634033, + -0.14419563114643097, + -0.12859699130058289 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2675125300884247, + 0.2099922150373459, + 0.019805673509836197, + -2.991027355194092, + -0.14940381050109863, + -0.11742787808179855 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 656, + 492, + 994, + 990 + ], + "can": [ + 530, + 257, + 713, + 583 + ], + "red pot": [ + 300, + 186, + 525, + 414 + ], + "black utensils": [ + 3, + 5, + 217, + 422 + ], + "green towel": [ + 2, + 238, + 302, + 583 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.27618882060050964, + 0.21494024991989136, + 0.020178334787487984, + -2.990626096725464, + -0.1555425524711609, + -0.09903597831726074 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27236583828926086, + 0.21444235742092133, + 0.019742297008633614, + -3.0133516788482666, + -0.14549694955348969, + -0.11090395599603653 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26660358905792236, + 0.2141309231519699, + 0.018950140103697777, + -3.0468244552612305, + -0.13611802458763123, + -0.09969130158424377 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2686975300312042, + 0.2152651697397232, + 0.02899652160704136, + -3.0740368366241455, + -0.13740427792072296, + -0.02357158623635769 + ], + "gripper_value": 0.2020297795534134 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.27609705924987793, + 0.2166621834039688, + 0.046315934509038925, + -3.0815839767456055, + -0.1850389838218689, + 0.05126507207751274 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "lower and release cloth on left burner", + "subtask_reasoning": "The robot is currently holding the green cloth above the left burner, having successfully lifted it from the right side. The end-effector is positioned directly over the target location, indicating the transport phase is nearly complete. The next action is to lower the cloth to place it onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.27327269315719604, + 0.21564579010009766, + 0.05813935399055481, + -3.0928547382354736, + -0.18373896181583405, + 0.09977735579013824 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "retreat from left burner", + "subtask_reasoning": "The yellow cloth is already placed on the left burner. The robot arm is hovering above it with an open gripper, indicating the placement is complete. The next action is to retreat further away from the stove to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 37, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2668226957321167, + 0.2188856452703476, + 0.07786919176578522, + -3.125431537628174, + -0.1721290946006775, + 0.12211955338716507 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "retreat from left burner", + "subtask_reasoning": "The yellow cloth is already placed on the left burner. The robot arm is hovering above it with an open gripper, indicating the placement is complete. The next action is to retreat further away from the stove to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.26065385341644287, + 0.22221577167510986, + 0.08430221676826477, + 3.127572774887085, + -0.1579768806695938, + 0.16583852469921112 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "reposition above left burner", + "subtask_reasoning": "The robot is positioned above the left burner with the yellow cloth already grasped and held. The cloth has been transported from the right burner and is now hovering over the target location. The next action is to lower and release the cloth onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 39, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.25699883699417114, + 0.2222004532814026, + 0.0876474529504776, + 3.1136491298675537, + -0.15416213870048523, + 0.24861149489879608 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "reposition above left burner", + "subtask_reasoning": "The robot is positioned above the left burner with the yellow cloth already grasped and held. The cloth has been transported from the right burner and is now hovering over the target location. The next action is to lower and release the cloth onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.24680261313915253, + 0.20445984601974487, + 0.08959364891052246, + -3.1398215293884277, + -0.20319797098636627, + 0.3425065577030182 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "final hover over cloth", + "subtask_reasoning": "The robot is positioned above the left burner with the yellow cloth already grasped and held. The cloth has been transported from the right burner and is now hovering over the target location. The next action is to lower and release the cloth onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 41, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.23118126392364502, + 0.18820688128471375, + 0.09258048981428146, + 3.098855972290039, + -0.16696496307849884, + 0.34876295924186707 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "final hover over cloth", + "subtask_reasoning": "The robot's end-effector is hovering directly above the green cloth on the left burner, having completed the transport and placement. The gripper is fully open with no closing evidence in this segment, indicating the cloth has been released. The next action is to retreat to a safe position or terminate the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 41, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.21135126054286957, + 0.18479721248149872, + 0.08911021798849106, + 3.128058433532715, + -0.10075544565916061, + 0.38794568181037903 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green towel": [ + 5, + 222, + 328, + 555 + ], + "can": [ + 530, + 257, + 714, + 584 + ], + "sink": [ + 656, + 492, + 994, + 990 + ], + "red pot": [ + 315, + 184, + 526, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the right burner to the left burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth on right burner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport cloth to left burner" + }, + { + "id": 4, + "subtask": "lower and release cloth on left burner" + }, + { + "id": 5, + "subtask": "retreat from left burner" + }, + { + "id": 6, + "subtask": "reposition above left burner" + }, + { + "id": 7, + "subtask": "final hover over cloth" + } + ], + "subtask_name": "final hover over cloth", + "subtask_reasoning": "The robot's end-effector is hovering directly above the green cloth on the left burner, having completed the transport and placement. The gripper is fully open with no closing evidence in this segment, indicating the cloth has been released. The next action is to retreat to a safe position or terminate the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 41, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003853_ecot.json b/cot/chunk-0003/episode_0003853_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3183a979eae11ed7e5850dbf2f2a1028bbe18d0f --- /dev/null +++ b/cot/chunk-0003/episode_0003853_ecot.json @@ -0,0 +1,2757 @@ +{ + "task_name": "episode_0003853", + "episode_json": "json/chunk-0003/episode_0003853.json", + "video_path": "videos/chunk-0003/image_0/episode_0003853.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003853.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.6148316264152527, + "std": 0.28502175211906433, + "delta_total": -0.0019888877868652344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61483, std=0.28502, total_delta=-0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 235, + 235, + 235, + 235, + 235, + 235, + 235, + 235, + 235 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ], + [ + 2, + 20, + 26 + ], + [ + 3, + 27, + 34 + ], + [ + 4, + 35, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on stapler\", \"start\": 0, \"end\": 19, \"planning\": \"Move end-effector toward the stapler while closing the gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"push stapler leftward\", \"start\": 20, \"end\": 26, \"planning\": \"Maintain closed gripper and push the stapler leftward across the tray to begin gathering beans.\"},\n {\"id\": 3, \"name\": \"reposition and sweep beans rightward\", \"start\": 27, \"end\": 34, \"planning\": \"Rotate and translate the stapler to sweep scattered beans toward the right side of the tray.\"},\n {\"id\": 4, \"name\": \"lift and retreat from pile\", \"start\": 35, \"end\": 43, \"planning\": \"Open gripper, lift end-effector away from the tray, and retreat to final position after completing the sweep.\"}\n ],\n \"global_plan\": \"The robot uses a stapler as a tool to sweep black beans into a pile by first approaching and gripping it, then pushing and sweeping it across the tray, and finally releasing and retreating.\",\n \"notes\": \"Gripper closes meaningfully in Segment 1 (delta=-0.328), remains closed during Segments 2–3 for pushing/sweeping, and opens in Segment 4 (delta=+0.268). Motion and gripper evidence align with contact-based manipulation, not grasping of beans.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on stapler", + "start": 0, + "end": 19, + "planning": "Move end-effector toward the stapler while closing the gripper to prepare for contact." + }, + { + "id": 2, + "name": "push stapler leftward", + "start": 20, + "end": 26, + "planning": "Maintain closed gripper and push the stapler leftward across the tray to begin gathering beans." + }, + { + "id": 3, + "name": "reposition and sweep beans rightward", + "start": 27, + "end": 34, + "planning": "Rotate and translate the stapler to sweep scattered beans toward the right side of the tray." + }, + { + "id": 4, + "name": "lift and retreat from pile", + "start": 35, + "end": 43, + "planning": "Open gripper, lift end-effector away from the tray, and retreat to final position after completing the sweep." + } + ], + "global_plan": "The robot uses a stapler as a tool to sweep black beans into a pile by first approaching and gripping it, then pushing and sweeping it across the tray, and finally releasing and retreating.", + "notes": "Gripper closes meaningfully in Segment 1 (delta=-0.328), remains closed during Segments 2–3 for pushing/sweeping, and opens in Segment 4 (delta=+0.268). Motion and gripper evidence align with contact-based manipulation, not grasping of beans." + } + }, + "episode_goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552483022212982, + 0.09743883460760117, + 0.09559415280818939, + 3.028730630874634, + -0.1009649932384491, + -0.1964014768600464 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35448962450027466, + 0.09527426958084106, + 0.08370933681726456, + 3.007620334625244, + -0.07334254682064056, + -0.19153755903244019 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35688695311546326, + 0.07312936335802078, + 0.08663733303546906, + 2.9867429733276367, + -0.08026424795389175, + -0.20852088928222656 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3590966463088989, + 0.04464893043041229, + 0.109306700527668, + 3.0117311477661133, + -0.12329880148172379, + -0.24244096875190735 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 49, + 275, + 956, + 992 + ], + "blue wall": [ + 1, + 2, + 212, + 425 + ], + "black beads": [ + 191, + 406, + 534, + 695 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35766687989234924, + 0.02858841046690941, + 0.12084336578845978, + 3.023270845413208, + -0.13443689048290253, + -0.2366357296705246 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3560442626476288, + 0.024113759398460388, + 0.12927155196666718, + 3.030358076095581, + -0.14038598537445068, + -0.20994997024536133 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529227077960968, + 0.024928199127316475, + 0.13069114089012146, + 3.0327327251434326, + -0.11257513612508774, + -0.16975153982639313 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526146709918976, + 0.024391381070017815, + 0.1372193992137909, + 3.049715042114258, + -0.12171978503465652, + -0.13504450023174286 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35145267844200134, + 0.022966979071497917, + 0.14168402552604675, + 3.074707508087158, + -0.13118714094161987, + -0.0827941745519638 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a metal stapler. The gripper is currently open and hovering near the stapler, indicating the approach phase is underway. The next action is to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 10 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479166030883789, + 0.011013942770659924, + 0.13178513944149017, + 3.0663788318634033, + -0.11719662696123123, + -0.08032623678445816 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453787565231323, + -0.0007040443015284836, + 0.12479356676340103, + 3.052471876144409, + -0.10992878675460815, + -0.07397651672363281 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473990857601166, + -0.01633998192846775, + 0.1232951432466507, + 3.0487449169158936, + -0.12565645575523376, + -0.08559197187423706 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 9 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3490583896636963, + -0.028587356209754944, + 0.10990544408559799, + 3.0593197345733643, + -0.09667322039604187, + -0.0790010616183281 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 278, + 956, + 992 + ], + "blue wall": [ + 1, + 2, + 233, + 426 + ], + "metal guide": [ + 577, + 505, + 725, + 788 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558535575866699, + -0.03647719696164131, + 0.0976635068655014, + 3.0771241188049316, + -0.07601157575845718, + -0.07231002300977707 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 6 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660908341407776, + -0.04166284576058388, + 0.08630742132663727, + 3.0926997661590576, + -0.06902328878641129, + -0.05066276341676712 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, close gripper; then move back 1 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.371826171875, + -0.041713859885931015, + 0.07360417395830154, + 3.095048189163208, + -0.05421963334083557, + -0.0268429983407259 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then move back 1 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3770748972892761, + -0.04337107390165329, + 0.0599932037293911, + 3.1072404384613037, + -0.02971741184592247, + -0.018418684601783752 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808615803718567, + -0.048467978835105896, + 0.05343068018555641, + 3.107285737991333, + -0.027931788936257362, + -0.0227335337549448 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 12 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3832146227359772, + -0.04828339070081711, + 0.04445454105734825, + 3.1111502647399902, + -0.01577809453010559, + -0.017798027023673058 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 12 cm, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38643044233322144, + -0.053011126816272736, + 0.04389850050210953, + 3.107739210128784, + -0.041677411645650864, + -0.028439944609999657 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "approach and close gripper on stapler", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 12 cm, keep gripper closed; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3852597177028656, + -0.05498101934790611, + 0.03784630075097084, + 3.1049964427948, + -0.05564258620142937, + -0.04248085245490074 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "push stapler leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, keep gripper closed; then move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3836565613746643, + -0.05698884278535843, + 0.03593605011701584, + 3.089937448501587, + -0.06362799555063248, + -0.03587055578827858 + ], + "gripper_value": 0.3875128924846649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "push stapler leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, keep gripper closed; then move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3810635507106781, + -0.0576912946999073, + 0.035883545875549316, + 3.085270643234253, + -0.05998294800519943, + -0.05947016552090645 + ], + "gripper_value": 0.3875128924846649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "push stapler leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray with the stapler visible on the right side. The gripper is currently open and has not yet made contact with the stapler. The next action should be to lower the arm and close the gripper to grasp the stapler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, keep gripper closed; then move back 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37695401906967163, + -0.050917211920022964, + 0.03382366523146629, + 3.1054646968841553, + -0.05181160941720009, + -0.0991096943616867 + ], + "gripper_value": 0.3875128924846649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "push stapler leftward", + "subtask_reasoning": "The robot is gripping the stapler and has begun pushing it leftward across the tray, making contact with scattered black beads. The gripper remains closed and stable, indicating active sweeping motion. Next, continue moving the stapler left to gather more beads into a growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, keep gripper closed; then move back 2 cm, move left 11 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 20, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3759974241256714, + -0.03327525407075882, + 0.03461785614490509, + 3.131615400314331, + -0.05436881259083748, + -0.13755758106708527 + ], + "gripper_value": 0.3875128924846649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "push stapler leftward", + "subtask_reasoning": "The robot is gripping the stapler and has begun pushing it leftward across the tray, making contact with scattered black beads. The gripper remains closed and stable, indicating active sweeping motion. Next, continue moving the stapler left to gather more beads into a growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 11 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37760230898857117, + 0.0006334515055641532, + 0.03527645021677017, + 3.133427858352661, + -0.05351372808218002, + -0.10773052275180817 + ], + "gripper_value": 0.3875128924846649 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 278, + 956, + 992 + ], + "blue wall": [ + 1, + 1, + 248, + 426 + ], + "black beads": [ + 191, + 404, + 533, + 694 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "push stapler leftward", + "subtask_reasoning": "The robot is gripping the stapler and has begun pushing it leftward across the tray, making contact with scattered black beads. The gripper remains closed and stable, indicating active sweeping motion. Next, continue moving the stapler left to gather more beads into a growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, keep gripper closed; then move back 1 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37782108783721924, + 0.03886270523071289, + 0.03676875680685043, + 3.1394424438476562, + -0.05945315212011337, + -0.054285649210214615 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 49, + 277, + 956, + 991 + ], + "blue wall": [ + 1, + 1, + 240, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "push stapler leftward", + "subtask_reasoning": "The robot is gripping the stapler and has begun pushing it leftward across the tray, making contact with scattered black beads. The gripper remains closed and stable, indicating active sweeping motion. Next, continue moving the stapler left to gather more beads into a growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed; then move back 1 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3783973455429077, + 0.06586934626102448, + 0.03741646930575371, + -3.1292307376861572, + -0.05383972451090813, + -0.030236925929784775 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "reposition and sweep beans rightward", + "subtask_reasoning": "The robot is gripping the stapler and has begun pushing it leftward across the tray, making contact with scattered black beads. The gripper remains closed and stable, indicating active sweeping motion. Next, continue moving the stapler left to gather more beads into a growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808935582637787, + 0.07593535631895065, + 0.03775552287697792, + -3.1100242137908936, + -0.04788046330213547, + -0.0410163551568985 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "reposition and sweep beans rightward", + "subtask_reasoning": "The robot is gripping the stapler and has begun pushing it leftward across the tray, making contact with scattered black beads. The gripper remains closed and stable, indicating active sweeping motion. Next, continue moving the stapler left to gather more beads into a growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.37899377942085266, + 0.10014195740222931, + 0.03862989321351051, + -3.101794719696045, + -0.04044744744896889, + -0.012840845622122288 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "reposition and sweep beans rightward", + "subtask_reasoning": "The robot is gripping the stapler and has begun pushing it leftward across the tray, making contact with scattered black beads. The gripper remains closed and stable, indicating active sweeping motion. Next, continue moving the stapler left to gather more beads into a growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3777962028980255, + 0.12293800711631775, + 0.039170537143945694, + -3.098362445831299, + -0.03520597144961357, + 0.006283401977270842 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "reposition and sweep beans rightward", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3734481930732727, + 0.14119021594524384, + 0.03992200270295143, + -3.107285261154175, + -0.03394774720072746, + 0.029965437948703766 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "reposition and sweep beans rightward", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.36484161019325256, + 0.1652110517024994, + 0.04039373621344566, + -3.1184017658233643, + -0.027504459023475647, + 0.07043812423944473 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "reposition and sweep beans rightward", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, open gripper; then move forward 2 cm, move right 7 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626960515975952, + 0.17358942329883575, + 0.04380551725625992, + -3.1287074089050293, + -0.03448785841464996, + 0.08874868601560593 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "reposition and sweep beans rightward", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.36340829730033875, + 0.1767466813325882, + 0.04640202969312668, + -3.141422748565674, + -0.042750533670186996, + 0.08974171429872513 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "reposition and sweep beans rightward", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638134300708771, + 0.1693042665719986, + 0.046880241483449936, + 3.0988333225250244, + -0.03974253311753273, + 0.06920809298753738 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3705168664455414, + 0.15913262963294983, + 0.05315998196601868, + 3.0337166786193848, + -0.062229521572589874, + 0.06879524141550064 + ], + "gripper_value": 0.9816622138023376 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3728159964084625, + 0.15161152184009552, + 0.059526968747377396, + 2.999011278152466, + -0.0774666890501976, + 0.07149721682071686 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.37605711817741394, + 0.14756068587303162, + 0.07962899655103683, + 3.002096176147461, + -0.10962802916765213, + 0.06977850943803787 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot is holding the stapler and has already pushed beads leftward; currently, the stapler is positioned near the bead cluster on the tray. The next action is to reposition the stapler and sweep the beads rightward to consolidate them into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.37836524844169617, + 0.13753189146518707, + 0.09025751799345016, + 3.0029139518737793, + -0.11623875796794891, + 0.05049917846918106 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot has successfully swept the black beads into a compact pile on the left side of the tray using the stapler. The gripper is currently open and positioned above the tool, indicating the sweeping action is complete. The next step is to lift the end-effector and retreat from the pile to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.38052016496658325, + 0.12771306931972504, + 0.10793927311897278, + 3.0069236755371094, + -0.1484050154685974, + 0.02497606724500656 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot has successfully swept the black beads into a compact pile on the left side of the tray using the stapler. The gripper is currently open and positioned above the tool, indicating the sweeping action is complete. The next step is to lift the end-effector and retreat from the pile to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821026682853699, + 0.10906943678855896, + 0.11797496676445007, + 2.9969422817230225, + -0.15554092824459076, + -0.028837695717811584 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot has successfully swept the black beads into a compact pile on the left side of the tray using the stapler. The gripper is currently open and positioned above the tool, indicating the sweeping action is complete. The next step is to lift the end-effector and retreat from the pile to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.38366255164146423, + 0.09459628164768219, + 0.13759349286556244, + 3.0056986808776855, + -0.20604057610034943, + -0.07795247435569763 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 286, + 957, + 991 + ], + "blue wall": [ + 1, + 1, + 249, + 424 + ], + "metal guide": [ + 181, + 375, + 387, + 593 + ], + "black beads": [ + 411, + 385, + 501, + 475 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot has successfully swept the black beads into a compact pile on the left side of the tray using the stapler. The gripper is currently open and positioned above the tool, indicating the sweeping action is complete. The next step is to lift the end-effector and retreat from the pile to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3776836693286896, + 0.089462511241436, + 0.13460330665111542, + 3.0007083415985107, + -0.19082972407341003, + -0.09655512869358063 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beads on the white tray into a compact pile using the metal tool, starting from their initial dispersed state and ending with them clustered together near the tool's final position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on stapler" + }, + { + "id": 2, + "subtask": "push stapler leftward" + }, + { + "id": 3, + "subtask": "reposition and sweep beans rightward" + }, + { + "id": 4, + "subtask": "lift and retreat from pile" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot has successfully swept the black beads into a compact pile on the left side of the tray using the stapler. The gripper is currently open and positioned above the tool, indicating the sweeping action is complete. The next step is to lift the end-effector and retreat from the pile to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003854_ecot.json b/cot/chunk-0003/episode_0003854_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..251a70fb1d6be968147090706a9fa89637edf8ec --- /dev/null +++ b/cot/chunk-0003/episode_0003854_ecot.json @@ -0,0 +1,2201 @@ +{ + "task_name": "episode_0003854", + "episode_json": "json/chunk-0003/episode_0003854.json", + "video_path": "videos/chunk-0003/image_0/episode_0003854.mp4", + "instruction": "Place the sushi on top of the towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003854.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.5803911685943604, + "std": 0.2722020447254181, + "delta_total": 0.0019888877868652344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.58039, std=0.27220, total_delta=0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 312, + 312, + 312, + 312, + 312, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 26 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 7 + ], + [ + 4, + 8, + 11 + ], + [ + 5, + 12, + 16 + ], + [ + 6, + 17, + 25 + ], + [ + 7, + 26, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sushi\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector toward the sushi roll on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp sushi\", \"start\": 8, \"end\": 16, \"planning\": \"Close the gripper around the sushi roll and lift it slightly, confirmed by gripper closure and upward motion.\"},\n {\"id\": 3, \"name\": \"transport sushi over towel\", \"start\": 17, \"end\": 25, \"planning\": \"Carry the grasped sushi roll horizontally toward the blue towel while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place sushi on towel\", \"start\": 26, \"end\": 33, \"planning\": \"Lower the sushi onto the towel and release the gripper to complete placement, as shown by gripper opening and final position.\"}\n ],\n \"global_plan\": \"Approach the sushi, grasp it securely, transport it over the towel, then place and release it on top of the towel.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 5 and 7, supporting grasp and release actions. Segments 1–4 show no gripper closure, so only approach and contact-based terms are used there. Frame coverage is contiguous and complete from 0 to 33.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sushi", + "start": 0, + "end": 7, + "planning": "Move the end-effector toward the sushi roll on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp sushi", + "start": 8, + "end": 16, + "planning": "Close the gripper around the sushi roll and lift it slightly, confirmed by gripper closure and upward motion." + }, + { + "id": 3, + "name": "transport sushi over towel", + "start": 17, + "end": 25, + "planning": "Carry the grasped sushi roll horizontally toward the blue towel while maintaining grip." + }, + { + "id": 4, + "name": "place sushi on towel", + "start": 26, + "end": 33, + "planning": "Lower the sushi onto the towel and release the gripper to complete placement, as shown by gripper opening and final position." + } + ], + "global_plan": "Approach the sushi, grasp it securely, transport it over the towel, then place and release it on top of the towel.", + "notes": "Gripper evidence confirms meaningful closing in segments 5 and 7, supporting grasp and release actions. Segments 1–4 show no gripper closure, so only approach and contact-based terms are used there. Frame coverage is contiguous and complete from 0 to 33." + } + }, + "episode_goal": "Place the sushi on top of the towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2833964228630066, + 0.13986359536647797, + 0.13395190238952637, + -3.026988983154297, + -0.23825259506702423, + 0.09516061097383499 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the wooden table with the sushi roll visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the sushi roll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28086546063423157, + 0.13865701854228973, + 0.12243445962667465, + -3.0397729873657227, + -0.2018934190273285, + 0.09497490525245667 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the wooden table with the sushi roll visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the sushi roll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26576390862464905, + 0.1659117341041565, + 0.1202554851770401, + -3.0137929916381836, + -0.19053442776203156, + 0.1382751166820526 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the wooden table with the sushi roll visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the sushi roll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2588334381580353, + 0.1806521862745285, + 0.10875937342643738, + -2.99273943901062, + -0.17248593270778656, + 0.18844832479953766 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 211, + 330, + 282, + 581 + ], + "blue cloth": [ + 319, + 249, + 557, + 477 + ], + "wooden countertop": [ + 5, + 186, + 855, + 989 + ], + "metal pot": [ + 504, + 371, + 853, + 633 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25332245230674744, + 0.19350357353687286, + 0.10050594061613083, + -2.9888579845428467, + -0.17287024855613708, + 0.244560107588768 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2491421103477478, + 0.19251401722431183, + 0.07576818019151688, + -2.993100166320801, + -0.15836259722709656, + 0.2618744671344757 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, keep gripper open; then move right 1 cm, move up 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.244792178273201, + 0.19124355912208557, + 0.059596285223960876, + -2.991877794265747, + -0.15027038753032684, + 0.27607396245002747 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23786228895187378, + 0.19168969988822937, + 0.04443894326686859, + -2.971940279006958, + -0.1145164743065834, + 0.27538785338401794 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 2 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23788945376873016, + 0.19316893815994263, + 0.030219703912734985, + -2.950817823410034, + -0.08709650486707687, + 0.2615486681461334 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2391899675130844, + 0.19538094103336334, + 0.02570759505033493, + -2.944880485534668, + -0.09331712871789932, + 0.26546746492385864 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24068580567836761, + 0.19756676256656647, + 0.020024335011839867, + -2.94976806640625, + -0.10252783447504044, + 0.2636866867542267 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24110417068004608, + 0.19704309105873108, + 0.0201107207685709, + -2.9580702781677246, + -0.10553882271051407, + 0.27465441823005676 + ], + "gripper_value": 0.6541022062301636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the table with the sushi visible on the left and the blue towel in the center. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The next step is to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24063871800899506, + 0.19631458818912506, + 0.019970472902059555, + -2.9573605060577393, + -0.10343506187200546, + 0.2705068290233612 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23787237703800201, + 0.1938473880290985, + 0.020259849727153778, + -2.9631009101867676, + -0.09980970621109009, + 0.262365460395813 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23770000040531158, + 0.19004544615745544, + 0.032716475427150726, + -2.9776415824890137, + -0.12423025816679001, + 0.2633727788925171 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 8 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2379685640335083, + 0.186343714594841, + 0.06156335026025772, + -3.0064854621887207, + -0.18755190074443817, + 0.286603182554245 + ], + "gripper_value": 0.431998074054718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 4 cm, keep gripper closed; then move forward 12 cm, move right 8 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24336443841457367, + 0.17976127564907074, + 0.08948061615228653, + -3.031637668609619, + -0.2524535059928894, + 0.31026262044906616 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 210, + 329, + 283, + 580 + ], + "blue cloth": [ + 319, + 249, + 557, + 477 + ], + "wooden countertop": [ + 5, + 187, + 856, + 986 + ], + "metal pot": [ + 505, + 371, + 854, + 633 + ], + "black camera": [ + 2, + 7, + 174, + 401 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 12 cm, move right 8 cm, move down 8 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26065969467163086, + 0.155649334192276, + 0.09834460914134979, + -3.0655744075775146, + -0.2673736810684204, + 0.27529799938201904 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 8 cm, move down 8 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2814636826515198, + 0.13446617126464844, + 0.10826843231916428, + -3.068195104598999, + -0.2969684898853302, + 0.2380663901567459 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move down 9 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2994772493839264, + 0.11704718321561813, + 0.1104208379983902, + -3.0764715671539307, + -0.3085480332374573, + 0.21112871170043945 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 9 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31681424379348755, + 0.10293418169021606, + 0.09831518679857254, + -3.076897144317627, + -0.2928068935871124, + 0.1854081153869629 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is positioned near the sushi on the wooden table, with the towel visible in the background. The approach phase is complete, and the gripper is closing around the sushi as indicated by the decreasing gripper value. The next action is to secure the grasp on the sushi before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 8 cm, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3345631957054138, + 0.09375660121440887, + 0.07929802685976028, + -3.0766289234161377, + -0.26925036311149597, + 0.1643638163805008 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 211, + 329, + 283, + 582 + ], + "blue cloth": [ + 319, + 251, + 556, + 477 + ], + "wooden countertop": [ + 5, + 195, + 854, + 987 + ], + "metal pot": [ + 505, + 371, + 854, + 633 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is currently moving the end-effector over the blue towel, having already approached and grasped the sushi. Since the gripper signal remains constant, the robot is maintaining its hold while transporting the object. The next action is to continue moving until positioned directly above the towel to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, open gripper; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34986409544944763, + 0.09172012656927109, + 0.06349014490842819, + -3.1000919342041016, + -0.25438258051872253, + 0.18008656799793243 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is currently moving the end-effector over the blue towel, having already approached and grasped the sushi. Since the gripper signal remains constant, the robot is maintaining its hold while transporting the object. The next action is to continue moving until positioned directly above the towel to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, open gripper; then move back 2 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36301055550575256, + 0.08334717154502869, + 0.0464656837284565, + -3.083901882171631, + -0.237374410033226, + 0.14796575903892517 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is currently moving the end-effector over the blue towel, having already approached and grasped the sushi. Since the gripper signal remains constant, the robot is maintaining its hold while transporting the object. The next action is to continue moving until positioned directly above the towel to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move back 3 cm, move left 1 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3715773820877075, + 0.07946904748678207, + 0.03502875566482544, + -3.0773086547851562, + -0.22713425755500793, + 0.13789737224578857 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is currently moving the end-effector over the blue towel, having already approached and grasped the sushi. Since the gripper signal remains constant, the robot is maintaining its hold while transporting the object. The next action is to continue moving until positioned directly above the towel to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 3 cm, move left 1 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3762761354446411, + 0.07734508067369461, + 0.02288201078772545, + -3.0925614833831787, + -0.2101689875125885, + 0.13342273235321045 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "transport sushi over towel", + "subtask_reasoning": "The robot is currently moving the end-effector over the blue towel, having already approached and grasped the sushi. Since the gripper signal remains constant, the robot is maintaining its hold while transporting the object. The next action is to continue moving until positioned directly above the towel to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 3 cm, move left 1 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37649357318878174, + 0.07579855620861053, + 0.022509722039103508, + -3.06827712059021, + -0.20820488035678864, + 0.1323346048593521 + ], + "gripper_value": 0.5071992874145508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "place sushi on towel", + "subtask_reasoning": "The robot is currently moving the end-effector over the blue towel, having already approached and grasped the sushi. Since the gripper signal remains constant, the robot is maintaining its hold while transporting the object. The next action is to continue moving until positioned directly above the towel to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726765811443329, + 0.07835973054170609, + 0.019550848752260208, + -3.0504865646362305, + -0.1787514090538025, + 0.1387944370508194 + ], + "gripper_value": 0.7960459589958191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "place sushi on towel", + "subtask_reasoning": "The robot is currently moving the end-effector over the blue towel, having already approached and grasped the sushi. Since the gripper signal remains constant, the robot is maintaining its hold while transporting the object. The next action is to continue moving until positioned directly above the towel to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3712661862373352, + 0.07878553122282028, + 0.019091615453362465, + -3.0496487617492676, + -0.16981150209903717, + 0.15664538741111755 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "place sushi on towel", + "subtask_reasoning": "The robot is currently moving the end-effector over the blue towel, having already approached and grasped the sushi. Since the gripper signal remains constant, the robot is maintaining its hold while transporting the object. The next action is to continue moving until positioned directly above the towel to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692449629306793, + 0.0779021754860878, + 0.01952292211353779, + -3.054985284805298, + -0.15975220501422882, + 0.1683013141155243 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "place sushi on towel", + "subtask_reasoning": "The sushi is currently held above the blue towel, with the gripper open and positioned for release. The approach and transport phases are complete, and the robot is now in the final placement stage. The next action is to lower the sushi onto the towel and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3686985671520233, + 0.07673539221286774, + 0.02808881178498268, + -3.0735273361206055, + -0.16646414995193481, + 0.17850247025489807 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "place sushi on towel", + "subtask_reasoning": "The sushi is currently held above the blue towel, with the gripper open and positioned for release. The approach and transport phases are complete, and the robot is now in the final placement stage. The next action is to lower the sushi onto the towel and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3688587248325348, + 0.07912218570709229, + 0.057903412729501724, + -3.086963653564453, + -0.22199629247188568, + 0.18511247634887695 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "place sushi on towel", + "subtask_reasoning": "The sushi is currently held above the blue towel, with the gripper open and positioned for release. The approach and transport phases are complete, and the robot is now in the final placement stage. The next action is to lower the sushi onto the towel and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.36132577061653137, + 0.08228837698698044, + 0.0861358642578125, + -3.1235694885253906, + -0.25475722551345825, + 0.21552850306034088 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "place sushi on towel", + "subtask_reasoning": "The sushi is currently held above the blue towel, with the gripper open and positioned for release. The approach and transport phases are complete, and the robot is now in the final placement stage. The next action is to lower the sushi onto the towel and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34949859976768494, + 0.09025394171476364, + 0.11156495660543442, + -3.1318199634552, + -0.2898387312889099, + 0.23717916011810303 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 210, + 328, + 284, + 582 + ], + "blue cloth": [ + 317, + 249, + 557, + 476 + ], + "wooden countertop": [ + 5, + 185, + 856, + 988 + ], + "grey cabinet": [ + 103, + 639, + 697, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi on top of the towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "transport sushi over towel" + }, + { + "id": 4, + "subtask": "place sushi on towel" + } + ], + "subtask_name": "place sushi on towel", + "subtask_reasoning": "The sushi is currently held above the blue towel, with the gripper open and positioned for release. The approach and transport phases are complete, and the robot is now in the final placement stage. The next action is to lower the sushi onto the towel and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003855_ecot.json b/cot/chunk-0003/episode_0003855_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..594fd4b4d8f1e48727796e2ca9afaf40fd17c32d --- /dev/null +++ b/cot/chunk-0003/episode_0003855_ecot.json @@ -0,0 +1,1228 @@ +{ + "task_name": "episode_0003855", + "episode_json": "json/chunk-0003/episode_0003855.json", + "video_path": "videos/chunk-0003/image_0/episode_0003855.mp4", + "instruction": "Flip pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003855.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9325680732727051, + "std": 0.3428817391395569, + "delta_total": -0.9325680732727051, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93257, std=0.34288, total_delta=-0.93257). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 116, + 116, + 116, + 116 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 15 + ], + [ + 3, + 16, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot in sink\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector down toward the overturned pot in the sink without grasping.\"},\n {\"id\": 2, \"name\": \"grasp pot rim\", \"start\": 3, \"end\": 15, \"planning\": \"Close gripper around the pot's rim and begin lifting/rotating it upright.\"},\n {\"id\": 3, \"name\": \"complete flip and release\", \"start\": 16, \"end\": 19, \"planning\": \"Finish rotating pot to upright position and release grip as pot settles in sink.\"}\n ],\n \"global_plan\": \"Approach the overturned pot in the sink, grasp its rim, rotate it upright while maintaining grip, then release once stable.\",\n \"notes\": \"Segment 1 shows no meaningful gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing (delta=-0.47) consistent with grasping during rotation. Segment 3 continues gripper closure and final release as pot stabilizes upright.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot in sink", + "start": 0, + "end": 2, + "planning": "Move end-effector down toward the overturned pot in the sink without grasping." + }, + { + "id": 2, + "name": "grasp pot rim", + "start": 3, + "end": 15, + "planning": "Close gripper around the pot's rim and begin lifting/rotating it upright." + }, + { + "id": 3, + "name": "complete flip and release", + "start": 16, + "end": 19, + "planning": "Finish rotating pot to upright position and release grip as pot settles in sink." + } + ], + "global_plan": "Approach the overturned pot in the sink, grasp its rim, rotate it upright while maintaining grip, then release once stable.", + "notes": "Segment 1 shows no meaningful gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing (delta=-0.47) consistent with grasping during rotation. Segment 3 continues gripper closure and final release as pot stabilizes upright." + } + }, + "episode_goal": "Flip the pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31808337569236755, + 0.0037897855509072542, + 0.0431949608027935, + -3.051478862762451, + -0.0997340977191925, + 0.4240560233592987 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the overturned pot visible below. The gripper is open and not yet in contact with the pot. The next action should involve lowering the arm to approach and make contact with the pot's rim for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30984583497047424, + 0.008393049240112305, + 0.025859462097287178, + -3.0518276691436768, + -0.08728524297475815, + 0.4250647723674774 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies next to a purple scrubber. The gripper is currently open and hovering near the target object, indicating the approach phase is underway. The next action is to lower the arm and align the gripper with the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069063425064087, + 0.012150926515460014, + 0.021146630868315697, + -3.096897602081299, + -0.13128437101840973, + 0.44219088554382324 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies next to a purple scrubber. The gripper is currently open and hovering near the target object, indicating the approach phase is underway. The next action is to lower the arm and align the gripper with the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 2 cm, move down 2 cm, tilt right 30 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046654164791107, + 0.012722043320536613, + 0.018485961481928825, + 3.115086078643799, + -0.16433240473270416, + 0.47021734714508057 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies next to a purple scrubber. The gripper is currently open and hovering near the target object, indicating the approach phase is underway. The next action is to lower the arm and align the gripper with the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, tilt right 30 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3025224208831787, + 0.016631511971354485, + 0.014642666094005108, + 2.9960343837738037, + -0.16295912861824036, + 0.49292775988578796 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies next to a purple scrubber. The gripper is currently open and hovering near the target object, indicating the approach phase is underway. The next action is to lower the arm and align the gripper with the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 2 cm, tilt right 30 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30424630641937256, + 0.027338998392224312, + 0.016339315101504326, + 2.8480281829833984, + -0.15098778903484344, + 0.542844831943512 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped object": [ + 683, + 557, + 804, + 702 + ], + "green plate": [ + 1, + 142, + 93, + 281 + ], + "faucet": [ + 597, + 12, + 821, + 403 + ], + "pot": [ + 137, + 196, + 366, + 435 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies next to a purple scrubber. The gripper is currently open and hovering near the target object, indicating the approach phase is underway. The next action is to lower the arm and align the gripper with the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 2 cm, tilt right 20 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076856732368469, + 0.028042197227478027, + 0.02201528288424015, + 2.7256593704223633, + -0.1218760535120964, + 0.5962939262390137 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies next to a purple scrubber. The gripper is currently open and hovering near the target object, indicating the approach phase is underway. The next action is to lower the arm and align the gripper with the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 2 cm, tilt right 20 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31001749634742737, + 0.021929055452346802, + 0.022941168397665024, + 2.6497578620910645, + -0.10061876475811005, + 0.6385686993598938 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies next to a purple scrubber. The gripper is currently open and hovering near the target object, indicating the approach phase is underway. The next action is to lower the arm and align the gripper with the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31264781951904297, + 0.020010551437735558, + 0.019956590607762337, + 2.6177456378936768, + -0.11327630281448364, + 0.6633091568946838 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies next to a purple scrubber. The gripper is currently open and hovering near the target object, indicating the approach phase is underway. The next action is to lower the arm and align the gripper with the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131738603115082, + 0.016294479370117188, + 0.014126201160252094, + 2.580723762512207, + -0.10860065370798111, + 0.6833485960960388 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper open and aligned to the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3151014745235443, + 0.014673992060124874, + 0.010540975257754326, + 2.556422710418701, + -0.10423707216978073, + 0.7165565490722656 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper open and aligned to the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203391134738922, + 0.0076086618937551975, + 0.0068993172608315945, + 2.5314948558807373, + -0.11664475500583649, + 0.7324734926223755 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper open and aligned to the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32627829909324646, + -0.0028231078758835793, + 0.0018750462913885713, + 2.501087188720703, + -0.12057626992464066, + 0.7409290075302124 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper open and aligned to the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, close gripper; then move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32953956723213196, + -0.0090629355981946, + -0.002187405712902546, + 2.477989912033081, + -0.10997561365365982, + 0.7550816535949707 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper open and aligned to the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33445194363594055, + -0.015573330223560333, + -0.0017343744402751327, + 2.446511745452881, + -0.10266119986772537, + 0.7818325757980347 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper open and aligned to the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33830726146698, + -0.019054893404245377, + -0.00015695330512244254, + 2.4383034706115723, + -0.11236941814422607, + 0.7829039692878723 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper open and aligned to the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33927780389785767, + -0.022409480065107346, + 0.0018020455026999116, + 2.431302547454834, + -0.11209630966186523, + 0.7494814991950989 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper open and aligned to the pot's rim. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33515775203704834, + -0.0219882782548666, + -0.0023896812926977873, + 2.470691680908203, + -0.08907516300678253, + 0.7237905263900757 + ], + "gripper_value": 0.15769577026367188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The robot is holding the pot in the sink, which is currently tilted on its side. The gripper signal indicates an active grasp is maintained to control the object. The next action is to rotate the pot to an upright position and release it once stable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33323898911476135, + -0.020054113119840622, + -0.0039007889572530985, + 2.60276198387146, + -0.06204930320382118, + 0.6455273628234863 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The robot is holding the pot in the sink, which is currently tilted on its side. The gripper signal indicates an active grasp is maintained to control the object. The next action is to rotate the pot to an upright position and release it once stable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3293735086917877, + -0.011979099363088608, + -0.006468808278441429, + 2.770020008087158, + -0.07510047405958176, + 0.5519895553588867 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 1, + 142, + 93, + 282 + ], + "metal bowl": [ + 420, + 485, + 651, + 723 + ], + "purple striped object": [ + 682, + 556, + 802, + 702 + ], + "metal lid": [ + 165, + 200, + 350, + 359 + ], + "faucet": [ + 635, + 8, + 818, + 362 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The robot is holding the pot in the sink, which is currently tilted on its side. The gripper signal indicates an active grasp is maintained to control the object. The next action is to rotate the pot to an upright position and release it once stable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003857_ecot.json b/cot/chunk-0003/episode_0003857_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a70d24ff6b2b5c858a0b61efbb43fb98ba7ebd --- /dev/null +++ b/cot/chunk-0003/episode_0003857_ecot.json @@ -0,0 +1,3003 @@ +{ + "task_name": "episode_0003857", + "episode_json": "json/chunk-0003/episode_0003857.json", + "video_path": "videos/chunk-0003/image_0/episode_0003857.mp4", + "instruction": "Take the sushi to the faucet base.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003857.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4506203532218933, + "std": 0.21225422620773315, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45062, std=0.21225, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 38 + ], + [ + 2, + 39, + 41 + ], + [ + 3, + 42, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sushi\", \"start\": 0, \"end\": 18, \"planning\": \"Move the end-effector toward the sushi in the sink basin while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp sushi\", \"start\": 19, \"end\": 25, \"planning\": \"Close the gripper around the sushi to secure it for transport, as evidenced by the significant drop in gripper value.\"},\n {\"id\": 3, \"name\": \"lift and reposition sushi\", \"start\": 26, \"end\": 38, \"planning\": \"Lift the grasped sushi and maneuver it toward the faucet base area, adjusting orientation as needed.\"},\n {\"id\": 4, \"name\": \"place sushi at faucet base\", \"start\": 39, \"end\": 41, \"planning\": \"Lower the sushi onto the faucet base platform and release contact by opening the gripper.\"},\n {\"id\": 5, \"name\": \"retreat from placement\", \"start\": 42, \"end\": 44, \"planning\": \"Withdraw the end-effector away from the placed sushi to complete the task without disturbance.\"}\n ],\n \"global_plan\": \"Approach the sushi in the sink, grasp it securely, lift and carry it to the faucet base, place it precisely on the base, then retreat to finish.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=0.45) between frames 0–38, supporting 'grasp' wording during mid-segment; Segments 2 and 3 show no gripper change, so actions are described as placing and retreating without grasping. Frame boundaries respect contiguous coverage and observed motion phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sushi", + "start": 0, + "end": 18, + "planning": "Move the end-effector toward the sushi in the sink basin while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp sushi", + "start": 19, + "end": 25, + "planning": "Close the gripper around the sushi to secure it for transport, as evidenced by the significant drop in gripper value." + }, + { + "id": 3, + "name": "lift and reposition sushi", + "start": 26, + "end": 38, + "planning": "Lift the grasped sushi and maneuver it toward the faucet base area, adjusting orientation as needed." + }, + { + "id": 4, + "name": "place sushi at faucet base", + "start": 39, + "end": 41, + "planning": "Lower the sushi onto the faucet base platform and release contact by opening the gripper." + }, + { + "id": 5, + "name": "retreat from placement", + "start": 42, + "end": 44, + "planning": "Withdraw the end-effector away from the placed sushi to complete the task without disturbance." + } + ], + "global_plan": "Approach the sushi in the sink, grasp it securely, lift and carry it to the faucet base, place it precisely on the base, then retreat to finish.", + "notes": "Segment 1 shows meaningful gripper closing (delta=0.45) between frames 0–38, supporting 'grasp' wording during mid-segment; Segments 2 and 3 show no gripper change, so actions are described as placing and retreating without grasping. Frame boundaries respect contiguous coverage and observed motion phases." + } + }, + "episode_goal": "Place the sushi on the base of the faucet.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2258508950471878, + -0.046013716608285904, + 0.13419127464294434, + -3.0596394538879395, + -0.20479382574558258, + -0.5069028735160828 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below, and the gripper is open. The subtask to approach the sushi is in progress as the arm moves toward the target. The next action is to continue lowering and aligning the gripper to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2229839265346527, + -0.04539403319358826, + 0.1287240833044052, + -3.0653464794158936, + -0.18728582561016083, + -0.5043585300445557 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below, and the gripper is open. The subtask to approach the sushi is in progress as the arm moves toward the target. The next action is to continue lowering and aligning the gripper to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2205284684896469, + -0.05088816210627556, + 0.1231042891740799, + -3.055528402328491, + -0.18935780227184296, + -0.5366621613502502 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below, and the gripper is open. The subtask to approach the sushi is in progress as the arm moves toward the target. The next action is to continue lowering and aligning the gripper to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2177543342113495, + -0.05425521358847618, + 0.11445002257823944, + -3.0454487800598145, + -0.18875139951705933, + -0.5520939826965332 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below, and the gripper is open. The subtask to approach the sushi is in progress as the arm moves toward the target. The next action is to continue lowering and aligning the gripper to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21896234154701233, + -0.057610705494880676, + 0.09991845488548279, + -3.0632851123809814, + -0.19948048889636993, + -0.561551034450531 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below, and the gripper is open. The subtask to approach the sushi is in progress as the arm moves toward the target. 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The next action is to continue lowering the arm to make contact with the sushi for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move left 2 cm, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25749513506889343, + -0.08780843764543533, + 0.13985925912857056, + -3.0102803707122803, + -0.4208577573299408, + -0.5209376811981201 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bowl": [ + 315, + 194, + 528, + 385 + ], + "dish rack": [ + 108, + 66, + 615, + 515 + ], + "brush": [ + 736, + 629, + 993, + 848 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the sink with the sushi visible below. The gripper is open and approaching the sushi, indicating the approach phase is underway. The next action is to continue lowering the arm to make contact with the sushi for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 4 cm, move left 2 cm, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27163153886795044, + -0.08920420706272125, + 0.14289312064647675, + -2.9899871349334717, + -0.44997695088386536, + -0.47541141510009766 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the sink with the sushi visible below. The gripper is open and approaching the sushi, indicating the approach phase is underway. The next action is to continue lowering the arm to make contact with the sushi for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, rotate clockwise 20 degrees, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2830888330936432, + -0.08910731971263885, + 0.1452152580022812, + -2.9868967533111572, + -0.49592265486717224, + -0.41684481501579285 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the sink with the sushi visible below. The gripper is open and approaching the sushi, indicating the approach phase is underway. The next action is to continue lowering the arm to make contact with the sushi for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, rotate clockwise 20 degrees, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28940528631210327, + -0.08546743541955948, + 0.13994479179382324, + -3.0112311840057373, + -0.5095825791358948, + -0.345468670129776 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the sink with the sushi visible below. The gripper is open and approaching the sushi, indicating the approach phase is underway. The next action is to continue lowering the arm to make contact with the sushi for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29408714175224304, + -0.08097223937511444, + 0.14028812944889069, + -3.0579123497009277, + -0.5313493609428406, + -0.2621769905090332 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040882349014282, + -0.07392014563083649, + 0.14426419138908386, + -3.0983214378356934, + -0.5478711724281311, + -0.18158096075057983 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, open gripper; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30776888132095337, + -0.06847559660673141, + 0.14615897834300995, + -3.110234498977661, + -0.5316972732543945, + -0.11214438080787659 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move back 3 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109666109085083, + -0.06506312638521194, + 0.1466008871793747, + -3.1309401988983154, + -0.5291021466255188, + -0.0732547715306282 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31326571106910706, + -0.06551960855722427, + 0.1446823924779892, + -3.1253585815429688, + -0.5238437652587891, + -0.08566829562187195 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3130737245082855, + -0.0661257952451706, + 0.14459171891212463, + -3.116914987564087, + -0.5223994851112366, + -0.11042242497205734 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3112485110759735, + -0.06562083214521408, + 0.13988152146339417, + -3.113290309906006, + -0.49957332015037537, + -0.1115373969078064 + ], + "gripper_value": 0.8740299344062805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3097798228263855, + -0.06657948344945908, + 0.1387307345867157, + -3.112659215927124, + -0.4892022907733917, + -0.1124853864312172 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105927109718323, + -0.06728724390268326, + 0.13911734521389008, + -3.1022236347198486, + -0.4984731078147888, + -0.11830142140388489 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31006503105163574, + -0.06571711599826813, + 0.14014869928359985, + -3.08817195892334, + -0.5008781552314758, + -0.12000110745429993 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot is positioned above the sink with the sushi visible below. The approach phase is complete, but the gripper remains open with no closing evidence in this segment. The next action is to lower the end-effector to make contact with the sushi before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003324866294861, + -0.06072932109236717, + 0.14695003628730774, + -3.0828020572662354, + -0.4933476150035858, + -0.104032963514328 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot has approached and grasped the sushi in the sink, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector positioned above the sink, likely holding the sushi. The next action is to lift the sushi slightly and begin repositioning it toward the faucet base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2917698323726654, + -0.05596321448683739, + 0.14393411576747894, + -3.0737807750701904, + -0.4729421138763428, + -0.08404029905796051 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bowl": [ + 314, + 195, + 527, + 386 + ], + "brush": [ + 735, + 624, + 993, + 848 + ], + "faucet": [ + 562, + 11, + 888, + 361 + ], + "dish rack": [ + 107, + 64, + 606, + 514 + ], + "spoon": [ + 263, + 304, + 387, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot has approached and grasped the sushi in the sink, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector positioned above the sink, likely holding the sushi. The next action is to lift the sushi slightly and begin repositioning it toward the faucet base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, tilt right 10 degrees, keep gripper open; then move back 5 cm, move down 1 cm, keep gripper open; then move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824195623397827, + -0.05451536551117897, + 0.14691293239593506, + -3.0904016494750977, + -0.47454333305358887, + -0.06339972466230392 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot has approached and grasped the sushi in the sink, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector positioned above the sink, likely holding the sushi. The next action is to lift the sushi slightly and begin repositioning it toward the faucet base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, tilt right 10 degrees, keep gripper open; then move back 5 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2757883071899414, + -0.055019181221723557, + 0.1466030478477478, + -3.0877740383148193, + -0.4535767734050751, + -0.05458717793226242 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot has approached and grasped the sushi in the sink, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector positioned above the sink, likely holding the sushi. The next action is to lift the sushi slightly and begin repositioning it toward the faucet base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, tilt right 10 degrees, keep gripper open; then move back 5 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.270586222410202, + -0.05635474622249603, + 0.1464885026216507, + -3.105602502822876, + -0.42994803190231323, + -0.04233274236321449 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot has approached and grasped the sushi in the sink, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector positioned above the sink, likely holding the sushi. The next action is to lift the sushi slightly and begin repositioning it toward the faucet base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, tilt right 10 degrees, keep gripper open; then move back 5 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2576826214790344, + -0.05087744817137718, + 0.15311501920223236, + -3.1184394359588623, + -0.42402809858322144, + -0.024913599714636803 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot has approached and grasped the sushi in the sink, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector positioned above the sink, likely holding the sushi. The next action is to lift the sushi slightly and begin repositioning it toward the faucet base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, tilt right 10 degrees, keep gripper open; then move back 5 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2431124448776245, + -0.04611897096037865, + 0.15071550011634827, + -3.1380677223205566, + -0.40615910291671753, + -0.018834196031093597 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition sushi", + "subtask_reasoning": "The robot has approached and grasped the sushi in the sink, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector positioned above the sink, likely holding the sushi. The next action is to lift the sushi slightly and begin repositioning it toward the faucet base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 5 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.23079216480255127, + -0.04860243201255798, + 0.1481805145740509, + 3.0934646129608154, + -0.388404905796051, + -0.0690675601363182 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place sushi at faucet base", + "subtask_reasoning": "The robot has approached and grasped the sushi in the sink, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector positioned above the sink, likely holding the sushi. The next action is to lift the sushi slightly and begin repositioning it toward the faucet base." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 39, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.21402935683727264, + -0.060454439371824265, + 0.14244890213012695, + 3.1163723468780518, + -0.35438013076782227, + -0.12092738598585129 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place sushi at faucet base", + "subtask_reasoning": "The robot is holding the sushi above the sink, positioned near the faucet base. The gripper remains open with no closing evidence in this segment, indicating the sushi has not yet been placed. The next action should involve lowering the sushi to make contact with the faucet base for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 39, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.1952715963125229, + -0.06334193795919418, + 0.1422978639602661, + 3.118138551712036, + -0.3584900200366974, + -0.1539250761270523 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place sushi at faucet base", + "subtask_reasoning": "The robot is holding the sushi above the sink, positioned near the faucet base. The gripper remains open with no closing evidence in this segment, indicating the sushi has not yet been placed. The next action should involve lowering the sushi to make contact with the faucet base for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 39, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.18575939536094666, + -0.044172126799821854, + 0.13862907886505127, + -3.1116385459899902, + -0.33489200472831726, + -0.07513325661420822 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The robot is holding the sushi above the sink, positioned near the faucet base. The gripper remains open with no closing evidence in this segment, indicating the sushi has not yet been placed. The next action should involve lowering the sushi to make contact with the faucet base for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.1848858892917633, + -0.017142189666628838, + 0.14267109334468842, + -3.0868654251098633, + -0.33536696434020996, + -0.0008000212837941945 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The sushi is already placed on the faucet base, and the gripper is open and retreating upward. The robot has completed placement and is now moving away to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.17790788412094116, + 0.01567278429865837, + 0.1495164930820465, + -3.0505170822143555, + -0.339856892824173, + 0.10315403342247009 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bowl": [ + 419, + 194, + 530, + 309 + ], + "dish rack": [ + 106, + 83, + 609, + 516 + ] + } + } + }, + "Understanding": { + "goal": "Place the sushi on the base of the faucet." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "lift and reposition sushi" + }, + { + "id": 4, + "subtask": "place sushi at faucet base" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The sushi is already placed on the faucet base, and the gripper is open and retreating upward. The robot has completed placement and is now moving away to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003858_ecot.json b/cot/chunk-0003/episode_0003858_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f831920329bb58e07d164b64bd76c444105f7928 --- /dev/null +++ b/cot/chunk-0003/episode_0003858_ecot.json @@ -0,0 +1,1957 @@ +{ + "task_name": "episode_0003858", + "episode_json": "json/chunk-0003/episode_0003858.json", + "video_path": "videos/chunk-0003/image_0/episode_0003858.mp4", + "instruction": "Move the green cloth closer to the fork.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003858.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.001984119415283203, + "std": 0.0005149297649040818, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00198, std=0.00051, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 17 + ], + [ + 3, + 18, + 22 + ], + [ + 4, + 23, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green cloth\", \"start\": 0, \"end\": 11, \"planning\": \"Move the end-effector down toward the green cloth without grasping, as gripper remains open.\"},\n {\"id\": 2, \"name\": \"reposition over cloth\", \"start\": 12, \"end\": 17, \"planning\": \"Adjust position slightly while maintaining open gripper, preparing for contact-based manipulation.\"},\n {\"id\": 3, \"name\": \"nudge cloth toward fork\", \"start\": 18, \"end\": 22, \"planning\": \"Make light contact and slide the green cloth closer to the fork using pushing motion.\"},\n {\"id\": 4, \"name\": \"retreat after repositioning\", \"start\": 23, \"end\": 29, \"planning\": \"Lift and move away from the cloth after achieving desired proximity to the fork.\"}\n ],\n \"global_plan\": \"Manipulate the green cloth by approaching, nudging it toward the fork via sliding contact, then retreating — all without grasping, consistent with constant open gripper evidence.\",\n \"notes\": \"No segment shows meaningful gripper closing; all actions are contact-based (approach, nudge, slide, retreat). No lifting or placing inferred. Frame coverage is complete and contiguous.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green cloth", + "start": 0, + "end": 11, + "planning": "Move the end-effector down toward the green cloth without grasping, as gripper remains open." + }, + { + "id": 2, + "name": "reposition over cloth", + "start": 12, + "end": 17, + "planning": "Adjust position slightly while maintaining open gripper, preparing for contact-based manipulation." + }, + { + "id": 3, + "name": "nudge cloth toward fork", + "start": 18, + "end": 22, + "planning": "Make light contact and slide the green cloth closer to the fork using pushing motion." + }, + { + "id": 4, + "name": "retreat after repositioning", + "start": 23, + "end": 29, + "planning": "Lift and move away from the cloth after achieving desired proximity to the fork." + } + ], + "global_plan": "Manipulate the green cloth by approaching, nudging it toward the fork via sliding contact, then retreating — all without grasping, consistent with constant open gripper evidence.", + "notes": "No segment shows meaningful gripper closing; all actions are contact-based (approach, nudge, slide, retreat). No lifting or placing inferred. Frame coverage is complete and contiguous." + } + }, + "episode_goal": "Move the green cloth closer to the fork.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4014274477958679, + 0.08753115683794022, + 0.1545446515083313, + 3.022449016571045, + -0.10265033692121506, + -0.02304333820939064 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth and fork visible; no contact has been made yet. The gripper remains open, consistent with non-grasping manipulation. The next action is to move the end effector closer to the green cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 13 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4004121422767639, + 0.08725019544363022, + 0.13592785596847534, + 3.0076470375061035, + -0.05376798287034035, + -0.018851403146982193 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth and fork visible; no contact has been made yet. The gripper remains open, consistent with non-grasping manipulation. The next action is to move the end effector closer to the green cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3977896273136139, + 0.08776598423719406, + 0.12549671530723572, + 2.997265338897705, + -0.03317165747284889, + 0.0168402548879385 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth and fork visible; no contact has been made yet. The gripper remains open, consistent with non-grasping manipulation. The next action is to move the end effector closer to the green cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3852945566177368, + 0.10304158926010132, + 0.10739823430776596, + 3.007542848587036, + 0.016197260469198227, + 0.06921318173408508 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth and fork visible; no contact has been made yet. The gripper remains open, consistent with non-grasping manipulation. The next action is to move the end effector closer to the green cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36578798294067383, + 0.12726864218711853, + 0.08571123331785202, + 3.0047998428344727, + 0.051031678915023804, + 0.1237272396683693 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth and fork visible; no contact has been made yet. The gripper remains open, consistent with non-grasping manipulation. The next action is to move the end effector closer to the green cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3465701937675476, + 0.1392483413219452, + 0.0712384581565857, + 3.028632879257202, + -0.009495238773524761, + 0.1909932643175125 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 31, + 207, + 899, + 949 + ], + "green cloth": [ + 217, + 266, + 473, + 485 + ], + "red spatula": [ + 641, + 358, + 791, + 597 + ], + "red cup": [ + 457, + 468, + 553, + 611 + ], + "metal pot": [ + 370, + 435, + 634, + 706 + ], + "white appliance": [ + 157, + 605, + 726, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3459514379501343, + 0.1370304822921753, + 0.060439154505729675, + 3.061067581176758, + -0.05107857659459114, + 0.16712483763694763 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3481445014476776, + 0.13476431369781494, + 0.05800750106573105, + 3.0748119354248047, + -0.06786578893661499, + 0.10182177275419235 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 6 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34731292724609375, + 0.1373172253370285, + 0.05026617273688316, + 3.0833702087402344, + -0.035374999046325684, + 0.03458068519830704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move forward 4 cm, move right 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34940749406814575, + 0.14005830883979797, + 0.03922099992632866, + 3.0782783031463623, + 0.021631624549627304, + -0.01614336483180523 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move forward 4 cm, move right 9 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501735031604767, + 0.1442747861146927, + 0.022799475118517876, + 3.0938003063201904, + 0.07119300961494446, + -0.012760459445416927 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 9 cm, keep gripper open; then move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526752293109894, + 0.13747581839561462, + 0.016983935609459877, + 3.112978458404541, + 0.0910869911313057, + -0.025325553491711617 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 9 cm, keep gripper open; then move back 1 cm, move right 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552835285663605, + 0.13077455759048462, + 0.011596663855016232, + -3.120781183242798, + 0.08916160464286804, + -0.0305307786911726 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, keep gripper open; then move back 1 cm, move right 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35219472646713257, + 0.12326651066541672, + 0.0066015226766467094, + -3.063685178756714, + 0.09991965442895889, + 0.006614745128899813 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the wooden surface, with the fork visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492391109466553, + 0.11824134737253189, + 0.0057105510495603085, + -3.0438590049743652, + 0.0908099040389061, + 0.024192657321691513 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. The current situation involves aligning the end-effector to make contact with the cloth without grasping. The next action is to lower the arm slightly to establish sliding contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35042721033096313, + 0.11297010630369186, + 0.005029785912483931, + -3.0573043823242188, + 0.0828620046377182, + 0.03859257325530052 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. The current situation involves aligning the end-effector to make contact with the cloth without grasping. The next action is to lower the arm slightly to establish sliding contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35736924409866333, + 0.101361945271492, + 0.004846677649766207, + -3.1168606281280518, + 0.07135369628667831, + 0.03231097385287285 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. The current situation involves aligning the end-effector to make contact with the cloth without grasping. The next action is to lower the arm slightly to establish sliding contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move forward 3 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3800448775291443, + 0.07111097127199173, + 0.006264985539019108, + 3.1127312183380127, + 0.03758908063173294, + -0.019877713173627853 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. The current situation involves aligning the end-effector to make contact with the cloth without grasping. The next action is to lower the arm slightly to establish sliding contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3968220055103302, + 0.03604453429579735, + 0.008680535480380058, + 3.090054750442505, + 0.0029545878060162067, + -0.08932311087846756 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 33, + 159, + 899, + 949 + ], + "red spatula": [ + 640, + 359, + 791, + 598 + ], + "red cup": [ + 456, + 469, + 555, + 611 + ], + "metal pot": [ + 356, + 434, + 635, + 705 + ], + "green cloth": [ + 354, + 280, + 609, + 452 + ], + "black appliance": [ + 391, + 3, + 583, + 395 + ], + "white appliance": [ + 154, + 605, + 732, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge cloth toward fork", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. The current situation involves aligning the end-effector to make contact with the cloth without grasping. The next action is to lower the arm slightly to establish sliding contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, keep gripper open; then move left 1 cm, move up 13 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4003618061542511, + 0.01593443937599659, + 0.008308524265885353, + 3.096031904220581, + -0.010873222723603249, + -0.12992946803569794 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge cloth toward fork", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. The current situation involves aligning the end-effector to make contact with the cloth without grasping. The next action is to lower the arm slightly to establish sliding contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39365410804748535, + -0.002498202957212925, + 0.008227030746638775, + 3.1220104694366455, + -0.025127852335572243, + -0.15864357352256775 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge cloth toward fork", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, which is located to the left of the fork. The gripper remains open, indicating no grasp has occurred. The next action is to slide the cloth toward the fork using contact-based nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3900841772556305, + -0.010654770769178867, + 0.008075244724750519, + 3.1229588985443115, + -0.025866270065307617, + -0.15152665972709656 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge cloth toward fork", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, which is located to the left of the fork. The gripper remains open, indicating no grasp has occurred. The next action is to slide the cloth toward the fork using contact-based nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38993722200393677, + -0.011250544339418411, + 0.008939439430832863, + 3.1223721504211426, + -0.02683800645172596, + -0.12391488254070282 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "nudge cloth toward fork", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, which is located to the left of the fork. The gripper remains open, indicating no grasp has occurred. The next action is to slide the cloth toward the fork using contact-based nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3913038372993469, + -0.0056304605677723885, + 0.012278204783797264, + 3.0849568843841553, + -0.03176046907901764, + -0.04417542740702629 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, which is located to the left of the fork. The gripper remains open, indicating no grasp has occurred. The next action is to slide the cloth toward the fork using contact-based nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4009210169315338, + 0.02091577649116516, + 0.026313111186027527, + 3.0411629676818848, + -0.04608473554253578, + 0.07491598278284073 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, which is located to the left of the fork. The gripper remains open, indicating no grasp has occurred. The next action is to slide the cloth toward the fork using contact-based nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4149794280529022, + 0.030486995354294777, + 0.06438963115215302, + 3.0435080528259277, + -0.09952053427696228, + 0.07641564309597015 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 29, + 167, + 898, + 952 + ], + "red cup": [ + 457, + 469, + 554, + 610 + ], + "red spatula": [ + 641, + 359, + 791, + 597 + ], + "green cloth": [ + 458, + 287, + 719, + 526 + ], + "metal pot": [ + 356, + 433, + 635, + 707 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, which is located to the left of the fork. The gripper remains open, indicating no grasp has occurred. The next action is to slide the cloth toward the fork using contact-based nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4165970981121063, + 0.017863085493445396, + 0.10524669289588928, + 3.0473926067352295, + -0.16256175935268402, + 0.012783643789589405 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The green cloth has been successfully repositioned closer to the fork. The gripper is fully open and the end-effector is currently hovering above the scene. The robot is now retreating from the cloth to complete the task without making further contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4090682566165924, + 0.002974902046844363, + 0.122066430747509, + 3.057745933532715, + -0.18355485796928406, + -0.044987767934799194 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The green cloth has been successfully repositioned closer to the fork. The gripper is fully open and the end-effector is currently hovering above the scene. The robot is now retreating from the cloth to complete the task without making further contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.39457380771636963, + 0.0008781918440945446, + 0.13903601467609406, + 3.0752391815185547, + -0.1977815181016922, + -0.06586042046546936 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The green cloth has been successfully repositioned closer to the fork. The gripper is fully open and the end-effector is currently hovering above the scene. The robot is now retreating from the cloth to complete the task without making further contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3830658793449402, + 0.0020634611137211323, + 0.1418454945087433, + 3.081732988357544, + -0.20591536164283752, + -0.06019766628742218 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth closer to the fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "reposition over cloth" + }, + { + "id": 3, + "subtask": "nudge cloth toward fork" + }, + { + "id": 4, + "subtask": "retreat after repositioning" + } + ], + "subtask_name": "retreat after repositioning", + "subtask_reasoning": "The green cloth has been successfully repositioned closer to the fork. The gripper is fully open and the end-effector is currently hovering above the scene. The robot is now retreating from the cloth to complete the task without making further contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003859_ecot.json b/cot/chunk-0003/episode_0003859_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..abc937c5c34e6b0dada17beb59c69cda6c56e338 --- /dev/null +++ b/cot/chunk-0003/episode_0003859_ecot.json @@ -0,0 +1,1297 @@ +{ + "task_name": "episode_0003859", + "episode_json": "json/chunk-0003/episode_0003859.json", + "video_path": "videos/chunk-0003/image_0/episode_0003859.mp4", + "instruction": "Put lid on pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003859.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.7142695188522339, + "std": 0.3012627065181732, + "delta_total": -0.7142695188522339, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71427, std=0.30126, total_delta=-0.71427). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 116, + 116, + 116, + 116, + 116 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 15 + ], + [ + 3, + 16, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the lid on the right side of the stove without grasping, as gripper remains open throughout this segment.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 7, \"end\": 15, \"planning\": \"Close gripper around the lid handle and secure hold, confirmed by significant gripper closure and visual contact in frame 15.\"},\n {\"id\": 3, \"name\": \"place lid on pot\", \"start\": 16, \"end\": 20, \"planning\": \"Lift and translate lid over the pot, then release it onto the pot’s rim, with gripper remaining closed until placement is complete.\"}\n ],\n \"global_plan\": \"Approach the lid on the stove, grasp it securely, then lift and place it onto the pot to complete the task.\",\n \"notes\": \"Segment 1 shows no meaningful gripper closure — thus described as approach only. Segment 2 shows clear gripper closing and visual confirmation of grasp. Segment 3 maintains grip during transport and placement, consistent with task goal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the lid on the right side of the stove without grasping, as gripper remains open throughout this segment." + }, + { + "id": 2, + "name": "grasp lid", + "start": 7, + "end": 15, + "planning": "Close gripper around the lid handle and secure hold, confirmed by significant gripper closure and visual contact in frame 15." + }, + { + "id": 3, + "name": "place lid on pot", + "start": 16, + "end": 20, + "planning": "Lift and translate lid over the pot, then release it onto the pot’s rim, with gripper remaining closed until placement is complete." + } + ], + "global_plan": "Approach the lid on the stove, grasp it securely, then lift and place it onto the pot to complete the task.", + "notes": "Segment 1 shows no meaningful gripper closure — thus described as approach only. Segment 2 shows clear gripper closing and visual confirmation of grasp. Segment 3 maintains grip during transport and placement, consistent with task goal." + } + }, + "episode_goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26080238819122314, + 0.19902445375919342, + 0.11665812879800797, + -2.9802653789520264, + -0.06347014009952545, + -0.009762571193277836 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the lid located on the right side. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 29 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572338283061981, + 0.18762482702732086, + 0.10930300503969193, + -3.0016913414001465, + -0.01516254898160696, + 0.01619449444115162 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the lid located on the right side. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 28 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2663116753101349, + 0.13206467032432556, + 0.13857820630073547, + -2.9822959899902344, + -0.018931550905108452, + 0.014450272545218468 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the lid located on the right side. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 22 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27039870619773865, + 0.08150602132081985, + 0.150956928730011, + -3.0012054443359375, + -0.010809650644659996, + 0.04539458453655243 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the lid visible on the right burner and the pot on the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 17 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28238746523857117, + 0.03432202711701393, + 0.15355727076530457, + -2.960472345352173, + -0.029278146103024483, + 0.048811495304107666 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the lid visible on the right burner and the pot on the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 13 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 8 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982119023799896, + -0.01902562752366066, + 0.14676299691200256, + -2.9117748737335205, + -0.003373341867700219, + 0.08716873824596405 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the lid visible on the right burner and the pot on the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move down 8 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30148348212242126, + -0.053996916860342026, + 0.1333160698413849, + -2.9627363681793213, + -0.027594011276960373, + 0.16371706128120422 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy corn": [ + 339, + 6, + 419, + 138 + ], + "metal pot": [ + 287, + 211, + 544, + 526 + ], + "plastic orange": [ + 499, + 314, + 594, + 438 + ], + "toy kitchen": [ + 38, + 12, + 958, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the lid visible on the right burner and the pot on the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 2 cm, keep gripper open; then move right 1 cm, move down 9 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.307498574256897, + -0.09241937100887299, + 0.11318441480398178, + -3.014695644378662, + -0.05179371312260628, + 0.15008367598056793 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 287, + 210, + 544, + 527 + ], + "toy corn": [ + 339, + 7, + 419, + 139 + ], + "toy kitchen": [ + 32, + 13, + 976, + 984 + ], + "plastic orange": [ + 499, + 314, + 594, + 438 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the lid visible on the right burner and the pot on the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 9 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31372347474098206, + -0.1008029580116272, + 0.0992896556854248, + -3.031568765640259, + -0.06715845316648483, + 0.1720402091741562 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the lid visible on the right burner and the pot on the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162587881088257, + -0.10812579095363617, + 0.082347072660923, + -3.050978183746338, + -0.058246418833732605, + 0.16507546603679657 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the lid visible on the right burner and the pot on the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162326514720917, + -0.10651688277721405, + 0.07195364683866501, + -3.0904648303985596, + -0.06670554727315903, + 0.17941807210445404 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the lid visible on the right burner and the pot on the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move back 3 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3144467771053314, + -0.10686519742012024, + 0.05804456025362015, + -3.104863405227661, + -0.07921978831291199, + 0.17604325711727142 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned near the lid on the right side of the stove, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move back 3 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31515878438949585, + -0.10748641937971115, + 0.044010140001773834, + -3.098935127258301, + -0.09660843014717102, + 0.16961197555065155 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned near the lid on the right side of the stove, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move back 3 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3147626519203186, + -0.10603976994752884, + 0.03530348837375641, + -3.115523338317871, + -0.10782479494810104, + 0.17755268514156342 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned near the lid on the right side of the stove, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31081244349479675, + -0.1040637269616127, + 0.03035026788711548, + -3.1265766620635986, + -0.09938357770442963, + 0.19519726932048798 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned near the lid on the right side of the stove, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30930936336517334, + -0.1062333807349205, + 0.028219394385814667, + -3.138214349746704, + -0.10103121399879456, + 0.21970656514167786 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned near the lid on the right side of the stove, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30892473459243774, + -0.10612636059522629, + 0.027875227853655815, + 3.131385564804077, + -0.10301638394594193, + 0.23086093366146088 + ], + "gripper_value": 0.3142010271549225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is positioned near the lid on the right side of the stove, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3059275448322296, + -0.10519492626190186, + 0.02883301116526127, + -3.1395316123962402, + -0.07621922343969345, + 0.23777799308300018 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is positioned near the lid on the right side of the stove, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.295222669839859, + -0.10258609801530838, + 0.04157274588942528, + -3.087254285812378, + -0.001124609843827784, + 0.24812662601470947 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the lid above the pot on the left burner, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a secure hold. The next action is to lower the lid onto the pot to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28441348671913147, + -0.09291302412748337, + 0.09381857514381409, + -3.026212692260742, + 0.031567733734846115, + 0.26174530386924744 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the lid above the pot on the left burner, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a secure hold. The next action is to lower the lid onto the pot to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2772946059703827, + -0.06422401964664459, + 0.1325967162847519, + -2.9192426204681396, + 0.030231906101107597, + 0.24999138712882996 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy corn": [ + 340, + 7, + 420, + 138 + ], + "metal pot": [ + 288, + 209, + 520, + 525 + ], + "toy kitchen": [ + 34, + 13, + 978, + 984 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lid from the right side of the stove and place it on top of the pot on the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the lid above the pot on the left burner, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a secure hold. The next action is to lower the lid onto the pot to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003860_ecot.json b/cot/chunk-0003/episode_0003860_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..be6a25e4366c62bcdff50a9d7d3bc0a1e0feb1fe --- /dev/null +++ b/cot/chunk-0003/episode_0003860_ecot.json @@ -0,0 +1,886 @@ +{ + "task_name": "episode_0003860", + "episode_json": "json/chunk-0003/episode_0003860.json", + "video_path": "videos/chunk-0003/image_0/episode_0003860.mp4", + "instruction": "End effector transition from object to object.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003860.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006986856460571289, + "std": 0.0003089704259764403, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00070, std=0.00031, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green plate\", \"start\": 0, \"end\": 7, \"planning\": \"Move end effector toward the green plate with pig toy while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"reposition to red object\", \"start\": 8, \"end\": 14, \"planning\": \"Shift end effector laterally and downward from green plate area toward red object on countertop without grasping.\"}\n ],\n \"global_plan\": \"Transition end effector from vicinity of green plate (with pig) to red object on left countertop, using open-gripper motion throughout as no grasp events are supported by gripper data.\",\n \"notes\": \"Gripper remains effectively static (delta=0.00000 over full episode); no grasp/lift/place actions inferred. Motion is purely translational/rotational repositioning between two objects.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green plate", + "start": 0, + "end": 7, + "planning": "Move end effector toward the green plate with pig toy while maintaining open gripper state." + }, + { + "id": 2, + "name": "reposition to red object", + "start": 8, + "end": 14, + "planning": "Shift end effector laterally and downward from green plate area toward red object on countertop without grasping." + } + ], + "global_plan": "Transition end effector from vicinity of green plate (with pig) to red object on left countertop, using open-gripper motion throughout as no grasp events are supported by gripper data.", + "notes": "Gripper remains effectively static (delta=0.00000 over full episode); no grasp/lift/place actions inferred. Motion is purely translational/rotational repositioning between two objects." + } + }, + "episode_goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.371911883354187, + 0.043335530906915665, + 0.05634242668747902, + -3.110844612121582, + -0.09403334558010101, + 0.10782893002033234 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "approach green plate", + "subtask_reasoning": "The end effector is positioned above the stove, near the green plate with the pink toy. No actions have been completed yet as this is the start of the subtask. The gripper is open and stable, indicating readiness to move. The next action should be to approach the green plate while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 5 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3666609823703766, + 0.04266492277383804, + 0.04443037137389183, + -3.107795238494873, + -0.05110033228993416, + 0.1049107015132904 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "approach green plate", + "subtask_reasoning": "The end effector is positioned above the stove, near the green plate with the pink toy. No actions have been completed yet as this is the start of the subtask. The gripper is open and stable, indicating readiness to move. The next action should be to approach the green plate while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move left 4 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35774001479148865, + 0.04225365072488785, + 0.04760613292455673, + -3.111496686935425, + 0.01668722927570343, + 0.10289285331964493 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "approach green plate", + "subtask_reasoning": "The end effector is positioned above the stove, near the green plate with the pink toy. No actions have been completed yet as this is the start of the subtask. The gripper is open and stable, indicating readiness to move. The next action should be to approach the green plate while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 6 cm, keep gripper open; then move back 5 cm, move left 4 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35835355520248413, + 0.04448405280709267, + 0.0594216026365757, + -3.119798183441162, + 0.04789302498102188, + 0.09353911131620407 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "approach green plate", + "subtask_reasoning": "The end effector is positioned above the green plate containing the pink toy, with the gripper open. No prior actions have been completed in this subtask. The current state indicates readiness to begin transitioning toward the red bell pepper. The next likely action is to move the end effector laterally away from the green plate toward the left countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 5 cm, keep gripper open; then move back 6 cm, move left 5 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36032769083976746, + 0.04598888009786606, + 0.07410988956689835, + -3.094412088394165, + 0.07098998874425888, + 0.08928505331277847 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "approach green plate", + "subtask_reasoning": "The end effector is positioned above the green plate containing the pink toy, with the gripper open. No prior actions have been completed in this subtask. The current state indicates readiness to begin transitioning toward the red bell pepper. The next likely action is to move the end effector laterally away from the green plate toward the left countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 4 cm, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35479211807250977, + 0.049618180841207504, + 0.08796169608831406, + -3.08437180519104, + 0.08499910682439804, + 0.06726830452680588 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "approach green plate", + "subtask_reasoning": "The end effector is positioned above the green plate containing the pink toy, with the gripper open. No prior actions have been completed in this subtask. The current state indicates readiness to begin transitioning toward the red bell pepper. The next likely action is to move the end effector laterally away from the green plate toward the left countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 2 cm, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35204923152923584, + 0.06030748784542084, + 0.10510115325450897, + -3.067422866821289, + 0.10335750132799149, + 0.05928822234272957 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal colander": [ + 41, + 308, + 241, + 536 + ], + "green plate": [ + 375, + 191, + 578, + 370 + ], + "pink pig toy": [ + 435, + 165, + 588, + 360 + ], + "faucet": [ + 105, + 3, + 241, + 177 + ], + "red pan": [ + 180, + 369, + 312, + 522 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "approach green plate", + "subtask_reasoning": "The end effector is positioned above the green plate containing the pink toy, with the gripper open. No prior actions have been completed in this subtask. The current state indicates readiness to begin transitioning toward the red bell pepper. The next likely action is to move the end effector laterally away from the green plate toward the left countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 1 cm, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34649112820625305, + 0.07768156379461288, + 0.11055271327495575, + -3.0721349716186523, + 0.10250844061374664, + 0.058415137231349945 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "approach green plate", + "subtask_reasoning": "The end effector is positioned above the green plate containing the pink toy, with the gripper open. No prior actions have been completed in this subtask. The current state indicates readiness to begin transitioning toward the red bell pepper. The next likely action is to move the end effector laterally away from the green plate toward the left countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33526840806007385, + 0.09440457075834274, + 0.11016099900007248, + -3.098219633102417, + 0.0555613674223423, + 0.046867139637470245 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "reposition to red object", + "subtask_reasoning": "The end effector is positioned above the green plate containing the pink toy, with the gripper open. No prior actions have been completed in this subtask. The current state indicates readiness to begin transitioning toward the red bell pepper. The next likely action is to move the end effector laterally away from the green plate toward the left countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32659345865249634, + 0.11126330494880676, + 0.10364636778831482, + -3.1037240028381348, + 0.05269375443458557, + 0.042723990976810455 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "reposition to red object", + "subtask_reasoning": "The end effector is positioned above the green plate containing the pink toy, with the gripper open. No prior actions have been completed in this subtask. The current state indicates readiness to begin transitioning toward the red bell pepper. The next likely action is to move the end effector laterally away from the green plate toward the left countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30776306986808777, + 0.12360388785600662, + 0.09542075544595718, + -3.1027286052703857, + 0.00513562373816967, + 0.027640746906399727 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "reposition to red object", + "subtask_reasoning": "The end effector is positioned above the green plate containing the pink toy, with the gripper open. No prior actions have been completed in this subtask. The current state indicates readiness to begin transitioning toward the red bell pepper. The next likely action is to move the end effector laterally away from the green plate toward the left countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2934231162071228, + 0.12998449802398682, + 0.08030907809734344, + -3.106429100036621, + -0.022517340257763863, + 0.02691951021552086 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "reposition to red object", + "subtask_reasoning": "The end effector is currently positioned above the stove, having moved away from the green plate with the pink toy. The gripper remains open, consistent with the no-grasp constraint. The next action is to continue translating the end effector leftward toward the red bell pepper on the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805579900741577, + 0.13697077333927155, + 0.07270552217960358, + -3.0949177742004395, + -0.0665893629193306, + 0.024134555831551552 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal colander": [ + 42, + 307, + 241, + 533 + ], + "pink pig toy": [ + 435, + 160, + 588, + 362 + ], + "green plate": [ + 375, + 191, + 578, + 370 + ], + "red pan": [ + 181, + 369, + 313, + 522 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "reposition to red object", + "subtask_reasoning": "The end effector is currently positioned above the stove, having moved away from the green plate with the pink toy. The gripper remains open, consistent with the no-grasp constraint. The next action is to continue translating the end effector leftward toward the red bell pepper on the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27242404222488403, + 0.14227887988090515, + 0.061347782611846924, + -3.1023685932159424, + -0.09719580411911011, + 0.009800668805837631 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "reposition to red object", + "subtask_reasoning": "The end effector is currently positioned above the stove, having moved away from the green plate with the pink toy. The gripper remains open, consistent with the no-grasp constraint. The next action is to continue translating the end effector leftward toward the red bell pepper on the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.267623633146286, + 0.1447925865650177, + 0.051082510501146317, + -3.106541156768799, + -0.12994901835918427, + 0.011042903177440166 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the green plate with the pink toy to the red bell pepper on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green plate" + }, + { + "id": 2, + "subtask": "reposition to red object" + } + ], + "subtask_name": "reposition to red object", + "subtask_reasoning": "The end effector is currently positioned above the stove, having moved away from the green plate with the pink toy. The gripper remains open, consistent with the no-grasp constraint. The next action is to continue translating the end effector leftward toward the red bell pepper on the countertop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003861_ecot.json b/cot/chunk-0003/episode_0003861_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7686a94a85f9eeb85383747da432924664e43519 --- /dev/null +++ b/cot/chunk-0003/episode_0003861_ecot.json @@ -0,0 +1,1647 @@ +{ + "task_name": "episode_0003861", + "episode_json": "json/chunk-0003/episode_0003861.json", + "video_path": "videos/chunk-0003/image_0/episode_0003861.mp4", + "instruction": "Place the broccoli in front of the red spoon.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003861.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.44753921031951904, + "std": 0.19786164164543152, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.44754, std=0.19786, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 6 + ], + [ + 3, + 7, + 11 + ], + [ + 4, + 12, + 14 + ], + [ + 5, + 15, + 22 + ], + [ + 6, + 23, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli in bowl\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper from initial position toward the bowl containing the broccoli, preparing for grasp.\"},\n {\"id\": 2, \"name\": \"grasp broccoli\", \"start\": 7, \"end\": 11, \"planning\": \"Close gripper around the broccoli while positioned over the bowl, securing it for lift.\"},\n {\"id\": 3, \"name\": \"lift and transport broccoli\", \"start\": 12, \"end\": 22, \"planning\": \"Lift the grasped broccoli out of the bowl and move it toward the target location in front of the red spoon.\"},\n {\"id\": 4, \"name\": \"release broccoli near spoon\", \"start\": 23, \"end\": 24, \"planning\": \"Open gripper to release the broccoli on the table surface in front of the red spoon, then retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the broccoli in the bowl, grasp it securely, lift and transport it to the designated spot in front of the red spoon, then release it precisely at that location.\",\n \"notes\": \"Segment 1 (frames 0-4) shows no gripper closing — motion only. Segment 2 (frame 5-6) is transitional approach. Segment 3 (7-11) has clear gripper closure consistent with grasping. Segment 4 (12-14) begins lift and transport; frames 15-22 continue transport (not explicitly segmented but covered by continuity). Segment 6 (23-24) shows open gripper and final placement — no grasping here, just release and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli in bowl", + "start": 0, + "end": 6, + "planning": "Move the gripper from initial position toward the bowl containing the broccoli, preparing for grasp." + }, + { + "id": 2, + "name": "grasp broccoli", + "start": 7, + "end": 11, + "planning": "Close gripper around the broccoli while positioned over the bowl, securing it for lift." + }, + { + "id": 3, + "name": "lift and transport broccoli", + "start": 12, + "end": 22, + "planning": "Lift the grasped broccoli out of the bowl and move it toward the target location in front of the red spoon." + }, + { + "id": 4, + "name": "release broccoli near spoon", + "start": 23, + "end": 24, + "planning": "Open gripper to release the broccoli on the table surface in front of the red spoon, then retreat slightly." + } + ], + "global_plan": "Approach the broccoli in the bowl, grasp it securely, lift and transport it to the designated spot in front of the red spoon, then release it precisely at that location.", + "notes": "Segment 1 (frames 0-4) shows no gripper closing — motion only. Segment 2 (frame 5-6) is transitional approach. Segment 3 (7-11) has clear gripper closure consistent with grasping. Segment 4 (12-14) begins lift and transport; frames 15-22 continue transport (not explicitly segmented but covered by continuity). Segment 6 (23-24) shows open gripper and final placement — no grasping here, just release and retreat." + } + }, + "episode_goal": "Place the broccoli in front of the red spoon.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2781921923160553, + 0.07602566480636597, + 0.10590152442455292, + -3.1119470596313477, + -0.06388310343027115, + 0.02021902985870838 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "approach broccoli in bowl", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the metal bowl and the red spoon to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 9 cm, move down 6 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27774831652641296, + 0.07476119697093964, + 0.098119355738163, + -3.1171886920928955, + -0.03848140686750412, + 0.025968190282583237 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "approach broccoli in bowl", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the metal bowl and the red spoon to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 8 cm, move down 5 cm, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29435956478118896, + 0.04863326996564865, + 0.09961557388305664, + -3.1178054809570312, + -0.07534506916999817, + -0.010910715907812119 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "approach broccoli in bowl", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the metal bowl and the red spoon to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138497471809387, + 0.03397833928465843, + 0.10475774854421616, + -3.1157922744750977, + -0.10712367296218872, + 0.010689016431570053 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "approach broccoli in bowl", + "subtask_reasoning": "The robot is positioned above the wooden table with the broccoli visible inside the metal bowl and the red spoon to the left. No grasping has occurred yet as the gripper remains open. The robot needs to continue lowering its end-effector to make contact with the broccoli for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 6 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33258554339408875, + 0.014080706052482128, + 0.10263833403587341, + -3.1385676860809326, + -0.1257578283548355, + 0.008136613294482231 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 528, + 346, + 637, + 489 + ], + "metal bowl": [ + 487, + 305, + 703, + 549 + ], + "blue cloth": [ + 485, + 390, + 756, + 613 + ], + "wooden countertop": [ + 10, + 181, + 880, + 984 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "approach broccoli in bowl", + "subtask_reasoning": "The robot is positioned above the wooden table with the broccoli visible inside the metal bowl and the red spoon to the left. No grasping has occurred yet as the gripper remains open. The robot needs to continue lowering its end-effector to make contact with the broccoli for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 5 cm, move left 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.346839964389801, + 0.010433996096253395, + 0.08303507417440414, + 3.140662431716919, + -0.10278155654668808, + 0.026829779148101807 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "approach broccoli in bowl", + "subtask_reasoning": "The robot is positioned above the wooden table with the broccoli visible inside the metal bowl and the red spoon to the left. No grasping has occurred yet as the gripper remains open. The robot needs to continue lowering its end-effector to make contact with the broccoli for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 9 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35785382986068726, + 0.0016468344256281853, + 0.06472383439540863, + 3.1398959159851074, + -0.06900832802057266, + 0.02920420467853546 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "approach broccoli in bowl", + "subtask_reasoning": "The robot is positioned above the wooden table with the broccoli visible inside the metal bowl and the red spoon to the left. No grasping has occurred yet as the gripper remains open. The robot needs to continue lowering its end-effector to make contact with the broccoli for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 12 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36079514026641846, + -0.009340994991362095, + 0.04863955080509186, + -3.129199504852295, + -0.04666386917233467, + 0.011198313906788826 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the wooden table with the broccoli visible inside the metal bowl and the red spoon to the left. No grasping has occurred yet as the gripper remains open. The robot needs to continue lowering its end-effector to make contact with the broccoli for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 12 cm, move left 11 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657318651676178, + -0.016655869781970978, + 0.04712039604783058, + -3.1149849891662598, + -0.07500949501991272, + -0.019243288785219193 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the wooden table with the broccoli visible inside the metal bowl and the red spoon to the left. No grasping has occurred yet as the gripper remains open. The robot needs to continue lowering its end-effector to make contact with the broccoli for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move left 11 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3667305111885071, + -0.01850089803338051, + 0.040296703577041626, + -3.1016552448272705, + -0.07303578406572342, + -0.024646807461977005 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the bowl and is now positioned directly above it. The gripper is open and ready to close around the broccoli. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move left 11 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3671734929084778, + -0.018167782574892044, + 0.04063700512051582, + -3.103053569793701, + -0.07450877130031586, + -0.022240402176976204 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the bowl and is now positioned directly above it. The gripper is open and ready to close around the broccoli. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655549883842468, + -0.02328738383948803, + 0.042401645332574844, + -3.134580612182617, + -0.06622202694416046, + -0.03807492181658745 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the bowl and is now positioned directly above it. The gripper is open and ready to close around the broccoli. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move left 10 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669854998588562, + -0.0191409382969141, + 0.09311338514089584, + 3.082216501235962, + -0.1932397037744522, + -0.03119221329689026 + ], + "gripper_value": 0.6159340739250183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the bowl and is now positioned directly above it. The gripper is open and ready to close around the broccoli. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 9 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34732288122177124, + -0.005321170669049025, + 0.11932975798845291, + 3.0617003440856934, + -0.25333330035209656, + -0.01766389049589634 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the bowl and is now positioned directly above it. The gripper is open and ready to close around the broccoli. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3124428391456604, + 0.02831023372709751, + 0.11571640521287918, + 3.1143863201141357, + -0.21173277497291565, + 0.01119969692081213 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the bowl and is now positioned directly above it. The gripper is open and ready to close around the broccoli. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 2 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27424508333206177, + 0.05614326149225235, + 0.09567717462778091, + -3.135985851287842, + -0.1505703330039978, + 0.025956492871046066 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 10, + 183, + 880, + 987 + ], + "blue cloth": [ + 484, + 388, + 758, + 614 + ], + "red block": [ + 232, + 330, + 341, + 475 + ], + "green sponge": [ + 352, + 300, + 460, + 453 + ], + "metal bowl": [ + 488, + 300, + 705, + 552 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the bowl and is now positioned directly above it. The gripper is open and ready to close around the broccoli. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2509486675262451, + 0.07518855482339859, + 0.07500094920396805, + -3.1007089614868164, + -0.11779197305440903, + 0.027301477268338203 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 9, + 214, + 880, + 987 + ], + "green sponge": [ + 266, + 375, + 383, + 536 + ], + "blue cloth": [ + 486, + 388, + 759, + 614 + ], + "metal bowl": [ + 484, + 299, + 706, + 554 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the bowl and is now positioned directly above it. The gripper is open and ready to close around the broccoli. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24990113079547882, + 0.08627047389745712, + 0.06251537054777145, + -3.1139776706695557, + -0.13136887550354004, + 0.031198300421237946 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and lifted it from the bowl, as indicated by the elevated position and gripper state. The current scene shows the broccoli held in mid-air above the table, ready for transport. The next action is to move the broccoli horizontally toward the area in front of the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 7 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25368550419807434, + 0.08812712132930756, + 0.04782375320792198, + -3.1195240020751953, + -0.11220770329236984, + 0.03242850303649902 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and lifted it from the bowl, as indicated by the elevated position and gripper state. The current scene shows the broccoli held in mid-air above the table, ready for transport. The next action is to move the broccoli horizontally toward the area in front of the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.261221319437027, + 0.08958867937326431, + 0.04026344418525696, + -3.1160686016082764, + -0.09808797389268875, + 0.035093631595373154 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and lifted it from the bowl, as indicated by the elevated position and gripper state. The current scene shows the broccoli held in mid-air above the table, ready for transport. The next action is to move the broccoli horizontally toward the area in front of the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2606082856655121, + 0.08531931787729263, + 0.04118324816226959, + -3.1138269901275635, + -0.0781291127204895, + 0.012742780148983002 + ], + "gripper_value": 0.9263488054275513 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and lifted it from the bowl, as indicated by the elevated position and gripper state. The current scene shows the broccoli held in mid-air above the table, ready for transport. The next action is to move the broccoli horizontally toward the area in front of the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613779902458191, + 0.07748088240623474, + 0.04898787662386894, + -3.1259140968322754, + -0.09178496897220612, + -0.0195570420473814 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and lifted it from the bowl, as indicated by the elevated position and gripper state. The current scene shows the broccoli held in mid-air above the table, ready for transport. The next action is to move the broccoli horizontally toward the area in front of the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26551762223243713, + 0.07555720210075378, + 0.09023499488830566, + -3.1244986057281494, + -0.16447535157203674, + -0.023404190316796303 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and lifted it from the bowl, as indicated by the elevated position and gripper state. The current scene shows the broccoli held in mid-air above the table, ready for transport. The next action is to move the broccoli horizontally toward the area in front of the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27015694975852966, + 0.07644776254892349, + 0.13210441172122955, + 3.1410880088806152, + -0.1995481252670288, + 0.015800058841705322 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "release broccoli near spoon", + "subtask_reasoning": "The broccoli is currently positioned on the wooden surface near the red spoon, with the gripper open and no active grasping occurring. The subtask of releasing the broccoli near the spoon appears complete, as the object is already placed in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27146056294441223, + 0.08180350810289383, + 0.14540821313858032, + 3.1395435333251953, + -0.18973016738891602, + 0.06372659653425217 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli in front of the red spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in bowl" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli near spoon" + } + ], + "subtask_name": "release broccoli near spoon", + "subtask_reasoning": "The broccoli is currently positioned on the wooden surface near the red spoon, with the gripper open and no active grasping occurring. The subtask of releasing the broccoli near the spoon appears complete, as the object is already placed in the target area. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003862_ecot.json b/cot/chunk-0003/episode_0003862_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4a90891f65bec6c56f2f0d331973e044def1df98 --- /dev/null +++ b/cot/chunk-0003/episode_0003862_ecot.json @@ -0,0 +1,2235 @@ +{ + "task_name": "episode_0003862", + "episode_json": "json/chunk-0003/episode_0003862.json", + "video_path": "videos/chunk-0003/image_0/episode_0003862.mp4", + "instruction": "Topple metal pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003862.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.941020667552948, + "std": 0.416799396276474, + "delta_total": 0.0006802082061767578, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94102, std=0.41680, total_delta=0.00068). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 215, + 15, + 15, + 215, + 215, + 215, + 215, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 130, + 130, + 130, + 130, + 130 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 14 + ], + [ + 3, + 15, + 15 + ], + [ + 4, + 16, + 17 + ], + [ + 5, + 18, + 21 + ], + [ + 6, + 22, + 29 + ], + [ + 7, + 30, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the metal pot without grasping, as gripper remains open and no closing evidence exists in this phase.\"},\n {\"id\": 2, \"name\": \"make contact with pot\", \"start\": 15, \"end\": 17, \"planning\": \"Establish physical contact with the pot using the gripper fingers; gripper begins to close but not yet fully engaged for lifting.\"},\n {\"id\": 3, \"name\": \"reposition pot for toppling\", \"start\": 18, \"end\": 29, \"planning\": \"Drag or slide the pot across the surface to align it for toppling; gripper maintains light contact without full grasp, consistent with low gripper delta and motion patterns.\"},\n {\"id\": 4, \"name\": \"topple pot onto side\", \"start\": 30, \"end\": 34, \"planning\": \"Apply controlled force to tip the pot over; gripper closes meaningfully during this phase and images confirm pot is being manipulated into a toppled state.\"}\n ],\n \"global_plan\": \"Approach the metal pot, make contact, reposition it via sliding/dragging, then apply force to topple it onto its side using gripper closure confirmed by segment 7 evidence.\",\n \"notes\": \"Gripper evidence strictly followed: no grasp wording used in segments 1, 3, or 5 where closing was negligible; only segment 7 (frames 30-34) shows meaningful closing and image confirmation of manipulation justifying 'topple' action.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the metal pot without grasping, as gripper remains open and no closing evidence exists in this phase." + }, + { + "id": 2, + "name": "make contact with pot", + "start": 15, + "end": 17, + "planning": "Establish physical contact with the pot using the gripper fingers; gripper begins to close but not yet fully engaged for lifting." + }, + { + "id": 3, + "name": "reposition pot for toppling", + "start": 18, + "end": 29, + "planning": "Drag or slide the pot across the surface to align it for toppling; gripper maintains light contact without full grasp, consistent with low gripper delta and motion patterns." + }, + { + "id": 4, + "name": "topple pot onto side", + "start": 30, + "end": 34, + "planning": "Apply controlled force to tip the pot over; gripper closes meaningfully during this phase and images confirm pot is being manipulated into a toppled state." + } + ], + "global_plan": "Approach the metal pot, make contact, reposition it via sliding/dragging, then apply force to topple it onto its side using gripper closure confirmed by segment 7 evidence.", + "notes": "Gripper evidence strictly followed: no grasp wording used in segments 1, 3, or 5 where closing was negligible; only segment 7 (frames 30-34) shows meaningful closing and image confirmation of manipulation justifying 'topple' action." + } + }, + "episode_goal": "Grasp the metal pot and push it over to topple the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2321927398443222, + 0.157925084233284, + 0.1260754019021988, + -3.130221128463745, + -0.11444579809904099, + 0.3504623770713806 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 21 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23048022389411926, + 0.15541215240955353, + 0.12042470276355743, + -3.140779733657837, + -0.09477763622999191, + 0.36071544885635376 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 21 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23930083215236664, + 0.1305784434080124, + 0.12893609702587128, + 3.0967464447021484, + -0.1090727224946022, + 0.3750400245189667 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 18 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2421964704990387, + 0.09781301766633987, + 0.13734343647956848, + 3.069058895111084, + -0.0568670779466629, + 0.37922272086143494 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 427, + 277, + 664, + 621 + ], + "orange object": [ + 196, + 321, + 304, + 467 + ], + "potato": [ + 504, + 624, + 623, + 762 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 15 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24892595410346985, + 0.061915215104818344, + 0.15749093890190125, + 3.033412456512451, + -0.05517585575580597, + 0.4082222282886505 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 12 cm, move down 9 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625572383403778, + 0.02395038865506649, + 0.16710086166858673, + 3.010565757751465, + -0.06874532252550125, + 0.43954089283943176 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 11 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27460405230522156, + -0.005518510937690735, + 0.16198667883872986, + 3.019756555557251, + -0.1009891927242279, + 0.4630777835845947 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958277463912964, + -0.02566053532063961, + 0.1444024294614792, + 3.0499589443206787, + -0.11308256536722183, + 0.4794135093688965 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3127910792827606, + -0.03631738945841789, + 0.1219220906496048, + 3.0871381759643555, + -0.10376153886318207, + 0.4584580957889557 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 427, + 278, + 665, + 621 + ], + "orange object": [ + 197, + 322, + 304, + 467 + ], + "potato": [ + 505, + 624, + 623, + 761 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3239060640335083, + -0.04340692609548569, + 0.09911106526851654, + 3.106431722640991, + -0.08669337630271912, + 0.42016977071762085 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272843062877655, + -0.04752231389284134, + 0.08974353224039078, + 3.099372148513794, + -0.07128866016864777, + 0.39113691449165344 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3269871175289154, + -0.049877915531396866, + 0.07948888838291168, + 3.109405279159546, + -0.04521045833826065, + 0.3732357621192932 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 5 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32983022928237915, + -0.05200677365064621, + 0.06934195011854172, + 3.122607707977295, + -0.04576515033841133, + 0.36794814467430115 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move left 5 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320436477661133, + -0.05289006233215332, + 0.0648765116930008, + 3.125755548477173, + -0.052999347448349, + 0.3655417561531067 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 3 cm, move left 6 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.331680029630661, + -0.05471010506153107, + 0.0643637478351593, + 3.1280200481414795, + -0.052441153675317764, + 0.3524314761161804 + ], + "gripper_value": 0.6821943521499634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 3 cm, move left 7 cm, move up 4 cm, tilt right 40 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32951781153678894, + -0.05311855673789978, + 0.06002436950802803, + 3.134667158126831, + -0.056315284222364426, + 0.35030248761177063 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot centered in view. No contact has been made yet, and the gripper remains open. The next action should involve lowering the end-effector to approach the pot for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 7 cm, move up 3 cm, tilt right 40 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32711559534072876, + -0.050396502017974854, + 0.05550254508852959, + -3.126723289489746, + -0.06725810468196869, + 0.33820343017578125 + ], + "gripper_value": 0.18122604489326477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot has approached the metal pot and is now in close proximity, with the gripper positioned near the pot's rim. The gripper is open and ready to make contact. The next action is to close the gripper slightly to establish firm contact with the pot for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move left 8 cm, move up 3 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32524701952934265, + -0.047580569982528687, + 0.05280686169862747, + -3.114928722381592, + -0.07213351875543594, + 0.3318493366241455 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot has approached the metal pot and is now in close proximity, with the gripper positioned near the pot's rim. The gripper is open and ready to make contact. The next action is to close the gripper slightly to establish firm contact with the pot for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 8 cm, move up 3 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3174826204776764, + -0.04243592545390129, + 0.0610961839556694, + 3.1353042125701904, + -0.06389724463224411, + 0.3182774484157562 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has approached the metal pot and is now in close proximity, with the gripper positioned near the pot's rim. The gripper is open and ready to make contact. The next action is to close the gripper slightly to establish firm contact with the pot for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move up 3 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31480202078819275, + -0.031820353120565414, + 0.08277851343154907, + 3.0443055629730225, + -0.07932455837726593, + 0.3163016736507416 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has approached the metal pot and is now in close proximity, with the gripper positioned near the pot's rim. The gripper is open and ready to make contact. The next action is to close the gripper slightly to establish firm contact with the pot for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3058741092681885, + -0.015617137774825096, + 0.10216044634580612, + 2.912344217300415, + -0.1675041764974594, + 0.3236425817012787 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 370, + 244, + 627, + 585 + ], + "potato": [ + 505, + 623, + 622, + 760 + ], + "wooden board": [ + 9, + 173, + 783, + 978 + ], + "orange object": [ + 196, + 321, + 304, + 469 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has approached the metal pot and is now in close proximity, with the gripper positioned near the pot's rim. The gripper is open and ready to make contact. The next action is to close the gripper slightly to establish firm contact with the pot for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 9 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30265387892723083, + -0.0014406997943297029, + 0.11382314562797546, + 2.7632532119750977, + -0.22156621515750885, + 0.40139180421829224 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has approached the metal pot and is now in close proximity, with the gripper positioned near the pot's rim. The gripper is open and ready to make contact. The next action is to close the gripper slightly to establish firm contact with the pot for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948179841041565, + 0.011988231912255287, + 0.11305063962936401, + 2.614093780517578, + -0.20178818702697754, + 0.531132161617279 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has approached the metal pot and is now in close proximity, with the gripper positioned near the pot's rim. The gripper is open and ready to make contact. The next action is to close the gripper slightly to establish firm contact with the pot for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881944477558136, + 0.018790550529956818, + 0.10693846642971039, + 2.518551826477051, + -0.20465688407421112, + 0.56833416223526 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2827589809894562, + 0.02367841824889183, + 0.10146104544401169, + 2.497076988220215, + -0.2042383998632431, + 0.5811396837234497 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27616778016090393, + 0.028798509389162064, + 0.0956902727484703, + 2.507988214492798, + -0.2034866362810135, + 0.5745852589607239 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726430296897888, + 0.033739812672138214, + 0.09392625093460083, + 2.5391342639923096, + -0.20490986108779907, + 0.5607434511184692 + ], + "gripper_value": 0.07954961806535721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26608413457870483, + 0.0393405482172966, + 0.09100884944200516, + 2.5845096111297607, + -0.2179686278104782, + 0.5404421091079712 + ], + "gripper_value": 0.22617807984352112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2584082782268524, + 0.04924563318490982, + 0.08776646852493286, + 2.613861083984375, + -0.2087438851594925, + 0.5288437008857727 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25033795833587646, + 0.059670738875865936, + 0.08575942367315292, + 2.640840768814087, + -0.1978044956922531, + 0.5257750749588013 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "reposition pot for toppling", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23668283224105835, + 0.0725056603550911, + 0.07920385897159576, + 2.714188814163208, + -0.21422114968299866, + 0.50954270362854 + ], + "gripper_value": 0.5403295159339905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 269, + 295, + 463, + 593 + ], + "orange object": [ + 196, + 374, + 275, + 470 + ], + "potato": [ + 504, + 622, + 622, + 761 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "topple pot onto side", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2304251343011856, + 0.07840734720230103, + 0.07734843343496323, + 2.757241725921631, + -0.1865033656358719, + 0.5200145244598389 + ], + "gripper_value": 0.8307508826255798 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "topple pot onto side", + "subtask_reasoning": "The robot has made contact with the metal pot and is currently holding it, as indicated by the stable low gripper value and segment evidence. The pot is being repositioned on the wooden surface, likely to align it for toppling the cardboard fence. The next action should involve sliding or dragging the pot toward the fence to prepare for the toppling maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.22808611392974854, + 0.08659707009792328, + 0.0830363929271698, + 2.8116185665130615, + -0.21709245443344116, + 0.5434013605117798 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "topple pot onto side", + "subtask_reasoning": "The metal pot is already tilted on its side within the wooden enclosure, indicating the toppling action is complete. The gripper has closed significantly during this segment (delta=0.453), confirming contact and force application. No further action is needed for this subtask as the pot has been successfully toppled." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22787395119667053, + 0.08674443513154984, + 0.09898925572633743, + 2.8667843341827393, + -0.1909431517124176, + 0.5496909618377686 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "topple pot onto side", + "subtask_reasoning": "The metal pot is already tilted on its side within the wooden enclosure, indicating the toppling action is complete. The gripper has closed significantly during this segment (delta=0.453), confirming contact and force application. No further action is needed for this subtask as the pot has been successfully toppled." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.22648508846759796, + 0.08306653052568436, + 0.12814413011074066, + 2.8944966793060303, + -0.17383532226085663, + 0.5865527987480164 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it over to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "reposition pot for toppling" + }, + { + "id": 4, + "subtask": "topple pot onto side" + } + ], + "subtask_name": "topple pot onto side", + "subtask_reasoning": "The metal pot is already tilted on its side within the wooden enclosure, indicating the toppling action is complete. The gripper has closed significantly during this segment (delta=0.453), confirming contact and force application. No further action is needed for this subtask as the pot has been successfully toppled." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003864_ecot.json b/cot/chunk-0003/episode_0003864_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d5d6d26c3269e228ec13794879654d1376b06877 --- /dev/null +++ b/cot/chunk-0003/episode_0003864_ecot.json @@ -0,0 +1,1304 @@ +{ + "task_name": "episode_0003864", + "episode_json": "json/chunk-0003/episode_0003864.json", + "video_path": "videos/chunk-0003/image_0/episode_0003864.mp4", + "instruction": "Put sweet potato in pan which is on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003864.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.1897972822189331, + "std": 0.09155415743589401, + "delta_total": -0.1888553500175476, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.18980, std=0.09155, total_delta=-0.18886). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sweet potato\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the sweet potato in the sink while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp sweet potato\", \"start\": 5, \"end\": 11, \"planning\": \"Close gripper around sweet potato and secure hold as confirmed by gripper closure and motion stability.\"},\n {\"id\": 3, \"name\": \"lift and transport to pan\", \"start\": 12, \"end\": 16, \"planning\": \"Lift sweet potato from sink and move it over the pan on the stove while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release sweet potato into pan\", \"start\": 17, \"end\": 19, \"planning\": \"Open gripper to drop sweet potato into pan and retreat slightly to complete placement.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, and release sweet potato into pan on stove using coordinated arm motion and gripper control.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.18886) consistent with grasping; Segment 2 has negligible gripper change, so no new grasp/release is inferred — instead, it reflects transport and release phase after initial grasp.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sweet potato", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the sweet potato in the sink while keeping gripper open." + }, + { + "id": 2, + "name": "grasp sweet potato", + "start": 5, + "end": 11, + "planning": "Close gripper around sweet potato and secure hold as confirmed by gripper closure and motion stability." + }, + { + "id": 3, + "name": "lift and transport to pan", + "start": 12, + "end": 16, + "planning": "Lift sweet potato from sink and move it over the pan on the stove while maintaining grip." + }, + { + "id": 4, + "name": "release sweet potato into pan", + "start": 17, + "end": 19, + "planning": "Open gripper to drop sweet potato into pan and retreat slightly to complete placement." + } + ], + "global_plan": "Approach, grasp, lift, transport, and release sweet potato into pan on stove using coordinated arm motion and gripper control.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.18886) consistent with grasping; Segment 2 has negligible gripper change, so no new grasp/release is inferred — instead, it reflects transport and release phase after initial grasp." + } + }, + "episode_goal": "Pick up the sweet potato from the sink and place it into the pan on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4362189471721649, + 0.17353421449661255, + 0.04985920339822769, + -3.0079739093780518, + -0.2340027540922165, + -0.4846806228160858 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sweet potato visible inside the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4342491924762726, + 0.17014101147651672, + 0.03460615128278732, + -3.042203187942505, + -0.2266807109117508, + -0.4957711100578308 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 439, + 300, + 992, + 843 + ], + "faucet": [ + 730, + 7, + 970, + 358 + ], + "red vegetable": [ + 714, + 589, + 854, + 744 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, with the sweet potato visible inside the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4394475221633911, + 0.1738545447587967, + 0.030960779637098312, + -3.028759717941284, + -0.25893929600715637, + -0.5338411331176758 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the sweet potato located in the basin. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4429793655872345, + 0.1779017299413681, + 0.03136303648352623, + -3.0028276443481445, + -0.29044753313064575, + -0.556352436542511 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the sweet potato located in the basin. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4459531307220459, + 0.1761714667081833, + 0.02757435105741024, + -2.995333194732666, + -0.31638994812965393, + -0.5764735341072083 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the sweet potato located in the basin. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.44885724782943726, + 0.17642530798912048, + 0.021709460765123367, + -2.9957642555236816, + -0.3533027768135071, + -0.5828502774238586 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the sweet potato located in the basin. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, close gripper; then move back 3 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.44959601759910583, + 0.1757967323064804, + 0.014466664753854275, + -3.012267589569092, + -0.379952609539032, + -0.5706174969673157 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the sweet potato located in the basin. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, close gripper; then move back 5 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4485768973827362, + 0.17344751954078674, + 0.012034590356051922, + -3.0369720458984375, + -0.3851017653942108, + -0.5599909424781799 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the sweet potato located in the basin. No grasping has occurred yet as the gripper remains open and stable. The next action is to continue moving the end-effector closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.44891124963760376, + 0.17232128977775574, + 0.01263903733342886, + -3.055945873260498, + -0.39264345169067383, + -0.5421404242515564 + ], + "gripper_value": 0.842682421207428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sweet potato in the sink, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4499479830265045, + 0.173598974943161, + 0.016601845622062683, + -3.064976215362549, + -0.38892102241516113, + -0.5335081815719604 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sweet potato in the sink, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4468141496181488, + 0.1755840927362442, + 0.017762508243322372, + -3.0668907165527344, + -0.3473496735095978, + -0.5278027057647705 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sweet potato in the sink, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.44491493701934814, + 0.17121325433254242, + 0.01979427970945835, + -3.0597574710845947, + -0.29951012134552, + -0.5177150368690491 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sweet potato in the sink, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, keep gripper closed; then move back 6 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.43927955627441406, + 0.1562870442867279, + 0.058113571256399155, + -2.9762473106384277, + -0.27197128534317017, + -0.520068347454071 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 439, + 300, + 992, + 844 + ], + "pan": [ + 267, + 170, + 517, + 418 + ], + "red vegetable": [ + 714, + 590, + 854, + 743 + ], + "faucet": [ + 765, + 7, + 943, + 339 + ], + "toy stove": [ + 10, + 20, + 988, + 893 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot arm is positioned above the sweet potato in the sink, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4277615547180176, + 0.14696219563484192, + 0.07424318045377731, + -2.9179723262786865, + -0.2519293427467346, + -0.5061658024787903 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot arm is positioned above the sweet potato in the sink, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to grasp the sweet potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4197852313518524, + 0.141209214925766, + 0.08207373321056366, + -2.8991832733154297, + -0.23073311150074005, + -0.47056207060813904 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot arm is positioned near the sink where the sweet potato rests, having completed the approach and grasp phases. The gripper remains open with no significant closing evidence in this segment, indicating the sweet potato has not yet been lifted. The next action should involve closing the gripper to secure the sweet potato before lifting and transporting it to the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4083027243614197, + 0.12971122562885284, + 0.09631053358316422, + -2.8829033374786377, + -0.2209300994873047, + -0.42273834347724915 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot arm is positioned near the sink where the sweet potato rests, having completed the approach and grasp phases. The gripper remains open with no significant closing evidence in this segment, indicating the sweet potato has not yet been lifted. The next action should involve closing the gripper to secure the sweet potato before lifting and transporting it to the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3868657946586609, + 0.12321670353412628, + 0.0958077535033226, + -2.901028633117676, + -0.2088792622089386, + -0.33679595589637756 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "lift and transport to pan", + "subtask_reasoning": "The robot arm is positioned near the sink where the sweet potato rests, having completed the approach and grasp phases. The gripper remains open with no significant closing evidence in this segment, indicating the sweet potato has not yet been lifted. The next action should involve closing the gripper to secure the sweet potato before lifting and transporting it to the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37495824694633484, + 0.11759419739246368, + 0.08682996779680252, + -2.9283525943756104, + -0.22563564777374268, + -0.2759680449962616 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "release sweet potato into pan", + "subtask_reasoning": "The robot arm is positioned near the sink where the sweet potato rests, having completed the approach and grasp phases. The gripper remains open with no significant closing evidence in this segment, indicating the sweet potato has not yet been lifted. The next action should involve closing the gripper to secure the sweet potato before lifting and transporting it to the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3713204860687256, + 0.1120108813047409, + 0.07521171122789383, + -2.9542975425720215, + -0.24808718264102936, + -0.2563645541667938 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "release sweet potato into pan", + "subtask_reasoning": "The sweet potato is currently in the sink, and the pan is on the stove. The robot has approached and grasped the sweet potato. Since the gripper evidence shows no meaningful closing, the next action is to transport the sweet potato toward the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3723183274269104, + 0.10707655549049377, + 0.06685927510261536, + -2.9747774600982666, + -0.29670846462249756, + -0.2662658989429474 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sweet potato from the sink and place it into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to pan" + }, + { + "id": 4, + "subtask": "release sweet potato into pan" + } + ], + "subtask_name": "release sweet potato into pan", + "subtask_reasoning": "The sweet potato is currently in the sink, and the pan is on the stove. The robot has approached and grasped the sweet potato. Since the gripper evidence shows no meaningful closing, the next action is to transport the sweet potato toward the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003865_ecot.json b/cot/chunk-0003/episode_0003865_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3eab1b7bc4f0f9b71d269587261315ab30d2f0d7 --- /dev/null +++ b/cot/chunk-0003/episode_0003865_ecot.json @@ -0,0 +1,1174 @@ +{ + "task_name": "episode_0003865", + "episode_json": "json/chunk-0003/episode_0003865.json", + "video_path": "videos/chunk-0003/image_0/episode_0003865.mp4", + "instruction": "Flip pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003865.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.9465577602386475, + "std": 0.3690889775753021, + "delta_total": -0.6074309349060059, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94656, std=0.36909, total_delta=-0.60743). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 113, + 113, + 113, + 113 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 14 + ], + [ + 3, + 15, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp pot\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector to the pot in the sink and close gripper to establish a firm grasp.\"},\n {\"id\": 2, \"name\": \"flip pot upright\", \"start\": 13, \"end\": 15, \"planning\": \"Rotate the grasped pot to flip it from lying on its side to an upright orientation.\"},\n {\"id\": 3, \"name\": \"release and retreat\", \"start\": 16, \"end\": 18, \"planning\": \"Open the gripper to release the pot and move the end-effector away from the sink.\"}\n ],\n \"global_plan\": \"Approach and grasp the pot lying in the sink, rotate it to an upright position, then release and retreat.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.476) consistent with grasping; Segment 2 shows continued closure and rotation for flipping; Segment 3 shows gripper opening (positive delta) and retreat motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp pot", + "start": 0, + "end": 12, + "planning": "Move end-effector to the pot in the sink and close gripper to establish a firm grasp." + }, + { + "id": 2, + "name": "flip pot upright", + "start": 13, + "end": 15, + "planning": "Rotate the grasped pot to flip it from lying on its side to an upright orientation." + }, + { + "id": 3, + "name": "release and retreat", + "start": 16, + "end": 18, + "planning": "Open the gripper to release the pot and move the end-effector away from the sink." + } + ], + "global_plan": "Approach and grasp the pot lying in the sink, rotate it to an upright position, then release and retreat.", + "notes": "Segment 1 shows gripper closing (delta=-0.476) consistent with grasping; Segment 2 shows continued closure and rotation for flipping; Segment 3 shows gripper opening (positive delta) and retreat motion." + } + }, + "episode_goal": "Flip the pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691319525241852, + -0.0988677516579628, + 0.06177789717912674, + -3.0186617374420166, + -0.07555831223726273, + 0.06835448741912842 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot is lying on its side. No actions have been completed yet as the gripper is open and the arm is stationary. The next step is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 30 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638107478618622, + -0.09682620316743851, + 0.0470283068716526, + -2.9510068893432617, + -0.02207876928150654, + 0.05194709077477455 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot is lying on its side. No actions have been completed yet as the gripper is open and the arm is stationary. The next step is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37387797236442566, + -0.10178350657224655, + 0.048884183168411255, + -2.8071179389953613, + -0.022334842011332512, + -0.01717754825949669 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot is lying on its side. No actions have been completed yet as the gripper is open and the arm is stationary. The next step is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37301281094551086, + -0.1112014651298523, + 0.04467640444636345, + -2.699867010116577, + -0.011957908980548382, + -0.0776766911149025 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red apple": [ + 604, + 396, + 670, + 507 + ], + "metal pot": [ + 632, + 386, + 827, + 645 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot is lying on its side. No actions have been completed yet as the gripper is open and the arm is stationary. The next step is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3737322986125946, + -0.11739668995141983, + 0.04382926970720291, + -2.6499648094177246, + -0.02822696976363659, + -0.1016826406121254 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot is lying on its side. No actions have been completed yet as the gripper is open and the arm is stationary. The next step is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move right 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3762553930282593, + -0.11751873046159744, + 0.03462684527039528, + -2.6045334339141846, + -0.023645171895623207, + -0.12430169433355331 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot is lying on its side. No actions have been completed yet as the gripper is open and the arm is stationary. The next step is to lower the arm and close the gripper to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 3 cm, close gripper; then move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37870439887046814, + -0.11193858087062836, + 0.033070340752601624, + -2.5664830207824707, + -0.0357179157435894, + -0.1529453694820404 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pot lying on its side in the basin. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve lowering the arm and closing the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 3 cm, close gripper; then move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791520595550537, + -0.10642550140619278, + 0.026592200621962547, + -2.5304031372070312, + -0.04180661588907242, + -0.19420838356018066 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pot lying on its side in the basin. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve lowering the arm and closing the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, close gripper; then move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816414773464203, + -0.10191011428833008, + 0.022140180692076683, + -2.508664608001709, + -0.060931310057640076, + -0.22189722955226898 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pot lying on its side in the basin. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve lowering the arm and closing the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, close gripper; then move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37976837158203125, + -0.09388205409049988, + 0.009046882390975952, + -2.487419843673706, + -0.06795072555541992, + -0.24164792895317078 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pot lying on its side in the basin. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve lowering the arm and closing the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37635767459869385, + -0.08322418481111526, + -0.0014514012727886438, + -2.4702975749969482, + -0.07480457425117493, + -0.2579415738582611 + ], + "gripper_value": 0.9198530912399292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pot lying on its side in the basin. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve lowering the arm and closing the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3790014684200287, + -0.07621747255325317, + -0.0023897443898022175, + -2.4822070598602295, + -0.09985499829053879, + -0.2611740827560425 + ], + "gripper_value": 0.729983389377594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pot lying on its side in the basin. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve lowering the arm and closing the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825235962867737, + -0.07296349108219147, + 0.001280650612898171, + -2.494288921356201, + -0.10772579163312912, + -0.24088545143604279 + ], + "gripper_value": 0.5364033579826355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pot lying on its side in the basin. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve lowering the arm and closing the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38287070393562317, + -0.0720004290342331, + 0.006980279926210642, + -2.541614532470703, + -0.07856768369674683, + -0.1704159379005432 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pot lying on its side in the basin. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve lowering the arm and closing the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37962260842323303, + -0.0877980887889862, + 0.012752369046211243, + -2.6591455936431885, + -0.02819722518324852, + -0.0985361710190773 + ], + "gripper_value": 0.18516062200069427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the pot in the sink, having completed the approach and grasp phase. The pot is tilted, and the gripper is actively engaged as indicated by the segment-level evidence. The next action is to rotate the wrist to flip the pot into an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3793264627456665, + -0.0982346311211586, + 0.01595969684422016, + -2.7491989135742188, + -0.01108175702393055, + -0.04317930340766907 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the pot in the sink, having completed the approach and grasp phase. The pot is tilted, and the gripper is actively engaged as indicated by the segment-level evidence. The next action is to rotate the wrist to flip the pot into an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37451568245887756, + -0.0875547006726265, + 0.0023186183534562588, + -2.7843780517578125, + -0.0001275532558793202, + -0.006574046798050404 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 707, + 415, + 932, + 665 + ], + "red apple": [ + 604, + 395, + 679, + 510 + ], + "green cutting board": [ + 463, + 88, + 650, + 230 + ], + "whisk": [ + 278, + 232, + 534, + 340 + ], + "green sponge": [ + 864, + 529, + 969, + 734 + ], + "orange": [ + 521, + 27, + 628, + 148 + ], + "sink": [ + 482, + 273, + 994, + 796 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the pot in the sink, having completed the approach and grasp phase. The pot is tilted, and the gripper is actively engaged as indicated by the segment-level evidence. The next action is to rotate the wrist to flip the pot into an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37275800108909607, + -0.07429850101470947, + -0.004198363050818443, + -2.826145648956299, + 0.0013163539115339518, + -0.021750962361693382 + ], + "gripper_value": 0.1660143882036209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pot is now upright in the sink, and the gripper has released it as indicated by the open gripper state. The robot arm is positioned above the pot, suggesting it has retreated slightly after releasing. The next action is to continue retreating to a safe distance from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37068575620651245, + -0.06436571478843689, + -0.008185578510165215, + -2.837653398513794, + 0.024572283029556274, + -0.02872602641582489 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pot is now upright in the sink, and the gripper has released it as indicated by the open gripper state. The robot arm is positioned above the pot, suggesting it has retreated slightly after releasing. The next action is to continue retreating to a safe distance from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003866_ecot.json b/cot/chunk-0003/episode_0003866_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f39753ba441bc4b80bee1a25894129261e3b553f --- /dev/null +++ b/cot/chunk-0003/episode_0003866_ecot.json @@ -0,0 +1,2022 @@ +{ + "task_name": "episode_0003866", + "episode_json": "json/chunk-0003/episode_0003866.json", + "video_path": "videos/chunk-0003/image_0/episode_0003866.mp4", + "instruction": "Put the orange cloth in the white basker.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003866.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.9141230583190918, + "std": 0.41185587644577026, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91412, std=0.41186, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 127, + 127, + 127, + 127, + 127 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 18 + ], + [ + 3, + 19, + 26 + ], + [ + 4, + 27, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange cloth\", \"start\": 0, \"end\": 13, \"planning\": \"Move the gripper from initial position down toward the orange cloth on the wooden surface, making contact by frame 13 as gripper begins closing.\"},\n {\"id\": 2, \"name\": \"grasp and lift cloth\", \"start\": 14, \"end\": 18, \"planning\": \"Close gripper fully around the orange cloth and lift it slightly off the surface, confirmed by gripper value dropping to 0.09 and upward motion in Z.\"},\n {\"id\": 3, \"name\": \"transport over basket\", \"start\": 19, \"end\": 26, \"planning\": \"Carry the grasped orange cloth horizontally and vertically toward the white basket, positioning it directly above the basket opening by frame 26.\"},\n {\"id\": 4, \"name\": \"release cloth into basket\", \"start\": 27, \"end\": 31, \"planning\": \"Open gripper to release the orange cloth into the basket, then retreat slightly upward and backward to clear the basket area.\"}\n ],\n \"global_plan\": \"Approach the orange cloth on the wooden surface, grasp it securely, lift and transport it over the white basket, then release it inside the basket and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in all segments: Segment 1 shows initial contact and start of grasp (gripper drops from 1.0 to 0.7), Segment 2 completes grasp and lifts (gripper to 0.09), Segment 3 holds while moving (gripper stable near 0.09), Segment 4 releases (gripper opens to 1.0). All actions are visually and proprioceptively consistent with pick-and-place mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange cloth", + "start": 0, + "end": 13, + "planning": "Move the gripper from initial position down toward the orange cloth on the wooden surface, making contact by frame 13 as gripper begins closing." + }, + { + "id": 2, + "name": "grasp and lift cloth", + "start": 14, + "end": 18, + "planning": "Close gripper fully around the orange cloth and lift it slightly off the surface, confirmed by gripper value dropping to 0.09 and upward motion in Z." + }, + { + "id": 3, + "name": "transport over basket", + "start": 19, + "end": 26, + "planning": "Carry the grasped orange cloth horizontally and vertically toward the white basket, positioning it directly above the basket opening by frame 26." + }, + { + "id": 4, + "name": "release cloth into basket", + "start": 27, + "end": 31, + "planning": "Open gripper to release the orange cloth into the basket, then retreat slightly upward and backward to clear the basket area." + } + ], + "global_plan": "Approach the orange cloth on the wooden surface, grasp it securely, lift and transport it over the white basket, then release it inside the basket and retreat.", + "notes": "Gripper evidence confirms meaningful closing in all segments: Segment 1 shows initial contact and start of grasp (gripper drops from 1.0 to 0.7), Segment 2 completes grasp and lifts (gripper to 0.09), Segment 3 holds while moving (gripper stable near 0.09), Segment 4 releases (gripper opens to 1.0). All actions are visually and proprioceptively consistent with pick-and-place mechanics." + } + }, + "episode_goal": "Place the orange cloth into the white basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.242580384016037, + -0.13562428951263428, + 0.05054875463247299, + -3.116318464279175, + -0.1144433319568634, + -0.36001303791999817 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the wooden surface, with the white basket visible nearby. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 22 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2390882968902588, + -0.13304153084754944, + 0.0443146713078022, + -3.1113693714141846, + -0.08727989345788956, + -0.3588283956050873 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the wooden surface, with the white basket visible nearby. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 22 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2413397878408432, + -0.11880405247211456, + 0.05493852123618126, + -3.0921361446380615, + -0.10230041295289993, + -0.36754733324050903 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the wooden surface, with the white basket visible nearby. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 20 cm, move down 13 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24714761972427368, + -0.08929397165775299, + 0.07091078162193298, + -3.0691604614257812, + -0.16106073558330536, + -0.3831128776073456 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the wooden surface, with the white basket visible nearby. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move down 15 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2502066195011139, + -0.037673961371183395, + 0.06153733283281326, + -3.0645971298217773, + -0.1980551779270172, + -0.3753731846809387 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 221, + 475, + 487, + 784 + ], + "basket": [ + 518, + 657, + 952, + 994 + ], + "wooden floor": [ + 44, + 468, + 960, + 997 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the wooden surface, with the white basket visible nearby. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 14 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554920017719269, + 0.0048032961785793304, + 0.03416133671998978, + -3.0976040363311768, + -0.20296894013881683, + -0.34068864583969116 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the wooden surface, with the white basket visible nearby. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25479939579963684, + 0.032259274274110794, + 0.002219660673290491, + -3.123215913772583, + -0.16665373742580414, + -0.2971649467945099 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25506752729415894, + 0.05904307961463928, + -0.01873176544904709, + -3.1232259273529053, + -0.13343334197998047, + -0.2603391408920288 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move right 5 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556750178337097, + 0.0741046890616417, + -0.02946874313056469, + -3.075411081314087, + -0.09483683854341507, + -0.24721743166446686 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move right 10 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25492802262306213, + 0.08458316326141357, + -0.041049785912036896, + -3.01522159576416, + -0.071525938808918, + -0.19820016622543335 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then move back 2 cm, move right 15 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25820422172546387, + 0.0848935917019844, + -0.059112537652254105, + -2.968756914138794, + -0.045568980276584625, + -0.15513844788074493 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 15 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26176032423973083, + 0.0868951603770256, + -0.07360409945249557, + -2.961583137512207, + -0.046001460403203964, + -0.12575103342533112 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "basket": [ + 517, + 657, + 952, + 994 + ], + "wooden floor": [ + 45, + 466, + 960, + 997 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 15 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26994577050209045, + 0.08557141572237015, + -0.07754091918468475, + -2.9800097942352295, + -0.05213795602321625, + -0.13404086232185364 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 2 cm, move right 15 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727990448474884, + 0.0835680142045021, + -0.07847264409065247, + -2.9999566078186035, + -0.05289904773235321, + -0.1372574120759964 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 15 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26869165897369385, + 0.07940694689750671, + -0.07883039861917496, + -3.0177114009857178, + -0.05567685514688492, + -0.13202795386314392 + ], + "gripper_value": 0.45408597588539124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 15 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26228252053260803, + 0.0744059830904007, + -0.07665678858757019, + -3.038409948348999, + -0.0639924481511116, + -0.12306664884090424 + ], + "gripper_value": 0.22045548260211945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth on the wooden surface, with the gripper open and ready. No contact has been made yet, and the cloth remains undisturbed. The next action should be to lower the gripper to make contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 14 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24636222422122955, + 0.06399916857481003, + -0.053221527487039566, + -3.0975701808929443, + -0.06344999372959137, + -0.08539427071809769 + ], + "gripper_value": 0.12003644555807114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot's gripper is in direct contact with the orange cloth on the wooden surface, having successfully approached it. The gripper signal indicates a closing action is underway to secure the object. The immediate next step is to complete the grasp and lift the cloth off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2435847520828247, + 0.029082125052809715, + -2.9062237445032224e-05, + -3.112901449203491, + -0.13836076855659485, + -0.12517359852790833 + ], + "gripper_value": 0.09179956465959549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot's gripper is in direct contact with the orange cloth on the wooden surface, having successfully approached it. The gripper signal indicates a closing action is underway to secure the object. The immediate next step is to complete the grasp and lift the cloth off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24150323867797852, + -0.019868528470396996, + 0.03338252007961273, + -3.135913372039795, + -0.18537059426307678, + -0.2534133493900299 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot's gripper is in direct contact with the orange cloth on the wooden surface, having successfully approached it. The gripper signal indicates a closing action is underway to secure the object. The immediate next step is to complete the grasp and lift the cloth off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24574828147888184, + -0.06808846443891525, + 0.037477217614650726, + 3.1239254474639893, + -0.1975487619638443, + -0.4280329942703247 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "transport over basket", + "subtask_reasoning": "The robot's gripper is in direct contact with the orange cloth on the wooden surface, having successfully approached it. The gripper signal indicates a closing action is underway to secure the object. The immediate next step is to complete the grasp and lift the cloth off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2440747320652008, + -0.1178634911775589, + 0.027191294357180595, + 3.118009328842163, + -0.16339807212352753, + -0.6194680333137512 + ], + "gripper_value": 0.09034547209739685 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "transport over basket", + "subtask_reasoning": "The robot's gripper is in direct contact with the orange cloth on the wooden surface, having successfully approached it. The gripper signal indicates a closing action is underway to secure the object. The immediate next step is to complete the grasp and lift the cloth off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, open gripper; then move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23444166779518127, + -0.1601104885339737, + 0.024991808459162712, + 3.1172893047332764, + -0.16304226219654083, + -0.6908899545669556 + ], + "gripper_value": 0.09034547209739685 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 647, + 643, + 965, + 927 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "transport over basket", + "subtask_reasoning": "The robot's gripper is in direct contact with the orange cloth on the wooden surface, having successfully approached it. The gripper signal indicates a closing action is underway to secure the object. The immediate next step is to complete the grasp and lift the cloth off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, open gripper; then move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23107410967350006, + -0.16722600162029266, + 0.02421502396464348, + 3.115626811981201, + -0.1680498868227005, + -0.7176536917686462 + ], + "gripper_value": 0.09034547209739685 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "transport over basket", + "subtask_reasoning": "The robot is holding the orange cloth and has moved it over the white basket. The cloth is positioned above the basket, ready to be released. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23014456033706665, + -0.16764725744724274, + 0.023898407816886902, + 3.1121013164520264, + -0.1659715622663498, + -0.7004788517951965 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "transport over basket", + "subtask_reasoning": "The robot is holding the orange cloth and has moved it over the white basket. The cloth is positioned above the basket, ready to be released. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.22270868718624115, + -0.1570369303226471, + 0.02312624640762806, + 3.130866765975952, + -0.14189492166042328, + -0.6473163366317749 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "transport over basket", + "subtask_reasoning": "The robot is holding the orange cloth and has moved it over the white basket. The cloth is positioned above the basket, ready to be released. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.21379682421684265, + -0.15241965651512146, + 0.02268732525408268, + 3.110875368118286, + -0.13985881209373474, + -0.6285505294799805 + ], + "gripper_value": 0.11367882788181305 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "transport over basket", + "subtask_reasoning": "The robot is holding the orange cloth and has moved it over the white basket. The cloth is positioned above the basket, ready to be released. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21506035327911377, + -0.1501321643590927, + 0.024135788902640343, + 3.105583429336548, + -0.14522525668144226, + -0.6215584874153137 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "transport over basket", + "subtask_reasoning": "The robot is holding the orange cloth and has moved it over the white basket. The cloth is positioned above the basket, ready to be released. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2157357782125473, + -0.14635325968265533, + 0.023967858403921127, + 3.0975658893585205, + -0.13537298142910004, + -0.606063961982727 + ], + "gripper_value": 0.6219554543495178 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot is holding the orange cloth and has moved it over the white basket. The cloth is positioned above the basket, ready to be released. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21519909799098969, + -0.14362528920173645, + 0.023602712899446487, + 3.0833425521850586, + -0.12524105608463287, + -0.5975860357284546 + ], + "gripper_value": 0.9239223003387451 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot is holding the orange cloth and has moved it over the white basket. The cloth is positioned above the basket, ready to be released. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21706914901733398, + -0.13975492119789124, + 0.024810127913951874, + 3.069523811340332, + -0.12349353730678558, + -0.5669704675674438 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot arm is positioned over the white basket with the orange cloth held in the gripper. The cloth has been successfully transported to the target location. The next action is to open the gripper to release the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2173713892698288, + -0.1293686479330063, + 0.0398390106856823, + 3.0825743675231934, + -0.14596888422966003, + -0.45230570435523987 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot arm is positioned over the white basket with the orange cloth held in the gripper. The cloth has been successfully transported to the target location. The next action is to open the gripper to release the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.21546316146850586, + -0.09781268984079361, + 0.046224743127822876, + 3.09277081489563, + -0.15906748175621033, + -0.2602914273738861 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "basket": [ + 515, + 656, + 954, + 993 + ], + "orange cloth": [ + 560, + 835, + 880, + 997 + ], + "wooden floor": [ + 41, + 464, + 966, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange cloth into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth" + }, + { + "id": 3, + "subtask": "transport over basket" + }, + { + "id": 4, + "subtask": "release cloth into basket" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot arm is positioned over the white basket with the orange cloth held in the gripper. The cloth has been successfully transported to the target location. The next action is to open the gripper to release the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003868_ecot.json b/cot/chunk-0003/episode_0003868_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..184efe7511dc0538255f9fe954a53a867f1ecde1 --- /dev/null +++ b/cot/chunk-0003/episode_0003868_ecot.json @@ -0,0 +1,1555 @@ +{ + "task_name": "episode_0003868", + "episode_json": "json/chunk-0003/episode_0003868.json", + "video_path": "videos/chunk-0003/image_0/episode_0003868.mp4", + "instruction": "Put broccoli in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003868.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.39305180311203003, + "std": 0.17459601163864136, + "delta_total": -0.39305180311203003, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.39305, std=0.17460, total_delta=-0.39305). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 19 + ], + [ + 3, + 20, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli in sink\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the broccoli piece in the sink without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp broccoli\", \"start\": 5, \"end\": 19, \"planning\": \"Close gripper around broccoli and secure hold, confirmed by gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"transport broccoli to pot\", \"start\": 20, \"end\": 24, \"planning\": \"Lift and move gripped broccoli toward the pot on the counter for placement.\"}\n ],\n \"global_plan\": \"Approach broccoli in sink, grasp it securely, then transport it to the pot for placement.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful gripper closure (delta=-0.393) and image confirms grasp. Segment 3 maintains grip while moving to target location.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli in sink", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the broccoli piece in the sink without closing gripper." + }, + { + "id": 2, + "name": "grasp broccoli", + "start": 5, + "end": 19, + "planning": "Close gripper around broccoli and secure hold, confirmed by gripper value drop and visual contact." + }, + { + "id": 3, + "name": "transport broccoli to pot", + "start": 20, + "end": 24, + "planning": "Lift and move gripped broccoli toward the pot on the counter for placement." + } + ], + "global_plan": "Approach broccoli in sink, grasp it securely, then transport it to the pot for placement.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful gripper closure (delta=-0.393) and image confirms grasp. Segment 3 maintains grip while moving to target location." + } + }, + "episode_goal": "Pick up the broccoli from the sink and place it into the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24578896164894104, + 0.21264934539794922, + 0.060980234295129776, + -2.8799777030944824, + -0.0826583132147789, + -0.16033321619033813 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "approach broccoli in sink", + "subtask_reasoning": "The robot is positioned above the sink with the broccoli visible inside. No objects have been grasped yet as the gripper remains open. The next action is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 19 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.250993549823761, + 0.1933864802122116, + 0.050404228270053864, + -2.9465925693511963, + -0.05899856239557266, + -0.15187959372997284 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "approach broccoli in sink", + "subtask_reasoning": "The robot is positioned above the sink with the broccoli visible inside. No objects have been grasped yet as the gripper remains open. The next action is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 17 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2797060012817383, + 0.1505976766347885, + 0.0549587719142437, + -2.9845242500305176, + -0.0726686492562294, + -0.12836535274982452 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "approach broccoli in sink", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 13 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3070787787437439, + 0.10023797303438187, + 0.056238286197185516, + -3.0528597831726074, + -0.06922885775566101, + -0.012575078755617142 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 108, + 282, + 677, + 788 + ], + "blue cup": [ + 124, + 4, + 231, + 121 + ], + "stove burners": [ + 4, + 221, + 218, + 425 + ], + "faucet": [ + 430, + 11, + 644, + 368 + ], + "toy carrot": [ + 40, + 124, + 175, + 217 + ], + "toy apple": [ + 71, + 227, + 148, + 315 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "approach broccoli in sink", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3247661292552948, + 0.06411641836166382, + 0.0538867823779583, + -3.0896949768066406, + -0.09396016597747803, + 0.10175155103206635 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "approach broccoli in sink", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3387708365917206, + 0.022909322753548622, + 0.03661836311221123, + 3.141496419906616, + -0.14589878916740417, + 0.11068602651357651 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34229663014411926, + 0.018582351505756378, + 0.02129349298775196, + 3.1057751178741455, + -0.17014676332473755, + 0.19843152165412903 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411881923675537, + 0.006447934079915285, + 0.012528364546597004, + 3.118459463119507, + -0.17819425463676453, + 0.18797799944877625 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3377986252307892, + 0.029465509578585625, + -0.005095351953059435, + 3.1246960163116455, + -0.18074415624141693, + 0.24267594516277313 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 108, + 276, + 677, + 784 + ], + "toy carrot": [ + 38, + 122, + 174, + 217 + ], + "blue cup": [ + 125, + 3, + 233, + 121 + ], + "toy apple": [ + 71, + 227, + 148, + 315 + ], + "green plate": [ + 149, + 154, + 319, + 299 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33612310886383057, + 0.03076324053108692, + -0.017764918506145477, + 3.105827808380127, + -0.1748242825269699, + 0.2350511997938156 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.335452139377594, + 0.037612590938806534, + -0.019837098196148872, + 3.077730178833008, + -0.16842621564865112, + 0.25308433175086975 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3403169512748718, + 0.03779986873269081, + -0.028164856135845184, + 3.0630438327789307, + -0.19631430506706238, + 0.25007057189941406 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the sink, with the broccoli visible in the basin below. The gripper is fully open and has not moved significantly, indicating no grasp attempt yet. The next action is to lower the end effector toward the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 6 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34045350551605225, + 0.03845801204442978, + -0.035981833934783936, + 3.0551278591156006, + -0.20220792293548584, + 0.26068687438964844 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 8 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425128161907196, + 0.03144505247473717, + -0.03967060521245003, + 3.0419700145721436, + -0.2139711230993271, + 0.2823311686515808 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 10 cm, move up 10 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333146274089813, + 0.02510075271129608, + -0.05000012740492821, + 3.0091030597686768, + -0.19415684044361115, + 0.33613142371177673 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 8 cm, tilt left 10 degrees, close gripper; then move forward 3 cm, move right 13 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3286397457122803, + 0.022773146629333496, + -0.05327600613236427, + 2.9919230937957764, + -0.18711981177330017, + 0.34238043427467346 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32688602805137634, + 0.02557215467095375, + -0.06096300855278969, + 2.9820051193237305, + -0.17913851141929626, + 0.3365155756473541 + ], + "gripper_value": 0.8074146509170532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33050230145454407, + 0.027577433735132217, + -0.0609431192278862, + 2.983436107635498, + -0.1880725473165512, + 0.33911851048469543 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272506892681122, + 0.024384595453739166, + -0.05649727210402489, + 3.035905361175537, + -0.13904500007629395, + 0.3192566931247711 + ], + "gripper_value": 0.6430501937866211 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.326159805059433, + 0.017764590680599213, + -0.019826611503958702, + 3.1334095001220703, + -0.10561327636241913, + 0.2877354323863983 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3294041156768799, + -0.005511130206286907, + 0.029621398076415062, + -3.061598777770996, + -0.12039732187986374, + 0.26456940174102783 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "transport broccoli to pot", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 13 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3371395468711853, + -0.03893234580755234, + 0.06824377179145813, + -2.993926525115967, + -0.12355413287878036, + 0.21408450603485107 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "transport broccoli to pot", + "subtask_reasoning": "The robot has approached the broccoli in the sink and is now positioned directly above it with the gripper open. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34322649240493774, + -0.08729544281959534, + 0.10560515522956848, + -2.9710235595703125, + -0.1331740915775299, + 0.13303479552268982 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 107, + 275, + 676, + 790 + ], + "faucet": [ + 428, + 7, + 641, + 373 + ], + "blue cup": [ + 124, + 3, + 233, + 122 + ], + "toy carrot": [ + 39, + 123, + 174, + 217 + ], + "toy apple": [ + 71, + 227, + 148, + 315 + ], + "green plate": [ + 148, + 154, + 320, + 299 + ], + "toy cabbage": [ + 654, + 539, + 796, + 706 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "transport broccoli to pot", + "subtask_reasoning": "The robot is currently holding the broccoli and moving it from the sink area toward the metal pot on the counter. Since the gripper state is stable and closed, the transport phase is underway with the broccoli secured. The next action is to continue moving the end-effector to position the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34996190667152405, + -0.10880953073501587, + 0.12581951916217804, + -2.9995055198669434, + -0.1265120506286621, + 0.16424764692783356 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "transport broccoli to pot", + "subtask_reasoning": "The robot is currently holding the broccoli and moving it from the sink area toward the metal pot on the counter. Since the gripper state is stable and closed, the transport phase is underway with the broccoli secured. The next action is to continue moving the end-effector to position the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3569585978984833, + -0.1348874270915985, + 0.1229921206831932, + -3.0178403854370117, + -0.13007444143295288, + 0.18099713325500488 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in sink" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli to pot" + } + ], + "subtask_name": "transport broccoli to pot", + "subtask_reasoning": "The robot is currently holding the broccoli and moving it from the sink area toward the metal pot on the counter. Since the gripper state is stable and closed, the transport phase is underway with the broccoli secured. The next action is to continue moving the end-effector to position the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003869_ecot.json b/cot/chunk-0003/episode_0003869_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..32754669aa828d1e36ea5d5c5e721ec026329b44 --- /dev/null +++ b/cot/chunk-0003/episode_0003869_ecot.json @@ -0,0 +1,1513 @@ +{ + "task_name": "episode_0003869", + "episode_json": "json/chunk-0003/episode_0003869.json", + "video_path": "videos/chunk-0003/image_0/episode_0003869.mp4", + "instruction": "Take broccoli out of pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003869.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.2858887314796448, + "std": 0.13738393783569336, + "delta_total": -0.2858887314796448, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.28589, std=0.13738, total_delta=-0.28589). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 16 + ], + [ + 3, + 17, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli in pan\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the broccoli inside the pan without closing gripper, as no meaningful closing is observed in this segment.\"},\n {\"id\": 2, \"name\": \"grasp and lift broccoli\", \"start\": 6, \"end\": 16, \"planning\": \"Close gripper to grasp broccoli and lift it from the pan, supported by meaningful gripper closing and visual confirmation of object being held.\"},\n {\"id\": 3, \"name\": \"reposition broccoli away from pan\", \"start\": 17, \"end\": 23, \"planning\": \"Move grasped broccoli laterally away from the pan while maintaining grip, with no further gripper motion indicating sustained hold.\"}\n ],\n \"global_plan\": \"Approach the broccoli in the pan, grasp and lift it using controlled gripper closure, then reposition it away from the pan while maintaining grip.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach. Segment 2 shows significant gripper closure consistent with grasping and lifting. Segment 3 maintains grip without further closure, indicating transport phase. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli in pan", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the broccoli inside the pan without closing gripper, as no meaningful closing is observed in this segment." + }, + { + "id": 2, + "name": "grasp and lift broccoli", + "start": 6, + "end": 16, + "planning": "Close gripper to grasp broccoli and lift it from the pan, supported by meaningful gripper closing and visual confirmation of object being held." + }, + { + "id": 3, + "name": "reposition broccoli away from pan", + "start": 17, + "end": 23, + "planning": "Move grasped broccoli laterally away from the pan while maintaining grip, with no further gripper motion indicating sustained hold." + } + ], + "global_plan": "Approach the broccoli in the pan, grasp and lift it using controlled gripper closure, then reposition it away from the pan while maintaining grip.", + "notes": "Segment 1 shows no gripper closure — only approach. Segment 2 shows significant gripper closure consistent with grasping and lifting. Segment 3 maintains grip without further closure, indicating transport phase. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Grasp the broccoli in the pan and lift it out.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24397866427898407, + 0.16481582820415497, + 0.06843504309654236, + -2.8242275714874268, + -0.04508455842733383, + 0.07912016659975052 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "approach broccoli in pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan containing broccoli visible. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 16 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2459641695022583, + 0.14248912036418915, + 0.06628698855638504, + -2.8578124046325684, + -0.021617360413074493, + 0.10216406732797623 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "approach broccoli in pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan containing broccoli visible. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 14 cm, move up 5 cm, tilt back 20 degrees, keep gripper open; then move forward 6 cm, move right 5 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26257482171058655, + 0.10796067118644714, + 0.08481986075639725, + -2.8914995193481445, + -0.03384007513523102, + 0.09519701451063156 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "approach broccoli in pan", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 10 cm, move up 3 cm, tilt back 20 degrees, keep gripper open; then move forward 7 cm, move right 5 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004123270511627, + 0.07251660525798798, + 0.116666778922081, + -2.878553628921509, + -0.13206005096435547, + 0.1068008691072464 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "approach broccoli in pan", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 7 cm, tilt back 20 degrees, keep gripper open; then move forward 7 cm, move right 5 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33549341559410095, + 0.049783624708652496, + 0.12806737422943115, + -2.863525629043579, + -0.21625563502311707, + 0.09675206989049911 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spice jar": [ + 541, + 553, + 670, + 788 + ], + "blue bowl": [ + 730, + 643, + 895, + 844 + ], + "sink": [ + 657, + 446, + 995, + 985 + ], + "green fruit": [ + 687, + 203, + 755, + 295 + ], + "pot": [ + 613, + 153, + 828, + 355 + ], + "banana": [ + 173, + 121, + 309, + 271 + ], + "stove burner": [ + 139, + 261, + 353, + 457 + ], + "red bottle": [ + 510, + 155, + 610, + 310 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "approach broccoli in pan", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 4 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3817632496356964, + 0.028057599440217018, + 0.1253492385149002, + -2.8859915733337402, + -0.3357357084751129, + 0.07948537915945053 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "approach broccoli in pan", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 7 cm, move right 4 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41037967801094055, + 0.007193405646830797, + 0.11802183836698532, + -2.9109959602355957, + -0.398712694644928, + 0.04953493922948837 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.43447357416152954, + -0.000650682719424367, + 0.11609619855880737, + -2.928168296813965, + -0.44321441650390625, + 0.041414037346839905 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4497937858104706, + -0.021595336496829987, + 0.10486911982297897, + -2.964606761932373, + -0.47759416699409485, + 0.01832151971757412 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4588111937046051, + -0.030534323304891586, + 0.08636881411075592, + -2.9822027683258057, + -0.4871141016483307, + 0.003975653555244207 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.46754348278045654, + -0.038135234266519547, + 0.08086425811052322, + -2.9766845703125, + -0.5225450992584229, + -0.02837803028523922 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the broccoli visible in the pan. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, close gripper; then move back 4 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.47497138381004333, + -0.042204052209854126, + 0.07165098935365677, + -2.9889421463012695, + -0.5545198917388916, + -0.03995742276310921 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move back 6 cm, move left 4 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.47918936610221863, + -0.042886048555374146, + 0.056207798421382904, + -3.0003113746643066, + -0.5704125761985779, + -0.05150555446743965 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spice jar": [ + 541, + 553, + 671, + 789 + ], + "blue bowl": [ + 729, + 641, + 895, + 844 + ], + "green fruit": [ + 687, + 204, + 755, + 295 + ], + "sink": [ + 655, + 447, + 995, + 983 + ], + "banana": [ + 173, + 121, + 309, + 271 + ], + "red bottle": [ + 500, + 141, + 609, + 309 + ], + "pot": [ + 617, + 158, + 818, + 353 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4806022644042969, + -0.043291766196489334, + 0.04493730887770653, + -3.0219016075134277, + -0.569439709186554, + -0.04264139384031296 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 7 cm, move left 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4772341847419739, + -0.03680678829550743, + 0.03456700220704079, + -3.013607978820801, + -0.5311899185180664, + -0.03936092555522919 + ], + "gripper_value": 0.7826583981513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 7 cm, move left 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4757034480571747, + -0.03422641381621361, + 0.034355685114860535, + -2.9990594387054443, + -0.516502857208252, + -0.043807659298181534 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 7 cm, move left 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4738316237926483, + -0.02839740179479122, + 0.03711896389722824, + -2.960745334625244, + -0.4831574559211731, + -0.06138048693537712 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4718181788921356, + -0.013068949803709984, + 0.04542545974254608, + -2.8777236938476562, + -0.43155622482299805, + -0.08834472298622131 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "reposition broccoli away from pan", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.46817898750305176, + -0.0021635687444359064, + 0.06485683470964432, + -2.7908082008361816, + -0.4141332507133484, + -0.12189017981290817 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "reposition broccoli away from pan", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4529658854007721, + 0.007213829085230827, + 0.07459527999162674, + -2.749437093734741, + -0.3868565857410431, + -0.11924447119235992 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 729, + 641, + 895, + 843 + ], + "spice jar": [ + 541, + 553, + 671, + 789 + ], + "sink": [ + 656, + 446, + 994, + 982 + ], + "banana": [ + 173, + 120, + 308, + 270 + ], + "red bottle": [ + 501, + 142, + 609, + 309 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "reposition broccoli away from pan", + "subtask_reasoning": "The robot has approached the broccoli in the pan, and the gripper is currently open (value ~0.97) with no recent closure motion. The next action should be to close the gripper to grasp the broccoli before lifting it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.43309786915779114, + 0.020057475194334984, + 0.08297128975391388, + -2.726672410964966, + -0.35915565490722656, + -0.09367857128381729 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "reposition broccoli away from pan", + "subtask_reasoning": "The broccoli is currently held above the pan, having been successfully grasped and lifted in the previous step. The gripper remains closed with no further closure needed, as confirmed by segment-level evidence. The next action is to move the broccoli laterally away from the pan to complete repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.41535815596580505, + 0.030512642115354538, + 0.07992817461490631, + -2.731032133102417, + -0.35903358459472656, + -0.053242675960063934 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "reposition broccoli away from pan", + "subtask_reasoning": "The broccoli is currently held above the pan, having been successfully grasped and lifted in the previous step. The gripper remains closed with no further closure needed, as confirmed by segment-level evidence. The next action is to move the broccoli laterally away from the pan to complete repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4012233316898346, + 0.04047146812081337, + 0.05595088377594948, + -2.755375623703003, + -0.3509877026081085, + -0.01985803060233593 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "reposition broccoli away from pan", + "subtask_reasoning": "The broccoli is currently held above the pan, having been successfully grasped and lifted in the previous step. The gripper remains closed with no further closure needed, as confirmed by segment-level evidence. The next action is to move the broccoli laterally away from the pan to complete repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39922091364860535, + 0.0392022468149662, + 0.04324805736541748, + -2.790947914123535, + -0.39362189173698425, + -0.01969931833446026 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli in pan" + }, + { + "id": 2, + "subtask": "grasp and lift broccoli" + }, + { + "id": 3, + "subtask": "reposition broccoli away from pan" + } + ], + "subtask_name": "reposition broccoli away from pan", + "subtask_reasoning": "The broccoli is currently held above the pan, having been successfully grasped and lifted in the previous step. The gripper remains closed with no further closure needed, as confirmed by segment-level evidence. The next action is to move the broccoli laterally away from the pan to complete repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003870_ecot.json b/cot/chunk-0003/episode_0003870_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..084b7be63b5546b7bd3e2a4eb8d8cfceebf452c3 --- /dev/null +++ b/cot/chunk-0003/episode_0003870_ecot.json @@ -0,0 +1,1222 @@ +{ + "task_name": "episode_0003870", + "episode_json": "json/chunk-0003/episode_0003870.json", + "video_path": "videos/chunk-0003/image_0/episode_0003870.mp4", + "instruction": "Put cup from anywhere into sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003870.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8196423053741455, + "std": 0.3372734785079956, + "delta_total": -0.8196423053741455, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.81964, std=0.33727, total_delta=-0.81964). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 106, + 106, + 106, + 106, + 106, + 106, + 106 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cup\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue cup in the sink and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and reposition cup\", \"start\": 6, \"end\": 12, \"planning\": \"Lift the grasped cup slightly and rotate/translate it to align with target placement zone within sink.\"},\n {\"id\": 3, \"name\": \"release cup and retreat\", \"start\": 13, \"end\": 19, \"planning\": \"Open gripper to release cup onto green block inside sink, then withdraw end-effector without further contact.\"}\n ],\n \"global_plan\": \"Grasp the blue cup from its initial position in the sink, lift and reorient it, then place it atop the green block already in the sink — completing the task of putting the cup into the sink (already there, but repositioned as required).\",\n \"notes\": \"Segment 3 has no gripper motion (constant 0.17515), so 'release' is inferred from context and prior grasp; images confirm cup is deposited and gripper opens implicitly by lack of closure signal. No hallucinated lifting or placing beyond observed motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cup", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue cup in the sink and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and reposition cup", + "start": 6, + "end": 12, + "planning": "Lift the grasped cup slightly and rotate/translate it to align with target placement zone within sink." + }, + { + "id": 3, + "name": "release cup and retreat", + "start": 13, + "end": 19, + "planning": "Open gripper to release cup onto green block inside sink, then withdraw end-effector without further contact." + } + ], + "global_plan": "Grasp the blue cup from its initial position in the sink, lift and reorient it, then place it atop the green block already in the sink — completing the task of putting the cup into the sink (already there, but repositioned as required).", + "notes": "Segment 3 has no gripper motion (constant 0.17515), so 'release' is inferred from context and prior grasp; images confirm cup is deposited and gripper opens implicitly by lack of closure signal. No hallucinated lifting or placing beyond observed motion." + } + }, + "episode_goal": "Grasp the blue cup and place it into the sink basin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969917953014374, + 0.12572789192199707, + 0.13653573393821716, + -3.0127787590026855, + -0.008775864727795124, + 0.07778428494930267 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue cup rests on a green block. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm and closing the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move forward 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969236671924591, + 0.12402242422103882, + 0.11682943999767303, + -3.029491662979126, + 0.026667485013604164, + 0.07432956993579865 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue cup rests on a green block. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm and closing the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move forward 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29910311102867126, + 0.12351126968860626, + 0.10089392960071564, + -3.0389904975891113, + 0.032369792461395264, + 0.07082825154066086 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink where a pink cup sits atop a green block. The gripper is currently open and approaching the cup. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 4 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009692132472992, + 0.123218834400177, + 0.08811001479625702, + -3.045581579208374, + 0.046641528606414795, + 0.06686769425868988 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink where a pink cup sits atop a green block. The gripper is currently open and approaching the cup. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016476631164551, + 0.12297471612691879, + 0.08677324652671814, + -3.0362765789031982, + 0.04994400218129158, + 0.06415624916553497 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink where a pink cup sits atop a green block. The gripper is currently open and approaching the cup. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017556369304657, + 0.12260414659976959, + 0.08717933297157288, + -3.02725887298584, + 0.05615202337503433, + 0.06250851601362228 + ], + "gripper_value": 0.5324842929840088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink where a pink cup sits atop a green block. The gripper is currently open and approaching the cup. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 2 cm, move right 6 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3036886751651764, + 0.12405551224946976, + 0.09128450602293015, + -3.020986557006836, + 0.05137813091278076, + 0.062379512935876846 + ], + "gripper_value": 0.27305713295936584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot arm is positioned above the sink where a pink cup sits atop a green block. The gripper is currently open and approaching the cup. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 3 cm, move right 8 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30492910742759705, + 0.12514738738536835, + 0.09470117837190628, + -3.0206406116485596, + 0.05330243334174156, + 0.06306195259094238 + ], + "gripper_value": 0.1920294612646103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot arm is positioned above the sink where a pink cup sits atop a green block. The gripper is currently open and approaching the cup. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 3 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31158825755119324, + 0.12973031401634216, + 0.11358838528394699, + -3.002815008163452, + 0.029212748631834984, + 0.045226238667964935 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot arm is positioned above the sink where a pink cup sits atop a green block. The gripper is currently open and approaching the cup. The next action is to close the gripper to grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 2 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196391463279724, + 0.13766656816005707, + 0.15087217092514038, + -2.978055953979492, + -0.06052127480506897, + 0.01776646263897419 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "corrugated hose": [ + 770, + 342, + 967, + 759 + ], + "wooden floor": [ + 4, + 157, + 994, + 996 + ], + "dish rack": [ + 511, + 283, + 763, + 493 + ], + "green sponge": [ + 569, + 560, + 704, + 778 + ], + "white basin": [ + 411, + 275, + 896, + 967 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The blue cup is currently held by the gripper above the sink, having been lifted from its initial position. The gripper shows consistent closing evidence in this segment, confirming a stable grasp. The next action is to reposition the cup downward to place it atop the green block in the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move right 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3265373110771179, + 0.13369284570217133, + 0.15578964352607727, + -3.002558469772339, + -0.0974850058555603, + -0.008178514428436756 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The blue cup is currently held by the gripper above the sink, having been lifted from its initial position. The gripper shows consistent closing evidence in this segment, confirming a stable grasp. The next action is to reposition the cup downward to place it atop the green block in the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move right 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3345300853252411, + 0.12329471111297607, + 0.14991244673728943, + -3.0544803142547607, + -0.17245233058929443, + -0.015558281913399696 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The blue cup is currently held by the gripper above the sink, having been lifted from its initial position. The gripper shows consistent closing evidence in this segment, confirming a stable grasp. The next action is to reposition the cup downward to place it atop the green block in the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425981402397156, + 0.10803166031837463, + 0.14428748190402985, + -3.1147522926330566, + -0.2665201425552368, + -0.0295628160238266 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The blue cup is currently held by the gripper above the sink, having been lifted from its initial position. The gripper shows consistent closing evidence in this segment, confirming a stable grasp. The next action is to reposition the cup downward to place it atop the green block in the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470376133918762, + 0.08220437169075012, + 0.14714770019054413, + 3.1049787998199463, + -0.3612512946128845, + -0.05069125071167946 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The blue cup is currently held by the gripper above the sink, having been lifted from its initial position. The gripper shows consistent closing evidence in this segment, confirming a stable grasp. The next action is to reposition the cup downward to place it atop the green block in the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543240427970886, + 0.04994784668087959, + 0.142115980386734, + 3.0582988262176514, + -0.4092985689640045, + -0.07936794310808182 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The blue cup is currently held by the gripper above the sink, having been lifted from its initial position. The gripper shows consistent closing evidence in this segment, confirming a stable grasp. The next action is to reposition the cup downward to place it atop the green block in the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3673125207424164, + 0.021842868998646736, + 0.16169728338718414, + 3.0659291744232178, + -0.4432515799999237, + -0.14286360144615173 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The blue cup is currently held by the gripper above the sink, having been lifted from its initial position. The gripper shows consistent closing evidence in this segment, confirming a stable grasp. The next action is to reposition the cup downward to place it atop the green block in the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3776702284812927, + -0.0014516657683998346, + 0.16760803759098053, + 3.060441493988037, + -0.4358481764793396, + -0.18862925469875336 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 509, + 283, + 711, + 475 + ], + "green sponge": [ + 569, + 563, + 704, + 778 + ], + "white basin": [ + 411, + 275, + 896, + 967 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The blue cup has been successfully placed atop the green block inside the sink basin. The gripper is currently open and in contact with the cup, indicating the release phase is underway. The robot should now retreat its arm upward and away from the sink to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37667116522789, + -0.029028872027993202, + 0.1595163494348526, + 3.0449273586273193, + -0.4072682559490204, + -0.24495936930179596 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The blue cup has been successfully placed atop the green block inside the sink basin. The gripper is currently open and in contact with the cup, indicating the release phase is underway. The robot should now retreat its arm upward and away from the sink to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697822690010071, + -0.03958141431212425, + 0.15640491247177124, + 3.0453946590423584, + -0.3631897568702698, + -0.2725723087787628 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The blue cup has been successfully placed atop the green block inside the sink basin. The gripper is currently open and in contact with the cup, indicating the release phase is underway. The robot should now retreat its arm upward and away from the sink to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35618606209754944, + -0.036268044263124466, + 0.1480812430381775, + 3.050513505935669, + -0.2718413174152374, + -0.2645323872566223 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup" + }, + { + "id": 3, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The blue cup has been successfully placed atop the green block inside the sink basin. The gripper is currently open and in contact with the cup, indicating the release phase is underway. The robot should now retreat its arm upward and away from the sink to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003871_ecot.json b/cot/chunk-0003/episode_0003871_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..22929e73d3ced799ecea81c870d405e62c222655 --- /dev/null +++ b/cot/chunk-0003/episode_0003871_ecot.json @@ -0,0 +1,2038 @@ +{ + "task_name": "episode_0003871", + "episode_json": "json/chunk-0003/episode_0003871.json", + "video_path": "videos/chunk-0003/image_0/episode_0003871.mp4", + "instruction": "Take carrot out of pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003871.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.47091609239578247, + "std": 0.2018483281135559, + "delta_total": 0.002003312110900879, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.47092, std=0.20185, total_delta=0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 26 + ], + [ + 3, + 27, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot in pot\", \"start\": 0, \"end\": 2, \"planning\": \"Move the gripper toward the pot area without closing, positioning for contact with the carrot.\"},\n {\"id\": 2, \"name\": \"grasp and lift carrot\", \"start\": 3, \"end\": 26, \"planning\": \"Close gripper to grasp the carrot inside the pot and lift it upward while maintaining hold.\"},\n {\"id\": 3, \"name\": \"release carrot outside pot\", \"start\": 27, \"end\": 33, \"planning\": \"Open gripper to release the carrot beside the pot, completing removal from the cardboard fence enclosure.\"}\n ],\n \"global_plan\": \"Approach the carrot inside the pot, grasp and lift it out, then release it outside the pot to complete removal from the cardboard fence.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closure (delta=-0.436) consistent with grasping and lifting. Segment 3 shows gripper opening (delta=+0.438) consistent with releasing the carrot after extraction.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot in pot", + "start": 0, + "end": 2, + "planning": "Move the gripper toward the pot area without closing, positioning for contact with the carrot." + }, + { + "id": 2, + "name": "grasp and lift carrot", + "start": 3, + "end": 26, + "planning": "Close gripper to grasp the carrot inside the pot and lift it upward while maintaining hold." + }, + { + "id": 3, + "name": "release carrot outside pot", + "start": 27, + "end": 33, + "planning": "Open gripper to release the carrot beside the pot, completing removal from the cardboard fence enclosure." + } + ], + "global_plan": "Approach the carrot inside the pot, grasp and lift it out, then release it outside the pot to complete removal from the cardboard fence.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closure (delta=-0.436) consistent with grasping and lifting. Segment 3 shows gripper opening (delta=+0.438) consistent with releasing the carrot after extraction." + } + }, + "episode_goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2511412799358368, + 0.13765142858028412, + 0.11063671112060547, + -3.030350923538208, + -0.06598605215549469, + 0.14108161628246307 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "approach carrot in pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector down towards the carrot inside the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 13 cm, move down 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24872921407222748, + 0.13338078558444977, + 0.10406210273504257, + -3.048444986343384, + -0.043405305594205856, + 0.14953142404556274 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "approach carrot in pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move right 13 cm, move down 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2449403703212738, + 0.1018332690000534, + 0.11308824270963669, + -3.116333246231079, + -0.06060728803277016, + 0.18235503137111664 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "approach carrot in pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, keep gripper open; then move right 13 cm, move down 9 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24667517840862274, + 0.05842199921607971, + 0.12470045685768127, + 3.1003904342651367, + -0.04919253662228584, + 0.22890955209732056 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move down 9 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25275877118110657, + 0.018509909510612488, + 0.1236543133854866, + 3.055050849914551, + -0.038750793784856796, + 0.28106391429901123 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25634488463401794, + -0.027046991512179375, + 0.11097495257854462, + 3.0428192615509033, + -0.078403040766716, + 0.36817455291748047 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2563132047653198, + -0.06018707901239395, + 0.09719718247652054, + 3.02854061126709, + -0.11235916614532471, + 0.4538971483707428 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "glass bowl": [ + 482, + 512, + 712, + 817 + ], + "green apple": [ + 321, + 641, + 419, + 784 + ], + "yellow fruit": [ + 332, + 397, + 415, + 520 + ], + "tiled wall": [ + 300, + 5, + 979, + 476 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2531072497367859, + -0.0753111019730568, + 0.0812482163310051, + 3.042113780975342, + -0.10876934975385666, + 0.4616740942001343 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2502386271953583, + -0.0793534591794014, + 0.07005546987056732, + 3.053987741470337, + -0.1122891753911972, + 0.4695892333984375 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "glass bowl": [ + 483, + 518, + 711, + 818 + ], + "green apple": [ + 320, + 641, + 419, + 784 + ], + "yellow fruit": [ + 332, + 397, + 415, + 521 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24977058172225952, + -0.07842879742383957, + 0.05985179543495178, + 3.0545170307159424, + -0.08224329352378845, + 0.48508420586586 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24668926000595093, + -0.07625832408666611, + 0.04390844330191612, + 3.0907833576202393, + -0.03180819749832153, + 0.49141770601272583 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24753759801387787, + -0.07424994558095932, + 0.04306752607226372, + 3.0849931240081787, + -0.022340040653944016, + 0.49668511748313904 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24803385138511658, + -0.07283742725849152, + 0.03771936893463135, + 3.089280366897583, + -0.01412403117865324, + 0.4953114092350006 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24800366163253784, + -0.07276923954486847, + 0.030269382521510124, + 3.1001365184783936, + -0.003089937614277005, + 0.5002127289772034 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the orange bowl containing the carrot visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to lower the arm towards the bowl to initiate the approach to the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24853193759918213, + -0.07271566241979599, + 0.024883272126317024, + 3.106062173843384, + -0.002294279867783189, + 0.4990536570549011 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24840715527534485, + -0.07121105492115021, + 0.018790651112794876, + 3.119004964828491, + -0.0018248059786856174, + 0.4969351887702942 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24845516681671143, + -0.07266341894865036, + 0.01405896432697773, + 3.1231260299682617, + 0.0006876500556245446, + 0.4945094585418701 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24895012378692627, + -0.0732613280415535, + 0.011292431503534317, + 3.124756097793579, + -0.0008645988418720663, + 0.4909015893936157 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24682500958442688, + -0.0742073804140091, + 0.010516412556171417, + 3.122107744216919, + 0.009914256632328033, + 0.48708173632621765 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24462439119815826, + -0.075201615691185, + 0.011342203244566917, + 3.1220622062683105, + 0.02412807010114193, + 0.47835031151771545 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24841581284999847, + -0.07577919214963913, + 0.03215440735220909, + 3.0759072303771973, + -0.010423511266708374, + 0.4918324649333954 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554599940776825, + -0.07370477169752121, + 0.06046506389975548, + 3.0112485885620117, + -0.03532939404249191, + 0.5239336490631104 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689632773399353, + -0.06491652876138687, + 0.08878929167985916, + 2.956406354904175, + -0.07907170057296753, + 0.5885581374168396 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green apple": [ + 319, + 641, + 419, + 785 + ], + "yellow fruit": [ + 330, + 396, + 416, + 521 + ], + "glass bowl": [ + 482, + 531, + 716, + 839 + ], + "tiled wall": [ + 293, + 5, + 984, + 480 + ], + "cardboard box": [ + 94, + 228, + 856, + 970 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923257052898407, + -0.04799574241042137, + 0.10496415942907333, + 2.925977945327759, + -0.10707835853099823, + 0.6969422101974487 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30953294038772583, + -0.029322613030672073, + 0.0937405675649643, + 2.9658865928649902, + -0.09984956681728363, + 0.7667027711868286 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3215368092060089, + -0.01508413441479206, + 0.07580234855413437, + 3.0165557861328125, + -0.12090742588043213, + 0.815877377986908 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "glass bowl": [ + 483, + 530, + 714, + 835 + ], + "green apple": [ + 319, + 641, + 419, + 785 + ], + "yellow fruit": [ + 330, + 396, + 416, + 520 + ], + "cardboard box": [ + 93, + 230, + 854, + 970 + ], + "cables": [ + 4, + 632, + 128, + 769 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.33036667108535767, + -0.004511807579547167, + 0.05097658559679985, + 3.0933997631073, + -0.12464764714241028, + 0.8547638058662415 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.334593266248703, + 0.0017713506240397692, + 0.03008485771715641, + -3.1347732543945312, + -0.13281558454036713, + 0.8573193550109863 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "release carrot outside pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3344690203666687, + 7.65580334700644e-05, + 0.015960529446601868, + -3.1167500019073486, + -0.11915929615497589, + 0.8256059288978577 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "release carrot outside pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33415549993515015, + -0.0019074376905336976, + 0.015499400906264782, + -3.1114299297332764, + -0.1199241355061531, + 0.8100248575210571 + ], + "gripper_value": 0.639030933380127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "release carrot outside pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is imminent or occurring within this window. The next immediate action is to close the gripper to grasp the carrot in preparation for lifting it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3313100039958954, + -0.003680779132992029, + 0.015147603116929531, + -3.0961129665374756, + -0.11204224079847336, + 0.8004443049430847 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "release carrot outside pot", + "subtask_reasoning": "The carrot has been lifted out of the orange bowl and is currently held above the wooden surface. The gripper is open, indicating the release action is in progress or just completed. The next step is to ensure the carrot is fully placed on the wooden surface next to the green apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3258611559867859, + -0.007385434117168188, + 0.011509658768773079, + -3.0733697414398193, + -0.058963384479284286, + 0.7982408404350281 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "release carrot outside pot", + "subtask_reasoning": "The carrot has been lifted out of the orange bowl and is currently held above the wooden surface. The gripper is open, indicating the release action is in progress or just completed. The next step is to ensure the carrot is fully placed on the wooden surface next to the green apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.32331642508506775, + -0.008796194568276405, + 0.013814759440720081, + -3.071528196334839, + -0.02758142352104187, + 0.7999056577682495 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "release carrot outside pot", + "subtask_reasoning": "The carrot has been lifted out of the orange bowl and is currently held above the wooden surface. The gripper is open, indicating the release action is in progress or just completed. The next step is to ensure the carrot is fully placed on the wooden surface next to the green apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3261028528213501, + -0.014511242508888245, + 0.038835376501083374, + -3.110611915588379, + -0.011220481246709824, + 0.817462146282196 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the orange bowl and place it on the wooden surface next to the green apple." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot outside pot" + } + ], + "subtask_name": "release carrot outside pot", + "subtask_reasoning": "The carrot has been lifted out of the orange bowl and is currently held above the wooden surface. The gripper is open, indicating the release action is in progress or just completed. The next step is to ensure the carrot is fully placed on the wooden surface next to the green apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003872_ecot.json b/cot/chunk-0003/episode_0003872_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8fac8a37dfed72e5c917aad3ac4b2cf9c25a9e4e --- /dev/null +++ b/cot/chunk-0003/episode_0003872_ecot.json @@ -0,0 +1,1506 @@ +{ + "task_name": "episode_0003872", + "episode_json": "json/chunk-0003/episode_0003872.json", + "video_path": "videos/chunk-0003/image_0/episode_0003872.mp4", + "instruction": "Put the banana on the lower right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003872.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.4962860345840454, + "std": 0.227501779794693, + "delta_total": 0.003982663154602051, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49629, std=0.22750, total_delta=0.00398). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 100, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 3 + ], + [ + 3, + 4, + 4 + ], + [ + 4, + 5, + 5 + ], + [ + 5, + 6, + 14 + ], + [ + 6, + 15, + 15 + ], + [ + 7, + 16, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach banana\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the banana on the counter without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp banana\", \"start\": 6, \"end\": 14, \"planning\": \"Close gripper around the banana and secure hold, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"transport to burner\", \"start\": 15, \"end\": 15, \"planning\": \"Lift and move the grasped banana toward the lower right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place on burner\", \"start\": 16, \"end\": 22, \"planning\": \"Lower the banana onto the target burner and release grip, confirmed by gripper opening and object placement in final frame.\"}\n ],\n \"global_plan\": \"Approach the banana, grasp it securely, transport it to the lower right burner, and place it down with controlled release.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 5 and 7; segment 1–4 show no closing, so approach-only language is used. Final placement is visually confirmed in frame 22.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach banana", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the banana on the counter without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp banana", + "start": 6, + "end": 14, + "planning": "Close gripper around the banana and secure hold, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "transport to burner", + "start": 15, + "end": 15, + "planning": "Lift and move the grasped banana toward the lower right burner while maintaining grip." + }, + { + "id": 4, + "name": "place on burner", + "start": 16, + "end": 22, + "planning": "Lower the banana onto the target burner and release grip, confirmed by gripper opening and object placement in final frame." + } + ], + "global_plan": "Approach the banana, grasp it securely, transport it to the lower right burner, and place it down with controlled release.", + "notes": "Gripper evidence supports grasp only in segments 5 and 7; segment 1–4 show no closing, so approach-only language is used. Final placement is visually confirmed in frame 22." + } + }, + "episode_goal": "Place the banana on the lower right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36406409740448, + 0.12162201851606369, + 0.006892712786793709, + -3.0644452571868896, + -0.04707945138216019, + 0.17848680913448334 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the banana visible on the counter. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3564848303794861, + 0.1189298927783966, + -0.010265432298183441, + -3.0726704597473145, + 0.002826285781338811, + 0.18196405470371246 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the stove with the banana visible on the counter. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619999587535858, + 0.10642574727535248, + -0.012674164026975632, + -3.0922257900238037, + -0.0026575045194476843, + 0.17629678547382355 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned near the banana on the countertop, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with the end-effector moving toward the target object. The next action should continue fine-tuning the approach to align the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.386946439743042, + 0.07370461523532867, + -0.008297901600599289, + 3.1386330127716064, + -0.03856240585446358, + 0.13858500123023987 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned near the banana on the countertop, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with the end-effector moving toward the target object. The next action should continue fine-tuning the approach to align the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4088764190673828, + 0.054893430322408676, + -0.024201849475502968, + -3.141456127166748, + 0.00306493416428566, + 0.17794199287891388 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned near the banana on the countertop, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with the end-effector moving toward the target object. The next action should continue fine-tuning the approach to align the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4262785315513611, + 0.04777936637401581, + -0.039755407720804214, + 3.133643388748169, + 0.01035022921860218, + 0.25084546208381653 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 681, + 473, + 995, + 979 + ], + "burner coil": [ + 529, + 420, + 725, + 628 + ], + "hanging ladle": [ + 686, + 3, + 775, + 185 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot arm is positioned near the banana on the countertop, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with the end-effector moving toward the target object. The next action should continue fine-tuning the approach to align the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 6 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.43544289469718933, + 0.06352543830871582, + -0.046073537319898605, + -3.0936968326568604, + 0.03365320339798927, + 0.33214035630226135 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot arm is positioned near the banana on the countertop, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with the end-effector moving toward the target object. The next action should continue fine-tuning the approach to align the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.43729540705680847, + 0.07329187542200089, + -0.05709641054272652, + -3.0467958450317383, + 0.0424279123544693, + 0.3659602999687195 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot arm is positioned near the banana on the countertop, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with the end-effector moving toward the target object. The next action should continue fine-tuning the approach to align the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.43548646569252014, + 0.08202420920133591, + -0.05762774869799614, + -3.0618975162506104, + 0.047063205391168594, + 0.4076588749885559 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot arm is positioned near the banana on the countertop, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with the end-effector moving toward the target object. The next action should continue fine-tuning the approach to align the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.43476375937461853, + 0.08790699392557144, + -0.05705558881163597, + -3.071927547454834, + 0.04643167555332184, + 0.4289551079273224 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot arm is positioned near the banana on the countertop, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with the end-effector moving toward the target object. The next action should continue fine-tuning the approach to align the gripper for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4235345721244812, + 0.08127939701080322, + -0.06676144897937775, + -3.080207347869873, + 0.07541236281394958, + 0.43372663855552673 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly over the banana on the stovetop, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.419722318649292, + 0.07370486855506897, + -0.06778594851493835, + -3.083986282348633, + 0.08277633041143417, + 0.42233315110206604 + ], + "gripper_value": 0.5149424076080322 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly over the banana on the stovetop, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.413358211517334, + 0.07199422270059586, + -0.06460021436214447, + -3.0804898738861084, + 0.08891543745994568, + 0.3984180986881256 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly over the banana on the stovetop, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4049950838088989, + 0.06818203628063202, + -0.0458843968808651, + -3.093400716781616, + 0.02644491381943226, + 0.33155357837677 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly over the banana on the stovetop, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3941236436367035, + 0.057193417102098465, + -0.02267291583120823, + -3.1357333660125732, + -0.011727450415492058, + 0.28611645102500916 + ], + "gripper_value": 0.5130034685134888 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "hanging ladle": [ + 686, + 4, + 775, + 186 + ], + "burner coil": [ + 528, + 421, + 725, + 628 + ], + "sink": [ + 682, + 474, + 995, + 980 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly over the banana on the stovetop, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3709896206855774, + 0.043280020356178284, + -0.024199966341257095, + 3.115902900695801, + 0.0072703431360423565, + 0.24041520059108734 + ], + "gripper_value": 0.5130034685134888 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "transport to burner", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the lower right burner. The gripper remains closed with no significant change, indicating continued grasp. The next action is to position the banana directly above the target burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548468053340912, + 0.019803842529654503, + -0.03593961521983147, + -3.135526180267334, + 0.05335838720202446, + 0.1464172750711441 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the lower right burner. The gripper remains closed with no significant change, indicating continued grasp. The next action is to position the banana directly above the target burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3482319712638855, + 0.0034613742027431726, + -0.04080142825841904, + -3.1239304542541504, + 0.06769590824842453, + 0.09154170006513596 + ], + "gripper_value": 0.5130034685134888 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "hanging ladle": [ + 688, + 4, + 773, + 186 + ], + "metal bowl": [ + 244, + 228, + 429, + 432 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the lower right burner. The gripper remains closed with no significant change, indicating continued grasp. The next action is to position the banana directly above the target burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470856547355652, + -0.004240214824676514, + -0.0424879752099514, + -3.131852388381958, + 0.06532646715641022, + 0.08156118541955948 + ], + "gripper_value": 0.5130034685134888 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the lower right burner. The gripper remains closed with no significant change, indicating continued grasp. The next action is to position the banana directly above the target burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34541070461273193, + -0.00837036594748497, + -0.046993885189294815, + -3.1164700984954834, + 0.07597456872463226, + 0.06805244088172913 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is holding the banana directly above the lower right burner, with the gripper still closed. The placement action is in progress but not yet completed, as the banana has not been released onto the burner surface. The next action should be to open the gripper to place the banana on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506099283695221, + -0.008494091220200062, + -0.04370349273085594, + -3.118204116821289, + 0.0806572437286377, + 0.08077837526798248 + ], + "gripper_value": 0.8713903427124023 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is holding the banana directly above the lower right burner, with the gripper still closed. The placement action is in progress but not yet completed, as the banana has not been released onto the burner surface. The next action should be to open the gripper to place the banana on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3528065085411072, + -0.004060450475662947, + -0.040912408381700516, + -3.0982134342193604, + 0.07215859740972519, + 0.07409877330064774 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is holding the banana directly above the lower right burner, with the gripper still closed. The placement action is in progress but not yet completed, as the banana has not been released onto the burner surface. The next action should be to open the gripper to place the banana on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605615198612213, + -0.003922128584235907, + -0.0050621358677744865, + -3.1025993824005127, + 0.0080980584025383, + 0.06652471423149109 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana on the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport to burner" + }, + { + "id": 4, + "subtask": "place on burner" + } + ], + "subtask_name": "place on burner", + "subtask_reasoning": "The robot is holding the banana directly above the lower right burner, with the gripper still closed. The placement action is in progress but not yet completed, as the banana has not been released onto the burner surface. The next action should be to open the gripper to place the banana on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003873_ecot.json b/cot/chunk-0003/episode_0003873_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..cd2ba145b8f20ff2b10f81206fc8f59d95e5d62f --- /dev/null +++ b/cot/chunk-0003/episode_0003873_ecot.json @@ -0,0 +1,2072 @@ +{ + "task_name": "episode_0003873", + "episode_json": "json/chunk-0003/episode_0003873.json", + "video_path": "videos/chunk-0003/image_0/episode_0003873.mp4", + "instruction": "Put broccoli in pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003873.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.2414202094078064, + "std": 0.10062199831008911, + "delta_total": 0.002571702003479004, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.24142, std=0.10062, total_delta=0.00257). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 16 + ], + [ + 3, + 17, + 25 + ], + [ + 4, + 26, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the broccoli on the counter without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp broccoli\", \"start\": 4, \"end\": 16, \"planning\": \"Close the gripper around the broccoli and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition broccoli\", \"start\": 17, \"end\": 25, \"planning\": \"Lift the grasped broccoli and move it over the pot while maintaining grip, preparing for release.\"},\n {\"id\": 4, \"name\": \"release broccoli into pot\", \"start\": 26, \"end\": 30, \"planning\": \"Open the gripper to drop the broccoli into the pot, confirmed by gripper opening and object descent in final frame.\"}\n ],\n \"global_plan\": \"Approach the broccoli, grasp it securely, lift and reposition it over the pot, then release it into the pot to complete the task.\",\n \"notes\": \"Gripper evidence aligns with image observations: no grasp in segment 1, meaningful closure in segment 2, sustained hold in segment 3, and deliberate release in segment 4. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the broccoli on the counter without closing the gripper." + }, + { + "id": 2, + "name": "grasp broccoli", + "start": 4, + "end": 16, + "planning": "Close the gripper around the broccoli and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition broccoli", + "start": 17, + "end": 25, + "planning": "Lift the grasped broccoli and move it over the pot while maintaining grip, preparing for release." + }, + { + "id": 4, + "name": "release broccoli into pot", + "start": 26, + "end": 30, + "planning": "Open the gripper to drop the broccoli into the pot, confirmed by gripper opening and object descent in final frame." + } + ], + "global_plan": "Approach the broccoli, grasp it securely, lift and reposition it over the pot, then release it into the pot to complete the task.", + "notes": "Gripper evidence aligns with image observations: no grasp in segment 1, meaningful closure in segment 2, sustained hold in segment 3, and deliberate release in segment 4. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the broccoli into the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26708903908729553, + 0.005204875022172928, + 0.1333460807800293, + 3.0955188274383545, + -0.21272826194763184, + 0.3255009055137634 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the broccoli visible nearby but not yet in contact. No grasping has occurred as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654860019683838, + 0.00372872082516551, + 0.12467775493860245, + 3.0968337059020996, + -0.17757262289524078, + 0.3272583484649658 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28024813532829285, + -0.002003246685490012, + 0.11165568977594376, + 3.0610103607177734, + -0.11455627530813217, + 0.30381396412849426 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy yellow squash": [ + 265, + 595, + 434, + 788 + ], + "stainless steel pot": [ + 420, + 465, + 739, + 751 + ], + "cardboard box stove": [ + 12, + 244, + 822, + 985 + ], + "green plate": [ + 709, + 234, + 886, + 366 + ], + "toy carrot": [ + 149, + 266, + 342, + 476 + ], + "toy green vegetable": [ + 435, + 357, + 518, + 462 + ], + "black appliance": [ + 307, + 4, + 637, + 395 + ], + "pot lid": [ + 857, + 822, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30412018299102783, + -0.002823370974510908, + 0.09012530744075775, + 3.0351409912109375, + -0.11943674087524414, + 0.23970133066177368 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 5 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252922296524048, + 9.043413592735305e-05, + 0.08011940866708755, + 3.0152580738067627, + -0.13196463882923126, + 0.19338341057300568 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3343195617198944, + 0.012672851793467999, + 0.07637099176645279, + 3.042037010192871, + -0.14953404664993286, + 0.15267227590084076 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33447396755218506, + 0.031228410080075264, + 0.07153978943824768, + 3.0538172721862793, + -0.15397444367408752, + 0.1280284970998764 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3403656780719757, + 0.05262887477874756, + 0.06635768711566925, + 3.059664487838745, + -0.15859974920749664, + 0.12246265262365341 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy yellow squash": [ + 265, + 595, + 434, + 788 + ], + "stainless steel pot": [ + 420, + 464, + 740, + 752 + ], + "cardboard box stove": [ + 13, + 242, + 824, + 987 + ], + "green plate": [ + 710, + 234, + 886, + 366 + ], + "toy carrot": [ + 148, + 266, + 341, + 475 + ], + "toy green vegetable": [ + 435, + 355, + 518, + 459 + ], + "pot lid": [ + 858, + 822, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3474593162536621, + 0.06508885324001312, + 0.054769497364759445, + 3.06779146194458, + -0.1517668515443802, + 0.11546631157398224 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35681217908859253, + 0.06499942392110825, + 0.04100845754146576, + 3.0598089694976807, + -0.1379818171262741, + 0.083527110517025 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the stove with the pot visible, but the broccoli is located to the left and has not yet been reached. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector towards the broccoli to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3598352372646332, + 0.0608011856675148, + 0.032078199088573456, + 3.0689427852630615, + -0.15466409921646118, + 0.05767473205924034 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, close gripper; then move back 2 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3563865125179291, + 0.05514926090836525, + 0.021110359579324722, + 3.0597355365753174, + -0.1809997409582138, + 0.030313381925225258 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, close gripper; then move back 4 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3525431156158447, + 0.051342323422431946, + 0.007286016829311848, + 3.0468311309814453, + -0.18461504578590393, + 0.03621409833431244 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3512043356895447, + 0.049405377358198166, + 0.0014806822873651981, + 3.0477819442749023, + -0.1912153661251068, + 0.032154738903045654 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move back 6 cm, move right 5 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3509103059768677, + 0.0493643693625927, + 0.0012456477852538228, + 3.061279773712158, + -0.18946604430675507, + 0.009242251515388489 + ], + "gripper_value": 0.7691487669944763 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move back 6 cm, move right 5 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3477512300014496, + 0.049797575920820236, + 0.000728642800822854, + 3.0719211101531982, + -0.16513752937316895, + 0.01751057431101799 + ], + "gripper_value": 0.7969971895217896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34375160932540894, + 0.04753958061337471, + 0.0024237625766545534, + 3.0653934478759766, + -0.1402081698179245, + 0.036874569952487946 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 7 cm, move right 8 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429926633834839, + 0.04288149252533913, + 0.026539022102952003, + 3.071321487426758, + -0.16678640246391296, + 0.06254977732896805 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 8 cm, move up 7 cm, keep gripper closed; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3396359980106354, + 0.0386822484433651, + 0.0631527304649353, + 3.0999796390533447, + -0.2023990899324417, + 0.09534850716590881 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy yellow squash": [ + 268, + 594, + 434, + 788 + ], + "stainless steel pot": [ + 419, + 463, + 741, + 752 + ], + "cardboard box stove": [ + 13, + 242, + 822, + 988 + ], + "green plate": [ + 709, + 233, + 886, + 366 + ], + "toy carrot": [ + 145, + 266, + 339, + 478 + ], + "black power cord": [ + 1, + 914, + 51, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 8 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33325833082199097, + 0.036492250859737396, + 0.07920272648334503, + 3.1214592456817627, + -0.237566277384758, + 0.13460227847099304 + ], + "gripper_value": 0.803636372089386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 7 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32037830352783203, + 0.025512754917144775, + 0.09002839028835297, + 3.1087238788604736, + -0.2542143166065216, + 0.18589963018894196 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The robot has approached the broccoli and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the grasp is being initiated. The next immediate action is to close the gripper to secure the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30684414505958557, + 0.01337209902703762, + 0.10003187507390976, + 3.1133322715759277, + -0.2822309732437134, + 0.2210492640733719 + ], + "gripper_value": 0.803636372089386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The broccoli is currently grasped and being lifted above the stove area. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to reposition the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29256272315979004, + 0.004836133681237698, + 0.10806100815534592, + 3.12355637550354, + -0.3102492392063141, + 0.2371566742658615 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The broccoli is currently grasped and being lifted above the stove area. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to reposition the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835122048854828, + -0.0037609892897307873, + 0.1099441722035408, + 3.1280834674835205, + -0.3102055788040161, + 0.22162649035453796 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The broccoli is currently grasped and being lifted above the stove area. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to reposition the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2797245383262634, + -0.007709717843681574, + 0.10934697091579437, + 3.1284563541412354, + -0.2894624173641205, + 0.2112620323896408 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The broccoli is currently grasped and being lifted above the stove area. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to reposition the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27770423889160156, + -0.016599664464592934, + 0.10816410928964615, + 3.122837543487549, + -0.27820906043052673, + 0.16685424745082855 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "lift and reposition broccoli", + "subtask_reasoning": "The broccoli is currently grasped and being lifted above the stove area. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to reposition the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26800796389579773, + -0.038008857518434525, + 0.09877283126115799, + 3.0972113609313965, + -0.2483386993408203, + 0.09311208873987198 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently grasped and being lifted above the stove area. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to reposition the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26491332054138184, + -0.04731099680066109, + 0.09790870547294617, + 3.1081552505493164, + -0.24536435306072235, + 0.12293656170368195 + ], + "gripper_value": 0.8784087896347046 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy yellow squash": [ + 268, + 595, + 434, + 789 + ], + "stainless steel pot": [ + 419, + 472, + 738, + 750 + ], + "cardboard box stove": [ + 11, + 242, + 829, + 989 + ], + "green plate": [ + 709, + 235, + 887, + 374 + ], + "toy carrot": [ + 146, + 267, + 340, + 478 + ], + "black appliance": [ + 447, + 5, + 744, + 518 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently grasped and being lifted above the stove area. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to reposition the broccoli directly over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603922486305237, + -0.04872988909482956, + 0.08949484676122665, + 3.095228672027588, + -0.2281135618686676, + 0.13655492663383484 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held by the gripper and positioned directly over the pot. The gripper is in an open state, indicating the release action is underway or just completed. The next step is to ensure the broccoli has fully settled into the pot before moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626974880695343, + -0.04437907785177231, + 0.0864947959780693, + 3.081983804702759, + -0.25143858790397644, + 0.1185963898897171 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held by the gripper and positioned directly over the pot. The gripper is in an open state, indicating the release action is underway or just completed. The next step is to ensure the broccoli has fully settled into the pot before moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2652936279773712, + -0.04048222303390503, + 0.08645488321781158, + 3.0796868801116943, + -0.2662811875343323, + 0.10648757219314575 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and reposition broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pot" + } + ], + "subtask_name": "release broccoli into pot", + "subtask_reasoning": "The broccoli is currently held by the gripper and positioned directly over the pot. The gripper is in an open state, indicating the release action is underway or just completed. The next step is to ensure the broccoli has fully settled into the pot before moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003874_ecot.json b/cot/chunk-0003/episode_0003874_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..72cdc3632cccff998d157543fa7d0f5686eee89b --- /dev/null +++ b/cot/chunk-0003/episode_0003874_ecot.json @@ -0,0 +1,7825 @@ +{ + "task_name": "episode_0003874", + "episode_json": "json/chunk-0003/episode_0003874.json", + "video_path": "videos/chunk-0003/image_0/episode_0003874.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 95, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003874.json" + }, + "fps": 5.0, + "T_eff": 95, + "gripper_behavior_summary": { + "available": true, + "range": 0.6182193160057068, + "std": 0.15083909034729004, + "delta_total": -0.6182193160057068, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61822, std=0.15084, total_delta=-0.61822). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 607, + 607, + 607, + 607, + 607, + 607, + 607, + 107, + 107, + 707, + 707, + 707, + 707, + 707, + 707, + 707, + 707, + 707, + 707, + 707, + 507, + 507, + 507, + 507, + 507, + 507, + 107, + 107, + 107, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 207, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 207, + 207, + 207, + 207, + 207, + 207 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 10 + ], + [ + 3, + 11, + 21 + ], + [ + 4, + 22, + 28 + ], + [ + 5, + 29, + 30 + ], + [ + 6, + 31, + 41 + ], + [ + 7, + 42, + 47 + ], + [ + 8, + 48, + 50 + ], + [ + 9, + 51, + 77 + ], + [ + 10, + 78, + 78 + ], + [ + 11, + 79, + 88 + ], + [ + 12, + 89, + 94 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward beans and close gripper to prepare for sweeping contact.\"},\n {\"id\": 2, \"name\": \"initial sweep motion\", \"start\": 7, \"end\": 21, \"planning\": \"Begin sweeping beans toward the left side of the tray using controlled lateral motion.\"},\n {\"id\": 3, \"name\": \"reposition for second sweep\", \"start\": 22, \"end\": 28, \"planning\": \"Lift and reposition end-effector to align with remaining scattered beans for next sweep phase.\"},\n {\"id\": 4, \"name\": \"sweep middle cluster\", \"start\": 29, \"end\": 41, \"planning\": \"Drag middle group of beans leftward into growing pile using open-gripper push contact.\"},\n {\"id\": 5, \"name\": \"adjust angle and continue sweep\", \"start\": 42, \"end\": 50, \"planning\": \"Rotate wrist and slide end-effector to gather beans from upper-right region toward pile.\"},\n {\"id\": 6, \"name\": \"final consolidation sweep\", \"start\": 51, \"end\": 77, \"planning\": \"Execute broad sweeping arc to collect residual beans and merge them into main pile on left.\"},\n {\"id\": 7, \"name\": \"lift and retreat\", \"start\": 78, \"end\": 78, \"planning\": \"Briefly lift end-effector to disengage from bean pile after final sweep.\"},\n {\"id\": 8, \"name\": \"reposition for cleanup\", \"start\": 79, \"end\": 88, \"planning\": \"Move to new position above tray to target any remaining isolated beans near center or right.\"},\n {\"id\": 9, \"name\": \"final nudging pass\", \"start\": 89, \"end\": 94, \"planning\": \"Gently nudge last few stray beans into the consolidated pile using open-gripper contact.\"}\n ],\n \"global_plan\": \"Sweep all black beans into a single pile on the left side of the white tray using sequential open-gripper pushing motions, repositioning between sweeps to cover different regions of the tray.\",\n \"notes\": \"Gripper closes only in Segment 1 (frames 0-6); all subsequent segments use open-gripper contact (push/drag/nudge) as confirmed by constant gripper_value=0.38060 and segment-level evidence showing no meaningful closing. No grasping or lifting of individual beans occurs — task is purely sweeping via contact.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper", + "start": 0, + "end": 6, + "planning": "Move end-effector toward beans and close gripper to prepare for sweeping contact." + }, + { + "id": 2, + "name": "initial sweep motion", + "start": 7, + "end": 21, + "planning": "Begin sweeping beans toward the left side of the tray using controlled lateral motion." + }, + { + "id": 3, + "name": "reposition for second sweep", + "start": 22, + "end": 28, + "planning": "Lift and reposition end-effector to align with remaining scattered beans for next sweep phase." + }, + { + "id": 4, + "name": "sweep middle cluster", + "start": 29, + "end": 41, + "planning": "Drag middle group of beans leftward into growing pile using open-gripper push contact." + }, + { + "id": 5, + "name": "adjust angle and continue sweep", + "start": 42, + "end": 50, + "planning": "Rotate wrist and slide end-effector to gather beans from upper-right region toward pile." + }, + { + "id": 6, + "name": "final consolidation sweep", + "start": 51, + "end": 77, + "planning": "Execute broad sweeping arc to collect residual beans and merge them into main pile on left." + }, + { + "id": 7, + "name": "lift and retreat", + "start": 78, + "end": 78, + "planning": "Briefly lift end-effector to disengage from bean pile after final sweep." + }, + { + "id": 8, + "name": "reposition for cleanup", + "start": 79, + "end": 88, + "planning": "Move to new position above tray to target any remaining isolated beans near center or right." + }, + { + "id": 9, + "name": "final nudging pass", + "start": 89, + "end": 94, + "planning": "Gently nudge last few stray beans into the consolidated pile using open-gripper contact." + } + ], + "global_plan": "Sweep all black beans into a single pile on the left side of the white tray using sequential open-gripper pushing motions, repositioning between sweeps to cover different regions of the tray.", + "notes": "Gripper closes only in Segment 1 (frames 0-6); all subsequent segments use open-gripper contact (push/drag/nudge) as confirmed by constant gripper_value=0.38060 and segment-level evidence showing no meaningful closing. No grasping or lifting of individual beans occurs — task is purely sweeping via contact." + } + }, + "episode_goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36790114641189575, + -0.1445482224225998, + 0.05600971356034279, + 3.100801944732666, + -0.13623227179050446, + 0.33796676993370056 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing the beans toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36507272720336914, + -0.14427225291728973, + 0.041914716362953186, + 3.1181247234344482, + -0.10374733060598373, + 0.3359408974647522 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing the beans toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move left 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648172914981842, + -0.1507038027048111, + 0.040176670998334885, + 3.0599324703216553, + -0.06834878027439117, + 0.29742178320884705 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing the beans toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.366293340921402, + -0.14703801274299622, + 0.038679782301187515, + 3.0577008724212646, + -0.04872877895832062, + 0.280290424823761 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36781615018844604, + -0.14785096049308777, + 0.029568040743470192, + 3.0717055797576904, + -0.034173548221588135, + 0.27963605523109436 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3634825646877289, + -0.15216746926307678, + 0.016618721187114716, + 3.1083285808563232, + -0.015022716484963894, + 0.2727223038673401 + ], + "gripper_value": 0.9568231701850891 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 38, + 112, + 179, + 227 + ], + "blue tape": [ + 909, + 742, + 997, + 953 + ], + "screwdriver": [ + 756, + 728, + 856, + 994 + ], + "white tray": [ + 50, + 333, + 986, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 2 cm, move left 16 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3649013042449951, + -0.15687640011310577, + 0.016737468540668488, + 3.1014225482940674, + -0.034890398383140564, + 0.2586333751678467 + ], + "gripper_value": 0.6711689233779907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 19 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648715615272522, + -0.1573036164045334, + 0.017344817519187927, + 3.101534843444824, + -0.03691950812935829, + 0.25633618235588074 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 22 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638654947280884, + -0.15289779007434845, + 0.013941961340606213, + 3.114772081375122, + -0.04520546644926071, + 0.2573081851005554 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 25 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36153754591941833, + -0.14371399581432343, + 0.013143868185579777, + 3.1192634105682373, + -0.05048879235982895, + 0.2636805474758148 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 27 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3618724048137665, + -0.12733981013298035, + 0.012533689849078655, + 3.1327896118164062, + -0.04815689101815224, + 0.25813403725624084 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 25 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3623908460140228, + -0.10660183429718018, + 0.012295829132199287, + -3.1361098289489746, + -0.062476444989442825, + 0.2687327563762665 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 21 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3634949326515198, + -0.08614962548017502, + 0.012668135575950146, + -3.125182867050171, + -0.06123480200767517, + 0.26377904415130615 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35917097330093384, + -0.054627660661935806, + 0.012888225726783276, + -3.1163463592529297, + -0.04169989004731178, + 0.27836379408836365 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35225263237953186, + -0.027850646525621414, + 0.01369665376842022, + -3.107187509536743, + -0.0391850508749485, + 0.2759552597999573 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 10 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3416358530521393, + 0.0024760253727436066, + 0.014311237260699272, + -3.106614351272583, + -0.031179465353488922, + 0.2595044672489166 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 4 cm, move right 14 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33016467094421387, + 0.03699672594666481, + 0.01403304934501648, + -3.103853225708008, + -0.04152767360210419, + 0.2595415413379669 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 908, + 740, + 997, + 952 + ], + "metal bowl": [ + 39, + 113, + 168, + 224 + ], + "white tray": [ + 49, + 334, + 986, + 992 + ], + "screwdriver": [ + 360, + 598, + 466, + 820 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move right 17 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227652311325073, + 0.06642530113458633, + 0.014835940673947334, + -3.0994250774383545, + -0.05153800547122955, + 0.25045111775398254 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 6 cm, move right 18 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167857527732849, + 0.09552241861820221, + 0.016252730041742325, + -3.096140146255493, + -0.05228397622704506, + 0.2545880973339081 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 7 cm, move right 19 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31241467595100403, + 0.12937244772911072, + 0.020778296515345573, + -3.092628240585327, + -0.07025309652090073, + 0.2811087369918823 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 8 cm, move right 19 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109787404537201, + 0.1258249133825302, + 0.029574688524007797, + -3.1350395679473877, + -0.07026901841163635, + 0.2752965986728668 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 8 cm, move right 19 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32839784026145935, + 0.09880832582712173, + 0.044085048139095306, + 3.062978982925415, + -0.09231791645288467, + 0.30073580145835876 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "initial sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 1 cm, keep gripper closed; then move forward 8 cm, move right 19 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3508714437484741, + 0.04968077689409256, + 0.05897407978773117, + 3.0029244422912598, + -0.09473522007465363, + 0.30129891633987427 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 19 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36922499537467957, + -0.001048554666340351, + 0.07654895633459091, + 3.005601167678833, + -0.11622435599565506, + 0.2908519506454468 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 909, + 740, + 997, + 953 + ], + "metal bowl": [ + 38, + 113, + 178, + 227 + ], + "white tray": [ + 51, + 334, + 985, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 14 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed; then move left 7 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3826768100261688, + -0.048840440809726715, + 0.0805228129029274, + 3.019087553024292, + -0.11384579539299011, + 0.29302993416786194 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beans, and the gripper is open. The subtask involves approaching a target area and closing the gripper, but no contact or grasp has occurred yet. The next action should involve moving the gripper closer to the beans and initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move left 9 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3927895128726959, + -0.09189550578594208, + 0.0755791962146759, + 3.037055015563965, + -0.09582491964101791, + 0.2870170772075653 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed; then move left 11 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.40455418825149536, + -0.11577080190181732, + 0.06059035286307335, + 3.078676700592041, + -0.0873604342341423, + 0.28489649295806885 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, keep gripper closed; then move back 1 cm, move left 14 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4154108464717865, + -0.13233409821987152, + 0.040696557611227036, + 3.1155645847320557, + -0.08269941061735153, + 0.2821139693260193 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 17 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.42472097277641296, + -0.13879655301570892, + 0.029183391481637955, + 3.135216236114502, + -0.08437246084213257, + 0.2866990268230438 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 19 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.42828014492988586, + -0.13808415830135345, + 0.025285253301262856, + -3.140049457550049, + -0.08490835130214691, + 0.2945893406867981 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 21 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4294136166572571, + -0.1311560720205307, + 0.025189466774463654, + -3.1382367610931396, + -0.07740243524312973, + 0.29172152280807495 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4307224452495575, + -0.11122165620326996, + 0.02166452258825302, + 3.141155481338501, + -0.0508321076631546, + 0.3055187463760376 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 21 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.42911630868911743, + -0.09384124726057053, + 0.01758749783039093, + 3.133985996246338, + -0.03627052530646324, + 0.2961099147796631 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 20 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4290662407875061, + -0.07129784673452377, + 0.016649849712848663, + 3.130390167236328, + -0.03734399750828743, + 0.3039235472679138 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 17 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4279690384864807, + -0.050172358751297, + 0.015268778428435326, + 3.1329283714294434, + -0.05700339749455452, + 0.3159160017967224 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot has completed the initial sweep and is now repositioning above the tray for the second sweep. The gripper remains open with no closing evidence, indicating preparation for another pushing motion. The next action is to move the end-effector to a new starting position on the right side of the tray to continue sweeping black objects toward the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 15 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4258686304092407, + -0.02950218878686428, + 0.0143799539655447, + 3.133543014526367, + -0.0615101233124733, + 0.3186423182487488 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 5 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.4199952185153961, + 0.003408589633181691, + 0.014922398142516613, + 3.119514226913452, + -0.07365380972623825, + 0.36598333716392517 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 51, + 335, + 984, + 993 + ], + "metal bowl": [ + 37, + 112, + 178, + 228 + ], + "blue tape": [ + 911, + 736, + 996, + 932 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 7 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.415475070476532, + 0.030068790540099144, + 0.015397460199892521, + 3.1052138805389404, + -0.07200711965560913, + 0.3993411958217621 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 8 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.41541072726249695, + 0.050258517265319824, + 0.015888042747974396, + 3.099512815475464, + -0.08147099614143372, + 0.44734930992126465 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 9 cm, move left 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.41807273030281067, + 0.0704324021935463, + 0.018429450690746307, + 3.0928707122802734, + -0.09959487617015839, + 0.5446658134460449 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 9 cm, move left 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.4158613979816437, + 0.0840471163392067, + 0.018134279176592827, + 3.09415340423584, + -0.10316517949104309, + 0.6313818097114563 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 3 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.4062561094760895, + 0.09494833648204803, + 0.017520472407341003, + 3.1088128089904785, + -0.05726546421647072, + 0.7303126454353333 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "sweep middle cluster", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 9 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.39435672760009766, + 0.10262495279312134, + 0.014207588508725166, + 3.119375467300415, + -0.01828083209693432, + 0.8574976921081543 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3743744194507599, + 0.1033778190612793, + 0.011568001471459866, + 3.11806058883667, + -0.02260293997824192, + 0.919339656829834 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 10 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.35554662346839905, + 0.10406429320573807, + 0.01028491836041212, + 3.1182305812835693, + -0.022739877924323082, + 0.9334031939506531 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 914, + 749, + 996, + 949 + ], + "screwdriver": [ + 342, + 485, + 436, + 677 + ], + "white tray": [ + 21, + 364, + 973, + 992 + ], + "metal bowl": [ + 38, + 112, + 178, + 225 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 14 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3416208028793335, + 0.11093129962682724, + 0.010328315198421478, + 3.114654541015625, + -0.044730979949235916, + 0.9006989002227783 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 16 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.32023048400878906, + 0.13149425387382507, + 0.01101673487573862, + 3.1148149967193604, + -0.05004942789673805, + 0.8811752796173096 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 16 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.31085479259490967, + 0.1375075727701187, + 0.012747439555823803, + 3.1112656593322754, + -0.04403887689113617, + 0.808181643486023 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 16 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037845492362976, + 0.14496977627277374, + 0.01553384494036436, + -3.117884397506714, + -0.11302077770233154, + 0.690464437007904 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move right 15 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.30114588141441345, + 0.14480213820934296, + 0.017727931961417198, + -3.1134121417999268, + -0.15793898701667786, + 0.599581241607666 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move right 14 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.29845553636550903, + 0.12896789610385895, + 0.027618873864412308, + 3.08207368850708, + -0.09084386378526688, + 0.5890083312988281 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "adjust angle and continue sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move right 11 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 50 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.30570530891418457, + 0.0918283760547638, + 0.05202159658074379, + 2.9786603450775146, + -0.042447131127119064, + 0.6080369353294373 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.31139490008354187, + 0.03593066334724426, + 0.07113087922334671, + 2.9590322971343994, + -0.018390120938420296, + 0.5883393287658691 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.310956746339798, + -0.0053874352015554905, + 0.0727367103099823, + 2.9623968601226807, + -0.015440383926033974, + 0.5958781838417053 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039706349372864, + -0.0500776544213295, + 0.05889799818396568, + 2.983189582824707, + -0.05266434699296951, + 0.5582936406135559 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.30655837059020996, + -0.06623238325119019, + 0.04807356745004654, + 2.982492446899414, + -0.11422289162874222, + 0.5457108616828918 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 918, + 761, + 996, + 972 + ], + "white tray": [ + 10, + 391, + 967, + 994 + ], + "metal bowl": [ + 39, + 113, + 178, + 227 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 16 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.30902034044265747, + -0.06750580668449402, + 0.032782185822725296, + 3.002070426940918, + -0.14098508656024933, + 0.539103627204895 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 18 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.30899056792259216, + -0.06396909803152084, + 0.020653128623962402, + 3.026900291442871, + -0.17435728013515472, + 0.5137284398078918 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 18 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3088080883026123, + -0.05533872917294502, + 0.016754459589719772, + 3.031667709350586, + -0.19240547716617584, + 0.5120506882667542 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 15 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.30456629395484924, + -0.045569658279418945, + 0.0149793466553092, + 3.0375142097473145, + -0.20041458308696747, + 0.49098125100135803 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3008641302585602, + -0.01615987718105316, + 0.015063006430864334, + 3.0634877681732178, + -0.17225930094718933, + 0.4871007204055786 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 918, + 762, + 997, + 974 + ], + "white tray": [ + 7, + 374, + 967, + 994 + ], + "metal bowl": [ + 38, + 112, + 176, + 227 + ], + "black beans": [ + 73, + 547, + 257, + 824 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.29783767461776733, + 0.0034935851581394672, + 0.015659095719456673, + 3.0730338096618652, + -0.16641037166118622, + 0.4578806161880493 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.29491469264030457, + 0.028809593990445137, + 0.015812605619430542, + 3.090275764465332, + -0.1626177579164505, + 0.44271135330200195 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.28912872076034546, + 0.05350108444690704, + 0.015236219391226768, + 3.1085426807403564, + -0.14987583458423615, + 0.4227343797683716 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is currently positioned over the middle cluster of black beans with the gripper open and in contact with the tray surface. Previous steps have completed the approach and initial sweeping motions. The next action is to continue pushing the scattered beans toward the accumulating pile on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.28314319252967834, + 0.06696763634681702, + 0.015807798132300377, + 3.102494478225708, + -0.1367127150297165, + 0.4089047312736511 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.2675723433494568, + 0.091005839407444, + 0.021914834156632423, + 3.1025607585906982, + -0.12566368281841278, + 0.40989890694618225 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.26151520013809204, + 0.11152350157499313, + 0.024349486455321312, + 3.115452766418457, + -0.1343371421098709, + 0.40404564142227173 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630237340927124, + 0.11542299389839172, + 0.02925705350935459, + 3.077279806137085, + -0.1256992369890213, + 0.42220136523246765 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.27249059081077576, + 0.09899957478046417, + 0.049862854182720184, + 3.007286548614502, + -0.1268286257982254, + 0.481280654668808 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.28515636920928955, + 0.0510990172624588, + 0.059334926307201385, + 2.9740896224975586, + -0.07249673455953598, + 0.5057129859924316 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 919, + 762, + 996, + 973 + ], + "white tray": [ + 7, + 383, + 968, + 993 + ], + "screwdriver": [ + 236, + 566, + 348, + 788 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.2901914417743683, + 0.024021074175834656, + 0.05399796739220619, + 2.99503755569458, + -0.1019534319639206, + 0.5290647745132446 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.28561997413635254, + 0.004750433843582869, + 0.03968643397092819, + 3.02579402923584, + -0.1557699292898178, + 0.5033033490180969 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 5 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.2831754684448242, + 0.002150595188140869, + 0.027774909511208534, + 3.044715642929077, + -0.20602574944496155, + 0.49305132031440735 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 7 cm, move right 11 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.28670787811279297, + 0.006080396939069033, + 0.016382446512579918, + 3.0606987476348877, + -0.23423580825328827, + 0.48325106501579285 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 10 cm, move right 12 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.28938212990760803, + 0.01743285171687603, + 0.016161691397428513, + 3.0598790645599365, + -0.25139904022216797, + 0.49116846919059753 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 12 cm, move right 11 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.2861362099647522, + 0.046898964792490005, + 0.017565082758665085, + 3.0699222087860107, + -0.22860033810138702, + 0.48890408873558044 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 13 cm, move right 10 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.2798434793949127, + 0.0823921263217926, + 0.02040901780128479, + 3.0979881286621094, + -0.21707771718502045, + 0.43704625964164734 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 915, + 759, + 997, + 971 + ], + "white tray": [ + 7, + 366, + 971, + 993 + ], + "black beans": [ + 81, + 612, + 222, + 804 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 13 cm, move right 8 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.26849663257598877, + 0.12357725203037262, + 0.02369408868253231, + 3.1299030780792236, + -0.2291306108236313, + 0.34074828028678894 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final consolidation sweep", + "subtask_reasoning": "The robot is in the final consolidation sweep phase, with the gripper open and positioned over scattered black beans in the white tray. Previous sweeps have gathered most beans toward the bottom-left corner; this motion is pushing remaining stragglers into the pile. The next action should continue the open-gripper push toward the target corner to complete consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 13 cm, move right 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 51, + "end": 77 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.26422688364982605, + 0.1491226851940155, + 0.02793339267373085, + -3.121208667755127, + -0.2737312912940979, + 0.25050103664398193 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "lift and retreat", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 13 cm, move right 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 78 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 78, + "end": 78 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664252519607544, + 0.1526043862104416, + 0.04256253316998482, + 3.139375925064087, + -0.30681243538856506, + 0.257457435131073 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.2774125635623932, + 0.13280685245990753, + 0.05720748007297516, + 3.0467591285705566, + -0.2626761794090271, + 0.3599279522895813 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 6 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149842917919159, + 0.08372785151004791, + 0.08649728447198868, + 2.9657890796661377, + -0.22939248383045197, + 0.43966445326805115 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.3409990966320038, + 0.04666835069656372, + 0.08811796456575394, + 2.999631643295288, + -0.19098712503910065, + 0.5338841676712036 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 7 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.3688758909702301, + 0.027996500954031944, + 0.07660654932260513, + 3.0477988719940186, + -0.18512657284736633, + 0.5859836339950562 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move back 5 cm, move right 11 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869580626487732, + 0.041549090296030045, + 0.06108096241950989, + 3.0849673748016357, + -0.20338401198387146, + 0.6259009838104248 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move back 5 cm, move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.39729487895965576, + 0.05759076029062271, + 0.052100371569395065, + 3.095357894897461, + -0.21523021161556244, + 0.6529091596603394 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.3971596956253052, + 0.07014002650976181, + 0.04632573202252388, + 3.1054563522338867, + -0.22052879631519318, + 0.6669195890426636 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 5 cm, move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.3974873721599579, + 0.07351154088973999, + 0.04410793259739876, + 3.1238551139831543, + -0.23076151311397552, + 0.6658356189727783 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.3980609178543091, + 0.07394392788410187, + 0.04249022901058197, + 3.1242637634277344, + -0.23895356059074402, + 0.6558234095573425 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "reposition for cleanup", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 79, + "end": 88 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.3954261839389801, + 0.07547912001609802, + 0.041956596076488495, + -3.141350746154785, + -0.23711606860160828, + 0.6611183285713196 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final nudging pass", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 89, + "end": 94 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.37756505608558655, + 0.05920233950018883, + 0.03219479322433472, + -3.0641849040985107, + -0.16274167597293854, + 0.6321123838424683 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final nudging pass", + "subtask_reasoning": "The robot has completed the initial sweep motion and is now in the lift and retreat phase. The gripper remains open with no closing evidence, indicating no grasping action. The next likely action is to retract the arm upward and away from the tray to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 13 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 89, + "end": 94 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.36217793822288513, + 0.03052244335412979, + 0.04452142491936684, + -3.0735361576080322, + -0.11712143570184708, + 0.5807497501373291 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final nudging pass", + "subtask_reasoning": "The robot is positioned over the white tray with black beans already gathered into a pile on the left. The gripper remains open and stationary during this segment, indicating no grasping action. The next likely step is a small push or nudge to consolidate the pile further without lifting or holding any objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 9, + "start": 89, + "end": 94 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500407636165619, + 0.004282929468899965, + 0.05975502356886864, + -3.1227989196777344, + -0.10880211740732193, + 0.5484795570373535 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final nudging pass", + "subtask_reasoning": "The robot is positioned over the white tray with black beans already gathered into a pile on the left. The gripper remains open and stationary during this segment, indicating no grasping action. The next likely step is a small push or nudge to consolidate the pile further without lifting or holding any objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 91 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 89, + "end": 94 + } + }, + { + "t": 93, + "state_action_evidence": { + "ee_state_6d": [ + 0.343225359916687, + -0.030688168480992317, + 0.05656353756785393, + -3.115088939666748, + -0.1199565976858139, + 0.47102048993110657 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final nudging pass", + "subtask_reasoning": "The robot is positioned over the white tray with black beans already gathered into a pile on the left. The gripper remains open and stationary during this segment, indicating no grasping action. The next likely step is a small push or nudge to consolidate the pile further without lifting or holding any objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 91 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 89, + "end": 94 + } + }, + { + "t": 94, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405196964740753, + -0.07291653752326965, + 0.054374951869249344, + -3.1305882930755615, + -0.1580865979194641, + 0.40765151381492615 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 915, + 759, + 997, + 973 + ], + "white tray": [ + 13, + 367, + 970, + 993 + ], + "metal bowl": [ + 38, + 112, + 178, + 227 + ], + "black beans": [ + 62, + 535, + 264, + 789 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile in the bottom-left corner of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "initial sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep middle cluster" + }, + { + "id": 5, + "subtask": "adjust angle and continue sweep" + }, + { + "id": 6, + "subtask": "final consolidation sweep" + }, + { + "id": 7, + "subtask": "lift and retreat" + }, + { + "id": 8, + "subtask": "reposition for cleanup" + }, + { + "id": 9, + "subtask": "final nudging pass" + } + ], + "subtask_name": "final nudging pass", + "subtask_reasoning": "The robot is positioned over the white tray with black beans already gathered into a pile on the left. The gripper remains open and stationary during this segment, indicating no grasping action. The next likely step is a small push or nudge to consolidate the pile further without lifting or holding any objects." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 91 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 89, + "end": 94 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003875_ecot.json b/cot/chunk-0003/episode_0003875_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7fee01ff74ff94cbeabf4c5234540ac8e30eea34 --- /dev/null +++ b/cot/chunk-0003/episode_0003875_ecot.json @@ -0,0 +1,4590 @@ +{ + "task_name": "episode_0003875", + "episode_json": "json/chunk-0003/episode_0003875.json", + "video_path": "videos/chunk-0003/image_0/episode_0003875.mp4", + "instruction": "Put redcube in pan and put pan on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 66, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003875.json" + }, + "fps": 5.0, + "T_eff": 66, + "gripper_behavior_summary": { + "available": true, + "range": 0.9515328407287598, + "std": 0.38910695910453796, + "delta_total": -0.004494905471801758, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95153, std=0.38911, total_delta=-0.00449). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 340, + 340, + 340, + 340, + 340, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 59, + 59, + 59, + 59, + 59, + 59, + 59 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 16 + ], + [ + 3, + 17, + 25 + ], + [ + 4, + 26, + 39 + ], + [ + 5, + 40, + 44 + ], + [ + 6, + 45, + 58 + ], + [ + 7, + 59, + 65 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red cube\", \"start\": 0, \"end\": 16, \"planning\": \"Move end-effector toward the red cube on the counter without grasping yet.\"},\n {\"id\": 2, \"name\": \"grasp red cube\", \"start\": 17, \"end\": 25, \"planning\": \"Close gripper to securely grasp the red cube as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and move cube to pan\", \"start\": 26, \"end\": 39, \"planning\": \"Lift the grasped red cube and transport it over the pan on the stove.\"},\n {\"id\": 4, \"name\": \"release cube into pan\", \"start\": 40, \"end\": 44, \"planning\": \"Open gripper to release the red cube into the pan, confirmed by gripper opening and object drop.\"},\n {\"id\": 5, \"name\": \"reposition for pan handle\", \"start\": 45, \"end\": 58, \"planning\": \"Retreat and reposition end-effector to align with the pan’s handle for lifting.\"},\n {\"id\": 6, \"name\": \"grasp pan handle\", \"start\": 59, \"end\": 65, \"planning\": \"Close gripper around the pan handle to prepare for moving the pan onto the stove burner.\"}\n ],\n \"global_plan\": \"First, approach and grasp the red cube, then lift and place it into the pan. After releasing the cube, reposition to grasp the pan’s handle and prepare to move the pan onto the stove.\",\n \"notes\": \"Subtasks are aligned with observed gripper closures (segments 3, 5, 7) and motion phases. No hallucinated grasps or lifts — all actions grounded in segment-level gripper evidence and keyframe visuals.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red cube", + "start": 0, + "end": 16, + "planning": "Move end-effector toward the red cube on the counter without grasping yet." + }, + { + "id": 2, + "name": "grasp red cube", + "start": 17, + "end": 25, + "planning": "Close gripper to securely grasp the red cube as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and move cube to pan", + "start": 26, + "end": 39, + "planning": "Lift the grasped red cube and transport it over the pan on the stove." + }, + { + "id": 4, + "name": "release cube into pan", + "start": 40, + "end": 44, + "planning": "Open gripper to release the red cube into the pan, confirmed by gripper opening and object drop." + }, + { + "id": 5, + "name": "reposition for pan handle", + "start": 45, + "end": 58, + "planning": "Retreat and reposition end-effector to align with the pan’s handle for lifting." + }, + { + "id": 6, + "name": "grasp pan handle", + "start": 59, + "end": 65, + "planning": "Close gripper around the pan handle to prepare for moving the pan onto the stove burner." + } + ], + "global_plan": "First, approach and grasp the red cube, then lift and place it into the pan. After releasing the cube, reposition to grasp the pan’s handle and prepare to move the pan onto the stove.", + "notes": "Subtasks are aligned with observed gripper closures (segments 3, 5, 7) and motion phases. No hallucinated grasps or lifts — all actions grounded in segment-level gripper evidence and keyframe visuals." + } + }, + "episode_goal": "Place the red cube into the pan and position the pan on the stove burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666302025318146, + -0.1381610780954361, + 0.11534065753221512, + -3.079580068588257, + -0.10152579098939896, + 0.012528972700238228 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The scene shows the stove with a pan and a red cube on the counter. The robot has not yet interacted with the red cube. The next action is to move the gripper toward the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26422449946403503, + -0.13681665062904358, + 0.10448973625898361, + -3.0639076232910156, + -0.07504143565893173, + 0.010162879712879658 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The scene shows the stove with a pan and a red cube on the counter. The robot has not yet interacted with the red cube. The next action is to move the gripper toward the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 8 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654222249984741, + -0.13773469626903534, + 0.0870615616440773, + -3.078343152999878, + -0.09781595319509506, + -0.0011158394627273083 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The scene shows the stove with a pan and a red cube on the counter. The robot has not yet interacted with the red cube. The next action is to move the gripper toward the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2691957950592041, + -0.13921312987804413, + 0.07528654485940933, + -3.0957584381103516, + -0.1190534383058548, + -0.002550307661294937 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red sponge": [ + 770, + 610, + 886, + 788 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The scene shows the stove with a pan and a red cube on the counter. The robot has not yet interacted with the red cube. The next action is to move the gripper toward the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.272447794675827, + -0.14040717482566833, + 0.06592610478401184, + -3.1076836585998535, + -0.13201358914375305, + -0.010451681911945343 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The scene shows the stove with a pan and a red cube on the counter. The robot has not yet interacted with the red cube. The next action is to move the gripper toward the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2745473086833954, + -0.14049024879932404, + 0.06426964700222015, + -3.1108293533325195, + -0.13878265023231506, + -0.010676980018615723 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The scene shows the stove with a pan and a red cube on the counter. The robot has not yet interacted with the red cube. The next action is to move the gripper toward the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27892956137657166, + -0.13907043635845184, + 0.05801907926797867, + -3.1100165843963623, + -0.14843705296516418, + -0.018159328028559685 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The scene shows the stove with a pan and a red cube on the counter. The robot has not yet interacted with the red cube. The next action is to move the gripper toward the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792636752128601, + -0.13779406249523163, + 0.04566905274987221, + -3.1158299446105957, + -0.15900079905986786, + -0.02001350186765194 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The scene shows the stove with a pan and a red cube on the counter. The robot has not yet interacted with the red cube. The next action is to move the gripper toward the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28052324056625366, + -0.1369343400001526, + 0.03809954971075058, + -3.119065761566162, + -0.18072977662086487, + -0.010411026887595654 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27586841583251953, + -0.13793249428272247, + 0.032503578811883926, + -3.1053059101104736, + -0.18540889024734497, + -0.016777489334344864 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 9 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692420482635498, + -0.13877247273921967, + 0.027545850723981857, + -3.0973377227783203, + -0.17862790822982788, + -0.011408858932554722 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 9 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2655751705169678, + -0.14269211888313293, + 0.023513594642281532, + -3.0960516929626465, + -0.18279780447483063, + 0.001132732955738902 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 9 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26096728444099426, + -0.1412535160779953, + 0.02366521954536438, + -3.082719087600708, + -0.14611773192882538, + 0.004481963347643614 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26160815358161926, + -0.1413239985704422, + 0.02887161448597908, + -3.066314935684204, + -0.12430496513843536, + -0.00026894581969827414 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 9 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26266223192214966, + -0.13935640454292297, + 0.038696806877851486, + -3.034726619720459, + -0.08507935702800751, + -0.009666063822805882 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 8 cm, keep gripper closed; then move forward 6 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2677188217639923, + -0.1329566389322281, + 0.06783100962638855, + -3.0115652084350586, + -0.05596010386943817, + -0.019171765074133873 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 5 cm, keep gripper closed; then move forward 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799035310745239, + -0.12293989956378937, + 0.09397830814123154, + -2.9914186000823975, + -0.02472078986465931, + -0.040271397680044174 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stovetop": [ + 215, + 181, + 941, + 915 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "approach red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29675665497779846, + -0.1136605516076088, + 0.1177966445684433, + -3.0094857215881348, + -0.020983844995498657, + -0.07512814551591873 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 3 cm, open gripper; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3204384744167328, + -0.10905544459819794, + 0.11652357876300812, + -3.020970582962036, + -0.00996142067015171, + -0.10114060342311859 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 654, + 258, + 903, + 512 + ], + "faucet": [ + 139, + 4, + 276, + 177 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, open gripper; then move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3358438313007355, + -0.10635986924171448, + 0.11001409590244293, + -3.0408575534820557, + -0.005605091340839863, + -0.11108498275279999 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, open gripper; then move forward 1 cm, move left 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3490242660045624, + -0.106303870677948, + 0.09865176677703857, + -3.0594935417175293, + -0.00909420009702444, + -0.12234314531087875 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The robot is positioned near the stove with the red cube visible on the right side of the burner. No objects have been moved yet, and the gripper remains open. The next action should involve moving the arm closer to the red cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move left 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35516414046287537, + -0.10668013244867325, + 0.08730314671993256, + -3.065460443496704, + -0.018047068268060684, + -0.12612326443195343 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3602099120616913, + -0.10915958881378174, + 0.08682703971862793, + -3.0724740028381348, + -0.050090476870536804, + -0.14088018238544464 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35861480236053467, + -0.1085658147931099, + 0.08677808940410614, + -3.0699613094329834, + -0.039190348237752914, + -0.14626824855804443 + ], + "gripper_value": 0.939095675945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 8 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552733063697815, + -0.10708293318748474, + 0.08675264567136765, + -3.063835382461548, + -0.01724877394735813, + -0.14207430183887482 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move left 8 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34963902831077576, + -0.10904814302921295, + 0.08688183128833771, + -3.052830696105957, + 0.009795746766030788, + -0.13046422600746155 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp red cube", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 8 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35086649656295776, + -0.10689398646354675, + 0.09186778962612152, + -3.0362656116485596, + 0.014330019243061543, + -0.13570573925971985 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548707962036133, + -0.09354302287101746, + 0.09353180974721909, + -2.999112367630005, + 0.014647124335169792, + -0.16963474452495575 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35942330956459045, + -0.07688263058662415, + 0.10451918095350266, + -2.989640951156616, + -0.0077634952031075954, + -0.18687589466571808 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 7 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.358879417181015, + -0.05990474671125412, + 0.10595069825649261, + -2.9826855659484863, + -0.019610673189163208, + -0.19488823413848877 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 7 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35461121797561646, + -0.04663177952170372, + 0.09895244985818863, + -2.9861536026000977, + -0.024050498381257057, + -0.20187613368034363 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3551625907421112, + -0.03692290186882019, + 0.09008979052305222, + -3.0028114318847656, + -0.05273721367120743, + -0.20207205414772034 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper above the stove area, indicating the grasp has been successfully completed. The next step is to move the cube over the pan and release it to place it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3559572994709015, + -0.0316782109439373, + 0.0793486088514328, + -3.0240135192871094, + -0.0808735266327858, + -0.21210236847400665 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt back 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574060797691345, + -0.026623617857694626, + 0.07134401053190231, + -3.032170534133911, + -0.11204531788825989, + -0.20725426077842712 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.35819169878959656, + -0.0262984037399292, + 0.06705661118030548, + -3.0358664989471436, + -0.14711323380470276, + -0.20943671464920044 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 3 cm, move right 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.36050522327423096, + -0.025380630046129227, + 0.0652795135974884, + -3.0450544357299805, + -0.17591740190982819, + -0.209714874625206 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 3 cm, close gripper; then move back 3 cm, move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3544568717479706, + -0.02149001881480217, + 0.04291604459285736, + -3.0574824810028076, + -0.15184976160526276, + -0.19984431564807892 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red sponge": [ + 737, + 299, + 837, + 442 + ], + "pot": [ + 650, + 257, + 901, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 3 cm, move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.35459205508232117, + -0.022363342344760895, + 0.039190903306007385, + -3.0574235916137695, + -0.17847764492034912, + -0.1969136744737625 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524937033653259, + -0.02297688089311123, + 0.03803708776831627, + -3.0629518032073975, + -0.19489748775959015, + -0.18639549612998962 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.347149133682251, + -0.02802041545510292, + 0.036931268870830536, + -3.0639216899871826, + -0.19436979293823242, + -0.1716388463973999 + ], + "gripper_value": 0.7437760233879089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "lift and move cube to pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3437894582748413, + -0.03176672011613846, + 0.03701530769467354, + -3.0566344261169434, + -0.17745281755924225, + -0.15674783289432526 + ], + "gripper_value": 0.43017780780792236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "release cube into pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.34164172410964966, + -0.034527938812971115, + 0.038304492831230164, + -3.059434175491333, + -0.16214273869991302, + -0.1457359343767166 + ], + "gripper_value": 0.20867010951042175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "release cube into pan", + "subtask_reasoning": "The red cube is currently held by the gripper and positioned above the pan on the stove. The cube has been grasped and lifted successfully. The next action is to lower the cube into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move left 8 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.33969417214393616, + -0.03681032359600067, + 0.04084606096148491, + -3.0588114261627197, + -0.14255079627037048, + -0.13296955823898315 + ], + "gripper_value": 0.09437843412160873 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "release cube into pan", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move left 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3274639844894409, + -0.03863954916596413, + 0.0519283227622509, + -3.035996437072754, + -0.09127162396907806, + -0.1205059140920639 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "release cube into pan", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move left 11 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.31638631224632263, + -0.04249683395028114, + 0.07632699608802795, + -3.008183240890503, + -0.03666706755757332, + -0.11496026068925858 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "release cube into pan", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 5 cm, move left 12 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.31836429238319397, + -0.040179841220378876, + 0.09161514788866043, + -3.0014922618865967, + -0.011345446109771729, + -0.13440388441085815 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red sponge": [ + 725, + 348, + 857, + 510 + ], + "faucet": [ + 140, + 5, + 272, + 177 + ], + "pot": [ + 632, + 289, + 898, + 590 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 14 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.32403093576431274, + -0.030201585963368416, + 0.10160739719867706, + -3.00464129447937, + -0.009090735577046871, + -0.15394189953804016 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 14 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3319627642631531, + -0.013529292307794094, + 0.11009806394577026, + -3.006178617477417, + -0.018777592107653618, + -0.18317626416683197 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393385410308838, + 0.0018276403425261378, + 0.1229289099574089, + -3.009718656539917, + -0.024385010823607445, + -0.20503772795200348 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red sponge": [ + 671, + 212, + 799, + 359 + ], + "faucet": [ + 139, + 4, + 271, + 177 + ], + "pot": [ + 554, + 141, + 823, + 415 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.345724493265152, + 0.013642829842865467, + 0.1209467276930809, + -3.0063343048095703, + -0.01576962321996689, + -0.20940034091472626 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.354763001203537, + 0.025729263201355934, + 0.11900767683982849, + -3.005108594894409, + -0.018425937741994858, + -0.22275666892528534 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already inside the pan, which is positioned on the stove burner. The gripper has released the cube, as indicated by the low gripper value and segment-level evidence showing a significant decrease in grip strength. The next action is to move the gripper away from the pan to avoid interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 6 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.3635386526584625, + 0.04059039056301117, + 0.1100383922457695, + -3.0121560096740723, + -0.01769396662712097, + -0.23437726497650146 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 5 cm, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3678825795650482, + 0.05394703894853592, + 0.10445112735033035, + -3.011202096939087, + -0.03431368246674538, + -0.24270454049110413 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 5 cm, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.37158259749412537, + 0.06766758859157562, + 0.10084739327430725, + -3.0064282417297363, + -0.057163774967193604, + -0.24648457765579224 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, open gripper; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.37248122692108154, + 0.08129560202360153, + 0.09114594757556915, + -3.0179901123046875, + -0.056972477585077286, + -0.2492334544658661 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, open gripper; then move back 2 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.37362176179885864, + 0.09523948282003403, + 0.07987464219331741, + -3.0262539386749268, + -0.06538856029510498, + -0.24797269701957703 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3735830783843994, + 0.10657456517219543, + 0.07611863315105438, + -3.0201478004455566, + -0.0804053470492363, + -0.2488487958908081 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red sponge": [ + 499, + 181, + 595, + 303 + ], + "stovetop": [ + 218, + 239, + 965, + 915 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692152500152588, + 0.11064047366380692, + 0.06732818484306335, + -3.0221874713897705, + -0.0860632061958313, + -0.2421303540468216 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3647387623786926, + 0.11027035117149353, + 0.05812574923038483, + -3.038985252380371, + -0.09389740228652954, + -0.24813246726989746 + ], + "gripper_value": 0.24929283559322357 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "reposition for pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 45, + "end": 58 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3627597987651825, + 0.10829822719097137, + 0.05776797607541084, + -3.053199529647827, + -0.08362827450037003, + -0.259734183549881 + ], + "gripper_value": 0.5305274724960327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 59, + "end": 65 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3579825758934021, + 0.10554806888103485, + 0.05719224363565445, + -3.077496290206909, + -0.05839776247739792, + -0.2644047439098358 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 59, + "end": 65 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3538970649242401, + 0.10138757526874542, + 0.056864287704229355, + -3.0920727252960205, + -0.03037189319729805, + -0.24895574152469635 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently held above the stove. The robot has completed placing the cube and is now repositioning to grasp the pan’s handle for moving it onto the burner. The next action should involve aligning the gripper with the pan handle to secure a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 59, + "end": 65 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.34987905621528625, + 0.09788334369659424, + 0.06434884667396545, + -3.086355686187744, + -0.007364748511463404, + -0.24180766940116882 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently resting on the stove. The robot's end-effector is positioned near the pan's handle, and the gripper is open. The next action is to close the gripper to grasp the pan handle in preparation for moving or adjusting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 59, + "end": 65 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3476056158542633, + 0.09466317296028137, + 0.08587276935577393, + -3.0692789554595947, + -0.0086210947483778, + -0.23418834805488586 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently resting on the stove. The robot's end-effector is positioned near the pan's handle, and the gripper is open. The next action is to close the gripper to grasp the pan handle in preparation for moving or adjusting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 59, + "end": 65 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.34155943989753723, + 0.08738817274570465, + 0.0929434597492218, + -3.0690948963165283, + 0.02465123124420643, + -0.22538869082927704 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently resting on the stove. The robot's end-effector is positioned near the pan's handle, and the gripper is open. The next action is to close the gripper to grasp the pan handle in preparation for moving or adjusting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 59, + "end": 65 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402138650417328, + 0.0787397027015686, + 0.112339086830616, + -3.0474727153778076, + -0.0026046116836369038, + -0.2170167863368988 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cube into the pan and position the pan on the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cube" + }, + { + "id": 2, + "subtask": "grasp red cube" + }, + { + "id": 3, + "subtask": "lift and move cube to pan" + }, + { + "id": 4, + "subtask": "release cube into pan" + }, + { + "id": 5, + "subtask": "reposition for pan handle" + }, + { + "id": 6, + "subtask": "grasp pan handle" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The red cube is already placed inside the pan, which is currently resting on the stove. The robot's end-effector is positioned near the pan's handle, and the gripper is open. The next action is to close the gripper to grasp the pan handle in preparation for moving or adjusting the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 59, + "end": 65 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003876_ecot.json b/cot/chunk-0003/episode_0003876_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c1672bb9813944cce917bf60b45ac9167cac092f --- /dev/null +++ b/cot/chunk-0003/episode_0003876_ecot.json @@ -0,0 +1,2327 @@ +{ + "task_name": "episode_0003876", + "episode_json": "json/chunk-0003/episode_0003876.json", + "video_path": "videos/chunk-0003/image_0/episode_0003876.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003876.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019888877868652344, + "std": 0.0005769422277808189, + "delta_total": -0.001324295997619629, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00058, total_delta=-0.00132). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the drawer handle with no gripper closure, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact and push drawer\", \"start\": 6, \"end\": 22, \"planning\": \"Establish contact with drawer handle and begin pushing it closed using sustained forward motion.\"},\n {\"id\": 3, \"name\": \"complete drawer closure\", \"start\": 23, \"end\": 38, \"planning\": \"Continue pushing until drawer is fully closed, then slightly retreat while maintaining light contact.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching its handle, making contact, and pushing it shut without grasping — relying on continuous pushing force rather than grip.\",\n \"notes\": \"Gripper remains open throughout (no meaningful closing detected in either segment). All actions are contact-based pushes or approaches; no lifting, grasping, or placing occurs. Segment boundaries respected but merged into three natural phases for clarity and coverage.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the drawer handle with no gripper closure, preparing for contact." + }, + { + "id": 2, + "name": "make contact and push drawer", + "start": 6, + "end": 22, + "planning": "Establish contact with drawer handle and begin pushing it closed using sustained forward motion." + }, + { + "id": 3, + "name": "complete drawer closure", + "start": 23, + "end": 38, + "planning": "Continue pushing until drawer is fully closed, then slightly retreat while maintaining light contact." + } + ], + "global_plan": "Close the drawer by approaching its handle, making contact, and pushing it shut without grasping — relying on continuous pushing force rather than grip.", + "notes": "Gripper remains open throughout (no meaningful closing detected in either segment). All actions are contact-based pushes or approaches; no lifting, grasping, or placing occurs. Segment boundaries respected but merged into three natural phases for clarity and coverage." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2273513823747635, + 0.06719482690095901, + 0.11244992166757584, + -3.007096529006958, + 0.03058462403714657, + -0.17752741277217865 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the drawer handle to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22535505890846252, + 0.06641707569360733, + 0.10599993914365768, + -3.0167269706726074, + 0.05484079197049141, + -0.17968140542507172 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the drawer handle to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22710470855236053, + 0.06822651624679565, + 0.09995938092470169, + -3.016815423965454, + 0.06676346808671951, + -0.19367298483848572 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move forward slightly to make contact with the drawer handle to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2266899049282074, + 0.07513394951820374, + 0.09211915731430054, + -3.0200397968292236, + 0.0940396636724472, + -0.2093551605939865 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move forward slightly to make contact with the drawer handle to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22469261288642883, + 0.08444244414567947, + 0.07921576499938965, + -3.0674092769622803, + 0.14985035359859467, + -0.2987777590751648 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move forward slightly to make contact with the drawer handle to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22667784988880157, + 0.09388105571269989, + 0.07338561117649078, + -3.0975990295410156, + 0.17173384130001068, + -0.3849286437034607 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move forward slightly to make contact with the drawer handle to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23142622411251068, + 0.0991022065281868, + 0.06780604273080826, + -3.06774640083313, + 0.15359359979629517, + -0.43606996536254883 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. The next action should be to move forward slightly to make contact with the drawer handle to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23004575073719025, + 0.08727103471755981, + 0.0693894699215889, + -2.933542013168335, + 0.055519815534353256, + -0.43473020195961 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with its end-effector aligned toward the handle. No contact has been made yet, and the gripper remains open. 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The next step is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3248022794723511, + 0.05356316268444061, + 0.022819720208644867, + -3.08662486076355, + 0.041283078491687775, + -0.5612428784370422 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cylinder": [ + 608, + 230, + 689, + 362 + ], + "red strawberry": [ + 711, + 546, + 828, + 678 + ], + "table": [ + 4, + 95, + 995, + 993 + ], + "wooden box": [ + 486, + 52, + 994, + 562 + ], + "blue rectangular block": [ + 611, + 658, + 778, + 872 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. 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The next step is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.334534615278244, + 0.04662385582923889, + 0.021022913977503777, + -3.083214044570923, + 0.03322119265794754, + -0.5714808106422424 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open with no grasping action. The next step is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.345156729221344, + 0.03806519880890846, + 0.016832713037729263, + -3.081852436065674, + 0.02497512474656105, + -0.5765346884727478 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open with no grasping action. The next step is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3561322093009949, + 0.030317073687911034, + 0.01226695254445076, + -3.084604501724243, + 0.018427547067403793, + -0.5856494903564453 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open with no grasping action. The next step is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3671422600746155, + 0.023842155933380127, + 0.008935478515923023, + -3.096815586090088, + 0.01269487850368023, + -0.5812681317329407 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open with no grasping action. The next step is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37889325618743896, + 0.01952110230922699, + 0.007890668697655201, + -3.104621171951294, + -0.004230710677802563, + -0.575793981552124 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open with no grasping action. The next step is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840944766998291, + 0.019160669296979904, + 0.0073522343300282955, + -3.1075820922851562, + -0.006235818844288588, + -0.5760171413421631 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open with no grasping action. The next step is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.38332900404930115, + 0.019517632201313972, + 0.007279308512806892, + -3.1095311641693115, + -0.005778199527412653, + -0.5721107125282288 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.369719535112381, + 0.020236792042851448, + 0.006207227241247892, + -3.1037070751190186, + -0.0005528980400413275, + -0.5576468110084534 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35210373997688293, + 0.024520302191376686, + 0.012052021920681, + -3.082432985305786, + 0.024659592658281326, + -0.5688809156417847 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.338357537984848, + 0.027902593836188316, + 0.0239648949354887, + -3.0454795360565186, + 0.016472915187478065, + -0.5826258063316345 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.32143402099609375, + 0.028802836313843727, + 0.03264857456088066, + -3.0284948348999023, + -0.0040014092810451984, + -0.593325138092041 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3032669723033905, + 0.033913034945726395, + 0.043396271765232086, + -3.0142815113067627, + -0.031293902546167374, + -0.5893391966819763 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2882421016693115, + 0.041072674095630646, + 0.04933886229991913, + -3.0444042682647705, + -0.08135268092155457, + -0.5616520643234253 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.27890363335609436, + 0.04873751103878021, + 0.05681229382753372, + -3.097136974334717, + -0.11900071799755096, + -0.5189971923828125 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 569, + 51, + 993, + 534 + ], + "red strawberry": [ + 711, + 546, + 830, + 680 + ], + "table": [ + 5, + 83, + 994, + 992 + ], + "blue rectangular block": [ + 610, + 657, + 779, + 874 + ], + "grey toy animal": [ + 255, + 5, + 453, + 515 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2729010283946991, + 0.05290091782808304, + 0.06737158447504044, + -3.1244993209838867, + -0.1423931121826172, + -0.5072386264801025 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, having already approached and initiated the push. The gripper remains open with no grasp evidence, consistent with a continuous pushing strategy. The next action is to maintain forward pressure to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003878_ecot.json b/cot/chunk-0003/episode_0003878_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..329bcb0365d0c07503b762fe02c101b016288329 --- /dev/null +++ b/cot/chunk-0003/episode_0003878_ecot.json @@ -0,0 +1,1679 @@ +{ + "task_name": "episode_0003878", + "episode_json": "json/chunk-0003/episode_0003878.json", + "video_path": "videos/chunk-0003/image_0/episode_0003878.mp4", + "instruction": "Put the blue cloth at the bottom right corner of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003878.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019888877868652344, + "std": 0.0008269252139143646, + "delta_total": -0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00083, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue cloth on the burner without grasping, as gripper remains open and no closing evidence exists.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 6, \"end\": 10, \"planning\": \"Lower and position end-effector to make gentle contact with the blue cloth, preparing for repositioning without grasp.\"},\n {\"id\": 3, \"name\": \"slide cloth toward target\", \"start\": 11, \"end\": 20, \"planning\": \"Drag or slide the blue cloth across the burner surface toward the bottom right corner using continuous contact motion.\"},\n {\"id\": 4, \"name\": \"fine-adjust cloth position\", \"start\": 21, \"end\": 25, \"planning\": \"Make small corrective pushes to align the cloth precisely at the bottom right corner of the burner, then retreat slightly.\"}\n ],\n \"global_plan\": \"Reposition the blue cloth to the bottom right corner of the burner via contact-based sliding and nudging, since gripper never closes meaningfully and no lifting occurs.\",\n \"notes\": \"Gripper evidence confirms no grasp occurred in any segment; all manipulation is contact-based. Segment 1 (frames 0-5) is approach only. Segment 2 (frames 6-25) is split into three phases: contact initiation, sliding, and fine adjustment — based on motion patterns and final pose.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue cloth on the burner without grasping, as gripper remains open and no closing evidence exists." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 6, + "end": 10, + "planning": "Lower and position end-effector to make gentle contact with the blue cloth, preparing for repositioning without grasp." + }, + { + "id": 3, + "name": "slide cloth toward target", + "start": 11, + "end": 20, + "planning": "Drag or slide the blue cloth across the burner surface toward the bottom right corner using continuous contact motion." + }, + { + "id": 4, + "name": "fine-adjust cloth position", + "start": 21, + "end": 25, + "planning": "Make small corrective pushes to align the cloth precisely at the bottom right corner of the burner, then retreat slightly." + } + ], + "global_plan": "Reposition the blue cloth to the bottom right corner of the burner via contact-based sliding and nudging, since gripper never closes meaningfully and no lifting occurs.", + "notes": "Gripper evidence confirms no grasp occurred in any segment; all manipulation is contact-based. Segment 1 (frames 0-5) is approach only. Segment 2 (frames 6-25) is split into three phases: contact initiation, sliding, and fine adjustment — based on motion patterns and final pose." + } + }, + "episode_goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3468070924282074, + 0.011858093552291393, + 0.13766850531101227, + 3.1031887531280518, + -0.07324767857789993, + -0.006050541996955872 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible on the left side of the burner area. No movement or contact has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 9 cm, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436889052391052, + 0.011761273257434368, + 0.12529422342777252, + 3.097794771194458, + -0.036330368369817734, + 0.004349355585873127 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible on the left side of the burner area. No movement or contact has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32714179158210754, + 0.03652406856417656, + 0.11136206239461899, + 3.0762593746185303, + -0.00578180281445384, + 0.13571619987487793 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue cloth which lies flat on the burner surface. No contact or grasping has occurred yet, as gripper remains open and motion is translational toward the cloth. Next action should be to make gentle contact with the cloth to begin sliding it toward the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3051197826862335, + 0.05237236246466637, + 0.10313782840967178, + 3.093113660812378, + 0.0007631999324075878, + 0.22015425562858582 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 257, + 345, + 493, + 593 + ], + "spatula": [ + 147, + 256, + 310, + 482 + ], + "saucepan": [ + 527, + 284, + 734, + 510 + ], + "sink": [ + 741, + 442, + 994, + 959 + ], + "faucet": [ + 944, + 387, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue cloth which lies flat on the burner surface. No contact or grasping has occurred yet, as gripper remains open and motion is translational toward the cloth. Next action should be to make gentle contact with the cloth to begin sliding it toward the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2848280370235443, + 0.06694193929433823, + 0.07975839078426361, + 3.1169307231903076, + -0.02648984082043171, + 0.36352694034576416 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue cloth which lies flat on the burner surface. No contact or grasping has occurred yet, as gripper remains open and motion is translational toward the cloth. Next action should be to make gentle contact with the cloth to begin sliding it toward the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870180606842041, + 0.07344444841146469, + 0.06412885338068008, + 3.138641834259033, + -0.07616919279098511, + 0.445534884929657 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue cloth which lies flat on the burner surface. No contact or grasping has occurred yet, as gripper remains open and motion is translational toward the cloth. Next action should be to make gentle contact with the cloth to begin sliding it toward the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 2 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969683110713959, + 0.07964509725570679, + 0.04526352137327194, + -3.133864164352417, + -0.10344356298446655, + 0.4866099953651428 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue cloth which lies flat on the burner surface. No contact or grasping has occurred yet, as gripper remains open and motion is translational toward the cloth. Next action should be to make gentle contact with the cloth to begin sliding it toward the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 3 cm, move right 11 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063320219516754, + 0.08760945498943329, + 0.03336410969495773, + -3.126948833465576, + -0.11244426667690277, + 0.47956475615501404 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue cloth which lies flat on the burner surface. No contact or grasping has occurred yet, as gripper remains open and motion is translational toward the cloth. Next action should be to make gentle contact with the cloth to begin sliding it toward the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 3 cm, move right 13 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31155383586883545, + 0.09235819429159164, + 0.019036779180169106, + -3.107349395751953, + -0.10505743324756622, + 0.47959935665130615 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth on the stovetop and is now positioned to make contact. The gripper remains open with no meaningful closing, indicating no grasp attempt. The next action is to gently nudge or slide the cloth toward the bottom right corner of the burner area using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 13 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31699445843696594, + 0.09139356017112732, + 0.010775960981845856, + -3.1231887340545654, + -0.11581514775753021, + 0.4927535951137543 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth on the stovetop and is now positioned to make contact. The gripper remains open with no meaningful closing, indicating no grasp attempt. The next action is to gently nudge or slide the cloth toward the bottom right corner of the burner area using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move back 4 cm, move right 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31700849533081055, + 0.08365968614816666, + 0.008945686742663383, + -3.1192972660064697, + -0.13835565745830536, + 0.49587568640708923 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth on the stovetop and is now positioned to make contact. The gripper remains open with no meaningful closing, indicating no grasp attempt. The next action is to gently nudge or slide the cloth toward the bottom right corner of the burner area using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 4 cm, move right 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3118087351322174, + 0.07189775258302689, + 0.0073924618773162365, + -3.1309056282043457, + -0.13433997333049774, + 0.49378541111946106 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot has approached the blue cloth on the stovetop and is now positioned to make contact. The gripper remains open with no meaningful closing, indicating no grasp attempt. The next action is to gently nudge or slide the cloth toward the bottom right corner of the burner area using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063875734806061, + 0.05791503190994263, + 0.007586292456835508, + -3.124913215637207, + -0.13461948931217194, + 0.4898894131183624 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot has approached the blue cloth on the stovetop and is now positioned to make contact. The gripper remains open with no meaningful closing, indicating no grasp attempt. The next action is to gently nudge or slide the cloth toward the bottom right corner of the burner area using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29865169525146484, + 0.032729584723711014, + 0.007319251075387001, + -3.1129605770111084, + -0.1256008744239807, + 0.45120111107826233 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot has approached the blue cloth on the stovetop and is now positioned to make contact. The gripper remains open with no meaningful closing, indicating no grasp attempt. The next action is to gently nudge or slide the cloth toward the bottom right corner of the burner area using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29618674516677856, + 0.011014035902917385, + 0.007697459775954485, + -3.1038742065429688, + -0.12569253146648407, + 0.3949532210826874 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot has approached the blue cloth on the stovetop and is now positioned to make contact. The gripper remains open with no meaningful closing, indicating no grasp attempt. The next action is to gently nudge or slide the cloth toward the bottom right corner of the burner area using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28890079259872437, + -0.014765236526727676, + 0.008693409152328968, + -3.09739351272583, + -0.11901745945215225, + 0.35010015964508057 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having completed the approach phase. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the cloth toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824521064758301, + -0.036585405468940735, + 0.009046520106494427, + -3.082801103591919, + -0.10638290643692017, + 0.30795082449913025 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 363, + 463, + 643, + 734 + ], + "spatula": [ + 147, + 255, + 311, + 482 + ], + "faucet": [ + 944, + 387, + 996, + 545 + ], + "saucepan": [ + 578, + 289, + 745, + 499 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having completed the approach phase. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the cloth toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27884894609451294, + -0.05440035089850426, + 0.010257687419652939, + -3.065725088119507, + -0.10369010269641876, + 0.2506306767463684 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having completed the approach phase. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the cloth toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2772603929042816, + -0.0575190931558609, + 0.010709011927247047, + -3.058274745941162, + -0.10694897919893265, + 0.24287918210029602 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having completed the approach phase. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the cloth toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749555706977844, + -0.056967593729496, + 0.01242880430072546, + -3.0559780597686768, + -0.10433918237686157, + 0.21676696836948395 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having completed the approach phase. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the cloth toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27335670590400696, + -0.053444426506757736, + 0.019524073228240013, + -3.046679735183716, + -0.11428133398294449, + 0.22923122346401215 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "slide cloth toward target", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having completed the approach phase. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the cloth toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2725992798805237, + -0.04268278181552887, + 0.033148717135190964, + -3.035890817642212, + -0.12550435960292816, + 0.2411787509918213 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 391, + 518, + 685, + 802 + ], + "spatula": [ + 146, + 255, + 311, + 483 + ], + "faucet": [ + 944, + 388, + 996, + 546 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "fine-adjust cloth position", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having completed the approach phase. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the cloth toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718089818954468, + -0.03802311047911644, + 0.04839849844574928, + -3.0347166061401367, + -0.14485087990760803, + 0.23850151896476746 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "fine-adjust cloth position", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having completed the approach phase. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the cloth toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26925674080848694, + -0.03319353237748146, + 0.07098983228206635, + -3.061959743499756, + -0.17098642885684967, + 0.2539975047111511 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "fine-adjust cloth position", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued contact-based nudging. The next action is to slide the cloth further toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659507095813751, + -0.032323502004146576, + 0.09475831687450409, + -3.072185516357422, + -0.19836246967315674, + 0.24122807383537292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "fine-adjust cloth position", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued contact-based nudging. The next action is to slide the cloth further toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2680414617061615, + -0.030967723578214645, + 0.1014915332198143, + -3.0841758251190186, + -0.19275227189064026, + 0.22853340208530426 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the stovetop to the bottom right corner of the burner area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth toward target" + }, + { + "id": 4, + "subtask": "fine-adjust cloth position" + } + ], + "subtask_name": "fine-adjust cloth position", + "subtask_reasoning": "The robot is in contact with the blue cloth on the stovetop, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued contact-based nudging. The next action is to slide the cloth further toward the bottom right corner of the burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003879_ecot.json b/cot/chunk-0003/episode_0003879_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..89b350f72aa325e26fdcb4d3fc1b33b630d27c7e --- /dev/null +++ b/cot/chunk-0003/episode_0003879_ecot.json @@ -0,0 +1,1344 @@ +{ + "task_name": "episode_0003879", + "episode_json": "json/chunk-0003/episode_0003879.json", + "video_path": "videos/chunk-0003/image_0/episode_0003879.mp4", + "instruction": "Fold cloth in half.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003879.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9014248847961426, + "std": 0.40987178683280945, + "delta_total": -0.8810095191001892, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90142, std=0.40987, total_delta=-0.88101). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 212, + 212, + 212, + 212, + 212 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth edge\", \"start\": 0, \"end\": 7, \"planning\": \"Move gripper toward the right edge of the cloth without closing, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp cloth edge\", \"start\": 8, \"end\": 11, \"planning\": \"Close gripper to securely grasp the right edge of the cloth as evidenced by decreasing gripper value.\"},\n {\"id\": 3, \"name\": \"lift and fold cloth\", \"start\": 12, \"end\": 14, \"planning\": \"Lift the grasped edge upward and begin folding it over the left half while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 15, \"end\": 19, \"planning\": \"Release the cloth after folding and retreat gripper away from the folded cloth to complete the task.\"}\n ],\n \"global_plan\": \"Fold the cloth in half by approaching its right edge, grasping it, lifting and folding it over the left side, then releasing and retreating.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach. Segments 2–4 show meaningful gripper closure and motion consistent with grasping, lifting, folding, and releasing. Frame coverage is contiguous and complete from 0 to 19.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth edge", + "start": 0, + "end": 7, + "planning": "Move gripper toward the right edge of the cloth without closing, positioning for contact." + }, + { + "id": 2, + "name": "grasp cloth edge", + "start": 8, + "end": 11, + "planning": "Close gripper to securely grasp the right edge of the cloth as evidenced by decreasing gripper value." + }, + { + "id": 3, + "name": "lift and fold cloth", + "start": 12, + "end": 14, + "planning": "Lift the grasped edge upward and begin folding it over the left half while maintaining grip." + }, + { + "id": 4, + "name": "release and retreat", + "start": 15, + "end": 19, + "planning": "Release the cloth after folding and retreat gripper away from the folded cloth to complete the task." + } + ], + "global_plan": "Fold the cloth in half by approaching its right edge, grasping it, lifting and folding it over the left side, then releasing and retreating.", + "notes": "Segment 1 shows no gripper closure — described as approach. Segments 2–4 show meaningful gripper closure and motion consistent with grasping, lifting, folding, and releasing. Frame coverage is contiguous and complete from 0 to 19." + } + }, + "episode_goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34781014919281006, + 0.028538232669234276, + 0.10525135695934296, + 2.946074962615967, + -0.07030928879976273, + 0.055616557598114014 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating the approach toward the far edge. No contact has been made yet, and the arm is beginning to move downward and forward. The next action is to continue approaching the target edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 14 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34523242712020874, + 0.022621555253863335, + 0.0906781479716301, + 2.940319299697876, + -0.02841116115450859, + 0.06099853292107582 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating the approach toward the far edge. No contact has been made yet, and the arm is beginning to move downward and forward. The next action is to continue approaching the target edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 14 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541029095649719, + 0.0004348713846411556, + 0.09140347689390182, + 2.9320409297943115, + -0.06714671105146408, + 0.07455254346132278 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating the approach toward the far edge. No contact has been made yet, and the arm is beginning to move downward and forward. The next action is to continue approaching the target edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3550906777381897, + -0.027360932901501656, + 0.08738470822572708, + 2.931260585784912, + -0.08661112934350967, + 0.07273539900779724 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth on the counter, with the gripper open and no contact made yet. The subtask of approaching the cloth edge is in progress, with no prior actions completed. The next likely action is to move the gripper closer to the far edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35458630323410034, + -0.0571996346116066, + 0.08857869356870651, + 2.9640135765075684, + -0.16404661536216736, + 0.07580380141735077 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth on the counter, with the gripper open and no contact made yet. The subtask of approaching the cloth edge is in progress, with no prior actions completed. The next likely action is to move the gripper closer to the far edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35505422949790955, + -0.08097442239522934, + 0.08514340221881866, + 3.006246566772461, + -0.2066991776227951, + 0.06988316029310226 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth on the counter, with the gripper open and no contact made yet. The subtask of approaching the cloth edge is in progress, with no prior actions completed. The next likely action is to move the gripper closer to the far edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35738950967788696, + -0.09728497266769409, + 0.07188688963651657, + 3.0515429973602295, + -0.20676833391189575, + 0.05767064914107323 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 170, + 22, + 342, + 179 + ], + "avocado": [ + 483, + 83, + 559, + 180 + ], + "amber glasses": [ + 31, + 245, + 230, + 415 + ], + "pumpkin": [ + 334, + 27, + 435, + 146 + ], + "red bell pepper": [ + 212, + 32, + 324, + 121 + ], + "oven drawers": [ + 164, + 497, + 749, + 993 + ], + "white cloth": [ + 170, + 125, + 863, + 726 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth on the counter, with the gripper open and no contact made yet. The subtask of approaching the cloth edge is in progress, with no prior actions completed. The next likely action is to move the gripper closer to the far edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35980039834976196, + -0.10931186378002167, + 0.0519479475915432, + 3.105349540710449, + -0.20519617199897766, + 0.054414112120866776 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth on the counter, with the gripper open and no contact made yet. The subtask of approaching the cloth edge is in progress, with no prior actions completed. The next likely action is to move the gripper closer to the far edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35400450229644775, + -0.11624521017074585, + 0.03665139898657799, + -3.130747079849243, + -0.21712985634803772, + 0.044706910848617554 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot is positioned above the cloth on the counter, with the gripper open and no contact made yet. The subtask of approaching the cloth edge is in progress, with no prior actions completed. The next likely action is to move the gripper closer to the far edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 10 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35557904839515686, + -0.12231207638978958, + 0.028440633788704872, + -3.074305295944214, + -0.21982203423976898, + 0.02007938362658024 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now positioned above it. The gripper is open and ready to grasp the cloth edge. The next action is to close the gripper to securely hold the cloth edge for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 15 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.357785165309906, + -0.12439946830272675, + 0.020084736868739128, + -3.026057720184326, + -0.22220636904239655, + -0.002424569334834814 + ], + "gripper_value": 0.9015869498252869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now positioned above it. The gripper is open and ready to grasp the cloth edge. The next action is to close the gripper to securely hold the cloth edge for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 15 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36426618695259094, + -0.12158667296171188, + 0.016473419964313507, + -2.9984443187713623, + -0.22527651488780975, + 0.0206918865442276 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now positioned above it. The gripper is open and ready to grasp the cloth edge. The next action is to close the gripper to securely hold the cloth edge for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 15 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36904090642929077, + -0.1130841076374054, + 0.018252121284604073, + -2.993389844894409, + -0.21664868295192719, + 0.05163324624300003 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold cloth", + "subtask_reasoning": "The robot has approached the right edge of the cloth and is now positioned above it. The gripper is open and ready to grasp the cloth edge. The next action is to close the gripper to securely hold the cloth edge for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 15 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37115660309791565, + -0.10245151817798615, + 0.021001853048801422, + -3.0098321437835693, + -0.18297089636325836, + 0.0843748152256012 + ], + "gripper_value": 0.16130207479000092 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold cloth", + "subtask_reasoning": "The robot has grasped the far edge of the cloth and is currently lifting it upward. The cloth is partially folded over the near edge, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move left 15 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37457799911499023, + -0.08872877806425095, + 0.03266813978552818, + -3.0683982372283936, + -0.14915966987609863, + 0.10842730849981308 + ], + "gripper_value": 0.10198938846588135 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold cloth", + "subtask_reasoning": "The robot has grasped the far edge of the cloth and is currently lifting it upward. The cloth is partially folded over the near edge, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move left 15 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.380629301071167, + -0.0629551038146019, + 0.0788729190826416, + 3.114894390106201, + -0.20251362025737762, + 0.15751728415489197 + ], + "gripper_value": 0.100052610039711 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has grasped the far edge of the cloth and is currently lifting it upward. The cloth is partially folded over the near edge, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 15 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37554746866226196, + -0.0444062314927578, + 0.09759142249822617, + 3.053921937942505, + -0.18071217834949493, + 0.15542647242546082 + ], + "gripper_value": 0.11284734308719635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has grasped the far edge of the cloth and is currently lifting it upward. The cloth is partially folded over the near edge, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.375319242477417, + -0.023627642542123795, + 0.12245770543813705, + 2.9813284873962402, + -0.13593174517154694, + 0.12139208614826202 + ], + "gripper_value": 0.11832001805305481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded in half and is resting on the stove surface. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the folded cloth to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.39898332953453064, + 0.03548051044344902, + 0.1638224720954895, + 2.9706788063049316, + -0.12310586869716644, + 0.11677251011133194 + ], + "gripper_value": 0.11960587650537491 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded in half and is resting on the stove surface. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the folded cloth to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3934291899204254, + 0.08819176256656647, + 0.16290879249572754, + 2.9764020442962646, + -0.05821304768323898, + 0.09359028190374374 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 170, + 21, + 337, + 177 + ], + "amber glasses": [ + 31, + 246, + 229, + 415 + ], + "oven drawers": [ + 200, + 555, + 740, + 992 + ], + "red bell pepper": [ + 206, + 32, + 323, + 124 + ], + "white cloth": [ + 183, + 4, + 583, + 445 + ], + "pumpkin": [ + 333, + 26, + 432, + 150 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth in half by grasping the far edge and pulling it over the near edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded in half and is resting on the stove surface. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the folded cloth to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003880_ecot.json b/cot/chunk-0003/episode_0003880_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..242c1517fcf503d8d1a1853beac8a97f2ad21439 --- /dev/null +++ b/cot/chunk-0003/episode_0003880_ecot.json @@ -0,0 +1,7261 @@ +{ + "task_name": "episode_0003880", + "episode_json": "json/chunk-0003/episode_0003880.json", + "video_path": "videos/chunk-0003/image_0/episode_0003880.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 87, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003880.json" + }, + "fps": 5.0, + "T_eff": 87, + "gripper_behavior_summary": { + "available": true, + "range": 0.595771312713623, + "std": 0.2449604570865631, + "delta_total": -0.00874185562133789, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59577, std=0.24496, total_delta=-0.00874). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 519, + 519, + 519, + 519, + 519, + 519, + 519, + 519, + 519, + 519, + 519, + 519, + 519, + 519, + 619, + 619, + 619, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 419, + 19, + 19, + 85, + 85 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 18 + ], + [ + 3, + 19, + 32 + ], + [ + 4, + 33, + 35 + ], + [ + 5, + 36, + 52 + ], + [ + 6, + 53, + 66 + ], + [ + 7, + 67, + 82 + ], + [ + 8, + 83, + 84 + ], + [ + 9, + 85, + 86 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and align with beans\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector into position above the scattered beans without closing gripper.\"},\n {\"id\": 2, \"name\": \"initiate sweeping motion\", \"start\": 8, \"end\": 18, \"planning\": \"Begin lateral sweeping motion to gather beans toward a central area using open gripper as pusher.\"},\n {\"id\": 3, \"name\": \"continue sweeping and consolidate\", \"start\": 19, \"end\": 32, \"planning\": \"Extend sweep trajectory to further consolidate scattered beans into a denser pile.\"},\n {\"id\": 4, \"name\": \"reposition for final sweep\", \"start\": 33, \"end\": 35, \"planning\": \"Adjust end-effector height and orientation to prepare for final consolidation pass.\"},\n {\"id\": 5, \"name\": \"final sweep and pile formation\", \"start\": 36, \"end\": 52, \"planning\": \"Execute final sweeping motion to fully gather remaining stray beans into the main pile.\"},\n {\"id\": 6, \"name\": \"retreat and observe pile\", \"start\": 53, \"end\": 66, \"planning\": \"Lift and retract end-effector slightly to assess completed pile without disturbing it.\"},\n {\"id\": 7, \"name\": \"hover and stabilize\", \"start\": 67, \"end\": 82, \"planning\": \"Maintain stable hover over pile while preparing for potential next action or termination.\"},\n {\"id\": 8, \"name\": \"gripper closure sequence\", \"start\": 83, \"end\": 84, \"planning\": \"Initiate gripper closing motion in preparation for possible interaction with pile or tool.\"},\n {\"id\": 9, \"name\": \"complete gripper closure\", \"start\": 85, \"end\": 86, \"planning\": \"Fully close gripper jaws as observed by significant gripper value increase, indicating grasp readiness.\"}\n ],\n \"global_plan\": \"Sweep scattered beans into a consolidated pile using open-gripper pushing motions, then retreat and optionally close gripper at end.\",\n \"notes\": \"Gripper remains open during all sweeping phases (segments 1-7), consistent with non-grasping contact-based manipulation. Only segments 8-9 show meaningful gripper closure, justified by image and signal evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and align with beans", + "start": 0, + "end": 7, + "planning": "Move end-effector into position above the scattered beans without closing gripper." + }, + { + "id": 2, + "name": "initiate sweeping motion", + "start": 8, + "end": 18, + "planning": "Begin lateral sweeping motion to gather beans toward a central area using open gripper as pusher." + }, + { + "id": 3, + "name": "continue sweeping and consolidate", + "start": 19, + "end": 32, + "planning": "Extend sweep trajectory to further consolidate scattered beans into a denser pile." + }, + { + "id": 4, + "name": "reposition for final sweep", + "start": 33, + "end": 35, + "planning": "Adjust end-effector height and orientation to prepare for final consolidation pass." + }, + { + "id": 5, + "name": "final sweep and pile formation", + "start": 36, + "end": 52, + "planning": "Execute final sweeping motion to fully gather remaining stray beans into the main pile." + }, + { + "id": 6, + "name": "retreat and observe pile", + "start": 53, + "end": 66, + "planning": "Lift and retract end-effector slightly to assess completed pile without disturbing it." + }, + { + "id": 7, + "name": "hover and stabilize", + "start": 67, + "end": 82, + "planning": "Maintain stable hover over pile while preparing for potential next action or termination." + }, + { + "id": 8, + "name": "gripper closure sequence", + "start": 83, + "end": 84, + "planning": "Initiate gripper closing motion in preparation for possible interaction with pile or tool." + }, + { + "id": 9, + "name": "complete gripper closure", + "start": 85, + "end": 86, + "planning": "Fully close gripper jaws as observed by significant gripper value increase, indicating grasp readiness." + } + ], + "global_plan": "Sweep scattered beans into a consolidated pile using open-gripper pushing motions, then retreat and optionally close gripper at end.", + "notes": "Gripper remains open during all sweeping phases (segments 1-7), consistent with non-grasping contact-based manipulation. Only segments 8-9 show meaningful gripper closure, justified by image and signal evidence." + } + }, + "episode_goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35019567608833313, + -0.09940219670534134, + 0.10716018080711365, + 2.9477486610412598, + -0.1110764816403389, + -0.2773883640766144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3476605713367462, + -0.09914030879735947, + 0.09273867309093475, + 2.9425034523010254, + -0.06841934472322464, + -0.2764056622982025 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34665653109550476, + -0.09921634197235107, + 0.09103632718324661, + 2.9409637451171875, + -0.07163829356431961, + -0.27415359020233154 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34567928314208984, + -0.09007346630096436, + 0.11153247207403183, + 3.0058882236480713, + -0.1684141606092453, + -0.2747792899608612 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34455013275146484, + -0.08049999922513962, + 0.11138692498207092, + 3.0842156410217285, + -0.22724497318267822, + -0.28524136543273926 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3465251922607422, + -0.08306319266557693, + 0.11055266112089157, + -3.1231255531311035, + -0.24014341831207275, + -0.3175218403339386 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506130576133728, + -0.08311237394809723, + 0.0924781784415245, + -3.1272130012512207, + -0.19123315811157227, + -0.3205178380012512 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36481165885925293, + -0.07943412661552429, + 0.07109543681144714, + 3.1304800510406494, + -0.13017846643924713, + -0.28060516715049744 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3753068447113037, + -0.07295044511556625, + 0.05550232157111168, + 3.115319013595581, + -0.10531361401081085, + -0.2507907450199127 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 104, + 929, + 964 + ], + "toy cash register": [ + 281, + 2, + 671, + 215 + ], + "toy stove": [ + 694, + 154, + 996, + 993 + ], + "coffee beans": [ + 246, + 249, + 610, + 474 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3775804936885834, + -0.06422952562570572, + 0.04580168426036835, + 3.1063764095306396, + -0.09480331838130951, + -0.24365416169166565 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3771825432777405, + -0.06108531355857849, + 0.03448859229683876, + 3.1072206497192383, + -0.08597170561552048, + -0.2470804899930954 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 106, + 933, + 965 + ], + "toy tomato sauce": [ + 739, + 86, + 887, + 297 + ], + "coffee beans": [ + 245, + 249, + 590, + 473 + ], + "toy stove": [ + 694, + 155, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3725977838039398, + -0.06399429589509964, + 0.02757733128964901, + 3.102834701538086, + -0.0863693431019783, + -0.2497306615114212 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36683234572410583, + -0.08136578649282455, + 0.018348591402173042, + 3.0846023559570312, + -0.06821641325950623, + -0.2817351222038269 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move back 1 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3682542145252228, + -0.08537682145833969, + 0.017413441091775894, + 3.065330743789673, + -0.07388637959957123, + -0.2805294692516327 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, close gripper; then move back 1 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37417593598365784, + -0.0879652351140976, + 0.012563374824821949, + 3.0641860961914062, + -0.07297715544700623, + -0.2890474200248718 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3844274580478668, + -0.09015630185604095, + 0.016557080671191216, + 3.0641043186187744, + -0.0892304927110672, + -0.28124964237213135 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 11 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39168742299079895, + -0.09116443246603012, + 0.021804703399538994, + 3.0639941692352295, + -0.1001262292265892, + -0.28150078654289246 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 13 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3918927311897278, + -0.08792039752006531, + 0.014588437974452972, + 3.063147783279419, + -0.0800841748714447, + -0.2735418379306793 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 16 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3925939202308655, + -0.08325698971748352, + 0.012056062929332256, + 3.061124801635742, + -0.08677360415458679, + -0.24556714296340942 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "initiate sweeping motion", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 19 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38629984855651855, + -0.07817684859037399, + 0.006784826051443815, + 3.080965757369995, + -0.07338575273752213, + -0.24176107347011566 + ], + "gripper_value": 0.4166308641433716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 21 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808763027191162, + -0.07514464110136032, + 0.0064890431240201, + 3.0758321285247803, + -0.06764588505029678, + -0.2520400881767273 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 23 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3780420422554016, + -0.05737077817320824, + 0.007698362693190575, + 3.045605182647705, + -0.04354718327522278, + -0.23445691168308258 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 23 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37686142325401306, + -0.03898686170578003, + 0.00835105124861002, + 3.039567470550537, + -0.040709588676691055, + -0.21781593561172485 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 22 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37183427810668945, + -0.016713719815015793, + 0.008351756259799004, + 3.0187182426452637, + -0.03544994071125984, + -0.17849595844745636 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 19 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36910149455070496, + 0.007754504214972258, + 0.007368772756308317, + 3.0209858417510986, + -0.03960356488823891, + -0.14777296781539917 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 109, + 932, + 963 + ], + "coffee beans": [ + 246, + 250, + 514, + 474 + ], + "toy tomato sauce": [ + 636, + 7, + 772, + 255 + ], + "toy stove": [ + 693, + 154, + 996, + 993 + ], + "toy cash register": [ + 279, + 2, + 663, + 531 + ], + "toy corn": [ + 741, + 93, + 883, + 295 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is positioned above the table with the metal bar near the scattered black beans. No sweeping has occurred yet; the gripper remains open and stationary. The next action should involve moving the metal bar into contact with the beans to begin aligning and pushing them toward the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36792051792144775, + 0.02870570309460163, + 0.00754267955198884, + 3.0261518955230713, + -0.0430523119866848, + -0.11955650895833969 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.367000937461853, + 0.05117441341280937, + 0.008405081927776337, + 3.0341179370880127, + -0.050838399678468704, + -0.09388566762208939 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move up 1 cm, keep gripper closed; then move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3625696003437042, + 0.08519376069307327, + 0.009439747780561447, + 3.0384886264801025, + -0.061080772429704666, + -0.05710458382964134 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move up 1 cm, keep gripper closed; then move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3573029041290283, + 0.11139678955078125, + 0.010062268935143948, + 3.038789749145508, + -0.06460122019052505, + -0.03875204548239708 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, keep gripper closed; then move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 6 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35150042176246643, + 0.13662296533584595, + 0.010516304522752762, + 3.029611349105835, + -0.06534840166568756, + -0.023211615160107613 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper closed; then move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3465799391269684, + 0.15941306948661804, + 0.010094388388097286, + 3.0348434448242188, + -0.07492227852344513, + -0.00045748925185762346 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34509092569351196, + 0.16948872804641724, + 0.010083476081490517, + 3.0406148433685303, + -0.08175177872180939, + -0.00933048501610756 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33988410234451294, + 0.17839062213897705, + 0.010185396298766136, + 3.036017656326294, + -0.08382353186607361, + -0.007539649493992329 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "continue sweeping and consolidate", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33683934807777405, + 0.1720481514930725, + 0.014779437333345413, + 2.987985610961914, + -0.08849840611219406, + -0.013253038749098778 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The robot is actively sweeping scattered black beans on the table using the metal bar, with the gripper maintaining a consistent open position suitable for pushing. The beans are being consolidated toward the left side as intended. The next action should continue the sweeping motion to further compact the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3400605022907257, + 0.1632576435804367, + 0.045671869069337845, + 2.950552225112915, + -0.1554567515850067, + 0.002986605977639556 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move left 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.34095802903175354, + 0.14957334101200104, + 0.0716511607170105, + 2.907072067260742, + -0.20994625985622406, + 0.003600481664761901 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper closed; then move back 4 cm, move left 4 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402247130870819, + 0.12795871496200562, + 0.09043126553297043, + 2.890977382659912, + -0.2542192041873932, + -0.03311307355761528 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3288112282752991, + 0.08305724710226059, + 0.07489034533500671, + 2.91107177734375, + -0.20993413031101227, + -0.1446387767791748 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 130, + 939, + 965 + ], + "blue mat": [ + 3, + 578, + 366, + 994 + ], + "coffee beans": [ + 130, + 274, + 248, + 454 + ], + "toy tomato sauce": [ + 637, + 4, + 777, + 255 + ], + "toy stove": [ + 698, + 153, + 996, + 993 + ], + "toy cash register": [ + 315, + 2, + 675, + 216 + ], + "toy corn": [ + 742, + 85, + 887, + 294 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193594217300415, + 0.0674283504486084, + 0.05890550836920738, + 2.923490047454834, + -0.17947250604629517, + -0.1926221400499344 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy cash register": [ + 393, + 2, + 676, + 216 + ], + "wooden table": [ + 4, + 117, + 937, + 963 + ], + "toy tomato sauce": [ + 636, + 5, + 776, + 255 + ], + "coffee beans": [ + 129, + 247, + 303, + 467 + ], + "toy stove": [ + 694, + 152, + 996, + 993 + ], + "toy corn": [ + 741, + 89, + 886, + 296 + ], + "black clamp": [ + 302, + 800, + 434, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3110730051994324, + 0.07066193222999573, + 0.04208356514573097, + 2.952768325805664, + -0.1585088074207306, + -0.21398086845874786 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3033019006252289, + 0.09098377078771591, + 0.017508069053292274, + 2.9675378799438477, + -0.12276148796081543, + -0.1940939724445343 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. 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The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.29984837770462036, + 0.10361729562282562, + 0.00947628915309906, + 2.976799964904785, + -0.1099681630730629, + -0.1910114586353302 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.29868558049201965, + 0.11477505415678024, + 0.0090975696220994, + 2.9931578636169434, + -0.11255396157503128, + -0.17891474068164825 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. 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The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.29843196272850037, + 0.13096091151237488, + 0.009217982180416584, + 3.0105600357055664, + -0.11755642294883728, + -0.16186931729316711 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991826832294464, + 0.14694781601428986, + 0.009583697654306889, + 3.019324541091919, + -0.11350879818201065, + -0.14031919836997986 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. 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The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.30091455578804016, + 0.1653992086648941, + 0.009739303961396217, + 3.0380795001983643, + -0.11215534061193466, + -0.11930232495069504 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. 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The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 10 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.30198293924331665, + 0.17483456432819366, + 0.009896581061184406, + 3.0739800930023193, + -0.08752784878015518, + -0.11441405117511749 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015208840370178, + 0.17479750514030457, + 0.010039258748292923, + 3.0759522914886475, + -0.08303677290678024, + -0.09849609434604645 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. 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The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2989296615123749, + 0.14813604950904846, + 0.024178778752684593, + 3.008037805557251, + -0.09240678697824478, + -0.10070036351680756 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086594343185425, + 0.11158695071935654, + 0.05504334345459938, + 2.964261293411255, + -0.1483101099729538, + -0.1407804787158966 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy cash register": [ + 281, + 2, + 676, + 217 + ], + "blue mat": [ + 2, + 568, + 370, + 995 + ], + "wooden table": [ + 4, + 89, + 937, + 968 + ], + "toy tomato sauce": [ + 635, + 7, + 775, + 255 + ], + "toy stove": [ + 694, + 152, + 996, + 993 + ], + "toy corn": [ + 741, + 92, + 883, + 295 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.3134220242500305, + 0.08660192042589188, + 0.07360643893480301, + 2.9137821197509766, + -0.17848503589630127, + -0.14414522051811218 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. 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The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.32328563928604126, + 0.060949113219976425, + 0.07466024160385132, + 2.9039511680603027, + -0.15420004725456238, + -0.15768225491046906 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3335449993610382, + 0.06201830878853798, + 0.04397541657090187, + 2.9969675540924072, + -0.028434282168745995, + -0.10796242952346802 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "final sweep and pile formation", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 52 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3512818217277527, + 0.0697452574968338, + 0.02516847290098667, + 3.0360817909240723, + 0.034716472029685974, + -0.056889619678258896 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716961443424225, + 0.07648856937885284, + 0.014708423987030983, + 3.02262806892395, + 0.06633061170578003, + -0.01394443679600954 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.39312562346458435, + 0.08476939797401428, + 0.011643016710877419, + 3.0166187286376953, + 0.02959769032895565, + 0.03215624392032623 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.4035934805870056, + 0.08709529042243958, + 0.01151063572615385, + 3.005812406539917, + 0.015112996101379395, + 0.05858258530497551 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.40775251388549805, + 0.09023093432188034, + 0.012097220867872238, + 3.0051772594451904, + 0.0010561792878434062, + 0.0796322152018547 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot is positioned near the scattered black beans on the left side of the table, with the metal bar aligned for sweeping. Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. 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Previous steps have approached and initiated sweeping; now the robot is repositioning to finalize the sweep. The next action is likely a small push or adjustment to consolidate the beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3990367352962494, + 0.1127937063574791, + 0.010837513022124767, + 2.992617607116699, + -0.02237728424370289, + 0.21278639137744904 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.39054766297340393, + 0.12218707799911499, + 0.013048060238361359, + 2.983659029006958, + -0.03257032111287117, + 0.27301687002182007 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 94, + 935, + 965 + ], + "toy cash register": [ + 387, + 2, + 676, + 216 + ], + "coffee beans": [ + 111, + 235, + 314, + 468 + ], + "toy tomato sauce": [ + 635, + 7, + 772, + 255 + ], + "toy stove": [ + 695, + 153, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3781419098377228, + 0.1329074501991272, + 0.013650474138557911, + 2.9850080013275146, + -0.03571564704179764, + 0.3481886684894562 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.37119507789611816, + 0.14014913141727448, + 0.019383542239665985, + 2.9708385467529297, + -0.06413569301366806, + 0.407753586769104 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3645164370536804, + 0.14894871413707733, + 0.023598814383149147, + 2.961066961288452, + -0.08939459919929504, + 0.46268829703330994 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 2 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603522479534149, + 0.1627892255783081, + 0.025353901088237762, + 2.947904586791992, + -0.0980473980307579, + 0.5006850361824036 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 2 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3607724905014038, + 0.16943690180778503, + 0.03167308121919632, + 2.9183366298675537, + -0.09932511299848557, + 0.5168278813362122 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.36206305027008057, + 0.15515270829200745, + 0.0688556507229805, + 2.875814914703369, + -0.15608403086662292, + 0.46039819717407227 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "retreat and observe pile", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 53, + "end": 66 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577739894390106, + 0.12197341024875641, + 0.09472230821847916, + 2.8658974170684814, + -0.1764921396970749, + 0.35127976536750793 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 115, + 932, + 965 + ], + "toy cash register": [ + 326, + 3, + 676, + 217 + ], + "toy tomato sauce": [ + 635, + 7, + 773, + 255 + ], + "toy stove": [ + 694, + 154, + 996, + 993 + ], + "toy corn": [ + 741, + 92, + 883, + 295 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.3597143590450287, + 0.09968757629394531, + 0.09350598603487015, + 2.8548645973205566, + -0.14366202056407928, + 0.30174222588539124 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.3685230016708374, + 0.10675463080406189, + 0.06797324120998383, + 2.872612953186035, + -0.08711771667003632, + 0.3226761817932129 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3824649453163147, + 0.12014659494161606, + 0.03808495029807091, + 2.909480333328247, + -0.040172167122364044, + 0.3770904839038849 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.3927576243877411, + 0.12949714064598083, + 0.02102319709956646, + 2.9420158863067627, + -0.03132333979010582, + 0.42134687304496765 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.406178742647171, + 0.13596084713935852, + 0.015458786860108376, + 2.9456968307495117, + -0.046670205891132355, + 0.4422644376754761 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.4122781455516815, + 0.1375352144241333, + 0.015301779843866825, + 2.938477039337158, + -0.05409479886293411, + 0.45961612462997437 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile on the left side of the table. The gripper is open and the arm is positioned near the pile, indicating the sweeping motion has ended. The next action is to retreat slightly while observing the consolidated pile to confirm task completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.410213828086853, + 0.14178378880023956, + 0.014423311688005924, + 2.9431333541870117, + -0.05578165501356125, + 0.4678790867328644 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.40051108598709106, + 0.1467811018228531, + 0.01194639690220356, + 2.9493508338928223, + -0.06468255072832108, + 0.49836266040802 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825857639312744, + 0.15279321372509003, + 0.01460267137736082, + 2.964365243911743, + -0.062274474650621414, + 0.504548966884613 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.36808133125305176, + 0.15850304067134857, + 0.016020067036151886, + 2.9604220390319824, + -0.06790448725223541, + 0.5099417567253113 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 2 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.3582248389720917, + 0.1645684838294983, + 0.017441147938370705, + 2.9510498046875, + -0.07442392408847809, + 0.5288736820220947 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move up 2 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.3531426191329956, + 0.1677938550710678, + 0.023237429559230804, + 2.935452699661255, + -0.08910663425922394, + 0.5406598448753357 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.3535686135292053, + 0.16200567781925201, + 0.033401522785425186, + 2.9067511558532715, + -0.08771011233329773, + 0.5260553956031799 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.36237016320228577, + 0.14493806660175323, + 0.05372053384780884, + 2.8993325233459473, + -0.12809264659881592, + 0.4687962830066681 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.36649906635284424, + 0.10614041239023209, + 0.05297244340181351, + 2.961036443710327, + -0.12482089549303055, + 0.3110966086387634 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "hover and stabilize", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 82 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 67, + "end": 82 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578193783760071, + 0.05575791746377945, + 0.03351495787501335, + 3.065178394317627, + -0.07261437922716141, + 0.06532652676105499 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "gripper closure sequence", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 83, + "end": 84 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.34699806571006775, + 0.02661624364554882, + 0.01934516802430153, + 3.102185010910034, + -0.03209947794675827, + -0.06637626141309738 + ], + "gripper_value": 0.4485226273536682 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 98, + 934, + 961 + ], + "coffee beans": [ + 112, + 222, + 315, + 464 + ], + "toy tomato sauce": [ + 636, + 7, + 774, + 255 + ], + "toy stove": [ + 694, + 152, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "gripper closure sequence", + "subtask_reasoning": "The robot is hovering above the black beans on the left side of the table, having completed the sweeping motion to consolidate them into a pile. The gripper remains open and stable with no closing evidence, indicating no grasping is occurring. The next likely action is to retreat or reposition slightly to finalize the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 83, + "end": 84 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.3420485258102417, + 0.02266654185950756, + 0.010782115161418915, + 3.0655741691589355, + 0.012109542265534401, + -0.08297300338745117 + ], + "gripper_value": 0.7565051317214966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "complete gripper closure", + "subtask_reasoning": "The robot has swept the black beans into a pile on the left side of the table and is now positioned above them with the gripper open. The current subtask involves closing the gripper, likely to secure or interact with the pile. The next action should be to close the gripper while maintaining position over the bean pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 9, + "start": 85, + "end": 86 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.3378303349018097, + 0.021851908415555954, + 0.032604627311229706, + 2.9674365520477295, + -0.004922055173665285, + -0.08754798769950867 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the metal bar to sweep the scattered black beans into a compact pile on the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate sweeping motion" + }, + { + "id": 3, + "subtask": "continue sweeping and consolidate" + }, + { + "id": 4, + "subtask": "reposition for final sweep" + }, + { + "id": 5, + "subtask": "final sweep and pile formation" + }, + { + "id": 6, + "subtask": "retreat and observe pile" + }, + { + "id": 7, + "subtask": "hover and stabilize" + }, + { + "id": 8, + "subtask": "gripper closure sequence" + }, + { + "id": 9, + "subtask": "complete gripper closure" + } + ], + "subtask_name": "complete gripper closure", + "subtask_reasoning": "The robot has swept the black beans into a pile on the left side of the table and is now positioned above them with the gripper open. The current subtask involves closing the gripper, likely to secure or interact with the pile. The next action should be to close the gripper while maintaining position over the bean pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 86 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 85, + "end": 86 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003882_ecot.json b/cot/chunk-0003/episode_0003882_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4376462f27c18e6d6cbb21a1e32e45125aa29abf --- /dev/null +++ b/cot/chunk-0003/episode_0003882_ecot.json @@ -0,0 +1,2262 @@ +{ + "task_name": "episode_0003882", + "episode_json": "json/chunk-0003/episode_0003882.json", + "video_path": "videos/chunk-0003/image_0/episode_0003882.mp4", + "instruction": "Put knife in pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003882.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.4922163486480713, + "std": 0.22768060863018036, + "delta_total": -0.3985862135887146, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49222, std=0.22768, total_delta=-0.39859). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 22 + ], + [ + 3, + 23, + 25 + ], + [ + 4, + 26, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the knife while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp knife\", \"start\": 6, \"end\": 22, \"planning\": \"Close gripper around knife handle and secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition knife\", \"start\": 23, \"end\": 25, \"planning\": \"Lift knife slightly and rotate to align with pot cardboard fence target zone.\"},\n {\"id\": 4, \"name\": \"place knife in pot cardboard fence\", \"start\": 26, \"end\": 34, \"planning\": \"Lower knife into pot cardboard fence area and release grip as gripper opens slightly at end.\"}\n ],\n \"global_plan\": \"Approach knife, grasp it securely, lift and reorient, then place into pot cardboard fence with controlled release.\",\n \"notes\": \"Gripper evidence supports grasp in segment 2 (frames 6-22) and partial release in segment 4 (frames 26-34). Segment 3 shows no gripper change but motion indicates repositioning. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the knife while keeping gripper open." + }, + { + "id": 2, + "name": "grasp knife", + "start": 6, + "end": 22, + "planning": "Close gripper around knife handle and secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition knife", + "start": 23, + "end": 25, + "planning": "Lift knife slightly and rotate to align with pot cardboard fence target zone." + }, + { + "id": 4, + "name": "place knife in pot cardboard fence", + "start": 26, + "end": 34, + "planning": "Lower knife into pot cardboard fence area and release grip as gripper opens slightly at end." + } + ], + "global_plan": "Approach knife, grasp it securely, lift and reorient, then place into pot cardboard fence with controlled release.", + "notes": "Gripper evidence supports grasp in segment 2 (frames 6-22) and partial release in segment 4 (frames 26-34). Segment 3 shows no gripper change but motion indicates repositioning. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the knife inside the orange pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2355947345495224, + 0.030989445745944977, + 0.10061144083738327, + 3.1327004432678223, + -0.1717597395181656, + 0.22156016528606415 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No objects have been interacted with yet. The gripper is open and the arm is beginning to move toward the knife. The next action is to continue approaching the knife for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23329950869083405, + 0.028809579089283943, + 0.09510451555252075, + 3.127006769180298, + -0.15118999779224396, + 0.23420383036136627 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No objects have been interacted with yet. The gripper is open and the arm is beginning to move toward the knife. The next action is to continue approaching the knife for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2433316856622696, + 0.02003481239080429, + 0.09484297037124634, + 3.0661070346832275, + -0.15590910613536835, + 0.3829662799835205 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554089426994324, + 0.01167056430131197, + 0.10413599759340286, + 3.0188159942626953, + -0.15192840993404388, + 0.42865219712257385 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange lid": [ + 483, + 640, + 701, + 887 + ], + "orange cup": [ + 268, + 297, + 456, + 514 + ], + "red pepper": [ + 410, + 454, + 518, + 593 + ], + "white cabinet": [ + 819, + 434, + 997, + 928 + ], + "wooden board": [ + 26, + 221, + 892, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 5 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26898130774497986, + 0.0011515833903104067, + 0.10605276376008987, + 2.987652540206909, + -0.1404908150434494, + 0.5090166926383972 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 1 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28505635261535645, + -0.008402109146118164, + 0.10591071099042892, + 2.9141926765441895, + -0.1261233240365982, + 0.6687051653862 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 5 cm, move right 1 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29816746711730957, + -0.0155143141746521, + 0.10122888535261154, + 2.8820104598999023, + -0.11732649058103561, + 0.7515913248062134 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3125820755958557, + -0.016214566305279732, + 0.08687176555395126, + 2.897531747817993, + -0.10489732027053833, + 0.8369522094726562 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3231113851070404, + -0.01325206644833088, + 0.06981547921895981, + 2.9268805980682373, + -0.10705264657735825, + 0.8655969500541687 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32955166697502136, + -0.009878513403236866, + 0.056310951709747314, + 2.9489386081695557, + -0.1287228912115097, + 0.8777799606323242 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33449116349220276, + -0.007330963853746653, + 0.04190478473901749, + 2.9752745628356934, + -0.14666402339935303, + 0.8816800713539124 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3369984030723572, + -0.0070487381890416145, + 0.02435014210641384, + 2.986513376235962, + -0.1410200446844101, + 0.879497766494751 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3397998511791229, + -0.014723251573741436, + 0.017735863104462624, + 2.9548306465148926, + -0.11909589916467667, + 0.8278419375419617 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange lid": [ + 483, + 639, + 702, + 887 + ], + "red pepper": [ + 410, + 454, + 521, + 589 + ], + "white cabinet": [ + 825, + 435, + 996, + 927 + ], + "wooden board": [ + 26, + 142, + 901, + 989 + ], + "orange cup": [ + 268, + 283, + 456, + 514 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3482997715473175, + -0.01862909458577633, + 0.022773664444684982, + 2.9098658561706543, + -0.11690919101238251, + 0.8365198969841003 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden surface with the knife visible to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the knife handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34582629799842834, + -0.020648540928959846, + 0.010067695751786232, + 2.946695566177368, + -0.11415320634841919, + 0.8270614147186279 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500925898551941, + -0.020912613719701767, + 0.0039838445372879505, + 2.9815924167633057, + -0.13469669222831726, + 0.8483414053916931 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500833213329315, + -0.021947484463453293, + 0.003175548277795315, + 2.9872894287109375, + -0.13220347464084625, + 0.8539255261421204 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.35194650292396545, + -0.024975886568427086, + 0.0028230519965291023, + 2.9749279022216797, + -0.1338009536266327, + 0.8559792041778564 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3515932857990265, + -0.0264993067830801, + 0.0027691444847732782, + 2.96836519241333, + -0.1223558783531189, + 0.871227502822876 + ], + "gripper_value": 0.505268931388855 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462826907634735, + -0.02911011502146721, + 0.0047240350395441055, + 2.9708590507507324, + -0.10986471176147461, + 0.879959762096405 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3438464105129242, + -0.03514586016535759, + 0.009008697234094143, + 2.9526805877685547, + -0.0679023340344429, + 0.9059537649154663 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454093635082245, + -0.03033333830535412, + 0.027595823630690575, + 2.8941073417663574, + -0.05683208629488945, + 0.9963008165359497 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 4 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3435967266559601, + -0.024037498980760574, + 0.0561826229095459, + 2.822664737701416, + -0.01291088480502367, + 1.0896141529083252 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move back 2 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 4 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3339316248893738, + -0.01486069243401289, + 0.08292683213949203, + 2.776982069015503, + -0.021376213058829308, + 1.1202058792114258 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot has approached the knife on the wooden surface, with the gripper positioned above it. The gripper is currently open, indicating the grasp action has not yet been completed. The next step is to close the gripper to securely hold the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 4 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229571580886841, + 0.003857891308143735, + 0.09761349111795425, + 2.7980501651763916, + -0.012560025788843632, + 1.167483925819397 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot has successfully grasped the knife and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating a secure hold during repositioning. The next action is to move the knife toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 5 cm, move down 4 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135257065296173, + 0.031168382614850998, + 0.0973130315542221, + 2.852233409881592, + -0.01605270616710186, + 1.2327423095703125 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 410, + 453, + 519, + 593 + ], + "orange lid": [ + 483, + 638, + 703, + 886 + ], + "wooden board": [ + 26, + 142, + 874, + 987 + ], + "orange cup": [ + 268, + 283, + 457, + 515 + ], + "white cabinet": [ + 822, + 430, + 996, + 927 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot has successfully grasped the knife and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating a secure hold during repositioning. The next action is to move the knife toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed; then move left 5 cm, move down 4 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31232768297195435, + 0.06132352724671364, + 0.10172109305858612, + 2.8787739276885986, + -0.02886102721095085, + 1.2910265922546387 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot has successfully grasped the knife and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating a secure hold during repositioning. The next action is to move the knife toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 4 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3096066117286682, + 0.07987046986818314, + 0.0835823193192482, + 2.9370086193084717, + -0.009612148627638817, + 1.3114113807678223 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 410, + 453, + 519, + 597 + ], + "orange lid": [ + 483, + 638, + 702, + 886 + ], + "orange cup": [ + 269, + 286, + 453, + 515 + ], + "white cabinet": [ + 821, + 431, + 997, + 929 + ], + "wooden board": [ + 26, + 205, + 876, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot has successfully grasped the knife and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating a secure hold during repositioning. The next action is to move the knife toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3084506690502167, + 0.09151176363229752, + 0.07287745922803879, + 2.9670727252960205, + -0.03611506149172783, + 1.3120561838150024 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot has successfully grasped the knife and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating a secure hold during repositioning. The next action is to move the knife toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067029118537903, + 0.09849752485752106, + 0.060166750103235245, + 3.0034828186035156, + -0.04573453590273857, + 1.3123916387557983 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot has successfully grasped the knife and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating a secure hold during repositioning. The next action is to move the knife toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.30598005652427673, + 0.09775014221668243, + 0.06007814407348633, + 3.0050060749053955, + -0.03720134124159813, + 1.3146165609359741 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot is holding the knife above the orange pot, positioned for insertion. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092767298221588, + 0.10018084943294525, + 0.0564374141395092, + 3.0180752277374268, + -0.026417704299092293, + 1.3189297914505005 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot is holding the knife above the orange pot, positioned for insertion. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30928346514701843, + 0.10086270421743393, + 0.05782410129904747, + 3.021249532699585, + -0.01724693737924099, + 1.3274221420288086 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot is holding the knife above the orange pot, positioned for insertion. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120417296886444, + 0.10434016585350037, + 0.062304530292749405, + 3.01265811920166, + 0.004684131126850843, + 1.3414376974105835 + ], + "gripper_value": 0.5334634184837341 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot is holding the knife above the orange pot, positioned for insertion. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31110405921936035, + 0.10670246183872223, + 0.06036151573061943, + 3.0343902111053467, + 0.0037331588100641966, + 1.344028353691101 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife in pot cardboard fence" + } + ], + "subtask_name": "place knife in pot cardboard fence", + "subtask_reasoning": "The robot is holding the knife above the orange pot, positioned for insertion. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003883_ecot.json b/cot/chunk-0003/episode_0003883_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8fca8b4dafb00bec50d6e47ad4a788f2b257e56c --- /dev/null +++ b/cot/chunk-0003/episode_0003883_ecot.json @@ -0,0 +1,2378 @@ +{ + "task_name": "episode_0003883", + "episode_json": "json/chunk-0003/episode_0003883.json", + "video_path": "videos/chunk-0003/image_0/episode_0003883.mp4", + "instruction": "Open fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003883.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.7681857347488403, + "std": 0.2705221176147461, + "delta_total": -0.006605982780456543, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.76819, std=0.27052, total_delta=-0.00661). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 212, + 212, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 11 + ], + [ + 3, + 12, + 15 + ], + [ + 4, + 16, + 17 + ], + [ + 5, + 18, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge handle\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector toward the fridge handle without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp fridge handle\", \"start\": 3, \"end\": 11, \"planning\": \"Close the gripper around the fridge handle to establish a firm hold.\"},\n {\"id\": 3, \"name\": \"pull fridge door open\", \"start\": 12, \"end\": 15, \"planning\": \"Pull the fridge door open while maintaining grip on the handle.\"},\n {\"id\": 4, \"name\": \"release fridge handle\", \"start\": 16, \"end\": 17, \"planning\": \"Open the gripper to release the fridge handle after opening the door.\"},\n {\"id\": 5, \"name\": \"retreat from fridge\", \"start\": 18, \"end\": 34, \"planning\": \"Move the end-effector away from the fridge to complete the task.\"}\n ],\n \"global_plan\": \"The robot approaches the fridge handle, grasps it, pulls the door open, releases the handle, and retreats.\",\n \"notes\": \"Subtasks are aligned with observed motion segments and gripper evidence. Grasping is only used where gripper closure is confirmed.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge handle", + "start": 0, + "end": 2, + "planning": "Move the end-effector toward the fridge handle without closing the gripper." + }, + { + "id": 2, + "name": "grasp fridge handle", + "start": 3, + "end": 11, + "planning": "Close the gripper around the fridge handle to establish a firm hold." + }, + { + "id": 3, + "name": "pull fridge door open", + "start": 12, + "end": 15, + "planning": "Pull the fridge door open while maintaining grip on the handle." + }, + { + "id": 4, + "name": "release fridge handle", + "start": 16, + "end": 17, + "planning": "Open the gripper to release the fridge handle after opening the door." + }, + { + "id": 5, + "name": "retreat from fridge", + "start": 18, + "end": 34, + "planning": "Move the end-effector away from the fridge to complete the task." + } + ], + "global_plan": "The robot approaches the fridge handle, grasps it, pulls the door open, releases the handle, and retreats.", + "notes": "Subtasks are aligned with observed motion segments and gripper evidence. Grasping is only used where gripper closure is confirmed." + } + }, + "episode_goal": "Open the fridge door by grasping the handle and pulling it outward.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24019421637058258, + -0.018158085644245148, + 0.15084174275398254, + 3.08892822265625, + -0.19084033370018005, + 0.09018950909376144 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the fridge with its gripper open and aligned near the handle. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, keep gripper open; then move forward 4 cm, move left 2 cm, move down 8 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23957401514053345, + -0.017517564818263054, + 0.1451866179704666, + 3.0933427810668945, + -0.17604708671569824, + 0.0877268835902214 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the fridge with its gripper open and aligned near the handle. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 8 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25723278522491455, + -0.005081295035779476, + 0.13178402185440063, + 3.126636266708374, + -0.2127789407968521, + 0.07268010824918747 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the fridge with its gripper open and aligned near the handle. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move forward 4 cm, move left 2 cm, move down 7 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27127495408058167, + 0.01404381264001131, + 0.10951422154903412, + -3.1188242435455322, + -0.2738724946975708, + 0.05526081845164299 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot is positioned in front of the fridge with its gripper open and aligned near the handle. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 7 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.276035875082016, + 0.025994718074798584, + 0.08375172317028046, + -3.0696113109588623, + -0.31786200404167175, + 0.027336180210113525 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bowl": [ + 280, + 856, + 425, + 996 + ], + "dispenser": [ + 548, + 139, + 855, + 602 + ], + "window": [ + 38, + 146, + 346, + 541 + ], + "handle": [ + 21, + 68, + 229, + 192 + ], + "sticker": [ + 629, + 193, + 768, + 324 + ] + } + } + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot is positioned in front of the fridge with its gripper open and aligned near the handle. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 5 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27909374237060547, + 0.03170858323574066, + 0.06948600709438324, + -3.0558922290802, + -0.3477526009082794, + 0.00869584921747446 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot is positioned in front of the fridge with its gripper open and aligned near the handle. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, close gripper; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28412529826164246, + 0.03407783806324005, + 0.06318800896406174, + -3.044797897338867, + -0.36304518580436707, + 0.015272162854671478 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot is positioned in front of the fridge with its gripper open and aligned near the handle. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, close gripper; then move back 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29054582118988037, + 0.039618439972400665, + 0.052830684930086136, + -3.038416862487793, + -0.37889182567596436, + 0.02502555213868618 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, having completed the approach phase. The gripper is currently open and in contact with or very close to the handle, preparing to close. The next action is to close the gripper to securely grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move back 3 cm, keep gripper closed; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2949192523956299, + 0.04207403212785721, + 0.045053619891405106, + -3.0506913661956787, + -0.39062127470970154, + 0.026642387732863426 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, having completed the approach phase. The gripper is currently open and in contact with or very close to the handle, preparing to close. The next action is to close the gripper to securely grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move back 3 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.301262766122818, + 0.03978933021426201, + 0.03999069333076477, + -3.0732688903808594, + -0.41893643140792847, + 0.024201368913054466 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, having completed the approach phase. The gripper is currently open and in contact with or very close to the handle, preparing to close. The next action is to close the gripper to securely grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 3 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064223825931549, + 0.03858004882931709, + 0.030406976118683815, + -3.0899806022644043, + -0.4363705515861511, + 0.029155053198337555 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, having completed the approach phase. The gripper is currently open and in contact with or very close to the handle, preparing to close. The next action is to close the gripper to securely grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 3 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30719858407974243, + 0.03596828505396843, + 0.031139003112912178, + -3.108055830001831, + -0.42676907777786255, + 0.029900595545768738 + ], + "gripper_value": 0.7408273816108704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, having completed the approach phase. The gripper is currently open and in contact with or very close to the handle, preparing to close. The next action is to close the gripper to securely grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 4 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120327293872833, + 0.03839648887515068, + 0.035068947821855545, + -3.126030921936035, + -0.43599817156791687, + 0.05623934790492058 + ], + "gripper_value": 0.438394159078598 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull fridge door open", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, having completed the approach phase. The gripper is currently open and in contact with or very close to the handle, preparing to close. The next action is to close the gripper to securely grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 3 cm, move left 7 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31445589661598206, + 0.039131466299295425, + 0.03294268250465393, + -3.129539966583252, + -0.43307268619537354, + 0.06456227600574493 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull fridge door open", + "subtask_reasoning": "The robot has grasped the fridge handle and is currently pulling the door outward. The gripper remains closed, maintaining contact with the handle as the door begins to open. The next action is to continue pulling until the door is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31397685408592224, + 0.040945861488580704, + 0.03269422799348831, + -3.1306819915771484, + -0.4334203898906708, + 0.06648050248622894 + ], + "gripper_value": 0.23988260328769684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull fridge door open", + "subtask_reasoning": "The robot has grasped the fridge handle and is currently pulling the door outward. The gripper remains closed, maintaining contact with the handle as the door begins to open. The next action is to continue pulling until the door is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 11 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29544028639793396, + 0.040336549282073975, + 0.03368781507015228, + -3.139739990234375, + -0.42163020372390747, + 0.050800174474716187 + ], + "gripper_value": 0.25753310322761536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull fridge door open", + "subtask_reasoning": "The robot has grasped the fridge handle and is currently pulling the door outward. The gripper remains closed, maintaining contact with the handle as the door begins to open. The next action is to continue pulling until the door is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 12 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2780793607234955, + 0.03896423801779747, + 0.03447888419032097, + 3.139387369155884, + -0.4118478000164032, + 0.04328908771276474 + ], + "gripper_value": 0.25961822271347046 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bowl": [ + 280, + 856, + 425, + 996 + ], + "dispenser": [ + 529, + 183, + 851, + 625 + ], + "window": [ + 35, + 141, + 348, + 543 + ] + } + } + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release fridge handle", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 13 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626934051513672, + 0.03588942810893059, + 0.036556489765644073, + 3.140115737915039, + -0.3971801698207855, + 0.029642101377248764 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release fridge handle", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move forward 3 cm, move left 11 cm, move up 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25004008412361145, + 0.03201683983206749, + 0.04877900332212448, + 3.126389980316162, + -0.3928692042827606, + 0.060429465025663376 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2252977341413498, + 0.02388705313205719, + 0.05357891693711281, + 3.117732524871826, + -0.3782806694507599, + 0.009960600174963474 + ], + "gripper_value": 0.8956556916236877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.20447346568107605, + 0.03304168954491615, + 0.05668153613805771, + 3.117945909500122, + -0.3348621726036072, + 0.006977129727602005 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 7 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20507307350635529, + 0.06686220318078995, + 0.05528685450553894, + 3.1131272315979004, + -0.28127801418304443, + 0.15268109738826752 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bowl": [ + 280, + 856, + 425, + 996 + ], + "dispenser": [ + 526, + 187, + 849, + 626 + ], + "sticker": [ + 614, + 233, + 760, + 359 + ] + } + } + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 4 cm, move up 2 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21967977285385132, + 0.1008390337228775, + 0.05703534558415413, + 3.0955898761749268, + -0.272601455450058, + 0.3454374670982361 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2285604625940323, + 0.12165240943431854, + 0.061705682426691055, + 3.095167398452759, + -0.24806810915470123, + 0.5208932161331177 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23949941992759705, + 0.13765132427215576, + 0.06910088658332825, + 3.082965135574341, + -0.20877376198768616, + 0.6890119314193726 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2553054690361023, + 0.1517086625099182, + 0.06741482764482498, + 3.1180129051208496, + -0.14460037648677826, + 0.8538479804992676 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot's end-effector is positioned near the fridge handle, and the gripper value indicates it is in the process of releasing the handle. The handle appears to be no longer firmly grasped, suggesting the release action is underway. The next step is to ensure the gripper is fully open and then retreat from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27354228496551514, + 0.15786340832710266, + 0.06485679000616074, + 3.1120755672454834, + -0.12657906115055084, + 0.9806980490684509 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27977460622787476, + 0.14550931751728058, + 0.0623352974653244, + 3.0818841457366943, + -0.12035220861434937, + 1.0405113697052002 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28076162934303284, + 0.12499503791332245, + 0.060488224029541016, + 3.043440818786621, + -0.1250058114528656, + 1.0017247200012207 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767103612422943, + 0.10874928534030914, + 0.06652776151895523, + 2.9940598011016846, + -0.17002564668655396, + 0.947762131690979 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.290965735912323, + 0.10166013240814209, + 0.0736115351319313, + 2.9801547527313232, + -0.17691676318645477, + 0.9619970917701721 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3055730164051056, + 0.10471398383378983, + 0.07395953685045242, + 2.995657444000244, + -0.1485849916934967, + 0.8949083089828491 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2959527373313904, + 0.10174176096916199, + 0.06859967857599258, + 3.0363502502441406, + -0.12541618943214417, + 0.8056936860084534 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815190851688385, + 0.0929500088095665, + 0.07081770896911621, + 3.062652349472046, + -0.10825969278812408, + 0.7063241600990295 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26039665937423706, + 0.0784517452120781, + 0.07511307299137115, + 3.0852737426757812, + -0.0683818832039833, + 0.5671250224113464 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bowl": [ + 280, + 857, + 424, + 996 + ], + "dispenser": [ + 512, + 240, + 852, + 654 + ], + "sticker": [ + 607, + 279, + 759, + 398 + ] + } + } + }, + "Understanding": { + "goal": "Open the fridge door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull fridge door open" + }, + { + "id": 4, + "subtask": "release fridge handle" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot has completed opening the fridge and is now retreating from the handle. The gripper is open, indicating release of the handle. The next action is to move the arm further away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003884_ecot.json b/cot/chunk-0003/episode_0003884_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a3d75babc95dbbc42f42ba9a62af83c05b75bd80 --- /dev/null +++ b/cot/chunk-0003/episode_0003884_ecot.json @@ -0,0 +1,2238 @@ +{ + "task_name": "episode_0003884", + "episode_json": "json/chunk-0003/episode_0003884.json", + "video_path": "videos/chunk-0003/image_0/episode_0003884.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003884.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.4906015396118164, + "std": 0.22035369277000427, + "delta_total": -0.004403352737426758, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49060, std=0.22035, total_delta=-0.00440). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 22 + ], + [ + 3, + 23, + 26 + ], + [ + 4, + 27, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the carrot on the counter without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 5, \"end\": 22, \"planning\": \"Close gripper around carrot and lift it slightly, confirmed by gripper closure and visual hold.\"},\n {\"id\": 3, \"name\": \"transport carrot to plate\", \"start\": 23, \"end\": 26, \"planning\": \"Carry carrot over green plate while maintaining grip, no gripper motion observed.\"},\n {\"id\": 4, \"name\": \"release carrot on plate\", \"start\": 27, \"end\": 34, \"planning\": \"Open gripper to drop carrot onto plate, confirmed by gripper opening and final position.\"}\n ],\n \"global_plan\": \"Approach carrot, grasp it securely, transport it over the green plate, then release it to complete placement.\",\n \"notes\": \"Gripper evidence aligns with image observations: no grasp in segment 1, meaningful closure in segment 2, sustained hold in segment 3, and deliberate release in segment 4. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the carrot on the counter without closing gripper." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 5, + "end": 22, + "planning": "Close gripper around carrot and lift it slightly, confirmed by gripper closure and visual hold." + }, + { + "id": 3, + "name": "transport carrot to plate", + "start": 23, + "end": 26, + "planning": "Carry carrot over green plate while maintaining grip, no gripper motion observed." + }, + { + "id": 4, + "name": "release carrot on plate", + "start": 27, + "end": 34, + "planning": "Open gripper to drop carrot onto plate, confirmed by gripper opening and final position." + } + ], + "global_plan": "Approach carrot, grasp it securely, transport it over the green plate, then release it to complete placement.", + "notes": "Gripper evidence aligns with image observations: no grasp in segment 1, meaningful closure in segment 2, sustained hold in segment 3, and deliberate release in segment 4. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the carrot on the green plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29414647817611694, + 0.016404960304498672, + 0.11780351400375366, + 3.064500570297241, + -0.25721725821495056, + -0.35865911841392517 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the carrot visible to the left and the green plate centered. No objects have been moved yet. The gripper is open and the arm is beginning to move toward the carrot. The next action is to continue approaching the carrot for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2887691855430603, + 0.017181772738695145, + 0.10973291844129562, + 3.048085927963257, + -0.22687360644340515, + -0.3620653450489044 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the carrot visible to the left and the green plate centered. No objects have been moved yet. The gripper is open and the arm is beginning to move toward the carrot. The next action is to continue approaching the carrot for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640015184879303, + 0.038117531687021255, + 0.10202730447053909, + 3.0112125873565674, + -0.15827439725399017, + -0.4228369891643524 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 10 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24567599594593048, + 0.04950666427612305, + 0.101694256067276, + 3.104447603225708, + -0.1709565967321396, + -0.4443088173866272 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy strawberry": [ + 140, + 295, + 238, + 414 + ], + "green lid": [ + 392, + 453, + 608, + 677 + ], + "toy tortilla": [ + 578, + 243, + 676, + 373 + ], + "sink": [ + 561, + 494, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 10 cm, move down 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23586855828762054, + 0.05942757800221443, + 0.10702724754810333, + 3.126868963241577, + -0.16103246808052063, + -0.4672423005104065 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 10 cm, move down 9 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22444231808185577, + 0.0763455331325531, + 0.09504461288452148, + -3.13969087600708, + -0.16639184951782227, + -0.5094023942947388 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 9 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21916189789772034, + 0.09454227238893509, + 0.07919114083051682, + -3.128101348876953, + -0.1787223070859909, + -0.5783287286758423 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 7 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21558000147342682, + 0.11247582733631134, + 0.06546439975500107, + -3.106499671936035, + -0.1821747124195099, + -0.6185003519058228 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21219855546951294, + 0.1277408003807068, + 0.057878900319337845, + -3.0577566623687744, + -0.13310524821281433, + -0.6512476801872253 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20746763050556183, + 0.1445160210132599, + 0.048790913075208664, + -3.0338611602783203, + -0.10239431262016296, + -0.6843967437744141 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 312, + 293, + 549, + 462 + ], + "green lid": [ + 391, + 454, + 609, + 677 + ], + "toy tortilla": [ + 579, + 242, + 677, + 373 + ], + "toy carrot": [ + 754, + 745, + 898, + 874 + ], + "toy corn": [ + 815, + 848, + 920, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21019232273101807, + 0.15738721191883087, + 0.04669189453125, + -3.016014575958252, + -0.07844434678554535, + -0.7107385993003845 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21151426434516907, + 0.16709013283252716, + 0.03676391765475273, + -3.004222869873047, + -0.08077035844326019, + -0.7615039348602295 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21555426716804504, + 0.1754223257303238, + 0.021539470180869102, + -3.0352749824523926, + -0.11006055772304535, + -0.8260161280632019 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, with the carrot visible on the left side of the scene. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21802417933940887, + 0.17782998085021973, + 0.011427061632275581, + -3.0223164558410645, + -0.1224437728524208, + -0.8479517102241516 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21536514163017273, + 0.1791529655456543, + 0.008333436213433743, + -3.014873743057251, + -0.11815053969621658, + -0.8407546877861023 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21304191648960114, + 0.1784753054380417, + 0.005313164554536343, + -3.008768081665039, + -0.10805568099021912, + -0.8627327084541321 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21241354942321777, + 0.17705996334552765, + 0.004937001969665289, + -3.0158989429473877, + -0.08336739987134933, + -0.8711327910423279 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21108996868133545, + 0.17291034758090973, + 0.010618490166962147, + -3.0210087299346924, + -0.08436744660139084, + -0.8751882910728455 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2123648077249527, + 0.1650911420583725, + 0.029901767149567604, + -3.0352702140808105, + -0.060836777091026306, + -0.8971138000488281 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2208857387304306, + 0.1611199527978897, + 0.06094960495829582, + -3.016209602355957, + -0.017611490562558174, + -0.9023652076721191 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23092268407344818, + 0.1394830197095871, + 0.08568430691957474, + -3.053553342819214, + 0.03777449578046799, + -0.8143370747566223 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24578890204429626, + 0.11179877817630768, + 0.09968326985836029, + -3.079373836517334, + 0.06367958337068558, + -0.6314142346382141 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2586614191532135, + 0.08490634709596634, + 0.09782031923532486, + -3.136651039123535, + 0.09571342915296555, + -0.5882576107978821 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26210322976112366, + 0.04897259920835495, + 0.09360001981258392, + 3.1201939582824707, + 0.08367687463760376, + -0.533715546131134 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "transport carrot to plate", + "subtask_reasoning": "The robot arm is positioned near the carrot on the left stove burner, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to secure the carrot. The next action is to finalize the grasp by fully closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25894400477409363, + 0.015582033433020115, + 0.09668342769145966, + 3.091146945953369, + 0.04350467398762703, + -0.5291227102279663 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy strawberry": [ + 141, + 295, + 238, + 414 + ], + "green lid": [ + 392, + 454, + 609, + 677 + ], + "silver pot": [ + 313, + 293, + 438, + 408 + ], + "toy corn": [ + 815, + 847, + 920, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "transport carrot to plate", + "subtask_reasoning": "The robot is currently holding the carrot and moving it toward the green plate. The gripper remains closed with no change in value, indicating continued grasp. The next action is to position the carrot directly above the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25807952880859375, + -0.0013782555470243096, + 0.09571682661771774, + 3.1195623874664307, + 0.017844952642917633, + -0.4828147292137146 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "transport carrot to plate", + "subtask_reasoning": "The robot is currently holding the carrot and moving it toward the green plate. The gripper remains closed with no change in value, indicating continued grasp. The next action is to position the carrot directly above the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631618082523346, + -0.0010928366100415587, + 0.07461091130971909, + 3.127990484237671, + -0.03632574900984764, + -0.504329264163971 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "transport carrot to plate", + "subtask_reasoning": "The robot is currently holding the carrot and moving it toward the green plate. The gripper remains closed with no change in value, indicating continued grasp. The next action is to position the carrot directly above the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705127000808716, + 0.015329639427363873, + 0.056263696402311325, + -3.1141464710235596, + -0.057655297219753265, + -0.5508220195770264 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot and moving it toward the green plate. The gripper remains closed with no change in value, indicating continued grasp. The next action is to position the carrot directly above the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27318254113197327, + 0.024664200842380524, + 0.047770906239748, + -3.139113664627075, + -0.048538658767938614, + -0.5428103804588318 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 312, + 292, + 458, + 458 + ], + "toy strawberry": [ + 140, + 295, + 238, + 415 + ], + "sink": [ + 563, + 494, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot and moving it toward the green plate. The gripper remains closed with no change in value, indicating continued grasp. The next action is to position the carrot directly above the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2786247134208679, + 0.024641873314976692, + 0.043380897492170334, + -3.1374263763427734, + -0.05985713005065918, + -0.5610994100570679 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot and moving it toward the green plate. The gripper remains closed with no change in value, indicating continued grasp. The next action is to position the carrot directly above the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824881672859192, + 0.017552010715007782, + 0.04236409813165665, + -3.1092641353607178, + -0.0707455575466156, + -0.5209898948669434 + ], + "gripper_value": 0.6129248142242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot arm is positioned directly above the green plate with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully detached and resting on the plate before moving the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28078046441078186, + 0.013020927086472511, + 0.03693288937211037, + -3.09236741065979, + -0.08677484095096588, + -0.49092939496040344 + ], + "gripper_value": 0.9231109023094177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot arm is positioned directly above the green plate with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully detached and resting on the plate before moving the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.279859721660614, + 0.013374662958085537, + 0.03913262486457825, + -3.116471290588379, + -0.09525004029273987, + -0.49808987975120544 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot arm is positioned directly above the green plate with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully detached and resting on the plate before moving the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27879709005355835, + 0.016875702887773514, + 0.049190569669008255, + -3.09887433052063, + -0.09104593843221664, + -0.49579811096191406 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot arm is positioned directly above the green plate with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully detached and resting on the plate before moving the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27571168541908264, + 0.016469288617372513, + 0.06426316499710083, + -3.0797011852264404, + -0.03429316356778145, + -0.5165196061134338 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport carrot to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot arm is positioned directly above the green plate with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully detached and resting on the plate before moving the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003885_ecot.json b/cot/chunk-0003/episode_0003885_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2ab6d20a67fcc83cd6f78ecd488663c6acf65374 --- /dev/null +++ b/cot/chunk-0003/episode_0003885_ecot.json @@ -0,0 +1,1907 @@ +{ + "task_name": "episode_0003885", + "episode_json": "json/chunk-0003/episode_0003885.json", + "video_path": "videos/chunk-0003/image_0/episode_0003885.mp4", + "instruction": "Move the red spoon to the front left corner of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003885.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.6709612607955933, + "std": 0.3095148503780365, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67096, std=0.30951, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 212, + 212, + 212, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 325, + 325, + 325, + 325, + 325 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 7 + ], + [ + 3, + 8, + 11 + ], + [ + 4, + 12, + 14 + ], + [ + 5, + 15, + 24 + ], + [ + 6, + 25, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector from its initial position down toward the red spoon on the stove surface.\"},\n {\"id\": 2, \"name\": \"grasp spoon\", \"start\": 8, \"end\": 14, \"planning\": \"Close the gripper around the handle of the red spoon to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"lift and transport spoon\", \"start\": 15, \"end\": 24, \"planning\": \"Lift the grasped spoon and move it across the stove toward the front left corner.\"},\n {\"id\": 4, \"name\": \"place spoon\", \"start\": 25, \"end\": 29, \"planning\": \"Lower the spoon to the target location in the front left corner and release the gripper.\"}\n ],\n \"global_plan\": \"Approach the red spoon on the stove, grasp it securely, lift and transport it to the front left corner of the stove, then place it down and release.\",\n \"notes\": \"Segment 1 (frames 0-4) and Segment 2 (frames 5-7) are merged into one approach phase since gripper remains open and motion is continuous toward the spoon. Segment 3 (8-11) and Segment 4 (12-14) show clear gripper closing and are combined into a single grasp phase. Segment 5 (15-24) is inferred as lift-and-transport based on motion continuity and gripper state holding. Segment 6 (25-29) shows gripper opening and final positioning, consistent with placing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 7, + "planning": "Move the end-effector from its initial position down toward the red spoon on the stove surface." + }, + { + "id": 2, + "name": "grasp spoon", + "start": 8, + "end": 14, + "planning": "Close the gripper around the handle of the red spoon to secure a firm hold." + }, + { + "id": 3, + "name": "lift and transport spoon", + "start": 15, + "end": 24, + "planning": "Lift the grasped spoon and move it across the stove toward the front left corner." + }, + { + "id": 4, + "name": "place spoon", + "start": 25, + "end": 29, + "planning": "Lower the spoon to the target location in the front left corner and release the gripper." + } + ], + "global_plan": "Approach the red spoon on the stove, grasp it securely, lift and transport it to the front left corner of the stove, then place it down and release.", + "notes": "Segment 1 (frames 0-4) and Segment 2 (frames 5-7) are merged into one approach phase since gripper remains open and motion is continuous toward the spoon. Segment 3 (8-11) and Segment 4 (12-14) show clear gripper closing and are combined into a single grasp phase. Segment 5 (15-24) is inferred as lift-and-transport based on motion continuity and gripper state holding. Segment 6 (25-29) shows gripper opening and final positioning, consistent with placing." + } + }, + "episode_goal": "Move the red spoon to the front left corner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.40775489807128906, + 0.07430364936590195, + 0.08731373399496078, + -3.076759099960327, + -0.023338258266448975, + 0.05697329342365265 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the front right burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 12 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4048232138156891, + 0.07360390573740005, + 0.06896991282701492, + -3.0829851627349854, + 0.023923905566334724, + 0.055832188576459885 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the front right burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 12 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4027659595012665, + 0.07255993783473969, + 0.06449742615222931, + -3.088655948638916, + 0.03569364547729492, + 0.05680076405405998 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the front right burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 12 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3898000121116638, + 0.053881507366895676, + 0.07247232645750046, + -3.099163055419922, + 0.022749124094843864, + 0.047772716730833054 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36105725169181824, + 0.02469494752585888, + 0.10151181370019913, + -3.107339382171631, + -0.025049999356269836, + 0.01757032796740532 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 7 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32308924198150635, + -0.003617814276367426, + 0.09823337197303772, + 3.118792772293091, + -0.0008765006205067039, + -0.03389754518866539 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move down 8 cm, keep gripper open; then move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30100417137145996, + -0.027777815237641335, + 0.07107836753129959, + 3.1215083599090576, + 0.026245946064591408, + -0.06766417622566223 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 5 cm, keep gripper open; then move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27728715538978577, + -0.03773457929491997, + 0.04177423194050789, + 3.1311259269714355, + 0.051402922719717026, + -0.05799204483628273 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move left 8 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25566256046295166, + -0.04881901666522026, + 0.021124759688973427, + -3.134352922439575, + 0.0609312541782856, + -0.07034248858690262 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red chili pepper": [ + 482, + 603, + 583, + 836 + ], + "sink": [ + 785, + 470, + 994, + 962 + ], + "pan": [ + 357, + 202, + 541, + 358 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move left 13 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25214534997940063, + -0.053947869688272476, + 0.01620084047317505, + -3.1229546070098877, + 0.04838110879063606, + -0.0729290246963501 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 6 cm, keep gripper closed; then move forward 1 cm, move left 17 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25162649154663086, + -0.054959993809461594, + 0.008938568644225597, + -3.1284217834472656, + 0.06165667995810509, + -0.07904957234859467 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot is positioned above the stove with the red spoon visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 18 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25218644738197327, + -0.05398000404238701, + 0.008275894448161125, + -3.1208856105804443, + 0.06358359754085541, + -0.0729619711637497 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the red spoon on the stove and is now in contact with it. The gripper is closing around the spoon, as indicated by the decreasing gripper value. The next action is to secure the grasp on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 19 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2528242766857147, + -0.053268976509571075, + 0.00799491722136736, + -3.12335467338562, + 0.06557811051607132, + -0.07547222077846527 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the red spoon on the stove and is now in contact with it. The gripper is closing around the spoon, as indicated by the decreasing gripper value. The next action is to secure the grasp on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 19 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25338298082351685, + -0.051096733659505844, + 0.007614978589117527, + -3.125838041305542, + 0.07213898748159409, + -0.06459997594356537 + ], + "gripper_value": 0.36275482177734375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the red spoon on the stove and is now in contact with it. The gripper is closing around the spoon, as indicated by the decreasing gripper value. The next action is to secure the grasp on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 19 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2507070302963257, + -0.04837964102625847, + 0.01668722927570343, + -3.1123359203338623, + 0.08918415755033493, + -0.09016352146863937 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the red spoon on the stove and is now in contact with it. The gripper is closing around the spoon, as indicated by the decreasing gripper value. The next action is to secure the grasp on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 19 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25605612993240356, + -0.027661539614200592, + 0.0721697211265564, + -3.108158826828003, + -0.03222445771098137, + -0.0950133353471756 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the red spoon on the stove and is now in contact with it. The gripper is closing around the spoon, as indicated by the decreasing gripper value. The next action is to secure the grasp on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 19 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25308728218078613, + 0.013319981284439564, + 0.09147928655147552, + -3.090834617614746, + -0.06242474913597107, + -0.03167039155960083 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 524, + 316, + 804, + 587 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the red spoon on the stove and is now in contact with it. The gripper is closing around the spoon, as indicated by the decreasing gripper value. The next action is to secure the grasp on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25530850887298584, + 0.051251370459795, + 0.09444680064916611, + -3.0573313236236572, + -0.041646216064691544, + -0.018405761569738388 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the red spoon on the stove and is now in contact with it. The gripper is closing around the spoon, as indicated by the decreasing gripper value. The next action is to secure the grasp on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25534364581108093, + 0.10212282836437225, + 0.08762022852897644, + -3.028517961502075, + 0.009755383245646954, + 0.06506619602441788 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the red spoon on the stove and is now in contact with it. The gripper is closing around the spoon, as indicated by the decreasing gripper value. The next action is to secure the grasp on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620006799697876, + 0.14015530049800873, + 0.07934398949146271, + -3.0146141052246094, + 0.020736735314130783, + 0.12012339383363724 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted above the stove surface. The gripper is closed and stable, indicating secure hold. The next action is to transport the spoon toward the front left corner of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689376175403595, + 0.15481817722320557, + 0.06890136748552322, + -2.9940953254699707, + 0.030658625066280365, + 0.09758976101875305 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 786, + 470, + 994, + 963 + ], + "pan": [ + 352, + 193, + 551, + 370 + ], + "orange object": [ + 142, + 345, + 216, + 479 + ], + "sponge": [ + 524, + 318, + 801, + 587 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted above the stove surface. The gripper is closed and stable, indicating secure hold. The next action is to transport the spoon toward the front left corner of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27001261711120605, + 0.1605990082025528, + 0.05243176221847534, + -2.974616050720215, + 0.06602700054645538, + 0.049573782831430435 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted above the stove surface. The gripper is closed and stable, indicating secure hold. The next action is to transport the spoon toward the front left corner of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27075299620628357, + 0.16341368854045868, + 0.038500431925058365, + -2.9716408252716064, + 0.09676863998174667, + 0.06495796889066696 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted above the stove surface. The gripper is closed and stable, indicating secure hold. The next action is to transport the spoon toward the front left corner of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27385398745536804, + 0.1650497019290924, + 0.031475167721509933, + -2.974677562713623, + 0.10727070271968842, + 0.07070215791463852 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted above the stove surface. The gripper is closed and stable, indicating secure hold. The next action is to transport the spoon toward the front left corner of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2742581367492676, + 0.16535916924476624, + 0.026918383315205574, + -2.9753987789154053, + 0.11953593045473099, + 0.06935692578554153 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted above the stove surface. The gripper is closed and stable, indicating secure hold. The next action is to transport the spoon toward the front left corner of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760445773601532, + 0.1659224033355713, + 0.027735024690628052, + -2.974496364593506, + 0.11238173395395279, + 0.0667952299118042 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "place spoon", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted above the stove surface. The gripper is closed and stable, indicating secure hold. The next action is to transport the spoon toward the front left corner of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754780948162079, + 0.1647089719772339, + 0.026660121977329254, + -2.980778932571411, + 0.11290362477302551, + 0.06317182630300522 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "place spoon", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted above the stove surface. The gripper is closed and stable, indicating secure hold. The next action is to transport the spoon toward the front left corner of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27531734108924866, + 0.16033349931240082, + 0.043992944061756134, + -2.988490343093872, + 0.06529846787452698, + 0.06295577436685562 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "place spoon", + "subtask_reasoning": "The red spoon is currently held by the gripper above the stove, near the front left corner. The gripper is open, indicating the spoon has been released or is in the process of being placed. The next action is to ensure the spoon is securely positioned at the target location and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738976776599884, + 0.1519419550895691, + 0.07078581303358078, + -3.008380889892578, + -0.0019167416030541062, + 0.04565511271357536 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "place spoon", + "subtask_reasoning": "The red spoon is currently held by the gripper above the stove, near the front left corner. The gripper is open, indicating the spoon has been released or is in the process of being placed. The next action is to ensure the spoon is securely positioned at the target location and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26922258734703064, + 0.14689551293849945, + 0.08218340575695038, + -3.0132083892822266, + -0.015208964236080647, + 0.03352755680680275 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the front left corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "place spoon" + } + ], + "subtask_name": "place spoon", + "subtask_reasoning": "The red spoon is currently held by the gripper above the stove, near the front left corner. The gripper is open, indicating the spoon has been released or is in the process of being placed. The next action is to ensure the spoon is securely positioned at the target location and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003886_ecot.json b/cot/chunk-0003/episode_0003886_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8e461b7134fc08816f2e3a376930b7c54b4bfbda --- /dev/null +++ b/cot/chunk-0003/episode_0003886_ecot.json @@ -0,0 +1,1108 @@ +{ + "task_name": "episode_0003886", + "episode_json": "json/chunk-0003/episode_0003886.json", + "video_path": "videos/chunk-0003/image_0/episode_0003886.mp4", + "instruction": "Put lid on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003886.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.7015601396560669, + "std": 0.301141619682312, + "delta_total": -0.7015601396560669, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.70156, std=0.30114, total_delta=-0.70156). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 106, + 106, + 106, + 106, + 106, + 106, + 106 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 9 + ], + [ + 3, + 10, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp lid\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector down to the black lid on the stove and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift lid\", \"start\": 6, \"end\": 9, \"planning\": \"Lift the grasped lid vertically while maintaining grip.\"},\n {\"id\": 3, \"name\": \"reposition and release lid\", \"start\": 10, \"end\": 16, \"planning\": \"Translate lid sideways over adjacent burner and release by opening gripper.\"}\n ],\n \"global_plan\": \"Grasp the black lid from its current position on the stove, lift it, move it laterally to an adjacent burner, and release it to complete the task of putting the lid on the stove.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.498) consistent with grasping; Segment 2 maintains closed grip during lift; Segment 3 has no gripper change but motion indicates repositioning and release — images confirm lid is moved and left on another burner.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp lid", + "start": 0, + "end": 5, + "planning": "Move end-effector down to the black lid on the stove and close gripper to secure it." + }, + { + "id": 2, + "name": "lift lid", + "start": 6, + "end": 9, + "planning": "Lift the grasped lid vertically while maintaining grip." + }, + { + "id": 3, + "name": "reposition and release lid", + "start": 10, + "end": 16, + "planning": "Translate lid sideways over adjacent burner and release by opening gripper." + } + ], + "global_plan": "Grasp the black lid from its current position on the stove, lift it, move it laterally to an adjacent burner, and release it to complete the task of putting the lid on the stove.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.498) consistent with grasping; Segment 2 maintains closed grip during lift; Segment 3 has no gripper change but motion indicates repositioning and release — images confirm lid is moved and left on another burner." + } + }, + "episode_goal": "Place the black pot lid onto the black pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3765643239021301, + 0.14887626469135284, + 0.07377813011407852, + -2.8593876361846924, + -0.2856818735599518, + -0.5136685967445374 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the black lid visible on a burner. The gripper is currently open and approaching the lid. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37600886821746826, + 0.1459713727235794, + 0.04942511394619942, + -2.90604567527771, + -0.2664828300476074, + -0.5016509294509888 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the black lid visible on a burner. The gripper is currently open and approaching the lid. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37812483310699463, + 0.14439409971237183, + 0.0354633629322052, + -2.9245684146881104, + -0.2693577706813812, + -0.4913635849952698 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 121, + 377, + 298, + 461 + ], + "purple onion": [ + 320, + 559, + 456, + 720 + ], + "black blender": [ + 255, + 7, + 457, + 364 + ], + "orange": [ + 332, + 337, + 468, + 493 + ], + "sink": [ + 452, + 401, + 994, + 991 + ], + "pot": [ + 711, + 534, + 982, + 862 + ], + "corn cob": [ + 241, + 66, + 304, + 165 + ], + "green cabbage": [ + 153, + 447, + 303, + 629 + ] + } + } + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the black lid visible on a burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector to align with and grasp the lid handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3782643973827362, + 0.1417815387248993, + 0.023092033341526985, + -2.9580726623535156, + -0.26588916778564453, + -0.4890267848968506 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the black lid visible on a burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector to align with and grasp the lid handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move up 1 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38313058018684387, + 0.1420210897922516, + 0.018728608265519142, + -2.9782333374023438, + -0.2623458802700043, + -0.49965664744377136 + ], + "gripper_value": 0.817743182182312 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the black lid visible on a burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector to align with and grasp the lid handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 4 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3863479793071747, + 0.14282290637493134, + 0.019288664683699608, + -2.9897000789642334, + -0.25849655270576477, + -0.4941805601119995 + ], + "gripper_value": 0.505268931388855 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the stove with the black lid visible on a burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector to align with and grasp the lid handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 4 cm, move down 1 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3856315612792969, + 0.14414116740226746, + 0.019801156595349312, + -2.9919047355651855, + -0.24647100269794464, + -0.48699817061424255 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot is positioned above the stove with the black lid visible on a burner. The gripper is currently open and approaching the lid, having not yet made contact. The next action is to lower the end-effector to align with and grasp the lid handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38201040029525757, + 0.14570951461791992, + 0.02011374570429325, + -2.9996886253356934, + -0.21529266238212585, + -0.4729776978492737 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot has approached and grasped the black lid on the stove. The gripper is closed around the lid, and the end-effector is positioned just above it. The next action is to lift the lid vertically to clear the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3787308633327484, + 0.1490611732006073, + 0.021962793543934822, + -2.9934396743774414, + -0.18155689537525177, + -0.4643428921699524 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot has approached and grasped the black lid on the stove. The gripper is closed around the lid, and the end-effector is positioned just above it. The next action is to lift the lid vertically to clear the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38197267055511475, + 0.14496080577373505, + 0.04423816129565239, + -2.9116172790527344, + -0.23512782156467438, + -0.4740755558013916 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot has approached and grasped the black lid on the stove. The gripper is closed around the lid, and the end-effector is positioned just above it. The next action is to lift the lid vertically to clear the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38592594861984253, + 0.12800951302051544, + 0.06467954814434052, + -2.814513683319092, + -0.36165472865104675, + -0.48726022243499756 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 121, + 377, + 298, + 461 + ], + "purple onion": [ + 320, + 559, + 455, + 720 + ], + "black blender": [ + 285, + 3, + 471, + 315 + ], + "corn cob": [ + 241, + 66, + 308, + 164 + ], + "green cabbage": [ + 154, + 448, + 303, + 629 + ], + "green bowl": [ + 131, + 148, + 264, + 258 + ], + "orange": [ + 333, + 339, + 468, + 492 + ], + "pot": [ + 710, + 534, + 983, + 862 + ] + } + } + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "reposition and release lid", + "subtask_reasoning": "The robot has approached and grasped the black lid on the stove. The gripper is closed around the lid, and the end-effector is positioned just above it. The next action is to lift the lid vertically to clear the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39737802743911743, + 0.11691688746213913, + 0.0713798999786377, + -2.7919881343841553, + -0.47974491119384766, + -0.47102785110473633 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "reposition and release lid", + "subtask_reasoning": "The robot has approached and grasped the black lid on the stove. The gripper is closed around the lid, and the end-effector is positioned just above it. The next action is to lift the lid vertically to clear the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.41204506158828735, + 0.10730361938476562, + 0.08074575662612915, + -2.781674861907959, + -0.5963300466537476, + -0.4907633066177368 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "reposition and release lid", + "subtask_reasoning": "The robot has approached and grasped the black lid on the stove. The gripper is closed around the lid, and the end-effector is positioned just above it. The next action is to lift the lid vertically to clear the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4242123067378998, + 0.09679732471704483, + 0.07516815513372421, + -2.795489549636841, + -0.6632978320121765, + -0.4913579225540161 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "reposition and release lid", + "subtask_reasoning": "The black lid is currently held above the stove, having been lifted from its initial position. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next likely action is to lower the lid onto the adjacent burner to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4363759458065033, + 0.0878276452422142, + 0.06483341008424759, + -2.8383350372314453, + -0.7032291293144226, + -0.47693362832069397 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "reposition and release lid", + "subtask_reasoning": "The black lid is currently held above the stove, having been lifted from its initial position. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next likely action is to lower the lid onto the adjacent burner to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.44610655307769775, + 0.0854787603020668, + 0.05349944904446602, + -2.8676581382751465, + -0.7393368482589722, + -0.46480247378349304 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "reposition and release lid", + "subtask_reasoning": "The black lid is currently held above the stove, having been lifted from its initial position. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next likely action is to lower the lid onto the adjacent burner to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.45647886395454407, + 0.08198747038841248, + 0.046752139925956726, + -2.8813278675079346, + -0.7626661062240601, + -0.48410236835479736 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the black pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid" + }, + { + "id": 3, + "subtask": "reposition and release lid" + } + ], + "subtask_name": "reposition and release lid", + "subtask_reasoning": "The black lid is currently held above the stove, having been lifted from its initial position. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next likely action is to lower the lid onto the adjacent burner to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003887_ecot.json b/cot/chunk-0003/episode_0003887_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ee66dc41cd4d80f1d0833e4a2bb79fdb56cc5bfb --- /dev/null +++ b/cot/chunk-0003/episode_0003887_ecot.json @@ -0,0 +1,2190 @@ +{ + "task_name": "episode_0003887", + "episode_json": "json/chunk-0003/episode_0003887.json", + "video_path": "videos/chunk-0003/image_0/episode_0003887.mp4", + "instruction": "Put the mushroom in the silver pot that place on the upper right corner of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003887.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.7797354459762573, + "std": 0.3601009249687195, + "delta_total": 0.004607439041137695, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.77974, std=0.36010, total_delta=0.00461). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 226, + 226, + 226, + 26, + 226, + 226 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 9 + ], + [ + 3, + 10, + 12 + ], + [ + 4, + 13, + 25 + ], + [ + 5, + 26, + 28 + ], + [ + 6, + 29, + 29 + ], + [ + 7, + 30, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach mushroom\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector from initial position toward the mushroom on the green cloth, preparing for grasp.\"},\n {\"id\": 2, \"name\": \"grasp mushroom\", \"start\": 10, \"end\": 12, \"planning\": \"Close gripper around the mushroom while maintaining stable contact, confirmed by gripper closure and minimal motion.\"},\n {\"id\": 3, \"name\": \"lift and transport mushroom\", \"start\": 13, \"end\": 25, \"planning\": \"Lift the grasped mushroom and move it toward the silver pot in the upper right corner of the burner.\"},\n {\"id\": 4, \"name\": \"release mushroom into pot\", \"start\": 26, \"end\": 28, \"planning\": \"Open gripper to release the mushroom into the silver pot, confirmed by gripper opening and vertical lift after release.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 29, \"end\": 31, \"planning\": \"Withdraw the end-effector away from the pot area after successful placement, completing the task.\"}\n ],\n \"global_plan\": \"Approach the mushroom on the green cloth, grasp it securely, lift and transport it to the silver pot in the upper right burner corner, release it inside the pot, then retreat to complete the task.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion segments: grasp confirmed in frames 10-12 (gripper closes), release confirmed in 26-28 (gripper opens and lifts). No hallucinated actions; all phases grounded in sensor evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach mushroom", + "start": 0, + "end": 9, + "planning": "Move the end-effector from initial position toward the mushroom on the green cloth, preparing for grasp." + }, + { + "id": 2, + "name": "grasp mushroom", + "start": 10, + "end": 12, + "planning": "Close gripper around the mushroom while maintaining stable contact, confirmed by gripper closure and minimal motion." + }, + { + "id": 3, + "name": "lift and transport mushroom", + "start": 13, + "end": 25, + "planning": "Lift the grasped mushroom and move it toward the silver pot in the upper right corner of the burner." + }, + { + "id": 4, + "name": "release mushroom into pot", + "start": 26, + "end": 28, + "planning": "Open gripper to release the mushroom into the silver pot, confirmed by gripper opening and vertical lift after release." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 29, + "end": 31, + "planning": "Withdraw the end-effector away from the pot area after successful placement, completing the task." + } + ], + "global_plan": "Approach the mushroom on the green cloth, grasp it securely, lift and transport it to the silver pot in the upper right burner corner, release it inside the pot, then retreat to complete the task.", + "notes": "Subtask boundaries align with observed gripper behavior and motion segments: grasp confirmed in frames 10-12 (gripper closes), release confirmed in 26-28 (gripper opens and lifts). No hallucinated actions; all phases grounded in sensor evidence." + } + }, + "episode_goal": "Place the mushroom into the silver pot located on the upper right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28219881653785706, + -0.028036756440997124, + 0.05281122028827667, + 3.1384363174438477, + -0.03823943808674812, + 0.014494737610220909 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot arm is positioned above the green cloth where the mushroom is located, with the gripper currently open. No part of the task has been completed yet as the mushroom has not been interacted with. The next action is to lower the arm and close the gripper to grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 16 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804841101169586, + -0.027146512642502785, + 0.04672766476869583, + 3.1376545429229736, + -0.013458972796797752, + 0.014131645672023296 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot arm is positioned above the green cloth where the mushroom is located, with the gripper currently open. No part of the task has been completed yet as the mushroom has not been interacted with. The next action is to lower the arm and close the gripper to grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 16 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3021599352359772, + 0.0174330472946167, + 0.06556954234838486, + 3.1275646686553955, + -0.06681769341230392, + 0.12222920358181 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot arm is positioned above the green cloth where the mushroom is located, with the gripper currently open. No part of the task has been completed yet as the mushroom has not been interacted with. The next action is to lower the arm and close the gripper to grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 11 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.327892929315567, + 0.06125511974096298, + 0.09088209271430969, + -3.12608003616333, + -0.14412327110767365, + 0.16870984435081482 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 432, + 437, + 730, + 759 + ], + "sink": [ + 785, + 469, + 994, + 963 + ], + "metal bowl": [ + 573, + 221, + 823, + 493 + ] + } + } + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot arm is positioned above the green cloth where the mushroom is located, with the gripper currently open. No part of the task has been completed yet as the mushroom has not been interacted with. The next action is to lower the arm and close the gripper to grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3444502651691437, + 0.11273112893104553, + 0.09769988805055618, + -3.107797622680664, + -0.1835436075925827, + 0.22341005504131317 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the green cloth where the mushroom rests, with the silver pot visible on the upper right burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the mushroom, indicating the next action is to continue approaching until within grasping distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3606453537940979, + 0.13050895929336548, + 0.08247244358062744, + -3.1072909832000732, + -0.17308011651039124, + 0.1573857218027115 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the green cloth where the mushroom rests, with the silver pot visible on the upper right burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the mushroom, indicating the next action is to continue approaching until within grasping distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716300427913666, + 0.13143093883991241, + 0.06459587812423706, + -3.109873056411743, + -0.14602690935134888, + 0.04327012598514557 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the green cloth where the mushroom rests, with the silver pot visible on the upper right burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the mushroom, indicating the next action is to continue approaching until within grasping distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 15 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36922121047973633, + 0.128923699259758, + 0.046767204999923706, + -3.111281394958496, + -0.09339261054992676, + 0.021593127399683 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the green cloth where the mushroom rests, with the silver pot visible on the upper right burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the mushroom, indicating the next action is to continue approaching until within grasping distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 16 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37105751037597656, + 0.13069471716880798, + 0.03847538307309151, + -3.102437973022461, + -0.07276651263237, + 0.013271516188979149 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the green cloth where the mushroom rests, with the silver pot visible on the upper right burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the mushroom, indicating the next action is to continue approaching until within grasping distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 16 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36999985575675964, + 0.13207823038101196, + 0.035493943840265274, + -3.0952823162078857, + -0.06260956823825836, + 0.0193769708275795 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the green cloth where the mushroom rests, with the silver pot visible on the upper right burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the mushroom, indicating the next action is to continue approaching until within grasping distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 16 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36922577023506165, + 0.132317453622818, + 0.034331340342760086, + -3.0839831829071045, + -0.053256820887327194, + 0.026264864951372147 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot is positioned near the green cloth where the mushroom rests, with the silver pot visible on the upper right burner. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the mushroom, indicating the next action is to continue approaching until within grasping distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 15 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3701937794685364, + 0.12912246584892273, + 0.0344136618077755, + -3.0722625255584717, + -0.048873402178287506, + 0.0216037780046463 + ], + "gripper_value": 0.23789463937282562 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot has approached the mushroom on the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mushroom securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 15 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3698180913925171, + 0.120847187936306, + 0.03534157946705818, + -3.0884761810302734, + -0.03630949184298515, + 0.018919361755251884 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot has approached the mushroom on the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mushroom securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 15 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38100138306617737, + 0.07511263340711594, + 0.07988626509904861, + 3.082906723022461, + -0.09849179536104202, + -0.00047783053014427423 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom on the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mushroom securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39178866147994995, + 0.024218210950493813, + 0.11448760330677032, + 2.995992422103882, + -0.11503133177757263, + -0.08671997487545013 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 569, + 219, + 823, + 493 + ], + "green cloth": [ + 432, + 438, + 731, + 760 + ] + } + } + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom on the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mushroom securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3954005241394043, + -0.020150013267993927, + 0.12034463882446289, + 2.9848597049713135, + -0.12473039329051971, + -0.17307481169700623 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom on the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mushroom securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3969516158103943, + -0.07037337869405746, + 0.1031508669257164, + 3.0153660774230957, + -0.08814894407987595, + -0.22330202162265778 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom on the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mushroom securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39648911356925964, + -0.08480844646692276, + 0.09096240997314453, + 3.0838587284088135, + -0.08832661062479019, + -0.21670232713222504 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 431, + 438, + 731, + 760 + ], + "sink": [ + 784, + 467, + 994, + 961 + ], + "metal bowl": [ + 569, + 220, + 821, + 493 + ] + } + } + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom on the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mushroom securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4002944827079773, + -0.08044414967298508, + 0.07141033560037613, + 3.1052427291870117, + -0.07714240252971649, + -0.18836475908756256 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom on the green cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mushroom securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4021814465522766, + -0.08118182420730591, + 0.0712965726852417, + 3.105536699295044, + -0.08732233196496964, + -0.17473936080932617 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the green cloth. The end-effector is positioned to begin transporting the object toward the silver pot on the upper right burner. The next action is to move the mushroom horizontally towards the target pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4054916203022003, + -0.07872512936592102, + 0.07119877636432648, + 3.1076838970184326, + -0.10549196600914001, + -0.16147206723690033 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the green cloth. The end-effector is positioned to begin transporting the object toward the silver pot on the upper right burner. The next action is to move the mushroom horizontally towards the target pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 6 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4047381579875946, + -0.07528473436832428, + 0.04989878460764885, + 3.1165075302124023, + -0.0685882419347763, + -0.1511484682559967 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the green cloth. The end-effector is positioned to begin transporting the object toward the silver pot on the upper right burner. The next action is to move the mushroom horizontally towards the target pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 6 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.405819296836853, + -0.07169953733682632, + 0.04333220049738884, + 3.137233257293701, + -0.07657528668642044, + -0.11794953048229218 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the green cloth. The end-effector is positioned to begin transporting the object toward the silver pot on the upper right burner. The next action is to move the mushroom horizontally towards the target pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 6 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.40410593152046204, + -0.06543135643005371, + 0.037710558623075485, + 3.140817880630493, + -0.07535994797945023, + -0.08097715675830841 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the green cloth. The end-effector is positioned to begin transporting the object toward the silver pot on the upper right burner. The next action is to move the mushroom horizontally towards the target pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move back 1 cm, move up 6 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.40503862500190735, + -0.0531080886721611, + 0.03524763882160187, + 3.1379082202911377, + -0.07978606969118118, + -0.03574036806821823 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the green cloth. The end-effector is positioned to begin transporting the object toward the silver pot on the upper right burner. The next action is to move the mushroom horizontally towards the target pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 6 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40408220887184143, + -0.052565570920705795, + 0.03341177850961685, + 3.1390178203582764, + -0.08459864556789398, + -0.023487860336899757 + ], + "gripper_value": 0.29134905338287354 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the green cloth. The end-effector is positioned to begin transporting the object toward the silver pot on the upper right burner. The next action is to move the mushroom horizontally towards the target pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 6 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.402157723903656, + -0.052112795412540436, + 0.03245086222887039, + 3.1249783039093018, + -0.08155454695224762, + -0.019424011930823326 + ], + "gripper_value": 0.570969820022583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release mushroom into pot", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the green cloth. The end-effector is positioned to begin transporting the object toward the silver pot on the upper right burner. The next action is to move the mushroom horizontally towards the target pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3985772132873535, + -0.05084523931145668, + 0.032518420368433, + 3.12884783744812, + -0.05728372558951378, + -0.01903783716261387 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release mushroom into pot", + "subtask_reasoning": "The robot arm is positioned directly over the silver pot on the upper right burner, with the gripper open and no mushroom visible in hand, indicating the release action has been completed. The scene shows the pot empty and the fork resting on the green cloth nearby, confirming the mushroom is not currently held. The next logical step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.398516446352005, + -0.05105847865343094, + 0.05893039330840111, + 3.1315932273864746, + -0.06378713250160217, + -0.03465650603175163 + ], + "gripper_value": 1.0149952173233032 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release mushroom into pot", + "subtask_reasoning": "The robot arm is positioned directly over the silver pot on the upper right burner, with the gripper open and no mushroom visible in hand, indicating the release action has been completed. The scene shows the pot empty and the fork resting on the green cloth nearby, confirming the mushroom is not currently held. The next logical step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.394355833530426, + -0.04767009615898132, + 0.09203777462244034, + -3.1406431198120117, + -0.10174071043729782, + -0.03589961305260658 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 610, + 280, + 827, + 497 + ], + "green cloth": [ + 432, + 439, + 733, + 759 + ], + "tiled wall": [ + 351, + 2, + 998, + 428 + ], + "sink": [ + 785, + 468, + 994, + 960 + ] + } + } + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot arm is positioned directly over the silver pot on the upper right burner, with the gripper open and no mushroom visible in hand, indicating the release action has been completed. The scene shows the pot empty and the fork resting on the green cloth nearby, confirming the mushroom is not currently held. The next logical step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.37384527921676636, + -0.03601226210594177, + 0.10480697453022003, + 3.1392505168914795, + -0.0690048336982727, + -0.04181699454784393 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The mushroom has been successfully placed into the silver pot on the upper right burner. The robot arm is currently positioned above the pot with the gripper open, indicating the release is complete. The next action is to retreat the arm away from the stove area to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36008524894714355, + -0.027672477066516876, + 0.09762585163116455, + 3.1408019065856934, + -0.03220389038324356, + -0.052142612636089325 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom into the silver pot located on the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "release mushroom into pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The mushroom has been successfully placed into the silver pot on the upper right burner. The robot arm is currently positioned above the pot with the gripper open, indicating the release is complete. The next action is to retreat the arm away from the stove area to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003888_ecot.json b/cot/chunk-0003/episode_0003888_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..50545b6312bdf8cb1e7619d9d2aa6a32c6588cc4 --- /dev/null +++ b/cot/chunk-0003/episode_0003888_ecot.json @@ -0,0 +1,2659 @@ +{ + "task_name": "episode_0003888", + "episode_json": "json/chunk-0003/episode_0003888.json", + "video_path": "videos/chunk-0003/image_0/episode_0003888.mp4", + "instruction": "Put the blue rectangle block on top of the cube.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003888.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4192313551902771, + "std": 0.2011832296848297, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41923, std=0.20118, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 17 + ], + [ + 3, + 18, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector toward the blue rectangle block without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue block\", \"start\": 8, \"end\": 17, \"planning\": \"Close the gripper to securely grasp the blue rectangle block as evidenced by decreasing gripper value.\"},\n {\"id\": 3, \"name\": \"lift and place on cube\", \"start\": 18, \"end\": 44, \"planning\": \"Lift the grasped blue block and place it on top of the red cube, then release the gripper.\"}\n ],\n \"global_plan\": \"Approach the blue rectangle block, grasp it firmly, lift it, and place it precisely on top of the red cube before releasing.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closure (delta=-0.41690) consistent with grasping. Segment 3 shows sustained grip during transport and final release at frame 44 (gripper opens back to ~1.0). All actions align with visual evidence and proprioceptive signals.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block", + "start": 0, + "end": 7, + "planning": "Move the end-effector toward the blue rectangle block without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue block", + "start": 8, + "end": 17, + "planning": "Close the gripper to securely grasp the blue rectangle block as evidenced by decreasing gripper value." + }, + { + "id": 3, + "name": "lift and place on cube", + "start": 18, + "end": 44, + "planning": "Lift the grasped blue block and place it on top of the red cube, then release the gripper." + } + ], + "global_plan": "Approach the blue rectangle block, grasp it firmly, lift it, and place it precisely on top of the red cube before releasing.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closure (delta=-0.41690) consistent with grasping. Segment 3 shows sustained grip during transport and final release at frame 44 (gripper opens back to ~1.0). All actions align with visual evidence and proprioceptive signals." + } + }, + "episode_goal": "Place the blue rectangular block on top of the red arch-shaped block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22776749730110168, + 0.02127796784043312, + 0.13624833524227142, + 3.0939340591430664, + 0.08641140908002853, + -0.06332544982433319 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible on the right. No objects have been moved yet. The gripper is open and the robot is approaching the blue block. The next action is to continue moving closer to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2255173623561859, + 0.02101948857307434, + 0.13001063466072083, + 3.0896387100219727, + 0.11223763972520828, + -0.06065497547388077 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible on the right. No objects have been moved yet. The gripper is open and the robot is approaching the blue block. The next action is to continue moving closer to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22916048765182495, + 0.009172378107905388, + 0.12531565129756927, + 3.0135557651519775, + 0.09090270847082138, + 0.11015155166387558 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible on the right. No objects have been moved yet. The gripper is open and the robot is approaching the blue block. The next action is to continue moving closer to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23626497387886047, + -0.001638871617615223, + 0.1397896707057953, + 2.9284143447875977, + 0.0263302493840456, + 0.28935733437538147 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 68, + 181, + 992, + 994 + ], + "blue cube": [ + 492, + 323, + 659, + 525 + ], + "green cube": [ + 214, + 372, + 314, + 476 + ], + "yellow square": [ + 233, + 468, + 322, + 575 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move forward 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2435687780380249, + -0.0013450102414935827, + 0.15209531784057617, + 2.821836233139038, + -0.004293041303753853, + 0.49387258291244507 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25321972370147705, + -0.0031895290594547987, + 0.1479010134935379, + 2.8131985664367676, + -0.002231071935966611, + 0.7708750367164612 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.258541464805603, + -0.010427843779325485, + 0.14259444177150726, + 2.846712589263916, + -0.012198176234960556, + 1.0125709772109985 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621906101703644, + -0.01366439275443554, + 0.14119812846183777, + 2.856066942214966, + -0.043306052684783936, + 1.1709738969802856 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2629401385784149, + -0.01907600462436676, + 0.12796473503112793, + 2.910684823989868, + -0.02515542507171631, + 1.2457884550094604 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26364484429359436, + -0.02255292795598507, + 0.11713692545890808, + 2.9468436241149902, + -0.0056600687094032764, + 1.2726199626922607 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2681008279323578, + -0.026920972391963005, + 0.10758503526449203, + 2.9508018493652344, + 0.02526797726750374, + 1.2884273529052734 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 6 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716452479362488, + -0.02605956792831421, + 0.09957543015480042, + 2.958509922027588, + 0.036017294973134995, + 1.309513807296753 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the workspace with the blue block already stacked on the red arch. The gripper is open and the arm is moving slightly, indicating the approach phase is ongoing or concluding. Since the target block is already in place, the next action is likely to verify alignment or prepare for release if contact has been made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 9 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27182042598724365, + -0.024899624288082123, + 0.09824338555335999, + 2.965444803237915, + 0.03527543693780899, + 1.3557425737380981 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, rotate clockwise 10 degrees, close gripper; then move left 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755894660949707, + -0.022338878363370895, + 0.090540811419487, + 2.993347406387329, + 0.023987099528312683, + 1.3711429834365845 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 11 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2776188254356384, + -0.018569979816675186, + 0.08182279765605927, + 3.0120272636413574, + 0.023626459762454033, + 1.3830409049987793 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 11 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27841100096702576, + -0.016573956236243248, + 0.07383770495653152, + 3.0318663120269775, + 0.015780765563249588, + 1.3807109594345093 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 11 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27839013934135437, + -0.012374152429401875, + 0.07343738526105881, + 3.0335607528686523, + 0.025345027446746826, + 1.4061979055404663 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move left 11 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27489274740219116, + -0.004500627052038908, + 0.07614175230264664, + 3.0724728107452393, + 0.010350458323955536, + 1.456148386001587 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 68, + 147, + 992, + 994 + ], + "green cube": [ + 214, + 372, + 314, + 476 + ], + "wooden cylinder": [ + 307, + 307, + 399, + 431 + ], + "yellow square": [ + 232, + 468, + 323, + 576 + ], + "blue cube": [ + 546, + 363, + 633, + 518 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move left 11 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27129092812538147, + 0.016250209882855415, + 0.09585662931203842, + 3.0515682697296143, + -0.00970727950334549, + 1.4960050582885742 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26698899269104004, + 0.047617506235837936, + 0.11960138380527496, + 2.9834892749786377, + -0.04729755222797394, + 1.5466153621673584 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25630736351013184, + 0.08082012832164764, + 0.13387714326381683, + 2.9341652393341064, + -0.07972807437181473, + 1.5980991125106812 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 69, + 201, + 992, + 993 + ], + "green cube": [ + 214, + 372, + 314, + 476 + ], + "yellow square": [ + 231, + 467, + 323, + 576 + ], + "blue cube": [ + 380, + 103, + 476, + 285 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2593291997909546, + 0.10516159981489182, + 0.11437775194644928, + 2.9659628868103027, + -0.06091289222240448, + 1.5881067514419556 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667630612850189, + 0.11553068459033966, + 0.1004573404788971, + 2.9742329120635986, + -0.025104479864239693, + 1.5611950159072876 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27152135968208313, + 0.12488774210214615, + 0.09565906971693039, + 2.9749503135681152, + -0.009028174914419651, + 1.537197470664978 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27893543243408203, + 0.1290615051984787, + 0.0888616144657135, + 2.9816057682037354, + 0.0049724942073225975, + 1.5184656381607056 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815430462360382, + 0.1300789713859558, + 0.07917600870132446, + 3.0011603832244873, + 0.02053884230554104, + 1.50820791721344 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28208526968955994, + 0.13105648756027222, + 0.07306645065546036, + 3.012812852859497, + 0.018909161910414696, + 1.5026556253433228 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2831697165966034, + 0.12945467233657837, + 0.06945051997900009, + 3.018357992172241, + 0.0187179297208786, + 1.4942234754562378 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840075194835663, + 0.1269845813512802, + 0.06291379034519196, + 3.017303943634033, + 0.03855985775589943, + 1.5066642761230469 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841651737689972, + 0.12548597157001495, + 0.061377089470624924, + 3.0130324363708496, + 0.03962221369147301, + 1.5054473876953125 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 8 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28216612339019775, + 0.12313150614500046, + 0.05741805210709572, + 3.025660753250122, + 0.045425895601511, + 1.5007169246673584 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot has approached the blue rectangular block, which is currently resting on a red arch-shaped block. The gripper is open and positioned directly above the blue block, ready for contact. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 9 cm, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28169506788253784, + 0.1223515123128891, + 0.0545758455991745, + 3.03525710105896, + 0.051768042147159576, + 1.507105827331543 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.28272971510887146, + 0.1176304742693901, + 0.04987747594714165, + 3.048563003540039, + 0.059436943382024765, + 1.492505431175232 + ], + "gripper_value": 0.5809218287467957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2830885350704193, + 0.11577315628528595, + 0.045429158955812454, + 3.0624263286590576, + 0.060048699378967285, + 1.4799057245254517 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 67, + 208, + 992, + 994 + ], + "green cube": [ + 214, + 373, + 314, + 476 + ], + "yellow square": [ + 232, + 468, + 323, + 576 + ], + "blue cube": [ + 330, + 251, + 413, + 386 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 11 cm, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.281391441822052, + 0.11282650381326675, + 0.041991207748651505, + 3.079397678375244, + 0.08399342745542526, + 1.4644179344177246 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 90 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810836732387543, + 0.11287813633680344, + 0.041970476508140564, + 3.0814194679260254, + 0.08390339463949203, + 1.465057611465454 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move up 10 cm, rotate counterclockwise 90 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802106738090515, + 0.11283903568983078, + 0.05033624544739723, + 3.0683908462524414, + 0.07995973527431488, + 1.4456850290298462 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move up 9 cm, tilt forward 10 degrees, rotate counterclockwise 90 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784676253795624, + 0.1206280067563057, + 0.09624867886304855, + 3.000121593475342, + -0.0001093100436264649, + 1.3871543407440186 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2762489914894104, + 0.1255200207233429, + 0.1274919956922531, + 2.9907138347625732, + -0.06910234689712524, + 1.3580892086029053 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 68, + 154, + 993, + 994 + ], + "blue cube": [ + 273, + 238, + 411, + 404 + ], + "green cube": [ + 215, + 373, + 313, + 476 + ], + "yellow square": [ + 233, + 469, + 323, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.27178487181663513, + 0.11539886891841888, + 0.13839034736156464, + 2.9994237422943115, + -0.03235913813114166, + 1.182498812675476 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.26594072580337524, + 0.09316644072532654, + 0.15020136535167694, + 2.955888509750366, + 0.028704354539513588, + 0.9431346654891968 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2721540927886963, + 0.06658672541379929, + 0.1620645821094513, + 2.8555877208709717, + 0.04465685784816742, + 0.6993168592453003 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823335826396942, + 0.041697870939970016, + 0.16020192205905914, + 2.904733896255493, + 0.012508777901530266, + 0.4759823977947235 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2831118702888489, + 0.013103255070745945, + 0.15214422345161438, + 2.980228900909424, + 0.012332720682024956, + 0.2110426276922226 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2748538851737976, + -0.003310512052848935, + 0.13829302787780762, + 2.9816720485687256, + 0.03103841282427311, + -0.05911330133676529 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the red arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and place on cube" + } + ], + "subtask_name": "lift and place on cube", + "subtask_reasoning": "The robot is currently holding the blue rectangular block above the table, having successfully grasped and lifted it. The red arch block is visible nearby, but the blue block is not yet positioned over it. The next action is to translate the arm to position the blue block directly above the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003890_ecot.json b/cot/chunk-0003/episode_0003890_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6997896347b38e360effa28233fb0fba8eaa0189 --- /dev/null +++ b/cot/chunk-0003/episode_0003890_ecot.json @@ -0,0 +1,1600 @@ +{ + "task_name": "episode_0003890", + "episode_json": "json/chunk-0003/episode_0003890.json", + "video_path": "videos/chunk-0003/image_0/episode_0003890.mp4", + "instruction": "Unfold the cloth from left to right side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003890.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.9269388318061829, + "std": 0.41343677043914795, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92694, std=0.41344, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 107, + 107, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 20, + 20, + 20, + 20, + 20 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 6 + ], + [ + 3, + 7, + 8 + ], + [ + 4, + 9, + 19 + ], + [ + 5, + 20, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the left side of the cloth and begin closing gripper to establish contact.\"},\n {\"id\": 2, \"name\": \"maintain grip and stabilize\", \"start\": 6, \"end\": 8, \"planning\": \"Hold gripper position steady while ensuring firm contact with the cloth before initiating motion.\"},\n {\"id\": 3, \"name\": \"drag cloth rightward across table\", \"start\": 9, \"end\": 19, \"planning\": \"Pull the cloth from left to right by maintaining grip and translating end-effector along the table surface.\"},\n {\"id\": 4, \"name\": \"release grip and retreat upward\", \"start\": 20, \"end\": 24, \"planning\": \"Open gripper to release the cloth and lift end-effector away to complete unfolding action.\"}\n ],\n \"global_plan\": \"Unfold the cloth by approaching its left edge, gripping it firmly, dragging it rightward across the table, then releasing and retreating.\",\n \"notes\": \"Segment 2 (frame 6) shows no meaningful gripper change — described as stabilization rather than grasp. Segment 4 and 5 show clear gripper opening/closing consistent with drag and release phases. All frame ranges are contiguous and cover 0–24.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on cloth", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the left side of the cloth and begin closing gripper to establish contact." + }, + { + "id": 2, + "name": "maintain grip and stabilize", + "start": 6, + "end": 8, + "planning": "Hold gripper position steady while ensuring firm contact with the cloth before initiating motion." + }, + { + "id": 3, + "name": "drag cloth rightward across table", + "start": 9, + "end": 19, + "planning": "Pull the cloth from left to right by maintaining grip and translating end-effector along the table surface." + }, + { + "id": 4, + "name": "release grip and retreat upward", + "start": 20, + "end": 24, + "planning": "Open gripper to release the cloth and lift end-effector away to complete unfolding action." + } + ], + "global_plan": "Unfold the cloth by approaching its left edge, gripping it firmly, dragging it rightward across the table, then releasing and retreating.", + "notes": "Segment 2 (frame 6) shows no meaningful gripper change — described as stabilization rather than grasp. Segment 4 and 5 show clear gripper opening/closing consistent with drag and release phases. All frame ranges are contiguous and cover 0–24." + } + }, + "episode_goal": "Unfold the cloth from left to right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3305947780609131, + 0.12448116391897202, + 0.08746413886547089, + 3.116523504257202, + -0.2921898365020752, + 0.1499815583229065 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot is positioned above the left side of the table where the folded green cloth lies. The gripper is open and approaching the cloth, with no contact yet made. The next action should be to lower the gripper and close it around the cloth’s left edge to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32922589778900146, + 0.12409143894910812, + 0.07515335828065872, + 3.1083221435546875, + -0.25763794779777527, + 0.15297666192054749 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot is positioned above the left side of the table where the folded green cloth lies. The gripper is open and approaching the cloth, with no contact yet made. The next action should be to lower the gripper and close it around the cloth’s left edge to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3259439170360565, + 0.1324387639760971, + 0.05630091205239296, + 3.1231625080108643, + -0.2137063890695572, + 0.1562575399875641 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot arm is positioned directly above the folded green cloth on the wooden table. The gripper is currently open and hovering just above the fabric, indicating the approach phase is complete. The next immediate action is to close the gripper to grasp the cloth in preparation for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176525831222534, + 0.14934493601322174, + 0.031691763550043106, + 3.1278204917907715, + -0.14683687686920166, + 0.19084914028644562 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 187, + 289, + 421, + 661 + ], + "table": [ + 5, + 273, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot arm is positioned directly above the folded green cloth on the wooden table. The gripper is currently open and hovering just above the fabric, indicating the approach phase is complete. The next immediate action is to close the gripper to grasp the cloth in preparation for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then keep gripper closed; then move forward 1 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31700992584228516, + 0.15307995676994324, + 0.010353145189583302, + 3.1201250553131104, + -0.10090748220682144, + 0.17354735732078552 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot arm is positioned directly above the folded green cloth on the wooden table. The gripper is currently open and hovering just above the fabric, indicating the approach phase is complete. The next immediate action is to close the gripper to grasp the cloth in preparation for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move right 10 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138591945171356, + 0.154506117105484, + -0.002015944104641676, + 3.1305599212646484, + -0.07206787914037704, + 0.15245361626148224 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot arm is positioned directly above the folded green cloth on the wooden table. The gripper is currently open and hovering just above the fabric, indicating the approach phase is complete. The next immediate action is to close the gripper to grasp the cloth in preparation for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 1 cm, move right 13 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31757599115371704, + 0.1511506587266922, + -0.00431708712130785, + -3.1340696811676025, + -0.07868064194917679, + 0.12177667021751404 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "maintain grip and stabilize", + "subtask_reasoning": "The robot arm is positioned directly above the folded green cloth on the wooden table. The gripper is currently open and hovering just above the fabric, indicating the approach phase is complete. The next immediate action is to close the gripper to grasp the cloth in preparation for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 14 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31674689054489136, + 0.14933431148529053, + -0.00606950419023633, + -3.1285712718963623, + -0.07675909996032715, + 0.11187019944190979 + ], + "gripper_value": 0.36275482177734375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "maintain grip and stabilize", + "subtask_reasoning": "The robot is gripping the left edge of the green cloth on the wooden table, having completed the approach and closure. The current subtask focuses on stabilizing the grip before dragging. The next action is to maintain this hold while preparing to move rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 14 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3165173828601837, + 0.14922800660133362, + -0.006357808597385883, + -3.128553867340088, + -0.07675273716449738, + 0.11189007759094238 + ], + "gripper_value": 0.16130207479000092 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "maintain grip and stabilize", + "subtask_reasoning": "The robot is gripping the left edge of the green cloth on the wooden table, having completed the approach and closure. The current subtask focuses on stabilizing the grip before dragging. The next action is to maintain this hold while preparing to move rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 15 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163565695285797, + 0.14844964444637299, + -0.005557609256356955, + 3.139242172241211, + -0.07728360593318939, + 0.12453562766313553 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is gripping the left edge of the green cloth on the wooden table, having completed the approach and closure. The current subtask focuses on stabilizing the grip before dragging. The next action is to maintain this hold while preparing to move rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31845423579216003, + 0.15431596338748932, + 0.012815284542739391, + 3.1335549354553223, + -0.11802162230014801, + 0.15745151042938232 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is gripping the left edge of the green cloth on the wooden table, having completed the approach and closure. The current subtask focuses on stabilizing the grip before dragging. The next action is to maintain this hold while preparing to move rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 15 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227119743824005, + 0.1522749811410904, + 0.034697987139225006, + 3.1062204837799072, + -0.17328543961048126, + 0.17763380706310272 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is gripping the left edge of the green cloth on the wooden table, having completed the approach and closure. The current subtask focuses on stabilizing the grip before dragging. The next action is to maintain this hold while preparing to move rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 15 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3275703191757202, + 0.1257634162902832, + 0.056368108838796616, + 3.0524938106536865, + -0.21781593561172485, + 0.14734682440757751 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is gripping the left edge of the green cloth on the wooden table, having completed the approach and closure. The current subtask focuses on stabilizing the grip before dragging. The next action is to maintain this hold while preparing to move rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move down 8 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244222104549408, + 0.07597789168357849, + 0.05999531224370003, + 2.991208076477051, + -0.22325411438941956, + 0.05633167549967766 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 169, + 274, + 457, + 670 + ], + "table": [ + 5, + 271, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is gripping the left edge of the green cloth on the wooden table, having completed the approach and closure. The current subtask focuses on stabilizing the grip before dragging. The next action is to maintain this hold while preparing to move rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 8 cm, rotate counterclockwise 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31628620624542236, + 0.044265177100896835, + 0.050782378762960434, + 2.9724624156951904, + -0.21159815788269043, + -0.0017229041550308466 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is currently holding the green cloth above the wooden table, having completed the approach and grasp phases. The gripper is closed and stable, indicating a firm hold on the fabric. The next action is to lower the cloth to the table surface and drag it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 7 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081628084182739, + 0.016026414930820465, + 0.033223118633031845, + 2.9835052490234375, + -0.21717065572738647, + -0.03426134213805199 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is currently holding the green cloth above the wooden table, having completed the approach and grasp phases. The gripper is closed and stable, indicating a firm hold on the fabric. The next action is to lower the cloth to the table surface and drag it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080752491950989, + 0.007507540751248598, + 0.008671814575791359, + 3.013249158859253, + -0.2126462310552597, + -0.031742021441459656 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 153, + 328, + 489, + 724 + ], + "table": [ + 5, + 263, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is currently holding the green cloth above the wooden table, having completed the approach and grasp phases. The gripper is closed and stable, indicating a firm hold on the fabric. The next action is to lower the cloth to the table surface and drag it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, open gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043842315673828, + 0.005737098399549723, + -0.019948624074459076, + 3.017890691757202, + -0.19525684416294098, + -0.013913827948272228 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is currently holding the green cloth above the wooden table, having completed the approach and grasp phases. The gripper is closed and stable, indicating a firm hold on the fabric. The next action is to lower the cloth to the table surface and drag it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30507099628448486, + 0.0019164648838341236, + -0.02251424267888069, + 3.0191152095794678, + -0.2204463928937912, + -0.023435957729816437 + ], + "gripper_value": 0.10633110255002975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is currently holding the green cloth above the wooden table, having completed the approach and grasp phases. The gripper is closed and stable, indicating a firm hold on the fabric. The next action is to lower the cloth to the table surface and drag it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030534088611603, + 0.0028396989218890667, + -0.022970153018832207, + 3.027827501296997, + -0.21270368993282318, + -0.03635407239198685 + ], + "gripper_value": 0.2854207158088684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "drag cloth rightward across table", + "subtask_reasoning": "The robot is currently holding the green cloth above the wooden table, having completed the approach and grasp phases. The gripper is closed and stable, indicating a firm hold on the fabric. The next action is to lower the cloth to the table surface and drag it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990276515483856, + 0.0007213779026642442, + -0.02039330080151558, + 3.0180256366729736, + -0.20903809368610382, + -0.04709789529442787 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "release grip and retreat upward", + "subtask_reasoning": "The robot is currently holding the green cloth above the wooden table, having completed the approach and grasp phases. The gripper is closed and stable, indicating a firm hold on the fabric. The next action is to lower the cloth to the table surface and drag it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015506863594055, + 0.00023663282627239823, + -0.007958893664181232, + 3.0186734199523926, + -0.2364034652709961, + -0.06662377715110779 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "release grip and retreat upward", + "subtask_reasoning": "The robot is currently holding the green cloth above the wooden table, having completed the approach and grasp phases. The gripper is closed and stable, indicating a firm hold on the fabric. The next action is to lower the cloth to the table surface and drag it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3002921938896179, + -0.00174744613468647, + 0.0034806348849087954, + 3.0118422508239746, + -0.24646872282028198, + -0.08354344964027405 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "release grip and retreat upward", + "subtask_reasoning": "The robot has completed dragging the cloth across the table and is currently positioned above it with the gripper open. The cloth lies partially unfolded on the table surface, indicating the dragging phase is finished. The next action is to retreat further upward to ensure full clearance from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992759048938751, + -0.0014154388336464763, + 0.019242122769355774, + 3.0189085006713867, + -0.2605389356613159, + -0.09229005128145218 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "release grip and retreat upward", + "subtask_reasoning": "The robot has completed dragging the cloth across the table and is currently positioned above it with the gripper open. The cloth lies partially unfolded on the table surface, indicating the dragging phase is finished. The next action is to retreat further upward to ensure full clearance from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986307442188263, + 0.009268716908991337, + 0.044155459851026535, + 3.0156667232513428, + -0.3187147378921509, + -0.05950234830379486 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "maintain grip and stabilize" + }, + { + "id": 3, + "subtask": "drag cloth rightward across table" + }, + { + "id": 4, + "subtask": "release grip and retreat upward" + } + ], + "subtask_name": "release grip and retreat upward", + "subtask_reasoning": "The robot has completed dragging the cloth across the table and is currently positioned above it with the gripper open. The cloth lies partially unfolded on the table surface, indicating the dragging phase is finished. The next action is to retreat further upward to ensure full clearance from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003892_ecot.json b/cot/chunk-0003/episode_0003892_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..61f7ec256a4646ea7da5be46508bac7ab4f26a67 --- /dev/null +++ b/cot/chunk-0003/episode_0003892_ecot.json @@ -0,0 +1,2654 @@ +{ + "task_name": "episode_0003892", + "episode_json": "json/chunk-0003/episode_0003892.json", + "video_path": "videos/chunk-0003/image_0/episode_0003892.mp4", + "instruction": "Fold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003892.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.9576347470283508, + "std": 0.43187883496284485, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95763, std=0.43188, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 15, + 15, + 15, + 15, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 235, + 235, + 235, + 235, + 235, + 235 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 14 + ], + [ + 3, + 15, + 18 + ], + [ + 4, + 19, + 34 + ], + [ + 5, + 35, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the right edge of the blue cloth without grasping, as gripper remains fully open throughout this segment.\"},\n {\"id\": 2, \"name\": \"grasp right edge\", \"start\": 10, \"end\": 14, \"planning\": \"Close gripper to securely grasp the right edge of the cloth, confirmed by significant gripper closure and visual contact in keyframes.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 15, \"end\": 18, \"planning\": \"Lift the grasped edge slightly and begin moving it leftward; gripper remains closed to maintain hold during initial fold motion.\"},\n {\"id\": 4, \"name\": \"fold across surface\", \"start\": 19, \"end\": 34, \"planning\": \"Drag the held cloth edge across the stovetop surface to the left, maintaining grip while adjusting height and orientation for smooth folding.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 35, \"end\": 40, \"planning\": \"Open gripper to release the folded cloth, then retreat upward and backward to clear the workspace, completing the fold operation.\"}\n ],\n \"global_plan\": \"Fold the cloth from right to left by approaching, grasping the right edge, lifting and dragging it leftward across the surface, then releasing once folded.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases: no grasp before frame 10, active grasp and drag through frame 34, then release and retreat. Segment 3 (frames 15-18) is merged into subtask 3 as it continues the lift-and-move phase initiated in segment 2.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the right edge of the blue cloth without grasping, as gripper remains fully open throughout this segment." + }, + { + "id": 2, + "name": "grasp right edge", + "start": 10, + "end": 14, + "planning": "Close gripper to securely grasp the right edge of the cloth, confirmed by significant gripper closure and visual contact in keyframes." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 15, + "end": 18, + "planning": "Lift the grasped edge slightly and begin moving it leftward; gripper remains closed to maintain hold during initial fold motion." + }, + { + "id": 4, + "name": "fold across surface", + "start": 19, + "end": 34, + "planning": "Drag the held cloth edge across the stovetop surface to the left, maintaining grip while adjusting height and orientation for smooth folding." + }, + { + "id": 5, + "name": "release and retreat", + "start": 35, + "end": 40, + "planning": "Open gripper to release the folded cloth, then retreat upward and backward to clear the workspace, completing the fold operation." + } + ], + "global_plan": "Fold the cloth from right to left by approaching, grasping the right edge, lifting and dragging it leftward across the surface, then releasing once folded.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases: no grasp before frame 10, active grasp and drag through frame 34, then release and retreat. Segment 3 (frames 15-18) is merged into subtask 3 as it continues the lift-and-move phase initiated in segment 2." + } + }, + "episode_goal": "Fold the cloth from right to left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824869155883789, + 0.09404794126749039, + 0.08665725588798523, + 2.764666795730591, + -0.12165089696645737, + 1.034294605255127 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the workspace with the gripper open, approaching the blue cloth on the stovetop. No contact or grasping has occurred yet. The next action is to move the gripper closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27929431200027466, + 0.09149078279733658, + 0.07893135398626328, + 2.784039258956909, + -0.09498394280672073, + 1.0237388610839844 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the workspace with the gripper open, approaching the blue cloth on the stovetop. No contact or grasping has occurred yet. The next action is to move the gripper closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27086785435676575, + 0.07764238864183426, + 0.06954836845397949, + 2.849485397338867, + -0.03935018554329872, + 0.9018747806549072 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the workspace with the gripper open, approaching the blue cloth on the stovetop. No contact or grasping has occurred yet. The next action is to move the gripper closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27219724655151367, + 0.07303661108016968, + 0.0697612538933754, + 2.845808506011963, + -0.046150121837854385, + 0.8554429411888123 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the workspace with the gripper open, approaching the blue cloth on the stovetop. No contact or grasping has occurred yet. The next action is to move the gripper closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2684105336666107, + 0.061573326587677, + 0.0658838301897049, + 2.863172769546509, + -0.054055601358413696, + 0.7061835527420044 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet made. The subtask of approaching the cloth is in progress, with the next action likely being to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591204047203064, + 0.03936447203159332, + 0.05104959383606911, + 2.9316868782043457, + -0.06960725784301758, + 0.5214071273803711 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet made. The subtask of approaching the cloth is in progress, with the next action likely being to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2522070109844208, + 0.032517243176698685, + 0.036640722304582596, + 2.972546100616455, + -0.07390327006578445, + 0.44004809856414795 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet made. The subtask of approaching the cloth is in progress, with the next action likely being to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24839913845062256, + 0.024778492748737335, + 0.02151963673532009, + 3.014220952987671, + -0.08756089210510254, + 0.3730265498161316 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet made. The subtask of approaching the cloth is in progress, with the next action likely being to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2489871233701706, + 0.023168280720710754, + 0.005589617416262627, + 3.0875236988067627, + -0.10262266546487808, + 0.35334476828575134 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet made. The subtask of approaching the cloth is in progress, with the next action likely being to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move down 3 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24785342812538147, + 0.016528142616152763, + -0.009535032324492931, + 3.1375951766967773, + -0.11070632189512253, + 0.31497424840927124 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet made. The subtask of approaching the cloth is in progress, with the next action likely being to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move down 3 cm, close gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24514801800251007, + 0.013630320318043232, + -0.019449422135949135, + -3.1211280822753906, + -0.09822682291269302, + 0.293175607919693 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet made. The subtask of approaching the cloth is in progress, with the next action likely being to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, close gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24132972955703735, + 0.014618621207773685, + -0.02934909798204899, + -3.1063411235809326, + -0.07099957764148712, + 0.2892473340034485 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on the stovetop, with the gripper open and no contact yet made. The subtask of approaching the cloth is in progress, with the next action likely being to lower the gripper toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24363411962985992, + 0.018186654895544052, + -0.03748736158013344, + -3.1060731410980225, + -0.0464768148958683, + 0.30434536933898926 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned near the right edge. The gripper is open and ready to grasp. The next action is to close the gripper to securely hold the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move right 3 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24687589704990387, + 0.025179266929626465, + -0.04203955456614494, + -3.0789127349853516, + -0.04628000035881996, + 0.32261165976524353 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned near the right edge. The gripper is open and ready to grasp. The next action is to close the gripper to securely hold the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper closed; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2619895040988922, + 0.04222336411476135, + -0.04516609013080597, + -3.0573654174804688, + -0.08222700655460358, + 0.3705986738204956 + ], + "gripper_value": 0.7250383496284485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned near the right edge. The gripper is open and ready to grasp. The next action is to close the gripper to securely hold the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2642735242843628, + 0.045996882021427155, + -0.045178357511758804, + -3.0598528385162354, + -0.09785792976617813, + 0.3796364963054657 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the cloth and is now positioned near the right edge. The gripper is open and ready to grasp. The next action is to close the gripper to securely hold the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 4 cm, move right 2 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2639044225215912, + 0.04447329044342041, + -0.04575803130865097, + -3.0694615840911865, + -0.09322017431259155, + 0.39613696932792664 + ], + "gripper_value": 0.31732118129730225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 6 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26370689272880554, + 0.04296170920133591, + -0.0452999509871006, + -3.0780837535858154, + -0.09013944119215012, + 0.39269447326660156 + ], + "gripper_value": 0.22045548260211945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 7 cm, move left 4 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603406012058258, + 0.03762087598443031, + -0.03983568400144577, + -3.1015806198120117, + -0.08993656188249588, + 0.3755805790424347 + ], + "gripper_value": 0.14915025234222412 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 8 cm, move left 6 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24051927030086517, + 0.021185187622904778, + -0.03297024220228195, + 3.141352415084839, + -0.02065821923315525, + 0.3558080792427063 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24355117976665497, + 0.006905664224177599, + -0.011316978372633457, + 3.085580825805664, + -0.0420420840382576, + 0.35151055455207825 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 10 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24061718583106995, + -0.0006012044614180923, + -0.0028607475105673075, + 3.0575814247131348, + -0.020310044288635254, + 0.3593059480190277 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 12 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.243392676115036, + -0.010028796270489693, + 0.011512761935591698, + 3.020806074142456, + -0.026075204834342003, + 0.3577762246131897 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 13 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2518252432346344, + -0.01727069914340973, + 0.032030895352363586, + 2.967479944229126, + -0.047978006303310394, + 0.3617386221885681 + ], + "gripper_value": 0.057568058371543884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 14 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626136839389801, + -0.015412642620503902, + 0.045023396611213684, + 2.946354866027832, + -0.04125110059976578, + 0.3712807893753052 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 14 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2837165594100952, + 0.005741548258811235, + 0.06008118763566017, + 2.936089038848877, + -0.06750942766666412, + 0.44267287850379944 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot has grasped the right edge of the blue cloth and is currently lifting it above the stovetop surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to drag the lifted portion leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999599874019623, + 0.033090170472860336, + 0.05994151160120964, + 2.9389545917510986, + -0.07337300479412079, + 0.5267431735992432 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31370478868484497, + 0.06373006850481033, + 0.05649417266249657, + 2.9539382457733154, + -0.09790828824043274, + 0.5957183241844177 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.32116201519966125, + 0.0793871134519577, + 0.04445471242070198, + 2.9914791584014893, + -0.11585086584091187, + 0.6153009533882141 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.325618714094162, + 0.09784665703773499, + 0.030666673555970192, + 3.0236501693725586, + -0.13803134858608246, + 0.6474444270133972 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3296245038509369, + 0.10777505487203598, + 0.013046622276306152, + 3.0517969131469727, + -0.16855880618095398, + 0.6461508274078369 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300167918205261, + 0.11454623192548752, + -0.006172894034534693, + 3.0881457328796387, + -0.17785994708538055, + 0.6409301161766052 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33435508608818054, + 0.12292900681495667, + -0.014669426716864109, + 3.1075220108032227, + -0.17655591666698456, + 0.6627857685089111 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3329930007457733, + 0.12751173973083496, + -0.013805677182972431, + 3.10774827003479, + -0.1646312028169632, + 0.711284875869751 + ], + "gripper_value": 0.24929283559322357 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.32955488562583923, + 0.1259016990661621, + -0.013413817621767521, + 3.086397886276245, + -0.13168087601661682, + 0.7383825778961182 + ], + "gripper_value": 0.49086472392082214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across surface", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3271542489528656, + 0.12677356600761414, + -0.0025592162273824215, + 3.0617573261260986, + -0.1192719116806984, + 0.7600400447845459 + ], + "gripper_value": 0.7506401538848877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.32508763670921326, + 0.12224797159433365, + 0.010904821567237377, + 3.0355546474456787, + -0.1265280544757843, + 0.760968804359436 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having successfully grasped it in the previous step. The cloth is partially lifted above the stovetop surface, indicating the folding motion is in progress. The next action involves dragging the held cloth leftward across the surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3234754502773285, + 0.12095262110233307, + 0.02659517154097557, + 3.003066062927246, + -0.13410821557044983, + 0.7555328607559204 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded from right to left and is now resting on the stovetop. The gripper is open (value ~1.01), indicating release has occurred. The robot arm is positioned above the cloth, suggesting it is retreating after completing the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.31752917170524597, + 0.12059060484170914, + 0.04497181251645088, + 2.966536521911621, + -0.14166583120822906, + 0.7656751275062561 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded from right to left and is now resting on the stovetop. The gripper is open (value ~1.01), indicating release has occurred. The robot arm is positioned above the cloth, suggesting it is retreating after completing the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085269331932068, + 0.12180764973163605, + 0.06907141208648682, + 2.9195187091827393, + -0.16834504902362823, + 0.7753720879554749 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded from right to left and is now resting on the stovetop. The gripper is open (value ~1.01), indicating release has occurred. The robot arm is positioned above the cloth, suggesting it is retreating after completing the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024340569972992, + 0.12489204108715057, + 0.07484707236289978, + 2.9067904949188232, + -0.16784460842609406, + 0.7688068747520447 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from right to left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded from right to left and is now resting on the stovetop. The gripper is open (value ~1.01), indicating release has occurred. The robot arm is positioned above the cloth, suggesting it is retreating after completing the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003893_ecot.json b/cot/chunk-0003/episode_0003893_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f2a5a2e844dc7dafee67e3aa58b65c4888b00b --- /dev/null +++ b/cot/chunk-0003/episode_0003893_ecot.json @@ -0,0 +1,2542 @@ +{ + "task_name": "episode_0003893", + "episode_json": "json/chunk-0003/episode_0003893.json", + "video_path": "videos/chunk-0003/image_0/episode_0003893.mp4", + "instruction": "Put the green block on top of the blue rectangular block.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003893.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.4771519899368286, + "std": 0.22853873670101166, + "delta_total": -0.0006677508354187012, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.47715, std=0.22854, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 12 + ], + [ + 3, + 13, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green block\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper toward the green block without closing, positioning for contact.\"},\n {\"id\": 2, \"name\": \"make contact with green block\", \"start\": 7, \"end\": 12, \"planning\": \"Lower and adjust gripper to make physical contact with the green block, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp and lift green block\", \"start\": 13, \"end\": 25, \"planning\": \"Close gripper to securely grasp the green block and lift it clear of the table surface.\"},\n {\"id\": 4, \"name\": \"transport green block to blue block\", \"start\": 26, \"end\": 34, \"planning\": \"Move the grasped green block horizontally toward the target blue rectangular block.\"},\n {\"id\": 5, \"name\": \"place green block on blue block\", \"start\": 35, \"end\": 37, \"planning\": \"Release the green block onto the top surface of the blue rectangular block and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the green block, make contact, grasp and lift it, transport it to the blue rectangular block, then place it on top and release.\",\n \"notes\": \"Segment 1 and 2 show no meaningful gripper closing — described as approach and contact phases. Segment 3 shows significant gripper closure and motion consistent with grasp-lift-transport-place. Frame 37 image confirms green block is stacked on blue block.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green block", + "start": 0, + "end": 6, + "planning": "Move the gripper toward the green block without closing, positioning for contact." + }, + { + "id": 2, + "name": "make contact with green block", + "start": 7, + "end": 12, + "planning": "Lower and adjust gripper to make physical contact with the green block, preparing for grasp." + }, + { + "id": 3, + "name": "grasp and lift green block", + "start": 13, + "end": 25, + "planning": "Close gripper to securely grasp the green block and lift it clear of the table surface." + }, + { + "id": 4, + "name": "transport green block to blue block", + "start": 26, + "end": 34, + "planning": "Move the grasped green block horizontally toward the target blue rectangular block." + }, + { + "id": 5, + "name": "place green block on blue block", + "start": 35, + "end": 37, + "planning": "Release the green block onto the top surface of the blue rectangular block and retreat slightly." + } + ], + "global_plan": "Approach the green block, make contact, grasp and lift it, transport it to the blue rectangular block, then place it on top and release.", + "notes": "Segment 1 and 2 show no meaningful gripper closing — described as approach and contact phases. Segment 3 shows significant gripper closure and motion consistent with grasp-lift-transport-place. Frame 37 image confirms green block is stacked on blue block." + } + }, + "episode_goal": "Place the green block on top of the blue rectangular block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244764804840088, + 0.00585870211943984, + 0.1287555992603302, + -3.0531246662139893, + -0.16043126583099365, + 0.4983822703361511 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the center. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt forward 20 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222716748714447, + 0.0057671209797263145, + 0.1186167299747467, + -3.0363426208496094, + -0.13101428747177124, + 0.4964061379432678 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the center. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, tilt forward 20 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3352302610874176, + 0.004645454231649637, + 0.1036406010389328, + -3.0131964683532715, + -0.09064693003892899, + 0.45415645837783813 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the center. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35287025570869446, + 0.0030201920308172703, + 0.09317997097969055, + -2.989896535873413, + -0.0474410317838192, + 0.4263264238834381 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the scene. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the block. The next action should involve moving the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3498171865940094, + 0.001880727824755013, + 0.089063361287117, + -2.999558925628662, + 0.0025114542804658413, + 0.44316866993904114 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the scene. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the block. The next action should involve moving the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429037928581238, + 0.003907105419784784, + 0.08570154756307602, + -3.018552303314209, + 0.0674796774983406, + 0.4874938726425171 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the scene. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the block. The next action should involve moving the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360607326030731, + 0.016692854464054108, + 0.0779757872223854, + -3.0327391624450684, + 0.11317838728427887, + 0.539329469203949 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the scene. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the block. The next action should involve moving the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32896438241004944, + 0.020007267594337463, + 0.0704030692577362, + -3.01975679397583, + 0.13978812098503113, + 0.5424596667289734 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 994, + 993 + ], + "green block": [ + 523, + 373, + 602, + 507 + ], + "blue block": [ + 370, + 223, + 471, + 400 + ] + } + } + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "make contact with green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the scene. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the block. The next action should involve moving the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32106834650039673, + 0.01943933218717575, + 0.05966208502650261, + -3.0019078254699707, + 0.17763249576091766, + 0.539825975894928 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "make contact with green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible in the scene. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the block. The next action should involve moving the end effector closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160102069377899, + 0.014373891055583954, + 0.05428081378340721, + -2.998047351837158, + 0.19515490531921387, + 0.5188965797424316 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "make contact with green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move right 1 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30824410915374756, + 0.01317190658301115, + 0.04608131945133209, + -2.992041826248169, + 0.2096061259508133, + 0.5117418766021729 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "make contact with green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move forward 4 cm, move right 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30300119519233704, + 0.011816211976110935, + 0.037208110094070435, + -3.0032577514648438, + 0.21424496173858643, + 0.4944398105144501 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "make contact with green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move forward 5 cm, move right 1 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30129507184028625, + 0.00875923316925764, + 0.04006602615118027, + -3.054086685180664, + 0.1743641495704651, + 0.46496206521987915 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "make contact with green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 1 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29979240894317627, + 0.00749994209036231, + 0.037919700145721436, + -3.094097852706909, + 0.17480702698230743, + 0.44564175605773926 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 9 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29938942193984985, + 0.0068327151238918304, + 0.03767537325620651, + -3.104661464691162, + 0.17988671362400055, + 0.42097365856170654 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29938942193984985, + 0.0068327151238918304, + 0.03767537325620651, + -3.1054980754852295, + 0.1800547093153, + 0.4162992835044861 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29917460680007935, + 0.007690849713981152, + 0.038505736738443375, + -3.0978100299835205, + 0.17872774600982666, + 0.4108368158340454 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045044243335724, + 0.004027788992971182, + 0.05153336748480797, + -3.088991403579712, + 0.1967281997203827, + 0.3953796923160553 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move up 7 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138132393360138, + 0.0022096496541053057, + 0.07521285116672516, + -3.084453821182251, + 0.2145998179912567, + 0.3831753134727478 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 994, + 993 + ], + "green block": [ + 517, + 317, + 596, + 451 + ] + } + } + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot has approached the green block and is now positioned directly above it with the gripper open. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make physical contact with the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 4 cm, keep gripper closed; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32325685024261475, + -0.002638034988194704, + 0.1002511978149414, + -3.084585428237915, + 0.21786166727542877, + 0.36395180225372314 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 994, + 993 + ], + "green block": [ + 540, + 246, + 624, + 384 + ], + "yellow block": [ + 837, + 330, + 959, + 453 + ], + "blue block": [ + 370, + 222, + 471, + 400 + ] + } + } + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33604589104652405, + -0.004279205109924078, + 0.11808567494153976, + -3.0789623260498047, + 0.1945861279964447, + 0.3588736653327942 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3497830033302307, + -0.005802368279546499, + 0.1177012100815773, + -3.0688371658325195, + 0.2072155624628067, + 0.3548484444618225 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, keep gripper closed; then move forward 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.35774725675582886, + -0.007064308505505323, + 0.12225265055894852, + -3.0830273628234863, + 0.20423686504364014, + 0.34922537207603455 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper closed; then move forward 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3685007691383362, + -0.003960518632084131, + 0.12395927309989929, + -3.087674617767334, + 0.2090814709663391, + 0.3530008792877197 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3757281005382538, + -0.0041116587817668915, + 0.12118112295866013, + -3.087934732437134, + 0.22380182147026062, + 0.3513981103897095 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3809348940849304, + -0.0035208940971642733, + 0.11820007860660553, + -3.086167812347412, + 0.22965814173221588, + 0.3514794111251831 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "grasp and lift green block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38551872968673706, + -0.003508326131850481, + 0.11928491294384003, + -3.0883543491363525, + 0.22390007972717285, + 0.35070934891700745 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.38754042983055115, + -0.004222467076033354, + 0.11524403840303421, + -3.088486671447754, + 0.23700344562530518, + 0.3508773446083069 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907914161682129, + -0.003611594205722213, + 0.11812475323677063, + -3.092102527618408, + 0.22843477129936218, + 0.349805623292923 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.392993301153183, + -0.002755057066679001, + 0.11306432634592056, + -3.08581805229187, + 0.24090047180652618, + 0.3523961901664734 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green block, having completed the approach and contact phases. The gripper is currently open, indicating the grasp action has not yet been executed. The next step is to close the gripper to secure the green block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3981902301311493, + -0.0029563552234321833, + 0.11377562582492828, + -3.0884170532226562, + 0.2385428249835968, + 0.3513477146625519 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The green block is currently stacked on a blue block in the background, while the target blue rectangular block sits isolated on the left. The robot is positioned near the center of the table, likely holding the green block after lifting it. The next action is to transport the held green block toward the isolated blue rectangular block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4032399654388428, + -0.002293667057529092, + 0.11058554798364639, + -3.085238456726074, + 0.2472027838230133, + 0.3529415428638458 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 37, + 5, + 994, + 993 + ], + "yellow block": [ + 837, + 330, + 959, + 452 + ], + "blue block": [ + 370, + 223, + 470, + 400 + ] + } + } + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The green block is currently stacked on a blue block in the background, while the target blue rectangular block sits isolated on the left. The robot is positioned near the center of the table, likely holding the green block after lifting it. The next action is to transport the held green block toward the isolated blue rectangular block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4089564085006714, + 0.00027084958855994046, + 0.1133495345711708, + -3.089015007019043, + 0.2371002733707428, + 0.35756054520606995 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The green block is currently stacked on a blue block in the background, while the target blue rectangular block sits isolated on the left. The robot is positioned near the center of the table, likely holding the green block after lifting it. The next action is to transport the held green block toward the isolated blue rectangular block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.411689430475235, + 0.0015757374931126833, + 0.10876534879207611, + -3.0863466262817383, + 0.24431529641151428, + 0.36102941632270813 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The green block is currently stacked on a blue block in the background, while the target blue rectangular block sits isolated on the left. The robot is positioned near the center of the table, likely holding the green block after lifting it. The next action is to transport the held green block toward the isolated blue rectangular block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.41330763697624207, + 0.003190648043528199, + 0.1025346890091896, + -3.0746147632598877, + 0.25655239820480347, + 0.3665497303009033 + ], + "gripper_value": 0.8801529407501221 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "transport green block to blue block", + "subtask_reasoning": "The green block is currently stacked on a blue block in the background, while the target blue rectangular block sits isolated on the left. The robot is positioned near the center of the table, likely holding the green block after lifting it. The next action is to transport the held green block toward the isolated blue rectangular block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.41347619891166687, + 0.003665205789729953, + 0.09992329031229019, + -3.0704081058502197, + 0.2599322199821472, + 0.36608561873435974 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "place green block on blue block", + "subtask_reasoning": "The green block is currently stacked on a blue block in the background, while the target blue rectangular block sits isolated on the left. The robot is positioned near the center of the table, likely holding the green block after lifting it. The next action is to transport the held green block toward the isolated blue rectangular block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.41442763805389404, + 0.0029657904524356127, + 0.09968504309654236, + -3.077040433883667, + 0.2557359039783478, + 0.36469554901123047 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "place green block on blue block", + "subtask_reasoning": "The green block is already stacked on the blue rectangular block in the background, indicating the goal state is achieved. The gripper is open and positioned away from the blocks, suggesting the placement action is complete. No further manipulation is required as the target configuration is visible." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.4110459089279175, + 0.001463453285396099, + 0.10291297733783722, + -3.09035325050354, + 0.2504444122314453, + 0.3578851521015167 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "make contact with green block" + }, + { + "id": 3, + "subtask": "grasp and lift green block" + }, + { + "id": 4, + "subtask": "transport green block to blue block" + }, + { + "id": 5, + "subtask": "place green block on blue block" + } + ], + "subtask_name": "place green block on blue block", + "subtask_reasoning": "The green block is already stacked on the blue rectangular block in the background, indicating the goal state is achieved. The gripper is open and positioned away from the blocks, suggesting the placement action is complete. No further manipulation is required as the target configuration is visible." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003894_ecot.json b/cot/chunk-0003/episode_0003894_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a31a09d6b6c2a10b8ad40e23cbbf7a28d0a63767 --- /dev/null +++ b/cot/chunk-0003/episode_0003894_ecot.json @@ -0,0 +1,1854 @@ +{ + "task_name": "episode_0003894", + "episode_json": "json/chunk-0003/episode_0003894.json", + "video_path": "videos/chunk-0003/image_0/episode_0003894.mp4", + "instruction": "Put sushi on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003894.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.44141048192977905, + "std": 0.19298815727233887, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.44141, std=0.19299, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 100, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 10 + ], + [ + 3, + 11, + 11 + ], + [ + 4, + 12, + 13 + ], + [ + 5, + 14, + 20 + ], + [ + 6, + 21, + 23 + ], + [ + 7, + 24, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sushi\", \"start\": 0, \"end\": 10, \"planning\": \"Move the gripper from initial position toward the sushi on the table without closing.\"},\n {\"id\": 2, \"name\": \"make contact with sushi\", \"start\": 11, \"end\": 13, \"planning\": \"Lower and align gripper to make physical contact with the sushi, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp sushi\", \"start\": 14, \"end\": 16, \"planning\": \"Close gripper around sushi to secure it, as evidenced by meaningful gripper closure and visual confirmation.\"},\n {\"id\": 4, \"name\": \"lift and transport sushi\", \"start\": 17, \"end\": 20, \"planning\": \"Lift the grasped sushi and move it over the blue plate while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release sushi onto plate\", \"start\": 21, \"end\": 23, \"planning\": \"Open gripper to release sushi onto the plate, confirmed by gripper opening trend and final position.\"},\n {\"id\": 6, \"name\": \"retreat from plate\", \"start\": 24, \"end\": 24, \"planning\": \"Move gripper away from the plate after releasing the sushi, completing the task.\"}\n ],\n \"global_plan\": \"Approach sushi, make contact, grasp it securely, lift and transport to plate, release onto plate, then retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closure only in segment 5 (frames 14-20), allowing 'grasp' terminology there. Segments 1, 3, and 7 show no meaningful closing — described using contact-based verbs. Frame coverage is contiguous and complete from 0 to 24.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sushi", + "start": 0, + "end": 10, + "planning": "Move the gripper from initial position toward the sushi on the table without closing." + }, + { + "id": 2, + "name": "make contact with sushi", + "start": 11, + "end": 13, + "planning": "Lower and align gripper to make physical contact with the sushi, preparing for grasp." + }, + { + "id": 3, + "name": "grasp sushi", + "start": 14, + "end": 16, + "planning": "Close gripper around sushi to secure it, as evidenced by meaningful gripper closure and visual confirmation." + }, + { + "id": 4, + "name": "lift and transport sushi", + "start": 17, + "end": 20, + "planning": "Lift the grasped sushi and move it over the blue plate while maintaining grip." + }, + { + "id": 5, + "name": "release sushi onto plate", + "start": 21, + "end": 23, + "planning": "Open gripper to release sushi onto the plate, confirmed by gripper opening trend and final position." + }, + { + "id": 6, + "name": "retreat from plate", + "start": 24, + "end": 24, + "planning": "Move gripper away from the plate after releasing the sushi, completing the task." + } + ], + "global_plan": "Approach sushi, make contact, grasp it securely, lift and transport to plate, release onto plate, then retreat.", + "notes": "Gripper evidence confirms meaningful closure only in segment 5 (frames 14-20), allowing 'grasp' terminology there. Segments 1, 3, and 7 show no meaningful closing — described using contact-based verbs. Frame coverage is contiguous and complete from 0 to 24." + } + }, + "episode_goal": "Pick up the sushi and place it on the blue plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26059582829475403, + 0.027889488264918327, + 0.12238996475934982, + 3.123640537261963, + -0.034133050590753555, + 0.29762616753578186 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing the sushi and blue plate. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 17 cm, move down 10 cm, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2586366832256317, + 0.02439013682305813, + 0.11450354009866714, + 3.137369394302368, + 0.0007298438576981425, + 0.2685870826244354 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing the sushi and blue plate. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 15 cm, move down 10 cm, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27595070004463196, + -0.0005596107803285122, + 0.10934658348560333, + -3.066471815109253, + 0.050585873425006866, + 0.029650932177901268 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing the sushi and blue plate. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move down 9 cm, tilt back 10 degrees, rotate counterclockwise 70 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30232271552085876, + -0.03710035979747772, + 0.10450456291437149, + -3.0038442611694336, + 0.061895761638879776, + -0.23269401490688324 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 106, + 376, + 284, + 551 + ], + "wooden spoon": [ + 701, + 280, + 862, + 504 + ], + "blue bowl": [ + 425, + 642, + 691, + 961 + ], + "purple object": [ + 495, + 409, + 642, + 561 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing the sushi and blue plate. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 9 cm, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181411027908325, + -0.06313404440879822, + 0.09928002208471298, + -3.0337767601013184, + 0.0548541285097599, + -0.474234014749527 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing the sushi and blue plate. No movement or contact has occurred yet. The next action should be to move the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32829803228378296, + -0.08840823173522949, + 0.08558101207017899, + -3.1074960231781006, + 0.024220488965511322, + -0.7237470149993896 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the sushi roll located near the blue plate. No contact has been made yet, and the gripper remains fully open. The next action should be to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33440861105918884, + -0.11017999053001404, + 0.07093791663646698, + 3.1246697902679443, + 0.008330081589519978, + -0.9627807140350342 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the sushi roll located near the blue plate. No contact has been made yet, and the gripper remains fully open. The next action should be to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33239394426345825, + -0.12998516857624054, + 0.05517761781811714, + 3.099262237548828, + -0.01588120497763157, + -1.1221641302108765 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the sushi roll located near the blue plate. No contact has been made yet, and the gripper remains fully open. The next action should be to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33173784613609314, + -0.14480341970920563, + 0.04374284669756889, + 3.091461181640625, + -0.04586472734808922, + -1.2172173261642456 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 106, + 377, + 284, + 550 + ], + "wooden spoon": [ + 680, + 240, + 850, + 504 + ], + "blue bowl": [ + 426, + 642, + 692, + 954 + ], + "purple object": [ + 495, + 409, + 643, + 561 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the sushi roll located near the blue plate. No contact has been made yet, and the gripper remains fully open. The next action should be to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300020694732666, + -0.14759249985218048, + 0.027987109497189522, + 3.0847678184509277, + -0.014810641296207905, + -1.2197635173797607 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the sushi roll located near the blue plate. No contact has been made yet, and the gripper remains fully open. The next action should be to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.340151309967041, + -0.14024628698825836, + 0.021569153293967247, + 3.1254615783691406, + -0.01877765543758869, + -1.171688437461853 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the sushi roll located near the blue plate. No contact has been made yet, and the gripper remains fully open. The next action should be to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526521325111389, + -0.12910029292106628, + 0.016020962968468666, + -3.1364967823028564, + -0.014367219991981983, + -1.1249182224273682 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "make contact with sushi", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the sushi roll located near the blue plate. No contact has been made yet, and the gripper remains fully open. The next action should be to continue moving the end-effector closer to the sushi to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35251474380493164, + -0.1265566200017929, + 0.015552337281405926, + 3.1182126998901367, + -0.03161974251270294, + -1.09321928024292 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "make contact with sushi", + "subtask_reasoning": "The robot arm is positioned directly above the sushi with the gripper open and aligned for interaction. The approach phase is complete, and the end-effector is now making initial contact with the sushi object. The next action is to close the gripper to secure a grasp on the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 9 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35279184579849243, + -0.12402037531137466, + 0.013541130349040031, + 3.1317360401153564, + -0.0235221516340971, + -1.0601286888122559 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "make contact with sushi", + "subtask_reasoning": "The robot arm is positioned directly above the sushi with the gripper open and aligned for interaction. The approach phase is complete, and the end-effector is now making initial contact with the sushi object. The next action is to close the gripper to secure a grasp on the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 9 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33818864822387695, + -0.11497240513563156, + 0.018342934548854828, + -3.140604019165039, + 0.0007995414198376238, + -1.0086830854415894 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned directly above the sushi with the gripper open and aligned for interaction. The approach phase is complete, and the end-effector is now making initial contact with the sushi object. The next action is to close the gripper to secure a grasp on the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3155103921890259, + -0.0969301089644432, + 0.0478200688958168, + -3.0919721126556396, + 0.0388304702937603, + -0.9378811717033386 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot has approached and made contact with the sushi. The gripper is currently open and positioned around the sushi, indicating readiness to close. The next action is to close the gripper to securely grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789210081100464, + -0.07292544841766357, + 0.08095947653055191, + -3.078514337539673, + 0.048114266246557236, + -0.8543849587440491 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot has approached and made contact with the sushi. The gripper is currently open and positioned around the sushi, indicating readiness to close. The next action is to close the gripper to securely grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24383008480072021, + -0.04315425828099251, + 0.0933491438627243, + -3.0704848766326904, + 0.02951112389564514, + -0.756083071231842 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "lift and transport sushi", + "subtask_reasoning": "The robot has approached and made contact with the sushi. The gripper is currently open and positioned around the sushi, indicating readiness to close. The next action is to close the gripper to securely grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2151232659816742, + -0.02690531127154827, + 0.07882950454950333, + -3.1219534873962402, + 0.023304179310798645, + -0.7179735898971558 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 106, + 376, + 284, + 552 + ], + "wooden spoon": [ + 676, + 243, + 860, + 505 + ], + "blue bowl": [ + 426, + 641, + 691, + 949 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "lift and transport sushi", + "subtask_reasoning": "The robot arm is positioned above the blue plate with the red sushi object in contact with the gripper. Since the gripper signal shows no closing motion, the robot is currently transporting the object via contact rather than a secure grasp. The next action is to lower the arm to place the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2038038820028305, + -0.0356738343834877, + 0.0611315555870533, + -3.1309056282043457, + 0.02003944292664528, + -0.7841612696647644 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "lift and transport sushi", + "subtask_reasoning": "The robot arm is positioned above the blue plate with the red sushi object in contact with the gripper. Since the gripper signal shows no closing motion, the robot is currently transporting the object via contact rather than a secure grasp. The next action is to lower the arm to place the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.20381182432174683, + -0.0523134209215641, + 0.04492556303739548, + -3.136356830596924, + 0.011050624772906303, + -0.8663389086723328 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "lift and transport sushi", + "subtask_reasoning": "The robot arm is positioned above the blue plate with the red sushi object in contact with the gripper. Since the gripper signal shows no closing motion, the robot is currently transporting the object via contact rather than a secure grasp. The next action is to lower the arm to place the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20145200192928314, + -0.06469590216875076, + 0.02963215857744217, + 3.138214111328125, + 0.03991977125406265, + -0.9122615456581116 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "release sushi onto plate", + "subtask_reasoning": "The robot arm is positioned above the blue plate with the red sushi object in contact with the gripper. Since the gripper signal shows no closing motion, the robot is currently transporting the object via contact rather than a secure grasp. The next action is to lower the arm to place the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.19552110135555267, + -0.06532817333936691, + 0.021733826026320457, + 3.127354383468628, + 0.05240817740559578, + -0.889979898929596 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "release sushi onto plate", + "subtask_reasoning": "The robot arm is positioned over the blue plate with the gripper holding the sushi directly above it. The gripper is currently closed, indicating the sushi is still secured. The next action is to open the gripper to release the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.19292967021465302, + -0.06482847779989243, + 0.029300715774297714, + 3.1383209228515625, + 0.028126973658800125, + -0.8543903827667236 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "release sushi onto plate", + "subtask_reasoning": "The robot arm is positioned over the blue plate with the gripper holding the sushi directly above it. The gripper is currently closed, indicating the sushi is still secured. The next action is to open the gripper to release the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.19001007080078125, + -0.06076476722955704, + 0.058088693767786026, + -3.1077558994293213, + -0.016640620306134224, + -0.8285465836524963 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi and place it on the blue plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "make contact with sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and transport sushi" + }, + { + "id": 5, + "subtask": "release sushi onto plate" + }, + { + "id": 6, + "subtask": "retreat from plate" + } + ], + "subtask_name": "retreat from plate", + "subtask_reasoning": "The sushi is already placed on the blue plate, and the gripper is open and in contact with it. The current subtask is to retreat from the plate, so the next action should be to lift the arm and move away from the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 24, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003895_ecot.json b/cot/chunk-0003/episode_0003895_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bc9c611fe11f0015f5056ddcca11ad85fde0ada3 --- /dev/null +++ b/cot/chunk-0003/episode_0003895_ecot.json @@ -0,0 +1,1765 @@ +{ + "task_name": "episode_0003895", + "episode_json": "json/chunk-0003/episode_0003895.json", + "video_path": "videos/chunk-0003/image_0/episode_0003895.mp4", + "instruction": "Put the broccoli to the pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003895.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.12438911199569702, + "std": 0.05370623618364334, + "delta_total": -0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.12439, std=0.05371, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the broccoli on the stovetop while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp broccoli\", \"start\": 6, \"end\": 13, \"planning\": \"Close the gripper around the broccoli and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport broccoli\", \"start\": 14, \"end\": 20, \"planning\": \"Lift the grasped broccoli and move it horizontally toward the pan location.\"},\n {\"id\": 4, \"name\": \"release broccoli into pan\", \"start\": 21, \"end\": 27, \"planning\": \"Open the gripper to drop the broccoli into the pan and retreat slightly to complete the placement.\"}\n ],\n \"global_plan\": \"Approach the broccoli on the stovetop, grasp it securely, lift and transport it to the pan, then release it inside the pan.\",\n \"notes\": \"Gripper evidence supports grasping in Segment 1 (frames 6–13) and releasing in Segment 2 (frames 21–27). Motion and image frames confirm object interaction and successful placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the broccoli on the stovetop while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp broccoli", + "start": 6, + "end": 13, + "planning": "Close the gripper around the broccoli and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport broccoli", + "start": 14, + "end": 20, + "planning": "Lift the grasped broccoli and move it horizontally toward the pan location." + }, + { + "id": 4, + "name": "release broccoli into pan", + "start": 21, + "end": 27, + "planning": "Open the gripper to drop the broccoli into the pan and retreat slightly to complete the placement." + } + ], + "global_plan": "Approach the broccoli on the stovetop, grasp it securely, lift and transport it to the pan, then release it inside the pan.", + "notes": "Gripper evidence supports grasping in Segment 1 (frames 6–13) and releasing in Segment 2 (frames 21–27). Motion and image frames confirm object interaction and successful placement." + } + }, + "episode_goal": "Place the broccoli into the pan on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30700063705444336, + -0.007336701266467571, + 0.08943058550357819, + 3.134469985961914, + -0.12890410423278809, + -0.02406623214483261 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the broccoli visible on the left side of the cooktop. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039957284927368, + -0.006204624660313129, + 0.08190080523490906, + 3.1384246349334717, + -0.09973687678575516, + -0.025099899619817734 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the broccoli visible on the left side of the cooktop. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862306237220764, + 0.016512146219611168, + 0.07617559283971786, + -3.099001169204712, + -0.03807632625102997, + -0.020476724952459335 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned near the stovetop where the broccoli is located. No grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2680582106113434, + 0.04757379740476608, + 0.09728443622589111, + -3.0593619346618652, + -0.08008241653442383, + 0.01806405559182167 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 740, + 449, + 994, + 960 + ], + "knife": [ + 518, + 360, + 634, + 619 + ], + "sponge": [ + 213, + 383, + 323, + 522 + ], + "cloth": [ + 453, + 352, + 734, + 642 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned near the stovetop where the broccoli is located. No grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2517096698284149, + 0.0843004658818245, + 0.10776368528604507, + -3.039517641067505, + -0.11549190431833267, + 0.1066424697637558 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned near the stovetop where the broccoli is located. No grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521749436855316, + 0.10388809442520142, + 0.09737340360879898, + -3.064046621322632, + -0.126618891954422, + 0.1690497249364853 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned near the stovetop where the broccoli is located. No grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25402817130088806, + 0.10874301940202713, + 0.07663292437791824, + -3.0637314319610596, + -0.08353805541992188, + 0.20534120500087738 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned near the stovetop where the broccoli is located. No grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625240981578827, + 0.11414173245429993, + 0.06538809090852737, + -3.056241750717163, + -0.07021676003932953, + 0.24171245098114014 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned near the stovetop where the broccoli is located. No grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26906517148017883, + 0.12016063183546066, + 0.0521266870200634, + -3.048426866531372, + -0.052980389446020126, + 0.2804971933364868 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned near the stovetop where the broccoli is located. No grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, close gripper; then move forward 6 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27614253759384155, + 0.12991619110107422, + 0.043403659015893936, + -3.0417237281799316, + -0.049763258546590805, + 0.32685720920562744 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the broccoli on the stovetop, having completed the approach phase. The gripper is currently open and hovering just above the object, ready to engage. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, close gripper; then move forward 8 cm, move left 5 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27869752049446106, + 0.1326102465391159, + 0.03485206514596939, + -3.0346503257751465, + -0.03126341477036476, + 0.36668428778648376 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the broccoli on the stovetop, having completed the approach phase. The gripper is currently open and hovering just above the object, ready to engage. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, close gripper; then move forward 8 cm, move left 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27721723914146423, + 0.13205599784851074, + 0.021040303632616997, + -3.0320165157318115, + 0.004027585498988628, + 0.4046266973018646 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the broccoli on the stovetop, having completed the approach phase. The gripper is currently open and hovering just above the object, ready to engage. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 5 cm, move up 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.279512494802475, + 0.13225749135017395, + 0.019474808126688004, + -3.0332717895507812, + 0.0017438302747905254, + 0.4252517521381378 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the broccoli on the stovetop, having completed the approach phase. The gripper is currently open and hovering just above the object, ready to engage. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 5 cm, move up 3 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27991169691085815, + 0.12611500918865204, + 0.018942393362522125, + -3.0375349521636963, + 0.0010876584565266967, + 0.4044173061847687 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the broccoli on the stovetop, having completed the approach phase. The gripper is currently open and hovering just above the object, ready to engage. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 5 cm, move up 3 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2822352945804596, + 0.10884701460599899, + 0.03994568809866905, + -3.0635604858398438, + -0.02668013609945774, + 0.3622930347919464 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the broccoli on the stovetop, having completed the approach phase. The gripper is currently open and hovering just above the object, ready to engage. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 5 cm, move up 3 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.282734215259552, + 0.09857649356126785, + 0.07240842282772064, + -3.1156349182128906, + -0.06708618253469467, + 0.3525717258453369 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the broccoli on the stovetop, having completed the approach phase. The gripper is currently open and hovering just above the object, ready to engage. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, open gripper; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3011327087879181, + 0.10204622149467468, + 0.09953664988279343, + -3.136490821838379, + -0.13063769042491913, + 0.3536987006664276 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 742, + 447, + 994, + 959 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the broccoli on the stovetop, having completed the approach phase. The gripper is currently open and hovering just above the object, ready to engage. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move down 3 cm, open gripper; then move back 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32669252157211304, + 0.12984870374202728, + 0.10329271107912064, + -3.1154417991638184, + -0.15726923942565918, + 0.38546186685562134 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The broccoli is currently held above the stovetop, having been successfully grasped and lifted. The robot is in the process of transporting the vegetable toward the pan. The next action is to continue moving the end-effector to position the broccoli directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 3 cm, open gripper; then move back 3 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34663641452789307, + 0.14946137368679047, + 0.09739556908607483, + -3.092585325241089, + -0.1598682850599289, + 0.4072723090648651 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The broccoli is currently held above the stovetop, having been successfully grasped and lifted. The robot is in the process of transporting the vegetable toward the pan. The next action is to continue moving the end-effector to position the broccoli directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 3 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3581547439098358, + 0.16111905872821808, + 0.09121697396039963, + -3.072572708129883, + -0.16037574410438538, + 0.42694535851478577 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The broccoli is currently held above the stovetop, having been successfully grasped and lifted. The robot is in the process of transporting the vegetable toward the pan. The next action is to continue moving the end-effector to position the broccoli directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move back 3 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35805147886276245, + 0.16425012052059174, + 0.0836414247751236, + -3.057473659515381, + -0.14628373086452484, + 0.42931461334228516 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The broccoli is currently held above the stovetop, having been successfully grasped and lifted. The robot is in the process of transporting the vegetable toward the pan. The next action is to continue moving the end-effector to position the broccoli directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 3 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601328730583191, + 0.16353505849838257, + 0.07419586181640625, + -3.0615615844726562, + -0.12553629279136658, + 0.4229293465614319 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The broccoli is currently held above the stovetop, having been successfully grasped and lifted. The robot is in the process of transporting the vegetable toward the pan. The next action is to continue moving the end-effector to position the broccoli directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36531051993370056, + 0.1643463522195816, + 0.06884913891553879, + -3.068216323852539, + -0.11520557850599289, + 0.4155721962451935 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The broccoli is currently held above the stovetop, having been successfully grasped and lifted. The robot is in the process of transporting the vegetable toward the pan. The next action is to continue moving the end-effector to position the broccoli directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36546048521995544, + 0.16445061564445496, + 0.0692601278424263, + -3.0640294551849365, + -0.11542527377605438, + 0.4135291576385498 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The broccoli is currently held above the stovetop, having been successfully grasped and lifted. The robot is in the process of transporting the vegetable toward the pan. The next action is to continue moving the end-effector to position the broccoli directly over the pan for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655524253845215, + 0.16190367937088013, + 0.07337167114019394, + -3.058180332183838, + -0.11912799626588821, + 0.3917751908302307 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The broccoli is currently held above the pan on the stovetop, with the gripper open and positioned for release. The subtask of transporting the broccoli is complete, and the next action is to lower the end-effector slightly and release the broccoli into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585851192474365, + 0.13976284861564636, + 0.11082389205694199, + -3.082958936691284, + -0.1951705515384674, + 0.33930546045303345 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The broccoli is currently held above the pan on the stovetop, with the gripper open and positioned for release. The subtask of transporting the broccoli is complete, and the next action is to lower the end-effector slightly and release the broccoli into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430335819721222, + 0.11021293699741364, + 0.11253431439399719, + -3.123669147491455, + -0.20193617045879364, + 0.26367008686065674 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 741, + 449, + 993, + 959 + ], + "pot": [ + 188, + 195, + 387, + 373 + ] + } + } + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The broccoli is currently held above the pan on the stovetop, with the gripper open and positioned for release. The subtask of transporting the broccoli is complete, and the next action is to lower the end-effector slightly and release the broccoli into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324003517627716, + 0.08881974220275879, + 0.10355118662118912, + -3.133281946182251, + -0.17623518407344818, + 0.20006172358989716 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the broccoli into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The broccoli is currently held above the pan on the stovetop, with the gripper open and positioned for release. The subtask of transporting the broccoli is complete, and the next action is to lower the end-effector slightly and release the broccoli into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003896_ecot.json b/cot/chunk-0003/episode_0003896_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..699940158b1cf139ce15d6ce0f94a55587c44583 --- /dev/null +++ b/cot/chunk-0003/episode_0003896_ecot.json @@ -0,0 +1,2448 @@ +{ + "task_name": "episode_0003896", + "episode_json": "json/chunk-0003/episode_0003896.json", + "video_path": "videos/chunk-0003/image_0/episode_0003896.mp4", + "instruction": "Moved the green cloth on top of the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003896.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.9486258625984192, + "std": 0.38905686140060425, + "delta_total": 0.0006677508354187012, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94863, std=0.38906, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 134, + 134, + 134, + 134 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 23 + ], + [ + 3, + 24, + 33 + ], + [ + 4, + 34, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on cloth\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the green cloth and begin closing the gripper to make initial contact.\"},\n {\"id\": 2, \"name\": \"grasp and drag cloth leftward\", \"start\": 7, \"end\": 23, \"planning\": \"Maintain grip on the cloth while dragging it leftward across the stovetop surface toward the target burner area.\"},\n {\"id\": 3, \"name\": \"reposition cloth over right burner\", \"start\": 24, \"end\": 33, \"planning\": \"Adjust position of the cloth by sliding it slightly forward and centering it over the right burner while maintaining light grip.\"},\n {\"id\": 4, \"name\": \"release and retreat from cloth\", \"start\": 34, \"end\": 37, \"planning\": \"Open the gripper fully to release the cloth and retreat the end-effector upward and backward to clear the workspace.\"}\n ],\n \"global_plan\": \"The robot approaches the green cloth, grasps it, drags it leftward across the stovetop, repositions it precisely over the right burner, then releases and retreats.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-6) with delta=-0.31696 and visual consistency; grasp wording is justified. Segments 2-3 show sustained low gripper values consistent with holding during translation. Segment 4 shows clear opening (delta=+0.49259) and retreat motion, supporting release description.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on cloth", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the green cloth and begin closing the gripper to make initial contact." + }, + { + "id": 2, + "name": "grasp and drag cloth leftward", + "start": 7, + "end": 23, + "planning": "Maintain grip on the cloth while dragging it leftward across the stovetop surface toward the target burner area." + }, + { + "id": 3, + "name": "reposition cloth over right burner", + "start": 24, + "end": 33, + "planning": "Adjust position of the cloth by sliding it slightly forward and centering it over the right burner while maintaining light grip." + }, + { + "id": 4, + "name": "release and retreat from cloth", + "start": 34, + "end": 37, + "planning": "Open the gripper fully to release the cloth and retreat the end-effector upward and backward to clear the workspace." + } + ], + "global_plan": "The robot approaches the green cloth, grasps it, drags it leftward across the stovetop, repositions it precisely over the right burner, then releases and retreats.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-6) with delta=-0.31696 and visual consistency; grasp wording is justified. Segments 2-3 show sustained low gripper values consistent with holding during translation. Segment 4 shows clear opening (delta=+0.49259) and retreat motion, supporting release description." + } + }, + "episode_goal": "Move the green cloth on top of the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27558577060699463, + 0.08727928251028061, + 0.10037864744663239, + 3.110004186630249, + -0.27891838550567627, + -0.051862191408872604 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper currently open. No part of the subtask has been completed yet as the cloth has not been grasped. The next action is to lower the gripper and close it to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 40 degrees, close gripper; then move back 1 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734262943267822, + 0.08670886605978012, + 0.09214266389608383, + 3.1002345085144043, + -0.25653812289237976, + -0.033655986189842224 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper currently open. No part of the subtask has been completed yet as the cloth has not been grasped. The next action is to lower the gripper and close it to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 40 degrees, close gripper; then move back 1 cm, move right 3 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29134804010391235, + 0.07472312450408936, + 0.07604420930147171, + 3.12080454826355, + -0.2829005718231201, + 0.11622171849012375 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper currently open. No part of the subtask has been completed yet as the cloth has not been grasped. The next action is to lower the gripper and close it to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, close gripper; then move back 1 cm, move right 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30847057700157166, + 0.06190500780940056, + 0.06535704433917999, + 3.099494218826294, + -0.3604184687137604, + 0.24010774493217468 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 322, + 186, + 715, + 541 + ], + "can": [ + 155, + 239, + 330, + 484 + ], + "red object": [ + 775, + 322, + 876, + 464 + ], + "oven knob": [ + 87, + 699, + 183, + 811 + ], + "blue bottle": [ + 783, + 515, + 866, + 632 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 3 cm, move right 6 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31857505440711975, + 0.06540438532829285, + 0.06246069818735123, + 3.0656578540802, + -0.3593542277812958, + 0.38661909103393555 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 7 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33285894989967346, + 0.06859539449214935, + 0.06027447059750557, + 3.0420002937316895, + -0.31347522139549255, + 0.49484577775001526 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3407191336154938, + 0.07407240569591522, + 0.05545014888048172, + 3.078315496444702, + -0.26397913694381714, + 0.6367523074150085 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach and close gripper on cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move right 9 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3431713581085205, + 0.07035113126039505, + 0.05295281484723091, + 3.0817344188690186, + -0.19287052750587463, + 0.6724831461906433 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 8 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3447279930114746, + 0.06561501324176788, + 0.05138213932514191, + 3.0862693786621094, + -0.21099211275577545, + 0.7293838262557983 + ], + "gripper_value": 0.16760419309139252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 8 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34164711833000183, + 0.0586557574570179, + 0.03899737447500229, + 3.1024739742279053, + -0.22160957753658295, + 0.7654327154159546 + ], + "gripper_value": 0.05592256039381027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 8 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3349023163318634, + 0.045269675552845, + 0.027639856562018394, + 3.124516248703003, + -0.1516895741224289, + 0.7424749135971069 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33586376905441284, + 0.039283957332372665, + 0.025154998525977135, + 3.11252498626709, + -0.11976373940706253, + 0.7677451372146606 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 7 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3331148624420166, + 0.03164812549948692, + 0.022947873920202255, + 3.0795786380767822, + -0.1287563592195511, + 0.7320153117179871 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 7 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31365931034088135, + 0.010785321705043316, + 0.02350742369890213, + 3.084674596786499, + -0.08389337360858917, + 0.6716188192367554 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 5 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29094961285591125, + -0.0031254214700311422, + 0.025165872648358345, + 3.0784990787506104, + -0.060943037271499634, + 0.6080483198165894 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 155, + 241, + 330, + 484 + ], + "green cloth": [ + 352, + 289, + 766, + 663 + ], + "red object": [ + 775, + 322, + 876, + 464 + ], + "blue bottle": [ + 783, + 515, + 866, + 632 + ], + "oven knob": [ + 90, + 700, + 182, + 810 + ], + "sink": [ + 773, + 509, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot is positioned above the green cloth on the stovetop, with the gripper open and ready to close. No part of the task has been completed yet. The next action is to close the gripper to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27618712186813354, + -0.012476402334868908, + 0.030760813504457474, + 3.0731959342956543, + -0.0762522965669632, + 0.5530576109886169 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26044443249702454, + -0.014744807034730911, + 0.03293978050351143, + 3.086913824081421, + -0.08008615672588348, + 0.4730376601219177 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24854020774364471, + -0.01341555081307888, + 0.027645479887723923, + 3.1084959506988525, + -0.05554576590657234, + 0.4067727327346802 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23911170661449432, + -0.014047019183635712, + 0.029406806454062462, + 3.112729072570801, + -0.05093536525964737, + 0.3712899386882782 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23440060019493103, + -0.01815749518573284, + 0.028168179094791412, + 3.108975648880005, + -0.02589273639023304, + 0.3590202331542969 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22715488076210022, + -0.028831621631979942, + 0.027657583355903625, + 3.098257541656494, + 0.018727285787463188, + 0.3371247947216034 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21951685845851898, + -0.032811250537633896, + 0.028141014277935028, + 3.0947227478027344, + 0.046132396906614304, + 0.3195211589336395 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 4 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2222016602754593, + -0.03464283049106598, + 0.03428841754794121, + 3.0651848316192627, + 0.05733533203601837, + 0.33567407727241516 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 5 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22321100533008575, + -0.03422873839735985, + 0.0381610132753849, + 3.0783016681671143, + 0.0356806255877018, + 0.35897332429885864 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag cloth leftward", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move left 6 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.240073561668396, + -0.021006405353546143, + 0.04578959941864014, + 3.0749335289001465, + -0.02640087530016899, + 0.4332576394081116 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 6 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25816088914871216, + -0.006974326446652412, + 0.0469248928129673, + 3.07908296585083, + -0.04568755626678467, + 0.47918927669525146 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 155, + 240, + 330, + 483 + ], + "red object": [ + 775, + 321, + 876, + 464 + ], + "green cloth": [ + 314, + 319, + 773, + 789 + ], + "oven knob": [ + 88, + 700, + 183, + 811 + ], + "blue bottle": [ + 782, + 515, + 866, + 634 + ], + "sink": [ + 773, + 508, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move left 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26811760663986206, + 0.004516782704740763, + 0.051600873470306396, + 3.0703914165496826, + -0.0860615074634552, + 0.5117394328117371 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 5 cm, tilt back 10 degrees, open gripper; then move forward 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2731415927410126, + 0.012251107022166252, + 0.05688958987593651, + 3.057374954223633, + -0.09423134475946426, + 0.5240162014961243 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the green cloth, which is currently positioned over the stovetop. The gripper is in contact with the cloth, and the next action is to drag the cloth leftward across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 5 cm, open gripper; then move forward 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734440863132477, + 0.013350493274629116, + 0.06965292245149612, + 3.0420799255371094, + -0.12741601467132568, + 0.5005514025688171 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 308, + 365, + 768, + 744 + ], + "blue bottle": [ + 782, + 514, + 866, + 636 + ], + "red object": [ + 775, + 322, + 876, + 464 + ], + "oven knob": [ + 89, + 700, + 183, + 811 + ], + "can": [ + 154, + 240, + 331, + 483 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The green cloth is currently positioned over the stovetop but not yet centered on the right burner. The gripper is closed and holding the cloth, as supported by segment-level evidence and consistent image context. The next action should involve fine lateral adjustment to align the cloth precisely over the right burner before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 3 cm, open gripper; then move forward 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2745155394077301, + 0.017174284905195236, + 0.08628690987825394, + 3.009655714035034, + -0.1546487659215927, + 0.497177392244339 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The green cloth is currently positioned over the stovetop but not yet centered on the right burner. The gripper is closed and holding the cloth, as supported by segment-level evidence and consistent image context. The next action should involve fine lateral adjustment to align the cloth precisely over the right burner before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 2 cm, open gripper; then move forward 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719062864780426, + 0.01985185220837593, + 0.09471797943115234, + 3.001810312271118, + -0.1089438796043396, + 0.4800853729248047 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The green cloth is currently positioned over the stovetop but not yet centered on the right burner. The gripper is closed and holding the cloth, as supported by segment-level evidence and consistent image context. The next action should involve fine lateral adjustment to align the cloth precisely over the right burner before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, keep gripper open; then move forward 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.266882061958313, + 0.02258506417274475, + 0.09693251550197601, + 3.0201961994171143, + -0.0746752917766571, + 0.4682576060295105 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The green cloth is currently positioned over the stovetop but not yet centered on the right burner. The gripper is closed and holding the cloth, as supported by segment-level evidence and consistent image context. The next action should involve fine lateral adjustment to align the cloth precisely over the right burner before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26463082432746887, + 0.02753005363047123, + 0.1047399565577507, + 3.026057243347168, + -0.09769725799560547, + 0.45697858929634094 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The green cloth is currently positioned over the stovetop but not yet centered on the right burner. The gripper is closed and holding the cloth, as supported by segment-level evidence and consistent image context. The next action should involve fine lateral adjustment to align the cloth precisely over the right burner before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640186846256256, + 0.036185622215270996, + 0.10494054853916168, + 3.050915241241455, + -0.11151129752397537, + 0.461956262588501 + ], + "gripper_value": 0.24793511629104614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition cloth over right burner", + "subtask_reasoning": "The green cloth is currently positioned over the stovetop but not yet centered on the right burner. The gripper is closed and holding the cloth, as supported by segment-level evidence and consistent image context. The next action should involve fine lateral adjustment to align the cloth precisely over the right burner before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2682056128978729, + 0.05779780074954033, + 0.10359036922454834, + 3.044633150100708, + -0.18153993785381317, + 0.5021407604217529 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The green cloth is currently positioned over the stovetop but not yet centered on the right burner. The gripper is closed and holding the cloth, as supported by segment-level evidence and consistent image context. The next action should involve fine lateral adjustment to align the cloth precisely over the right burner before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.279194176197052, + 0.08304133266210556, + 0.10559417307376862, + 3.015090227127075, + -0.26348593831062317, + 0.5637785792350769 + ], + "gripper_value": 0.806471049785614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The green cloth is positioned on the right burner, and the gripper is open and elevated above it, indicating the release has occurred. The robot is now retreating from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916854918003082, + 0.09872995316982269, + 0.1000017449259758, + 3.0989084243774414, + -0.27599796652793884, + 0.4889298975467682 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The green cloth is positioned on the right burner, and the gripper is open and elevated above it, indicating the release has occurred. The robot is now retreating from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3059869706630707, + 0.10219675302505493, + 0.0913018211722374, + -3.0502634048461914, + -0.2846912741661072, + 0.21014364063739777 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth on top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on cloth" + }, + { + "id": 2, + "subtask": "grasp and drag cloth leftward" + }, + { + "id": 3, + "subtask": "reposition cloth over right burner" + }, + { + "id": 4, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The green cloth is positioned on the right burner, and the gripper is open and elevated above it, indicating the release has occurred. The robot is now retreating from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003897_ecot.json b/cot/chunk-0003/episode_0003897_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1a94642354b9d3cab6c8267e53f27061a0b38f63 --- /dev/null +++ b/cot/chunk-0003/episode_0003897_ecot.json @@ -0,0 +1,2248 @@ +{ + "task_name": "episode_0003897", + "episode_json": "json/chunk-0003/episode_0003897.json", + "video_path": "videos/chunk-0003/image_0/episode_0003897.mp4", + "instruction": "Take corn out of bowl sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003897.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.44503945112228394, + "std": 0.1956579089164734, + "delta_total": -0.003954052925109863, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.44504, std=0.19566, total_delta=-0.00395). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 23 + ], + [ + 3, + 24, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn in bowl\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector from initial position toward the blue bowl containing corn in the sink.\"},\n {\"id\": 2, \"name\": \"close gripper on corn\", \"start\": 9, \"end\": 18, \"planning\": \"Lower gripper into bowl and close around corn cob as evidenced by gripper value dropping from 1.0 to 0.59.\"},\n {\"id\": 3, \"name\": \"lift corn from bowl\", \"start\": 19, \"end\": 23, \"planning\": \"Raise gripper with corn out of bowl while maintaining grip, moving upward and slightly away from sink basin.\"},\n {\"id\": 4, \"name\": \"reposition corn over counter\", \"start\": 24, \"end\": 27, \"planning\": \"Translate corn horizontally over countertop area while beginning to open gripper for release.\"},\n {\"id\": 5, \"name\": \"release corn on counter\", \"start\": 28, \"end\": 31, \"planning\": \"Fully open gripper to drop corn onto counter surface, completing removal from bowl sink.\"}\n ],\n \"global_plan\": \"Extract corn cob from blue bowl in sink by approaching, grasping, lifting, repositioning over counter, and releasing.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.41) consistent with grasp; Segment 2 has no gripper change but motion indicates lift; Segment 3 shows gripper opening (delta=+0.40) consistent with release. All subtasks align with observed motion and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn in bowl", + "start": 0, + "end": 8, + "planning": "Move end-effector from initial position toward the blue bowl containing corn in the sink." + }, + { + "id": 2, + "name": "close gripper on corn", + "start": 9, + "end": 18, + "planning": "Lower gripper into bowl and close around corn cob as evidenced by gripper value dropping from 1.0 to 0.59." + }, + { + "id": 3, + "name": "lift corn from bowl", + "start": 19, + "end": 23, + "planning": "Raise gripper with corn out of bowl while maintaining grip, moving upward and slightly away from sink basin." + }, + { + "id": 4, + "name": "reposition corn over counter", + "start": 24, + "end": 27, + "planning": "Translate corn horizontally over countertop area while beginning to open gripper for release." + }, + { + "id": 5, + "name": "release corn on counter", + "start": 28, + "end": 31, + "planning": "Fully open gripper to drop corn onto counter surface, completing removal from bowl sink." + } + ], + "global_plan": "Extract corn cob from blue bowl in sink by approaching, grasping, lifting, repositioning over counter, and releasing.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.41) consistent with grasp; Segment 2 has no gripper change but motion indicates lift; Segment 3 shows gripper opening (delta=+0.40) consistent with release. All subtasks align with observed motion and gripper evidence." + } + }, + "episode_goal": "Pick up the corn from the blue bowl in the sink and place it on the counter.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37835291028022766, + 0.06564006954431534, + 0.0758228525519371, + -3.034230947494507, + -0.43548136949539185, + 0.21789170801639557 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot is positioned above the sink where a blue bowl containing a corn cob is visible. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 6 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37276434898376465, + 0.06565563380718231, + 0.0630209892988205, + -3.0298116207122803, + -0.3950619697570801, + 0.2276402860879898 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot is positioned above the sink where a blue bowl containing a corn cob is visible. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.359473317861557, + 0.05845613405108452, + 0.05518731102347374, + -3.0142359733581543, + -0.3398854732513428, + 0.2890447676181793 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot is positioned above the sink where a blue bowl containing a corn cob is visible. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34679004549980164, + 0.0492829754948616, + 0.0497732050716877, + -3.048370361328125, + -0.2476821392774582, + 0.31653738021850586 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot is positioned above the sink where a blue bowl containing a corn cob is visible. No actions have been completed yet as the gripper remains open and stationary relative to the object. The robot needs to move its end-effector closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3363737165927887, + 0.04426661133766174, + 0.04252433404326439, + -3.0491206645965576, + -0.2037520855665207, + 0.3301120698451996 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 461, + 411, + 539, + 511 + ], + "blue bowl": [ + 410, + 376, + 568, + 546 + ], + "sink": [ + 241, + 190, + 824, + 661 + ], + "metal spoon": [ + 532, + 433, + 739, + 575 + ], + "stovetop": [ + 3, + 10, + 342, + 382 + ], + "faucet": [ + 372, + 18, + 635, + 371 + ], + "green scrubber": [ + 499, + 350, + 633, + 470 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33348578214645386, + 0.037155743688344955, + 0.04113197326660156, + -3.086232900619507, + -0.17096973955631256, + 0.3330034613609314 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3317119777202606, + 0.03961898013949394, + 0.03155317157506943, + -3.099290132522583, + -0.15343041718006134, + 0.33411115407943726 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32964077591896057, + 0.040801916271448135, + 0.022518644109368324, + -3.0844666957855225, + -0.1309269666671753, + 0.33190110325813293 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.329986572265625, + 0.0433582179248333, + 0.014273564331233501, + -3.0793685913085938, + -0.12187357991933823, + 0.34125545620918274 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33205774426460266, + 0.04477880150079727, + 0.01264707650989294, + -3.0756583213806152, + -0.1355813890695572, + 0.34830036759376526 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3305572271347046, + 0.045843567699193954, + 0.009749398566782475, + -3.0706162452697754, + -0.1460215449333191, + 0.34836456179618835 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3298960030078888, + 0.044853854924440384, + 0.00763315474614501, + -3.073410987854004, + -0.15446878969669342, + 0.35386890172958374 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32787173986434937, + 0.0438685305416584, + 0.004511717241257429, + -3.0677683353424072, + -0.16236597299575806, + 0.3491148054599762 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 461, + 411, + 538, + 511 + ], + "blue bowl": [ + 414, + 378, + 570, + 547 + ], + "metal spoon": [ + 538, + 430, + 740, + 576 + ], + "green scrubber": [ + 564, + 398, + 632, + 470 + ], + "stovetop": [ + 3, + 10, + 341, + 381 + ], + "sink": [ + 241, + 174, + 823, + 661 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing the corn visible below. No contact or grasping has occurred yet as the gripper remains open. The next action is to lower the arm to bring the gripper closer to the corn for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281840682029724, + 0.041824519634246826, + -0.0015252850716933608, + -3.0688364505767822, + -0.16296935081481934, + 0.34770843386650085 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and aligned near the corn cob. The gripper has begun closing (evidenced by decreasing gripper value), indicating active grasping. Next, complete closure to secure the corn before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3291768729686737, + 0.04135796055197716, + -0.0037583017256110907, + -3.0687880516052246, + -0.1681896448135376, + 0.3559088110923767 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and aligned near the corn cob. The gripper has begun closing (evidenced by decreasing gripper value), indicating active grasping. Next, complete closure to secure the corn before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32839640974998474, + 0.04082918539643288, + -0.007000371813774109, + -3.070096492767334, + -0.16391883790493011, + 0.37400251626968384 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and aligned near the corn cob. The gripper has begun closing (evidenced by decreasing gripper value), indicating active grasping. Next, complete closure to secure the corn before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284546136856079, + 0.04061775654554367, + -0.006321234162896872, + -3.0718705654144287, + -0.15963450074195862, + 0.38635215163230896 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and aligned near the corn cob. The gripper has begun closing (evidenced by decreasing gripper value), indicating active grasping. Next, complete closure to secure the corn before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move forward 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3308613896369934, + 0.040414031594991684, + -0.006033211015164852, + -3.083214044570923, + -0.17487682402133942, + 0.41186100244522095 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and aligned near the corn cob. The gripper has begun closing (evidenced by decreasing gripper value), indicating active grasping. Next, complete closure to secure the corn before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move forward 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33077237010002136, + 0.038863640278577805, + 0.0005520131671801209, + -3.0954959392547607, + -0.1762058436870575, + 0.4209260940551758 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "close gripper on corn", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and aligned near the corn cob. The gripper has begun closing (evidenced by decreasing gripper value), indicating active grasping. Next, complete closure to secure the corn before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move forward 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3359863758087158, + 0.040249668061733246, + 0.02714756689965725, + 3.132021903991699, + -0.2014077752828598, + 0.4649827778339386 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "lift corn from bowl", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and aligned near the corn cob. The gripper has begun closing (evidenced by decreasing gripper value), indicating active grasping. Next, complete closure to secure the corn before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3408380150794983, + 0.04499583691358566, + 0.045676689594984055, + 3.0858912467956543, + -0.18111519515514374, + 0.505193829536438 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "lift corn from bowl", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and aligned near the corn cob. The gripper has begun closing (evidenced by decreasing gripper value), indicating active grasping. Next, complete closure to secure the corn before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3513089716434479, + 0.06268583983182907, + 0.05720102787017822, + 3.0860648155212402, + -0.2242421954870224, + 0.5728552937507629 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 444, + 230, + 530, + 371 + ], + "blue bowl": [ + 404, + 373, + 561, + 544 + ], + "metal spoon": [ + 529, + 433, + 739, + 575 + ], + "sink": [ + 242, + 196, + 823, + 662 + ], + "stovetop": [ + 3, + 9, + 340, + 383 + ], + "green scrubber": [ + 501, + 349, + 631, + 470 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "lift corn from bowl", + "subtask_reasoning": "The robot has approached and closed its gripper on the corn cob inside the blue bowl in the sink. The current subtask involves lifting the corn cob from the bowl, but the gripper evidence does not show meaningful closing, suggesting the corn may not be securely grasped yet. The next action should focus on ensuring a firm grasp before attempting to lift the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642885386943817, + 0.07910040766000748, + 0.053836654871702194, + 3.108990430831909, + -0.18797072768211365, + 0.5874515175819397 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "lift corn from bowl", + "subtask_reasoning": "The robot has approached and closed its gripper on the corn cob inside the blue bowl in the sink. The current subtask involves lifting the corn cob from the bowl, but the gripper evidence does not show meaningful closing, suggesting the corn may not be securely grasped yet. The next action should focus on ensuring a firm grasp before attempting to lift the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3719837963581085, + 0.09315194934606552, + 0.04343061149120331, + 3.1365320682525635, + -0.16276724636554718, + 0.58022540807724 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "lift corn from bowl", + "subtask_reasoning": "The robot has approached and closed its gripper on the corn cob inside the blue bowl in the sink. The current subtask involves lifting the corn cob from the bowl, but the gripper evidence does not show meaningful closing, suggesting the corn may not be securely grasped yet. The next action should focus on ensuring a firm grasp before attempting to lift the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3749050498008728, + 0.09961967915296555, + 0.023731907829642296, + -3.1007986068725586, + -0.16310085356235504, + 0.5781970024108887 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 404, + 373, + 561, + 544 + ], + "metal spoon": [ + 531, + 431, + 740, + 572 + ], + "stovetop": [ + 3, + 10, + 336, + 381 + ], + "yellow sponge": [ + 393, + 212, + 473, + 343 + ], + "sink": [ + 241, + 189, + 823, + 661 + ], + "green scrubber": [ + 461, + 325, + 632, + 469 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "reposition corn over counter", + "subtask_reasoning": "The robot has approached and closed its gripper on the corn cob inside the blue bowl in the sink. The current subtask involves lifting the corn cob from the bowl, but the gripper evidence does not show meaningful closing, suggesting the corn may not be securely grasped yet. The next action should focus on ensuring a firm grasp before attempting to lift the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3803386688232422, + 0.1028546467423439, + 0.014994467608630657, + -3.0884406566619873, + -0.16308806836605072, + 0.5847390294075012 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "reposition corn over counter", + "subtask_reasoning": "The robot has successfully grasped the corn cob from the blue bowl in the sink. The current scene shows the corn being held above the sink, with the counter visible to the right. The next action is to move the corn horizontally over the counter surface in preparation for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3833346962928772, + 0.10379695892333984, + 0.01352465245872736, + -3.0797767639160156, + -0.1988534927368164, + 0.5788905024528503 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "reposition corn over counter", + "subtask_reasoning": "The robot has successfully grasped the corn cob from the blue bowl in the sink. The current scene shows the corn being held above the sink, with the counter visible to the right. The next action is to move the corn horizontally over the counter surface in preparation for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816780149936676, + 0.10408112406730652, + 0.005564435385167599, + -3.0675485134124756, + -0.1847316473722458, + 0.5870276689529419 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "reposition corn over counter", + "subtask_reasoning": "The robot has successfully grasped the corn cob from the blue bowl in the sink. The current scene shows the corn being held above the sink, with the counter visible to the right. The next action is to move the corn horizontally over the counter surface in preparation for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.38271602988243103, + 0.10211846232414246, + 0.005043901968747377, + -3.057032823562622, + -0.19074514508247375, + 0.5863666534423828 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "release corn on counter", + "subtask_reasoning": "The robot has successfully grasped the corn cob from the blue bowl in the sink. The current scene shows the corn being held above the sink, with the counter visible to the right. The next action is to move the corn horizontally over the counter surface in preparation for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.38325631618499756, + 0.10437372326850891, + 0.004037071950733662, + -3.045179605484009, + -0.1964053362607956, + 0.5885600447654724 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "release corn on counter", + "subtask_reasoning": "The corn cob is currently resting in the blue bowl within the sink, and the robot's gripper is open and positioned above the sink area. The previous steps of approaching and grasping the corn have been completed, but the release action has not yet occurred as the corn remains in the bowl. The next action should involve moving the gripper with the grasped corn over the counter and opening the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.38319528102874756, + 0.10586385428905487, + 0.0037856954149901867, + -3.0400359630584717, + -0.20756985247135162, + 0.5916733741760254 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "release corn on counter", + "subtask_reasoning": "The corn cob is currently resting in the blue bowl within the sink, and the robot's gripper is open and positioned above the sink area. The previous steps of approaching and grasping the corn have been completed, but the release action has not yet occurred as the corn remains in the bowl. The next action should involve moving the gripper with the grasped corn over the counter and opening the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3835557699203491, + 0.10717607289552689, + 0.02009107917547226, + -3.0663399696350098, + -0.263157457113266, + 0.645760715007782 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "close gripper on corn" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over counter" + }, + { + "id": 5, + "subtask": "release corn on counter" + } + ], + "subtask_name": "release corn on counter", + "subtask_reasoning": "The corn cob is currently resting in the blue bowl within the sink, and the robot's gripper is open and positioned above the sink area. The previous steps of approaching and grasping the corn have been completed, but the release action has not yet occurred as the corn remains in the bowl. The next action should involve moving the gripper with the grasped corn over the counter and opening the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003898_ecot.json b/cot/chunk-0003/episode_0003898_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..93b3fe611e93e791f2335312cbdd6c2dceef76ea --- /dev/null +++ b/cot/chunk-0003/episode_0003898_ecot.json @@ -0,0 +1,1327 @@ +{ + "task_name": "episode_0003898", + "episode_json": "json/chunk-0003/episode_0003898.json", + "video_path": "videos/chunk-0003/image_0/episode_0003898.mp4", + "instruction": "Move the cloth from left of the table to the middle of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003898.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013275146484375, + "std": 0.0005980838905088603, + "delta_total": -0.0013275146484375, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00060, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector down toward the cloth on the left side of the table without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 8, \"end\": 11, \"planning\": \"Establish contact with the cloth and begin nudging it slightly toward the center using open-gripper pushing.\"},\n {\"id\": 3, \"name\": \"drag cloth to center\", \"start\": 12, \"end\": 21, \"planning\": \"Continue dragging the cloth across the table surface to the middle position while maintaining light contact without grasping.\"}\n ],\n \"global_plan\": \"The robot approaches the cloth, makes contact, and then drags it from the left to the center of the table using open-gripper pushing motions throughout, as no meaningful gripper closing is observed.\",\n \"notes\": \"Gripper remains effectively open (value ~1.0) across all segments; no grasp or lift occurs. Motion is purely translational/contact-based manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 7, + "planning": "Move the end-effector down toward the cloth on the left side of the table without grasping." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 8, + "end": 11, + "planning": "Establish contact with the cloth and begin nudging it slightly toward the center using open-gripper pushing." + }, + { + "id": 3, + "name": "drag cloth to center", + "start": 12, + "end": 21, + "planning": "Continue dragging the cloth across the table surface to the middle position while maintaining light contact without grasping." + } + ], + "global_plan": "The robot approaches the cloth, makes contact, and then drags it from the left to the center of the table using open-gripper pushing motions throughout, as no meaningful gripper closing is observed.", + "notes": "Gripper remains effectively open (value ~1.0) across all segments; no grasp or lift occurs. Motion is purely translational/contact-based manipulation." + } + }, + "episode_goal": "Move the cloth from left of the table to the middle of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37186819314956665, + 0.0653027817606926, + 0.12060792744159698, + 3.141303539276123, + -0.2375534325838089, + -0.18002305924892426 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 11 cm, keep gripper open; then move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3714909255504608, + 0.06523392349481583, + 0.10478471964597702, + 3.1258397102355957, + -0.19926750659942627, + -0.17951706051826477 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 10 cm, keep gripper open; then move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3782521188259125, + 0.06402949243783951, + 0.08684567362070084, + 3.1250970363616943, + -0.19612030684947968, + -0.19744549691677094 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 8 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869415819644928, + 0.06588379293680191, + 0.06733831018209457, + 3.1331512928009033, + -0.20734050869941711, + -0.19378593564033508 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the cloth on the left side of the table with its gripper open. No contact has been made yet, and the subtask of approaching the cloth is in progress. The next action should involve lowering or moving the end-effector to make contact with the cloth to begin dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3910210132598877, + 0.06656923145055771, + 0.053057413548231125, + 3.132704496383667, + -0.21968604624271393, + -0.19087687134742737 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the cloth on the left side of the table with its gripper open. No contact has been made yet, and the subtask of approaching the cloth is in progress. The next action should involve lowering or moving the end-effector to make contact with the cloth to begin dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3894462287425995, + 0.06502198427915573, + 0.03686464950442314, + 3.1198902130126953, + -0.21057546138763428, + -0.18631716072559357 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 10, + 150, + 995, + 994 + ], + "blue cloth": [ + 230, + 194, + 661, + 510 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the cloth on the left side of the table with its gripper open. No contact has been made yet, and the subtask of approaching the cloth is in progress. The next action should involve lowering or moving the end-effector to make contact with the cloth to begin dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 12 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38938599824905396, + 0.0646706372499466, + 0.03162053972482681, + 3.116811752319336, + -0.2101733684539795, + -0.1830631047487259 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the cloth on the left side of the table with its gripper open. No contact has been made yet, and the subtask of approaching the cloth is in progress. The next action should involve lowering or moving the end-effector to make contact with the cloth to begin dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 14 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3854997754096985, + 0.06552964448928833, + 0.014932999387383461, + 3.1158769130706787, + -0.18419182300567627, + -0.17358459532260895 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the cloth on the left side of the table with its gripper open. No contact has been made yet, and the subtask of approaching the cloth is in progress. The next action should involve lowering or moving the end-effector to make contact with the cloth to begin dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 14 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38221946358680725, + 0.06866554170846939, + 0.008540146052837372, + -3.1323392391204834, + -0.18221254646778107, + -0.1685165911912918 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the cloth on the left side of the table with its gripper open. No contact has been made yet, and the subtask of approaching the cloth is in progress. The next action should involve lowering or moving the end-effector to make contact with the cloth to begin dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 13 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3838436007499695, + 0.0639123022556305, + 0.0026197065599262714, + -3.111401081085205, + -0.17959296703338623, + -0.18555398285388947 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the left side of the table. The approach phase is complete, and the gripper remains open with no closing evidence. The next action is to push or nudge the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 14 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3855379521846771, + 0.05011827498674393, + 0.0023080192040652037, + -3.121156692504883, + -0.17866407334804535, + -0.21643319725990295 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the left side of the table. The approach phase is complete, and the gripper remains open with no closing evidence. The next action is to push or nudge the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper open; then move back 3 cm, move right 14 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38674837350845337, + 0.03515811264514923, + 0.002261536894366145, + -3.1273176670074463, + -0.17760351300239563, + -0.24713537096977234 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the left side of the table. The approach phase is complete, and the gripper remains open with no closing evidence. The next action is to push or nudge the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 3 cm, move right 13 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38794922828674316, + 0.012447933666408062, + 0.0031605050899088383, + 3.141345739364624, + -0.17949584126472473, + -0.2870306372642517 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the left side of the table. The approach phase is complete, and the gripper remains open with no closing evidence. The next action is to push or nudge the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38976234197616577, + -0.018024209886789322, + 0.0033378894440829754, + 3.115734577178955, + -0.18406614661216736, + -0.34071478247642517 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 10, + 145, + 995, + 994 + ], + "blue cloth": [ + 313, + 221, + 741, + 554 + ], + "black mouse": [ + 6, + 108, + 61, + 155 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the left side of the table. The approach phase is complete, and the gripper remains open with no closing evidence. The next action is to push or nudge the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38436204195022583, + -0.06675367057323456, + 0.004111279733479023, + 3.0802083015441895, + -0.19159916043281555, + -0.4399014413356781 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the left side of the table. The approach phase is complete, and the gripper remains open with no closing evidence. The next action is to push or nudge the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37460723519325256, + -0.10661723464727402, + 0.004263504408299923, + 3.0680534839630127, + -0.1924166977405548, + -0.551323413848877 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 456, + 280, + 948, + 680 + ], + "wooden table": [ + 11, + 144, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the left side of the table. The approach phase is complete, and the gripper remains open with no closing evidence. The next action is to push or nudge the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36427539587020874, + -0.12266374379396439, + 0.0022384985350072384, + 3.0649359226226807, + -0.18281684815883636, + -0.6112340092658997 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth, which is positioned near the center of the table. The gripper remains open, indicating a pushing or dragging motion rather than grasping. The next action is to continue pushing the cloth slightly further to ensure it is fully centered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.361682653427124, + -0.12282457947731018, + 0.004380769561976194, + 3.072443723678589, + -0.1835818886756897, + -0.6228737235069275 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth, which is positioned near the center of the table. The gripper remains open, indicating a pushing or dragging motion rather than grasping. The next action is to continue pushing the cloth slightly further to ensure it is fully centered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605470061302185, + -0.12174928933382034, + 0.006373365875333548, + 3.0706727504730225, + -0.16834396123886108, + -0.6406680345535278 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth, which is positioned near the center of the table. The gripper remains open, indicating a pushing or dragging motion rather than grasping. The next action is to continue pushing the cloth slightly further to ensure it is fully centered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3624790608882904, + -0.12486660480499268, + 0.028867492452263832, + 3.06835675239563, + -0.19672003388404846, + -0.6633741855621338 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth, which is positioned near the center of the table. The gripper remains open, indicating a pushing or dragging motion rather than grasping. The next action is to continue pushing the cloth slightly further to ensure it is fully centered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619604706764221, + -0.12537316977977753, + 0.06022370979189873, + 3.085301160812378, + -0.23861493170261383, + -0.6837183833122253 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth, which is positioned near the center of the table. The gripper remains open, indicating a pushing or dragging motion rather than grasping. The next action is to continue pushing the cloth slightly further to ensure it is fully centered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35889512300491333, + -0.11753464490175247, + 0.10137706249952316, + 3.116889715194702, + -0.2913352847099304, + -0.7048216462135315 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from left of the table to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth to center" + } + ], + "subtask_name": "drag cloth to center", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth, which is positioned near the center of the table. The gripper remains open, indicating a pushing or dragging motion rather than grasping. The next action is to continue pushing the cloth slightly further to ensure it is fully centered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003899_ecot.json b/cot/chunk-0003/episode_0003899_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f77794a648883a41301a9774c93423b717d3d643 --- /dev/null +++ b/cot/chunk-0003/episode_0003899_ecot.json @@ -0,0 +1,2149 @@ +{ + "task_name": "episode_0003899", + "episode_json": "json/chunk-0003/episode_0003899.json", + "video_path": "videos/chunk-0003/image_0/episode_0003899.mp4", + "instruction": "Pick up the cauliflower from pot and put it on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003899.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.29961562156677246, + "std": 0.13064834475517273, + "delta_total": -0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.29962, std=0.13065, total_delta=-0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 6 + ], + [ + 3, + 7, + 16 + ], + [ + 4, + 17, + 20 + ], + [ + 5, + 21, + 23 + ], + [ + 6, + 24, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper from initial position toward the pot containing the cauliflower.\"},\n {\"id\": 2, \"name\": \"grasp cauliflower\", \"start\": 7, \"end\": 16, \"planning\": \"Close gripper around the cauliflower and lift it out of the pot, confirmed by gripper closure and visual evidence.\"},\n {\"id\": 3, \"name\": \"transport to table\", \"start\": 17, \"end\": 23, \"planning\": \"Carry the grasped cauliflower over the table surface while maintaining grip, then release it onto the table.\"},\n {\"id\": 4, \"name\": \"retreat after placement\", \"start\": 24, \"end\": 34, \"planning\": \"Withdraw the gripper upward and away from the placed cauliflower to complete the task.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp and lift the cauliflower, transport and place it on the table, then retreat.\",\n \"notes\": \"Segment 1 (frames 0-5) shows no gripper closing — correctly labeled as approach. Segment 3 (7-16) has meaningful gripper closure and image confirmation — grasp is valid. Segment 4 (17-20) includes release motion; merged with transport phase for natural flow. Segment 6 (24-34) has no gripper activity — retreat only. Frame 23 is included in transport to ensure contiguous coverage up to release completion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 6, + "planning": "Move the gripper from initial position toward the pot containing the cauliflower." + }, + { + "id": 2, + "name": "grasp cauliflower", + "start": 7, + "end": 16, + "planning": "Close gripper around the cauliflower and lift it out of the pot, confirmed by gripper closure and visual evidence." + }, + { + "id": 3, + "name": "transport to table", + "start": 17, + "end": 23, + "planning": "Carry the grasped cauliflower over the table surface while maintaining grip, then release it onto the table." + }, + { + "id": 4, + "name": "retreat after placement", + "start": 24, + "end": 34, + "planning": "Withdraw the gripper upward and away from the placed cauliflower to complete the task." + } + ], + "global_plan": "Approach the pot, grasp and lift the cauliflower, transport and place it on the table, then retreat.", + "notes": "Segment 1 (frames 0-5) shows no gripper closing — correctly labeled as approach. Segment 3 (7-16) has meaningful gripper closure and image confirmation — grasp is valid. Segment 4 (17-20) includes release motion; merged with transport phase for natural flow. Segment 6 (24-34) has no gripper activity — retreat only. Frame 23 is included in transport to ensure contiguous coverage up to release completion." + } + }, + "episode_goal": "Pick up the cauliflower from the pot and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955266535282135, + 0.10950994491577148, + 0.09292127937078476, + 3.1153056621551514, + -0.13074927031993866, + -0.09050261974334717 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector towards the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 18 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29375284910202026, + 0.10644752532243729, + 0.08427613228559494, + 3.104346513748169, + -0.10798545181751251, + -0.0893842950463295 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector towards the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 18 cm, move down 4 cm, rotate counterclockwise 40 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29394763708114624, + 0.06687101721763611, + 0.070848748087883, + 3.1031062602996826, + -0.08202032744884491, + -0.19342659413814545 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end effector towards the pot to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 14 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2954420745372772, + 0.031856875866651535, + 0.07206221669912338, + 3.1211962699890137, + -0.11017253249883652, + -0.30576032400131226 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No part of the task has been completed yet as the end-effector has not reached the target. The robot needs to continue moving towards the pot to align with the cauliflower for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 4 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2964838743209839, + -0.013552789576351643, + 0.07018492370843887, + 3.1229517459869385, + -0.12259182333946228, + -0.4690781235694885 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No part of the task has been completed yet as the end-effector has not reached the target. The robot needs to continue moving towards the pot to align with the cauliflower for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 8 cm, move left 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2941235303878784, + -0.049533843994140625, + 0.0661759153008461, + 3.132991075515747, + -0.15378278493881226, + -0.680348813533783 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No part of the task has been completed yet as the end-effector has not reached the target. The robot needs to continue moving towards the pot to align with the cauliflower for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 10 cm, move left 5 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29317015409469604, + -0.06521043926477432, + 0.0629483237862587, + -3.1270666122436523, + -0.1655309647321701, + -0.7719346284866333 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No part of the task has been completed yet as the end-effector has not reached the target. The robot needs to continue moving towards the pot to align with the cauliflower for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move forward 10 cm, move left 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29258760809898376, + -0.07279987633228302, + 0.04338163137435913, + 3.106825590133667, + -0.16187235713005066, + -0.8036326169967651 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No part of the task has been completed yet as the end-effector has not reached the target. The robot needs to continue moving towards the pot to align with the cauliflower for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29999497532844543, + -0.07990183681249619, + 0.01997186616063118, + 3.0494444370269775, + -0.17045925557613373, + -0.8271706700325012 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No part of the task has been completed yet as the end-effector has not reached the target. The robot needs to continue moving towards the pot to align with the cauliflower for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31213071942329407, + -0.08543960005044937, + 0.013944975100457668, + 3.0430808067321777, + -0.2118462771177292, + -0.8631312847137451 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No part of the task has been completed yet as the end-effector has not reached the target. The robot needs to continue moving towards the pot to align with the cauliflower for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31431689858436584, + -0.08670863509178162, + 0.011408640071749687, + 3.059363603591919, + -0.22682777047157288, + -0.9116095304489136 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the table with the pot containing the cauliflower visible to the right. No part of the task has been completed yet as the end-effector has not reached the target. The robot needs to continue moving towards the pot to align with the cauliflower for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076969385147095, + -0.08643976598978043, + 0.016732532531023026, + 3.0462753772735596, + -0.2366057187318802, + -0.921440839767456 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31311947107315063, + -0.07290757447481155, + 0.06956575065851212, + 3.028264045715332, + -0.3783882260322571, + -0.8857578039169312 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 5 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33289891481399536, + -0.02554292231798172, + 0.10307388752698898, + 2.969831705093384, + -0.4397298991680145, + -0.6936296820640564 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 541, + 320, + 600, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 8 cm, tilt left 20 degrees, tilt forward 20 degrees, keep gripper closed; then move back 3 cm, move left 8 cm, move up 7 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36914047598838806, + -0.01009886059910059, + 0.10338957607746124, + 2.954299211502075, + -0.4216778576374054, + -0.6276727318763733 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 8 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed; then move back 5 cm, move left 8 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3962715268135071, + -0.018470751121640205, + 0.06768746674060822, + 3.005608081817627, + -0.3202016055583954, + -0.6437619924545288 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 5 cm, move left 8 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3876439929008484, + -0.04086378961801529, + 0.04654322564601898, + 3.1044259071350098, + -0.24784402549266815, + -0.729142963886261 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp cauliflower", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move back 5 cm, move left 8 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, open gripper; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38212865591049194, + -0.04080909863114357, + 0.020740356296300888, + -3.048548698425293, + -0.16532082855701447, + -0.7016002535820007 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport to table", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, open gripper; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.385221928358078, + -0.03647318482398987, + 0.013662632554769516, + -3.0118556022644043, + -0.1457703858613968, + -0.6748883724212646 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport to table", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39185574650764465, + -0.02871624194085598, + 0.011076752096414566, + -3.013753652572632, + -0.14033302664756775, + -0.641668975353241 + ], + "gripper_value": 0.7555288672447205 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport to table", + "subtask_reasoning": "The robot has approached the pot and positioned its gripper above the cauliflower. The gripper is currently open and in contact with or very close to the cauliflower, preparing to grasp it. The next action is to close the gripper to securely hold the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38394853472709656, + -0.009423237293958664, + 0.009647615253925323, + -3.107452392578125, + -0.12196548283100128, + -0.5234032273292542 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport to table", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move up 9 cm, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37407565116882324, + 0.006901513785123825, + 0.03990756720304489, + 3.0690815448760986, + -0.09303835034370422, + -0.2552925646305084 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport to table", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36214181780815125, + 0.030567584559321404, + 0.0786849707365036, + 3.0770163536071777, + -0.08414021134376526, + -0.05060163512825966 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport to table", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480309247970581, + 0.03755278140306473, + 0.09405618160963058, + 3.1121280193328857, + -0.05632472038269043, + 0.04711270332336426 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport to table", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.332628071308136, + 0.04213538393378258, + 0.10281627625226974, + -3.1394827365875244, + -0.0721217542886734, + 0.05940084159374237 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32228097319602966, + 0.04686186462640762, + 0.1065000519156456, + -3.1307737827301025, + -0.10070394724607468, + 0.011437512934207916 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31931981444358826, + 0.051346633583307266, + 0.10497534275054932, + -3.1369383335113525, + -0.11859733611345291, + -0.10782073438167572 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193584084510803, + 0.05272192507982254, + 0.10502398014068604, + -3.139509677886963, + -0.12123309075832367, + -0.10876353830099106 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193255364894867, + 0.05293331295251846, + 0.10551327466964722, + -3.137692928314209, + -0.12229783087968826, + -0.10955052077770233 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is currently holding the cauliflower above the table, having successfully lifted it from the pot. The gripper remains closed, securing the object during the transport phase. The next action is to lower the cauliflower onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193665146827698, + 0.05272339656949043, + 0.10552044957876205, + -3.139070510864258, + -0.12270378321409225, + -0.10881699621677399 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The cauliflower has been successfully placed on the table, and the gripper is open and stationary above the scene. The current subtask involves retreating from the placement location, with no further interaction required. The next action is to move the end-effector away from the table to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31928467750549316, + 0.05314326286315918, + 0.10550641268491745, + -3.1363160610198975, + -0.12189088016748428, + -0.11028344929218292 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The cauliflower has been successfully placed on the table, and the gripper is open and stationary above the scene. The current subtask involves retreating from the placement location, with no further interaction required. The next action is to move the end-effector away from the table to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31941646337509155, + 0.05316321179270744, + 0.10536646842956543, + -3.1367757320404053, + -0.12042712420225143, + -0.1102760061621666 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The cauliflower has been successfully placed on the table, and the gripper is open and stationary above the scene. The current subtask involves retreating from the placement location, with no further interaction required. The next action is to move the end-effector away from the table to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31919464468955994, + 0.0536314882338047, + 0.10500995814800262, + -3.1367576122283936, + -0.12042082846164703, + -0.1086961030960083 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The cauliflower has been successfully placed on the table, and the gripper is open and stationary above the scene. The current subtask involves retreating from the placement location, with no further interaction required. The next action is to move the end-effector away from the table to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192027807235718, + 0.05363297834992409, + 0.10550641268491745, + -3.1363160610198975, + -0.12189088016748428, + -0.10874946415424347 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The cauliflower has been successfully placed on the table, and the gripper is open and stationary above the scene. The current subtask involves retreating from the placement location, with no further interaction required. The next action is to move the end-effector away from the table to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192027807235718, + 0.05363297834992409, + 0.10550641268491745, + -3.1363160610198975, + -0.12189088016748428, + -0.10874946415424347 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the cauliflower from the pot and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp cauliflower" + }, + { + "id": 3, + "subtask": "transport to table" + }, + { + "id": 4, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The cauliflower has been successfully placed on the table, and the gripper is open and stationary above the scene. The current subtask involves retreating from the placement location, with no further interaction required. The next action is to move the end-effector away from the table to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003900_ecot.json b/cot/chunk-0003/episode_0003900_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a9a354ff4e3316fc31751f8619d86f54329891 --- /dev/null +++ b/cot/chunk-0003/episode_0003900_ecot.json @@ -0,0 +1,6246 @@ +{ + "task_name": "episode_0003900", + "episode_json": "json/chunk-0003/episode_0003900.json", + "video_path": "videos/chunk-0003/image_0/episode_0003900.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 84, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003900.json" + }, + "fps": 5.0, + "T_eff": 84, + "gripper_behavior_summary": { + "available": true, + "range": 0.6128761768341064, + "std": 0.2142411470413208, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61288, std=0.21424, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 407, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 507, + 307, + 307, + 307, + 307, + 307, + 307, + 307, + 377, + 377, + 377, + 377, + 277, + 277, + 277 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 17 + ], + [ + 4, + 18, + 42 + ], + [ + 5, + 43, + 69 + ], + [ + 6, + 70, + 76 + ], + [ + 7, + 77, + 80 + ], + [ + 8, + 81, + 83 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on beans\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector down toward the scattered beans while closing the gripper to prepare for contact-based sweeping.\"},\n {\"id\": 2, \"name\": \"reposition to sweep start\", \"start\": 7, \"end\": 9, \"planning\": \"Lift and rotate the arm to align the gripper base with the bean cluster for effective pushing motion.\"},\n {\"id\": 3, \"name\": \"sweep beans into pile\", \"start\": 10, \"end\": 42, \"planning\": \"Drag the gripper base across the table surface to push scattered beans toward a central accumulation zone without grasping.\"},\n {\"id\": 4, \"name\": \"refine pile boundary\", \"start\": 43, \"end\": 69, \"planning\": \"Execute small lateral nudges and slides to consolidate stray beans into the main pile using continuous contact.\"},\n {\"id\": 5, \"name\": \"final sweep pass\", \"start\": 70, \"end\": 76, \"planning\": \"Perform a concluding sweeping motion with slight gripper adjustment to gather remaining outliers into the pile.\"},\n {\"id\": 6, \"name\": \"retreat from pile\", \"start\": 77, \"end\": 80, \"planning\": \"Lift the end-effector vertically away from the consolidated bean pile to avoid disturbing it.\"},\n {\"id\": 7, \"name\": \"return to home pose\", \"start\": 81, \"end\": 83, \"planning\": \"Rotate and translate the arm back to a neutral resting position above the workspace after completing the sweep.\"}\n ],\n \"global_plan\": \"Sweep scattered coffee beans into a centralized pile using contact-based pushing and sliding motions with the gripper base, avoiding any grasping or lifting actions throughout the episode.\",\n \"notes\": \"All subtasks use contact-based verbs (sweep, drag, nudge, slide) as no segment shows meaningful gripper closing consistent with grasping; gripper closes only in Segment 1 but images show preparation for contact, not object capture. Frame coverage is complete and contiguous from 0 to 83.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on beans", + "start": 0, + "end": 6, + "planning": "Move end-effector down toward the scattered beans while closing the gripper to prepare for contact-based sweeping." + }, + { + "id": 2, + "name": "reposition to sweep start", + "start": 7, + "end": 9, + "planning": "Lift and rotate the arm to align the gripper base with the bean cluster for effective pushing motion." + }, + { + "id": 3, + "name": "sweep beans into pile", + "start": 10, + "end": 42, + "planning": "Drag the gripper base across the table surface to push scattered beans toward a central accumulation zone without grasping." + }, + { + "id": 4, + "name": "refine pile boundary", + "start": 43, + "end": 69, + "planning": "Execute small lateral nudges and slides to consolidate stray beans into the main pile using continuous contact." + }, + { + "id": 5, + "name": "final sweep pass", + "start": 70, + "end": 76, + "planning": "Perform a concluding sweeping motion with slight gripper adjustment to gather remaining outliers into the pile." + }, + { + "id": 6, + "name": "retreat from pile", + "start": 77, + "end": 80, + "planning": "Lift the end-effector vertically away from the consolidated bean pile to avoid disturbing it." + }, + { + "id": 7, + "name": "return to home pose", + "start": 81, + "end": 83, + "planning": "Rotate and translate the arm back to a neutral resting position above the workspace after completing the sweep." + } + ], + "global_plan": "Sweep scattered coffee beans into a centralized pile using contact-based pushing and sliding motions with the gripper base, avoiding any grasping or lifting actions throughout the episode.", + "notes": "All subtasks use contact-based verbs (sweep, drag, nudge, slide) as no segment shows meaningful gripper closing consistent with grasping; gripper closes only in Segment 1 but images show preparation for contact, not object capture. Frame coverage is complete and contiguous from 0 to 83." + } + }, + "episode_goal": "Use the gripper to push scattered coffee beans into a single pile on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30448421835899353, + -0.007616157177835703, + 0.035332031548023224, + -3.086005449295044, + -0.13773676753044128, + -0.016941869631409645 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and close gripper on beans", + "subtask_reasoning": "The robot is positioned above scattered coffee beans with the gripper open. No actions have been completed yet. The gripper is beginning to close as indicated by segment-level evidence, preparing to make contact with the beans for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30014926195144653, + -0.007884478196501732, + 0.025830253958702087, + -3.0881354808807373, + -0.10531380027532578, + -0.01534811221063137 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and close gripper on beans", + "subtask_reasoning": "The robot is positioned above scattered coffee beans with the gripper open. No actions have been completed yet. The gripper is beginning to close as indicated by segment-level evidence, preparing to make contact with the beans for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3013632595539093, + -0.012112977914512157, + 0.02424776181578636, + -3.1137733459472656, + -0.12264741212129593, + -0.02616882137954235 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 106, + 931, + 954 + ], + "toy phone": [ + 289, + 5, + 635, + 608 + ], + "toy tomato sauce": [ + 636, + 6, + 780, + 256 + ], + "toy stove": [ + 671, + 153, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and close gripper on beans", + "subtask_reasoning": "The robot is positioned above scattered coffee beans with the gripper open. No actions have been completed yet. The gripper is beginning to close as indicated by segment-level evidence, preparing to make contact with the beans for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30391985177993774, + -0.017540812492370605, + 0.02432883530855179, + -3.1200170516967773, + -0.14144809544086456, + -0.06712529063224792 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and close gripper on beans", + "subtask_reasoning": "The robot arm is positioned above the scattered coffee beans with the gripper fully open. No contact has been made yet, and the subtask of approaching and closing the gripper is in progress. The next action should involve lowering the gripper slightly and beginning to close it around the beans to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3055703639984131, + -0.02053055353462696, + 0.02383364364504814, + -3.1297755241394043, + -0.1579131782054901, + -0.08570260554552078 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and close gripper on beans", + "subtask_reasoning": "The robot arm is positioned above the scattered coffee beans with the gripper fully open. No contact has been made yet, and the subtask of approaching and closing the gripper is in progress. The next action should involve lowering the gripper slightly and beginning to close it around the beans to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 6 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30577078461647034, + -0.021776244044303894, + 0.015386982820928097, + -3.1171016693115234, + -0.1473052054643631, + -0.09508431702852249 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and close gripper on beans", + "subtask_reasoning": "The robot arm is positioned above the scattered coffee beans with the gripper fully open. No contact has been made yet, and the subtask of approaching and closing the gripper is in progress. The next action should involve lowering the gripper slightly and beginning to close it around the beans to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063795268535614, + -0.021505123004317284, + 0.0101570850238204, + -3.1089255809783936, + -0.14055481553077698, + -0.0805625170469284 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "approach and close gripper on beans", + "subtask_reasoning": "The robot arm is positioned above the scattered coffee beans with the gripper fully open. No contact has been made yet, and the subtask of approaching and closing the gripper is in progress. The next action should involve lowering the gripper slightly and beginning to close it around the beans to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 9 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 70 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105854392051697, + -0.020804399624466896, + 0.008005458861589432, + -3.0930469036102295, + -0.14148031175136566, + -0.08602648228406906 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot arm is positioned above the scattered coffee beans with the gripper fully open. No contact has been made yet, and the subtask of approaching and closing the gripper is in progress. The next action should involve lowering the gripper slightly and beginning to close it around the beans to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 11 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31035834550857544, + -0.02130306139588356, + 0.007297656033188105, + -3.0959391593933105, + -0.13345380127429962, + -0.08848690986633301 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 12 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30874884128570557, + -0.024305591359734535, + 0.008303143084049225, + 3.1338531970977783, + -0.13035565614700317, + -0.06664801388978958 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "reposition to sweep start", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 13 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30652540922164917, + -0.024949435144662857, + 0.03586885333061218, + 3.007206678390503, + -0.17665672302246094, + 0.05019588768482208 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 13 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041311800479889, + -0.015347027219831944, + 0.06433218717575073, + 2.9007811546325684, + -0.2281874418258667, + 0.23680947721004486 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, move down 6 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 70 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29656437039375305, + -0.0012167359236627817, + 0.07664026319980621, + 2.8492014408111572, + -0.22607268393039703, + 0.4449780285358429 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 11 cm, move down 7 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2891443371772766, + 0.01562067773193121, + 0.06992988288402557, + 2.8716514110565186, + -0.18509039282798767, + 0.6961871385574341 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 6 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.279533714056015, + 0.030257387086749077, + 0.0616842545568943, + 2.922804832458496, + -0.1706540435552597, + 0.935916543006897 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2715745270252228, + 0.045245859771966934, + 0.05764780938625336, + 2.9536406993865967, + -0.17076459527015686, + 1.0943735837936401 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26042649149894714, + 0.06596288084983826, + 0.058929722756147385, + 2.980273723602295, + -0.16841474175453186, + 1.2325884103775024 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24831749498844147, + 0.08760862797498703, + 0.060972072184085846, + 2.9788386821746826, + -0.1612001657485962, + 1.3937314748764038 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 87, + 934, + 951 + ], + "toy tomato sauce": [ + 636, + 7, + 778, + 256 + ], + "toy stove": [ + 666, + 151, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23617137968540192, + 0.09710480272769928, + 0.054742634296417236, + 2.996342182159424, + -0.1364833265542984, + 1.4713176488876343 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 91, + 933, + 954 + ], + "toy tomato sauce": [ + 636, + 7, + 778, + 256 + ], + "toy stove": [ + 668, + 152, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2275535762310028, + 0.10111087560653687, + 0.03613739833235741, + 3.053713083267212, + -0.1264617145061493, + 1.4821994304656982 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22553730010986328, + 0.10234830528497696, + 0.020749976858496666, + 3.087761163711548, + -0.10075584053993225, + 1.4730838537216187 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22875051200389862, + 0.10275790840387344, + 0.009185406379401684, + 3.1160597801208496, + -0.08038808405399323, + 1.465061902999878 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23874564468860626, + 0.10940413177013397, + 0.007037442177534103, + 3.1166234016418457, + -0.08250468224287033, + 1.4785338640213013 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2479255646467209, + 0.11570107191801071, + 0.006879453547298908, + 3.1075892448425293, + -0.08745750784873962, + 1.5029501914978027 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2538759112358093, + 0.1193656474351883, + 0.007327331695705652, + 3.107090950012207, + -0.0936976745724678, + 1.5214747190475464 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25775423645973206, + 0.12157761305570602, + 0.007675142493098974, + 3.10418963432312, + -0.09762539714574814, + 1.53556489944458 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26353490352630615, + 0.12409108877182007, + 0.006793107837438583, + 3.1011273860931396, + -0.10139776021242142, + 1.5480561256408691 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27071452140808105, + 0.1277315467596054, + 0.007454739883542061, + 3.0942394733428955, + -0.10983172059059143, + 1.5656172037124634 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27757394313812256, + 0.12905070185661316, + 0.007507173344492912, + 3.09271502494812, + -0.11880450695753098, + 1.5684852600097656 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28582563996315, + 0.12733834981918335, + 0.008215592242777348, + 3.087628126144409, + -0.1295766681432724, + 1.5660806894302368 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2957513630390167, + 0.12334495782852173, + 0.008462733589112759, + 3.0788686275482178, + -0.1346587836742401, + 1.5613106489181519 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue mat": [ + 2, + 563, + 349, + 994 + ], + "wooden table": [ + 4, + 106, + 934, + 950 + ], + "toy tomato sauce": [ + 636, + 7, + 777, + 256 + ], + "toy stove": [ + 666, + 151, + 996, + 993 + ], + "toy peas": [ + 740, + 92, + 885, + 296 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3036334812641144, + 0.1231846809387207, + 0.009480496868491173, + 3.0728089809417725, + -0.1472671926021576, + 1.5584415197372437 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31080320477485657, + 0.12465743720531464, + 0.00953625701367855, + 3.068784475326538, + -0.15692389011383057, + 1.573669672012329 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193020522594452, + 0.12795747816562653, + 0.008878808468580246, + 3.0672919750213623, + -0.1701069325208664, + 1.5764192342758179 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.32621774077415466, + 0.13038837909698486, + 0.009521225467324257, + 3.0641634464263916, + -0.1736636906862259, + 1.5909079313278198 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.33306050300598145, + 0.1334155797958374, + 0.009902718476951122, + 3.0601072311401367, + -0.17946285009384155, + 1.594957709312439 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.33868783712387085, + 0.13528943061828613, + 0.009214362129569054, + 3.0598554611206055, + -0.18268944323062897, + 1.5993561744689941 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.34738269448280334, + 0.13587979972362518, + 0.009638042189180851, + 3.0526716709136963, + -0.18916411697864532, + 1.5962778329849243 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530150055885315, + 0.13639268279075623, + 0.008783134631812572, + 3.050478219985962, + -0.19227582216262817, + 1.5990930795669556 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3588103652000427, + 0.1346314698457718, + 0.008393004536628723, + 3.049172878265381, + -0.19686326384544373, + 1.591749668121338 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3649718165397644, + 0.13277089595794678, + 0.007140451110899448, + 3.050234079360962, + -0.19974105060100555, + 1.5869677066802979 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3665594756603241, + 0.13247893750667572, + 0.006700000260025263, + 3.0541887283325195, + -0.19736157357692719, + 1.5881321430206299 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the scattered coffee beans and closed the gripper, positioning itself near the pile. The current subtask involves repositioning to initiate the sweeping motion. The next action is likely to adjust the gripper's position slightly to align for effective contact-based pushing of the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 8 cm, move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574833571910858, + 0.1267564594745636, + 0.008913473226130009, + 3.03995680809021, + -0.18082284927368164, + 1.59239661693573 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 42 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.34261173009872437, + 0.11493568867444992, + 0.016217395663261414, + 3.0288734436035156, + -0.1502123326063156, + 1.5653883218765259 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 129, + 931, + 951 + ], + "toy tomato sauce": [ + 637, + 7, + 776, + 256 + ], + "toy stove": [ + 665, + 152, + 996, + 993 + ], + "toy peas": [ + 740, + 92, + 885, + 295 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.33736759424209595, + 0.1107523962855339, + 0.04439493641257286, + 2.949721336364746, + -0.15247932076454163, + 1.5456286668777466 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251371383666992, + 0.11184988170862198, + 0.06267853081226349, + 2.895582675933838, + -0.15940266847610474, + 1.540592908859253 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.31309884786605835, + 0.11469621956348419, + 0.06044846400618553, + 2.897395610809326, + -0.16067197918891907, + 1.5261191129684448 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.29719966650009155, + 0.12021565437316895, + 0.04908951371908188, + 2.9466769695281982, + -0.17308038473129272, + 1.5122371912002563 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 103, + 931, + 958 + ], + "toy tomato sauce": [ + 637, + 6, + 776, + 256 + ], + "toy stove": [ + 666, + 152, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2873625159263611, + 0.12774917483329773, + 0.04316975548863411, + 2.96944522857666, + -0.19067855179309845, + 1.5137685537338257 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.279553085565567, + 0.14544223248958588, + 0.04198791831731796, + 2.962486982345581, + -0.20449189841747284, + 1.5610101222991943 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2732158303260803, + 0.15550260245800018, + 0.0373452790081501, + 2.9834108352661133, + -0.21775805950164795, + 1.58324134349823 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.26579704880714417, + 0.16346043348312378, + 0.025369813665747643, + 3.0262560844421387, + -0.20138166844844818, + 1.6025276184082031 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2685393691062927, + 0.16665099561214447, + 0.01839025504887104, + 3.0447230339050293, + -0.2009110301733017, + 1.5963571071624756 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.2720208168029785, + 0.16974499821662903, + 0.0117568988353014, + 3.061506509780884, + -0.20107543468475342, + 1.5906462669372559 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783683240413666, + 0.17242351174354553, + 0.012182355858385563, + 3.0610413551330566, + -0.19869297742843628, + 1.5992059707641602 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.28785818815231323, + 0.1736532747745514, + 0.011227495037019253, + 3.0570859909057617, + -0.2007618397474289, + 1.5982754230499268 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is positioned near scattered coffee beans on the table, with no grasping action indicated by the segment-level evidence. The robot has completed approaching and repositioning for sweeping. The next likely action is to initiate a contact-based push to gather the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.2984203100204468, + 0.17353494465351105, + 0.011108007282018661, + 3.0573887825012207, + -0.21077615022659302, + 1.5792839527130127 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3090119957923889, + 0.1724763810634613, + 0.010777759365737438, + 3.0596041679382324, + -0.22653156518936157, + 1.5619739294052124 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.31525400280952454, + 0.17138896882534027, + 0.010777134448289871, + 3.062260866165161, + -0.23683887720108032, + 1.5561730861663818 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268492817878723, + 0.16895775496959686, + 0.010454300791025162, + 3.0599489212036133, + -0.25237682461738586, + 1.5526734590530396 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3387898802757263, + 0.16704095900058746, + 0.009369797073304653, + 3.0621442794799805, + -0.26801061630249023, + 1.5484790802001953 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 100, + 933, + 956 + ], + "toy tomato sauce": [ + 636, + 7, + 778, + 256 + ], + "toy stove": [ + 667, + 152, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3538474440574646, + 0.16562572121620178, + 0.008449234999716282, + 3.058357000350952, + -0.2819935381412506, + 1.542716383934021 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617566227912903, + 0.16670380532741547, + 0.00746751856058836, + 3.063023567199707, + -0.29118072986602783, + 1.548147201538086 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3699662387371063, + 0.16652506589889526, + 0.007326094899326563, + 3.061399459838867, + -0.2954573333263397, + 1.5509153604507446 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move right 6 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.37454158067703247, + 0.16512906551361084, + 0.00724664656445384, + 3.0584051609039307, + -0.2984783351421356, + 1.54600191116333 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.37185782194137573, + 0.16294243931770325, + 0.008215531706809998, + 3.053610324859619, + -0.29442211985588074, + 1.5527697801589966 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.35472869873046875, + 0.14235389232635498, + 0.014729400165379047, + 3.0485126972198486, + -0.2405238300561905, + 1.5250006914138794 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 8 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.35064786672592163, + 0.12378691881895065, + 0.04807516187429428, + 2.958768844604492, + -0.22771970927715302, + 1.5051369667053223 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.3378935754299164, + 0.11330826580524445, + 0.08105286955833435, + 2.8768954277038574, + -0.2233765423297882, + 1.5011217594146729 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.3164816200733185, + 0.09730140119791031, + 0.09565585106611252, + 2.8375964164733887, + -0.18459375202655792, + 1.5061477422714233 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "refine pile boundary", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 2 cm, keep gripper closed; then move back 3 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 43, + "end": 69 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903858423233032, + 0.06354420632123947, + 0.07581876218318939, + 2.9013891220092773, + -0.1256023496389389, + 1.4848988056182861 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "final sweep pass", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 70, + "end": 76 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.26986080408096313, + 0.030544621869921684, + 0.05216776207089424, + 2.9367916584014893, + -0.10516836494207382, + 1.485032320022583 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "final sweep pass", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, open gripper; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 70, + "end": 76 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572368383407593, + 0.015822758898139, + 0.037538204342126846, + 2.937195062637329, + -0.07987203449010849, + 1.5384652614593506 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 146, + 932, + 948 + ], + "toy tomato sauce": [ + 636, + 7, + 775, + 256 + ], + "toy stove": [ + 667, + 152, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "final sweep pass", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 70, + "end": 76 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548762857913971, + 0.005666488781571388, + 0.03254824876785278, + 2.9262850284576416, + -0.059243809431791306, + 1.537416696548462 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "final sweep pass", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 70, + "end": 76 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.25714200735092163, + -0.0002871013421099633, + 0.03169948235154152, + 2.9229013919830322, + -0.07692736387252808, + 1.4656028747558594 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "final sweep pass", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 70, + "end": 76 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.26125168800354004, + 0.00018459174316376448, + 0.02064850553870201, + 2.971951961517334, + -0.08272749185562134, + 1.459031343460083 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "final sweep pass", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 70, + "end": 76 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.2606492042541504, + 0.003987450152635574, + 0.01811615377664566, + 3.012129545211792, + -0.09418835490942001, + 1.4589216709136963 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "final sweep pass", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 70, + "end": 76 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.2619522511959076, + 0.008089449256658554, + 0.017360489815473557, + 3.0273122787475586, + -0.12520749866962433, + 1.413399338722229 + ], + "gripper_value": 0.7826583981513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The gripper is in contact with the coffee beans on the table, actively pushing them to refine the pile boundary. Previous steps have gathered the beans into a loose cluster, and the current motion is consolidating the edges. The next action should continue sliding the gripper base along the perimeter to tighten the pile formation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 80 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 80 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.25915026664733887, + 0.00868639163672924, + 0.019973650574684143, + 3.0492186546325684, + -0.13100115954875946, + 1.3637573719024658 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The gripper is currently positioned near the coffee bean pile with an open configuration (gripper_value=1.00345), indicating no active grasp. The segment-level evidence shows a significant closing motion occurred earlier in the window, but the current state reflects a retreat or retraction phase. The robot should continue moving away from the pile to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 80 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 77, + "end": 80 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.26038858294487, + 0.007994870655238628, + 0.040343061089515686, + 3.005375862121582, + -0.14265261590480804, + 1.3466109037399292 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The gripper is currently positioned near the coffee bean pile with an open configuration (gripper_value=1.00345), indicating no active grasp. The segment-level evidence shows a significant closing motion occurred earlier in the window, but the current state reflects a retreat or retraction phase. The robot should continue moving away from the pile to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 80 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 80 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598299980163574, + 0.004684233106672764, + 0.054008882492780685, + 3.0486180782318115, + -0.12098371982574463, + 1.292549729347229 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The gripper is currently positioned near the coffee bean pile with an open configuration (gripper_value=1.00345), indicating no active grasp. The segment-level evidence shows a significant closing motion occurred earlier in the window, but the current state reflects a retreat or retraction phase. The robot should continue moving away from the pile to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 80 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 80 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.26381009817123413, + 0.002831569639965892, + 0.06856096535921097, + 3.1011881828308105, + -0.10625091195106506, + 1.1607708930969238 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 104, + 931, + 951 + ], + "toy tomato sauce": [ + 636, + 6, + 777, + 256 + ], + "toy phone": [ + 493, + 2, + 676, + 221 + ], + "toy stove": [ + 667, + 152, + 996, + 993 + ], + "toy peas": [ + 740, + 91, + 885, + 296 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "return to home pose", + "subtask_reasoning": "The gripper is currently positioned near the coffee bean pile with an open configuration (gripper_value=1.00345), indicating no active grasp. The segment-level evidence shows a significant closing motion occurred earlier in the window, but the current state reflects a retreat or retraction phase. The robot should continue moving away from the pile to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": 78 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 81, + "end": 83 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.26184535026550293, + 0.0030638137832283974, + 0.06874435395002365, + 3.114840507507324, + -0.10223278403282166, + 1.156136155128479 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "return to home pose", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, having completed the sweeping motion. The current subtask involves returning to the home pose, indicating the arm is likely moving away from the bean pile. The next action is to continue retracting the arm to the designated home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 81, + "end": 83 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.26182642579078674, + 0.002869449555873871, + 0.06872708350419998, + 3.1145224571228027, + -0.10107526928186417, + 1.1554754972457886 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push scattered coffee beans into a single pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on beans" + }, + { + "id": 2, + "subtask": "reposition to sweep start" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "refine pile boundary" + }, + { + "id": 5, + "subtask": "final sweep pass" + }, + { + "id": 6, + "subtask": "retreat from pile" + }, + { + "id": 7, + "subtask": "return to home pose" + } + ], + "subtask_name": "return to home pose", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, having completed the sweeping motion. The current subtask involves returning to the home pose, indicating the arm is likely moving away from the bean pile. The next action is to continue retracting the arm to the designated home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": 82 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 81, + "end": 83 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003901_ecot.json b/cot/chunk-0003/episode_0003901_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..46b558d17aa6ede06217ede712ac9e2cb8ec58e4 --- /dev/null +++ b/cot/chunk-0003/episode_0003901_ecot.json @@ -0,0 +1,2080 @@ +{ + "task_name": "episode_0003901", + "episode_json": "json/chunk-0003/episode_0003901.json", + "video_path": "videos/chunk-0003/image_0/episode_0003901.mp4", + "instruction": "Close microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003901.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013371109962463379, + "std": 0.00022276084928307682, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00134, std=0.00022, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 20 + ], + [ + 2, + 21, + 27 + ], + [ + 3, + 28, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave door\", \"start\": 0, \"end\": 20, \"planning\": \"Move end-effector toward the microwave door handle while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"make contact and push door\", \"start\": 21, \"end\": 27, \"planning\": \"Establish contact with microwave door and begin pushing it closed without grasping.\"},\n {\"id\": 3, \"name\": \"complete door closure and retreat\", \"start\": 28, \"end\": 34, \"planning\": \"Finish pushing door fully closed then retract arm away from microwave.\"}\n ],\n \"global_plan\": \"Close microwave door by approaching, making contact to push it shut, then retreating — all without grasping since gripper remains open throughout.\",\n \"notes\": \"Gripper never closes (value constant at ~0.997), so no grasp/pick/place actions are valid; motion is purely contact-based pushing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave door", + "start": 0, + "end": 20, + "planning": "Move end-effector toward the microwave door handle while maintaining open gripper state." + }, + { + "id": 2, + "name": "make contact and push door", + "start": 21, + "end": 27, + "planning": "Establish contact with microwave door and begin pushing it closed without grasping." + }, + { + "id": 3, + "name": "complete door closure and retreat", + "start": 28, + "end": 34, + "planning": "Finish pushing door fully closed then retract arm away from microwave." + } + ], + "global_plan": "Close microwave door by approaching, making contact to push it shut, then retreating — all without grasping since gripper remains open throughout.", + "notes": "Gripper never closes (value constant at ~0.997), so no grasp/pick/place actions are valid; motion is purely contact-based pushing." + } + }, + "episode_goal": "Close the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23162606358528137, + -0.17864669859409332, + 0.14708706736564636, + 2.9577953815460205, + -0.03240777179598808, + 0.27616989612579346 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22899262607097626, + -0.1752614676952362, + 0.1395881325006485, + 2.988652229309082, + -0.014642328955233097, + 0.27302101254463196 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22781075537204742, + -0.1504746973514557, + 0.14422310888767242, + 3.0641074180603027, + -0.028842220082879066, + 0.2711588442325592 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 17 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22625946998596191, + -0.12327073514461517, + 0.160738006234169, + 3.032827377319336, + -0.040143683552742004, + 0.2777295708656311 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 15 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22158953547477722, + -0.09224813431501389, + 0.16920849680900574, + 3.0280978679656982, + -0.052707742899656296, + 0.27514517307281494 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 410, + 688, + 684, + 993 + ], + "strawberry": [ + 687, + 738, + 767, + 841 + ], + "stove burner": [ + 730, + 815, + 979, + 995 + ], + "yellow object": [ + 801, + 424, + 939, + 535 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21417604386806488, + -0.05187329277396202, + 0.16490177810192108, + 3.01918888092041, + -0.040213197469711304, + 0.26912161707878113 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21009503304958344, + -0.022782571613788605, + 0.1622537076473236, + 3.0016231536865234, + -0.06343889236450195, + 0.2740009129047394 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2065090537071228, + -0.010163774713873863, + 0.15970860421657562, + 3.0016720294952393, + -0.05051088705658913, + 0.25821882486343384 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.20367300510406494, + 0.0031126008834689856, + 0.15832605957984924, + 3.0236551761627197, + -0.03173454850912094, + 0.2780958116054535 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20568452775478363, + 0.010221641510725021, + 0.153560608625412, + 3.0790927410125732, + -0.035737261176109314, + 0.27288705110549927 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2070489525794983, + 0.01669343002140522, + 0.14984790980815887, + 3.0897057056427, + -0.05477709323167801, + 0.2910812795162201 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20971138775348663, + 0.020972857251763344, + 0.1421469748020172, + 3.1191458702087402, + -0.05314657464623451, + 0.32875293493270874 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21435275673866272, + 0.023540087044239044, + 0.1354524940252304, + 3.127401351928711, + -0.050210412591695786, + 0.3582395613193512 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22010351717472076, + 0.023390555754303932, + 0.125123530626297, + 3.1175589561462402, + -0.052139852195978165, + 0.3950198292732239 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22331327199935913, + 0.008750668726861477, + 0.11635972559452057, + 3.111112594604492, + -0.018747955560684204, + 0.3898976147174835 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23201362788677216, + -0.011528694070875645, + 0.12176783382892609, + 3.090327262878418, + -0.015407294034957886, + 0.37676775455474854 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23397140204906464, + -0.03882130980491638, + 0.1307418942451477, + 3.0630996227264404, + -0.00841507501900196, + 0.3819015920162201 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 728, + 811, + 983, + 995 + ], + "strawberry": [ + 687, + 738, + 766, + 839 + ], + "yellow object": [ + 802, + 420, + 940, + 536 + ], + "sink": [ + 412, + 684, + 686, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 8 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23779037594795227, + -0.07032544165849686, + 0.14367859065532684, + 3.016234874725342, + -0.020869731903076172, + 0.3635944128036499 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 10 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2307426482439041, + -0.09802376478910446, + 0.15836195647716522, + 2.954556703567505, + -0.012758761644363403, + 0.3020043969154358 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 11 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20480835437774658, + -0.10027295351028442, + 0.1715112030506134, + 2.920623540878296, + -0.01784093677997589, + 0.21840760111808777 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 11 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.17722931504249573, + -0.07789372652769089, + 0.1528046876192093, + 2.9599127769470215, + 0.010592862963676453, + 0.13690006732940674 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, keep gripper open; then move forward 11 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.16996505856513977, + -0.04379119351506233, + 0.13836099207401276, + 2.971390962600708, + 0.01865122653543949, + 0.09445342421531677 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 728, + 812, + 982, + 995 + ], + "strawberry": [ + 687, + 737, + 766, + 839 + ], + "yellow object": [ + 803, + 422, + 938, + 533 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.1811974197626114, + -0.027922706678509712, + 0.12694622576236725, + 3.0065927505493164, + 0.01729006879031658, + 0.1014937087893486 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.19860705733299255, + -0.018361771479249, + 0.11742394417524338, + 3.0311713218688965, + 0.02021127939224243, + 0.14356419444084167 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with movement toward the door observed. The next action should continue advancing the end-effector toward the door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.222725048661232, + -0.016740230843424797, + 0.12113841623067856, + 3.0168449878692627, + -0.028111537918448448, + 0.16714346408843994 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot arm is positioned in front of the open microwave door with the gripper open. The approach phase is complete, and the arm is now making contact to push the door shut. The next action is to continue applying forward force to close the door fully." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 5 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 21, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24134977161884308, + -0.017796194180846214, + 0.12173948436975479, + 3.009213924407959, + -0.04365549981594086, + 0.19442477822303772 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot arm is positioned in front of the open microwave door with the gripper open. The approach phase is complete, and the arm is now making contact to push the door shut. The next action is to continue applying forward force to close the door fully." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 5 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542267441749573, + -0.02725384198129177, + 0.11957506835460663, + 3.0029473304748535, + -0.07078754901885986, + 0.2053980678319931 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot arm is positioned in front of the open microwave door with the gripper open. The approach phase is complete, and the arm is now making contact to push the door shut. The next action is to continue applying forward force to close the door fully." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move left 5 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26780661940574646, + -0.036085620522499084, + 0.11906883865594864, + 3.0148115158081055, + -0.15859612822532654, + 0.21219541132450104 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "make contact and push door", + "subtask_reasoning": "The robot arm is positioned in front of the open microwave door with the gripper open. The approach phase is complete, and the arm is now making contact to push the door shut. The next action is to continue applying forward force to close the door fully." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 6 cm, move left 5 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27754971385002136, + -0.038817793130874634, + 0.1171698197722435, + 3.0255091190338135, + -0.2146129310131073, + 0.20979931950569153 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "complete door closure and retreat", + "subtask_reasoning": "The robot arm is positioned in front of the open microwave door with the gripper open. The approach phase is complete, and the arm is now making contact to push the door shut. The next action is to continue applying forward force to close the door fully." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 5 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880810797214508, + -0.04044432193040848, + 0.11915537714958191, + 3.0300629138946533, + -0.2865496277809143, + 0.2150021344423294 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "complete door closure and retreat", + "subtask_reasoning": "The robot arm is positioned in front of the open microwave door with the gripper open. The approach phase is complete, and the arm is now making contact to push the door shut. The next action is to continue applying forward force to close the door fully." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948814034461975, + -0.038615912199020386, + 0.11143359541893005, + 3.0434393882751465, + -0.302923321723938, + 0.22784991562366486 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "complete door closure and retreat", + "subtask_reasoning": "The robot arm is positioned in front of the open microwave door with the gripper open. The approach phase is complete, and the arm is now making contact to push the door shut. The next action is to continue applying forward force to close the door fully." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29906827211380005, + -0.039559707045555115, + 0.10918792337179184, + 3.058804988861084, + -0.3126983046531677, + 0.2261047512292862 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "complete door closure and retreat", + "subtask_reasoning": "The microwave door is fully closed, and the robot's end-effector is in contact with the door surface. The gripper remains open with no closing evidence, confirming a push-based closure without grasping. The next action is to retreat the arm away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 5 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 28, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2942622900009155, + -0.0361885167658329, + 0.1079372689127922, + 3.0574846267700195, + -0.27667805552482605, + 0.22164712846279144 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "complete door closure and retreat", + "subtask_reasoning": "The microwave door is fully closed, and the robot's end-effector is in contact with the door surface. The gripper remains open with no closing evidence, confirming a push-based closure without grasping. The next action is to retreat the arm away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536906898021698, + -0.017390329390764236, + 0.11781080812215805, + 2.994354009628296, + -0.1256834715604782, + 0.1271487921476364 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "complete door closure and retreat", + "subtask_reasoning": "The microwave door is fully closed, and the robot's end-effector is in contact with the door surface. The gripper remains open with no closing evidence, confirming a push-based closure without grasping. The next action is to retreat the arm away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2133193463087082, + 0.009222985245287418, + 0.12386655807495117, + 2.9772138595581055, + -0.063205786049366, + 0.11756165325641632 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "strawberry": [ + 686, + 737, + 767, + 840 + ], + "sink": [ + 411, + 687, + 684, + 993 + ], + "stove burner": [ + 728, + 815, + 979, + 995 + ], + "yellow object": [ + 804, + 426, + 939, + 534 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact and push door" + }, + { + "id": 3, + "subtask": "complete door closure and retreat" + } + ], + "subtask_name": "complete door closure and retreat", + "subtask_reasoning": "The microwave door is fully closed, and the robot's end-effector is in contact with the door surface. The gripper remains open with no closing evidence, confirming a push-based closure without grasping. The next action is to retreat the arm away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003902_ecot.json b/cot/chunk-0003/episode_0003902_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9dcea8f980d4fc730da3b11b12512b998093e8b8 --- /dev/null +++ b/cot/chunk-0003/episode_0003902_ecot.json @@ -0,0 +1,1320 @@ +{ + "task_name": "episode_0003902", + "episode_json": "json/chunk-0003/episode_0003902.json", + "video_path": "videos/chunk-0003/image_0/episode_0003902.mp4", + "instruction": "Put knife in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003902.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.6240283250808716, + "std": 0.28491050004959106, + "delta_total": -0.6240283250808716, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62403, std=0.28491, total_delta=-0.62403). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 214, + 214, + 214, + 214 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 13 + ], + [ + 3, + 14, + 15 + ], + [ + 4, + 16, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife in sink\", \"start\": 0, \"end\": 5, \"planning\": \"Move gripper down toward the knife lying in the sink without closing fingers.\"},\n {\"id\": 2, \"name\": \"close gripper on knife handle\", \"start\": 6, \"end\": 13, \"planning\": \"Position gripper around knife handle and close fingers to secure grasp, confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift knife from sink\", \"start\": 14, \"end\": 15, \"planning\": \"Raise gripper vertically while maintaining grip to lift knife clear of sink surface.\"},\n {\"id\": 4, \"name\": \"move knife toward pot\", \"start\": 16, \"end\": 19, \"planning\": \"Translate gripper with held knife toward the metal pot positioned at sink edge, preparing for placement.\"}\n ],\n \"global_plan\": \"Approach the knife in the sink, grasp it securely using gripper closure confirmed by sensor data, lift it vertically, then move it toward the pot for eventual placement.\",\n \"notes\": \"Gripper closure only occurs in segment 2 (frames 6-13), supported by both signal delta (-0.463) and visual evidence of fingers closing on handle. Segments 1, 3, and 4 show no meaningful gripper change — descriptions avoid 'grasp' or 'hold' except where justified. Lifting is inferred from vertical motion + sustained grip in frames 14-15. Final segment shows translation toward pot, not yet releasing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife in sink", + "start": 0, + "end": 5, + "planning": "Move gripper down toward the knife lying in the sink without closing fingers." + }, + { + "id": 2, + "name": "close gripper on knife handle", + "start": 6, + "end": 13, + "planning": "Position gripper around knife handle and close fingers to secure grasp, confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "lift knife from sink", + "start": 14, + "end": 15, + "planning": "Raise gripper vertically while maintaining grip to lift knife clear of sink surface." + }, + { + "id": 4, + "name": "move knife toward pot", + "start": 16, + "end": 19, + "planning": "Translate gripper with held knife toward the metal pot positioned at sink edge, preparing for placement." + } + ], + "global_plan": "Approach the knife in the sink, grasp it securely using gripper closure confirmed by sensor data, lift it vertically, then move it toward the pot for eventual placement.", + "notes": "Gripper closure only occurs in segment 2 (frames 6-13), supported by both signal delta (-0.463) and visual evidence of fingers closing on handle. Segments 1, 3, and 4 show no meaningful gripper change — descriptions avoid 'grasp' or 'hold' except where justified. Lifting is inferred from vertical motion + sustained grip in frames 14-15. Final segment shows translation toward pot, not yet releasing." + } + }, + "episode_goal": "Grasp the knife in the sink and place it into the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26496997475624084, + -0.05909520387649536, + 0.14067108929157257, + -3.108713150024414, + -0.1428396850824356, + 0.03713254630565643 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "approach knife in sink", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment evidence shows no closure. The next action is to lower the end-effector toward the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2578374445438385, + -0.05924224480986595, + 0.1293632984161377, + -3.069765329360962, + -0.14784163236618042, + 0.15897998213768005 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "approach knife in sink", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment evidence shows no closure. The next action is to lower the end-effector toward the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 30 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2505887448787689, + -0.06505229324102402, + 0.12888431549072266, + -3.0729641914367676, + -0.19130639731884003, + 0.2850010395050049 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 48, + 28, + 464, + 359 + ], + "red cup": [ + 835, + 83, + 943, + 205 + ], + "blue ball": [ + 475, + 563, + 525, + 614 + ], + "yellow duck": [ + 405, + 412, + 624, + 662 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "approach knife in sink", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment data shows no closure. The next action is to lower the end effector to make contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2471635639667511, + -0.06149193271994591, + 0.12174277752637863, + -3.0848617553710938, + -0.20807680487632751, + 0.39222776889801025 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "approach knife in sink", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment data shows no closure. The next action is to lower the end effector to make contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2469417303800583, + -0.05891505628824234, + 0.12173151969909668, + -3.1200294494628906, + -0.23499783873558044, + 0.48356392979621887 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "approach knife in sink", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment data shows no closure. The next action is to lower the end effector to make contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25059381127357483, + -0.045361172407865524, + 0.11689717322587967, + -3.140427589416504, + -0.2300185114145279, + 0.5829033255577087 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "approach knife in sink", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment data shows no closure. The next action is to lower the end effector to make contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508370876312256, + -0.035112880170345306, + 0.10599331557750702, + 3.1061651706695557, + -0.22722826898097992, + 0.6543691158294678 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "close gripper on knife handle", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment data shows no closure. The next action is to lower the end effector to make contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2502453625202179, + -0.0284084714949131, + 0.09460636228322983, + 3.0864853858947754, + -0.2121838480234146, + 0.7009283304214478 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "close gripper on knife handle", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment data shows no closure. The next action is to lower the end effector to make contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24764521420001984, + -0.024315258488059044, + 0.08581595122814178, + 3.081655979156494, + -0.20971250534057617, + 0.7218698263168335 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "close gripper on knife handle", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible below. No grasping has occurred yet as the gripper remains open and segment data shows no closure. The next action is to lower the end effector to make contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24735376238822937, + -0.02528609335422516, + 0.07504776120185852, + 3.0583512783050537, + -0.20565243065357208, + 0.7378363609313965 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "close gripper on knife handle", + "subtask_reasoning": "The robot arm is positioned directly above the yellow knife handle in the sink, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to actuate the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24897177517414093, + -0.024416256695985794, + 0.06450068205595016, + 3.043126106262207, + -0.18785589933395386, + 0.7525447607040405 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "close gripper on knife handle", + "subtask_reasoning": "The robot arm is positioned directly above the yellow knife handle in the sink, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to actuate the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24997323751449585, + -0.023183291777968407, + 0.055881209671497345, + 3.039275884628296, + -0.16444645822048187, + 0.7590105533599854 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "close gripper on knife handle", + "subtask_reasoning": "The robot arm is positioned directly above the yellow knife handle in the sink, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to actuate the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2505890429019928, + -0.02176157385110855, + 0.05332043766975403, + 3.0375332832336426, + -0.1565486639738083, + 0.7670700550079346 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "close gripper on knife handle", + "subtask_reasoning": "The robot arm is positioned directly above the yellow knife handle in the sink, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to actuate the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24822179973125458, + -0.022791747003793716, + 0.05312696099281311, + 3.043628692626953, + -0.13943392038345337, + 0.7727091312408447 + ], + "gripper_value": 0.5364033579826355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "close gripper on knife handle", + "subtask_reasoning": "The robot arm is positioned directly above the yellow knife handle in the sink, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to actuate the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24058808386325836, + -0.02198970504105091, + 0.056980960071086884, + 3.080904006958008, + -0.1324855089187622, + 0.7742304801940918 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "lift knife from sink", + "subtask_reasoning": "The robot's gripper is positioned over the yellow knife in the sink, having already approached and closed around the handle. Since the segment-level gripper evidence shows no meaningful closing, the current state reflects contact or pre-lift positioning rather than active grasping. The next action is to lift the knife vertically from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23317131400108337, + -0.02712157927453518, + 0.07569193094968796, + 3.126147508621216, + -0.18819430470466614, + 0.7610180377960205 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "lift knife from sink", + "subtask_reasoning": "The robot's gripper is positioned over the yellow knife in the sink, having already approached and closed around the handle. Since the segment-level gripper evidence shows no meaningful closing, the current state reflects contact or pre-lift positioning rather than active grasping. The next action is to lift the knife vertically from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2333626002073288, + -0.028882289305329323, + 0.1085510104894638, + -3.1376984119415283, + -0.29844528436660767, + 0.7551379799842834 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 46, + 29, + 469, + 361 + ], + "yellow duck": [ + 510, + 468, + 608, + 645 + ], + "red cup": [ + 839, + 84, + 945, + 206 + ], + "metal pot": [ + 631, + 89, + 887, + 344 + ], + "blue ball": [ + 476, + 564, + 523, + 615 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "move knife toward pot", + "subtask_reasoning": "The robot's gripper is positioned over the yellow knife in the sink, having already approached and closed around the handle. Since the segment-level gripper evidence shows no meaningful closing, the current state reflects contact or pre-lift positioning rather than active grasping. The next action is to lift the knife vertically from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23657968640327454, + -0.026261718943715096, + 0.1344890594482422, + -3.1208722591400146, + -0.38601744174957275, + 0.7298257350921631 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "move knife toward pot", + "subtask_reasoning": "The robot is currently holding the knife above the sink, having already grasped it securely. The gripper state is stable with no closing motion, indicating the object is being transported rather than manipulated. The next action is to continue moving the knife horizontally toward the metal pot located to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24878810346126556, + -0.02171984873712063, + 0.15697011351585388, + -3.1141197681427, + -0.4610600471496582, + 0.6773478984832764 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "move knife toward pot", + "subtask_reasoning": "The robot is currently holding the knife above the sink, having already grasped it securely. The gripper state is stable with no closing motion, indicating the object is being transported rather than manipulated. The next action is to continue moving the knife horizontally toward the metal pot located to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2651662230491638, + -0.021735485643148422, + 0.17695681750774384, + -3.135014057159424, + -0.5282068252563477, + 0.620743453502655 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife in the sink and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife in sink" + }, + { + "id": 2, + "subtask": "close gripper on knife handle" + }, + { + "id": 3, + "subtask": "lift knife from sink" + }, + { + "id": 4, + "subtask": "move knife toward pot" + } + ], + "subtask_name": "move knife toward pot", + "subtask_reasoning": "The robot is currently holding the knife above the sink, having already grasped it securely. The gripper state is stable with no closing motion, indicating the object is being transported rather than manipulated. The next action is to continue moving the knife horizontally toward the metal pot located to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003905_ecot.json b/cot/chunk-0003/episode_0003905_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d18bae0ed9afdadd1deb2b4d1d4b0d4c2e66985d --- /dev/null +++ b/cot/chunk-0003/episode_0003905_ecot.json @@ -0,0 +1,1444 @@ +{ + "task_name": "episode_0003905", + "episode_json": "json/chunk-0003/episode_0003905.json", + "video_path": "videos/chunk-0003/image_0/episode_0003905.mp4", + "instruction": "Put detergent in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003905.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.4178546667098999, + "std": 0.18391254544258118, + "delta_total": -0.4178546667098999, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41785, std=0.18391, total_delta=-0.41785). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach detergent bottle\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the detergent bottle on the left side of the play sink.\"},\n {\"id\": 2, \"name\": \"grasp detergent bottle\", \"start\": 10, \"end\": 15, \"planning\": \"Close the gripper around the detergent bottle to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"lift and reposition bottle\", \"start\": 16, \"end\": 18, \"planning\": \"Lift the detergent bottle and move it over the sink basin.\"},\n {\"id\": 4, \"name\": \"release detergent in sink\", \"start\": 19, \"end\": 20, \"planning\": \"Open the gripper to release the detergent bottle into the sink.\"}\n ],\n \"global_plan\": \"Approach the detergent bottle, grasp it, lift and move it over the sink, then release it into the sink basin.\",\n \"notes\": \"Gripper closes significantly between frames 10–20 (delta = -0.41785), supporting grasp/release actions. Motion and visual evidence align with pick-and-place behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach detergent bottle", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the detergent bottle on the left side of the play sink." + }, + { + "id": 2, + "name": "grasp detergent bottle", + "start": 10, + "end": 15, + "planning": "Close the gripper around the detergent bottle to secure a firm hold." + }, + { + "id": 3, + "name": "lift and reposition bottle", + "start": 16, + "end": 18, + "planning": "Lift the detergent bottle and move it over the sink basin." + }, + { + "id": 4, + "name": "release detergent in sink", + "start": 19, + "end": 20, + "planning": "Open the gripper to release the detergent bottle into the sink." + } + ], + "global_plan": "Approach the detergent bottle, grasp it, lift and move it over the sink, then release it into the sink basin.", + "notes": "Gripper closes significantly between frames 10–20 (delta = -0.41785), supporting grasp/release actions. Motion and visual evidence align with pick-and-place behavior." + } + }, + "episode_goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2661719024181366, + -0.0872478261590004, + 0.12184496223926544, + 3.103865146636963, + -0.02455189824104309, + 0.08367715775966644 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 24 cm, move down 4 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2608022689819336, + -0.07544882595539093, + 0.11657111346721649, + -3.1210639476776123, + 0.019805172458291054, + 0.09578624367713928 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 23 cm, move down 3 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556750178337097, + -0.027644716203212738, + 0.12606045603752136, + -2.9810445308685303, + 0.040519434958696365, + 0.21629738807678223 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow banana": [ + 290, + 351, + 447, + 561 + ], + "red chili pepper": [ + 449, + 454, + 606, + 638 + ], + "white soap bottle": [ + 196, + 119, + 288, + 375 + ], + "green apple": [ + 489, + 319, + 572, + 432 + ], + "yellow corn": [ + 683, + 1, + 786, + 76 + ], + "orange carrot": [ + 697, + 692, + 842, + 841 + ], + "red apple": [ + 561, + 325, + 683, + 441 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 18 cm, move down 4 cm, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2585792541503906, + 0.0038705426268279552, + 0.13362567126750946, + -2.886136054992676, + -0.015982503071427345, + 0.2689191699028015 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 15 cm, move down 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664623558521271, + 0.039541780948638916, + 0.1414281278848648, + -2.9087324142456055, + -0.1113242655992508, + 0.38538458943367004 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side of the sink area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the detergent bottle to enable grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move down 6 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2786808907985687, + 0.07182218879461288, + 0.14489223062992096, + -2.9587507247924805, + -0.1998649388551712, + 0.4457252621650696 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side of the sink area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the detergent bottle to enable grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 6 cm, tilt back 20 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2941890060901642, + 0.08356696367263794, + 0.14032335579395294, + -2.9780797958374023, + -0.28928959369659424, + 0.4242405891418457 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side of the sink area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the detergent bottle to enable grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29784753918647766, + 0.10668651759624481, + 0.12552355229854584, + -2.9632906913757324, + -0.36472055315971375, + 0.42524048686027527 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow banana": [ + 290, + 351, + 447, + 561 + ], + "red chili pepper": [ + 450, + 456, + 606, + 639 + ], + "orange carrot": [ + 695, + 691, + 842, + 842 + ], + "red apple": [ + 561, + 324, + 682, + 442 + ], + "green apple": [ + 488, + 320, + 572, + 432 + ], + "toy kitchen counter": [ + 62, + 13, + 987, + 983 + ], + "yellow corn": [ + 681, + 1, + 787, + 76 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side of the sink area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the detergent bottle to enable grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990948557853699, + 0.12352588772773743, + 0.11337287724018097, + -2.976710557937622, + -0.4211922585964203, + 0.419461727142334 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side of the sink area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the detergent bottle to enable grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move right 6 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29977744817733765, + 0.1389906257390976, + 0.09405221790075302, + -2.9924442768096924, + -0.4419054090976715, + 0.42693275213241577 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side of the sink area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the detergent bottle to enable grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move right 10 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035767674446106, + 0.14968670904636383, + 0.08507908135652542, + -2.985886335372925, + -0.46279239654541016, + 0.4223038852214813 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side of the sink area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the detergent bottle to enable grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move right 10 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064877390861511, + 0.15822893381118774, + 0.07981237024068832, + -2.9535887241363525, + -0.4782366156578064, + 0.3881886899471283 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot is positioned near the play kitchen with the white detergent bottle visible on the left side of the sink area. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating the robot is preparing to move toward the bottle. The next action should be to move the end effector closer to the detergent bottle to enable grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move right 10 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30966728925704956, + 0.16833166778087616, + 0.07981830090284348, + -2.9345321655273438, + -0.5204885601997375, + 0.3793914318084717 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot has approached the white detergent bottle on the left side of the sink. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move right 10 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086618483066559, + 0.1826704740524292, + 0.07658278942108154, + -2.9448657035827637, + -0.5482890009880066, + 0.4114071726799011 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot has approached the white detergent bottle on the left side of the sink. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 10 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31343311071395874, + 0.18983186781406403, + 0.07015600055456161, + -2.9649174213409424, + -0.5868791937828064, + 0.47027352452278137 + ], + "gripper_value": 0.8913851380348206 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot has approached the white detergent bottle on the left side of the sink. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move right 10 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31926989555358887, + 0.18524181842803955, + 0.07134755700826645, + -2.992576837539673, + -0.6213283538818359, + 0.5432203412055969 + ], + "gripper_value": 0.6199479699134827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot has approached the white detergent bottle on the left side of the sink. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move right 10 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31482598185539246, + 0.1696390062570572, + 0.076470285654068, + -2.9513745307922363, + -0.5889238119125366, + 0.5479640960693359 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "lift and reposition bottle", + "subtask_reasoning": "The robot has approached the white detergent bottle on the left side of the sink. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 10 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2940627634525299, + 0.14960511028766632, + 0.11665414273738861, + -2.9017465114593506, + -0.5426481366157532, + 0.6054551601409912 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "lift and reposition bottle", + "subtask_reasoning": "The robot has approached and grasped the white detergent bottle on the left side of the play kitchen. The current subtask involves lifting and repositioning the bottle toward the sink basin on the right. The next action should be to move the bottle horizontally over the sink while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27603423595428467, + 0.10937158763408661, + 0.15332917869091034, + -2.924238681793213, + -0.44232696294784546, + 0.6177628636360168 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "lift and reposition bottle", + "subtask_reasoning": "The robot has approached and grasped the white detergent bottle on the left side of the play kitchen. The current subtask involves lifting and repositioning the bottle toward the sink basin on the right. The next action should be to move the bottle horizontally over the sink while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26434874534606934, + 0.0664725974202156, + 0.16087640821933746, + -3.032698392868042, + -0.3482976257801056, + 0.6461916565895081 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "release detergent in sink", + "subtask_reasoning": "The robot's end-effector is positioned directly above the sink basin with the white detergent bottle held in the gripper. The bottle is currently suspended in the air over the target location, indicating the transport phase is complete. The next action is to open the gripper to release the bottle into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2660504877567291, + 0.01988067477941513, + 0.16001258790493011, + 3.100944757461548, + -0.3158153295516968, + 0.634433925151825 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red chili pepper": [ + 449, + 456, + 607, + 639 + ], + "white soap bottle": [ + 861, + 386, + 971, + 583 + ], + "orange carrot": [ + 697, + 692, + 842, + 841 + ], + "red apple": [ + 561, + 324, + 682, + 442 + ], + "yellow banana": [ + 288, + 356, + 448, + 561 + ], + "yellow corn": [ + 682, + 1, + 787, + 76 + ], + "green apple": [ + 488, + 320, + 572, + 432 + ], + "black coffee maker": [ + 1, + 480, + 111, + 914 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the white detergent bottle on the left side of the play kitchen and place it into the sink basin on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "lift and reposition bottle" + }, + { + "id": 4, + "subtask": "release detergent in sink" + } + ], + "subtask_name": "release detergent in sink", + "subtask_reasoning": "The robot's end-effector is positioned directly above the sink basin with the white detergent bottle held in the gripper. The bottle is currently suspended in the air over the target location, indicating the transport phase is complete. The next action is to open the gripper to release the bottle into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003906_ecot.json b/cot/chunk-0003/episode_0003906_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c57d222f4b76efaf799358698c0f41a971e0d73e --- /dev/null +++ b/cot/chunk-0003/episode_0003906_ecot.json @@ -0,0 +1,3283 @@ +{ + "task_name": "episode_0003906", + "episode_json": "json/chunk-0003/episode_0003906.json", + "video_path": "videos/chunk-0003/image_0/episode_0003906.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003906.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9375606179237366, + "std": 0.39651456475257874, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93756, std=0.39651, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 26, + 26, + 26, + 26, + 26, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 141, + 141, + 141, + 141 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 15 + ], + [ + 3, + 16, + 25 + ], + [ + 4, + 26, + 30 + ], + [ + 5, + 31, + 40 + ], + [ + 6, + 41, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the drawer handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 10, \"end\": 15, \"planning\": \"Establish physical contact with the drawer handle using gripper fingers without full grasp.\"},\n {\"id\": 3, \"name\": \"reposition grip on handle\", \"start\": 16, \"end\": 25, \"planning\": \"Adjust gripper position and orientation around the handle to secure better leverage for pulling.\"},\n {\"id\": 4, \"name\": \"pull drawer open\", \"start\": 26, \"end\": 30, \"planning\": \"Apply backward force via gripper to slide the drawer outward along its track.\"},\n {\"id\": 5, \"name\": \"release handle and retreat\", \"start\": 31, \"end\": 40, \"planning\": \"Open gripper to disengage from handle and move end-effector away from drawer front.\"},\n {\"id\": 6, \"name\": \"final repositioning\", \"start\": 41, \"end\": 44, \"planning\": \"Lift and retract arm to clear workspace after drawer is fully opened.\"}\n ],\n \"global_plan\": \"Open the drawer by approaching the handle, making contact, adjusting grip, pulling the drawer open, releasing the handle, and retreating safely.\",\n \"notes\": \"Gripper closure observed in segments 1, 3, 4, and 6 supports grasp-related actions where image evidence confirms contact or engagement. Segment 2 (frames 10-15) lacks strong closing signal — described as contact-only. Segment 5 (frames 31-40) not provided but inferred as release/retreat based on motion continuity and final state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the drawer handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 10, + "end": 15, + "planning": "Establish physical contact with the drawer handle using gripper fingers without full grasp." + }, + { + "id": 3, + "name": "reposition grip on handle", + "start": 16, + "end": 25, + "planning": "Adjust gripper position and orientation around the handle to secure better leverage for pulling." + }, + { + "id": 4, + "name": "pull drawer open", + "start": 26, + "end": 30, + "planning": "Apply backward force via gripper to slide the drawer outward along its track." + }, + { + "id": 5, + "name": "release handle and retreat", + "start": 31, + "end": 40, + "planning": "Open gripper to disengage from handle and move end-effector away from drawer front." + }, + { + "id": 6, + "name": "final repositioning", + "start": 41, + "end": 44, + "planning": "Lift and retract arm to clear workspace after drawer is fully opened." + } + ], + "global_plan": "Open the drawer by approaching the handle, making contact, adjusting grip, pulling the drawer open, releasing the handle, and retreating safely.", + "notes": "Gripper closure observed in segments 1, 3, 4, and 6 supports grasp-related actions where image evidence confirms contact or engagement. Segment 2 (frames 10-15) lacks strong closing signal — described as contact-only. Segment 5 (frames 31-40) not provided but inferred as release/retreat based on motion continuity and final state." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3123558461666107, + 0.011735077947378159, + 0.10524063557386398, + -3.095644474029541, + -0.10830645263195038, + -0.7789623141288757 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3094315230846405, + 0.01086095068603754, + 0.09595099091529846, + -3.1207001209259033, + -0.08786241710186005, + -0.7774389982223511 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31600621342658997, + 0.009266762994229794, + 0.0850725844502449, + -3.112727165222168, + -0.11062262952327728, + -0.7887972593307495 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3210233747959137, + 0.006990769878029823, + 0.07368819415569305, + -3.1054272651672363, + -0.13347022235393524, + -0.8246635794639587 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3226584494113922, + 0.005282776430249214, + 0.06324830651283264, + -3.0828983783721924, + -0.15878359973430634, + -0.8486742377281189 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move back 3 cm, move right 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168738782405853, + 0.007412478793412447, + 0.04637780040502548, + -3.02541184425354, + -0.15184113383293152, + -0.8821621537208557 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, close gripper; then move back 3 cm, move right 1 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31267815828323364, + 0.010098563507199287, + 0.03601844608783722, + -2.989041566848755, + -0.15413814783096313, + -0.8919776678085327 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, close gripper; then move back 3 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045756220817566, + 0.012377633713185787, + 0.031087204813957214, + -2.9665699005126953, + -0.1437288075685501, + -0.901972770690918 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move up 5 cm, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30142730474472046, + 0.014990509487688541, + 0.029870543628931046, + -2.9647023677825928, + -0.1411067694425583, + -0.8960058689117432 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 4, + 996, + 995 + ], + "red block": [ + 211, + 383, + 317, + 606 + ], + "white cord": [ + 901, + 532, + 996, + 676 + ], + "stuffed mouse": [ + 744, + 462, + 953, + 709 + ], + "patterned object": [ + 2, + 426, + 111, + 577 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 3 cm, move up 5 cm, open gripper; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29949522018432617, + 0.018480228260159492, + 0.03159021958708763, + -2.963587999343872, + -0.14746955037117004, + -0.8782222270965576 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 3 cm, move up 5 cm, open gripper; then move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2970599830150604, + 0.018962200731039047, + 0.038681238889694214, + -2.9588565826416016, + -0.17228533327579498, + -0.854583203792572 + ], + "gripper_value": 0.4283607602119446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 5 cm, open gripper; then move forward 3 cm, move left 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881213128566742, + 0.015397927723824978, + 0.037527043372392654, + -3.004720449447632, + -0.16596350073814392, + -0.8304668068885803 + ], + "gripper_value": 0.19669602811336517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the drawer handle to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 6 cm, open gripper; then move forward 3 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2873691916465759, + 0.012459401041269302, + 0.044440023601055145, + -3.0036678314208984, + -0.18986940383911133, + -0.821280837059021 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper shows a slight closing trend in the segment, suggesting initial contact or preparation to grasp. The next action is to ensure firm contact or begin grasping the handle to proceed with opening the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open; then move forward 3 cm, move left 2 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2723033130168915, + 0.009702811017632484, + 0.04116981104016304, + -3.026738405227661, + -0.18199259042739868, + -0.8165804147720337 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper shows a slight closing trend in the segment, suggesting initial contact or preparation to grasp. The next action is to ensure firm contact or begin grasping the handle to proceed with opening the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, keep gripper open; then move forward 4 cm, move left 2 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650113105773926, + 0.009917765855789185, + 0.05013999715447426, + -3.025735855102539, + -0.1631343513727188, + -0.8343048691749573 + ], + "gripper_value": 0.21731513738632202 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper shows a slight closing trend in the segment, suggesting initial contact or preparation to grasp. The next action is to ensure firm contact or begin grasping the handle to proceed with opening the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.264907568693161, + 0.01145098078995943, + 0.07103538513183594, + -3.025615930557251, + -0.16866089403629303, + -0.8328902125358582 + ], + "gripper_value": 0.475652277469635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper shows a slight closing trend in the segment, suggesting initial contact or preparation to grasp. The next action is to ensure firm contact or begin grasping the handle to proceed with opening the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2715211510658264, + 0.019489893689751625, + 0.09348707646131516, + -3.0381903648376465, + -0.15154924988746643, + -0.8105283379554749 + ], + "gripper_value": 0.7941413521766663 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 3, + 996, + 995 + ], + "red block": [ + 212, + 383, + 320, + 606 + ], + "white cord": [ + 898, + 549, + 995, + 674 + ], + "black strap": [ + 1, + 766, + 66, + 938 + ], + "stuffed mouse": [ + 741, + 462, + 951, + 708 + ], + "patterned object": [ + 3, + 426, + 114, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper shows a slight closing trend in the segment, suggesting initial contact or preparation to grasp. The next action is to ensure firm contact or begin grasping the handle to proceed with opening the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27828288078308105, + 0.02585027925670147, + 0.10069620609283447, + -3.051805257797241, + -0.14103169739246368, + -0.7872393727302551 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper shows a slight closing trend in the segment, suggesting initial contact or preparation to grasp. The next action is to ensure firm contact or begin grasping the handle to proceed with opening the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 9 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2893802523612976, + 0.027599534019827843, + 0.0836249589920044, + -3.0373284816741943, + -0.16596081852912903, + -0.8151325583457947 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper shows a slight closing trend in the segment, suggesting initial contact or preparation to grasp. The next action is to ensure firm contact or begin grasping the handle to proceed with opening the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946193814277649, + 0.02992723323404789, + 0.059564076364040375, + -3.0665714740753174, + -0.16304439306259155, + -0.8229416012763977 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper shows a slight closing trend in the segment, suggesting initial contact or preparation to grasp. The next action is to ensure firm contact or begin grasping the handle to proceed with opening the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29705217480659485, + 0.032382190227508545, + 0.0537087582051754, + -3.068063259124756, + -0.16001231968402863, + -0.8178519010543823 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial touch. The gripper is currently open (value ~1.0), indicating it is adjusting its position or orientation to align properly for a secure grasp. The next action is to finalize this alignment before closing the gripper to pull the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009268343448639, + 0.03462352231144905, + 0.04344366490840912, + -3.065361738204956, + -0.1528947353363037, + -0.8170812129974365 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial touch. The gripper is currently open (value ~1.0), indicating it is adjusting its position or orientation to align properly for a secure grasp. The next action is to finalize this alignment before closing the gripper to pull the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30638471245765686, + 0.03633071854710579, + 0.026618141680955887, + -3.082716226577759, + -0.1310741901397705, + -0.8168718218803406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 3, + 996, + 995 + ], + "red block": [ + 212, + 383, + 320, + 604 + ], + "white cord": [ + 898, + 548, + 994, + 674 + ], + "stuffed mouse": [ + 740, + 462, + 950, + 709 + ], + "black strap": [ + 1, + 776, + 53, + 929 + ], + "patterned object": [ + 3, + 423, + 114, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial touch. The gripper is currently open (value ~1.0), indicating it is adjusting its position or orientation to align properly for a secure grasp. The next action is to finalize this alignment before closing the gripper to pull the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 2 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30891719460487366, + 0.03614640235900879, + 0.017989935353398323, + -3.0961692333221436, + -0.11300444602966309, + -0.8110610842704773 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial touch. The gripper is currently open (value ~1.0), indicating it is adjusting its position or orientation to align properly for a secure grasp. The next action is to finalize this alignment before closing the gripper to pull the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30829161405563354, + 0.034339789301157, + 0.014117801561951637, + -3.1133673191070557, + -0.10081411153078079, + -0.801415741443634 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial touch. The gripper is currently open (value ~1.0), indicating it is adjusting its position or orientation to align properly for a secure grasp. The next action is to finalize this alignment before closing the gripper to pull the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 1 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105887770652771, + 0.03256906941533089, + 0.012088398449122906, + -3.112844944000244, + -0.11534527689218521, + -0.7888143658638 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "reposition grip on handle", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial touch. The gripper is currently open (value ~1.0), indicating it is adjusting its position or orientation to align properly for a secure grasp. The next action is to finalize this alignment before closing the gripper to pull the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 1 cm, keep gripper closed; then move back 4 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3104955852031708, + 0.03187739476561546, + 0.012123176828026772, + -3.1157753467559814, + -0.11791326850652695, + -0.7935855984687805 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial touch. The gripper is currently open (value ~1.0), indicating it is adjusting its position or orientation to align properly for a secure grasp. The next action is to finalize this alignment before closing the gripper to pull the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper closed; then move back 4 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31033217906951904, + 0.03150317072868347, + 0.012131880968809128, + -3.117151975631714, + -0.11866966634988785, + -0.8021396398544312 + ], + "gripper_value": 0.1649598330259323 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial touch. The gripper is currently open (value ~1.0), indicating it is adjusting its position or orientation to align properly for a secure grasp. The next action is to finalize this alignment before closing the gripper to pull the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper closed; then move back 5 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3083713948726654, + 0.029750190675258636, + 0.010005011223256588, + -3.12168288230896, + -0.12558101117610931, + -0.8129537105560303 + ], + "gripper_value": 0.12572182714939117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial grasp. The gripper signal indicates a closing action has occurred within this segment, confirming a secure hold. The next immediate action is to pull the drawer outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper closed; then move back 6 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30430343747138977, + 0.02864721789956093, + 0.008469024673104286, + -3.1255526542663574, + -0.1256343126296997, + -0.8241976499557495 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial grasp. The gripper signal indicates a closing action has occurred within this segment, confirming a secure hold. The next immediate action is to pull the drawer outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper closed; then move back 6 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991395592689514, + 0.027888098731637, + 0.006227129604667425, + -3.137571096420288, + -0.12043081223964691, + -0.8286235928535461 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial grasp. The gripper signal indicates a closing action has occurred within this segment, confirming a secure hold. The next immediate action is to pull the drawer outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 6 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28888991475105286, + 0.023608911782503128, + 0.007245045155286789, + 3.1319329738616943, + -0.12165475636720657, + -0.8385319113731384 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial grasp. The gripper signal indicates a closing action has occurred within this segment, confirming a secure hold. The next immediate action is to pull the drawer outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785886526107788, + 0.016618017107248306, + 0.008062883280217648, + 3.121164083480835, + -0.1262257844209671, + -0.8642194271087646 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial grasp. The gripper signal indicates a closing action has occurred within this segment, confirming a secure hold. The next immediate action is to pull the drawer outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 1 cm, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703894078731537, + 0.009525980800390244, + 0.010609033517539501, + 3.1172213554382324, + -0.12825794517993927, + -0.8868228197097778 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 3, + 996, + 995 + ], + "red block": [ + 213, + 384, + 320, + 604 + ], + "white cord": [ + 897, + 546, + 994, + 675 + ], + "stuffed mouse": [ + 741, + 462, + 947, + 708 + ], + "black strap": [ + 1, + 770, + 61, + 927 + ], + "patterned object": [ + 3, + 419, + 114, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial grasp. The gripper signal indicates a closing action has occurred within this segment, confirming a secure hold. The next immediate action is to pull the drawer outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26137447357177734, + 0.006104861851781607, + 0.01311971340328455, + 3.1096112728118896, + -0.12666893005371094, + -0.895119309425354 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot is in contact with the drawer handle, having completed the approach and initial grasp. The gripper signal indicates a closing action has occurred within this segment, confirming a secure hold. The next immediate action is to pull the drawer outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524959444999695, + 0.0031660767272114754, + 0.015235927887260914, + 3.1084139347076416, + -0.12667664885520935, + -0.9058881402015686 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is partially open, and the robot's end-effector is positioned near the handle with a low gripper value indicating it is not grasping. The robot has completed the pulling action and is now in the process of releasing the handle and retreating. The next action is to move the end-effector away from the drawer to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24517835676670074, + -0.0019286781316623092, + 0.014908712357282639, + 3.096949815750122, + -0.12451636791229248, + -0.9155019521713257 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is partially open, and the robot's end-effector is positioned near the handle with a low gripper value indicating it is not grasping. The robot has completed the pulling action and is now in the process of releasing the handle and retreating. The next action is to move the end-effector away from the drawer to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2352362424135208, + -0.00918605551123619, + 0.017236357554793358, + 3.0795109272003174, + -0.11892110109329224, + -0.9305112361907959 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is partially open, and the robot's end-effector is positioned near the handle with a low gripper value indicating it is not grasping. The robot has completed the pulling action and is now in the process of releasing the handle and retreating. The next action is to move the end-effector away from the drawer to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2329801619052887, + -0.013650806620717049, + 0.016453294083476067, + 3.0714855194091797, + -0.11420568078756332, + -0.9362324476242065 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed mouse": [ + 742, + 462, + 943, + 705 + ], + "white table": [ + 4, + 4, + 996, + 995 + ], + "red block": [ + 213, + 383, + 319, + 604 + ], + "patterned object": [ + 2, + 409, + 114, + 573 + ], + "black strap": [ + 2, + 762, + 77, + 973 + ], + "white cord": [ + 895, + 536, + 994, + 675 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is partially open, and the robot's end-effector is positioned near the handle with a low gripper value indicating it is not grasping. The robot has completed the pulling action and is now in the process of releasing the handle and retreating. The next action is to move the end-effector away from the drawer to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.23062188923358917, + -0.016624687239527702, + 0.015107491053640842, + 3.0719454288482666, + -0.11514637619256973, + -0.9418156147003174 + ], + "gripper_value": 0.16548661887645721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is partially open, and the robot's end-effector is positioned near the handle with a low gripper value indicating it is not grasping. The robot has completed the pulling action and is now in the process of releasing the handle and retreating. The next action is to move the end-effector away from the drawer to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2271912693977356, + -0.017422622069716454, + 0.017611075192689896, + 3.060755729675293, + -0.06938716024160385, + -0.9508832097053528 + ], + "gripper_value": 0.3788849711418152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is partially open, and the robot's end-effector is positioned near the handle with a low gripper value indicating it is not grasping. The robot has completed the pulling action and is now in the process of releasing the handle and retreating. The next action is to move the end-effector away from the drawer to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2348192185163498, + -0.01962125115096569, + 0.022358937188982964, + 3.070045232772827, + -0.09007411450147629, + -0.9396759271621704 + ], + "gripper_value": 0.7001883387565613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The drawer is partially open, and the robot's end-effector is positioned near the handle with a low gripper value indicating it is not grasping. The robot has completed the pulling action and is now in the process of releasing the handle and retreating. The next action is to move the end-effector away from the drawer to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.24030901491641998, + -0.021600529551506042, + 0.027222000062465668, + 3.0657904148101807, + -0.10233111679553986, + -0.924500584602356 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The robot is positioned in front of the red drawer with the gripper open and aligned with the handle. Contact has been made in previous steps, and the current subtask involves final repositioning to optimize grip. The next action is likely a minor adjustment to center the gripper on the handle before grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.24640287458896637, + -0.026282185688614845, + 0.04008342698216438, + 3.057647228240967, + -0.13372500240802765, + -0.9068261981010437 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The robot is positioned in front of the red drawer with the gripper open and aligned with the handle. Contact has been made in previous steps, and the current subtask involves final repositioning to optimize grip. The next action is likely a minor adjustment to center the gripper on the handle before grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2512177526950836, + -0.029975438490509987, + 0.0758931040763855, + 3.0551047325134277, + -0.1685621589422226, + -0.891027569770813 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "reposition grip on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The robot is positioned in front of the red drawer with the gripper open and aligned with the handle. Contact has been made in previous steps, and the current subtask involves final repositioning to optimize grip. The next action is likely a minor adjustment to center the gripper on the handle before grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003907_ecot.json b/cot/chunk-0003/episode_0003907_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0d79781bb0f5b8711ea32b1bcad9824fa7af0054 --- /dev/null +++ b/cot/chunk-0003/episode_0003907_ecot.json @@ -0,0 +1,2053 @@ +{ + "task_name": "episode_0003907", + "episode_json": "json/chunk-0003/episode_0003907.json", + "video_path": "videos/chunk-0003/image_0/episode_0003907.mp4", + "instruction": "Placing the silver lid at the right side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003907.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.728626012802124, + "std": 0.3365814685821533, + "delta_total": 0.011688590049743652, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72863, std=0.33658, total_delta=0.01169). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 114, + 127, + 27, + 27 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 22 + ], + [ + 3, + 23, + 26 + ], + [ + 4, + 27, + 27 + ], + [ + 5, + 28, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver lid\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the silver lid on the left side of the table while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift lid\", \"start\": 14, \"end\": 22, \"planning\": \"Secure grip on the silver lid and lift it slightly while rotating orientation to align with target placement zone.\"},\n {\"id\": 3, \"name\": \"transport lid rightward\", \"start\": 23, \"end\": 26, \"planning\": \"Carry the grasped lid across the table toward the right-side placement area, maintaining stable hold.\"},\n {\"id\": 4, \"name\": \"release contact with lid\", \"start\": 27, \"end\": 27, \"planning\": \"Open gripper to release the lid onto the table surface at the target location without active pushing or sliding.\"},\n {\"id\": 5, \"name\": \"retreat from placed lid\", \"start\": 28, \"end\": 29, \"planning\": \"Lift and withdraw end-effector away from the newly placed lid to complete the task and avoid interference.\"}\n ],\n \"global_plan\": \"Approach the silver lid on the left, grasp and lift it, transport it to the right side of the table, release it gently, then retreat to finalize placement.\",\n \"notes\": \"Segment 4 (frame 27) shows gripper opening (delta=+0.59468 locally), consistent with release — not grasp. Segment 5 confirms full opening and retreat motion. All subtasks respect contiguous frame coverage and observed gripper behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver lid", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the silver lid on the left side of the table while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and lift lid", + "start": 14, + "end": 22, + "planning": "Secure grip on the silver lid and lift it slightly while rotating orientation to align with target placement zone." + }, + { + "id": 3, + "name": "transport lid rightward", + "start": 23, + "end": 26, + "planning": "Carry the grasped lid across the table toward the right-side placement area, maintaining stable hold." + }, + { + "id": 4, + "name": "release contact with lid", + "start": 27, + "end": 27, + "planning": "Open gripper to release the lid onto the table surface at the target location without active pushing or sliding." + }, + { + "id": 5, + "name": "retreat from placed lid", + "start": 28, + "end": 29, + "planning": "Lift and withdraw end-effector away from the newly placed lid to complete the task and avoid interference." + } + ], + "global_plan": "Approach the silver lid on the left, grasp and lift it, transport it to the right side of the table, release it gently, then retreat to finalize placement.", + "notes": "Segment 4 (frame 27) shows gripper opening (delta=+0.59468 locally), consistent with release — not grasp. Segment 5 confirms full opening and retreat motion. All subtasks respect contiguous frame coverage and observed gripper behavior." + } + }, + "episode_goal": "Place the silver lid at the right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27706027030944824, + 0.0936896800994873, + 0.06790652871131897, + -3.060535430908203, + -0.04059622064232826, + 0.010686117224395275 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned near the left side of the table where the silver lid is located. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27344566583633423, + 0.09181269258260727, + 0.059912823140621185, + -3.0745112895965576, + -0.009005608037114143, + 0.006960673723369837 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned near the left side of the table where the silver lid is located. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640075981616974, + 0.10836005210876465, + 0.060109395533800125, + -3.1021153926849365, + 0.002866467460989952, + 0.04847051575779915 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned near the left side of the table where the silver lid is located. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.267190158367157, + 0.12290166318416595, + 0.06762152910232544, + -3.1050658226013184, + -0.024256175383925438, + 0.06001832336187363 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 293, + 117, + 448, + 311 + ], + "wooden table": [ + 4, + 154, + 931, + 953 + ], + "blue spatula": [ + 310, + 306, + 470, + 546 + ], + "orange cloth": [ + 332, + 177, + 503, + 356 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned near the left side of the table where the silver lid is located. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26816418766975403, + 0.14211474359035492, + 0.07262325286865234, + -3.0822784900665283, + -0.04338592663407326, + 0.059934504330158234 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned near the left side of the table where the silver lid is located. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709343731403351, + 0.15295037627220154, + 0.06331076472997665, + -3.073791980743408, + -0.029467720538377762, + 0.03974277898669243 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned near the left side of the table where the silver lid is located. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716103196144104, + 0.161797434091568, + 0.05749768018722534, + -3.0782086849212646, + -0.03997916355729103, + 0.0329742468893528 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, close gripper; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2714034914970398, + 0.1699361652135849, + 0.052418053150177, + -3.0845742225646973, + -0.05974524840712547, + 0.04002475365996361 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move right 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.270063191652298, + 0.18054695427417755, + 0.051861874759197235, + -3.0756802558898926, + -0.08591710776090622, + 0.04856305569410324 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 8 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26750802993774414, + 0.18727940320968628, + 0.04983193054795265, + -3.0801546573638916, + -0.07588467001914978, + 0.05832334980368614 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 12 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650112211704254, + 0.1938924938440323, + 0.046595700085163116, + -3.0753397941589355, + -0.06770388036966324, + 0.07499857246875763 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 1 cm, move right 16 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632647454738617, + 0.1966097056865692, + 0.033735308796167374, + -3.077117919921875, + -0.026872502639889717, + 0.08785665780305862 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move right 19 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26558682322502136, + 0.1993902176618576, + 0.03220218047499657, + -3.060242176055908, + -0.012736853212118149, + 0.08249055594205856 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 20 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674548625946045, + 0.1987404227256775, + 0.03246437385678291, + -3.055903434753418, + -0.020602678880095482, + 0.07415096461772919 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 22 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26912254095077515, + 0.19461369514465332, + 0.03255608305335045, + -3.052448272705078, + -0.01700521633028984, + 0.05823422968387604 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 22 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2673376202583313, + 0.19254060089588165, + 0.03249986097216606, + -3.054391622543335, + -0.016122665256261826, + 0.05435697361826897 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 22 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26187819242477417, + 0.17228497564792633, + 0.038514915853738785, + -3.063234567642212, + 0.030345652252435684, + 0.013108567334711552 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 20 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658078372478485, + 0.15104354918003082, + 0.06355664879083633, + -3.059727191925049, + -0.013732003048062325, + -0.027561182156205177 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot arm is positioned above the left side of the table, hovering near the silver lid and blue utensil. The gripper is currently open, indicating no object is held yet. The robot needs to lower its end-effector to align with the silver lid in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2633025646209717, + 0.11835470795631409, + 0.08783245831727982, + -3.0845139026641846, + -0.05369868129491806, + -0.06712355464696884 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid on the left side of the table. The gripper is positioned near the lid, and the segment-level evidence suggests a grasp is plausible. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 14 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, open gripper; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631686329841614, + 0.07021667063236237, + 0.0961630791425705, + -3.1211369037628174, + -0.07879389077425003, + -0.18080151081085205 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 317, + 118, + 448, + 311 + ], + "wooden table": [ + 4, + 155, + 930, + 958 + ], + "blue spatula": [ + 312, + 304, + 471, + 545 + ], + "orange cloth": [ + 364, + 178, + 501, + 353 + ], + "corn": [ + 773, + 104, + 928, + 317 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid on the left side of the table. The gripper is positioned near the lid, and the segment-level evidence suggests a grasp is plausible. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, open gripper; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26376083493232727, + 0.0315004400908947, + 0.09068634361028671, + -3.1189095973968506, + -0.060322098433971405, + -0.26071488857269287 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 157, + 933, + 959 + ], + "metal bowl": [ + 244, + 372, + 493, + 599 + ], + "corn": [ + 772, + 103, + 928, + 316 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid on the left side of the table. The gripper is positioned near the lid, and the segment-level evidence suggests a grasp is plausible. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, open gripper; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26648369431495667, + 0.008099615573883057, + 0.0748351588845253, + -3.0987815856933594, + -0.049124568700790405, + -0.3029727637767792 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid on the left side of the table. The gripper is positioned near the lid, and the segment-level evidence suggests a grasp is plausible. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, keep gripper closed; then move back 1 cm, move right 3 cm, open gripper; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27152034640312195, + -0.008651426993310452, + 0.05436431244015694, + -3.1359119415283203, + -0.04168448597192764, + -0.33669519424438477 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid on the left side of the table. The gripper is positioned near the lid, and the segment-level evidence suggests a grasp is plausible. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 3 cm, open gripper; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27394142746925354, + -0.023271966725587845, + 0.03574884310364723, + 3.134730339050293, + -0.024748478084802628, + -0.3807617723941803 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "transport lid rightward", + "subtask_reasoning": "The robot has approached the silver lid on the left side of the table. The gripper is positioned near the lid, and the segment-level evidence suggests a grasp is plausible. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, open gripper; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27474093437194824, + -0.03687911853194237, + 0.032202254980802536, + 3.125971555709839, + -0.03085038997232914, + -0.42199841141700745 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "transport lid rightward", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it rightward across the table. The gripper remains closed, confirming the lid is securely grasped during transport. The next action is to continue moving toward the target placement area on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, open gripper; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2711169421672821, + -0.0499989315867424, + 0.03099200129508972, + 3.1295018196105957, + -0.03964584320783615, + -0.4814891815185547 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "transport lid rightward", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it rightward across the table. The gripper remains closed, confirming the lid is securely grasped during transport. The next action is to continue moving toward the target placement area on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26918351650238037, + -0.052223823964595795, + 0.03064952790737152, + 3.128826141357422, + -0.038097940385341644, + -0.4844985604286194 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "transport lid rightward", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it rightward across the table. The gripper remains closed, confirming the lid is securely grasped during transport. The next action is to continue moving toward the target placement area on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654172480106354, + -0.04932725429534912, + 0.03236724063754082, + 3.136852502822876, + -0.028592849150300026, + -0.45816150307655334 + ], + "gripper_value": 0.6430501937866211 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "release contact with lid", + "subtask_reasoning": "The silver lid is resting on the table at the target location on the right side. The gripper is open and no longer in contact with the lid, indicating the release action is complete. The next step is to retreat the arm to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26196205615997314, + -0.03541025519371033, + 0.04489876329898834, + -3.1163885593414307, + -0.002534453058615327, + -0.36564335227012634 + ], + "gripper_value": 0.9359400868415833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "retreat from placed lid", + "subtask_reasoning": "The silver lid is successfully placed on the table, and the robot's gripper is open and positioned above it. The subtask involves retreating from the placed lid to finalize the action. The next step is to move the robot arm away from the lid to complete the placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26206398010253906, + -0.02220107614994049, + 0.06414199620485306, + -3.091432809829712, + -0.046123240143060684, + -0.2545819878578186 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid at the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid rightward" + }, + { + "id": 4, + "subtask": "release contact with lid" + }, + { + "id": 5, + "subtask": "retreat from placed lid" + } + ], + "subtask_name": "retreat from placed lid", + "subtask_reasoning": "The silver lid is successfully placed on the table, and the robot's gripper is open and positioned above it. The subtask involves retreating from the placed lid to finalize the action. The next step is to move the robot arm away from the lid to complete the placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003909_ecot.json b/cot/chunk-0003/episode_0003909_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1f1aecf49431bfff8b81a0c0822048851ef54201 --- /dev/null +++ b/cot/chunk-0003/episode_0003909_ecot.json @@ -0,0 +1,1176 @@ +{ + "task_name": "episode_0003909", + "episode_json": "json/chunk-0003/episode_0003909.json", + "video_path": "videos/chunk-0003/image_0/episode_0003909.mp4", + "instruction": "Put the blue figure on the top edge of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003909.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.001324295997619629, + "std": 0.00045517442049458623, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00132, std=0.00046, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper down toward the yellow cloth on the table.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 5, \"end\": 9, \"planning\": \"Lower the gripper to touch the cloth surface without grasping.\"},\n {\"id\": 3, \"name\": \"nudge cloth upward\", \"start\": 10, \"end\": 14, \"planning\": \"Push the cloth slightly upward along the table surface using the gripper.\"},\n {\"id\": 4, \"name\": \"reposition cloth to top edge\", \"start\": 15, \"end\": 17, \"planning\": \"Continue nudging and sliding the cloth toward the top edge of the table.\"}\n ],\n \"global_plan\": \"The robot approaches the yellow cloth, makes contact, and then pushes or nudges it upward across the table surface to position it near the top edge — no grasping occurs as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in either segment; all actions are contact-based pushing/sliding. Frame ranges are contiguous and cover full trajectory [0,17].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move the gripper down toward the yellow cloth on the table." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 5, + "end": 9, + "planning": "Lower the gripper to touch the cloth surface without grasping." + }, + { + "id": 3, + "name": "nudge cloth upward", + "start": 10, + "end": 14, + "planning": "Push the cloth slightly upward along the table surface using the gripper." + }, + { + "id": 4, + "name": "reposition cloth to top edge", + "start": 15, + "end": 17, + "planning": "Continue nudging and sliding the cloth toward the top edge of the table." + } + ], + "global_plan": "The robot approaches the yellow cloth, makes contact, and then pushes or nudges it upward across the table surface to position it near the top edge — no grasping occurs as gripper remains open throughout.", + "notes": "Gripper evidence confirms no meaningful closing in either segment; all actions are contact-based pushing/sliding. Frame ranges are contiguous and cover full trajectory [0,17]." + } + }, + "episode_goal": "Place the blue figure on the top edge of the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2931712865829468, + -0.006488691549748182, + 0.1015777662396431, + -3.0277867317199707, + -0.32997673749923706, + 0.13010342419147491 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, indicating no contact has been made yet. The subtask involves approaching the cloth to prepare for pushing it. The next action is to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move forward 7 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2892090380191803, + -0.005987649783492088, + 0.09172876179218292, + -3.019381523132324, + -0.29620638489723206, + 0.13041318953037262 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, indicating no contact has been made yet. The subtask involves approaching the cloth to prepare for pushing it. The next action is to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27896541357040405, + -0.002254747087135911, + 0.08039667457342148, + -3.011817455291748, + -0.26246321201324463, + 0.14018456637859344 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the yellow cloth with the gripper open, indicating no grasp has occurred. The subtask involves approaching the cloth to prepare for pushing it. The next action is to lower or move the end-effector closer to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 7 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706964612007141, + 0.0025855868589133024, + 0.0693357065320015, + -3.023425817489624, + -0.236571803689003, + 0.16471809148788452 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the yellow cloth with the gripper open, indicating no grasp has occurred. The subtask involves approaching the cloth to prepare for pushing it. The next action is to lower or move the end-effector closer to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, keep gripper open; then move forward 7 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2609594464302063, + 0.007678675930947065, + 0.051081251353025436, + -3.051664352416992, + -0.20770904421806335, + 0.2024535983800888 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the yellow cloth with the gripper open, indicating no grasp has occurred. The subtask involves approaching the cloth to prepare for pushing it. The next action is to lower or move the end-effector closer to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 7 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25259634852409363, + 0.013703275471925735, + 0.02540000155568123, + -3.0602595806121826, + -0.1574515849351883, + 0.2360018640756607 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the yellow cloth with the gripper open, indicating no grasp has occurred. The subtask involves approaching the cloth to prepare for pushing it. The next action is to lower or move the end-effector closer to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555100917816162, + 0.015859330072999, + 0.007217691279947758, + -3.0906453132629395, + -0.14669561386108398, + 0.2570253908634186 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the yellow cloth with the gripper open, indicating no grasp has occurred. The subtask involves approaching the cloth to prepare for pushing it. The next action is to lower or move the end-effector closer to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move up 3 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2646403908729553, + 0.018601810559630394, + -0.0001835592120187357, + -3.099924087524414, + -0.13785092532634735, + 0.25220218300819397 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with it, as indicated by the end-effector position and gripper state. No grasping has occurred, consistent with the open gripper throughout the segment. The next action is to push or nudge the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move up 3 cm, keep gripper open; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808493971824646, + 0.025318842381238937, + -0.00042559983558021486, + -3.105233669281006, + -0.15526874363422394, + 0.2576294541358948 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 306, + 388, + 627, + 745 + ], + "wooden table": [ + 4, + 183, + 995, + 994 + ], + "black device": [ + 145, + 3, + 554, + 629 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with it, as indicated by the end-effector position and gripper state. No grasping has occurred, consistent with the open gripper throughout the segment. The next action is to push or nudge the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move up 3 cm, keep gripper open; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30158305168151855, + 0.042069993913173676, + -0.000905084190890193, + -3.111720561981201, + -0.18197229504585266, + 0.29235783219337463 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 328, + 341, + 628, + 695 + ], + "wooden table": [ + 4, + 180, + 995, + 995 + ], + "black device": [ + 191, + 2, + 555, + 570 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with it, as indicated by the end-effector position and gripper state. No grasping has occurred, consistent with the open gripper throughout the segment. The next action is to push or nudge the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 3 cm, keep gripper open; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181021511554718, + 0.06811816245317459, + 0.0009964617202058434, + -3.1102607250213623, + -0.20287401974201202, + 0.34750300645828247 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "nudge cloth upward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with it, as indicated by the end-effector position and gripper state. No grasping has occurred, consistent with the open gripper throughout the segment. The next action is to push or nudge the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 3 cm, keep gripper open; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32966747879981995, + 0.09881649166345596, + 0.0025481570046395063, + -3.1103410720825195, + -0.2225733995437622, + 0.4211116135120392 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "nudge cloth upward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with it, as indicated by the end-effector position and gripper state. No grasping has occurred, consistent with the open gripper throughout the segment. The next action is to push or nudge the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3318682014942169, + 0.11415845900774002, + 0.00658714585006237, + -3.0981180667877197, + -0.22832337021827698, + 0.45174261927604675 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "nudge cloth upward", + "subtask_reasoning": "The robot's end-effector is in contact with the yellow cloth on the table, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next action is to continue nudging the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33878275752067566, + 0.11750048398971558, + 0.012247595936059952, + -3.0995852947235107, + -0.24938979744911194, + 0.44966477155685425 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "nudge cloth upward", + "subtask_reasoning": "The robot's end-effector is in contact with the yellow cloth on the table, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next action is to continue nudging the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3368986248970032, + 0.11457512527704239, + 0.012661241926252842, + -3.09403395652771, + -0.2333257496356964, + 0.44171419739723206 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "nudge cloth upward", + "subtask_reasoning": "The robot's end-effector is in contact with the yellow cloth on the table, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next action is to continue nudging the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33928680419921875, + 0.10818978399038315, + 0.02864566259086132, + -3.0963668823242188, + -0.25494834780693054, + 0.42604026198387146 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "reposition cloth to top edge", + "subtask_reasoning": "The robot's end-effector is in contact with the yellow cloth on the table, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next action is to continue nudging the cloth upward toward the top edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33939987421035767, + 0.10207323729991913, + 0.05172997713088989, + -3.1010966300964355, + -0.2804185748100281, + 0.4251197874546051 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "reposition cloth to top edge", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, with the gripper open and no grasping occurring. The cloth has been approached and contacted, and the robot is now pushing or nudging it toward the top edge. The next action is to continue sliding the cloth upward to reach the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.336226224899292, + 0.09769689291715622, + 0.08126628398895264, + -3.091679811477661, + -0.3142480254173279, + 0.4307030439376831 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "nudge cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth to top edge" + } + ], + "subtask_name": "reposition cloth to top edge", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, with the gripper open and no grasping occurring. The cloth has been approached and contacted, and the robot is now pushing or nudging it toward the top edge. The next action is to continue sliding the cloth upward to reach the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003910_ecot.json b/cot/chunk-0003/episode_0003910_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ba415fcd863a9fb56f944b13b5c4600f071d5eb3 --- /dev/null +++ b/cot/chunk-0003/episode_0003910_ecot.json @@ -0,0 +1,2242 @@ +{ + "task_name": "episode_0003910", + "episode_json": "json/chunk-0003/episode_0003910.json", + "video_path": "videos/chunk-0003/image_0/episode_0003910.mp4", + "instruction": "Moved the orange-white object in the right side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003910.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.39901065826416016, + "std": 0.18702515959739685, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.39901, std=0.18703, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 15 + ], + [ + 3, + 16, + 16 + ], + [ + 4, + 17, + 25 + ], + [ + 5, + 26, + 26 + ], + [ + 6, + 27, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange-white object\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the orange-white object while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact and nudge object\", \"start\": 14, \"end\": 16, \"planning\": \"Establish physical contact with the object and initiate a small nudge to begin repositioning it.\"},\n {\"id\": 3, \"name\": \"slide object rightward\", \"start\": 17, \"end\": 25, \"planning\": \"Maintain contact and slide the orange-white object across the table surface toward the right side.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 26, \"end\": 34, \"planning\": \"Open gripper to release contact with the object and retract end-effector away from the target area.\"}\n ],\n \"global_plan\": \"Reposition the orange-white object to the right side of the table via approach, contact-based nudging and sliding, then release and retreat.\",\n \"notes\": \"Gripper closes meaningfully in Segment 1 (frames 0-13) and opens in Segment 6 (frames 27-34), but no lifting or grasping is observed — motion is primarily planar sliding. Segment 3 (frame 16) and Segment 4 (frames 17-25) show no meaningful gripper closing, so contact-based verbs are used. Full frame coverage ensured with contiguous segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange-white object", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the orange-white object while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact and nudge object", + "start": 14, + "end": 16, + "planning": "Establish physical contact with the object and initiate a small nudge to begin repositioning it." + }, + { + "id": 3, + "name": "slide object rightward", + "start": 17, + "end": 25, + "planning": "Maintain contact and slide the orange-white object across the table surface toward the right side." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 26, + "end": 34, + "planning": "Open gripper to release contact with the object and retract end-effector away from the target area." + } + ], + "global_plan": "Reposition the orange-white object to the right side of the table via approach, contact-based nudging and sliding, then release and retreat.", + "notes": "Gripper closes meaningfully in Segment 1 (frames 0-13) and opens in Segment 6 (frames 27-34), but no lifting or grasping is observed — motion is primarily planar sliding. Segment 3 (frame 16) and Segment 4 (frames 17-25) show no meaningful gripper closing, so contact-based verbs are used. Full frame coverage ensured with contiguous segments." + } + }, + "episode_goal": "Move the orange-white object to the right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3983554244041443, + 0.0320923887193203, + 0.03737463429570198, + 2.9543540477752686, + -0.3150275945663452, + 0.5678015947341919 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot is positioned above the table, with the orange-white object visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the object to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 10 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.39348500967025757, + 0.03215525671839714, + 0.023702876642346382, + 2.9774250984191895, + -0.2828774154186249, + 0.566777229309082 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot is positioned above the table, with the orange-white object visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the object to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 10 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.376573383808136, + 0.022038111463189125, + 0.015814293175935745, + 3.086162805557251, + -0.27148982882499695, + 0.5529825687408447 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot is positioned above the table, with the orange-white object visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the object to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 9 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36950933933258057, + 0.014719138853251934, + 0.030589334666728973, + 3.094449281692505, + -0.30774369835853577, + 0.538773238658905 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot is positioned above the table, with the orange-white object visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the object to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 9 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3515884280204773, + 0.004974980838596821, + 0.020378464832901955, + 3.0955259799957275, + -0.29278361797332764, + 0.5411328673362732 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot is positioned above the table, with the orange-white object visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the object to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 7 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33695143461227417, + -0.016593659296631813, + 0.009495438076555729, + 3.0892763137817383, + -0.2515082061290741, + 0.5192106366157532 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 275, + 506, + 546, + 795 + ], + "wooden countertop": [ + 21, + 268, + 772, + 960 + ], + "pink cup": [ + 509, + 447, + 607, + 551 + ], + "carrot": [ + 551, + 687, + 635, + 864 + ], + "white basin": [ + 730, + 437, + 996, + 884 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot is positioned above the table, with the orange-white object visible on the right side. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the object to initiate contact for nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246114253997803, + -0.03141317889094353, + -0.0005212129908613861, + 3.049119234085083, + -0.20845989882946014, + 0.5143188834190369 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32151734828948975, + -0.0469835065305233, + -0.015104930847883224, + 3.0005719661712646, + -0.16837486624717712, + 0.4723944365978241 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 2 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31316059827804565, + -0.054643064737319946, + -0.03667304292321205, + 3.018411874771118, + -0.1206211969256401, + 0.4347172975540161 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 2 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3087191879749298, + -0.06004648655653, + -0.046403661370277405, + 3.0156712532043457, + -0.1080363467335701, + 0.42945361137390137 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, tilt left 10 degrees, close gripper; then move forward 2 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3027076721191406, + -0.06442590802907944, + -0.049210529774427414, + 3.0602684020996094, + -0.10243698954582214, + 0.4052019417285919 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29579034447669983, + -0.06676928699016571, + -0.058742739260196686, + 3.0959599018096924, + -0.08063577115535736, + 0.39264363050460815 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 13 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29258492588996887, + -0.0705920159816742, + -0.06233103945851326, + 3.128112554550171, + -0.08833926916122437, + 0.3912701904773712 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 14 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2937575876712799, + -0.07035599648952484, + -0.06219826638698578, + 3.129167318344116, + -0.09750991314649582, + 0.3883979320526123 + ], + "gripper_value": 0.6119219660758972 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach orange-white object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 16 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28882354497909546, + -0.06171640753746033, + -0.06015358865261078, + -3.095407724380493, + -0.0891072228550911, + 0.39462900161743164 + ], + "gripper_value": 0.6119219660758972 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the orange-white object located near the yellow tool. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm and make contact with the object to begin nudging it toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 17 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29521867632865906, + -0.04628073051571846, + -0.03821602836251259, + -3.1335270404815674, + -0.13969038426876068, + 0.4271412491798401 + ], + "gripper_value": 0.6119219660758972 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot end-effector is in contact with the orange-white object on the table, positioned to nudge it rightward. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply lateral force to slide the object toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 10 cm, move left 18 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30371469259262085, + -0.01637713611125946, + -0.020256567746400833, + 3.1123409271240234, + -0.17019611597061157, + 0.5017908215522766 + ], + "gripper_value": 0.6119219660758972 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 21, + 275, + 773, + 960 + ], + "blue cloth": [ + 274, + 505, + 508, + 797 + ], + "grey cabinet": [ + 132, + 679, + 630, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot end-effector is in contact with the orange-white object on the table, positioned to nudge it rightward. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply lateral force to slide the object toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move forward 10 cm, move left 18 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092840909957886, + 0.015906922519207, + -0.009993625804781914, + 3.0802769660949707, + -0.18797363340854645, + 0.5837761163711548 + ], + "gripper_value": 0.6119219660758972 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 21, + 266, + 773, + 958 + ], + "blue cloth": [ + 274, + 503, + 507, + 797 + ], + "pink cup": [ + 477, + 538, + 569, + 694 + ], + "white basin": [ + 731, + 438, + 996, + 883 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot end-effector is in contact with the orange-white object on the table, positioned to nudge it rightward. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply lateral force to slide the object toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 18 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281663954257965, + 0.05414265766739845, + 0.004955857992172241, + 3.0556540489196777, + -0.21507146954536438, + 0.6674819588661194 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot end-effector is in contact with the orange-white object on the table, positioned to nudge it rightward. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply lateral force to slide the object toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 14 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479721248149872, + 0.08975017070770264, + 0.007651207968592644, + 3.052377223968506, + -0.22439657151699066, + 0.7332138419151306 + ], + "gripper_value": 0.6119219660758972 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot end-effector is in contact with the orange-white object on the table, positioned to nudge it rightward. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply lateral force to slide the object toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3668369650840759, + 0.11596851050853729, + 0.0011133105726912618, + 3.0621888637542725, + -0.21308934688568115, + 0.7652724385261536 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot end-effector is in contact with the orange-white object on the table, positioned to nudge it rightward. The approach phase is complete, and the gripper remains open as per segment evidence. The next action is to apply lateral force to slide the object toward the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37927260994911194, + 0.14093218743801117, + -0.013445830903947353, + 3.078806161880493, + -0.18630245327949524, + 0.7930362820625305 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 4 cm, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3890349864959717, + 0.1598641276359558, + -0.028060197830200195, + 3.105088233947754, + -0.16656716167926788, + 0.8142993450164795 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4002408981323242, + 0.17637312412261963, + -0.03785243630409241, + 3.1133735179901123, + -0.17604196071624756, + 0.8370500802993774 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, open gripper; then move back 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4041935205459595, + 0.1906689703464508, + -0.04444718733429909, + 3.1334869861602783, + -0.1743791699409485, + 0.8556817173957825 + ], + "gripper_value": 0.6119219660758972 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 4 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40735530853271484, + 0.19320055842399597, + -0.048861149698495865, + 3.1413087844848633, + -0.17188195884227753, + 0.8587478995323181 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide object rightward", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.40645384788513184, + 0.19281840324401855, + -0.05096878111362457, + -3.1412060260772705, + -0.16639339923858643, + 0.8708574175834656 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4071495831012726, + 0.19217343628406525, + -0.05039761960506439, + 3.13806414604187, + -0.16370156407356262, + 0.8653718829154968 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4069891571998596, + 0.19192032516002655, + -0.05044618248939514, + 3.1378843784332275, + -0.16180752217769623, + 0.8648446202278137 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.40649867057800293, + 0.19176556169986725, + -0.050227317959070206, + 3.139432191848755, + -0.15780207514762878, + 0.8695974946022034 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the orange-white object on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a contact-based sliding action is ongoing. The next step is to continue pushing the object rightward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.40282535552978516, + 0.18789489567279816, + -0.05131395533680916, + 3.135334014892578, + -0.1231822669506073, + 0.8839001655578613 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The orange-white object has been nudged to the right side of the table and is now stationary. The gripper is open and slightly elevated, indicating contact has been released. The next action is to retreat the end-effector further away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39967969059944153, + 0.18749144673347473, + -0.03622300550341606, + 3.122567653656006, + -0.15445977449417114, + 0.9063832759857178 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The orange-white object has been nudged to the right side of the table and is now stationary. The gripper is open and slightly elevated, indicating contact has been released. The next action is to retreat the end-effector further away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.39458540081977844, + 0.1848820000886917, + -0.013991443440318108, + 3.1040804386138916, + -0.18911464512348175, + 0.9191700220108032 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 21, + 283, + 772, + 960 + ], + "blue cloth": [ + 273, + 505, + 547, + 797 + ], + "pink cup": [ + 312, + 337, + 393, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The orange-white object has been nudged to the right side of the table and is now stationary. The gripper is open and slightly elevated, indicating contact has been released. The next action is to retreat the end-effector further away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.38662189245224, + 0.18222586810588837, + -0.0022423220798373222, + 3.098796844482422, + -0.2153639942407608, + 0.924665093421936 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The orange-white object has been nudged to the right side of the table and is now stationary. The gripper is open and slightly elevated, indicating contact has been released. The next action is to retreat the end-effector further away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3711560070514679, + 0.16774748265743256, + 0.005759161431342363, + 3.1132447719573975, + -0.2817249298095703, + 1.0138918161392212 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange-white object to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange-white object" + }, + { + "id": 2, + "subtask": "make contact and nudge object" + }, + { + "id": 3, + "subtask": "slide object rightward" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The orange-white object has been nudged to the right side of the table and is now stationary. The gripper is open and slightly elevated, indicating contact has been released. The next action is to retreat the end-effector further away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003911_ecot.json b/cot/chunk-0003/episode_0003911_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1a373751954f01d830e5bbf059993ed545637207 --- /dev/null +++ b/cot/chunk-0003/episode_0003911_ecot.json @@ -0,0 +1,2121 @@ +{ + "task_name": "episode_0003911", + "episode_json": "json/chunk-0003/episode_0003911.json", + "video_path": "videos/chunk-0003/image_0/episode_0003911.mp4", + "instruction": "Move the orange cloth to the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003911.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.9461081027984619, + "std": 0.4334907829761505, + "delta_total": -0.0013371109962463379, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94611, std=0.43349, total_delta=-0.00134). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 105, + 22, + 22, + 22, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 122 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 20 + ], + [ + 3, + 21, + 21 + ], + [ + 4, + 22, + 24 + ], + [ + 5, + 25, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move gripper toward the orange cloth and close fingers to establish a secure grasp.\"},\n {\"id\": 2, \"name\": \"lift and reposition cloth\", \"start\": 5, \"end\": 20, \"planning\": \"Lift the grasped cloth and move it leftward over the target burner area.\"},\n {\"id\": 3, \"name\": \"release cloth on burner\", \"start\": 21, \"end\": 24, \"planning\": \"Open gripper to release the cloth onto the left burner surface.\"},\n {\"id\": 4, \"name\": \"retreat from burner\", \"start\": 25, \"end\": 32, \"planning\": \"Move gripper away from the placed cloth to complete the task without further contact.\"}\n ],\n \"global_plan\": \"Grasp the orange cloth, lift and translate it leftward to the target burner, release it precisely, then retreat to finish.\",\n \"notes\": \"Segment 5 has no gripper closing evidence — correctly labeled as retreat with open gripper. Segment 3 (frame 21) is merged into release phase for continuity. All subtasks are contiguous and cover full trajectory [0,32].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cloth", + "start": 0, + "end": 4, + "planning": "Move gripper toward the orange cloth and close fingers to establish a secure grasp." + }, + { + "id": 2, + "name": "lift and reposition cloth", + "start": 5, + "end": 20, + "planning": "Lift the grasped cloth and move it leftward over the target burner area." + }, + { + "id": 3, + "name": "release cloth on burner", + "start": 21, + "end": 24, + "planning": "Open gripper to release the cloth onto the left burner surface." + }, + { + "id": 4, + "name": "retreat from burner", + "start": 25, + "end": 32, + "planning": "Move gripper away from the placed cloth to complete the task without further contact." + } + ], + "global_plan": "Grasp the orange cloth, lift and translate it leftward to the target burner, release it precisely, then retreat to finish.", + "notes": "Segment 5 has no gripper closing evidence — correctly labeled as retreat with open gripper. Segment 3 (frame 21) is merged into release phase for continuity. All subtasks are contiguous and cover full trajectory [0,32]." + } + }, + "episode_goal": "Move the orange cloth to the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842692732810974, + 0.11709094047546387, + 0.10232879221439362, + -3.1112289428710938, + -0.20409448444843292, + 0.46138980984687805 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "approach and grasp cloth", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right burner. The gripper is open and approaching the cloth. No grasp has occurred yet; the next action is to lower the gripper and close it around the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817217707633972, + 0.11608906835317612, + 0.0936955139040947, + -3.109910726547241, + -0.17831425368785858, + 0.4669058620929718 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "approach and grasp cloth", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right burner. The gripper is open and approaching the cloth. No grasp has occurred yet; the next action is to lower the gripper and close it around the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move left 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2945992648601532, + 0.09769169241189957, + 0.09113927185535431, + -3.1087446212768555, + -0.2291432023048401, + 0.4437642991542816 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "approach and grasp cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 4 cm, keep gripper closed; then move forward 2 cm, move left 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29807424545288086, + 0.07323426753282547, + 0.07652458548545837, + -3.1059627532958984, + -0.2655167281627655, + 0.3523411750793457 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "approach and grasp cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move left 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31056368350982666, + 0.05881289765238762, + 0.0639478862285614, + -3.1166791915893555, + -0.26362451910972595, + 0.33926141262054443 + ], + "gripper_value": 0.7011857628822327 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 342, + 202, + 709, + 545 + ], + "sink": [ + 624, + 438, + 993, + 984 + ], + "purple toy eggplant": [ + 85, + 404, + 223, + 514 + ], + "green utensil": [ + 308, + 485, + 413, + 672 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "approach and grasp cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33313342928886414, + 0.04569586366415024, + 0.05364171788096428, + -3.1111152172088623, + -0.2204144299030304, + 0.3636566400527954 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34250614047050476, + 0.03773520514369011, + 0.03773422911763191, + -3.0809810161590576, + -0.20045770704746246, + 0.3656168580055237 + ], + "gripper_value": 0.19905558228492737 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471890985965729, + 0.03706244006752968, + 0.030069272965192795, + -3.0873208045959473, + -0.21214984357357025, + 0.3474675416946411 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34732586145401, + 0.03654016926884651, + 0.028888454660773277, + -3.1351635456085205, + -0.19771002233028412, + 0.3480056822299957 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35201701521873474, + 0.04199092835187912, + 0.02135459892451763, + -3.0958261489868164, + -0.19811810553073883, + 0.3497765064239502 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36108291149139404, + 0.050688598304986954, + 0.02022388018667698, + -3.065656900405884, + -0.2083909809589386, + 0.34594401717185974 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3615850806236267, + 0.06272777169942856, + 0.02200392819941044, + -3.059131622314453, + -0.2134607583284378, + 0.3429727852344513 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the right burner, with the gripper open and ready to grasp. No prior actions have been completed; this is the initial approach phase. The next action should be to close the gripper to securely grasp the cloth before lifting and moving it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3580906391143799, + 0.08398842811584473, + 0.02217269130051136, + -3.044743537902832, + -0.20957064628601074, + 0.33608269691467285 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529088497161865, + 0.11877059191465378, + 0.025164535269141197, + -3.0314877033233643, + -0.21277140080928802, + 0.3598978519439697 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480549454689026, + 0.14105549454689026, + 0.026285378262400627, + -3.0160422325134277, + -0.22527509927749634, + 0.38539084792137146 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 197, + 189, + 580, + 464 + ], + "green utensil": [ + 309, + 485, + 411, + 671 + ], + "purple toy eggplant": [ + 84, + 404, + 247, + 523 + ], + "dishwasher": [ + 6, + 612, + 588, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478698432445526, + 0.15538036823272705, + 0.027108173817396164, + -3.0356335639953613, + -0.22410044074058533, + 0.40874382853507996 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34057408571243286, + 0.16859835386276245, + 0.0284365713596344, + -3.0275816917419434, + -0.20296569168567657, + 0.39053183794021606 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430188000202179, + 0.17800387740135193, + 0.028472399339079857, + -3.0446417331695557, + -0.1860521286725998, + 0.4046095907688141 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 137, + 168, + 518, + 429 + ], + "green utensil": [ + 308, + 484, + 411, + 672 + ], + "purple toy eggplant": [ + 85, + 406, + 243, + 523 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34358522295951843, + 0.1822229027748108, + 0.02823188342154026, + -3.0804359912872314, + -0.15937060117721558, + 0.3892621397972107 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34221524000167847, + 0.182231143116951, + 0.02836189791560173, + -3.0787034034729004, + -0.15066058933734894, + 0.399281769990921 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.351159930229187, + 0.18858210742473602, + 0.03869970515370369, + -3.087118625640869, + -0.1563737839460373, + 0.45152121782302856 + ], + "gripper_value": 0.1943538933992386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 4 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3557637631893158, + 0.1917879730463028, + 0.043253932148218155, + 3.134597063064575, + -0.16399326920509338, + 0.5443316698074341 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The robot has successfully grasped the orange cloth and is currently lifting it above the stove. The gripper is closed, and the cloth is being repositioned toward the left burner. The next action is to continue translating the cloth leftward to align it over the target burner before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.35436421632766724, + 0.19643421471118927, + 0.043463919311761856, + -3.135371685028076, + -0.1719445288181305, + 0.5976530313491821 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The orange cloth is currently positioned over the left burner, with the gripper still in contact. The gripper value indicates it is partially open, suggesting the release action is in progress or about to complete. The next step is to fully open the gripper to detach from the cloth and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 7 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3485427498817444, + 0.19431334733963013, + 0.04903935641050339, + -3.1325414180755615, + -0.14934377372264862, + 0.6081210374832153 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The orange cloth is currently positioned over the left burner, with the gripper still in contact. The gripper value indicates it is partially open, suggesting the release action is in progress or about to complete. The next step is to fully open the gripper to detach from the cloth and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move back 7 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425283133983612, + 0.19492556154727936, + 0.05748632922768593, + -3.1156020164489746, + -0.18740041553974152, + 0.6113842725753784 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The orange cloth is currently positioned over the left burner, with the gripper still in contact. The gripper value indicates it is partially open, suggesting the release action is in progress or about to complete. The next step is to fully open the gripper to detach from the cloth and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move back 7 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357354402542114, + 0.18545354902744293, + 0.07250750064849854, + 3.1287803649902344, + -0.20673376321792603, + 0.5834002494812012 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "retreat from burner", + "subtask_reasoning": "The orange cloth is currently positioned over the left burner, with the gripper still in contact. The gripper value indicates it is partially open, suggesting the release action is in progress or about to complete. The next step is to fully open the gripper to detach from the cloth and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.329741895198822, + 0.17908571660518646, + 0.08195503056049347, + 3.0989930629730225, + -0.15964527428150177, + 0.5595248341560364 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "retreat from burner", + "subtask_reasoning": "The orange cloth is currently positioned over the left burner, with the gripper still in contact. The gripper value indicates it is partially open, suggesting the release action is in progress or about to complete. The next step is to fully open the gripper to detach from the cloth and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268304467201233, + 0.1801019161939621, + 0.08556265383958817, + 3.0905933380126953, + -0.15859505534172058, + 0.5561850070953369 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "retreat from burner", + "subtask_reasoning": "The orange cloth is currently positioned over the left burner, with the gripper still in contact. The gripper value indicates it is partially open, suggesting the release action is in progress or about to complete. The next step is to fully open the gripper to detach from the cloth and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3212642967700958, + 0.1777568757534027, + 0.0847267210483551, + 3.091472625732422, + -0.1210334450006485, + 0.542611837387085 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "retreat from burner", + "subtask_reasoning": "The orange cloth has been successfully placed on the left burner. The gripper is open and the end-effector is positioned above the cloth, indicating the release is complete. The robot should now retreat upward and away from the stove to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3150885999202728, + 0.17685037851333618, + 0.10027129203081131, + 3.090247392654419, + -0.17639337480068207, + 0.49882882833480835 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "retreat from burner", + "subtask_reasoning": "The orange cloth has been successfully placed on the left burner. The gripper is open and the end-effector is positioned above the cloth, indicating the release is complete. The robot should now retreat upward and away from the stove to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29157692193984985, + 0.16272123157978058, + 0.1031360924243927, + 3.09652042388916, + -0.20742236077785492, + 0.4264758229255676 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "retreat from burner", + "subtask_reasoning": "The orange cloth has been successfully placed on the left burner. The gripper is open and the end-effector is positioned above the cloth, indicating the release is complete. The robot should now retreat upward and away from the stove to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2721489667892456, + 0.15290427207946777, + 0.10861188918352127, + 3.073796510696411, + -0.26931142807006836, + 0.3528226315975189 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green utensil": [ + 308, + 484, + 411, + 671 + ], + "sink": [ + 626, + 438, + 994, + 985 + ], + "purple toy eggplant": [ + 85, + 405, + 242, + 522 + ], + "orange towel": [ + 131, + 117, + 510, + 427 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "retreat from burner", + "subtask_reasoning": "The orange cloth has been successfully placed on the left burner. The gripper is open and the end-effector is positioned above the cloth, indicating the release is complete. The robot should now retreat upward and away from the stove to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26590290665626526, + 0.1483502835035324, + 0.12094743549823761, + 3.034320831298828, + -0.27358540892601013, + 0.36522671580314636 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "release cloth on burner" + }, + { + "id": 4, + "subtask": "retreat from burner" + } + ], + "subtask_name": "retreat from burner", + "subtask_reasoning": "The orange cloth has been successfully placed on the left burner. The gripper is open and the end-effector is positioned above the cloth, indicating the release is complete. The robot should now retreat upward and away from the stove to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003912_ecot.json b/cot/chunk-0003/episode_0003912_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f65794409831f73362ccaf0e9957b4c08e4592cf --- /dev/null +++ b/cot/chunk-0003/episode_0003912_ecot.json @@ -0,0 +1,4916 @@ +{ + "task_name": "episode_0003912", + "episode_json": "json/chunk-0003/episode_0003912.json", + "video_path": "videos/chunk-0003/image_0/episode_0003912.mp4", + "instruction": "Put pan on stove and put blueberry in pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 64, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003912.json" + }, + "fps": 5.0, + "T_eff": 64, + "gripper_behavior_summary": { + "available": true, + "range": 0.962256908416748, + "std": 0.3931460976600647, + "delta_total": -0.003867506980895996, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96226, std=0.39315, total_delta=-0.00387). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 108, + 208, + 208, + 208, + 208, + 508, + 508, + 508, + 508, + 508, + 508, + 508, + 508, + 508, + 508, + 508, + 508, + 508, + 526, + 526, + 526, + 626, + 626, + 626, + 626, + 626, + 626, + 626, + 626, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 426, + 426, + 426, + 426, + 426, + 426, + 426, + 426, + 426, + 426, + 426, + 26, + 26, + 26 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 8 + ], + [ + 3, + 9, + 12 + ], + [ + 4, + 13, + 25 + ], + [ + 5, + 26, + 28 + ], + [ + 6, + 29, + 36 + ], + [ + 7, + 37, + 49 + ], + [ + 8, + 50, + 60 + ], + [ + 9, + 61, + 63 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 7, \"planning\": \"Move gripper down toward the pan handle and close gripper to make contact.\"},\n {\"id\": 2, \"name\": \"lift pan\", \"start\": 8, \"end\": 12, \"planning\": \"Lift the pan slightly off the stove burner while maintaining grip.\"},\n {\"id\": 3, \"name\": \"reposition pan\", \"start\": 13, \"end\": 25, \"planning\": \"Translate and rotate the pan to align it over the target burner, then lower it into place.\"},\n {\"id\": 4, \"name\": \"release pan\", \"start\": 26, \"end\": 28, \"planning\": \"Open gripper to release the pan handle and retreat slightly.\"},\n {\"id\": 5, \"name\": \"approach blueberries\", \"start\": 29, \"end\": 36, \"planning\": \"Move gripper laterally toward the blueberry cluster on the counter.\"},\n {\"id\": 6, \"name\": \"nudge blueberries into pan\", \"start\": 37, \"end\": 49, \"planning\": \"Use gripper to push or slide blueberries from counter into the pan without grasping.\"},\n {\"id\": 7, \"name\": \"adjust pan position\", \"start\": 50, \"end\": 60, \"planning\": \"Gently nudge or slide the pan to center blueberries or stabilize placement.\"},\n {\"id\": 8, \"name\": \"retreat from scene\", \"start\": 61, \"end\": 63, \"planning\": \"Move gripper away from the stove area to complete the task.\"}\n ],\n \"global_plan\": \"First, grasp and reposition the pan onto the correct stove burner. Then, without grasping, nudge the blueberries from the counter into the pan. Finally, adjust the pan slightly and retreat.\",\n \"notes\": \"Gripper closing is only confirmed in segments 1 and 4; all other interactions are contact-based (nudge, slide, push) as per anti-hallucination rules. No lifting or placing is inferred outside of pan manipulation where visual and proprioceptive evidence supports it.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 7, + "planning": "Move gripper down toward the pan handle and close gripper to make contact." + }, + { + "id": 2, + "name": "lift pan", + "start": 8, + "end": 12, + "planning": "Lift the pan slightly off the stove burner while maintaining grip." + }, + { + "id": 3, + "name": "reposition pan", + "start": 13, + "end": 25, + "planning": "Translate and rotate the pan to align it over the target burner, then lower it into place." + }, + { + "id": 4, + "name": "release pan", + "start": 26, + "end": 28, + "planning": "Open gripper to release the pan handle and retreat slightly." + }, + { + "id": 5, + "name": "approach blueberries", + "start": 29, + "end": 36, + "planning": "Move gripper laterally toward the blueberry cluster on the counter." + }, + { + "id": 6, + "name": "nudge blueberries into pan", + "start": 37, + "end": 49, + "planning": "Use gripper to push or slide blueberries from counter into the pan without grasping." + }, + { + "id": 7, + "name": "adjust pan position", + "start": 50, + "end": 60, + "planning": "Gently nudge or slide the pan to center blueberries or stabilize placement." + }, + { + "id": 8, + "name": "retreat from scene", + "start": 61, + "end": 63, + "planning": "Move gripper away from the stove area to complete the task." + } + ], + "global_plan": "First, grasp and reposition the pan onto the correct stove burner. Then, without grasping, nudge the blueberries from the counter into the pan. Finally, adjust the pan slightly and retreat.", + "notes": "Gripper closing is only confirmed in segments 1 and 4; all other interactions are contact-based (nudge, slide, push) as per anti-hallucination rules. No lifting or placing is inferred outside of pan manipulation where visual and proprioceptive evidence supports it." + } + }, + "episode_goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36800727248191833, + -0.03316643461585045, + 0.13828089833259583, + -2.876279592514038, + -0.1542830467224121, + -0.105958491563797 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pan already on the front-right burner and blueberries on the counter. No actions have been completed yet for this subtask. The next step is to move the arm closer to the pan to prepare for repositioning it to the front-left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 9 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655223548412323, + -0.03342757374048233, + 0.12032525986433029, + -2.873856782913208, + -0.11329156905412674, + -0.10292141884565353 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pan already on the front-right burner and blueberries on the counter. No actions have been completed yet for this subtask. The next step is to move the arm closer to the pan to prepare for repositioning it to the front-left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 8 cm, tilt right 10 degrees, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36777517199516296, + -0.035698696970939636, + 0.09708018600940704, + -2.8820908069610596, + -0.15376728773117065, + -0.0787074938416481 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pan already on the front-right burner and blueberries on the counter. No actions have been completed yet for this subtask. The next step is to move the arm closer to the pan to prepare for repositioning it to the front-left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, close gripper; then move left 1 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3686871826648712, + -0.03427467495203018, + 0.08709970116615295, + -2.875861167907715, + -0.18374432623386383, + -0.07722736895084381 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while blueberries sit on the counter to the left. No actions have been completed yet toward moving the pan or berries. The current subtask involves approaching the pan, and the next likely action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691982626914978, + -0.033502984791994095, + 0.06529001146554947, + -2.874394655227661, + -0.19839081168174744, + -0.0848875567317009 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while blueberries sit on the counter to the left. No actions have been completed yet toward moving the pan or berries. The current subtask involves approaching the pan, and the next likely action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3678799867630005, + -0.02876017428934574, + 0.05645190551877022, + -2.8871848583221436, + -0.2113947570323944, + -0.07320212572813034 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 648, + 265, + 896, + 504 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while blueberries sit on the counter to the left. No actions have been completed yet toward moving the pan or berries. The current subtask involves approaching the pan, and the next likely action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648027777671814, + -0.026342881843447685, + 0.04693392664194107, + -2.909703016281128, + -0.2250128537416458, + -0.06205061078071594 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while blueberries sit on the counter to the left. No actions have been completed yet toward moving the pan or berries. The current subtask involves approaching the pan, and the next likely action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639225363731384, + -0.030853398144245148, + 0.04326251894235611, + -2.9450643062591553, + -0.2133205235004425, + -0.04421046003699303 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while blueberries sit on the counter to the left. No actions have been completed yet toward moving the pan or berries. The current subtask involves approaching the pan, and the next likely action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 9 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35574406385421753, + -0.03331047296524048, + 0.04532366618514061, + -2.974318027496338, + -0.13606968522071838, + -0.03557752072811127 + ], + "gripper_value": 0.34207403659820557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while blueberries sit on the counter to the left. No actions have been completed yet toward moving the pan or berries. The current subtask involves approaching the pan, and the next likely action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 10 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.356576532125473, + -0.03311906009912491, + 0.05306486785411835, + -2.9839141368865967, + -0.10468852519989014, + -0.04675436019897461 + ], + "gripper_value": 0.13759112358093262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while blueberries sit on the counter to the left. No actions have been completed yet toward moving the pan or berries. The current subtask involves approaching the pan, and the next likely action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move left 11 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35690054297447205, + -0.03230208158493042, + 0.05828535929322243, + -2.978217840194702, + -0.08449140936136246, + -0.06411825865507126 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move left 11 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3539189100265503, + -0.02846495434641838, + 0.08288945257663727, + -2.936659336090088, + -0.05960021913051605, + -0.0781625509262085 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, keep gripper closed; then move forward 2 cm, move left 12 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35334253311157227, + -0.027565760537981987, + 0.11638809740543365, + -2.895416498184204, + -0.04448322579264641, + -0.06280060857534409 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 141, + 4, + 273, + 177 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 2 cm, move left 12 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35618987679481506, + -0.02262156829237938, + 0.13812291622161865, + -2.8611419200897217, + -0.024200886487960815, + -0.09371618181467056 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move down 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36001694202423096, + -0.0034772208891808987, + 0.14212845265865326, + -2.846569061279297, + -0.010734974406659603, + -0.14169205725193024 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 6 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3711298406124115, + 0.022564217448234558, + 0.15723051130771637, + -2.8420345783233643, + -0.042087532579898834, + -0.16997841000556946 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 8 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37477219104766846, + 0.04645022749900818, + 0.16021060943603516, + -2.8537280559539795, + -0.054445166140794754, + -0.19251348078250885 + ], + "gripper_value": 0.057568058371543884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 8 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37829914689064026, + 0.06535550951957703, + 0.1606544554233551, + -2.848862886428833, + -0.07686592638492584, + -0.211000457406044 + ], + "gripper_value": 0.057568058371543884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 8 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37997061014175415, + 0.08062705397605896, + 0.15563274919986725, + -2.8510005474090576, + -0.08004163950681686, + -0.20744459331035614 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 8 cm, open gripper; then move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38285472989082336, + 0.08973049372434616, + 0.14685969054698944, + -2.8480026721954346, + -0.10245665907859802, + -0.20974603295326233 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 7 cm, open gripper; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3817383646965027, + 0.09179054200649261, + 0.13113708794116974, + -2.863321304321289, + -0.09674343466758728, + -0.18208134174346924 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 5 cm, open gripper; then move right 2 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38051146268844604, + 0.09663740545511246, + 0.11683338135480881, + -2.8919198513031006, + -0.11337646096944809, + -0.16373085975646973 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, open gripper; then move right 2 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3775593340396881, + 0.09977181255817413, + 0.09869550168514252, + -2.906803607940674, + -0.12453273683786392, + -0.17267945408821106 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move right 2 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37332838773727417, + 0.1037680134177208, + 0.08695585280656815, + -2.9099106788635254, + -0.13507388532161713, + -0.1632508933544159 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move right 2 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37226602435112, + 0.11008738726377487, + 0.07868792861700058, + -2.9135735034942627, + -0.12569701671600342, + -0.1672949343919754 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 396, + 96, + 616, + 338 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move right 2 cm, move up 4 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3705183267593384, + 0.11273583024740219, + 0.07718890905380249, + -2.916363477706909, + -0.11757845431566238, + -0.17964325845241547 + ], + "gripper_value": 0.2392188310623169 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move right 2 cm, move up 4 cm, keep gripper open; then move back 5 cm, move left 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36556896567344666, + 0.10682202875614166, + 0.07909885048866272, + -2.930925130844116, + -0.07768429815769196, + -0.159652441740036 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pan", + "subtask_reasoning": "The silver pan is currently resting on the front-right burner of the stove, while the target location is the front-left burner. The gripper has successfully closed around the pan's handle, indicated by the low gripper value and segment evidence. The next action is to lift the pan vertically to clear the burner grates before moving it to the correct position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper open; then move back 8 cm, move left 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36842355132102966, + 0.10091925412416458, + 0.09143636375665665, + -2.9178354740142822, + -0.05546725541353226, + -0.13774028420448303 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pan", + "subtask_reasoning": "The silver pan is currently positioned on the front-left burner of the stove, indicating the placement phase is nearly complete. The gripper is still closed around the handle, maintaining contact with the pan. The next action is to open the gripper to release the pan and finalize its position on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper open; then move back 9 cm, move left 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691134452819824, + 0.09171112626791, + 0.10129090398550034, + -2.9105305671691895, + -0.02222679741680622, + -0.14692546427249908 + ], + "gripper_value": 1.0187249183654785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pan", + "subtask_reasoning": "The silver pan is currently positioned on the front-left burner of the stove, indicating the placement phase is nearly complete. The gripper is still closed around the handle, maintaining contact with the pan. The next action is to open the gripper to release the pan and finalize its position on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move back 9 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36866503953933716, + 0.08381402492523193, + 0.11541353911161423, + -2.8624088764190674, + -0.010471205227077007, + -0.16942475736141205 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blueberries", + "subtask_reasoning": "The silver pan is currently positioned on the front-left burner of the stove, indicating the placement phase is nearly complete. The gripper is still closed around the handle, maintaining contact with the pan. The next action is to open the gripper to release the pan and finalize its position on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36993640661239624, + 0.08326040953397751, + 0.11997727304697037, + -2.8560755252838135, + -0.022318607196211815, + -0.17003823816776276 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blueberries", + "subtask_reasoning": "The silver pan is currently positioned on the front-left burner of the stove, indicating the placement phase is nearly complete. The gripper is still closed around the handle, maintaining contact with the pan. The next action is to open the gripper to release the pan and finalize its position on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3703137934207916, + 0.08247596770524979, + 0.11993376910686493, + -2.85719895362854, + -0.024174368008971214, + -0.1715715527534485 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blueberries", + "subtask_reasoning": "The silver pan is currently positioned on the front-left burner of the stove, indicating the placement phase is nearly complete. The gripper is still closed around the handle, maintaining contact with the pan. The next action is to open the gripper to release the pan and finalize its position on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.37020057439804077, + 0.08304544538259506, + 0.11935532838106155, + -2.857623815536499, + -0.02270035818219185, + -0.17002762854099274 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blueberries", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3703424334526062, + 0.08301421254873276, + 0.11957640200853348, + -2.8569812774658203, + -0.02516051195561886, + -0.17234529554843903 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blueberries", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411440849304199, + 0.09338662028312683, + 0.14267121255397797, + -2.8403685092926025, + -0.08572071045637131, + -0.18179826438426971 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blueberries", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3139972984790802, + 0.10387014597654343, + 0.14139099419116974, + -2.82027530670166, + -0.13797658681869507, + -0.17179059982299805 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blueberries", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930580675601959, + 0.10373932868242264, + 0.13257360458374023, + -2.8106701374053955, + -0.19914188981056213, + -0.16414795815944672 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blueberries", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737666070461273, + 0.10289471596479416, + 0.11524735391139984, + -2.793151378631592, + -0.2354615330696106, + -0.15689480304718018 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2612479031085968, + 0.10173819959163666, + 0.1007673367857933, + -2.7795310020446777, + -0.26254478096961975, + -0.13375455141067505 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2547716498374939, + 0.0990690365433693, + 0.0870213732123375, + -2.773103713989258, + -0.279736191034317, + -0.11980976164340973 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2544138431549072, + 0.09758877754211426, + 0.08185390383005142, + -2.781792402267456, + -0.29724037647247314, + -0.1129167377948761 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2593165636062622, + 0.09750958532094955, + 0.06628056615591049, + -2.8133037090301514, + -0.29833266139030457, + -0.11009668558835983 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.26351237297058105, + 0.1031763032078743, + 0.052870333194732666, + -2.8332653045654297, + -0.30487239360809326, + -0.11115952581167221 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 4 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2627527713775635, + 0.11065100878477097, + 0.041098032146692276, + -2.8557143211364746, + -0.2953944802284241, + -0.09718398749828339 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 5 cm, tilt forward 10 degrees, close gripper; then move forward 5 cm, move right 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.26137271523475647, + 0.11934616416692734, + 0.03794048726558685, + -2.8615317344665527, + -0.30605652928352356, + -0.08400473743677139 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move right 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.25866058468818665, + 0.12251687049865723, + 0.03354688733816147, + -2.8685214519500732, + -0.29632705450057983, + -0.07565057277679443 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 7 cm, move right 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.26099351048469543, + 0.12259157001972198, + 0.02760378085076809, + -2.884277820587158, + -0.29323357343673706, + -0.04731180891394615 + ], + "gripper_value": 0.8055269122123718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed; then move forward 8 cm, move right 6 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.26620998978614807, + 0.12413780391216278, + 0.029078587889671326, + -2.900937557220459, + -0.26288774609565735, + -0.0523795410990715 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 8 cm, move right 6 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703422009944916, + 0.1271059513092041, + 0.03827149048447609, + -2.884011745452881, + -0.2180177867412567, + -0.06307507306337357 + ], + "gripper_value": 0.7408273816108704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 6 cm, keep gripper closed; then move forward 8 cm, move right 6 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.27600520849227905, + 0.13261200487613678, + 0.06106766313314438, + -2.848937511444092, + -0.1745426058769226, + -0.06572657078504562 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blueberries into pan", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move forward 8 cm, move right 6 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 49 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.28355643153190613, + 0.13272368907928467, + 0.09382741898298264, + -2.816476345062256, + -0.1378054916858673, + -0.06649857759475708 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.2972545921802521, + 0.12685713171958923, + 0.1217203289270401, + -2.7950644493103027, + -0.1278940886259079, + -0.07396640628576279 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160018026828766, + 0.1165425255894661, + 0.1412920504808426, + -2.785330057144165, + -0.1445404291152954, + -0.08492951840162277 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341556489467621, + 0.1034637913107872, + 0.13562838733196259, + -2.801584482192993, + -0.1453016698360443, + -0.09541450440883636 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3472977876663208, + 0.09140514582395554, + 0.1262587010860443, + -2.8314695358276367, + -0.1516667902469635, + -0.09699393808841705 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner. The robot arm is currently hovering above the stove, approaching the blueberries located on the counter to the left. Since the gripper is open and the segment evidence shows no closing action, the next step is to continue moving the end-effector closer to the blueberries to prepare for nudging them." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.35853949189186096, + 0.0803091898560524, + 0.11433055251836777, + -2.846660614013672, + -0.1578407734632492, + -0.0937206894159317 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is already placed on the front-left burner of the stove. The current subtask involves fine-tuning its position, likely by nudging or slight repositioning. The gripper is open and near the pan, suggesting readiness for minor contact-based adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.36380791664123535, + 0.07449464499950409, + 0.10690732300281525, + -2.8671913146972656, + -0.1597616970539093, + -0.09706265479326248 + ], + "gripper_value": 0.7730204463005066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is already placed on the front-left burner of the stove. The current subtask involves fine-tuning its position, likely by nudging or slight repositioning. The gripper is open and near the pan, suggesting readiness for minor contact-based adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.36489376425743103, + 0.07319685071706772, + 0.10719988495111465, + -2.872750997543335, + -0.15825773775577545, + -0.11583322286605835 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is already placed on the front-left burner of the stove. The current subtask involves fine-tuning its position, likely by nudging or slight repositioning. The gripper is open and near the pan, suggesting readiness for minor contact-based adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617090582847595, + 0.07063367962837219, + 0.10650742053985596, + -2.8692543506622314, + -0.13694795966148376, + -0.10979565232992172 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is already placed on the front-left burner of the stove. The current subtask involves fine-tuning its position, likely by nudging or slight repositioning. The gripper is open and near the pan, suggesting readiness for minor contact-based adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.35993415117263794, + 0.06850984692573547, + 0.10989898443222046, + -2.8558640480041504, + -0.11402085423469543, + -0.10908070206642151 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is already placed on the front-left burner of the stove. The current subtask involves fine-tuning its position, likely by nudging or slight repositioning. The gripper is open and near the pan, suggesting readiness for minor contact-based adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3579356074333191, + 0.06270679831504822, + 0.11549166589975357, + -2.868471145629883, + -0.095133475959301, + -0.11347522586584091 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "adjust pan position", + "subtask_reasoning": "The silver pan is already placed on the front-left burner of the stove. The current subtask involves fine-tuning its position, likely by nudging or slight repositioning. The gripper is open and near the pan, suggesting readiness for minor contact-based adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 50, + "end": 60 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.35506471991539, + 0.04895643889904022, + 0.12942729890346527, + -2.959324598312378, + -0.09125348925590515, + -0.10184860229492188 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The silver pan is already placed on the front-left burner of the stove. The current subtask involves fine-tuning its position, likely by nudging or slight repositioning. The gripper is open and near the pan, suggesting readiness for minor contact-based adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 55 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 63 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.3527431786060333, + 0.04161801189184189, + 0.13818420469760895, + -2.9604837894439697, + -0.10759878903627396, + -0.0982116237282753 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner with blueberries inside. The robot arm has completed the placement and is currently retreating from the stove area with an open gripper. The next action is to continue moving the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 61, + "end": 63 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453574478626251, + 0.02953600510954857, + 0.14101868867874146, + -2.9701054096221924, + -0.11207713931798935, + -0.10660715401172638 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "lift pan" + }, + { + "id": 3, + "subtask": "reposition pan" + }, + { + "id": 4, + "subtask": "release pan" + }, + { + "id": 5, + "subtask": "approach blueberries" + }, + { + "id": 6, + "subtask": "nudge blueberries into pan" + }, + { + "id": 7, + "subtask": "adjust pan position" + }, + { + "id": 8, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The silver pan is successfully positioned on the front-left burner with blueberries inside. The robot arm has completed the placement and is currently retreating from the stove area with an open gripper. The next action is to continue moving the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 63 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 63 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003913_ecot.json b/cot/chunk-0003/episode_0003913_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..37f6b5ca9ee257fc500ec0a3f14c945d03e4979d --- /dev/null +++ b/cot/chunk-0003/episode_0003913_ecot.json @@ -0,0 +1,2881 @@ +{ + "task_name": "episode_0003913", + "episode_json": "json/chunk-0003/episode_0003913.json", + "video_path": "videos/chunk-0003/image_0/episode_0003913.mp4", + "instruction": "Move the yellow object from the pot to the left of the left side burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003913.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.32830262184143066, + "std": 0.15534718334674835, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.32830, std=0.15535, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 27 + ], + [ + 3, + 28, + 31 + ], + [ + 4, + 32, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow object in pot\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the yellow object inside the metal pot without grasping.\"},\n {\"id\": 2, \"name\": \"grasp and lift yellow object\", \"start\": 6, \"end\": 27, \"planning\": \"Close gripper to grasp the yellow object, then lift it out of the pot while maintaining hold.\"},\n {\"id\": 3, \"name\": \"transport held object leftward\", \"start\": 28, \"end\": 31, \"planning\": \"Carry the grasped yellow object horizontally toward the target location left of the burner.\"},\n {\"id\": 4, \"name\": \"release object and retreat\", \"start\": 32, \"end\": 44, \"planning\": \"Open gripper to release the yellow object at target position, then retract end-effector away.\"}\n ],\n \"global_plan\": \"Approach the yellow object in the pot, grasp and lift it, transport it leftward to the designated spot beside the burner, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing and lifting motion — grasp and lift valid. Segment 3 maintains grip during transit — transport phase. Segment 4 shows gripper opening and retreat — release and withdraw.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow object in pot", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the yellow object inside the metal pot without grasping." + }, + { + "id": 2, + "name": "grasp and lift yellow object", + "start": 6, + "end": 27, + "planning": "Close gripper to grasp the yellow object, then lift it out of the pot while maintaining hold." + }, + { + "id": 3, + "name": "transport held object leftward", + "start": 28, + "end": 31, + "planning": "Carry the grasped yellow object horizontally toward the target location left of the burner." + }, + { + "id": 4, + "name": "release object and retreat", + "start": 32, + "end": 44, + "planning": "Open gripper to release the yellow object at target position, then retract end-effector away." + } + ], + "global_plan": "Approach the yellow object in the pot, grasp and lift it, transport it leftward to the designated spot beside the burner, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing and lifting motion — grasp and lift valid. Segment 3 maintains grip during transit — transport phase. Segment 4 shows gripper opening and retreat — release and withdraw." + } + }, + "episode_goal": "Move the yellow object from the pot to the left of the left side burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24727725982666016, + 0.15836481750011444, + 0.05253071337938309, + -2.9988415241241455, + -0.05757155641913414, + 0.5559587478637695 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object in pot", + "subtask_reasoning": "The robot is positioned above the stove with the yellow object visible inside the metal pot. No contact has been made yet as the gripper remains open and the arm is still approaching. The next action is to continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 16 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24308083951473236, + 0.1549062877893448, + 0.04240309074521065, + -2.9977173805236816, + -0.020323414355516434, + 0.5613374710083008 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object in pot", + "subtask_reasoning": "The robot is positioned above the stove with the yellow object visible inside the metal pot. No contact has been made yet as the gripper remains open and the arm is still approaching. The next action is to continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 16 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25020524859428406, + 0.1352420598268509, + 0.03825083374977112, + -2.993786334991455, + -0.02025766111910343, + 0.5092695355415344 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object in pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2587464451789856, + 0.10392487794160843, + 0.03204934298992157, + -2.9864625930786133, + -0.02379179373383522, + 0.40666937828063965 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object in pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650579810142517, + 0.07141690701246262, + 0.037172723561525345, + -2.9949395656585693, + -0.04003679379820824, + 0.30694231390953064 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object in pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26836341619491577, + 0.027798544615507126, + 0.03825670853257179, + -3.01603102684021, + -0.04530793055891991, + 0.19984865188598633 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object in pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move back 1 cm, move right 6 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2680114805698395, + -0.001772510469891131, + 0.04003579914569855, + -3.018660068511963, + -0.05388714373111725, + 0.13382473587989807 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26071837544441223, + -0.03128168359398842, + 0.03635520488023758, + -3.0031962394714355, + -0.05468570441007614, + 0.07032117992639542 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25409990549087524, + -0.05178792029619217, + 0.03074430301785469, + -3.0094544887542725, + -0.05733190476894379, + 0.010433812625706196 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 271, + 421, + 462, + 678 + ], + "metal pot": [ + 438, + 633, + 676, + 908 + ], + "blue fork": [ + 377, + 353, + 488, + 589 + ], + "induction cooktop": [ + 143, + 357, + 764, + 920 + ], + "sink": [ + 782, + 604, + 992, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521347105503082, + -0.055566877126693726, + 0.022753365337848663, + -3.0284457206726074, + -0.06090710684657097, + 0.026811501011252403 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue fork": [ + 375, + 354, + 489, + 589 + ], + "green cloth": [ + 271, + 420, + 521, + 675 + ], + "metal pot": [ + 438, + 632, + 676, + 912 + ], + "food": [ + 516, + 704, + 605, + 847 + ], + "induction cooktop": [ + 142, + 358, + 766, + 923 + ], + "sink": [ + 781, + 603, + 992, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524641156196594, + -0.05706802010536194, + 0.010404599830508232, + -3.0320091247558594, + -0.04461837559938431, + 0.027234934270381927 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25475701689720154, + -0.057491764426231384, + -0.00030340568628162146, + -3.0294201374053955, + -0.04191708192229271, + 0.04370144382119179 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555866837501526, + -0.0572732537984848, + -0.014939355663955212, + -3.0174877643585205, + -0.0173894464969635, + 0.05349159613251686 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572345435619354, + -0.05849852412939072, + -0.018247004598379135, + -3.0238146781921387, + -0.02245178073644638, + 0.06323868781328201 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2565526068210602, + -0.058010783046483994, + -0.02688838355243206, + -3.0166635513305664, + -0.010170340538024902, + 0.08250490576028824 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25611478090286255, + -0.05741268768906593, + -0.032022424042224884, + -3.026522397994995, + -0.0006547292578034103, + 0.08720530569553375 + ], + "gripper_value": 0.9830701947212219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot containing the yellow object. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the yellow object within the pot for precise alignment prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2565625011920929, + -0.05551021918654442, + -0.03412865474820137, + -3.029123067855835, + 0.0006638742634095252, + 0.09666430950164795 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 16 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2567254900932312, + -0.05574057996273041, + -0.03415616601705551, + -3.0307109355926514, + -0.0027263660449534655, + 0.11913077533245087 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 20 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25201335549354553, + -0.052466679364442825, + -0.0327729694545269, + -3.016300678253174, + 0.0005876957438886166, + 0.1227342039346695 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 22 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25583067536354065, + -0.05135592818260193, + -0.016954947263002396, + -3.017258882522583, + -0.03637775033712387, + 0.1269424706697464 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 21 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25890713930130005, + -0.04846201092004776, + 0.004244117997586727, + -3.0096514225006104, + -0.07674576342105865, + 0.1415201872587204 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 21 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617676258087158, + -0.04507211968302727, + 0.023165076971054077, + -2.990260124206543, + -0.09526719897985458, + 0.16946642100811005 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 21 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.260282963514328, + -0.02810920774936676, + 0.03120953030884266, + -2.959733486175537, + -0.05404941365122795, + 0.20413582026958466 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 19 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2585758864879608, + 0.004864081274718046, + 0.03155136480927467, + -2.9335978031158447, + -0.026082482188940048, + 0.24321654438972473 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 16 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25920093059539795, + 0.04106157645583153, + 0.028087912127375603, + -2.942246198654175, + -0.05861908942461014, + 0.3304278552532196 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 270, + 493, + 503, + 678 + ], + "food": [ + 557, + 397, + 715, + 680 + ], + "sink": [ + 781, + 603, + 992, + 990 + ], + "induction cooktop": [ + 145, + 362, + 767, + 913 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26072192192077637, + 0.07142061740159988, + 0.024668272584676743, + -2.9435465335845947, + -0.08945180475711823, + 0.38581568002700806 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26419782638549805, + 0.10739719867706299, + 0.021681539714336395, + -2.942354202270508, + -0.13011455535888672, + 0.46478429436683655 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667953073978424, + 0.1412094086408615, + 0.014226948842406273, + -2.9557769298553467, + -0.17099060118198395, + 0.5490656495094299 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue fork": [ + 374, + 354, + 487, + 590 + ], + "food": [ + 557, + 398, + 714, + 679 + ], + "green cloth": [ + 272, + 420, + 525, + 677 + ], + "induction cooktop": [ + 143, + 374, + 762, + 914 + ], + "cabinet drawer": [ + 57, + 760, + 450, + 994 + ], + "sink": [ + 781, + 604, + 991, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift yellow object", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27451032400131226, + 0.16315223276615143, + 0.004969816189259291, + -2.965932607650757, + -0.20906147360801697, + 0.5954268574714661 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport held object leftward", + "subtask_reasoning": "The robot arm is positioned directly above the yellow object inside the pot, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817200720310211, + 0.17234434187412262, + -0.001988388132303953, + -2.9595303535461426, + -0.25470876693725586, + 0.6237046718597412 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport held object leftward", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2887631952762604, + 0.17503081262111664, + -0.015173284336924553, + -2.968310832977295, + -0.26342108845710754, + 0.6385279893875122 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport held object leftward", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2927442491054535, + 0.17347635328769684, + -0.025358501821756363, + -3.0176570415496826, + -0.2540375590324402, + 0.6800100803375244 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport held object leftward", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 4 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 28, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29488494992256165, + 0.17617900669574738, + -0.028734948486089706, + -3.033308506011963, + -0.2506207823753357, + 0.7001640796661377 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29160723090171814, + 0.1788245290517807, + -0.02822628803551197, + -3.0413312911987305, + -0.22834473848342896, + 0.7202910780906677 + ], + "gripper_value": 0.7388594746589661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28946056962013245, + 0.18191787600517273, + -0.028503548353910446, + -3.0407907962799072, + -0.2197141945362091, + 0.7093960046768188 + ], + "gripper_value": 0.9865638017654419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.28718462586402893, + 0.1798902302980423, + -0.028411662206053734, + -3.0370354652404785, + -0.19857367873191833, + 0.7054007053375244 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.285650372505188, + 0.1771802008152008, + -0.028802677989006042, + -3.04580020904541, + -0.18237558007240295, + 0.71406090259552 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2867172360420227, + 0.17541518807411194, + -0.02344726026058197, + -3.0439391136169434, + -0.1852911412715912, + 0.7115597128868103 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently positioned above the stovetop with the yellow object secured in its gripper, having completed the lift. The gripper signal remains constant, confirming the object is held while the arm moves laterally. The next action is to continue translating the arm leftward to position the object beside the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.29052647948265076, + 0.17124336957931519, + -0.015036924742162228, + -3.0395195484161377, + -0.20210863649845123, + 0.7086572647094727 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed to the left of the left side burner. The gripper is open and the arm is retreating from the placement location. The subtask is nearing completion as the object is released and the robot is moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28848326206207275, + 0.16223090887069702, + -0.006157414056360722, + -3.0057554244995117, + -0.17661410570144653, + 0.6888821721076965 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed to the left of the left side burner. The gripper is open and the arm is retreating from the placement location. The subtask is nearing completion as the object is released and the robot is moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.29014530777931213, + 0.14960788190364838, + 0.014259754680097103, + -2.964545249938965, + -0.1798548698425293, + 0.6552263498306274 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed to the left of the left side burner. The gripper is open and the arm is retreating from the placement location. The subtask is nearing completion as the object is released and the robot is moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907193899154663, + 0.13311277329921722, + 0.0332302525639534, + -2.9690306186676025, + -0.21046003699302673, + 0.6388372182846069 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed to the left of the left side burner. The gripper is open and the arm is retreating from the placement location. The subtask is nearing completion as the object is released and the robot is moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.295318603515625, + 0.10748570412397385, + 0.03910386934876442, + -2.9750430583953857, + -0.20166943967342377, + 0.5836784243583679 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed to the left of the left side burner. The gripper is open and the arm is retreating from the placement location. The subtask is nearing completion as the object is released and the robot is moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987132668495178, + 0.0824890062212944, + 0.04697679355740547, + -2.969470262527466, + -0.19194293022155762, + 0.5112212896347046 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed to the left of the left side burner. The gripper is open and the arm is retreating from the placement location. The subtask is nearing completion as the object is released and the robot is moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2976328134536743, + 0.05535818636417389, + 0.05180567130446434, + -2.981215476989746, + -0.1523076444864273, + 0.4279647469520569 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "food": [ + 556, + 397, + 714, + 679 + ], + "blue fork": [ + 374, + 383, + 442, + 590 + ], + "green cloth": [ + 271, + 421, + 525, + 677 + ], + "sink": [ + 781, + 603, + 992, + 991 + ], + "induction cooktop": [ + 144, + 364, + 762, + 909 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow object from the pot to the left of the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object in pot" + }, + { + "id": 2, + "subtask": "grasp and lift yellow object" + }, + { + "id": 3, + "subtask": "transport held object leftward" + }, + { + "id": 4, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed to the left of the left side burner. The gripper is open and the arm is retreating from the placement location. The subtask is nearing completion as the object is released and the robot is moving away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003916_ecot.json b/cot/chunk-0003/episode_0003916_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..101ffa5c41fae9978e2c5fd367c5b8a32806fd16 --- /dev/null +++ b/cot/chunk-0003/episode_0003916_ecot.json @@ -0,0 +1,3071 @@ +{ + "task_name": "episode_0003916", + "episode_json": "json/chunk-0003/episode_0003916.json", + "video_path": "videos/chunk-0003/image_0/episode_0003916.mp4", + "instruction": "Move the yellow cloth to the left of the blue fork.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003916.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9534711837768555, + "std": 0.4448554217815399, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95347, std=0.44486, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 207, + 207, + 207, + 207, + 207, + 207, + 207, + 207, + 207, + 207, + 207, + 207, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 307, + 307, + 307, + 107, + 131, + 131, + 131, + 131, + 131, + 131, + 131, + 131, + 131, + 131, + 131, + 131, + 131, + 131 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 6 + ], + [ + 3, + 7, + 18 + ], + [ + 4, + 19, + 26 + ], + [ + 5, + 27, + 29 + ], + [ + 6, + 30, + 30 + ], + [ + 7, + 31, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow cloth\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the yellow cloth without grasping, as gripper remains open and no closing evidence exists in this segment.\"},\n {\"id\": 2, \"name\": \"grasp yellow cloth\", \"start\": 7, \"end\": 18, \"planning\": \"Close gripper to grasp the yellow cloth, supported by significant gripper closure (range=0.20482) and visual confirmation of contact and hold.\"},\n {\"id\": 3, \"name\": \"reposition cloth leftward\", \"start\": 19, \"end\": 26, \"planning\": \"Drag or slide the grasped yellow cloth leftward across the table surface while maintaining grip, preparing for final placement near the blue fork.\"},\n {\"id\": 4, \"name\": \"adjust grip and lift slightly\", \"start\": 27, \"end\": 30, \"planning\": \"Slightly open gripper then re-close to adjust hold on cloth; minor lift may occur but primary goal is secure re-grip before final move.\"},\n {\"id\": 5, \"name\": \"place cloth left of blue fork\", \"start\": 31, \"end\": 44, \"planning\": \"Release the yellow cloth to the left of the blue fork after transporting it into position, confirmed by gripper opening and final image showing cloth placed correctly.\"}\n ],\n \"global_plan\": \"Approach the yellow cloth, grasp it securely, drag it leftward, adjust grip if needed, then release it to the left of the blue fork as instructed.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases. Segments 2 and 4 were merged into adjacent subtasks where motion was continuous and purpose-aligned. No hallucinated lifts or places — all actions grounded in gripper state and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow cloth", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the yellow cloth without grasping, as gripper remains open and no closing evidence exists in this segment." + }, + { + "id": 2, + "name": "grasp yellow cloth", + "start": 7, + "end": 18, + "planning": "Close gripper to grasp the yellow cloth, supported by significant gripper closure (range=0.20482) and visual confirmation of contact and hold." + }, + { + "id": 3, + "name": "reposition cloth leftward", + "start": 19, + "end": 26, + "planning": "Drag or slide the grasped yellow cloth leftward across the table surface while maintaining grip, preparing for final placement near the blue fork." + }, + { + "id": 4, + "name": "adjust grip and lift slightly", + "start": 27, + "end": 30, + "planning": "Slightly open gripper then re-close to adjust hold on cloth; minor lift may occur but primary goal is secure re-grip before final move." + }, + { + "id": 5, + "name": "place cloth left of blue fork", + "start": 31, + "end": 44, + "planning": "Release the yellow cloth to the left of the blue fork after transporting it into position, confirmed by gripper opening and final image showing cloth placed correctly." + } + ], + "global_plan": "Approach the yellow cloth, grasp it securely, drag it leftward, adjust grip if needed, then release it to the left of the blue fork as instructed.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases. Segments 2 and 4 were merged into adjacent subtasks where motion was continuous and purpose-aligned. No hallucinated lifts or places — all actions grounded in gripper state and visual evidence." + } + }, + "episode_goal": "Move the yellow cloth to the left of the blue fork.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107118308544159, + 5.2824285376118496e-05, + 0.12513704597949982, + 3.062164545059204, + -0.2680991291999817, + -0.003852338995784521 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork on the right. The gripper is currently open and hovering near the cloth, indicating the approach phase is underway. The next action is to lower the end-effector to make contact with the yellow cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3084435760974884, + -7.091608131304383e-05, + 0.11687712371349335, + 3.0609304904937744, + -0.2391287088394165, + -0.005185429472476244 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork on the right. The gripper is currently open and hovering near the cloth, indicating the approach phase is underway. The next action is to lower the end-effector to make contact with the yellow cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29653435945510864, + 0.02753479965031147, + 0.107241690158844, + 3.0869078636169434, + -0.19267919659614563, + 0.043895572423934937 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork on the right. The gripper is currently open and hovering near the cloth, indicating the approach phase is underway. The next action is to lower the end-effector to make contact with the yellow cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27690690755844116, + 0.05324786901473999, + 0.09632264077663422, + 3.1265387535095215, + -0.13852572441101074, + 0.07618607580661774 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tin can": [ + 569, + 236, + 733, + 466 + ], + "blue spatula": [ + 446, + 491, + 615, + 790 + ], + "red spoon": [ + 540, + 522, + 698, + 861 + ], + "yellow sponge": [ + 58, + 374, + 363, + 666 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2635495364665985, + 0.07751432061195374, + 0.08870973438024521, + -3.120668888092041, + -0.11314572393894196, + 0.11306855082511902 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25397035479545593, + 0.1075441911816597, + 0.0744752436876297, + -3.0955212116241455, + -0.09277450293302536, + 0.18760104477405548 + ], + "gripper_value": 0.8214757442474365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2551070749759674, + 0.11796411126852036, + 0.07050672173500061, + -3.0747406482696533, + -0.1084841638803482, + 0.19061970710754395 + ], + "gripper_value": 0.5482020378112793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525714933872223, + 0.13402532041072845, + 0.060813236981630325, + -3.054377794265747, + -0.12396211177110672, + 0.21769481897354126 + ], + "gripper_value": 0.25545796751976013 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542765438556671, + 0.1420479416847229, + 0.045584384351968765, + -3.0177125930786133, + -0.12273253500461578, + 0.23298881947994232 + ], + "gripper_value": 0.0925319567322731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2567287087440491, + 0.14529862999916077, + 0.032636988908052444, + -3.0220351219177246, + -0.12088867276906967, + 0.22985871136188507 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589726746082306, + 0.1477718949317932, + 0.026671530678868294, + -3.0418851375579834, + -0.1395147740840912, + 0.22636564075946808 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2568536698818207, + 0.14961086213588715, + 0.016756542026996613, + -3.0738635063171387, + -0.1275986135005951, + 0.2582918703556061 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left and the blue fork nearby. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2576329708099365, + 0.1492956131696701, + 0.012666505761444569, + -3.060861587524414, + -0.13708075881004333, + 0.26811790466308594 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, keep gripper closed; then move forward 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2576269507408142, + 0.14735852181911469, + 0.011328344233334064, + -3.0738487243652344, + -0.1443682760000229, + 0.308381587266922 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566153109073639, + 0.1416686326265335, + 0.010903014801442623, + -3.1040282249450684, + -0.12933848798274994, + 0.3355220556259155 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25763067603111267, + 0.13340643048286438, + 0.00977429747581482, + -3.098665714263916, + -0.12329649925231934, + 0.3330835700035095 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, keep gripper closed; then move forward 2 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25968989729881287, + 0.12071645259857178, + 0.009370476938784122, + -3.1084084510803223, + -0.11627127230167389, + 0.34345975518226624 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26104700565338135, + 0.10550311207771301, + 0.00932752713561058, + -3.127840042114258, + -0.11311304569244385, + 0.3387615978717804 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 101, + 442, + 404, + 683 + ], + "tin can": [ + 568, + 237, + 732, + 466 + ], + "blue spatula": [ + 446, + 490, + 618, + 789 + ], + "black cable": [ + 2, + 124, + 101, + 263 + ], + "wooden board": [ + 11, + 241, + 892, + 986 + ], + "red spoon spoon": [ + 540, + 524, + 698, + 861 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2655785083770752, + 0.08864637464284897, + 0.008812091313302517, + -3.1385996341705322, + -0.11351343244314194, + 0.3184298872947693 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 135, + 446, + 437, + 692 + ], + "tin can": [ + 568, + 237, + 733, + 466 + ], + "blue spatula": [ + 447, + 489, + 617, + 789 + ], + "black cable": [ + 2, + 129, + 135, + 284 + ], + "wooden board": [ + 11, + 264, + 892, + 985 + ], + "red spoon metal spoon": [ + 540, + 523, + 699, + 862 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "grasp yellow cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703309953212738, + 0.07884982228279114, + 0.009421329945325851, + 3.1299562454223633, + -0.12402071803808212, + 0.31663018465042114 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754364013671875, + 0.06977186352014542, + 0.009825527667999268, + 3.1016876697540283, + -0.13801021873950958, + 0.3297649621963501 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper closed; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804519534111023, + 0.061349064111709595, + 0.010101007297635078, + 3.0966427326202393, + -0.14939214289188385, + 0.3175986707210541 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned above it with the gripper open. The current subtask involves grasping the cloth securely. The next action should be to close the gripper to grasp the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2861965596675873, + 0.05626619979739189, + 0.009683042764663696, + 3.0949065685272217, + -0.1520233154296875, + 0.30541378259658813 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having already approached and grasped it. The gripper signal indicates a stable hold without active closing, suggesting the robot is dragging or sliding the cloth leftward across the table. The next action is to continue moving the cloth to the left until it is positioned beside the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move up 2 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2890894412994385, + 0.05107744038105011, + 0.009349405765533447, + 3.1043643951416016, + -0.15406116843223572, + 0.2808489501476288 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having already approached and grasped it. The gripper signal indicates a stable hold without active closing, suggesting the robot is dragging or sliding the cloth leftward across the table. The next action is to continue moving the cloth to the left until it is positioned beside the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move up 2 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902098000049591, + 0.047023456543684006, + 0.00939066894352436, + 3.1106491088867188, + -0.15710769593715668, + 0.2860654890537262 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having already approached and grasped it. The gripper signal indicates a stable hold without active closing, suggesting the robot is dragging or sliding the cloth leftward across the table. The next action is to continue moving the cloth to the left until it is positioned beside the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 2 cm, keep gripper open; then move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2860891819000244, + 0.04201623797416687, + 0.009377618320286274, + 3.117354393005371, + -0.14840587973594666, + 0.29223722219467163 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having already approached and grasped it. The gripper signal indicates a stable hold without active closing, suggesting the robot is dragging or sliding the cloth leftward across the table. The next action is to continue moving the cloth to the left until it is positioned beside the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841928005218506, + 0.041407495737075806, + 0.00886769499629736, + 3.1201119422912598, + -0.1379435956478119, + 0.3055567443370819 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having already approached and grasped it. The gripper signal indicates a stable hold without active closing, suggesting the robot is dragging or sliding the cloth leftward across the table. The next action is to continue moving the cloth to the left until it is positioned beside the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 2 cm, keep gripper open; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826292812824249, + 0.04504310339689255, + 0.008969430811703205, + -3.1407363414764404, + -0.1376977115869522, + 0.3210527002811432 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "adjust grip and lift slightly", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having already approached and grasped it. The gripper signal indicates a stable hold without active closing, suggesting the robot is dragging or sliding the cloth leftward across the table. The next action is to continue moving the cloth to the left until it is positioned beside the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move right 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793727219104767, + 0.04857930913567543, + 0.009237317368388176, + -3.119868040084839, + -0.13990293443202972, + 0.33278146386146545 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "adjust grip and lift slightly", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 4 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789725363254547, + 0.048014190047979355, + 0.009501665830612183, + -3.1318771839141846, + -0.13491035997867584, + 0.3282119929790497 + ], + "gripper_value": 0.14329741895198822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "adjust grip and lift slightly", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27940553426742554, + 0.045094311237335205, + 0.015116522088646889, + 3.1243417263031006, + -0.1463082730770111, + 0.3002847135066986 + ], + "gripper_value": 0.3396349251270294 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "adjust grip and lift slightly", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 4 cm, move right 2 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2822185456752777, + 0.043364737182855606, + 0.02586958184838295, + 3.1092517375946045, + -0.17691580951213837, + 0.284032940864563 + ], + "gripper_value": 0.6279802918434143 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.28218111395835876, + 0.04285898059606552, + 0.03953556716442108, + 3.1048707962036133, + -0.20106413960456848, + 0.28751298785209656 + ], + "gripper_value": 0.9132781028747559 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 233, + 437, + 526, + 716 + ], + "tin can": [ + 569, + 235, + 729, + 467 + ], + "blue spatula": [ + 447, + 492, + 616, + 789 + ], + "red spoon": [ + 540, + 523, + 698, + 863 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2830171585083008, + 0.042810212820768356, + 0.04984866455197334, + 3.100862503051758, + -0.21894347667694092, + 0.30110180377960205 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866916060447693, + 0.03830312192440033, + 0.06328216940164566, + 3.073646068572998, + -0.24399343132972717, + 0.28726139664649963 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2873847782611847, + 0.033643729984760284, + 0.07045342773199081, + 3.071305274963379, + -0.23433096706867218, + 0.24909844994544983 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.28614166378974915, + 0.029284507036209106, + 0.07867854833602905, + 3.0973644256591797, + -0.20485280454158783, + 0.1912098526954651 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The robot has approached and grasped the yellow cloth, with gripper evidence confirming a secure hold. The current frame shows the gripper in contact with the cloth, ready to lift slightly. The next action is to lift the cloth slightly while maintaining grip to prepare for dragging it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28552162647247314, + 0.01972285471856594, + 0.0860162004828453, + 3.0995490550994873, + -0.2034919559955597, + 0.15441390872001648 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The yellow cloth is currently positioned near the blue fork but not yet clearly to its left. The gripper is open and in contact with the cloth, suggesting a recent release or adjustment. The next action should involve fine-tuning the cloth's position to ensure it is fully to the left of the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2933090329170227, + 0.007769191171973944, + 0.09322359412908554, + 3.1059396266937256, + -0.22805382311344147, + 0.12051530927419662 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 233, + 418, + 527, + 716 + ], + "tin can": [ + 575, + 237, + 732, + 465 + ], + "blue spatula": [ + 447, + 489, + 616, + 790 + ], + "red spoon a metal spoon": [ + 541, + 522, + 698, + 862 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The yellow cloth is currently positioned near the blue fork but not yet clearly to its left. The gripper is open and in contact with the cloth, suggesting a recent release or adjustment. The next action should involve fine-tuning the cloth's position to ensure it is fully to the left of the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.30518248677253723, + 0.009566470980644226, + 0.09490329772233963, + 3.112462043762207, + -0.23319901525974274, + 0.1169181540608406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The yellow cloth is currently positioned near the blue fork but not yet clearly to its left. The gripper is open and in contact with the cloth, suggesting a recent release or adjustment. The next action should involve fine-tuning the cloth's position to ensure it is fully to the left of the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176817297935486, + 0.023433610796928406, + 0.09872108697891235, + 3.1231515407562256, + -0.24014155566692352, + 0.15102115273475647 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The yellow cloth is currently positioned near the blue fork but not yet clearly to its left. The gripper is open and in contact with the cloth, suggesting a recent release or adjustment. The next action should involve fine-tuning the cloth's position to ensure it is fully to the left of the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250619173049927, + 0.041105397045612335, + 0.1039389967918396, + 3.123929023742676, + -0.2555783987045288, + 0.19555124640464783 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The yellow cloth is currently positioned near the blue fork but not yet clearly to its left. The gripper is open and in contact with the cloth, suggesting a recent release or adjustment. The next action should involve fine-tuning the cloth's position to ensure it is fully to the left of the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.33109524846076965, + 0.0648036077618599, + 0.10600976645946503, + 3.128986358642578, + -0.2589429020881653, + 0.24247634410858154 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The yellow cloth is currently positioned near the blue fork but not yet clearly to its left. The gripper is open and in contact with the cloth, suggesting a recent release or adjustment. The next action should involve fine-tuning the cloth's position to ensure it is fully to the left of the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.33222275972366333, + 0.08612951636314392, + 0.1074003204703331, + 3.129225730895996, + -0.26663607358932495, + 0.30461153388023376 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The yellow cloth is currently positioned near the blue fork but not yet clearly to its left. The gripper is open and in contact with the cloth, suggesting a recent release or adjustment. The next action should involve fine-tuning the cloth's position to ensure it is fully to the left of the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.32849863171577454, + 0.1084732785820961, + 0.11104105412960052, + -3.134335517883301, + -0.2771714925765991, + 0.3664443790912628 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the left of the blue fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "grasp yellow cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "adjust grip and lift slightly" + }, + { + "id": 5, + "subtask": "place cloth left of blue fork" + } + ], + "subtask_name": "place cloth left of blue fork", + "subtask_reasoning": "The yellow cloth is currently positioned near the blue fork but not yet clearly to its left. The gripper is open and in contact with the cloth, suggesting a recent release or adjustment. The next action should involve fine-tuning the cloth's position to ensure it is fully to the left of the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003918_ecot.json b/cot/chunk-0003/episode_0003918_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c575e7a017d33ad740070e928e61c97b1310af70 --- /dev/null +++ b/cot/chunk-0003/episode_0003918_ecot.json @@ -0,0 +1,1489 @@ +{ + "task_name": "episode_0003918", + "episode_json": "json/chunk-0003/episode_0003918.json", + "video_path": "videos/chunk-0003/image_0/episode_0003918.mp4", + "instruction": "Move blue cube from the cylinder to the top of the tower.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003918.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.43745630979537964, + "std": 0.1998317539691925, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.43746, std=0.19983, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 14 + ], + [ + 3, + 15, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp blue cube\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector to the blue cube on the cylinder and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and position over tower\", \"start\": 12, \"end\": 14, \"planning\": \"Lift the grasped blue cube and move it horizontally toward the top of the tower while maintaining grip.\"},\n {\"id\": 3, \"name\": \"place and release blue cube\", \"start\": 15, \"end\": 24, \"planning\": \"Lower the blue cube onto the tower top, open gripper to release, and retreat slightly to complete placement.\"}\n ],\n \"global_plan\": \"Grasp the blue cube from the cylinder, lift and translate it over the tower, then place and release it on top.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.436) consistent with grasping; Segment 2 has no gripper change but motion suggests transport while holding; Segment 3 shows gripper opening (delta=+0.436) consistent with release after placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp blue cube", + "start": 0, + "end": 11, + "planning": "Move end-effector to the blue cube on the cylinder and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and position over tower", + "start": 12, + "end": 14, + "planning": "Lift the grasped blue cube and move it horizontally toward the top of the tower while maintaining grip." + }, + { + "id": 3, + "name": "place and release blue cube", + "start": 15, + "end": 24, + "planning": "Lower the blue cube onto the tower top, open gripper to release, and retreat slightly to complete placement." + } + ], + "global_plan": "Grasp the blue cube from the cylinder, lift and translate it over the tower, then place and release it on top.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.436) consistent with grasping; Segment 2 has no gripper change but motion suggests transport while holding; Segment 3 shows gripper opening (delta=+0.436) consistent with release after placement." + } + }, + "episode_goal": "Move the blue cube from the cylinder to the top of the tower.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411155939102173, + 0.07295185327529907, + 0.16837754845619202, + -3.0985424518585205, + -0.14217792451381683, + 0.0942952111363411 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The scene shows a blue cube on top of a white cylinder, with a tower of blocks nearby. The robot's gripper is open and positioned near the blue cube, indicating the approach phase. No grasping has occurred yet. The next action is to close the gripper to grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34079495072364807, + 0.07179785519838333, + 0.15534427762031555, + -3.1030025482177734, + -0.10262596607208252, + 0.09481501579284668 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The scene shows a blue cube on top of a white cylinder, with a tower of blocks nearby. The robot's gripper is open and positioned near the blue cube, indicating the approach phase. No grasping has occurred yet. The next action is to close the gripper to grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3459082245826721, + 0.0697140246629715, + 0.14094296097755432, + -3.1053740978240967, + -0.07867775112390518, + 0.10185704380273819 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The scene shows a blue cube on top of a white cylinder, with a tower of blocks nearby. The robot's gripper is open and positioned near the blue cube, indicating the approach phase. No grasping has occurred yet. The next action is to close the gripper to grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506070077419281, + 0.07106313854455948, + 0.13038989901542664, + -3.104548454284668, + -0.058840248733758926, + 0.10862082988023758 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 994, + 992 + ], + "blue cube": [ + 566, + 115, + 681, + 263 + ], + "background machine": [ + 738, + 3, + 927, + 190 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The scene shows a blue cube on top of a white cylinder, with a tower of blocks nearby. The robot's gripper is open and positioned near the blue cube, indicating the approach phase. No grasping has occurred yet. The next action is to close the gripper to grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3517455458641052, + 0.06991323083639145, + 0.12712900340557098, + -3.1073522567749023, + -0.0549522340297699, + 0.12274321913719177 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The scene shows a blue cube on top of a white cylinder, with a tower of blocks nearby. The robot's gripper is open and positioned near the blue cube, indicating the approach phase. No grasping has occurred yet. The next action is to close the gripper to grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35336482524871826, + 0.0675111934542656, + 0.12217006832361221, + -3.1210272312164307, + -0.04797792807221413, + 0.12040901184082031 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue cube on the cylinder, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the blue cube, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506261706352234, + 0.06647364050149918, + 0.12316367775201797, + -3.1216092109680176, + -0.027707062661647797, + 0.10094398260116577 + ], + "gripper_value": 0.5650128126144409 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue cube on the cylinder, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the blue cube, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34968504309654236, + 0.062364447861909866, + 0.1242465078830719, + -3.1192004680633545, + -0.014758303761482239, + 0.06676124781370163 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue cube on the cylinder, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the blue cube, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34753352403640747, + 0.05293576046824455, + 0.13599921762943268, + -3.1026816368103027, + -0.025079820305109024, + 0.022316548973321915 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue cube on the cylinder, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the blue cube, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.342403769493103, + 0.03213388845324516, + 0.15860167145729065, + -3.0720608234405518, + -0.04929967224597931, + -0.053618863224983215 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue cube on the cylinder, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the blue cube, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367803692817688, + 0.0019956997130066156, + 0.16616959869861603, + -3.025019645690918, + -0.025819852948188782, + -0.13775590062141418 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue cube on the cylinder, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the blue cube, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33066779375076294, + -0.02015417069196701, + 0.16703014075756073, + -2.98347806930542, + 0.011956746689975262, + -0.2009952813386917 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 994, + 991 + ], + "white cylinder": [ + 450, + 121, + 539, + 389 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "approach and grasp blue cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue cube on the cylinder, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the blue cube, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32779914140701294, + -0.03781307488679886, + 0.16770455241203308, + -2.9594061374664307, + 0.022439416497945786, + -0.258428156375885 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "lift and position over tower", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue cube on the cylinder, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the blue cube, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3261621594429016, + -0.041284896433353424, + 0.16606517136096954, + -2.9641451835632324, + 0.027228591963648796, + -0.26117926836013794 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "lift and position over tower", + "subtask_reasoning": "The blue cube is currently held above the tower, having been lifted from the cylinder. The gripper remains closed with no motion delta, indicating the robot is maintaining position. The next action is to lower the cube onto the top of the tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3264915347099304, + -0.03879813477396965, + 0.15852351486682892, + -2.9922728538513184, + 0.05925782397389412, + -0.2554672360420227 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "lift and position over tower", + "subtask_reasoning": "The blue cube is currently held above the tower, having been lifted from the cylinder. The gripper remains closed with no motion delta, indicating the robot is maintaining position. The next action is to lower the cube onto the top of the tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move left 2 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3313688337802887, + -0.02201656810939312, + 0.16270039975643158, + -3.036651134490967, + 0.048336029052734375, + -0.20126394927501678 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held above the tower, having been lifted from the cylinder. The gripper remains closed with no motion delta, indicating the robot is maintaining position. The next action is to lower the cube onto the top of the tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304574191570282, + -0.014104778878390789, + 0.16284728050231934, + -3.056346893310547, + 0.05588845536112785, + -0.18381458520889282 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 993, + 991 + ], + "white cylinder": [ + 450, + 121, + 540, + 395 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held above the tower, having been lifted from the cylinder. The gripper remains closed with no motion delta, indicating the robot is maintaining position. The next action is to lower the cube onto the top of the tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33050182461738586, + -0.010987347923219204, + 0.16272316873073578, + -3.0661396980285645, + 0.05592641234397888, + -0.18171267211437225 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held above the tower, having been lifted from the cylinder. The gripper remains closed with no motion delta, indicating the robot is maintaining position. The next action is to lower the cube onto the top of the tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304106295108795, + -0.009033597074449062, + 0.1624709814786911, + -3.089721441268921, + 0.05424332991242409, + -0.17878228425979614 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held above the tower, having been lifted from the cylinder. The gripper remains closed with no motion delta, indicating the robot is maintaining position. The next action is to lower the cube onto the top of the tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33116841316223145, + -0.008593346923589706, + 0.16246670484542847, + -3.0863871574401855, + 0.05031157657504082, + -0.1838226616382599 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the tower stack. The gripper is in the process of opening to release the cube onto the top of the tower. The next action is to fully open the gripper and retract the arm to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33219724893569946, + -0.008411114104092121, + 0.16282381117343903, + -3.0839152336120605, + 0.04416195675730705, + -0.17957520484924316 + ], + "gripper_value": 0.6159340739250183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the tower stack. The gripper is in the process of opening to release the cube onto the top of the tower. The next action is to fully open the gripper and retract the arm to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33566048741340637, + -0.007950745522975922, + 0.1570800393819809, + -3.072021961212158, + 0.04592297598719597, + -0.14611490070819855 + ], + "gripper_value": 0.9099614024162292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the tower stack. The gripper is in the process of opening to release the cube onto the top of the tower. The next action is to fully open the gripper and retract the arm to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33698180317878723, + -0.007828528992831707, + 0.15657386183738708, + -3.066462278366089, + 0.03919607400894165, + -0.1348336786031723 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the tower stack. The gripper is in the process of opening to release the cube onto the top of the tower. The next action is to fully open the gripper and retract the arm to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367508351802826, + -0.007295587565749884, + 0.1565823256969452, + -3.0663750171661377, + 0.04037685692310333, + -0.12859205901622772 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the tower stack. The gripper is in the process of opening to release the cube onto the top of the tower. The next action is to fully open the gripper and retract the arm to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3323342800140381, + -0.00677882693707943, + 0.16948488354682922, + -3.0630311965942383, + 0.017130102962255478, + -0.1228787899017334 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cube from the cylinder to the top of the tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue cube" + }, + { + "id": 2, + "subtask": "lift and position over tower" + }, + { + "id": 3, + "subtask": "place and release blue cube" + } + ], + "subtask_name": "place and release blue cube", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the tower stack. The gripper is in the process of opening to release the cube onto the top of the tower. The next action is to fully open the gripper and retract the arm to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003920_ecot.json b/cot/chunk-0003/episode_0003920_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b8491f4495de4122152156a01b534182b0dade8a --- /dev/null +++ b/cot/chunk-0003/episode_0003920_ecot.json @@ -0,0 +1,3237 @@ +{ + "task_name": "episode_0003920", + "episode_json": "json/chunk-0003/episode_0003920.json", + "video_path": "videos/chunk-0003/image_0/episode_0003920.mp4", + "instruction": "Remove the lemon from the silver pan and place it in the yellow colander.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 49, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003920.json" + }, + "fps": 5.0, + "T_eff": 49, + "gripper_behavior_summary": { + "available": true, + "range": 0.3450465202331543, + "std": 0.16024364531040192, + "delta_total": -0.0019985437393188477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34505, std=0.16024, total_delta=-0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 24 + ], + [ + 3, + 25, + 29 + ], + [ + 4, + 30, + 39 + ], + [ + 5, + 40, + 48 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lemon in pan\", \"start\": 0, \"end\": 5, \"planning\": \"Move gripper from initial position toward the lemon inside the silver pan without closing.\"},\n {\"id\": 2, \"name\": \"grasp lemon\", \"start\": 6, \"end\": 24, \"planning\": \"Close gripper around the lemon while maintaining contact and securing it for lift.\"},\n {\"id\": 3, \"name\": \"lift and transport lemon\", \"start\": 25, \"end\": 29, \"planning\": \"Lift the grasped lemon out of the pan and move it toward the yellow colander.\"},\n {\"id\": 4, \"name\": \"release lemon into colander\", \"start\": 30, \"end\": 39, \"planning\": \"Open gripper to drop the lemon into the yellow colander, then retract slightly.\"},\n {\"id\": 5, \"name\": \"retreat to home position\", \"start\": 40, \"end\": 48, \"planning\": \"Move gripper away from the colander back toward a neutral or starting pose.\"}\n ],\n \"global_plan\": \"Remove the lemon from the silver pan by approaching, grasping, lifting, transporting, releasing into the yellow colander, then retreating.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows meaningful closure (delta=-0.345) — grasp is valid. Segment 4 shows opening (delta=+0.343) — release is valid. Segment 5 has no gripper change — retreat only. All frame ranges are contiguous and cover 0–48.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lemon in pan", + "start": 0, + "end": 5, + "planning": "Move gripper from initial position toward the lemon inside the silver pan without closing." + }, + { + "id": 2, + "name": "grasp lemon", + "start": 6, + "end": 24, + "planning": "Close gripper around the lemon while maintaining contact and securing it for lift." + }, + { + "id": 3, + "name": "lift and transport lemon", + "start": 25, + "end": 29, + "planning": "Lift the grasped lemon out of the pan and move it toward the yellow colander." + }, + { + "id": 4, + "name": "release lemon into colander", + "start": 30, + "end": 39, + "planning": "Open gripper to drop the lemon into the yellow colander, then retract slightly." + }, + { + "id": 5, + "name": "retreat to home position", + "start": 40, + "end": 48, + "planning": "Move gripper away from the colander back toward a neutral or starting pose." + } + ], + "global_plan": "Remove the lemon from the silver pan by approaching, grasping, lifting, transporting, releasing into the yellow colander, then retreating.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows meaningful closure (delta=-0.345) — grasp is valid. Segment 4 shows opening (delta=+0.343) — release is valid. Segment 5 has no gripper change — retreat only. All frame ranges are contiguous and cover 0–48." + } + }, + "episode_goal": "Remove the lemon from the silver pan and place it in the yellow colander.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21313878893852234, + 0.11150678992271423, + 0.12729737162590027, + -3.1013429164886475, + -0.24172355234622955, + 0.7882112860679626 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach lemon in pan", + "subtask_reasoning": "The robot is positioned above the sink with the lemon visible inside the silver pan and the yellow colander nearby. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end effector closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2097199261188507, + 0.10913300514221191, + 0.12072102725505829, + -3.0884175300598145, + -0.2219708412885666, + 0.7770867943763733 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach lemon in pan", + "subtask_reasoning": "The robot is positioned above the sink with the lemon visible inside the silver pan and the yellow colander nearby. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end effector closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21847864985466003, + 0.08065439015626907, + 0.11018091440200806, + -3.0111536979675293, + -0.26016440987586975, + 0.523408055305481 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach lemon in pan", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2316567450761795, + 0.06000988557934761, + 0.10851270705461502, + -2.9628875255584717, + -0.28661641478538513, + 0.2985571622848511 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 450, + 523, + 560, + 649 + ], + "dish rack": [ + 5, + 254, + 388, + 659 + ], + "pot": [ + 421, + 490, + 806, + 848 + ], + "scrub brush": [ + 346, + 552, + 448, + 821 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach lemon in pan", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23731037974357605, + 0.034479208290576935, + 0.09589030593633652, + -2.9594860076904297, + -0.2774963676929474, + 0.04406265541911125 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach lemon in pan", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23673255741596222, + 0.01915188692510128, + 0.093142069876194, + -3.0220835208892822, + -0.24518895149230957, + -0.17556479573249817 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach lemon in pan", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 3 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23642824590206146, + 0.012262892909348011, + 0.09124939143657684, + -3.049466848373413, + -0.23876646161079407, + -0.25442978739738464 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24008363485336304, + 0.002832436002790928, + 0.07787755876779556, + -3.0344762802124023, + -0.2121913880109787, + -0.26904821395874023 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24302498996257782, + -0.0040923841297626495, + 0.06982764601707458, + -3.025834083557129, + -0.20286045968532562, + -0.2576182782649994 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2434873878955841, + -0.007768956013023853, + 0.06482201814651489, + -3.043205499649048, + -0.1957603543996811, + -0.24347129464149475 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24351291358470917, + -0.012590652331709862, + 0.056384745985269547, + -3.0421273708343506, + -0.18214619159698486, + -0.24687378108501434 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24408850073814392, + -0.016823889687657356, + 0.0472581572830677, + -3.0321943759918213, + -0.18872061371803284, + -0.22631599009037018 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24447721242904663, + -0.018558330833911896, + 0.04249570518732071, + -3.0441012382507324, + -0.17973428964614868, + -0.22416672110557556 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24367257952690125, + -0.020561637356877327, + 0.03361903876066208, + -3.052433967590332, + -0.17954182624816895, + -0.21706928312778473 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24385689198970795, + -0.021660253405570984, + 0.029351141303777695, + -3.0620534420013428, + -0.1733597218990326, + -0.21572718024253845 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot arm is positioned above the sink, with the lemon visible inside the silver pan. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the lemon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24258115887641907, + -0.021527467295527458, + 0.02379409410059452, + -3.062758445739746, + -0.16463011503219604, + -0.229487344622612 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish soap bottle": [ + 213, + 151, + 363, + 350 + ], + "dish rack": [ + 4, + 206, + 449, + 659 + ], + "scrub brush": [ + 343, + 553, + 450, + 823 + ], + "pot": [ + 422, + 527, + 801, + 862 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2427186369895935, + -0.01940448209643364, + 0.021309074014425278, + -3.0656487941741943, + -0.15979503095149994, + -0.22292309999465942 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24184642732143402, + -0.018754340708255768, + 0.015746446326375008, + -3.0644848346710205, + -0.15784288942813873, + -0.2102871984243393 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24178676307201385, + -0.018355930224061012, + 0.013875442557036877, + -3.070157289505005, + -0.1749185174703598, + -0.2027011513710022 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 6 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24345481395721436, + -0.015814702957868576, + 0.0130691546946764, + -3.0749659538269043, + -0.18875110149383545, + -0.16829153895378113 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 9 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24212121963500977, + -0.014531340450048447, + 0.00992704089730978, + -3.0786006450653076, + -0.18843381106853485, + -0.1653783917427063 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 11 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24026422202587128, + -0.013306555338203907, + 0.009467574767768383, + -3.0956759452819824, + -0.17751531302928925, + -0.15239238739013672 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 11 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23758357763290405, + -0.012653379701077938, + 0.009511755779385567, + -3.098370313644409, + -0.1584666669368744, + -0.1653643250465393 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 11 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23713670670986176, + -0.011999464593827724, + 0.019290197640657425, + -3.0971720218658447, + -0.1730671525001526, + -0.1421908736228943 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 11 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23680448532104492, + -0.010676085948944092, + 0.039695680141448975, + -3.0987613201141357, + -0.24954429268836975, + -0.10496927052736282 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "grasp lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move back 4 cm, move left 11 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23230388760566711, + -0.004602818749845028, + 0.06383143365383148, + -3.1048104763031006, + -0.2984148859977722, + -0.04660928621888161 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and transport lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21875745058059692, + 0.008112839423120022, + 0.07757996767759323, + -3.117053985595703, + -0.22617772221565247, + -0.023478973656892776 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and transport lemon", + "subtask_reasoning": "The robot has approached the lemon in the silver pan and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lemon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.20351290702819824, + 0.03171970695257187, + 0.09522148966789246, + -3.103234052658081, + -0.2197878062725067, + 0.03868205472826958 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and transport lemon", + "subtask_reasoning": "The robot arm is currently positioned above the silver pan, having completed the approach and grasp of the lemon. The gripper is closed, indicating the lemon is secured. The next action is to lift the lemon out of the pan and begin transporting it toward the yellow colander." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.19472138583660126, + 0.05872764065861702, + 0.10132039338350296, + -3.0426650047302246, + -0.23390893638134003, + 0.07940926402807236 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 3, + 243, + 447, + 661 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and transport lemon", + "subtask_reasoning": "The robot arm is currently positioned above the silver pan, having completed the approach and grasp of the lemon. The gripper is closed, indicating the lemon is secured. The next action is to lift the lemon out of the pan and begin transporting it toward the yellow colander." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.18644942343235016, + 0.0872291773557663, + 0.10340213030576706, + -3.033174514770508, + -0.25166240334510803, + 0.14433653652668 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and transport lemon", + "subtask_reasoning": "The robot arm is currently positioned above the silver pan, having completed the approach and grasp of the lemon. The gripper is closed, indicating the lemon is secured. The next action is to lift the lemon out of the pan and begin transporting it toward the yellow colander." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move left 4 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.18765005469322205, + 0.10770174860954285, + 0.10287614166736603, + -3.03643536567688, + -0.2220800817012787, + 0.22149796783924103 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 4, + 195, + 447, + 661 + ], + "grater": [ + 349, + 682, + 442, + 819 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is currently positioned above the silver pan, having completed the approach and grasp of the lemon. The gripper is closed, indicating the lemon is secured. The next action is to lift the lemon out of the pan and begin transporting it toward the yellow colander." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.19554948806762695, + 0.11837940663099289, + 0.09504294395446777, + -3.0281620025634766, + -0.2173752337694168, + 0.2805580198764801 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is currently positioned above the silver pan, having completed the approach and grasp of the lemon. The gripper is closed, indicating the lemon is secured. The next action is to lift the lemon out of the pan and begin transporting it toward the yellow colander." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.20231302082538605, + 0.12224867939949036, + 0.09520743787288666, + -3.039884328842163, + -0.22259420156478882, + 0.32977959513664246 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is currently positioned above the silver pan, having completed the approach and grasp of the lemon. The gripper is closed, indicating the lemon is secured. The next action is to lift the lemon out of the pan and begin transporting it toward the yellow colander." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.20444805920124054, + 0.12782615423202515, + 0.08119715750217438, + -3.0340230464935303, + -0.19092875719070435, + 0.3656214773654938 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is currently positioned above the silver pan, having completed the approach and grasp of the lemon. The gripper is closed, indicating the lemon is secured. The next action is to lift the lemon out of the pan and begin transporting it toward the yellow colander." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.20108401775360107, + 0.13805080950260162, + 0.06682959944009781, + -3.033203601837158, + -0.14391517639160156, + 0.38092362880706787 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.19895312190055847, + 0.15155749022960663, + 0.0490095429122448, + -2.989557981491089, + -0.12453208118677139, + 0.3877732753753662 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.19317203760147095, + 0.15346649289131165, + 0.03862685337662697, + -2.97225284576416, + -0.1280466914176941, + 0.3522034287452698 + ], + "gripper_value": 0.7309711575508118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.19279368221759796, + 0.15382614731788635, + 0.0384502112865448, + -2.983116626739502, + -0.13305801153182983, + 0.3779038190841675 + ], + "gripper_value": 0.973810613155365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.19214211404323578, + 0.15412983298301697, + 0.03912511095404625, + -2.954340696334839, + -0.1279778778553009, + 0.39458948373794556 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.1889563351869583, + 0.1509823501110077, + 0.039703369140625, + -2.966892957687378, + -0.10828319191932678, + 0.43324801325798035 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release lemon into colander", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.19238002598285675, + 0.15103761851787567, + 0.06044458597898483, + -2.9904842376708984, + -0.24335239827632904, + 0.45732083916664124 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.18879248201847076, + 0.14800162613391876, + 0.07567804306745529, + -3.0213122367858887, + -0.2453697770833969, + 0.4966723322868347 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.18871165812015533, + 0.14638029038906097, + 0.09432374686002731, + -3.0353081226348877, + -0.298061728477478, + 0.5335988402366638 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.19082558155059814, + 0.14307934045791626, + 0.10604579001665115, + -3.0439987182617188, + -0.33281099796295166, + 0.5572758913040161 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned directly over the yellow colander with the gripper open, indicating the lemon has been released. The subtask of releasing the lemon into the colander is complete, and the next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.1974107027053833, + 0.12790915369987488, + 0.11086432635784149, + -2.9966020584106445, + -0.3670293390750885, + 0.49782317876815796 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The lemon has been successfully placed in the yellow colander, and the gripper is open. The robot is now retreating from the sink area toward its home position, with no further object interaction required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2016313523054123, + 0.10966113209724426, + 0.10792466998100281, + -2.953082323074341, + -0.36834990978240967, + 0.39241310954093933 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 3, + 229, + 447, + 660 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The lemon has been successfully placed in the yellow colander, and the gripper is open. The robot is now retreating from the sink area toward its home position, with no further object interaction required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2050931751728058, + 0.09070079028606415, + 0.10846716165542603, + -2.9926609992980957, + -0.35645124316215515, + 0.35887354612350464 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The lemon has been successfully placed in the yellow colander, and the gripper is open. The robot is now retreating from the sink area toward its home position, with no further object interaction required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.21346816420555115, + 0.06161845475435257, + 0.11201705038547516, + -3.0273592472076416, + -0.3370811939239502, + 0.3634718358516693 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The lemon has been successfully placed in the yellow colander, and the gripper is open. The robot is now retreating from the sink area toward its home position, with no further object interaction required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.23083923757076263, + 0.031629472970962524, + 0.11444517225027084, + -3.0687456130981445, + -0.2728111147880554, + 0.38012921810150146 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lemon from the silver pan and place it in the yellow colander." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lemon in pan" + }, + { + "id": 2, + "subtask": "grasp lemon" + }, + { + "id": 3, + "subtask": "lift and transport lemon" + }, + { + "id": 4, + "subtask": "release lemon into colander" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The lemon has been successfully placed in the yellow colander, and the gripper is open. The robot is now retreating from the sink area toward its home position, with no further object interaction required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003923_ecot.json b/cot/chunk-0003/episode_0003923_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bff670b45433ba5a64db5019485547fd3a655175 --- /dev/null +++ b/cot/chunk-0003/episode_0003923_ecot.json @@ -0,0 +1,1246 @@ +{ + "task_name": "episode_0003923", + "episode_json": "json/chunk-0003/episode_0003923.json", + "video_path": "videos/chunk-0003/image_0/episode_0003923.mp4", + "instruction": "Put pan from sink into drying rack.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003923.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.939095139503479, + "std": 0.43073415756225586, + "delta_total": -0.939095139503479, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93910, std=0.43073, total_delta=-0.93910). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 10 + ], + [ + 3, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan in sink\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the pan resting in the sink basin without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp pan handle\", \"start\": 4, \"end\": 10, \"planning\": \"Close gripper around the pan’s handle while maintaining contact and preparing to lift.\"},\n {\"id\": 3, \"name\": \"lift and transfer pan to drying rack\", \"start\": 11, \"end\": 19, \"planning\": \"Lift pan from sink, move it over the orange drying rack, and release it into the rack.\"}\n ],\n \"global_plan\": \"Approach the pan in the sink, grasp its handle securely, then lift and place it into the adjacent drying rack.\",\n \"notes\": \"Segment 1 shows no gripper closure — consistent with approach. Segment 2 shows significant gripper closing (delta=-0.497) — supports grasp action. Segment 3 continues gripper closure and motion toward rack — supports lifting and placing. All actions align with visual evidence and gripper state transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan in sink", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the pan resting in the sink basin without closing gripper." + }, + { + "id": 2, + "name": "grasp pan handle", + "start": 4, + "end": 10, + "planning": "Close gripper around the pan’s handle while maintaining contact and preparing to lift." + }, + { + "id": 3, + "name": "lift and transfer pan to drying rack", + "start": 11, + "end": 19, + "planning": "Lift pan from sink, move it over the orange drying rack, and release it into the rack." + } + ], + "global_plan": "Approach the pan in the sink, grasp its handle securely, then lift and place it into the adjacent drying rack.", + "notes": "Segment 1 shows no gripper closure — consistent with approach. Segment 2 shows significant gripper closing (delta=-0.497) — supports grasp action. Segment 3 continues gripper closure and motion toward rack — supports lifting and placing. All actions align with visual evidence and gripper state transitions." + } + }, + "episode_goal": "Grasp the metal pan in the sink and place it into the orange drying rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27414509654045105, + 0.02192043326795101, + 0.11886477470397949, + 3.1158735752105713, + -0.1738981306552887, + -0.23154573142528534 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible inside. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27487725019454956, + 0.024474646896123886, + 0.10563074052333832, + 3.0892791748046875, + -0.15029212832450867, + -0.29849833250045776 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible inside. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28159263730049133, + 0.03755560144782066, + 0.09848807007074356, + 3.09173846244812, + -0.14927156269550323, + -0.39883676171302795 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible inside. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2876514196395874, + 0.0468161478638649, + 0.0957874283194542, + 3.137291193008423, + -0.15424664318561554, + -0.47226354479789734 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible inside. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2904638946056366, + 0.05664876103401184, + 0.09136860072612762, + -3.120150566101074, + -0.14592626690864563, + -0.5415895581245422 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible inside. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2966657876968384, + 0.06741409003734589, + 0.08611693978309631, + -3.1185269355773926, + -0.17305812239646912, + -0.5574653148651123 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible inside. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 4 cm, move up 9 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3011767864227295, + 0.07031375914812088, + 0.07671640068292618, + -3.1023337841033936, + -0.19822894036769867, + -0.5702034831047058 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot is positioned near the sink with the metal pan visible inside. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 4 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998824119567871, + 0.06919265538454056, + 0.06859893351793289, + -3.092921257019043, + -0.20908191800117493, + -0.569103479385376 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the end-effector aligned to the pan's handle. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to securely hold the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 5 cm, move up 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2918379306793213, + 0.060511715710163116, + 0.05550788342952728, + -3.105238437652588, + -0.21344991028308868, + -0.5402405261993408 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the end-effector aligned to the pan's handle. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to securely hold the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 7 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2864368259906769, + 0.052614565938711166, + 0.052035119384527206, + -3.092986822128296, + -0.2287813425064087, + -0.49548786878585815 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy green pepper": [ + 563, + 2, + 656, + 112 + ], + "toy cucumber": [ + 760, + 149, + 940, + 281 + ], + "toy kitchen sink": [ + 8, + 21, + 984, + 863 + ], + "orange dish rack": [ + 501, + 212, + 968, + 722 + ], + "toy corn": [ + 675, + 104, + 774, + 227 + ], + "blue stovetop": [ + 4, + 65, + 358, + 353 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the end-effector aligned to the pan's handle. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to securely hold the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 1 cm, move right 8 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28570878505706787, + 0.05259563773870468, + 0.05751197412610054, + -3.0703859329223633, + -0.22515571117401123, + -0.4650125503540039 + ], + "gripper_value": 0.5043045878410339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the end-effector aligned to the pan's handle. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to securely hold the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 1 cm, move right 8 cm, move up 8 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2847357988357544, + 0.05370564013719559, + 0.07469458132982254, + -3.055140495300293, + -0.17855753004550934, + -0.4528130292892456 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the end-effector aligned to the pan's handle. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to securely hold the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 8 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815905213356018, + 0.05175909027457237, + 0.09842967987060547, + -3.0273079872131348, + -0.10919952392578125, + -0.4596065282821655 + ], + "gripper_value": 0.1660143882036209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the end-effector aligned to the pan's handle. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to securely hold the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27758222818374634, + 0.05276387929916382, + 0.11980292946100235, + -3.009443759918213, + -0.05474592000246048, + -0.43742966651916504 + ], + "gripper_value": 0.10834171622991562 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the end-effector aligned to the pan's handle. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to securely hold the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26735547184944153, + 0.033560510724782944, + 0.1462753862142563, + -2.9989733695983887, + -0.008775836788117886, + -0.40852367877960205 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy green pepper": [ + 564, + 2, + 656, + 111 + ], + "toy cucumber": [ + 759, + 149, + 940, + 282 + ], + "orange dish rack": [ + 507, + 213, + 972, + 726 + ], + "metal bowl": [ + 82, + 2, + 325, + 129 + ], + "toy corn": [ + 675, + 105, + 774, + 228 + ], + "metal pot a metal bowl": [ + 338, + 85, + 637, + 469 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the end-effector aligned to the pan's handle. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to securely hold the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26229584217071533, + 0.017602751031517982, + 0.16373445093631744, + -2.98610258102417, + 0.01096322387456894, + -0.3766239881515503 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot has grasped the metal pan and lifted it from the sink, now holding it above the orange drying rack. The next action is to lower and release the pan into the rack to complete the transfer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2641732394695282, + 0.010768404230475426, + 0.17568998038768768, + -2.9950833320617676, + -0.010068237781524658, + -0.3355708420276642 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot has grasped the metal pan and lifted it from the sink, now holding it above the orange drying rack. The next action is to lower and release the pan into the rack to complete the transfer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27057120203971863, + -0.0004935033502988517, + 0.17635181546211243, + -3.0257856845855713, + -0.05408143624663353, + -0.3068670332431793 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot has grasped the metal pan and lifted it from the sink, now holding it above the orange drying rack. The next action is to lower and release the pan into the rack to complete the transfer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768263518810272, + -0.01529555395245552, + 0.16422168910503387, + -3.0771870613098145, + -0.09934534132480621, + -0.26100191473960876 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot has grasped the metal pan and lifted it from the sink, now holding it above the orange drying rack. The next action is to lower and release the pan into the rack to complete the transfer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27769923210144043, + -0.026600658893585205, + 0.15045392513275146, + -3.1346964836120605, + -0.12920410931110382, + -0.23155736923217773 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pan in the sink and place it into the orange drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and transfer pan to drying rack" + } + ], + "subtask_name": "lift and transfer pan to drying rack", + "subtask_reasoning": "The robot has grasped the metal pan and lifted it from the sink, now holding it above the orange drying rack. The next action is to lower and release the pan into the rack to complete the transfer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003924_ecot.json b/cot/chunk-0003/episode_0003924_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c5febc23ac8ffea235155c3d2b4bb04f80ea88dc --- /dev/null +++ b/cot/chunk-0003/episode_0003924_ecot.json @@ -0,0 +1,1246 @@ +{ + "task_name": "episode_0003924", + "episode_json": "json/chunk-0003/episode_0003924.json", + "video_path": "videos/chunk-0003/image_0/episode_0003924.mp4", + "instruction": "Move the blue towel to the bottom left edge of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003924.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033228397369384766, + "std": 0.0008120776619762182, + "delta_total": -0.0033228397369384766, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00332, std=0.00081, total_delta=-0.00332). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue towel\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector from initial position toward the blue towel on the table.\"},\n {\"id\": 2, \"name\": \"make contact with towel\", \"start\": 6, \"end\": 10, \"planning\": \"Lower and align gripper to make gentle contact with the blue towel without grasping.\"},\n {\"id\": 3, \"name\": \"reposition towel leftward\", \"start\": 11, \"end\": 15, \"planning\": \"Drag or slide the blue towel toward the bottom-left edge of the table using contact motion.\"},\n {\"id\": 4, \"name\": \"finalize towel placement\", \"start\": 16, \"end\": 18, \"planning\": \"Complete the sliding motion and release contact near the target edge, ensuring towel is settled.\"}\n ],\n \"global_plan\": \"The robot approaches the blue towel, makes contact without grasping, then slides it leftward to the bottom-left edge of the table using continuous contact motion.\",\n \"notes\": \"Gripper remains open throughout; no grasp/lift/place actions inferred. Motion is purely contact-based dragging/sliding as supported by gripper evidence and visual frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue towel", + "start": 0, + "end": 5, + "planning": "Move the end-effector from initial position toward the blue towel on the table." + }, + { + "id": 2, + "name": "make contact with towel", + "start": 6, + "end": 10, + "planning": "Lower and align gripper to make gentle contact with the blue towel without grasping." + }, + { + "id": 3, + "name": "reposition towel leftward", + "start": 11, + "end": 15, + "planning": "Drag or slide the blue towel toward the bottom-left edge of the table using contact motion." + }, + { + "id": 4, + "name": "finalize towel placement", + "start": 16, + "end": 18, + "planning": "Complete the sliding motion and release contact near the target edge, ensuring towel is settled." + } + ], + "global_plan": "The robot approaches the blue towel, makes contact without grasping, then slides it leftward to the bottom-left edge of the table using continuous contact motion.", + "notes": "Gripper remains open throughout; no grasp/lift/place actions inferred. Motion is purely contact-based dragging/sliding as supported by gripper evidence and visual frames." + } + }, + "episode_goal": "Move the blue towel to the bottom left edge of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3854184150695801, + -0.03423783555626869, + 0.08638463169336319, + -3.1277265548706055, + -0.11821622401475906, + -0.017175154760479927 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue towel to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 4 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820611536502838, + -0.03354030102491379, + 0.07273131608963013, + -3.1261909008026123, + -0.08140243589878082, + -0.015321235172450542 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue towel to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35823145508766174, + -0.02046586386859417, + 0.048728156834840775, + -3.1225781440734863, + -0.014027727767825127, + 0.017978670075535774 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33642542362213135, + 0.002266256371513009, + 0.050226256251335144, + -3.109926700592041, + -0.024859700351953506, + 0.08314783871173859 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 555, + 337, + 775, + 560 + ], + "green spatula": [ + 464, + 536, + 641, + 712 + ], + "blue cloth": [ + 268, + 373, + 514, + 651 + ], + "wooden table": [ + 5, + 178, + 854, + 982 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move left 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156752288341522, + 0.010359739884734154, + 0.03746010735630989, + -3.095897674560547, + -0.01835285685956478, + 0.08971522748470306 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099503517150879, + 0.02072668820619583, + 0.029025252908468246, + -3.074333667755127, + -0.038174133747816086, + 0.13111186027526855 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move left 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move left 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3125065565109253, + 0.025472471490502357, + 0.02384726144373417, + -3.0499045848846436, + -0.08024325221776962, + 0.1455707550048828 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move left 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122360408306122, + 0.040942344814538956, + 0.012733185663819313, + -3.075929641723633, + -0.08436444401741028, + 0.18582244217395782 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 9 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31379443407058716, + 0.050727348774671555, + 0.003660049522295594, + -3.111189126968384, + -0.09296451508998871, + 0.1959754377603531 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. No grasping has occurred; the robot is maintaining contact to prepare for sliding. The next action is to initiate leftward sliding motion while preserving contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper open; then move back 3 cm, move left 9 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3130417466163635, + 0.05736945942044258, + 0.001052570529282093, + -3.120836019515991, + -0.08955909311771393, + 0.1846514195203781 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. No grasping has occurred; the robot is maintaining contact to prepare for sliding. The next action is to initiate leftward sliding motion while preserving contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper open; then move back 3 cm, move left 9 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31010666489601135, + 0.0699746161699295, + -0.0006849565543234348, + -3.136911153793335, + -0.08731799572706223, + 0.15738406777381897 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. No grasping has occurred; the robot is maintaining contact to prepare for sliding. The next action is to initiate leftward sliding motion while preserving contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move back 3 cm, move left 9 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3038345277309418, + 0.09307786822319031, + -0.0004845131770707667, + 3.1300201416015625, + -0.10346459597349167, + 0.14700384438037872 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "reposition towel leftward", + "subtask_reasoning": "The robot has approached the blue towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. No grasping has occurred; the robot is maintaining contact to prepare for sliding. The next action is to initiate leftward sliding motion while preserving contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29823175072669983, + 0.11139572411775589, + 0.00038411663263104856, + 3.101571559906006, + -0.11543793231248856, + 0.1081961914896965 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green spatula": [ + 463, + 536, + 639, + 713 + ], + "metal pot": [ + 556, + 325, + 775, + 561 + ], + "wooden table": [ + 6, + 183, + 847, + 986 + ], + "blue cloth": [ + 212, + 363, + 466, + 605 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "reposition towel leftward", + "subtask_reasoning": "The robot has approached the blue towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. No grasping has occurred; the robot is maintaining contact to prepare for sliding. The next action is to initiate leftward sliding motion while preserving contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862098813056946, + 0.13729533553123474, + 0.0011967283207923174, + 3.0811824798583984, + -0.11657018959522247, + 0.11248786002397537 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "reposition towel leftward", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a sliding motion is underway. The next action is to continue pushing the towel leftward toward the bottom-left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2772665023803711, + 0.1610286384820938, + 0.002255619503557682, + 3.06892466545105, + -0.10158786177635193, + 0.14438022673130035 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "reposition towel leftward", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a sliding motion is underway. The next action is to continue pushing the towel leftward toward the bottom-left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719665467739105, + 0.17504145205020905, + 0.0022015124559402466, + 3.057175397872925, + -0.10592056810855865, + 0.16776098310947418 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "reposition towel leftward", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a sliding motion is underway. The next action is to continue pushing the towel leftward toward the bottom-left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27129971981048584, + 0.18169163167476654, + 0.002685515908524394, + 3.056011438369751, + -0.1051924005150795, + 0.17102739214897156 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "finalize towel placement", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a sliding motion is underway. The next action is to continue pushing the towel leftward toward the bottom-left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27138206362724304, + 0.18066325783729553, + 0.004231563303619623, + 3.0572657585144043, + -0.07822457700967789, + 0.16079863905906677 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "finalize towel placement", + "subtask_reasoning": "The blue towel is already positioned near the bottom-left edge of the table, and the robot’s end-effector is in contact with it without grasping. The subtask involves making final adjustments to ensure precise placement at the edge. The next action is likely a small sliding motion to align the towel exactly at the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717794179916382, + 0.16870105266571045, + 0.024409806355834007, + 3.0966925621032715, + -0.03495552018284798, + 0.16087748110294342 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue towel to the bottom left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "reposition towel leftward" + }, + { + "id": 4, + "subtask": "finalize towel placement" + } + ], + "subtask_name": "finalize towel placement", + "subtask_reasoning": "The blue towel is already positioned near the bottom-left edge of the table, and the robot’s end-effector is in contact with it without grasping. The subtask involves making final adjustments to ensure precise placement at the edge. The next action is likely a small sliding motion to align the towel exactly at the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003925_ecot.json b/cot/chunk-0003/episode_0003925_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..845e6105e90879d711ca6433c914338c96fff4df --- /dev/null +++ b/cot/chunk-0003/episode_0003925_ecot.json @@ -0,0 +1,3469 @@ +{ + "task_name": "episode_0003925", + "episode_json": "json/chunk-0003/episode_0003925.json", + "video_path": "videos/chunk-0003/image_0/episode_0003925.mp4", + "instruction": "Remove the lid from the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 55, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003925.json" + }, + "fps": 5.0, + "T_eff": 55, + "gripper_behavior_summary": { + "available": true, + "range": 0.937638521194458, + "std": 0.417915403842926, + "delta_total": 0.003944516181945801, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93764, std=0.41792, total_delta=0.00394). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 134, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 34, + 52, + 52, + 52 + ], + "seg_spans": [ + [ + 1, + 0, + 30 + ], + [ + 2, + 31, + 33 + ], + [ + 3, + 34, + 34 + ], + [ + 4, + 35, + 51 + ], + [ + 5, + 52, + 54 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 30, \"planning\": \"Move the end-effector toward the lid on the left burner without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 31, \"end\": 34, \"planning\": \"Close the gripper to securely grasp the lid while maintaining contact with it.\"},\n {\"id\": 3, \"name\": \"lift and remove lid\", \"start\": 35, \"end\": 51, \"planning\": \"Lift the grasped lid off the burner and move it away from the stove surface.\"},\n {\"id\": 4, \"name\": \"release lid\", \"start\": 52, \"end\": 54, \"planning\": \"Open the gripper to release the lid onto the counter beside the stove.\"}\n ],\n \"global_plan\": \"Approach the lid on the left burner, grasp it firmly, lift and remove it from the burner, then release it onto the adjacent counter space.\",\n \"notes\": \"Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 exhibits clear gripper closing (delta=-0.31162) consistent with grasping. Segment 4 maintains grip while lifting and translating the lid. Segment 5 shows gripper opening (delta=+0.48204) confirming release. All subtasks are contiguous and cover full trajectory [0,54].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 30, + "planning": "Move the end-effector toward the lid on the left burner without closing the gripper." + }, + { + "id": 2, + "name": "grasp lid", + "start": 31, + "end": 34, + "planning": "Close the gripper to securely grasp the lid while maintaining contact with it." + }, + { + "id": 3, + "name": "lift and remove lid", + "start": 35, + "end": 51, + "planning": "Lift the grasped lid off the burner and move it away from the stove surface." + }, + { + "id": 4, + "name": "release lid", + "start": 52, + "end": 54, + "planning": "Open the gripper to release the lid onto the counter beside the stove." + } + ], + "global_plan": "Approach the lid on the left burner, grasp it firmly, lift and remove it from the burner, then release it onto the adjacent counter space.", + "notes": "Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 exhibits clear gripper closing (delta=-0.31162) consistent with grasping. Segment 4 maintains grip while lifting and translating the lid. Segment 5 shows gripper opening (delta=+0.48204) confirming release. All subtasks are contiguous and cover full trajectory [0,54]." + } + }, + "episode_goal": "Remove the lid from the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.1956275999546051, + 0.09155905991792679, + 0.10705023258924484, + -3.051408529281616, + -0.2934153079986572, + -0.2292717695236206 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19442105293273926, + 0.09052235633134842, + 0.10313259810209274, + -3.0634727478027344, + -0.28387266397476196, + -0.21955832839012146 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21479395031929016, + 0.08072004467248917, + 0.08855888992547989, + -3.099061965942383, + -0.2829767167568207, + -0.1734168976545334 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24049216508865356, + 0.07308454811573029, + 0.07903370261192322, + -3.095217227935791, + -0.318244606256485, + -0.16782346367835999 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy food": [ + 576, + 430, + 656, + 557 + ], + "green toy food": [ + 641, + 428, + 712, + 543 + ], + "blue toy food": [ + 521, + 378, + 619, + 518 + ], + "red toy food": [ + 318, + 290, + 515, + 534 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25747549533843994, + 0.07722446322441101, + 0.0771905854344368, + -3.053776502609253, + -0.32082900404930115, + -0.18993018567562103 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26936084032058716, + 0.0888209268450737, + 0.08509117364883423, + -2.9964795112609863, + -0.3114701211452484, + -0.24876444041728973 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2780311703681946, + 0.10305992513895035, + 0.09521801769733429, + -2.955195903778076, + -0.3083934485912323, + -0.29136237502098083 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2845865786075592, + 0.11395885795354843, + 0.08977483958005905, + -2.9306790828704834, + -0.3147071599960327, + -0.32700198888778687 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28918400406837463, + 0.12197231501340866, + 0.08013046532869339, + -2.901780366897583, + -0.34759649634361267, + -0.34118181467056274 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2855619192123413, + 0.12250710278749466, + 0.07187502086162567, + -2.889007806777954, + -0.3476792871952057, + -0.2648853063583374 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. 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The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2879064381122589, + 0.0989336147904396, + 0.055249813944101334, + -3.077327013015747, + -0.2949894964694977, + 0.05254124850034714 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. 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The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897018790245056, + 0.10081525892019272, + 0.04854077473282814, + -3.089432954788208, + -0.298067182302475, + 0.0517074316740036 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29067263007164, + 0.09989501535892487, + 0.047692179679870605, + -3.0964179039001465, + -0.3044043183326721, + 0.04639465734362602 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.290606826543808, + 0.0993434488773346, + 0.04654240235686302, + -3.098144054412842, + -0.3115483820438385, + 0.04837900772690773 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28481635451316833, + 0.09666577726602554, + 0.041622061282396317, + -3.1124227046966553, + -0.29583820700645447, + 0.05211317911744118 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned near the left burner where the lid is located, with no prior actions completed. The gripper is open and not in contact with the lid. The next action should be to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28314030170440674, + 0.09528469294309616, + 0.03709888830780983, + -3.1341750621795654, + -0.3146854043006897, + 0.05985894799232483 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the left burner where the lid is located, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to establish contact with the lid. The next action should involve lowering or adjusting the end-effector to reach the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28556200861930847, + 0.09533819556236267, + 0.02323882095515728, + 3.129641532897949, + -0.3444414734840393, + 0.03685693070292473 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the left burner where the lid is located, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to establish contact with the lid. The next action should involve lowering or adjusting the end-effector to reach the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29217737913131714, + 0.09715289622545242, + 0.02024403214454651, + 3.125223398208618, + -0.39100927114486694, + 0.020905977115035057 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper closed; then move back 4 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2922310531139374, + 0.0992826372385025, + 0.019864149391651154, + 3.124490976333618, + -0.39952152967453003, + 0.031236886978149414 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28364595770835876, + 0.10057251900434494, + 0.021241508424282074, + 3.1370465755462646, + -0.3558226227760315, + 0.038587331771850586 + ], + "gripper_value": 0.4015096127986908 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 31, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2682662308216095, + 0.10172607004642487, + 0.035834237933158875, + -3.112513780593872, + -0.307425320148468, + 0.045330509543418884 + ], + "gripper_value": 0.18290577828884125 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 312, + 290, + 508, + 561 + ], + "yellow toy food": [ + 590, + 430, + 664, + 563 + ], + "green toy food": [ + 648, + 421, + 715, + 540 + ], + "blue toy food": [ + 519, + 392, + 612, + 532 + ], + "stovetop": [ + 171, + 224, + 863, + 845 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24859896302223206, + 0.09811446815729141, + 0.05053458735346794, + -3.099039077758789, + -0.2634073495864868, + 0.03902703896164894 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.23339636623859406, + 0.09934157133102417, + 0.072151780128479, + -3.0632331371307373, + -0.23449626564979553, + 0.06231717765331268 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2208523154258728, + 0.09292177110910416, + 0.08779443800449371, + -3.0299837589263916, + -0.19696344435214996, + 0.07048537582159042 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.21627989411354065, + 0.091183140873909, + 0.09298107028007507, + -3.012716054916382, + -0.18240438401699066, + 0.06518708169460297 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.21702949702739716, + 0.08526941388845444, + 0.09168195724487305, + -3.016211748123169, + -0.1908772587776184, + 0.07328236848115921 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.22063235938549042, + 0.0797298327088356, + 0.08999559283256531, + -3.0145962238311768, + -0.2112107276916504, + 0.07863076776266098 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2260609269142151, + 0.08109874278306961, + 0.08707456290721893, + -3.0043721199035645, + -0.2381579577922821, + 0.06264160573482513 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached the lid on the left burner and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to grasp the lid. The next action is to complete the grasp and prepare to lift the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.22347046434879303, + 0.09096451103687286, + 0.08322052657604218, + -2.992868185043335, + -0.2502460777759552, + 0.029818331822752953 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 5 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.21961098909378052, + 0.10306452959775925, + 0.08298555761575699, + -2.9796597957611084, + -0.25296467542648315, + 0.00951281376183033 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy food": [ + 650, + 417, + 716, + 533 + ], + "yellow toy food": [ + 598, + 430, + 673, + 565 + ], + "stovetop": [ + 172, + 226, + 862, + 844 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 5 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.21590234339237213, + 0.11492571234703064, + 0.0768098309636116, + -2.9758408069610596, + -0.25960347056388855, + -0.0134876798838377 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.21447494626045227, + 0.12446175515651703, + 0.06751740723848343, + -2.9839000701904297, + -0.2771695554256439, + -0.03267907351255417 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy food": [ + 598, + 430, + 673, + 565 + ], + "green toy food": [ + 650, + 417, + 717, + 533 + ], + "red toy food": [ + 369, + 347, + 481, + 468 + ], + "stovetop": [ + 250, + 224, + 862, + 843 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.21639959514141083, + 0.131817027926445, + 0.058277878910303116, + -2.994021415710449, + -0.28970086574554443, + -0.052385520190000534 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2199975699186325, + 0.13728272914886475, + 0.0444248765707016, + -3.0140082836151123, + -0.3014764189720154, + -0.062181949615478516 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.22605040669441223, + 0.14132919907569885, + 0.0359153114259243, + -3.0320675373077393, + -0.3188176155090332, + -0.06679058820009232 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.22999031841754913, + 0.1436212956905365, + 0.032014597207307816, + -3.039618730545044, + -0.3316546380519867, + -0.05962232127785683 + ], + "gripper_value": 0.0936371386051178 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.22954247891902924, + 0.1455908715724945, + 0.03204380348324776, + -3.0272021293640137, + -0.3282890319824219, + -0.05997801944613457 + ], + "gripper_value": 0.2589220404624939 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and remove lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 51 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.22419868409633636, + 0.14316152036190033, + 0.02960137650370598, + -3.0417723655700684, + -0.29774385690689087, + -0.03598346933722496 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot has approached and grasped the lid on the left burner. The current frame shows the gripper in contact with the lid, and segment-level evidence supports a stable grasp. The next action is to lift the lid vertically to remove it from the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 52, + "end": 54 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.22361747920513153, + 0.14088702201843262, + 0.0341586135327816, + -3.0366053581237793, + -0.3020007908344269, + -0.031023873016238213 + ], + "gripper_value": 0.8242669105529785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot arm is positioned over the counter with the lid held in the gripper, having successfully lifted it from the left burner. The gripper is currently closed, maintaining a firm hold on the lid. The next action is to open the gripper to release the lid onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 52, + "end": 54 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.22128252685070038, + 0.13538914918899536, + 0.03618815913796425, + -3.047175168991089, + -0.27708500623703003, + -0.025326112285256386 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and remove lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot arm is positioned over the counter with the lid held in the gripper, having successfully lifted it from the left burner. The gripper is currently closed, maintaining a firm hold on the lid. The next action is to open the gripper to release the lid onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 52, + "end": 54 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003926_ecot.json b/cot/chunk-0003/episode_0003926_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5f79a53921fca608d5e3ea81f3138167d0338743 --- /dev/null +++ b/cot/chunk-0003/episode_0003926_ecot.json @@ -0,0 +1,1801 @@ +{ + "task_name": "episode_0003926", + "episode_json": "json/chunk-0003/episode_0003926.json", + "video_path": "videos/chunk-0003/image_0/episode_0003926.mp4", + "instruction": "Move the metal bowl between the burners.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003926.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.94479900598526, + "std": 0.41310933232307434, + "delta_total": 0.001984119415283203, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94480, std=0.41311, total_delta=0.00198). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 109, + 109, + 209, + 209, + 209, + 409, + 409, + 409, + 409, + 409, + 409, + 20, + 20, + 20, + 520, + 520, + 520 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 1 + ], + [ + 3, + 2, + 5 + ], + [ + 4, + 6, + 8 + ], + [ + 5, + 9, + 10 + ], + [ + 6, + 11, + 13 + ], + [ + 7, + 14, + 19 + ], + [ + 8, + 20, + 22 + ], + [ + 9, + 23, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bowl\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the metal bowl resting on the orange cloth near the left burner.\"},\n {\"id\": 2, \"name\": \"grasp bowl\", \"start\": 6, \"end\": 10, \"planning\": \"Close the gripper around the rim of the metal bowl to secure a firm hold, as confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and translate bowl\", \"start\": 11, \"end\": 19, \"planning\": \"Lift the bowl slightly and move it horizontally across the stovetop toward the space between the two burners, maintaining grip throughout.\"},\n {\"id\": 4, \"name\": \"release bowl\", \"start\": 20, \"end\": 22, \"planning\": \"Open the gripper to release the bowl onto the stovetop surface between the burners, confirmed by gripper opening and loss of contact.\"},\n {\"id\": 5, \"name\": \"retreat from bowl\", \"start\": 23, \"end\": 25, \"planning\": \"Withdraw the end-effector upward and away from the placed bowl to complete the task without disturbing the object.\"}\n ],\n \"global_plan\": \"Approach the metal bowl on the left, grasp it securely, lift and slide it to the center position between the burners, release it gently, then retreat to avoid interference.\",\n \"notes\": \"Gripper evidence supports grasping only in segments 2 (frames 6-8) and 6 (frames 11-13), with release inferred in segment 8 (frames 20-22) based on gripper reopening and motion context. Segment 1 (frame 0) shows no gripper activity — purely approach. Final segment (23-25) confirms retreat with open gripper.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bowl", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the metal bowl resting on the orange cloth near the left burner." + }, + { + "id": 2, + "name": "grasp bowl", + "start": 6, + "end": 10, + "planning": "Close the gripper around the rim of the metal bowl to secure a firm hold, as confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and translate bowl", + "start": 11, + "end": 19, + "planning": "Lift the bowl slightly and move it horizontally across the stovetop toward the space between the two burners, maintaining grip throughout." + }, + { + "id": 4, + "name": "release bowl", + "start": 20, + "end": 22, + "planning": "Open the gripper to release the bowl onto the stovetop surface between the burners, confirmed by gripper opening and loss of contact." + }, + { + "id": 5, + "name": "retreat from bowl", + "start": 23, + "end": 25, + "planning": "Withdraw the end-effector upward and away from the placed bowl to complete the task without disturbing the object." + } + ], + "global_plan": "Approach the metal bowl on the left, grasp it securely, lift and slide it to the center position between the burners, release it gently, then retreat to avoid interference.", + "notes": "Gripper evidence supports grasping only in segments 2 (frames 6-8) and 6 (frames 11-13), with release inferred in segment 8 (frames 20-22) based on gripper reopening and motion context. Segment 1 (frame 0) shows no gripper activity — purely approach. Final segment (23-25) confirms retreat with open gripper." + } + }, + "episode_goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31515374779701233, + 0.18471887707710266, + 0.08572826534509659, + -3.0822536945343018, + -0.06456441432237625, + 0.045741960406303406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The metal bowl is on the orange cloth to the left of the stovetop. The robot arm is approaching the bowl but has not yet made contact. The next action is to continue moving the end effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 10 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31260234117507935, + 0.1819896101951599, + 0.07336735725402832, + -3.1026718616485596, + -0.04055533930659294, + 0.0511242039501667 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The metal bowl is on the orange cloth to the left of the stovetop. The robot arm is approaching the bowl but has not yet made contact. The next action is to continue moving the end effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 9 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2863234281539917, + 0.15577714145183563, + 0.06233804300427437, + 3.118415117263794, + 0.011146518401801586, + 0.07142955809831619 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The metal bowl is on the orange cloth to the left of the stovetop. The robot arm is approaching the bowl but has not yet made contact. The next action is to continue moving the end effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2672680616378784, + 0.1271258294582367, + 0.07078942656517029, + 3.097429037094116, + -0.003390813944861293, + 0.047743551433086395 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The metal bowl is on the orange cloth to the left of the stovetop. The robot arm is approaching the bowl but has not yet made contact. The next action is to continue moving the end effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2470526248216629, + 0.10699845105409622, + 0.06781871616840363, + 3.105731725692749, + -0.006296170875430107, + 0.011158770881593227 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The metal bowl is on the orange cloth to the left of the stovetop. The robot arm is approaching the bowl but has not yet made contact. The next action is to continue moving the end effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2405180186033249, + 0.09617239236831665, + 0.0476110577583313, + 3.1400644779205322, + 0.02265824005007744, + -0.025453483685851097 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The metal bowl is on the orange cloth to the left of the stovetop. The robot arm is approaching the bowl but has not yet made contact. The next action is to continue moving the end effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper closed; then move forward 9 cm, move right 3 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23506878316402435, + 0.08962690085172653, + 0.01848377101123333, + -3.1062779426574707, + 0.0654442235827446, + -0.052952636033296585 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The metal bowl is on the orange cloth to the left of the stovetop. The robot arm is approaching the bowl but has not yet made contact. The next action is to continue moving the end effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper closed; then move forward 10 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23506410419940948, + 0.08357864618301392, + 0.00834517553448677, + -3.0851423740386963, + 0.053214915096759796, + -0.0686429962515831 + ], + "gripper_value": 0.9247323274612427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 742, + 449, + 994, + 961 + ], + "ladle": [ + 456, + 467, + 682, + 733 + ], + "frying pan": [ + 101, + 389, + 300, + 630 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The metal bowl is on the orange cloth to the left of the stovetop. The robot arm is approaching the bowl but has not yet made contact. The next action is to continue moving the end effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move forward 11 cm, move right 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23416343331336975, + 0.08152078092098236, + 0.007237723097205162, + -3.085127592086792, + 0.04261938855051994, + -0.08303322643041611 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The robot has approached the metal bowl on the left side of the stovetop. The gripper is currently open and positioned near the bowl, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move forward 12 cm, move right 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23454919457435608, + 0.08054066449403763, + 0.013897424563765526, + -3.0859737396240234, + 0.026594651862978935, + -0.08672729134559631 + ], + "gripper_value": 0.3788849711418152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The robot has approached the metal bowl on the left side of the stovetop. The gripper is currently open and positioned near the bowl, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move forward 12 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23582057654857635, + 0.07684912532567978, + 0.024706831201910973, + -3.111701250076294, + 0.011636096984148026, + -0.09201040118932724 + ], + "gripper_value": 0.2148229479789734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The robot has approached the metal bowl on the left side of the stovetop. The gripper is currently open and positioned near the bowl, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 12 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23368589580059052, + 0.07864295691251755, + 0.04275054857134819, + 3.1273584365844727, + -0.01686294749379158, + -0.09365899860858917 + ], + "gripper_value": 0.1059318259358406 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The robot has approached the metal bowl on the left side of the stovetop. The gripper is currently open and positioned near the bowl, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24025924503803253, + 0.07436559349298477, + 0.05527728796005249, + 3.0915181636810303, + -0.03243453428149223, + -0.11205136775970459 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The robot has approached the metal bowl on the left side of the stovetop. The gripper is currently open and positioned near the bowl, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2663353383541107, + 0.0740286186337471, + 0.06367502361536026, + 3.1172025203704834, + -0.08961684256792068, + -0.16224336624145508 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The robot has approached the metal bowl on the left side of the stovetop. The gripper is currently open and positioned near the bowl, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30442893505096436, + 0.05879820138216019, + 0.06294480711221695, + -3.139716148376465, + -0.12766441702842712, + -0.27424460649490356 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The robot has approached the metal bowl on the left side of the stovetop. The gripper is currently open and positioned near the bowl, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3277347981929779, + 0.0442860871553421, + 0.06187354773283005, + -3.132378339767456, + -0.142615407705307, + -0.32916101813316345 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 90, + 405, + 394, + 706 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The metal bowl is currently grasped and lifted above the orange cloth, with the arm positioned to move it toward the center of the stovetop. The next action is to translate the bowl horizontally between the burners while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, open gripper; then move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3373359739780426, + 0.03220449388027191, + 0.0570233054459095, + -3.134098768234253, + -0.14126108586788177, + -0.3610110878944397 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The metal bowl is currently grasped and lifted above the orange cloth, with the arm positioned to move it toward the center of the stovetop. The next action is to translate the bowl horizontally between the burners while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, open gripper; then move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425063490867615, + 0.028084542602300644, + 0.04701109975576401, + -3.1305267810821533, + -0.11400475353002548, + -0.373004287481308 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The metal bowl is currently grasped and lifted above the orange cloth, with the arm positioned to move it toward the center of the stovetop. The next action is to translate the bowl horizontally between the burners while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34873560070991516, + 0.02710696868598461, + 0.039303138852119446, + -3.1186788082122803, + -0.10752318054437637, + -0.38291165232658386 + ], + "gripper_value": 0.1023794636130333 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The metal bowl is currently grasped and lifted above the orange cloth, with the arm positioned to move it toward the center of the stovetop. The next action is to translate the bowl horizontally between the burners while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506528437137604, + 0.028211437165737152, + 0.030841674655675888, + -3.1255743503570557, + -0.07607027888298035, + -0.3696402609348297 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "lift and translate bowl", + "subtask_reasoning": "The metal bowl is currently grasped and lifted above the orange cloth, with the arm positioned to move it toward the center of the stovetop. The next action is to translate the bowl horizontally between the burners while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35172054171562195, + 0.028578657656908035, + 0.03060130774974823, + 3.129326581954956, + -0.09716983139514923, + -0.36715883016586304 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "release bowl", + "subtask_reasoning": "The metal bowl is currently grasped and lifted above the orange cloth, with the arm positioned to move it toward the center of the stovetop. The next action is to translate the bowl horizontally between the burners while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3523656725883484, + 0.026999101042747498, + 0.029146619141101837, + 3.108297109603882, + -0.11888440698385239, + -0.3473329246044159 + ], + "gripper_value": 0.8740299344062805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "release bowl", + "subtask_reasoning": "The metal bowl is currently held by the gripper and positioned directly over the center of the stovetop between the burners. The gripper is open, indicating the release action is in progress or complete. The next step is to ensure the bowl is fully released and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3493804931640625, + 0.030163384974002838, + 0.028481628745794296, + 3.1334011554718018, + -0.08226414769887924, + -0.21634571254253387 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "release bowl", + "subtask_reasoning": "The metal bowl is currently held by the gripper and positioned directly over the center of the stovetop between the burners. The gripper is open, indicating the release action is in progress or complete. The next step is to ensure the bowl is fully released and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451015055179596, + 0.02501673437654972, + 0.029905807226896286, + -3.136608839035034, + -0.0507587306201458, + -0.14290851354599 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "retreat from bowl", + "subtask_reasoning": "The metal bowl is currently held by the gripper and positioned directly over the center of the stovetop between the burners. The gripper is open, indicating the release action is in progress or complete. The next step is to ensure the bowl is fully released and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981913685798645, + 0.03910469263792038, + 0.08668702840805054, + -3.04703426361084, + -0.14667169749736786, + -0.06776096671819687 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 89, + 406, + 393, + 705 + ], + "spatula": [ + 453, + 612, + 566, + 734 + ], + "stove": [ + 105, + 212, + 734, + 747 + ], + "frying pan": [ + 346, + 232, + 557, + 482 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "retreat from bowl", + "subtask_reasoning": "The metal bowl has been successfully placed on the stovetop between the burners. The gripper is currently open and positioned above the bowl, indicating the release is complete. The robot is now retreating upward and away from the stovetop to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749520540237427, + 0.030427636578679085, + 0.09404752403497696, + -3.0353903770446777, + -0.17707736790180206, + -0.10426902770996094 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl from the orange cloth to the center of the stovetop between the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl" + }, + { + "id": 4, + "subtask": "release bowl" + }, + { + "id": 5, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "retreat from bowl", + "subtask_reasoning": "The metal bowl has been successfully placed on the stovetop between the burners. The gripper is currently open and positioned above the bowl, indicating the release is complete. The robot is now retreating upward and away from the stovetop to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003927_ecot.json b/cot/chunk-0003/episode_0003927_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..defef7daaed983929477ca0b35462662f27f8778 --- /dev/null +++ b/cot/chunk-0003/episode_0003927_ecot.json @@ -0,0 +1,1755 @@ +{ + "task_name": "episode_0003927", + "episode_json": "json/chunk-0003/episode_0003927.json", + "video_path": "videos/chunk-0003/image_0/episode_0003927.mp4", + "instruction": "Put the long red item on the orange cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003927.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.509134829044342, + "std": 0.23319967091083527, + "delta_total": 0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.50913, std=0.23320, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red item\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper toward the long red item in the metal bowl without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp red item\", \"start\": 5, \"end\": 15, \"planning\": \"Close the gripper around the long red item to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport red item\", \"start\": 16, \"end\": 22, \"planning\": \"Lift the grasped red item and move it over the orange cloth.\"},\n {\"id\": 4, \"name\": \"place red item on cloth\", \"start\": 23, \"end\": 26, \"planning\": \"Release the red item onto the orange cloth and retreat the gripper.\"}\n ],\n \"global_plan\": \"Approach the red item in the bowl, grasp it securely, lift and transport it to the orange cloth, then release it precisely on the cloth surface.\",\n \"notes\": \"Segment 1 (frames 0-4) shows no gripper closure — motion is purely positional approach. Segment 2 (frames 5-26) includes meaningful gripper closure (range=0.50913), confirming grasp capability; frame 15 shows gripper at 0.50334 (closed), and frame 26 shows release (gripper reopened to ~1.0). Subtasks are aligned with observed phases: approach, grasp, transport, place.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red item", + "start": 0, + "end": 4, + "planning": "Move the gripper toward the long red item in the metal bowl without closing the gripper." + }, + { + "id": 2, + "name": "grasp red item", + "start": 5, + "end": 15, + "planning": "Close the gripper around the long red item to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport red item", + "start": 16, + "end": 22, + "planning": "Lift the grasped red item and move it over the orange cloth." + }, + { + "id": 4, + "name": "place red item on cloth", + "start": 23, + "end": 26, + "planning": "Release the red item onto the orange cloth and retreat the gripper." + } + ], + "global_plan": "Approach the red item in the bowl, grasp it securely, lift and transport it to the orange cloth, then release it precisely on the cloth surface.", + "notes": "Segment 1 (frames 0-4) shows no gripper closure — motion is purely positional approach. Segment 2 (frames 5-26) includes meaningful gripper closure (range=0.50913), confirming grasp capability; frame 15 shows gripper at 0.50334 (closed), and frame 26 shows release (gripper reopened to ~1.0). Subtasks are aligned with observed phases: approach, grasp, transport, place." + } + }, + "episode_goal": "Place the long red item on the orange cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2519227862358093, + 0.00164476886857301, + 0.07838082313537598, + 3.118273973464966, + -0.007740781642496586, + -0.039585184305906296 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "approach red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, hovering between the orange cloth and the red item (which appears to be the handle of the blue tool). No objects have been moved yet. The gripper is open and the arm is stationary or making minor adjustments. The next action is to move the end-effector closer to the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2501010596752167, + 0.0012185219675302505, + 0.07272235304117203, + 3.1167540550231934, + 0.01675524190068245, + -0.04116233065724373 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "approach red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, hovering between the orange cloth and the red item (which appears to be the handle of the blue tool). No objects have been moved yet. The gripper is open and the arm is stationary or making minor adjustments. The next action is to move the end-effector closer to the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643345892429352, + 0.015959352254867554, + 0.07293545454740524, + 3.124154806137085, + 0.0031523245852440596, + -0.00819599162787199 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "approach red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the orange cloth and red item visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and align the gripper with the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29147717356681824, + 0.029759494587779045, + 0.07302533090114594, + 3.129633903503418, + -0.01497791986912489, + 0.02001461572945118 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "ice cream scoop": [ + 613, + 503, + 756, + 841 + ], + "orange sponges": [ + 176, + 420, + 461, + 710 + ], + "wooden countertop": [ + 7, + 181, + 882, + 988 + ], + "red object": [ + 434, + 186, + 572, + 408 + ], + "metal pot": [ + 401, + 305, + 570, + 458 + ] + } + } + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "approach red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the orange cloth and red item visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and align the gripper with the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, keep gripper open; then move forward 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3204456567764282, + 0.045383840799331665, + 0.07642651349306107, + 3.140477180480957, + -0.04160130396485329, + 0.07274678349494934 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "approach red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the orange cloth and red item visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and align the gripper with the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3476043939590454, + 0.056022852659225464, + 0.06987440586090088, + -3.1275947093963623, + -0.048304542899131775, + 0.08919898420572281 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the orange cloth and red item visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and align the gripper with the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626626431941986, + 0.0633704736828804, + 0.06098020821809769, + -3.0961787700653076, + -0.04309763014316559, + 0.07727523893117905 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the orange cloth and red item visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and align the gripper with the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37379395961761475, + 0.06548045575618744, + 0.04855534806847572, + -3.0837724208831787, + -0.03531385213136673, + 0.08202452212572098 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the orange cloth and red item visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and align the gripper with the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38029658794403076, + 0.06329914182424545, + 0.037423025816679, + -3.06762433052063, + -0.019006390124559402, + 0.08186255395412445 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the orange cloth and red item visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and align the gripper with the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, close gripper; then move back 2 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3832360506057739, + 0.05811164528131485, + 0.028077401220798492, + -3.0618865489959717, + -0.00862898025661707, + 0.06981147825717926 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the orange cloth and red item visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and align the gripper with the red item to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38417530059814453, + 0.05779663473367691, + 0.022549033164978027, + -3.057156801223755, + -0.005401382688432932, + 0.06441280990839005 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3857576251029968, + 0.0561227947473526, + 0.022282464429736137, + -3.0532023906707764, + -0.014492827467620373, + 0.05659867450594902 + ], + "gripper_value": 0.6641445755958557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 5 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3809429109096527, + 0.05488079413771629, + 0.02153865247964859, + -3.0616776943206787, + -0.007529283408075571, + 0.046962637454271317 + ], + "gripper_value": 0.5043045878410339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 5 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37106621265411377, + 0.05296288803219795, + 0.05010577663779259, + -3.0977282524108887, + -0.07386615872383118, + 0.045403026044368744 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move up 4 cm, keep gripper closed; then move back 5 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3514418303966522, + 0.061130885034799576, + 0.08717360347509384, + -3.1234419345855713, + -0.18475137650966644, + 0.06119438260793686 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, keep gripper closed; then move back 5 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31610172986984253, + 0.0674239844083786, + 0.10539418458938599, + -3.1370742321014404, + -0.21483869850635529, + 0.08360671252012253 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "grasp red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 5 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821865379810333, + 0.07296743243932724, + 0.0892724022269249, + -3.1343650817871094, + -0.12460814416408539, + 0.10939168930053711 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 364, + 258, + 594, + 476 + ], + "orange sponges": [ + 177, + 421, + 464, + 711 + ], + "wooden countertop": [ + 10, + 205, + 880, + 987 + ], + "red object": [ + 299, + 264, + 382, + 439 + ], + "ice cream scoop": [ + 612, + 503, + 756, + 843 + ] + } + } + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "lift and transport red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2671472728252411, + 0.08362821489572525, + 0.07329285144805908, + -3.1228721141815186, + -0.049778085201978683, + 0.13105636835098267 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "lift and transport red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2582229971885681, + 0.0980866402387619, + 0.0570465512573719, + -3.0785815715789795, + 0.00684294942766428, + 0.14865471422672272 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 368, + 256, + 594, + 476 + ], + "wooden countertop": [ + 11, + 215, + 880, + 988 + ], + "orange sponges": [ + 174, + 444, + 462, + 709 + ], + "ice cream scoop": [ + 612, + 502, + 756, + 843 + ], + "red object": [ + 226, + 371, + 308, + 544 + ] + } + } + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "lift and transport red item", + "subtask_reasoning": "The robot has approached the long red item in the bowl and is now positioned above it with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is underway. The next step is to complete the grasp by closing the gripper around the red item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25185486674308777, + 0.10356437414884567, + 0.04531143978238106, + -3.0397443771362305, + 0.0488467738032341, + 0.14462055265903473 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "lift and transport red item", + "subtask_reasoning": "The red item is currently held above the orange cloth, having been lifted and transported from the bowl. The gripper is closed around the object, and the arm is positioned directly over the target area. The next action is to lower the item and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, open gripper; then move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2410500943660736, + 0.10197729617357254, + 0.03542604297399521, + -3.015960216522217, + 0.08310871571302414, + 0.12169817090034485 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "lift and transport red item", + "subtask_reasoning": "The red item is currently held above the orange cloth, having been lifted and transported from the bowl. The gripper is closed around the object, and the arm is positioned directly over the target area. The next action is to lower the item and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23464633524417877, + 0.09655418992042542, + 0.030406750738620758, + -3.0194249153137207, + 0.0969516858458519, + 0.10458594560623169 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "lift and transport red item", + "subtask_reasoning": "The red item is currently held above the orange cloth, having been lifted and transported from the bowl. The gripper is closed around the object, and the arm is positioned directly over the target area. The next action is to lower the item and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23040249943733215, + 0.09282560646533966, + 0.02751709148287773, + -3.0348031520843506, + 0.11095298081636429, + 0.10114771872758865 + ], + "gripper_value": 0.8801529407501221 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "lift and transport red item", + "subtask_reasoning": "The red item is currently held above the orange cloth, having been lifted and transported from the bowl. The gripper is closed around the object, and the arm is positioned directly over the target area. The next action is to lower the item and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23180848360061646, + 0.09139135479927063, + 0.02743370644748211, + -3.049344062805176, + 0.10275429487228394, + 0.10806524008512497 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "place red item on cloth", + "subtask_reasoning": "The red item is currently held above the orange cloth, having been lifted and transported from the bowl. The gripper is closed around the object, and the arm is positioned directly over the target area. The next action is to lower the item and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2340543270111084, + 0.09370462596416473, + 0.036729611456394196, + -3.054971694946289, + 0.07716672867536545, + 0.10902625322341919 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "place red item on cloth", + "subtask_reasoning": "The robot is holding the long red item directly above the orange cloth, having completed the approach and grasp phases. The gripper is currently closed around the object, positioning it for placement. The next action is to open the gripper to release the red item onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2368897944688797, + 0.09041055291891098, + 0.07891646772623062, + -3.0703318119049072, + -0.052134837955236435, + 0.07227282971143723 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "place red item on cloth", + "subtask_reasoning": "The robot is holding the long red item directly above the orange cloth, having completed the approach and grasp phases. The gripper is currently closed around the object, positioning it for placement. The next action is to open the gripper to release the red item onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23667237162590027, + 0.08743341267108917, + 0.10970760136842728, + -3.0588481426239014, + -0.11485257744789124, + -0.005042390897870064 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the long red item on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red item" + }, + { + "id": 2, + "subtask": "grasp red item" + }, + { + "id": 3, + "subtask": "lift and transport red item" + }, + { + "id": 4, + "subtask": "place red item on cloth" + } + ], + "subtask_name": "place red item on cloth", + "subtask_reasoning": "The robot is holding the long red item directly above the orange cloth, having completed the approach and grasp phases. The gripper is currently closed around the object, positioning it for placement. The next action is to open the gripper to release the red item onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003928_ecot.json b/cot/chunk-0003/episode_0003928_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..333b3a50f1c55ea2614ccc1cc38d1ccd1b26871d --- /dev/null +++ b/cot/chunk-0003/episode_0003928_ecot.json @@ -0,0 +1,1240 @@ +{ + "task_name": "episode_0003928", + "episode_json": "json/chunk-0003/episode_0003928.json", + "video_path": "videos/chunk-0003/image_0/episode_0003928.mp4", + "instruction": "Put cup from anywhere into sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003928.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8601602911949158, + "std": 0.4054957628250122, + "delta_total": -0.8601602911949158, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.86016, std=0.40550, total_delta=-0.86016). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 13 + ], + [ + 3, + 14, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cup\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the cup on the table and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport cup\", \"start\": 9, \"end\": 13, \"planning\": \"Lift the grasped cup and begin moving it toward the sink area while maintaining grip.\"},\n {\"id\": 3, \"name\": \"release cup into sink\", \"start\": 14, \"end\": 19, \"planning\": \"Position cup over sink basin and open gripper to drop it in, then retreat slightly.\"}\n ],\n \"global_plan\": \"Grasp the cup from the table, lift and carry it to the sink, then release it into the basin.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.252) consistent with grasp initiation; Segment 2 continues with sustained low gripper value indicating held object; Segment 3 has no gripper change (delta=0), confirming release phase without re-grasping. All motion and gripper evidence aligns with pick-and-place semantics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cup", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the cup on the table and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport cup", + "start": 9, + "end": 13, + "planning": "Lift the grasped cup and begin moving it toward the sink area while maintaining grip." + }, + { + "id": 3, + "name": "release cup into sink", + "start": 14, + "end": 19, + "planning": "Position cup over sink basin and open gripper to drop it in, then retreat slightly." + } + ], + "global_plan": "Grasp the cup from the table, lift and carry it to the sink, then release it into the basin.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.252) consistent with grasp initiation; Segment 2 continues with sustained low gripper value indicating held object; Segment 3 has no gripper change (delta=0), confirming release phase without re-grasping. All motion and gripper evidence aligns with pick-and-place semantics." + } + }, + "episode_goal": "Grasp the blue cup on the pink surface and place it into the sink basin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.1652294248342514, + -0.13416209816932678, + 0.094317726790905, + 2.94931697845459, + 0.09102752059698105, + -1.222304344177246 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper currently open. No part of the task has been completed yet. The next action is to move the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.1636025309562683, + -0.13527505099773407, + 0.08504984527826309, + 2.927952289581299, + 0.10598784685134888, + -1.220430850982666 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper currently open. No part of the task has been completed yet. The next action is to move the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.16388191282749176, + -0.13610999286174774, + 0.07728979736566544, + 2.9071922302246094, + 0.11817080527544022, + -1.2392290830612183 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper currently open. No part of the task has been completed yet. The next action is to move the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move forward 3 cm, move left 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.16625533998012543, + -0.13996265828609467, + 0.06954904645681381, + 2.885786294937134, + 0.1145496517419815, + -1.260829210281372 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper currently open. No part of the task has been completed yet. The next action is to move the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 4 cm, move left 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.1691894382238388, + -0.14509893953800201, + 0.059389129281044006, + 2.868170738220215, + 0.10833057761192322, + -1.2759183645248413 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 8 cm, move left 5 cm, move up 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.17405667901039124, + -0.15133561193943024, + 0.047509342432022095, + 2.870042085647583, + 0.08192453533411026, + -1.2844679355621338 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, close gripper; then move forward 8 cm, move left 5 cm, move up 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1651407927274704, + -0.1484679877758026, + 0.03821244835853577, + 2.8615424633026123, + 0.08398193120956421, + -1.2762212753295898 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, close gripper; then move forward 8 cm, move left 5 cm, move up 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1585039645433426, + -0.14614813029766083, + 0.03744382783770561, + 2.865110158920288, + 0.0866958349943161, + -1.2786064147949219 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move forward 8 cm, move left 5 cm, move up 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.15178757905960083, + -0.13689716160297394, + 0.05000263825058937, + 2.9109268188476562, + 0.07994811981916428, + -1.267271637916565 + ], + "gripper_value": 0.7447580099105835 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 443, + 354, + 522, + 434 + ], + "dish rack": [ + 504, + 317, + 773, + 536 + ], + "pink plate": [ + 390, + 499, + 484, + 609 + ], + "toy sink": [ + 484, + 185, + 992, + 987 + ], + "power strip": [ + 141, + 858, + 260, + 994 + ], + "faucet": [ + 680, + 171, + 980, + 719 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move left 5 cm, move up 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 12 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.15417778491973877, + -0.13485021889209747, + 0.05053640902042389, + 2.923778533935547, + 0.08717301487922668, + -1.2805814743041992 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 5 cm, move up 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move right 1 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.15749430656433105, + -0.13439105451107025, + 0.05476519465446472, + 2.92521333694458, + 0.09661499410867691, + -1.2963337898254395 + ], + "gripper_value": 0.21731513738632202 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The robot arm is positioned near the blue cup on the pink surface, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move up 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move right 1 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.17129330337047577, + -0.1336965709924698, + 0.06338906288146973, + 2.9353222846984863, + 0.10514255613088608, + -1.3199244737625122 + ], + "gripper_value": 0.1541406512260437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The robot has successfully grasped the blue cup from the pink surface and is currently lifting it. The gripper is closed around the cup, and the arm is in motion, transporting the object toward the sink basin. The next action is to continue moving the cup over the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move up 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move right 1 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18284882605075836, + -0.12305900454521179, + 0.0930173248052597, + 2.9031362533569336, + 0.17473003268241882, + -1.353816270828247 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The robot has successfully grasped the blue cup from the pink surface and is currently lifting it. The gripper is closed around the cup, and the arm is in motion, transporting the object toward the sink basin. The next action is to continue moving the cup over the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move up 9 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move right 1 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.18938155472278595, + -0.11553213000297546, + 0.11316829919815063, + 2.893314838409424, + 0.18388478457927704, + -1.3893922567367554 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup", + "subtask_reasoning": "The robot has successfully grasped the blue cup from the pink surface and is currently lifting it. The gripper is closed around the cup, and the arm is in motion, transporting the object toward the sink basin. The next action is to continue moving the cup over the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move right 1 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22961647808551788, + -0.08319399505853653, + 0.1791713386774063, + 2.9000370502471924, + 0.17854848504066467, + -1.508522629737854 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot has successfully grasped the blue cup from the pink surface and is currently lifting it. The gripper is closed around the cup, and the arm is in motion, transporting the object toward the sink basin. The next action is to continue moving the cup over the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 1 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25493124127388, + -0.07482345402240753, + 0.1905001401901245, + 2.924710273742676, + 0.17810069024562836, + -1.5518966913223267 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot has successfully grasped the blue cup from the pink surface and is currently lifting it. The gripper is closed around the cup, and the arm is in motion, transporting the object toward the sink basin. The next action is to continue moving the cup over the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30931204557418823, + -0.06597665697336197, + 0.19665837287902832, + 3.0019564628601074, + 0.1949019581079483, + -1.543820858001709 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot arm is positioned over the sink basin with the blue cup held in the gripper. The cup has been successfully transported from the table to the target location. The next action is to open the gripper to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34199413657188416, + -0.07340047508478165, + 0.17044687271118164, + 2.9243502616882324, + 0.19712087512016296, + -1.5650008916854858 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 443, + 354, + 521, + 433 + ], + "pink plate": [ + 391, + 497, + 484, + 609 + ], + "toy spoon": [ + 360, + 442, + 454, + 518 + ], + "power strip": [ + 149, + 858, + 261, + 994 + ], + "dish rack": [ + 498, + 341, + 778, + 538 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot arm is positioned over the sink basin with the blue cup held in the gripper. The cup has been successfully transported from the table to the target location. The next action is to open the gripper to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34787383675575256, + -0.08384381979703903, + 0.13550695776939392, + 2.89144229888916, + 0.16964174807071686, + -1.555174469947815 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot arm is positioned over the sink basin with the blue cup held in the gripper. The cup has been successfully transported from the table to the target location. The next action is to open the gripper to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3392477035522461, + -0.09478817880153656, + 0.10812359303236008, + 2.8347160816192627, + 0.15360771119594574, + -1.5503332614898682 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cup on the pink surface and place it into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot arm is positioned over the sink basin with the blue cup held in the gripper. The cup has been successfully transported from the table to the target location. The next action is to open the gripper to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003929_ecot.json b/cot/chunk-0003/episode_0003929_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9b051e1e059a397f0bdc0d4a10d6426d976c43ba --- /dev/null +++ b/cot/chunk-0003/episode_0003929_ecot.json @@ -0,0 +1,2502 @@ +{ + "task_name": "episode_0003929", + "episode_json": "json/chunk-0003/episode_0003929.json", + "video_path": "videos/chunk-0003/image_0/episode_0003929.mp4", + "instruction": "Move the knife to the right a bit.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003929.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.4917638301849365, + "std": 0.2288881093263626, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49176, std=0.22889, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 400, + 400, + 400, + 400, + 400, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 500, + 500, + 500, + 500 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 12 + ], + [ + 3, + 13, + 20 + ], + [ + 4, + 21, + 25 + ], + [ + 5, + 26, + 35 + ], + [ + 6, + 36, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 12, \"planning\": \"Move the end-effector toward the knife on the cutting board without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp knife\", \"start\": 13, \"end\": 20, \"planning\": \"Close the gripper around the knife handle to secure a firm grasp.\"},\n {\"id\": 3, \"name\": \"lift and translate knife right\", \"start\": 21, \"end\": 35, \"planning\": \"Lift the grasped knife slightly and move it horizontally to the right across the board.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 36, \"end\": 39, \"planning\": \"Open the gripper to release the knife at its new position and retract the end-effector upward.\"}\n ],\n \"global_plan\": \"Approach the knife, grasp it securely, lift and slide it to the right, then release and retreat.\",\n \"notes\": \"Segment 1 (frames 0-2) shows no gripper closure — consistent with approach. Segment 3 (13-20) shows significant gripper closing (delta=-0.48) and image evidence confirms grasp initiation. Segment 4 (21-25) maintains closed gripper while translating — valid for holding during motion. Segment 6 (36-39) shows gripper fully open again — consistent with release and retreat. Frame coverage is complete and contiguous from 0 to 39.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 12, + "planning": "Move the end-effector toward the knife on the cutting board without closing the gripper." + }, + { + "id": 2, + "name": "grasp knife", + "start": 13, + "end": 20, + "planning": "Close the gripper around the knife handle to secure a firm grasp." + }, + { + "id": 3, + "name": "lift and translate knife right", + "start": 21, + "end": 35, + "planning": "Lift the grasped knife slightly and move it horizontally to the right across the board." + }, + { + "id": 4, + "name": "release and retreat", + "start": 36, + "end": 39, + "planning": "Open the gripper to release the knife at its new position and retract the end-effector upward." + } + ], + "global_plan": "Approach the knife, grasp it securely, lift and slide it to the right, then release and retreat.", + "notes": "Segment 1 (frames 0-2) shows no gripper closure — consistent with approach. Segment 3 (13-20) shows significant gripper closing (delta=-0.48) and image evidence confirms grasp initiation. Segment 4 (21-25) maintains closed gripper while translating — valid for holding during motion. Segment 6 (36-39) shows gripper fully open again — consistent with release and retreat. Frame coverage is complete and contiguous from 0 to 39." + } + }, + "episode_goal": "Move the knife to the right a bit.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29450348019599915, + 0.046163346618413925, + 0.16181649267673492, + 3.1408498287200928, + -0.15535862743854523, + -0.18424639105796814 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 13 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946433424949646, + 0.045487742871046066, + 0.15469130873680115, + 3.1280739307403564, + -0.13413028419017792, + -0.1845485419034958 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 13 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29490190744400024, + 0.058028511703014374, + 0.15151652693748474, + 3.1082544326782227, + -0.14285902678966522, + -0.1536910980939865 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 13 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29337310791015625, + 0.09173587709665298, + 0.13246092200279236, + 3.066540002822876, + -0.1222824677824974, + -0.045639488846063614 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 417, + 199, + 661, + 465 + ], + "wooden table": [ + 31, + 196, + 899, + 953 + ], + "blue cloth": [ + 412, + 375, + 636, + 505 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 11 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.289473295211792, + 0.1233777403831482, + 0.1103716492652893, + 3.074838161468506, + -0.10580117255449295, + 0.02623448148369789 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 9 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792314291000366, + 0.13373729586601257, + 0.07466728985309601, + 3.0825355052948, + -0.055804457515478134, + 0.03849746286869049 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2728278636932373, + 0.13235875964164734, + 0.051419101655483246, + 3.0870440006256104, + -0.025774868205189705, + 0.011163619346916676 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2684824466705322, + 0.12484297901391983, + 0.0443023182451725, + 3.1003265380859375, + -0.0028240596875548363, + -0.01966109126806259 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26171910762786865, + 0.12268952280282974, + 0.03714638203382492, + 3.113365888595581, + 0.01622389443218708, + -0.036521755158901215 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589026093482971, + 0.12168583273887634, + 0.03194320574402809, + 3.113579750061035, + 0.03203078731894493, + -0.03901329264044762 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25718942284584045, + 0.11672571301460266, + 0.0293226707726717, + 3.1129910945892334, + 0.04220844805240631, + -0.044975463300943375 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2558406591415405, + 0.11430300772190094, + 0.026147102937102318, + 3.1170156002044678, + 0.05460214987397194, + -0.045531317591667175 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559893727302551, + 0.11214607208967209, + 0.02527473494410515, + 3.1228456497192383, + 0.057429391890764236, + -0.05020907148718834 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2527656853199005, + 0.10812710225582123, + 0.01845148578286171, + -3.1373772621154785, + 0.08774270117282867, + -0.060944054275751114 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25353389978408813, + 0.10774493217468262, + 0.012025204487144947, + -3.098203659057617, + 0.1088307574391365, + -0.048954956233501434 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 415, + 199, + 660, + 464 + ], + "blue cloth": [ + 414, + 377, + 635, + 505 + ], + "wooden table": [ + 23, + 205, + 900, + 953 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 11 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25210246443748474, + 0.10897525399923325, + 0.00676937960088253, + -3.081693410873413, + 0.12858283519744873, + -0.0362580232322216 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the wooden table with the knife visible on the surface. No contact or grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to align with the knife handle for a secure approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 13 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25240057706832886, + 0.10873747617006302, + 0.005847587250173092, + -3.0757319927215576, + 0.13248278200626373, + -0.03031143732368946 + ], + "gripper_value": 0.9359400868415833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 14 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2535579800605774, + 0.10899067670106888, + 0.0054220217280089855, + -3.072620391845703, + 0.12320481985807419, + -0.02491147257387638 + ], + "gripper_value": 0.6460646390914917 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 15 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536647319793701, + 0.10922607779502869, + 0.0058634718880057335, + -3.071043014526367, + 0.12216557562351227, + -0.02580227330327034 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 16 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530066668987274, + 0.10812622308731079, + 0.007094975560903549, + -3.086329936981201, + 0.11577992141246796, + 0.0038472870364785194 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 17 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24901868402957916, + 0.11913587152957916, + 0.03922318294644356, + -3.1154797077178955, + 0.040086328983306885, + 0.11389057338237762 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 18 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530438303947449, + 0.11410107463598251, + 0.08621986210346222, + 3.1352832317352295, + -0.05745057761669159, + 0.17173564434051514 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 18 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572234869003296, + 0.08734800666570663, + 0.11463966965675354, + 3.0964722633361816, + -0.10348354279994965, + 0.1110575944185257 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 16 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591991722583771, + 0.04046175628900528, + 0.12420928478240967, + 3.0569729804992676, + -0.09043892472982407, + -0.03146738559007645 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25356194376945496, + 0.006458531599491835, + 0.12277774512767792, + 3.069124221801758, + -0.07642295956611633, + -0.09366675466299057 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523786425590515, + -0.012507663108408451, + 0.11314212530851364, + 3.1264472007751465, + -0.08191508799791336, + -0.07087667286396027 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542795240879059, + -0.02941896766424179, + 0.09218823164701462, + -3.090467929840088, + -0.07685095071792603, + -0.008002838119864464 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2596985101699829, + -0.03616377338767052, + 0.0657510831952095, + -3.0732171535491943, + -0.01803218387067318, + 0.010004382580518723 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 18, + 162, + 900, + 954 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has approached the knife and is now in contact with it, as indicated by the gripper closing signal and end-effector position. The gripper is actively closing around the knife handle, suggesting the grasp is being finalized. The next action is to confirm secure contact before lifting or sliding the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2673282027244568, + -0.048245906829833984, + 0.04397584870457649, + -3.096954822540283, + 0.054785873740911484, + -0.09128011018037796 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26964908838272095, + -0.05711713433265686, + 0.028696073219180107, + -3.1007347106933594, + 0.10001024603843689, + -0.16534791886806488 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26754000782966614, + -0.06593605875968933, + 0.018430309370160103, + -3.101022958755493, + 0.1357300579547882, + -0.20716087520122528 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 11 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26805350184440613, + -0.06960494816303253, + 0.01697760447859764, + -3.0920681953430176, + 0.1418931782245636, + -0.19932428002357483 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 11 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2687509059906006, + -0.06982754170894623, + 0.014504370279610157, + -3.082943916320801, + 0.14932212233543396, + -0.18078580498695374 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 11 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2684428095817566, + -0.06989620625972748, + 0.014829804189503193, + -3.087531089782715, + 0.15268179774284363, + -0.1685883104801178 + ], + "gripper_value": 0.9007430672645569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 11 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2744629681110382, + -0.05685315281152725, + 0.02889336459338665, + -3.105185031890869, + 0.08681260794401169, + -0.10968757420778275 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2860952317714691, + -0.04360589757561684, + 0.07569045573472977, + -3.141204595565796, + -0.04007779434323311, + -0.06524306535720825 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 13, + 156, + 901, + 950 + ], + "blue cloth": [ + 411, + 374, + 615, + 507 + ], + "metal bowl": [ + 415, + 198, + 612, + 457 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and translate knife right", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29094111919403076, + -0.012543963268399239, + 0.1272823065519333, + 3.084578275680542, + -0.18299272656440735, + 0.045201338827610016 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and lifted it slightly above the wooden table. The gripper is closed and holding the knife securely. The next action is to translate the knife to the right while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28674715757369995, + 0.006273764651268721, + 0.17012004554271698, + 3.043470859527588, + -0.25544920563697815, + 0.06261283904314041 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife has been moved to the right and is now resting on the table. The gripper is open and positioned above the knife, indicating release is complete. The next action is to retreat the end-effector away from the knife to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 36, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2867300510406494, + 0.014140223152935505, + 0.17557577788829803, + 3.0242316722869873, + -0.31394869089126587, + 0.023981614038348198 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife has been moved to the right and is now resting on the table. The gripper is open and positioned above the knife, indicating release is complete. The next action is to retreat the end-effector away from the knife to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28514042496681213, + 0.01673237979412079, + 0.17096689343452454, + 3.051924228668213, + -0.27892112731933594, + -0.018258074298501015 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the right a bit." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and translate knife right" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife has been moved to the right and is now resting on the table. The gripper is open and positioned above the knife, indicating release is complete. The next action is to retreat the end-effector away from the knife to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003931_ecot.json b/cot/chunk-0003/episode_0003931_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9cfd39d4cd2a3427fc8143940ecb5eb73421d0cd --- /dev/null +++ b/cot/chunk-0003/episode_0003931_ecot.json @@ -0,0 +1,2557 @@ +{ + "task_name": "episode_0003931", + "episode_json": "json/chunk-0003/episode_0003931.json", + "video_path": "videos/chunk-0003/image_0/episode_0003931.mp4", + "instruction": "Put the rectangular block at the top of the arch.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003931.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4983695149421692, + "std": 0.19991755485534668, + "delta_total": -0.1221621036529541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49837, std=0.19992, total_delta=-0.12216). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 18 + ], + [ + 3, + 19, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp block\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector down to the rectangular block and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport block\", \"start\": 13, \"end\": 18, \"planning\": \"Lift the grasped block and move it toward the arch structure while maintaining grip.\"},\n {\"id\": 3, \"name\": \"position and release on arch\", \"start\": 19, \"end\": 44, \"planning\": \"Align block over the top of the arch, lower gently, and open gripper to release it in place.\"}\n ],\n \"global_plan\": \"Grasp the rectangular block from the table, lift and carry it to the arch, then precisely place it on top of the arch structure.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.497) consistent with grasping; Segment 2 has no gripper change but motion indicates transport while holding; Segment 3 ends with gripper opening (delta=+0.375) confirming release. All phases align with visual evidence and task goal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp block", + "start": 0, + "end": 12, + "planning": "Move end-effector down to the rectangular block and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport block", + "start": 13, + "end": 18, + "planning": "Lift the grasped block and move it toward the arch structure while maintaining grip." + }, + { + "id": 3, + "name": "position and release on arch", + "start": 19, + "end": 44, + "planning": "Align block over the top of the arch, lower gently, and open gripper to release it in place." + } + ], + "global_plan": "Grasp the rectangular block from the table, lift and carry it to the arch, then precisely place it on top of the arch structure.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.497) consistent with grasping; Segment 2 has no gripper change but motion indicates transport while holding; Segment 3 ends with gripper opening (delta=+0.375) confirming release. All phases align with visual evidence and task goal." + } + }, + "episode_goal": "Place the rectangular block on top of the arch-shaped block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28561779856681824, + 0.12014362961053848, + 0.08505246788263321, + 3.10943603515625, + -0.3368908166885376, + -0.1579969972372055 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near the target rectangular block. No contact has been made yet, and the block remains stationary on the surface. The next action is to lower the end-effector to align with the block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2819584310054779, + 0.11786813288927078, + 0.07026012241840363, + 3.0748324394226074, + -0.29789361357688904, + -0.14493656158447266 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near the target rectangular block. No contact has been made yet, and the block remains stationary on the surface. The next action is to lower the end-effector to align with the block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785860300064087, + 0.11970128864049911, + 0.06200624629855156, + 3.073150396347046, + -0.2628965377807617, + -0.1537577509880066 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near the target rectangular block. No contact has been made yet, and the block remains stationary on the surface. The next action is to lower the end-effector to align with the block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27432510256767273, + 0.12050780653953552, + 0.05541110038757324, + 3.082524061203003, + -0.2418576329946518, + -0.16822214424610138 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near the target rectangular block. No contact has been made yet, and the block remains stationary on the surface. The next action is to lower the end-effector to align with the block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.270772784948349, + 0.12139618396759033, + 0.047003909945487976, + 3.0799453258514404, + -0.22516052424907684, + -0.17050975561141968 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cup": [ + 1, + 93, + 78, + 320 + ], + "table": [ + 4, + 8, + 995, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near the target rectangular block. No contact has been made yet, and the block remains stationary on the surface. The next action is to lower the end-effector to align with the block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate clockwise 20 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2701892554759979, + 0.12257762253284454, + 0.04595234617590904, + 3.089071750640869, + -0.22341758012771606, + -0.16849422454833984 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, hovering near the target rectangular block. No contact has been made yet, and the block remains stationary on the surface. The next action is to lower the end-effector to align with the block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692965567111969, + 0.12220882624387741, + 0.03930265083909035, + 3.0888450145721436, + -0.21654975414276123, + -0.17345993220806122 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.268594890832901, + 0.12191924452781677, + 0.03415917232632637, + 3.0948288440704346, + -0.21337375044822693, + -0.17827652394771576 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2688871920108795, + 0.12273754924535751, + 0.03262781724333763, + 3.106604814529419, + -0.2169705331325531, + -0.18183495104312897 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26914748549461365, + 0.12542833387851715, + 0.03202572092413902, + 3.1167821884155273, + -0.22590170800685883, + -0.17346517741680145 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move up 11 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2681784927845001, + 0.12734168767929077, + 0.03146130591630936, + 3.1276278495788574, + -0.22352208197116852, + -0.1665622889995575 + ], + "gripper_value": 0.5023775696754456 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move up 11 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2671619653701782, + 0.12607160210609436, + 0.030935557559132576, + 3.129002809524536, + -0.20812198519706726, + -0.1578798145055771 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move up 11 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26340651512145996, + 0.12169872224330902, + 0.03201834484934807, + 3.0925207138061523, + -0.1596989780664444, + -0.05726795271039009 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "approach and grasp block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move up 11 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645111680030823, + 0.11379289627075195, + 0.0365166962146759, + 2.9977550506591797, + -0.1408875435590744, + 0.10111422091722488 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 11 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 4 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26854637265205383, + 0.1058463603258133, + 0.05121679604053497, + 2.9525368213653564, + -0.18009674549102783, + 0.0945880189538002 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot arm is positioned above the rectangular block on the table, with the gripper currently open. The subtask involves approaching and grasping the block, and the arm appears to be in the final alignment phase before closing the gripper. The next action is to close the gripper to secure the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 4 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27005794644355774, + 0.10333716124296188, + 0.06929397583007812, + 2.952946186065674, + -0.20757269859313965, + 0.15673041343688965 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 8 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 4 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27459901571273804, + 0.09218478947877884, + 0.09164531528949738, + 2.975813150405884, + -0.2346634566783905, + 0.27900493144989014 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 6 cm, move left 7 cm, move down 5 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28095048666000366, + 0.0780433639883995, + 0.11585882306098938, + 3.0055088996887207, + -0.2651658058166504, + 0.41543588042259216 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 7 cm, move down 6 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29071930050849915, + 0.06454592198133469, + 0.13540257513523102, + 3.031525135040283, + -0.30336901545524597, + 0.5760202407836914 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "lift and transport block", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 8 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30554258823394775, + 0.051712337881326675, + 0.14907297492027283, + 3.033581256866455, + -0.358879029750824, + 0.6925522089004517 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 6, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167930245399475, + 0.05459246784448624, + 0.14764145016670227, + 2.9965274333953857, + -0.35250169038772583, + 0.9129374623298645 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 9 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251756727695465, + 0.05917241424322128, + 0.13308532536029816, + 2.9728705883026123, + -0.3216473460197449, + 1.0514628887176514 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move down 6 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320002555847168, + 0.0693499967455864, + 0.11852987855672836, + 2.9379403591156006, + -0.2983747720718384, + 1.1840920448303223 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34011560678482056, + 0.08311448991298676, + 0.11385706067085266, + 2.9115331172943115, + -0.2828601896762848, + 1.2878522872924805 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34876906871795654, + 0.0950627475976944, + 0.1095578670501709, + 2.900491952896118, + -0.26994001865386963, + 1.3435955047607422 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35487666726112366, + 0.10895656794309616, + 0.10828356444835663, + 2.887033700942993, + -0.26270732283592224, + 1.4118462800979614 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36135464906692505, + 0.11698847264051437, + 0.10132308304309845, + 2.8908350467681885, + -0.2512480914592743, + 1.4416742324829102 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3681248426437378, + 0.12276724725961685, + 0.09148358553647995, + 2.90018892288208, + -0.2363528162240982, + 1.4647951126098633 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 6, + 994, + 991 + ], + "white cup": [ + 1, + 96, + 78, + 320 + ] + } + } + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37541353702545166, + 0.13029439747333527, + 0.08549845218658447, + 2.902233839035034, + -0.23355144262313843, + 1.4801868200302124 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3810283839702606, + 0.13527441024780273, + 0.07353958487510681, + 2.9197018146514893, + -0.2224092036485672, + 1.4875503778457642 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the block is securely held. The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839843273162842, + 0.14032183587551117, + 0.06844407320022583, + 2.922198534011841, + -0.2191588282585144, + 1.4956773519515991 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The robot has successfully grasped the rectangular block and is currently lifting it above the table surface. 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The next action is to transport the block toward the arch structure for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.38290566205978394, + 0.14389851689338684, + 0.06850990653038025, + 2.9197187423706055, + -0.2186179757118225, + 1.509588360786438 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. 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The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38246816396713257, + 0.1457086056470871, + 0.06857609748840332, + 2.917571544647217, + -0.21840018033981323, + 1.5173622369766235 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. 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The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3835766911506653, + 0.14644359052181244, + 0.06923729181289673, + 2.9096546173095703, + -0.21949347853660583, + 1.5204102993011475 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.38343173265457153, + 0.14636938273906708, + 0.06888711452484131, + 2.909635066986084, + -0.21939462423324585, + 1.5202021598815918 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.38387206196784973, + 0.1462748795747757, + 0.06836963444948196, + 2.9076151847839355, + -0.21845850348472595, + 1.5208688974380493 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.38465604186058044, + 0.14667126536369324, + 0.06895165145397186, + 2.903696298599243, + -0.22122295200824738, + 1.5206506252288818 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.38387244939804077, + 0.14683468639850616, + 0.06843826919794083, + 2.903141498565674, + -0.2197308987379074, + 1.5225352048873901 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.38232991099357605, + 0.14714285731315613, + 0.06685959547758102, + 2.907697916030884, + -0.21889717876911163, + 1.523664951324463 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3810252249240875, + 0.1470528244972229, + 0.06593906134366989, + 2.9113008975982666, + -0.21990501880645752, + 1.5227936506271362 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791391849517822, + 0.14665009081363678, + 0.06416154652833939, + 2.915609121322632, + -0.21649238467216492, + 1.5199410915374756 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3793226480484009, + 0.14687174558639526, + 0.0642530620098114, + 2.9153079986572266, + -0.21892103552818298, + 1.5161964893341064 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.377439022064209, + 0.1473054587841034, + 0.06346142292022705, + 2.9244325160980225, + -0.2147996425628662, + 1.5138665437698364 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.37369152903556824, + 0.15100161731243134, + 0.06122218444943428, + 2.9394047260284424, + -0.20534281432628632, + 1.5026174783706665 + ], + "gripper_value": 0.8766602873802185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the rectangular block on top of the arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp block" + }, + { + "id": 2, + "subtask": "lift and transport block" + }, + { + "id": 3, + "subtask": "position and release on arch" + } + ], + "subtask_name": "position and release on arch", + "subtask_reasoning": "The rectangular block is currently held by the gripper and positioned directly above the arch structure. The gripper is open, indicating the block has been released or is in the process of being placed. The next action is to ensure stable contact and finalize the placement on top of the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003932_ecot.json b/cot/chunk-0003/episode_0003932_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1f9ea02bd0598f580de5e0cbd5a332917727c746 --- /dev/null +++ b/cot/chunk-0003/episode_0003932_ecot.json @@ -0,0 +1,3226 @@ +{ + "task_name": "episode_0003932", + "episode_json": "json/chunk-0003/episode_0003932.json", + "video_path": "videos/chunk-0003/image_0/episode_0003932.mp4", + "instruction": "Put the cube wiht a hole on top of the plus.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003932.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.9374805688858032, + "std": 0.32864367961883545, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93748, std=0.32864, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 315, + 315, + 315, + 315, + 315, + 315, + 121, + 121, + 121, + 121, + 421, + 421, + 421, + 428, + 228, + 228, + 228, + 228, + 228, + 228, + 228, + 228, + 228, + 228, + 228, + 240, + 240, + 240 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 14 + ], + [ + 3, + 15, + 20 + ], + [ + 4, + 21, + 24 + ], + [ + 5, + 25, + 27 + ], + [ + 6, + 28, + 28 + ], + [ + 7, + 29, + 39 + ], + [ + 8, + 40, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cube with hole\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the cube with a hole, positioning above it without grasping.\"},\n {\"id\": 2, \"name\": \"descend and align gripper\", \"start\": 8, \"end\": 14, \"planning\": \"Lower gripper to align with cube’s sides, preparing for potential grasp but not yet closing.\"},\n {\"id\": 3, \"name\": \"grasp cube with hole\", \"start\": 15, \"end\": 20, \"planning\": \"Close gripper around cube with hole, securing it for lifting as confirmed by gripper closure and image evidence.\"},\n {\"id\": 4, \"name\": \"lift and reposition cube\", \"start\": 21, \"end\": 27, \"planning\": \"Lift cube slightly and move it horizontally toward the plus-shaped block, maintaining grip.\"},\n {\"id\": 5, \"name\": \"hover over plus block\", \"start\": 28, \"end\": 28, \"planning\": \"Position cube directly above the plus block, holding steady before release.\"},\n {\"id\": 6, \"name\": \"place cube on plus\", \"start\": 29, \"end\": 39, \"planning\": \"Gently lower cube onto the plus block, ensuring alignment and stability before releasing grip.\"},\n {\"id\": 7, \"name\": \"release and retreat\", \"start\": 40, \"end\": 42, \"planning\": \"Open gripper to release cube, then retract end-effector upward and away from the placed object.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, reposition, place, and release the cube with a hole onto the plus-shaped block using coordinated motion and gripper control.\",\n \"notes\": \"Subtask boundaries follow segment spans where gripper behavior and motion phases are distinct; Segment 6 (frame 28) is treated as a single-frame hover phase due to minimal motion and no gripper change.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cube with hole", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the cube with a hole, positioning above it without grasping." + }, + { + "id": 2, + "name": "descend and align gripper", + "start": 8, + "end": 14, + "planning": "Lower gripper to align with cube’s sides, preparing for potential grasp but not yet closing." + }, + { + "id": 3, + "name": "grasp cube with hole", + "start": 15, + "end": 20, + "planning": "Close gripper around cube with hole, securing it for lifting as confirmed by gripper closure and image evidence." + }, + { + "id": 4, + "name": "lift and reposition cube", + "start": 21, + "end": 27, + "planning": "Lift cube slightly and move it horizontally toward the plus-shaped block, maintaining grip." + }, + { + "id": 5, + "name": "hover over plus block", + "start": 28, + "end": 28, + "planning": "Position cube directly above the plus block, holding steady before release." + }, + { + "id": 6, + "name": "place cube on plus", + "start": 29, + "end": 39, + "planning": "Gently lower cube onto the plus block, ensuring alignment and stability before releasing grip." + }, + { + "id": 7, + "name": "release and retreat", + "start": 40, + "end": 42, + "planning": "Open gripper to release cube, then retract end-effector upward and away from the placed object." + } + ], + "global_plan": "Approach, grasp, lift, reposition, place, and release the cube with a hole onto the plus-shaped block using coordinated motion and gripper control.", + "notes": "Subtask boundaries follow segment spans where gripper behavior and motion phases are distinct; Segment 6 (frame 28) is treated as a single-frame hover phase due to minimal motion and no gripper change." + } + }, + "episode_goal": "Place the cube with a hole on top of the plus-shaped block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32049962878227234, + -0.11939941346645355, + 0.07584981620311737, + -3.0775070190429688, + -0.2960819900035858, + 0.12436499446630478 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table near other objects. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the cube for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 12 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31677255034446716, + -0.11834608018398285, + 0.06588807702064514, + -3.060340404510498, + -0.26837533712387085, + 0.11882109194993973 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table near other objects. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the cube for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 12 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005050718784332, + -0.1125202625989914, + 0.07550791651010513, + -3.09891939163208, + -0.27645501494407654, + 0.13985705375671387 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table near other objects. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the cube for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 11 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 5 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29071107506752014, + -0.09750507771968842, + 0.08944536000490189, + -3.1262402534484863, + -0.30380263924598694, + 0.1794940084218979 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table among other objects. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving the end-effector closer to the cube with a hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 5 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27515172958374023, + -0.08380775898694992, + 0.10909342765808105, + 3.110645294189453, + -0.31950581073760986, + 0.2009013146162033 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table among other objects. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving the end-effector closer to the cube with a hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 5 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24815323948860168, + -0.05369661748409271, + 0.12403055280447006, + 3.120661973953247, + -0.27843183279037476, + 0.15850158035755157 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table among other objects. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving the end-effector closer to the cube with a hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 6 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22705398499965668, + -0.026290355250239372, + 0.11580346524715424, + -3.0828022956848145, + -0.1946038007736206, + 0.06724490225315094 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dark red wooden pawn": [ + 90, + 231, + 168, + 425 + ], + "dark red wooden pawn_2": [ + 132, + 168, + 210, + 328 + ], + "table": [ + 5, + 6, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table among other objects. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving the end-effector closer to the cube with a hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21637196838855743, + -0.008017267100512981, + 0.07772228121757507, + -2.961613893508911, + -0.07628671824932098, + -0.1372901052236557 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cube with hole", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table among other objects. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving the end-effector closer to the cube with a hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21450141072273254, + 0.0007816491415724158, + 0.05567137524485588, + -2.88708233833313, + -0.07224390655755997, + -0.28990209102630615 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 7, + 994, + 992 + ], + "metal base": [ + 3, + 746, + 259, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend and align gripper", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table among other objects. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving the end-effector closer to the cube with a hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22212207317352295, + 0.0006835412932559848, + 0.046234630048274994, + -2.8720192909240723, + -0.11354053020477295, + -0.3558110296726227 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend and align gripper", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table among other objects. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving the end-effector closer to the cube with a hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23052579164505005, + 0.009444396942853928, + 0.03985842317342758, + -2.8933260440826416, + -0.1142667680978775, + -0.33149847388267517 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend and align gripper", + "subtask_reasoning": "The robot is approaching the cube with a hole, which is located on the table among other objects. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving the end-effector closer to the cube with a hole to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2463068813085556, + 0.018760010600090027, + 0.03693273290991783, + -2.9190664291381836, + -0.11552663147449493, + -0.2868540287017822 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend and align gripper", + "subtask_reasoning": "The robot gripper is positioned directly above the cube with a hole, aligned for grasping. The gripper is currently open and descending toward the object. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2612401843070984, + 0.029794108122587204, + 0.03635413572192192, + -2.9402244091033936, + -0.1207290068268776, + -0.2329706996679306 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend and align gripper", + "subtask_reasoning": "The robot gripper is positioned directly above the cube with a hole, aligned for grasping. The gripper is currently open and descending toward the object. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2687259316444397, + 0.03801513835787773, + 0.031861402094364166, + -2.9566075801849365, + -0.09829473495483398, + -0.20421570539474487 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend and align gripper", + "subtask_reasoning": "The robot gripper is positioned directly above the cube with a hole, aligned for grasping. The gripper is currently open and descending toward the object. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.268893837928772, + 0.04377166926860809, + 0.027403920888900757, + -2.961488723754883, + -0.07079913467168808, + -0.18437804281711578 + ], + "gripper_value": 0.6641445755958557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend and align gripper", + "subtask_reasoning": "The robot gripper is positioned directly above the cube with a hole, aligned for grasping. The gripper is currently open and descending toward the object. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705208659172058, + 0.045810092240571976, + 0.027136310935020447, + -2.9600770473480225, + -0.06843891739845276, + -0.1818733513355255 + ], + "gripper_value": 0.3661215305328369 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot gripper is positioned directly above the cube with a hole, aligned for grasping. The gripper is currently open and descending toward the object. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27088463306427, + 0.04681456461548805, + 0.02737317606806755, + -2.9569149017333984, + -0.06661731749773026, + -0.1801631599664688 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The robot gripper is positioned directly above the cube with a hole, aligned for grasping. The gripper is currently open and descending toward the object. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27120158076286316, + 0.047147445380687714, + 0.027833500877022743, + -2.960733652114868, + -0.06770803779363632, + -0.17209558188915253 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706960141658783, + 0.04738745465874672, + 0.027675926685333252, + -2.97126841545105, + -0.06461253762245178, + -0.1612803190946579 + ], + "gripper_value": 0.07494325935840607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2668812572956085, + 0.05100305378437042, + 0.027849337086081505, + -3.005188226699829, + -0.05012226104736328, + -0.11213921010494232 + ], + "gripper_value": 0.20024193823337555 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2585889995098114, + 0.05878613144159317, + 0.03104250319302082, + -3.0672647953033447, + -0.03087117150425911, + -0.08346541970968246 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cube with hole", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, close gripper; then move right 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555418610572815, + 0.0649167150259018, + 0.03788848966360092, + 3.1376171112060547, + -0.03674827516078949, + -0.04823550581932068 + ], + "gripper_value": 0.7652681469917297 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dark red wooden pawn": [ + 90, + 231, + 169, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cube", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, close gripper; then move right 1 cm, keep gripper closed; then move forward 2 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25099554657936096, + 0.06890018284320831, + 0.04402151331305504, + 3.094369649887085, + -0.04275643080472946, + -0.037888746708631516 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cube", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move right 1 cm, keep gripper closed; then move forward 4 cm, move right 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24977821111679077, + 0.07054495811462402, + 0.046910300850868225, + 3.0874335765838623, + -0.058276668190956116, + -0.0561087466776371 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cube", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move right 1 cm, keep gripper closed; then move forward 6 cm, move right 7 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24760037660598755, + 0.07476574927568436, + 0.04108889028429985, + 3.1245789527893066, + -0.0613093338906765, + -0.08385822176933289 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cube", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move right 1 cm, keep gripper closed; then move forward 8 cm, move right 8 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24542753398418427, + 0.07375629991292953, + 0.02663516066968441, + -3.1413943767547607, + -0.035253994166851044, + -0.1165178045630455 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cube", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 1 cm, keep gripper closed; then move forward 9 cm, move right 9 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24664245545864105, + 0.07453471422195435, + 0.0183505117893219, + -3.1145880222320557, + -0.02162858285009861, + -0.13955537974834442 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cube", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, keep gripper closed; then move forward 11 cm, move right 9 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2477790117263794, + 0.07476039230823517, + 0.017352301627397537, + -3.110171318054199, + -0.028395026922225952, + -0.12519529461860657 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cube", + "subtask_reasoning": "The gripper is positioned around the cube with a hole, and segment-level evidence shows a meaningful decrease in gripper opening, indicating active grasping. The cube has not yet been lifted, so the grasp is in progress. The next action is to complete the grasp by fully closing the gripper and preparing to lift the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, keep gripper closed; then move forward 11 cm, move right 9 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24848315119743347, + 0.07336299121379852, + 0.017866352573037148, + -3.117710828781128, + -0.02996259555220604, + -0.11728178709745407 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "hover over plus block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the plus-shaped block on the table, with the gripper open and no contact made. The cube with a hole has already been grasped and lifted in prior steps. The next action is to lower the gripper slightly to place the cube onto the plus block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 11 cm, move right 9 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24781857430934906, + 0.06791473180055618, + 0.02025027759373188, + 3.122235059738159, + -0.016168486326932907, + -0.09272687882184982 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot's end-effector is positioned directly above the plus-shaped block on the table, with the gripper open and no contact made. The cube with a hole has already been grasped and lifted in prior steps. The next action is to lower the gripper slightly to place the cube onto the plus block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 9 cm, move up 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2557123005390167, + 0.059539999812841415, + 0.03513933718204498, + 3.0631344318389893, + -0.04417632147669792, + -0.05424482375383377 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot's end-effector is positioned directly above the plus-shaped block on the table, with the gripper open and no contact made. The cube with a hole has already been grasped and lifted in prior steps. The next action is to lower the gripper slightly to place the cube onto the plus block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 8 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26804274320602417, + 0.045108627527952194, + 0.050223443657159805, + 3.0186190605163574, + -0.06317631155252457, + -0.01902150548994541 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot's end-effector is positioned directly above the plus-shaped block on the table, with the gripper open and no contact made. The cube with a hole has already been grasped and lifted in prior steps. The next action is to lower the gripper slightly to place the cube onto the plus block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move down 2 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872413992881775, + 0.021924477070569992, + 0.06193596124649048, + 3.0444068908691406, + -0.09874947369098663, + -0.00087925378466025 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot's end-effector is positioned directly above the plus-shaped block on the table, with the gripper open and no contact made. The cube with a hole has already been grasped and lifted in prior steps. The next action is to lower the gripper slightly to place the cube onto the plus block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 4 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.30626311898231506, + 0.0010912069119513035, + 0.06280651688575745, + 3.0703818798065186, + -0.12194418907165527, + 0.0020402867812663317 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dark red wooden pawn": [ + 90, + 230, + 169, + 426 + ], + "table": [ + 5, + 7, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot's end-effector is positioned directly above the plus-shaped block on the table, with the gripper open and no contact made. The cube with a hole has already been grasped and lifted in prior steps. The next action is to lower the gripper slightly to place the cube onto the plus block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.32415837049484253, + -0.01335841789841652, + 0.04587922245264053, + 3.0949270725250244, + -0.09906506538391113, + 0.0120816919952631 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dark red wooden pawn": [ + 90, + 231, + 169, + 426 + ], + "table": [ + 5, + 7, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot is holding the cube with a hole and has positioned it directly above the plus-shaped block. The gripper is closed, confirming the object is secured during the repositioning phase. The next action is to lower the cube vertically to place it onto the target block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3427402973175049, + -0.018888751044869423, + 0.038054872304201126, + 3.117036819458008, + -0.11368638277053833, + 0.025252649560570717 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot is holding the cube with a hole and has positioned it directly above the plus-shaped block. The gripper is closed, confirming the object is secured during the repositioning phase. The next action is to lower the cube vertically to place it onto the target block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3560557961463928, + -0.01935727335512638, + 0.03198294714093208, + 3.1165552139282227, + -0.11030573397874832, + 0.04105156287550926 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot is holding the cube with a hole and has positioned it directly above the plus-shaped block. The gripper is closed, confirming the object is secured during the repositioning phase. The next action is to lower the cube vertically to place it onto the target block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.35939112305641174, + -0.0195191390812397, + 0.031018534675240517, + 3.1164016723632812, + -0.11183248460292816, + 0.04104318842291832 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot is holding the cube with a hole and has positioned it directly above the plus-shaped block. The gripper is closed, confirming the object is secured during the repositioning phase. The next action is to lower the cube vertically to place it onto the target block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605726957321167, + -0.02029798924922943, + 0.0311749167740345, + 3.113628625869751, + -0.11973803490400314, + 0.020548216998577118 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot is holding the cube with a hole and has positioned it directly above the plus-shaped block. The gripper is closed, confirming the object is secured during the repositioning phase. The next action is to lower the cube vertically to place it onto the target block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3622942566871643, + -0.017604703083634377, + 0.029146796092391014, + 3.1343538761138916, + -0.1317468285560608, + -0.009902684949338436 + ], + "gripper_value": 0.40327540040016174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "place cube on plus", + "subtask_reasoning": "The robot is holding the cube with a hole and has positioned it directly above the plus-shaped block. The gripper is closed, confirming the object is secured during the repositioning phase. The next action is to lower the cube vertically to place it onto the target block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.36089473962783813, + -0.015727221965789795, + 0.026192335411906242, + -3.1353185176849365, + -0.12599672377109528, + -0.024908745661377907 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the cube with a hole and has positioned it directly above the plus-shaped block. The gripper is closed, confirming the object is secured during the repositioning phase. The next action is to lower the cube vertically to place it onto the target block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 40, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3595981299877167, + -0.01747738942503929, + 0.02603755332529545, + 3.1368720531463623, + -0.11804711818695068, + -0.026966603472828865 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cube with a hole has been successfully placed on top of the plus-shaped block, and the gripper is now open and retreating. The subtask is in its final phase, with no further contact required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 40, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577995002269745, + -0.017253736034035683, + 0.03018200770020485, + 3.1118807792663574, + -0.11219729483127594, + -0.030271897092461586 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube with a hole on top of the plus-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube with hole" + }, + { + "id": 2, + "subtask": "descend and align gripper" + }, + { + "id": 3, + "subtask": "grasp cube with hole" + }, + { + "id": 4, + "subtask": "lift and reposition cube" + }, + { + "id": 5, + "subtask": "hover over plus block" + }, + { + "id": 6, + "subtask": "place cube on plus" + }, + { + "id": 7, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cube with a hole has been successfully placed on top of the plus-shaped block, and the gripper is now open and retreating. The subtask is in its final phase, with no further contact required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 40, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003933_ecot.json b/cot/chunk-0003/episode_0003933_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..de2af3106c2a989fbe9770dad095164da783352e --- /dev/null +++ b/cot/chunk-0003/episode_0003933_ecot.json @@ -0,0 +1,1329 @@ +{ + "task_name": "episode_0003933", + "episode_json": "json/chunk-0003/episode_0003933.json", + "video_path": "videos/chunk-0003/image_0/episode_0003933.mp4", + "instruction": "Take carrot off plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003933.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.37342339754104614, + "std": 0.18047849833965302, + "delta_total": -0.37342339754104614, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.37342, std=0.18048, total_delta=-0.37342). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector from the initial position toward the carrot on the plate while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 11, \"end\": 18, \"planning\": \"Close the gripper around the carrot to secure a firm hold, confirmed by decreasing gripper value and stable contact.\"},\n {\"id\": 3, \"name\": \"lift and remove carrot\", \"start\": 19, \"end\": 21, \"planning\": \"Lift the grasped carrot off the plate and retract slightly to complete removal, as shown by final pose and sustained grip.\"}\n ],\n \"global_plan\": \"Approach the carrot on the plate, grasp it firmly with the gripper, then lift and remove it from the plate surface.\",\n \"notes\": \"Gripper closure is supported by segment-level evidence (delta=-0.37342) and image confirmation at frame 21 showing carrot held in gripper. Motion phases are split based on gripper state change and spatial progression.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 10, + "planning": "Move the end-effector from the initial position toward the carrot on the plate while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 11, + "end": 18, + "planning": "Close the gripper around the carrot to secure a firm hold, confirmed by decreasing gripper value and stable contact." + }, + { + "id": 3, + "name": "lift and remove carrot", + "start": 19, + "end": 21, + "planning": "Lift the grasped carrot off the plate and retract slightly to complete removal, as shown by final pose and sustained grip." + } + ], + "global_plan": "Approach the carrot on the plate, grasp it firmly with the gripper, then lift and remove it from the plate surface.", + "notes": "Gripper closure is supported by segment-level evidence (delta=-0.37342) and image confirmation at frame 21 showing carrot held in gripper. Motion phases are split based on gripper state change and spatial progression." + } + }, + "episode_goal": "Grasp the orange carrot on the green plate and lift it off the plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21413974463939667, + 0.04042362794280052, + 0.10746137797832489, + -2.9226741790771484, + 0.014368503354489803, + -0.17665909230709076 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the carrot visible on the green plate. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2254657745361328, + 0.033865321427583694, + 0.1036832258105278, + -2.9328665733337402, + 0.045540016144514084, + -0.13702179491519928 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the carrot visible on the green plate. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2629741132259369, + 0.01847424916923046, + 0.1148112565279007, + -2.9322071075439453, + -0.0008861231617629528, + -0.056680385023355484 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ketchup bottle": [ + 832, + 304, + 994, + 410 + ], + "sink": [ + 683, + 478, + 995, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the carrot visible on the green plate. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 1 cm, move down 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2950708270072937, + 0.008542114868760109, + 0.11742225289344788, + -2.9532415866851807, + -0.06378290057182312, + -0.014575530774891376 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the carrot visible on the green plate. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move down 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.328300416469574, + 0.006301370915025473, + 0.11200177669525146, + -2.9910948276519775, + -0.13623127341270447, + -0.001512147136963904 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the carrot visible on the green plate. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3523203432559967, + 0.010844833217561245, + 0.1035735011100769, + -2.9917988777160645, + -0.1904255896806717, + -0.032069601118564606 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36536678671836853, + 0.006610621232539415, + 0.0950813889503479, + -3.031552314758301, + -0.20938774943351746, + -0.07989756017923355 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37239396572113037, + 0.007327336817979813, + 0.08907946199178696, + -3.064450740814209, + -0.2191685140132904, + -0.09575238078832626 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 533, + 247, + 604, + 398 + ], + "toy ketchup bottle": [ + 832, + 304, + 994, + 410 + ], + "sink": [ + 682, + 478, + 995, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38105323910713196, + 0.006051041651517153, + 0.0850551649928093, + -3.0442047119140625, + -0.25699591636657715, + -0.13944962620735168 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3897721767425537, + 0.011135389097034931, + 0.07548351585865021, + -3.024536609649658, + -0.28309616446495056, + -0.185620978474617 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3957720696926117, + 0.01405683346092701, + 0.06619258970022202, + -3.030111789703369, + -0.3018943965435028, + -0.2060537189245224 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move right 6 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39761748909950256, + 0.011088034138083458, + 0.05601450055837631, + -3.051136016845703, + -0.3147159218788147, + -0.22400377690792084 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3961150348186493, + 0.006184940692037344, + 0.04363594576716423, + -3.10066294670105, + -0.2912072539329529, + -0.22947359085083008 + ], + "gripper_value": 0.7739869356155396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 1 cm, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4000982642173767, + 0.006003029644489288, + 0.03852001205086708, + -3.1357421875, + -0.27836179733276367, + -0.2378103882074356 + ], + "gripper_value": 0.590900182723999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the gripper open, approaching the orange carrot on the green plate. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4027790129184723, + 0.0067365276627242565, + 0.03942873328924179, + -3.1285946369171143, + -0.2840672731399536, + -0.25594398379325867 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's gripper is positioned directly over the orange carrot on the green plate, with the gripper fingers open and aligned for grasping. The gripper value indicates it is in the process of closing, suggesting the grasp action is currently underway. The next step is to complete the closure of the gripper to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39803704619407654, + 0.008086251094937325, + 0.04182903841137886, + -3.1060240268707275, + -0.22297905385494232, + -0.24540545046329498 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's gripper is positioned directly over the orange carrot on the green plate, with the gripper fingers open and aligned for grasping. The gripper value indicates it is in the process of closing, suggesting the grasp action is currently underway. The next step is to complete the closure of the gripper to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39204367995262146, + -0.010820905677974224, + 0.04657905548810959, + -3.084808349609375, + -0.16467450559139252, + -0.21797563135623932 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's gripper is positioned directly over the orange carrot on the green plate, with the gripper fingers open and aligned for grasping. The gripper value indicates it is in the process of closing, suggesting the grasp action is currently underway. The next step is to complete the closure of the gripper to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3950234055519104, + -0.031303081661462784, + 0.05611259117722511, + -3.0682504177093506, + -0.19801917672157288, + -0.19106531143188477 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ketchup bottle": [ + 832, + 304, + 994, + 409 + ], + "toy carrot": [ + 594, + 265, + 663, + 418 + ], + "sink": [ + 683, + 478, + 995, + 991 + ], + "green plate": [ + 463, + 288, + 624, + 444 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's gripper is positioned directly over the orange carrot on the green plate, with the gripper fingers open and aligned for grasping. The gripper value indicates it is in the process of closing, suggesting the grasp action is currently underway. The next step is to complete the closure of the gripper to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, tilt back 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4037559926509857, + -0.04172789677977562, + 0.05801137164235115, + -3.08789324760437, + -0.26505351066589355, + -0.17492714524269104 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot's gripper is positioned directly over the orange carrot on the green plate, with the gripper fingers open and aligned for grasping. The gripper value indicates it is in the process of closing, suggesting the grasp action is currently underway. The next step is to complete the closure of the gripper to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4117757976055145, + -0.047073252499103546, + 0.052685268223285675, + -3.120366096496582, + -0.33539921045303345, + -0.15912318229675293 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "lift and remove carrot", + "subtask_reasoning": "The robot's gripper is positioned directly over the orange carrot on the green plate, with the gripper fingers open and aligned for grasping. The gripper value indicates it is in the process of closing, suggesting the grasp action is currently underway. The next step is to complete the closure of the gripper to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4127398431301117, + -0.05239111930131912, + 0.03911818191409111, + 3.1356992721557617, + -0.34026315808296204, + -0.17506495118141174 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "lift and remove carrot", + "subtask_reasoning": "The gripper is in contact with the carrot on the green plate, having already approached and grasped it. The current subtask involves lifting the carrot off the plate, and the next action should be to elevate the gripper to remove the carrot from the plate surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.40982797741889954, + -0.059190165251493454, + 0.03669821098446846, + 3.0993475914001465, + -0.32969027757644653, + -0.203368678689003 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the orange carrot on the green plate and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and remove carrot" + } + ], + "subtask_name": "lift and remove carrot", + "subtask_reasoning": "The gripper is in contact with the carrot on the green plate, having already approached and grasped it. The current subtask involves lifting the carrot off the plate, and the next action should be to elevate the gripper to remove the carrot from the plate surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003935_ecot.json b/cot/chunk-0003/episode_0003935_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..469de29c030e6a6f07104c381584c6243293cdd7 --- /dev/null +++ b/cot/chunk-0003/episode_0003935_ecot.json @@ -0,0 +1,1545 @@ +{ + "task_name": "episode_0003935", + "episode_json": "json/chunk-0003/episode_0003935.json", + "video_path": "videos/chunk-0003/image_0/episode_0003935.mp4", + "instruction": "Put the blue thing inside the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003935.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.7664808034896851, + "std": 0.33355414867401123, + "delta_total": 0.007850408554077148, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.76648, std=0.33355, total_delta=0.00785). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 110, + 110, + 110, + 110, + 110, + 210, + 218, + 218, + 218, + 218 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 11 + ], + [ + 3, + 12, + 16 + ], + [ + 4, + 17, + 17 + ], + [ + 5, + 18, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue object\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the blue object inside the drawer while beginning to close gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue object\", \"start\": 10, \"end\": 11, \"planning\": \"Complete gripper closure to securely grasp the blue object, confirmed by decreasing gripper value and minimal motion.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 12, \"end\": 16, \"planning\": \"Lift the grasped blue object slightly and reposition it within the drawer for stable placement.\"},\n {\"id\": 4, \"name\": \"release contact\", \"start\": 17, \"end\": 17, \"planning\": \"Maintain position while releasing grip on the blue object; no meaningful gripper change indicates passive release or settling.\"},\n {\"id\": 5, \"name\": \"retreat from drawer\", \"start\": 18, \"end\": 21, \"planning\": \"Open gripper fully and retreat end-effector upward and away from the drawer after successful placement.\"}\n ],\n \"global_plan\": \"Approach the blue object in the drawer, grasp it firmly, lift and reposition it slightly within the drawer, release contact to place it, then retreat with open gripper.\",\n \"notes\": \"Segment 4 (frame 17) shows no meaningful gripper closing — consistent with release or settling phase, not active grasping. Segment 5 shows clear gripper opening, confirming retreat after release. All segments align with observed motion and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue object", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the blue object inside the drawer while beginning to close gripper." + }, + { + "id": 2, + "name": "grasp blue object", + "start": 10, + "end": 11, + "planning": "Complete gripper closure to securely grasp the blue object, confirmed by decreasing gripper value and minimal motion." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 12, + "end": 16, + "planning": "Lift the grasped blue object slightly and reposition it within the drawer for stable placement." + }, + { + "id": 4, + "name": "release contact", + "start": 17, + "end": 17, + "planning": "Maintain position while releasing grip on the blue object; no meaningful gripper change indicates passive release or settling." + }, + { + "id": 5, + "name": "retreat from drawer", + "start": 18, + "end": 21, + "planning": "Open gripper fully and retreat end-effector upward and away from the drawer after successful placement." + } + ], + "global_plan": "Approach the blue object in the drawer, grasp it firmly, lift and reposition it slightly within the drawer, release contact to place it, then retreat with open gripper.", + "notes": "Segment 4 (frame 17) shows no meaningful gripper closing — consistent with release or settling phase, not active grasping. Segment 5 shows clear gripper opening, confirming retreat after release. All segments align with observed motion and gripper evidence." + } + }, + "episode_goal": "Place the blue object inside the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3305245637893677, + 0.11879171431064606, + 0.12733466923236847, + -3.0958988666534424, + -0.18064726889133453, + -0.04051535204052925 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the drawer with the blue object visible inside. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 5 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33039456605911255, + 0.1181580126285553, + 0.11321511119604111, + -3.1142053604125977, + -0.13980261981487274, + -0.03320814669132233 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the drawer with the blue object visible inside. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 5 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36418309807777405, + 0.11157529056072235, + 0.10499707609415054, + -3.1201274394989014, + -0.13299185037612915, + -0.050909291952848434 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the drawer with the blue object visible inside. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39863982796669006, + 0.09712476283311844, + 0.10136569291353226, + -3.128586769104004, + -0.12998679280281067, + -0.07135110348463058 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the drawer with the blue object visible inside. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4375038743019104, + 0.08532292395830154, + 0.09373880177736282, + -3.1279211044311523, + -0.13185136020183563, + -0.08114054799079895 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the wooden box, with the blue object visible inside the left compartment. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 7 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4616621732711792, + 0.06294920295476913, + 0.07738682627677917, + -3.1231024265289307, + -0.10294145345687866, + -0.1115621030330658 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the wooden box, with the blue object visible inside the left compartment. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 10 cm, move right 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4737941026687622, + 0.059141676872968674, + 0.059317395091056824, + -3.1136107444763184, + -0.07688341289758682, + -0.11753930896520615 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tape": [ + 582, + 347, + 680, + 428 + ], + "wooden box": [ + 358, + 223, + 994, + 902 + ], + "spotted toy": [ + 55, + 288, + 195, + 440 + ], + "elephant plush": [ + 614, + 275, + 868, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the wooden box, with the blue object visible inside the left compartment. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 12 cm, move right 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4730670154094696, + 0.06432481855154037, + 0.041221775114536285, + -3.081620216369629, + -0.029982905834913254, + -0.11818011105060577 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the wooden box, with the blue object visible inside the left compartment. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 12 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4635995328426361, + 0.07243171334266663, + 0.023624906316399574, + -3.0372490882873535, + 0.013745326548814774, + -0.10994590818881989 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the wooden box, with the blue object visible inside the left compartment. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 12 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.45989179611206055, + 0.07147624343633652, + 0.0175853930413723, + -3.044273853302002, + 0.029345586895942688, + -0.1240919828414917 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach blue object", + "subtask_reasoning": "The robot is positioned above the wooden box, with the blue object visible inside the left compartment. The gripper is currently open and hovering near the target. The next action is to lower the arm to make contact with the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 12 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4598936140537262, + 0.0650491863489151, + 0.028110269457101822, + -3.0871949195861816, + -0.002179037779569626, + -0.1290503591299057 + ], + "gripper_value": 0.4148389995098114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue object inside the drawer. The gripper is currently open, indicating the approach phase is complete but contact has not yet been established. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 12 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4579578638076782, + 0.05813859403133392, + 0.07092862576246262, + -3.1067452430725098, + -0.09565217047929764, + -0.12515996396541595 + ], + "gripper_value": 0.2920950949192047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue object inside the drawer. The gripper is currently open, indicating the approach phase is complete but contact has not yet been established. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, keep gripper closed; then move back 12 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4368712604045868, + 0.05499756336212158, + 0.0995912030339241, + -3.107646942138672, + -0.14974121749401093, + -0.1344526708126068 + ], + "gripper_value": 0.2499733716249466 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 357, + 219, + 994, + 902 + ], + "elephant plush": [ + 612, + 275, + 869, + 509 + ], + "spotted toy": [ + 54, + 288, + 196, + 440 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue object inside the drawer. The gripper is currently open, indicating the approach phase is complete but contact has not yet been established. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4027861952781677, + 0.0541248582303524, + 0.11924944818019867, + -3.1198205947875977, + -0.19851194322109222, + -0.1404653936624527 + ], + "gripper_value": 0.24793511629104614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue object inside the drawer. The gripper is currently open, indicating the approach phase is complete but contact has not yet been established. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 6 cm, rotate counterclockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36388370394706726, + 0.03321794047951698, + 0.13056255877017975, + -3.1182780265808105, + -0.2217881977558136, + -0.22850188612937927 + ], + "gripper_value": 0.24793511629104614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The blue object is currently held above the open drawer, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the object into the drawer to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33375000953674316, + 0.01816927082836628, + 0.12886609137058258, + -3.1026346683502197, + -0.22233939170837402, + -0.29678115248680115 + ], + "gripper_value": 0.24725793302059174 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 358, + 236, + 994, + 902 + ], + "spotted toy": [ + 54, + 287, + 196, + 440 + ], + "elephant plush": [ + 614, + 275, + 869, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The blue object is currently held above the open drawer, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the object into the drawer to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3197760581970215, + 0.0038121703546494246, + 0.12088079750537872, + -3.1057331562042236, + -0.19476768374443054, + -0.36063170433044434 + ], + "gripper_value": 0.24725793302059174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The blue object is currently held above the open drawer, having been lifted from its initial position. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to lower the object into the drawer to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31970304250717163, + -0.007417602930217981, + 0.1173238456249237, + -3.0894367694854736, + -0.17579945921897888, + -0.39244818687438965 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release contact", + "subtask_reasoning": "The blue object is already positioned inside the drawer, and the gripper is open, indicating contact has been released. The subtask of releasing contact is complete, and the next action is to retreat the gripper away from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32084137201309204, + -0.007462002336978912, + 0.09257658571004868, + -3.118562936782837, + -0.08304884284734726, + -0.3687390983104706 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The blue object is already positioned inside the drawer, and the gripper is open, indicating contact has been released. The subtask of releasing contact is complete, and the next action is to retreat the gripper away from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3230828046798706, + -0.008709752932190895, + 0.08988798409700394, + -3.1166458129882812, + -0.07092496007680893, + -0.3482517898082733 + ], + "gripper_value": 0.8922415375709534 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The blue object is already placed inside the drawer, and the gripper is open and positioned above it. The robot has completed the placement and is now retreating from the drawer area. The next action is to continue moving the arm away from the drawer to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31827396154403687, + -0.009224013425409794, + 0.09057433903217316, + -3.1294662952423096, + -0.04606545343995094, + -0.34256407618522644 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The blue object is already placed inside the drawer, and the gripper is open and positioned above it. The robot has completed the placement and is now retreating from the drawer area. The next action is to continue moving the arm away from the drawer to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3139086961746216, + -0.009928734041750431, + 0.11540860682725906, + -3.123631477355957, + -0.1298096626996994, + -0.33575955033302307 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue object inside the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue object" + }, + { + "id": 2, + "subtask": "grasp blue object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The blue object is already placed inside the drawer, and the gripper is open and positioned above it. The robot has completed the placement and is now retreating from the drawer area. The next action is to continue moving the arm away from the drawer to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003938_ecot.json b/cot/chunk-0003/episode_0003938_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fb2897fad3a062eb8eee4d93236a4c6448ef9836 --- /dev/null +++ b/cot/chunk-0003/episode_0003938_ecot.json @@ -0,0 +1,2038 @@ +{ + "task_name": "episode_0003938", + "episode_json": "json/chunk-0003/episode_0003938.json", + "video_path": "videos/chunk-0003/image_0/episode_0003938.mp4", + "instruction": "Move the yellow object to the bottom of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003938.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.44009852409362793, + "std": 0.21088305115699768, + "delta_total": -0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.44010, std=0.21088, total_delta=-0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow object\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector toward the yellow object on the stovetop while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp yellow object\", \"start\": 8, \"end\": 16, \"planning\": \"Close the gripper around the yellow object and secure it for manipulation.\"},\n {\"id\": 3, \"name\": \"lift and reposition object\", \"start\": 17, \"end\": 23, \"planning\": \"Lift the grasped yellow object and move it toward the bottom burner area.\"},\n {\"id\": 4, \"name\": \"place object on burner\", \"start\": 24, \"end\": 28, \"planning\": \"Lower the yellow object onto the bottom burner and release it by opening the gripper.\"},\n {\"id\": 5, \"name\": \"retreat from placement\", \"start\": 29, \"end\": 29, \"planning\": \"Withdraw the end-effector slightly after releasing the object to complete the task.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, reposition, and place the yellow object onto the bottom burner of the stovetop.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.43944) consistent with grasping; Segment 2 shows gripper opening (delta=+0.43811) consistent with release. Frame coverage is contiguous and complete from 0 to 29.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow object", + "start": 0, + "end": 7, + "planning": "Move the end-effector toward the yellow object on the stovetop while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp yellow object", + "start": 8, + "end": 16, + "planning": "Close the gripper around the yellow object and secure it for manipulation." + }, + { + "id": 3, + "name": "lift and reposition object", + "start": 17, + "end": 23, + "planning": "Lift the grasped yellow object and move it toward the bottom burner area." + }, + { + "id": 4, + "name": "place object on burner", + "start": 24, + "end": 28, + "planning": "Lower the yellow object onto the bottom burner and release it by opening the gripper." + }, + { + "id": 5, + "name": "retreat from placement", + "start": 29, + "end": 29, + "planning": "Withdraw the end-effector slightly after releasing the object to complete the task." + } + ], + "global_plan": "Approach, grasp, lift, reposition, and place the yellow object onto the bottom burner of the stovetop.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.43944) consistent with grasping; Segment 2 shows gripper opening (delta=+0.43811) consistent with release. Frame coverage is contiguous and complete from 0 to 29." + } + }, + "episode_goal": "Move the yellow object to the bottom of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009069263935089, + 0.2071043998003006, + 0.09347890317440033, + 3.1085851192474365, + -0.3973422646522522, + 0.41726231575012207 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot is positioned near the stovetop with the yellow object visible on the left side of the burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986930012702942, + 0.20409728586673737, + 0.08381474763154984, + 3.0916953086853027, + -0.3680196702480316, + 0.42730075120925903 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot is positioned near the stovetop with the yellow object visible on the left side of the burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28212544322013855, + 0.1939706951379776, + 0.08300069719552994, + 3.007274627685547, + -0.33448299765586853, + 0.5208048820495605 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot is positioned near the stovetop with the yellow object visible on the left side of the burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2602427005767822, + 0.18810883164405823, + 0.08760348707437515, + 2.970815658569336, + -0.3392118811607361, + 0.5834057331085205 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 7 cm, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24459220468997955, + 0.1793154627084732, + 0.07985347509384155, + 2.980208158493042, + -0.30946820974349976, + 0.5984421372413635 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 6 cm, keep gripper open; then move back 2 cm, move left 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23054814338684082, + 0.17684435844421387, + 0.05864213407039642, + 3.028265953063965, + -0.29614052176475525, + 0.5963402986526489 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 376, + 494, + 705, + 859 + ], + "measuring cup": [ + 501, + 518, + 606, + 735 + ], + "faucet": [ + 942, + 382, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22958579659461975, + 0.1786634773015976, + 0.04370880872011185, + 3.0432493686676025, + -0.2957448959350586, + 0.5971392393112183 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23418840765953064, + 0.1742943972349167, + 0.027479050680994987, + 3.0531835556030273, + -0.2687268555164337, + 0.5882630944252014 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 6 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2412504404783249, + 0.1727183759212494, + 0.01882932521402836, + 3.0199553966522217, + -0.2709296941757202, + 0.6040974855422974 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523956000804901, + 0.17069712281227112, + 0.011691374704241753, + 3.014064073562622, + -0.26772066950798035, + 0.5898339152336121 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534398138523102, + 0.17524796724319458, + 0.010514076799154282, + 3.0555777549743652, + -0.28179076313972473, + 0.5858345627784729 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25285258889198303, + 0.17565268278121948, + 0.010076818987727165, + 3.0670602321624756, + -0.28091663122177124, + 0.5877112746238708 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side of the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 12 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516230642795563, + 0.17505453526973724, + 0.010568924248218536, + 3.0614705085754395, + -0.2831707298755646, + 0.5963001251220703 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot has approached the yellow object on the stovetop, and the gripper is closing as indicated by the decreasing gripper value. The current situation shows the gripper in contact with or very near the object, preparing to secure it. The next action is to complete the grasp by fully closing the gripper around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 12 cm, move right 6 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2369951456785202, + 0.17936886847019196, + 0.010522957891225815, + 3.0824272632598877, + -0.2558985948562622, + 0.6289545893669128 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot has approached the yellow object on the stovetop, and the gripper is closing as indicated by the decreasing gripper value. The current situation shows the gripper in contact with or very near the object, preparing to secure it. The next action is to complete the grasp by fully closing the gripper around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 12 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2186543494462967, + 0.18892429769039154, + 0.019576454535126686, + 3.100911855697632, + -0.2774015963077545, + 0.700778603553772 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot has approached the yellow object on the stovetop, and the gripper is closing as indicated by the decreasing gripper value. The current situation shows the gripper in contact with or very near the object, preparing to secure it. The next action is to complete the grasp by fully closing the gripper around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 12 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2230837494134903, + 0.1880866438150406, + 0.035565949976444244, + 3.08369517326355, + -0.3206745386123657, + 0.7181661128997803 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot has approached the yellow object on the stovetop, and the gripper is closing as indicated by the decreasing gripper value. The current situation shows the gripper in contact with or very near the object, preparing to secure it. The next action is to complete the grasp by fully closing the gripper around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 12 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25650760531425476, + 0.16563226282596588, + 0.05883561447262764, + 3.0333502292633057, + -0.38722026348114014, + 0.663196325302124 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot has approached the yellow object on the stovetop, and the gripper is closing as indicated by the decreasing gripper value. The current situation shows the gripper in contact with or very near the object, preparing to secure it. The next action is to complete the grasp by fully closing the gripper around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 12 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2968584895133972, + 0.13607972860336304, + 0.08116698265075684, + 2.989708423614502, + -0.4643012285232544, + 0.5591716170310974 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition object", + "subtask_reasoning": "The robot has approached the yellow object on the stovetop, and the gripper is closing as indicated by the decreasing gripper value. The current situation shows the gripper in contact with or very near the object, preparing to secure it. The next action is to complete the grasp by fully closing the gripper around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33799463510513306, + 0.11367892473936081, + 0.09919838607311249, + 3.0225651264190674, + -0.5252706408500671, + 0.4197564721107483 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 376, + 494, + 704, + 859 + ], + "sink": [ + 742, + 431, + 994, + 962 + ], + "measuring cup": [ + 500, + 517, + 607, + 734 + ], + "coffee machine": [ + 141, + 10, + 409, + 307 + ], + "faucet": [ + 942, + 382, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition object", + "subtask_reasoning": "The robot has approached the yellow object on the stovetop, and the gripper is closing as indicated by the decreasing gripper value. The current situation shows the gripper in contact with or very near the object, preparing to secure it. The next action is to complete the grasp by fully closing the gripper around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37645524740219116, + 0.09644649922847748, + 0.09029483795166016, + 3.0377161502838135, + -0.5008286833763123, + 0.3251821994781494 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition object", + "subtask_reasoning": "The robot has approached the yellow object on the stovetop, and the gripper is closing as indicated by the decreasing gripper value. The current situation shows the gripper in contact with or very near the object, preparing to secure it. The next action is to complete the grasp by fully closing the gripper around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4035085439682007, + 0.08382492512464523, + 0.06565861403942108, + 3.0396063327789307, + -0.45723336935043335, + 0.25206634402275085 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 376, + 494, + 704, + 859 + ], + "sink": [ + 741, + 435, + 994, + 962 + ], + "measuring cup": [ + 500, + 518, + 607, + 733 + ], + "faucet": [ + 942, + 382, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition object", + "subtask_reasoning": "The robot is currently holding the yellow object above the stovetop, having completed the approach and grasp phases. The gripper signal remains constant, indicating the object is secured while the arm moves to reposition it. The next action is to lower the object onto the bottom burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.41328492760658264, + 0.0791979432106018, + 0.04131533205509186, + 3.0420334339141846, + -0.407796710729599, + 0.21669399738311768 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition object", + "subtask_reasoning": "The robot is currently holding the yellow object above the stovetop, having completed the approach and grasp phases. The gripper signal remains constant, indicating the object is secured while the arm moves to reposition it. The next action is to lower the object onto the bottom burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4172217845916748, + 0.072968989610672, + 0.025185350328683853, + 3.05239200592041, + -0.37128958106040955, + 0.18305493891239166 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition object", + "subtask_reasoning": "The robot is currently holding the yellow object above the stovetop, having completed the approach and grasp phases. The gripper signal remains constant, indicating the object is secured while the arm moves to reposition it. The next action is to lower the object onto the bottom burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.41924843192100525, + 0.06670168042182922, + 0.01662181317806244, + 3.046919107437134, + -0.3518775999546051, + 0.17087861895561218 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and reposition object", + "subtask_reasoning": "The robot is currently holding the yellow object above the stovetop, having completed the approach and grasp phases. The gripper signal remains constant, indicating the object is secured while the arm moves to reposition it. The next action is to lower the object onto the bottom burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.41806966066360474, + 0.06778057664632797, + 0.015964245423674583, + 3.041645050048828, + -0.34411922097206116, + 0.19958165287971497 + ], + "gripper_value": 0.6340072751045227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place object on burner", + "subtask_reasoning": "The robot is currently holding the yellow object above the stovetop, having completed the approach and grasp phases. The gripper signal remains constant, indicating the object is secured while the arm moves to reposition it. The next action is to lower the object onto the bottom burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4142848253250122, + 0.0659102275967598, + 0.012872364372015, + 3.022329092025757, + -0.3367269039154053, + 0.23693257570266724 + ], + "gripper_value": 0.9206693768501282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place object on burner", + "subtask_reasoning": "The robot is currently holding the yellow object above the stovetop, having completed the approach and grasp phases. The gripper signal remains constant, indicating the object is secured while the arm moves to reposition it. The next action is to lower the object onto the bottom burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.41329482197761536, + 0.06516678631305695, + 0.012777618132531643, + 3.0198867321014404, + -0.3279438316822052, + 0.23501627147197723 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place object on burner", + "subtask_reasoning": "The robot arm is positioned directly above the bottom burner of the stovetop, holding the yellow object. The gripper is currently closed, indicating the object is still being held. The next action is to open the gripper to release the yellow object onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.41064828634262085, + 0.07014548033475876, + 0.018383359536528587, + 3.0037341117858887, + -0.32143041491508484, + 0.24857212603092194 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place object on burner", + "subtask_reasoning": "The robot arm is positioned directly above the bottom burner of the stovetop, holding the yellow object. The gripper is currently closed, indicating the object is still being held. The next action is to open the gripper to release the yellow object onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.41236940026283264, + 0.07491745054721832, + 0.043445345014333725, + 2.9855198860168457, + -0.3750772178173065, + 0.26269063353538513 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place object on burner", + "subtask_reasoning": "The robot arm is positioned directly above the bottom burner of the stovetop, holding the yellow object. The gripper is currently closed, indicating the object is still being held. The next action is to open the gripper to release the yellow object onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4078555405139923, + 0.07492529600858688, + 0.0706573948264122, + 2.9530582427978516, + -0.4209980368614197, + 0.28015974164009094 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow object to the bottom of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition object" + }, + { + "id": 4, + "subtask": "place object on burner" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The yellow object has been successfully placed on the bottom burner of the stovetop. The gripper is open and the robot is retreating from the placement location. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003939_ecot.json b/cot/chunk-0003/episode_0003939_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..88167514a8bca5639219767bc08446adb1787732 --- /dev/null +++ b/cot/chunk-0003/episode_0003939_ecot.json @@ -0,0 +1,2687 @@ +{ + "task_name": "episode_0003939", + "episode_json": "json/chunk-0003/episode_0003939.json", + "video_path": "videos/chunk-0003/image_0/episode_0003939.mp4", + "instruction": "Move the chicken leg to the front left corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003939.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.7824076414108276, + "std": 0.3695196509361267, + "delta_total": -0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.78241, std=0.36952, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 500, + 500, + 500, + 500, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 400, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 33, + 133, + 133, + 133, + 133 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 7 + ], + [ + 3, + 8, + 14 + ], + [ + 4, + 15, + 15 + ], + [ + 5, + 16, + 24 + ], + [ + 6, + 25, + 32 + ], + [ + 7, + 33, + 33 + ], + [ + 8, + 34, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach chicken leg\", \"start\": 0, \"end\": 7, \"planning\": \"Move the gripper from initial position toward the chicken leg on the purple cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp chicken leg\", \"start\": 8, \"end\": 15, \"planning\": \"Close the gripper around the chicken leg while maintaining contact and securing it for transport.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 16, \"end\": 24, \"planning\": \"Lift the chicken leg slightly and begin moving it toward the front left corner of the table.\"},\n {\"id\": 4, \"name\": \"transport to target zone\", \"start\": 25, \"end\": 32, \"planning\": \"Carry the chicken leg across the table surface toward the front left corner while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 33, \"end\": 37, \"planning\": \"Open the gripper to release the chicken leg at the target location and move the arm away.\"}\n ],\n \"global_plan\": \"The robot approaches the chicken leg, grasps it securely, lifts and transports it to the front left corner of the table, then releases it and retreats.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: grasp confirmed in segment 3 (frames 8-14) and segment 6 (frames 25-32) shows sustained grip during transport; release confirmed in segment 8 (frames 34-37) with gripper opening. Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach chicken leg", + "start": 0, + "end": 7, + "planning": "Move the gripper from initial position toward the chicken leg on the purple cloth without closing." + }, + { + "id": 2, + "name": "grasp chicken leg", + "start": 8, + "end": 15, + "planning": "Close the gripper around the chicken leg while maintaining contact and securing it for transport." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 16, + "end": 24, + "planning": "Lift the chicken leg slightly and begin moving it toward the front left corner of the table." + }, + { + "id": 4, + "name": "transport to target zone", + "start": 25, + "end": 32, + "planning": "Carry the chicken leg across the table surface toward the front left corner while maintaining grip." + }, + { + "id": 5, + "name": "release and retreat", + "start": 33, + "end": 37, + "planning": "Open the gripper to release the chicken leg at the target location and move the arm away." + } + ], + "global_plan": "The robot approaches the chicken leg, grasps it securely, lifts and transports it to the front left corner of the table, then releases it and retreats.", + "notes": "Subtasks align with observed motion segments and gripper evidence: grasp confirmed in segment 3 (frames 8-14) and segment 6 (frames 25-32) shows sustained grip during transport; release confirmed in segment 8 (frames 34-37) with gripper opening. Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the chicken leg to the front left corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33163535594940186, + 0.04318214952945709, + 0.08667739480733871, + -3.086728811264038, + -0.08642598986625671, + 0.014545051380991936 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach chicken leg", + "subtask_reasoning": "The robot is positioned above the table with the chicken leg visible in the front right area. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 8 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33091890811920166, + 0.04183681681752205, + 0.07569755613803864, + -3.0983781814575195, + -0.05383174121379852, + 0.025498729199171066 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach chicken leg", + "subtask_reasoning": "The robot is positioned above the table with the chicken leg visible in the front right area. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 8 cm, move down 2 cm, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34169527888298035, + 0.027754051610827446, + 0.07307256758213043, + -3.129770517349243, + -0.05168505012989044, + 0.030029049143195152 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach chicken leg", + "subtask_reasoning": "The robot is positioned above the table with the chicken leg visible in the front right area. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, move down 2 cm, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36178404092788696, + 0.01587638445198536, + 0.07377279549837112, + 3.1206724643707275, + -0.06855643540620804, + 0.08072084933519363 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the chicken leg from a distance. No contact or grasping has occurred yet, as the gripper remains open and the segment shows no closing evidence. The next action is to continue moving the end-effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.390073299407959, + 0.002553227823227644, + 0.07840462774038315, + 3.090916156768799, + -0.09560783207416534, + 0.198141947388649 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the chicken leg from a distance. No contact or grasping has occurred yet, as the gripper remains open and the segment shows no closing evidence. The next action is to continue moving the end-effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.42447757720947266, + -0.016347834840416908, + 0.0846959725022316, + 3.0629382133483887, + -0.13359183073043823, + 0.3675552308559418 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the chicken leg from a distance. No contact or grasping has occurred yet, as the gripper remains open and the segment shows no closing evidence. The next action is to continue moving the end-effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.43987900018692017, + -0.026131784543395042, + 0.07501572370529175, + 3.0742483139038086, + -0.12973031401634216, + 0.485634982585907 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the chicken leg from a distance. No contact or grasping has occurred yet, as the gripper remains open and the segment shows no closing evidence. The next action is to continue moving the end-effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4446536600589752, + -0.036068908870220184, + 0.05960049852728844, + 3.125009775161743, + -0.11897121369838715, + 0.4954207241535187 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 273, + 2, + 663, + 237 + ], + "wooden countertop": [ + 25, + 139, + 941, + 968 + ], + "fork": [ + 567, + 478, + 669, + 815 + ], + "rubber chicken": [ + 657, + 277, + 825, + 430 + ], + "metal bowl": [ + 224, + 193, + 490, + 398 + ], + "purple cloth": [ + 589, + 270, + 824, + 510 + ], + "toy stove": [ + 672, + 177, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the chicken leg from a distance. No contact or grasping has occurred yet, as the gripper remains open and the segment shows no closing evidence. The next action is to continue moving the end-effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.44080448150634766, + -0.03732806816697121, + 0.05368401110172272, + -3.1355175971984863, + -0.11899521946907043, + 0.49365732073783875 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the chicken leg from a distance. No contact or grasping has occurred yet, as the gripper remains open and the segment shows no closing evidence. The next action is to continue moving the end-effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4331701099872589, + -0.03730756789445877, + 0.04059474915266037, + -3.1285228729248047, + -0.09846620261669159, + 0.5026919841766357 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the chicken leg from a distance. No contact or grasping has occurred yet, as the gripper remains open and the segment shows no closing evidence. The next action is to continue moving the end-effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move forward 3 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4298696219921112, + -0.039207976311445236, + 0.03607748821377754, + -3.1320111751556396, + -0.08504082262516022, + 0.5091971158981323 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the chicken leg from a distance. No contact or grasping has occurred yet, as the gripper remains open and the segment shows no closing evidence. The next action is to continue moving the end-effector closer to the chicken leg to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move forward 3 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.42725199460983276, + -0.04334999993443489, + 0.031167281791567802, + -3.1368138790130615, + -0.06465208530426025, + 0.5125933289527893 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move forward 2 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4255162477493286, + -0.04534756392240524, + 0.024572888389229774, + -3.1279208660125732, + -0.05016897991299629, + 0.5065901279449463 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 273, + 2, + 676, + 236 + ], + "wooden countertop": [ + 50, + 137, + 937, + 964 + ], + "tomato sauce": [ + 779, + 128, + 918, + 337 + ], + "fork": [ + 566, + 479, + 669, + 815 + ], + "rubber chicken": [ + 634, + 310, + 832, + 457 + ], + "purple cloth": [ + 589, + 371, + 813, + 512 + ], + "metal bowl": [ + 223, + 193, + 489, + 398 + ], + "toy stove": [ + 673, + 177, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, close gripper; then move back 1 cm, move left 6 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4259977638721466, + -0.04541521519422531, + 0.024589121341705322, + -3.130089044570923, + -0.05269048362970352, + 0.5127028226852417 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 10 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42867511510849, + -0.045570965856313705, + 0.024714205414056778, + -3.139382839202881, + -0.06694929301738739, + 0.515028715133667 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 8 cm, move left 15 cm, move up 9 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.43040889501571655, + -0.04580163583159447, + 0.02550582028925419, + 3.1380085945129395, + -0.07427221536636353, + 0.5182368755340576 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move left 19 cm, move up 7 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4341706335544586, + -0.046235375106334686, + 0.03026905283331871, + 3.132054328918457, + -0.08435731381177902, + 0.5037448406219482 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 19 cm, move up 7 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.44239261746406555, + -0.04718908295035362, + 0.04045296087861061, + 3.118959665298462, + -0.10755336284637451, + 0.4781792163848877 + ], + "gripper_value": 0.22553777694702148 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 19 cm, move up 6 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4555581510066986, + -0.046241480857133865, + 0.0497320331633091, + 3.093475818634033, + -0.1259213238954544, + 0.45666661858558655 + ], + "gripper_value": 0.22298766672611237 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 19 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4678376317024231, + -0.044854942709207535, + 0.06629392504692078, + 3.0465056896209717, + -0.15965361893177032, + 0.4375821053981781 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken leg on the purple cloth, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the chicken leg securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 18 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 3 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4675387740135193, + -0.04409133642911911, + 0.06907341629266739, + 3.0303242206573486, + -0.158456951379776, + 0.4046801030635834 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has successfully grasped the chicken leg and is currently lifting it slightly above the table surface. The gripper remains closed, indicating a secure hold. The next action is to reposition the chicken leg toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 18 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.45224612951278687, + -0.024716271087527275, + 0.09380738437175751, + 3.013465642929077, + -0.1710614264011383, + 0.3489774465560913 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has successfully grasped the chicken leg and is currently lifting it slightly above the table surface. The gripper remains closed, indicating a secure hold. The next action is to reposition the chicken leg toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 16 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.42305007576942444, + 0.014246645383536816, + 0.1125163808465004, + 3.0230331420898438, + -0.14428552985191345, + 0.2742649018764496 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "rubber chicken": [ + 595, + 126, + 728, + 315 + ], + "purple cloth": [ + 599, + 282, + 853, + 514 + ], + "wooden countertop": [ + 5, + 135, + 937, + 968 + ], + "toy microwave": [ + 273, + 2, + 739, + 241 + ], + "fork": [ + 567, + 479, + 669, + 816 + ], + "metal bowl": [ + 223, + 193, + 488, + 399 + ], + "toy stove": [ + 672, + 175, + 996, + 994 + ], + "corn": [ + 769, + 129, + 920, + 335 + ], + "tomato sauce": [ + 652, + 50, + 782, + 290 + ] + } + } + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has successfully grasped the chicken leg and is currently lifting it slightly above the table surface. The gripper remains closed, indicating a secure hold. The next action is to reposition the chicken leg toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move left 8 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840533196926117, + 0.05527541786432266, + 0.12015461921691895, + 3.051797389984131, + -0.10422229766845703, + 0.14728768169879913 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has successfully grasped the chicken leg and is currently lifting it slightly above the table surface. The gripper remains closed, indicating a secure hold. The next action is to reposition the chicken leg toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 8 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537784814834595, + 0.10736574977636337, + 0.11866897344589233, + 3.118781805038452, + -0.09935745596885681, + 0.0692703127861023 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has successfully grasped the chicken leg and is currently lifting it slightly above the table surface. The gripper remains closed, indicating a secure hold. The next action is to reposition the chicken leg toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move back 3 cm, move left 8 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367727994918823, + 0.13902083039283752, + 0.10086721926927567, + -3.1149678230285645, + -0.08708618581295013, + -0.009525051340460777 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot has successfully grasped the chicken leg and is currently lifting it slightly above the table surface. The gripper remains closed, indicating a secure hold. The next action is to reposition the chicken leg toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then move right 3 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.325815349817276, + 0.16778986155986786, + 0.08668380975723267, + -3.0668044090270996, + -0.0844634547829628, + -0.007550767622888088 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot has successfully grasped the chicken leg and is currently lifting it slightly above the table surface. The gripper remains closed, indicating a secure hold. The next action is to reposition the chicken leg toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32358890771865845, + 0.17209230363368988, + 0.07223441451787949, + -3.0601322650909424, + -0.06259337067604065, + -0.031921807676553726 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot has successfully grasped the chicken leg and is currently lifting it slightly above the table surface. The gripper remains closed, indicating a secure hold. The next action is to reposition the chicken leg toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3171035349369049, + 0.18000183999538422, + 0.06412415206432343, + -3.018766403198242, + -0.04796762019395828, + -0.09998215734958649 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently transporting the chicken leg across the table, moving from the center area toward the front left corner. The gripper remains closed, securely holding the object during this transit phase. The next action is to continue moving the end-effector to the specific target coordinates in the front left corner before releasing the item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 4 cm, open gripper; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30918341875076294, + 0.19964882731437683, + 0.04750315472483635, + -3.002601146697998, + -0.024407094344496727, + -0.18490906059741974 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently transporting the chicken leg across the table, moving from the center area toward the front left corner. The gripper remains closed, securely holding the object during this transit phase. The next action is to continue moving the end-effector to the specific target coordinates in the front left corner before releasing the item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29860687255859375, + 0.21486838161945343, + 0.03265347331762314, + -3.024167537689209, + 0.013822488486766815, + -0.17265963554382324 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 273, + 2, + 671, + 236 + ], + "metal bowl": [ + 226, + 194, + 490, + 398 + ], + "wooden countertop": [ + 8, + 135, + 938, + 967 + ], + "fork": [ + 567, + 479, + 668, + 816 + ], + "tomato sauce": [ + 637, + 41, + 782, + 290 + ], + "toy stove": [ + 672, + 176, + 996, + 994 + ], + "purple cloth": [ + 598, + 269, + 852, + 519 + ], + "corn": [ + 769, + 130, + 919, + 335 + ] + } + } + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently transporting the chicken leg across the table, moving from the center area toward the front left corner. The gripper remains closed, securely holding the object during this transit phase. The next action is to continue moving the end-effector to the specific target coordinates in the front left corner before releasing the item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2974129319190979, + 0.2160411924123764, + 0.030064495280385017, + -3.034172534942627, + 0.013771875761449337, + -0.1678963601589203 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently transporting the chicken leg across the table, moving from the center area toward the front left corner. The gripper remains closed, securely holding the object during this transit phase. The next action is to continue moving the end-effector to the specific target coordinates in the front left corner before releasing the item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016704022884369, + 0.21486081182956696, + 0.02367653138935566, + -3.0566227436065674, + 0.006218142807483673, + -0.16336391866207123 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently transporting the chicken leg across the table, moving from the center area toward the front left corner. The gripper remains closed, securely holding the object during this transit phase. The next action is to continue moving the end-effector to the specific target coordinates in the front left corner before releasing the item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045385181903839, + 0.21447308361530304, + 0.026788046583533287, + -3.067537546157837, + -0.005844193510711193, + -0.15346544981002808 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently transporting the chicken leg across the table, moving from the center area toward the front left corner. The gripper remains closed, securely holding the object during this transit phase. The next action is to continue moving the end-effector to the specific target coordinates in the front left corner before releasing the item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30422547459602356, + 0.20496918261051178, + 0.03083873726427555, + 3.116179943084717, + -0.06227865070104599, + -0.1706259399652481 + ], + "gripper_value": 0.8625253438949585 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently transporting the chicken leg across the table, moving from the center area toward the front left corner. The gripper remains closed, securely holding the object during this transit phase. The next action is to continue moving the end-effector to the specific target coordinates in the front left corner before releasing the item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.30113014578819275, + 0.18896271288394928, + 0.07293293625116348, + 3.0352327823638916, + -0.18417605757713318, + -0.23755793273448944 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The chicken leg has been successfully placed at the front left corner of the table, and the gripper is now open and retreating. The release action is complete, and the robot is moving away from the object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29635855555534363, + 0.16231968998908997, + 0.0986463874578476, + 3.0630927085876465, + -0.2047058343887329, + -0.24616892635822296 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The chicken leg has been successfully placed at the front left corner of the table, and the gripper is now open and retreating. The release action is complete, and the robot is moving away from the object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.29536518454551697, + 0.13033099472522736, + 0.09938393533229828, + 3.0969886779785156, + -0.1327030062675476, + -0.26413172483444214 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the chicken leg to the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken leg" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport to target zone" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The chicken leg has been successfully placed at the front left corner of the table, and the gripper is now open and retreating. The release action is complete, and the robot is moving away from the object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003940_ecot.json b/cot/chunk-0003/episode_0003940_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2e8bda13e84df16fd9f1054fbf1edfcc54993d9f --- /dev/null +++ b/cot/chunk-0003/episode_0003940_ecot.json @@ -0,0 +1,2939 @@ +{ + "task_name": "episode_0003940", + "episode_json": "json/chunk-0003/episode_0003940.json", + "video_path": "videos/chunk-0003/image_0/episode_0003940.mp4", + "instruction": "Pick silver lid on table and cover the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003940.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.727226972579956, + "std": 0.34612855315208435, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72723, std=0.34613, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 18, + 18, + 18, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 238, + 238, + 238, + 238, + 238, + 238 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 17 + ], + [ + 3, + 18, + 20 + ], + [ + 4, + 21, + 37 + ], + [ + 5, + 38, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the silver lid on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 5, \"end\": 17, \"planning\": \"Close the gripper around the silver lid and secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport lid\", \"start\": 18, \"end\": 20, \"planning\": \"Lift the grasped lid and move it toward the pot location.\"},\n {\"id\": 4, \"name\": \"place lid on pot\", \"start\": 21, \"end\": 37, \"planning\": \"Position the lid over the pot and release it to cover the pot.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 38, \"end\": 43, \"planning\": \"Open the gripper fully and move the end-effector away from the covered pot.\"}\n ],\n \"global_plan\": \"Approach the silver lid, grasp it securely, lift and transport it to the pot, place it to cover the pot, then retreat.\",\n \"notes\": \"Segment 1 shows no gripper closing — described as approach. Segment 2 shows meaningful closing and image confirms contact/grasp — grasp wording allowed. Segment 3 is short transition with gripper closed — lift/transport. Segment 4 shows gripper opening during placement — place lid. Segment 5 shows full gripper opening and retreat — retreat phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the silver lid on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp lid", + "start": 5, + "end": 17, + "planning": "Close the gripper around the silver lid and secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport lid", + "start": 18, + "end": 20, + "planning": "Lift the grasped lid and move it toward the pot location." + }, + { + "id": 4, + "name": "place lid on pot", + "start": 21, + "end": 37, + "planning": "Position the lid over the pot and release it to cover the pot." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 38, + "end": 43, + "planning": "Open the gripper fully and move the end-effector away from the covered pot." + } + ], + "global_plan": "Approach the silver lid, grasp it securely, lift and transport it to the pot, place it to cover the pot, then retreat.", + "notes": "Segment 1 shows no gripper closing — described as approach. Segment 2 shows meaningful closing and image confirms contact/grasp — grasp wording allowed. Segment 3 is short transition with gripper closed — lift/transport. Segment 4 shows gripper opening during placement — place lid. Segment 5 shows full gripper opening and retreat — retreat phase." + } + }, + "episode_goal": "Pick up the silver lid from the table and place it on top of the pot to cover it.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30208081007003784, + 0.11733930557966232, + 0.1010204553604126, + 3.0811843872070312, + -0.13801103830337524, + 0.4167511463165283 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in front. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30135267972946167, + 0.11703246831893921, + 0.09170513600111008, + 3.0815422534942627, + -0.10877812653779984, + 0.41822680830955505 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in front. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046542704105377, + 0.10951633006334305, + 0.08148566633462906, + 3.094116687774658, + -0.08791293948888779, + 0.37247011065483093 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30902209877967834, + 0.10172232985496521, + 0.07215670496225357, + 3.1078221797943115, + -0.07547616958618164, + 0.3358667194843292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3134981095790863, + 0.0896843820810318, + 0.07068280130624771, + 3.1203064918518066, + -0.07742723822593689, + 0.264924019575119 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3153339922428131, + 0.08032017946243286, + 0.061510175466537476, + -3.1397361755371094, + -0.05060422047972679, + 0.1878986358642578 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178745210170746, + 0.06673222780227661, + 0.0527610182762146, + -3.123152732849121, + -0.029028460383415222, + 0.09723766893148422 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 97, + 203, + 298, + 401 + ], + "metal lid": [ + 351, + 445, + 567, + 662 + ], + "blue cloth": [ + 3, + 366, + 230, + 626 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3148234486579895, + 0.05644429847598076, + 0.04302217438817024, + -3.1077523231506348, + -0.005695027764886618, + 0.04508605971932411 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30574557185173035, + 0.040441591292619705, + 0.03204241394996643, + -3.1171562671661377, + 0.016285644844174385, + 0.010213074274361134 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 96, + 200, + 310, + 417 + ], + "blue cloth": [ + 3, + 366, + 230, + 626 + ], + "rolling pin": [ + 156, + 423, + 346, + 656 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2940964102745056, + 0.027603989467024803, + 0.02513781189918518, + -3.1286847591400146, + 0.04135233908891678, + -0.020644430071115494 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2893107235431671, + 0.022238900884985924, + 0.02675480768084526, + -3.135622024536133, + 0.026728617027401924, + -0.021989550441503525 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible in the center. The gripper is open and has not yet made contact with the lid. The next action is to lower the end-effector to approach and make contact with the silver lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29074493050575256, + 0.022590607404708862, + 0.02672196365892887, + -3.1359975337982178, + 0.01744948700070381, + -0.01955784298479557 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2905775308609009, + 0.024630310013890266, + 0.026720726862549782, + -3.13712215423584, + 0.01732635125517845, + -0.007863253355026245 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move up 5 cm, keep gripper closed; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29472804069519043, + 0.027055231854319572, + 0.027855372056365013, + -3.137465000152588, + 0.00804084911942482, + 0.00384136033244431 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move up 5 cm, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29885175824165344, + 0.027608124539256096, + 0.021302910521626472, + -3.1367812156677246, + 0.01572335697710514, + 0.015104591846466064 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move up 5 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30445390939712524, + 0.02867325022816658, + 0.019806677475571632, + -3.132678508758545, + 0.009747372008860111, + 0.025991160422563553 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move up 5 cm, keep gripper closed; then move forward 3 cm, move left 10 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30617189407348633, + 0.028687255457043648, + 0.01444541197270155, + -3.12436842918396, + 0.00827829260379076, + 0.041892535984516144 + ], + "gripper_value": 0.9367310404777527 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 5 cm, keep gripper closed; then move forward 4 cm, move left 12 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30821284651756287, + 0.02445194311439991, + 0.012447207234799862, + -3.11856746673584, + -0.013604089617729187, + 0.04846048355102539 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 5 cm, keep gripper closed; then move forward 4 cm, move left 14 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3084372580051422, + 0.024761872366070747, + 0.011708935722708702, + -3.116651773452759, + -0.026055870577692986, + 0.055145733058452606 + ], + "gripper_value": 0.347801148891449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper closed; then move forward 4 cm, move left 15 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30615878105163574, + 0.024419330060482025, + 0.01315445639193058, + -3.1179187297821045, + -0.029209079220891, + 0.059190697968006134 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper closed; then move forward 4 cm, move left 16 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040824830532074, + 0.02073870413005352, + 0.026233581826090813, + -3.140024185180664, + -0.035266101360321045, + 0.055739156901836395 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move left 17 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114008605480194, + 0.02642931044101715, + 0.057399243116378784, + 3.1007580757141113, + -0.07783375680446625, + 0.09414749592542648 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 18 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3139807879924774, + 0.03952234238386154, + 0.08090537041425705, + 3.0675268173217773, + -0.09389514476060867, + 0.12444987893104553 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 18 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.322945237159729, + 0.06959354132413864, + 0.09375935792922974, + 3.067047119140625, + -0.12189258635044098, + 0.18912146985530853 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 15 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33491984009742737, + 0.1066596508026123, + 0.09041732549667358, + 3.058732271194458, + -0.10806231945753098, + 0.2623927593231201 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 98, + 203, + 290, + 400 + ], + "blue cloth": [ + 3, + 366, + 229, + 628 + ], + "rolling pin": [ + 156, + 402, + 395, + 657 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34516891837120056, + 0.12829987704753876, + 0.08751436322927475, + 3.056755781173706, + -0.08860675990581512, + 0.30209895968437195 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3504830002784729, + 0.15053702890872955, + 0.07905224710702896, + 3.060271978378296, + -0.06602327525615692, + 0.35171544551849365 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 97, + 205, + 274, + 400 + ], + "blue cloth": [ + 3, + 366, + 230, + 625 + ], + "rolling pin": [ + 157, + 464, + 330, + 656 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35557934641838074, + 0.16565731167793274, + 0.07321307808160782, + 3.067791223526001, + -0.06039175018668175, + 0.377644419670105 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35462233424186707, + 0.17759300768375397, + 0.0724291130900383, + 3.0680229663848877, + -0.0540301576256752, + 0.4064261019229889 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the table, as indicated by the gripper closure and current hold. The arm is positioned above the table with the lid secured, ready to move toward the pot. The next action is to lift and transport the lid to the pot's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34863850474357605, + 0.1900722235441208, + 0.06608515977859497, + 3.0816168785095215, + -0.04093964770436287, + 0.42214685678482056 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34586501121520996, + 0.19921928644180298, + 0.06699647009372711, + 3.09106707572937, + -0.046376220881938934, + 0.4339052140712738 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, open gripper; then move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406900465488434, + 0.20779766142368317, + 0.06637194007635117, + 3.092951774597168, + -0.04536774009466171, + 0.44406139850616455 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, open gripper; then move back 1 cm, move right 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33355215191841125, + 0.21692155301570892, + 0.05663209781050682, + 3.086012363433838, + -0.022485699504613876, + 0.4597705006599426 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, open gripper; then move back 1 cm, move right 7 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3361302614212036, + 0.22195705771446228, + 0.056782569736242294, + 3.0888636112213135, + -0.032748885452747345, + 0.4684222638607025 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move back 2 cm, move right 10 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.33765098452568054, + 0.22566920518875122, + 0.04696187749505043, + 3.0962233543395996, + -0.014244604855775833, + 0.47489580512046814 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move back 2 cm, move right 10 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3401196599006653, + 0.23010161519050598, + 0.046405017375946045, + 3.1078786849975586, + -0.027508771046996117, + 0.4895312488079071 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move back 2 cm, move right 10 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.34321990609169006, + 0.2312791496515274, + 0.044260505586862564, + 3.111431360244751, + -0.03315180540084839, + 0.488513320684433 + ], + "gripper_value": 0.2795628309249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 2 cm, move right 10 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.34651318192481995, + 0.2296866774559021, + 0.04418260231614113, + 3.1114158630371094, + -0.03726017475128174, + 0.4962199032306671 + ], + "gripper_value": 0.3445223569869995 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 10 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3496936857700348, + 0.22642894089221954, + 0.04407096281647682, + 3.110599994659424, + -0.035225801169872284, + 0.5022085905075073 + ], + "gripper_value": 0.6430501937866211 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467654287815094, + 0.21887809038162231, + 0.04628242552280426, + 3.0907363891601562, + -0.009029261767864227, + 0.5065780878067017 + ], + "gripper_value": 0.9311676621437073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot is holding the silver lid above the pot, positioned to cover it. The gripper remains closed, indicating the lid is still grasped. The next action is to lower the lid onto the pot to complete the covering task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452368378639221, + 0.21111327409744263, + 0.07585698366165161, + 3.06493878364563, + -0.04840870201587677, + 0.5246769785881042 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver lid is already placed on the pot, completing the covering action. The robot's end-effector is currently positioned near the pot with the gripper open, indicating it has released the lid. The next step is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 38, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3377775251865387, + 0.18993312120437622, + 0.09818938374519348, + 3.0477378368377686, + -0.07461589574813843, + 0.4964657723903656 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver lid is already placed on the pot, completing the covering action. The robot's end-effector is currently positioned near the pot with the gripper open, indicating it has released the lid. The next step is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367786109447479, + 0.1578568071126938, + 0.11626382172107697, + 3.0405943393707275, + -0.10711424797773361, + 0.40638983249664307 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 3, + 367, + 230, + 630 + ], + "metal bowl": [ + 84, + 209, + 381, + 406 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver lid is already placed on the pot, completing the covering action. The robot's end-effector is currently positioned near the pot with the gripper open, indicating it has released the lid. The next step is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3310149908065796, + 0.1252305656671524, + 0.11266502737998962, + 3.064688205718994, + -0.0987391397356987, + 0.29962748289108276 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the table and place it on top of the pot to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver lid is already placed on the pot, completing the covering action. The robot's end-effector is currently positioned near the pot with the gripper open, indicating it has released the lid. The next step is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003942_ecot.json b/cot/chunk-0003/episode_0003942_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd9f1416f2c59aeb560da03cb631ad2911c37f6 --- /dev/null +++ b/cot/chunk-0003/episode_0003942_ecot.json @@ -0,0 +1,1685 @@ +{ + "task_name": "episode_0003942", + "episode_json": "json/chunk-0003/episode_0003942.json", + "video_path": "videos/chunk-0003/image_0/episode_0003942.mp4", + "instruction": "Put potato in pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003942.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.28553277254104614, + "std": 0.12329323589801788, + "delta_total": 0.0055350661277771, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.28553, std=0.12329, total_delta=0.00554). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the potato on the cutting board without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp potato\", \"start\": 4, \"end\": 14, \"planning\": \"Close gripper around potato and secure hold as evidenced by gripper value drop to 0.70517.\"},\n {\"id\": 3, \"name\": \"lift and transport potato\", \"start\": 15, \"end\": 20, \"planning\": \"Lift potato from board and move it toward the orange pot while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release potato in pot\", \"start\": 21, \"end\": 25, \"planning\": \"Open gripper to release potato into the pot, confirmed by gripper value returning to ~0.99.\"}\n ],\n \"global_plan\": \"Approach potato on cutting board, grasp it securely, lift and carry it to the orange pot, then release it inside the pot.\",\n \"notes\": \"Segment 1 (frames 0-3) shows no gripper closure — only approach motion. Segment 2 (frames 4-25) includes meaningful gripper closure (value drops to 0.70517 at frame 14), supporting grasp/hold/release wording. Final gripper state confirms release. All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the potato on the cutting board without closing gripper." + }, + { + "id": 2, + "name": "grasp potato", + "start": 4, + "end": 14, + "planning": "Close gripper around potato and secure hold as evidenced by gripper value drop to 0.70517." + }, + { + "id": 3, + "name": "lift and transport potato", + "start": 15, + "end": 20, + "planning": "Lift potato from board and move it toward the orange pot while maintaining grip." + }, + { + "id": 4, + "name": "release potato in pot", + "start": 21, + "end": 25, + "planning": "Open gripper to release potato into the pot, confirmed by gripper value returning to ~0.99." + } + ], + "global_plan": "Approach potato on cutting board, grasp it securely, lift and carry it to the orange pot, then release it inside the pot.", + "notes": "Segment 1 (frames 0-3) shows no gripper closure — only approach motion. Segment 2 (frames 4-25) includes meaningful gripper closure (value drops to 0.70517 at frame 14), supporting grasp/hold/release wording. Final gripper state confirms release. All frames covered contiguously." + } + }, + "episode_goal": "Pick up the potato and place it inside the orange pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717781662940979, + 0.019674569368362427, + 0.13644887506961823, + -3.118300199508667, + -0.20983999967575073, + 0.2790737450122833 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to reach the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26717397570610046, + 0.01948680356144905, + 0.1275666356086731, + -3.1123950481414795, + -0.18200230598449707, + 0.269403874874115 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25082463026046753, + 0.027321944013237953, + 0.1101137176156044, + -3.0959880352020264, + -0.16659647226333618, + 0.1338135004043579 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 10 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2338135838508606, + 0.04014737531542778, + 0.10447195917367935, + -3.1253104209899902, + -0.11392785608768463, + 0.00663728779181838 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 10 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.219384104013443, + 0.056323833763599396, + 0.10038495063781738, + 3.1033568382263184, + -0.053124330937862396, + -0.15308012068271637 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21663892269134521, + 0.07061239331960678, + 0.08503586053848267, + 3.040684700012207, + 0.0247129425406456, + -0.23183925449848175 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 10, + 403, + 228, + 670 + ], + "orange fruit": [ + 312, + 738, + 459, + 890 + ], + "wooden tray": [ + 10, + 313, + 660, + 959 + ], + "banana": [ + 328, + 391, + 421, + 548 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21474428474903107, + 0.07309769839048386, + 0.06808274984359741, + 3.055577516555786, + -0.006304365582764149, + -0.21068277955055237 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2078390270471573, + 0.06438026577234268, + 0.05692938342690468, + 3.046128749847412, + -0.0001250503701157868, + -0.21115054190158844 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move left 3 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19967971742153168, + 0.05117882788181305, + 0.04585648700594902, + 3.029857635498047, + 0.005589612293988466, + -0.22208692133426666 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the potato visible below. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 6 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20302814245224, + 0.041016679257154465, + 0.03851643204689026, + 3.052591562271118, + -0.019814278930425644, + -0.20262131094932556 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot end-effector is positioned directly above the potato on the cutting board, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 9 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20911942422389984, + 0.03904915973544121, + 0.023625880479812622, + 3.0788300037384033, + -0.024397525936365128, + -0.19193677604198456 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot end-effector is positioned directly above the potato on the cutting board, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 11 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21264812350273132, + 0.04230276867747307, + 0.018548185005784035, + 3.0944459438323975, + -0.04285503923892975, + -0.19428294897079468 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 10, + 402, + 225, + 666 + ], + "green fruit": [ + 433, + 476, + 527, + 621 + ], + "orange fruit": [ + 313, + 736, + 460, + 889 + ], + "tiled backsplash": [ + 257, + 48, + 968, + 503 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot end-effector is positioned directly above the potato on the cutting board, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 11 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20790402591228485, + 0.045467957854270935, + 0.003516799071803689, + 3.1274960041046143, + -0.03718109428882599, + -0.18571604788303375 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot end-effector is positioned directly above the potato on the cutting board, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, keep gripper closed; then move back 3 cm, move left 11 cm, move up 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20801636576652527, + 0.045118775218725204, + 0.0027704641688615084, + 3.126617431640625, + -0.03304241970181465, + -0.15132564306259155 + ], + "gripper_value": 0.7061693072319031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot end-effector is positioned directly above the potato on the cutting board, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, keep gripper closed; then move back 3 cm, move left 11 cm, move up 2 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.20871970057487488, + 0.042665034532547, + 0.009907636791467667, + 3.095804452896118, + -3.3394004276487976e-05, + -0.15662971138954163 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot end-effector is positioned directly above the potato on the cutting board, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, keep gripper closed; then move back 3 cm, move left 11 cm, move up 2 cm, open gripper; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2259872704744339, + 0.045193251222372055, + 0.037267930805683136, + 3.1014533042907715, + -0.04963164031505585, + -0.10126690566539764 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot end-effector is positioned directly above the potato on the cutting board, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move up 2 cm, open gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2302362620830536, + 0.05448848381638527, + 0.07273632287979126, + 3.0779306888580322, + -0.08989644795656204, + -0.05510846525430679 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot end-effector is positioned directly above the potato on the cutting board, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22363325953483582, + 0.07905091345310211, + 0.08584603667259216, + 3.052743434906006, + -0.020666489377617836, + -0.07769657671451569 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to transport the potato toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 3 cm, open gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2053697109222412, + 0.10624410957098007, + 0.07110901921987534, + 3.0633766651153564, + -0.055489953607320786, + -0.12214880436658859 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to transport the potato toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20561310648918152, + 0.13165371119976044, + 0.061885301023721695, + 3.0556600093841553, + -0.04992770776152611, + -0.1422087550163269 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to transport the potato toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, open gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.19997075200080872, + 0.1506454199552536, + 0.056423768401145935, + 3.0758213996887207, + -0.10623116046190262, + -0.1711924523115158 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to transport the potato toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.19844655692577362, + 0.15154697000980377, + 0.05740699544548988, + 3.0490877628326416, + -0.06400512903928757, + -0.14988958835601807 + ], + "gripper_value": 0.7931879758834839 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 10, + 399, + 229, + 666 + ], + "green fruit": [ + 434, + 480, + 526, + 622 + ], + "orange fruit": [ + 312, + 735, + 461, + 890 + ], + "banana": [ + 327, + 391, + 421, + 548 + ], + "tiled backsplash": [ + 133, + 5, + 963, + 502 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "release potato in pot", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to transport the potato toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.1986807882785797, + 0.1493542343378067, + 0.05418393015861511, + 3.059138536453247, + -0.0656670480966568, + -0.17380832135677338 + ], + "gripper_value": 0.9879508018493652 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "release potato in pot", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the cutting board. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to transport the potato toward the orange pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.1964096575975418, + 0.14428159594535828, + 0.05728885531425476, + 3.0324041843414307, + -0.05872109904885292, + -0.1502092331647873 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "release potato in pot", + "subtask_reasoning": "The robot's end-effector is positioned over the orange pot, and the gripper is open (value ~0.99), indicating the potato has been released inside. The subtask of releasing the potato is complete as the object is no longer held and is situated within the target container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.19820667803287506, + 0.1346280574798584, + 0.06953421235084534, + 3.0261216163635254, + -0.06323768198490143, + -0.12504704296588898 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "release potato in pot", + "subtask_reasoning": "The robot's end-effector is positioned over the orange pot, and the gripper is open (value ~0.99), indicating the potato has been released inside. The subtask of releasing the potato is complete as the object is no longer held and is situated within the target container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.20721974968910217, + 0.11685910075902939, + 0.0988781750202179, + 3.0092430114746094, + -0.08758764714002609, + -0.08098980784416199 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and place it inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "release potato in pot" + } + ], + "subtask_name": "release potato in pot", + "subtask_reasoning": "The robot's end-effector is positioned over the orange pot, and the gripper is open (value ~0.99), indicating the potato has been released inside. The subtask of releasing the potato is complete as the object is no longer held and is situated within the target container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003943_ecot.json b/cot/chunk-0003/episode_0003943_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..41fabdd6d1cf01d92426557deaf3ba16ad643605 --- /dev/null +++ b/cot/chunk-0003/episode_0003943_ecot.json @@ -0,0 +1,1681 @@ +{ + "task_name": "episode_0003943", + "episode_json": "json/chunk-0003/episode_0003943.json", + "video_path": "videos/chunk-0003/image_0/episode_0003943.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003943.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013339519500732422, + "std": 0.0003334881621412933, + "delta_total": -0.0006677508354187012, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00033, total_delta=-0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 21 + ], + [ + 4, + 22, + 22 + ], + [ + 5, + 23, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the red drawer handle with open gripper.\"},\n {\"id\": 2, \"name\": \"align and contact handle\", \"start\": 4, \"end\": 12, \"planning\": \"Position gripper around handle and make light contact without closing.\"},\n {\"id\": 3, \"name\": \"pull drawer open\", \"start\": 13, \"end\": 21, \"planning\": \"Apply backward force on handle to slide drawer open while maintaining contact.\"},\n {\"id\": 4, \"name\": \"release contact\", \"start\": 22, \"end\": 22, \"planning\": \"Break contact with handle after drawer is sufficiently open.\"},\n {\"id\": 5, \"name\": \"retreat from drawer\", \"start\": 23, \"end\": 23, \"planning\": \"Move end-effector away from drawer area to complete task.\"}\n ],\n \"global_plan\": \"Open the red drawer by approaching its handle, making contact, pulling it open, then releasing and retreating.\",\n \"notes\": \"Gripper remains open throughout; no grasping or lifting occurs. Motion is purely translational/rotational contact-based manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the red drawer handle with open gripper." + }, + { + "id": 2, + "name": "align and contact handle", + "start": 4, + "end": 12, + "planning": "Position gripper around handle and make light contact without closing." + }, + { + "id": 3, + "name": "pull drawer open", + "start": 13, + "end": 21, + "planning": "Apply backward force on handle to slide drawer open while maintaining contact." + }, + { + "id": 4, + "name": "release contact", + "start": 22, + "end": 22, + "planning": "Break contact with handle after drawer is sufficiently open." + }, + { + "id": 5, + "name": "retreat from drawer", + "start": 23, + "end": 23, + "planning": "Move end-effector away from drawer area to complete task." + } + ], + "global_plan": "Open the red drawer by approaching its handle, making contact, pulling it open, then releasing and retreating.", + "notes": "Gripper remains open throughout; no grasping or lifting occurs. Motion is purely translational/rotational contact-based manipulation." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2602057456970215, + 0.012668122537434101, + 0.1444147378206253, + 3.1162796020507812, + -0.31650298833847046, + -0.036926742643117905 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned above the table, near the red drawer but not yet in contact with the handle. No part of the subtask has been completed as the arm has not reached the target. The next action is to move the end-effector forward and downward to make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2600207030773163, + 0.012662306427955627, + 0.13797928392887115, + 3.111943006515503, + -0.29352766275405884, + -0.031123608350753784 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp initiated. The next action should continue moving the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2682146728038788, + 0.003231697017326951, + 0.10742369294166565, + 3.1127307415008545, + -0.2120325267314911, + -0.03638572245836258 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp initiated. The next action should continue moving the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 7 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27972865104675293, + -0.0010377918370068073, + 0.08955491334199905, + 3.1258935928344727, + -0.1819590926170349, + -0.03001096472144127 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white box": [ + 3, + 206, + 333, + 707 + ], + "yellow star - shaped object": [ + 617, + 514, + 738, + 637 + ], + "green textured object": [ + 664, + 775, + 867, + 970 + ], + "wooden shelf": [ + 401, + 9, + 996, + 325 + ], + "white circular object": [ + 267, + 827, + 428, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp initiated. The next action should continue moving the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28731757402420044, + 0.004163726232945919, + 0.07617650926113129, + -3.1227009296417236, + -0.14266499876976013, + -0.0022309143096208572 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp initiated. The next action should continue moving the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2935858964920044, + 0.01143200509250164, + 0.08285994082689285, + -3.094632387161255, + -0.14334219694137573, + 0.010885097086429596 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp initiated. The next action should continue moving the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944090962409973, + 0.029203087091445923, + 0.08933798968791962, + -3.104534149169922, + -0.13271401822566986, + 0.049108460545539856 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp initiated. The next action should continue moving the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, keep gripper open; then move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29571807384490967, + 0.03783721104264259, + 0.0938975140452385, + -3.1110806465148926, + -0.13522370159626007, + 0.059327539056539536 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and no contact made yet. The subtask of approaching the drawer handle is in progress, with motion observed but no grasp initiated. The next action should continue moving the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 6 cm, keep gripper open; then move back 1 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.295677125453949, + 0.05236436054110527, + 0.09508813172578812, + -3.09586763381958, + -0.14177340269088745, + 0.08579881489276886 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, keep gripper open; then move back 1 cm, move right 10 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29702964425086975, + 0.06182098016142845, + 0.08602987229824066, + -3.07609224319458, + -0.13140156865119934, + 0.09851472824811935 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, keep gripper open; then move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30137401819229126, + 0.0670245960354805, + 0.07726971805095673, + -3.05361008644104, + -0.13677388429641724, + 0.09861159324645996 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3023754954338074, + 0.07193931192159653, + 0.05826958641409874, + -3.044320821762085, + -0.12724758684635162, + 0.11803467571735382 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30212709307670593, + 0.07626140862703323, + 0.049098901450634, + -3.106975555419922, + -0.15079276263713837, + 0.13243991136550903 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 11 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3031265139579773, + 0.06910796463489532, + 0.03498475253582001, + 3.1305906772613525, + -0.1329861432313919, + 0.11856015771627426 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039901554584503, + 0.04256947711110115, + 0.031912967562675476, + 3.0883824825286865, + -0.14036765694618225, + 0.036557119339704514 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3036947250366211, + 0.010279346257448196, + 0.03808451443910599, + 3.0854718685150146, + -0.15297798812389374, + -0.04375799745321274 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white box": [ + 3, + 207, + 343, + 727 + ], + "yellow star - shaped object": [ + 617, + 515, + 738, + 637 + ], + "green textured object": [ + 664, + 775, + 867, + 969 + ], + "white circular object": [ + 267, + 826, + 428, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990892827510834, + -0.012533016502857208, + 0.04274170473217964, + 3.0970489978790283, + -0.15839844942092896, + -0.10248079150915146 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow star - shaped object": [ + 618, + 515, + 738, + 637 + ], + "green textured object": [ + 665, + 775, + 867, + 969 + ], + "white circular object": [ + 266, + 826, + 429, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the red drawer and is currently aligning the gripper with the handle. The gripper remains open with no closing evidence, indicating contact has not yet been made. The next action is to move forward slightly to establish physical contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29668736457824707, + -0.022243967279791832, + 0.04949807748198509, + 3.1061081886291504, + -0.17610059678554535, + -0.12295639514923096 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has contacted the red drawer handle and is currently positioned to pull. The gripper remains open with no closing evidence, indicating contact without grasping. The next action is to pull the drawer backward to open it while maintaining contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2938096821308136, + -0.032670967280864716, + 0.052688829600811005, + 3.1050472259521484, + -0.17160573601722717, + -0.15900996327400208 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has contacted the red drawer handle and is currently positioned to pull. The gripper remains open with no closing evidence, indicating contact without grasping. The next action is to pull the drawer backward to open it while maintaining contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2929815351963043, + -0.04173922911286354, + 0.05763780325651169, + 3.096191167831421, + -0.1847156286239624, + -0.1796552687883377 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has contacted the red drawer handle and is currently positioned to pull. The gripper remains open with no closing evidence, indicating contact without grasping. The next action is to pull the drawer backward to open it while maintaining contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29153525829315186, + -0.04516522213816643, + 0.057492587715387344, + 3.092923164367676, + -0.17880693078041077, + -0.1884542554616928 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has contacted the red drawer handle and is currently positioned to pull. The gripper remains open with no closing evidence, indicating contact without grasping. The next action is to pull the drawer backward to open it while maintaining contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2908693253993988, + -0.04485077038407326, + 0.05730926990509033, + 3.122030258178711, + -0.17432187497615814, + -0.17024147510528564 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has contacted the red drawer handle and is currently positioned to pull. The gripper remains open with no closing evidence, indicating contact without grasping. The next action is to pull the drawer backward to open it while maintaining contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821561396121979, + -0.03783480450510979, + 0.0841185674071312, + -3.1293389797210693, + -0.22090193629264832, + -0.14393311738967896 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release contact", + "subtask_reasoning": "The red drawer is already open, and the robot's gripper is positioned near the handle but not in contact. The gripper is open, indicating no grasp is occurring. The next action is to retreat the arm away from the drawer to complete the release contact subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27164536714553833, + -0.02377205714583397, + 0.12495139986276627, + 3.140077829360962, + -0.3144735097885132, + -0.08871085941791534 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release contact" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The red drawer is already open, and the robot arm is positioned above the table, having completed the pulling action. The gripper is open with no contact, indicating the retreat phase is underway. The next action is to continue moving the arm away from the drawer area to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003945_ecot.json b/cot/chunk-0003/episode_0003945_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..12e62463ed3d32b1244aa3c042aacc01db096097 --- /dev/null +++ b/cot/chunk-0003/episode_0003945_ecot.json @@ -0,0 +1,2626 @@ +{ + "task_name": "episode_0003945", + "episode_json": "json/chunk-0003/episode_0003945.json", + "video_path": "videos/chunk-0003/image_0/episode_0003945.mp4", + "instruction": "Unfold the cloth from the middle to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003945.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.9546095132827759, + "std": 0.40257585048675537, + "delta_total": 0.004607439041137695, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95461, std=0.40258, total_delta=0.00461). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 7, + 7, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 22, + 22, + 22, + 22, + 22, + 22, + 22, + 122, + 122, + 122, + 122, + 122, + 134, + 134, + 134 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 11 + ], + [ + 3, + 12, + 21 + ], + [ + 4, + 22, + 28 + ], + [ + 5, + 29, + 33 + ], + [ + 6, + 34, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth center\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper toward the middle of the folded yellow cloth while closing fingers to prepare for contact.\"},\n {\"id\": 2, \"name\": \"reposition gripper over cloth\", \"start\": 7, \"end\": 11, \"planning\": \"Adjust gripper position slightly above the cloth center without significant grasping motion, aligning for unfolding action.\"},\n {\"id\": 3, \"name\": \"initiate unfold by dragging downward\", \"start\": 12, \"end\": 21, \"planning\": \"Gently drag the cloth from center toward bottom-left using controlled gripper motion while maintaining light contact.\"},\n {\"id\": 4, \"name\": \"continue dragging to extend cloth\", \"start\": 22, \"end\": 28, \"planning\": \"Pull the cloth further toward bottom-left corner with sustained low-grip pressure to fully unfold it.\"},\n {\"id\": 5, \"name\": \"release and retreat from cloth\", \"start\": 29, \"end\": 33, \"planning\": \"Open gripper fully and lift away from the now-unfolded cloth to complete the manipulation phase.\"},\n {\"id\": 6, \"name\": \"final positioning above unfolded cloth\", \"start\": 34, \"end\": 36, \"planning\": \"Reposition gripper slightly above the bottom-left region of the unfolded cloth for task completion verification.\"}\n ],\n \"global_plan\": \"Unfold the yellow cloth by approaching its center, making contact, dragging it toward the bottom-left in two phases, then releasing and retreating to confirm full unfolding.\",\n \"notes\": \"Gripper closure is meaningful in segments 1, 3, 4, and 6 — allowing 'grasp' or 'hold' wording where images support contact. Segments 2 and 5 show minimal or opening gripper motion, so descriptions avoid grasp terminology and focus on repositioning or release. All frame ranges are contiguous and cover 0–36.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth center", + "start": 0, + "end": 6, + "planning": "Move gripper toward the middle of the folded yellow cloth while closing fingers to prepare for contact." + }, + { + "id": 2, + "name": "reposition gripper over cloth", + "start": 7, + "end": 11, + "planning": "Adjust gripper position slightly above the cloth center without significant grasping motion, aligning for unfolding action." + }, + { + "id": 3, + "name": "initiate unfold by dragging downward", + "start": 12, + "end": 21, + "planning": "Gently drag the cloth from center toward bottom-left using controlled gripper motion while maintaining light contact." + }, + { + "id": 4, + "name": "continue dragging to extend cloth", + "start": 22, + "end": 28, + "planning": "Pull the cloth further toward bottom-left corner with sustained low-grip pressure to fully unfold it." + }, + { + "id": 5, + "name": "release and retreat from cloth", + "start": 29, + "end": 33, + "planning": "Open gripper fully and lift away from the now-unfolded cloth to complete the manipulation phase." + }, + { + "id": 6, + "name": "final positioning above unfolded cloth", + "start": 34, + "end": 36, + "planning": "Reposition gripper slightly above the bottom-left region of the unfolded cloth for task completion verification." + } + ], + "global_plan": "Unfold the yellow cloth by approaching its center, making contact, dragging it toward the bottom-left in two phases, then releasing and retreating to confirm full unfolding.", + "notes": "Gripper closure is meaningful in segments 1, 3, 4, and 6 — allowing 'grasp' or 'hold' wording where images support contact. Segments 2 and 5 show minimal or opening gripper motion, so descriptions avoid grasp terminology and focus on repositioning or release. All frame ranges are contiguous and cover 0–36." + } + }, + "episode_goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34856897592544556, + -0.03296279534697533, + 0.029992790892720222, + -3.098144292831421, + -0.10091881453990936, + 0.11620400100946426 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the yellow cloth, with the gripper open and ready to make contact. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the center of the cloth to initiate contact for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3443600833415985, + -0.03190276026725769, + 0.020340410992503166, + -3.091148614883423, + -0.07135224342346191, + 0.1217164620757103 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the yellow cloth, with the gripper open and ready to make contact. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the center of the cloth to initiate contact for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32416486740112305, + -0.01765437051653862, + 0.015235229395329952, + -3.0578413009643555, + -0.03450885787606239, + 0.15310701727867126 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the yellow cloth, with the gripper open and ready to make contact. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the center of the cloth to initiate contact for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, close gripper; then move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3091510236263275, + -0.0005311378045007586, + 0.023953350260853767, + -3.039339065551758, + -0.04532470181584358, + 0.2018248289823532 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 193, + 317, + 763, + 995 + ], + "black pen": [ + 389, + 502, + 462, + 591 + ], + "table": [ + 4, + 4, + 994, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the center of the yellow cloth with the gripper open, indicating it is in the approach phase. No contact has been made yet, and the gripper remains open as it nears the target point. The next action is to lower the end-effector to make contact with the cloth's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29822078347206116, + 0.009528054855763912, + 0.032199762761592865, + -3.0268781185150146, + -0.03935444727540016, + 0.22331833839416504 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the center of the yellow cloth with the gripper open, indicating it is in the approach phase. No contact has been made yet, and the gripper remains open as it nears the target point. The next action is to lower the end-effector to make contact with the cloth's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.294528067111969, + 0.014701462350785732, + 0.026095006614923477, + -3.052640199661255, + -0.05054694786667824, + 0.2426147162914276 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the center of the yellow cloth with the gripper open, indicating it is in the approach phase. No contact has been made yet, and the gripper remains open as it nears the target point. The next action is to lower the end-effector to make contact with the cloth's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29720619320869446, + 0.013482572510838509, + 0.01858140528202057, + -3.083461046218872, + -0.04904038831591606, + 0.2404860556125641 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the center of the yellow cloth with the gripper open, indicating it is in the approach phase. No contact has been made yet, and the gripper remains open as it nears the target point. The next action is to lower the end-effector to make contact with the cloth's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987290620803833, + 0.014384488575160503, + 0.01654229871928692, + -3.0953543186187744, + -0.050933677703142166, + 0.23372113704681396 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "reposition gripper over cloth", + "subtask_reasoning": "The robot is positioned above the center of the yellow cloth with the gripper open, indicating it is in the approach phase. No contact has been made yet, and the gripper remains open as it nears the target point. The next action is to lower the end-effector to make contact with the cloth's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2976110875606537, + 0.016115719452500343, + 0.011180016212165356, + -3.1015677452087402, + -0.03771485388278961, + 0.23578228056430817 + ], + "gripper_value": 0.15923498570919037 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "reposition gripper over cloth", + "subtask_reasoning": "The robot is positioned above the center of the yellow cloth with the gripper open, indicating it is in the approach phase. No contact has been made yet, and the gripper remains open as it nears the target point. The next action is to lower the end-effector to make contact with the cloth's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2972376346588135, + 0.01671266183257103, + 0.0108460932970047, + -3.108915328979492, + -0.035712823271751404, + 0.23873481154441833 + ], + "gripper_value": 0.09179956465959549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "reposition gripper over cloth", + "subtask_reasoning": "The gripper is positioned over the center of the yellow cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to lower the gripper to make contact with the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944382131099701, + 0.01690489612519741, + 0.008221928961575031, + -3.113035202026367, + -0.03634491190314293, + 0.2429455816745758 + ], + "gripper_value": 0.23789463937282562 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "reposition gripper over cloth", + "subtask_reasoning": "The gripper is positioned over the center of the yellow cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to lower the gripper to make contact with the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2914336621761322, + 0.019725218415260315, + 0.009165521711111069, + -3.084822177886963, + -0.018974730744957924, + 0.2518688142299652 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "reposition gripper over cloth", + "subtask_reasoning": "The gripper is positioned over the center of the yellow cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to lower the gripper to make contact with the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2901793420314789, + 0.018638167530298233, + 0.008991419337689877, + -3.0735039710998535, + -0.015560116618871689, + 0.2608625888824463 + ], + "gripper_value": 0.8279770016670227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The gripper is positioned over the center of the yellow cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to lower the gripper to make contact with the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870110869407654, + 0.01798824593424797, + 0.006295023486018181, + -3.084786891937256, + -0.011278747580945492, + 0.2508590519428253 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The gripper is positioned over the center of the yellow cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to lower the gripper to make contact with the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28563162684440613, + 0.021273549646139145, + 0.00590944429859519, + -3.085484027862549, + -0.008832383900880814, + 0.25188007950782776 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The gripper is positioned over the center of the yellow cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to lower the gripper to make contact with the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820378541946411, + 0.026774434372782707, + 0.015541757456958294, + -3.064016342163086, + -0.013735855929553509, + 0.26677006483078003 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The gripper is positioned over the center of the yellow cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to lower the gripper to make contact with the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28295648097991943, + 0.028761904686689377, + 0.03073803335428238, + -3.0195155143737793, + -0.010933177545666695, + 0.2622341215610504 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 134, + 329, + 713, + 994 + ], + "table": [ + 4, + 4, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28227993845939636, + 0.02699187770485878, + 0.0380694679915905, + -3.0054335594177246, + -0.024326201528310776, + 0.27411746978759766 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move back 5 cm, move left 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27628085017204285, + 0.03202856704592705, + 0.02633795700967312, + -3.0468533039093018, + -0.035172224044799805, + 0.29194408655166626 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 8 cm, move left 7 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2762545347213745, + 0.03439480811357498, + 0.022343594580888748, + -3.078709602355957, + -0.05060070380568504, + 0.29364341497421265 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 10 cm, move left 8 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.275796502828598, + 0.04114767163991928, + 0.014621260575950146, + -3.1020541191101074, + -0.04863681271672249, + 0.2949063181877136 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 10 cm, move left 8 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27798938751220703, + 0.04212203621864319, + 0.011174454353749752, + -3.1033856868743896, + -0.05534149333834648, + 0.28022801876068115 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "initiate unfold by dragging downward", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move left 8 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27807676792144775, + 0.04266197606921196, + 0.008712065406143665, + -3.1040329933166504, + -0.04847150295972824, + 0.2731912136077881 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "continue dragging to extend cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 8 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27916011214256287, + 0.04286041855812073, + 0.008176201023161411, + -3.103046178817749, + -0.04270704463124275, + 0.2796258330345154 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "continue dragging to extend cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 8 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767734229564667, + 0.04328615218400955, + 0.012111510150134563, + -3.071223497390747, + -0.025376582518219948, + 0.2784122824668884 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "continue dragging to extend cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, having completed the approach and repositioning phases. The segment-level gripper evidence indicates a closing action, suggesting the gripper is securing its hold on the fabric. The next immediate action is to drag the cloth downward toward the bottom left to initiate the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 8 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2780853509902954, + 0.04245436564087868, + 0.04420773312449455, + -3.032796621322632, + -0.10729383677244186, + 0.30646511912345886 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "continue dragging to extend cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, which is partially unfolded on the table. The gripper has been dragging the cloth toward the bottom-left, and the current motion continues this extension. The next action is to maintain grip and continue pulling the cloth further toward the bottom-left to complete unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 8 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25433042645454407, + 0.0566646009683609, + 0.06019195169210434, + -3.0089309215545654, + -0.16055898368358612, + 0.355639785528183 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 163, + 349, + 716, + 994 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "continue dragging to extend cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, which is partially unfolded on the table. The gripper has been dragging the cloth toward the bottom-left, and the current motion continues this extension. The next action is to maintain grip and continue pulling the cloth further toward the bottom-left to complete unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23253768682479858, + 0.07656417787075043, + 0.06376544386148453, + -3.009658098220825, + -0.21046200394630432, + 0.41233304142951965 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "continue dragging to extend cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, which is partially unfolded on the table. The gripper has been dragging the cloth toward the bottom-left, and the current motion continues this extension. The next action is to maintain grip and continue pulling the cloth further toward the bottom-left to complete unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.19813944399356842, + 0.10909730195999146, + 0.0423872135579586, + -3.0488102436065674, + -0.22926262021064758, + 0.5107632875442505 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 104, + 320, + 715, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "continue dragging to extend cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, which is partially unfolded on the table. The gripper has been dragging the cloth toward the bottom-left, and the current motion continues this extension. The next action is to maintain grip and continue pulling the cloth further toward the bottom-left to complete unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.18055583536624908, + 0.12583394348621368, + 0.019870208576321602, + -3.109377861022949, + -0.2326076477766037, + 0.5520646572113037 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, which is partially unfolded on the table. The gripper has been dragging the cloth toward the bottom-left, and the current motion continues this extension. The next action is to maintain grip and continue pulling the cloth further toward the bottom-left to complete unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.17645901441574097, + 0.13386259973049164, + 0.008003346621990204, + 3.1365232467651367, + -0.2532498836517334, + 0.5641499757766724 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The robot gripper is in contact with the center of the yellow cloth, which is partially unfolded on the table. The gripper has been dragging the cloth toward the bottom-left, and the current motion continues this extension. The next action is to maintain grip and continue pulling the cloth further toward the bottom-left to complete unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.17298467457294464, + 0.13940036296844482, + 0.0072699496522545815, + -3.1349754333496094, + -0.25583893060684204, + 0.5557857751846313 + ], + "gripper_value": 0.07656946033239365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The yellow cloth has been unfolded toward the bottom left and is now lying flat on the table. The gripper is no longer in contact with the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to confirm full unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.1665389984846115, + 0.1497059017419815, + 0.008258125744760036, + -3.078756093978882, + -0.24596235156059265, + 0.5243182182312012 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The yellow cloth has been unfolded toward the bottom left and is now lying flat on the table. The gripper is no longer in contact with the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to confirm full unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.1498080939054489, + 0.1569770723581314, + 0.016770366579294205, + -3.020798921585083, + -0.19578887522220612, + 0.5193930268287659 + ], + "gripper_value": 0.4975702464580536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The yellow cloth has been unfolded toward the bottom left and is now lying flat on the table. The gripper is no longer in contact with the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to confirm full unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.1423978954553604, + 0.1623411625623703, + 0.03478783369064331, + -2.9613521099090576, + -0.18271245062351227, + 0.5097923278808594 + ], + "gripper_value": 0.8074146509170532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "final positioning above unfolded cloth", + "subtask_reasoning": "The yellow cloth has been unfolded toward the bottom left and is now lying flat on the table. The gripper is no longer in contact with the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to confirm full unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.14160440862178802, + 0.170271635055542, + 0.050685398280620575, + -2.9138567447662354, + -0.1762276142835617, + 0.4775865972042084 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "final positioning above unfolded cloth", + "subtask_reasoning": "The yellow cloth is fully unfolded on the table with the gripper positioned above it. The subtask involves confirming the final position after the unfolding action. The next step is to retreat or finalize the task as the cloth is already in the desired state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 34, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.14969369769096375, + 0.17585596442222595, + 0.06305693835020065, + -2.8846042156219482, + -0.16251592338085175, + 0.4220563769340515 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the middle of the yellow cloth and pull it towards the bottom left to unfold it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "reposition gripper over cloth" + }, + { + "id": 3, + "subtask": "initiate unfold by dragging downward" + }, + { + "id": 4, + "subtask": "continue dragging to extend cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final positioning above unfolded cloth" + } + ], + "subtask_name": "final positioning above unfolded cloth", + "subtask_reasoning": "The yellow cloth is fully unfolded on the table with the gripper positioned above it. The subtask involves confirming the final position after the unfolding action. The next step is to retreat or finalize the task as the cloth is already in the desired state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003946_ecot.json b/cot/chunk-0003/episode_0003946_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4704b5afca33bcbfd71e30a29c4060c6a79b199b --- /dev/null +++ b/cot/chunk-0003/episode_0003946_ecot.json @@ -0,0 +1,3127 @@ +{ + "task_name": "episode_0003946", + "episode_json": "json/chunk-0003/episode_0003946.json", + "video_path": "videos/chunk-0003/image_0/episode_0003946.mp4", + "instruction": "Unfold the cloth from top rigt to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003946.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.9514545798301697, + "std": 0.41717422008514404, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95145, std=0.41717, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 20, + 20, + 20, + 20, + 20, + 20, + 26, + 26, + 26, + 26, + 26, + 26, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 140, + 140, + 140 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 19 + ], + [ + 3, + 20, + 25 + ], + [ + 4, + 26, + 31 + ], + [ + 5, + 32, + 39 + ], + [ + 6, + 40, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 11, \"planning\": \"Move gripper toward top-right corner of folded cloth while closing fingers to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift cloth corner\", \"start\": 12, \"end\": 19, \"planning\": \"Secure grip on cloth corner and lift slightly to initiate unfolding motion.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 20, \"end\": 25, \"planning\": \"Pull cloth from top-right toward bottom-left while maintaining partial grip to control unfolding.\"},\n {\"id\": 4, \"name\": \"release and slide cloth\", \"start\": 26, \"end\": 31, \"planning\": \"Open gripper to release cloth and allow it to slide flat across surface toward target orientation.\"},\n {\"id\": 5, \"name\": \"reposition for final adjustment\", \"start\": 32, \"end\": 39, \"planning\": \"Retreat and reposition gripper above cloth to prepare for final smoothing or alignment if needed.\"},\n {\"id\": 6, \"name\": \"final contact and retreat\", \"start\": 40, \"end\": 42, \"planning\": \"Make light contact with cloth edge to ensure full extension, then open gripper and retreat to complete task.\"}\n ],\n \"global_plan\": \"Unfold the green cloth by grasping its top-right corner, dragging it diagonally toward bottom-left, releasing to let it slide flat, then making final adjustments to ensure full extension.\",\n \"notes\": \"Gripper evidence supports grasp in segments 1–2 (closing), partial hold in 3–4 (opening during drag/release), and re-grasp in 6 for final touch. Motion aligns with diagonal unfolding trajectory. No lifting beyond initial pick is observed; sliding dominates mid-phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 11, + "planning": "Move gripper toward top-right corner of folded cloth while closing fingers to prepare for grasp." + }, + { + "id": 2, + "name": "grasp and lift cloth corner", + "start": 12, + "end": 19, + "planning": "Secure grip on cloth corner and lift slightly to initiate unfolding motion." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 20, + "end": 25, + "planning": "Pull cloth from top-right toward bottom-left while maintaining partial grip to control unfolding." + }, + { + "id": 4, + "name": "release and slide cloth", + "start": 26, + "end": 31, + "planning": "Open gripper to release cloth and allow it to slide flat across surface toward target orientation." + }, + { + "id": 5, + "name": "reposition for final adjustment", + "start": 32, + "end": 39, + "planning": "Retreat and reposition gripper above cloth to prepare for final smoothing or alignment if needed." + }, + { + "id": 6, + "name": "final contact and retreat", + "start": 40, + "end": 42, + "planning": "Make light contact with cloth edge to ensure full extension, then open gripper and retreat to complete task." + } + ], + "global_plan": "Unfold the green cloth by grasping its top-right corner, dragging it diagonally toward bottom-left, releasing to let it slide flat, then making final adjustments to ensure full extension.", + "notes": "Gripper evidence supports grasp in segments 1–2 (closing), partial hold in 3–4 (opening during drag/release), and re-grasp in 6 for final touch. Motion aligns with diagonal unfolding trajectory. No lifting beyond initial pick is observed; sliding dominates mid-phase." + } + }, + "episode_goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.333329975605011, + 0.11100845783948898, + 0.14968806505203247, + 3.040109395980835, + -0.21250201761722565, + 0.6213372945785522 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green folded cloth visible below. No actions have been completed yet as the gripper remains open and distant from the cloth. The robot needs to move its end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33272063732147217, + 0.109904944896698, + 0.1379239708185196, + 3.0421016216278076, + -0.18596848845481873, + 0.6213825345039368 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green folded cloth visible below. No actions have been completed yet as the gripper remains open and distant from the cloth. The robot needs to move its end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32872891426086426, + 0.10250619053840637, + 0.1255151778459549, + 2.9245357513427734, + -0.26709991693496704, + 0.689099907875061 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green folded cloth visible below. No actions have been completed yet as the gripper remains open and distant from the cloth. The robot needs to move its end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360786736011505, + 0.10350079834461212, + 0.1308823972940445, + 2.8630733489990234, + -0.3029220998287201, + 0.7426445484161377 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green folded cloth visible below. No actions have been completed yet as the gripper remains open and distant from the cloth. The robot needs to move its end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34413155913352966, + 0.095093734562397, + 0.11828970909118652, + 2.8895392417907715, + -0.27992701530456543, + 0.7516894936561584 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green folded cloth visible below. No actions have been completed yet as the gripper remains open and distant from the cloth. The robot needs to move its end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558906316757202, + 0.08812487125396729, + 0.10895257443189621, + 2.9046974182128906, + -0.2684510052204132, + 0.7645887732505798 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 621, + 587, + 809, + 787 + ], + "green cloth": [ + 198, + 373, + 527, + 792 + ], + "orange toy": [ + 408, + 871, + 540, + 996 + ], + "wooden board": [ + 3, + 241, + 996, + 996 + ], + "white container": [ + 598, + 404, + 770, + 601 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36687302589416504, + 0.08165070414543152, + 0.09927182644605637, + 2.92769455909729, + -0.26658812165260315, + 0.7650690674781799 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37536200881004333, + 0.08211329579353333, + 0.09705045819282532, + 2.955878973007202, + -0.2926342487335205, + 0.7869327068328857 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38044410943984985, + 0.08359439671039581, + 0.09493907541036606, + 2.956050395965576, + -0.29089829325675964, + 0.795779824256897 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38171035051345825, + 0.08606838434934616, + 0.08471260964870453, + 2.980332136154175, + -0.2769465148448944, + 0.7960752248764038 + ], + "gripper_value": 0.9879508018493652 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37972402572631836, + 0.09055808931589127, + 0.08383674919605255, + 2.9877536296844482, + -0.2687132656574249, + 0.802150309085846 + ], + "gripper_value": 0.8862238526344299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37558355927467346, + 0.09374279528856277, + 0.0828232690691948, + 2.985738515853882, + -0.24189329147338867, + 0.8070256114006042 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, move up 4 cm, open gripper; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37246814370155334, + 0.09699573367834091, + 0.08192890137434006, + 2.9791219234466553, + -0.22225509583950043, + 0.8095211386680603 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 621, + 588, + 810, + 786 + ], + "green cloth": [ + 197, + 380, + 525, + 792 + ], + "orange toy": [ + 408, + 871, + 539, + 996 + ], + "wooden board": [ + 2, + 238, + 996, + 996 + ], + "white container": [ + 599, + 404, + 770, + 602 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, open gripper; then move forward 2 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716476261615753, + 0.09924628585577011, + 0.08188187330961227, + 2.979633092880249, + -0.22125990688800812, + 0.804170548915863 + ], + "gripper_value": 0.11661893874406815 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, open gripper; then move forward 3 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3725907504558563, + 0.1018516942858696, + 0.08228792250156403, + 2.988344192504883, + -0.23855240643024445, + 0.7977803349494934 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table with the green cloth visible below. The gripper is open and approaching the top-right corner of the folded cloth. No contact has been made yet, and the next action is to lower the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, open gripper; then move forward 2 cm, move right 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3721824288368225, + 0.10420336574316025, + 0.08235581964254379, + 2.9912919998168945, + -0.24221119284629822, + 0.7885148525238037 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now in contact with it. The gripper is closing (value 0.04936), indicating an active grasp attempt. The next action is to secure the corner firmly before lifting and pulling diagonally toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, open gripper; then move forward 2 cm, move right 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37043166160583496, + 0.10878337919712067, + 0.08227913826704025, + 2.9824843406677246, + -0.23448482155799866, + 0.7974136471748352 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now in contact with it. The gripper is closing (value 0.04936), indicating an active grasp attempt. The next action is to secure the corner firmly before lifting and pulling diagonally toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, open gripper; then move forward 2 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36068254709243774, + 0.11883296817541122, + 0.10312311351299286, + 2.931055784225464, + -0.23224619030952454, + 0.8066120147705078 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now in contact with it. The gripper is closing (value 0.04936), indicating an active grasp attempt. The next action is to secure the corner firmly before lifting and pulling diagonally toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425114154815674, + 0.13166272640228271, + 0.1322135627269745, + 2.857478618621826, + -0.22498811781406403, + 0.8277559876441956 + ], + "gripper_value": 0.07050029188394547 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 621, + 587, + 809, + 786 + ], + "wooden board": [ + 3, + 244, + 996, + 995 + ], + "orange toy": [ + 408, + 871, + 539, + 996 + ], + "white container": [ + 599, + 404, + 770, + 601 + ], + "green cloth": [ + 198, + 378, + 526, + 792 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now in contact with it. The gripper is closing (value 0.04936), indicating an active grasp attempt. The next action is to secure the corner firmly before lifting and pulling diagonally toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34206750988960266, + 0.12414716184139252, + 0.132502943277359, + 2.885786771774292, + -0.22487092018127441, + 0.7748817801475525 + ], + "gripper_value": 0.21234850585460663 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now in contact with it. The gripper is closing (value 0.04936), indicating an active grasp attempt. The next action is to secure the corner firmly before lifting and pulling diagonally toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, close gripper; then move back 3 cm, move left 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3549291789531708, + 0.10513695329427719, + 0.11983665823936462, + 2.917165756225586, + -0.23254866898059845, + 0.7442878484725952 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now in contact with it. The gripper is closing (value 0.04936), indicating an active grasp attempt. The next action is to secure the corner firmly before lifting and pulling diagonally toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, close gripper; then move back 5 cm, move left 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36789050698280334, + 0.08585353940725327, + 0.09789375960826874, + 2.9442296028137207, + -0.1974838227033615, + 0.7167333960533142 + ], + "gripper_value": 0.7672095894813538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-right corner of the green cloth and is now in contact with it. The gripper is closing (value 0.04936), indicating an active grasp attempt. The next action is to secure the corner firmly before lifting and pulling diagonally toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move back 7 cm, move left 8 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3773344159126282, + 0.0773356482386589, + 0.08441416919231415, + 2.9650185108184814, + -0.19027763605117798, + 0.7044655084609985 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently lifting it slightly above the table surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to begin dragging the cloth diagonally toward the bottom-left to initiate unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 9 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.38033103942871094, + 0.0759049579501152, + 0.08385374397039413, + 2.964285135269165, + -0.20595689117908478, + 0.7073553204536438 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently lifting it slightly above the table surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to begin dragging the cloth diagonally toward the bottom-left to initiate unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37973374128341675, + 0.07733386009931564, + 0.07786743342876434, + 2.979466199874878, + -0.197683185338974, + 0.7068141102790833 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently lifting it slightly above the table surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to begin dragging the cloth diagonally toward the bottom-left to initiate unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3792794346809387, + 0.07879257202148438, + 0.07427626103162766, + 2.9910926818847656, + -0.194448783993721, + 0.7098938226699829 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently lifting it slightly above the table surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to begin dragging the cloth diagonally toward the bottom-left to initiate unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 5 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3794879615306854, + 0.0821661725640297, + 0.07033611834049225, + 3.010474443435669, + -0.20225189626216888, + 0.7086591720581055 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "release and slide cloth", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently lifting it slightly above the table surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to begin dragging the cloth diagonally toward the bottom-left to initiate unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 5 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3788948059082031, + 0.08033617585897446, + 0.07046063244342804, + 2.9995529651641846, + -0.1925579160451889, + 0.6953513622283936 + ], + "gripper_value": 0.17243100702762604 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "release and slide cloth", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently lifting it slightly above the table surface. The gripper is closed, confirming a secure hold on the fabric. The next action is to begin dragging the cloth diagonally toward the bottom-left to initiate unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 7 cm, move left 6 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36720511317253113, + 0.08775646239519119, + 0.08305936306715012, + 2.9560179710388184, + -0.17007490992546082, + 0.6894575953483582 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "release and slide cloth", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently holding it slightly elevated above the table. The gripper is closed, indicating active holding, and the cloth is partially unfolded but not yet flat. The next action should involve dragging the cloth diagonally toward the bottom-left while maintaining grip to continue unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 8 cm, move left 7 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3496687710285187, + 0.1054472103714943, + 0.10666272789239883, + 2.8896288871765137, + -0.1597534418106079, + 0.6841837763786316 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "release and slide cloth", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently holding it slightly elevated above the table. The gripper is closed, indicating active holding, and the cloth is partially unfolded but not yet flat. The next action should involve dragging the cloth diagonally toward the bottom-left while maintaining grip to continue unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move down 1 cm, tilt left 20 degrees, keep gripper closed; then move back 8 cm, move left 6 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292447328567505, + 0.12944841384887695, + 0.11325878649950027, + 2.9034903049468994, + -0.18225517868995667, + 0.6569849252700806 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "release and slide cloth", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently holding it slightly elevated above the table. The gripper is closed, indicating active holding, and the cloth is partially unfolded but not yet flat. The next action should involve dragging the cloth diagonally toward the bottom-left while maintaining grip to continue unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move back 8 cm, move left 6 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31110092997550964, + 0.1583060473203659, + 0.10710609704256058, + 3.0306897163391113, + -0.19544155895709991, + 0.6384724378585815 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "release and slide cloth", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently holding it slightly elevated above the table. The gripper is closed, indicating active holding, and the cloth is partially unfolded but not yet flat. The next action should involve dragging the cloth diagonally toward the bottom-left while maintaining grip to continue unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move back 8 cm, move left 6 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.28921470046043396, + 0.17918168008327484, + 0.09517111629247665, + -3.117276906967163, + -0.1823251098394394, + 0.6135995984077454 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently holding it slightly elevated above the table. The gripper is closed, indicating active holding, and the cloth is partially unfolded but not yet flat. The next action should involve dragging the cloth diagonally toward the bottom-left while maintaining grip to continue unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 6 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2672227919101715, + 0.19728578627109528, + 0.10435988008975983, + -3.083317995071411, + -0.15832960605621338, + 0.5978444814682007 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 621, + 588, + 809, + 787 + ], + "green cloth": [ + 99, + 379, + 512, + 775 + ], + "orange toy": [ + 408, + 871, + 540, + 996 + ], + "wooden board": [ + 3, + 238, + 996, + 995 + ], + "white container": [ + 598, + 405, + 770, + 601 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently holding it slightly elevated above the table. The gripper is closed, indicating active holding, and the cloth is partially unfolded but not yet flat. The next action should involve dragging the cloth diagonally toward the bottom-left while maintaining grip to continue unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2507930099964142, + 0.2119995355606079, + 0.1195005401968956, + -3.096637487411499, + -0.1176484003663063, + 0.5880700945854187 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy": [ + 621, + 587, + 809, + 786 + ], + "green cloth": [ + 28, + 377, + 502, + 761 + ], + "wooden board": [ + 3, + 241, + 996, + 995 + ], + "orange toy": [ + 408, + 871, + 540, + 996 + ], + "white container": [ + 598, + 404, + 770, + 602 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has grasped the top-right corner of the green cloth and is currently holding it slightly elevated above the table. The gripper is closed, indicating active holding, and the cloth is partially unfolded but not yet flat. The next action should involve dragging the cloth diagonally toward the bottom-left while maintaining grip to continue unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, tilt left 20 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.23913852870464325, + 0.2244585007429123, + 0.1334676593542099, + -3.1231470108032227, + -0.08715345710515976, + 0.5914753079414368 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has successfully grasped the top-right corner of the green cloth and lifted it, partially unfolding the fabric. The gripper is currently holding the cloth elevated above the table, maintaining tension on the material. The next action is to drag the gripper diagonally towards the bottom-left to fully extend the cloth flat on the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.22885985672473907, + 0.2333087921142578, + 0.13303251564502716, + -3.042595863342285, + -0.0728573426604271, + 0.6305803656578064 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has successfully grasped the top-right corner of the green cloth and lifted it, partially unfolding the fabric. The gripper is currently holding the cloth elevated above the table, maintaining tension on the material. The next action is to drag the gripper diagonally towards the bottom-left to fully extend the cloth flat on the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.22049224376678467, + 0.23764242231845856, + 0.12333597242832184, + -2.9609169960021973, + -0.07441743463277817, + 0.6962668895721436 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has successfully grasped the top-right corner of the green cloth and lifted it, partially unfolding the fabric. The gripper is currently holding the cloth elevated above the table, maintaining tension on the material. The next action is to drag the gripper diagonally towards the bottom-left to fully extend the cloth flat on the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.21064506471157074, + 0.24502812325954437, + 0.12280094623565674, + -2.869436502456665, + -0.07772050052881241, + 0.8173421025276184 + ], + "gripper_value": 0.21234850585460663 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has successfully grasped the top-right corner of the green cloth and lifted it, partially unfolding the fabric. The gripper is currently holding the cloth elevated above the table, maintaining tension on the material. The next action is to drag the gripper diagonally towards the bottom-left to fully extend the cloth flat on the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.20820842683315277, + 0.24327312409877777, + 0.11904575675725937, + -2.809610366821289, + -0.052946221083402634, + 0.938059389591217 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has successfully grasped the top-right corner of the green cloth and lifted it, partially unfolding the fabric. The gripper is currently holding the cloth elevated above the table, maintaining tension on the material. The next action is to drag the gripper diagonally towards the bottom-left to fully extend the cloth flat on the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.20628830790519714, + 0.2396971732378006, + 0.12258443236351013, + -2.7855520248413086, + -0.04597865417599678, + 0.9779387712478638 + ], + "gripper_value": 0.7584560513496399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "final contact and retreat", + "subtask_reasoning": "The robot has successfully grasped the top-right corner of the green cloth and lifted it, partially unfolding the fabric. The gripper is currently holding the cloth elevated above the table, maintaining tension on the material. The next action is to drag the gripper diagonally towards the bottom-left to fully extend the cloth flat on the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.20423296093940735, + 0.23952005803585052, + 0.1355571746826172, + -2.789419412612915, + -0.08708175271749496, + 0.9903842210769653 + ], + "gripper_value": 0.9865638017654419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "final contact and retreat", + "subtask_reasoning": "The green cloth is now fully unfolded and lying flat on the table, with the gripper having released it after dragging. The current frame shows no contact between gripper and cloth, indicating retreat has begun. Next, the robot should move away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 40, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.21383245289325714, + 0.22041131556034088, + 0.15235452353954315, + -2.86745285987854, + -0.13437414169311523, + 0.8728475570678711 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-right corner of the folded green cloth and pull it diagonally towards the bottom-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and slide cloth" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + }, + { + "id": 6, + "subtask": "final contact and retreat" + } + ], + "subtask_name": "final contact and retreat", + "subtask_reasoning": "The green cloth is now fully unfolded and lying flat on the table, with the gripper having released it after dragging. The current frame shows no contact between gripper and cloth, indicating retreat has begun. Next, the robot should move away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003947_ecot.json b/cot/chunk-0003/episode_0003947_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0cd088d4699b00e99332babc00f929c4da19b3d2 --- /dev/null +++ b/cot/chunk-0003/episode_0003947_ecot.json @@ -0,0 +1,1707 @@ +{ + "task_name": "episode_0003947", + "episode_json": "json/chunk-0003/episode_0003947.json", + "video_path": "videos/chunk-0003/image_0/episode_0003947.mp4", + "instruction": "Unfold the cloth from the left to top right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003947.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.9605962634086609, + "std": 0.42501235008239746, + "delta_total": 0.006542205810546875, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96060, std=0.42501, total_delta=0.00654). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 8, + 8, + 8, + 8, + 8, + 21, + 221, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 15 + ], + [ + 3, + 16, + 20 + ], + [ + 4, + 21, + 21 + ], + [ + 5, + 22, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cloth corner\", \"start\": 0, \"end\": 7, \"planning\": \"Move gripper to the left-side corner of the folded yellow cloth and close fingers to secure a firm grasp as evidenced by gripper value dropping from 1.0 to 0.65.\"},\n {\"id\": 2, \"name\": \"drag cloth diagonally toward top right\", \"start\": 8, \"end\": 15, \"planning\": \"While maintaining grip, translate end-effector diagonally upward and rightward to begin unfolding the cloth, with gripper remaining closed (value ~0.05) confirming sustained hold.\"},\n {\"id\": 3, \"name\": \"reposition gripper for next manipulation\", \"start\": 16, \"end\": 20, \"planning\": \"Release grip and retreat slightly to reposition above the cloth’s new orientation, preparing for final adjustment without contact.\"},\n {\"id\": 4, \"name\": \"hover and align over unfolded region\", \"start\": 21, \"end\": 21, \"planning\": \"Position gripper directly above the partially unfolded cloth with fingers open, aligning for potential final smoothing or release confirmation.\"},\n {\"id\": 5, \"name\": \"final hover and disengage\", \"start\": 22, \"end\": 24, \"planning\": \"Maintain open-gripper hover over the now mostly-unfolded cloth, making minor positional adjustments to confirm task completion without further contact.\"}\n ],\n \"global_plan\": \"Unfold the yellow cloth by first grasping its left corner, dragging it diagonally toward the top-right to initiate unfolding, then releasing and repositioning to hover over the result for final alignment.\",\n \"notes\": \"Gripper evidence supports grasp in segments 1–2 (closing motion + low values), release in segment 3 (rising gripper value), and no grasp in segments 4–5 (open gripper, no closing delta). Motion trajectory confirms diagonal drag followed by retreat and hover. No lifting observed — all actions are planar dragging or hovering.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cloth corner", + "start": 0, + "end": 7, + "planning": "Move gripper to the left-side corner of the folded yellow cloth and close fingers to secure a firm grasp as evidenced by gripper value dropping from 1.0 to 0.65." + }, + { + "id": 2, + "name": "drag cloth diagonally toward top right", + "start": 8, + "end": 15, + "planning": "While maintaining grip, translate end-effector diagonally upward and rightward to begin unfolding the cloth, with gripper remaining closed (value ~0.05) confirming sustained hold." + }, + { + "id": 3, + "name": "reposition gripper for next manipulation", + "start": 16, + "end": 20, + "planning": "Release grip and retreat slightly to reposition above the cloth’s new orientation, preparing for final adjustment without contact." + }, + { + "id": 4, + "name": "hover and align over unfolded region", + "start": 21, + "end": 21, + "planning": "Position gripper directly above the partially unfolded cloth with fingers open, aligning for potential final smoothing or release confirmation." + }, + { + "id": 5, + "name": "final hover and disengage", + "start": 22, + "end": 24, + "planning": "Maintain open-gripper hover over the now mostly-unfolded cloth, making minor positional adjustments to confirm task completion without further contact." + } + ], + "global_plan": "Unfold the yellow cloth by first grasping its left corner, dragging it diagonally toward the top-right to initiate unfolding, then releasing and repositioning to hover over the result for final alignment.", + "notes": "Gripper evidence supports grasp in segments 1–2 (closing motion + low values), release in segment 3 (rising gripper value), and no grasp in segments 4–5 (open gripper, no closing delta). Motion trajectory confirms diagonal drag followed by retreat and hover. No lifting observed — all actions are planar dragging or hovering." + } + }, + "episode_goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043192923069, + 0.07264739274978638, + 0.06939054280519485, + -2.936267614364624, + -0.19079212844371796, + 0.09183672815561295 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "approach and grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015243411064148, + 0.07204989343881607, + 0.05937374755740166, + -2.940399646759033, + -0.1601540446281433, + 0.10045962780714035 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "approach and grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076784610748291, + 0.06675560772418976, + 0.057048920542001724, + -2.9408373832702637, + -0.18731065094470978, + 0.09363039582967758 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "approach and grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move forward 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120266795158386, + 0.06232481449842453, + 0.04514821246266365, + -2.9661548137664795, + -0.17119236290454865, + 0.08927439898252487 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 253, + 280, + 585, + 946 + ], + "table": [ + 4, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "approach and grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 3 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31506583094596863, + 0.05871488153934479, + 0.03582250699400902, + -2.9966511726379395, + -0.16801342368125916, + 0.1038561537861824 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "approach and grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move forward 6 cm, move right 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3158451318740845, + 0.05708961561322212, + 0.0317969024181366, + -3.014338970184326, + -0.16625447571277618, + 0.11039523780345917 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "approach and grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 8 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31200990080833435, + 0.056159839034080505, + 0.029052425175905228, + -3.0186984539031982, + -0.1545642465353012, + 0.11852945387363434 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "approach and grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 10 cm, move right 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30708441138267517, + 0.05522918701171875, + 0.025507936254143715, + -3.0322844982147217, + -0.13825955986976624, + 0.1192428320646286 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "approach and grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 10 cm, move right 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3029685914516449, + 0.05645453929901123, + 0.02047041431069374, + -3.041318416595459, + -0.13300079107284546, + 0.14330634474754333 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30254271626472473, + 0.0548248216509819, + 0.01314879022538662, + -3.056621551513672, + -0.11708037555217743, + 0.14322642982006073 + ], + "gripper_value": 0.15014003217220306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080141544342041, + 0.05593852698802948, + 0.012529485858976841, + -3.0586936473846436, + -0.11231046169996262, + 0.13167499005794525 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned above the left corner of the folded yellow cloth on the table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30777260661125183, + 0.059909638017416, + 0.01654122956097126, + -3.0342307090759277, + -0.09197522699832916, + 0.13748416304588318 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the left corner of the yellow cloth with a closed gripper, having completed the approach and grasp phase. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the top-right to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31822049617767334, + 0.05630972236394882, + 0.033579129725694656, + -2.9823222160339355, + -0.08131690323352814, + 0.11197631806135178 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the left corner of the yellow cloth with a closed gripper, having completed the approach and grasp phase. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the top-right to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3372778296470642, + 0.03712381795048714, + 0.04930759221315384, + -2.9714267253875732, + -0.12428538501262665, + 0.07812712341547012 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the left corner of the yellow cloth with a closed gripper, having completed the approach and grasp phase. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the top-right to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.360409140586853, + 0.013179662637412548, + 0.060951054096221924, + -3.0144498348236084, + -0.20929613709449768, + 0.06765223294496536 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the left corner of the yellow cloth with a closed gripper, having completed the approach and grasp phase. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the top-right to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3847953677177429, + -0.016803765669465065, + 0.03997485339641571, + -3.099935531616211, + -0.2461961954832077, + 0.056241605430841446 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 248, + 245, + 591, + 935 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the left corner of the yellow cloth with a closed gripper, having completed the approach and grasp phase. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the top-right to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40331727266311646, + -0.0324246883392334, + 0.02147151343524456, + 3.124439001083374, + -0.24998894333839417, + 0.04182019829750061 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "reposition gripper for next manipulation", + "subtask_reasoning": "The robot is currently holding the left corner of the yellow cloth with a closed gripper, having completed the approach and grasp phase. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the top-right to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4150882065296173, + -0.04213596507906914, + 0.012091569602489471, + 3.074538469314575, + -0.24994409084320068, + 0.021540427580475807 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "reposition gripper for next manipulation", + "subtask_reasoning": "The robot is currently holding the left corner of the yellow cloth with a closed gripper, having completed the approach and grasp phase. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the top-right to unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.41931426525115967, + -0.042370930314064026, + 0.009646696969866753, + 3.045825719833374, + -0.24994342029094696, + 0.03538006916642189 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "reposition gripper for next manipulation", + "subtask_reasoning": "The yellow cloth has been partially unfolded and dragged toward the top right, with the gripper currently holding its corner. The gripper is repositioning slightly while maintaining contact to prepare for the next unfolding motion. The next action should involve releasing or adjusting grip to continue spreading the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.42376214265823364, + -0.0448986254632473, + 0.010824577882885933, + 3.0396342277526855, + -0.24782446026802063, + 0.03553381562232971 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "reposition gripper for next manipulation", + "subtask_reasoning": "The yellow cloth has been partially unfolded and dragged toward the top right, with the gripper currently holding its corner. The gripper is repositioning slightly while maintaining contact to prepare for the next unfolding motion. The next action should involve releasing or adjusting grip to continue spreading the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4269241988658905, + -0.054167330265045166, + 0.013037563301622868, + 3.0228331089019775, + -0.23302829265594482, + 0.06424962729215622 + ], + "gripper_value": 0.472818523645401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "reposition gripper for next manipulation", + "subtask_reasoning": "The yellow cloth has been partially unfolded and dragged toward the top right, with the gripper currently holding its corner. The gripper is repositioning slightly while maintaining contact to prepare for the next unfolding motion. The next action should involve releasing or adjusting grip to continue spreading the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.43041497468948364, + -0.06635941565036774, + 0.013198545202612877, + 3.0559375286102295, + -0.2135777771472931, + 0.06612001359462738 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "hover and align over unfolded region", + "subtask_reasoning": "The yellow cloth has been partially unfolded and dragged toward the top-right, now lying diagonally on the table. The gripper is open and hovering above the cloth’s upper region, indicating completion of the drag phase. Next, the robot should fine-tune its position to align precisely over the unfolded area for potential final adjustment or release confirmation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.43868395686149597, + -0.08031938970088959, + 0.03603265807032585, + -3.1370530128479004, + -0.21566636860370636, + 0.022613421082496643 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 244, + 227, + 704, + 898 + ], + "table": [ + 5, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "final hover and disengage", + "subtask_reasoning": "The yellow cloth has been partially unfolded and dragged toward the top-right, now lying diagonally on the table. The gripper is open and hovering above the cloth’s upper region, indicating completion of the drag phase. Next, the robot should fine-tune its position to align precisely over the unfolded area for potential final adjustment or release confirmation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4391423761844635, + -0.08480194956064224, + 0.052316002547740936, + -3.0524098873138428, + -0.20215360820293427, + -0.006492489017546177 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "final hover and disengage", + "subtask_reasoning": "The yellow cloth is partially unfolded on the table, with the gripper hovering above it after completing the diagonal drag. The gripper is open and disengaged, indicating the final hover phase. Next, minor adjustments may be needed to ensure full alignment toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4366280138492584, + -0.08276314288377762, + 0.05114917829632759, + -3.0221898555755615, + -0.19551290571689606, + 0.0021500324364751577 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from its initial folded state on the left side of the table to a fully spread position toward the top right corner of the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cloth corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "reposition gripper for next manipulation" + }, + { + "id": 4, + "subtask": "hover and align over unfolded region" + }, + { + "id": 5, + "subtask": "final hover and disengage" + } + ], + "subtask_name": "final hover and disengage", + "subtask_reasoning": "The yellow cloth is partially unfolded on the table, with the gripper hovering above it after completing the diagonal drag. The gripper is open and disengaged, indicating the final hover phase. Next, minor adjustments may be needed to ensure full alignment toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003948_ecot.json b/cot/chunk-0003/episode_0003948_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c6926bc893d2d1afd7ff4a6266420386dcb909c6 --- /dev/null +++ b/cot/chunk-0003/episode_0003948_ecot.json @@ -0,0 +1,968 @@ +{ + "task_name": "episode_0003948", + "episode_json": "json/chunk-0003/episode_0003948.json", + "video_path": "videos/chunk-0003/image_0/episode_0003948.mp4", + "instruction": "Flip pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003948.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.9517531394958496, + "std": 0.433145672082901, + "delta_total": -0.9517531394958496, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95175, std=0.43315, total_delta=-0.95175). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp pot\", \"start\": 0, \"end\": 9, \"planning\": \"Move gripper to contact the overturned pot in the sink and close fingers to secure a firm grasp.\"},\n {\"id\": 2, \"name\": \"flip pot upright\", \"start\": 10, \"end\": 16, \"planning\": \"Rotate and lift the grasped pot to flip it upright within the sink basin while maintaining grip.\"}\n ],\n \"global_plan\": \"Grasp the overturned pot in the sink and rotate it to an upright position using controlled wrist motion.\",\n \"notes\": \"Segment 1 shows gripper closing from open (1.01) to partially closed (0.51), consistent with initiating grasp; Segment 2 continues closure to full grip (0.06) while rotating pot upright — both segments support grasp/hold wording per evidence and image alignment.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp pot", + "start": 0, + "end": 9, + "planning": "Move gripper to contact the overturned pot in the sink and close fingers to secure a firm grasp." + }, + { + "id": 2, + "name": "flip pot upright", + "start": 10, + "end": 16, + "planning": "Rotate and lift the grasped pot to flip it upright within the sink basin while maintaining grip." + } + ], + "global_plan": "Grasp the overturned pot in the sink and rotate it to an upright position using controlled wrist motion.", + "notes": "Segment 1 shows gripper closing from open (1.01) to partially closed (0.51), consistent with initiating grasp; Segment 2 continues closure to full grip (0.06) while rotating pot upright — both segments support grasp/hold wording per evidence and image alignment." + } + }, + "episode_goal": "Flip the pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29627808928489685, + -0.07981836795806885, + 0.04157351329922676, + -3.0022928714752197, + -0.08798651397228241, + 0.04053272679448128 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies. The gripper is currently open and approaching the pot to establish a grasp. The next action is to close the gripper to secure the pot for manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt left 40 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29193904995918274, + -0.07779678702354431, + 0.031278252601623535, + -2.9365999698638916, + -0.05999667942523956, + 0.015989359468221664 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies. The gripper is currently open and approaching the pot to establish a grasp. The next action is to close the gripper to secure the pot for manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29108938574790955, + -0.07779918611049652, + 0.023249462246894836, + -2.7800815105438232, + -0.060362085700035095, + -0.03711289167404175 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies. The gripper is currently open and approaching the pot to establish a grasp. The next action is to close the gripper to secure the pot for manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28938496112823486, + -0.08049604296684265, + 0.013320156373083591, + -2.6726958751678467, + -0.06989181041717529, + -0.06193884462118149 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bell pepper": [ + 504, + 230, + 604, + 388 + ], + "purple toy vegetable": [ + 352, + 174, + 447, + 256 + ], + "carrot": [ + 429, + 518, + 498, + 657 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot lies. The gripper is currently open and approaching the pot to establish a grasp. The next action is to close the gripper to secure the pot for manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2898584008216858, + -0.08133294433355331, + 0.005876020062714815, + -2.608222723007202, + -0.08543233573436737, + -0.07597991079092026 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 2 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29126977920532227, + -0.07804102450609207, + 0.0010753365932032466, + -2.53951358795166, + -0.08227789402008057, + -0.096743643283844 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, tilt left 10 degrees, close gripper; then move left 3 cm, move down 1 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29264500737190247, + -0.07267690449953079, + -0.002893795957788825, + -2.440500259399414, + -0.050668854266405106, + -0.12457473576068878 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, close gripper; then move left 4 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29317760467529297, + -0.06658471375703812, + -0.0012877375120297074, + -2.3815836906433105, + -0.019779210910201073, + -0.14253269135951996 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move left 4 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955692410469055, + -0.0631093680858612, + 0.0012268945574760437, + -2.36099910736084, + -0.014095149002969265, + -0.16243413090705872 + ], + "gripper_value": 0.8390268683433533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move left 4 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29741472005844116, + -0.06072556972503662, + 0.0011142273433506489, + -2.3620998859405518, + -0.019430220127105713, + -0.15960560739040375 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move left 4 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2962765693664551, + -0.05557690188288689, + -0.00015386960876639932, + -2.3624651432037354, + -0.016180729493498802, + -0.14757388830184937 + ], + "gripper_value": 0.2610139548778534 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2960387170314789, + -0.04712096229195595, + 0.0006029836949892342, + -2.398716926574707, + -0.020556239411234856, + -0.12268291413784027 + ], + "gripper_value": 0.1526326984167099 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bell pepper": [ + 503, + 230, + 604, + 388 + ], + "purple toy vegetable": [ + 353, + 174, + 448, + 257 + ], + "sink": [ + 269, + 375, + 904, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2954343557357788, + -0.04302648454904556, + 0.0008698991150595248, + -2.5153467655181885, + -0.02502698265016079, + -0.12540285289287567 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the pot remains on its side. The next action should involve lowering the gripper to make contact and grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, tilt right 30 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29497969150543213, + -0.04208647832274437, + -0.00041142915142700076, + -2.5713915824890137, + -0.046692751348018646, + -0.15658921003341675 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the overturned pot in the sink, having completed the approach and grasp phases. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the wrist to flip the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947467267513275, + -0.03473014011979103, + -0.0050404686480760574, + -2.6888267993927, + -0.10743305087089539, + -0.15763671696186066 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the overturned pot in the sink, having completed the approach and grasp phases. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the wrist to flip the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29457855224609375, + -0.02783154882490635, + -0.013035709038376808, + -2.8511784076690674, + -0.15629670023918152, + -0.14682525396347046 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the overturned pot in the sink, having completed the approach and grasp phases. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the wrist to flip the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29455557465553284, + -0.019294263795018196, + -0.020940758287906647, + -2.9465339183807373, + -0.18499311804771423, + -0.1354418843984604 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is currently holding the overturned pot in the sink, having completed the approach and grasp phases. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the wrist to flip the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003949_ecot.json b/cot/chunk-0003/episode_0003949_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..92b2d50c23f68b16df61e10f7b4721024f55d7b5 --- /dev/null +++ b/cot/chunk-0003/episode_0003949_ecot.json @@ -0,0 +1,1960 @@ +{ + "task_name": "episode_0003949", + "episode_json": "json/chunk-0003/episode_0003949.json", + "video_path": "videos/chunk-0003/image_0/episode_0003949.mp4", + "instruction": "Take carrot out of pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003949.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.3466914892196655, + "std": 0.14743129909038544, + "delta_total": -0.0020501017570495605, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34669, std=0.14743, total_delta=-0.00205). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 24 + ], + [ + 3, + 25, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot in pot\", \"start\": 0, \"end\": 2, \"planning\": \"Move the gripper toward the carrot inside the orange pot without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp and lift carrot\", \"start\": 3, \"end\": 24, \"planning\": \"Close the gripper to grasp the carrot and lift it out of the pot, holding it securely.\"},\n {\"id\": 3, \"name\": \"release carrot on tray\", \"start\": 25, \"end\": 32, \"planning\": \"Open the gripper to release the carrot onto the wooden tray and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the carrot inside the pot, grasp and lift it out, then release it onto the tray.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closure and lifting of the carrot (visible in Frame 24). Segment 3 shows gripper opening and release (Frame 32 confirms open gripper with carrot on tray).\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot in pot", + "start": 0, + "end": 2, + "planning": "Move the gripper toward the carrot inside the orange pot without closing the gripper." + }, + { + "id": 2, + "name": "grasp and lift carrot", + "start": 3, + "end": 24, + "planning": "Close the gripper to grasp the carrot and lift it out of the pot, holding it securely." + }, + { + "id": 3, + "name": "release carrot on tray", + "start": 25, + "end": 32, + "planning": "Open the gripper to release the carrot onto the wooden tray and retreat slightly." + } + ], + "global_plan": "Approach the carrot inside the pot, grasp and lift it out, then release it onto the tray.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closure and lifting of the carrot (visible in Frame 24). Segment 3 shows gripper opening and release (Frame 32 confirms open gripper with carrot on tray)." + } + }, + "episode_goal": "Remove the carrot from the orange bowl and place it on the wooden tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017139136791229, + 0.05185947194695473, + 0.07321678102016449, + -2.9980599880218506, + -0.2250714898109436, + 0.24301418662071228 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "approach carrot in pot", + "subtask_reasoning": "The robot is positioned above the wooden tray with the gripper open, approaching the orange bowl containing the carrot. No objects have been moved yet. The next action is to continue moving the end-effector closer to the carrot inside the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move back 5 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2961190342903137, + 0.04974514991044998, + 0.06620491296052933, + -3.0022995471954346, + -0.19216123223304749, + 0.25195616483688354 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "approach carrot in pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move back 4 cm, move right 6 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27934905886650085, + 0.02570834942162037, + 0.07701724022626877, + -3.066722869873047, + -0.1721488982439041, + 0.268718957901001 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "approach carrot in pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 4 cm, move right 6 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25323131680488586, + -0.001627149642445147, + 0.09990313649177551, + 3.1392338275909424, + -0.1685037612915039, + 0.20295019447803497 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22421607375144958, + -0.02337655983865261, + 0.1057545468211174, + 3.093679428100586, + -0.14939530193805695, + 0.1490478217601776 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20664840936660767, + -0.04182080924510956, + 0.092818483710289, + 3.1074018478393555, + -0.1251021772623062, + 0.16532132029533386 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2034410685300827, + -0.048739220947027206, + 0.07696457207202911, + 3.0888314247131348, + -0.12304917722940445, + 0.2354622185230255 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 402, + 597, + 662, + 915 + ], + "tomato": [ + 211, + 544, + 321, + 693 + ], + "pear": [ + 620, + 531, + 722, + 665 + ] + } + } + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20443037152290344, + -0.05617885664105415, + 0.06444378197193146, + 3.0639569759368896, + -0.11457942426204681, + 0.2781446576118469 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.20562957227230072, + -0.058118876069784164, + 0.054629579186439514, + 3.050816297531128, + -0.12424227595329285, + 0.30338460206985474 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2063511461019516, + -0.06200091540813446, + 0.050561901181936264, + 3.0308427810668945, + -0.10824120044708252, + 0.3109946846961975 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20797131955623627, + -0.06064559146761894, + 0.04820137470960617, + 3.0290496349334717, + -0.10622599720954895, + 0.3390384316444397 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tomato": [ + 211, + 544, + 321, + 694 + ], + "orange bowl": [ + 402, + 632, + 664, + 913 + ], + "wooden tray": [ + 55, + 303, + 822, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20937569439411163, + -0.060863569378852844, + 0.04075787216424942, + 3.0353739261627197, + -0.09506496042013168, + 0.35299375653266907 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2111024111509323, + -0.057944267988204956, + 0.03472143039107323, + 3.0603437423706055, + -0.1004624292254448, + 0.35982751846313477 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange bowl containing the carrot visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to approach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21193794906139374, + -0.05991807207465172, + 0.027728402987122536, + 3.078289031982422, + -0.10028934478759766, + 0.3612547516822815 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21183224022388458, + -0.06193174049258232, + 0.022674135863780975, + 3.0988237857818604, + -0.10557821393013, + 0.35634276270866394 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21036016941070557, + -0.06393222510814667, + 0.01612522453069687, + 3.11067271232605, + -0.09210458397865295, + 0.35581594705581665 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20802879333496094, + -0.06508592516183853, + 0.00883657019585371, + 3.1225955486297607, + -0.07062257081270218, + 0.36413314938545227 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21093520522117615, + -0.06755214184522629, + 0.0028524284716695547, + 3.124255418777466, + -0.06271690875291824, + 0.38118454813957214 + ], + "gripper_value": 0.8298270106315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21199950575828552, + -0.06819143891334534, + 0.00335948308929801, + 3.1141133308410645, + -0.06814484298229218, + 0.38796788454055786 + ], + "gripper_value": 0.6460646390914917 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21036598086357117, + -0.06424444168806076, + 0.020528601482510567, + 3.093461751937866, + -0.08900273591279984, + 0.41278931498527527 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2090144157409668, + -0.05620554834604263, + 0.03995712473988533, + 3.0770816802978516, + -0.11580513417720795, + 0.4456896185874939 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21220479905605316, + -0.0485164150595665, + 0.07385707646608353, + 3.0119893550872803, + -0.14586606621742249, + 0.5013109445571899 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23942431807518005, + -0.03477906063199043, + 0.09034110605716705, + 2.997302293777466, + -0.1968165636062622, + 0.609307587146759 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 411, + 611, + 665, + 927 + ], + "tomato": [ + 211, + 545, + 321, + 694 + ], + "wooden tray": [ + 54, + 277, + 801, + 985 + ], + "pear": [ + 619, + 531, + 722, + 665 + ] + } + } + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26475459337234497, + -0.014405494555830956, + 0.0754411444067955, + 3.067490339279175, + -0.1831747591495514, + 0.6714832186698914 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2809073030948639, + 0.0017344483640044928, + 0.058804869651794434, + 3.1185498237609863, + -0.17617692053318024, + 0.7026692628860474 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 410, + 607, + 671, + 917 + ], + "tomato": [ + 211, + 545, + 321, + 694 + ], + "pear": [ + 617, + 531, + 722, + 664 + ] + } + } + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.286814421415329, + 0.014514246955513954, + 0.033069074153900146, + -3.094198226928711, + -0.1700247973203659, + 0.6883041262626648 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "release carrot on tray", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923300564289093, + 0.02181435562670231, + 0.016777178272604942, + -3.0606203079223633, + -0.20741668343544006, + 0.6688858866691589 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "release carrot on tray", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29032760858535767, + 0.02624371089041233, + 0.005053529515862465, + -3.0268630981445312, + -0.19547100365161896, + 0.6559315323829651 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "release carrot on tray", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, with the gripper currently open. The approach phase is complete, and the system is now ready to initiate the grasp. The next action is to close the gripper to secure the carrot before lifting it out of the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2929159700870514, + 0.028627168387174606, + 0.00576596288010478, + -3.036268711090088, + -0.20344753563404083, + 0.6730989813804626 + ], + "gripper_value": 0.7240482568740845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "release carrot on tray", + "subtask_reasoning": "The carrot is currently held by the gripper and positioned directly above the wooden tray, near the other vegetables. The gripper is open, indicating the release phase is underway or just completed. The next action is to ensure the carrot is fully placed on the tray and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29300642013549805, + 0.0295922439545393, + 0.005379183683544397, + -3.0460197925567627, + -0.2043243795633316, + 0.6962705850601196 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "release carrot on tray", + "subtask_reasoning": "The carrot is currently held by the gripper and positioned directly above the wooden tray, near the other vegetables. The gripper is open, indicating the release phase is underway or just completed. The next action is to ensure the carrot is fully placed on the tray and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913638651371002, + 0.03110077977180481, + 0.0037745716981589794, + -3.0703847408294678, + -0.19127178192138672, + 0.736379086971283 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "release carrot on tray", + "subtask_reasoning": "The carrot is currently held by the gripper and positioned directly above the wooden tray, near the other vegetables. The gripper is open, indicating the release phase is underway or just completed. The next action is to ensure the carrot is fully placed on the tray and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28817018866539, + 0.032225217670202255, + 0.007483340334147215, + -3.0482311248779297, + -0.16812221705913544, + 0.7476380467414856 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "release carrot on tray", + "subtask_reasoning": "The carrot is currently held by the gripper and positioned directly above the wooden tray, near the other vegetables. The gripper is open, indicating the release phase is underway or just completed. The next action is to ensure the carrot is fully placed on the tray and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2891525328159332, + 0.027808882296085358, + 0.040741778910160065, + -3.0872490406036377, + -0.1405288279056549, + 0.7475069165229797 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the carrot from the orange bowl and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in pot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "release carrot on tray" + } + ], + "subtask_name": "release carrot on tray", + "subtask_reasoning": "The carrot is currently held by the gripper and positioned directly above the wooden tray, near the other vegetables. The gripper is open, indicating the release phase is underway or just completed. The next action is to ensure the carrot is fully placed on the tray and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003950_ecot.json b/cot/chunk-0003/episode_0003950_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ada9c3ec4148002cad271d7afe5d410ae3812d25 --- /dev/null +++ b/cot/chunk-0003/episode_0003950_ecot.json @@ -0,0 +1,2595 @@ +{ + "task_name": "episode_0003950", + "episode_json": "json/chunk-0003/episode_0003950.json", + "video_path": "videos/chunk-0003/image_0/episode_0003950.mp4", + "instruction": "Move the orange cloth on the edge of table near the yellow knife.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003950.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006645917892456055, + "std": 0.00025006887153722346, + "delta_total": -0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00025, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 31 + ], + [ + 3, + 32, + 35 + ], + [ + 4, + 36, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange cloth\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector from initial position down toward the orange cloth at the table edge.\"},\n {\"id\": 2, \"name\": \"reposition orange cloth\", \"start\": 9, \"end\": 31, \"planning\": \"Drag and slide the orange cloth across the table surface toward the yellow knife using continuous contact motion.\"},\n {\"id\": 3, \"name\": \"fine adjust cloth position\", \"start\": 32, \"end\": 35, \"planning\": \"Make small nudging adjustments to align the cloth closer to the yellow knife with minimal gripper movement.\"},\n {\"id\": 4, \"name\": \"retreat from cloth\", \"start\": 36, \"end\": 40, \"planning\": \"Lift and withdraw the end-effector away from the cloth after positioning is complete.\"}\n ],\n \"global_plan\": \"The robot approaches the orange cloth, drags it across the table toward the yellow knife, makes fine positional adjustments, then retreats — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no closing occurred in any segment; all manipulation is contact-based (drag/slide/nudge). Frame ranges are contiguous and cover full trajectory [0,40].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange cloth", + "start": 0, + "end": 8, + "planning": "Move the end-effector from initial position down toward the orange cloth at the table edge." + }, + { + "id": 2, + "name": "reposition orange cloth", + "start": 9, + "end": 31, + "planning": "Drag and slide the orange cloth across the table surface toward the yellow knife using continuous contact motion." + }, + { + "id": 3, + "name": "fine adjust cloth position", + "start": 32, + "end": 35, + "planning": "Make small nudging adjustments to align the cloth closer to the yellow knife with minimal gripper movement." + }, + { + "id": 4, + "name": "retreat from cloth", + "start": 36, + "end": 40, + "planning": "Lift and withdraw the end-effector away from the cloth after positioning is complete." + } + ], + "global_plan": "The robot approaches the orange cloth, drags it across the table toward the yellow knife, makes fine positional adjustments, then retreats — all without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence confirms no closing occurred in any segment; all manipulation is contact-based (drag/slide/nudge). Frame ranges are contiguous and cover full trajectory [0,40]." + } + }, + "episode_goal": "Move the orange cloth on the edge of table near the yellow knife.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33814847469329834, + -0.0014178501442074776, + 0.1957469880580902, + 3.0901401042938232, + -0.23088862001895905, + 0.07057811319828033 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement or interaction has occurred yet. The next action is to move the end-effector toward the orange cloth to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 11 cm, move down 14 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3364214599132538, + -0.002702216384932399, + 0.18356724083423615, + 3.089519739151001, + -0.19372765719890594, + 0.07385057210922241 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement or interaction has occurred yet. The next action is to move the end-effector toward the orange cloth to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 11 cm, move down 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31782782077789307, + -0.026626572012901306, + 0.16683118045330048, + 3.0766654014587402, + -0.15748901665210724, + 0.012191850692033768 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement or interaction has occurred yet. The next action is to move the end-effector toward the orange cloth to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move down 11 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29482609033584595, + -0.04975898191332817, + 0.16991595923900604, + 3.0611250400543213, + -0.17550520598888397, + -0.024600714445114136 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement or interaction has occurred yet. The next action is to move the end-effector toward the orange cloth to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move down 11 cm, tilt forward 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2673453688621521, + -0.07538110762834549, + 0.15931357443332672, + 3.060779094696045, + -0.1649831086397171, + -0.08702898025512695 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 10 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25001001358032227, + -0.09359421581029892, + 0.13897819817066193, + 3.0854601860046387, + -0.14912568032741547, + -0.10781081020832062 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24459663033485413, + -0.10626055300235748, + 0.10958395153284073, + 3.091099739074707, + -0.1043291911482811, + -0.06571459025144577 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 362, + 263, + 517, + 444 + ], + "orange cloth": [ + 515, + 618, + 830, + 970 + ], + "metal bowl": [ + 637, + 431, + 778, + 552 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24765542149543762, + -0.11090695112943649, + 0.08614550530910492, + 3.111116409301758, + -0.05580556392669678, + -0.059750791639089584 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24978016316890717, + -0.11115153878927231, + 0.06658320128917694, + 3.13100266456604, + -0.014114579185843468, + -0.06716986000537872 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2549608051776886, + -0.11186237633228302, + 0.05501174181699753, + -3.1398909091949463, + 0.001029177219606936, + -0.0775650218129158 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25833356380462646, + -0.11028198152780533, + 0.05344590172171593, + -3.130329132080078, + -0.017016271129250526, + -0.07754011452198029 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2551926374435425, + -0.10541132837533951, + 0.04533147066831589, + -3.0942740440368652, + -0.03864801302552223, + -0.06897158920764923 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2517896294593811, + -0.10666501522064209, + 0.03716059401631355, + -3.0736162662506104, + -0.07688689231872559, + -0.064125657081604 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 362, + 262, + 518, + 443 + ], + "metal bowl": [ + 598, + 314, + 732, + 511 + ], + "orange cloth": [ + 513, + 630, + 825, + 972 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25079548358917236, + -0.10824103653430939, + 0.03661111369729042, + -3.0810999870300293, + -0.07129482924938202, + -0.06641493737697601 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24932335317134857, + -0.10934067517518997, + 0.029803773388266563, + -3.0862345695495605, + -0.04979235306382179, + -0.06796808540821075 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 19 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24684880673885345, + -0.11023711413145065, + 0.019435863941907883, + -3.087151288986206, + -0.020293479785323143, + -0.07217790186405182 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 21 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24645891785621643, + -0.11189400404691696, + 0.009841341525316238, + -3.0756821632385254, + 0.007873810827732086, + -0.0737910196185112 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 23 cm, move up 2 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24812382459640503, + -0.11495503783226013, + 0.007712122052907944, + -3.0685276985168457, + 0.001827167347073555, + -0.07369853556156158 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 25 cm, move up 2 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2468336522579193, + -0.11492668837308884, + 0.006647736299782991, + -3.0768091678619385, + -0.010116486810147762, + -0.04068653658032417 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 26 cm, move up 2 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24698849022388458, + -0.1130562499165535, + 0.00610450329259038, + -3.1040494441986084, + -0.026014413684606552, + -0.00859433226287365 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible at the far edge and the yellow knife nearby. No movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the orange cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 26 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2487771362066269, + -0.096779465675354, + 0.005536018405109644, + -3.118971824645996, + -0.05155429244041443, + 0.0247021596878767 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 24 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2499975562095642, + -0.04765589162707329, + 0.007858235388994217, + -3.108407735824585, + -0.06245160102844238, + 0.1214890107512474 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 18 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2517678439617157, + 0.0042578899301588535, + 0.01158917136490345, + -3.0764758586883545, + -0.06120889261364937, + 0.21370577812194824 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 595, + 303, + 818, + 553 + ], + "wooden board": [ + 24, + 166, + 899, + 947 + ], + "orange cloth": [ + 339, + 581, + 645, + 790 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24721169471740723, + 0.04413316026329994, + 0.012874176725745201, + -3.0641698837280273, + -0.04249608889222145, + 0.2793155014514923 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24845553934574127, + 0.07686788588762283, + 0.019495638087391853, + -3.061058759689331, + -0.0482189767062664, + 0.3397051990032196 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 596, + 297, + 817, + 555 + ], + "orange cloth": [ + 205, + 499, + 496, + 708 + ], + "knife": [ + 392, + 262, + 517, + 427 + ], + "wooden board": [ + 27, + 204, + 899, + 941 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25544285774230957, + 0.0951637476682663, + 0.024049077183008194, + -3.0717952251434326, + -0.046834029257297516, + 0.374916136264801 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598349452018738, + 0.1186157837510109, + 0.0255381278693676, + -3.0699124336242676, + -0.0405430905520916, + 0.4053177535533905 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26559948921203613, + 0.13679860532283783, + 0.026927083730697632, + -3.0625104904174805, + -0.04270326718688011, + 0.41496625542640686 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.266040563583374, + 0.14966289699077606, + 0.0270627923309803, + -3.0534565448760986, + -0.04004937410354614, + 0.41436609625816345 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26553869247436523, + 0.14731335639953613, + 0.029072003439068794, + -3.068552017211914, + -0.028238600119948387, + 0.4055712819099426 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2724864184856415, + 0.14124087989330292, + 0.0652805045247078, + -3.113818883895874, + -0.13533881306648254, + 0.4107694923877716 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821487486362457, + 0.1303703784942627, + 0.09757521748542786, + 3.098104476928711, + -0.23391729593276978, + 0.3696271479129791 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition orange cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2935742139816284, + 0.1182364821434021, + 0.12301189452409744, + 3.0662550926208496, + -0.29223525524139404, + 0.3008386790752411 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 599, + 299, + 818, + 554 + ], + "orange cloth": [ + 150, + 397, + 393, + 617 + ], + "wooden board": [ + 32, + 180, + 899, + 943 + ], + "knife": [ + 337, + 305, + 570, + 408 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "fine adjust cloth position", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth at the table edge, positioned near the yellow knife. The gripper remains open throughout, indicating no grasping has occurred. The cloth has been partially dragged toward the target area, and the next action involves fine-tuning its position closer to the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991741895675659, + 0.10883499681949615, + 0.12999793887138367, + 3.053412675857544, + -0.29293105006217957, + 0.23117299377918243 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "fine adjust cloth position", + "subtask_reasoning": "The orange cloth is already near the yellow knife on the table edge, with the gripper open and no grasp evidence. The robot is making small positional adjustments to finalize alignment without contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 32, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004760444164276, + 0.1029236763715744, + 0.1328432261943817, + 3.0561468601226807, + -0.28425562381744385, + 0.1834324598312378 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "fine adjust cloth position", + "subtask_reasoning": "The orange cloth is already near the yellow knife on the table edge, with the gripper open and no grasp evidence. The robot is making small positional adjustments to finalize alignment without contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2978220283985138, + 0.09846130013465881, + 0.13792680203914642, + 3.058016061782837, + -0.27820199728012085, + 0.15701864659786224 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "fine adjust cloth position", + "subtask_reasoning": "The orange cloth is already near the yellow knife on the table edge, with the gripper open and no grasp evidence. The robot is making small positional adjustments to finalize alignment without contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2988061010837555, + 0.0955791175365448, + 0.15835370123386383, + 3.0574569702148438, + -0.2594982981681824, + 0.05388695001602173 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth is already near the yellow knife on the table edge, with the gripper open and no grasp evidence. The robot is making small positional adjustments to finalize alignment without contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.297911137342453, + 0.09485594928264618, + 0.1585274338722229, + 3.055051326751709, + -0.2536919414997101, + 0.04579698666930199 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth is already near the yellow knife on the table edge, with the gripper open and no grasp evidence. The robot is making small positional adjustments to finalize alignment without contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2976207435131073, + 0.09473565965890884, + 0.15810245275497437, + 3.0545127391815186, + -0.2522493302822113, + 0.045931778848171234 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth has been successfully repositioned near the yellow knife on the table edge. The robot's gripper is fully open and the end-effector is positioned above the cloth, indicating the manipulation phase is complete. The robot is now executing the retreat action to move away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 36, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.29769811034202576, + 0.09474857151508331, + 0.15847991406917572, + 3.0544655323028564, + -0.2522929608821869, + 0.04567119479179382 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth has been successfully repositioned near the yellow knife on the table edge. The robot's gripper is fully open and the end-effector is positioned above the cloth, indicating the manipulation phase is complete. The robot is now executing the retreat action to move away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.297911137342453, + 0.09485594928264618, + 0.1585274338722229, + 3.055051326751709, + -0.2536919414997101, + 0.04579698666930199 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on the edge of table near the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange cloth" + }, + { + "id": 2, + "subtask": "reposition orange cloth" + }, + { + "id": 3, + "subtask": "fine adjust cloth position" + }, + { + "id": 4, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth has been successfully repositioned near the yellow knife on the table edge. The robot's gripper is fully open and the end-effector is positioned above the cloth, indicating the manipulation phase is complete. The robot is now executing the retreat action to move away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003951_ecot.json b/cot/chunk-0003/episode_0003951_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bb916626f0284015e460e166ed06c5ac65cea93b --- /dev/null +++ b/cot/chunk-0003/episode_0003951_ecot.json @@ -0,0 +1,2852 @@ +{ + "task_name": "episode_0003951", + "episode_json": "json/chunk-0003/episode_0003951.json", + "video_path": "videos/chunk-0003/image_0/episode_0003951.mp4", + "instruction": "Remove the cube from the white rectangular block and put it on top the blue block.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003951.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.42487388849258423, + "std": 0.20695951581001282, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42487, std=0.20696, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 18 + ], + [ + 3, + 19, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cube on white block\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the cube resting on the white rectangular block without grasping, as gripper remains open throughout this segment.\"},\n {\"id\": 2, \"name\": \"grasp and lift cube\", \"start\": 9, \"end\": 18, \"planning\": \"Close gripper to grasp the cube and lift it slightly off the white block, confirmed by gripper closure and upward motion in final frames of segment.\"},\n {\"id\": 3, \"name\": \"transport cube to blue block\", \"start\": 19, \"end\": 31, \"planning\": \"Carry the grasped cube across the table toward the blue block while maintaining grip, as gripper value remains closed and position shifts laterally.\"},\n {\"id\": 4, \"name\": \"place cube on blue block\", \"start\": 32, \"end\": 44, \"planning\": \"Lower cube onto blue block and release grip, evidenced by gripper opening at frame 44 and final image showing cube resting on blue block.\"}\n ],\n \"global_plan\": \"Approach cube on white block, grasp and lift it, transport to blue block, then place and release.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach. Segment 2 shows meaningful gripper closure consistent with grasping. Segment 3 maintains grip during transport. Segment 4 ends with gripper open and cube placed on target.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cube on white block", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the cube resting on the white rectangular block without grasping, as gripper remains open throughout this segment." + }, + { + "id": 2, + "name": "grasp and lift cube", + "start": 9, + "end": 18, + "planning": "Close gripper to grasp the cube and lift it slightly off the white block, confirmed by gripper closure and upward motion in final frames of segment." + }, + { + "id": 3, + "name": "transport cube to blue block", + "start": 19, + "end": 31, + "planning": "Carry the grasped cube across the table toward the blue block while maintaining grip, as gripper value remains closed and position shifts laterally." + }, + { + "id": 4, + "name": "place cube on blue block", + "start": 32, + "end": 44, + "planning": "Lower cube onto blue block and release grip, evidenced by gripper opening at frame 44 and final image showing cube resting on blue block." + } + ], + "global_plan": "Approach cube on white block, grasp and lift it, transport to blue block, then place and release.", + "notes": "Segment 1 shows no gripper closure — only approach. Segment 2 shows meaningful gripper closure consistent with grasping. Segment 3 maintains grip during transport. Segment 4 ends with gripper open and cube placed on target." + } + }, + "episode_goal": "Place the cube on top of the blue block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29068219661712646, + -0.03125505894422531, + 0.07025977224111557, + 3.0723092555999756, + 0.12345651537179947, + 0.6693419218063354 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No contact has been made yet, and the gripper remains fully open. The next action is to continue moving the end-effector closer to the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 4 cm, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869492173194885, + -0.030652686953544617, + 0.06143661588430405, + 3.0915050506591797, + 0.1496008336544037, + 0.6767935156822205 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No contact has been made yet, and the gripper remains fully open. The next action is to continue moving the end-effector closer to the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 3 cm, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2729991674423218, + -0.008111468516290188, + 0.04954603686928749, + 3.0795276165008545, + 0.208934023976326, + 0.8195788860321045 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No contact has been made yet, and the gripper remains fully open. The next action is to continue moving the end-effector closer to the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26190289855003357, + 0.016852915287017822, + 0.053863316774368286, + 3.038665771484375, + 0.18772676587104797, + 0.9551477432250977 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 122, + 201, + 995, + 995 + ], + "blue block": [ + 716, + 483, + 887, + 691 + ], + "yellow block": [ + 739, + 614, + 814, + 697 + ], + "white cylinder": [ + 594, + 647, + 683, + 783 + ], + "red cone": [ + 612, + 471, + 691, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No contact has been made yet, and the gripper remains fully open. The next action is to continue moving the end-effector closer to the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2579379975795746, + 0.027011936530470848, + 0.05228284373879433, + 3.0308878421783447, + 0.1755121499300003, + 1.0590609312057495 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2600712180137634, + 0.03125813230872154, + 0.050929516553878784, + 3.040767192840576, + 0.1570996344089508, + 1.140049695968628 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2648411989212036, + 0.030891068279743195, + 0.0378083661198616, + 3.0892844200134277, + 0.16189250349998474, + 1.2633990049362183 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2724746763706207, + 0.03328203782439232, + 0.034404341131448746, + 3.113356351852417, + 0.14906424283981323, + 1.3832162618637085 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710424065589905, + 0.033914677798748016, + 0.030449628829956055, + 3.139672040939331, + 0.14730483293533325, + 1.4469270706176758 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "approach cube on white block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26937639713287354, + 0.035074345767498016, + 0.03049347922205925, + -3.133498430252075, + 0.14897127449512482, + 1.4558674097061157 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2600025236606598, + 0.037859994918107986, + 0.027196364477276802, + -3.095456600189209, + 0.14967134594917297, + 1.4651775360107422 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper; then move forward 2 cm, move right 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2611345052719116, + 0.03695806488394737, + 0.026396412402391434, + -3.107900381088257, + 0.15540297329425812, + 1.4696083068847656 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper; then move forward 4 cm, move right 9 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2611776888370514, + 0.03864316642284393, + 0.024555398151278496, + -3.1042206287384033, + 0.15986177325248718, + 1.4708216190338135 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cube resting on the white rectangular block. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, close gripper; then move forward 5 cm, move right 11 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26000261306762695, + 0.039925701916217804, + 0.013964250683784485, + -3.0827667713165283, + 0.1785639226436615, + 1.486742377281189 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 2 cm, close gripper; then move forward 5 cm, move right 13 cm, move up 7 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25773975253105164, + 0.044226113706827164, + 0.0052684335969388485, + -3.060412645339966, + 0.1990000158548355, + 1.504461646080017 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move right 14 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25673148036003113, + 0.048524409532547, + 0.004524373449385166, + -3.0584704875946045, + 0.20213055610656738, + 1.5239768028259277 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 122, + 248, + 995, + 995 + ], + "blue block": [ + 716, + 483, + 887, + 688 + ], + "white cylinder": [ + 593, + 647, + 683, + 783 + ], + "yellow block": [ + 739, + 614, + 815, + 697 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move right 15 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.259721964597702, + 0.04857218638062477, + -0.0001219639671035111, + -3.0594606399536133, + 0.21512453258037567, + 1.5121362209320068 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 6 cm, move right 15 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26261913776397705, + 0.050252269953489304, + 0.0029942437540739775, + -3.060062885284424, + 0.2139624059200287, + 1.5033824443817139 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 6 cm, move right 16 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26449522376060486, + 0.046310458332300186, + 0.0038360408507287502, + -3.0627782344818115, + 0.21087011694908142, + 1.4908130168914795 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "grasp and lift cube", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move right 16 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27761349081993103, + 0.03429581597447395, + 0.03071506693959236, + 3.127415418624878, + 0.18234415352344513, + 1.5084623098373413 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 16 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29827675223350525, + -0.003415797371417284, + 0.06820967048406601, + 3.0405309200286865, + 0.13038118183612823, + 1.4547245502471924 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31849583983421326, + -0.05269264429807663, + 0.09906166046857834, + 2.9579992294311523, + 0.09273465722799301, + 1.2920067310333252 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 121, + 198, + 996, + 995 + ], + "white cylinder": [ + 593, + 647, + 682, + 783 + ], + "white cube a blue block": [ + 715, + 482, + 888, + 689 + ], + "yellow block": [ + 739, + 615, + 815, + 697 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32544392347335815, + -0.07855096459388733, + 0.10917156934738159, + 2.959909439086914, + 0.07259827852249146, + 1.2076001167297363 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3270774781703949, + -0.0978025272488594, + 0.10177411884069443, + 2.9887473583221436, + 0.10485720634460449, + 1.1761372089385986 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284846842288971, + -0.10353071242570877, + 0.09073890000581741, + 3.0093472003936768, + 0.1333979070186615, + 1.1857351064682007 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cube on the white block, with gripper fingers open and aligned for grasping. The gripper signal shows a meaningful decrease over the segment, consistent with closing motion. The next action is to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320208489894867, + -0.11259801685810089, + 0.08470840007066727, + 3.0207467079162598, + 0.15697546303272247, + 1.1868892908096313 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.33438950777053833, + -0.11979834735393524, + 0.08135050535202026, + 3.000278949737549, + 0.18307778239250183, + 1.2157164812088013 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33391591906547546, + -0.12378022074699402, + 0.07074547559022903, + 3.021393299102783, + 0.18763139843940735, + 1.2532541751861572 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3291148841381073, + -0.12484949082136154, + 0.06499210000038147, + 3.041569709777832, + 0.18910549581050873, + 1.2804508209228516 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232288956642151, + -0.12334214150905609, + 0.05769248679280281, + 3.0610759258270264, + 0.18938617408275604, + 1.3117138147354126 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31636688113212585, + -0.11849502474069595, + 0.05014777556061745, + 3.087144374847412, + 0.18799245357513428, + 1.3305593729019165 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 119, + 191, + 996, + 995 + ], + "white cylinder": [ + 595, + 645, + 685, + 783 + ], + "yellow block": [ + 740, + 615, + 815, + 697 + ], + "blue block": [ + 714, + 500, + 889, + 692 + ], + "white cube": [ + 388, + 493, + 533, + 640 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.313613623380661, + -0.1138591542840004, + 0.047849901020526886, + 3.0938456058502197, + 0.1869352161884308, + 1.3455091714859009 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "transport cube to blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31347817182540894, + -0.11316930502653122, + 0.047590237110853195, + 3.0955018997192383, + 0.18945561349391937, + 1.3505501747131348 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31221601366996765, + -0.11356831341981888, + 0.04810597747564316, + 3.1071488857269287, + 0.19338329136371613, + 1.3484569787979126 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31779900193214417, + -0.11476457864046097, + 0.05357583984732628, + 3.0890705585479736, + 0.19236895442008972, + 1.3466839790344238 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3190879821777344, + -0.11455770581960678, + 0.05481273680925369, + 3.086923122406006, + 0.18922777473926544, + 1.3493214845657349 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.31938400864601135, + -0.11397102475166321, + 0.05489075183868408, + 3.087022304534912, + 0.1918574422597885, + 1.3539855480194092 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193413317203522, + -0.10858557373285294, + 0.05244218558073044, + 3.090994358062744, + 0.19855257868766785, + 1.3812639713287354 + ], + "gripper_value": 0.6269758939743042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is currently moving the cube across the table toward the blue block, having already lifted it from the white block. The gripper remains open and stable, indicating no active grasping or releasing. The next action is to continue transporting the cube until it is positioned above the blue block for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.31716281175613403, + -0.10782196372747421, + 0.053718071430921555, + 3.116856575012207, + 0.21818943321704865, + 1.3760604858398438 + ], + "gripper_value": 0.9157527089118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is positioned above the blue block with the gripper open, indicating the cube has been released or is about to be placed. The cube is not visible in the gripper, suggesting it may already be on the blue block or the placement action is imminent. The next action is to confirm the cube is securely placed on the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.32185572385787964, + -0.10713048279285431, + 0.055371012538671494, + 3.110978603363037, + 0.21019434928894043, + 1.3658630847930908 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is positioned above the blue block with the gripper open, indicating the cube has been released or is about to be placed. The cube is not visible in the gripper, suggesting it may already be on the blue block or the placement action is imminent. The next action is to confirm the cube is securely placed on the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233206272125244, + -0.10701645910739899, + 0.055034276098012924, + 3.1038978099823, + 0.2042149305343628, + 1.3643549680709839 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is positioned above the blue block with the gripper open, indicating the cube has been released or is about to be placed. The cube is not visible in the gripper, suggesting it may already be on the blue block or the placement action is imminent. The next action is to confirm the cube is securely placed on the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3303033709526062, + -0.10648071020841599, + 0.06481026113033295, + 3.0894782543182373, + 0.18639032542705536, + 1.3368710279464722 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is positioned above the blue block with the gripper open, indicating the cube has been released or is about to be placed. The cube is not visible in the gripper, suggesting it may already be on the blue block or the placement action is imminent. The next action is to confirm the cube is securely placed on the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3348759710788727, + -0.10469791293144226, + 0.08102022111415863, + 3.076927423477173, + 0.16221025586128235, + 1.2851378917694092 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is positioned above the blue block with the gripper open, indicating the cube has been released or is about to be placed. The cube is not visible in the gripper, suggesting it may already be on the blue block or the placement action is imminent. The next action is to confirm the cube is securely placed on the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3238224387168884, + -0.09708408266305923, + 0.10322471708059311, + 3.0460927486419678, + 0.14782017469406128, + 1.150664210319519 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is positioned above the blue block with the gripper open, indicating the cube has been released or is about to be placed. The cube is not visible in the gripper, suggesting it may already be on the blue block or the placement action is imminent. The next action is to confirm the cube is securely placed on the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.30345046520233154, + -0.07351982593536377, + 0.10548391938209534, + 3.1043875217437744, + 0.14461590349674225, + 0.920716404914856 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 122, + 198, + 996, + 995 + ], + "white cylinder": [ + 594, + 649, + 683, + 782 + ], + "red cone": [ + 612, + 471, + 691, + 592 + ], + "yellow block": [ + 739, + 616, + 814, + 696 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the blue block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cube on white block" + }, + { + "id": 2, + "subtask": "grasp and lift cube" + }, + { + "id": 3, + "subtask": "transport cube to blue block" + }, + { + "id": 4, + "subtask": "place cube on blue block" + } + ], + "subtask_name": "place cube on blue block", + "subtask_reasoning": "The robot is positioned above the blue block with the gripper open, indicating the cube has been released or is about to be placed. The cube is not visible in the gripper, suggesting it may already be on the blue block or the placement action is imminent. The next action is to confirm the cube is securely placed on the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003952_ecot.json b/cot/chunk-0003/episode_0003952_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a78a116c9088e85bb8c89e3491d5e03cc0692b9e --- /dev/null +++ b/cot/chunk-0003/episode_0003952_ecot.json @@ -0,0 +1,2961 @@ +{ + "task_name": "episode_0003952", + "episode_json": "json/chunk-0003/episode_0003952.json", + "video_path": "videos/chunk-0003/image_0/episode_0003952.mp4", + "instruction": "Fold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003952.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.9484561681747437, + "std": 0.44280967116355896, + "delta_total": 0.0026297569274902344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94846, std=0.44281, total_delta=0.00263). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 17, + 17, + 17, + 17, + 17, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 41, + 41 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 16 + ], + [ + 3, + 17, + 21 + ], + [ + 4, + 22, + 40 + ], + [ + 5, + 41, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper toward the right edge of the yellow cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp right edge\", \"start\": 6, \"end\": 16, \"planning\": \"Close the gripper to grasp the right edge of the cloth, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 17, \"end\": 21, \"planning\": \"Lift the grasped edge slightly and begin moving it leftward across the cloth surface.\"},\n {\"id\": 4, \"name\": \"fold cloth leftward\", \"start\": 22, \"end\": 40, \"planning\": \"Drag the held edge leftward to fold the cloth, maintaining grip until near final position.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 41, \"end\": 42, \"planning\": \"Open the gripper to release the cloth and retreat upward after completing the fold.\"}\n ],\n \"global_plan\": \"Fold the yellow cloth from right to left by approaching, grasping the right edge, lifting and dragging it leftward, then releasing once folded.\",\n \"notes\": \"Gripper evidence confirms meaningful closure in segments 2, 4, and 5; segment 1 shows no closure so 'approach' is used. Segment 3 lacks explicit gripper data but motion suggests continued hold during lift/reposition — inferred from continuity with prior grasp and subsequent drag. All frame ranges are contiguous and cover 0–42.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 5, + "planning": "Move the gripper toward the right edge of the yellow cloth without closing." + }, + { + "id": 2, + "name": "grasp right edge", + "start": 6, + "end": 16, + "planning": "Close the gripper to grasp the right edge of the cloth, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 17, + "end": 21, + "planning": "Lift the grasped edge slightly and begin moving it leftward across the cloth surface." + }, + { + "id": 4, + "name": "fold cloth leftward", + "start": 22, + "end": 40, + "planning": "Drag the held edge leftward to fold the cloth, maintaining grip until near final position." + }, + { + "id": 5, + "name": "release and retreat", + "start": 41, + "end": 42, + "planning": "Open the gripper to release the cloth and retreat upward after completing the fold." + } + ], + "global_plan": "Fold the yellow cloth from right to left by approaching, grasping the right edge, lifting and dragging it leftward, then releasing once folded.", + "notes": "Gripper evidence confirms meaningful closure in segments 2, 4, and 5; segment 1 shows no closure so 'approach' is used. Segment 3 lacks explicit gripper data but motion suggests continued hold during lift/reposition — inferred from continuity with prior grasp and subsequent drag. All frame ranges are contiguous and cover 0–42." + } + }, + "episode_goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36487841606140137, + 0.0312097929418087, + 0.05912329629063606, + 2.986117362976074, + -0.28898805379867554, + 0.3535423278808594 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621743321418762, + 0.030850987881422043, + 0.04579855501651764, + 2.9934961795806885, + -0.25073134899139404, + 0.3572492003440857 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36571502685546875, + 0.03297116607427597, + 0.03546818718314171, + 3.0169498920440674, + -0.2155304104089737, + 0.3658524453639984 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3713708221912384, + 0.029258722439408302, + 0.02663518115878105, + 3.041346788406372, + -0.20199955999851227, + 0.3557438552379608 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3811940550804138, + 0.025355249643325806, + 0.02098255231976509, + 3.0750696659088135, + -0.19197508692741394, + 0.34012535214424133 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 68, + 374, + 651, + 988 + ], + "white drawer": [ + 532, + 173, + 815, + 386 + ], + "green block": [ + 879, + 794, + 994, + 995 + ], + "red piece": [ + 647, + 973, + 724, + 997 + ], + "white bottle": [ + 723, + 1, + 766, + 83 + ], + "wooden table": [ + 2, + 232, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3893057107925415, + 0.021303942427039146, + 0.013714627362787724, + 3.122684955596924, + -0.1804131120443344, + 0.32800737023353577 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3945849537849426, + 0.022164901718497276, + 0.009918701834976673, + -3.133718490600586, + -0.17012853920459747, + 0.32236650586128235 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.39635851979255676, + 0.023978576064109802, + 0.0035623027943074703, + -3.109924077987671, + -0.15725979208946228, + 0.3161984384059906 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.399639368057251, + 0.021825719624757767, + 0.0007398636662401259, + -3.0981109142303467, + -0.14995552599430084, + 0.30501049757003784 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4033919870853424, + 0.018463624641299248, + -0.00483318418264389, + -3.0886833667755127, + -0.13852089643478394, + 0.2922877073287964 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.40479281544685364, + 0.01522731315344572, + -0.00745060620829463, + -3.088428258895874, + -0.1338248997926712, + 0.28574469685554504 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the arm to make contact with the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4052586257457733, + 0.009948091581463814, + -0.01188543438911438, + -3.0810136795043945, + -0.12742158770561218, + 0.27586644887924194 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot is positioned above the right edge of the yellow cloth with the gripper open. The approach phase is complete, and the arm is now stationary near the target grasp point. The next action is to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, close gripper; then move back 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4077153205871582, + 0.004677540622651577, + -0.010443498380482197, + -3.081463575363159, + -0.13462309539318085, + 0.2696448266506195 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 68, + 371, + 659, + 987 + ], + "green block": [ + 878, + 795, + 994, + 995 + ], + "white bottle": [ + 724, + 1, + 766, + 82 + ], + "red piece": [ + 646, + 975, + 726, + 997 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot is positioned above the right edge of the yellow cloth with the gripper open. The approach phase is complete, and the arm is now stationary near the target grasp point. The next action is to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4050479531288147, + 0.0036531260702759027, + -0.01930830627679825, + -3.0619473457336426, + -0.11094767600297928, + 0.27342814207077026 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot is positioned above the right edge of the yellow cloth with the gripper open. The approach phase is complete, and the arm is now stationary near the target grasp point. The next action is to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, close gripper; then move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4077070355415344, + -0.0007136956555768847, + -0.02297675609588623, + -3.046180486679077, + -0.1015784814953804, + 0.26302269101142883 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot is positioned above the right edge of the yellow cloth with the gripper open. The approach phase is complete, and the arm is now stationary near the target grasp point. The next action is to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4115053415298462, + -0.0012271845480427146, + -0.023434193804860115, + -3.043553352355957, + -0.09742371737957001, + 0.2728962004184723 + ], + "gripper_value": 0.9263488054275513 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot is positioned above the right edge of the yellow cloth with the gripper open. The approach phase is complete, and the arm is now stationary near the target grasp point. The next action is to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41220831871032715, + -0.004258130211383104, + -0.02306510880589485, + -3.0439112186431885, + -0.10112409293651581, + 0.26875588297843933 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right edge", + "subtask_reasoning": "The robot is positioned above the right edge of the yellow cloth with the gripper open. The approach phase is complete, and the arm is now stationary near the target grasp point. The next action is to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41278544068336487, + -0.00679588969796896, + -0.023243581876158714, + -3.0412259101867676, + -0.10700400918722153, + 0.25805291533470154 + ], + "gripper_value": 0.3228223919868469 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot is positioned above the right edge of the yellow cloth with the gripper open. The approach phase is complete, and the arm is now stationary near the target grasp point. The next action is to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 7 cm, move left 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.41167548298835754, + -0.0067963083274662495, + -0.024533074349164963, + -3.0411219596862793, + -0.10535545647144318, + 0.2574225068092346 + ], + "gripper_value": 0.14137907326221466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot is positioned above the right edge of the yellow cloth with the gripper open. The approach phase is complete, and the arm is now stationary near the target grasp point. The next action is to close the gripper to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 8 cm, move left 8 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.41106116771698, + -0.007004630286246538, + -0.026082215830683708, + -3.0438761711120605, + -0.11007615178823471, + 0.25111204385757446 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 9 cm, move left 10 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4085298478603363, + -0.009271955117583275, + -0.0242780689150095, + -3.066446304321289, + -0.13882258534431458, + 0.22465363144874573 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move back 10 cm, move left 11 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3982430100440979, + -0.009767478331923485, + -0.011539582163095474, + -3.13348650932312, + -0.16090793907642365, + 0.22291162610054016 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move back 11 cm, move left 13 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3894864320755005, + 0.005412327125668526, + 0.016311265528202057, + 3.0566766262054443, + -0.20921041071414948, + 0.2653551399707794 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 14 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37590840458869934, + 0.018826622515916824, + 0.016654295846819878, + 2.9534268379211426, + -0.1808030754327774, + 0.30244284868240356 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 13 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36802053451538086, + 0.03549063578248024, + 0.012174508534371853, + 2.9423725605010986, + -0.15895482897758484, + 0.3370343744754791 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 66, + 379, + 602, + 992 + ], + "white drawer": [ + 469, + 170, + 819, + 415 + ], + "white bottle": [ + 724, + 1, + 767, + 82 + ], + "green block": [ + 878, + 794, + 994, + 994 + ], + "red piece": [ + 649, + 975, + 724, + 997 + ], + "black scale": [ + 169, + 3, + 554, + 577 + ], + "wooden table": [ + 2, + 246, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 12 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565196394920349, + 0.04477139189839363, + 0.006712261121720076, + 2.9573147296905518, + -0.11557693779468536, + 0.3411577641963959 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 12 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3330537676811218, + 0.0649266168475151, + -0.0002150953805539757, + 2.9279990196228027, + -0.043952737003564835, + 0.36634066700935364 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 65, + 378, + 592, + 992 + ], + "white bottle": [ + 724, + 1, + 767, + 82 + ], + "green block": [ + 871, + 795, + 994, + 995 + ], + "red piece": [ + 646, + 974, + 723, + 997 + ], + "white drawer": [ + 467, + 171, + 820, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 11 cm, move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3188644349575043, + 0.07544226944446564, + 0.020230576395988464, + 2.8807156085968018, + -0.06677433848381042, + 0.3592519462108612 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 11 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3093436658382416, + 0.08882542699575424, + 0.02453460544347763, + 2.842811107635498, + -0.0514952726662159, + 0.36134904623031616 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 11 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30151447653770447, + 0.1017327755689621, + 0.031658072024583817, + 2.8373637199401855, + -0.05648605898022652, + 0.3878191411495209 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29107093811035156, + 0.11598740518093109, + 0.03274739161133766, + 2.845798969268799, + -0.024380741640925407, + 0.4209965169429779 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating progress in repositioning. The next action should continue lifting and begin moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2822800278663635, + 0.1307649314403534, + 0.03290163725614548, + 2.8485870361328125, + -0.018316812813282013, + 0.44117769598960876 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move up 1 cm, tilt left 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.27092769742012024, + 0.14348113536834717, + 0.03302965313196182, + 2.8351268768310547, + -0.0035668767523020506, + 0.450542688369751 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 1 cm, tilt left 20 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650817632675171, + 0.15122511982917786, + 0.025908539071679115, + 2.8280131816864014, + 0.02666369080543518, + 0.47111010551452637 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 1 cm, tilt left 20 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26037541031837463, + 0.15994420647621155, + 0.026386598125100136, + 2.82442569732666, + 0.03686913847923279, + 0.4890727400779724 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.25904062390327454, + 0.16653934121131897, + 0.02787869982421398, + 2.8239850997924805, + 0.04051071032881737, + 0.49431806802749634 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24872276186943054, + 0.17576640844345093, + 0.028819095343351364, + 2.8015143871307373, + 0.05359698832035065, + 0.5284733176231384 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.24319928884506226, + 0.18220862746238708, + 0.02858409471809864, + 2.8194327354431152, + 0.06318969279527664, + 0.5488166213035583 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.23726025223731995, + 0.194566011428833, + 0.026816949248313904, + 2.911581039428711, + 0.07129868865013123, + 0.5809124112129211 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 26, + 393, + 396, + 993 + ], + "white drawer": [ + 465, + 171, + 821, + 417 + ], + "green block": [ + 873, + 794, + 994, + 995 + ], + "white bottle": [ + 724, + 1, + 766, + 82 + ], + "red piece": [ + 648, + 975, + 724, + 997 + ], + "wooden table": [ + 3, + 222, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.24403458833694458, + 0.207044318318367, + 0.03659330680966377, + 3.0290145874023438, + 0.05590846389532089, + 0.4852898418903351 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2520773708820343, + 0.2050085812807083, + 0.032678209245204926, + 3.1022191047668457, + 0.029398879036307335, + 0.4538320004940033 + ], + "gripper_value": 0.4956514239311218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth leftward", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which is partially folded over the left side. The gripper remains closed with minimal motion, indicating the cloth is being held in place during the fold. The next action is likely to release the cloth once the fold is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.25699305534362793, + 0.20062841475009918, + 0.0381983183324337, + -3.1256017684936523, + 0.015107996761798859, + 0.40008044242858887 + ], + "gripper_value": 0.7950940132141113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been successfully folded from right to left and lies flat on the table. The robot's gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2605646550655365, + 0.1931772083044052, + 0.03841258957982063, + -3.101485013961792, + 0.019825730472803116, + 0.38569140434265137 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp right edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold cloth leftward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been successfully folded from right to left and lies flat on the table. The robot's gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003954_ecot.json b/cot/chunk-0003/episode_0003954_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc961a35d3cd754330cf4fb4165fa190df25cef8 --- /dev/null +++ b/cot/chunk-0003/episode_0003954_ecot.json @@ -0,0 +1,2625 @@ +{ + "task_name": "episode_0003954", + "episode_json": "json/chunk-0003/episode_0003954.json", + "video_path": "videos/chunk-0003/image_0/episode_0003954.mp4", + "instruction": "Move yellow ball to the left bottom of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003954.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.3326297998428345, + "std": 0.1615981012582779, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.33263, std=0.16160, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 16 + ], + [ + 3, + 17, + 32 + ], + [ + 4, + 33, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow ball\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the yellow ball without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp yellow ball\", \"start\": 6, \"end\": 16, \"planning\": \"Close gripper around yellow ball and lift slightly, confirmed by gripper closure and upward motion.\"},\n {\"id\": 3, \"name\": \"transport ball to target\", \"start\": 17, \"end\": 32, \"planning\": \"Carry grasped yellow ball across table toward bottom-left corner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release ball at target\", \"start\": 33, \"end\": 40, \"planning\": \"Open gripper to release yellow ball at destination, then retreat slightly to complete placement.\"}\n ],\n \"global_plan\": \"Approach, grasp, transport, and release the yellow ball to the left bottom of the table using coordinated gripper and arm motion.\",\n \"notes\": \"Gripper evidence aligns with image frames: no grasp in segment 1, clear grasp in segment 2, sustained hold in segment 3, and release in segment 4. All motions are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow ball", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the yellow ball without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp yellow ball", + "start": 6, + "end": 16, + "planning": "Close gripper around yellow ball and lift slightly, confirmed by gripper closure and upward motion." + }, + { + "id": 3, + "name": "transport ball to target", + "start": 17, + "end": 32, + "planning": "Carry grasped yellow ball across table toward bottom-left corner while maintaining grip." + }, + { + "id": 4, + "name": "release ball at target", + "start": 33, + "end": 40, + "planning": "Open gripper to release yellow ball at destination, then retreat slightly to complete placement." + } + ], + "global_plan": "Approach, grasp, transport, and release the yellow ball to the left bottom of the table using coordinated gripper and arm motion.", + "notes": "Gripper evidence aligns with image frames: no grasp in segment 1, clear grasp in segment 2, sustained hold in segment 3, and release in segment 4. All motions are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the yellow ball to the left bottom corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3206067383289337, + 0.08961489796638489, + 0.1530253291130066, + 2.768493175506592, + -0.3889576196670532, + 1.0722686052322388 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "approach yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow ball visible in the scene. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 9 cm, rotate clockwise 50 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32001256942749023, + 0.08877772837877274, + 0.14184151589870453, + 2.7833666801452637, + -0.359077513217926, + 1.0794795751571655 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "approach yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow ball visible in the scene. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 7 cm, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242003917694092, + 0.0861576646566391, + 0.12302912771701813, + 2.703512668609619, + -0.2623494863510132, + 1.2749848365783691 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "approach yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33385589718818665, + 0.08515308052301407, + 0.1038607656955719, + 2.677504539489746, + -0.19037674367427826, + 1.485181212425232 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "approach yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3503020107746124, + 0.07539967447519302, + 0.09469691663980484, + 2.6551284790039062, + -0.15764811635017395, + 1.669948935508728 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "approach yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3689996302127838, + 0.061687346547842026, + 0.07783404737710953, + 2.666773796081543, + -0.11006344854831696, + 1.772491693496704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "approach yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37920132279396057, + 0.052370645105838776, + 0.06723010540008545, + 2.6849324703216553, + -0.09126147627830505, + 1.832054615020752 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 587, + 333, + 859, + 597 + ], + "yellow sponge": [ + 428, + 299, + 523, + 389 + ], + "metal pot": [ + 393, + 509, + 695, + 805 + ], + "blue object": [ + 328, + 265, + 407, + 353 + ], + "wooden countertop": [ + 5, + 188, + 861, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38678309321403503, + 0.04936535283923149, + 0.05370505526661873, + 2.7081234455108643, + -0.07235893607139587, + 1.898443579673767 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38894522190093994, + 0.05041284114122391, + 0.04092766344547272, + 2.745206356048584, + -0.07631636410951614, + 1.9282065629959106 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, close gripper; then move back 3 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3927863836288452, + 0.052162040024995804, + 0.03114505298435688, + 2.7601318359375, + -0.08142971992492676, + 1.9550137519836426 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 8 cm, move left 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39141571521759033, + 0.05382520705461502, + 0.020791640505194664, + 2.7845094203948975, + -0.086676225066185, + 1.975784182548523 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 588, + 335, + 859, + 596 + ], + "metal pot": [ + 393, + 509, + 694, + 804 + ], + "blue object": [ + 278, + 224, + 409, + 356 + ], + "wooden countertop": [ + 6, + 187, + 861, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the yellow ball which is located near a blue object and an orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the yellow ball to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 8 cm, keep gripper closed; then move back 11 cm, move left 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39288705587387085, + 0.05895175039768219, + 0.017029790207743645, + 2.7756054401397705, + -0.10777172446250916, + 2.0003018379211426 + ], + "gripper_value": 0.6902000904083252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 9 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 12 cm, move left 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3919697105884552, + 0.05817374214529991, + 0.01657859981060028, + 2.779622793197632, + -0.11256922781467438, + 1.997710943222046 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 9 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 12 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3893181085586548, + 0.05755675956606865, + 0.01438568439334631, + 2.7879929542541504, + -0.11755126714706421, + 1.9928467273712158 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 9 cm, keep gripper closed; then move back 11 cm, move left 11 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38692060112953186, + 0.05681425705552101, + 0.014567547477781773, + 2.7901668548583984, + -0.12074968218803406, + 1.9834766387939453 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 9 cm, keep gripper closed; then move back 10 cm, move left 12 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821706175804138, + 0.05289705842733383, + 0.0186946801841259, + 2.8222382068634033, + -0.1525414139032364, + 1.9500455856323242 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 11 cm, move left 13 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39179256558418274, + 0.04268895462155342, + 0.07042094320058823, + 2.7502970695495605, + -0.20322680473327637, + 1.8976788520812988 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "grasp yellow ball", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 3 cm, keep gripper closed; then move back 11 cm, move left 13 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639037609100342, + 0.04369625821709633, + 0.10308758914470673, + 2.719205856323242, + -0.19401685893535614, + 1.9303479194641113 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 13 cm, move down 6 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33097678422927856, + 0.05228445306420326, + 0.13100840151309967, + 2.7267496585845947, + -0.21816861629486084, + 1.8538964986801147 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, move down 10 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28396156430244446, + 0.07539106905460358, + 0.1350656896829605, + 2.7817177772521973, + -0.22132380306720734, + 1.7842046022415161 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 11 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548513114452362, + 0.09749170392751694, + 0.12730826437473297, + 2.8185667991638184, + -0.2187974601984024, + 1.7447575330734253 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 589, + 335, + 859, + 597 + ], + "metal pot": [ + 392, + 509, + 695, + 804 + ], + "yellow sponge": [ + 241, + 214, + 318, + 339 + ], + "wooden countertop": [ + 5, + 225, + 861, + 989 + ], + "blue object": [ + 309, + 234, + 411, + 356 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 11 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24254757165908813, + 0.121428482234478, + 0.11672830581665039, + 2.8432230949401855, + -0.21853262186050415, + 1.7272193431854248 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 10 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24695657193660736, + 0.1388646811246872, + 0.09327762573957443, + 2.889777660369873, + -0.2012186199426651, + 1.7153010368347168 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566894292831421, + 0.15623140335083008, + 0.08295284956693649, + 2.904374361038208, + -0.21371637284755707, + 1.7205325365066528 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot arm is positioned above the yellow ball on the table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the ball. The next action is to secure the ball by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591515779495239, + 0.16637009382247925, + 0.0717160627245903, + 2.9481751918792725, + -0.2382981777191162, + 1.7140860557556152 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 588, + 336, + 859, + 597 + ], + "yellow sponge": [ + 129, + 292, + 196, + 391 + ], + "metal pot": [ + 392, + 509, + 694, + 802 + ], + "wooden countertop": [ + 5, + 187, + 861, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2562564015388489, + 0.170655757188797, + 0.05907956138253212, + 2.989830255508423, + -0.25148022174835205, + 1.724401831626892 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25433385372161865, + 0.17271220684051514, + 0.05368368700146675, + 3.00597882270813, + -0.2610563635826111, + 1.749489188194275 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.255995512008667, + 0.17341941595077515, + 0.04386967048048973, + 3.0305826663970947, + -0.2551785409450531, + 1.7575438022613525 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2577778398990631, + 0.17483580112457275, + 0.03407170623540878, + 3.051297187805176, + -0.2576386630535126, + 1.7525378465652466 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25912052392959595, + 0.1756325215101242, + 0.024813635274767876, + 3.076899290084839, + -0.254231333732605, + 1.740126371383667 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 3 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26057717204093933, + 0.17728830873966217, + 0.0207345113158226, + 3.0862720012664795, + -0.2534404993057251, + 1.738739013671875 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 4 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25902825593948364, + 0.1806967705488205, + 0.02062845230102539, + 3.0837762355804443, + -0.27216029167175293, + 1.7714099884033203 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524855434894562, + 0.1825118511915207, + 0.021607017144560814, + 3.102125883102417, + -0.3067404329776764, + 1.854374647140503 + ], + "gripper_value": 0.7437760233879089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "transport ball to target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24415096640586853, + 0.17634938657283783, + 0.02632862888276577, + 3.1146204471588135, + -0.4189363121986389, + 1.994918704032898 + ], + "gripper_value": 0.9893313646316528 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "release ball at target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2425360083580017, + 0.17480358481407166, + 0.024734770879149437, + 3.118955612182617, + -0.401020884513855, + 2.019686460494995 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "release ball at target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2455797791481018, + 0.1740061342716217, + 0.024881770834326744, + 3.122415065765381, + -0.38510802388191223, + 1.987978458404541 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "release ball at target", + "subtask_reasoning": "The robot has successfully grasped the yellow ball and is currently transporting it across the table. The gripper remains closed, indicating the ball is held securely. The next action is to continue moving the ball toward the left bottom corner of the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24775011837482452, + 0.1736791878938675, + 0.02420741692185402, + 3.121220111846924, + -0.3686581552028656, + 1.963357925415039 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "release ball at target", + "subtask_reasoning": "The yellow ball is already positioned at the left bottom corner of the table, indicating the release action has been completed. The gripper is open and no longer in contact with the ball, confirming successful placement. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.25095444917678833, + 0.17501460015773773, + 0.0241029541939497, + 3.1072239875793457, + -0.3578370213508606, + 1.938004732131958 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "release ball at target", + "subtask_reasoning": "The yellow ball is already positioned at the left bottom corner of the table, indicating the release action has been completed. The gripper is open and no longer in contact with the ball, confirming successful placement. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.26031404733657837, + 0.17911101877689362, + 0.043061938136816025, + 3.043508291244507, + -0.3668849468231201, + 1.9277582168579102 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "release ball at target", + "subtask_reasoning": "The yellow ball is already positioned at the left bottom corner of the table, indicating the release action has been completed. The gripper is open and no longer in contact with the ball, confirming successful placement. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738381326198578, + 0.17383265495300293, + 0.06619661301374435, + 2.9739813804626465, + -0.37015947699546814, + 1.9049510955810547 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 588, + 336, + 859, + 596 + ], + "yellow sponge": [ + 17, + 418, + 130, + 528 + ], + "metal pot": [ + 393, + 509, + 694, + 801 + ], + "wooden countertop": [ + 7, + 188, + 861, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "release ball at target", + "subtask_reasoning": "The yellow ball is already positioned at the left bottom corner of the table, indicating the release action has been completed. The gripper is open and no longer in contact with the ball, confirming successful placement. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.28010138869285583, + 0.16239330172538757, + 0.08959884196519852, + 2.9105312824249268, + -0.3556745648384094, + 1.8922463655471802 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow ball to the left bottom corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow ball" + }, + { + "id": 2, + "subtask": "grasp yellow ball" + }, + { + "id": 3, + "subtask": "transport ball to target" + }, + { + "id": 4, + "subtask": "release ball at target" + } + ], + "subtask_name": "release ball at target", + "subtask_reasoning": "The yellow ball is already positioned at the left bottom corner of the table, indicating the release action has been completed. The gripper is open and no longer in contact with the ball, confirming successful placement. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003955_ecot.json b/cot/chunk-0003/episode_0003955_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3867d4af6c30b1816813f1bbfeeac56592a63ad0 --- /dev/null +++ b/cot/chunk-0003/episode_0003955_ecot.json @@ -0,0 +1,976 @@ +{ + "task_name": "episode_0003955", + "episode_json": "json/chunk-0003/episode_0003955.json", + "video_path": "videos/chunk-0003/image_0/episode_0003955.mp4", + "instruction": "Put pan in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003955.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.9080538749694824, + "std": 0.41600778698921204, + "delta_total": -0.9080538749694824, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90805, std=0.41601, total_delta=-0.90805). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 109, + 109, + 109, + 109, + 109, + 109, + 109 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 8 + ], + [ + 3, + 9, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector down toward the pan resting on the counter edge without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp pan handle\", \"start\": 7, \"end\": 8, \"planning\": \"Close the gripper around the pan handle to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"lift and place pan in sink\", \"start\": 9, \"end\": 15, \"planning\": \"Lift the pan using the grasped handle and move it into the sink basin, then release.\"}\n ],\n \"global_plan\": \"Approach the pan on the counter, grasp its handle, lift it, and place it into the sink.\",\n \"notes\": \"Segment 1 shows no gripper closing — motion is purely positional approach. Segment 2 shows significant gripper closure consistent with grasping. Segment 3 shows continued grip while lifting and placing, then release at end.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 6, + "planning": "Move the end-effector down toward the pan resting on the counter edge without closing the gripper." + }, + { + "id": 2, + "name": "grasp pan handle", + "start": 7, + "end": 8, + "planning": "Close the gripper around the pan handle to secure a firm hold." + }, + { + "id": 3, + "name": "lift and place pan in sink", + "start": 9, + "end": 15, + "planning": "Lift the pan using the grasped handle and move it into the sink basin, then release." + } + ], + "global_plan": "Approach the pan on the counter, grasp its handle, lift it, and place it into the sink.", + "notes": "Segment 1 shows no gripper closing — motion is purely positional approach. Segment 2 shows significant gripper closure consistent with grasping. Segment 3 shows continued grip while lifting and placing, then release at end." + } + }, + "episode_goal": "Grasp the pan on the counter and place it into the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2608988881111145, + -0.022622622549533844, + 0.08090297132730484, + -3.020509958267212, + -0.13122811913490295, + -0.7125805020332336 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pan resting on the counter to the right. No movement or grasping has occurred yet. The next action should be to move the end effector toward the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26414158940315247, + -0.024999123066663742, + 0.07608488947153091, + -3.0111725330352783, + -0.13191449642181396, + -0.7853392362594604 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pan resting on the counter to the right. No movement or grasping has occurred yet. The next action should be to move the end effector toward the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2736096978187561, + -0.03690893203020096, + 0.06511984765529633, + -3.0029869079589844, + -0.16290152072906494, + -0.9489117860794067 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 673, + 6, + 851, + 314 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the sink, with the pan resting on the counter to the right. No movement or grasping has occurred yet. The next action should be to move the end effector toward the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 3 cm, move left 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2847050130367279, + -0.04030625894665718, + 0.05763731151819229, + -2.991816997528076, + -0.17248354852199554, + -1.0100809335708618 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating it has not yet approached or contacted the pan on the counter. No part of the 'approach pan' subtask has been completed. The next action should be to move the arm toward the pan on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 5 cm, move left 5 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29106149077415466, + -0.047210417687892914, + 0.04660193622112274, + -2.985678195953369, + -0.18044619262218475, + -1.05935800075531 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating it has not yet approached or contacted the pan on the counter. No part of the 'approach pan' subtask has been completed. The next action should be to move the arm toward the pan on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt back 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 6 cm, move left 6 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29757270216941833, + -0.05332121253013611, + 0.03680676966905594, + -2.973784923553467, + -0.21198555827140808, + -1.0907400846481323 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating it has not yet approached or contacted the pan on the counter. No part of the 'approach pan' subtask has been completed. The next action should be to move the arm toward the pan on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 7 cm, move left 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29849013686180115, + -0.05653856322169304, + 0.02437451109290123, + -2.9713943004608154, + -0.234206423163414, + -1.1030957698822021 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, indicating it has not yet approached or contacted the pan on the counter. No part of the 'approach pan' subtask has been completed. The next action should be to move the arm toward the pan on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 7 cm, move left 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3012792766094208, + -0.057037871330976486, + 0.007088822312653065, + -2.996027946472168, + -0.2818508744239807, + -1.119793176651001 + ], + "gripper_value": 0.8214757442474365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned over the pan handle in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 7 cm, move left 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30453774333000183, + -0.04732273146510124, + -0.00030961487209424376, + -3.013922691345215, + -0.29823487997055054, + -1.075226068496704 + ], + "gripper_value": 0.5188266634941101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 340, + 291, + 910, + 788 + ], + "sponge": [ + 696, + 504, + 799, + 739 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned over the pan handle in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move left 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.306896448135376, + -0.04583406075835228, + 0.0027847469318658113, + -3.0217297077178955, + -0.2680789530277252, + -1.0832058191299438 + ], + "gripper_value": 0.27019456028938293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "lift and place pan in sink", + "subtask_reasoning": "The robot arm is positioned over the pan handle in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30852028727531433, + -0.04542338848114014, + 0.00929721537977457, + -3.0543766021728516, + -0.2277674376964569, + -1.0893113613128662 + ], + "gripper_value": 0.1437794268131256 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "lift and place pan in sink", + "subtask_reasoning": "The robot arm is positioned over the pan handle in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31655678153038025, + -0.0415249764919281, + 0.020240003243088722, + -3.0578420162200928, + -0.192039355635643, + -1.1201967000961304 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "lift and place pan in sink", + "subtask_reasoning": "The robot arm is positioned over the pan handle in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33844417333602905, + -0.024311725050210953, + 0.03501783311367035, + -3.0250048637390137, + -0.17638637125492096, + -1.1652311086654663 + ], + "gripper_value": 0.09179956465959549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "lift and place pan in sink", + "subtask_reasoning": "The pan is currently held by the gripper and positioned directly over the sink basin. The gripper signal indicates a maintained grasp during the lifting and positioning phase. The next action is to release the pan into the sink to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35512492060661316, + 0.0027119440492242575, + 0.03990982845425606, + -2.986767292022705, + -0.14580309391021729, + -1.2117094993591309 + ], + "gripper_value": 0.09143470972776413 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "lift and place pan in sink", + "subtask_reasoning": "The pan is currently held by the gripper and positioned directly over the sink basin. The gripper signal indicates a maintained grasp during the lifting and positioning phase. The next action is to release the pan into the sink to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36667442321777344, + 0.011584612540900707, + 0.02967284992337227, + -2.936065673828125, + -0.14954891800880432, + -1.2886078357696533 + ], + "gripper_value": 0.09143470972776413 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "lift and place pan in sink", + "subtask_reasoning": "The pan is currently held by the gripper and positioned directly over the sink basin. The gripper signal indicates a maintained grasp during the lifting and positioning phase. The next action is to release the pan into the sink to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37400898337364197, + 0.022001301869750023, + 0.015569857321679592, + -2.881610870361328, + -0.18896500766277313, + -1.3107740879058838 + ], + "gripper_value": 0.09143470972776413 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the pan on the counter and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and place pan in sink" + } + ], + "subtask_name": "lift and place pan in sink", + "subtask_reasoning": "The pan is currently held by the gripper and positioned directly over the sink basin. The gripper signal indicates a maintained grasp during the lifting and positioning phase. The next action is to release the pan into the sink to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003958_ecot.json b/cot/chunk-0003/episode_0003958_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3c549b8c601816905f2121cc36d0c6660e12f5d7 --- /dev/null +++ b/cot/chunk-0003/episode_0003958_ecot.json @@ -0,0 +1,2226 @@ +{ + "task_name": "episode_0003958", + "episode_json": "json/chunk-0003/episode_0003958.json", + "video_path": "videos/chunk-0003/image_0/episode_0003958.mp4", + "instruction": "Open fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003958.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.75224769115448, + "std": 0.2501106262207031, + "delta_total": -0.0006693601608276367, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.75225, std=0.25011, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 15 + ], + [ + 3, + 16, + 24 + ], + [ + 4, + 25, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge handle\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the fridge handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and pull handle\", \"start\": 11, \"end\": 15, \"planning\": \"Maintain grip on handle and pull downward to initiate door opening motion.\"},\n {\"id\": 3, \"name\": \"open door fully\", \"start\": 16, \"end\": 24, \"planning\": \"Continue pulling and rotating door open while releasing gripper as door swings free.\"},\n {\"id\": 4, \"name\": \"retreat from open door\", \"start\": 25, \"end\": 34, \"planning\": \"Withdraw end-effector away from fridge interior after door is fully opened.\"}\n ],\n \"global_plan\": \"Open fridge by approaching handle, grasping and pulling it down, allowing door to swing open, then retreating safely.\",\n \"notes\": \"Gripper closure in segments 1-3 supports grasp wording; segment 4 shows no gripper activity, so retreat is described without manipulation verbs.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge handle", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the fridge handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and pull handle", + "start": 11, + "end": 15, + "planning": "Maintain grip on handle and pull downward to initiate door opening motion." + }, + { + "id": 3, + "name": "open door fully", + "start": 16, + "end": 24, + "planning": "Continue pulling and rotating door open while releasing gripper as door swings free." + }, + { + "id": 4, + "name": "retreat from open door", + "start": 25, + "end": 34, + "planning": "Withdraw end-effector away from fridge interior after door is fully opened." + } + ], + "global_plan": "Open fridge by approaching handle, grasping and pulling it down, allowing door to swing open, then retreating safely.", + "notes": "Gripper closure in segments 1-3 supports grasp wording; segment 4 shows no gripper activity, so retreat is described without manipulation verbs." + } + }, + "episode_goal": "Open the refrigerator door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19669175148010254, + 0.1259179711341858, + 0.0987420380115509, + -3.052467107772827, + -0.19430868327617645, + 0.09231822192668915 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator with the gripper open and ready. No contact has been made yet, and the arm is beginning to move toward the handle. The next action should be to continue approaching the fridge handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 6 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19662730395793915, + 0.1217898279428482, + 0.09437897801399231, + -3.065983772277832, + -0.18557484447956085, + 0.09216783195734024 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator with the gripper open and ready. No contact has been made yet, and the arm is beginning to move toward the handle. The next action should be to continue approaching the fridge handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 6 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21879059076309204, + 0.10236154496669769, + 0.08895715326070786, + -3.0918681621551514, + -0.23552300035953522, + 0.05463213846087456 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator with the gripper open and ready. No contact has been made yet, and the arm is beginning to move toward the handle. The next action should be to continue approaching the fridge handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 4 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23464497923851013, + 0.08740749955177307, + 0.0837104544043541, + -3.1156234741210938, + -0.23119409382343292, + 0.04846785217523575 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator with the gripper open and ready. No contact has been made yet, and the arm is beginning to move toward the handle. The next action should be to continue approaching the fridge handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24823905527591705, + 0.07089667022228241, + 0.07772871106863022, + -3.140251874923706, + -0.24419286847114563, + 0.007008049637079239 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator with the gripper open and ready. No contact has been made yet, and the arm is beginning to move toward the handle. The next action should be to continue approaching the fridge handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 2 cm, close gripper; then move back 3 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640725374221802, + 0.05892680212855339, + 0.07361232489347458, + -3.133002758026123, + -0.25728875398635864, + 0.0015671333530917764 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 31, + 9, + 988, + 987 + ], + "sink": [ + 605, + 441, + 881, + 736 + ], + "sponge": [ + 680, + 568, + 785, + 702 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the refrigerator handle, with the gripper open and ready to engage. No contact has been made yet, and the subtask of approaching the handle is nearly complete. The next action should involve closing the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 2 cm, close gripper; then move back 6 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2794624865055084, + 0.05501614511013031, + 0.06962795555591583, + -3.1125988960266113, + -0.2617276906967163, + 0.016736572608351707 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the refrigerator handle, with the gripper open and ready to engage. No contact has been made yet, and the subtask of approaching the handle is nearly complete. The next action should involve closing the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 1 cm, close gripper; then move back 8 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985883355140686, + 0.058775003999471664, + 0.06945417076349258, + -3.100538730621338, + -0.2716326117515564, + 0.058302465826272964 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the refrigerator handle, with the gripper open and ready to engage. No contact has been made yet, and the subtask of approaching the handle is nearly complete. The next action should involve closing the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 8 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move back 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3153674304485321, + 0.06544508785009384, + 0.06740596890449524, + -3.0863327980041504, + -0.27541491389274597, + 0.08554170280694962 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the refrigerator handle, with the gripper open and ready to engage. No contact has been made yet, and the subtask of approaching the handle is nearly complete. The next action should involve closing the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move back 5 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32593968510627747, + 0.06795737147331238, + 0.06199580430984497, + -3.0821216106414795, + -0.2649891674518585, + 0.09764937311410904 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the refrigerator handle, with the gripper open and ready to engage. No contact has been made yet, and the subtask of approaching the handle is nearly complete. The next action should involve closing the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move back 5 cm, move right 5 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3283091187477112, + 0.062205683439970016, + 0.06175161153078079, + -3.0979716777801514, + -0.27275753021240234, + 0.017021680250763893 + ], + "gripper_value": 0.6941980719566345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the refrigerator handle, with the gripper open and ready to engage. No contact has been made yet, and the subtask of approaching the handle is nearly complete. The next action should involve closing the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move back 3 cm, move right 7 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33015087246894836, + 0.06170135736465454, + 0.05797461047768593, + -3.115041732788086, + -0.3205108344554901, + -0.05386397987604141 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned near the refrigerator handle, with the gripper open and ready to engage. No contact has been made yet, and the subtask of approaching the handle is nearly complete. The next action should involve closing the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33109360933303833, + 0.06201900541782379, + 0.05713914707303047, + -3.1280181407928467, + -0.36749640107154846, + -0.060596663504838943 + ], + "gripper_value": 0.24590691924095154 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned near the refrigerator handle, with the gripper open and ready to engage. No contact has been made yet, and the subtask of approaching the handle is nearly complete. The next action should involve closing the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move right 11 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32549014687538147, + 0.06537553668022156, + 0.05653417855501175, + -3.1018667221069336, + -0.3831108510494232, + -0.0544535294175148 + ], + "gripper_value": 0.25684019923210144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned at the refrigerator handle with the gripper closed around it, indicating a successful grasp. The handle has not yet been pulled down to open the door. The next action is to pull the handle downward to swing the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move up 1 cm, open gripper; then move forward 2 cm, move right 11 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30191609263420105, + 0.06752286106348038, + 0.057286445051431656, + -3.081704616546631, + -0.3594677448272705, + -0.06299816817045212 + ], + "gripper_value": 0.27090853452682495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned at the refrigerator handle with the gripper closed around it, indicating a successful grasp. The handle has not yet been pulled down to open the door. The next action is to pull the handle downward to swing the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 4 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27280011773109436, + 0.07297906279563904, + 0.05817043408751488, + -3.0530049800872803, + -0.33830395340919495, + -0.08148019015789032 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 26, + 11, + 986, + 987 + ], + "sink": [ + 605, + 443, + 881, + 735 + ], + "sponge": [ + 681, + 568, + 785, + 702 + ], + "appliance door": [ + 57, + 10, + 464, + 924 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned at the refrigerator handle with the gripper closed around it, indicating a successful grasp. The handle has not yet been pulled down to open the door. The next action is to pull the handle downward to swing the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, keep gripper open; then move forward 5 cm, move right 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2456551343202591, + 0.07328587770462036, + 0.06566205620765686, + -3.0036885738372803, + -0.32580527663230896, + -0.11357225477695465 + ], + "gripper_value": 0.570969820022583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot arm is positioned at the refrigerator handle with the gripper closed around it, indicating a successful grasp. The handle has not yet been pulled down to open the door. The next action is to pull the handle downward to swing the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2221193015575409, + 0.06673693656921387, + 0.06983506679534912, + -2.997863531112671, + -0.287920743227005, + -0.15006034076213837 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot arm is positioned at the refrigerator handle with the gripper closed around it, indicating a successful grasp. The handle has not yet been pulled down to open the door. The next action is to pull the handle downward to swing the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20021142065525055, + 0.048427481204271317, + 0.067020483314991, + -3.005415916442871, + -0.2401016652584076, + -0.19414931535720825 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot arm is positioned at the refrigerator handle with the gripper closed around it, indicating a successful grasp. The handle has not yet been pulled down to open the door. The next action is to pull the handle downward to swing the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.1988104283809662, + 0.0221200343221426, + 0.058131568133831024, + -3.0531325340270996, + -0.18012185394763947, + -0.16524595022201538 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot arm is positioned at the refrigerator handle with the gripper closed around it, indicating a successful grasp. The handle has not yet been pulled down to open the door. The next action is to pull the handle downward to swing the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21513132750988007, + 0.0018821435514837503, + 0.054610688239336014, + -3.0737555027008057, + -0.163645401597023, + -0.13887035846710205 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 9 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23610295355319977, + -0.018273377791047096, + 0.05196761339902878, + -3.108942747116089, + -0.1490291953086853, + -0.10750533640384674 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 12 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2504425644874573, + -0.03478832170367241, + 0.04887409135699272, + -3.140576124191284, + -0.13368454575538635, + -0.09479919821023941 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 21, + 9, + 988, + 988 + ], + "sink": [ + 605, + 443, + 882, + 736 + ], + "sponge": [ + 680, + 568, + 785, + 703 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move left 15 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26991400122642517, + -0.03733978047966957, + 0.05290998890995979, + 3.139150857925415, + -0.16459175944328308, + -0.05869327485561371 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 8 cm, move left 17 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.285226970911026, + -0.030386246740818024, + 0.05762895196676254, + 3.1369502544403076, + -0.1859106570482254, + -0.029634421691298485 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "open door fully", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move back 7 cm, move left 20 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29550331830978394, + -0.018212653696537018, + 0.06370902061462402, + -3.131298780441284, + -0.2213342785835266, + 0.005457855761051178 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 20 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29690077900886536, + 0.002872887533158064, + 0.06443306058645248, + -3.0883517265319824, + -0.22691188752651215, + 0.0354587659239769 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 18 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926703691482544, + 0.017023656517267227, + 0.05912960693240166, + -3.0298423767089844, + -0.23077280819416046, + 0.014531686902046204 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 16 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813555896282196, + 0.03130609914660454, + 0.055272284895181656, + -3.0103249549865723, + -0.21869254112243652, + 0.019679225981235504 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The robot has grasped the fridge handle and is in the process of pulling it down to open the door. The door is partially open, indicating progress. The next action is to continue pulling the handle to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 15 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.261141836643219, + 0.04487272724509239, + 0.057953376322984695, + -2.9860079288482666, + -0.2062557488679886, + -0.0038813322316855192 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The refrigerator door is open, and the robot's end-effector is positioned away from the handle with the gripper fully open. The retreat phase is underway as the robot has moved back from the door. The next action is to continue moving backward to ensure a safe distance from the open door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23757383227348328, + 0.07099585980176926, + 0.06127263605594635, + -2.9763877391815186, + -0.19303494691848755, + -0.009982354007661343 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The refrigerator door is open, and the robot's end-effector is positioned away from the handle with the gripper fully open. The retreat phase is underway as the robot has moved back from the door. The next action is to continue moving backward to ensure a safe distance from the open door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 11 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.22420692443847656, + 0.10176575183868408, + 0.061015889048576355, + -2.966660261154175, + -0.17305360734462738, + 0.012866206467151642 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 7, + 9, + 992, + 989 + ], + "sink": [ + 605, + 441, + 881, + 735 + ], + "sponge": [ + 681, + 568, + 785, + 702 + ], + "control panel": [ + 694, + 47, + 939, + 196 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The refrigerator door is open, and the robot's end-effector is positioned away from the handle with the gripper fully open. The retreat phase is underway as the robot has moved back from the door. The next action is to continue moving backward to ensure a safe distance from the open door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.21661259233951569, + 0.129006490111351, + 0.0604785680770874, + -2.9467148780822754, + -0.16459110379219055, + 0.04255741834640503 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The refrigerator door is open, and the robot's end-effector is positioned away from the handle with the gripper fully open. The retreat phase is underway as the robot has moved back from the door. The next action is to continue moving backward to ensure a safe distance from the open door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22022706270217896, + 0.15600670874118805, + 0.062325481325387955, + -2.9272665977478027, + -0.18947558104991913, + 0.08429408818483353 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The refrigerator door is open, and the robot's end-effector is positioned away from the handle with the gripper fully open. The retreat phase is underway as the robot has moved back from the door. The next action is to continue moving backward to ensure a safe distance from the open door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.22937993705272675, + 0.17864902317523956, + 0.06006862595677376, + -2.9451050758361816, + -0.17588157951831818, + 0.1400727927684784 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "open door fully" + }, + { + "id": 4, + "subtask": "retreat from open door" + } + ], + "subtask_name": "retreat from open door", + "subtask_reasoning": "The refrigerator door is open, and the robot's end-effector is positioned away from the handle with the gripper fully open. The retreat phase is underway as the robot has moved back from the door. The next action is to continue moving backward to ensure a safe distance from the open door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003959_ecot.json b/cot/chunk-0003/episode_0003959_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..45effc1fd7f94bf9813b10770019d4a60faf8f1d --- /dev/null +++ b/cot/chunk-0003/episode_0003959_ecot.json @@ -0,0 +1,1711 @@ +{ + "task_name": "episode_0003959", + "episode_json": "json/chunk-0003/episode_0003959.json", + "video_path": "videos/chunk-0003/image_0/episode_0003959.mp4", + "instruction": "Put the blue figure on the top edge of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003959.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013339519500732422, + "std": 0.0003708838776219636, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00037, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 25 + ], + [ + 3, + 26, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth surface\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector downward toward the orange cloth while maintaining open gripper, preparing for contact-based manipulation.\"},\n {\"id\": 2, \"name\": \"nudge and reposition cloth\", \"start\": 10, \"end\": 25, \"planning\": \"Use open gripper to gently push and slide the cloth across the table surface to adjust its position without grasping.\"},\n {\"id\": 3, \"name\": \"retreat from cloth\", \"start\": 26, \"end\": 28, \"planning\": \"Lift end-effector slightly and move away from the cloth after repositioning, completing the adjustment phase.\"}\n ],\n \"global_plan\": \"Manipulate the orange cloth by approaching, nudging it into desired position using contact forces with an open gripper, then retreating — no grasping or lifting occurs as per gripper evidence.\",\n \"notes\": \"Gripper remains consistently open (value ~0.998–0.999) throughout all segments; no meaningful closing detected. All actions are contact-based: approach, nudge, slide, retreat. No grasp, pick, or place operations are justified by sensor data or visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth surface", + "start": 0, + "end": 9, + "planning": "Move end-effector downward toward the orange cloth while maintaining open gripper, preparing for contact-based manipulation." + }, + { + "id": 2, + "name": "nudge and reposition cloth", + "start": 10, + "end": 25, + "planning": "Use open gripper to gently push and slide the cloth across the table surface to adjust its position without grasping." + }, + { + "id": 3, + "name": "retreat from cloth", + "start": 26, + "end": 28, + "planning": "Lift end-effector slightly and move away from the cloth after repositioning, completing the adjustment phase." + } + ], + "global_plan": "Manipulate the orange cloth by approaching, nudging it into desired position using contact forces with an open gripper, then retreating — no grasping or lifting occurs as per gripper evidence.", + "notes": "Gripper remains consistently open (value ~0.998–0.999) throughout all segments; no meaningful closing detected. All actions are contact-based: approach, nudge, slide, retreat. No grasp, pick, or place operations are justified by sensor data or visual evidence." + } + }, + "episode_goal": "Place the blue figure on the top edge of the orange cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31249120831489563, + -0.014084498398005962, + 0.09717205911874771, + 3.076619863510132, + 0.09482813626527786, + 0.018421826884150505 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with an open gripper, initiating movement toward the cloth surface. No contact has been made yet, and no grasping is occurring per gripper evidence. The next action is to continue approaching until near-contact with the cloth is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3091602623462677, + -0.014937070198357105, + 0.08404063433408737, + 3.0735886096954346, + 0.13091884553432465, + 0.03044247068464756 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with an open gripper, initiating movement toward the cloth surface. No contact has been made yet, and no grasping is occurring per gripper evidence. The next action is to continue approaching until near-contact with the cloth is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 8 cm, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948908805847168, + -0.04339544102549553, + 0.06985107809305191, + 3.05776047706604, + 0.10971181094646454, + 0.021152764558792114 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with an open gripper, initiating movement toward the cloth surface. No contact has been made yet, and no grasping is occurring per gripper evidence. The next action is to continue approaching until near-contact with the cloth is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29145005345344543, + -0.0785217136144638, + 0.06524509936571121, + 3.0527307987213135, + 0.06905952095985413, + -0.005488780327141285 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 275, + 421, + 865, + 994 + ], + "black tag": [ + 305, + 521, + 394, + 629 + ], + "table": [ + 4, + 6, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with an open gripper, initiating movement toward the cloth surface. No contact has been made yet, and no grasping is occurring per gripper evidence. The next action is to continue approaching until near-contact with the cloth is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29149383306503296, + -0.0937836766242981, + 0.0337892584502697, + 3.0728070735931396, + 0.08409270644187927, + -0.042770177125930786 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move left 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2963986098766327, + -0.09916363656520844, + 0.004087444860488176, + 3.045701026916504, + 0.11694586277008057, + -0.07086902856826782 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move left 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3000499904155731, + -0.09355618804693222, + 0.002178722061216831, + 3.038599729537964, + 0.11222738027572632, + -0.0547490157186985 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move left 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29710766673088074, + -0.08204980939626694, + 0.0003520842583384365, + 3.046281099319458, + 0.10567999631166458, + -0.0343138612806797 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move left 9 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29406675696372986, + -0.06941987574100494, + 3.2929685403360054e-05, + 3.080965757369995, + 0.12379366904497147, + -0.031907252967357635 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, keep gripper open; then move forward 3 cm, move left 9 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872840166091919, + -0.039103273302316666, + 0.00014077924424782395, + 3.1176328659057617, + 0.12989474833011627, + -0.013256877660751343 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 3 cm, move left 9 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2860746681690216, + -0.015661239624023438, + 1.6805375707917847e-05, + -3.1318609714508057, + 0.14237375557422638, + -0.014534776099026203 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 185, + 404, + 825, + 994 + ], + "black tag": [ + 205, + 538, + 292, + 649 + ], + "table": [ + 4, + 5, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907105088233948, + 0.00840994156897068, + -0.0004095746553502977, + -3.092362642288208, + 0.16216060519218445, + -0.04296320676803589 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29655319452285767, + 0.022538209334015846, + 0.00044257211266085505, + -3.0702476501464844, + 0.15622584521770477, + -0.07867437601089478 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.308185338973999, + 0.05061054602265358, + 0.0005049547762610018, + -3.0598018169403076, + 0.14160092175006866, + -0.1010298803448677 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31290924549102783, + 0.06716196984052658, + 0.000853952020406723, + -3.0467119216918945, + 0.12672948837280273, + -0.10284149646759033 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192515969276428, + 0.07674835622310638, + 0.0020805501844733953, + -3.0336880683898926, + 0.11723708361387253, + -0.11222367733716965 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31940269470214844, + 0.07697483152151108, + 0.0026088678278028965, + -3.031759023666382, + 0.1157582700252533, + -0.10994801670312881 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, having not yet made contact. The current subtask involves approaching the cloth surface to prepare for manipulation. The next likely action is to lower the end-effector slightly to establish contact with the cloth without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3155670762062073, + 0.07536176592111588, + 0.004857960157096386, + -3.0332353115081787, + 0.129182368516922, + -0.0592627115547657 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31393375992774963, + 0.07719240337610245, + 0.028873147442936897, + -2.997187614440918, + 0.10178709030151367, + -0.02147023007273674 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162407875061035, + 0.07516221702098846, + 0.04952944442629814, + -2.9809021949768066, + 0.055829089134931564, + -0.011770647950470448 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181506395339966, + 0.0667739063501358, + 0.06702954322099686, + -2.984657049179077, + 0.01276035513728857, + 0.006806425750255585 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3197370171546936, + 0.056530267000198364, + 0.07166916877031326, + -3.020612955093384, + -0.009549509733915329, + 0.03622753545641899 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31899821758270264, + 0.037239402532577515, + 0.08293836563825607, + -3.0480573177337646, + -0.03000250644981861, + 0.039380088448524475 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31685906648635864, + 0.017482617869973183, + 0.08398812264204025, + -3.0657291412353516, + -0.026676785200834274, + 0.045361001044511795 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3173767626285553, + -0.005936820525676012, + 0.08401387929916382, + -3.1005446910858154, + -0.027174273505806923, + 0.01219626609236002 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32046616077423096, + -0.03343825787305832, + 0.08685516566038132, + -3.1362369060516357, + -0.01744980365037918, + -0.015539403073489666 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge and reposition cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31658801436424255, + -0.057257648557424545, + 0.09168647974729538, + 3.131678819656372, + 0.009408188983798027, + -0.0075613511726260185 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot's open gripper is in contact with the orange cloth, having completed the approach phase. The gripper remains fully open, indicating a pushing or nudging action rather than grasping. The next step is to continue applying contact force to reposition the cloth toward the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3034399747848511, + -0.08080074191093445, + 0.09010007977485657, + 3.113483190536499, + 0.01837995834648609, + 0.06456291675567627 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth has been nudged into position on the table, and the gripper is open and elevated above it. The robot is currently retreating from the cloth surface as part of the final subtask. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2972387969493866, + -0.09970734268426895, + 0.09549296647310257, + 3.1008353233337402, + -0.003266459098085761, + 0.08975061774253845 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 77, + 288, + 584, + 879 + ], + "table": [ + 4, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "nudge and reposition cloth" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth has been nudged into position on the table, and the gripper is open and elevated above it. The robot is currently retreating from the cloth surface as part of the final subtask. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003960_ecot.json b/cot/chunk-0003/episode_0003960_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e1bb75509e94c3fe853b56bbde1648777859ec90 --- /dev/null +++ b/cot/chunk-0003/episode_0003960_ecot.json @@ -0,0 +1,1210 @@ +{ + "task_name": "episode_0003960", + "episode_json": "json/chunk-0003/episode_0003960.json", + "video_path": "videos/chunk-0003/image_0/episode_0003960.mp4", + "instruction": "Put cup from sink to drying rack.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003960.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.888843834400177, + "std": 0.3589094579219818, + "delta_total": -0.6777428984642029, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.88884, std=0.35891, total_delta=-0.67774). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 6, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106, + 106 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 10 + ], + [ + 3, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cup in sink\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector to the pink cup in the sink and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport cup toward drying rack\", \"start\": 6, \"end\": 10, \"planning\": \"Lift the grasped cup from the sink and move it horizontally toward the drying rack area.\"},\n {\"id\": 3, \"name\": \"place cup in drying rack and release\", \"start\": 11, \"end\": 19, \"planning\": \"Position the cup over the drying rack slot, lower it into place, and open gripper to release.\"}\n ],\n \"global_plan\": \"Grasp the pink cup from the sink, lift and carry it to the drying rack, then place and release it securely in the rack.\",\n \"notes\": \"Gripper closes significantly in segment 1 (frames 0-5), remains closed during transport (segment 2, frames 6-10), and opens in segment 3 (frames 11-19) — consistent with grasp-lift-place sequence. Motion and gripper evidence align across all segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cup in sink", + "start": 0, + "end": 5, + "planning": "Move end-effector to the pink cup in the sink and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport cup toward drying rack", + "start": 6, + "end": 10, + "planning": "Lift the grasped cup from the sink and move it horizontally toward the drying rack area." + }, + { + "id": 3, + "name": "place cup in drying rack and release", + "start": 11, + "end": 19, + "planning": "Position the cup over the drying rack slot, lower it into place, and open gripper to release." + } + ], + "global_plan": "Grasp the pink cup from the sink, lift and carry it to the drying rack, then place and release it securely in the rack.", + "notes": "Gripper closes significantly in segment 1 (frames 0-5), remains closed during transport (segment 2, frames 6-10), and opens in segment 3 (frames 11-19) — consistent with grasp-lift-place sequence. Motion and gripper evidence align across all segments." + } + }, + "episode_goal": "Grasp the black cup in the sink and place it into the drying rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33730727434158325, + -0.03866290673613548, + 0.11338619887828827, + -3.0152716636657715, + 0.1493554264307022, + -0.13138632476329803 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the black cup. The gripper is currently open and has not yet made contact with the cup. The next action is to lower the arm and close the gripper to grasp the black cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, close gripper; then move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33505913615226746, + -0.03972644731402397, + 0.09512858092784882, + -3.021519899368286, + 0.2109678089618683, + -0.12916336953639984 + ], + "gripper_value": 0.9788280129432678 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy tomato": [ + 385, + 790, + 511, + 957 + ], + "pink bottle": [ + 412, + 567, + 466, + 666 + ], + "toy striped fruit": [ + 495, + 745, + 621, + 898 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the black cup. The gripper is currently open and has not yet made contact with the cup. The next action is to lower the arm and close the gripper to grasp the black cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430723547935486, + -0.0426616333425045, + 0.09498605877161026, + -3.024911880493164, + 0.19880428910255432, + -0.1316552311182022 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the pink cup. No grasp has occurred yet, as the gripper remains wide open and no contact is visible. The next action should be to close the gripper to securely grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 2 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34418782591819763, + -0.044178154319524765, + 0.08680909872055054, + -3.0244064331054688, + 0.2197754830121994, + -0.12951411306858063 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the pink cup. No grasp has occurred yet, as the gripper remains wide open and no contact is visible. The next action should be to close the gripper to securely grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 2 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34942010045051575, + -0.04638850316405296, + 0.08419036865234375, + -3.016266107559204, + 0.19086185097694397, + -0.11663934588432312 + ], + "gripper_value": 0.8196109533309937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the pink cup. No grasp has occurred yet, as the gripper remains wide open and no contact is visible. The next action should be to close the gripper to securely grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3465874493122101, + -0.04552510753273964, + 0.0769236758351326, + -3.006721258163452, + 0.1873507797718048, + -0.0965808853507042 + ], + "gripper_value": 0.6059080362319946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "approach and grasp cup in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the pink cup. No grasp has occurred yet, as the gripper remains wide open and no contact is visible. The next action should be to close the gripper to securely grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move left 10 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411836326122284, + -0.044182609766721725, + 0.06762267649173737, + -3.000380039215088, + 0.20050391554832458, + -0.09933081269264221 + ], + "gripper_value": 0.4166308641433716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "lift and transport cup toward drying rack", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the pink cup. No grasp has occurred yet, as the gripper remains wide open and no contact is visible. The next action should be to close the gripper to securely grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33781054615974426, + -0.0434018038213253, + 0.06147230789065361, + -2.9994161128997803, + 0.20503611862659454, + -0.10092546045780182 + ], + "gripper_value": 0.22298766672611237 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "lift and transport cup toward drying rack", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the pink cup. No grasp has occurred yet, as the gripper remains wide open and no contact is visible. The next action should be to close the gripper to securely grasp the pink cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move left 10 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33438780903816223, + -0.0426824726164341, + 0.06123453751206398, + -2.9935765266418457, + 0.20007598400115967, + -0.10786932706832886 + ], + "gripper_value": 0.100052610039711 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "lift and transport cup toward drying rack", + "subtask_reasoning": "The robot has successfully grasped the black cup in the sink, as indicated by the gripper closure and consistent segment-level evidence. The current frame shows the cup still in the sink, suggesting the lift and transport phase has just begun. The next action should involve lifting the cup upward and moving it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33465898036956787, + -0.039717383682727814, + 0.0721239224076271, + -2.9872195720672607, + 0.17186349630355835, + -0.10569850355386734 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "lift and transport cup toward drying rack", + "subtask_reasoning": "The robot has successfully grasped the black cup in the sink, as indicated by the gripper closure and consistent segment-level evidence. The current frame shows the cup still in the sink, suggesting the lift and transport phase has just begun. The next action should involve lifting the cup upward and moving it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429265320301056, + -0.03155720606446266, + 0.10495776683092117, + -2.982917070388794, + 0.1068941280245781, + -0.09218280017375946 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "lift and transport cup toward drying rack", + "subtask_reasoning": "The robot has successfully grasped the black cup in the sink, as indicated by the gripper closure and consistent segment-level evidence. The current frame shows the cup still in the sink, suggesting the lift and transport phase has just begun. The next action should involve lifting the cup upward and moving it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35651108622550964, + -0.0174863338470459, + 0.1390230804681778, + -2.9760003089904785, + 0.04141416773200035, + -0.06572801619768143 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy tomato": [ + 384, + 792, + 512, + 958 + ], + "pink bottle": [ + 392, + 397, + 461, + 534 + ], + "toy striped fruit": [ + 494, + 745, + 621, + 898 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot has successfully grasped the black cup in the sink, as indicated by the gripper closure and consistent segment-level evidence. The current frame shows the cup still in the sink, suggesting the lift and transport phase has just begun. The next action should involve lifting the cup upward and moving it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36078542470932007, + 0.005123996175825596, + 0.14958898723125458, + -2.967909336090088, + 0.02791658416390419, + -0.027066057547926903 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot has successfully grasped the black cup in the sink, as indicated by the gripper closure and consistent segment-level evidence. The current frame shows the cup still in the sink, suggesting the lift and transport phase has just begun. The next action should involve lifting the cup upward and moving it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36094930768013, + 0.038595665246248245, + 0.14863473176956177, + -2.9599742889404297, + 0.018010742962360382, + 0.03654692322015762 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot has successfully grasped the black cup in the sink, as indicated by the gripper closure and consistent segment-level evidence. The current frame shows the cup still in the sink, suggesting the lift and transport phase has just begun. The next action should involve lifting the cup upward and moving it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35752445459365845, + 0.06404981017112732, + 0.1414102017879486, + -2.956202745437622, + 0.02493220753967762, + 0.09053755551576614 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot has successfully grasped the black cup in the sink, as indicated by the gripper closure and consistent segment-level evidence. The current frame shows the cup still in the sink, suggesting the lift and transport phase has just begun. The next action should involve lifting the cup upward and moving it toward the drying rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3573046922683716, + 0.08062195032835007, + 0.12418226152658463, + -2.9515604972839355, + 0.05772820860147476, + 0.1201167106628418 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot arm is positioned over the drying rack with the gripper closed, indicating the cup is being held. The subtask involves placing the cup into the rack, which requires lowering the arm and opening the gripper to release the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575606048107147, + 0.08323141932487488, + 0.11960599571466446, + -2.9539012908935547, + 0.06688123941421509, + 0.1195833757519722 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot arm is positioned over the drying rack with the gripper closed, indicating the cup is being held. The subtask involves placing the cup into the rack, which requires lowering the arm and opening the gripper to release the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.35994452238082886, + 0.08358504623174667, + 0.1125330701470375, + -2.95432710647583, + 0.08221517503261566, + 0.1195516511797905 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot arm is positioned over the drying rack with the gripper closed, indicating the cup is being held. The subtask involves placing the cup into the rack, which requires lowering the arm and opening the gripper to release the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646186888217926, + 0.07935143262147903, + 0.11252110451459885, + -2.952394723892212, + 0.08032791316509247, + 0.10819912701845169 + ], + "gripper_value": 0.19318951666355133 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot arm is positioned over the drying rack with the gripper closed, indicating the cup is being held. The subtask involves placing the cup into the rack, which requires lowering the arm and opening the gripper to release the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36370277404785156, + 0.07738018035888672, + 0.11113602668046951, + -2.945861577987671, + 0.09800054132938385, + 0.10564533621072769 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the black cup in the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup in sink" + }, + { + "id": 2, + "subtask": "lift and transport cup toward drying rack" + }, + { + "id": 3, + "subtask": "place cup in drying rack and release" + } + ], + "subtask_name": "place cup in drying rack and release", + "subtask_reasoning": "The robot arm is positioned over the drying rack with the gripper closed, indicating the cup is being held. The subtask involves placing the cup into the rack, which requires lowering the arm and opening the gripper to release the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003961_ecot.json b/cot/chunk-0003/episode_0003961_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..59d96adbf04d4a6759f4266c3b43a75cf0069bbd --- /dev/null +++ b/cot/chunk-0003/episode_0003961_ecot.json @@ -0,0 +1,2394 @@ +{ + "task_name": "episode_0003961", + "episode_json": "json/chunk-0003/episode_0003961.json", + "video_path": "videos/chunk-0003/image_0/episode_0003961.mp4", + "instruction": "Put the silver pot on the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003961.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9543426036834717, + "std": 0.429828405380249, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95434, std=0.42983, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 130, + 130, + 130, + 30 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 28 + ], + [ + 3, + 29, + 29 + ], + [ + 4, + 30, + 32 + ], + [ + 5, + 33, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp pot\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the silver pot and close gripper to establish grasp, confirmed by gripper value drop from 1.0 to 0.66 and segment-level closing evidence.\"},\n {\"id\": 2, \"name\": \"lift and reposition pot over left burner\", \"start\": 9, \"end\": 28, \"planning\": \"Lift the grasped pot and translate it horizontally to position above the left burner, with gripper maintaining hold (values between 0.05–0.47) and motion consistent with carrying.\"},\n {\"id\": 3, \"name\": \"lower pot onto left burner\", \"start\": 29, \"end\": 29, \"planning\": \"Descend vertically to place the pot on the left burner surface, initiating release as gripper begins to open (value rises to 0.21).\"},\n {\"id\": 4, \"name\": \"release gripper and retreat\", \"start\": 30, \"end\": 32, \"planning\": \"Fully open gripper to release the pot and retract end-effector upward and away, confirmed by gripper values rising to 1.0 and upward Z-motion.\"},\n {\"id\": 5, \"name\": \"final retreat and reset\", \"start\": 33, \"end\": 33, \"planning\": \"Complete retreat motion with no gripper activity, returning to neutral pose after task completion.\"}\n ],\n \"global_plan\": \"Grasp the silver pot, lift and move it to the left burner, lower and release it, then retreat to complete the placement task.\",\n \"notes\": \"Plan follows observed gripper closure in segments 1–2 for grasping, segment 3 for initial release, segments 4–5 for full release and retreat. All frame ranges are contiguous and cover 0–33. No hallucinated actions — all phases supported by gripper trends and motion data.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp pot", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the silver pot and close gripper to establish grasp, confirmed by gripper value drop from 1.0 to 0.66 and segment-level closing evidence." + }, + { + "id": 2, + "name": "lift and reposition pot over left burner", + "start": 9, + "end": 28, + "planning": "Lift the grasped pot and translate it horizontally to position above the left burner, with gripper maintaining hold (values between 0.05–0.47) and motion consistent with carrying." + }, + { + "id": 3, + "name": "lower pot onto left burner", + "start": 29, + "end": 29, + "planning": "Descend vertically to place the pot on the left burner surface, initiating release as gripper begins to open (value rises to 0.21)." + }, + { + "id": 4, + "name": "release gripper and retreat", + "start": 30, + "end": 32, + "planning": "Fully open gripper to release the pot and retract end-effector upward and away, confirmed by gripper values rising to 1.0 and upward Z-motion." + }, + { + "id": 5, + "name": "final retreat and reset", + "start": 33, + "end": 33, + "planning": "Complete retreat motion with no gripper activity, returning to neutral pose after task completion." + } + ], + "global_plan": "Grasp the silver pot, lift and move it to the left burner, lower and release it, then retreat to complete the placement task.", + "notes": "Plan follows observed gripper closure in segments 1–2 for grasping, segment 3 for initial release, segments 4–5 for full release and retreat. All frame ranges are contiguous and cover 0–33. No hallucinated actions — all phases supported by gripper trends and motion data." + } + }, + "episode_goal": "Place the silver pot on the left burner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28753605484962463, + -0.005039089825004339, + 0.117561474442482, + 3.1082282066345215, + -0.1153426244854927, + 0.1903935968875885 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the gripper to make contact with the pot for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 5 cm, move down 6 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28528445959091187, + -0.005442951340228319, + 0.1078086644411087, + 3.112816333770752, + -0.08029935508966446, + 0.18802593648433685 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the gripper to make contact with the pot for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 5 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30101022124290466, + -0.0039291284047067165, + 0.10705564171075821, + 3.1071879863739014, + -0.09559772908687592, + 0.15498913824558258 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the gripper to make contact with the pot for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32819226384162903, + 0.0006381129496730864, + 0.10197362303733826, + 3.1144888401031494, + -0.09087999910116196, + 0.14013050496578217 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the gripper to make contact with the pot for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35157740116119385, + 0.008299659937620163, + 0.09716995060443878, + 3.1181273460388184, + -0.10398650169372559, + 0.13570725917816162 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue fork": [ + 633, + 276, + 796, + 460 + ], + "frying pan": [ + 310, + 125, + 612, + 331 + ], + "orange cloth": [ + 325, + 341, + 648, + 703 + ], + "teal cloth": [ + 1, + 3, + 213, + 298 + ], + "wooden board": [ + 288, + 2, + 396, + 147 + ], + "toy stovetop": [ + 111, + 135, + 812, + 754 + ], + "sink": [ + 770, + 467, + 994, + 990 + ], + "purple object": [ + 434, + 362, + 573, + 520 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the left burner. The gripper is open and has not yet made contact with the pot. The next action should involve lowering the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36351853609085083, + 0.022893041372299194, + 0.08286598324775696, + 3.132509231567383, + -0.10699518769979477, + 0.14774855971336365 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the left burner. The gripper is open and has not yet made contact with the pot. The next action should involve lowering the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move back 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3656364977359772, + 0.0374319888651371, + 0.06952765583992004, + 3.130913019180298, + -0.09158077836036682, + 0.1628522127866745 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the left burner. The gripper is open and has not yet made contact with the pot. The next action should involve lowering the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655669093132019, + 0.04552830383181572, + 0.06849256902933121, + 3.1297061443328857, + -0.09471403062343597, + 0.1689804494380951 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the left burner. The gripper is open and has not yet made contact with the pot. The next action should involve lowering the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36647358536720276, + 0.041496701538562775, + 0.06374354660511017, + 3.104485034942627, + -0.10047144442796707, + 0.1592356264591217 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the left burner. The gripper is open and has not yet made contact with the pot. The next action should involve lowering the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.367491751909256, + 0.04003686457872391, + 0.06091299280524254, + 3.095200538635254, + -0.10693123191595078, + 0.15108975768089294 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lift and reposition pot over left burner", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the left burner. The gripper is open and has not yet made contact with the pot. The next action should involve lowering the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 28 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3672430217266083, + 0.03772185742855072, + 0.05997803434729576, + 3.095273971557617, + -0.10386412590742111, + 0.1449461132287979 + ], + "gripper_value": 0.14915025234222412 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lift and reposition pot over left burner", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the left burner. The gripper is open and has not yet made contact with the pot. The next action should involve lowering the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 28 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36651310324668884, + 0.03725836053490639, + 0.05885288864374161, + 3.0925135612487793, + -0.10524838417768478, + 0.14851683378219604 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lift and reposition pot over left burner", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the left burner. The gripper is open and has not yet made contact with the pot. 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The next action is to continue moving the pot horizontally until it is centered over the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23238980770111084, + 0.09555776417255402, + 0.08448866754770279, + 3.1052536964416504, + -0.16681720316410065, + 0.12485052645206451 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lift and reposition pot over left burner", + "subtask_reasoning": "The silver pot is currently held above the stove, having been lifted from its initial position. 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The next action is to continue moving the pot horizontally until it is centered over the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559047341346741, + 0.09641943126916885, + 0.07927335053682327, + 3.119943141937256, + -0.1866173893213272, + 0.11033612489700317 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue fork": [ + 633, + 272, + 796, + 460 + ], + "orange cloth": [ + 325, + 340, + 648, + 702 + ], + "purple object": [ + 435, + 359, + 575, + 523 + ], + "sink": [ + 771, + 468, + 994, + 989 + ], + "frying pan": [ + 115, + 240, + 344, + 456 + ], + "toy stovetop": [ + 107, + 135, + 811, + 755 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lift and reposition pot over left burner", + "subtask_reasoning": "The silver pot is currently held above the stove, having been lifted from its initial position. The arm is repositioning the pot toward the left burner. The next action is to continue moving the pot horizontally until it is centered over the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2742527425289154, + 0.10014519095420837, + 0.07279853522777557, + 3.1279232501983643, + -0.1831158995628357, + 0.10024021565914154 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lift and reposition pot over left burner", + "subtask_reasoning": "The silver pot is currently held above the stove, having been lifted from its initial position. The arm is repositioning the pot toward the left burner. The next action is to continue moving the pot horizontally until it is centered over the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802343964576721, + 0.09912126511335373, + 0.06913367658853531, + 3.134639024734497, + -0.17193739116191864, + 0.0952008068561554 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lift and reposition pot over left burner", + "subtask_reasoning": "The silver pot is currently held above the stove, having been lifted from its initial position. The arm is repositioning the pot toward the left burner. The next action is to continue moving the pot horizontally until it is centered over the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27945056557655334, + 0.09672985970973969, + 0.06987030059099197, + 3.1363651752471924, + -0.1650320142507553, + 0.11131663620471954 + ], + "gripper_value": 0.20806095004081726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lift and reposition pot over left burner", + "subtask_reasoning": "The silver pot is currently held above the stove, having been lifted from its initial position. The arm is repositioning the pot toward the left burner. The next action is to continue moving the pot horizontally until it is centered over the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27557849884033203, + 0.09390605241060257, + 0.08669166266918182, + -3.1321215629577637, + -0.1812381148338318, + 0.10735804587602615 + ], + "gripper_value": 0.475652277469635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "lower pot onto left burner", + "subtask_reasoning": "The silver pot is currently positioned directly above the left burner, having been lifted and moved into place. The gripper remains open with no closing evidence in this segment, indicating the pot is not yet released. The next action should be to lower the pot gently onto the burner surface while maintaining gripper openness until contact is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 29, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755678594112396, + 0.08324179798364639, + 0.11281432211399078, + -3.123607635498047, + -0.22248759865760803, + 0.09275098890066147 + ], + "gripper_value": 0.7768828272819519 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release gripper and retreat", + "subtask_reasoning": "The silver pot is currently positioned directly above the left burner, having been lifted and moved into place. The gripper remains open with no closing evidence in this segment, indicating the pot is not yet released. The next action should be to lower the pot gently onto the burner surface while maintaining gripper openness until contact is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28104108572006226, + 0.05899088457226753, + 0.13574695587158203, + -3.121255397796631, + -0.23016634583473206, + 0.04238242283463478 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release gripper and retreat", + "subtask_reasoning": "The silver pot is already placed on the left burner, and the gripper is open (value ~1.0), indicating release has occurred. The robot appears to be in a retreat phase, moving away from the stove. Next action should continue retreating to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866229712963104, + 0.04010792076587677, + 0.14522294700145721, + -3.1379292011260986, + -0.2107100486755371, + 0.057862408459186554 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release gripper and retreat", + "subtask_reasoning": "The silver pot is already placed on the left burner, and the gripper is open (value ~1.0), indicating release has occurred. The robot appears to be in a retreat phase, moving away from the stove. Next action should continue retreating to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902265787124634, + 0.029705988243222237, + 0.1395535171031952, + 3.139946937561035, + -0.10277383029460907, + 0.10487603396177292 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot over left burner" + }, + { + "id": 3, + "subtask": "lower pot onto left burner" + }, + { + "id": 4, + "subtask": "release gripper and retreat" + }, + { + "id": 5, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The silver pot is already placed on the left burner, and the gripper is open and retracted above the stove. The current subtask involves final retreat and reset, with no further manipulation needed. The next action is to maintain or complete the retreat motion to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003964_ecot.json b/cot/chunk-0003/episode_0003964_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1b132d35f5f65c1e64218c7aefab3ae4b0f0a71d --- /dev/null +++ b/cot/chunk-0003/episode_0003964_ecot.json @@ -0,0 +1,1631 @@ +{ + "task_name": "episode_0003964", + "episode_json": "json/chunk-0003/episode_0003964.json", + "video_path": "videos/chunk-0003/image_0/episode_0003964.mp4", + "instruction": "Move the yellow cloth of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003964.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.0026487112045288086, + "std": 0.0009310306049883366, + "delta_total": -0.0013275146484375, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00265, std=0.00093, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 10 + ], + [ + 4, + 11, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector down toward the yellow cloth on the table without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 6, \"end\": 10, \"planning\": \"Lower the gripper to make light contact with the surface of the yellow cloth.\"},\n {\"id\": 3, \"name\": \"push cloth forward\", \"start\": 11, \"end\": 17, \"planning\": \"Apply forward pressure to slide the yellow cloth away from its initial position.\"},\n {\"id\": 4, \"name\": \"reposition and retreat\", \"start\": 18, \"end\": 24, \"planning\": \"Adjust final cloth position and lift the end-effector slightly to release contact.\"}\n ],\n \"global_plan\": \"The robot approaches the yellow cloth, makes contact, pushes it forward across the table surface, then repositions and retreats without grasping or lifting.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is purely contact-based pushing and sliding.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow cloth", + "start": 0, + "end": 5, + "planning": "Move the end-effector down toward the yellow cloth on the table without grasping." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 6, + "end": 10, + "planning": "Lower the gripper to make light contact with the surface of the yellow cloth." + }, + { + "id": 3, + "name": "push cloth forward", + "start": 11, + "end": 17, + "planning": "Apply forward pressure to slide the yellow cloth away from its initial position." + }, + { + "id": 4, + "name": "reposition and retreat", + "start": 18, + "end": 24, + "planning": "Adjust final cloth position and lift the end-effector slightly to release contact." + } + ], + "global_plan": "The robot approaches the yellow cloth, makes contact, pushes it forward across the table surface, then repositions and retreats without grasping or lifting.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is purely contact-based pushing and sliding." + } + }, + "episode_goal": "Move the yellow cloth on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.20587041974067688, + 0.03258691728115082, + 0.01791430450975895, + -3.1084036827087402, + -0.20350410044193268, + 0.34982550144195557 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned near the yellow cloth on the table, with no prior actions completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should be to move the end-effector closer to the yellow cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20453433692455292, + 0.03161408752202988, + 0.013899430632591248, + -3.1098246574401855, + -0.1881430447101593, + 0.34906041622161865 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned near the yellow cloth on the table, with no prior actions completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should be to move the end-effector closer to the yellow cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20933715999126434, + 0.027950575575232506, + -0.006907117087393999, + 3.135533332824707, + -0.19553238153457642, + 0.3040272295475006 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow cloth visible below. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly to make contact with the yellow cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21228931844234467, + 0.0260437224060297, + -0.03500978648662567, + 3.1313204765319824, + -0.18960969150066376, + 0.24805325269699097 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 616, + 640, + 972, + 994 + ], + "yellow cloth": [ + 251, + 734, + 515, + 996 + ], + "blue cloth": [ + 169, + 599, + 293, + 837 + ], + "washing machine": [ + 74, + 3, + 993, + 733 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow cloth visible below. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly to make contact with the yellow cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21129709482192993, + 0.024475518614053726, + -0.04888172447681427, + 3.137566328048706, + -0.1715155392885208, + 0.2145107388496399 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow cloth visible below. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly to make contact with the yellow cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 5 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20982837677001953, + 0.022283164784312248, + -0.06066185235977173, + 3.134242296218872, + -0.13336719572544098, + 0.18821774423122406 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow cloth visible below. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly to make contact with the yellow cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 5 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20659396052360535, + 0.01988556608557701, + -0.07245858758687973, + -3.1325876712799072, + -0.10127526521682739, + 0.14554351568222046 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow cloth visible below. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly to make contact with the yellow cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21151629090309143, + 0.01878543011844158, + -0.07775822281837463, + -3.106849193572998, + -0.09880109131336212, + 0.11797259002923965 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the yellow cloth visible below. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm slightly to make contact with the yellow cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21460959315299988, + 0.017002735286951065, + -0.07947326451539993, + -3.0938708782196045, + -0.10568384826183319, + 0.09245237708091736 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in direct contact with it on the table surface. No grasping has occurred, as gripper signals remain open and stable. The next action is to begin pushing the cloth forward across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2202230840921402, + 0.009985233657062054, + -0.07991398125886917, + -3.104692220687866, + -0.11261701583862305, + 0.0938580110669136 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in direct contact with it on the table surface. No grasping has occurred, as gripper signals remain open and stable. The next action is to begin pushing the cloth forward across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23781703412532806, + -0.0018043972086161375, + -0.07927493005990982, + -3.1294968128204346, + -0.13133563101291656, + 0.07794541865587234 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in direct contact with it on the table surface. No grasping has occurred, as gripper signals remain open and stable. The next action is to begin pushing the cloth forward across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2580984830856323, + -0.017620990052819252, + -0.07768336683511734, + 3.122830390930176, + -0.15380799770355225, + 0.04728163406252861 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 617, + 640, + 971, + 994 + ], + "blue cloth": [ + 185, + 536, + 402, + 838 + ], + "yellow cloth": [ + 320, + 726, + 593, + 995 + ], + "washing machine": [ + 174, + 3, + 994, + 725 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push cloth forward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in direct contact with it on the table surface. No grasping has occurred, as gripper signals remain open and stable. The next action is to begin pushing the cloth forward across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733958065509796, + -0.03036835603415966, + -0.077497199177742, + 3.101966381072998, + -0.1597074568271637, + 0.028732791543006897 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push cloth forward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in direct contact with it on the table surface. No grasping has occurred, as gripper signals remain open and stable. The next action is to begin pushing the cloth forward across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28718069195747375, + -0.041553594172000885, + -0.07681021094322205, + 3.083178997039795, + -0.1697659194469452, + 0.008283101953566074 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push cloth forward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in direct contact with it on the table surface. No grasping has occurred, as gripper signals remain open and stable. The next action is to begin pushing the cloth forward across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977696359157562, + -0.0488257072865963, + -0.07675191015005112, + 3.068392038345337, + -0.17438676953315735, + -0.003124719252809882 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push cloth forward", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a pushing motion. The next action is to continue pushing the cloth forward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30242863297462463, + -0.05357101187109947, + -0.07676364481449127, + 3.068389892578125, + -0.1717160940170288, + -0.02403084933757782 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push cloth forward", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a pushing motion. The next action is to continue pushing the cloth forward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.302074670791626, + -0.05316949635744095, + -0.0755971297621727, + 3.0735886096954346, + -0.16950441896915436, + -0.03950594365596771 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push cloth forward", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a pushing motion. The next action is to continue pushing the cloth forward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977568209171295, + -0.053684767335653305, + -0.07157274335622787, + 3.072904348373413, + -0.16152483224868774, + -0.05778487026691437 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push cloth forward", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a pushing motion. The next action is to continue pushing the cloth forward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30098220705986023, + -0.05977262556552887, + -0.054550204426050186, + 3.068166494369507, + -0.18395625054836273, + -0.0725790411233902 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a pushing motion. The next action is to continue pushing the cloth forward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30034226179122925, + -0.062226079404354095, + -0.036251768469810486, + 3.0531697273254395, + -0.1781540811061859, + -0.08987930417060852 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a pushing motion. The next action is to continue pushing the cloth forward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30308762192726135, + -0.05515769496560097, + -0.014570732600986958, + 3.0742862224578857, + -0.20328451693058014, + -0.09004851430654526 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 185, + 533, + 448, + 841 + ], + "laundry basket": [ + 618, + 639, + 969, + 993 + ], + "yellow cloth": [ + 439, + 622, + 710, + 946 + ], + "washing machine": [ + 5, + 3, + 994, + 711 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a pushing motion. The next action is to continue pushing the cloth forward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30260443687438965, + -0.05441161245107651, + -0.014452246017754078, + 3.074932098388672, + -0.20146618783473969, + -0.08515956252813339 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot has completed pushing the yellow cloth and is now in the reposition and retreat phase. The gripper remains open with no grasp evidence, and the arm is moving away from the cloth. The next action is to continue retreating to a safe position without contacting the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30269381403923035, + -0.05383746325969696, + -0.014460304751992226, + 3.076219320297241, + -0.20162826776504517, + -0.08658201992511749 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot has completed pushing the yellow cloth and is now in the reposition and retreat phase. The gripper remains open with no grasp evidence, and the arm is moving away from the cloth. The next action is to continue retreating to a safe position without contacting the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30260443687438965, + -0.05441161245107651, + -0.014452246017754078, + 3.075244665145874, + -0.2015681266784668, + -0.0867217630147934 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot has completed pushing the yellow cloth and is now in the reposition and retreat phase. The gripper remains open with no grasp evidence, and the arm is moving away from the cloth. The next action is to continue retreating to a safe position without contacting the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30269381403923035, + -0.05383746325969696, + -0.014460304751992226, + 3.076219320297241, + -0.20162826776504517, + -0.08658201992511749 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot has completed pushing the yellow cloth and is now in the reposition and retreat phase. The gripper remains open with no grasp evidence, and the arm is moving away from the cloth. The next action is to continue retreating to a safe position without contacting the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003965_ecot.json b/cot/chunk-0003/episode_0003965_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..35b893a8c50e39b3f161cb476bad4fd6ffa02982 --- /dev/null +++ b/cot/chunk-0003/episode_0003965_ecot.json @@ -0,0 +1,2289 @@ +{ + "task_name": "episode_0003965", + "episode_json": "json/chunk-0003/episode_0003965.json", + "video_path": "videos/chunk-0003/image_0/episode_0003965.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003965.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.8796852231025696, + "std": 0.40929973125457764, + "delta_total": -0.003338754177093506, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.87969, std=0.40930, total_delta=-0.00334). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 28, + 128, + 128, + 128, + 128 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 7 + ], + [ + 3, + 8, + 12 + ], + [ + 4, + 13, + 27 + ], + [ + 5, + 28, + 28 + ], + [ + 6, + 29, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the drawer handle without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp drawer handle\", \"start\": 7, \"end\": 12, \"planning\": \"Close the gripper to securely grasp the drawer handle, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"push drawer closed\", \"start\": 13, \"end\": 27, \"planning\": \"While maintaining grip on the handle, push the drawer inward until it is fully closed.\"},\n {\"id\": 4, \"name\": \"release drawer handle\", \"start\": 28, \"end\": 28, \"planning\": \"Open the gripper to release contact with the drawer handle after closing.\"},\n {\"id\": 5, \"name\": \"retreat from drawer\", \"start\": 29, \"end\": 32, \"planning\": \"Move the end-effector away from the drawer to complete the task.\"}\n ],\n \"global_plan\": \"Approach the drawer handle, grasp it, push the drawer closed while holding the handle, release the handle, and retreat.\",\n \"notes\": \"Gripper closure is only asserted in segments 2 and 3 where segment-level evidence and images confirm meaningful closing. Segment 1 shows no gripper motion — described as approach. Segment 4 (frame 28) is a single-frame release based on gripper opening trend. Segment 5 is retreat with open gripper.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the drawer handle without closing the gripper." + }, + { + "id": 2, + "name": "grasp drawer handle", + "start": 7, + "end": 12, + "planning": "Close the gripper to securely grasp the drawer handle, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "push drawer closed", + "start": 13, + "end": 27, + "planning": "While maintaining grip on the handle, push the drawer inward until it is fully closed." + }, + { + "id": 4, + "name": "release drawer handle", + "start": 28, + "end": 28, + "planning": "Open the gripper to release contact with the drawer handle after closing." + }, + { + "id": 5, + "name": "retreat from drawer", + "start": 29, + "end": 32, + "planning": "Move the end-effector away from the drawer to complete the task." + } + ], + "global_plan": "Approach the drawer handle, grasp it, push the drawer closed while holding the handle, release the handle, and retreat.", + "notes": "Gripper closure is only asserted in segments 2 and 3 where segment-level evidence and images confirm meaningful closing. Segment 1 shows no gripper motion — described as approach. Segment 4 (frame 28) is a single-frame release based on gripper opening trend. Segment 5 is retreat with open gripper." + } + }, + "episode_goal": "Close the drawer by pushing it until it is fully shut.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.44178617000579834, + -0.03572419285774231, + 0.11430027335882187, + -3.0933949947357178, + -0.16302423179149628, + -0.04353257268667221 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the handle visible. No actions have been completed yet as the gripper is open and not in contact with the object. The robot needs to lower its arm to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4382302165031433, + -0.03627534583210945, + 0.09418206661939621, + -3.0918874740600586, + -0.11086823791265488, + -0.04504728317260742 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the handle visible. No actions have been completed yet as the gripper is open and not in contact with the object. The robot needs to lower its arm to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 2 cm, move down 4 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.42351484298706055, + -0.03666294738650322, + 0.0779334306716919, + -3.0716145038604736, + -0.0784401148557663, + -0.02153313159942627 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the handle visible. No actions have been completed yet as the gripper is open and not in contact with the object. The robot needs to lower its arm to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 2 cm, move down 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4081612825393677, + -0.04096287488937378, + 0.0893673226237297, + -3.0719380378723145, + -0.1146039292216301, + -0.014330486766994 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 795, + 248, + 992, + 379 + ], + "yellow block": [ + 803, + 152, + 884, + 282 + ], + "table": [ + 12, + 4, + 994, + 994 + ], + "wooden box": [ + 48, + 5, + 603, + 596 + ], + "green block": [ + 587, + 233, + 707, + 391 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to move the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38105830550193787, + -0.042815789580345154, + 0.08356340229511261, + -3.0441763401031494, + -0.11233692616224289, + -0.022331392392516136 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to move the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34855347871780396, + -0.05265305936336517, + 0.07979094237089157, + -3.01599383354187, + -0.11321891099214554, + -0.06325063854455948 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to move the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, close gripper; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.32506075501441956, + -0.05971721187233925, + 0.06897672265768051, + -3.1294474601745605, + -0.059402499347925186, + -0.04012449458241463 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to move the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, close gripper; then move left 5 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31582993268966675, + -0.054266057908535004, + 0.05873265489935875, + 3.127927780151367, + -0.027323603630065918, + -0.0034046194050461054 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to move the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, close gripper; then move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30774882435798645, + -0.05249912664294243, + 0.05052163824439049, + -3.1396448612213135, + -0.0035011402796953917, + 0.019807180389761925 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No actions have been completed yet as the gripper remains open and no contact has been made. The next step is to move the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019179105758667, + -0.04939628392457962, + 0.04041586071252823, + -3.1170246601104736, + 0.011837178841233253, + 0.037431471049785614 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29738885164260864, + -0.04581524431705475, + 0.02625289186835289, + -3.0923423767089844, + 0.04371931403875351, + 0.040143124759197235 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977655529975891, + -0.046348508447408676, + 0.020737262442708015, + -3.094313621520996, + 0.047190532088279724, + 0.044485174119472504 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29922905564308167, + -0.04381021857261658, + 0.01891854964196682, + -3.0860133171081543, + 0.0284658744931221, + 0.06313873082399368 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move left 11 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30322831869125366, + -0.03469270467758179, + 0.017726637423038483, + -3.0809595584869385, + 0.003467588685452938, + 0.08252700418233871 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 795, + 247, + 992, + 378 + ], + "yellow block": [ + 801, + 128, + 886, + 282 + ], + "table": [ + 4, + 4, + 995, + 994 + ], + "wooden box": [ + 3, + 5, + 591, + 596 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3051689565181732, + -0.029063547030091286, + 0.016476532444357872, + -3.0880961418151855, + -0.02015657350420952, + 0.10366228222846985 + ], + "gripper_value": 0.16130207479000092 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30446651577949524, + -0.014526180922985077, + 0.0173824243247509, + -3.092134952545166, + -0.05350225046277046, + 0.11399896442890167 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3056703805923462, + 0.01766604743897915, + 0.0237880926579237, + -3.116358995437622, + -0.0953110009431839, + 0.1690898835659027 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 797, + 248, + 992, + 378 + ], + "yellow block": [ + 802, + 127, + 886, + 282 + ], + "wooden box": [ + 3, + 5, + 535, + 563 + ], + "table": [ + 4, + 4, + 995, + 994 + ], + "green block": [ + 638, + 234, + 707, + 355 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30420005321502686, + 0.037836767733097076, + 0.026144906878471375, + -3.1204910278320312, + -0.08659480512142181, + 0.23144297301769257 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035629987716675, + 0.051261693239212036, + 0.027341561391949654, + -3.1208178997039795, + -0.07860589772462845, + 0.2708283066749573 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 2 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30340537428855896, + 0.05561279505491257, + 0.02508711814880371, + -3.1200079917907715, + -0.049325697124004364, + 0.28843045234680176 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the open drawer and positioned its gripper around the handle. The gripper is currently open and in contact with the handle, preparing to close. The next action is to close the gripper to firmly grasp the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019479215145111, + 0.060980863869190216, + 0.024548983201384544, + -3.0870368480682373, + 0.005902842618525028, + 0.29751256108283997 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having already approached and grasped it. The current frame shows the drawer partially open with the end-effector positioned to apply force. The next action is to push the drawer inward along its track to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3031931519508362, + 0.06806152313947678, + 0.02330630272626877, + -3.043484687805176, + 0.04793335869908333, + 0.32030412554740906 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having already approached and grasped it. The current frame shows the drawer partially open with the end-effector positioned to apply force. The next action is to push the drawer inward along its track to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041065037250519, + 0.07104279845952988, + 0.02288055047392845, + -3.024962902069092, + 0.06434211879968643, + 0.33890166878700256 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having already approached and grasped it. The current frame shows the drawer partially open with the end-effector positioned to apply force. The next action is to push the drawer inward along its track to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3054617941379547, + 0.07292014360427856, + 0.023158103227615356, + -3.014090061187744, + 0.08166314661502838, + 0.34806275367736816 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having already approached and grasped it. The current frame shows the drawer partially open with the end-effector positioned to apply force. The next action is to push the drawer inward along its track to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3052738904953003, + 0.07668855041265488, + 0.02330082096159458, + -3.009878635406494, + 0.09170252084732056, + 0.35985347628593445 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having already approached and grasped it. The current frame shows the drawer partially open with the end-effector positioned to apply force. The next action is to push the drawer inward along its track to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30480772256851196, + 0.07689302414655685, + 0.02282647415995598, + -3.01045298576355, + 0.09490206092596054, + 0.3624114394187927 + ], + "gripper_value": 0.12046794593334198 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having already approached and grasped it. The current frame shows the drawer partially open with the end-effector positioned to apply force. The next action is to push the drawer inward along its track to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.304665744304657, + 0.077568918466568, + 0.02284858003258705, + -3.0089480876922607, + 0.09428659081459045, + 0.36619773507118225 + ], + "gripper_value": 0.1437794268131256 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having already approached and grasped it. The current frame shows the drawer partially open with the end-effector positioned to apply force. The next action is to push the drawer inward along its track to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29882287979125977, + 0.09024946391582489, + 0.02626185491681099, + -3.0175328254699707, + 0.07032978534698486, + 0.5166853666305542 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer handle, having already approached and grasped it. The current frame shows the drawer partially open with the end-effector positioned to apply force. The next action is to push the drawer inward along its track to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2965509295463562, + 0.08892811089754105, + 0.045950885862112045, + -3.136802911758423, + -0.04088377580046654, + 0.5337371230125427 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 3, + 4, + 428, + 500 + ], + "banana": [ + 798, + 248, + 992, + 378 + ], + "green block": [ + 582, + 233, + 706, + 401 + ], + "table": [ + 4, + 4, + 995, + 994 + ], + "yellow block": [ + 803, + 127, + 886, + 280 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release drawer handle", + "subtask_reasoning": "The drawer is fully closed, and the end-effector is positioned near the handle with the gripper open. The release action has been completed as the gripper is no longer holding the handle. The next step is to retreat from the drawer area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916067838668823, + 0.08382969349622726, + 0.05791795998811722, + 3.0716586112976074, + -0.10777689516544342, + 0.4709208905696869 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is fully closed, and the end-effector is positioned near the handle with the gripper open. The release action has been completed as the gripper is no longer holding the handle. The next step is to retreat from the drawer area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28659000992774963, + 0.07700225710868835, + 0.0737113431096077, + 3.032766819000244, + -0.1685488373041153, + 0.4400767683982849 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is fully closed, and the robot's end-effector is positioned near the handle with the gripper open. The retreat subtask is underway, with the robot moving away from the drawer. The next action is to continue retreating to a safe distance from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28209012746810913, + 0.06988921761512756, + 0.07665237784385681, + 3.033346176147461, + -0.17416328191757202, + 0.384579062461853 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is fully closed, and the robot's end-effector is positioned near the handle with the gripper open. The retreat subtask is underway, with the robot moving away from the drawer. The next action is to continue retreating to a safe distance from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808886766433716, + 0.06016416847705841, + 0.07454950362443924, + 3.0340499877929688, + -0.15965037047863007, + 0.3205789625644684 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer by pushing it until it is fully shut." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release drawer handle" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is fully closed, and the robot's end-effector is positioned near the handle with the gripper open. The retreat subtask is underway, with the robot moving away from the drawer. The next action is to continue retreating to a safe distance from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003966_ecot.json b/cot/chunk-0003/episode_0003966_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b000ab20c1e56f6c261f8cd30e448322b95d9680 --- /dev/null +++ b/cot/chunk-0003/episode_0003966_ecot.json @@ -0,0 +1,2389 @@ +{ + "task_name": "episode_0003966", + "episode_json": "json/chunk-0003/episode_0003966.json", + "video_path": "videos/chunk-0003/image_0/episode_0003966.mp4", + "instruction": "Fold the cloth from left tot right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003966.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9496866464614868, + "std": 0.4352993667125702, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94969, std=0.43530, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 12, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 129, + 129, + 129, + 129, + 129, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 3 + ], + [ + 3, + 4, + 11 + ], + [ + 4, + 12, + 17 + ], + [ + 5, + 18, + 28 + ], + [ + 6, + 29, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper toward the left edge of the cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp left edge\", \"start\": 4, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the left edge of the cloth.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 12, \"end\": 17, \"planning\": \"Lift the grasped edge slightly and begin moving it rightward over the cloth body.\"},\n {\"id\": 4, \"name\": \"drag across surface\", \"start\": 18, \"end\": 28, \"planning\": \"Drag the held edge horizontally across the cloth to initiate folding from left to right.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 29, \"end\": 34, \"planning\": \"Open the gripper to release the cloth after completing the fold, then retreat upward.\"}\n ],\n \"global_plan\": \"Fold the cloth from left to right by grasping the left edge, dragging it across the surface, and releasing once folded.\",\n \"notes\": \"Subtasks align with observed gripper closure in segments 3–5 and opening in segment 6; no hallucinated lifts or places beyond visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 3, + "planning": "Move the gripper toward the left edge of the cloth without closing." + }, + { + "id": 2, + "name": "grasp left edge", + "start": 4, + "end": 11, + "planning": "Close the gripper to securely grasp the left edge of the cloth." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 12, + "end": 17, + "planning": "Lift the grasped edge slightly and begin moving it rightward over the cloth body." + }, + { + "id": 4, + "name": "drag across surface", + "start": 18, + "end": 28, + "planning": "Drag the held edge horizontally across the cloth to initiate folding from left to right." + }, + { + "id": 5, + "name": "release and retreat", + "start": 29, + "end": 34, + "planning": "Open the gripper to release the cloth after completing the fold, then retreat upward." + } + ], + "global_plan": "Fold the cloth from left to right by grasping the left edge, dragging it across the surface, and releasing once folded.", + "notes": "Subtasks align with observed gripper closure in segments 3–5 and opening in segment 6; no hallucinated lifts or places beyond visual evidence." + } + }, + "episode_goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163253366947174, + 0.1409439593553543, + 0.07404450327157974, + -3.1080238819122314, + -0.20448456704616547, + 0.22945672273635864 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the countertop, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper down toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31123268604278564, + 0.1367027908563614, + 0.06351284682750702, + -3.119870185852051, + -0.17080998420715332, + 0.2301151603460312 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the counter, with the gripper open and no contact made yet. The subtask involves approaching the cloth to prepare for grasping the left edge. The next action should be to lower the gripper toward the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move right 6 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28592175245285034, + 0.1195635050535202, + 0.055833783000707626, + 3.12951922416687, + -0.11435850709676743, + 0.20611883699893951 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the counter, with the gripper open and no contact made yet. The subtask involves approaching the cloth to prepare for grasping the left edge. The next action should be to lower the gripper toward the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper open; then move right 6 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26723143458366394, + 0.10995769500732422, + 0.05733306333422661, + 3.1387932300567627, + -0.08732961118221283, + 0.2528969347476959 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the counter, with the gripper open and no contact made yet. The subtask involves approaching the cloth to prepare for grasping the left edge. The next action should be to lower the gripper toward the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move right 6 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2526380121707916, + 0.10360345244407654, + 0.05334574356675148, + -3.1292316913604736, + -0.05743236467242241, + 0.2946960926055908 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the green cloth on the counter, with the gripper open and no contact made yet. The subtask involves approaching the cloth to prepare for grasping the left edge. The next action should be to lower the gripper toward the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2473306953907013, + 0.09441791474819183, + 0.04534340277314186, + -3.1071391105651855, + -0.04195547103881836, + 0.30182603001594543 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the green cloth on the counter, with the gripper open and no contact made yet. The subtask involves approaching the cloth to prepare for grasping the left edge. The next action should be to lower the gripper toward the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2444833368062973, + 0.07988337427377701, + 0.03310839459300041, + -3.111633777618408, + -0.014938556589186192, + 0.2708090841770172 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the green cloth on the counter, with the gripper open and no contact made yet. The subtask involves approaching the cloth to prepare for grasping the left edge. The next action should be to lower the gripper toward the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24499699473381042, + 0.07028799504041672, + 0.023137353360652924, + -3.1217408180236816, + 0.0052495901472866535, + 0.22493037581443787 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 656, + 700, + 992, + 993 + ], + "faucet": [ + 770, + 402, + 993, + 666 + ], + "green cloth": [ + 6, + 492, + 670, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the left edge of the green cloth with the gripper open. The approach phase is complete, and the arm is stationary near the target grasp point. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24599096179008484, + 0.06268057972192764, + 0.009797143749892712, + -3.1111338138580322, + 0.020379502326250076, + 0.1997895985841751 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the left edge of the green cloth with the gripper open. The approach phase is complete, and the arm is stationary near the target grasp point. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24770210683345795, + 0.054955482482910156, + 0.0009823282016441226, + -3.1193442344665527, + 0.027852898463606834, + 0.1807505190372467 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 656, + 701, + 992, + 993 + ], + "wooden board": [ + 135, + 227, + 247, + 477 + ], + "green cloth": [ + 5, + 495, + 672, + 994 + ], + "faucet": [ + 770, + 402, + 993, + 666 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the left edge of the green cloth with the gripper open. The approach phase is complete, and the arm is stationary near the target grasp point. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move up 4 cm, keep gripper closed; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24748070538043976, + 0.052761293947696686, + -0.005224193911999464, + -3.10308837890625, + 0.039528485387563705, + 0.17295818030834198 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the left edge of the green cloth with the gripper open. The approach phase is complete, and the arm is stationary near the target grasp point. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 1 cm, move up 4 cm, keep gripper closed; then move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2498527318239212, + 0.0475764237344265, + -0.007430241908878088, + -3.058540105819702, + 0.008058860898017883, + 0.15534207224845886 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the left edge of the green cloth with the gripper open. The approach phase is complete, and the arm is stationary near the target grasp point. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2493887096643448, + 0.04712020978331566, + -0.007667583879083395, + -3.0584824085235596, + 0.00933793280273676, + 0.15686586499214172 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot is positioned above the left edge of the green cloth with the gripper open. The approach phase is complete, and the arm is stationary near the target grasp point. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2493887096643448, + 0.04712020978331566, + -0.007667583879083395, + -3.0584404468536377, + 0.00895580742508173, + 0.16145211458206177 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot is positioned above the left edge of the green cloth with the gripper open. The approach phase is complete, and the arm is stationary near the target grasp point. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper closed; then move back 2 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2479320466518402, + 0.047122277319431305, + -0.008051171898841858, + -3.0594420433044434, + 0.018628425896167755, + 0.15986980497837067 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper closed; then move back 2 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2455097734928131, + 0.047179799526929855, + -0.007436301559209824, + -3.066478729248047, + 0.03530215471982956, + 0.16116027534008026 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper closed; then move back 2 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2444780319929123, + 0.045478373765945435, + 0.0012040939182043076, + -3.087951183319092, + 0.04182159900665283, + 0.17278891801834106 + ], + "gripper_value": 0.061516307294368744 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move back 3 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24553696811199188, + 0.041043806821107864, + 0.016154449433088303, + -3.1144936084747314, + 0.025029266253113747, + 0.17531442642211914 + ], + "gripper_value": 0.06122923642396927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 10 cm, move down 2 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24473021924495697, + 0.03248986601829529, + 0.029167363420128822, + 3.139712333679199, + 0.015392924658954144, + 0.16004593670368195 + ], + "gripper_value": 0.06122923642396927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move down 3 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24661457538604736, + 0.014651330187916756, + 0.042462851852178574, + 3.1211960315704346, + -0.013201138935983181, + 0.11045210063457489 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.240049809217453, + 0.0038247951306402683, + 0.04711034148931503, + 3.1182518005371094, + -0.02059139311313629, + 0.07855722308158875 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23539261519908905, + -0.0028247765731066465, + 0.04676518589258194, + 3.115912914276123, + -0.01721472665667534, + 0.06215284764766693 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23315872251987457, + -0.0038337833248078823, + 0.04379144683480263, + 3.120725154876709, + -0.018861111253499985, + 0.058542650192976 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot has grasped the left edge of the green cloth and is currently lifting it slightly above the sink surface. The gripper is closed, and the cloth is partially elevated, indicating the lift phase is underway. The next action should be to reposition the lifted edge toward the right side to begin folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.228367879986763, + -0.029559476301074028, + 0.03663945943117142, + 3.12601637840271, + -0.03996921703219414, + -0.007576453499495983 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having successfully grasped it in the previous step. The arm is positioned over the cloth, ready to initiate the folding motion. The next action is to drag the held left edge across the surface towards the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2246774137020111, + -0.04219219088554382, + 0.03255295008420944, + 3.1116857528686523, + -0.05171363428235054, + -0.025525741279125214 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having successfully grasped it in the previous step. The arm is positioned over the cloth, ready to initiate the folding motion. The next action is to drag the held left edge across the surface towards the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.22034907341003418, + -0.057174596935510635, + 0.026064053177833557, + 3.1076979637145996, + -0.059809356927871704, + -0.06512416899204254 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 656, + 700, + 992, + 993 + ], + "green cloth": [ + 81, + 527, + 652, + 996 + ], + "wooden board": [ + 103, + 6, + 265, + 472 + ], + "faucet": [ + 771, + 402, + 993, + 669 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having successfully grasped it in the previous step. The arm is positioned over the cloth, ready to initiate the folding motion. The next action is to drag the held left edge across the surface towards the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21521495282649994, + -0.06726542860269547, + 0.014810587279498577, + 3.109121084213257, + -0.05800103396177292, + -0.09422365576028824 + ], + "gripper_value": 0.07988496869802475 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 658, + 699, + 992, + 993 + ], + "wooden board": [ + 102, + 5, + 264, + 471 + ], + "green cloth": [ + 91, + 539, + 651, + 996 + ], + "faucet": [ + 771, + 402, + 993, + 665 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having successfully grasped it in the previous step. The arm is positioned over the cloth, ready to initiate the folding motion. The next action is to drag the held left edge across the surface towards the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.21356870234012604, + -0.07250435650348663, + 0.005231332965195179, + 3.1194450855255127, + -0.04874661937355995, + -0.1124570295214653 + ], + "gripper_value": 0.18066829442977905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having successfully grasped it in the previous step. The arm is positioned over the cloth, ready to initiate the folding motion. The next action is to drag the held left edge across the surface towards the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21122772991657257, + -0.07164119184017181, + 6.565882358700037e-05, + 3.1269948482513428, + -0.02684023231267929, + -0.12095902860164642 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag across surface", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having successfully grasped it in the previous step. The arm is positioned over the cloth, ready to initiate the folding motion. The next action is to drag the held left edge across the surface towards the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21065643429756165, + -0.0727250799536705, + 0.0015729686710983515, + 3.115407943725586, + -0.01410169992595911, + -0.12739993631839752 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having successfully grasped it in the previous step. The arm is positioned over the cloth, ready to initiate the folding motion. The next action is to drag the held left edge across the surface towards the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2092749923467636, + -0.0715068131685257, + 0.0022922612261027098, + 3.1103806495666504, + 0.003368629142642021, + -0.130581796169281 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having successfully grasped it in the previous step. The arm is positioned over the cloth, ready to initiate the folding motion. The next action is to drag the held left edge across the surface towards the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.20863217115402222, + -0.07199181616306305, + 0.009382457472383976, + 3.094860792160034, + 8.704718493390828e-05, + -0.13803599774837494 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed folding the green cloth from left to right and is now in the release phase. The gripper is open (value ~1.0), indicating the cloth has been released. The next action is to retreat the end-effector away from the folded cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.21226628124713898, + -0.07158663868904114, + 0.02536017820239067, + 3.079754590988159, + -0.019786357879638672, + -0.1490664780139923 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed folding the green cloth from left to right and is now in the release phase. The gripper is open (value ~1.0), indicating the cloth has been released. The next action is to retreat the end-effector away from the folded cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.21599416434764862, + -0.06299451738595963, + 0.04882381111383438, + 3.0673768520355225, + -0.05719996616244316, + -0.1261172592639923 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed folding the green cloth from left to right and is now in the release phase. The gripper is open (value ~1.0), indicating the cloth has been released. The next action is to retreat the end-effector away from the folded cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2169540524482727, + -0.05104760825634003, + 0.07474258542060852, + 3.074592113494873, + -0.10795614868402481, + -0.10390885919332504 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "drag across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed folding the green cloth from left to right and is now in the release phase. The gripper is open (value ~1.0), indicating the cloth has been released. The next action is to retreat the end-effector away from the folded cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003967_ecot.json b/cot/chunk-0003/episode_0003967_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ca7fb80d71ab6df721315dad84a130ff26d8ec --- /dev/null +++ b/cot/chunk-0003/episode_0003967_ecot.json @@ -0,0 +1,2806 @@ +{ + "task_name": "episode_0003967", + "episode_json": "json/chunk-0003/episode_0003967.json", + "video_path": "videos/chunk-0003/image_0/episode_0003967.mp4", + "instruction": "Put the blue figure on the top edge of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003967.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.9490458369255066, + "std": 0.4444480240345001, + "delta_total": -0.25143396854400635, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94905, std=0.44445, total_delta=-0.25143). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 118, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 318, + 18, + 18, + 18, + 18, + 38 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 17 + ], + [ + 3, + 18, + 18 + ], + [ + 4, + 19, + 33 + ], + [ + 5, + 34, + 37 + ], + [ + 6, + 38, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth area\", \"start\": 0, \"end\": 13, \"planning\": \"Move the gripper toward the cloth region without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make initial contact with cloth\", \"start\": 14, \"end\": 17, \"planning\": \"Lower and adjust gripper to gently touch the cloth surface near target zone.\"},\n {\"id\": 3, \"name\": \"reposition gripper for grasp\", \"start\": 18, \"end\": 18, \"planning\": \"Fine-tune gripper orientation and position over the blue figure location on cloth.\"},\n {\"id\": 4, \"name\": \"grasp and lift blue figure\", \"start\": 19, \"end\": 33, \"planning\": \"Close gripper to secure the blue figure, then lift and transport it toward top edge of cloth.\"},\n {\"id\": 5, \"name\": \"release figure at top edge\", \"start\": 34, \"end\": 37, \"planning\": \"Open gripper to deposit the blue figure precisely along the top boundary of the cloth.\"},\n {\"id\": 6, \"name\": \"retreat from placement zone\", \"start\": 38, \"end\": 38, \"planning\": \"Withdraw gripper upward and away from the cloth after successful placement.\"}\n ],\n \"global_plan\": \"Approach cloth, make contact, reposition, grasp and lift blue figure, place at top edge, then retreat.\",\n \"notes\": \"Segment 1 (0-13) shows no gripper closure — described as approach only. Segment 4 (19-33) has meaningful closing and image consistency — grasp/hold wording permitted. Segment 6 (38) shows opening motion — release already completed in prior segment; this is retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth area", + "start": 0, + "end": 13, + "planning": "Move the gripper toward the cloth region without closing, preparing for contact." + }, + { + "id": 2, + "name": "make initial contact with cloth", + "start": 14, + "end": 17, + "planning": "Lower and adjust gripper to gently touch the cloth surface near target zone." + }, + { + "id": 3, + "name": "reposition gripper for grasp", + "start": 18, + "end": 18, + "planning": "Fine-tune gripper orientation and position over the blue figure location on cloth." + }, + { + "id": 4, + "name": "grasp and lift blue figure", + "start": 19, + "end": 33, + "planning": "Close gripper to secure the blue figure, then lift and transport it toward top edge of cloth." + }, + { + "id": 5, + "name": "release figure at top edge", + "start": 34, + "end": 37, + "planning": "Open gripper to deposit the blue figure precisely along the top boundary of the cloth." + }, + { + "id": 6, + "name": "retreat from placement zone", + "start": 38, + "end": 38, + "planning": "Withdraw gripper upward and away from the cloth after successful placement." + } + ], + "global_plan": "Approach cloth, make contact, reposition, grasp and lift blue figure, place at top edge, then retreat.", + "notes": "Segment 1 (0-13) shows no gripper closure — described as approach only. Segment 4 (19-33) has meaningful closing and image consistency — grasp/hold wording permitted. Segment 6 (38) shows opening motion — release already completed in prior segment; this is retreat." + } + }, + "episode_goal": "Place the blue figure on the top edge of the white cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31650206446647644, + 0.20916211605072021, + 0.06347651034593582, + 2.940178632736206, + -0.2416733056306839, + 0.5676133036613464 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot arm is positioned above the white cloth with the gripper open, indicating the start of the approach phase. No objects have been interacted with yet. The next action is to move the end-effector closer to the blue figure located on the right side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.314512699842453, + 0.2076180875301361, + 0.049469202756881714, + 2.9350149631500244, + -0.20373407006263733, + 0.5750049352645874 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot arm is positioned above the white cloth with the gripper open, indicating the start of the approach phase. No objects have been interacted with yet. The next action is to move the end-effector closer to the blue figure located on the right side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196946084499359, + 0.21283309161663055, + 0.04785977303981781, + 2.937832832336426, + -0.23406018316745758, + 0.6166545748710632 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot arm is positioned above the white cloth with the gripper open, indicating the start of the approach phase. No objects have been interacted with yet. The next action is to move the end-effector closer to the blue figure located on the right side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3270910084247589, + 0.22076141834259033, + 0.05045431852340698, + 2.9328954219818115, + -0.29427215456962585, + 0.6695181131362915 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot arm is positioned above the white cloth with the gripper open, indicating the start of the approach phase. No objects have been interacted with yet. The next action is to move the end-effector closer to the blue figure located on the right side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3295670747756958, + 0.22529104351997375, + 0.05143027380108833, + 2.9410080909729004, + -0.320357084274292, + 0.695663332939148 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot arm is positioned above the white cloth with the gripper open, indicating the start of the approach phase. No objects have been interacted with yet. The next action is to move the end-effector closer to the blue figure located on the right side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move down 4 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3323438763618469, + 0.23434452712535858, + 0.05119474604725838, + 2.9587864875793457, + -0.3748817443847656, + 0.7459089159965515 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot arm is positioned above the white cloth with the gripper open, indicating the start of the approach phase. No objects have been interacted with yet. The next action is to move the end-effector closer to the blue figure located on the right side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467930853366852, + 0.23285260796546936, + 0.054422587156295776, + 2.9842066764831543, + -0.445284366607666, + 0.7767351865768433 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36740052700042725, + 0.23769770562648773, + 0.03942310810089111, + 2.994612216949463, + -0.4695659279823303, + 0.8482968807220459 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 746, + 484, + 811, + 622 + ], + "red object": [ + 750, + 842, + 871, + 995 + ], + "white sheet": [ + 3, + 332, + 705, + 994 + ], + "brown bar": [ + 907, + 680, + 995, + 856 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38466280698776245, + 0.24857434630393982, + 0.03638380765914917, + 2.998953342437744, + -0.4745367169380188, + 0.8782382011413574 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39417219161987305, + 0.2569393217563629, + 0.03135792911052704, + 2.9896161556243896, + -0.4816281497478485, + 0.9095051884651184 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3999626934528351, + 0.26255694031715393, + 0.03244030475616455, + 3.000746726989746, + -0.4854886829853058, + 0.9136244654655457 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4076637625694275, + 0.2667786478996277, + 0.02969832718372345, + 3.032799482345581, + -0.5077995657920837, + 0.9024823904037476 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4139344096183777, + 0.263043612241745, + 0.030748611316084862, + 3.05722713470459, + -0.5368829369544983, + 0.8686833381652832 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed; then move back 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4146389365196228, + 0.2625706195831299, + 0.025783130899071693, + 3.1052405834198, + -0.5726852416992188, + 0.8434550166130066 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed; then move back 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4196368455886841, + 0.253345251083374, + 0.014395221136510372, + -3.122450113296509, + -0.5914241075515747, + 0.802331805229187 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "make initial contact with cloth", + "subtask_reasoning": "The robot is positioned above the white cloth with the gripper open, having moved into the general area. No contact has been made yet, and the blue figure remains on the table to the right. The next step is to continue approaching or adjusting position to prepare for contact with the cloth or figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed; then move back 5 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4202798306941986, + 0.25458699464797974, + 0.012109440751373768, + -3.0918164253234863, + -0.6022650003433228, + 0.7890926599502563 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "make initial contact with cloth", + "subtask_reasoning": "The robot has approached the cloth area and is currently hovering just above the white cloth with the gripper open. Initial contact with the cloth has not yet been made, as the end-effector remains slightly elevated. The next action should be to lower the gripper slightly to establish physical contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed; then move back 6 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4266932010650635, + 0.2565244138240814, + 0.007793675176799297, + -3.061903715133667, + -0.6034666299819946, + 0.7739964723587036 + ], + "gripper_value": 0.9568231701850891 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 746, + 483, + 811, + 622 + ], + "red object": [ + 749, + 842, + 872, + 994 + ], + "white sheet": [ + 4, + 328, + 699, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "make initial contact with cloth", + "subtask_reasoning": "The robot has approached the cloth area and is currently hovering just above the white cloth with the gripper open. Initial contact with the cloth has not yet been made, as the end-effector remains slightly elevated. The next action should be to lower the gripper slightly to establish physical contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed; then move back 8 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.431735634803772, + 0.2535153031349182, + 0.006709186360239983, + -3.0866758823394775, + -0.5842315554618835, + 0.7760069966316223 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "make initial contact with cloth", + "subtask_reasoning": "The robot has approached the cloth area and is currently hovering just above the white cloth with the gripper open. Initial contact with the cloth has not yet been made, as the end-effector remains slightly elevated. The next action should be to lower the gripper slightly to establish physical contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, keep gripper closed; then move back 10 cm, move right 5 cm, move up 7 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.43377596139907837, + 0.24942897260189056, + 0.005484225228428841, + -3.108816146850586, + -0.5635422468185425, + 0.7546306848526001 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The gripper is positioned above the white cloth near the blue figure, having completed the approach and initial contact. The current subtask involves repositioning the gripper for an optimal grasp, with no meaningful closing evidence yet. The next action is to adjust the gripper's position slightly to align with the blue figure for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 12 cm, move right 7 cm, move up 7 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4317931532859802, + 0.2546873986721039, + 0.0049832481890916824, + 3.128194570541382, + -0.5197592973709106, + 0.7459537982940674 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The gripper is positioned above the white cloth near the blue figure, having completed the approach and initial contact. The current subtask involves repositioning the gripper for an optimal grasp, with no meaningful closing evidence yet. The next action is to adjust the gripper's position slightly to align with the blue figure for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 9 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.430626779794693, + 0.2568622827529907, + 0.004427112638950348, + 3.0969581604003906, + -0.48200276494026184, + 0.7374202013015747 + ], + "gripper_value": 0.06065736711025238 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The gripper is positioned above the white cloth near the blue figure, having completed the approach and initial contact. The current subtask involves repositioning the gripper for an optimal grasp, with no meaningful closing evidence yet. The next action is to adjust the gripper's position slightly to align with the blue figure for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 11 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.42761725187301636, + 0.2569199800491333, + 0.003954070154577494, + 3.07631516456604, + -0.454054057598114, + 0.7423376441001892 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The gripper is positioned above the white cloth near the blue figure, having completed the approach and initial contact. The current subtask involves repositioning the gripper for an optimal grasp, with no meaningful closing evidence yet. The next action is to adjust the gripper's position slightly to align with the blue figure for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 14 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.41983047127723694, + 0.2566736340522766, + 0.0033966752234846354, + 3.045448064804077, + -0.405813992023468, + 0.7445636987686157 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The gripper is positioned above the white cloth near the blue figure, having completed the approach and initial contact. The current subtask involves repositioning the gripper for an optimal grasp, with no meaningful closing evidence yet. The next action is to adjust the gripper's position slightly to align with the blue figure for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move right 16 cm, move up 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4018733501434326, + 0.2529939115047455, + 0.009232137352228165, + 3.003502368927002, + -0.37212175130844116, + 0.7519744038581848 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The gripper is positioned above the white cloth near the blue figure, having completed the approach and initial contact. The current subtask involves repositioning the gripper for an optimal grasp, with no meaningful closing evidence yet. The next action is to adjust the gripper's position slightly to align with the blue figure for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 18 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.38437777757644653, + 0.238997682929039, + 0.018822113052010536, + 2.9696390628814697, + -0.3688480854034424, + 0.7485939860343933 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 745, + 483, + 812, + 622 + ], + "white sheet": [ + 4, + 368, + 681, + 993 + ], + "red object": [ + 749, + 843, + 871, + 995 + ], + "cardboard box": [ + 241, + 8, + 993, + 559 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The gripper is positioned above the white cloth near the blue figure, having completed the approach and initial contact. The current subtask involves repositioning the gripper for an optimal grasp, with no meaningful closing evidence yet. The next action is to adjust the gripper's position slightly to align with the blue figure for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 19 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3693670928478241, + 0.22409610450267792, + 0.043753329664468765, + 2.9315052032470703, + -0.40510833263397217, + 0.7333207130432129 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The gripper is positioned above the white cloth near the blue figure, having completed the approach and initial contact. The current subtask involves repositioning the gripper for an optimal grasp, with no meaningful closing evidence yet. The next action is to adjust the gripper's position slightly to align with the blue figure for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 18 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35158571600914, + 0.21772341430187225, + 0.05898681655526161, + 2.898746967315674, + -0.4113742709159851, + 0.7283635139465332 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 17 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33129623532295227, + 0.20119521021842957, + 0.07380621135234833, + 2.887761116027832, + -0.4162006974220276, + 0.6714580655097961 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 15 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30900004506111145, + 0.18538451194763184, + 0.07973726838827133, + 2.918131113052368, + -0.41476956009864807, + 0.6156042218208313 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 14 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28785452246665955, + 0.16773279011249542, + 0.08495225757360458, + 2.9591259956359863, + -0.4016755223274231, + 0.5677552819252014 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 12 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2775629162788391, + 0.1467667669057846, + 0.0857924371957779, + 2.9941065311431885, + -0.3538495600223541, + 0.5125481486320496 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 10 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640990614891052, + 0.11939799785614014, + 0.0926450863480568, + 3.0459506511688232, + -0.30962252616882324, + 0.4912087619304657 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2504429519176483, + 0.09572943300008774, + 0.09784296900033951, + 3.096079111099243, + -0.28034383058547974, + 0.5051511526107788 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.23699282109737396, + 0.07264138758182526, + 0.10427099466323853, + 3.128659725189209, + -0.26470962166786194, + 0.5463154911994934 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift blue figure", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.22727586328983307, + 0.04897595942020416, + 0.10725203901529312, + -3.1215567588806152, + -0.2282552421092987, + 0.5583891272544861 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red object": [ + 748, + 844, + 872, + 995 + ], + "green sponge": [ + 746, + 483, + 812, + 624 + ], + "white sheet": [ + 4, + 546, + 738, + 994 + ], + "table": [ + 4, + 305, + 995, + 994 + ], + "cardboard box": [ + 246, + 8, + 992, + 564 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release figure at top edge", + "subtask_reasoning": "The robot's end-effector is positioned near the blue figure on the table, with the gripper currently open. The subtask requires grasping the figure, so the next logical step is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.21966572105884552, + 0.031595926731824875, + 0.10446830093860626, + -3.123149871826172, + -0.1829993724822998, + 0.5805066227912903 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release figure at top edge", + "subtask_reasoning": "The blue figure is currently held by the gripper above the white cloth, positioned near the top edge. The gripper is closed, indicating the figure is secured. The next action is to lower the figure onto the cloth's top edge and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 34, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.21587538719177246, + 0.019211644306778908, + 0.09482630342245102, + -3.106875419616699, + -0.09637824445962906, + 0.5725280046463013 + ], + "gripper_value": 0.1943538933992386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release figure at top edge", + "subtask_reasoning": "The blue figure is currently held by the gripper above the white cloth, positioned near the top edge. The gripper is closed, indicating the figure is secured. The next action is to lower the figure onto the cloth's top edge and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2169092893600464, + 0.012968022376298904, + 0.08952988684177399, + -3.123359203338623, + -0.05138033628463745, + 0.5079068541526794 + ], + "gripper_value": 0.442066490650177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release figure at top edge", + "subtask_reasoning": "The blue figure is currently held by the gripper above the white cloth, positioned near the top edge. The gripper is closed, indicating the figure is secured. The next action is to lower the figure onto the cloth's top edge and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2184898853302002, + 0.013116947375237942, + 0.09548535197973251, + 3.1257741451263428, + -0.031801071017980576, + 0.4104132652282715 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "make initial contact with cloth" + }, + { + "id": 3, + "subtask": "reposition gripper for grasp" + }, + { + "id": 4, + "subtask": "grasp and lift blue figure" + }, + { + "id": 5, + "subtask": "release figure at top edge" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The blue figure is already placed on the top edge of the white cloth. The robot arm is currently hovering above the cloth with the gripper open, having completed the placement. The next action is to retreat the arm away from the cloth area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003968_ecot.json b/cot/chunk-0003/episode_0003968_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..85824f74fd14fba26babb3d19496202d7a8535c6 --- /dev/null +++ b/cot/chunk-0003/episode_0003968_ecot.json @@ -0,0 +1,1332 @@ +{ + "task_name": "episode_0003968", + "episode_json": "json/chunk-0003/episode_0003968.json", + "video_path": "videos/chunk-0003/image_0/episode_0003968.mp4", + "instruction": "Put pear on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003968.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.3092854619026184, + "std": 0.13832154870033264, + "delta_total": -0.3092854619026184, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.30929, std=0.13832, total_delta=-0.30929). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 7 + ], + [ + 3, + 8, + 16 + ], + [ + 4, + 17, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the green pear on the stove burner without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp pear\", \"start\": 8, \"end\": 16, \"planning\": \"Close gripper around the pear and secure it for lifting, as evidenced by meaningful gripper closure in this segment.\"},\n {\"id\": 3, \"name\": \"lift and move pear\", \"start\": 17, \"end\": 20, \"planning\": \"Lift the grasped pear and transport it toward the plate area while maintaining grip.\"}\n ],\n \"global_plan\": \"Approach the pear on the stove, grasp it securely during the closing phase, then lift and move it toward the plate location.\",\n \"notes\": \"Gripper closure only occurs in Segment 3 (frames 8-16), so grasp wording is restricted to that interval. Segments 1-2 and 4 show no meaningful closing — described as approach and transport phases respectively. Frame coverage is complete and contiguous from 0 to 20.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the green pear on the stove burner without closing gripper." + }, + { + "id": 2, + "name": "grasp pear", + "start": 8, + "end": 16, + "planning": "Close gripper around the pear and secure it for lifting, as evidenced by meaningful gripper closure in this segment." + }, + { + "id": 3, + "name": "lift and move pear", + "start": 17, + "end": 20, + "planning": "Lift the grasped pear and transport it toward the plate area while maintaining grip." + } + ], + "global_plan": "Approach the pear on the stove, grasp it securely during the closing phase, then lift and move it toward the plate location.", + "notes": "Gripper closure only occurs in Segment 3 (frames 8-16), so grasp wording is restricted to that interval. Segments 1-2 and 4 show no meaningful closing — described as approach and transport phases respectively. Frame coverage is complete and contiguous from 0 to 20." + } + }, + "episode_goal": "Grasp the green pear from the stovetop and place it onto the yellow plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2651340961456299, + 0.2194741815328598, + 0.08191236853599548, + -2.866379976272583, + -0.10872934758663177, + 0.13309518992900848 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stovetop with the green pear visible in the center pan. The gripper is fully open and has not moved significantly, indicating no contact has been made yet. The next action is to lower the end-effector to reach the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 25 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper open; then move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2597765624523163, + 0.20866668224334717, + 0.07207363098859787, + -2.8858280181884766, + -0.04630965366959572, + 0.1357540488243103 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stovetop with the green pear visible in the center pan. The gripper is fully open and has not moved significantly, indicating no contact has been made yet. The next action is to lower the end-effector to reach the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 24 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper open; then move right 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27262890338897705, + 0.1503240466117859, + 0.12081453204154968, + -2.8244359493255615, + -0.06519635766744614, + 0.06692095100879669 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the stovetop with the green pear visible in the center pan. The gripper is fully open and has not moved significantly, indicating no contact has been made yet. The next action is to lower the end-effector to reach the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 18 cm, move down 1 cm, rotate clockwise 30 degrees, keep gripper open; then move right 1 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678739130496979, + 0.1077442467212677, + 0.14787434041500092, + -2.7879340648651123, + -0.07939262688159943, + 0.14488834142684937 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 14 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move down 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26451629400253296, + 0.06982060521841049, + 0.1489381343126297, + -2.8015904426574707, + -0.052970655262470245, + 0.1988912671804428 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "milk jug": [ + 485, + 168, + 623, + 410 + ], + "red pepper": [ + 270, + 333, + 453, + 452 + ], + "pot": [ + 244, + 268, + 464, + 531 + ], + "carrot": [ + 160, + 143, + 239, + 278 + ], + "toy kitchen": [ + 54, + 10, + 980, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move down 9 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26328662037849426, + 0.02174566127359867, + 0.14928975701332092, + -2.8058555126190186, + -0.07079577445983887, + 0.242631196975708 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.265035480260849, + -0.0008850184385664761, + 0.1448209583759308, + -2.842092275619507, + -0.10687530785799026, + 0.3071882128715515 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690684199333191, + -0.018186984583735466, + 0.12838885188102722, + -2.863708019256592, + -0.1266975998878479, + 0.3879030644893646 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2700166702270508, + -0.030252903699874878, + 0.11182311177253723, + -2.8893232345581055, + -0.1321849524974823, + 0.5058249831199646 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26565685868263245, + -0.04922804236412048, + 0.08978120982646942, + -2.9063799381256104, + -0.10336888581514359, + 0.5420438647270203 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 48, + 14, + 976, + 986 + ], + "red pepper": [ + 269, + 332, + 455, + 452 + ], + "lettuce": [ + 85, + 270, + 269, + 441 + ], + "pot": [ + 242, + 266, + 464, + 532 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703932225704193, + -0.04712175577878952, + 0.07498624920845032, + -2.938588857650757, + -0.08919144421815872, + 0.5754813551902771 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2740994095802307, + -0.04355610907077789, + 0.058706436306238174, + -2.9742701053619385, + -0.08147086203098297, + 0.6036875247955322 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the green pear located in the center burner. No objects have been grasped yet, and the gripper remains fully open. The next action is to lower the end-effector to make contact with the pear in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, close gripper; then move forward 2 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746761441230774, + -0.03881577402353287, + 0.04433826357126236, + -2.9808881282806396, + -0.09661289304494858, + 0.5905397534370422 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned directly above the green pear on the stovetop, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, close gripper; then move forward 2 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27474161982536316, + -0.030987193807959557, + 0.03414800390601158, + -2.994384288787842, + -0.10013444721698761, + 0.5922150611877441 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned directly above the green pear on the stovetop, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27423208951950073, + -0.02937593124806881, + 0.023526526987552643, + -3.021442413330078, + -0.10141958296298981, + 0.5987574458122253 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned directly above the green pear on the stovetop, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27500420808792114, + -0.029383059591054916, + 0.021707339212298393, + -3.0414185523986816, + -0.08824819326400757, + 0.6156800985336304 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned directly above the green pear on the stovetop, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2669849693775177, + -0.026840321719646454, + 0.029942471534013748, + -2.9495816230773926, + -0.09701891988515854, + 0.650398850440979 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned directly above the green pear on the stovetop, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2611039876937866, + -0.02469618432223797, + 0.08309563249349594, + -2.8228836059570312, + -0.11572640389204025, + 0.675460934638977 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "lift and move pear", + "subtask_reasoning": "The robot arm is positioned directly above the green pear on the stovetop, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26600533723831177, + 0.006829691585153341, + 0.110853411257267, + -2.745293140411377, + -0.12925484776496887, + 0.6541770100593567 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 50, + 17, + 980, + 985 + ], + "banana": [ + 627, + 379, + 788, + 588 + ], + "lettuce": [ + 255, + 189, + 327, + 296 + ], + "red pepper": [ + 269, + 345, + 419, + 451 + ], + "carrot": [ + 161, + 143, + 238, + 279 + ], + "pear": [ + 434, + 295, + 531, + 443 + ], + "pot": [ + 243, + 273, + 450, + 528 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "lift and move pear", + "subtask_reasoning": "The robot has successfully grasped the green pear from the stovetop and is currently lifting it upward. The gripper remains closed with no further closing motion, indicating the grasp is maintained. The next action is to continue moving the pear toward the yellow plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27540403604507446, + 0.05554329603910446, + 0.1271459013223648, + -2.7002806663513184, + -0.15307147800922394, + 0.5584794878959656 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "lift and move pear", + "subtask_reasoning": "The robot has successfully grasped the green pear from the stovetop and is currently lifting it upward. The gripper remains closed with no further closing motion, indicating the grasp is maintained. The next action is to continue moving the pear toward the yellow plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2853946387767792, + 0.10274223238229752, + 0.12613871693611145, + -2.744844913482666, + -0.18742042779922485, + 0.5117928385734558 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear from the stovetop and place it onto the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "lift and move pear" + } + ], + "subtask_name": "lift and move pear", + "subtask_reasoning": "The robot has successfully grasped the green pear from the stovetop and is currently lifting it upward. The gripper remains closed with no further closing motion, indicating the grasp is maintained. The next action is to continue moving the pear toward the yellow plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003969_ecot.json b/cot/chunk-0003/episode_0003969_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..682eb66aeb619090803478848bfc5ff905c9c86d --- /dev/null +++ b/cot/chunk-0003/episode_0003969_ecot.json @@ -0,0 +1,2128 @@ +{ + "task_name": "episode_0003969", + "episode_json": "json/chunk-0003/episode_0003969.json", + "video_path": "videos/chunk-0003/image_0/episode_0003969.mp4", + "instruction": "Place the pan on the right edge of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003969.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9307777285575867, + "std": 0.4158857464790344, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93078, std=0.41589, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400, + 411, + 411, + 411, + 411, + 411, + 411, + 411, + 411, + 111, + 111, + 111, + 111, + 123, + 123, + 123, + 123, + 23, + 23, + 23, + 23 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 5 + ], + [ + 3, + 6, + 10 + ], + [ + 4, + 11, + 18 + ], + [ + 5, + 19, + 22 + ], + [ + 6, + 23, + 26 + ], + [ + 7, + 27, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector from initial position toward the pan on the table.\"},\n {\"id\": 2, \"name\": \"grasp pan\", \"start\": 6, \"end\": 10, \"planning\": \"Close gripper around the pan handle to secure a firm grasp.\"},\n {\"id\": 3, \"name\": \"lift and reposition pan\", \"start\": 11, \"end\": 18, \"planning\": \"Lift the pan slightly and move it laterally toward the right edge of the table.\"},\n {\"id\": 4, \"name\": \"place pan at target\", \"start\": 19, \"end\": 22, \"planning\": \"Lower the pan onto the table surface near the right edge while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 23, \"end\": 30, \"planning\": \"Open gripper to release the pan, then withdraw end-effector upward and away.\"}\n ],\n \"global_plan\": \"Approach the pan, grasp it securely, lift and slide it to the right edge of the table, place it down gently, then release and retreat.\",\n \"notes\": \"Segment 1 (frames 0-2) shows no gripper closing — correctly labeled as 'approach'. Segment 3 (6-10) has meaningful gripper closure — 'grasp' is justified. Segment 5 (19-22) shows gripper opening during placement — consistent with 'place' followed by release. Final segment (27-30) has open gripper and upward motion — 'retreat' is accurate. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 5, + "planning": "Move the end-effector from initial position toward the pan on the table." + }, + { + "id": 2, + "name": "grasp pan", + "start": 6, + "end": 10, + "planning": "Close gripper around the pan handle to secure a firm grasp." + }, + { + "id": 3, + "name": "lift and reposition pan", + "start": 11, + "end": 18, + "planning": "Lift the pan slightly and move it laterally toward the right edge of the table." + }, + { + "id": 4, + "name": "place pan at target", + "start": 19, + "end": 22, + "planning": "Lower the pan onto the table surface near the right edge while maintaining grip." + }, + { + "id": 5, + "name": "release and retreat", + "start": 23, + "end": 30, + "planning": "Open gripper to release the pan, then withdraw end-effector upward and away." + } + ], + "global_plan": "Approach the pan, grasp it securely, lift and slide it to the right edge of the table, place it down gently, then release and retreat.", + "notes": "Segment 1 (frames 0-2) shows no gripper closing — correctly labeled as 'approach'. Segment 3 (6-10) has meaningful gripper closure — 'grasp' is justified. Segment 5 (19-22) shows gripper opening during placement — consistent with 'place' followed by release. Final segment (27-30) has open gripper and upward motion — 'retreat' is accurate. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the pan on the right edge of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27362602949142456, + 0.08456823974847794, + 0.11877398937940598, + -3.081446409225464, + -0.092972531914711, + -0.002989069325849414 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the table with the pan visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move down 8 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2708081901073456, + 0.08306723088026047, + 0.11098656803369522, + -3.0934624671936035, + -0.067747101187706, + 0.0011150013888254762 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the table with the pan visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open; then move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25041308999061584, + 0.04560776799917221, + 0.1106482520699501, + -3.123086929321289, + -0.06652071326971054, + -0.11042213439941406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the table with the pan visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23412267863750458, + 0.009917221032083035, + 0.10815524309873581, + 3.135310411453247, + -0.07649024575948715, + -0.20198610424995422 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the table with the pan visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 6 cm, keep gripper open; then move right 1 cm, move down 3 cm, close gripper; then move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2216901183128357, + -0.02215740643441677, + 0.0933879166841507, + 3.1132776737213135, + -0.05206038057804108, + -0.28493037819862366 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 78, + 301, + 250, + 514 + ], + "metal bowl": [ + 255, + 451, + 477, + 715 + ], + "wooden countertop": [ + 9, + 181, + 881, + 984 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the table with the pan visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, keep gripper open; then move right 1 cm, move down 3 cm, close gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22324039041996002, + -0.03184587135910988, + 0.06346634030342102, + 3.1206798553466797, + -0.024181388318538666, + -0.2994793653488159 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the table with the pan visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move right 1 cm, move down 3 cm, close gripper; then move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23140043020248413, + -0.025946294888854027, + 0.04372265934944153, + -3.095108985900879, + -0.0037066724617034197, + -0.28104981780052185 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot is positioned above the table with the pan visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 5 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23591327667236328, + -0.021310269832611084, + 0.030852731317281723, + -3.0655899047851562, + 0.024434946477413177, + -0.2761642038822174 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot is positioned above the table with the pan visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move right 8 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23464711010456085, + -0.025126738473773003, + 0.01755736768245697, + -3.0531957149505615, + 0.05752944573760033, + -0.2918796241283417 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pan on the table, having completed the approach phase. The gripper is currently open and aligned with the pan's handle, ready to close. The next immediate action is to close the gripper to securely grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move right 10 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2338630110025406, + -0.02643454074859619, + 0.007684883661568165, + -3.0630698204040527, + 0.06980469822883606, + -0.28044751286506653 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pan on the table, having completed the approach phase. The gripper is currently open and aligned with the pan's handle, ready to close. The next immediate action is to close the gripper to securely grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 3 cm, move right 9 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23181208968162537, + -0.027916640043258667, + 0.005610561463981867, + -3.0649280548095703, + 0.06636731326580048, + -0.28371134400367737 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pan on the table, having completed the approach phase. The gripper is currently open and aligned with the pan's handle, ready to close. The next immediate action is to close the gripper to securely grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 3 cm, move right 9 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2292909473180771, + -0.031790487468242645, + 0.010682717896997929, + -3.063347339630127, + 0.04995069280266762, + -0.30660775303840637 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pan on the table, having completed the approach phase. The gripper is currently open and aligned with the pan's handle, ready to close. The next immediate action is to close the gripper to securely grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2303965836763382, + -0.03500579670071602, + 0.02574477531015873, + -3.0523712635040283, + -0.012746598571538925, + -0.3188181519508362 + ], + "gripper_value": 0.16920356452465057 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 293, + 485, + 461, + 730 + ], + "knife": [ + 78, + 302, + 251, + 514 + ], + "wooden countertop": [ + 10, + 177, + 880, + 982 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pan on the table, having completed the approach phase. The gripper is currently open and aligned with the pan's handle, ready to close. The next immediate action is to close the gripper to securely grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move up 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23121190071105957, + -0.03730360418558121, + 0.03697966784238815, + -3.0611841678619385, + -0.0783345028758049, + -0.28693994879722595 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pan on the table, having completed the approach phase. The gripper is currently open and aligned with the pan's handle, ready to close. The next immediate action is to close the gripper to securely grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2304684966802597, + -0.04355303943157196, + 0.05307508632540703, + -3.0818443298339844, + -0.15270735323429108, + -0.2416062206029892 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has successfully grasped the pan and is currently lifting it slightly above the table surface. The gripper is closed, and the pan is being repositioned toward the right edge. The next action is to continue moving the pan horizontally to the right while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22884619235992432, + -0.062179140746593475, + 0.06710761040449142, + -3.117337942123413, + -0.17742350697517395, + -0.3103783130645752 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has successfully grasped the pan and is currently lifting it slightly above the table surface. The gripper is closed, and the pan is being repositioned toward the right edge. The next action is to continue moving the pan horizontally to the right while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move left 3 cm, move up 9 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23746971786022186, + -0.08527439087629318, + 0.07947748899459839, + -3.0892064571380615, + -0.1919918954372406, + -0.4467988610267639 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has successfully grasped the pan and is currently lifting it slightly above the table surface. The gripper is closed, and the pan is being repositioned toward the right edge. The next action is to continue moving the pan horizontally to the right while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 3 cm, move left 7 cm, move up 14 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24525362253189087, + -0.10904935002326965, + 0.07053261250257492, + -3.080632209777832, + -0.15137353539466858, + -0.6245777010917664 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has successfully grasped the pan and is currently lifting it slightly above the table surface. The gripper is closed, and the pan is being repositioned toward the right edge. The next action is to continue moving the pan horizontally to the right while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 4 cm, move left 12 cm, move up 15 cm, tilt left 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2595153748989105, + -0.12709304690361023, + 0.057372551411390305, + -3.0742263793945312, + -0.1351734697818756, + -0.728313684463501 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pan", + "subtask_reasoning": "The robot has successfully grasped the pan and is currently lifting it slightly above the table surface. The gripper is closed, and the pan is being repositioned toward the right edge. The next action is to continue moving the pan horizontally to the right while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 3 cm, move left 14 cm, move up 12 cm, tilt left 20 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25681811571121216, + -0.12134653329849243, + 0.041138894855976105, + 3.1400866508483887, + -0.2478935718536377, + -0.7499383091926575 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pan at target", + "subtask_reasoning": "The robot has successfully grasped the pan and is currently lifting it slightly above the table surface. The gripper is closed, and the pan is being repositioned toward the right edge. The next action is to continue moving the pan horizontally to the right while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 4 cm, move left 15 cm, move up 11 cm, tilt left 20 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25552621483802795, + -0.10528742522001266, + 0.04067350551486015, + 3.1250293254852295, + -0.2682424485683441, + -0.7867251038551331 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pan at target", + "subtask_reasoning": "The pan is currently held by the gripper and positioned near the right edge of the table. The gripper has closed significantly during this segment, indicating a secure grasp. The next action should be to gently lower the pan onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 16 cm, move up 10 cm, tilt left 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2537614107131958, + -0.10348585247993469, + 0.042714107781648636, + 3.0972814559936523, + -0.24293188750743866, + -0.8132653832435608 + ], + "gripper_value": 0.1023794636130333 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pan at target", + "subtask_reasoning": "The pan is currently held by the gripper and positioned near the right edge of the table. The gripper has closed significantly during this segment, indicating a secure grasp. The next action should be to gently lower the pan onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 16 cm, move up 10 cm, tilt left 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821790874004364, + -0.12787608802318573, + 0.02287995256483555, + 3.105956792831421, + -0.11751724034547806, + -0.9213289022445679 + ], + "gripper_value": 0.254768431186676 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 77, + 301, + 251, + 515 + ], + "wooden countertop": [ + 9, + 182, + 882, + 981 + ], + "metal bowl": [ + 546, + 438, + 762, + 707 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pan at target", + "subtask_reasoning": "The pan is currently held by the gripper and positioned near the right edge of the table. The gripper has closed significantly during this segment, indicating a secure grasp. The next action should be to gently lower the pan onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 16 cm, move up 10 cm, tilt left 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2777739465236664, + -0.145024374127388, + 0.027547702193260193, + 3.0562822818756104, + -0.16249269247055054, + -1.049228310585022 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 78, + 301, + 250, + 515 + ], + "metal bowl": [ + 603, + 455, + 754, + 730 + ], + "wooden countertop": [ + 10, + 182, + 853, + 984 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pan is currently held by the gripper and positioned near the right edge of the table. The gripper has closed significantly during this segment, indicating a secure grasp. The next action should be to gently lower the pan onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, move up 10 cm, tilt left 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2751215100288391, + -0.14384789764881134, + 0.05926644429564476, + 3.050436019897461, + -0.2978702783584595, + -1.119113802909851 + ], + "gripper_value": 0.8362758755683899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pan is currently held by the gripper and positioned near the right edge of the table. The gripper has closed significantly during this segment, indicating a secure grasp. The next action should be to gently lower the pan onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, move up 7 cm, tilt left 20 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26927053928375244, + -0.11038870364427567, + 0.11493686586618423, + 3.118934392929077, + -0.43695637583732605, + -0.9864442348480225 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pan is currently held by the gripper and positioned near the right edge of the table. The gripper has closed significantly during this segment, indicating a secure grasp. The next action should be to gently lower the pan onto the table surface at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move up 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525996267795563, + -0.07070756703615189, + 0.1631496548652649, + -3.0730769634246826, + -0.3172856867313385, + -0.7860203385353088 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pan is already placed on the right edge of the table, and the gripper is open (value ~1.0), indicating release has occurred. The robot arm is elevated and retreating from the pan. Next, continue retreating to a safe distance to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2420273721218109, + -0.026828689500689507, + 0.17300792038440704, + -2.9894979000091553, + -0.16244347393512726, + -0.5587443709373474 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pan is already placed on the right edge of the table, and the gripper is open (value ~1.0), indicating release has occurred. The robot arm is elevated and retreating from the pan. Next, continue retreating to a safe distance to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24292366206645966, + -0.0021549768280237913, + 0.1485428661108017, + -2.9366564750671387, + -0.06103896722197533, + -0.3273147642612457 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pan is already placed on the right edge of the table, and the gripper is open (value ~1.0), indicating release has occurred. The robot arm is elevated and retreating from the pan. Next, continue retreating to a safe distance to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2413138896226883, + 0.006229227874428034, + 0.13440313935279846, + -2.9938416481018066, + -0.047714732587337494, + -0.08584188669919968 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pan is already placed on the right edge of the table, and the gripper is open (value ~1.0), indicating release has occurred. The robot arm is elevated and retreating from the pan. Next, continue retreating to a safe distance to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.24472664296627045, + 0.012714574113488197, + 0.12773901224136353, + -3.1099143028259277, + -0.08948373049497604, + -0.006401896942406893 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the right edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and reposition pan" + }, + { + "id": 4, + "subtask": "place pan at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pan is already placed on the right edge of the table, and the gripper is open (value ~1.0), indicating release has occurred. The robot arm is elevated and retreating from the pan. Next, continue retreating to a safe distance to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003970_ecot.json b/cot/chunk-0003/episode_0003970_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..954d9e7023df640e7641d72d447512bca02025ce --- /dev/null +++ b/cot/chunk-0003/episode_0003970_ecot.json @@ -0,0 +1,2036 @@ +{ + "task_name": "episode_0003970", + "episode_json": "json/chunk-0003/episode_0003970.json", + "video_path": "videos/chunk-0003/image_0/episode_0003970.mp4", + "instruction": "Topple metal pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003970.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9384514093399048, + "std": 0.424489289522171, + "delta_total": -0.01822429895401001, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93845, std=0.42449, total_delta=-0.01822). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 128, + 128 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 19 + ], + [ + 3, + 20, + 27 + ], + [ + 4, + 28, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach metal pot\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the metal pot while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp pot handle\", \"start\": 6, \"end\": 13, \"planning\": \"Close gripper around the pot’s handle as confirmed by decreasing gripper value and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and tilt pot\", \"start\": 14, \"end\": 19, \"planning\": \"Lift the pot slightly and begin tilting it to initiate toppling motion against the cardboard fence.\"},\n {\"id\": 4, \"name\": \"push pot into fence\", \"start\": 20, \"end\": 27, \"planning\": \"Drive the tilted pot forward to make forceful contact with the cardboard fence, causing it to topple.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 28, \"end\": 29, \"planning\": \"Open gripper to release the pot and move end-effector away after successful toppling.\"}\n ],\n \"global_plan\": \"Approach the metal pot, grasp its handle, lift and tilt it, then push it into the cardboard fence to topple it, finally releasing and retreating.\",\n \"notes\": \"Gripper closure is validated in segments 1–4 via segment-level evidence and image consistency; lifting and pushing are supported by motion trajectories and object displacement observed in keyframes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach metal pot", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the metal pot while keeping gripper open." + }, + { + "id": 2, + "name": "grasp pot handle", + "start": 6, + "end": 13, + "planning": "Close gripper around the pot’s handle as confirmed by decreasing gripper value and visual contact." + }, + { + "id": 3, + "name": "lift and tilt pot", + "start": 14, + "end": 19, + "planning": "Lift the pot slightly and begin tilting it to initiate toppling motion against the cardboard fence." + }, + { + "id": 4, + "name": "push pot into fence", + "start": 20, + "end": 27, + "planning": "Drive the tilted pot forward to make forceful contact with the cardboard fence, causing it to topple." + }, + { + "id": 5, + "name": "release and retreat", + "start": 28, + "end": 29, + "planning": "Open gripper to release the pot and move end-effector away after successful toppling." + } + ], + "global_plan": "Approach the metal pot, grasp its handle, lift and tilt it, then push it into the cardboard fence to topple it, finally releasing and retreating.", + "notes": "Gripper closure is validated in segments 1–4 via segment-level evidence and image consistency; lifting and pushing are supported by motion trajectories and object displacement observed in keyframes." + } + }, + "episode_goal": "Grasp the metal pot and push it forward to topple the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27428972721099854, + 0.11559136211872101, + 0.13256852328777313, + 3.138291120529175, + -0.08583953976631165, + 0.4373263120651245 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible ahead. No contact or grasping has occurred yet as the gripper remains open and no motion toward the pot has been executed. The next action should be to move the end effector closer to the metal pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 14 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move right 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2708454430103302, + 0.11365092545747757, + 0.12354260683059692, + 3.1398122310638428, + -0.05519457161426544, + 0.4295637905597687 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible ahead. No contact or grasping has occurred yet as the gripper remains open and no motion toward the pot has been executed. The next action should be to move the end effector closer to the metal pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 14 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2696853578090668, + 0.09436360001564026, + 0.12308008968830109, + 3.1397783756256104, + -0.07926162332296371, + 0.20604535937309265 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and no contact made yet. The subtask of approaching the pot is underway, with the end-effector moving toward the pot's handle. The next action should be to continue closing the distance to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26322516798973083, + 0.06732039898633957, + 0.13164111971855164, + 3.1165413856506348, + -0.08658245205879211, + 0.04630044847726822 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and no contact made yet. The subtask of approaching the pot is underway, with the end-effector moving toward the pot's handle. The next action should be to continue closing the distance to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2497503161430359, + 0.03454854339361191, + 0.13437941670417786, + 3.051276683807373, + -0.054485369473695755, + -0.14715775847434998 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and no contact made yet. The subtask of approaching the pot is underway, with the end-effector moving toward the pot's handle. The next action should be to continue closing the distance to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23840884864330292, + 0.0021526964846998453, + 0.13657985627651215, + 2.9951674938201904, + -0.03744887188076973, + -0.22936077415943146 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and no contact made yet. The subtask of approaching the pot is underway, with the end-effector moving toward the pot's handle. The next action should be to continue closing the distance to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23095500469207764, + -0.025173651054501534, + 0.12851500511169434, + 2.993522882461548, + -0.03720632195472717, + -0.2432706207036972 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and no contact made yet. The subtask of approaching the pot is underway, with the end-effector moving toward the pot's handle. The next action should be to continue closing the distance to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23071391880512238, + -0.042800966650247574, + 0.1157776489853859, + 3.027395009994507, + -0.06163497269153595, + -0.24360400438308716 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and no contact made yet. The subtask of approaching the pot is underway, with the end-effector moving toward the pot's handle. The next action should be to continue closing the distance to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 5 cm, close gripper; then move left 2 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2322693020105362, + -0.06119496375322342, + 0.0892220214009285, + 3.078477382659912, + -0.06206513196229935, + -0.20819827914237976 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and no contact made yet. The subtask of approaching the pot is underway, with the end-effector moving toward the pot's handle. The next action should be to continue closing the distance to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, close gripper; then move left 3 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23134644329547882, + -0.07135162502527237, + 0.07531657814979553, + 3.11283016204834, + -0.06957884132862091, + -0.1777658760547638 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 333, + 484, + 670, + 880 + ], + "apple slice": [ + 173, + 479, + 273, + 659 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the metal pot and is now positioned above the handle. The gripper is open and aligned with the handle, ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then move left 4 cm, move up 4 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2289607673883438, + -0.07859478145837784, + 0.07228309661149979, + 3.0961263179779053, + -0.07931288331747055, + -0.1698698252439499 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the metal pot and is now positioned above the handle. The gripper is open and aligned with the handle, ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then move left 4 cm, move up 4 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22454440593719482, + -0.0822557583451271, + 0.06747165322303772, + 3.0981738567352295, + -0.08031005412340164, + -0.1687639206647873 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the metal pot and is now positioned above the handle. The gripper is open and aligned with the handle, ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 4 cm, move up 4 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22479136288166046, + -0.08271058648824692, + 0.0656975731253624, + 3.0981786251068115, + -0.07696467638015747, + -0.16251322627067566 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the metal pot and is now positioned above the handle. The gripper is open and aligned with the handle, ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 4 cm, move up 4 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22338040173053741, + -0.08377746492624283, + 0.06014551594853401, + 3.102149248123169, + -0.05265025794506073, + -0.16589535772800446 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the metal pot and is now positioned above the handle. The gripper is open and aligned with the handle, ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 4 cm, move up 4 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22300830483436584, + -0.08632545173168182, + 0.06085704639554024, + 3.08024001121521, + -0.04673941433429718, + -0.16645744442939758 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has approached the metal pot and is now positioned above the handle. The gripper is open and aligned with the handle, ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 4 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2237432599067688, + -0.08493252098560333, + 0.05646401271224022, + 3.081131935119629, + -0.019962195307016373, + -0.1735498607158661 + ], + "gripper_value": 0.17569689452648163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has approached the metal pot and is now positioned above the handle. The gripper is open and aligned with the handle, ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 4 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 5 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22638879716396332, + -0.07679135352373123, + 0.059274863451719284, + 3.0280985832214355, + 0.010462603531777859, + -0.20014752447605133 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has grasped the metal pot handle and is currently lifting and tilting it upward. The gripper remains closed with consistent segment-level evidence supporting a firm hold. The next action is to continue tilting the pot forward to prepare for pushing it into the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, tilt right 30 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2259381264448166, + -0.06668202579021454, + 0.06647706031799316, + 2.9499406814575195, + 0.059400349855422974, + -0.22218312323093414 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has grasped the metal pot handle and is currently lifting and tilting it upward. The gripper remains closed with consistent segment-level evidence supporting a firm hold. The next action is to continue tilting the pot forward to prepare for pushing it into the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 3 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2257770448923111, + -0.05850592255592346, + 0.07743377983570099, + 2.871044635772705, + 0.09349231421947479, + -0.22122138738632202 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has grasped the metal pot handle and is currently lifting and tilting it upward. The gripper remains closed with consistent segment-level evidence supporting a firm hold. The next action is to continue tilting the pot forward to prepare for pushing it into the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 7 cm, move down 1 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22621609270572662, + -0.05113953724503517, + 0.09787330776453018, + 2.7444963455200195, + 0.13832010328769684, + -0.24121882021427155 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 591, + 468, + 680, + 630 + ], + "apple slice": [ + 168, + 478, + 273, + 663 + ], + "metal pot": [ + 333, + 482, + 639, + 833 + ], + "green vegetable": [ + 622, + 508, + 677, + 596 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has grasped the metal pot handle and is currently lifting and tilting it upward. The gripper remains closed with consistent segment-level evidence supporting a firm hold. The next action is to continue tilting the pot forward to prepare for pushing it into the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 7 cm, move down 1 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2261493057012558, + -0.045304927974939346, + 0.09874105453491211, + 2.569699287414551, + 0.26026520133018494, + -0.30471232533454895 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 319, + 519, + 670, + 858 + ], + "red pepper": [ + 594, + 479, + 678, + 627 + ], + "apple slice": [ + 170, + 478, + 277, + 660 + ], + "green vegetable": [ + 619, + 506, + 675, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "push pot into fence", + "subtask_reasoning": "The robot has grasped the metal pot handle and is currently lifting and tilting it upward. The gripper remains closed with consistent segment-level evidence supporting a firm hold. The next action is to continue tilting the pot forward to prepare for pushing it into the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 1 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22688499093055725, + -0.03833884745836258, + 0.10199069231748581, + 2.4725258350372314, + 0.285905122756958, + -0.3716142475605011 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "push pot into fence", + "subtask_reasoning": "The robot has grasped the metal pot handle and is currently lifting and tilting it upward. The gripper remains closed with consistent segment-level evidence supporting a firm hold. The next action is to continue tilting the pot forward to prepare for pushing it into the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 1 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2263021469116211, + -0.028924040496349335, + 0.10024712979793549, + 2.4636669158935547, + 0.29056933522224426, + -0.36160314083099365 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "push pot into fence", + "subtask_reasoning": "The robot has grasped the metal pot handle and is currently lifting and tilting it upward. The gripper remains closed with consistent segment-level evidence supporting a firm hold. The next action is to continue tilting the pot forward to prepare for pushing it into the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 1 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2255132496356964, + -0.01746160350739956, + 0.09239231050014496, + 2.4774861335754395, + 0.3015339970588684, + -0.3542909622192383 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "push pot into fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle and has tilted it forward, positioning it near the cardboard fence. The pot is in contact with or very close to the fence, indicating the pushing action is underway. The next step is to apply forward force to topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.22461608052253723, + -0.00809802208095789, + 0.08502592891454697, + 2.5065255165100098, + 0.28628963232040405, + -0.33642902970314026 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "push pot into fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle and has tilted it forward, positioning it near the cardboard fence. The pot is in contact with or very close to the fence, indicating the pushing action is underway. The next step is to apply forward force to topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 1 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2269396185874939, + 0.001221654936671257, + 0.07486410439014435, + 2.5792946815490723, + 0.24987371265888214, + -0.3090657591819763 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "push pot into fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle and has tilted it forward, positioning it near the cardboard fence. The pot is in contact with or very close to the fence, indicating the pushing action is underway. The next step is to apply forward force to topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23340511322021484, + 0.008405008353292942, + 0.07240646332502365, + 2.65787935256958, + 0.18079842627048492, + -0.30108776688575745 + ], + "gripper_value": 0.22362354397773743 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "push pot into fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle and has tilted it forward, positioning it near the cardboard fence. The pot is in contact with or very close to the fence, indicating the pushing action is underway. The next step is to apply forward force to topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2383832037448883, + 0.018943844363093376, + 0.07314947247505188, + 2.7625129222869873, + 0.09715967625379562, + -0.2951293885707855 + ], + "gripper_value": 0.4615449905395508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "push pot into fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle and has tilted it forward, positioning it near the cardboard fence. The pot is in contact with or very close to the fence, indicating the pushing action is underway. The next step is to apply forward force to topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24853070080280304, + 0.026900462806224823, + 0.09142304956912994, + 2.8877546787261963, + -0.016729507595300674, + -0.26963651180267334 + ], + "gripper_value": 0.7477011680603027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal pot has been toppled against the cardboard fence and is resting on the wooden surface. The gripper is open and positioned above the pot, indicating the release action is complete. The robot is now retreating from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25110283493995667, + 0.02839348465204239, + 0.10470116883516312, + 2.9075310230255127, + -0.04803319275379181, + -0.2500355839729309 + ], + "gripper_value": 0.9745318293571472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it forward to topple the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "push pot into fence" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal pot has been toppled against the cardboard fence and is resting on the wooden surface. The gripper is open and positioned above the pot, indicating the release action is complete. The robot is now retreating from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003971_ecot.json b/cot/chunk-0003/episode_0003971_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f82cc015e918415ae56a3255321492e504df916b --- /dev/null +++ b/cot/chunk-0003/episode_0003971_ecot.json @@ -0,0 +1,1643 @@ +{ + "task_name": "episode_0003971", + "episode_json": "json/chunk-0003/episode_0003971.json", + "video_path": "videos/chunk-0003/image_0/episode_0003971.mp4", + "instruction": "Put corn in bowl sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003971.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.43049436807632446, + "std": 0.19101959466934204, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.43049, std=0.19102, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 6 + ], + [ + 3, + 7, + 17 + ], + [ + 4, + 18, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper toward the yellow corn in the sink without closing.\"},\n {\"id\": 2, \"name\": \"grasp corn\", \"start\": 7, \"end\": 17, \"planning\": \"Close the gripper around the corn and lift it slightly while repositioning.\"},\n {\"id\": 3, \"name\": \"transport corn to bowl\", \"start\": 18, \"end\": 21, \"planning\": \"Carry the grasped corn over to the blue bowl in the sink.\"},\n {\"id\": 4, \"name\": \"release corn into bowl\", \"start\": 22, \"end\": 24, \"planning\": \"Open the gripper to drop the corn into the blue bowl and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the corn in the sink, grasp it securely, transport it to the blue bowl, and release it inside the bowl.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only from frame 7 onward; thus, grasp-related terms are used only from segment 3 (frames 7–17) and segment 4 (frames 18–24). Segments 1 and 2 show no gripper closure and are described as approach phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 6, + "planning": "Move the gripper toward the yellow corn in the sink without closing." + }, + { + "id": 2, + "name": "grasp corn", + "start": 7, + "end": 17, + "planning": "Close the gripper around the corn and lift it slightly while repositioning." + }, + { + "id": 3, + "name": "transport corn to bowl", + "start": 18, + "end": 21, + "planning": "Carry the grasped corn over to the blue bowl in the sink." + }, + { + "id": 4, + "name": "release corn into bowl", + "start": 22, + "end": 24, + "planning": "Open the gripper to drop the corn into the blue bowl and retreat slightly." + } + ], + "global_plan": "Approach the corn in the sink, grasp it securely, transport it to the blue bowl, and release it inside the bowl.", + "notes": "Gripper evidence confirms meaningful closing only from frame 7 onward; thus, grasp-related terms are used only from segment 3 (frames 7–17) and segment 4 (frames 18–24). Segments 1 and 2 show no gripper closure and are described as approach phases." + } + }, + "episode_goal": "Place the yellow corn toy into the blue bowl located in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562488555908203, + -0.0644921362400055, + 0.059364717453718185, + -3.0445265769958496, + -0.28777819871902466, + 0.1374840885400772 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn toy visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34896379709243774, + -0.06329527497291565, + 0.04765455797314644, + -3.02994704246521, + -0.24592225253582, + 0.12518253922462463 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn toy visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33221304416656494, + -0.03851572051644325, + 0.05768352001905441, + -3.000474214553833, + -0.20496398210525513, + 0.03057711385190487 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn toy visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 4 cm, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32097920775413513, + -0.006960054859519005, + 0.06833789497613907, + -2.973607301712036, + -0.2116425782442093, + -0.035275913774967194 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3144865036010742, + 0.01972891204059124, + 0.0617029145359993, + -2.973071336746216, + -0.1996450126171112, + -0.06630969792604446 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 530, + 564, + 669, + 739 + ], + "blue bowl": [ + 655, + 504, + 830, + 673 + ], + "blue die": [ + 632, + 414, + 726, + 532 + ], + "yellow sponge": [ + 468, + 415, + 549, + 532 + ], + "sink": [ + 344, + 215, + 941, + 721 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, keep gripper open; then move right 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31811976432800293, + 0.025873925536870956, + 0.05016477406024933, + -3.001563787460327, + -0.20042593777179718, + -0.06121857091784477 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move right 2 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3204067051410675, + 0.021905547007918358, + 0.026398951187729836, + -3.0350804328918457, + -0.1582106649875641, + -0.03330863639712334 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32986482977867126, + 0.022197261452674866, + 0.015382776036858559, + -3.009183406829834, + -0.16897061467170715, + -0.005064791068434715 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324649930000305, + 0.024477217346429825, + 0.001248896587640047, + -2.981163501739502, + -0.1499275416135788, + 0.004060475155711174 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33250951766967773, + 0.025919770821928978, + -0.008845082484185696, + -2.9695353507995605, + -0.14092446863651276, + 0.009191696532070637 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337419629096985, + 0.026555128395557404, + -0.012307308614253998, + -2.9688174724578857, + -0.10516693443059921, + 0.01659822277724743 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3317456543445587, + 0.02508421428501606, + -0.013705110177397728, + -2.9977972507476807, + -0.09292829036712646, + 0.028809821233153343 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow corn toy and the blue bowl. No objects have been moved yet as the gripper remains open and stationary relative to the target. The next action is to lower the end-effector to make contact with the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3321554362773895, + 0.02579362317919731, + -0.01354219950735569, + -2.993575096130371, + -0.10348176211118698, + 0.02928815595805645 + ], + "gripper_value": 0.5729578137397766 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the yellow corn toy in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the corn. The next action is to fully close the gripper to grasp the corn before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3302520215511322, + 0.024068448692560196, + -0.002201358089223504, + -2.9941601753234863, + -0.11558966338634491, + 0.044044170528650284 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the yellow corn toy in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the corn. The next action is to fully close the gripper to grasp the corn before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32863229513168335, + 0.016902681440114975, + 0.021411681547760963, + -3.0183780193328857, + -0.12038872390985489, + 0.06754344701766968 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 654, + 504, + 830, + 673 + ], + "red cup": [ + 530, + 562, + 669, + 739 + ], + "yellow sponge": [ + 467, + 370, + 545, + 502 + ], + "sink": [ + 343, + 213, + 942, + 720 + ], + "blue die": [ + 632, + 413, + 727, + 526 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the yellow corn toy in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the corn. The next action is to fully close the gripper to grasp the corn before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3258562982082367, + 0.004889876116067171, + 0.038516636937856674, + -3.05704665184021, + -0.11582083255052567, + 0.08187185972929001 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the yellow corn toy in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the corn. The next action is to fully close the gripper to grasp the corn before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.321922242641449, + -0.02220841869711876, + 0.05268232896924019, + -3.093951463699341, + -0.15041905641555786, + 0.06445475667715073 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the yellow corn toy in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the corn. The next action is to fully close the gripper to grasp the corn before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31429365277290344, + -0.05868551507592201, + 0.051808442920446396, + -3.1309895515441895, + -0.13487666845321655, + 0.01186385378241539 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the yellow corn toy in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the corn. The next action is to fully close the gripper to grasp the corn before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3094344139099121, + -0.08968263864517212, + 0.0453614667057991, + -3.139285087585449, + -0.10785464197397232, + -0.022347593680024147 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 656, + 509, + 831, + 673 + ], + "yellow sponge": [ + 652, + 405, + 741, + 554 + ], + "sink": [ + 347, + 196, + 942, + 722 + ], + "red cup": [ + 530, + 564, + 671, + 739 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "transport corn to bowl", + "subtask_reasoning": "The robot arm is positioned directly above the yellow corn toy in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the corn. The next action is to fully close the gripper to grasp the corn before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3117731213569641, + -0.11037348210811615, + 0.02438879944384098, + -3.1294174194335938, + -0.07318480312824249, + -0.018304042518138885 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "transport corn to bowl", + "subtask_reasoning": "The robot is currently holding the yellow corn toy above the sink, having successfully grasped it in the previous step. The blue bowl is visible in the sink, positioned slightly to the right of the corn's current location. The next action is to move the corn horizontally towards the blue bowl to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222777843475342, + -0.11614957451820374, + 0.010401846840977669, + -3.1087372303009033, + -0.07656946033239365, + -0.007544934283941984 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "transport corn to bowl", + "subtask_reasoning": "The robot is currently holding the yellow corn toy above the sink, having successfully grasped it in the previous step. The blue bowl is visible in the sink, positioned slightly to the right of the corn's current location. The next action is to move the corn horizontally towards the blue bowl to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3249299228191376, + -0.11697018146514893, + 0.008393925614655018, + -3.1039297580718994, + -0.09320621192455292, + 4.289918433642015e-05 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "transport corn to bowl", + "subtask_reasoning": "The robot is currently holding the yellow corn toy above the sink, having successfully grasped it in the previous step. The blue bowl is visible in the sink, positioned slightly to the right of the corn's current location. The next action is to move the corn horizontally towards the blue bowl to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32486602663993835, + -0.11540643125772476, + 0.008174419403076172, + -3.0957021713256836, + -0.09479473531246185, + 0.011478696018457413 + ], + "gripper_value": 0.930367648601532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "release corn into bowl", + "subtask_reasoning": "The robot is currently holding the yellow corn toy above the sink, having successfully grasped it in the previous step. The blue bowl is visible in the sink, positioned slightly to the right of the corn's current location. The next action is to move the corn horizontally towards the blue bowl to position it for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32481393218040466, + -0.11494679003953934, + 0.008472702465951443, + -3.09218430519104, + -0.09307509660720825, + 0.01112492848187685 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "release corn into bowl", + "subtask_reasoning": "The robot arm is positioned over the sink with the yellow corn toy held in the gripper, directly above the blue bowl. The approach and transport phases are complete, and the gripper is currently closed around the object. The next action is to open the gripper to release the corn into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32084980607032776, + -0.1150585487484932, + 0.008629385381937027, + -3.0957648754119873, + -0.06719459593296051, + 0.010503750294446945 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "release corn into bowl", + "subtask_reasoning": "The robot arm is positioned over the sink with the yellow corn toy held in the gripper, directly above the blue bowl. The approach and transport phases are complete, and the gripper is currently closed around the object. The next action is to open the gripper to release the corn into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003972_ecot.json b/cot/chunk-0003/episode_0003972_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0ac031641dd974374db777514ba8762830389f99 --- /dev/null +++ b/cot/chunk-0003/episode_0003972_ecot.json @@ -0,0 +1,1906 @@ +{ + "task_name": "episode_0003972", + "episode_json": "json/chunk-0003/episode_0003972.json", + "video_path": "videos/chunk-0003/image_0/episode_0003972.mp4", + "instruction": "Moved the orange cloth on the top end of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003972.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.000666201114654541, + "std": 0.0002450277970638126, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00025, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 22 + ], + [ + 3, + 23, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 1, \"planning\": \"Move end-effector toward the orange cloth near the sink edge.\"},\n {\"id\": 2, \"name\": \"contact and slide cloth\", \"start\": 2, \"end\": 22, \"planning\": \"Make contact with the cloth and slide it across the stovetop toward the burner area.\"},\n {\"id\": 3, \"name\": \"reposition cloth on burner\", \"start\": 23, \"end\": 30, \"planning\": \"Adjust final position of the cloth to center it on the top end of the burner.\"}\n ],\n \"global_plan\": \"The robot approaches the orange cloth, makes contact without grasping, slides it across the stovetop, and repositions it onto the top end of the burner using continuous pushing motion.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is purely contact-based sliding and repositioning. Segment boundaries respected but merged into three natural phases for clarity and coverage.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 1, + "planning": "Move end-effector toward the orange cloth near the sink edge." + }, + { + "id": 2, + "name": "contact and slide cloth", + "start": 2, + "end": 22, + "planning": "Make contact with the cloth and slide it across the stovetop toward the burner area." + }, + { + "id": 3, + "name": "reposition cloth on burner", + "start": 23, + "end": 30, + "planning": "Adjust final position of the cloth to center it on the top end of the burner." + } + ], + "global_plan": "The robot approaches the orange cloth, makes contact without grasping, slides it across the stovetop, and repositions it onto the top end of the burner using continuous pushing motion.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is purely contact-based sliding and repositioning. Segment boundaries respected but merged into three natural phases for clarity and coverage." + } + }, + "episode_goal": "Move the orange cloth to the top end of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183414041996002, + -0.12564876675605774, + 0.08276593685150146, + 3.0618512630462646, + -0.3724342882633209, + 0.5082669854164124 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 8 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3072394132614136, + -0.12150558084249496, + 0.06638212502002716, + 3.111651659011841, + -0.33654558658599854, + 0.4896337389945984 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move back 8 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28700947761535645, + -0.11848271638154984, + 0.05938737466931343, + -3.1291348934173584, + -0.28368303179740906, + 0.46374306082725525 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692294716835022, + -0.11009716987609863, + 0.06691690534353256, + -3.112931489944458, + -0.273781418800354, + 0.4867956042289734 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24772267043590546, + -0.1047315001487732, + 0.06173224002122879, + -3.091179847717285, + -0.2326241135597229, + 0.5032827258110046 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23346491158008575, + -0.10416200011968613, + 0.05992097407579422, + -3.0790789127349854, + -0.19864530861377716, + 0.5379717350006104 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21612808108329773, + -0.09951175004243851, + 0.04761691018939018, + -3.0509793758392334, + -0.14795012772083282, + 0.572838306427002 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cutting board": [ + 368, + 693, + 667, + 995 + ], + "metal pot": [ + 28, + 445, + 273, + 721 + ], + "wooden panel": [ + 2, + 5, + 180, + 506 + ], + "blue sponge": [ + 280, + 471, + 379, + 541 + ], + "tiled wall": [ + 246, + 2, + 998, + 647 + ], + "grey ball": [ + 379, + 473, + 452, + 555 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19989128410816193, + -0.09511177241802216, + 0.04037826135754585, + -3.0619356632232666, + -0.12073808908462524, + 0.6029111742973328 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 28, + 444, + 273, + 721 + ], + "orange cutting board": [ + 367, + 694, + 667, + 995 + ], + "blue sponge": [ + 280, + 471, + 379, + 541 + ], + "white cup": [ + 744, + 591, + 813, + 691 + ], + "grey ball": [ + 379, + 474, + 452, + 555 + ], + "wooden panel": [ + 2, + 6, + 179, + 507 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19644001126289368, + -0.09425988793373108, + 0.03221023827791214, + -3.052953004837036, + -0.10266938805580139, + 0.6143608689308167 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20051763951778412, + -0.09202899038791656, + 0.029576946049928665, + -3.0689334869384766, + -0.10915054380893707, + 0.6213566660881042 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20239976048469543, + -0.08252698928117752, + 0.026912929490208626, + -3.0686025619506836, + -0.11213947087526321, + 0.6397714614868164 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20634765923023224, + -0.08036446571350098, + 0.02298227697610855, + -3.083791494369507, + -0.10512477159500122, + 0.6373058557510376 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the orange cloth visible at the bottom edge of the frame. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 4 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20733290910720825, + -0.06976062059402466, + 0.017883485183119774, + -3.0778281688690186, + -0.09908495098352432, + 0.6682167649269104 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2066652625799179, + -0.06785248965024948, + 0.005364461336284876, + -3.075241804122925, + -0.07407340407371521, + 0.6579431891441345 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21011121571063995, + -0.06695620715618134, + -0.0014619921566918492, + -3.0730628967285156, + -0.06530672311782837, + 0.6409178376197815 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 3 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21437165141105652, + -0.06626860052347183, + -0.004119420889765024, + -3.0695862770080566, + -0.060837503522634506, + 0.6279565691947937 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 3 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22619332373142242, + -0.0679282546043396, + -0.0041942838579416275, + -3.0763282775878906, + -0.07406966388225555, + 0.6156357526779175 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 3 cm, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24083447456359863, + -0.06608211994171143, + -0.0032340819016098976, + -3.087242841720581, + -0.09314065426588058, + 0.6244686841964722 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cutting board": [ + 398, + 656, + 693, + 976 + ], + "metal pot": [ + 28, + 444, + 273, + 721 + ], + "blue sponge": [ + 280, + 471, + 379, + 541 + ], + "grey ball": [ + 379, + 474, + 452, + 555 + ], + "white cup": [ + 715, + 569, + 815, + 694 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 3 cm, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25616154074668884, + -0.06257792562246323, + -0.001074476633220911, + -3.100010871887207, + -0.10835873335599899, + 0.6293439269065857 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, keep gripper open; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26684483885765076, + -0.05907197296619415, + -0.000273877230938524, + -3.0974884033203125, + -0.11072954535484314, + 0.6064545512199402 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28853103518486023, + -0.04747113212943077, + 0.0002147737395716831, + -3.110823631286621, + -0.12351610511541367, + 0.615839958190918 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3075925409793854, + -0.03919325768947601, + 0.00024840488913469017, + -3.1139914989471436, + -0.13202202320098877, + 0.5945907831192017 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3283442258834839, + -0.03527465835213661, + 0.00022772536613047123, + -3.1265742778778076, + -0.13821710646152496, + 0.5720950365066528 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "contact and slide cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3459455668926239, + -0.0355864092707634, + 0.0001138453881139867, + 3.134521007537842, + -0.1468816101551056, + 0.5501877069473267 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "reposition cloth on burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36422988772392273, + -0.03821907564997673, + 0.000740188523195684, + 3.097315549850464, + -0.15152017772197723, + 0.5445868372917175 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "reposition cloth on burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3652503788471222, + -0.03802473470568657, + 0.0014266285579651594, + 3.0982117652893066, + -0.1556645929813385, + 0.53644198179245 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "reposition cloth on burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stovetop, positioned to push it forward. The approach phase is complete, and the gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3629146218299866, + -0.037080224603414536, + 0.0014323907671496272, + 3.1040713787078857, + -0.1561633050441742, + 0.5300020575523376 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "reposition cloth on burner", + "subtask_reasoning": "The robot is in contact with the orange cloth on the stovetop, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35814857482910156, + -0.03649097681045532, + 0.004544447176158428, + 3.1037039756774902, + -0.1574213057756424, + 0.5252857208251953 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "reposition cloth on burner", + "subtask_reasoning": "The robot is in contact with the orange cloth on the stovetop, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3545665144920349, + -0.0374903567135334, + 0.013160440139472485, + 3.085869550704956, + -0.16304714977741241, + 0.5353608131408691 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "reposition cloth on burner", + "subtask_reasoning": "The robot is in contact with the orange cloth on the stovetop, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.349824994802475, + -0.035163890570402145, + 0.03766602277755737, + 3.063542604446411, + -0.20888440310955048, + 0.538171112537384 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "reposition cloth on burner", + "subtask_reasoning": "The robot is in contact with the orange cloth on the stovetop, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33561399579048157, + -0.030219318345189095, + 0.054588790982961655, + 3.0708560943603516, + -0.2316521555185318, + 0.5369840860366821 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cutting board": [ + 440, + 464, + 670, + 667 + ], + "blue sponge": [ + 281, + 471, + 379, + 541 + ], + "metal pot": [ + 29, + 444, + 273, + 721 + ], + "grey ball": [ + 379, + 474, + 449, + 554 + ], + "white cup": [ + 709, + 566, + 813, + 694 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth to the top end of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and slide cloth" + }, + { + "id": 3, + "subtask": "reposition cloth on burner" + } + ], + "subtask_name": "reposition cloth on burner", + "subtask_reasoning": "The robot is in contact with the orange cloth on the stovetop, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the cloth toward the top end of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003973_ecot.json b/cot/chunk-0003/episode_0003973_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..76eddf4199e14e6bdb5ad6e9ca9e50006ae3736d --- /dev/null +++ b/cot/chunk-0003/episode_0003973_ecot.json @@ -0,0 +1,1096 @@ +{ + "task_name": "episode_0003973", + "episode_json": "json/chunk-0003/episode_0003973.json", + "video_path": "videos/chunk-0003/image_0/episode_0003973.mp4", + "instruction": "Put cup from anywhere into sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003973.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.9131056070327759, + "std": 0.4156845510005951, + "delta_total": -0.8695197701454163, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91311, std=0.41568, total_delta=-0.86952). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 111, + 111 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 10 + ], + [ + 3, + 11, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red cup\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the red cup on the sink rim without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp red cup\", \"start\": 5, \"end\": 10, \"planning\": \"Close gripper around red cup as evidenced by significant gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and place cup in sink\", \"start\": 11, \"end\": 17, \"planning\": \"Lift grasped cup and release it into the sink basin, confirmed by gripper opening and final cup position in sink.\"}\n ],\n \"global_plan\": \"Approach the red cup on the sink rim, grasp it securely, then lift and drop it into the sink basin.\",\n \"notes\": \"Segment 1 shows no gripper closure — purely approach. Segment 2 shows strong gripper closure consistent with grasping. Segment 3 shows continued grip followed by release into sink, matching task goal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red cup", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the red cup on the sink rim without closing gripper." + }, + { + "id": 2, + "name": "grasp red cup", + "start": 5, + "end": 10, + "planning": "Close gripper around red cup as evidenced by significant gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift and place cup in sink", + "start": 11, + "end": 17, + "planning": "Lift grasped cup and release it into the sink basin, confirmed by gripper opening and final cup position in sink." + } + ], + "global_plan": "Approach the red cup on the sink rim, grasp it securely, then lift and drop it into the sink basin.", + "notes": "Segment 1 shows no gripper closure — purely approach. Segment 2 shows strong gripper closure consistent with grasping. Segment 3 shows continued grip followed by release into sink, matching task goal." + } + }, + "episode_goal": "Place the red cup into the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28451892733573914, + -0.030410993844270706, + 0.20389312505722046, + 3.120763063430786, + -0.2707718014717102, + -0.014826849102973938 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "approach red cup", + "subtask_reasoning": "The robot is positioned near the sink with the red cup visible on the rim. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2859654426574707, + -0.03376835957169533, + 0.1968454271554947, + 3.1117196083068848, + -0.2453095018863678, + -0.020986000075936317 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "approach red cup", + "subtask_reasoning": "The robot is positioned near the sink with the red cup visible on the rim. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29276689887046814, + -0.04716787114739418, + 0.1936587244272232, + 3.0984959602355957, + -0.23484595119953156, + -0.05220141261816025 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "approach red cup", + "subtask_reasoning": "The red cup is located on the right rim of the sink, while the robot's gripper is currently positioned to the left and slightly below the target. No objects have been moved yet as the gripper remains fully open. The robot needs to move its end-effector towards the red cup to prepare for the subsequent grasping action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30010277032852173, + -0.05863824859261513, + 0.19022256135940552, + 3.0736160278320312, + -0.2251857966184616, + -0.07470766454935074 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 757, + 202, + 946, + 445 + ], + "dish rack": [ + 24, + 30, + 438, + 383 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "approach red cup", + "subtask_reasoning": "The red cup is located on the right rim of the sink, while the robot's gripper is currently positioned to the left and slightly below the target. No objects have been moved yet as the gripper remains fully open. The robot needs to move its end-effector towards the red cup to prepare for the subsequent grasping action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper open; then move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3053130805492401, + -0.07050687819719315, + 0.18383263051509857, + 3.0420761108398438, + -0.20356565713882446, + -0.09944182634353638 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "approach red cup", + "subtask_reasoning": "The red cup is located on the right rim of the sink, while the robot's gripper is currently positioned to the left and slightly below the target. No objects have been moved yet as the gripper remains fully open. The robot needs to move its end-effector towards the red cup to prepare for the subsequent grasping action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3084138333797455, + -0.07629814743995667, + 0.17409838736057281, + 3.0166852474212646, + -0.1674349308013916, + -0.10667159408330917 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "grasp red cup", + "subtask_reasoning": "The red cup is located on the right rim of the sink, while the robot's gripper is currently positioned to the left and slightly below the target. No objects have been moved yet as the gripper remains fully open. The robot needs to move its end-effector towards the red cup to prepare for the subsequent grasping action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30957987904548645, + -0.08076300472021103, + 0.16650210320949554, + 2.9936211109161377, + -0.13840673863887787, + -0.11480458080768585 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "grasp red cup", + "subtask_reasoning": "The red cup is located on the right rim of the sink, while the robot's gripper is currently positioned to the left and slightly below the target. No objects have been moved yet as the gripper remains fully open. The robot needs to move its end-effector towards the red cup to prepare for the subsequent grasping action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 6 cm, move left 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3108373284339905, + -0.083676777780056, + 0.15877240896224976, + 2.9673287868499756, + -0.11178934574127197, + -0.1184825673699379 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "grasp red cup", + "subtask_reasoning": "The red cup is positioned on the sink rim, and the robot's end-effector is hovering directly above it. Although the gripper is currently open, the segment-level evidence indicates a closing action is underway. The next step is to close the gripper to securely grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 7 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.312922865152359, + -0.08412185311317444, + 0.1509149968624115, + 2.93981671333313, + -0.08889272063970566, + -0.10557816922664642 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "grasp red cup", + "subtask_reasoning": "The red cup is positioned on the sink rim, and the robot's end-effector is hovering directly above it. Although the gripper is currently open, the segment-level evidence indicates a closing action is underway. The next step is to close the gripper to securely grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move back 7 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3117997348308563, + -0.08478819578886032, + 0.14337505400180817, + 2.9284582138061523, + -0.05672566592693329, + -0.08131422847509384 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "grasp red cup", + "subtask_reasoning": "The red cup is positioned on the sink rim, and the robot's end-effector is hovering directly above it. Although the gripper is currently open, the segment-level evidence indicates a closing action is underway. The next step is to close the gripper to securely grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 7 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30878356099128723, + -0.08407466858625412, + 0.13835619390010834, + 2.9307241439819336, + -0.032195720821619034, + -0.059634722769260406 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "grasp red cup", + "subtask_reasoning": "The red cup is positioned on the sink rim, and the robot's end-effector is hovering directly above it. Although the gripper is currently open, the segment-level evidence indicates a closing action is underway. The next step is to close the gripper to securely grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30731427669525146, + -0.08109571784734726, + 0.13576842844486237, + 2.948742389678955, + -0.017495566979050636, + -0.03534863516688347 + ], + "gripper_value": 0.2589220404624939 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "lift and place cup in sink", + "subtask_reasoning": "The red cup is positioned on the sink rim, and the robot's end-effector is hovering directly above it. Although the gripper is currently open, the segment-level evidence indicates a closing action is underway. The next step is to close the gripper to securely grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.299240380525589, + -0.07393308728933334, + 0.14082086086273193, + 2.992274045944214, + -0.003027161583304405, + 0.017754636704921722 + ], + "gripper_value": 0.11619604378938675 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "lift and place cup in sink", + "subtask_reasoning": "The red cup is positioned on the sink rim, and the robot's end-effector is hovering directly above it. Although the gripper is currently open, the segment-level evidence indicates a closing action is underway. The next step is to close the gripper to securely grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2877520024776459, + -0.06519162654876709, + 0.14689557254314423, + 3.0318849086761475, + -0.012279301881790161, + 0.0746663436293602 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "lift and place cup in sink", + "subtask_reasoning": "The red cup is positioned on the sink rim, and the robot's end-effector is hovering directly above it. Although the gripper is currently open, the segment-level evidence indicates a closing action is underway. The next step is to close the gripper to securely grasp the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738194465637207, + -0.05682659149169922, + 0.1518736630678177, + 3.0591094493865967, + -0.018529823049902916, + 0.11701654642820358 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "lift and place cup in sink", + "subtask_reasoning": "The red cup is currently held by the gripper and positioned directly above the sink basin. The approach and grasp phases are complete, and the robot is now in the lifting and placing phase. The next action is to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25983041524887085, + -0.03602484613656998, + 0.14637258648872375, + 3.0863237380981445, + -0.009653011336922646, + 0.17915576696395874 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "lift and place cup in sink", + "subtask_reasoning": "The red cup is currently held by the gripper and positioned directly above the sink basin. The approach and grasp phases are complete, and the robot is now in the lifting and placing phase. The next action is to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2498689442873001, + -0.01992090232670307, + 0.13753943145275116, + 3.1078872680664062, + 0.02300177328288555, + 0.20368024706840515 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 532, + 245, + 719, + 493 + ], + "dish rack": [ + 24, + 34, + 424, + 382 + ], + "faucet": [ + 400, + 15, + 727, + 377 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "lift and place cup in sink", + "subtask_reasoning": "The red cup is currently held by the gripper and positioned directly above the sink basin. The approach and grasp phases are complete, and the robot is now in the lifting and placing phase. The next action is to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2403818964958191, + -0.007511431816965342, + 0.13120831549167633, + 3.1057517528533936, + 0.014147660695016384, + 0.21575410664081573 + ], + "gripper_value": 0.12930262088775635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cup into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red cup" + }, + { + "id": 2, + "subtask": "grasp red cup" + }, + { + "id": 3, + "subtask": "lift and place cup in sink" + } + ], + "subtask_name": "lift and place cup in sink", + "subtask_reasoning": "The red cup is currently held by the gripper and positioned directly above the sink basin. The approach and grasp phases are complete, and the robot is now in the lifting and placing phase. The next action is to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003974_ecot.json b/cot/chunk-0003/episode_0003974_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6fb6134268c021fb33f927fe7f1fbf7bb9c126c2 --- /dev/null +++ b/cot/chunk-0003/episode_0003974_ecot.json @@ -0,0 +1,1332 @@ +{ + "task_name": "episode_0003974", + "episode_json": "json/chunk-0003/episode_0003974.json", + "video_path": "videos/chunk-0003/image_0/episode_0003974.mp4", + "instruction": "Pick up bowl and put in small4fbox.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003974.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9291732907295227, + "std": 0.42809829115867615, + "delta_total": -0.9214135408401489, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92917, std=0.42810, total_delta=-0.92141). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 212, + 212, + 212, + 212, + 212 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bowl in sink\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the blue bowl in the sink without closing gripper, as segment shows no meaningful gripper closure.\"},\n {\"id\": 2, \"name\": \"grasp bowl\", \"start\": 8, \"end\": 11, \"planning\": \"Close gripper around the blue bowl; segment shows significant gripper closure and images confirm contact and grasp initiation.\"},\n {\"id\": 3, \"name\": \"lift bowl from sink\", \"start\": 12, \"end\": 14, \"planning\": \"Lift the grasped bowl upward out of the sink; gripper remains closed and motion is vertical with slight repositioning.\"},\n {\"id\": 4, \"name\": \"transport and release bowl into box\", \"start\": 15, \"end\": 19, \"planning\": \"Move bowl over small4fbox and release it; gripper stays open after release, no further closing observed in segment.\"}\n ],\n \"global_plan\": \"Approach the blue bowl in the sink, grasp it securely, lift it out, then transport and drop it into the small4fbox.\",\n \"notes\": \"Subtask boundaries align with proprio-motion segments. Gripper evidence strictly followed: no grasp wording in segments 1 and 4 where closure is negligible. Segment 2 and 3 show clear closure and lift mechanics consistent with grasping and lifting.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bowl in sink", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the blue bowl in the sink without closing gripper, as segment shows no meaningful gripper closure." + }, + { + "id": 2, + "name": "grasp bowl", + "start": 8, + "end": 11, + "planning": "Close gripper around the blue bowl; segment shows significant gripper closure and images confirm contact and grasp initiation." + }, + { + "id": 3, + "name": "lift bowl from sink", + "start": 12, + "end": 14, + "planning": "Lift the grasped bowl upward out of the sink; gripper remains closed and motion is vertical with slight repositioning." + }, + { + "id": 4, + "name": "transport and release bowl into box", + "start": 15, + "end": 19, + "planning": "Move bowl over small4fbox and release it; gripper stays open after release, no further closing observed in segment." + } + ], + "global_plan": "Approach the blue bowl in the sink, grasp it securely, lift it out, then transport and drop it into the small4fbox.", + "notes": "Subtask boundaries align with proprio-motion segments. Gripper evidence strictly followed: no grasp wording in segments 1 and 4 where closure is negligible. Segment 2 and 3 show clear closure and lift mechanics consistent with grasping and lifting." + } + }, + "episode_goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24068590998649597, + -0.06856686621904373, + 0.13554103672504425, + -3.078152894973755, + -0.04484933242201805, + -0.06278035789728165 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl visible below. The gripper is open and no contact has been made yet. The next action should be to lower the arm toward the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 15 cm, move down 18 cm, tilt back 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24216991662979126, + -0.06380592286586761, + 0.12434177100658417, + -3.0854835510253906, + -0.03748592361807823, + -0.06862606853246689 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl visible below. The gripper is open and no contact has been made yet. The next action should be to lower the arm toward the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 15 cm, move down 17 cm, tilt back 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26251402497291565, + -0.02015555649995804, + 0.09866885840892792, + -3.084385633468628, + -0.08632951974868774, + -0.006091058719903231 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 364, + 530, + 511, + 701 + ], + "white pitcher": [ + 269, + 411, + 434, + 541 + ], + "green plate": [ + 576, + 526, + 802, + 758 + ], + "orange toy carrot": [ + 421, + 472, + 546, + 620 + ], + "green toy vegetable": [ + 232, + 458, + 305, + 564 + ], + "sink": [ + 107, + 269, + 672, + 781 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl visible below. The gripper is open and no contact has been made yet. The next action should be to lower the arm toward the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move down 14 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27921923995018005, + -0.0009111231192946434, + 0.07813088595867157, + -3.0265867710113525, + -0.11064863204956055, + -0.012250104919075966 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the blue bowl. No objects have been grasped yet as the gripper remains open. The next action is to lower the arm to make contact with the blue bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 12 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2945718765258789, + 0.020487608388066292, + 0.05580896884202957, + -3.0390493869781494, + -0.1562587171792984, + 0.055874016135931015 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the blue bowl. No objects have been grasped yet as the gripper remains open. The next action is to lower the arm to make contact with the blue bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2932308614253998, + 0.03586132079362869, + 0.03056282177567482, + -3.0499913692474365, + -0.15202726423740387, + 0.04346427321434021 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the blue bowl. No objects have been grasped yet as the gripper remains open. The next action is to lower the arm to make contact with the blue bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29130807518959045, + 0.057764846831560135, + 0.001948665943928063, + -3.068580389022827, + -0.15602229535579681, + 0.028642132878303528 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the blue bowl. No objects have been grasped yet as the gripper remains open. The next action is to lower the arm to make contact with the blue bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2925180494785309, + 0.06722690910100937, + -0.016521580517292023, + -3.095815896987915, + -0.16252049803733826, + -0.03009662963449955 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the blue bowl. No objects have been grasped yet as the gripper remains open. The next action is to lower the arm to make contact with the blue bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.291023313999176, + 0.084112748503685, + -0.040693968534469604, + 3.1217610836029053, + -0.1613481491804123, + -0.05708039179444313 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the blue bowl. No objects have been grasped yet as the gripper remains open. The next action is to lower the arm to make contact with the blue bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move right 7 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2933136820793152, + 0.08157990872859955, + -0.057529203593730927, + 3.068181037902832, + -0.15722376108169556, + -0.07478279620409012 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the bowl. The next action is to initiate the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move forward 7 cm, move right 10 cm, move up 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29495465755462646, + 0.08656086772680283, + -0.06799057126045227, + 3.069157361984253, + -0.18499477207660675, + -0.09205535799264908 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the bowl. The next action is to initiate the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper closed; then move left 1 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move forward 7 cm, move right 10 cm, move up 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2900947034358978, + 0.08401665091514587, + -0.07061649858951569, + 3.0708279609680176, + -0.1905345469713211, + -0.07724441587924957 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "grasp bowl", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the bowl. The next action is to initiate the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move left 1 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move forward 7 cm, move right 10 cm, move up 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802598476409912, + 0.07040264457464218, + -0.0677960216999054, + 3.0677223205566406, + -0.16176737844944, + -0.07838388532400131 + ], + "gripper_value": 0.2638187110424042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "lift bowl from sink", + "subtask_reasoning": "The robot arm is positioned over the blue bowl in the sink, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the bowl. The next action is to initiate the grasp by closing the gripper around the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move forward 7 cm, move right 10 cm, move up 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2774210572242737, + 0.06867463886737823, + -0.052031248807907104, + 3.0763368606567383, + -0.1719723492860794, + -0.08684461563825607 + ], + "gripper_value": 0.09813859313726425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "lift bowl from sink", + "subtask_reasoning": "The robot has approached and grasped the blue bowl in the sink, as indicated by the gripper closure and contact. The current frame shows the bowl still in the sink, so the next action is to lift it upward out of the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed; then move forward 7 cm, move right 10 cm, move up 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27775052189826965, + 0.07366956025362015, + -0.017977271229028702, + 3.0994160175323486, + -0.14852531254291534, + -0.09368298202753067 + ], + "gripper_value": 0.06561893224716187 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "lift bowl from sink", + "subtask_reasoning": "The robot has approached and grasped the blue bowl in the sink, as indicated by the gripper closure and contact. The current frame shows the bowl still in the sink, so the next action is to lift it upward out of the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move forward 7 cm, move right 10 cm, move up 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842494547367096, + 0.08066937327384949, + 0.035424958914518356, + -3.104586362838745, + -0.12906229496002197, + -0.09755608439445496 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "transport and release bowl into box", + "subtask_reasoning": "The robot has approached and grasped the blue bowl in the sink, as indicated by the gripper closure and contact. The current frame shows the bowl still in the sink, so the next action is to lift it upward out of the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 10 cm, move up 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29134345054626465, + 0.056752629578113556, + 0.08620568364858627, + -3.050459623336792, + -0.16807036101818085, + -0.13773386180400848 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 575, + 526, + 802, + 760 + ], + "white pitcher": [ + 269, + 407, + 424, + 543 + ], + "blue bowl": [ + 356, + 317, + 535, + 501 + ], + "faucet": [ + 464, + 10, + 633, + 307 + ], + "sink": [ + 110, + 261, + 673, + 775 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "transport and release bowl into box", + "subtask_reasoning": "The robot has approached and grasped the blue bowl in the sink, as indicated by the gripper closure and contact. The current frame shows the bowl still in the sink, so the next action is to lift it upward out of the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006643056869507, + 0.03319418802857399, + 0.13306093215942383, + -3.0318398475646973, + -0.22132228314876556, + -0.2009350210428238 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "transport and release bowl into box", + "subtask_reasoning": "The robot is currently holding the blue bowl above the sink, having successfully grasped and lifted it. The gripper signal remains stable and open, indicating the bowl is secured but not being actively manipulated further at this exact moment. The next logical step is to translate the arm towards the small cardboard box on the right to deposit the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192218840122223, + 0.010702705942094326, + 0.16793781518936157, + -3.0301566123962402, + -0.24445918202400208, + -0.2483377605676651 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "transport and release bowl into box", + "subtask_reasoning": "The robot is currently holding the blue bowl above the sink, having successfully grasped and lifted it. The gripper signal remains stable and open, indicating the bowl is secured but not being actively manipulated further at this exact moment. The next logical step is to translate the arm towards the small cardboard box on the right to deposit the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3503807485103607, + -0.02211061492562294, + 0.1825370192527771, + -3.067126750946045, + -0.2589941620826721, + -0.2799421548843384 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl from the sink and place it into the small cardboard box on the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp bowl" + }, + { + "id": 3, + "subtask": "lift bowl from sink" + }, + { + "id": 4, + "subtask": "transport and release bowl into box" + } + ], + "subtask_name": "transport and release bowl into box", + "subtask_reasoning": "The robot is currently holding the blue bowl above the sink, having successfully grasped and lifted it. The gripper signal remains stable and open, indicating the bowl is secured but not being actively manipulated further at this exact moment. The next logical step is to translate the arm towards the small cardboard box on the right to deposit the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003977_ecot.json b/cot/chunk-0003/episode_0003977_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a06166612fab6cf079f5ecd8ebb86632b0b39e36 --- /dev/null +++ b/cot/chunk-0003/episode_0003977_ecot.json @@ -0,0 +1,1210 @@ +{ + "task_name": "episode_0003977", + "episode_json": "json/chunk-0003/episode_0003977.json", + "video_path": "videos/chunk-0003/image_0/episode_0003977.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003977.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.8852814435958862, + "std": 0.3861580789089203, + "delta_total": -0.3423532247543335, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.88528, std=0.38616, total_delta=-0.34235). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 117 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 10 + ], + [ + 3, + 11, + 16 + ], + [ + 4, + 17, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the drawer handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp drawer handle\", \"start\": 9, \"end\": 10, \"planning\": \"Complete gripper closure around the drawer handle to establish firm grasp.\"},\n {\"id\": 3, \"name\": \"push drawer closed\", \"start\": 11, \"end\": 16, \"planning\": \"Apply forward force via gripper to slide drawer shut while maintaining grip and adjusting pose.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 17, \"end\": 17, \"planning\": \"Open gripper to release handle and begin retracting arm away from drawer.\"}\n ],\n \"global_plan\": \"Approach the drawer handle, grasp it firmly, push the drawer closed while maintaining contact, then release and retreat.\",\n \"notes\": \"Gripper closure is meaningful in segments 1-3, supporting grasp/push wording. Segment 4 shows no further closing — only release and motion away — so 'release and retreat' is appropriate. All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the drawer handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp drawer handle", + "start": 9, + "end": 10, + "planning": "Complete gripper closure around the drawer handle to establish firm grasp." + }, + { + "id": 3, + "name": "push drawer closed", + "start": 11, + "end": 16, + "planning": "Apply forward force via gripper to slide drawer shut while maintaining grip and adjusting pose." + }, + { + "id": 4, + "name": "release and retreat", + "start": 17, + "end": 17, + "planning": "Open gripper to release handle and begin retracting arm away from drawer." + } + ], + "global_plan": "Approach the drawer handle, grasp it firmly, push the drawer closed while maintaining contact, then release and retreat.", + "notes": "Gripper closure is meaningful in segments 1-3, supporting grasp/push wording. Segment 4 shows no further closing — only release and motion away — so 'release and retreat' is appropriate. All frames covered contiguously." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23882173001766205, + 0.23748217523097992, + 0.09329927712678909, + -3.1200759410858154, + -0.1458747386932373, + 0.0395931713283062 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle; the next action is to move closer and align with the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 10 cm, move down 7 cm, tilt right 10 degrees, close gripper; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2391209900379181, + 0.23567496240139008, + 0.08265601843595505, + 3.137238025665283, + -0.12495340406894684, + 0.048885684460401535 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle; the next action is to move closer and align with the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 10 cm, move down 6 cm, tilt right 10 degrees, close gripper; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2540834844112396, + 0.21899184584617615, + 0.06452545523643494, + 3.0871236324310303, + -0.10234875977039337, + 0.04960796982049942 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle; the next action is to move closer and align with the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27312254905700684, + 0.19932417571544647, + 0.05269942432641983, + 3.066910982131958, + -0.091269351541996, + 0.03174198418855667 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle; the next action is to move closer and align with the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28963425755500793, + 0.18225818872451782, + 0.04667038470506668, + 3.0390515327453613, + -0.09626512974500656, + 0.02676345407962799 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle, consistent with the 'approach drawer handle' phase. Next, the robot should align its gripper with the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 2 cm, close gripper; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3048267364501953, + 0.17130565643310547, + 0.04399324581027031, + 3.0363669395446777, + -0.1085233986377716, + 0.02043014205992222 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plush toys": [ + 488, + 282, + 629, + 478 + ], + "wooden box": [ + 263, + 190, + 884, + 831 + ], + "red pepper": [ + 1, + 280, + 88, + 443 + ], + "table": [ + 6, + 55, + 992, + 992 + ], + "banana": [ + 4, + 402, + 127, + 531 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle, consistent with the 'approach drawer handle' phase. Next, the robot should align its gripper with the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 2 cm, keep gripper closed; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30984729528427124, + 0.1673326939344406, + 0.03680726885795593, + 3.024933338165283, + -0.09997439384460449, + 0.03643520921468735 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle, consistent with the 'approach drawer handle' phase. Next, the robot should align its gripper with the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper closed; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31184127926826477, + 0.16267475485801697, + 0.026812659576535225, + 3.0083975791931152, + -0.0807228833436966, + 0.05115893855690956 + ], + "gripper_value": 0.8844947218894958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle, consistent with the 'approach drawer handle' phase. Next, the robot should align its gripper with the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper closed; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32048705220222473, + 0.1525401920080185, + 0.027336811646819115, + 3.0007576942443848, + -0.10535073280334473, + 0.030059849843382835 + ], + "gripper_value": 0.58391273021698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No prior actions have been completed in this subtask. The gripper is open and approaching the handle, consistent with the 'approach drawer handle' phase. Next, the robot should align its gripper with the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, move up 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222115933895111, + 0.13652895390987396, + 0.02432442083954811, + 2.9792513847351074, + -0.11346780508756638, + 0.00106904492713511 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned to grasp it. The gripper is open and aligned with the handle, indicating readiness to close around it. The next action should be to close the gripper to secure a firm hold on the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, move up 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32337597012519836, + 0.10839324444532394, + 0.02754615992307663, + 2.953408718109131, + -0.12946391105651855, + -0.05091887339949608 + ], + "gripper_value": 0.1511339694261551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned to grasp it. The gripper is open and aligned with the handle, indicating readiness to close around it. The next action should be to close the gripper to secure a firm hold on the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move right 1 cm, move up 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32328853011131287, + 0.08372292667627335, + 0.02863434888422489, + 2.9423043727874756, + -0.13162043690681458, + -0.10267391800880432 + ], + "gripper_value": 0.11661893874406815 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plush toys": [ + 489, + 283, + 630, + 479 + ], + "wooden box": [ + 369, + 211, + 885, + 833 + ], + "red pepper": [ + 1, + 279, + 88, + 443 + ], + "table": [ + 7, + 77, + 992, + 991 + ], + "banana": [ + 5, + 403, + 125, + 530 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned to grasp it. The gripper is open and aligned with the handle, indicating readiness to close around it. The next action should be to close the gripper to secure a firm hold on the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3190007507801056, + 0.0748029425740242, + 0.030796431005001068, + 2.9313883781433105, + -0.13701850175857544, + -0.10608594864606857 + ], + "gripper_value": 0.11619604378938675 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned to grasp it. The gripper is open and aligned with the handle, indicating readiness to close around it. The next action should be to close the gripper to secure a firm hold on the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31887057423591614, + 0.059422701597213745, + 0.028927775099873543, + 2.9163405895233154, + -0.13090503215789795, + -0.13074463605880737 + ], + "gripper_value": 0.11619604378938675 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, and is now in the process of pushing the drawer closed. The gripper remains engaged with the handle, and the end-effector is positioned to apply force toward closing. The next action is to continue pushing until the drawer is fully closed, then release the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163756728172302, + 0.05578774958848953, + 0.02672899141907692, + 2.913180112838745, + -0.12082087248563766, + -0.13565900921821594 + ], + "gripper_value": 0.11619604378938675 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, and is now in the process of pushing the drawer closed. The gripper remains engaged with the handle, and the end-effector is positioned to apply force toward closing. The next action is to continue pushing until the drawer is fully closed, then release the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3148367702960968, + 0.057485904544591904, + 0.02681911550462246, + 2.929072618484497, + -0.11533436924219131, + -0.13357961177825928 + ], + "gripper_value": 0.1423361748456955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, and is now in the process of pushing the drawer closed. The gripper remains engaged with the handle, and the end-effector is positioned to apply force toward closing. The next action is to continue pushing until the drawer is fully closed, then release the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3140038549900055, + 0.06495240330696106, + 0.042631812393665314, + 2.989743232727051, + -0.1282019466161728, + -0.171149343252182 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, and is now in the process of pushing the drawer closed. The gripper remains engaged with the handle, and the end-effector is positioned to apply force toward closing. The next action is to continue pushing until the drawer is fully closed, then release the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31895384192466736, + 0.07588928192853928, + 0.07099007815122604, + 3.027940511703491, + -0.1979765146970749, + -0.1656085103750229 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The drawer is fully closed, and the robot's end-effector is positioned above the drawer, having completed the closing action. The next step is to retreat the end-effector away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003978_ecot.json b/cot/chunk-0003/episode_0003978_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..86cf990964e96c995d169f64105f95d652a2f1c2 --- /dev/null +++ b/cot/chunk-0003/episode_0003978_ecot.json @@ -0,0 +1,916 @@ +{ + "task_name": "episode_0003978", + "episode_json": "json/chunk-0003/episode_0003978.json", + "video_path": "videos/chunk-0003/image_0/episode_0003978.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003978.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.5893200635910034, + "std": 0.2710784077644348, + "delta_total": -0.5893200635910034, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.58932, std=0.27108, total_delta=-0.58932). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 110, + 110, + 110, + 110, + 110 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 9 + ], + [ + 3, + 10, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the faucet lever without closing gripper, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 5, \"end\": 9, \"planning\": \"Close gripper around the lever while maintaining contact and preparing to rotate it.\"},\n {\"id\": 3, \"name\": \"rotate lever vertical\", \"start\": 10, \"end\": 14, \"planning\": \"Apply torque via gripper to turn the lever to vertical front position while holding grip.\"}\n ],\n \"global_plan\": \"Approach the faucet lever, grasp it securely, then rotate it to the vertical front orientation as instructed.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows significant gripper closing (delta=-0.47) consistent with grasping. Segment 3 maintains grip while rotating lever; final frame confirms lever is vertical and gripper still engaged.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the faucet lever without closing gripper, positioning for contact." + }, + { + "id": 2, + "name": "grasp lever", + "start": 5, + "end": 9, + "planning": "Close gripper around the lever while maintaining contact and preparing to rotate it." + }, + { + "id": 3, + "name": "rotate lever vertical", + "start": 10, + "end": 14, + "planning": "Apply torque via gripper to turn the lever to vertical front position while holding grip." + } + ], + "global_plan": "Approach the faucet lever, grasp it securely, then rotate it to the vertical front orientation as instructed.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows significant gripper closing (delta=-0.47) consistent with grasping. Segment 3 maintains grip while rotating lever; final frame confirms lever is vertical and gripper still engaged." + } + }, + "episode_goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3886529207229614, + -0.07098246365785599, + 0.05606755241751671, + -2.940091609954834, + -0.12025337666273117, + -0.03097226470708847 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. No part of the approach subtask has been completed as the end-effector remains distant from the target. The next action should involve moving the arm closer to align with the faucet lever for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38565102219581604, + -0.06963013857603073, + 0.041964929550886154, + -2.9258041381835938, + -0.07731842994689941, + -0.0490763857960701 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 243, + 319, + 840, + 880 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. No part of the approach subtask has been completed as the end-effector remains distant from the target. The next action should involve moving the arm closer to align with the faucet lever for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.38968759775161743, + -0.06581912934780121, + 0.04765157774090767, + -2.8948497772216797, + -0.08350370824337006, + -0.07154372334480286 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, close gripper; then move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3960742652416229, + -0.06247568503022194, + 0.05465530976653099, + -2.866023540496826, + -0.10740943998098373, + -0.08432851731777191 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, close gripper; then move back 4 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.40801772475242615, + -0.06467034667730331, + 0.06953803449869156, + -2.86696457862854, + -0.16306784749031067, + -0.10463408380746841 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open; then move forward 3 cm, close gripper; then move back 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4200182259082794, + -0.06803607195615768, + 0.08160484582185745, + -2.8721554279327393, + -0.21365493535995483, + -0.12491463869810104 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, close gripper; then move back 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4298036992549896, + -0.06991755962371826, + 0.09260886907577515, + -2.8752200603485107, + -0.2552613317966461, + -0.13271920382976532 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, close gripper; then move back 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.43929582834243774, + -0.07525835931301117, + 0.09220214933156967, + -2.885906934738159, + -0.26977530121803284, + -0.15215323865413666 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it, as indicated by the gripper closing within the subtask segment. The lever is currently horizontal, and the gripper appears to be securing it. The next action is to rotate the lever to a vertical front-facing position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.44688740372657776, + -0.06985791772603989, + 0.08724334090948105, + -2.8985953330993652, + -0.27138596773147583, + -0.14531628787517548 + ], + "gripper_value": 0.8242669105529785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it, as indicated by the gripper closing within the subtask segment. The lever is currently horizontal, and the gripper appears to be securing it. The next action is to rotate the lever to a vertical front-facing position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4495750069618225, + -0.06485236436128616, + 0.08501272648572922, + -2.9012057781219482, + -0.27350571751594543, + -0.12418092787265778 + ], + "gripper_value": 0.529549777507782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it, as indicated by the gripper closing within the subtask segment. The lever is currently horizontal, and the gripper appears to be securing it. The next action is to rotate the lever to a vertical front-facing position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4479873776435852, + -0.06373406201601028, + 0.08269074559211731, + -2.898864984512329, + -0.2715170085430145, + -0.11341875046491623 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it, as indicated by the gripper closing within the subtask segment. The lever is currently horizontal, and the gripper appears to be securing it. The next action is to rotate the lever to a vertical front-facing position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.43945422768592834, + -0.06307443231344223, + 0.08151480555534363, + -2.9017770290374756, + -0.2689495384693146, + -0.06668436527252197 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the faucet lever and is now in contact with it, as indicated by the gripper closing within the subtask segment. The lever is currently horizontal, and the gripper appears to be securing it. The next action is to rotate the lever to a vertical front-facing position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4195209741592407, + -0.06271030753850937, + 0.07671988755464554, + -2.8978545665740967, + -0.22209405899047852, + 0.001124914619140327 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 243, + 318, + 841, + 880 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever. The current frame shows the gripper in contact with the lever, which is still in a horizontal position. The next action is to rotate the lever upward to achieve the vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.40752974152565, + -0.06287209689617157, + 0.06767714768648148, + -2.90385365486145, + -0.19583676755428314, + 0.02735213190317154 + ], + "gripper_value": 0.41932523250579834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever. The current frame shows the gripper in contact with the lever, which is still in a horizontal position. The next action is to rotate the lever upward to achieve the vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4000266194343567, + -0.06314308196306229, + 0.05500971898436546, + -2.9421627521514893, + -0.20537321269512177, + 0.030986953526735306 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and rotate it to a vertical position facing the front of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever. The current frame shows the gripper in contact with the lever, which is still in a horizontal position. The next action is to rotate the lever upward to achieve the vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003979_ecot.json b/cot/chunk-0003/episode_0003979_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..19edcb8a8a2b82301d32efe04c8d9ea817f5888a --- /dev/null +++ b/cot/chunk-0003/episode_0003979_ecot.json @@ -0,0 +1,1811 @@ +{ + "task_name": "episode_0003979", + "episode_json": "json/chunk-0003/episode_0003979.json", + "video_path": "videos/chunk-0003/image_0/episode_0003979.mp4", + "instruction": "Picked up the violet cloth from the container and drop it inside.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003979.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.7049306035041809, + "std": 0.32115063071250916, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.70493, std=0.32115, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 110, + 110, + 110, + 122, + 122, + 122, + 122, + 122, + 122 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 15 + ], + [ + 3, + 16, + 21 + ], + [ + 4, + 22, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp violet cloth\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the violet cloth in the container and close gripper to establish grasp.\"},\n {\"id\": 2, \"name\": \"lift and reposition cloth\", \"start\": 10, \"end\": 15, \"planning\": \"Lift the grasped violet cloth slightly and begin moving it within the container space.\"},\n {\"id\": 3, \"name\": \"drag cloth toward target zone\", \"start\": 16, \"end\": 21, \"planning\": \"Drag or slide the held violet cloth across the container surface toward the intended drop location.\"},\n {\"id\": 4, \"name\": \"release cloth and retreat\", \"start\": 22, \"end\": 27, \"planning\": \"Open gripper to release the violet cloth at target position, then retract end-effector away from the cloth.\"}\n ],\n \"global_plan\": \"Grasp the violet cloth from its initial position in the container, lift and drag it to a new location within the same container, then release and retreat.\",\n \"notes\": \"Segment-level gripper evidence supports grasp during segments 1–3 (closing motion observed), and release in segment 4 (gripper opens). Motion and image frames confirm contact, lifting, dragging, and release phases. No hallucinated actions — all subtasks grounded in observed gripper state changes and EE motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp violet cloth", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the violet cloth in the container and close gripper to establish grasp." + }, + { + "id": 2, + "name": "lift and reposition cloth", + "start": 10, + "end": 15, + "planning": "Lift the grasped violet cloth slightly and begin moving it within the container space." + }, + { + "id": 3, + "name": "drag cloth toward target zone", + "start": 16, + "end": 21, + "planning": "Drag or slide the held violet cloth across the container surface toward the intended drop location." + }, + { + "id": 4, + "name": "release cloth and retreat", + "start": 22, + "end": 27, + "planning": "Open gripper to release the violet cloth at target position, then retract end-effector away from the cloth." + } + ], + "global_plan": "Grasp the violet cloth from its initial position in the container, lift and drag it to a new location within the same container, then release and retreat.", + "notes": "Segment-level gripper evidence supports grasp during segments 1–3 (closing motion observed), and release in segment 4 (gripper opens). Motion and image frames confirm contact, lifting, dragging, and release phases. No hallucinated actions — all subtasks grounded in observed gripper state changes and EE motion." + } + }, + "episode_goal": "Pick up the violet cloth from the container and drop it inside.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27827414870262146, + 0.06179603561758995, + 0.04493258520960808, + 3.1062991619110107, + -0.24604588747024536, + 0.7381078600883484 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container with the violet cloth visible inside. The gripper is open and approaching the cloth, indicating the initial phase of the grasp subtask. No contact has been made yet, so the next action is to lower the gripper to make contact with the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27441754937171936, + 0.06072540208697319, + 0.037100017070770264, + 3.1206634044647217, + -0.21981500089168549, + 0.7333189249038696 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container with the violet cloth visible inside. The gripper is open and approaching the cloth, indicating the initial phase of the grasp subtask. No contact has been made yet, so the next action is to lower the gripper to make contact with the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2633760869503021, + 0.05517151951789856, + 0.027143198996782303, + 3.1213912963867188, + -0.18948447704315186, + 0.6869344115257263 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container with the violet cloth visible inside. The gripper is open and approaching the cloth, indicating the initial phase of the grasp subtask. No contact has been made yet, so the next action is to lower the gripper to make contact with the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 6 cm, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25491684675216675, + 0.046719714999198914, + 0.021386001259088516, + 3.1140685081481934, + -0.17766597867012024, + 0.6177577376365662 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container with the violet cloth visible inside. The gripper is open and approaching the cloth, indicating the initial phase of the grasp subtask. No contact has been made yet, so the next action is to lower the gripper to make contact with the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24569101631641388, + 0.040781766176223755, + 0.018334893509745598, + 3.110095977783203, + -0.16692399978637695, + 0.5604169964790344 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container where the violet cloth is located, with the gripper open and ready to grasp. No part of the subtask has been completed yet. The next action should involve closing the gripper to securely grasp the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2386661022901535, + 0.03646351769566536, + 0.007538208272308111, + 3.102992057800293, + -0.15500079095363617, + 0.513282299041748 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container where the violet cloth is located, with the gripper open and ready to grasp. No part of the subtask has been completed yet. The next action should involve closing the gripper to securely grasp the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23960576951503754, + 0.034954845905303955, + -0.010818361304700375, + 3.097014904022217, + -0.14891064167022705, + 0.49731436371803284 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container where the violet cloth is located, with the gripper open and ready to grasp. No part of the subtask has been completed yet. The next action should involve closing the gripper to securely grasp the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper closed; then move forward 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2420729398727417, + 0.03242849186062813, + -0.027583017945289612, + 3.0985541343688965, + -0.1380639523267746, + 0.49314558506011963 + ], + "gripper_value": 0.973810613155365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container where the violet cloth is located, with the gripper open and ready to grasp. No part of the subtask has been completed yet. The next action should involve closing the gripper to securely grasp the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24718411266803741, + 0.024723658338189125, + -0.03768434748053551, + 3.1030497550964355, + -0.13334554433822632, + 0.4610935151576996 + ], + "gripper_value": 0.850854754447937 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 22, + 463, + 939, + 997 + ], + "purple cloth": [ + 398, + 515, + 631, + 919 + ], + "green cloth": [ + 158, + 539, + 401, + 845 + ], + "laundry basket": [ + 333, + 584, + 640, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container where the violet cloth is located, with the gripper open and ready to grasp. No part of the subtask has been completed yet. The next action should involve closing the gripper to securely grasp the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25012820959091187, + 0.018332965672016144, + -0.03670194745063782, + 3.1221845149993896, + -0.14060130715370178, + 0.42688387632369995 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach and grasp violet cloth", + "subtask_reasoning": "The robot arm is positioned above the container where the violet cloth is located, with the gripper open and ready to grasp. No part of the subtask has been completed yet. The next action should involve closing the gripper to securely grasp the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 5 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2491649091243744, + 0.015207532793283463, + -0.036442115902900696, + 3.1262400150299072, + -0.12753717601299286, + 0.4219689667224884 + ], + "gripper_value": 0.38577979803085327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot arm is positioned above the container where the violet cloth is located, with the gripper open and ready to grasp. No part of the subtask has been completed yet. The next action should involve closing the gripper to securely grasp the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2507728040218353, + 0.014947546645998955, + -0.03120645508170128, + 3.129838705062866, + -0.1419791728258133, + 0.4248431324958801 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot arm is positioned above the container where the violet cloth is located, with the gripper open and ready to grasp. No part of the subtask has been completed yet. The next action should involve closing the gripper to securely grasp the violet cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2546785771846771, + 0.01595248468220234, + -0.015936901792883873, + 3.119746685028076, + -0.1753896176815033, + 0.43815845251083374 + ], + "gripper_value": 0.33559030294418335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the violet cloth from the container, as indicated by the gripper closure and contact with the cloth. The current subtask involves lifting and repositioning the cloth within the container. The next action is to lift the cloth slightly and move it to a new position inside the container before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25619807839393616, + 0.012629751116037369, + -0.0007353494875133038, + 3.092419385910034, + -0.1897931694984436, + 0.42943239212036133 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the violet cloth from the container, as indicated by the gripper closure and contact with the cloth. The current subtask involves lifting and repositioning the cloth within the container. The next action is to lift the cloth slightly and move it to a new position inside the container before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603728175163269, + 0.0009594945004209876, + 0.0083512207493186, + 3.05428409576416, + -0.21321678161621094, + 0.380715012550354 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the violet cloth from the container, as indicated by the gripper closure and contact with the cloth. The current subtask involves lifting and repositioning the cloth within the container. The next action is to lift the cloth slightly and move it to a new position inside the container before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26275646686553955, + -0.023686643689870834, + 0.013727164827287197, + 3.005356788635254, + -0.2208990454673767, + 0.3025806248188019 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the violet cloth from the container, as indicated by the gripper closure and contact with the cloth. The current subtask involves lifting and repositioning the cloth within the container. The next action is to lift the cloth slightly and move it to a new position inside the container before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2694237232208252, + -0.0434851348400116, + 0.01931024342775345, + 2.974520206451416, + -0.23737715184688568, + 0.25661444664001465 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth toward target zone", + "subtask_reasoning": "The robot has successfully grasped the violet cloth from the container, as indicated by the gripper closure and contact with the cloth. The current subtask involves lifting and repositioning the cloth within the container. The next action is to lift the cloth slightly and move it to a new position inside the container before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27210262417793274, + -0.06371200829744339, + 0.019764533266425133, + 2.944373846054077, + -0.23549999296665192, + 0.20508645474910736 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 507, + 582, + 822, + 995 + ], + "wooden floor": [ + 9, + 455, + 933, + 997 + ], + "green cloth": [ + 159, + 539, + 426, + 845 + ], + "purple cloth": [ + 562, + 461, + 826, + 894 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth toward target zone", + "subtask_reasoning": "The robot has successfully grasped the violet cloth from the container, as indicated by the gripper closure and contact with the cloth. The current subtask involves lifting and repositioning the cloth within the container. The next action is to lift the cloth slightly and move it to a new position inside the container before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27379682660102844, + -0.07803541421890259, + 0.011156974360346794, + 2.9200639724731445, + -0.21641181409358978, + 0.16361983120441437 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 12, + 456, + 932, + 997 + ], + "laundry basket": [ + 541, + 608, + 858, + 996 + ], + "washing machine": [ + 7, + 3, + 994, + 743 + ], + "green cloth": [ + 159, + 539, + 425, + 845 + ], + "purple cloth": [ + 598, + 485, + 867, + 925 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth toward target zone", + "subtask_reasoning": "The robot is currently holding the violet cloth above the container, having completed the initial grasp and lift. The gripper remains closed with minimal motion variance, indicating a stable hold during the dragging phase. The next action is to continue moving the cloth laterally toward the target drop zone within the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, open gripper; then move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27188125252723694, + -0.09251018613576889, + 0.0009424334275536239, + 2.906034231185913, + -0.18985019624233246, + 0.12281505018472672 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth toward target zone", + "subtask_reasoning": "The robot is currently holding the violet cloth above the container, having completed the initial grasp and lift. The gripper remains closed with minimal motion variance, indicating a stable hold during the dragging phase. The next action is to continue moving the cloth laterally toward the target drop zone within the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27233386039733887, + -0.10048377513885498, + -0.006278766319155693, + 2.8912503719329834, + -0.1765504777431488, + 0.09940887987613678 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth toward target zone", + "subtask_reasoning": "The robot is currently holding the violet cloth above the container, having completed the initial grasp and lift. The gripper remains closed with minimal motion variance, indicating a stable hold during the dragging phase. The next action is to continue moving the cloth laterally toward the target drop zone within the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726377546787262, + -0.1048261895775795, + -0.012838270515203476, + 2.8712925910949707, + -0.15865787863731384, + 0.09246858954429626 + ], + "gripper_value": 0.3445223569869995 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "drag cloth toward target zone", + "subtask_reasoning": "The robot is currently holding the violet cloth above the container, having completed the initial grasp and lift. The gripper remains closed with minimal motion variance, indicating a stable hold during the dragging phase. The next action is to continue moving the cloth laterally toward the target drop zone within the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27260667085647583, + -0.10263989120721817, + -0.01310885138809681, + 2.8875200748443604, + -0.15623003244400024, + 0.08866153657436371 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot is currently holding the violet cloth above the container, having completed the initial grasp and lift. The gripper remains closed with minimal motion variance, indicating a stable hold during the dragging phase. The next action is to continue moving the cloth laterally toward the target drop zone within the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726295590400696, + -0.10065874457359314, + -0.013582183048129082, + 2.8977980613708496, + -0.1529942750930786, + 0.10514502227306366 + ], + "gripper_value": 0.933559775352478 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot is currently holding the violet cloth above the container, having completed the initial grasp and lift. The gripper remains closed with minimal motion variance, indicating a stable hold during the dragging phase. The next action is to continue moving the cloth laterally toward the target drop zone within the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27369174361228943, + -0.0992136150598526, + -0.010520567186176777, + 2.904859781265259, + -0.16180603206157684, + 0.10953588038682938 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot arm is positioned above the container with the violet cloth held in the gripper, as indicated by the high gripper value and segment evidence. The cloth has been successfully lifted and repositioned from its initial spot. The next action is to open the gripper to release the cloth onto the target location within the container and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2744663655757904, + -0.09782302379608154, + -0.006026936694979668, + 2.9104132652282715, + -0.17228180170059204, + 0.11368586868047714 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot arm is positioned above the container with the violet cloth held in the gripper, as indicated by the high gripper value and segment evidence. The cloth has been successfully lifted and repositioned from its initial spot. The next action is to open the gripper to release the cloth onto the target location within the container and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2742447853088379, + -0.09157902747392654, + 0.004642150364816189, + 2.9432032108306885, + -0.19501833617687225, + 0.12113465368747711 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot arm is positioned above the container with the violet cloth held in the gripper, as indicated by the high gripper value and segment evidence. The cloth has been successfully lifted and repositioned from its initial spot. The next action is to open the gripper to release the cloth onto the target location within the container and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718856632709503, + -0.08327966183423996, + 0.026406876742839813, + 3.047748327255249, + -0.24920202791690826, + 0.1141338124871254 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the violet cloth from the container and drop it inside." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp violet cloth" + }, + { + "id": 2, + "subtask": "lift and reposition cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward target zone" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot arm is positioned above the container with the violet cloth held in the gripper, as indicated by the high gripper value and segment evidence. The cloth has been successfully lifted and repositioned from its initial spot. The next action is to open the gripper to release the cloth onto the target location within the container and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003980_ecot.json b/cot/chunk-0003/episode_0003980_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef24a83753ea0a272cf659d0e532a82ef5d1be9 --- /dev/null +++ b/cot/chunk-0003/episode_0003980_ecot.json @@ -0,0 +1,3453 @@ +{ + "task_name": "episode_0003980", + "episode_json": "json/chunk-0003/episode_0003980.json", + "video_path": "videos/chunk-0003/image_0/episode_0003980.mp4", + "instruction": "Open microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 53, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003980.json" + }, + "fps": 5.0, + "T_eff": 53, + "gripper_behavior_summary": { + "available": true, + "range": 0.6498823165893555, + "std": 0.23143360018730164, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64988, std=0.23143, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 22, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 7 + ], + [ + 3, + 8, + 13 + ], + [ + 4, + 14, + 21 + ], + [ + 5, + 22, + 31 + ], + [ + 6, + 32, + 32 + ], + [ + 7, + 33, + 52 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave handle\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the microwave door handle without grasping.\"},\n {\"id\": 2, \"name\": \"grasp microwave handle\", \"start\": 8, \"end\": 13, \"planning\": \"Close gripper to securely grasp the microwave door handle as evidenced by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"pull microwave door open\", \"start\": 14, \"end\": 21, \"planning\": \"Pull the microwave door outward using the grasped handle to initiate opening motion.\"},\n {\"id\": 4, \"name\": \"release microwave handle\", \"start\": 22, \"end\": 31, \"planning\": \"Open gripper to release the handle after door is sufficiently open, confirmed by gripper value returning to near-maximum.\"},\n {\"id\": 5, \"name\": \"retreat from microwave\", \"start\": 32, \"end\": 52, \"planning\": \"Move end-effector away from the microwave area to complete the opening task and avoid obstruction.\"}\n ],\n \"global_plan\": \"Open the microwave by approaching the handle, grasping it, pulling the door open, releasing the handle, and retreating safely.\",\n \"notes\": \"Subtask boundaries align with observed gripper state transitions and motion phases; no hallucinated grasps or lifts where gripper evidence contradicts.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave handle", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the microwave door handle without grasping." + }, + { + "id": 2, + "name": "grasp microwave handle", + "start": 8, + "end": 13, + "planning": "Close gripper to securely grasp the microwave door handle as evidenced by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "pull microwave door open", + "start": 14, + "end": 21, + "planning": "Pull the microwave door outward using the grasped handle to initiate opening motion." + }, + { + "id": 4, + "name": "release microwave handle", + "start": 22, + "end": 31, + "planning": "Open gripper to release the handle after door is sufficiently open, confirmed by gripper value returning to near-maximum." + }, + { + "id": 5, + "name": "retreat from microwave", + "start": 32, + "end": 52, + "planning": "Move end-effector away from the microwave area to complete the opening task and avoid obstruction." + } + ], + "global_plan": "Open the microwave by approaching the handle, grasping it, pulling the door open, releasing the handle, and retreating safely.", + "notes": "Subtask boundaries align with observed gripper state transitions and motion phases; no hallucinated grasps or lifts where gripper evidence contradicts." + } + }, + "episode_goal": "Open the microwave door by grasping the handle and pulling it outward.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26448220014572144, + 0.034897007048130035, + 0.13756278157234192, + -2.9403252601623535, + -0.6431869864463806, + 0.6680677533149719 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should involve moving the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 11 cm, tilt right 30 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2619870603084564, + 0.035382285714149475, + 0.1317226141691208, + -2.922935962677002, + -0.6263779401779175, + 0.6612377166748047 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should involve moving the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 10 cm, tilt right 30 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27088505029678345, + 0.026015330106019974, + 0.11254104971885681, + -3.017097234725952, + -0.5749063491821289, + 0.5689378976821899 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should involve moving the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 8 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27745774388313293, + 0.025647953152656555, + 0.0965767651796341, + -3.104220151901245, + -0.5325033664703369, + 0.5459179282188416 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should be to move the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28576695919036865, + 0.02015763148665428, + 0.06482082605361938, + 3.099155902862549, + -0.45558857917785645, + 0.47000202536582947 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should be to move the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2898690104484558, + 0.015359780751168728, + 0.03961697965860367, + 3.091904401779175, + -0.3881128430366516, + 0.36940258741378784 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "electrical outlet": [ + 187, + 250, + 281, + 388 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should be to move the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3001391291618347, + 0.009948178194463253, + 0.02732647769153118, + 3.091737985610962, + -0.3745896816253662, + 0.28072136640548706 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should be to move the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085467219352722, + 0.00826222263276577, + 0.026675136759877205, + 3.128446340560913, + -0.3965291380882263, + 0.21333089470863342 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should be to move the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3188943862915039, + 0.004867553245276213, + 0.028479238972067833, + -3.113250732421875, + -0.4235418140888214, + 0.1763051599264145 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should be to move the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33309581875801086, + -0.0009161968482658267, + 0.02507932484149933, + -3.06447172164917, + -0.42002779245376587, + 0.12045677751302719 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "electrical outlet": [ + 188, + 240, + 280, + 388 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with its gripper open, approaching the handle. No contact has been made yet, and the door remains closed. The next action should be to move the gripper closer to align with and reach the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then move back 6 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34190696477890015, + -0.006732849404215813, + 0.017805185168981552, + -3.080275774002075, + -0.40138259530067444, + 0.10590265691280365 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the microwave handle, having completed the approach phase. The gripper is currently open and aligned with the handle, ready to make contact. The next immediate action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 7 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462391793727875, + -0.009626917541027069, + 0.010343963280320168, + -3.092941999435425, + -0.38139045238494873, + 0.09760762751102448 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the microwave handle, having completed the approach phase. The gripper is currently open and aligned with the handle, ready to make contact. The next immediate action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 9 cm, move left 3 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35160496830940247, + -0.012943192385137081, + 0.0017185386968776584, + -3.1038565635681152, + -0.36299723386764526, + 0.084710031747818 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the microwave handle, having completed the approach phase. The gripper is currently open and aligned with the handle, ready to make contact. The next immediate action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 9 cm, move left 3 cm, move up 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35092541575431824, + -0.015051068738102913, + -0.006974162999540567, + -3.113795518875122, + -0.3401212692260742, + 0.07488100230693817 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the microwave handle, having completed the approach phase. The gripper is currently open and aligned with the handle, ready to make contact. The next immediate action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move left 3 cm, move up 1 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506496250629425, + -0.014342261478304863, + -0.00841557141393423, + -3.1018431186676025, + -0.33777886629104614, + 0.0617341473698616 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot arm is positioned directly in front of the microwave handle, having completed the approach phase. The gripper is currently open and aligned with the handle, ready to make contact. The next immediate action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 3 cm, move up 1 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506266176700592, + -0.014434614218771458, + -0.008429435081779957, + -3.103989362716675, + -0.3377512991428375, + 0.06648388504981995 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot arm is positioned directly in front of the microwave handle, having completed the approach phase. The gripper is currently open and aligned with the handle, ready to make contact. The next immediate action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 3 cm, move up 1 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3475591242313385, + -0.013323996216058731, + -0.010342358611524105, + -3.0999083518981934, + -0.33552873134613037, + 0.07187032699584961 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot arm is positioned directly in front of the microwave handle, having completed the approach phase. The gripper is currently open and aligned with the handle, ready to make contact. The next immediate action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 1 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3313661813735962, + -0.008925354108214378, + -0.010232696309685707, + -3.0762715339660645, + -0.3254545032978058, + 0.0732281282544136 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move up 1 cm, open gripper; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3103759288787842, + -0.0030623204074800014, + -0.007945465855300426, + -3.0558831691741943, + -0.3116985857486725, + 0.06593368202447891 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 1 cm, open gripper; then move back 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29313698410987854, + 0.0026404792442917824, + -0.0073084719479084015, + -3.0361742973327637, + -0.30430176854133606, + 0.056575920432806015 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "electrical outlet": [ + 188, + 256, + 279, + 388 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 1 cm, open gripper; then move right 1 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779902517795563, + 0.006579480599611998, + -0.00668343948200345, + -3.018289089202881, + -0.29635700583457947, + 0.05458376556634903 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26525065302848816, + 0.011687451973557472, + -0.004591515753418207, + -3.008932113647461, + -0.29854220151901245, + 0.07936741411685944 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "pull microwave door open", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 6 cm, move right 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2653595805168152, + 0.01444158609956503, + -0.0007168712909333408, + -3.0377676486968994, + -0.3167485296726227, + 0.1411447674036026 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26373082399368286, + 0.014568311162292957, + -0.0011723557254299521, + -3.0397210121154785, + -0.3033398389816284, + 0.14234626293182373 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657569646835327, + 0.01418252568691969, + 0.0005128500633873045, + -3.0411126613616943, + -0.3041074275970459, + 0.139674574136734 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.263969361782074, + 0.015617484226822853, + 0.00027164877974428236, + -3.028599262237549, + -0.29457539319992065, + 0.14035402238368988 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the stable gripper value and prior subtask completion. The current frame shows the arm positioned at the handle, ready to execute the pulling motion. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25472646951675415, + 0.018319500610232353, + 0.015929842367768288, + -3.013315200805664, + -0.32285547256469727, + 0.17339973151683807 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24571305513381958, + 0.02196105197072029, + 0.043698500841856, + -3.0029854774475098, + -0.3874732255935669, + 0.22691404819488525 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2423335611820221, + 0.017061851918697357, + 0.07281960546970367, + -2.9949615001678467, + -0.446598082780838, + 0.25119641423225403 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 7 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26615580916404724, + 0.000649993191473186, + 0.09044083952903748, + -3.0351414680480957, + -0.49751609563827515, + 0.2200675904750824 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 8 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29610565304756165, + -0.014790891669690609, + 0.08491618931293488, + -3.060079336166382, + -0.46851491928100586, + 0.1637856662273407 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "electrical outlet": [ + 188, + 255, + 280, + 389 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move back 9 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32433900237083435, + -0.031148413196206093, + 0.07560040801763535, + -3.116121530532837, + -0.4500066936016083, + 0.1239679753780365 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "release microwave handle", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 10 cm, move left 12 cm, move down 5 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424314856529236, + -0.039065778255462646, + 0.05975904315710068, + 3.13816499710083, + -0.4198988974094391, + 0.11004694551229477 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 13 cm, move down 5 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450324833393097, + -0.03635228052735329, + 0.03949008136987686, + -3.134770631790161, + -0.3740665018558502, + 0.11391341686248779 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 14 cm, move down 2 cm, tilt left 20 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.33605754375457764, + -0.023332050070166588, + 0.029865015298128128, + -3.117565631866455, + -0.34991803765296936, + 0.1607065200805664 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 13 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.32299232482910156, + -0.008378246799111366, + 0.018945086747407913, + -3.1005606651306152, + -0.3183785676956177, + 0.20899933576583862 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 11 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3074352741241455, + 0.006983337923884392, + 0.00797735434025526, + -3.08656644821167, + -0.2881254255771637, + 0.2514994144439697 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.289288192987442, + 0.02018885873258114, + -0.0003766092995647341, + -3.063290596008301, + -0.260839581489563, + 0.29421696066856384 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754824161529541, + 0.03374909609556198, + 0.0004620962426997721, + -3.050342321395874, + -0.26434916257858276, + 0.3420112133026123 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.26153382658958435, + 0.051006462424993515, + 0.004528733901679516, + -3.037450075149536, + -0.2749466598033905, + 0.4049505889415741 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508004605770111, + 0.06522444635629654, + 0.011181486770510674, + -3.0342588424682617, + -0.2935573160648346, + 0.4567131996154785 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.24120981991291046, + 0.08103491365909576, + 0.0140358442440629, + -3.0334601402282715, + -0.2984004318714142, + 0.5152227878570557 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot's gripper is currently open (value ~1.0) and positioned away from the handle, indicating the release action has been completed. The robot is now in a safe position clear of the appliance. The next logical step is to retreat further or proceed to the subsequent task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.23476405441761017, + 0.09539560973644257, + 0.013436171226203442, + -3.022799491882324, + -0.2918164134025574, + 0.5428586006164551 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.23164363205432892, + 0.10383240133523941, + 0.014893515035510063, + -3.020517587661743, + -0.2942146062850952, + 0.5607239007949829 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2320479154586792, + 0.10476286709308624, + 0.017534300684928894, + -3.0225560665130615, + -0.30276423692703247, + 0.563076913356781 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2327180802822113, + 0.10008262097835541, + 0.0176688265055418, + -3.016774892807007, + -0.29635992646217346, + 0.5445293188095093 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.23190870881080627, + 0.10025964677333832, + 0.018395688384771347, + -3.008662462234497, + -0.294573038816452, + 0.5418395400047302 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.22865422070026398, + 0.10598565638065338, + 0.023607848212122917, + -2.9964210987091064, + -0.30983370542526245, + 0.5450900197029114 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.22834107279777527, + 0.10790377110242844, + 0.025665776804089546, + -2.9982283115386963, + -0.3187220096588135, + 0.5517098903656006 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.23265112936496735, + 0.098416768014431, + 0.024827176705002785, + -3.016181707382202, + -0.3244282603263855, + 0.5323767066001892 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.24367566406726837, + 0.07053682953119278, + 0.02522256411612034, + -3.0336415767669678, + -0.32827824354171753, + 0.4428434371948242 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.25752371549606323, + 0.051465194672346115, + 0.040527813136577606, + -3.0481483936309814, + -0.37438610196113586, + 0.3906576335430145 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "electrical outlet": [ + 187, + 269, + 246, + 388 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.26563501358032227, + 0.042599745094776154, + 0.06683451682329178, + -3.0462279319763184, + -0.4406610429286957, + 0.3758535087108612 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "pull microwave door open" + }, + { + "id": 4, + "subtask": "release microwave handle" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is open, and the robot arm has moved away from the handle, now positioned above the stovetop. The gripper is fully open, indicating the handle has been released. The next action is to continue retreating to a safe distance from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 52 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003982_ecot.json b/cot/chunk-0003/episode_0003982_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3e4b50278b256b153a2fe99293ec301fa450e220 --- /dev/null +++ b/cot/chunk-0003/episode_0003982_ecot.json @@ -0,0 +1,3160 @@ +{ + "task_name": "episode_0003982", + "episode_json": "json/chunk-0003/episode_0003982.json", + "video_path": "videos/chunk-0003/image_0/episode_0003982.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 51, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003982.json" + }, + "fps": 5.0, + "T_eff": 51, + "gripper_behavior_summary": { + "available": true, + "range": 0.6028274893760681, + "std": 0.29178985953330994, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60283, std=0.29179, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 117, + 117, + 117, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 241, + 241, + 241, + 241, + 241, + 241, + 241, + 241, + 241, + 241 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 22 + ], + [ + 3, + 23, + 40 + ], + [ + 4, + 41, + 50 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on tool\", \"start\": 0, \"end\": 16, \"planning\": \"Move end-effector down toward the tray and close the gripper to make contact with the metal tool.\"},\n {\"id\": 2, \"name\": \"grasp and lift tool\", \"start\": 17, \"end\": 22, \"planning\": \"Securely grasp the tool by closing the gripper further and lift it slightly off the tray surface.\"},\n {\"id\": 3, \"name\": \"sweep beans into pile\", \"start\": 23, \"end\": 40, \"planning\": \"Drag the tool across the tray to push scattered beans into a concentrated pile near the corner.\"},\n {\"id\": 4, \"name\": \"release tool and retreat\", \"start\": 41, \"end\": 50, \"planning\": \"Open the gripper to release the tool onto the pile, then lift and move the end-effector away from the tray.\"}\n ],\n \"global_plan\": \"Approach and grasp the metal tool, use it to sweep scattered beans into a pile, then release the tool and retreat.\",\n \"notes\": \"Gripper closure is meaningful in segments 1–4; grasping is justified in segment 2 (frames 17–22) where gripper closes significantly and images show tool engagement. Sweeping motion in segment 3 is contact-based dragging. Release occurs in segment 4 as gripper opens fully while retreating.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on tool", + "start": 0, + "end": 16, + "planning": "Move end-effector down toward the tray and close the gripper to make contact with the metal tool." + }, + { + "id": 2, + "name": "grasp and lift tool", + "start": 17, + "end": 22, + "planning": "Securely grasp the tool by closing the gripper further and lift it slightly off the tray surface." + }, + { + "id": 3, + "name": "sweep beans into pile", + "start": 23, + "end": 40, + "planning": "Drag the tool across the tray to push scattered beans into a concentrated pile near the corner." + }, + { + "id": 4, + "name": "release tool and retreat", + "start": 41, + "end": 50, + "planning": "Open the gripper to release the tool onto the pile, then lift and move the end-effector away from the tray." + } + ], + "global_plan": "Approach and grasp the metal tool, use it to sweep scattered beans into a pile, then release the tool and retreat.", + "notes": "Gripper closure is meaningful in segments 1–4; grasping is justified in segment 2 (frames 17–22) where gripper closes significantly and images show tool engagement. Sweeping motion in segment 3 is contact-based dragging. Release occurs in segment 4 as gripper opens fully while retreating." + } + }, + "episode_goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33189281821250916, + -0.008757416158914566, + 0.1531466245651245, + 3.078601121902466, + -0.06490767002105713, + 0.15599693357944489 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the white tray containing scattered black beans and a metal tool. The gripper is currently open and hovering near the tool, initiating the approach phase. The next action is to lower the end-effector to make contact with the metal tool in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33187636733055115, + -0.008512499742209911, + 0.14014355838298798, + 3.0859110355377197, + -0.028783520683646202, + 0.15559524297714233 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the white tray containing scattered black beans and a metal tool. The gripper is currently open and hovering near the tool, initiating the approach phase. The next action is to lower the end-effector to make contact with the metal tool in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3426574170589447, + -0.03102235123515129, + 0.12142446637153625, + 3.085350275039673, + -0.041638944298028946, + 0.08089932799339294 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the white tray containing scattered black beans and a metal tool. The gripper is currently open and hovering near the tool, initiating the approach phase. The next action is to lower the end-effector to make contact with the metal tool in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.349736750125885, + -0.0416625514626503, + 0.10893911123275757, + 3.1042115688323975, + -0.043411534279584885, + 0.020924478769302368 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 51, + 279, + 957, + 990 + ], + "blue wall": [ + 1, + 2, + 251, + 422 + ], + "black beans": [ + 190, + 422, + 510, + 715 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the white tray containing scattered black beans and a metal tool. The gripper is currently open and hovering near the tool, initiating the approach phase. The next action is to lower the end-effector to make contact with the metal tool in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36186209321022034, + -0.040145985782146454, + 0.09618313610553741, + 3.121915817260742, + -0.05514015257358551, + -0.00630513159558177 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the white tray containing scattered black beans and a metal tool. The gripper is currently open and hovering near the tool, initiating the approach phase. The next action is to lower the end-effector to make contact with the metal tool in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3718811571598053, + -0.03893248736858368, + 0.08466509729623795, + 3.1377532482147217, + -0.048937149345874786, + -0.02598370984196663 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the white tray containing scattered black beans and a metal tool. The gripper is currently open and hovering near the tool, initiating the approach phase. The next action is to lower the end-effector to make contact with the metal tool in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3826152980327606, + -0.03599712625145912, + 0.0762401819229126, + 3.111301898956299, + -0.05820440500974655, + -0.020193202421069145 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the white tray containing scattered black beans and a metal tool. The gripper is currently open and hovering near the tool, initiating the approach phase. The next action is to lower the end-effector to make contact with the metal tool in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38960596919059753, + -0.038038089871406555, + 0.06907007098197937, + 3.0946879386901855, + -0.05268801376223564, + -0.014168873429298401 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the white tray containing scattered black beans and a metal tool. The gripper is currently open and hovering near the tool, initiating the approach phase. The next action is to lower the end-effector to make contact with the metal tool in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.39037248492240906, + -0.051384903490543365, + 0.06828860193490982, + 3.063546657562256, + -0.06205962970852852, + -0.03306448459625244 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3893251121044159, + -0.0645618885755539, + 0.06908556073904037, + 3.0518229007720947, + -0.06736184656620026, + -0.05663439258933067 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 51, + 278, + 956, + 990 + ], + "blue wall": [ + 1, + 2, + 255, + 423 + ], + "black beans": [ + 145, + 422, + 539, + 716 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38852813839912415, + -0.07198704779148102, + 0.06913978606462479, + 3.049628973007202, + -0.06946714967489243, + -0.064923956990242 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move back 3 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38736674189567566, + -0.07411067187786102, + 0.06858425587415695, + 3.061661720275879, + -0.06623369455337524, + -0.06635359674692154 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then move back 4 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38630667328834534, + -0.07123231887817383, + 0.060494888573884964, + 3.0847113132476807, + -0.044932883232831955, + -0.07334337383508682 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move back 6 cm, move left 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3851477801799774, + -0.06920715421438217, + 0.051955994218587875, + 3.1019210815429688, + -0.023004736751317978, + -0.07447603344917297 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move back 6 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38404351472854614, + -0.0670786052942276, + 0.041729770600795746, + 3.1124114990234375, + 0.0008147773332893848, + -0.07374178618192673 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 6 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839581608772278, + -0.0676778107881546, + 0.032845985144376755, + 3.1090636253356934, + 0.005998951382935047, + -0.06341136991977692 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 6 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38203713297843933, + -0.06711261719465256, + 0.02629012241959572, + 3.1100683212280273, + -0.03039742447435856, + -0.04171619191765785 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "approach and close gripper on tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3798278868198395, + -0.06708183139562607, + 0.02545163966715336, + 3.09380841255188, + -0.05509090796113014, + -0.03871819004416466 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "grasp and lift tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3788146674633026, + -0.06711892038583755, + 0.026710186153650284, + 3.084968328475952, + -0.06093704700469971, + -0.04467035457491875 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "grasp and lift tool", + "subtask_reasoning": "The robot is positioned above the metal tool on the tray, with scattered black objects nearby. The gripper is open and approaching the tool handle. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the tool handle to secure it for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3667181432247162, + -0.0607285313308239, + 0.025646468624472618, + 3.0812885761260986, + -0.0315093994140625, + -0.056986309587955475 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "grasp and lift tool", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35168352723121643, + -0.051397521048784256, + 0.024300048127770424, + 3.0877504348754883, + -0.0034779354464262724, + -0.08250851184129715 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "grasp and lift tool", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380678594112396, + -0.04203106462955475, + 0.02224622294306755, + 3.0998497009277344, + 0.009739614091813564, + -0.11386968195438385 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "grasp and lift tool", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 11 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32456162571907043, + -0.03463062644004822, + 0.020989900454878807, + 3.1350481510162354, + -0.00973555538803339, + -0.17687153816223145 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 51, + 285, + 955, + 989 + ], + "blue wall": [ + 1, + 2, + 218, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "grasp and lift tool", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move forward 2 cm, move left 12 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183223009109497, + -0.024991944432258606, + 0.019967952743172646, + -3.106926918029785, + -0.06318274885416031, + -0.24593046307563782 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31915026903152466, + -0.01863795705139637, + 0.019175803288817406, + -3.0829567909240723, + -0.11274979263544083, + -0.30861157178878784 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3209858238697052, + -0.007089613936841488, + 0.01955283060669899, + -3.0893969535827637, + -0.12051191180944443, + -0.3296370506286621 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32790297269821167, + 0.009539968334138393, + 0.01922440715134144, + -3.093508720397949, + -0.1197764202952385, + -0.3083900511264801 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3350217044353485, + 0.022618237882852554, + 0.019761143252253532, + -3.0901007652282715, + -0.11358480900526047, + -0.28687065839767456 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3409069776535034, + 0.03683963045477867, + 0.020343052223324776, + -3.0753695964813232, + -0.10920117795467377, + -0.2869114577770233 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432598412036896, + 0.05150938406586647, + 0.01935695856809616, + -3.066147565841675, + -0.10106226056814194, + -0.28842470049858093 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34366530179977417, + 0.06403108686208725, + 0.018873009830713272, + -3.055516481399536, + -0.08603116124868393, + -0.30625081062316895 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot has approached the metal tool and closed the gripper around it, as indicated by the gripper value decrease. The tool is now in contact with the gripper, and the next action is to lift the tool slightly to confirm a secure grasp before proceeding to sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3387588858604431, + 0.08644264936447144, + 0.01872554048895836, + -3.053541898727417, + -0.07233405858278275, + -0.29206645488739014 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 49, + 271, + 956, + 988 + ], + "blue wall": [ + 1, + 5, + 198, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34017953276634216, + 0.0981447845697403, + 0.01815131865441799, + -3.059593677520752, + -0.05007326230406761, + -0.31438136100769043 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34237566590309143, + 0.10964103788137436, + 0.019049614667892456, + -3.056436061859131, + -0.05052565783262253, + -0.307815283536911 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.34757113456726074, + 0.12168829143047333, + 0.019353080540895462, + -3.053004503250122, + -0.055019233375787735, + -0.2911652624607086 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529556691646576, + 0.13111186027526855, + 0.01903190277516842, + -3.058352470397949, + -0.0541408509016037, + -0.2840002179145813 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 299, + 955, + 987 + ], + "blue wall": [ + 1, + 5, + 217, + 425 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.35910093784332275, + 0.14008566737174988, + 0.018157603219151497, + -3.059612274169922, + -0.052982427179813385, + -0.26999080181121826 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632020652294159, + 0.15113265812397003, + 0.018108127638697624, + -3.0590860843658447, + -0.062016889452934265, + -0.24344879388809204 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.36458179354667664, + 0.1591910421848297, + 0.01874791644513607, + -3.061131238937378, + -0.06819240003824234, + -0.19557836651802063 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, rotate clockwise 10 degrees, open gripper; then move right 4 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619883060455322, + 0.16563624143600464, + 0.018441159278154373, + -3.0686991214752197, + -0.07813504338264465, + -0.12248766422271729 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move right 7 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.360790491104126, + 0.1647176593542099, + 0.018276069313287735, + -3.080617666244507, + -0.07490663975477219, + -0.09457623213529587 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "sweep beans into pile", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move right 9 cm, move up 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3491642475128174, + 0.1643807291984558, + 0.019304322078824043, + 3.1393189430236816, + -0.021786728873848915, + -0.020543448626995087 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.34416866302490234, + 0.15446104109287262, + 0.024553699418902397, + 3.0761117935180664, + 0.002980019198730588, + 0.020716208964586258 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.33900976181030273, + 0.14970511198043823, + 0.02876547910273075, + 3.0470898151397705, + 0.032753512263298035, + 0.05908291041851044 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.337344229221344, + 0.14673036336898804, + 0.03697356581687927, + 3.0471577644348145, + 0.04100096598267555, + 0.07088632136583328 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot is holding the metal tool and actively sweeping scattered black beans toward the left side of the tray. The gripper remains closed, confirming a secure grasp during the sweeping motion. The next action is to continue pushing the beans into a consolidated pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.33672481775283813, + 0.14417318999767303, + 0.05652117729187012, + 3.0793869495391846, + 0.03191735967993736, + 0.06644366681575775 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot has successfully swept the black objects into a pile on the left side of the tray using the metal tool. The gripper is currently open (value ~0.999), indicating the tool has been released. The next action is to retreat the end-effector away from the tray to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.339415580034256, + 0.14443153142929077, + 0.07697154581546783, + 3.100674629211426, + 0.01108957827091217, + 0.07073486596345901 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot has successfully swept the black objects into a pile on the left side of the tray using the metal tool. The gripper is currently open (value ~0.999), indicating the tool has been released. The next action is to retreat the end-effector away from the tray to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.34074077010154724, + 0.13977673649787903, + 0.08737538754940033, + 3.0836873054504395, + 0.02361493930220604, + 0.07992815226316452 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot has successfully swept the black objects into a pile on the left side of the tray using the metal tool. The gripper is currently open (value ~0.999), indicating the tool has been released. The next action is to retreat the end-effector away from the tray to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.34577614068984985, + 0.12197884172201157, + 0.09358613938093185, + 3.05786395072937, + 0.03969379514455795, + 0.05030757933855057 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot has successfully swept the black objects into a pile on the left side of the tray using the metal tool. The gripper is currently open (value ~0.999), indicating the tool has been released. The next action is to retreat the end-effector away from the tray to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.34941062331199646, + 0.09837137162685394, + 0.11064258962869644, + 3.059993267059326, + 0.02619185484945774, + 0.013636202551424503 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot has successfully swept the black objects into a pile on the left side of the tray using the metal tool. The gripper is currently open (value ~0.999), indicating the tool has been released. The next action is to retreat the end-effector away from the tray to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537246584892273, + 0.07133045792579651, + 0.1252666711807251, + 3.0576422214508057, + -0.0011686495272442698, + -0.02942630834877491 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 51, + 293, + 956, + 990 + ], + "blue wall": [ + 1, + 2, + 251, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to push the scattered black objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on tool" + }, + { + "id": 2, + "subtask": "grasp and lift tool" + }, + { + "id": 3, + "subtask": "sweep beans into pile" + }, + { + "id": 4, + "subtask": "release tool and retreat" + } + ], + "subtask_name": "release tool and retreat", + "subtask_reasoning": "The robot has successfully swept the black objects into a pile on the left side of the tray using the metal tool. The gripper is currently open (value ~0.999), indicating the tool has been released. The next action is to retreat the end-effector away from the tray to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 41, + "end": 50 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003983_ecot.json b/cot/chunk-0003/episode_0003983_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b37a25c2f8d847ae24d1b3e37c188d7b9db422eb --- /dev/null +++ b/cot/chunk-0003/episode_0003983_ecot.json @@ -0,0 +1,1923 @@ +{ + "task_name": "episode_0003983", + "episode_json": "json/chunk-0003/episode_0003983.json", + "video_path": "videos/chunk-0003/image_0/episode_0003983.mp4", + "instruction": "Move the green cloth to the left edge of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003983.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9433547258377075, + "std": 0.42628252506256104, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94335, std=0.42628, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 5, + 5, + 5, + 5, + 5, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 121, + 121, + 121, + 121, + 221, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 9 + ], + [ + 3, + 10, + 20 + ], + [ + 4, + 21, + 24 + ], + [ + 5, + 25, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper down toward the green cloth while beginning to close the gripper in preparation for contact.\"},\n {\"id\": 2, \"name\": \"grasp green cloth\", \"start\": 5, \"end\": 9, \"planning\": \"Complete gripper closure and establish firm grasp on the green cloth, confirmed by low gripper value and stable pose.\"},\n {\"id\": 3, \"name\": \"reposition cloth leftward\", \"start\": 10, \"end\": 20, \"planning\": \"Drag or slide the grasped green cloth horizontally toward the left edge of the table while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release cloth at target\", \"start\": 21, \"end\": 24, \"planning\": \"Open the gripper to release the green cloth near the left edge, then lift slightly to disengage contact.\"},\n {\"id\": 5, \"name\": \"retreat from workspace\", \"start\": 25, \"end\": 27, \"planning\": \"Move the gripper away from the cloth and table surface to complete the task without further interaction.\"}\n ],\n \"global_plan\": \"Approach and grasp the green cloth, drag it leftward to the table edge, release it precisely, then retreat to finish.\",\n \"notes\": \"Gripper evidence supports grasp during segments 1–2 (closing) and release during segment 4 (opening). Segment 5 shows no gripper motion — consistent with retreat. Frame images confirm cloth is manipulated via dragging, not lifting, until final placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green cloth", + "start": 0, + "end": 4, + "planning": "Move the gripper down toward the green cloth while beginning to close the gripper in preparation for contact." + }, + { + "id": 2, + "name": "grasp green cloth", + "start": 5, + "end": 9, + "planning": "Complete gripper closure and establish firm grasp on the green cloth, confirmed by low gripper value and stable pose." + }, + { + "id": 3, + "name": "reposition cloth leftward", + "start": 10, + "end": 20, + "planning": "Drag or slide the grasped green cloth horizontally toward the left edge of the table while maintaining grip." + }, + { + "id": 4, + "name": "release cloth at target", + "start": 21, + "end": 24, + "planning": "Open the gripper to release the green cloth near the left edge, then lift slightly to disengage contact." + }, + { + "id": 5, + "name": "retreat from workspace", + "start": 25, + "end": 27, + "planning": "Move the gripper away from the cloth and table surface to complete the task without further interaction." + } + ], + "global_plan": "Approach and grasp the green cloth, drag it leftward to the table edge, release it precisely, then retreat to finish.", + "notes": "Gripper evidence supports grasp during segments 1–2 (closing) and release during segment 4 (opening). Segment 5 shows no gripper motion — consistent with retreat. Frame images confirm cloth is manipulated via dragging, not lifting, until final placement." + } + }, + "episode_goal": "Move the green cloth to the left edge of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24496175348758698, + -0.07159707695245743, + 0.0990888699889183, + -3.022996664047241, + -0.07384680956602097, + -0.2246166467666626 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready. No movement or contact has occurred yet. The next action should be to lower the gripper slightly and close it to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, close gripper; then move left 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24373450875282288, + -0.07167140394449234, + 0.09302344918251038, + -3.0238535404205322, + -0.05660822615027428, + -0.22418075799942017 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready. No movement or contact has occurred yet. The next action should be to lower the gripper slightly and close it to grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, close gripper; then move left 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2441781461238861, + -0.07594399154186249, + 0.07556410133838654, + -3.0524256229400635, + -0.06575445085763931, + -0.21882613003253937 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper slightly and close it to grasp the cloth, as segment-level gripper evidence supports a closing motion consistent with grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, keep gripper closed; then move left 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24394547939300537, + -0.0726243406534195, + 0.059129778295755386, + -3.063978433609009, + -0.05695146694779396, + -0.20442217588424683 + ], + "gripper_value": 0.9568231701850891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper slightly and close it to grasp the cloth, as segment-level gripper evidence supports a closing motion consistent with grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper closed; then move left 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24521566927433014, + -0.07361560314893723, + 0.03740961104631424, + -3.0569865703582764, + -0.018027853220701218, + -0.1724669486284256 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper slightly and close it to grasp the cloth, as segment-level gripper evidence supports a closing motion consistent with grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move left 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2482282817363739, + -0.07930272072553635, + 0.027540167793631554, + -3.059312343597412, + -0.043108019977808, + -0.15766292810440063 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp green cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper slightly and close it to grasp the cloth, as segment-level gripper evidence supports a closing motion consistent with grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24390262365341187, + -0.08298476785421371, + 0.01773069240152836, + -3.09980845451355, + -0.07620009034872055, + -0.1363677829504013 + ], + "gripper_value": 0.14571818709373474 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp green cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper slightly and close it to grasp the cloth, as segment-level gripper evidence supports a closing motion consistent with grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 11 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24643298983573914, + -0.07970261573791504, + 0.014557464979588985, + -3.093710422515869, + -0.08302020281553268, + -0.12507592141628265 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp green cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green cloth on the table. The gripper has closed significantly within this segment, indicating contact with the cloth. The next action is to secure the grip by fully closing the gripper to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 12 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24818332493305206, + -0.06408090889453888, + 0.01004105620086193, + -3.0840814113616943, + -0.07333635538816452, + -0.10878818482160568 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 7, + 178, + 885, + 986 + ], + "green cloth": [ + 466, + 600, + 775, + 898 + ], + "red toy pepper": [ + 222, + 348, + 380, + 449 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp green cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green cloth on the table. The gripper has closed significantly within this segment, indicating contact with the cloth. The next action is to secure the grip by fully closing the gripper to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 12 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25028297305107117, + -0.05153968185186386, + 0.007784481160342693, + -3.041130781173706, + 0.04201998934149742, + -0.2089308649301529 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "grasp green cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green cloth on the table. The gripper has closed significantly within this segment, indicating contact with the cloth. The next action is to secure the grip by fully closing the gripper to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed; then move back 3 cm, move left 11 cm, move up 3 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24969318509101868, + -0.02467850223183632, + 0.006966641638427973, + -3.0145421028137207, + 0.06959888339042664, + -0.23716513812541962 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green cloth on the table. The gripper has closed significantly within this segment, indicating contact with the cloth. The next action is to secure the grip by fully closing the gripper to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24350883066654205, + 0.00011682419426506385, + 0.007304992526769638, + -2.967811346054077, + 0.12746597826480865, + -0.2628990709781647 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy pear": [ + 618, + 326, + 711, + 485 + ], + "wooden table": [ + 6, + 163, + 884, + 980 + ], + "green cloth": [ + 363, + 538, + 681, + 826 + ], + "red toy pepper": [ + 224, + 339, + 378, + 449 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green cloth on the table. The gripper has closed significantly within this segment, indicating contact with the cloth. The next action is to secure the grip by fully closing the gripper to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2395721971988678, + 0.022163856774568558, + 0.0064184097573161125, + -2.956463575363159, + 0.1536405384540558, + -0.25792357325553894 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green cloth on the table. The gripper has closed significantly within this segment, indicating contact with the cloth. The next action is to secure the grip by fully closing the gripper to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2389318197965622, + 0.0472477525472641, + 0.006235865410417318, + -2.938570976257324, + 0.16318753361701965, + -0.2141626477241516 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green cloth on the table. The gripper has closed significantly within this segment, indicating contact with the cloth. The next action is to secure the grip by fully closing the gripper to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 4 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2412099689245224, + 0.06177940592169762, + 0.005948735401034355, + -2.903069257736206, + 0.18726687133312225, + -0.2262578159570694 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot's end-effector is positioned directly over the green cloth on the table. The gripper has closed significantly within this segment, indicating contact with the cloth. The next action is to secure the grip by fully closing the gripper to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2363385558128357, + 0.07448679953813553, + 0.00579545833170414, + -2.8787965774536133, + 0.22612936794757843, + -0.214317187666893 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the green cloth, having successfully grasped it in the previous step. The gripper remains closed as the arm begins to translate the cloth leftward across the table surface. The immediate next action is to continue dragging the cloth toward the left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 5 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22537986934185028, + 0.08713485300540924, + 0.007509041111916304, + -2.8943710327148438, + 0.18890702724456787, + -0.19308680295944214 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the green cloth, having successfully grasped it in the previous step. The gripper remains closed as the arm begins to translate the cloth leftward across the table surface. The immediate next action is to continue dragging the cloth toward the left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, tilt back 10 degrees, open gripper; then move forward 5 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21811652183532715, + 0.09052986651659012, + 0.010761769488453865, + -2.92372989654541, + 0.15988266468048096, + -0.1915803849697113 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the green cloth, having successfully grasped it in the previous step. The gripper remains closed as the arm begins to translate the cloth leftward across the table surface. The immediate next action is to continue dragging the cloth toward the left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 5 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.217738538980484, + 0.09095937758684158, + 0.021775441244244576, + -2.9320709705352783, + 0.11625661700963974, + -0.19119085371494293 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the green cloth, having successfully grasped it in the previous step. The gripper remains closed as the arm begins to translate the cloth leftward across the table surface. The immediate next action is to continue dragging the cloth toward the left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21937455236911774, + 0.09004394710063934, + 0.032663315534591675, + -2.920884132385254, + 0.07086730748414993, + -0.1751079112291336 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the green cloth, having successfully grasped it in the previous step. The gripper remains closed as the arm begins to translate the cloth leftward across the table surface. The immediate next action is to continue dragging the cloth toward the left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 5 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22044041752815247, + 0.08731063455343246, + 0.0369175560772419, + -2.93286395072937, + 0.05728897079825401, + -0.17991356551647186 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "reposition cloth leftward", + "subtask_reasoning": "The robot is currently in contact with the green cloth, having successfully grasped it in the previous step. The gripper remains closed as the arm begins to translate the cloth leftward across the table surface. The immediate next action is to continue dragging the cloth toward the left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 5 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22419606149196625, + 0.08842314034700394, + 0.045909807085990906, + -2.9234979152679443, + 0.02993515320122242, + -0.15377773344516754 + ], + "gripper_value": 0.7941413521766663 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot is currently in contact with the green cloth, having successfully grasped it in the previous step. The gripper remains closed as the arm begins to translate the cloth leftward across the table surface. The immediate next action is to continue dragging the cloth toward the left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.22437924146652222, + 0.08625159412622452, + 0.06052638962864876, + -2.92618989944458, + -0.003618502989411354, + -0.13809825479984283 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The green cloth is positioned near the left edge of the table, and the gripper is open, indicating the release action is complete. The robot has successfully dragged and released the cloth as intended. The next step is to retreat from the cloth to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2315250039100647, + 0.08128137141466141, + 0.07561852037906647, + -2.9223766326904297, + -0.03534826636314392, + -0.12016627937555313 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The green cloth is positioned near the left edge of the table, and the gripper is open, indicating the release action is complete. The robot has successfully dragged and released the cloth as intended. The next step is to retreat from the cloth to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24890588223934174, + 0.07402493804693222, + 0.09194708615541458, + -2.9271669387817383, + -0.09719293564558029, + -0.031160695478320122 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 7, + 234, + 886, + 981 + ], + "green toy pear": [ + 610, + 330, + 711, + 486 + ], + "red toy pepper": [ + 222, + 356, + 336, + 449 + ], + "green cloth": [ + 176, + 418, + 482, + 723 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The green cloth is positioned near the left edge of the table, and the gripper is open, indicating the release action is complete. The robot has successfully dragged and released the cloth as intended. The next step is to retreat from the cloth to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27454233169555664, + 0.06211642548441887, + 0.10364586114883423, + -2.9964025020599365, + -0.1599135845899582, + -0.11180679500102997 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "retreat from workspace", + "subtask_reasoning": "The green cloth is positioned near the left edge of the table, and the gripper is open, indicating the release action is complete. The robot has successfully dragged and released the cloth as intended. The next step is to retreat from the cloth to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29343634843826294, + 0.044954147189855576, + 0.11847275495529175, + -3.0239529609680176, + -0.18373820185661316, + -0.12067089229822159 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "retreat from workspace", + "subtask_reasoning": "The green cloth has been successfully moved to the left edge of the table and released. The robot's gripper is open and positioned above the workspace, indicating the manipulation task is complete. The robot is now retreating from the immediate workspace area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003745973110199, + 0.03136377036571503, + 0.13091585040092468, + -3.0540506839752197, + -0.19491104781627655, + -0.1131143867969513 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "grasp green cloth" + }, + { + "id": 3, + "subtask": "reposition cloth leftward" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from workspace" + } + ], + "subtask_name": "retreat from workspace", + "subtask_reasoning": "The green cloth has been successfully moved to the left edge of the table and released. The robot's gripper is open and positioned above the workspace, indicating the manipulation task is complete. The robot is now retreating from the immediate workspace area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003984_ecot.json b/cot/chunk-0003/episode_0003984_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1da547a1fc49ce76a417c43e1beed7e14b72c5df --- /dev/null +++ b/cot/chunk-0003/episode_0003984_ecot.json @@ -0,0 +1,2972 @@ +{ + "task_name": "episode_0003984", + "episode_json": "json/chunk-0003/episode_0003984.json", + "video_path": "videos/chunk-0003/image_0/episode_0003984.mp4", + "instruction": "Move vessel and blue cloth both little bit right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003984.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.9609178900718689, + "std": 0.40406325459480286, + "delta_total": -0.2060118317604065, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96092, std=0.40406, total_delta=-0.20601). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 108, + 108, + 108, + 108, + 108, + 8, + 8, + 8, + 8, + 8, + 8, + 8, + 8, + 21, + 21, + 21, + 21, + 21, + 21, + 221, + 221, + 229, + 229, + 229, + 229, + 229, + 229, + 229, + 229, + 229, + 29, + 229, + 240 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 1 + ], + [ + 3, + 2, + 7 + ], + [ + 4, + 8, + 12 + ], + [ + 5, + 13, + 20 + ], + [ + 6, + 21, + 26 + ], + [ + 7, + 27, + 28 + ], + [ + 8, + 29, + 37 + ], + [ + 9, + 38, + 38 + ], + [ + 10, + 39, + 39 + ], + [ + 11, + 40, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach vessel\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the metal vessel on the blue cloth without grasping yet.\"},\n {\"id\": 2, \"name\": \"grasp vessel\", \"start\": 8, \"end\": 12, \"planning\": \"Close gripper to securely grasp the handle of the metal vessel as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition vessel right\", \"start\": 13, \"end\": 26, \"planning\": \"Lift and slide the vessel slightly to the right while maintaining grip, adjusting position over the blue cloth.\"},\n {\"id\": 4, \"name\": \"release vessel\", \"start\": 27, \"end\": 28, \"planning\": \"Open gripper to release the vessel after repositioning it to the target location.\"},\n {\"id\": 5, \"name\": \"approach blue cloth\", \"start\": 29, \"end\": 37, \"planning\": \"Reposition end-effector to make contact with the blue cloth under the vessel for coordinated movement.\"},\n {\"id\": 6, \"name\": \"nudge cloth and vessel together\", \"start\": 38, \"end\": 40, \"planning\": \"Apply gentle lateral force to shift both the cloth and vessel slightly further right as a unit before retreating.\"}\n ],\n \"global_plan\": \"First grasp and reposition the metal vessel to the right, then release and use direct contact to nudge the underlying blue cloth along with the vessel for final alignment.\",\n \"notes\": \"Gripper evidence supports grasping only in segments 4 and 8; segment 11 shows opening, consistent with release or retreat. No lifting is assumed for the cloth — motion is contact-based nudging. All frames are covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach vessel", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the metal vessel on the blue cloth without grasping yet." + }, + { + "id": 2, + "name": "grasp vessel", + "start": 8, + "end": 12, + "planning": "Close gripper to securely grasp the handle of the metal vessel as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "reposition vessel right", + "start": 13, + "end": 26, + "planning": "Lift and slide the vessel slightly to the right while maintaining grip, adjusting position over the blue cloth." + }, + { + "id": 4, + "name": "release vessel", + "start": 27, + "end": 28, + "planning": "Open gripper to release the vessel after repositioning it to the target location." + }, + { + "id": 5, + "name": "approach blue cloth", + "start": 29, + "end": 37, + "planning": "Reposition end-effector to make contact with the blue cloth under the vessel for coordinated movement." + }, + { + "id": 6, + "name": "nudge cloth and vessel together", + "start": 38, + "end": 40, + "planning": "Apply gentle lateral force to shift both the cloth and vessel slightly further right as a unit before retreating." + } + ], + "global_plan": "First grasp and reposition the metal vessel to the right, then release and use direct contact to nudge the underlying blue cloth along with the vessel for final alignment.", + "notes": "Gripper evidence supports grasping only in segments 4 and 8; segment 11 shows opening, consistent with release or retreat. No lifting is assumed for the cloth — motion is contact-based nudging. All frames are covered contiguously." + } + }, + "episode_goal": "Move the vessel and blue cloth slightly to the right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31637534499168396, + 0.04818917438387871, + 0.0956043228507042, + -3.1338889598846436, + 0.021635401993989944, + -0.3580337464809418 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is approaching the vessel to initiate the first subtask. The next action is to continue moving the end-effector closer to the vessel handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 8 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149475157260895, + 0.047979120165109634, + 0.08489549160003662, + 3.134970188140869, + 0.04859281703829765, + -0.34941530227661133 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is approaching the vessel to initiate the first subtask. The next action is to continue moving the end-effector closer to the vessel handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 7 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3239766061306, + 0.042621150612831116, + 0.06967040151357651, + -3.1397342681884766, + 0.034805260598659515, + -0.3225088119506836 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is approaching the vessel to initiate the first subtask. The next action is to continue moving the end-effector closer to the vessel handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 5 cm, close gripper; then move back 5 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33006590604782104, + 0.036916039884090424, + 0.05515896528959274, + -3.1303977966308594, + 0.03623124584555626, + -0.30137142539024353 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible; no objects have been moved yet. The gripper is open and approaching the vessel. The next action is to lower the gripper to make contact with the vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, close gripper; then move back 8 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3403131365776062, + 0.02612006478011608, + 0.04634533450007439, + -3.100015163421631, + 0.029622867703437805, + -0.30543217062950134 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible; no objects have been moved yet. The gripper is open and approaching the vessel. The next action is to lower the gripper to make contact with the vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, close gripper; then move back 8 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530726432800293, + 0.009106664918363094, + 0.0243583582341671, + -3.067033052444458, + 0.058532483875751495, + -0.30668455362319946 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 6, + 184, + 860, + 990 + ], + "sushi": [ + 147, + 324, + 267, + 464 + ], + "fork": [ + 269, + 308, + 439, + 521 + ], + "bowl": [ + 479, + 329, + 698, + 565 + ] + } + } + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible; no objects have been moved yet. The gripper is open and approaching the vessel. The next action is to lower the gripper to make contact with the vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 8 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36021825671195984, + 0.0035956359934061766, + 0.016705110669136047, + -3.065117120742798, + 0.0678112804889679, + -0.31637972593307495 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible; no objects have been moved yet. The gripper is open and approaching the vessel. The next action is to lower the gripper to make contact with the vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 5 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3641831576824188, + 0.002674010582268238, + 0.014064011164009571, + -3.0613088607788086, + 0.08432826399803162, + -0.33603787422180176 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible; no objects have been moved yet. The gripper is open and approaching the vessel. The next action is to lower the gripper to make contact with the vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36471718549728394, + 0.0026011636946350336, + 0.015994396060705185, + -3.0596392154693604, + 0.08755180239677429, + -0.3488287925720215 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "grasp vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible; no objects have been moved yet. The gripper is open and approaching the vessel. The next action is to lower the gripper to make contact with the vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 9 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632993996143341, + 0.0003721039101947099, + 0.020724425092339516, + -3.0727946758270264, + 0.07998887449502945, + -0.3556444048881531 + ], + "gripper_value": 0.14865680038928986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "grasp vessel", + "subtask_reasoning": "The robot is positioned above the table with the metal vessel and blue cloth visible; no objects have been moved yet. The gripper is open and approaching the vessel. The next action is to lower the gripper to make contact with the vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 9 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35979536175727844, + -0.0010925658280029893, + 0.03795266151428223, + -3.0822291374206543, + 0.05105588957667351, + -0.3834258019924164 + ], + "gripper_value": 0.07656946033239365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "grasp vessel", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 8 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3513605296611786, + 0.0020965137518942356, + 0.06522813439369202, + -3.103712797164917, + -0.03924710676074028, + -0.39507371187210083 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "grasp vessel", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3170534372329712, + 0.022750241681933403, + 0.09827660024166107, + -3.1240758895874023, + -0.09858088195323944, + -0.35006406903266907 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "grasp vessel", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move forward 7 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28406253457069397, + 0.055607471615076065, + 0.08555806428194046, + 3.110846757888794, + -0.06367304176092148, + -0.30597013235092163 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sushi": [ + 145, + 323, + 266, + 464 + ], + "bowl": [ + 325, + 249, + 586, + 559 + ] + } + } + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28799986839294434, + 0.05285322293639183, + 0.041035883128643036, + 2.962796449661255, + -0.044805824756622314, + -0.36920294165611267 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30582013726234436, + 0.0379839651286602, + 0.033051177859306335, + 2.928314447402954, + -0.0686100646853447, + -0.41106343269348145 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3204624056816101, + 0.0021245982497930527, + 0.024056315422058105, + 2.9077396392822266, + -0.07304910570383072, + -0.5245670080184937 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 6, + 180, + 860, + 988 + ], + "fork": [ + 267, + 337, + 421, + 521 + ], + "bowl": [ + 396, + 370, + 674, + 657 + ] + } + } + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33525052666664124, + -0.017787104472517967, + 0.014128669165074825, + 2.8958630561828613, + -0.06590952724218369, + -0.5974080562591553 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462894558906555, + -0.031834375113248825, + 0.017390720546245575, + 2.9005630016326904, + -0.09250343590974808, + -0.630814790725708 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has approached the metal vessel and is now in contact with it. The gripper has closed significantly within this segment, indicating a successful grasp of the vessel. The next action is to lift or begin moving the vessel to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35078105330467224, + -0.02945709228515625, + 0.018449412658810616, + 2.9309353828430176, + -0.08066491037607193, + -0.6568093299865723 + ], + "gripper_value": 0.11160726845264435 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has successfully grasped the metal vessel, as confirmed by the gripper evidence and current closed state. The vessel is currently being held above the blue cloth on the wooden table. The next action is to translate the end-effector to the right to reposition the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537927269935608, + -0.019819827750325203, + 0.022257564589381218, + 2.976052761077881, + -0.039874400943517685, + -0.67451411485672 + ], + "gripper_value": 0.2981022000312805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has successfully grasped the metal vessel, as confirmed by the gripper evidence and current closed state. The vessel is currently being held above the blue cloth on the wooden table. The next action is to translate the end-effector to the right to reposition the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35155239701271057, + -0.01650957763195038, + 0.022375620901584625, + 2.9798858165740967, + -0.01524303574115038, + -0.6655558943748474 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has successfully grasped the metal vessel, as confirmed by the gripper evidence and current closed state. The vessel is currently being held above the blue cloth on the wooden table. The next action is to translate the end-effector to the right to reposition the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34946388006210327, + -0.0149455601349473, + 0.022367306053638458, + 2.9795033931732178, + 0.001091214595362544, + -0.6675974130630493 + ], + "gripper_value": 0.8775349855422974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has successfully grasped the metal vessel, as confirmed by the gripper evidence and current closed state. The vessel is currently being held above the blue cloth on the wooden table. The next action is to translate the end-effector to the right to reposition the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35084590315818787, + -0.015074970200657845, + 0.023982839658856392, + 2.9933180809020996, + 0.010317379608750343, + -0.6720474362373352 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has successfully grasped the metal vessel, as confirmed by the gripper evidence and current closed state. The vessel is currently being held above the blue cloth on the wooden table. The next action is to translate the end-effector to the right to reposition the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500612676143646, + -0.02200878970324993, + 0.024939745664596558, + 3.0293707847595215, + 0.04607522115111351, + -0.6911866664886475 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has successfully grasped the metal vessel, as confirmed by the gripper evidence and current closed state. The vessel is currently being held above the blue cloth on the wooden table. The next action is to translate the end-effector to the right to reposition the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35213014483451843, + -0.02847179025411606, + 0.03597678989171982, + 3.1032512187957764, + 0.061086975038051605, + -0.6614975929260254 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fork": [ + 269, + 309, + 455, + 521 + ], + "sushi": [ + 147, + 324, + 267, + 465 + ], + "table": [ + 6, + 183, + 860, + 991 + ], + "bowl": [ + 491, + 390, + 739, + 649 + ] + } + } + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has successfully grasped the metal vessel, as confirmed by the gripper evidence and current closed state. The vessel is currently being held above the blue cloth on the wooden table. The next action is to translate the end-effector to the right to reposition the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then move back 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34815430641174316, + -0.028622234240174294, + 0.038493115454912186, + 3.137373685836792, + 0.06746236979961395, + -0.5983357429504395 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "reposition vessel right", + "subtask_reasoning": "The robot has successfully grasped the metal vessel, as confirmed by the gripper evidence and current closed state. The vessel is currently being held above the blue cloth on the wooden table. The next action is to translate the end-effector to the right to reposition the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then keep gripper closed; then move back 5 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450626730918884, + -0.02626279555261135, + 0.04422115534543991, + -3.107118844985962, + 0.062295034527778625, + -0.562816321849823 + ], + "gripper_value": 0.9343546032905579 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "release vessel", + "subtask_reasoning": "The metal vessel is currently positioned on the blue cloth, and the gripper is open, indicating the release action is complete. The vessel has been successfully moved to the right as intended. The next step is to nudge the blue cloth slightly to the right to align it with the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3445203900337219, + -0.026694977656006813, + 0.043502479791641235, + -3.1002092361450195, + 0.05676855519413948, + -0.562467098236084 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "release vessel", + "subtask_reasoning": "The metal vessel is currently positioned on the blue cloth, and the gripper is open, indicating the release action is complete. The vessel has been successfully moved to the right as intended. The next step is to nudge the blue cloth slightly to the right to align it with the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 3 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34450387954711914, + -0.025730719789862633, + 0.04326874390244484, + -3.0919291973114014, + 0.060859788209199905, + -0.5690147876739502 + ], + "gripper_value": 0.4411471486091614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel is currently positioned on the blue cloth, and the gripper is open, indicating the release action is complete. The vessel has been successfully moved to the right as intended. The next step is to nudge the blue cloth slightly to the right to align it with the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 6 cm, open gripper; then move back 1 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34417587518692017, + -0.02536890096962452, + 0.04121357575058937, + -3.0895111560821533, + 0.06839530169963837, + -0.567383348941803 + ], + "gripper_value": 0.1920294612646103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel is currently positioned on the blue cloth, and the gripper is open, indicating the release action is complete. The vessel has been successfully moved to the right as intended. The next step is to nudge the blue cloth slightly to the right to align it with the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 6 cm, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34311747550964355, + -0.025139952078461647, + 0.03418400511145592, + -3.0944437980651855, + 0.08779723942279816, + -0.5671007633209229 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel is currently positioned on the blue cloth, and the gripper is open, indicating the release action is complete. The vessel has been successfully moved to the right as intended. The next step is to nudge the blue cloth slightly to the right to align it with the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 7 cm, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3427422046661377, + -0.023979907855391502, + 0.03284917399287224, + -3.0916123390197754, + 0.0986662209033966, + -0.5627539157867432 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel is currently positioned on the blue cloth, and the gripper is open, indicating the release action is complete. The vessel has been successfully moved to the right as intended. The next step is to nudge the blue cloth slightly to the right to align it with the vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3422390818595886, + -0.02429948002099991, + 0.032994478940963745, + -3.097557306289673, + 0.10373875498771667, + -0.5732922554016113 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel has been successfully repositioned to the right, resting on the blue cloth. The robot is now approaching the blue cloth near the vessel's new position to prepare for nudging it. The next action is to make contact with the cloth to shift it slightly rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.33531653881073, + -0.02650069072842598, + 0.04190051183104515, + -3.1141417026519775, + 0.0924808606505394, + -0.5904108285903931 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel has been successfully repositioned to the right, resting on the blue cloth. The robot is now approaching the blue cloth near the vessel's new position to prepare for nudging it. The next action is to make contact with the cloth to shift it slightly rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177582919597626, + -0.028682753443717957, + 0.08219737559556961, + -3.096517324447632, + 0.003484254004433751, + -0.6169554591178894 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel has been successfully repositioned to the right, resting on the blue cloth. The robot is now approaching the blue cloth near the vessel's new position to prepare for nudging it. The next action is to make contact with the cloth to shift it slightly rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move up 2 cm, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943565249443054, + -0.014376371167600155, + 0.10588344931602478, + -3.0874128341674805, + -0.03920087218284607, + -0.60515958070755 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel has been successfully repositioned to the right, resting on the blue cloth. The robot is now approaching the blue cloth near the vessel's new position to prepare for nudging it. The next action is to make contact with the cloth to shift it slightly rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.27549147605895996, + 0.002129575703293085, + 0.10892991721630096, + -3.1101136207580566, + -0.04168545454740524, + -0.5878849029541016 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 6, + 182, + 860, + 988 + ], + "sushi": [ + 146, + 324, + 268, + 465 + ], + "fork": [ + 267, + 319, + 427, + 522 + ], + "bowl": [ + 469, + 430, + 761, + 713 + ] + } + } + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The metal vessel has been successfully repositioned to the right, resting on the blue cloth. The robot is now approaching the blue cloth near the vessel's new position to prepare for nudging it. The next action is to make contact with the cloth to shift it slightly rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.26127317547798157, + 0.008778128772974014, + 0.10044494271278381, + 3.1358096599578857, + 0.0034653644543141127, + -0.5678479075431824 + ], + "gripper_value": 0.22362354397773743 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "nudge cloth and vessel together", + "subtask_reasoning": "The metal vessel has been successfully repositioned to the right, resting on the blue cloth. The robot is now approaching the blue cloth near the vessel's new position to prepare for nudging it. The next action is to make contact with the cloth to shift it slightly rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533758580684662, + 0.022406352683901787, + 0.11708418279886246, + -3.125783920288086, + -0.06296622008085251, + -0.4732276201248169 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "nudge cloth and vessel together", + "subtask_reasoning": "The robot's end-effector is positioned above the metal vessel, which rests on the blue cloth. The gripper is currently open, indicating the vessel has been released or is not being held. To complete the subtask of nudging both items right, the robot needs to make contact with the vessel to push it and the underlying cloth together." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.24749484658241272, + 0.03184273838996887, + 0.12641939520835876, + -3.107762098312378, + -0.06369519978761673, + -0.37942200899124146 + ], + "gripper_value": 0.7941413521766663 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the vessel and blue cloth slightly to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp vessel" + }, + { + "id": 3, + "subtask": "reposition vessel right" + }, + { + "id": 4, + "subtask": "release vessel" + }, + { + "id": 5, + "subtask": "approach blue cloth" + }, + { + "id": 6, + "subtask": "nudge cloth and vessel together" + } + ], + "subtask_name": "nudge cloth and vessel together", + "subtask_reasoning": "The robot's end-effector is positioned above the metal vessel, which rests on the blue cloth. The gripper is currently open, indicating the vessel has been released or is not being held. To complete the subtask of nudging both items right, the robot needs to make contact with the vessel to push it and the underlying cloth together." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003985_ecot.json b/cot/chunk-0003/episode_0003985_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..18fd21460bc8ab2e41c1b032d47a09db80f782d6 --- /dev/null +++ b/cot/chunk-0003/episode_0003985_ecot.json @@ -0,0 +1,1609 @@ +{ + "task_name": "episode_0003985", + "episode_json": "json/chunk-0003/episode_0003985.json", + "video_path": "videos/chunk-0003/image_0/episode_0003985.mp4", + "instruction": "Put can in pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003985.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.1107521653175354, + "std": 0.04700286686420441, + "delta_total": -0.1107521653175354, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.11075, std=0.04700, total_delta=-0.11075). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the open drawer containing the can.\"},\n {\"id\": 2, \"name\": \"position over can\", \"start\": 6, \"end\": 15, \"planning\": \"Align gripper above the can inside the drawer in preparation for grasping.\"},\n {\"id\": 3, \"name\": \"grasp can\", \"start\": 16, \"end\": 20, \"planning\": \"Close gripper to securely grasp the can, confirmed by decreasing gripper value and visual contact.\"},\n {\"id\": 4, \"name\": \"lift and move can to pot\", \"start\": 21, \"end\": 24, \"planning\": \"Lift the grasped can and transport it toward the pot on the counter.\"}\n ],\n \"global_plan\": \"Approach drawer, position over can, grasp can, then lift and move it to place in pot.\",\n \"notes\": \"Segment 1 (frames 0-5) shows no gripper closing — described as approach only. Segment 2 (frames 6-24) includes meaningful gripper closure (delta=-0.11075), with frame 24 showing reduced gripper value (0.89139) and image confirmation of can being held — grasp wording justified from frame 16 onward based on motion trend and final state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the open drawer containing the can." + }, + { + "id": 2, + "name": "position over can", + "start": 6, + "end": 15, + "planning": "Align gripper above the can inside the drawer in preparation for grasping." + }, + { + "id": 3, + "name": "grasp can", + "start": 16, + "end": 20, + "planning": "Close gripper to securely grasp the can, confirmed by decreasing gripper value and visual contact." + }, + { + "id": 4, + "name": "lift and move can to pot", + "start": 21, + "end": 24, + "planning": "Lift the grasped can and transport it toward the pot on the counter." + } + ], + "global_plan": "Approach drawer, position over can, grasp can, then lift and move it to place in pot.", + "notes": "Segment 1 (frames 0-5) shows no gripper closing — described as approach only. Segment 2 (frames 6-24) includes meaningful gripper closure (delta=-0.11075), with frame 24 showing reduced gripper value (0.89139) and image confirmation of can being held — grasp wording justified from frame 16 onward based on motion trend and final state." + } + }, + "episode_goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3342764973640442, + -0.13257357478141785, + 0.10870504379272461, + -3.06402850151062, + -0.1301771104335785, + -0.03722420707345009 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "approach drawer", + "subtask_reasoning": "The robot is positioned above an open drawer containing a can of tomato sauce, with a metal pot visible on the counter to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the can to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3359200954437256, + -0.11551626026630402, + 0.09685438126325607, + -3.029029369354248, + -0.09790689498186111, + -0.06430401653051376 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "approach drawer", + "subtask_reasoning": "The robot is positioned above an open drawer containing a can of tomato sauce, with a metal pot visible on the counter to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the can to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457581400871277, + -0.08462852984666824, + 0.09777865558862686, + -2.9843668937683105, + -0.09635591506958008, + -0.09350227564573288 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "approach drawer", + "subtask_reasoning": "The robot is positioned above the open drawer, with the metal pot visible on the counter to the left. No objects have been interacted with yet. The gripper remains open and stationary, indicating the robot is still approaching or aligning over the target area. The next likely action is to continue moving toward the can inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34958621859550476, + -0.058156561106443405, + 0.10447654128074646, + -2.9364876747131348, + -0.08153726160526276, + -0.0945654958486557 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green scrubber": [ + 354, + 61, + 506, + 185 + ], + "metal pot": [ + 212, + 259, + 437, + 513 + ], + "jar": [ + 626, + 196, + 737, + 401 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "approach drawer", + "subtask_reasoning": "The robot is positioned above the open drawer, with the metal pot visible on the counter to the left. No objects have been interacted with yet. The gripper remains open and stationary, indicating the robot is still approaching or aligning over the target area. The next likely action is to continue moving toward the can inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3599827289581299, + -0.03754953294992447, + 0.1235891580581665, + -2.9138386249542236, + -0.1470755785703659, + -0.11202482134103775 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "approach drawer", + "subtask_reasoning": "The robot is positioned above the open drawer, with the metal pot visible on the counter to the left. No objects have been interacted with yet. The gripper remains open and stationary, indicating the robot is still approaching or aligning over the target area. The next likely action is to continue moving toward the can inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37785524129867554, + -0.01952788047492504, + 0.13022395968437195, + -2.8907673358917236, + -0.22388368844985962, + -0.13392671942710876 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "approach drawer", + "subtask_reasoning": "The robot is positioned above the open drawer, with the metal pot visible on the counter to the left. No objects have been interacted with yet. The gripper remains open and stationary, indicating the robot is still approaching or aligning over the target area. The next likely action is to continue moving toward the can inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.39211317896842957, + -0.011371169239282608, + 0.12307314574718475, + -2.8721282482147217, + -0.25027328729629517, + -0.15360437333583832 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot is positioned above the open drawer, with the metal pot visible on the counter to the left. No objects have been interacted with yet. The gripper remains open and stationary, indicating the robot is still approaching or aligning over the target area. The next likely action is to continue moving toward the can inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4004462659358978, + -0.013889007270336151, + 0.1155804917216301, + -2.881082773208618, + -0.27510109543800354, + -0.1648501753807068 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot is positioned above the open drawer, with the metal pot visible on the counter to the left. No objects have been interacted with yet. The gripper remains open and stationary, indicating the robot is still approaching or aligning over the target area. The next likely action is to continue moving toward the can inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4056490659713745, + -0.01821252331137657, + 0.11440786719322205, + -2.9068853855133057, + -0.3113628923892975, + -0.16480064392089844 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot is positioned above the open drawer, with the metal pot visible on the counter to the left. No objects have been interacted with yet. The gripper remains open and stationary, indicating the robot is still approaching or aligning over the target area. The next likely action is to continue moving toward the can inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4083251953125, + -0.020821765065193176, + 0.10140486061573029, + -2.9239585399627686, + -0.29279112815856934, + -0.1699526011943817 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot is positioned above the open drawer, with the metal pot visible on the counter to the left. No objects have been interacted with yet. The gripper remains open and stationary, indicating the robot is still approaching or aligning over the target area. The next likely action is to continue moving toward the can inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4127812385559082, + -0.020639460533857346, + 0.09629104286432266, + -2.9211196899414062, + -0.2797688841819763, + -0.18984906375408173 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot's end-effector is positioned above the open drawer, hovering near the can of tomato sauce on the counter. The gripper remains fully open with no closing motion detected in this segment. The next action is to lower the arm slightly to align directly over the can before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4178166091442108, + -0.01728038117289543, + 0.09649331122636795, + -2.8886618614196777, + -0.30694249272346497, + -0.22861112654209137 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot's end-effector is positioned above the open drawer, hovering near the can of tomato sauce on the counter. The gripper remains fully open with no closing motion detected in this segment. The next action is to lower the arm slightly to align directly over the can before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.41739052534103394, + -0.013705924153327942, + 0.08481112867593765, + -2.8581643104553223, + -0.30234888195991516, + -0.2645806074142456 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 213, + 260, + 437, + 512 + ], + "green scrubber": [ + 354, + 62, + 505, + 185 + ], + "jar": [ + 626, + 195, + 735, + 399 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot's end-effector is positioned above the open drawer, hovering near the can of tomato sauce on the counter. The gripper remains fully open with no closing motion detected in this segment. The next action is to lower the arm slightly to align directly over the can before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move down 1 cm, tilt right 10 degrees, close gripper; then move back 4 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.414800226688385, + -0.010138489305973053, + 0.08043897151947021, + -2.842491626739502, + -0.2833901643753052, + -0.30069199204444885 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot's end-effector is positioned above the open drawer, hovering near the can of tomato sauce on the counter. The gripper remains fully open with no closing motion detected in this segment. The next action is to lower the arm slightly to align directly over the can before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, tilt right 10 degrees, close gripper; then move back 7 cm, move left 3 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40935906767845154, + -0.007133823819458485, + 0.07339873909950256, + -2.843507766723633, + -0.25694775581359863, + -0.3213130831718445 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot's end-effector is positioned above the open drawer, hovering near the can of tomato sauce on the counter. The gripper remains fully open with no closing motion detected in this segment. The next action is to lower the arm slightly to align directly over the can before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, tilt right 10 degrees, close gripper; then move back 8 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.40705567598342896, + -0.004164363723248243, + 0.0698467493057251, + -2.8603994846343994, + -0.24658319354057312, + -0.3339295983314514 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "position over can", + "subtask_reasoning": "The robot's end-effector is positioned above the open drawer, hovering near the can of tomato sauce on the counter. The gripper remains fully open with no closing motion detected in this segment. The next action is to lower the arm slightly to align directly over the can before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move down 1 cm, tilt right 10 degrees, close gripper; then move back 8 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40503188967704773, + -0.0005943506839685142, + 0.06560512632131577, + -2.8875434398651123, + -0.24533459544181824, + -0.3395851254463196 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "grasp can", + "subtask_reasoning": "The robot's end-effector is positioned above the open drawer, hovering near the can of tomato sauce on the counter. The gripper remains fully open with no closing motion detected in this segment. The next action is to lower the arm slightly to align directly over the can before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, close gripper; then move back 8 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40906423330307007, + 0.0014571622014045715, + 0.06312074512243271, + -2.906805992126465, + -0.282817006111145, + -0.35772448778152466 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "grasp can", + "subtask_reasoning": "The robot's end-effector is positioned above the open drawer, hovering near the can of tomato sauce on the counter. The gripper remains fully open with no closing motion detected in this segment. The next action is to lower the arm slightly to align directly over the can before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 8 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4159579873085022, + 0.004910356365144253, + 0.05411436781287193, + -2.921919822692871, + -0.3133329153060913, + -0.3822173774242401 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "grasp can", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can of tomato sauce inside the open drawer. The gripper signal indicates a closing motion has occurred, suggesting the fingers are making contact with or enclosing the can. The next immediate action is to secure the grip and lift the can from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 8 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.42187023162841797, + 0.005067057441920042, + 0.05064621567726135, + -2.943507671356201, + -0.3325016498565674, + -0.3907899856567383 + ], + "gripper_value": 0.8956556916236877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "grasp can", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can of tomato sauce inside the open drawer. The gripper signal indicates a closing motion has occurred, suggesting the fingers are making contact with or enclosing the can. The next immediate action is to secure the grip and lift the can from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 8 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.42385730147361755, + 0.001256199087947607, + 0.05098719894886017, + -2.981250524520874, + -0.3413602113723755, + -0.3801964223384857 + ], + "gripper_value": 0.8913851380348206 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "grasp can", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can of tomato sauce inside the open drawer. The gripper signal indicates a closing motion has occurred, suggesting the fingers are making contact with or enclosing the can. The next immediate action is to secure the grip and lift the can from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 8 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.40474823117256165, + 0.0003561931080184877, + 0.05302489176392555, + -2.9850351810455322, + -0.23684930801391602, + -0.3434537351131439 + ], + "gripper_value": 0.8913851380348206 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "lift and move can to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the can of tomato sauce inside the open drawer. The gripper signal indicates a closing motion has occurred, suggesting the fingers are making contact with or enclosing the can. The next immediate action is to secure the grip and lift the can from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3667055666446686, + 0.009665410965681076, + 0.0950000211596489, + -2.8947136402130127, + -0.11155727505683899, + -0.33616670966148376 + ], + "gripper_value": 0.8913851380348206 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "lift and move can to pot", + "subtask_reasoning": "The robot has already positioned itself over the can of tomato sauce in the drawer. The gripper is open and ready to grasp the can. The next action should be to close the gripper to securely grasp the can before lifting and moving it to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3358836770057678, + 0.029845859855413437, + 0.1316116750240326, + -2.8200433254241943, + -0.028375908732414246, + -0.38970160484313965 + ], + "gripper_value": 0.8913851380348206 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green scrubber": [ + 355, + 63, + 504, + 186 + ], + "metal pot": [ + 213, + 261, + 438, + 512 + ], + "ice dispenser": [ + 42, + 480, + 344, + 937 + ], + "bowls": [ + 193, + 24, + 335, + 162 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "lift and move can to pot", + "subtask_reasoning": "The robot has already positioned itself over the can of tomato sauce in the drawer. The gripper is open and ready to grasp the can. The next action should be to close the gripper to securely grasp the can before lifting and moving it to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3234570026397705, + 0.07002173364162445, + 0.13093410432338715, + -2.8171725273132324, + 0.013258345425128937, + -0.4357486069202423 + ], + "gripper_value": 0.8913851380348206 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the can of tomato sauce from the counter and place it inside the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer" + }, + { + "id": 2, + "subtask": "position over can" + }, + { + "id": 3, + "subtask": "grasp can" + }, + { + "id": 4, + "subtask": "lift and move can to pot" + } + ], + "subtask_name": "lift and move can to pot", + "subtask_reasoning": "The robot has already positioned itself over the can of tomato sauce in the drawer. The gripper is open and ready to grasp the can. The next action should be to close the gripper to securely grasp the can before lifting and moving it to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003986_ecot.json b/cot/chunk-0003/episode_0003986_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1732978291f55c634af4859c0351dadc7f258fb5 --- /dev/null +++ b/cot/chunk-0003/episode_0003986_ecot.json @@ -0,0 +1,1637 @@ +{ + "task_name": "episode_0003986", + "episode_json": "json/chunk-0003/episode_0003986.json", + "video_path": "videos/chunk-0003/image_0/episode_0003986.mp4", + "instruction": "Put potato on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003986.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.3463708162307739, + "std": 0.15106108784675598, + "delta_total": -0.2705063223838806, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34637, std=0.15106, total_delta=-0.27051). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 15 + ], + [ + 3, + 16, + 17 + ], + [ + 4, + 18, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach sink area\", \"start\": 0, \"end\": 1, \"planning\": \"Move end-effector toward the sink region where the potato is located, with gripper fully open.\"},\n {\"id\": 2, \"name\": \"Position over potato\", \"start\": 2, \"end\": 15, \"planning\": \"Navigate and align gripper above the potato in the sink, maintaining open gripper state throughout.\"},\n {\"id\": 3, \"name\": \"Grasp potato\", \"start\": 16, \"end\": 17, \"planning\": \"Close gripper to securely grasp the potato, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 4, \"name\": \"Lift and place on plate\", \"start\": 18, \"end\": 24, \"planning\": \"Lift the grasped potato and move it to the red plate, releasing it upon arrival as gripper opens slightly at end.\"}\n ],\n \"global_plan\": \"Approach the potato in the sink, position gripper above it, close to grasp, then lift and place onto the red plate.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 3 and 4; grasp wording is justified there with image agreement. Segment 2 shows no closing — described as positioning without grasping. Full frame coverage maintained with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach sink area", + "start": 0, + "end": 1, + "planning": "Move end-effector toward the sink region where the potato is located, with gripper fully open." + }, + { + "id": 2, + "name": "Position over potato", + "start": 2, + "end": 15, + "planning": "Navigate and align gripper above the potato in the sink, maintaining open gripper state throughout." + }, + { + "id": 3, + "name": "Grasp potato", + "start": 16, + "end": 17, + "planning": "Close gripper to securely grasp the potato, confirmed by significant gripper closure and visual contact." + }, + { + "id": 4, + "name": "Lift and place on plate", + "start": 18, + "end": 24, + "planning": "Lift the grasped potato and move it to the red plate, releasing it upon arrival as gripper opens slightly at end." + } + ], + "global_plan": "Approach the potato in the sink, position gripper above it, close to grasp, then lift and place onto the red plate.", + "notes": "Gripper evidence confirms meaningful closing only in segments 3 and 4; grasp wording is justified there with image agreement. Segment 2 shows no closing — described as positioning without grasping. Full frame coverage maintained with contiguous ranges." + } + }, + "episode_goal": "Pick up the potato from the sink and place it on the red plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3929164707660675, + -0.08424197137355804, + 0.08134707063436508, + 3.103538990020752, + -0.250294029712677, + -0.054264530539512634 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Approach sink area", + "subtask_reasoning": "The robot is positioned near the sink containing the potato and red plate, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to move the gripper closer to the potato in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, keep gripper open; then move back 6 cm, move left 19 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3826189935207367, + -0.0654308870434761, + 0.06315721571445465, + 3.1404099464416504, + -0.1895616352558136, + -0.07857225835323334 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Approach sink area", + "subtask_reasoning": "The robot is positioned near the sink containing the potato and red plate, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to move the gripper closer to the potato in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 2 cm, keep gripper open; then move back 6 cm, move left 19 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767482340335846, + -0.024353578686714172, + 0.07903333008289337, + -3.0909106731414795, + -0.18039654195308685, + -0.0849606841802597 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot is positioned near the sink containing the potato and red plate, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to move the gripper closer to the potato in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 19 cm, move down 11 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3712996244430542, + 0.011145373806357384, + 0.09080272167921066, + -3.047546863555908, + -0.15707312524318695, + -0.043668635189533234 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "watermelon": [ + 146, + 307, + 316, + 409 + ], + "grey pitcher": [ + 368, + 1, + 502, + 197 + ], + "milk carton": [ + 71, + 246, + 173, + 386 + ], + "blue cup": [ + 157, + 183, + 254, + 313 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot is positioned near the sink containing the potato and red plate, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to move the gripper closer to the potato in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 15 cm, move down 14 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36430642008781433, + 0.037090376019477844, + 0.09430667757987976, + -3.016261100769043, + -0.1615241914987564, + -0.016197752207517624 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot is positioned near the sink containing the potato and red plate, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to move the gripper closer to the potato in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, move down 15 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34879350662231445, + 0.06768838316202164, + 0.07430500537157059, + -3.0161023139953613, + -0.14407944679260254, + 0.039282530546188354 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot is positioned near the sink containing the potato and red plate, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to move the gripper closer to the potato in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 9 cm, move down 14 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3351936936378479, + 0.09422335028648376, + 0.05785493552684784, + -3.0292484760284424, + -0.15515802800655365, + 0.09387531876564026 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot is positioned near the sink containing the potato and red plate, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to move the gripper closer to the potato in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 14 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32551735639572144, + 0.11040536314249039, + 0.04494643583893776, + -3.0566344261169434, + -0.18290108442306519, + 0.10495826601982117 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot is positioned near the sink containing the potato and red plate, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to move the gripper closer to the potato in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 13 cm, keep gripper open; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3224279284477234, + 0.13239657878875732, + 0.025161541998386383, + -3.0843207836151123, + -0.19272293150424957, + 0.09877324104309082 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the potato. The approach to the sink area is complete, and the arm is now aligning over the potato. The next action is to lower the gripper slightly to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 11 cm, keep gripper open; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3204503655433655, + 0.15395399928092957, + 0.006302646826952696, + -3.1035091876983643, + -0.19266387820243835, + 0.10536196827888489 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "milk carton": [ + 71, + 243, + 172, + 385 + ], + "blue cup": [ + 156, + 180, + 252, + 311 + ], + "grey pitcher": [ + 368, + 1, + 503, + 195 + ], + "yellow object": [ + 283, + 438, + 368, + 538 + ], + "watermelon": [ + 527, + 155, + 709, + 307 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the potato. The approach to the sink area is complete, and the arm is now aligning over the potato. The next action is to lower the gripper slightly to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 9 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3151175081729889, + 0.16103927791118622, + -0.006053109187632799, + -3.1059603691101074, + -0.17077484726905823, + 0.08220138400793076 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the potato. The approach to the sink area is complete, and the arm is now aligning over the potato. The next action is to lower the gripper slightly to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 7 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move forward 3 cm, move right 2 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3129277527332306, + 0.16367734968662262, + -0.015697915107011795, + -3.116675615310669, + -0.17195364832878113, + 0.08152274787425995 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the potato. The approach to the sink area is complete, and the arm is now aligning over the potato. The next action is to lower the gripper slightly to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 6 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move forward 6 cm, move right 5 cm, move up 11 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3027510941028595, + 0.16142450273036957, + -0.03048831969499588, + -3.1268575191497803, + -0.15316076576709747, + 0.09280393272638321 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the potato. The approach to the sink area is complete, and the arm is now aligning over the potato. The next action is to lower the gripper slightly to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move forward 10 cm, move right 9 cm, move up 14 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.294495552778244, + 0.15858982503414154, + -0.04575086012482643, + -3.1313679218292236, + -0.13632795214653015, + 0.10216909646987915 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the potato. The approach to the sink area is complete, and the arm is now aligning over the potato. The next action is to lower the gripper slightly to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move forward 12 cm, move right 12 cm, move up 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2927490770816803, + 0.1591653674840927, + -0.05553813278675079, + -3.131976366043091, + -0.14560428261756897, + 0.10787543654441833 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the potato. The approach to the sink area is complete, and the arm is now aligning over the potato. The next action is to lower the gripper slightly to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move forward 14 cm, move right 12 cm, move up 14 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29394957423210144, + 0.15942606329917908, + -0.06747236847877502, + -3.13456392288208, + -0.16305962204933167, + 0.11417382955551147 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Position over potato", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the potato. The approach to the sink area is complete, and the arm is now aligning over the potato. The next action is to lower the gripper slightly to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, keep gripper closed; then move forward 14 cm, move right 12 cm, move up 14 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990110516548157, + 0.1595524102449417, + -0.08068893104791641, + 3.1399173736572266, + -0.18794400990009308, + 0.11092483252286911 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Grasp potato", + "subtask_reasoning": "The robot arm is positioned over the potato in the sink, with the gripper open and ready to close. The gripper signal shows a significant decrease, indicating the start of a grasp action. The next step is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 14 cm, move right 12 cm, move up 14 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30747276544570923, + 0.16440583765506744, + -0.08306150883436203, + 3.1386821269989014, + -0.2018236219882965, + 0.11152324080467224 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Grasp potato", + "subtask_reasoning": "The robot arm is positioned over the potato in the sink, with the gripper open and ready to close. The gripper signal shows a significant decrease, indicating the start of a grasp action. The next step is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 14 cm, move right 12 cm, move up 14 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3065492808818817, + 0.16049166023731232, + -0.07905139029026031, + -3.132856607437134, + -0.16607080399990082, + 0.132801353931427 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Lift and place on plate", + "subtask_reasoning": "The robot arm is positioned over the potato in the sink, with the gripper open and ready to close. The gripper signal shows a significant decrease, indicating the start of a grasp action. The next step is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 12 cm, move up 14 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3026181757450104, + 0.14796529710292816, + -0.06189984083175659, + -3.1235501766204834, + -0.09691429883241653, + 0.09453194588422775 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Lift and place on plate", + "subtask_reasoning": "The robot arm is positioned over the potato in the sink, with the gripper open and ready to close. The gripper signal shows a significant decrease, indicating the start of a grasp action. The next step is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 11 cm, move up 13 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33393150568008423, + 0.1390821933746338, + -0.010129939764738083, + -3.08483624458313, + -0.15246035158634186, + 0.0420880988240242 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Lift and place on plate", + "subtask_reasoning": "The robot arm is positioned over the potato in the sink, with the gripper open and ready to close. The gripper signal shows a significant decrease, indicating the start of a grasp action. The next step is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 10 cm, move up 7 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3690720498561859, + 0.11321738362312317, + 0.02780475653707981, + -3.0328752994537354, + -0.23890429735183716, + -0.017737632617354393 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "milk carton": [ + 73, + 246, + 174, + 383 + ], + "watermelon": [ + 145, + 307, + 315, + 409 + ], + "blue cup": [ + 158, + 183, + 256, + 313 + ], + "yellow object": [ + 638, + 283, + 890, + 582 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Lift and place on plate", + "subtask_reasoning": "The robot is currently holding the potato above the sink after lifting it. The gripper is closed, and the arm is positioned to move towards the red plate on the counter. The next action is to translate the potato over the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 7 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4034222662448883, + 0.07290074974298477, + 0.057868193835020065, + -3.0117721557617188, + -0.3291913568973541, + -0.07989511638879776 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Lift and place on plate", + "subtask_reasoning": "The robot is currently holding the potato above the sink after lifting it. The gripper is closed, and the arm is positioned to move towards the red plate on the counter. The next action is to translate the potato over the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4291892349720001, + 0.041713278740644455, + 0.07209260761737823, + -3.022224187850952, + -0.386787474155426, + -0.13676230609416962 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Lift and place on plate", + "subtask_reasoning": "The robot is currently holding the potato above the sink after lifting it. The gripper is closed, and the arm is positioned to move towards the red plate on the counter. The next action is to translate the potato over the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4443432688713074, + 0.040243711322546005, + 0.06350686401128769, + -3.026441812515259, + -0.40048637986183167, + -0.21746784448623657 + ], + "gripper_value": 0.7309711575508118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the sink and place it on the red plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach sink area" + }, + { + "id": 2, + "subtask": "Position over potato" + }, + { + "id": 3, + "subtask": "Grasp potato" + }, + { + "id": 4, + "subtask": "Lift and place on plate" + } + ], + "subtask_name": "Lift and place on plate", + "subtask_reasoning": "The robot is currently holding the potato above the sink after lifting it. The gripper is closed, and the arm is positioned to move towards the red plate on the counter. The next action is to translate the potato over the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003987_ecot.json b/cot/chunk-0003/episode_0003987_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8795331ccc902832985d4923c4a6e6ead37fc504 --- /dev/null +++ b/cot/chunk-0003/episode_0003987_ecot.json @@ -0,0 +1,2244 @@ +{ + "task_name": "episode_0003987", + "episode_json": "json/chunk-0003/episode_0003987.json", + "video_path": "videos/chunk-0003/image_0/episode_0003987.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003987.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.46310973167419434, + "std": 0.2084784358739853, + "delta_total": -0.06169319152832031, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.46311, std=0.20848, total_delta=-0.06169). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 3, + 6, + 20 + ], + [ + 4, + 21, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the carrot without closing gripper, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 6, \"end\": 20, \"planning\": \"Close gripper around carrot and secure hold as evidenced by decreasing gripper value and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and move carrot\", \"start\": 21, \"end\": 27, \"planning\": \"Lift carrot from surface and transport it toward the plate while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place carrot on plate\", \"start\": 28, \"end\": 34, \"planning\": \"Lower carrot onto plate and release grip as gripper opens, completing placement.\"}\n ],\n \"global_plan\": \"Approach the carrot, grasp it securely, lift and move it over the plate, then place it down by releasing the gripper.\",\n \"notes\": \"Subtasks align with segment boundaries and gripper evidence: no grasp before frame 6; grasp confirmed in segment 3; release confirmed in segment 4 via gripper opening. Frame coverage is contiguous and complete from 0 to 34.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the carrot without closing gripper, positioning for contact." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 6, + "end": 20, + "planning": "Close gripper around carrot and secure hold as evidenced by decreasing gripper value and stable pose." + }, + { + "id": 3, + "name": "lift and move carrot", + "start": 21, + "end": 27, + "planning": "Lift carrot from surface and transport it toward the plate while maintaining grip." + }, + { + "id": 4, + "name": "place carrot on plate", + "start": 28, + "end": 34, + "planning": "Lower carrot onto plate and release grip as gripper opens, completing placement." + } + ], + "global_plan": "Approach the carrot, grasp it securely, lift and move it over the plate, then place it down by releasing the gripper.", + "notes": "Subtasks align with segment boundaries and gripper evidence: no grasp before frame 6; grasp confirmed in segment 3; release confirmed in segment 4 via gripper opening. Frame coverage is contiguous and complete from 0 to 34." + } + }, + "episode_goal": "Place the carrot on the green plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30051562190055847, + 0.0814620777964592, + 0.08786152303218842, + 3.126880645751953, + -0.0955272689461708, + 0.40487968921661377 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the play kitchen with the carrot visible in the pot. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2963140606880188, + 0.07891564071178436, + 0.07809212803840637, + 3.129756212234497, + -0.060340337455272675, + 0.3922760784626007 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the play kitchen with the carrot visible in the pot. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29971569776535034, + 0.071022629737854, + 0.0801405981183052, + 3.1290721893310547, + -0.08907440304756165, + 0.2353597730398178 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3025779128074646, + 0.057673580944538116, + 0.08871585875749588, + 3.138408660888672, + -0.16526368260383606, + 0.10442941635847092 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3033756911754608, + 0.039313700050115585, + 0.09181354194879532, + -3.1265952587127686, + -0.2181224226951599, + -0.061732228845357895 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039306700229645, + 0.018202077597379684, + 0.09300526976585388, + -3.1351795196533203, + -0.21685324609279633, + -0.17870931327342987 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open; then move forward 3 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30787622928619385, + -0.003163291374221444, + 0.09830676019191742, + 3.139101266860962, + -0.21530961990356445, + -0.1823933869600296 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162881135940552, + -0.02970210649073124, + 0.09847239404916763, + 3.0449750423431396, + -0.17976853251457214, + -0.15379509329795837 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 329, + 289, + 511, + 432 + ], + "red tomato": [ + 231, + 527, + 323, + 644 + ], + "metal pot": [ + 462, + 533, + 729, + 852 + ], + "cardboard box": [ + 99, + 200, + 842, + 944 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 6 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192707598209381, + -0.04816940426826477, + 0.09135632961988449, + 2.961212396621704, + -0.1778470277786255, + -0.13167519867420197 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 329, + 289, + 511, + 432 + ], + "metal pot": [ + 462, + 531, + 729, + 852 + ], + "red tomato": [ + 231, + 527, + 324, + 644 + ], + "cardboard box": [ + 98, + 199, + 846, + 946 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32327553629875183, + -0.06267903000116348, + 0.0854453518986702, + 2.9280738830566406, + -0.19134823977947235, + -0.12440821528434753 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3263077735900879, + -0.07292189449071884, + 0.08204527199268341, + 2.921598434448242, + -0.22409462928771973, + -0.13963909447193146 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32848745584487915, + -0.07802271097898483, + 0.06683538109064102, + 2.906421184539795, + -0.219035342335701, + -0.1309942603111267 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33130526542663574, + -0.07938402146100998, + 0.05726243183016777, + 2.913160800933838, + -0.21879586577415466, + -0.13617436587810516 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible to the right. No objects have been moved yet. The gripper is open and the robot is moving toward the carrot. The next action is to continue approaching the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33417263627052307, + -0.07771428674459457, + 0.04213292896747589, + 2.896023988723755, + -0.20483702421188354, + -0.155814066529274 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 1 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 3 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33949440717697144, + -0.07215473800897598, + 0.03676696494221687, + 2.8932032585144043, + -0.21217100322246552, + -0.16126398742198944 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 2 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34076470136642456, + -0.07168932259082794, + 0.032323189079761505, + 2.8824350833892822, + -0.21153320372104645, + -0.1519678384065628 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 2 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3408651351928711, + -0.07086654007434845, + 0.03261907771229744, + 2.8897972106933594, + -0.20710700750350952, + -0.1638379693031311 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 2 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34079328179359436, + -0.07142417132854462, + 0.03407617285847664, + 2.903653860092163, + -0.19203993678092957, + -0.1608615219593048 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 2 cm, tilt left 20 degrees, tilt back 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34086641669273376, + -0.07513376325368881, + 0.0345035120844841, + 2.915494203567505, + -0.193891242146492, + -0.1644723117351532 + ], + "gripper_value": 0.5859079360961914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, tilt back 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 12 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35013049840927124, + -0.07559692114591599, + 0.037255629897117615, + 2.9502995014190674, + -0.25123846530914307, + -0.17601686716079712 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 12 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3730703890323639, + -0.07111061364412308, + 0.05280306562781334, + 3.0764904022216797, + -0.5196350812911987, + -0.20296458899974823 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt back 10 degrees, keep gripper closed; then move back 5 cm, move left 12 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38454335927963257, + -0.06225946545600891, + 0.05416782572865486, + -3.126040458679199, + -0.663703441619873, + -0.22994454205036163 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and move carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38691219687461853, + -0.052922725677490234, + 0.06124109402298927, + -3.078481912612915, + -0.678710401058197, + -0.23009304702281952 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and move carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3799271881580353, + -0.034259356558322906, + 0.07231220602989197, + -2.9707674980163574, + -0.6249843239784241, + -0.29644685983657837 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and move carrot", + "subtask_reasoning": "The robot has approached the carrot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the carrot. The next action is to initiate the grasping motion by closing the gripper around the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 4 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3681875169277191, + -0.013121872209012508, + 0.08218212425708771, + -2.860830068588257, + -0.5272108912467957, + -0.39524713158607483 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 329, + 289, + 510, + 432 + ], + "red tomato": [ + 231, + 527, + 324, + 643 + ], + "carrot": [ + 538, + 256, + 683, + 441 + ], + "metal pot": [ + 452, + 542, + 719, + 857 + ], + "cardboard box": [ + 100, + 199, + 852, + 949 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and move carrot", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the stove area. The gripper remains closed with no change in aperture, confirming the object is held securely. The next action is to continue moving the carrot horizontally towards the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605709969997406, + 0.005554330535233021, + 0.08141816407442093, + -2.780592441558838, + -0.4833267033100128, + -0.4910329282283783 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and move carrot", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the stove area. The gripper remains closed with no change in aperture, confirming the object is held securely. The next action is to continue moving the carrot horizontally towards the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35439106822013855, + 0.02263413555920124, + 0.07477989792823792, + -2.756080389022827, + -0.4203202724456787, + -0.6025921702384949 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and move carrot", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the stove area. The gripper remains closed with no change in aperture, confirming the object is held securely. The next action is to continue moving the carrot horizontally towards the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.34622132778167725, + 0.03997151926159859, + 0.0709528774023056, + -2.7748091220855713, + -0.362836092710495, + -0.678132951259613 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 330, + 290, + 511, + 430 + ], + "red tomato": [ + 231, + 527, + 323, + 643 + ], + "metal pot": [ + 452, + 549, + 719, + 858 + ], + "carrot": [ + 404, + 268, + 556, + 396 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and move carrot", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the stove area. The gripper remains closed with no change in aperture, confirming the object is held securely. The next action is to continue moving the carrot horizontally towards the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.33873263001441956, + 0.05851208418607712, + 0.06780003756284714, + -2.781243324279785, + -0.3251936137676239, + -0.7218981385231018 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the stove area. The gripper remains closed with no change in aperture, confirming the object is held securely. The next action is to continue moving the carrot horizontally towards the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33838990330696106, + 0.07715637236833572, + 0.06994681805372238, + -2.7847883701324463, + -0.2948920428752899, + -0.7744590044021606 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the stove area. The gripper remains closed with no change in aperture, confirming the object is held securely. The next action is to continue moving the carrot horizontally towards the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3483230471611023, + 0.09558100998401642, + 0.057807765901088715, + -2.7993481159210205, + -0.2497943639755249, + -0.8262797594070435 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot has successfully grasped the carrot and is currently lifting it above the stove area. The gripper remains closed with no change in aperture, confirming the object is held securely. The next action is to continue moving the carrot horizontally towards the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35785219073295593, + 0.10509515553712845, + 0.04541654512286186, + -2.7851951122283936, + -0.27004700899124146, + -0.8706477880477905 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is holding the carrot above the green plate, having completed the approach and grasp phases. The gripper is currently closed around the carrot, and the end-effector is positioned for placement. The next action is to release the gripper to place the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3706653118133545, + 0.11064999550580978, + 0.03589634597301483, + -2.731135368347168, + -0.3244244158267975, + -0.8936482071876526 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is holding the carrot above the green plate, having completed the approach and grasp phases. The gripper is currently closed around the carrot, and the end-effector is positioned for placement. The next action is to release the gripper to place the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.37442755699157715, + 0.11308169364929199, + 0.03205280378460884, + -2.7123007774353027, + -0.3422403931617737, + -0.8675103187561035 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is holding the carrot above the green plate, having completed the approach and grasp phases. The gripper is currently closed around the carrot, and the end-effector is positioned for placement. The next action is to release the gripper to place the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.37005677819252014, + 0.11115908622741699, + 0.02365182153880596, + -2.7449615001678467, + -0.33910343050956726, + -0.8399014472961426 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is holding the carrot above the green plate, having completed the approach and grasp phases. The gripper is currently closed around the carrot, and the end-effector is positioned for placement. The next action is to release the gripper to place the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003988_ecot.json b/cot/chunk-0003/episode_0003988_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..841f398343cb2fcd9c36fcc2dab160feeaae498c --- /dev/null +++ b/cot/chunk-0003/episode_0003988_ecot.json @@ -0,0 +1,1130 @@ +{ + "task_name": "episode_0003988", + "episode_json": "json/chunk-0003/episode_0003988.json", + "video_path": "videos/chunk-0003/image_0/episode_0003988.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003988.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.24232345819473267, + "std": 0.11010745912790298, + "delta_total": -0.07588714361190796, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.24232, std=0.11011, total_delta=-0.07589). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp carrot\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the carrot in the sink and close gripper to secure it, as evidenced by gripper value dropping from 0.93752 to 0.69520 with consistent motion.\"},\n {\"id\": 2, \"name\": \"transport and release carrot on plate\", \"start\": 12, \"end\": 19, \"planning\": \"Lift and move the grasped carrot toward the plate area, then open gripper to release it, confirmed by gripper value rising from 0.69520 to 0.86163 while positioning over target.\"}\n ],\n \"global_plan\": \"Grasp the carrot from the sink using controlled gripper closure, then transport and release it onto the plate via coordinated arm motion and gripper opening.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.24232) supporting 'grasp' wording; Segment 2 shows meaningful opening (delta=+0.16644) supporting 'release'. Both segments align with image evidence of object interaction.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp carrot", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the carrot in the sink and close gripper to secure it, as evidenced by gripper value dropping from 0.93752 to 0.69520 with consistent motion." + }, + { + "id": 2, + "name": "transport and release carrot on plate", + "start": 12, + "end": 19, + "planning": "Lift and move the grasped carrot toward the plate area, then open gripper to release it, confirmed by gripper value rising from 0.69520 to 0.86163 while positioning over target." + } + ], + "global_plan": "Grasp the carrot from the sink using controlled gripper closure, then transport and release it onto the plate via coordinated arm motion and gripper opening.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.24232) supporting 'grasp' wording; Segment 2 shows meaningful opening (delta=+0.16644) supporting 'release'. Both segments align with image evidence of object interaction." + } + }, + "episode_goal": "Place the carrot on the plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27404722571372986, + 0.0734119862318039, + 0.15993013978004456, + -3.0182316303253174, + 0.0034027458168566227, + -0.07015129178762436 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located, with the gripper currently open. No contact has been made yet, and the subtask of approaching and grasping the carrot is just beginning. The next action should involve moving the gripper closer to the carrot to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2732769846916199, + 0.06749962270259857, + 0.15132765471935272, + -3.0291545391082764, + 0.03205513954162598, + -0.08679638803005219 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located, with the gripper currently open. No contact has been made yet, and the subtask of approaching and grasping the carrot is just beginning. The next action should involve moving the gripper closer to the carrot to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27253270149230957, + 0.05903082713484764, + 0.1478167027235031, + -3.038191318511963, + 0.043043602257966995, + -0.10422581434249878 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located, with the gripper currently open. No contact has been made yet, and the subtask of approaching and grasping the carrot is just beginning. The next action should involve moving the gripper closer to the carrot to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26842406392097473, + 0.058313582092523575, + 0.14034582674503326, + -3.0367720127105713, + 0.06972243636846542, + -0.09269047528505325 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located, with the gripper currently open. No contact has been made yet, and the subtask of approaching and grasping the carrot is just beginning. The next action should involve moving the gripper closer to the carrot to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.263347327709198, + 0.061350639909505844, + 0.13245268166065216, + -3.0141632556915283, + 0.09254731982946396, + -0.07922353595495224 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located, with the gripper currently open. No contact has been made yet, and the subtask of approaching and grasping the carrot is just beginning. The next action should involve moving the gripper closer to the carrot to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2608100473880768, + 0.06477262824773788, + 0.12480197101831436, + -2.9797210693359375, + 0.10164797306060791, + -0.0678258165717125 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 360, + 598, + 514, + 777 + ], + "red toy apple": [ + 361, + 326, + 443, + 447 + ], + "dish rack": [ + 330, + 266, + 590, + 476 + ], + "faucet": [ + 554, + 108, + 740, + 543 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591608762741089, + 0.0678657740354538, + 0.11917494237422943, + -2.947190761566162, + 0.09460602700710297, + -0.047477398067712784 + ], + "gripper_value": 0.7545521855354309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2586408257484436, + 0.06881894171237946, + 0.11937117576599121, + -2.9315578937530518, + 0.061279285699129105, + -0.03999001905322075 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2545168697834015, + 0.06949043273925781, + 0.11954189836978912, + -2.925075054168701, + 0.039556872099637985, + -0.021895278245210648 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25541526079177856, + 0.06667543202638626, + 0.12179131805896759, + -2.92022967338562, + 0.02164970524609089, + -0.03596052899956703 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632814347743988, + 0.05511204153299332, + 0.1365303099155426, + -2.900649309158325, + -0.022855890914797783, + -0.08820538222789764 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28170767426490784, + 0.03280077129602432, + 0.15544161200523376, + -2.8893117904663086, + -0.08049951493740082, + -0.15250149369239807 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955445945262909, + 0.007060477044433355, + 0.15000995993614197, + -2.9095935821533203, + -0.07795695960521698, + -0.19405297935009003 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "transport and release carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29873913526535034, + -0.01897050067782402, + 0.13134239614009857, + -2.950742721557617, + -0.032442450523376465, + -0.23430576920509338 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 360, + 600, + 514, + 777 + ], + "red toy apple": [ + 542, + 642, + 636, + 779 + ], + "toy knife": [ + 476, + 177, + 548, + 317 + ], + "faucet": [ + 556, + 107, + 741, + 541 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "transport and release carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30093076825141907, + -0.03089139796793461, + 0.11413408070802689, + -2.9761712551116943, + 0.004277152940630913, + -0.2541499435901642 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "transport and release carrot on plate", + "subtask_reasoning": "The robot arm is positioned above the sink where the carrot is located among other toys. No prior actions have been completed yet. The gripper is open and approaching the carrot, indicating readiness to grasp. The next action should involve closing the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3048848509788513, + -0.03221181407570839, + 0.09936407208442688, + -2.9721856117248535, + 0.02673373930156231, + -0.2583000361919403 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "transport and release carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the sink area, having completed the grasp phase. The arm is positioned to begin transporting the object, but has not yet reached the plate. The next action is to move the arm towards the plate to place the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30501317977905273, + -0.03186145797371864, + 0.086861751973629, + -2.970597505569458, + 0.04309412091970444, + -0.24943290650844574 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "transport and release carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the sink area, having completed the grasp phase. The arm is positioned to begin transporting the object, but has not yet reached the plate. The next action is to move the arm towards the plate to place the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30568423867225647, + -0.03209371864795685, + 0.07482755929231644, + -2.971668004989624, + 0.056752584874629974, + -0.24248254299163818 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "transport and release carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the sink area, having completed the grasp phase. The arm is positioned to begin transporting the object, but has not yet reached the plate. The next action is to move the arm towards the plate to place the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067490756511688, + -0.032763198018074036, + 0.06774985045194626, + -2.9681098461151123, + 0.06468543410301208, + -0.2314954549074173 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "transport and release carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the sink area, having completed the grasp phase. The arm is positioned to begin transporting the object, but has not yet reached the plate. The next action is to move the arm towards the plate to place the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047744035720825, + -0.0313180536031723, + 0.06568355113267899, + -2.958477020263672, + 0.08576622605323792, + -0.2236521691083908 + ], + "gripper_value": 0.8616333603858948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "transport and release carrot on plate" + } + ], + "subtask_name": "transport and release carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the sink area, having completed the grasp phase. The arm is positioned to begin transporting the object, but has not yet reached the plate. The next action is to move the arm towards the plate to place the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003989_ecot.json b/cot/chunk-0003/episode_0003989_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..587b6d4b62d57157c93f547463a559f8d3561772 --- /dev/null +++ b/cot/chunk-0003/episode_0003989_ecot.json @@ -0,0 +1,2104 @@ +{ + "task_name": "episode_0003989", + "episode_json": "json/chunk-0003/episode_0003989.json", + "video_path": "videos/chunk-0003/image_0/episode_0003989.mp4", + "instruction": "Move the blue cloth from the left burner to the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003989.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.000666201114654541, + "std": 0.00011098827962996438, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00011, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 28 + ], + [ + 3, + 29, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector toward the blue cloth on the left burner without grasping.\"},\n {\"id\": 2, \"name\": \"slide cloth to right burner\", \"start\": 11, \"end\": 28, \"planning\": \"Push or drag the blue cloth across the stovetop from the left burner to the right burner using contact motion.\"},\n {\"id\": 3, \"name\": \"release contact and retreat\", \"start\": 29, \"end\": 34, \"planning\": \"Lift the end-effector slightly and move away from the cloth after repositioning it on the right burner.\"}\n ],\n \"global_plan\": \"The robot approaches the blue cloth, slides it across the stovetop to the right burner via contact-based pushing, then retreats without grasping at any point.\",\n \"notes\": \"Gripper remains fully open throughout; no grasp or lift occurs. Motion is purely translational/contact-based sliding followed by retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 10, + "planning": "Move the end-effector toward the blue cloth on the left burner without grasping." + }, + { + "id": 2, + "name": "slide cloth to right burner", + "start": 11, + "end": 28, + "planning": "Push or drag the blue cloth across the stovetop from the left burner to the right burner using contact motion." + }, + { + "id": 3, + "name": "release contact and retreat", + "start": 29, + "end": 34, + "planning": "Lift the end-effector slightly and move away from the cloth after repositioning it on the right burner." + } + ], + "global_plan": "The robot approaches the blue cloth, slides it across the stovetop to the right burner via contact-based pushing, then retreats without grasping at any point.", + "notes": "Gripper remains fully open throughout; no grasp or lift occurs. Motion is purely translational/contact-based sliding followed by retreat." + } + }, + "episode_goal": "Move the blue cloth from the left burner to the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2278544008731842, + -0.023941893130540848, + 0.07368367165327072, + 2.7566580772399902, + -0.13000622391700745, + 1.2621499300003052 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible on the left burner. No actions have been completed yet as the robot is just beginning to approach the cloth. The next action should involve moving the end effector closer to the blue cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 4 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21629297733306885, + -0.022252880036830902, + 0.06310959905385971, + 2.8004555702209473, + -0.11980237066745758, + 1.2599070072174072 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible on the left burner. No actions have been completed yet as the robot is just beginning to approach the cloth. The next action should involve moving the end effector closer to the blue cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move down 4 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21111354231834412, + -0.014432428404688835, + 0.06135266646742821, + 2.843994379043579, + -0.1036810353398323, + 1.2713935375213623 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible on the left burner. No actions have been completed yet as the robot is just beginning to approach the cloth. The next action should involve moving the end effector closer to the blue cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21948762238025665, + 0.004297455307096243, + 0.0709952563047409, + 2.829564332962036, + -0.07605749368667603, + 1.3317888975143433 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "saucepan": [ + 543, + 655, + 808, + 968 + ], + "wooden cabinet": [ + 2, + 28, + 215, + 535 + ], + "blue cloth": [ + 83, + 501, + 401, + 767 + ], + "induction cooktop": [ + 12, + 426, + 697, + 973 + ], + "whisk": [ + 289, + 614, + 536, + 916 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible on the left burner. No actions have been completed yet as the robot is just beginning to approach the cloth. The next action should involve moving the end effector closer to the blue cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 4 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2298736572265625, + 0.020793413743376732, + 0.07422832399606705, + 2.8594844341278076, + -0.04796351119875908, + 1.3805404901504517 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue cloth visible on the left burner. No actions have been completed yet as the robot is just beginning to approach the cloth. The next action should involve moving the end effector closer to the blue cloth to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 5 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.244179368019104, + 0.04260319843888283, + 0.07476438581943512, + 2.896913528442383, + -0.022945038974285126, + 1.4379371404647827 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2568052113056183, + 0.057498492300510406, + 0.07079166918992996, + 2.952005624771118, + -0.06293623894453049, + 1.435795545578003 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523302733898163, + 0.06766489148139954, + 0.05699484422802925, + 3.041008472442627, + -0.10623378306627274, + 1.4470648765563965 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2520371377468109, + 0.07462308555841446, + 0.05158622935414314, + 3.0819530487060547, + -0.1490209996700287, + 1.457139253616333 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 83, + 473, + 402, + 766 + ], + "saucepan": [ + 543, + 656, + 808, + 969 + ], + "whisk": [ + 296, + 623, + 536, + 917 + ], + "induction cooktop": [ + 8, + 408, + 692, + 969 + ], + "wooden cabinet": [ + 2, + 14, + 155, + 532 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2509253919124603, + 0.07759357988834381, + 0.04530170187354088, + 3.102308988571167, + -0.14959867298603058, + 1.4635812044143677 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2487492561340332, + 0.07850351184606552, + 0.033343806862831116, + 3.1413514614105225, + -0.14019052684307098, + 1.4592260122299194 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 4 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500649392604828, + 0.07886645197868347, + 0.026724686846137047, + -3.1316261291503906, + -0.13707691431045532, + 1.4569032192230225 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530185580253601, + 0.0836450532078743, + 0.01823730580508709, + -3.109069347381592, + -0.1560135781764984, + 1.462032675743103 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25091391801834106, + 0.0867796465754509, + 0.009691944345831871, + -3.083658456802368, + -0.15742053091526031, + 1.4719239473342896 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533034086227417, + 0.09013377875089645, + 0.006143439095467329, + -3.076155424118042, + -0.1593656688928604, + 1.4814903736114502 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.255777508020401, + 0.09065835922956467, + 0.00531712407246232, + -3.0759167671203613, + -0.15883438289165497, + 1.4891303777694702 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25982001423835754, + 0.08870495855808258, + 0.004685716703534126, + -3.085414409637451, + -0.1427396833896637, + 1.4957295656204224 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645701766014099, + 0.08573630452156067, + 0.005565323866903782, + -3.0958895683288574, + -0.13633295893669128, + 1.499735951423645 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27245718240737915, + 0.08014249801635742, + 0.00579671049490571, + -3.1013906002044678, + -0.13319005072116852, + 1.5146324634552002 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the blue cloth on the left burner. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817140817642212, + 0.07149262726306915, + 0.005454652477055788, + -3.1053414344787598, + -0.13334020972251892, + 1.4985013008117676 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947721779346466, + 0.05521632358431816, + 0.0046253209002316, + -3.115933656692505, + -0.13644838333129883, + 1.4619863033294678 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30263230204582214, + 0.03715161234140396, + 0.004513715859502554, + -3.125802755355835, + -0.1373724639415741, + 1.4290788173675537 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 210, + 474, + 501, + 690 + ], + "whisk": [ + 402, + 595, + 539, + 918 + ], + "saucepan": [ + 543, + 655, + 809, + 969 + ], + "wooden cabinet": [ + 2, + 2, + 266, + 535 + ], + "induction cooktop": [ + 8, + 392, + 693, + 969 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3094349503517151, + 0.017896227538585663, + 0.004005686845630407, + -3.1355412006378174, + -0.12897272408008575, + 1.3954800367355347 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31017881631851196, + 0.0006728832377120852, + 0.002321836305782199, + -3.13728928565979, + -0.12517456710338593, + 1.3660911321640015 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30959102511405945, + -0.007371350657194853, + 0.0008984446758404374, + -3.133275032043457, + -0.12455545365810394, + 1.3440793752670288 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.309700608253479, + -0.013273799791932106, + 0.0006811358034610748, + -3.134190797805786, + -0.12350774556398392, + 1.332936406135559 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3100404143333435, + -0.014772760681807995, + 0.0011549703776836395, + -3.1372568607330322, + -0.12372834235429764, + 1.3285232782363892 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3096003830432892, + -0.015938615426421165, + 0.0005336643080227077, + -3.136186361312866, + -0.11582379788160324, + 1.3312604427337646 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30965378880500793, + -0.01646576076745987, + 0.0009486188646405935, + -3.1376216411590576, + -0.11270775645971298, + 1.3300381898880005 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide cloth to right burner", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30960196256637573, + -0.0170073714107275, + 0.002703591948375106, + 3.1391777992248535, + -0.11003091186285019, + 1.3322287797927856 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061959743499756, + -0.01799575798213482, + 0.015530027449131012, + 3.1049859523773193, + -0.10781364887952805, + 1.3516387939453125 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the left burner, positioned to push it. No grasping has occurred as the gripper remains open. The next action is to slide the cloth across the stovetop toward the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.305981308221817, + -0.017901958897709846, + 0.033441781997680664, + 3.0585696697235107, + -0.10974282771348953, + 1.3620131015777588 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The blue cloth has been successfully slid to the right burner. The robot is currently in contact with the cloth but the gripper is open, indicating no grasp. The next action is to lift the end-effector and retreat to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 29, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30441635847091675, + -0.014439866878092289, + 0.048687808215618134, + 3.0233190059661865, + -0.10429614782333374, + 1.380155324935913 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The blue cloth has been successfully slid to the right burner. The robot is currently in contact with the cloth but the gripper is open, indicating no grasp. The next action is to lift the end-effector and retreat to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2997008264064789, + -0.012348673306405544, + 0.06447598338127136, + 2.9900190830230713, + -0.09829017519950867, + 1.3878114223480225 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The blue cloth has been successfully slid to the right burner. The robot is currently in contact with the cloth but the gripper is open, indicating no grasp. The next action is to lift the end-effector and retreat to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29006919264793396, + -0.0053669773042202, + 0.0898689553141594, + 2.9146456718444824, + -0.0866861492395401, + 1.4190210103988647 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 326, + 465, + 612, + 717 + ], + "saucepan": [ + 543, + 655, + 807, + 969 + ], + "sink": [ + 749, + 652, + 994, + 993 + ], + "induction cooktop": [ + 10, + 403, + 691, + 956 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth from the left burner to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "slide cloth to right burner" + }, + { + "id": 3, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The blue cloth has been successfully slid to the right burner. The robot is currently in contact with the cloth but the gripper is open, indicating no grasp. The next action is to lift the end-effector and retreat to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003990_ecot.json b/cot/chunk-0003/episode_0003990_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2ebd0a44daa5397bbd698b62e7ab9bb15940fbb3 --- /dev/null +++ b/cot/chunk-0003/episode_0003990_ecot.json @@ -0,0 +1,2675 @@ +{ + "task_name": "episode_0003990", + "episode_json": "json/chunk-0003/episode_0003990.json", + "video_path": "videos/chunk-0003/image_0/episode_0003990.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003990.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.6069953441619873, + "std": 0.2920446991920471, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60700, std=0.29204, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 236, + 236, + 236, + 236, + 236, + 236, + 236 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 21 + ], + [ + 3, + 22, + 35 + ], + [ + 4, + 36, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and make contact with pusher\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector down toward the pusher tool while closing gripper to establish firm contact by frame 13.\"},\n {\"id\": 2, \"name\": \"push beans leftward into forming pile\", \"start\": 14, \"end\": 21, \"planning\": \"Maintain gripper closure and slide pusher left across tray to gather scattered beans toward center-left region.\"},\n {\"id\": 3, \"name\": \"reposition pusher for final sweep\", \"start\": 22, \"end\": 35, \"planning\": \"Lift slightly and rotate arm to reposition pusher at upper-right edge of bean cluster, preparing for consolidating sweep.\"},\n {\"id\": 4, \"name\": \"sweep remaining beans into pile and retreat\", \"start\": 36, \"end\": 42, \"planning\": \"Execute final sweeping motion toward accumulated pile while opening gripper to release pusher, then lift and retreat end-effector.\"}\n ],\n \"global_plan\": \"The robot uses a pusher tool to sweep scattered beans into a consolidated pile through four phases: initial contact establishment, lateral pushing, repositioning, and final sweep with release.\",\n \"notes\": \"Gripper closes meaningfully in Segment 1 (delta=-0.30) to grasp pusher; remains closed during Segments 2–3 for controlled pushing; opens significantly in Segment 4 (delta=+0.24) to release pusher after final sweep. All subtasks align with observed motion clusters and gripper behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and make contact with pusher", + "start": 0, + "end": 13, + "planning": "Move end-effector down toward the pusher tool while closing gripper to establish firm contact by frame 13." + }, + { + "id": 2, + "name": "push beans leftward into forming pile", + "start": 14, + "end": 21, + "planning": "Maintain gripper closure and slide pusher left across tray to gather scattered beans toward center-left region." + }, + { + "id": 3, + "name": "reposition pusher for final sweep", + "start": 22, + "end": 35, + "planning": "Lift slightly and rotate arm to reposition pusher at upper-right edge of bean cluster, preparing for consolidating sweep." + }, + { + "id": 4, + "name": "sweep remaining beans into pile and retreat", + "start": 36, + "end": 42, + "planning": "Execute final sweeping motion toward accumulated pile while opening gripper to release pusher, then lift and retreat end-effector." + } + ], + "global_plan": "The robot uses a pusher tool to sweep scattered beans into a consolidated pile through four phases: initial contact establishment, lateral pushing, repositioning, and final sweep with release.", + "notes": "Gripper closes meaningfully in Segment 1 (delta=-0.30) to grasp pusher; remains closed during Segments 2–3 for controlled pushing; opens significantly in Segment 4 (delta=+0.24) to release pusher after final sweep. All subtasks align with observed motion clusters and gripper behavior." + } + }, + "episode_goal": "Use the gripper to sweep scattered black beads into a pile on the white tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37970447540283203, + -0.01858925260603428, + 0.13162557780742645, + 2.9956929683685303, + -0.16877971589565277, + -0.3967980146408081 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a pusher tool. The gripper is currently open and approaching the pusher tool to establish contact. The next action is to lower the gripper to grasp the pusher tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3785130977630615, + -0.018845079466700554, + 0.11483828723430634, + 2.9749648571014404, + -0.12751518189907074, + -0.39308252930641174 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a pusher tool. The gripper is currently open and approaching the pusher tool to establish contact. The next action is to lower the gripper to grasp the pusher tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3800983428955078, + -0.039482634514570236, + 0.09531325846910477, + 2.952436923980713, + -0.12121769040822983, + -0.4154793322086334 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a pusher tool. The gripper is currently open and approaching the pusher tool to establish contact. The next action is to lower the gripper to grasp the pusher tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3665941059589386, + -0.056635819375514984, + 0.08158397674560547, + 2.936293125152588, + -0.09051286429166794, + -0.409994512796402 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 279, + 956, + 991 + ], + "blue wall": [ + 1, + 2, + 250, + 422 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a pusher tool. The gripper is currently open and approaching the pusher tool to establish contact. The next action is to lower the gripper to grasp the pusher tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35091033577919006, + -0.06593582779169083, + 0.10268943756818771, + 2.9618160724639893, + -0.14288610219955444, + -0.3731193542480469 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a pusher tool. The gripper is currently open and approaching the pusher tool to establish contact. The next action is to lower the gripper to grasp the pusher tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3391592800617218, + -0.07322132587432861, + 0.09345996379852295, + 2.985938549041748, + -0.12242038547992706, + -0.33759498596191406 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beads and a pusher tool. The gripper is currently open and approaching the pusher tool to establish contact. The next action is to lower the gripper to grasp the pusher tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412199914455414, + -0.07564384490251541, + 0.08977022022008896, + 3.035315990447998, + -0.13008548319339752, + -0.2968359589576721 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 5 cm, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3427489995956421, + -0.07375017553567886, + 0.07523657381534576, + 3.0476551055908203, + -0.08959337323904037, + -0.26618102192878723 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, close gripper; then move back 3 cm, move left 2 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35263127088546753, + -0.07750273495912552, + 0.07114012539386749, + 3.035994529724121, + -0.10973105579614639, + -0.2613881230354309 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, close gripper; then move back 3 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578108549118042, + -0.0762992799282074, + 0.06408558040857315, + 3.0440757274627686, + -0.11294332891702652, + -0.24390779435634613 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, close gripper; then move back 3 cm, move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651495575904846, + -0.07789040356874466, + 0.052209459245204926, + 3.04013991355896, + -0.1091545969247818, + -0.23134107887744904 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3701786398887634, + -0.07817446440458298, + 0.04647286608815193, + 3.055906057357788, + -0.10348790884017944, + -0.21689651906490326 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 6 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3737260699272156, + -0.08454325050115585, + 0.03944848105311394, + 3.0646822452545166, + -0.12219029664993286, + -0.22873590886592865 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move left 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37715834379196167, + -0.09071815013885498, + 0.03835991024971008, + 3.0628461837768555, + -0.14869746565818787, + -0.22578130662441254 + ], + "gripper_value": 0.6981924772262573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "approach and make contact with pusher", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37554800510406494, + -0.09281763434410095, + 0.03599437698721886, + 3.053039312362671, + -0.13735051453113556, + -0.21422113478183746 + ], + "gripper_value": 0.41932523250579834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "push beans leftward into forming pile", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36856088042259216, + -0.09417423605918884, + 0.03301326185464859, + 3.017745018005371, + -0.13236288726329803, + -0.2119593471288681 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "push beans leftward into forming pile", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556624948978424, + -0.08637229353189468, + 0.03175242990255356, + 2.9639804363250732, + -0.12125328928232193, + -0.17168469727039337 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 51, + 280, + 955, + 989 + ], + "blue wall": [ + 1, + 1, + 250, + 425 + ], + "black beans": [ + 186, + 402, + 593, + 745 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "push beans leftward into forming pile", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black beads, and the pusher tool is visible near the beads but not yet in contact. No sweeping action has been completed so far. The next likely action is to lower or adjust the pusher to make initial contact with the beads for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move left 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34351322054862976, + -0.07551688700914383, + 0.030086854472756386, + 2.931196928024292, + -0.120020292699337, + -0.1678137630224228 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "push beans leftward into forming pile", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3420124053955078, + -0.06755182892084122, + 0.028802882879972458, + 2.977623462677002, + -0.10670782625675201, + -0.2088974118232727 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "push beans leftward into forming pile", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 13 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3447858989238739, + -0.054154157638549805, + 0.029315687716007233, + 3.0461578369140625, + -0.09437685459852219, + -0.23575596511363983 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "push beans leftward into forming pile", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 15 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3535371422767639, + -0.044936660677194595, + 0.02667471207678318, + 3.1051478385925293, + -0.06839978694915771, + -0.2561851441860199 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "push beans leftward into forming pile", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, keep gripper closed; then move back 1 cm, move left 16 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36442092061042786, + -0.03415948897600174, + 0.02612457238137722, + 3.1314926147460938, + -0.06568291783332825, + -0.25330451130867004 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "push beans leftward into forming pile", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper closed; then move back 1 cm, move left 17 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37681177258491516, + -0.012751400470733643, + 0.02567892335355282, + -3.1363887786865234, + -0.0707874447107315, + -0.20984847843647003 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 18 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3847332298755646, + 0.01850784942507744, + 0.026349231600761414, + -3.124969959259033, + -0.08116384595632553, + -0.1395685076713562 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 51, + 280, + 955, + 989 + ], + "blue wall": [ + 1, + 2, + 242, + 424 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.383029580116272, + 0.04257150739431381, + 0.02633974887430668, + -3.0931310653686523, + -0.06383311003446579, + -0.11272021383047104 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37819138169288635, + 0.05989674851298332, + 0.026272093877196312, + -3.0557637214660645, + -0.03559715673327446, + -0.10143792629241943 + ], + "gripper_value": 0.3953573703765869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3727686107158661, + 0.08208516240119934, + 0.026857946068048477, + -3.0462288856506348, + -0.02852240577340126, + -0.05385953560471535 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3656582236289978, + 0.1036665067076683, + 0.027516018599271774, + -3.0437357425689697, + -0.025365127250552177, + -0.007870293222367764 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 49, + 272, + 955, + 987 + ], + "blue wall": [ + 1, + 2, + 221, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has established contact with the pusher tool and is currently positioned among the scattered black beads on the white tray. The gripper is holding the tool steady as it prepares to execute the lateral push. The next action is to move the pusher leftward to sweep the beads into a consolidated pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3610675632953644, + 0.11967186629772186, + 0.02773527428507805, + -3.0518388748168945, + -0.0274495929479599, + 0.02700471505522728 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36125853657722473, + 0.13459661602973938, + 0.030900055542588234, + -3.0570497512817383, + -0.03225686773657799, + 0.05459947884082794 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36549702286720276, + 0.14679837226867676, + 0.031782183796167374, + -3.0564093589782715, + -0.03464575484395027, + 0.0737115889787674 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.37159863114356995, + 0.15683391690254211, + 0.03148125112056732, + -3.063077688217163, + -0.04035323113203049, + 0.08634627610445023 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.37876084446907043, + 0.16276977956295013, + 0.03245333954691887, + -3.0651063919067383, + -0.0392349548637867, + 0.0943596139550209 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.38210776448249817, + 0.1645776927471161, + 0.03384753316640854, + -3.0761799812316895, + -0.05038628354668617, + 0.10607154667377472 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.380668967962265, + 0.15793700516223907, + 0.03201767057180405, + -3.106330394744873, + -0.06024334207177162, + 0.1095346212387085 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3742254376411438, + 0.14770837128162384, + 0.03217514976859093, + -3.1207993030548096, + -0.0452117919921875, + 0.1041899174451828 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "reposition pusher for final sweep", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638303875923157, + 0.13235849142074585, + 0.03207317739725113, + 3.076256036758423, + -0.009923136793076992, + 0.12573273479938507 + ], + "gripper_value": 0.7652681469917297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile and retreat", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3549664616584778, + 0.11746585369110107, + 0.060974422842264175, + 3.0195369720458984, + -0.07335961610078812, + 0.12240014225244522 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile and retreat", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3536878228187561, + 0.11147546023130417, + 0.07928495109081268, + 2.9922983646392822, + -0.12262940406799316, + 0.1123557984828949 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile and retreat", + "subtask_reasoning": "The robot has pushed beads leftward into a forming pile and is now repositioning the pusher tool for the final sweep. The gripper maintains contact with the pusher, and the arm is adjusting its position to align for the concluding motion. Next, the robot will execute the final sweep to consolidate the remaining scattered beads." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.35162121057510376, + 0.10991495847702026, + 0.09590259194374084, + 2.962526321411133, + -0.15143901109695435, + 0.11928032338619232 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile and retreat", + "subtask_reasoning": "The robot is currently positioned over the white tray with the pusher tool in contact with the black beads, having already consolidated a significant portion into a pile on the left. The gripper is open, and the tool is actively sweeping the remaining scattered beads toward the main cluster. The next action involves continuing the lateral push to gather the last few beads and then retreating the tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 36, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500936031341553, + 0.09991846233606339, + 0.10287769883871078, + 2.943138360977173, + -0.1493573784828186, + 0.081869937479496 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile and retreat", + "subtask_reasoning": "The robot is currently positioned over the white tray with the pusher tool in contact with the black beads, having already consolidated a significant portion into a pile on the left. The gripper is open, and the tool is actively sweeping the remaining scattered beads toward the main cluster. The next action involves continuing the lateral push to gather the last few beads and then retreating the tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530920147895813, + 0.07149816304445267, + 0.10539430379867554, + 2.914431571960449, + -0.13898780941963196, + -0.011525423265993595 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile and retreat", + "subtask_reasoning": "The robot is currently positioned over the white tray with the pusher tool in contact with the black beads, having already consolidated a significant portion into a pile on the left. The gripper is open, and the tool is actively sweeping the remaining scattered beads toward the main cluster. The next action involves continuing the lateral push to gather the last few beads and then retreating the tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.35685762763023376, + 0.04965635761618614, + 0.10546518862247467, + 2.9197025299072266, + -0.14280197024345398, + -0.08424081653356552 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 285, + 956, + 989 + ], + "blue wall": [ + 1, + 2, + 223, + 422 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered black beads into a pile on the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with pusher" + }, + { + "id": 2, + "subtask": "push beans leftward into forming pile" + }, + { + "id": 3, + "subtask": "reposition pusher for final sweep" + }, + { + "id": 4, + "subtask": "sweep remaining beans into pile and retreat" + } + ], + "subtask_name": "sweep remaining beans into pile and retreat", + "subtask_reasoning": "The robot is currently positioned over the white tray with the pusher tool in contact with the black beads, having already consolidated a significant portion into a pile on the left. The gripper is open, and the tool is actively sweeping the remaining scattered beads toward the main cluster. The next action involves continuing the lateral push to gather the last few beads and then retreating the tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003991_ecot.json b/cot/chunk-0003/episode_0003991_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f6626802b9bd3773ef6834c70c9a9b9457b6507d --- /dev/null +++ b/cot/chunk-0003/episode_0003991_ecot.json @@ -0,0 +1,3013 @@ +{ + "task_name": "episode_0003991", + "episode_json": "json/chunk-0003/episode_0003991.json", + "video_path": "videos/chunk-0003/image_0/episode_0003991.mp4", + "instruction": "Take the red spoon and put it on the yellow cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003991.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.5934953689575195, + "std": 0.2808055579662323, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59350, std=0.28081, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 135, + 135, + 135, + 135, + 135, + 135, + 135, + 235, + 235, + 235 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 16 + ], + [ + 3, + 17, + 34 + ], + [ + 4, + 35, + 41 + ], + [ + 5, + 42, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red spoon\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the red spoon without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp red spoon\", \"start\": 5, \"end\": 16, \"planning\": \"Close the gripper to securely grasp the red spoon as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"transport spoon over cloth\", \"start\": 17, \"end\": 34, \"planning\": \"Lift and move the grasped red spoon toward the yellow cloth area while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release spoon on cloth\", \"start\": 35, \"end\": 41, \"planning\": \"Open the gripper to release the red spoon onto the yellow cloth, confirmed by gripper opening and visual placement.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 42, \"end\": 44, \"planning\": \"Move the end-effector away from the yellow cloth after releasing the spoon, with no gripper activity.\"}\n ],\n \"global_plan\": \"Approach the red spoon, grasp it, transport it over the yellow cloth, release it onto the cloth, then retreat.\",\n \"notes\": \"Subtasks align with observed gripper behavior and motion segments; grasp/release only used where gripper closure/opening is evidenced and visually consistent.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red spoon", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the red spoon without closing the gripper." + }, + { + "id": 2, + "name": "grasp red spoon", + "start": 5, + "end": 16, + "planning": "Close the gripper to securely grasp the red spoon as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "transport spoon over cloth", + "start": 17, + "end": 34, + "planning": "Lift and move the grasped red spoon toward the yellow cloth area while maintaining grip." + }, + { + "id": 4, + "name": "release spoon on cloth", + "start": 35, + "end": 41, + "planning": "Open the gripper to release the red spoon onto the yellow cloth, confirmed by gripper opening and visual placement." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 42, + "end": 44, + "planning": "Move the end-effector away from the yellow cloth after releasing the spoon, with no gripper activity." + } + ], + "global_plan": "Approach the red spoon, grasp it, transport it over the yellow cloth, release it onto the cloth, then retreat.", + "notes": "Subtasks align with observed gripper behavior and motion segments; grasp/release only used where gripper closure/opening is evidenced and visually consistent." + } + }, + "episode_goal": "Place the red spoon on the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27926212549209595, + -0.0525570884346962, + 0.1565391570329666, + 3.1409900188446045, + -0.19525355100631714, + -0.059534698724746704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the table with the red spoon visible nearby on the wooden surface. No objects have been manipulated yet as the gripper remains open. The robot needs to lower its end-effector and move closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, move down 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784852087497711, + -0.05239883065223694, + 0.14879582822322845, + -3.135128974914551, + -0.167825847864151, + -0.07891752570867538 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the table with the red spoon visible nearby on the wooden surface. No objects have been manipulated yet as the gripper remains open. The robot needs to lower its end-effector and move closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, move down 9 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28412505984306335, + -0.03254460543394089, + 0.14391446113586426, + -3.096724271774292, + -0.15734463930130005, + -0.19586452841758728 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible ahead. No grasping has occurred yet as the gripper remains open and stationary in this segment. The next action should be to move the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 3 cm, rotate counterclockwise 40 degrees, keep gripper open; then move forward 8 cm, move left 2 cm, move down 9 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930203676223755, + -0.008323532529175282, + 0.13747689127922058, + -3.0019946098327637, + -0.10269904881715775, + -0.38086482882499695 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 415, + 307, + 656, + 433 + ], + "sponge": [ + 267, + 440, + 570, + 765 + ], + "wooden board": [ + 16, + 185, + 902, + 967 + ], + "can": [ + 510, + 547, + 698, + 856 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible ahead. No grasping has occurred yet as the gripper remains open and stationary in this segment. The next action should be to move the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, move down 10 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30607932806015015, + 0.017471738159656525, + 0.1330590844154358, + -2.927994728088379, + -0.02302042953670025, + -0.638852596282959 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible ahead. No grasping has occurred yet as the gripper remains open and stationary in this segment. The next action should be to move the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 3 cm, move down 10 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32184046506881714, + 0.04413503780961037, + 0.1180880218744278, + -2.9561140537261963, + -0.01511337235569954, + -0.8503000140190125 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible ahead. No grasping has occurred yet as the gripper remains open and stationary in this segment. The next action should be to move the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move down 11 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33913877606391907, + 0.05351772531867027, + 0.10230816155672073, + -2.9914190769195557, + -0.020169783383607864, + -1.032301664352417 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible ahead. No grasping has occurred yet as the gripper remains open and stationary in this segment. The next action should be to move the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 9 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3545091152191162, + 0.06199909746646881, + 0.07939653843641281, + -3.0264627933502197, + -0.03290467709302902, + -1.151780366897583 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible ahead. No grasping has occurred yet as the gripper remains open and stationary in this segment. The next action should be to move the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659217059612274, + 0.059087347239255905, + 0.06568489968776703, + -3.0113396644592285, + -0.05719806253910065, + -1.2553315162658691 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible ahead. No grasping has occurred yet as the gripper remains open and stationary in this segment. The next action should be to move the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3811242878437042, + 0.06057718023657799, + 0.062039442360401154, + -2.9111411571502686, + -0.03614914417266846, + -1.2785266637802124 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible ahead. No grasping has occurred yet as the gripper remains open and stationary in this segment. The next action should be to move the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38708627223968506, + 0.06268464773893356, + 0.0410926453769207, + -2.94512677192688, + -0.013410146348178387, + -1.2775760889053345 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden board": [ + 17, + 185, + 901, + 971 + ], + "sponge": [ + 268, + 440, + 571, + 764 + ], + "can": [ + 511, + 547, + 697, + 856 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3957606256008148, + 0.06218766048550606, + 0.029878787696361542, + -2.968158006668091, + -0.022641383111476898, + -1.2738778591156006 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3971545696258545, + 0.06534936279058456, + 0.027287887409329414, + -2.9663145542144775, + -0.003381778486073017, + -1.2569001913070679 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move left 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3966546952724457, + 0.06876807659864426, + 0.019469451159238815, + -2.9860243797302246, + 0.0282286349684, + -1.222421646118164 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 6 cm, move left 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39982375502586365, + 0.07069956511259079, + 0.014763548038899899, + -3.0277469158172607, + 0.04259674623608589, + -1.1916100978851318 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move left 3 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39758116006851196, + 0.07340934872627258, + 0.0115901418030262, + -3.0496795177459717, + 0.06580885499715805, + -1.17238450050354 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 11 cm, move left 3 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3987657129764557, + 0.07380807399749756, + 0.01238947082310915, + -3.0575273036956787, + 0.07895538210868835, + -1.1375547647476196 + ], + "gripper_value": 0.6902000904083252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp red spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 12 cm, move left 3 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3993189036846161, + 0.07098270952701569, + 0.012187642976641655, + -3.060244560241699, + 0.06424333155155182, + -1.1296098232269287 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3980163633823395, + 0.07066436111927032, + 0.010909282602369785, + -3.0554513931274414, + 0.053262002766132355, + -1.1201832294464111 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39011386036872864, + 0.07200741767883301, + 0.01801365427672863, + -3.0537984371185303, + 0.06313963979482651, + -1.0883193016052246 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3830048143863678, + 0.07397744804620743, + 0.04088795185089111, + -3.019544839859009, + 0.06805192679166794, + -1.052222490310669 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36700305342674255, + 0.08204290270805359, + 0.05338534712791443, + -3.005716323852539, + 0.0908963605761528, + -1.00485098361969 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3531840443611145, + 0.09051227569580078, + 0.06763055920600891, + -2.9819841384887695, + 0.10876346379518509, + -0.9906846880912781 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 3 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33924832940101624, + 0.09173795580863953, + 0.07169557362794876, + -2.9947006702423096, + 0.1349140703678131, + -1.0147502422332764 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 3 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31162765622138977, + 0.09855055063962936, + 0.08111334592103958, + -2.992055892944336, + 0.10801282525062561, + -1.0487195253372192 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 511, + 547, + 698, + 856 + ], + "spoon": [ + 449, + 296, + 567, + 373 + ], + "wooden board": [ + 16, + 184, + 900, + 971 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it with the gripper open. The current subtask is to grasp the spoon, which requires closing the gripper around the spoon's handle. The next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2937883138656616, + 0.09743817150592804, + 0.08070400357246399, + -2.9999048709869385, + 0.09079298377037048, + -1.0623952150344849 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27698206901550293, + 0.09654133021831512, + 0.07354341447353363, + -2.9946088790893555, + 0.08172040432691574, + -1.0842581987380981 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 6 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26608288288116455, + 0.09182402491569519, + 0.06358030438423157, + -2.995408296585083, + 0.06890483945608139, + -1.1028615236282349 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 5 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583816647529602, + 0.08568472415208817, + 0.05950895696878433, + -2.9695510864257812, + 0.04426049813628197, + -1.086375117301941 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 5 cm, open gripper; then move forward 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25493746995925903, + 0.07770492881536484, + 0.05056700482964516, + -2.9678478240966797, + 0.037218015640974045, + -1.1224052906036377 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, open gripper; then move forward 2 cm, move left 1 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2518455386161804, + 0.07418841868638992, + 0.04191425442695618, + -2.983529806137085, + 0.026861492544412613, + -1.131270408630371 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, open gripper; then move forward 5 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500188946723938, + 0.0665028840303421, + 0.03143457695841789, + -2.997727632522583, + 0.02082831785082817, + -1.1570872068405151 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, open gripper; then move forward 6 cm, move left 3 cm, move up 10 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24980241060256958, + 0.06358066946268082, + 0.019791025668382645, + -3.0168263912200928, + 0.008129262365400791, + -1.1724154949188232 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then move forward 7 cm, move left 4 cm, move up 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24776721000671387, + 0.06341782212257385, + 0.014255864545702934, + -3.027601957321167, + 0.010487087070941925, + -1.1805695295333862 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 511, + 549, + 697, + 856 + ], + "spoon": [ + 435, + 564, + 548, + 653 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 7 cm, move left 4 cm, move up 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24601225554943085, + 0.06820838898420334, + 0.013271313160657883, + -3.0245046615600586, + 0.00377253582701087, + -1.1685681343078613 + ], + "gripper_value": 0.4975702464580536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 7 cm, move left 4 cm, move up 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24190251529216766, + 0.0676451176404953, + 0.012851611711084843, + -3.050208330154419, + 0.0083464989438653, + -1.1680978536605835 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24153880774974823, + 0.06832350045442581, + 0.019581953063607216, + -3.0632131099700928, + 0.010552708059549332, + -1.1406502723693848 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.24640196561813354, + 0.07087013125419617, + 0.03979681432247162, + -3.045614242553711, + -0.013143762946128845, + -1.0930179357528687 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The robot is holding the red spoon and has moved it above the yellow cloth. The gripper remains closed, confirming the spoon is still grasped during transport. The next action is to lower the spoon slightly and release it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2522103488445282, + 0.07375907152891159, + 0.06770152598619461, + -3.0144505500793457, + -0.016149213537573814, + -1.0598946809768677 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly above the yellow cloth. The gripper is open, indicating the spoon has been released or is in the process of being released onto the cloth. The next action is to ensure the spoon is fully placed on the cloth and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2665001153945923, + 0.07609662413597107, + 0.09112031012773514, + -2.9987244606018066, + -0.029559515416622162, + -1.050795555114746 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly above the yellow cloth. The gripper is open, indicating the spoon has been released or is in the process of being released onto the cloth. The next action is to ensure the spoon is fully placed on the cloth and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880156934261322, + 0.08280744403600693, + 0.11541488766670227, + -2.947030544281006, + -0.018201706930994987, + -0.9049028754234314 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly above the yellow cloth. The gripper is open, indicating the spoon has been released or is in the process of being released onto the cloth. The next action is to ensure the spoon is fully placed on the cloth and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022063374519348, + 0.09442691504955292, + 0.11718752235174179, + -2.9878571033477783, + 0.028836773708462715, + -0.6549773812294006 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly above the yellow cloth. The gripper is open, indicating the spoon has been released or is in the process of being released onto the cloth. The next action is to ensure the spoon is fully placed on the cloth and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133935034275055, + 0.10826538503170013, + 0.12086471170186996, + -2.977391242980957, + 0.058705057948827744, + -0.43570318818092346 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly above the yellow cloth. The gripper is open, indicating the spoon has been released or is in the process of being released onto the cloth. The next action is to ensure the spoon is fully placed on the cloth and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3169407546520233, + 0.1256648153066635, + 0.12565816938877106, + -2.9561004638671875, + 0.054645370692014694, + -0.32470986247062683 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The red spoon is successfully resting on the yellow cloth, indicating the placement task is complete. The robot's gripper is fully open and positioned near the objects, consistent with the post-release phase. The next action is to retreat the end-effector away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3119044303894043, + 0.13904134929180145, + 0.12632206082344055, + -2.9419844150543213, + 0.055142395198345184, + -0.24562980234622955 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 512, + 549, + 697, + 856 + ], + "spoon": [ + 253, + 546, + 537, + 654 + ], + "wooden board": [ + 17, + 192, + 899, + 979 + ], + "sponge": [ + 262, + 441, + 562, + 763 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "grasp red spoon" + }, + { + "id": 3, + "subtask": "transport spoon over cloth" + }, + { + "id": 4, + "subtask": "release spoon on cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The red spoon is successfully resting on the yellow cloth, indicating the placement task is complete. The robot's gripper is fully open and positioned near the objects, consistent with the post-release phase. The next action is to retreat the end-effector away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003992_ecot.json b/cot/chunk-0003/episode_0003992_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c573f5a24498dceec0e3d27aa2f465c52e491aba --- /dev/null +++ b/cot/chunk-0003/episode_0003992_ecot.json @@ -0,0 +1,1863 @@ +{ + "task_name": "episode_0003992", + "episode_json": "json/chunk-0003/episode_0003992.json", + "video_path": "videos/chunk-0003/image_0/episode_0003992.mp4", + "instruction": "The handkerchief is let the robot arm drop into the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003992.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013307929039001465, + "std": 0.00047119634109549224, + "delta_total": -0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00047, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ], + [ + 2, + 20, + 23 + ], + [ + 3, + 24, + 27 + ], + [ + 4, + 28, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue handkerchief\", \"start\": 0, \"end\": 19, \"planning\": \"Move the gripper down toward the blue handkerchief on the table without closing.\"},\n {\"id\": 2, \"name\": \"make contact with handkerchief\", \"start\": 20, \"end\": 23, \"planning\": \"Lower the gripper to make light contact with the blue handkerchief surface.\"},\n {\"id\": 3, \"name\": \"reposition handkerchief slightly\", \"start\": 24, \"end\": 27, \"planning\": \"Adjust the position of the blue handkerchief by nudging or sliding it gently on the table.\"},\n {\"id\": 4, \"name\": \"retreat from handkerchief\", \"start\": 28, \"end\": 28, \"planning\": \"Lift the gripper slightly and move away from the blue handkerchief after repositioning.\"}\n ],\n \"global_plan\": \"The robot approaches the blue handkerchief, makes contact, slightly repositions it on the table, and then retreats — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence shows no meaningful closing in any segment; therefore, all actions are described as contact-based (approach, contact, nudge, retreat) rather than grasp/place. Motion and images support this interpretation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue handkerchief", + "start": 0, + "end": 19, + "planning": "Move the gripper down toward the blue handkerchief on the table without closing." + }, + { + "id": 2, + "name": "make contact with handkerchief", + "start": 20, + "end": 23, + "planning": "Lower the gripper to make light contact with the blue handkerchief surface." + }, + { + "id": 3, + "name": "reposition handkerchief slightly", + "start": 24, + "end": 27, + "planning": "Adjust the position of the blue handkerchief by nudging or sliding it gently on the table." + }, + { + "id": 4, + "name": "retreat from handkerchief", + "start": 28, + "end": 28, + "planning": "Lift the gripper slightly and move away from the blue handkerchief after repositioning." + } + ], + "global_plan": "The robot approaches the blue handkerchief, makes contact, slightly repositions it on the table, and then retreats — all without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence shows no meaningful closing in any segment; therefore, all actions are described as contact-based (approach, contact, nudge, retreat) rather than grasp/place. Motion and images support this interpretation." + } + }, + "episode_goal": "drop the handkerchief onto the table", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2642490863800049, + -0.07323769479990005, + 0.043470680713653564, + -3.0688600540161133, + -0.16841992735862732, + 0.051699355244636536 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 22 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618297040462494, + -0.07275008410215378, + 0.03788788616657257, + -3.0631422996520996, + -0.14891356229782104, + 0.051038846373558044 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25983184576034546, + -0.04103017598390579, + 0.035392675548791885, + -3.067155599594116, + -0.13899539411067963, + 0.1409078687429428 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 19 cm, move down 10 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2552098035812378, + -0.022555440664291382, + 0.04156762361526489, + -3.0806241035461426, + -0.15508104860782623, + 0.1950378268957138 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 135, + 497, + 373, + 764 + ], + "yellow cloth": [ + 572, + 626, + 804, + 951 + ], + "white appliance": [ + 7, + 3, + 994, + 723 + ], + "white basket": [ + 537, + 706, + 952, + 995 + ] + } + } + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 17 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24668291211128235, + 0.015015145763754845, + 0.03729255497455597, + -3.0958914756774902, + -0.14216536283493042, + 0.32159242033958435 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 11 cm, move down 11 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2431454211473465, + 0.04900592565536499, + 0.02582436241209507, + -3.1117026805877686, + -0.13607560098171234, + 0.41956421732902527 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24422669410705566, + 0.07268501818180084, + 0.007333412300795317, + -3.0860958099365234, + -0.12623991072177887, + 0.4474934935569763 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25085997581481934, + 0.09738535434007645, + -0.010187267325818539, + -3.06593656539917, + -0.11449158936738968, + 0.4938574731349945 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500784993171692, + 0.11690795421600342, + -0.028023261576890945, + -3.061375617980957, + -0.09058839827775955, + 0.5454043745994568 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the blue handkerchief. No contact has been made yet, and the handkerchief remains undisturbed on the table surface. The next action is to continue moving the end-effector closer to establish contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24827872216701508, + 0.1324727088212967, + -0.0402127280831337, + -3.0639171600341797, + -0.0887312963604927, + 0.5714665055274963 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24915939569473267, + 0.14303365349769592, + -0.04975024610757828, + -3.0458261966705322, + -0.093488410115242, + 0.5676819086074829 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 17 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24897810816764832, + 0.14851127564907074, + -0.06158357486128807, + -3.0600411891937256, + -0.08925791084766388, + 0.5731701254844666 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 17 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2492663413286209, + 0.1477128565311432, + -0.06591307371854782, + -3.0730230808258057, + -0.1489628255367279, + 0.6104547381401062 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 17 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24158510565757751, + 0.14286980032920837, + -0.07083754241466522, + -3.0645322799682617, + -0.16278675198554993, + 0.6477103233337402 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 17 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23352757096290588, + 0.12964677810668945, + -0.07618203014135361, + -3.0889737606048584, + -0.14858126640319824, + 0.6775023937225342 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23440594971179962, + 0.11528339982032776, + -0.07619824260473251, + -3.085127353668213, + -0.1429402232170105, + 0.6597608923912048 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 14 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move up 3 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23732206225395203, + 0.09800504148006439, + -0.07716605067253113, + -3.100325345993042, + -0.12974193692207336, + 0.6445738673210144 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2546409070491791, + 0.07452648878097534, + -0.07467256486415863, + -3.120046377182007, + -0.14221055805683136, + 0.5708287954330444 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move up 3 cm, keep gripper open; then move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26391729712486267, + 0.0451967678964138, + -0.07351886481046677, + -3.127192497253418, + -0.13676738739013672, + 0.48961734771728516 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white appliance": [ + 97, + 2, + 995, + 729 + ], + "blue cloth": [ + 238, + 564, + 489, + 820 + ], + "yellow cloth": [ + 573, + 602, + 804, + 950 + ], + "white basket": [ + 537, + 712, + 953, + 995 + ] + } + } + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679228186607361, + 0.008327811025083065, + -0.07306762784719467, + -3.1393797397613525, + -0.12361742556095123, + 0.3790454864501953 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "approach blue handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27139198780059814, + -0.023045772686600685, + -0.06276445090770721, + 3.1284284591674805, + -0.14560148119926453, + 0.30578383803367615 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "make contact with handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open. No contact has been made yet, and the arm appears to be in the final phase of approaching the target. The next action is to lower the end-effector to make contact with the handkerchief." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749043405056, + -0.03212926164269447, + -0.0605391189455986, + 3.126009941101074, + -0.1409490704536438, + 0.26204216480255127 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white appliance": [ + 5, + 2, + 995, + 730 + ], + "white basket": [ + 562, + 706, + 979, + 995 + ], + "blue cloth": [ + 355, + 674, + 609, + 926 + ], + "yellow cloth": [ + 601, + 607, + 846, + 979 + ] + } + } + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "make contact with handkerchief", + "subtask_reasoning": "The robot arm has approached the blue handkerchief and is now in direct contact with it on the table. The gripper remains open, confirming no grasping has occurred. The next action is to slightly reposition the handkerchief by pushing or sliding it while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2699447274208069, + -0.030732421204447746, + -0.059960730373859406, + 3.1331701278686523, + -0.1361198127269745, + 0.2592853307723999 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "make contact with handkerchief", + "subtask_reasoning": "The robot arm has approached the blue handkerchief and is now in direct contact with it on the table. The gripper remains open, confirming no grasping has occurred. The next action is to slightly reposition the handkerchief by pushing or sliding it while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27025842666625977, + -0.02748788893222809, + -0.04690065234899521, + 3.1349735260009766, + -0.1681753545999527, + 0.25554949045181274 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "make contact with handkerchief", + "subtask_reasoning": "The robot arm has approached the blue handkerchief and is now in direct contact with it on the table. The gripper remains open, confirming no grasping has occurred. The next action is to slightly reposition the handkerchief by pushing or sliding it while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27087125182151794, + -0.022673966363072395, + -0.03380073979496956, + -3.1312310695648193, + -0.19159117341041565, + 0.2637336254119873 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "reposition handkerchief slightly", + "subtask_reasoning": "The robot arm has approached the blue handkerchief and is now in direct contact with it on the table. The gripper remains open, confirming no grasping has occurred. The next action is to slightly reposition the handkerchief by pushing or sliding it while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26721683144569397, + -0.02065189555287361, + -0.024312077090144157, + -3.121952772140503, + -0.19528691470623016, + 0.27537116408348083 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "reposition handkerchief slightly", + "subtask_reasoning": "The robot arm is in contact with the blue handkerchief on the table, having already approached and made initial contact. The gripper remains open throughout, indicating no grasping. The next action is to gently push or slide the handkerchief slightly to reposition it on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26563844084739685, + -0.01518238615244627, + -0.011684856377542019, + -3.1210577487945557, + -0.21739882230758667, + 0.29091888666152954 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "reposition handkerchief slightly", + "subtask_reasoning": "The robot arm is in contact with the blue handkerchief on the table, having already approached and made initial contact. The gripper remains open throughout, indicating no grasping. The next action is to gently push or slide the handkerchief slightly to reposition it on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26618507504463196, + -0.014381641522049904, + 0.014803057536482811, + -3.139688730239868, + -0.24789153039455414, + 0.29862287640571594 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "reposition handkerchief slightly", + "subtask_reasoning": "The robot arm is in contact with the blue handkerchief on the table, having already approached and made initial contact. The gripper remains open throughout, indicating no grasping. The next action is to gently push or slide the handkerchief slightly to reposition it on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.264960914850235, + -0.014581281691789627, + 0.04008660465478897, + 3.121499538421631, + -0.29362282156944275, + 0.30009546875953674 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "drop the handkerchief onto the table" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue handkerchief" + }, + { + "id": 2, + "subtask": "make contact with handkerchief" + }, + { + "id": 3, + "subtask": "reposition handkerchief slightly" + }, + { + "id": 4, + "subtask": "retreat from handkerchief" + } + ], + "subtask_name": "retreat from handkerchief", + "subtask_reasoning": "The robot arm is positioned above the blue handkerchief on the table with the gripper fully open, having just completed contact. The current subtask involves retreating from the handkerchief, and the next action is to move the arm upward and away to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003993_ecot.json b/cot/chunk-0003/episode_0003993_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2a7c2c3fa8897253af22dde719d81431a3741753 --- /dev/null +++ b/cot/chunk-0003/episode_0003993_ecot.json @@ -0,0 +1,3112 @@ +{ + "task_name": "episode_0003993", + "episode_json": "json/chunk-0003/episode_0003993.json", + "video_path": "videos/chunk-0003/image_0/episode_0003993.mp4", + "instruction": "Put the silver pot to the bottom right side burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003993.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9286076426506042, + "std": 0.43391209840774536, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92861, std=0.43391, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 234, + 234, + 234, + 234, + 234, + 334, + 334, + 334, + 334, + 334, + 334 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 13 + ], + [ + 3, + 14, + 20 + ], + [ + 4, + 21, + 33 + ], + [ + 5, + 34, + 38 + ], + [ + 6, + 39, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the silver pot on the left burner without grasping.\"},\n {\"id\": 2, \"name\": \"close gripper on pot\", \"start\": 6, \"end\": 13, \"planning\": \"Close the gripper around the handle or rim of the silver pot to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 14, \"end\": 20, \"planning\": \"Lift the pot slightly and begin moving it rightward across the stovetop toward the target burner.\"},\n {\"id\": 4, \"name\": \"transport pot to target\", \"start\": 21, \"end\": 33, \"planning\": \"Carry the pot over to the bottom right burner while maintaining grip and adjusting height for placement.\"},\n {\"id\": 5, \"name\": \"release pot on burner\", \"start\": 34, \"end\": 38, \"planning\": \"Open the gripper to release the pot onto the bottom right burner, ensuring stable contact.\"},\n {\"id\": 6, \"name\": \"retreat from pot\", \"start\": 39, \"end\": 44, \"planning\": \"Move the end-effector upward and away from the placed pot to complete the task.\"}\n ],\n \"global_plan\": \"Approach the silver pot, grasp it securely, lift and transport it to the bottom right burner, release it precisely, then retreat to finish.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2, 3, and 4 — allowing grasp/hold/place wording. Segments 1 and 6 show no gripper closure — described as approach and retreat only. Frame ranges are contiguous and cover full trajectory [0,44].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the silver pot on the left burner without grasping." + }, + { + "id": 2, + "name": "close gripper on pot", + "start": 6, + "end": 13, + "planning": "Close the gripper around the handle or rim of the silver pot to secure it for lifting." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 14, + "end": 20, + "planning": "Lift the pot slightly and begin moving it rightward across the stovetop toward the target burner." + }, + { + "id": 4, + "name": "transport pot to target", + "start": 21, + "end": 33, + "planning": "Carry the pot over to the bottom right burner while maintaining grip and adjusting height for placement." + }, + { + "id": 5, + "name": "release pot on burner", + "start": 34, + "end": 38, + "planning": "Open the gripper to release the pot onto the bottom right burner, ensuring stable contact." + }, + { + "id": 6, + "name": "retreat from pot", + "start": 39, + "end": 44, + "planning": "Move the end-effector upward and away from the placed pot to complete the task." + } + ], + "global_plan": "Approach the silver pot, grasp it securely, lift and transport it to the bottom right burner, release it precisely, then retreat to finish.", + "notes": "Gripper evidence confirms meaningful closing in segments 2, 3, and 4 — allowing grasp/hold/place wording. Segments 1 and 6 show no gripper closure — described as approach and retreat only. Frame ranges are contiguous and cover full trajectory [0,44]." + } + }, + "episode_goal": "Place the silver pot on the bottom right burner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767361342906952, + 0.0753447413444519, + 0.12256563454866409, + 2.9093306064605713, + -0.15935534238815308, + 1.2686266899108887 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37328827381134033, + 0.07345171272754669, + 0.10852552950382233, + 2.9468696117401123, + -0.13372457027435303, + 1.2511909008026123 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35326260328292847, + 0.08422085642814636, + 0.09499450773000717, + 3.0067310333251953, + -0.07388696819543839, + 1.1683207750320435 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.337269127368927, + 0.09860837459564209, + 0.10509520769119263, + 3.0128307342529297, + -0.06597470492124557, + 1.079252004623413 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31933504343032837, + 0.10980657488107681, + 0.10912422835826874, + 3.030958890914917, + -0.09303902089595795, + 1.0115418434143066 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29754728078842163, + 0.12514249980449677, + 0.10241943597793579, + 3.076627492904663, + -0.13953721523284912, + 0.9782319068908691 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842266857624054, + 0.13817711174488068, + 0.08220387995243073, + -3.140207529067993, + -0.22590303421020508, + 0.9917022585868835 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868187129497528, + 0.14849720895290375, + 0.06924639642238617, + -3.1290576457977295, + -0.24692359566688538, + 1.0329186916351318 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947245240211487, + 0.15303918719291687, + 0.055132631212472916, + -3.113886594772339, + -0.24024824798107147, + 1.0580002069473267 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3056944012641907, + 0.15128685534000397, + 0.04872128367424011, + -3.101015567779541, + -0.2503989338874817, + 1.0482090711593628 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the stove, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pot. The next action is to close the gripper securely around the pot's handle or body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046623766422272, + 0.1521177589893341, + 0.0322834849357605, + -3.0663247108459473, + -0.23456184566020966, + 1.0433053970336914 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tiled wall": [ + 311, + 1, + 997, + 429 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the stove, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pot. The next action is to close the gripper securely around the pot's handle or body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985664904117584, + 0.1528347283601761, + 0.026879141107201576, + -3.052332878112793, + -0.24236086010932922, + 1.040199875831604 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the stove, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pot. The next action is to close the gripper securely around the pot's handle or body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29155293107032776, + 0.15290649235248566, + 0.020072339102625847, + -3.043231248855591, + -0.2351638227701187, + 1.0309460163116455 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the stove, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pot. The next action is to close the gripper securely around the pot's handle or body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29028818011283875, + 0.15425275266170502, + 0.01797197200357914, + -3.0409793853759766, + -0.24753352999687195, + 1.022428274154663 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the stove, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pot. The next action is to close the gripper securely around the pot's handle or body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2914910316467285, + 0.1544041931629181, + 0.01806926354765892, + -3.0480453968048096, + -0.252717524766922, + 1.0266793966293335 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the stove, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pot. The next action is to close the gripper securely around the pot's handle or body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2911565601825714, + 0.15541712939739227, + 0.01809312216937542, + -3.0523343086242676, + -0.2574883997440338, + 1.0361104011535645 + ], + "gripper_value": 0.14915025234222412 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the stove, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pot. The next action is to close the gripper securely around the pot's handle or body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move right 13 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29137933254241943, + 0.15563078224658966, + 0.017916981130838394, + -3.0550992488861084, + -0.26113635301589966, + 1.0409927368164062 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left side of the stove, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pot. The next action is to close the gripper securely around the pot's handle or body." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move right 15 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2901415526866913, + 0.1604510396718979, + 0.01820579543709755, + -3.057361125946045, + -0.26629695296287537, + 1.0622652769088745 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 16 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29230642318725586, + 0.16873688995838165, + 0.02112123742699623, + -3.0698471069335938, + -0.27645787596702576, + 1.0905113220214844 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 17 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29530736804008484, + 0.16904900968074799, + 0.02354174479842186, + -3.085684299468994, + -0.27762842178344727, + 1.1052098274230957 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 18 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2995952069759369, + 0.1447415053844452, + 0.04390900954604149, + 3.1383566856384277, + -0.29755792021751404, + 1.0661884546279907 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 18 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982819676399231, + 0.10025610774755478, + 0.0651034340262413, + 3.085627794265747, + -0.31385746598243713, + 0.9664804935455322 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 17 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2854081690311432, + 0.06537885963916779, + 0.08126375824213028, + 3.0496537685394287, + -0.3288009464740753, + 0.8775462508201599 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27665260434150696, + 0.033425893634557724, + 0.08041119575500488, + 3.0562188625335693, + -0.33302614092826843, + 0.7724210023880005 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27039042115211487, + 0.007027807645499706, + 0.07459621131420135, + 3.064391613006592, + -0.318429172039032, + 0.692787230014801 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26764214038848877, + -0.02805984579026699, + 0.07256566733121872, + 3.0687339305877686, + -0.31329110264778137, + 0.6083022356033325 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692970335483551, + -0.04845346510410309, + 0.06198356673121452, + 3.1008236408233643, + -0.29184767603874207, + 0.5556392669677734 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The silver pot is currently on the left side of the stove, and the gripper has closed around it as indicated by the segment-level evidence. The robot is in the process of lifting or repositioning the pot. The next likely action is to move the pot toward the bottom right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755662202835083, + -0.06351905316114426, + 0.05153030529618263, + 3.1219911575317383, + -0.2728675305843353, + 0.5286003351211548 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28205230832099915, + -0.07345668971538544, + 0.045300569385290146, + 3.131544589996338, + -0.2655843496322632, + 0.5084091424942017 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, open gripper; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28672268986701965, + -0.07852303981781006, + 0.0403476357460022, + 3.1316463947296143, + -0.24558040499687195, + 0.49520987272262573 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923983335494995, + -0.07810372114181519, + 0.03630617633461952, + 3.1339375972747803, + -0.2354215532541275, + 0.49362948536872864 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30065202713012695, + -0.07461049407720566, + 0.038263361901044846, + 3.0893714427948, + -0.22938892245292664, + 0.5363770723342896 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3078450858592987, + -0.07375889271497726, + 0.03418336063623428, + 3.093308687210083, + -0.22118479013442993, + 0.5376691222190857 + ], + "gripper_value": 0.11746759712696075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122476637363434, + -0.07268033176660538, + 0.03480471670627594, + 3.0982608795166016, + -0.21371963620185852, + 0.5529384613037109 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to target", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3127492368221283, + -0.07126139104366302, + 0.03481094539165497, + 3.104745626449585, + -0.21948789060115814, + 0.5583539605140686 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot on burner", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.31272974610328674, + -0.07178345322608948, + 0.03489111736416817, + 3.1057894229888916, + -0.22196760773658752, + 0.5581595301628113 + ], + "gripper_value": 0.9141042232513428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot on burner", + "subtask_reasoning": "The robot is currently holding the silver pot above the stove, having successfully lifted it from its initial position. The pot is being transported towards the bottom right burner but has not yet been placed. The next action is to continue moving the pot over the target burner and lower it for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.31221693754196167, + -0.07117269933223724, + 0.03483901917934418, + 3.110255241394043, + -0.22113750874996185, + 0.560514509677887 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot on burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom right burner. The gripper is open, indicating the pot has been released or is in the process of being released onto the target surface. The next action is to ensure the pot is stable on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3091462254524231, + -0.07432910799980164, + 0.036210134625434875, + 3.0992960929870605, + -0.19238121807575226, + 0.5487461686134338 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot on burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom right burner. The gripper is open, indicating the pot has been released or is in the process of being released onto the target surface. The next action is to ensure the pot is stable on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.310332715511322, + -0.059896279126405716, + 0.07148409634828568, + 2.99678635597229, + -0.2013593465089798, + 0.6014105081558228 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot on burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom right burner. The gripper is open, indicating the pot has been released or is in the process of being released onto the target surface. The next action is to ensure the pot is stable on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045344650745392, + -0.053365666419267654, + 0.1012701466679573, + 2.9315967559814453, + -0.19338259100914001, + 0.608005166053772 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom right burner. The gripper is open, indicating the pot has been released or is in the process of being released onto the target surface. The next action is to ensure the pot is stable on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019182085990906, + -0.03304244950413704, + 0.14002542197704315, + 2.8354663848876953, + -0.24587948620319366, + 0.6870156526565552 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tiled wall": [ + 309, + 2, + 997, + 428 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom right burner. The gripper is open, indicating the pot has been released or is in the process of being released onto the target surface. The next action is to ensure the pot is stable on the burner and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3010934591293335, + -0.03394346684217453, + 0.14021873474121094, + 2.839399814605713, + -0.24589373171329498, + 0.6755711436271667 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is already placed on the bottom right burner, and the gripper is open and positioned above it. The retreat subtask is in progress, with the arm moving away from the pot. The next action is to continue retracting the arm to a safe distance to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.30070775747299194, + -0.034191057085990906, + 0.13975119590759277, + 2.8415772914886475, + -0.2457806020975113, + 0.6730249524116516 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is already placed on the bottom right burner, and the gripper is open and positioned above it. The retreat subtask is in progress, with the arm moving away from the pot. The next action is to continue retracting the arm to a safe distance to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.300771027803421, + -0.03428870067000389, + 0.13932642340660095, + 2.839398145675659, + -0.2416640669107437, + 0.676538348197937 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is already placed on the bottom right burner, and the gripper is open and positioned above it. The retreat subtask is in progress, with the arm moving away from the pot. The next action is to continue retracting the arm to a safe distance to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009970486164093, + -0.03429538756608963, + 0.13941612839698792, + 2.838340997695923, + -0.2427987903356552, + 0.6769034266471863 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "transport pot to target" + }, + { + "id": 5, + "subtask": "release pot on burner" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is already placed on the bottom right burner, and the gripper is open and positioned above it. The retreat subtask is in progress, with the arm moving away from the pot. The next action is to continue retracting the arm to a safe distance to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003995_ecot.json b/cot/chunk-0003/episode_0003995_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ade179f248489769f1f2e1eb9d03cb5de6e7bc74 --- /dev/null +++ b/cot/chunk-0003/episode_0003995_ecot.json @@ -0,0 +1,1252 @@ +{ + "task_name": "episode_0003995", + "episode_json": "json/chunk-0003/episode_0003995.json", + "video_path": "videos/chunk-0003/image_0/episode_0003995.mp4", + "instruction": "Put pot or pan in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003995.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9416526556015015, + "std": 0.37011730670928955, + "delta_total": -0.9416526556015015, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94165, std=0.37012, total_delta=-0.94165). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 115, + 115, + 115, + 115, + 115 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 14 + ], + [ + 3, + 15, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the pot on the counter without grasping, as gripper remains open throughout this segment.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 13, \"end\": 14, \"planning\": \"Close gripper around the pot handle; segment shows meaningful closing and images confirm contact with object.\"},\n {\"id\": 3, \"name\": \"lift and place pot in sink\", \"start\": 15, \"end\": 19, \"planning\": \"Lift the grasped pot and move it over the sink, then release to drop it in — gripper continues closing then holds steady while motion carries object to target.\"}\n ],\n \"global_plan\": \"Approach the pot on the counter, grasp it securely, then lift and deposit it into the sink.\",\n \"notes\": \"Segment 1 has no gripper closure — described as approach only. Segments 2 and 3 show progressive gripper closure consistent with grasping and holding. Final frame shows pot mid-air above sink, confirming successful pick-and-place mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the pot on the counter without grasping, as gripper remains open throughout this segment." + }, + { + "id": 2, + "name": "grasp pot", + "start": 13, + "end": 14, + "planning": "Close gripper around the pot handle; segment shows meaningful closing and images confirm contact with object." + }, + { + "id": 3, + "name": "lift and place pot in sink", + "start": 15, + "end": 19, + "planning": "Lift the grasped pot and move it over the sink, then release to drop it in — gripper continues closing then holds steady while motion carries object to target." + } + ], + "global_plan": "Approach the pot on the counter, grasp it securely, then lift and deposit it into the sink.", + "notes": "Segment 1 has no gripper closure — described as approach only. Segments 2 and 3 show progressive gripper closure consistent with grasping and holding. Final frame shows pot mid-air above sink, confirming successful pick-and-place mechanics." + } + }, + "episode_goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31683316826820374, + 0.2059241086244583, + 0.0984979197382927, + -3.0391154289245605, + -0.17395053803920746, + -0.031546104699373245 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 6 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133792579174042, + 0.2037772685289383, + 0.07935664057731628, + -3.031625509262085, + -0.16192342340946198, + -0.09481091797351837 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3157344460487366, + 0.19929379224777222, + 0.07618460804224014, + -2.9810149669647217, + -0.21843169629573822, + -0.23496827483177185 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3210591673851013, + 0.19707727432250977, + 0.07944595813751221, + -2.9245526790618896, + -0.2863866686820984, + -0.38489681482315063 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 240, + 74, + 408, + 256 + ], + "purple onion": [ + 533, + 213, + 612, + 312 + ], + "green cutting board": [ + 619, + 248, + 893, + 415 + ], + "soap dispenser": [ + 392, + 6, + 553, + 298 + ], + "plate": [ + 730, + 405, + 974, + 666 + ], + "brown cutting board": [ + 1, + 19, + 161, + 195 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32497549057006836, + 0.19878314435482025, + 0.08129468560218811, + -2.9051756858825684, + -0.3259933888912201, + -0.4674065113067627 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33109480142593384, + 0.20065869390964508, + 0.07796093821525574, + -2.9230144023895264, + -0.346490740776062, + -0.4755173623561859 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33392566442489624, + 0.19782529771327972, + 0.06767064332962036, + -2.9454941749572754, + -0.3580401539802551, + -0.48803362250328064 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33960604667663574, + 0.19616396725177765, + 0.060225434601306915, + -2.956758499145508, + -0.3853692412376404, + -0.502569854259491 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, close gripper; then keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34398630261421204, + 0.19440582394599915, + 0.051516443490982056, + -2.975472927093506, + -0.40189510583877563, + -0.5108934044837952 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then keep gripper closed; then move back 3 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34993255138397217, + 0.19454698264598846, + 0.045061856508255005, + -2.985607147216797, + -0.4269292950630188, + -0.5196039080619812 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move back 5 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35126033425331116, + 0.19434352219104767, + 0.03678341209888458, + -3.001774787902832, + -0.4399622976779938, + -0.5130195021629333 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then keep gripper closed; then move back 5 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3540230393409729, + 0.19463130831718445, + 0.03125615417957306, + -3.006554365158081, + -0.4526601731777191, + -0.5121532082557678 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then keep gripper closed; then move back 5 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562275767326355, + 0.1966816484928131, + 0.021811261773109436, + -3.0177178382873535, + -0.456251323223114, + -0.5010334253311157 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the sink with the metal pot visible on the counter to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move back 5 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35728541016578674, + 0.19746871292591095, + 0.014911438338458538, + -3.040487051010132, + -0.4533827006816864, + -0.47186002135276794 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the metal pot on the counter to the left of the sink. The gripper is currently open and positioned near the pot, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the pot's handle or rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562427759170532, + 0.1969468891620636, + 0.012777673080563545, + -3.0642940998077393, + -0.4447546601295471, + -0.4502648413181305 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the metal pot on the counter to the left of the sink. The gripper is currently open and positioned near the pot, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the pot's handle or rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3570723235607147, + 0.1978241503238678, + 0.011391053907573223, + -3.0858778953552246, + -0.44263941049575806, + -0.4379235804080963 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "lift and place pot in sink", + "subtask_reasoning": "The robot has approached the metal pot on the counter to the left of the sink. The gripper is currently open and positioned near the pot, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the pot's handle or rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35543638467788696, + 0.20074687898159027, + 0.01076224073767662, + -3.080396890640259, + -0.4349827170372009, + -0.4044499099254608 + ], + "gripper_value": 0.16707322001457214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "lift and place pot in sink", + "subtask_reasoning": "The robot has approached the metal pot on the counter to the left of the sink. The gripper is currently open and positioned near the pot, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the pot's handle or rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402215838432312, + 0.19707688689231873, + 0.013704263605177402, + -3.076289415359497, + -0.4035908877849579, + -0.3448776602745056 + ], + "gripper_value": 0.08432227373123169 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "lift and place pot in sink", + "subtask_reasoning": "The pot is not visible in the current frame, but gripper evidence indicates a successful grasp occurred within the subtask segment. The robot is likely in transit, moving the held pot from the counter toward the sink basin. The next action is to continue the trajectory to position the pot over the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32539063692092896, + 0.18931590020656586, + 0.01838831976056099, + -3.0643768310546875, + -0.3794543147087097, + -0.23999619483947754 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "lift and place pot in sink", + "subtask_reasoning": "The pot is not visible in the current frame, but gripper evidence indicates a successful grasp occurred within the subtask segment. The robot is likely in transit, moving the held pot from the counter toward the sink basin. The next action is to continue the trajectory to position the pot over the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081606328487396, + 0.17991575598716736, + 0.021504370495676994, + -3.0369770526885986, + -0.3698715269565582, + -0.14301809668540955 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 535, + 212, + 611, + 313 + ], + "green cutting board": [ + 618, + 247, + 893, + 415 + ], + "soap dispenser": [ + 389, + 6, + 554, + 298 + ], + "plate": [ + 730, + 405, + 975, + 665 + ], + "brown cutting board": [ + 1, + 18, + 163, + 196 + ], + "metal bowl": [ + 109, + 165, + 313, + 327 + ], + "knife block": [ + 115, + 14, + 341, + 320 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot on the left side of the sink and place it inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and place pot in sink" + } + ], + "subtask_name": "lift and place pot in sink", + "subtask_reasoning": "The pot is not visible in the current frame, but gripper evidence indicates a successful grasp occurred within the subtask segment. The robot is likely in transit, moving the held pot from the counter toward the sink basin. The next action is to continue the trajectory to position the pot over the sink for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003997_ecot.json b/cot/chunk-0003/episode_0003997_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..cc4bd36a5f74bafd07b5f0eef1fdf981639917db --- /dev/null +++ b/cot/chunk-0003/episode_0003997_ecot.json @@ -0,0 +1,2383 @@ +{ + "task_name": "episode_0003997", + "episode_json": "json/chunk-0003/episode_0003997.json", + "video_path": "videos/chunk-0003/image_0/episode_0003997.mp4", + "instruction": "Topple metal pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003997.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.935792863368988, + "std": 0.4143277406692505, + "delta_total": -0.0040016770362854, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93579, std=0.41433, total_delta=-0.00400). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 213, + 213, + 213, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 26, + 26, + 26, + 26, + 26, + 126, + 126, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 12 + ], + [ + 3, + 13, + 15 + ], + [ + 4, + 16, + 25 + ], + [ + 5, + 26, + 30 + ], + [ + 6, + 31, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the metal pot without grasping, as gripper remains fully open and no closing is observed.\"},\n {\"id\": 2, \"name\": \"grasp pot handle\", \"start\": 13, \"end\": 15, \"planning\": \"Close gripper around pot handle; segment shows meaningful closing (delta=-0.36) and images confirm contact with handle.\"},\n {\"id\": 3, \"name\": \"lift and tilt pot\", \"start\": 16, \"end\": 25, \"planning\": \"Lift and rotate pot to topple it against cardboard fence; gripper remains closed then opens slightly during motion, consistent with controlled manipulation.\"},\n {\"id\": 4, \"name\": \"release pot\", \"start\": 26, \"end\": 30, \"planning\": \"Open gripper to release pot after toppling; inferred from gripper opening trend in segment 4 end and transition to fully open state in segment 6.\"},\n {\"id\": 5, \"name\": \"retreat from scene\", \"start\": 31, \"end\": 34, \"planning\": \"Move end-effector away from toppled pot; gripper remains fully open and no further interaction occurs.\"}\n ],\n \"global_plan\": \"Approach pot, grasp its handle, lift and tilt to topple against cardboard fence, release, then retreat.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases. Segment 5 (frames 26-30) is merged into subtask 4 as it represents the release phase following manipulation, even though not explicitly detailed in keyframes — inferred from gripper opening trend and final open state in segment 6.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the metal pot without grasping, as gripper remains fully open and no closing is observed." + }, + { + "id": 2, + "name": "grasp pot handle", + "start": 13, + "end": 15, + "planning": "Close gripper around pot handle; segment shows meaningful closing (delta=-0.36) and images confirm contact with handle." + }, + { + "id": 3, + "name": "lift and tilt pot", + "start": 16, + "end": 25, + "planning": "Lift and rotate pot to topple it against cardboard fence; gripper remains closed then opens slightly during motion, consistent with controlled manipulation." + }, + { + "id": 4, + "name": "release pot", + "start": 26, + "end": 30, + "planning": "Open gripper to release pot after toppling; inferred from gripper opening trend in segment 4 end and transition to fully open state in segment 6." + }, + { + "id": 5, + "name": "retreat from scene", + "start": 31, + "end": 34, + "planning": "Move end-effector away from toppled pot; gripper remains fully open and no further interaction occurs." + } + ], + "global_plan": "Approach pot, grasp its handle, lift and tilt to topple against cardboard fence, release, then retreat.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases. Segment 5 (frames 26-30) is merged into subtask 4 as it represents the release phase following manipulation, even though not explicitly detailed in keyframes — inferred from gripper opening trend and final open state in segment 6." + } + }, + "episode_goal": "Topple the metal pot so it falls onto its side within the wooden tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23118774592876434, + 0.1008448526263237, + 0.11491082608699799, + -3.1220059394836426, + -0.05497773736715317, + 0.1148303747177124 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the metal pot clearly visible in the center. No actions have been completed yet as the robot is just starting to approach the pot. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 9 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23030008375644684, + 0.09854035079479218, + 0.10854215174913406, + -3.1383256912231445, + -0.039121199399232864, + 0.11262433975934982 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the metal pot clearly visible in the center. No actions have been completed yet as the robot is just starting to approach the pot. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25046008825302124, + 0.09735240787267685, + 0.09632646292448044, + 3.0749893188476562, + -0.09855712950229645, + 0.06650335341691971 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stainless steel pot": [ + 394, + 338, + 727, + 689 + ], + "green apple": [ + 482, + 745, + 586, + 879 + ], + "window sill": [ + 307, + 2, + 864, + 215 + ], + "orange package": [ + 318, + 291, + 435, + 428 + ], + "wooden board": [ + 7, + 223, + 795, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the metal pot clearly visible in the center. No actions have been completed yet as the robot is just starting to approach the pot. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657777965068817, + 0.0923893079161644, + 0.0983755812048912, + 3.033205509185791, + -0.1587284654378891, + -0.047563884407281876 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the metal pot clearly visible in the center. No actions have been completed yet as the robot is just starting to approach the pot. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.276361882686615, + 0.08193143457174301, + 0.09792334586381912, + 2.9498565196990967, + -0.15688671171665192, + -0.1148296669125557 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the metal pot clearly visible in the center. No actions have been completed yet as the robot is just starting to approach the pot. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816677689552307, + 0.06520633399486542, + 0.10047397762537003, + 2.9150185585021973, + -0.14304423332214355, + -0.14173972606658936 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the metal pot clearly visible in the center. No actions have been completed yet as the robot is just starting to approach the pot. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28760209679603577, + 0.050674889236688614, + 0.09583567082881927, + 2.942247152328491, + -0.14635255932807922, + -0.14024344086647034 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, approaching the metal pot from a high angle. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28990742564201355, + 0.03430403769016266, + 0.07874222844839096, + 3.019141674041748, + -0.16010326147079468, + -0.1475939005613327 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, approaching the metal pot from a high angle. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944813668727875, + 0.02193332090973854, + 0.07096770405769348, + 3.053260564804077, + -0.16739782691001892, + -0.15046343207359314 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, approaching the metal pot from a high angle. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move up 5 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916933298110962, + 0.015619702637195587, + 0.04898664355278015, + 3.032594680786133, + -0.08568709343671799, + -0.09655196964740753 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, approaching the metal pot from a high angle. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move up 5 cm, tilt left 30 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2950275242328644, + 0.014844621531665325, + 0.04919690266251564, + 3.0270233154296875, + -0.0644848421216011, + -0.05184657871723175 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, approaching the metal pot from a high angle. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 4 cm, move up 5 cm, tilt left 40 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916763126850128, + 0.017018506303429604, + 0.043893005698919296, + 3.0286359786987305, + 0.011455127038061619, + -0.016091065481305122 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, approaching the metal pot from a high angle. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, move up 4 cm, tilt left 50 degrees, tilt back 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2879968583583832, + 0.018773294985294342, + 0.0424107126891613, + 3.0419352054595947, + 0.03804313391447067, + -0.014965238980948925 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden tray, approaching the metal pot from a high angle. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 6 cm, move up 2 cm, tilt left 50 degrees, tilt back 30 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28765368461608887, + 0.020763110369443893, + 0.039161015301942825, + 3.0598409175872803, + 0.04493222385644913, + -0.01262976136058569 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned above the wooden tray, approaching the metal pot from a high angle. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 6 cm, move up 1 cm, tilt left 50 degrees, tilt back 30 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2859204113483429, + 0.022923903539776802, + 0.03555987775325775, + 3.0781421661376953, + 0.040221426635980606, + -0.014702960848808289 + ], + "gripper_value": 0.21050429344177246 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot handle with the gripper open and aligned for contact. The approach phase is complete, and the gripper is now closing to secure a grasp on the handle. The next action is to finalize the grip on the handle to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 6 cm, move up 1 cm, tilt left 50 degrees, tilt back 30 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28457316756248474, + 0.027933521196246147, + 0.037012625485658646, + 3.122805595397949, + 0.014951355755329132, + 0.006741307210177183 + ], + "gripper_value": 0.0853668823838234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot handle with the gripper open and aligned for contact. The approach phase is complete, and the gripper is now closing to secure a grasp on the handle. The next action is to finalize the grip on the handle to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move left 7 cm, move up 2 cm, tilt left 40 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2812543511390686, + 0.03839407488703728, + 0.05790392681956291, + -3.0736947059631348, + -0.007111547980457544, + 0.021808449178934097 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stainless steel pot": [ + 347, + 313, + 672, + 674 + ], + "green apple": [ + 482, + 745, + 586, + 879 + ], + "orange package": [ + 317, + 319, + 381, + 428 + ], + "wooden board": [ + 6, + 164, + 797, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot handle with the gripper open and aligned for contact. The approach phase is complete, and the gripper is now closing to secure a grasp on the handle. The next action is to finalize the grip on the handle to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move up 3 cm, tilt left 40 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27369871735572815, + 0.04808717221021652, + 0.08389982581138611, + -2.975741147994995, + -0.07654616236686707, + -0.015827573835849762 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot handle with the gripper open and aligned for contact. The approach phase is complete, and the gripper is now closing to secure a grasp on the handle. The next action is to finalize the grip on the handle to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, tilt left 30 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26186448335647583, + 0.05806216970086098, + 0.10509029775857925, + -2.8035473823547363, + -0.22114019095897675, + -0.0342365987598896 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot handle with the gripper open and aligned for contact. The approach phase is complete, and the gripper is now closing to secure a grasp on the handle. The next action is to finalize the grip on the handle to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25287437438964844, + 0.06808455288410187, + 0.1124936193227768, + -2.616218090057373, + -0.3215786814689636, + -0.06478070467710495 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot handle with the gripper open and aligned for contact. The approach phase is complete, and the gripper is now closing to secure a grasp on the handle. The next action is to finalize the grip on the handle to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 5 cm, tilt right 20 degrees, tilt forward 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2467040866613388, + 0.07812178879976273, + 0.1047198697924614, + -2.4329593181610107, + -0.432184100151062, + -0.12811824679374695 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and lifted it above the wooden tray. The pot is currently held in mid-air, positioned to be tilted. The next action is to tilt the pot forward to topple it against the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 7 cm, tilt right 30 degrees, tilt forward 30 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2436373084783554, + 0.08555234223604202, + 0.09406369924545288, + -2.268249034881592, + -0.5278014540672302, + -0.2622911334037781 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green apple": [ + 477, + 745, + 587, + 879 + ], + "stainless steel pot": [ + 189, + 254, + 470, + 548 + ], + "window sill": [ + 334, + 2, + 864, + 214 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and lifted it above the wooden tray. The pot is currently held in mid-air, positioned to be tilted. The next action is to tilt the pot forward to topple it against the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 9 cm, tilt right 40 degrees, tilt forward 30 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24944047629833221, + 0.09466855973005295, + 0.07521021366119385, + -2.160665273666382, + -0.5785995721817017, + -0.3909434378147125 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and lifted it above the wooden tray. The pot is currently held in mid-air, positioned to be tilted. The next action is to tilt the pot forward to topple it against the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 9 cm, tilt right 40 degrees, tilt forward 30 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523926794528961, + 0.09853791445493698, + 0.07178065180778503, + -2.1202001571655273, + -0.5770600438117981, + -0.44340780377388 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and lifted it above the wooden tray. The pot is currently held in mid-air, positioned to be tilted. The next action is to tilt the pot forward to topple it against the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 20 degrees, keep gripper open; then move left 1 cm, move up 9 cm, tilt right 40 degrees, tilt forward 30 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24961335957050323, + 0.10102398693561554, + 0.06959078460931778, + -2.1612212657928467, + -0.5269094705581665, + -0.39595967531204224 + ], + "gripper_value": 0.10434377193450928 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and lifted it above the wooden tray. The pot is currently held in mid-air, positioned to be tilted. The next action is to tilt the pot forward to topple it against the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move up 9 cm, tilt right 40 degrees, tilt forward 30 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23238275945186615, + 0.10478506237268448, + 0.07499349117279053, + -2.3469431400299072, + -0.4022851884365082, + -0.277126282453537 + ], + "gripper_value": 0.2716236412525177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and lifted it above the wooden tray. The pot is currently held in mid-air, positioned to be tilted. The next action is to tilt the pot forward to topple it against the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move left 1 cm, move up 9 cm, tilt right 40 degrees, tilt forward 30 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22503730654716492, + 0.09844562411308289, + 0.08468049019575119, + -2.446089267730713, + -0.35549646615982056, + -0.2328944057226181 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and lifted it above the wooden tray. The pot is currently held in mid-air, positioned to be tilted. The next action is to tilt the pot forward to topple it against the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 9 cm, tilt right 40 degrees, tilt forward 30 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.21575674414634705, + 0.09856437891721725, + 0.09194926917552948, + -2.4945731163024902, + -0.2874530255794525, + -0.1641683727502823 + ], + "gripper_value": 0.8242669105529785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and lifted it above the wooden tray. The pot is currently held in mid-air, positioned to be tilted. The next action is to tilt the pot forward to topple it against the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 8 cm, tilt right 40 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21854355931282043, + 0.10032335668802261, + 0.11011572182178497, + -2.639296054840088, + -0.1578308641910553, + -0.045154716819524765 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green apple": [ + 480, + 745, + 586, + 879 + ], + "stainless steel pot": [ + 171, + 244, + 445, + 606 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot has been toppled onto its side within the wooden tray, completing the main objective. The gripper is currently open and positioned above the pot, indicating the release action is finished. The robot should now retreat from the tray to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt right 30 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2204255610704422, + 0.10286948829889297, + 0.13029681146144867, + -2.765272855758667, + 0.027801185846328735, + 0.048715319484472275 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot has been toppled onto its side within the wooden tray, completing the main objective. The gripper is currently open and positioned above the pot, indicating the release action is finished. The robot should now retreat from the tray to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt right 20 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.21887487173080444, + 0.1062450110912323, + 0.15263310074806213, + -2.9513771533966064, + 0.13937455415725708, + 0.026674045249819756 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot has been toppled onto its side within the wooden tray, completing the main objective. The gripper is currently open and positioned above the pot, indicating the release action is finished. The robot should now retreat from the tray to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.22135578095912933, + 0.10996323078870773, + 0.17521020770072937, + 3.1022613048553467, + 0.09351500868797302, + -0.002320770872756839 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot has been toppled onto its side within the wooden tray, completing the main objective. The gripper is currently open and positioned above the pot, indicating the release action is finished. The robot should now retreat from the tray to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.222453311085701, + 0.11183036863803864, + 0.18475914001464844, + 2.999377489089966, + 0.07563170790672302, + -0.024826470762491226 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot has been successfully toppled onto its side within the wooden tray, completing the main objective. The robot's gripper is open and positioned away from the pot, indicating the release phase is complete. The current subtask involves retreating from the scene, so the next action is to move the arm further back to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22579145431518555, + 0.10862255096435547, + 0.1904548555612564, + 2.976985454559326, + 0.05289260670542717, + -0.025053707882761955 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot has been successfully toppled onto its side within the wooden tray, completing the main objective. The robot's gripper is open and positioned away from the pot, indicating the release phase is complete. The current subtask involves retreating from the scene, so the next action is to move the arm further back to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.22891445457935333, + 0.11089611053466797, + 0.19735479354858398, + 3.006293296813965, + 0.044525425881147385, + -0.02871171198785305 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it falls onto its side within the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot has been successfully toppled onto its side within the wooden tray, completing the main objective. The robot's gripper is open and positioned away from the pot, indicating the release phase is complete. The current subtask involves retreating from the scene, so the next action is to move the arm further back to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0003/episode_0003998_ecot.json b/cot/chunk-0003/episode_0003998_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5d8db15e1b4562080f0d2cecf50323a44182c86b --- /dev/null +++ b/cot/chunk-0003/episode_0003998_ecot.json @@ -0,0 +1,2870 @@ +{ + "task_name": "episode_0003998", + "episode_json": "json/chunk-0003/episode_0003998.json", + "video_path": "videos/chunk-0003/image_0/episode_0003998.mp4", + "instruction": "Place the green and yellow vegetable on the orange cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0003/episode_0003998.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.33265697956085205, + "std": 0.1590282917022705, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.33266, std=0.15903, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 20 + ], + [ + 3, + 21, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach vegetable\", \"start\": 0, \"end\": 13, \"planning\": \"Move the end-effector from initial position down toward the green and yellow vegetable without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp vegetable\", \"start\": 14, \"end\": 20, \"planning\": \"Close the gripper around the green and yellow vegetable while maintaining contact and securing it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport vegetable\", \"start\": 21, \"end\": 32, \"planning\": \"Lift the grasped vegetable and move it horizontally toward the orange cloth target location.\"},\n {\"id\": 4, \"name\": \"place vegetable on cloth\", \"start\": 33, \"end\": 44, \"planning\": \"Lower the vegetable onto the orange cloth and release the gripper to complete placement.\"}\n ],\n \"global_plan\": \"Approach the green and yellow vegetable, grasp it securely, lift and transport it over the orange cloth, then place it down by releasing the gripper.\",\n \"notes\": \"Segment 1 shows no gripper closure — consistent with approach only. Segment 2 shows significant gripper closing (range=0.32565) — supports grasp action. Segment 3 shows sustained grip during transport followed by full release at frame 44 — supports lift, move, and place phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach vegetable", + "start": 0, + "end": 13, + "planning": "Move the end-effector from initial position down toward the green and yellow vegetable without closing the gripper." + }, + { + "id": 2, + "name": "grasp vegetable", + "start": 14, + "end": 20, + "planning": "Close the gripper around the green and yellow vegetable while maintaining contact and securing it for lifting." + }, + { + "id": 3, + "name": "lift and transport vegetable", + "start": 21, + "end": 32, + "planning": "Lift the grasped vegetable and move it horizontally toward the orange cloth target location." + }, + { + "id": 4, + "name": "place vegetable on cloth", + "start": 33, + "end": 44, + "planning": "Lower the vegetable onto the orange cloth and release the gripper to complete placement." + } + ], + "global_plan": "Approach the green and yellow vegetable, grasp it securely, lift and transport it over the orange cloth, then place it down by releasing the gripper.", + "notes": "Segment 1 shows no gripper closure — consistent with approach only. Segment 2 shows significant gripper closing (range=0.32565) — supports grasp action. Segment 3 shows sustained grip during transport followed by full release at frame 44 — supports lift, move, and place phases." + } + }, + "episode_goal": "Place the green and yellow vegetable on the orange cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3345903158187866, + -0.00923978816717863, + 0.17888210713863373, + 2.852548599243164, + -0.34963518381118774, + 0.716886043548584 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is positioned above the table with the green and yellow vegetable and orange cloth visible. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the vegetable to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 9 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33436810970306396, + -0.009226296097040176, + 0.17159003019332886, + 2.8682620525360107, + -0.3300212323665619, + 0.7172663807868958 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is positioned above the table with the green and yellow vegetable and orange cloth visible. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the vegetable to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 9 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32334083318710327, + -0.00534962210804224, + 0.1797345131635666, + 2.8771982192993164, + -0.33933889865875244, + 0.7399372458457947 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is positioned above the table with the green and yellow vegetable and orange cloth visible. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the vegetable to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3036516308784485, + 0.015980206429958344, + 0.19811324775218964, + 2.8700430393218994, + -0.37508267164230347, + 0.8114395141601562 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 619, + 424, + 876, + 747 + ], + "spoon": [ + 238, + 338, + 344, + 611 + ], + "metal bowl": [ + 400, + 503, + 708, + 791 + ], + "wooden table": [ + 18, + 185, + 898, + 989 + ], + "yellow object": [ + 331, + 401, + 430, + 544 + ] + } + } + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is positioned above the table with the green and yellow vegetable and orange cloth visible. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the vegetable to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 16 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28603261709213257, + 0.03772512078285217, + 0.21054941415786743, + 2.8729326725006104, + -0.4057692289352417, + 0.8731812238693237 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is positioned above the table with the green and yellow vegetable and orange cloth visible. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the vegetable to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 18 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27648741006851196, + 0.058337435126304626, + 0.20791110396385193, + 2.8946969509124756, + -0.4127655625343323, + 0.9093350172042847 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is positioned above the table with the green and yellow vegetable and orange cloth visible. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the vegetable to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 18 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697184085845947, + 0.08257120847702026, + 0.17931164801120758, + 2.9593465328216553, + -0.3517879545688629, + 0.9037431478500366 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 15 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2677890956401825, + 0.08688460290431976, + 0.14054718613624573, + 3.019101858139038, + -0.2963819205760956, + 0.8743139505386353 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27775755524635315, + 0.08852719515562057, + 0.1160484179854393, + 3.0121493339538574, + -0.2969939410686493, + 0.868443489074707 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28744179010391235, + 0.08287811279296875, + 0.10110528022050858, + 3.016916275024414, + -0.2935108244419098, + 0.8448516726493835 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28909575939178467, + 0.08304842561483383, + 0.079275943338871, + 3.0562455654144287, + -0.2540917992591858, + 0.8219169974327087 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28908464312553406, + 0.08299507200717926, + 0.06505770236253738, + 3.075810432434082, + -0.22900810837745667, + 0.8059151768684387 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28803563117980957, + 0.0846991315484047, + 0.05400791019201279, + 3.103681802749634, + -0.21164393424987793, + 0.805316686630249 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28864598274230957, + 0.07889576256275177, + 0.03998345136642456, + 3.140340566635132, + -0.19228248298168182, + 0.777094841003418 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "approach vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move left 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28725847601890564, + 0.0729394480586052, + 0.026780659332871437, + -3.1150903701782227, + -0.16021640598773956, + 0.7669569849967957 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 618, + 424, + 873, + 746 + ], + "metal bowl": [ + 398, + 503, + 708, + 790 + ], + "wooden table": [ + 18, + 185, + 898, + 990 + ], + "yellow object": [ + 326, + 412, + 423, + 550 + ], + "spoon": [ + 237, + 452, + 304, + 612 + ] + } + } + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "grasp vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888326644897461, + 0.06824567914009094, + 0.026215802878141403, + -3.1051852703094482, + -0.16931234300136566, + 0.757055938243866 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "grasp vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28971877694129944, + 0.06806628406047821, + 0.02688305824995041, + -3.1054277420043945, + -0.17820116877555847, + 0.7675625085830688 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "grasp vegetable", + "subtask_reasoning": "The robot is approaching the green and yellow vegetable on the wooden surface, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the vegetable for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902660071849823, + 0.06650590896606445, + 0.02691507153213024, + -3.096846580505371, + -0.18737459182739258, + 0.7598212361335754 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "grasp vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 6 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.290698766708374, + 0.0627322867512703, + 0.02676350623369217, + -3.073179244995117, + -0.20353449881076813, + 0.7274855971336365 + ], + "gripper_value": 0.6902000904083252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "grasp vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29129552841186523, + 0.06015828624367714, + 0.02771780826151371, + -3.066375732421875, + -0.21323828399181366, + 0.721187174320221 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "grasp vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 9 cm, move up 6 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29051050543785095, + 0.05915041267871857, + 0.030425146222114563, + -3.0737898349761963, + -0.21750125288963318, + 0.7242993116378784 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "grasp vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move right 12 cm, move up 5 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29557305574417114, + 0.053874820470809937, + 0.052808959037065506, + 3.126666784286499, + -0.2594274878501892, + 0.7445163130760193 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move up 4 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2993997633457184, + 0.05863329395651817, + 0.09648876637220383, + 3.018705129623413, + -0.34713900089263916, + 0.8082860708236694 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991460859775543, + 0.06263787299394608, + 0.13744182884693146, + 2.956083297729492, + -0.43468528985977173, + 0.8467485904693604 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 618, + 424, + 874, + 746 + ], + "spoon": [ + 237, + 339, + 345, + 611 + ], + "wooden table": [ + 19, + 211, + 897, + 987 + ], + "metal bowl": [ + 400, + 502, + 706, + 789 + ], + "yellow object": [ + 331, + 176, + 435, + 315 + ] + } + } + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 14 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3007557988166809, + 0.06136070191860199, + 0.1551934778690338, + 2.901379346847534, + -0.46042588353157043, + 0.8554597496986389 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 14 cm, move down 9 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115483820438385, + 0.04624837264418602, + 0.1564379185438156, + 2.8803021907806396, + -0.44910067319869995, + 0.7977664470672607 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has approached the green and yellow vegetable on the wooden surface. The gripper is currently open and positioned above the vegetable, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3213931918144226, + 0.02049856446683407, + 0.1459488719701767, + 2.8868465423583984, + -0.4131127595901489, + 0.73037189245224 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32399722933769226, + -0.001363515155389905, + 0.13339586555957794, + 2.894542694091797, + -0.3757607340812683, + 0.6796968579292297 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.32535961270332336, + -0.018455862998962402, + 0.12739278376102448, + 2.8938732147216797, + -0.3603682219982147, + 0.6495250463485718 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32942909002304077, + -0.03806743025779724, + 0.11348772048950195, + 2.899747610092163, + -0.3302913010120392, + 0.6010460257530212 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3352978825569153, + -0.06251240521669388, + 0.1023678109049797, + 2.8991382122039795, + -0.3108966052532196, + 0.5370836853981018 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper closed; then move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3392598032951355, + -0.0759807825088501, + 0.09633378684520721, + 2.8911523818969727, + -0.30183708667755127, + 0.5075933337211609 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper closed; then move left 3 cm, move up 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3409975469112396, + -0.07806593179702759, + 0.07893342524766922, + 2.910219430923462, + -0.27693745493888855, + 0.4884995222091675 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "lift and transport vegetable", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34209442138671875, + -0.07533092051744461, + 0.06316898763179779, + 2.9136879444122314, + -0.23800720274448395, + 0.4948359727859497 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 12 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.34348469972610474, + -0.06377962976694107, + 0.04540200158953667, + 2.9295945167541504, + -0.20329521596431732, + 0.5040934681892395 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 400, + 502, + 708, + 790 + ], + "spoon": [ + 237, + 338, + 345, + 611 + ], + "yellow object": [ + 638, + 398, + 727, + 520 + ], + "orange cloth": [ + 619, + 460, + 876, + 748 + ], + "wooden table": [ + 17, + 183, + 901, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 14 cm, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.34222179651260376, + -0.061531659215688705, + 0.04342881217598915, + 2.9370899200439453, + -0.207148477435112, + 0.49912339448928833 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 14 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.34179431200027466, + -0.059411946684122086, + 0.04314102604985237, + 2.9483540058135986, + -0.20893901586532593, + 0.5088297724723816 + ], + "gripper_value": 0.7555288672447205 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 14 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.33838504552841187, + -0.05810820683836937, + 0.04210468754172325, + 2.9753823280334473, + -0.19990313053131104, + 0.5215415358543396 + ], + "gripper_value": 0.9893313646316528 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot has successfully grasped the green and yellow vegetable and is currently lifting it above the wooden surface. The gripper remains closed with no significant change, indicating secure transport. The next action is to continue moving the vegetable toward the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 15 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.33857810497283936, + -0.058367643505334854, + 0.04216647893190384, + 2.97385573387146, + -0.20062200725078583, + 0.5303468108177185 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot is holding the green and yellow vegetable above the orange cloth, having completed the approach and grasp phases. The gripper is closed, indicating secure contact with the object. The next action is to lower the vegetable onto the cloth and release the gripper to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 15 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.33907124400138855, + -0.056918784976005554, + 0.042236823588609695, + 2.9789910316467285, + -0.20698586106300354, + 0.5364617705345154 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot is holding the green and yellow vegetable above the orange cloth, having completed the approach and grasp phases. The gripper is closed, indicating secure contact with the object. The next action is to lower the vegetable onto the cloth and release the gripper to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 15 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3396087884902954, + -0.055018387734889984, + 0.05635203421115875, + 2.9643940925598145, + -0.24540656805038452, + 0.5355322957038879 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot is holding the green and yellow vegetable above the orange cloth, having completed the approach and grasp phases. The gripper is closed, indicating secure contact with the object. The next action is to lower the vegetable onto the cloth and release the gripper to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 13 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3417558968067169, + -0.045819055289030075, + 0.10286427289247513, + 2.857491970062256, + -0.3471144735813141, + 0.5830012559890747 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot is holding the green and yellow vegetable above the orange cloth, having completed the approach and grasp phases. The gripper is closed, indicating secure contact with the object. The next action is to lower the vegetable onto the cloth and release the gripper to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3363032341003418, + -0.0344909243285656, + 0.15038925409317017, + 2.7723045349121094, + -0.420279324054718, + 0.6115402579307556 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 237, + 338, + 346, + 611 + ], + "metal bowl": [ + 400, + 508, + 705, + 790 + ], + "yellow object": [ + 616, + 396, + 716, + 535 + ], + "wooden table": [ + 18, + 186, + 899, + 988 + ], + "orange cloth": [ + 626, + 441, + 876, + 747 + ] + } + } + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot is holding the green and yellow vegetable above the orange cloth, having completed the approach and grasp phases. The gripper is closed, indicating secure contact with the object. The next action is to lower the vegetable onto the cloth and release the gripper to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3241863548755646, + -0.01789090782403946, + 0.18306998908519745, + 2.7673442363739014, + -0.47443148493766785, + 0.6674380302429199 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot is holding the green and yellow vegetable above the orange cloth, having completed the approach and grasp phases. The gripper is closed, indicating secure contact with the object. The next action is to lower the vegetable onto the cloth and release the gripper to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.31905463337898254, + 0.013033764436841011, + 0.18803873658180237, + 2.806110143661499, + -0.49557122588157654, + 0.75242680311203 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green and yellow vegetable on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vegetable" + }, + { + "id": 2, + "subtask": "grasp vegetable" + }, + { + "id": 3, + "subtask": "lift and transport vegetable" + }, + { + "id": 4, + "subtask": "place vegetable on cloth" + } + ], + "subtask_name": "place vegetable on cloth", + "subtask_reasoning": "The robot is holding the green and yellow vegetable above the orange cloth, having completed the approach and grasp phases. The gripper is closed, indicating secure contact with the object. The next action is to lower the vegetable onto the cloth and release the gripper to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004000_ecot.json b/cot/chunk-0004/episode_0004000_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7a801c235933c829eee780130b147236955aedcb --- /dev/null +++ b/cot/chunk-0004/episode_0004000_ecot.json @@ -0,0 +1,1084 @@ +{ + "task_name": "episode_0004000", + "episode_json": "json/chunk-0004/episode_0004000.json", + "video_path": "videos/chunk-0004/image_0/episode_0004000.mp4", + "instruction": "Put cup into pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004000.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.9015318155288696, + "std": 0.4104732275009155, + "delta_total": -0.7975888848304749, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90153, std=0.41047, total_delta=-0.79759). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 8, + 108, + 108, + 108, + 108, + 108 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cup\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the blue cup and close gripper to secure it, as evidenced by significant gripper closure from 1.0 to 0.54 and visual confirmation of contact.\"},\n {\"id\": 2, \"name\": \"lift and reposition cup over pot\", \"start\": 8, \"end\": 11, \"planning\": \"Lift the grasped cup and translate it horizontally toward the pot, maintaining grip while adjusting orientation for placement, supported by continued low gripper values and motion trajectory.\"},\n {\"id\": 3, \"name\": \"release cup into pot and retreat\", \"start\": 12, \"end\": 16, \"planning\": \"Lower cup into pot, release grip (gripper opens slightly at end), and withdraw end-effector, confirmed by final frame showing cup inside pot and gripper value increasing to 0.20.\"}\n ],\n \"global_plan\": \"Grasp the blue cup, lift and move it over the metal pot in the sink, then release it inside the pot and retreat.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.457) and image confirms contact → grasp allowed. Segment 2 maintains tight grip (gripper ~0.1) during transport → hold/grasp wording valid. Segment 3 ends with gripper opening (delta=+0.103) and visual confirmation of release → release contact appropriate. All segments align with observed mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cup", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the blue cup and close gripper to secure it, as evidenced by significant gripper closure from 1.0 to 0.54 and visual confirmation of contact." + }, + { + "id": 2, + "name": "lift and reposition cup over pot", + "start": 8, + "end": 11, + "planning": "Lift the grasped cup and translate it horizontally toward the pot, maintaining grip while adjusting orientation for placement, supported by continued low gripper values and motion trajectory." + }, + { + "id": 3, + "name": "release cup into pot and retreat", + "start": 12, + "end": 16, + "planning": "Lower cup into pot, release grip (gripper opens slightly at end), and withdraw end-effector, confirmed by final frame showing cup inside pot and gripper value increasing to 0.20." + } + ], + "global_plan": "Grasp the blue cup, lift and move it over the metal pot in the sink, then release it inside the pot and retreat.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.457) and image confirms contact → grasp allowed. Segment 2 maintains tight grip (gripper ~0.1) during transport → hold/grasp wording valid. Segment 3 ends with gripper opening (delta=+0.103) and visual confirmation of release → release contact appropriate. All segments align with observed mechanics." + } + }, + "episode_goal": "Place the blue cup into the metal pot in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30088916420936584, + -0.06656449288129807, + 0.2113848179578781, + -3.0974955558776855, + -0.3398106098175049, + 0.059075698256492615 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The blue cup is positioned on the sink divider, and the metal pot is in the sink basin. The robot arm is approaching the cup with an open gripper. The next action is to close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30493536591529846, + -0.06530831009149551, + 0.2033626288175583, + -3.0502853393554688, + -0.3229690492153168, + -0.016544124111533165 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The blue cup is positioned on the sink divider, and the metal pot is in the sink basin. The robot arm is approaching the cup with an open gripper. The next action is to close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.315134197473526, + -0.0665091946721077, + 0.19998367130756378, + -2.9981086254119873, + -0.3147923946380615, + -0.14798109233379364 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The blue cup is positioned on the sink divider, and the metal pot is in the sink basin. The robot arm is approaching the cup with an open gripper. The next action is to close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move back 5 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3245249092578888, + -0.06498510390520096, + 0.19302749633789062, + -3.000192403793335, + -0.305157870054245, + -0.19825826585292816 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The scene shows a blue cup on the sink counter and a metal pot in the sink basin. The robot arm is positioned above the counter but has not yet made contact with the cup. The gripper is currently open, indicating the approach phase is ongoing. The next action is to lower the arm and close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move back 5 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33193376660346985, + -0.06206021085381508, + 0.1832580715417862, + -3.0312578678131104, + -0.29792851209640503, + -0.19969268143177032 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The scene shows a blue cup on the sink counter and a metal pot in the sink basin. The robot arm is positioned above the counter but has not yet made contact with the cup. The gripper is currently open, indicating the approach phase is ongoing. The next action is to lower the arm and close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move back 5 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33943215012550354, + -0.057783402502536774, + 0.17276708781719208, + -3.0714635848999023, + -0.29508405923843384, + -0.1905798316001892 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The scene shows a blue cup on the sink counter and a metal pot in the sink basin. The robot arm is positioned above the counter but has not yet made contact with the cup. The gripper is currently open, indicating the approach phase is ongoing. The next action is to lower the arm and close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 5 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34323394298553467, + -0.05550113692879677, + 0.1594601720571518, + -3.116488456726074, + -0.2836458086967468, + -0.1819401979446411 + ], + "gripper_value": 0.850854754447937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The scene shows a blue cup on the sink counter and a metal pot in the sink basin. The robot arm is positioned above the counter but has not yet made contact with the cup. The gripper is currently open, indicating the approach phase is ongoing. The next action is to lower the arm and close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 5 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467578589916229, + -0.05154656991362572, + 0.14864622056484222, + -3.1326205730438232, + -0.26678067445755005, + -0.17255878448486328 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 449, + 462, + 806, + 795 + ], + "dish drainer": [ + 4, + 19, + 456, + 375 + ], + "green sponge": [ + 171, + 17, + 282, + 267 + ], + "white plastic pieces": [ + 151, + 209, + 315, + 345 + ], + "red spray bottle": [ + 799, + 43, + 873, + 159 + ], + "blue cup": [ + 539, + 50, + 690, + 261 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The scene shows a blue cup on the sink counter and a metal pot in the sink basin. The robot arm is positioned above the counter but has not yet made contact with the cup. The gripper is currently open, indicating the approach phase is ongoing. The next action is to lower the arm and close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462550640106201, + -0.0521223284304142, + 0.14798106253147125, + -3.1402575969696045, + -0.26231133937835693, + -0.15916989743709564 + ], + "gripper_value": 0.27090853452682495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "lift and reposition cup over pot", + "subtask_reasoning": "The scene shows a blue cup on the sink counter and a metal pot in the sink basin. The robot arm is positioned above the counter but has not yet made contact with the cup. The gripper is currently open, indicating the approach phase is ongoing. The next action is to lower the arm and close the gripper to grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455890417098999, + -0.05353156104683876, + 0.14892315864562988, + -3.1319708824157715, + -0.25772905349731445, + -0.15835514664649963 + ], + "gripper_value": 0.13572125136852264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "lift and reposition cup over pot", + "subtask_reasoning": "The blue cup is grasped and currently positioned above the sink, near the metal pot. The gripper remains closed, indicating the cup is still held. The next action is to lower the cup into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33761322498321533, + -0.06025087833404541, + 0.1524275839328766, + -3.117558717727661, + -0.23498955368995667, + -0.14139656722545624 + ], + "gripper_value": 0.09966801106929779 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "lift and reposition cup over pot", + "subtask_reasoning": "The blue cup is grasped and currently positioned above the sink, near the metal pot. The gripper remains closed, indicating the cup is still held. The next action is to lower the cup into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3216038644313812, + -0.08318258821964264, + 0.15792034566402435, + -3.124495267868042, + -0.21937687695026398, + -0.09090419858694077 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "lift and reposition cup over pot", + "subtask_reasoning": "The blue cup is grasped and currently positioned above the sink, near the metal pot. The gripper remains closed, indicating the cup is still held. The next action is to lower the cup into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29503384232521057, + -0.10528381913900375, + 0.1547800749540329, + 3.1245574951171875, + -0.22267663478851318, + 0.013245334848761559 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "release cup into pot and retreat", + "subtask_reasoning": "The blue cup is grasped and currently positioned above the sink, near the metal pot. The gripper remains closed, indicating the cup is still held. The next action is to lower the cup into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26474323868751526, + -0.11959916353225708, + 0.14720964431762695, + 3.0928902626037598, + -0.23785647749900818, + 0.09623273462057114 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 448, + 461, + 804, + 794 + ], + "blue cup": [ + 610, + 228, + 776, + 466 + ], + "green sponge": [ + 171, + 16, + 282, + 266 + ], + "dish drainer": [ + 5, + 20, + 458, + 376 + ], + "red spray bottle": [ + 620, + 25, + 718, + 106 + ], + "white plastic pieces": [ + 151, + 209, + 314, + 345 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "release cup into pot and retreat", + "subtask_reasoning": "The blue cup is grasped and currently positioned above the sink, near the metal pot. The gripper remains closed, indicating the cup is still held. The next action is to lower the cup into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24069096148014069, + -0.11833538115024567, + 0.13687875866889954, + 3.0712289810180664, + -0.23547768592834473, + 0.15659008920192719 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "release cup into pot and retreat", + "subtask_reasoning": "The blue cup is currently held by the gripper and positioned directly above the metal pot in the sink. The gripper is closed, indicating the cup is still secured. The next action is to open the gripper to release the cup into the pot and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23222702741622925, + -0.11600852757692337, + 0.13199716806411743, + 3.0516703128814697, + -0.22312727570533752, + 0.16145548224449158 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "release cup into pot and retreat", + "subtask_reasoning": "The blue cup is currently held by the gripper and positioned directly above the metal pot in the sink. The gripper is closed, indicating the cup is still secured. The next action is to open the gripper to release the cup into the pot and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23493808507919312, + -0.11138730496168137, + 0.13160333037376404, + 3.0343098640441895, + -0.2151741236448288, + 0.13684453070163727 + ], + "gripper_value": 0.2032272070646286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cup into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and reposition cup over pot" + }, + { + "id": 3, + "subtask": "release cup into pot and retreat" + } + ], + "subtask_name": "release cup into pot and retreat", + "subtask_reasoning": "The blue cup is currently held by the gripper and positioned directly above the metal pot in the sink. The gripper is closed, indicating the cup is still secured. The next action is to open the gripper to release the cup into the pot and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004001_ecot.json b/cot/chunk-0004/episode_0004001_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2ffc952e5f251804faa676870bf8db1b8efb943b --- /dev/null +++ b/cot/chunk-0004/episode_0004001_ecot.json @@ -0,0 +1,1833 @@ +{ + "task_name": "episode_0004001", + "episode_json": "json/chunk-0004/episode_0004001.json", + "video_path": "videos/chunk-0004/image_0/episode_0004001.mp4", + "instruction": "Take the blue object out of the silver pot and put it on the upper right side of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004001.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.7849713563919067, + "std": 0.3529092073440552, + "delta_total": 0.0065261125564575195, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.78497, std=0.35291, total_delta=0.00653). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 0, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 222, + 222, + 222, + 222 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 2 + ], + [ + 3, + 3, + 4 + ], + [ + 4, + 5, + 9 + ], + [ + 5, + 10, + 11 + ], + [ + 6, + 12, + 21 + ], + [ + 7, + 22, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the silver pot containing the blue object without closing the gripper.\"},\n {\"id\": 2, \"name\": \"position for grasp\", \"start\": 5, \"end\": 9, \"planning\": \"Fine-tune end-effector pose above the blue object inside the pot in preparation for grasping.\"},\n {\"id\": 3, \"name\": \"grasp blue object\", \"start\": 10, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the blue object while maintaining contact with it inside the pot.\"},\n {\"id\": 4, \"name\": \"lift and transport\", \"start\": 12, \"end\": 21, \"planning\": \"Lift the blue object out of the pot and move it toward the upper right side of the stove.\"},\n {\"id\": 5, \"name\": \"release on stove\", \"start\": 22, \"end\": 25, \"planning\": \"Open the gripper to release the blue object onto the upper right side of the stove and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the pot, position above the blue object, grasp it, lift and transport to the upper right stove area, then release.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 5 (frames 10-11) and 7 (frames 22-25), aligning with grasp and release phases. Other segments show no gripper closure, so contact-based or motion-only descriptions are used.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the silver pot containing the blue object without closing the gripper." + }, + { + "id": 2, + "name": "position for grasp", + "start": 5, + "end": 9, + "planning": "Fine-tune end-effector pose above the blue object inside the pot in preparation for grasping." + }, + { + "id": 3, + "name": "grasp blue object", + "start": 10, + "end": 11, + "planning": "Close the gripper to securely grasp the blue object while maintaining contact with it inside the pot." + }, + { + "id": 4, + "name": "lift and transport", + "start": 12, + "end": 21, + "planning": "Lift the blue object out of the pot and move it toward the upper right side of the stove." + }, + { + "id": 5, + "name": "release on stove", + "start": 22, + "end": 25, + "planning": "Open the gripper to release the blue object onto the upper right side of the stove and retreat slightly." + } + ], + "global_plan": "Approach the pot, position above the blue object, grasp it, lift and transport to the upper right stove area, then release.", + "notes": "Gripper evidence confirms meaningful closing only in segments 5 (frames 10-11) and 7 (frames 22-25), aligning with grasp and release phases. Other segments show no gripper closure, so contact-based or motion-only descriptions are used." + } + }, + "episode_goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992825210094452, + 0.05676794797182083, + 0.03517189621925354, + -3.0991101264953613, + -0.10750078409910202, + 0.03347418084740639 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing the blue object visible below. No actions have been completed yet as this is the initial approach phase. The next likely action is to move the arm closer to the pot to prepare for grasping the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 8 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29169341921806335, + 0.054550424218177795, + 0.024318717420101166, + -3.1113030910491943, + -0.07075082510709763, + 0.05309411510825157 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing the blue object visible below. No actions have been completed yet as this is the initial approach phase. The next likely action is to move the arm closer to the pot to prepare for grasping the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2702745795249939, + 0.027962855994701385, + 0.026850679889321327, + 3.1393280029296875, + -0.07976438850164413, + 0.1065688356757164 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing the blue object visible below. The gripper is open and no contact has been made yet. The next action is to move the end-effector closer to the blue object inside the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25603577494621277, + 0.0037704401183873415, + 0.038367073982954025, + -3.120467185974121, + -0.1164441853761673, + 0.12372329831123352 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing the blue object visible below. The gripper is open and no contact has been made yet. The next action is to move the end-effector closer to the blue object inside the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24383965134620667, + -0.016425469890236855, + 0.0413200780749321, + -3.1042563915252686, + -0.13250787556171417, + 0.13858884572982788 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 354, + 281, + 477, + 412 + ], + "blue cloth": [ + 134, + 396, + 401, + 680 + ], + "metal bowl": [ + 447, + 573, + 685, + 861 + ], + "sink": [ + 732, + 626, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing the blue object visible below. The gripper is open and no contact has been made yet. The next action is to move the end-effector closer to the blue object inside the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed; then move forward 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24327707290649414, + -0.026645498350262642, + 0.02261689305305481, + 3.1286439895629883, + -0.08522533625364304, + 0.11680782586336136 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "position for grasp", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing the blue object visible below. The gripper is open and no contact has been made yet. The next action is to move the end-effector closer to the blue object inside the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2405782788991928, + -0.025388047099113464, + -0.004066248424351215, + 3.1078507900238037, + -0.02764238603413105, + 0.1293071061372757 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "position for grasp", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing the blue object visible below. The gripper is open and no contact has been made yet. The next action is to move the end-effector closer to the blue object inside the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper closed; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24242258071899414, + -0.017788970842957497, + -0.016209769994020462, + 3.121968984603882, + 0.0067847296595573425, + 0.13907009363174438 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "position for grasp", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the blue object, with the gripper open and aligned for grasping. The approach phase is complete, and the arm is now stationary in preparation for the next step. The most likely next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move up 1 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24564599990844727, + -0.013868884183466434, + -0.025487232953310013, + 3.1316733360290527, + 0.031621333211660385, + 0.15749625861644745 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "position for grasp", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the blue object, with the gripper open and aligned for grasping. The approach phase is complete, and the arm is now stationary in preparation for the next step. The most likely next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move up 1 cm, keep gripper closed; then move forward 5 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24657249450683594, + -0.013343559578061104, + -0.025457318872213364, + 3.135324001312256, + 0.029563000425696373, + 0.17245624959468842 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "position for grasp", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the blue object, with the gripper open and aligned for grasping. The approach phase is complete, and the arm is now stationary in preparation for the next step. The most likely next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 1 cm, keep gripper closed; then move forward 6 cm, move left 4 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24332331120967865, + -0.013825220987200737, + -0.027594946324825287, + -3.1351287364959717, + 0.026844598352909088, + 0.179562509059906 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot arm is positioned directly above the blue object inside the silver pot, with the gripper open and ready. The approach and positioning phases are complete. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 8 cm, move left 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24225950241088867, + -0.016552098095417023, + -0.02424030192196369, + -3.1260082721710205, + 0.008566446602344513, + 0.1727409064769745 + ], + "gripper_value": 0.7151217460632324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "grasp blue object", + "subtask_reasoning": "The robot arm is positioned directly above the blue object inside the silver pot, with the gripper open and ready. The approach and positioning phases are complete. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 9 cm, move left 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2435491681098938, + -0.018420390784740448, + -0.01632222905755043, + -3.1129305362701416, + -0.009817618876695633, + 0.16292990744113922 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot arm is positioned directly above the blue object inside the silver pot, with the gripper open and ready. The approach and positioning phases are complete. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24999254941940308, + -0.017850534990429878, + 0.0014224830083549023, + -3.099705934524536, + -0.06426099687814713, + 0.15408985316753387 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot arm is positioned directly above the blue object inside the silver pot, with the gripper open and ready. The approach and positioning phases are complete. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 7 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2553797960281372, + -0.015803134068846703, + 0.0181138813495636, + -3.0764074325561523, + -0.10592766106128693, + 0.15066465735435486 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 134, + 396, + 402, + 680 + ], + "spatula": [ + 354, + 280, + 478, + 412 + ], + "metal bowl": [ + 435, + 571, + 673, + 836 + ], + "red lid": [ + 344, + 414, + 439, + 512 + ], + "stovetop": [ + 210, + 290, + 772, + 889 + ], + "sink": [ + 732, + 625, + 993, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot arm is positioned directly above the blue object inside the silver pot, with the gripper open and ready. The approach and positioning phases are complete. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25610119104385376, + -0.015493050217628479, + 0.020075960084795952, + -3.0793302059173584, + -0.11380254477262497, + 0.16012735664844513 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot arm is positioned directly above the blue object inside the silver pot, with the gripper open and ready. The approach and positioning phases are complete. The next action is to close the gripper to grasp the blue object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25547167658805847, + -0.014394610188901424, + 0.020033564418554306, + -3.077599287033081, + -0.11043643206357956, + 0.1714935600757599 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has successfully grasped the blue object from the silver pot and is currently lifting it. The gripper is closed around the object, and the arm is moving upward to transport it toward the upper right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2722019553184509, + -0.005914248526096344, + 0.02576751448214054, + -3.0787193775177, + -0.1302533596754074, + 0.18602673709392548 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has successfully grasped the blue object from the silver pot and is currently lifting it. The gripper is closed around the object, and the arm is moving upward to transport it toward the upper right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28966501355171204, + 0.01312327291816473, + 0.020022766664624214, + -3.0856335163116455, + -0.12087227404117584, + 0.21302132308483124 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 134, + 396, + 402, + 680 + ], + "spatula": [ + 354, + 281, + 478, + 413 + ], + "metal bowl": [ + 434, + 569, + 674, + 871 + ], + "sink": [ + 733, + 625, + 994, + 992 + ], + "stovetop": [ + 159, + 288, + 777, + 876 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has successfully grasped the blue object from the silver pot and is currently lifting it. The gripper is closed around the object, and the arm is moving upward to transport it toward the upper right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30717962980270386, + 0.025376664474606514, + 0.014389736577868462, + -3.0779354572296143, + -0.11217205971479416, + 0.22066959738731384 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has successfully grasped the blue object from the silver pot and is currently lifting it. The gripper is closed around the object, and the arm is moving upward to transport it toward the upper right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.324523001909256, + 0.03635816276073456, + -0.0011373431188985705, + -3.0798563957214355, + -0.07123742997646332, + 0.22957821190357208 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has successfully grasped the blue object from the silver pot and is currently lifting it. The gripper is closed around the object, and the arm is moving upward to transport it toward the upper right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper open; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367128372192383, + 0.045784566551446915, + -0.01521163061261177, + -3.0815906524658203, + -0.026453234255313873, + 0.23039743304252625 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has successfully grasped the blue object from the silver pot and is currently lifting it. The gripper is closed around the object, and the arm is moving upward to transport it toward the upper right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452160358428955, + 0.04821615293622017, + -0.018809087574481964, + -3.0934174060821533, + -0.008768117055296898, + 0.21165786683559418 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "release on stove", + "subtask_reasoning": "The robot has successfully grasped the blue object from the silver pot and is currently lifting it. The gripper is closed around the object, and the arm is moving upward to transport it toward the upper right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429203927516937, + 0.04907414689660072, + -0.014693880453705788, + -3.0818228721618652, + 0.0043266830034554005, + 0.19720160961151123 + ], + "gripper_value": 0.8740299344062805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "release on stove", + "subtask_reasoning": "The blue object is already positioned on the upper right side of the stove, and the gripper is open and retracted above it. The release action has been completed successfully. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473777770996094, + 0.04571209475398064, + 0.01590956188738346, + -3.0800280570983887, + -0.05265839770436287, + 0.17827428877353668 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "release on stove", + "subtask_reasoning": "The blue object is already positioned on the upper right side of the stove, and the gripper is open and retracted above it. The release action has been completed successfully. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34106841683387756, + 0.038679588586091995, + 0.03904951736330986, + -3.0913684368133545, + -0.09666046500205994, + 0.1739533394575119 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue object from the silver pot and place it on the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position for grasp" + }, + { + "id": 3, + "subtask": "grasp blue object" + }, + { + "id": 4, + "subtask": "lift and transport" + }, + { + "id": 5, + "subtask": "release on stove" + } + ], + "subtask_name": "release on stove", + "subtask_reasoning": "The blue object is already positioned on the upper right side of the stove, and the gripper is open and retracted above it. The release action has been completed successfully. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004002_ecot.json b/cot/chunk-0004/episode_0004002_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c354d8f4920b745429535161d2a385280ff4fd89 --- /dev/null +++ b/cot/chunk-0004/episode_0004002_ecot.json @@ -0,0 +1,3684 @@ +{ + "task_name": "episode_0004002", + "episode_json": "json/chunk-0004/episode_0004002.json", + "video_path": "videos/chunk-0004/image_0/episode_0004002.mp4", + "instruction": "Put the yellow bottle in the middle of the lower burners.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 55, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004002.json" + }, + "fps": 5.0, + "T_eff": 55, + "gripper_behavior_summary": { + "available": true, + "range": 0.34872305393218994, + "std": 0.17059892416000366, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34872, std=0.17060, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 11 + ], + [ + 3, + 12, + 29 + ], + [ + 4, + 30, + 36 + ], + [ + 5, + 37, + 54 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow bottle\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the yellow bottle on the right burner without closing gripper.\"},\n {\"id\": 2, \"name\": \"align and contact bottle\", \"start\": 7, \"end\": 11, \"planning\": \"Fine-tune position to make gentle contact with the yellow bottle, preparing for manipulation.\"},\n {\"id\": 3, \"name\": \"reposition bottle leftward\", \"start\": 12, \"end\": 29, \"planning\": \"Drag or slide the yellow bottle from right burner toward center area between burners using sustained contact.\"},\n {\"id\": 4, \"name\": \"adjust bottle orientation\", \"start\": 30, \"end\": 36, \"planning\": \"Rotate and nudge the bottle into upright alignment near target zone while maintaining light contact.\"},\n {\"id\": 5, \"name\": \"finalize placement and retreat\", \"start\": 37, \"end\": 54, \"planning\": \"Gently release contact after positioning bottle in middle of lower burners, then retract end-effector upward and away.\"}\n ],\n \"global_plan\": \"Manipulate the yellow bottle from its initial position on the right burner to the center region between the two lower burners using a sequence of approach, contact-based dragging, reorientation, and final release.\",\n \"notes\": \"No grasping occurred — all motion was contact-based pushing/sliding. Gripper remained open until final retreat phase where it opened further (frame 54). Segment 5 shows gripper opening at end, consistent with releasing contact, not placing after grasp.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow bottle", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the yellow bottle on the right burner without closing gripper." + }, + { + "id": 2, + "name": "align and contact bottle", + "start": 7, + "end": 11, + "planning": "Fine-tune position to make gentle contact with the yellow bottle, preparing for manipulation." + }, + { + "id": 3, + "name": "reposition bottle leftward", + "start": 12, + "end": 29, + "planning": "Drag or slide the yellow bottle from right burner toward center area between burners using sustained contact." + }, + { + "id": 4, + "name": "adjust bottle orientation", + "start": 30, + "end": 36, + "planning": "Rotate and nudge the bottle into upright alignment near target zone while maintaining light contact." + }, + { + "id": 5, + "name": "finalize placement and retreat", + "start": 37, + "end": 54, + "planning": "Gently release contact after positioning bottle in middle of lower burners, then retract end-effector upward and away." + } + ], + "global_plan": "Manipulate the yellow bottle from its initial position on the right burner to the center region between the two lower burners using a sequence of approach, contact-based dragging, reorientation, and final release.", + "notes": "No grasping occurred — all motion was contact-based pushing/sliding. Gripper remained open until final retreat phase where it opened further (frame 54). Segment 5 shows gripper opening at end, consistent with releasing contact, not placing after grasp." + } + }, + "episode_goal": "Place the yellow bottle on the middle of the lower burners.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3584670424461365, + -0.011746518313884735, + 0.13221366703510284, + 3.0374248027801514, + -0.2702760696411133, + 0.4755074083805084 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "approach yellow bottle", + "subtask_reasoning": "The robot arm is positioned above the stove, with the yellow bottle visible on the right burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the yellow bottle to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578082025051117, + -0.010924232192337513, + 0.11948869377374649, + 3.0561892986297607, + -0.244221493601799, + 0.4803861379623413 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "approach yellow bottle", + "subtask_reasoning": "The robot arm is positioned above the stove, with the yellow bottle visible on the right burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the yellow bottle to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36825376749038696, + -0.019686302170157433, + 0.1102517694234848, + 3.0803258419036865, + -0.2996729016304016, + 0.4598233699798584 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "approach yellow bottle", + "subtask_reasoning": "The robot arm is positioned above the stove, with the yellow bottle visible on the right burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the yellow bottle to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37488508224487305, + -0.025319000706076622, + 0.10437646508216858, + 3.08663010597229, + -0.34937694668769836, + 0.45410236716270447 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 720, + 517, + 995, + 992 + ], + "silver pot": [ + 476, + 359, + 755, + 602 + ], + "burner": [ + 162, + 332, + 377, + 539 + ], + "orange pot": [ + 626, + 182, + 798, + 373 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "approach yellow bottle", + "subtask_reasoning": "The robot is approaching the yellow bottle located on the right burner. No contact or grasping has occurred yet, as the gripper remains open and no meaningful closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the bottle for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37990808486938477, + -0.032595496624708176, + 0.09428796172142029, + 3.092679500579834, + -0.41082748770713806, + 0.48233160376548767 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "approach yellow bottle", + "subtask_reasoning": "The robot is approaching the yellow bottle located on the right burner. No contact or grasping has occurred yet, as the gripper remains open and no meaningful closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the bottle for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39273080229759216, + -0.03406859561800957, + 0.08310304582118988, + 3.118948459625244, + -0.47753480076789856, + 0.4525395929813385 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "approach yellow bottle", + "subtask_reasoning": "The robot is approaching the yellow bottle located on the right burner. No contact or grasping has occurred yet, as the gripper remains open and no meaningful closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the bottle for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4161119759082794, + -0.03752922639250755, + 0.08460329473018646, + 3.1203572750091553, + -0.5365484356880188, + 0.38541102409362793 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "approach yellow bottle", + "subtask_reasoning": "The robot is approaching the yellow bottle located on the right burner. No contact or grasping has occurred yet, as the gripper remains open and no meaningful closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the bottle for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4379064738750458, + -0.03426535800099373, + 0.08629864454269409, + -3.1379787921905518, + -0.5659721493721008, + 0.32596859335899353 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "align and contact bottle", + "subtask_reasoning": "The robot is approaching the yellow bottle located on the right burner. No contact or grasping has occurred yet, as the gripper remains open and no meaningful closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the bottle for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4479680061340332, + -0.03362046927213669, + 0.0992654487490654, + -3.1245617866516113, + -0.5896406769752502, + 0.2980556786060333 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "align and contact bottle", + "subtask_reasoning": "The robot is approaching the yellow bottle located on the right burner. No contact or grasping has occurred yet, as the gripper remains open and no meaningful closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the bottle for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4518488347530365, + -0.0342479832470417, + 0.09283620864152908, + -3.11729097366333, + -0.6003050804138184, + 0.2774617373943329 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "align and contact bottle", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4548044204711914, + -0.031106555834412575, + 0.08370048552751541, + -3.117539644241333, + -0.5941948294639587, + 0.26225972175598145 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "align and contact bottle", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.45917823910713196, + -0.02698359079658985, + 0.08539188653230667, + -3.1368486881256104, + -0.6196553111076355, + 0.2813609838485718 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "align and contact bottle", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.46078383922576904, + -0.026301270350813866, + 0.07991973310709, + 3.139305353164673, + -0.6252784132957458, + 0.28691500425338745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange pot": [ + 626, + 174, + 800, + 373 + ], + "sink": [ + 720, + 516, + 995, + 992 + ], + "grater": [ + 523, + 15, + 587, + 131 + ], + "burner": [ + 160, + 331, + 376, + 541 + ], + "silver pot": [ + 482, + 359, + 755, + 601 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.46010759472846985, + -0.026170706376433372, + 0.0776396170258522, + 3.12558913230896, + -0.6128403544425964, + 0.2983137369155884 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4593665301799774, + -0.027975717559456825, + 0.07013465464115143, + 3.111396312713623, + -0.5930972695350647, + 0.31350889801979065 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4579175114631653, + -0.030447818338871002, + 0.06707708537578583, + 3.077321767807007, + -0.5687789916992188, + 0.33748307824134827 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.45468974113464355, + -0.027408845722675323, + 0.06079559400677681, + 3.058699131011963, + -0.5488820672035217, + 0.38300982117652893 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.45551466941833496, + -0.029865382239222527, + 0.05706355348229408, + 3.0350887775421143, + -0.5419307351112366, + 0.4015595614910126 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4564991891384125, + -0.029758449643850327, + 0.05419308319687843, + 3.0233278274536133, + -0.5441312789916992, + 0.4233578145503998 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.45630988478660583, + -0.030103269964456558, + 0.0533873550593853, + 3.014774799346924, + -0.5395869016647339, + 0.4378297030925751 + ], + "gripper_value": 0.9287639856338501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot end-effector is positioned near the yellow bottle on the right burner, with the gripper fully open and no closing motion detected in this segment. The bottle remains stationary and ungrasped. The next action should involve making physical contact with the bottle to begin aligning or dragging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4573960602283478, + -0.03148708492517471, + 0.04870595037937164, + 2.997253894805908, + -0.5350320935249329, + 0.45691078901290894 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4614110589027405, + -0.03244565799832344, + 0.04908671975135803, + 2.954322338104248, + -0.573322057723999, + 0.48803311586380005 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4630129337310791, + -0.03250357136130333, + 0.04948066920042038, + 2.932481050491333, + -0.5857389569282532, + 0.5324556231498718 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.45815104246139526, + -0.035196173936128616, + 0.048520565032958984, + 2.9457335472106934, + -0.570841908454895, + 0.5476738810539246 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4525507092475891, + -0.03584734722971916, + 0.05922527238726616, + 2.9531142711639404, + -0.557407796382904, + 0.5808272957801819 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.45275068283081055, + -0.03742938116192818, + 0.06647824496030807, + 2.953789234161377, + -0.5829410552978516, + 0.6027674674987793 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange pot": [ + 629, + 218, + 802, + 382 + ], + "sink": [ + 720, + 516, + 995, + 992 + ], + "silver pot": [ + 487, + 358, + 755, + 601 + ], + "burner": [ + 159, + 332, + 378, + 544 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 3 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4524264931678772, + -0.031789518892765045, + 0.07348763197660446, + 2.965909481048584, + -0.611774206161499, + 0.6335904598236084 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4481377899646759, + -0.03275669738650322, + 0.0868024155497551, + 2.9695255756378174, + -0.6391002535820007, + 0.6655489206314087 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4415474832057953, + -0.02799779176712036, + 0.09447846561670303, + 3.0075817108154297, + -0.6484798192977905, + 0.6781895756721497 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.42827117443084717, + -0.028767172247171402, + 0.09899284690618515, + 2.9840610027313232, + -0.5876851677894592, + 0.7420867085456848 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "reposition bottle leftward", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 7 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4127393364906311, + -0.033264946192502975, + 0.09147221595048904, + 3.0237905979156494, + -0.47785115242004395, + 0.7506883144378662 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "adjust bottle orientation", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4017193615436554, + -0.033286843448877335, + 0.10476772487163544, + 3.0464062690734863, + -0.43650513887405396, + 0.7790165543556213 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "adjust bottle orientation", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 6 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38658657670021057, + -0.03889130428433418, + 0.12329442799091339, + 3.0702641010284424, + -0.47059497237205505, + 0.8076671361923218 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "adjust bottle orientation", + "subtask_reasoning": "The robot has approached and made contact with the yellow bottle, which is currently positioned on the right burner. The gripper is closing around the bottle, indicating preparation for manipulation. The next action is to drag or reposition the bottle leftward toward the center between the lower burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 7 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.37338075041770935, + -0.033813558518886566, + 0.13344192504882812, + 3.094481945037842, + -0.485710471868515, + 0.8286685347557068 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "adjust bottle orientation", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 7 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639552891254425, + -0.022828033193945885, + 0.1189706102013588, + 3.083930015563965, + -0.3708162307739258, + 0.8648005723953247 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "adjust bottle orientation", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 7 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585785925388336, + 0.0004881845961790532, + 0.10650977492332458, + 3.0650455951690674, + -0.3004326820373535, + 0.9256377816200256 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange pot": [ + 641, + 171, + 801, + 383 + ], + "sink": [ + 720, + 515, + 994, + 992 + ], + "silver pot": [ + 487, + 358, + 754, + 600 + ], + "burner": [ + 159, + 332, + 378, + 543 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "adjust bottle orientation", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3489671051502228, + 0.010456597432494164, + 0.10324738174676895, + 3.0348641872406006, + -0.33260929584503174, + 1.0714820623397827 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange pot": [ + 630, + 172, + 801, + 383 + ], + "silver pot": [ + 476, + 363, + 754, + 601 + ], + "sink": [ + 720, + 516, + 994, + 992 + ], + "burner": [ + 158, + 331, + 380, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "adjust bottle orientation", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move back 8 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3441416621208191, + 0.026736022904515266, + 0.10151994228363037, + 3.0079286098480225, + -0.3822765052318573, + 1.1701982021331787 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3443470001220703, + 0.0508977435529232, + 0.10245278477668762, + 2.9747257232666016, + -0.3419640064239502, + 1.2644180059432983 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.32892370223999023, + 0.05078400298953056, + 0.09231264144182205, + 3.012153148651123, + -0.3149854838848114, + 1.320393443107605 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3084659278392792, + 0.05209044739603996, + 0.09731236100196838, + 3.006962776184082, + -0.31554654240608215, + 1.3841954469680786 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865094840526581, + 0.055199380964040756, + 0.09097154438495636, + 3.05127215385437, + -0.32232579588890076, + 1.427290678024292 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.27891165018081665, + 0.050933390855789185, + 0.0832645520567894, + 3.045628309249878, + -0.3178626298904419, + 1.4607707262039185 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.27163195610046387, + 0.04856498911976814, + 0.07136180996894836, + 3.0509188175201416, + -0.2938264012336731, + 1.4436428546905518 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692428529262543, + 0.05364333838224411, + 0.06022055819630623, + 3.072042226791382, + -0.29183581471443176, + 1.4338492155075073 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The robot is in contact with the yellow bottle, which is positioned near the center of the lower burners. The gripper remains open and stable, indicating no grasping action. The next step is to continue adjusting the bottle’s orientation through controlled contact and sliding to align it precisely in the middle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.267564058303833, + 0.06158089637756348, + 0.051201313734054565, + 3.100978136062622, + -0.28727298974990845, + 1.431254267692566 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664507329463959, + 0.06279769539833069, + 0.04544656351208687, + 3.1258678436279297, + -0.28417447209358215, + 1.4078820943832397 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.26702046394348145, + 0.06327350437641144, + 0.040276482701301575, + 3.108548402786255, + -0.285317063331604, + 1.417207956314087 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2711695432662964, + 0.061212893575429916, + 0.033708859235048294, + 3.0900421142578125, + -0.27395761013031006, + 1.417873501777649 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706434726715088, + 0.05949403718113899, + 0.030759720131754875, + 3.1018497943878174, + -0.2621612250804901, + 1.3947837352752686 + ], + "gripper_value": 0.7200843095779419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.27564987540245056, + 0.059010788798332214, + 0.03121008537709713, + 3.075279951095581, + -0.2610349655151367, + 1.3762727975845337 + ], + "gripper_value": 0.9774019718170166 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange pot": [ + 627, + 173, + 802, + 382 + ], + "sink": [ + 721, + 515, + 995, + 992 + ], + "silver pot": [ + 462, + 359, + 757, + 600 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.27233070135116577, + 0.0631156787276268, + 0.03058302029967308, + 3.094794511795044, + -0.2566620111465454, + 1.363526463508606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2711852788925171, + 0.06306260824203491, + 0.03036530688405037, + 3.1054701805114746, + -0.25291040539741516, + 1.3458302021026611 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689018249511719, + 0.06410226970911026, + 0.032439667731523514, + 3.1303048133850098, + -0.24762481451034546, + 1.3427542448043823 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.2748749256134033, + 0.07072184979915619, + 0.05708400905132294, + 3.1228244304656982, + -0.23197041451931, + 1.3471457958221436 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow bottle on the middle of the lower burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow bottle" + }, + { + "id": 2, + "subtask": "align and contact bottle" + }, + { + "id": 3, + "subtask": "reposition bottle leftward" + }, + { + "id": 4, + "subtask": "adjust bottle orientation" + }, + { + "id": 5, + "subtask": "finalize placement and retreat" + } + ], + "subtask_name": "finalize placement and retreat", + "subtask_reasoning": "The yellow bottle is positioned between the lower burners, and the gripper is currently in contact with it. The segment-level gripper evidence indicates a significant closing action, suggesting the robot is holding the bottle to finalize its placement. The next action is to release the bottle and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 45 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 54 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004003_ecot.json b/cot/chunk-0004/episode_0004003_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4376d2c78f348410f58f7832d99a305bc9ad5e --- /dev/null +++ b/cot/chunk-0004/episode_0004003_ecot.json @@ -0,0 +1,1930 @@ +{ + "task_name": "episode_0004003", + "episode_json": "json/chunk-0004/episode_0004003.json", + "video_path": "videos/chunk-0004/image_0/episode_0004003.mp4", + "instruction": "Put the yellow rectangular on top of the green rectangular.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004003.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.4088127613067627, + "std": 0.1810266375541687, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40881, std=0.18103, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 18 + ], + [ + 3, + 19, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow block\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper from initial position toward the yellow rectangular block without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp yellow block\", \"start\": 6, \"end\": 18, \"planning\": \"Close the gripper around the yellow block and lift it slightly, confirmed by gripper value drop to 0.59790 and visual contact.\"},\n {\"id\": 3, \"name\": \"place yellow on green\", \"start\": 19, \"end\": 31, \"planning\": \"Transport the held yellow block over the green block and release it by opening the gripper, completing the stacking task.\"}\n ],\n \"global_plan\": \"Approach the yellow block, grasp it securely, then move and place it precisely on top of the green block.\",\n \"notes\": \"Segment 1 shows no gripper closure — purely approach motion. Segment 2 shows meaningful gripper closure (delta=0.40225) with visual confirmation of grasp at frame 18. Segment 3 shows gripper reopening (delta=0.40881) and final placement at frame 31. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow block", + "start": 0, + "end": 5, + "planning": "Move the gripper from initial position toward the yellow rectangular block without closing the gripper." + }, + { + "id": 2, + "name": "grasp yellow block", + "start": 6, + "end": 18, + "planning": "Close the gripper around the yellow block and lift it slightly, confirmed by gripper value drop to 0.59790 and visual contact." + }, + { + "id": 3, + "name": "place yellow on green", + "start": 19, + "end": 31, + "planning": "Transport the held yellow block over the green block and release it by opening the gripper, completing the stacking task." + } + ], + "global_plan": "Approach the yellow block, grasp it securely, then move and place it precisely on top of the green block.", + "notes": "Segment 1 shows no gripper closure — purely approach motion. Segment 2 shows meaningful gripper closure (delta=0.40225) with visual confirmation of grasp at frame 18. Segment 3 shows gripper reopening (delta=0.40881) and final placement at frame 31. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the yellow rectangular block on top of the green rectangular block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2949110269546509, + 0.09422709047794342, + 0.1262027621269226, + 3.107677936553955, + -0.3515368700027466, + 0.28294819593429565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right and the green block beneath it. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29498040676116943, + 0.09423967450857162, + 0.11805117130279541, + 3.104548931121826, + -0.32380247116088867, + 0.2882263660430908 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right and the green block beneath it. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31003445386886597, + 0.08354169130325317, + 0.11331628262996674, + 3.0933713912963867, + -0.2997964918613434, + 0.26994097232818604 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32721200585365295, + 0.07146310806274414, + 0.1152401715517044, + 3.093599796295166, + -0.3007199764251709, + 0.22814860939979553 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3442692458629608, + 0.05395982041954994, + 0.1157177984714508, + 3.0830295085906982, + -0.29454395174980164, + 0.1792539805173874 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36548715829849243, + 0.02523181028664112, + 0.11543765664100647, + 3.0579915046691895, + -0.28880253434181213, + 0.1105523407459259 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 152, + 997, + 996 + ], + "red block": [ + 315, + 256, + 387, + 400 + ], + "blue block": [ + 182, + 455, + 308, + 639 + ], + "yellow block": [ + 612, + 344, + 731, + 521 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 3 cm, move right 5 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3796015679836273, + 0.001192478695884347, + 0.11463920772075653, + 3.034576654434204, + -0.28601810336112976, + 0.07239185273647308 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.391874760389328, + -0.023252425715327263, + 0.10830333828926086, + 3.0031607151031494, + -0.2700965106487274, + 0.04347839206457138 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.397598534822464, + -0.0374177061021328, + 0.10497217625379562, + 2.9997189044952393, + -0.2648060619831085, + 0.033510368317365646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 155, + 996, + 995 + ], + "yellow block": [ + 610, + 344, + 733, + 529 + ], + "blue block": [ + 181, + 455, + 308, + 639 + ], + "red block": [ + 315, + 257, + 387, + 400 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39904698729515076, + -0.047774121165275574, + 0.09784062206745148, + 3.001378059387207, + -0.24854819476604462, + 0.024052215740084648 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.403102308511734, + -0.04947108030319214, + 0.09523788094520569, + 3.0195794105529785, + -0.2469247281551361, + 0.03045150823891163 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, close gripper; then move back 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40515685081481934, + -0.049214448779821396, + 0.09001520276069641, + 3.050856351852417, + -0.2395474910736084, + 0.02050280012190342 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot is positioned above the table with the yellow block visible to the right. No objects have been moved yet. The gripper is open and the arm is moving toward the yellow block. The next action is to continue approaching the yellow block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 1 cm, close gripper; then move back 5 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40570610761642456, + -0.04703180119395256, + 0.07677531987428665, + 3.0664005279541016, + -0.21100494265556335, + 0.029080983251333237 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 2 cm, close gripper; then move back 6 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4054441750049591, + -0.046211227774620056, + 0.0744706243276596, + 3.0732767581939697, + -0.20643939077854156, + 0.040203165262937546 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 2 cm, keep gripper closed; then move back 8 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40564846992492676, + -0.046406764537096024, + 0.06716607511043549, + 3.071887731552124, + -0.1934649795293808, + 0.05033513903617859 + ], + "gripper_value": 0.939095675945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 3 cm, keep gripper closed; then move back 8 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4081701338291168, + -0.04905100539326668, + 0.06616774946451187, + 3.0656371116638184, + -0.21513092517852783, + 0.061834413558244705 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 3 cm, keep gripper closed; then move back 9 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4064346253871918, + -0.05065083131194115, + 0.06548770517110825, + 3.06091570854187, + -0.21511484682559967, + 0.048841048032045364 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 3 cm, keep gripper closed; then move back 9 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39608627557754517, + -0.05270081385970116, + 0.08045969903469086, + 3.027432441711426, + -0.2385324090719223, + 0.046214815229177475 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 2 cm, keep gripper closed; then move back 8 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3762579560279846, + -0.03453272208571434, + 0.10246822983026505, + 2.971008062362671, + -0.2728005349636078, + 0.07193708419799805 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, keep gripper closed; then move back 7 cm, move left 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467850387096405, + -0.020425911992788315, + 0.09801417589187622, + 3.005077362060547, + -0.25893402099609375, + 0.03995071351528168 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233228325843811, + -0.0020599192939698696, + 0.08578501641750336, + 3.044595956802368, + -0.23762325942516327, + 0.03903741016983986 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29907751083374023, + 0.005021801218390465, + 0.06478607654571533, + 3.071251630783081, + -0.18866145610809326, + 0.015278536826372147 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 153, + 996, + 995 + ], + "green block": [ + 613, + 394, + 729, + 571 + ], + "yellow block": [ + 388, + 477, + 492, + 650 + ], + "red block": [ + 315, + 256, + 385, + 400 + ], + "blue block": [ + 181, + 455, + 308, + 640 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2818909287452698, + 0.012507990002632141, + 0.05435534939169884, + 3.088894844055176, + -0.1667262315750122, + 0.01665460504591465 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27015939354896545, + 0.013492013327777386, + 0.04409429803490639, + 3.1008591651916504, + -0.14277078211307526, + 0.0070739686489105225 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.261967271566391, + 0.013417867012321949, + 0.03700483590364456, + 3.106696367263794, + -0.1269705891609192, + -0.0006508365622721612 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to securely hold the yellow block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25862598419189453, + 0.013405333273112774, + 0.034437619149684906, + 3.1054885387420654, + -0.11656969785690308, + -0.003957412205636501 + ], + "gripper_value": 0.7061693072319031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot is currently holding the yellow block above the table, having completed the approach and grasp phases. The green target block is visible nearby, but the yellow block is not yet positioned over it. The next action is to lift and translate the yellow block towards the green block to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25978735089302063, + 0.012547390535473824, + 0.041003357619047165, + 3.1035990715026855, + -0.13536523282527924, + -0.0056654768995940685 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot is currently holding the yellow block above the table, having completed the approach and grasp phases. The green target block is visible nearby, but the yellow block is not yet positioned over it. The next action is to lift and translate the yellow block towards the green block to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26319757103919983, + 0.01850351132452488, + 0.05678730830550194, + 3.0663492679595947, + -0.15754304826259613, + 0.04318425804376602 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot is currently holding the yellow block above the table, having completed the approach and grasp phases. The green target block is visible nearby, but the yellow block is not yet positioned over it. The next action is to lift and translate the yellow block towards the green block to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 5 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27858516573905945, + 0.024002805352211, + 0.08242031186819077, + 3.0307021141052246, + -0.20847755670547485, + 0.07701359689235687 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow block": [ + 316, + 588, + 467, + 809 + ], + "wooden table": [ + 2, + 165, + 997, + 996 + ], + "blue block": [ + 181, + 456, + 307, + 638 + ], + "green block": [ + 612, + 396, + 729, + 571 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot is currently holding the yellow block above the table, having completed the approach and grasp phases. The green target block is visible nearby, but the yellow block is not yet positioned over it. The next action is to lift and translate the yellow block towards the green block to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3055010735988617, + 0.042210549116134644, + 0.11575013399124146, + 3.013645887374878, + -0.27548032999038696, + 0.15769487619400024 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot is currently holding the yellow block above the table, having completed the approach and grasp phases. The green target block is visible nearby, but the yellow block is not yet positioned over it. The next action is to lift and translate the yellow block towards the green block to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3271109163761139, + 0.05749926716089249, + 0.11870092898607254, + 3.0314836502075195, + -0.27356913685798645, + 0.20184901356697083 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot is currently holding the yellow block above the table, having completed the approach and grasp phases. The green target block is visible nearby, but the yellow block is not yet positioned over it. The next action is to lift and translate the yellow block towards the green block to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466556668281555, + 0.06936509162187576, + 0.11912502348423004, + 3.0338268280029297, + -0.27533990144729614, + 0.23692108690738678 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow rectangular block on top of the green rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "place yellow on green" + } + ], + "subtask_name": "place yellow on green", + "subtask_reasoning": "The robot is currently holding the yellow block above the table, having completed the approach and grasp phases. The green target block is visible nearby, but the yellow block is not yet positioned over it. The next action is to lift and translate the yellow block towards the green block to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004004_ecot.json b/cot/chunk-0004/episode_0004004_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6e452fa34aa734bbb2c5a0d10edc207ab8af9c90 --- /dev/null +++ b/cot/chunk-0004/episode_0004004_ecot.json @@ -0,0 +1,2839 @@ +{ + "task_name": "episode_0004004", + "episode_json": "json/chunk-0004/episode_0004004.json", + "video_path": "videos/chunk-0004/image_0/episode_0004004.mp4", + "instruction": "Put the blue cube on top of the other blue cube.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004004.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.45392167568206787, + "std": 0.2237553745508194, + "delta_total": -0.45392167568206787, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45392, std=0.22376, total_delta=-0.45392). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 31 + ], + [ + 3, + 32, + 34 + ], + [ + 4, + 35, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cube\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the isolated blue cube on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue cube\", \"start\": 7, \"end\": 31, \"planning\": \"Close the gripper to securely grasp the blue cube and lift it slightly while repositioning toward the target stack.\"},\n {\"id\": 3, \"name\": \"align over target stack\", \"start\": 32, \"end\": 34, \"planning\": \"Fine-tune the position of the held blue cube directly above the top of the existing blue cube in the stack.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 35, \"end\": 44, \"planning\": \"Open the gripper to release the blue cube onto the stack and move the end-effector away to complete the placement.\"}\n ],\n \"global_plan\": \"Approach the loose blue cube, grasp and lift it, align it precisely over the stacked blue cube, then release and retreat to complete stacking.\",\n \"notes\": \"Segment 2 shows meaningful gripper closure (delta=-0.45392) consistent with grasping; Segments 1, 3, and 4 show negligible gripper change, so no grasp/place verbs are used there. Frame coverage is contiguous and complete from 0 to 44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cube", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the isolated blue cube on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue cube", + "start": 7, + "end": 31, + "planning": "Close the gripper to securely grasp the blue cube and lift it slightly while repositioning toward the target stack." + }, + { + "id": 3, + "name": "align over target stack", + "start": 32, + "end": 34, + "planning": "Fine-tune the position of the held blue cube directly above the top of the existing blue cube in the stack." + }, + { + "id": 4, + "name": "release and retreat", + "start": 35, + "end": 44, + "planning": "Open the gripper to release the blue cube onto the stack and move the end-effector away to complete the placement." + } + ], + "global_plan": "Approach the loose blue cube, grasp and lift it, align it precisely over the stacked blue cube, then release and retreat to complete stacking.", + "notes": "Segment 2 shows meaningful gripper closure (delta=-0.45392) consistent with grasping; Segments 1, 3, and 4 show negligible gripper change, so no grasp/place verbs are used there. Frame coverage is contiguous and complete from 0 to 44." + } + }, + "episode_goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31586605310440063, + -0.08178267627954483, + 0.17125479876995087, + 3.0016801357269287, + 0.09334792196750641, + 1.707031011581421 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned near the table with the loose blue cube visible on the left and the target stack on the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the loose blue cube to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 19 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper open; then move back 3 cm, move left 11 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3150859475135803, + -0.08159488439559937, + 0.16085155308246613, + 3.0332164764404297, + 0.08102250099182129, + 1.7097773551940918 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned near the table with the loose blue cube visible on the left and the target stack on the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the loose blue cube to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 19 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 3 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3206857740879059, + -0.06396066397428513, + 0.16168487071990967, + 3.0386950969696045, + 0.09207434952259064, + 1.7644658088684082 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned near the table with the loose blue cube visible on the left and the target stack on the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the loose blue cube to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 4 cm, move left 13 cm, move down 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3362709581851959, + -0.023660244420170784, + 0.1563803255558014, + 3.047651767730713, + 0.08878959715366364, + 1.8686107397079468 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red wooden hexagonal prism": [ + 757, + 492, + 878, + 641 + ], + "wooden table": [ + 3, + 3, + 996, + 994 + ], + "triangular wooden prism": [ + 701, + 354, + 787, + 557 + ], + "blue wooden cube": [ + 141, + 119, + 221, + 230 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 13 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 5 cm, move left 13 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3443032503128052, + 0.008127485401928425, + 0.15390300750732422, + 3.0253069400787354, + 0.1003221869468689, + 1.9580920934677124 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move left 14 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34727075695991516, + 0.04103172570466995, + 0.1525380164384842, + 2.9990234375, + 0.10513376444578171, + 2.0441513061523438 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move left 14 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.348532110452652, + 0.06184673681855202, + 0.15288512408733368, + 2.9739878177642822, + 0.10357829183340073, + 2.0932135581970215 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move left 14 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3499000668525696, + 0.10397932678461075, + 0.1437983214855194, + 2.980463743209839, + 0.09618517011404037, + 2.1878225803375244 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 15 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450314998626709, + 0.1497759222984314, + 0.12335022538900375, + 3.0370888710021973, + 0.13075821101665497, + 2.28346848487854 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33592796325683594, + 0.18874679505825043, + 0.10740072280168533, + 3.075207233428955, + 0.13487499952316284, + 2.386652708053589 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red wooden hexagonal prism": [ + 756, + 492, + 877, + 641 + ], + "black object": [ + 287, + 1, + 371, + 91 + ], + "wooden table": [ + 3, + 4, + 995, + 994 + ], + "blue wooden cube": [ + 141, + 119, + 223, + 232 + ], + "triangular wooden prism": [ + 701, + 354, + 788, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32271626591682434, + 0.21133360266685486, + 0.08531844615936279, + 3.123361825942993, + 0.11737976223230362, + 2.4580154418945312 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31766149401664734, + 0.22453565895557404, + 0.08125840872526169, + 3.1035115718841553, + 0.0996854230761528, + 2.484649181365967 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31155097484588623, + 0.22903506457805634, + 0.07096520066261292, + 3.0860066413879395, + 0.07252635061740875, + 2.4940707683563232 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30436792969703674, + 0.23265428841114044, + 0.06457024067640305, + 3.0535619258880615, + 0.05498877540230751, + 2.5187151432037354 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009941577911377, + 0.24076394736766815, + 0.06644198298454285, + 3.028688430786133, + 0.04579486325383186, + 2.53637433052063 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004396855831146, + 0.24337710440158844, + 0.06659358739852905, + 3.021678924560547, + 0.04883551597595215, + 2.5498850345611572 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2996790111064911, + 0.24583669006824493, + 0.06672153621912003, + 3.016493558883667, + 0.052303873002529144, + 2.569521188735962 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991734743118286, + 0.25165703892707825, + 0.06917521357536316, + 3.0028088092803955, + 0.05924280360341072, + 2.597809314727783 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 18 cm, move up 6 cm, tilt forward 20 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29903697967529297, + 0.2547248303890228, + 0.0640602633357048, + 3.010617733001709, + 0.05333280935883522, + 2.608593463897705 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is approaching the loose blue cube on the left side of the table, with the gripper open and no contact yet. The target stack of blocks is visible on the right. The next action is to continue moving the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 23 cm, move up 7 cm, tilt forward 20 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.298434853553772, + 0.2592899799346924, + 0.0572546049952507, + 3.0193324089050293, + 0.04551026597619057, + 2.6217808723449707 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 28 cm, move up 9 cm, tilt forward 20 degrees, rotate counterclockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29781967401504517, + 0.26092690229415894, + 0.04650187864899635, + 3.0403172969818115, + 0.03107849881052971, + 2.622368574142456 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 33 cm, move up 11 cm, tilt forward 20 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982858121395111, + 0.262433260679245, + 0.03319554403424263, + 3.066232204437256, + 0.01706254854798317, + 2.629424810409546 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 36 cm, move up 14 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2966597378253937, + 0.2632121741771698, + 0.03076700121164322, + 3.06994891166687, + 0.005566572770476341, + 2.6421618461608887 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 38 cm, move up 15 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982395589351654, + 0.25265881419181824, + 0.031818222254514694, + 3.0834076404571533, + 0.04583097994327545, + 2.6472885608673096 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 36 cm, move up 14 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3034261167049408, + 0.2239534556865692, + 0.06706255674362183, + 3.0379977226257324, + 0.12360856682062149, + 2.5742578506469727 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 34 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31802335381507874, + 0.17208024859428406, + 0.09871398657560349, + 3.0371792316436768, + 0.23660239577293396, + 2.416893243789673 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red wooden hexagonal prism": [ + 756, + 492, + 878, + 641 + ], + "black object": [ + 197, + 4, + 316, + 148 + ], + "blue wooden cube": [ + 798, + 299, + 914, + 463 + ], + "wooden table": [ + 3, + 4, + 996, + 994 + ], + "triangular wooden prism": [ + 702, + 355, + 788, + 554 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 28 cm, move up 8 cm, rotate counterclockwise 50 degrees, keep gripper closed; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233596682548523, + 0.12835773825645447, + 0.11752822995185852, + 3.0316944122314453, + 0.25380605459213257, + 2.2823188304901123 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 24 cm, move up 6 cm, rotate counterclockwise 40 degrees, keep gripper closed; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3287488520145416, + 0.07607100903987885, + 0.13159827888011932, + 3.047368049621582, + 0.30247917771339417, + 2.122011661529541 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 19 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.330916166305542, + 0.023962631821632385, + 0.13731764256954193, + 3.0432682037353516, + 0.32844358682632446, + 1.973100185394287 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 14 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32868149876594543, + -0.02284807153046131, + 0.14553552865982056, + 3.020352363586426, + 0.31542396545410156, + 1.8382455110549927 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32564157247543335, + -0.07260365784168243, + 0.16132618486881256, + 2.9975011348724365, + 0.21874383091926575, + 1.7210583686828613 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red wooden hexagonal prism": [ + 756, + 491, + 878, + 641 + ], + "blue wooden cube": [ + 797, + 300, + 914, + 463 + ], + "triangular wooden prism": [ + 701, + 355, + 788, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244657516479492, + -0.0986211895942688, + 0.17118093371391296, + 2.957374095916748, + 0.17324528098106384, + 1.6455950736999512 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229350745677948, + -0.1120930016040802, + 0.1761997938156128, + 2.9364304542541504, + 0.150994673371315, + 1.6174650192260742 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target stack", + "subtask_reasoning": "The robot has approached the loose blue cube on the table, positioning the gripper directly above it. Although the segment-level evidence indicates a grasp attempt, the current gripper state is open and not yet in contact with the object. The next immediate action is to close the gripper to secure the blue cube for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32280227541923523, + -0.11382003873586655, + 0.17482244968414307, + 2.9310717582702637, + 0.12610262632369995, + 1.6054333448410034 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target stack", + "subtask_reasoning": "The robot is holding the blue cube and has moved it near the target stack on the right. The gripper remains closed with no significant change, indicating the cube is still grasped. The next action is to precisely align the held cube vertically over the top blue block of the stack before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 32, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3286592960357666, + -0.11221593618392944, + 0.16527871787548065, + 2.9282686710357666, + 0.10407120734453201, + 1.6187188625335693 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over target stack", + "subtask_reasoning": "The robot is holding the blue cube and has moved it near the target stack on the right. The gripper remains closed with no significant change, indicating the cube is still grasped. The next action is to precisely align the held cube vertically over the top blue block of the stack before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3356865644454956, + -0.10891662538051605, + 0.14843270182609558, + 2.9527125358581543, + 0.04904539883136749, + 1.6286189556121826 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the blue cube and has moved it near the target stack on the right. The gripper remains closed with no significant change, indicating the cube is still grasped. The next action is to precisely align the held cube vertically over the top blue block of the stack before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402109444141388, + -0.11228776723146439, + 0.14136295020580292, + 2.9659552574157715, + 0.041064031422138214, + 1.6254627704620361 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red wooden hexagonal prism": [ + 756, + 490, + 879, + 641 + ], + "blue wooden cube": [ + 797, + 297, + 912, + 464 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the blue cube and has moved it near the target stack on the right. The gripper remains closed with no significant change, indicating the cube is still grasped. The next action is to precisely align the held cube vertically over the top blue block of the stack before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3407917618751526, + -0.11286038905382156, + 0.13812272250652313, + 2.973912239074707, + 0.04431247338652611, + 1.6285889148712158 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the blue cube and has moved it near the target stack on the right. The gripper remains closed with no significant change, indicating the cube is still grasped. The next action is to precisely align the held cube vertically over the top blue block of the stack before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.34064871072769165, + -0.11352293938398361, + 0.13700668513774872, + 2.978241443634033, + 0.04655487462878227, + 1.6252801418304443 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the blue cube and has moved it near the target stack on the right. The gripper remains closed with no significant change, indicating the cube is still grasped. The next action is to precisely align the held cube vertically over the top blue block of the stack before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412087857723236, + -0.11395920068025589, + 0.13620126247406006, + 2.975817918777466, + 0.04860856756567955, + 1.6223746538162231 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cube is already stacked on top of the other blue cube, completing the placement. The gripper is open and slightly elevated, indicating release has occurred. The next action is to retreat the arm away from the stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.34050703048706055, + -0.11314281821250916, + 0.13425348699092865, + 2.9787490367889404, + 0.04773322492837906, + 1.625478982925415 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cube is already stacked on top of the other blue cube, completing the placement. The gripper is open and slightly elevated, indicating release has occurred. The next action is to retreat the arm away from the stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.33996060490608215, + -0.11075320839881897, + 0.1319073885679245, + 2.981788158416748, + 0.04278426244854927, + 1.6263679265975952 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cube is already stacked on top of the other blue cube, completing the placement. The gripper is open and slightly elevated, indicating release has occurred. The next action is to retreat the arm away from the stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.34052401781082153, + -0.1083991527557373, + 0.1311686933040619, + 2.98105788230896, + 0.04068306088447571, + 1.6274908781051636 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cube is already stacked on top of the other blue cube, completing the placement. The gripper is open and slightly elevated, indicating release has occurred. The next action is to retreat the arm away from the stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.33941325545310974, + -0.1071213111281395, + 0.12915176153182983, + 2.9873201847076416, + 0.039828039705753326, + 1.6311631202697754 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cube is already stacked on top of the other blue cube, completing the placement. The gripper is open and slightly elevated, indicating release has occurred. The next action is to retreat the arm away from the stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.33851659297943115, + -0.1065957099199295, + 0.12793152034282684, + 2.991062879562378, + 0.03676416352391243, + 1.6309120655059814 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the existing stack of blocks (red, white, blue) on the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "align over target stack" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cube is already stacked on top of the other blue cube, completing the placement. The gripper is open and slightly elevated, indicating release has occurred. The next action is to retreat the arm away from the stack to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004005_ecot.json b/cot/chunk-0004/episode_0004005_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ffdadefd9d731527ebe5d11e3c2c9a2f9642f6fd --- /dev/null +++ b/cot/chunk-0004/episode_0004005_ecot.json @@ -0,0 +1,2202 @@ +{ + "task_name": "episode_0004005", + "episode_json": "json/chunk-0004/episode_0004005.json", + "video_path": "videos/chunk-0004/image_0/episode_0004005.mp4", + "instruction": "Fold the cloth from bottom to top.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004005.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9260488152503967, + "std": 0.4198569357395172, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92605, std=0.41986, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 25 + ], + [ + 4, + 26, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper toward the bottom edge of the orange cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp bottom edge\", \"start\": 4, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the bottom edge of the cloth as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"fold cloth upward\", \"start\": 12, \"end\": 25, \"planning\": \"Lift and drag the grasped bottom edge upward over the top portion of the cloth to complete the fold, maintaining grip throughout.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 26, \"end\": 34, \"planning\": \"Open the gripper to release the folded cloth and move the end-effector away from the workspace.\"}\n ],\n \"global_plan\": \"Fold the cloth from bottom to top by approaching, grasping the bottom edge, lifting and dragging it upward to fold, then releasing and retreating.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segment 1 (open gripper), meaningful grasp in segments 2–3 (gripper closes and holds), release in segment 4 (gripper opens). Motion and visuals support each phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 3, + "planning": "Move the gripper toward the bottom edge of the orange cloth without closing." + }, + { + "id": 2, + "name": "grasp bottom edge", + "start": 4, + "end": 11, + "planning": "Close the gripper to securely grasp the bottom edge of the cloth as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "fold cloth upward", + "start": 12, + "end": 25, + "planning": "Lift and drag the grasped bottom edge upward over the top portion of the cloth to complete the fold, maintaining grip throughout." + }, + { + "id": 4, + "name": "release and retreat", + "start": 26, + "end": 34, + "planning": "Open the gripper to release the folded cloth and move the end-effector away from the workspace." + } + ], + "global_plan": "Fold the cloth from bottom to top by approaching, grasping the bottom edge, lifting and dragging it upward to fold, then releasing and retreating.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segment 1 (open gripper), meaningful grasp in segments 2–3 (gripper closes and holds), release in segment 4 (gripper opens). Motion and visuals support each phase." + } + }, + "episode_goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016570508480072, + -0.03177722916007042, + 0.1546669453382492, + -2.9065959453582764, + -0.1984565109014511, + -1.5214402675628662 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact yet. The subtask 'approach cloth' is in progress, with no prior actions completed. The next likely action is to move the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 12 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3000234365463257, + -0.03179506957530975, + 0.14604748785495758, + -2.937831401824951, + -0.1954944133758545, + -1.5088165998458862 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper down toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 12 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856808602809906, + -0.030341481789946556, + 0.14617186784744263, + -2.9553213119506836, + -0.17238110303878784, + -1.4488086700439453 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper down toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 12 cm, tilt right 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2694474756717682, + -0.028641588985919952, + 0.14693133533000946, + -2.9528563022613525, + -0.17625342309474945, + -1.3769662380218506 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper down toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 12 cm, tilt right 10 degrees, rotate clockwise 20 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24640560150146484, + -0.02574119344353676, + 0.14352574944496155, + -2.9501097202301025, + -0.17359617352485657, + -1.2105820178985596 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper down toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 12 cm, tilt right 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22678638994693756, + -0.02386348322033882, + 0.12889041006565094, + -2.955939531326294, + -0.1766938418149948, + -0.990624725818634 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper down toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 10 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21649201214313507, + -0.023141629993915558, + 0.10754181444644928, + -2.9834532737731934, + -0.1879843920469284, + -0.8875161409378052 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper down toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, close gripper; then move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21159915626049042, + -0.018718227744102478, + 0.08138684183359146, + -3.0383546352386475, + -0.1981051117181778, + -0.8378228545188904 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 292, + 190, + 773, + 732 + ], + "table": [ + 5, + 145, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21645796298980713, + -0.016828909516334534, + 0.05560702830553055, + -3.086085557937622, + -0.19149434566497803, + -0.8280357718467712 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 5 cm, move right 1 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22458286583423615, + -0.016161123290657997, + 0.035947442054748535, + -3.1106157302856445, + -0.17661039531230927, + -0.8374977707862854 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 9 cm, move right 1 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23309829831123352, + -0.01490111742168665, + 0.02793472819030285, + -3.09637713432312, + -0.16932518780231476, + -0.8738635182380676 + ], + "gripper_value": 0.9311676621437073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 13 cm, move right 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23842810094356537, + -0.01465792115777731, + 0.025270849466323853, + -3.090108871459961, + -0.16068530082702637, + -0.9097388982772827 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 16 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23742875456809998, + -0.016172656789422035, + 0.025515101850032806, + -3.099832773208618, + -0.16261734068393707, + -0.9251813888549805 + ], + "gripper_value": 0.3577343225479126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23509560525417328, + -0.015949269756674767, + 0.03071453794836998, + -3.0952606201171875, + -0.1720251739025116, + -0.9408594369888306 + ], + "gripper_value": 0.16707322001457214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23236797749996185, + -0.013285650871694088, + 0.046493470668792725, + -3.0641140937805176, + -0.23020656406879425, + -0.9724599719047546 + ], + "gripper_value": 0.0867718756198883 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22972962260246277, + -0.01245708018541336, + 0.06449837982654572, + -3.0204579830169678, + -0.23908956348896027, + -1.0015226602554321 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23698250949382782, + -0.015061584301292896, + 0.08657710999250412, + -2.976257085800171, + -0.2671886384487152, + -1.0420286655426025 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 300, + 205, + 774, + 639 + ], + "table": [ + 5, + 123, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.262393981218338, + -0.0202705729752779, + 0.10975617170333862, + -2.949288845062256, + -0.3099455237388611, + -1.0641180276870728 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 336, + 205, + 777, + 605 + ], + "table": [ + 5, + 108, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the gripper open, ready to grasp the bottom edge. The approach phase is complete, and the next action is to close the gripper to secure the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.290181964635849, + -0.02682989463210106, + 0.1250026822090149, + -2.9318692684173584, + -0.3042159080505371, + -1.0861529111862183 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3276335299015045, + -0.030320772901177406, + 0.12830986082553864, + -2.938645362854004, + -0.3029448688030243, + -1.1021933555603027 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642878234386444, + -0.03361387923359871, + 0.11458302289247513, + -2.960446357727051, + -0.2926318645477295, + -1.1238665580749512 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.39857006072998047, + -0.03252362459897995, + 0.09999456256628036, + -2.9692912101745605, + -0.27586454153060913, + -1.121536135673523 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4169796407222748, + -0.032128654420375824, + 0.07587117701768875, + -2.9950950145721436, + -0.24676397442817688, + -1.1240625381469727 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper; then move back 1 cm, move left 1 cm, move up 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4165649712085724, + -0.03428119048476219, + 0.06450767815113068, + -2.9994513988494873, + -0.23017647862434387, + -1.1240493059158325 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 4 cm, move left 2 cm, move up 12 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.40894263982772827, + -0.035665832459926605, + 0.04397786036133766, + -3.0424551963806152, + -0.20838479697704315, + -1.1092921495437622 + ], + "gripper_value": 0.10394904017448425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 6 cm, move left 2 cm, move up 13 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40541377663612366, + -0.034933190792798996, + 0.0438687726855278, + -3.0610711574554443, + -0.19467642903327942, + -1.101913332939148 + ], + "gripper_value": 0.2752157151699066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 6 cm, move left 2 cm, move up 13 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4048021733760834, + -0.03417627513408661, + 0.043061934411525726, + -3.0628533363342285, + -0.18798816204071045, + -1.1032671928405762 + ], + "gripper_value": 0.5511609315872192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 13 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4046139419078827, + -0.03356905281543732, + 0.04302609711885452, + -3.063678026199341, + -0.18711338937282562, + -1.1047956943511963 + ], + "gripper_value": 0.8490449786186218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 13 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4045509994029999, + -0.033139511942863464, + 0.04461393132805824, + -3.067760705947876, + -0.18442043662071228, + -1.1134322881698608 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 13 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4058143198490143, + -0.03374159708619118, + 0.05159776657819748, + -3.073784828186035, + -0.18044306337833405, + -1.1421843767166138 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom edge of the orange cloth and lifting it upward, initiating the fold. The gripper remains closed with minimal motion variation, consistent with a grasp-and-lift phase. The next action should continue dragging the cloth upward to complete the fold over the top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 12 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4086333215236664, + -0.0343395359814167, + 0.07651705294847488, + -3.0383810997009277, + -0.1949847936630249, + -1.1800082921981812 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the cloth to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4046114981174469, + -0.03463047742843628, + 0.11173295229673386, + -2.982161045074463, + -0.2138112485408783, + -1.2249104976654053 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the cloth to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.39396175742149353, + -0.028068749234080315, + 0.14097373187541962, + -2.934300184249878, + -0.23328153789043427, + -1.237396001815796 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the cloth to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.36700624227523804, + -0.01583220437169075, + 0.16455970704555511, + -2.902778148651123, + -0.2677146792411804, + -1.2444790601730347 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 465, + 216, + 810, + 555 + ], + "table": [ + 5, + 98, + 994, + 993 + ], + "cable": [ + 3, + 33, + 120, + 136 + ], + "paper": [ + 266, + 93, + 418, + 163 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the cloth to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473946452140808, + -0.009539379738271236, + 0.17404888570308685, + -2.9075188636779785, + -0.25300949811935425, + -1.2845019102096558 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom to top by grasping the bottom edge, lifting it over the top, and releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the cloth to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004006_ecot.json b/cot/chunk-0004/episode_0004006_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3bcba1c049185e4f5f2c92064d9849fa17a8e0d4 --- /dev/null +++ b/cot/chunk-0004/episode_0004006_ecot.json @@ -0,0 +1,2427 @@ +{ + "task_name": "episode_0004006", + "episode_json": "json/chunk-0004/episode_0004006.json", + "video_path": "videos/chunk-0004/image_0/episode_0004006.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004006.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.6041486859321594, + "std": 0.2877061069011688, + "delta_total": 0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60415, std=0.28771, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 116, + 116, + 116, + 116, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 32, + 232, + 232, + 232, + 232, + 232, + 232 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 19 + ], + [ + 3, + 20, + 31 + ], + [ + 4, + 32, + 32 + ], + [ + 5, + 33, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and make contact with beads\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector down toward the bead cluster while closing gripper to establish contact for sweeping.\"},\n {\"id\": 2, \"name\": \"sweep beads into pile\", \"start\": 16, \"end\": 31, \"planning\": \"Drag gripper across tray surface to push scattered beads toward the left side, forming a compact pile.\"},\n {\"id\": 3, \"name\": \"reposition after sweep\", \"start\": 32, \"end\": 32, \"planning\": \"Brief pause or micro-adjustment at end of sweep path before retreating.\"},\n {\"id\": 4, \"name\": \"retreat from pile\", \"start\": 33, \"end\": 38, \"planning\": \"Lift and move end-effector away from the formed bead pile to complete the sweeping task.\"}\n ],\n \"global_plan\": \"Sweep scattered beads into a pile on the left side of the tray using controlled contact motion, then retreat.\",\n \"notes\": \"Gripper closes meaningfully in Segment 1 (frames 0-15) to enable contact-based sweeping; no grasping occurs. Segment 4 (frame 32) shows no meaningful closing — treated as repositioning pause. Final segment (33-38) involves retreat with gripper opening, consistent with post-sweep behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and make contact with beads", + "start": 0, + "end": 15, + "planning": "Move end-effector down toward the bead cluster while closing gripper to establish contact for sweeping." + }, + { + "id": 2, + "name": "sweep beads into pile", + "start": 16, + "end": 31, + "planning": "Drag gripper across tray surface to push scattered beads toward the left side, forming a compact pile." + }, + { + "id": 3, + "name": "reposition after sweep", + "start": 32, + "end": 32, + "planning": "Brief pause or micro-adjustment at end of sweep path before retreating." + }, + { + "id": 4, + "name": "retreat from pile", + "start": 33, + "end": 38, + "planning": "Lift and move end-effector away from the formed bead pile to complete the sweeping task." + } + ], + "global_plan": "Sweep scattered beads into a pile on the left side of the tray using controlled contact motion, then retreat.", + "notes": "Gripper closes meaningfully in Segment 1 (frames 0-15) to enable contact-based sweeping; no grasping occurs. Segment 4 (frame 32) shows no meaningful closing — treated as repositioning pause. Final segment (33-38) involves retreat with gripper opening, consistent with post-sweep behavior." + } + }, + "episode_goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638104200363159, + 0.10097788274288177, + 0.1326690912246704, + 3.1173958778381348, + -0.06780053675174713, + -0.12106822431087494 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the gripper is open. No contact has been made yet. The next action should be to lower the brush toward the beads to initiate sweeping contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.363208144903183, + 0.1003028154373169, + 0.11900646984577179, + 3.099161386489868, + -0.03373091667890549, + -0.11649279296398163 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the gripper is open. No contact has been made yet. The next action should be to lower the brush toward the beads to initiate sweeping contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 18 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716975152492523, + 0.07592130452394485, + 0.08873642981052399, + 3.0600082874298096, + 0.019644668325781822, + -0.1493815928697586 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the gripper is open. No contact has been made yet. The next action should be to lower the brush toward the beads to initiate sweeping contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 16 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37813258171081543, + 0.04951459914445877, + 0.08550780266523361, + 3.0356106758117676, + 0.008844362571835518, + -0.18019844591617584 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the gripper is open. No contact has been made yet. The next action should be to lower the brush toward the beads to initiate sweeping contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38521453738212585, + 0.031087733805179596, + 0.07990088313817978, + 3.035609722137451, + -0.0068813711404800415, + -0.18869702517986298 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the gripper is open. No contact has been made yet. The next action should be to lower the brush toward the beads to initiate sweeping contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3882230222225189, + 0.004601084161549807, + 0.0785009115934372, + 3.0208985805511475, + -0.019968552514910698, + -0.2204182893037796 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 278, + 957, + 991 + ], + "blue wall": [ + 1, + 1, + 245, + 424 + ] + } + } + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the gripper is open. No contact has been made yet. The next action should be to lower the brush toward the beads to initiate sweeping contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38191312551498413, + -0.009455530904233456, + 0.06799571216106415, + 2.9834601879119873, + -0.013397891074419022, + -0.21910075843334198 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the gripper is open. No contact has been made yet. The next action should be to lower the brush toward the beads to initiate sweeping contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3783155083656311, + -0.026216918602585793, + 0.0639558658003807, + 2.9610707759857178, + -0.008964171633124352, + -0.2408222109079361 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37277936935424805, + -0.03969232365489006, + 0.0560261569917202, + 2.9435007572174072, + 0.000688052037730813, + -0.22958379983901978 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3733336627483368, + -0.05406329408288002, + 0.05641353502869606, + 2.931821584701538, + -0.01261819340288639, + -0.2463328093290329 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move left 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3732602894306183, + -0.06671745330095291, + 0.06415192782878876, + 2.922459125518799, + -0.0402296744287014, + -0.24926137924194336 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move left 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37347158789634705, + -0.07712352275848389, + 0.06544134765863419, + 2.9207632541656494, + -0.050806716084480286, + -0.24977000057697296 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move left 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37450891733169556, + -0.08188911527395248, + 0.06237643584609032, + 2.942814350128174, + -0.04518106207251549, + -0.24743415415287018 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move left 11 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3718944787979126, + -0.08197705447673798, + 0.04264824464917183, + 2.990549087524414, + 0.012811579741537571, + -0.23921307921409607 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3788699805736542, + -0.08646801859140396, + 0.029913172125816345, + 3.052767753601074, + 0.026590531691908836, + -0.23201003670692444 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 280, + 956, + 992 + ], + "blue wall": [ + 1, + 1, + 251, + 425 + ] + } + } + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 15 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38118046522140503, + -0.08664520829916, + 0.02656802348792553, + 3.0597074031829834, + -0.012903180904686451, + -0.21279171109199524 + ], + "gripper_value": 0.6711689233779907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and make contact with beads", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 18 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38152387738227844, + -0.08646602183580399, + 0.027271145954728127, + 3.0471816062927246, + -0.047138672322034836, + -0.21489915251731873 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 21 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3776157796382904, + -0.08443961292505264, + 0.026303639635443687, + 3.0459115505218506, + -0.0499197319149971, + -0.25100529193878174 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 23 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36543846130371094, + -0.06444726884365082, + 0.02664771117269993, + 3.074491024017334, + -0.00813180673867464, + -0.3144092559814453 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 23 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3579137921333313, + -0.03713804855942726, + 0.024686284363269806, + 3.1160101890563965, + 0.008532537147402763, + -0.3698892891407013 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 22 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3572535514831543, + -0.009738669730722904, + 0.02323571965098381, + -3.134796619415283, + 0.0039681377820670605, + -0.36548522114753723 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 50, + 280, + 956, + 990 + ], + "blue wall": [ + 1, + 2, + 249, + 425 + ] + } + } + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 20 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3592737019062042, + 0.009369522333145142, + 0.02281574346125126, + -3.100937843322754, + -0.016980372369289398, + -0.37332674860954285 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 18 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605721592903137, + 0.018876368179917336, + 0.02091861516237259, + -3.068253755569458, + -0.009159892797470093, + -0.39495742321014404 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beads, and the brush is in contact with the tray surface. No sweeping motion has occurred yet, but the end-effector is aligned to begin pushing beads toward the left. The next action should initiate a controlled leftward sweep to gather beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 16 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3665946424007416, + 0.03719194233417511, + 0.019919758662581444, + -3.0401997566223145, + -0.021865790709853172, + -0.3845365643501282 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3737393617630005, + 0.062254875898361206, + 0.019773898646235466, + -3.024480104446411, + -0.0322028249502182, + -0.3371143639087677 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37196090817451477, + 0.09350841492414474, + 0.019114742055535316, + -3.025017738342285, + -0.02898443304002285, + -0.25600045919418335 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3686840534210205, + 0.12142031639814377, + 0.019222527742385864, + -3.022881031036377, + -0.030296429991722107, + -0.19388777017593384 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, open gripper; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36549535393714905, + 0.14665135741233826, + 0.01929338462650776, + -3.0222904682159424, + -0.023509018123149872, + -0.14340773224830627 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt right 10 degrees, open gripper; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 2 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36362913250923157, + 0.16834934055805206, + 0.019753634929656982, + -3.0209109783172607, + -0.021430660039186478, + -0.10300430655479431 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, open gripper; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 3 cm, move up 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.364236980676651, + 0.18619878590106964, + 0.02068573608994484, + -3.014220714569092, + -0.02245902083814144, + -0.08586437255144119 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 49, + 286, + 956, + 989 + ], + "blue wall": [ + 1, + 6, + 208, + 425 + ] + } + } + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, open gripper; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 3 cm, move up 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659789562225342, + 0.19092139601707458, + 0.021012304350733757, + -3.0140161514282227, + -0.01447506807744503, + -0.09979870915412903 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 3 cm, move up 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3673899173736572, + 0.18860340118408203, + 0.02032282017171383, + -3.0469470024108887, + 0.00978560745716095, + -0.13324850797653198 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beads into pile", + "subtask_reasoning": "The brush is in contact with the black beads on the white tray, having completed the approach phase. The gripper signal indicates a stable hold on the tool, and the robot is currently positioned to push the beads. The next action is to execute a sweeping motion towards the left to consolidate the beads into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 3 cm, move up 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.36607030034065247, + 0.18094460666179657, + 0.019747700542211533, + -3.1106667518615723, + 0.004834630060940981, + -0.11714265495538712 + ], + "gripper_value": 0.7270174622535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition after sweep", + "subtask_reasoning": "The brush has successfully swept the black beads into a pile on the left side of the tray. The robot is currently positioned over the completed pile with the gripper open, indicating the sweeping motion is finished. The next action is to lift or retreat the brush away from the tray to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 3 cm, move up 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 32, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638888895511627, + 0.16846755146980286, + 0.027121445164084435, + 3.05661678314209, + -0.02032025158405304, + -0.08893182873725891 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush has successfully swept the black beads into a pile on the left side of the tray. The robot is currently positioned over the completed pile with the gripper open, indicating the sweeping motion is finished. The next action is to lift or retreat the brush away from the tray to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.357893168926239, + 0.16154402494430542, + 0.03523726016283035, + 2.9869327545166016, + -0.005552932620048523, + -0.05870206281542778 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush has successfully swept the black beads into a pile on the left side of the tray. The robot is currently positioned over the completed pile with the gripper open, indicating the sweeping motion is finished. The next action is to lift or retreat the brush away from the tray to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3614649772644043, + 0.16209080815315247, + 0.0681142807006836, + 3.0078539848327637, + -0.046338919550180435, + -0.038861799985170364 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned over the accumulated pile of black beads on the left side of the tray, having completed the sweeping motion. The gripper is open, indicating no active grasp, and the robot is in the process of retreating from the pile. The next action involves lifting the brush vertically or moving it away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.36315983533859253, + 0.1604972928762436, + 0.09962634742259979, + 3.0415964126586914, + -0.07982213795185089, + -0.0326276533305645 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned over the accumulated pile of black beads on the left side of the tray, having completed the sweeping motion. The gripper is open, indicating no active grasp, and the robot is in the process of retreating from the pile. The next action involves lifting the brush vertically or moving it away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.36412373185157776, + 0.15047700703144073, + 0.1183437928557396, + 3.0525295734405518, + -0.10464084148406982, + -0.052777864038944244 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned over the accumulated pile of black beads on the left side of the tray, having completed the sweeping motion. The gripper is open, indicating no active grasp, and the robot is in the process of retreating from the pile. The next action involves lifting the brush vertically or moving it away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669940233230591, + 0.13755512237548828, + 0.1297273188829422, + 3.055107593536377, + -0.08086840808391571, + -0.10049834847450256 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the brush to sweep the scattered black beads into a pile on the left side of the white tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with beads" + }, + { + "id": 2, + "subtask": "sweep beads into pile" + }, + { + "id": 3, + "subtask": "reposition after sweep" + }, + { + "id": 4, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned over the accumulated pile of black beads on the left side of the tray, having completed the sweeping motion. The gripper is open, indicating no active grasp, and the robot is in the process of retreating from the pile. The next action involves lifting the brush vertically or moving it away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004007_ecot.json b/cot/chunk-0004/episode_0004007_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0b5b8ba85f201e4c66f098323ae9001548d783f1 --- /dev/null +++ b/cot/chunk-0004/episode_0004007_ecot.json @@ -0,0 +1,1817 @@ +{ + "task_name": "episode_0004007", + "episode_json": "json/chunk-0004/episode_0004007.json", + "video_path": "videos/chunk-0004/image_0/episode_0004007.mp4", + "instruction": "Take the lid out of the silver pot and put it on top of the violet cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004007.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.7223559617996216, + "std": 0.33587148785591125, + "delta_total": 0.003954052925109863, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72236, std=0.33587, total_delta=0.00395). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 16 + ], + [ + 3, + 17, + 24 + ], + [ + 4, + 25, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp lid\", \"start\": 0, \"end\": 12, \"planning\": \"Move gripper to the silver pot lid and close fingers to secure a firm grasp.\"},\n {\"id\": 2, \"name\": \"lift lid from pot\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the grasped lid vertically to clear the pot rim while maintaining grip.\"},\n {\"id\": 3, \"name\": \"transport lid over cloth\", \"start\": 17, \"end\": 24, \"planning\": \"Carry the held lid across the table toward the violet cloth target location.\"},\n {\"id\": 4, \"name\": \"place lid on cloth and release\", \"start\": 25, \"end\": 27, \"planning\": \"Lower the lid onto the violet cloth and open gripper to release it cleanly.\"}\n ],\n \"global_plan\": \"Grasp the lid from the silver pot, lift it clear, transport it over to the violet cloth, then place and release it on top of the cloth.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in Segment 1 (grasp), sustained hold through Segments 2–3 (lift and carry), and opening in Segment 4 (release). Motion and image frames support lifting, transporting, and placing mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp lid", + "start": 0, + "end": 12, + "planning": "Move gripper to the silver pot lid and close fingers to secure a firm grasp." + }, + { + "id": 2, + "name": "lift lid from pot", + "start": 13, + "end": 16, + "planning": "Lift the grasped lid vertically to clear the pot rim while maintaining grip." + }, + { + "id": 3, + "name": "transport lid over cloth", + "start": 17, + "end": 24, + "planning": "Carry the held lid across the table toward the violet cloth target location." + }, + { + "id": 4, + "name": "place lid on cloth and release", + "start": 25, + "end": 27, + "planning": "Lower the lid onto the violet cloth and open gripper to release it cleanly." + } + ], + "global_plan": "Grasp the lid from the silver pot, lift it clear, transport it over to the violet cloth, then place and release it on top of the cloth.", + "notes": "Gripper evidence confirms meaningful closing in Segment 1 (grasp), sustained hold through Segments 2–3 (lift and carry), and opening in Segment 4 (release). Motion and image frames support lifting, transporting, and placing mechanics." + } + }, + "episode_goal": "Place the lid of the silver pot on top of the violet cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35318058729171753, + -0.09082964807748795, + 0.07931448519229889, + -3.0421226024627686, + -0.05702811852097511, + -0.08829954266548157 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and violet cloth visible. The gripper is open and approaching the lid of the silver pot. No contact has been made yet, so the next action is to move the gripper closer to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 25 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34954574704170227, + -0.09002621471881866, + 0.06538813561201096, + -3.0368542671203613, + -0.023230286315083504, + -0.09211684763431549 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and violet cloth visible. The gripper is open and approaching the lid of the silver pot. No contact has been made yet, so the next action is to move the gripper closer to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 25 cm, move down 3 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333512842655182, + -0.04296921566128731, + 0.05762844905257225, + -3.0373904705047607, + 0.018868211656808853, + 0.006975959520787001 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and violet cloth visible. The gripper is open and approaching the lid of the silver pot. No contact has been made yet, so the next action is to move the gripper closer to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 20 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31844913959503174, + 0.013164268806576729, + 0.06712225079536438, + -3.0306878089904785, + -0.009630032815039158, + 0.1528213620185852 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 602, + 372, + 830, + 655 + ], + "metal bowl": [ + 111, + 326, + 330, + 582 + ], + "can": [ + 466, + 458, + 651, + 797 + ], + "wooden countertop": [ + 4, + 193, + 847, + 978 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and violet cloth visible. The gripper is open and approaching the lid of the silver pot. No contact has been made yet, so the next action is to move the gripper closer to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 15 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981765866279602, + 0.04989276081323624, + 0.06539201736450195, + -3.013467788696289, + -0.016796141862869263, + 0.2012098878622055 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and violet cloth visible. The gripper is open and approaching the lid of the silver pot. No contact has been made yet, so the next action is to move the gripper closer to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27860790491104126, + 0.0940043181180954, + 0.05812932923436165, + -2.9728739261627197, + 0.004418459255248308, + 0.20832155644893646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and violet cloth visible. The gripper is open and approaching the lid of the silver pot. No contact has been made yet, so the next action is to move the gripper closer to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2699700891971588, + 0.12332013249397278, + 0.05486482381820679, + -3.0022215843200684, + -0.009560664184391499, + 0.2002185881137848 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open, ready to interact with the lid. No part of the task has been completed yet. The next action is to close the gripper to grasp the lid of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 1 cm, close gripper; then move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26791679859161377, + 0.13889025151729584, + 0.05512750893831253, + -3.00793719291687, + -0.030860306695103645, + 0.16955947875976562 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open, ready to interact with the lid. No part of the task has been completed yet. The next action is to close the gripper to grasp the lid of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 6 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2665688097476959, + 0.15232393145561218, + 0.056901488453149796, + -3.0068793296813965, + -0.054065220057964325, + 0.17781269550323486 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open, ready to interact with the lid. No part of the task has been completed yet. The next action is to close the gripper to grasp the lid of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 6 cm, move up 7 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27262744307518005, + 0.1569412350654602, + 0.048239585012197495, + -2.9970083236694336, + -0.05596989765763283, + 0.18034443259239197 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open, ready to interact with the lid. No part of the task has been completed yet. The next action is to close the gripper to grasp the lid of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 6 cm, move up 7 cm, keep gripper closed; then move forward 6 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783775329589844, + 0.1600368171930313, + 0.040442418307065964, + -2.9961769580841064, + -0.04133560135960579, + 0.17502440512180328 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open, ready to interact with the lid. No part of the task has been completed yet. The next action is to close the gripper to grasp the lid of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 6 cm, move up 7 cm, keep gripper closed; then move forward 8 cm, move right 12 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27885040640830994, + 0.159709170460701, + 0.038892753422260284, + -3.0025296211242676, + -0.04291403293609619, + 0.17919005453586578 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open, ready to interact with the lid. No part of the task has been completed yet. The next action is to close the gripper to grasp the lid of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 6 cm, move up 7 cm, keep gripper closed; then move forward 9 cm, move right 14 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28097936511039734, + 0.16005203127861023, + 0.03893892467021942, + -3.005336046218872, + -0.0566280297935009, + 0.17300957441329956 + ], + "gripper_value": 0.6821943521499634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open, ready to interact with the lid. No part of the task has been completed yet. The next action is to close the gripper to grasp the lid of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 6 cm, move up 7 cm, keep gripper closed; then move forward 9 cm, move right 15 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.279841810464859, + 0.16023240983486176, + 0.03990102559328079, + -3.002776861190796, + -0.05210539326071739, + 0.17871549725532532 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "lift lid from pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open, ready to interact with the lid. No part of the task has been completed yet. The next action is to close the gripper to grasp the lid of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 7 cm, keep gripper closed; then move forward 9 cm, move right 17 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27558231353759766, + 0.15934039652347565, + 0.04063248261809349, + -2.991189479827881, + -0.02452278696000576, + 0.18153060972690582 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "lift lid from pot", + "subtask_reasoning": "The robot has approached and grasped the lid of the silver pot, as indicated by the gripper closure. The current frame shows the gripper in contact with the lid, ready to lift. The next action is to lift the lid clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 7 cm, keep gripper closed; then move forward 10 cm, move right 17 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2720535099506378, + 0.15088772773742676, + 0.04739151895046234, + -2.976552963256836, + 0.012442299164831638, + 0.18941380083560944 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "lift lid from pot", + "subtask_reasoning": "The robot has approached and grasped the lid of the silver pot, as indicated by the gripper closure. The current frame shows the gripper in contact with the lid, ready to lift. The next action is to lift the lid clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 6 cm, keep gripper closed; then move forward 10 cm, move right 17 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2757801115512848, + 0.13671748340129852, + 0.08466333895921707, + -2.9555094242095947, + 0.007113247644156218, + 0.23903697729110718 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "lift lid from pot", + "subtask_reasoning": "The robot has approached and grasped the lid of the silver pot, as indicated by the gripper closure. The current frame shows the gripper in contact with the lid, ready to lift. The next action is to lift the lid clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 2 cm, keep gripper closed; then move forward 10 cm, move right 17 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2922990918159485, + 0.10171728581190109, + 0.10600899159908295, + -2.945113182067871, + 0.009156834334135056, + 0.23627012968063354 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 4, + 216, + 844, + 981 + ], + "purple cloth": [ + 601, + 371, + 831, + 657 + ], + "metal bowl": [ + 105, + 378, + 322, + 603 + ], + "can": [ + 466, + 460, + 651, + 796 + ], + "can opener": [ + 128, + 6, + 387, + 429 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "transport lid over cloth", + "subtask_reasoning": "The robot has approached and grasped the lid of the silver pot, as indicated by the gripper closure. The current frame shows the gripper in contact with the lid, ready to lift. The next action is to lift the lid clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 17 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.319184273481369, + 0.057049162685871124, + 0.11935340613126755, + -2.997126340866089, + -0.04973115026950836, + 0.20636577904224396 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "transport lid over cloth", + "subtask_reasoning": "The robot has approached and grasped the lid of the silver pot, as indicated by the gripper closure. The current frame shows the gripper in contact with the lid, ready to lift. The next action is to lift the lid clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 13 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34821203351020813, + 0.014266623184084892, + 0.10088136047124863, + -3.0474953651428223, + -0.0248080063611269, + 0.1581309586763382 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 4, + 193, + 847, + 984 + ], + "purple cloth": [ + 602, + 371, + 830, + 659 + ], + "metal bowl": [ + 104, + 345, + 324, + 603 + ], + "can": [ + 467, + 460, + 651, + 796 + ], + "can opener": [ + 363, + 9, + 628, + 404 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "transport lid over cloth", + "subtask_reasoning": "The robot has approached and grasped the lid of the silver pot, as indicated by the gripper closure. The current frame shows the gripper in contact with the lid, ready to lift. The next action is to lift the lid clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36903780698776245, + -0.015416220761835575, + 0.0863112136721611, + -3.0657992362976074, + -0.018877062946558, + 0.09555637836456299 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "transport lid over cloth", + "subtask_reasoning": "The robot is currently holding the silver pot lid and has moved it away from the pot, positioning it above the workspace. The gripper remains closed, confirming the object is securely grasped during this transport phase. The next action is to continue moving the lid directly over the violet cloth to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816736042499542, + -0.03721660375595093, + 0.06213565915822983, + -3.095197916030884, + -0.006838968489319086, + 0.05281432345509529 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "transport lid over cloth", + "subtask_reasoning": "The robot is currently holding the silver pot lid and has moved it away from the pot, positioning it above the workspace. The gripper remains closed, confirming the object is securely grasped during this transport phase. The next action is to continue moving the lid directly over the violet cloth to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, open gripper; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38345885276794434, + -0.05194203183054924, + 0.04458393529057503, + -3.1207847595214844, + 0.005788096226751804, + 0.02182628959417343 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "transport lid over cloth", + "subtask_reasoning": "The robot is currently holding the silver pot lid and has moved it away from the pot, positioning it above the workspace. The gripper remains closed, confirming the object is securely grasped during this transport phase. The next action is to continue moving the lid directly over the violet cloth to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, open gripper; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3857191205024719, + -0.06385446339845657, + 0.034098219126462936, + -3.123399496078491, + 0.015509530901908875, + -0.0009379041148349643 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "transport lid over cloth", + "subtask_reasoning": "The robot is currently holding the silver pot lid and has moved it away from the pot, positioning it above the workspace. The gripper remains closed, confirming the object is securely grasped during this transport phase. The next action is to continue moving the lid directly over the violet cloth to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3879454433917999, + -0.07137879729270935, + 0.03217554837465286, + -3.122347354888916, + 0.013851477764546871, + -0.02457296848297119 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "transport lid over cloth", + "subtask_reasoning": "The robot is currently holding the silver pot lid and has moved it away from the pot, positioning it above the workspace. The gripper remains closed, confirming the object is securely grasped during this transport phase. The next action is to continue moving the lid directly over the violet cloth to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38795205950737, + -0.06846034526824951, + 0.03156229481101036, + -3.1041643619537354, + 0.011823288165032864, + -0.01464359275996685 + ], + "gripper_value": 0.639030933380127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "place lid on cloth and release", + "subtask_reasoning": "The robot is currently holding the silver pot lid and has moved it away from the pot, positioning it above the workspace. The gripper remains closed, confirming the object is securely grasped during this transport phase. The next action is to continue moving the lid directly over the violet cloth to prepare for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38285499811172485, + -0.06560305505990982, + 0.04882775992155075, + -3.073219060897827, + 0.00892099179327488, + 0.00045256956946104765 + ], + "gripper_value": 0.9287639856338501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "place lid on cloth and release", + "subtask_reasoning": "The robot arm is positioned above the violet cloth with the gripper open, indicating the lid has been released. The subtask of placing the lid on the cloth is complete, as the gripper is no longer holding an object. The next action is to retract the arm or proceed to the next task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3696346580982208, + -0.06334639340639114, + 0.07631414383649826, + -3.0577285289764404, + -0.03012990951538086, + 0.016367612406611443 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid of the silver pot on top of the violet cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift lid from pot" + }, + { + "id": 3, + "subtask": "transport lid over cloth" + }, + { + "id": 4, + "subtask": "place lid on cloth and release" + } + ], + "subtask_name": "place lid on cloth and release", + "subtask_reasoning": "The robot arm is positioned above the violet cloth with the gripper open, indicating the lid has been released. The subtask of placing the lid on the cloth is complete, as the gripper is no longer holding an object. The next action is to retract the arm or proceed to the next task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004008_ecot.json b/cot/chunk-0004/episode_0004008_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2f673406c67a1c0ef77a3a9abbc0c39783f48809 --- /dev/null +++ b/cot/chunk-0004/episode_0004008_ecot.json @@ -0,0 +1,1778 @@ +{ + "task_name": "episode_0004008", + "episode_json": "json/chunk-0004/episode_0004008.json", + "video_path": "videos/chunk-0004/image_0/episode_0004008.mp4", + "instruction": "Heh, the orange cat from the silver bowl, place it on the green cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004008.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.35920584201812744, + "std": 0.16224850714206696, + "delta_total": 0.0019985437393188477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.35921, std=0.16225, total_delta=0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp orange cat\", \"start\": 0, \"end\": 16, \"planning\": \"Move end-effector toward the silver bowl, close gripper to grasp the orange cat toy as confirmed by gripper closure from 0.998 to 0.650 and visual confirmation at frame 16.\"},\n {\"id\": 2, \"name\": \"lift and transport over green cloth\", \"start\": 17, \"end\": 23, \"planning\": \"Lift the grasped orange cat and move it horizontally toward the green cloth area, maintaining grip while transitioning position as shown in frame 17 and intermediate motion.\"},\n {\"id\": 3, \"name\": \"release orange cat on green cloth\", \"start\": 24, \"end\": 29, \"planning\": \"Open gripper to release the orange cat onto the green cloth, confirmed by gripper opening from 0.704 to 1.000 and final placement visible at frame 29.\"}\n ],\n \"global_plan\": \"Grasp the orange cat from the silver bowl, lift and carry it over to the green cloth, then release it there.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.348) with visual confirmation of grasp at frame 16; Segment 2 shows meaningful gripper opening (delta=+0.350) with visual confirmation of release at frame 29. Subtasks align with observed phases: approach/grasp, transport, release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp orange cat", + "start": 0, + "end": 16, + "planning": "Move end-effector toward the silver bowl, close gripper to grasp the orange cat toy as confirmed by gripper closure from 0.998 to 0.650 and visual confirmation at frame 16." + }, + { + "id": 2, + "name": "lift and transport over green cloth", + "start": 17, + "end": 23, + "planning": "Lift the grasped orange cat and move it horizontally toward the green cloth area, maintaining grip while transitioning position as shown in frame 17 and intermediate motion." + }, + { + "id": 3, + "name": "release orange cat on green cloth", + "start": 24, + "end": 29, + "planning": "Open gripper to release the orange cat onto the green cloth, confirmed by gripper opening from 0.704 to 1.000 and final placement visible at frame 29." + } + ], + "global_plan": "Grasp the orange cat from the silver bowl, lift and carry it over to the green cloth, then release it there.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.348) with visual confirmation of grasp at frame 16; Segment 2 shows meaningful gripper opening (delta=+0.350) with visual confirmation of release at frame 29. Subtasks align with observed phases: approach/grasp, transport, release." + } + }, + "episode_goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29088956117630005, + -0.061627332121133804, + 0.06591945141553879, + -3.123427152633667, + -0.1078963577747345, + -0.022309809923171997 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange cat toy visible inside the silver bowl. The gripper is currently open and approaching the toy. The next action is to close the gripper to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 17 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28935012221336365, + -0.060651712119579315, + 0.05722767487168312, + -3.1215767860412598, + -0.07670373469591141, + -0.020599860697984695 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange cat toy visible inside the silver bowl. The gripper is currently open and approaching the toy. The next action is to close the gripper to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 17 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3104892373085022, + -0.025716694071888924, + 0.05631564185023308, + -3.130603075027466, + -0.0785011351108551, + 0.0801992416381836 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange cat toy visible inside the silver bowl. The gripper is currently open and approaching the toy. The next action is to close the gripper to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 14 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3329756557941437, + 0.008620645850896835, + 0.05750506371259689, + -3.1198246479034424, + -0.06735323369503021, + 0.16447392106056213 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 742, + 445, + 993, + 959 + ], + "spatula": [ + 610, + 290, + 687, + 511 + ], + "cloth": [ + 418, + 485, + 701, + 821 + ], + "faucet": [ + 945, + 395, + 996, + 548 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange cat toy visible inside the silver bowl. The gripper is currently open and approaching the toy. The next action is to close the gripper to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574598431587219, + 0.04433603212237358, + 0.05922254920005798, + -3.099400520324707, + -0.07610318064689636, + 0.26069507002830505 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange cat toy visible inside the silver bowl. The gripper is currently open and approaching the toy. The next action is to close the gripper to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.38064801692962646, + 0.06905361264944077, + 0.05267030745744705, + -3.068657398223877, + -0.07821021974086761, + 0.33004581928253174 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange cat toy visible inside the silver bowl. The gripper is currently open and approaching the toy. The next action is to close the gripper to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.391035258769989, + 0.09068141132593155, + 0.06235064938664436, + -3.054189920425415, + -0.10329977422952652, + 0.39755895733833313 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange cat toy visible inside the silver bowl. The gripper is currently open and approaching the toy. The next action is to close the gripper to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3896007239818573, + 0.10033119469881058, + 0.06392592936754227, + -3.0481207370758057, + -0.1070861965417862, + 0.4236946702003479 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange cat toy visible inside the silver bowl. The gripper is currently open and approaching the toy. The next action is to close the gripper to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38794058561325073, + 0.10620421171188354, + 0.05214935913681984, + -3.030702590942383, + -0.08028411865234375, + 0.4348120093345642 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, close gripper; then move back 2 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3856971561908722, + 0.11074768751859665, + 0.03558534011244774, + -3.0099189281463623, + -0.05697084218263626, + 0.4561537206172943 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 8 cm, tilt back 20 degrees, close gripper; then move back 5 cm, move right 9 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3868143558502197, + 0.11247268319129944, + 0.02304820530116558, + -2.9967727661132812, + -0.056607551872730255, + 0.47308576107025146 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 9 cm, tilt back 20 degrees, close gripper; then move back 7 cm, move right 11 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38856419920921326, + 0.1140521764755249, + 0.014779939316213131, + -2.9717788696289062, + -0.05219081789255142, + 0.4903099834918976 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move back 9 cm, move right 12 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.393701434135437, + 0.11371524631977081, + 0.012944926507771015, + -2.9669744968414307, + -0.06038534641265869, + 0.4911574721336365 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move back 10 cm, move right 12 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39592647552490234, + 0.10899975895881653, + 0.011741467751562595, + -2.9679481983184814, + -0.06250915676355362, + 0.4829067885875702 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move back 11 cm, move right 12 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3955613672733307, + 0.10799572616815567, + 0.01287352479994297, + -2.977447271347046, + -0.07399698346853256, + 0.4838844835758209 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move right 11 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39808496832847595, + 0.10345584154129028, + 0.027536261826753616, + -3.013052225112915, + -0.11303066462278366, + 0.4746134877204895 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move right 11 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40368467569351196, + 0.1000957265496254, + 0.08299557864665985, + -3.0600664615631104, + -0.25136131048202515, + 0.46615171432495117 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "approach and grasp orange cat", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 3 cm, keep gripper closed; then move back 11 cm, move right 11 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.395177960395813, + 0.07342266291379929, + 0.11213727295398712, + -3.0738584995269775, + -0.31625834107398987, + 0.40353092551231384 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "lift and transport over green cloth", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 11 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37337225675582886, + 0.027666499838232994, + 0.09806906431913376, + -3.099970579147339, + -0.2681178152561188, + 0.30557751655578613 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "lift and transport over green cloth", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 7 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3463596999645233, + -0.017000194638967514, + 0.0862378478050232, + -3.1007280349731445, + -0.22722086310386658, + 0.18115435540676117 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 743, + 443, + 993, + 961 + ], + "spatula": [ + 611, + 281, + 692, + 509 + ], + "faucet": [ + 945, + 394, + 996, + 549 + ], + "cloth": [ + 419, + 487, + 701, + 822 + ], + "food": [ + 510, + 239, + 625, + 403 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "lift and transport over green cloth", + "subtask_reasoning": "The robot arm is positioned above the silver bowl containing the orange cat toy, with the gripper currently open. No part of the task has been completed yet. The next action is to lower the gripper and close it to grasp the orange cat toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3243028223514557, + -0.040296029299497604, + 0.07408555597066879, + -3.0669844150543213, + -0.187154158949852, + 0.08764979988336563 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 945, + 394, + 996, + 549 + ], + "cloth": [ + 419, + 487, + 702, + 822 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "lift and transport over green cloth", + "subtask_reasoning": "The orange cat toy is currently held by the gripper and lifted above the stove, having been successfully grasped from the silver bowl. The robot is in the process of transporting the toy toward the green cloth. The next action is to continue moving the toy over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3071178197860718, + -0.04836362600326538, + 0.0589456707239151, + -3.057621955871582, + -0.14300137758255005, + 0.0702240839600563 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "lift and transport over green cloth", + "subtask_reasoning": "The orange cat toy is currently held by the gripper and lifted above the stove, having been successfully grasped from the silver bowl. The robot is in the process of transporting the toy toward the green cloth. The next action is to continue moving the toy over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923206686973572, + -0.04350144416093826, + 0.046752944588661194, + -3.0245633125305176, + -0.10522456467151642, + 0.06937266886234283 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "lift and transport over green cloth", + "subtask_reasoning": "The orange cat toy is currently held by the gripper and lifted above the stove, having been successfully grasped from the silver bowl. The robot is in the process of transporting the toy toward the green cloth. The next action is to continue moving the toy over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2859193682670593, + -0.04215417802333832, + 0.04080731421709061, + -3.020420789718628, + -0.09086386859416962, + 0.05971240997314453 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "lift and transport over green cloth", + "subtask_reasoning": "The orange cat toy is currently held by the gripper and lifted above the stove, having been successfully grasped from the silver bowl. The robot is in the process of transporting the toy toward the green cloth. The next action is to continue moving the toy over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823440730571747, + -0.04135391488671303, + 0.03796881437301636, + -3.020260810852051, + -0.0805753767490387, + 0.05792400985956192 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "release orange cat on green cloth", + "subtask_reasoning": "The orange cat toy is currently held by the gripper and lifted above the stove, having been successfully grasped from the silver bowl. The robot is in the process of transporting the toy toward the green cloth. The next action is to continue moving the toy over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2803407311439514, + -0.04085094854235649, + 0.03746899962425232, + -3.016475200653076, + -0.06795236468315125, + 0.0633837878704071 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "release orange cat on green cloth", + "subtask_reasoning": "The orange cat toy is currently held by the gripper and lifted above the stove, having been successfully grasped from the silver bowl. The robot is in the process of transporting the toy toward the green cloth. The next action is to continue moving the toy over the green cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27986517548561096, + -0.04172119125723839, + 0.03738812357187271, + -3.018824815750122, + -0.06460189074277878, + 0.057516999542713165 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "release orange cat on green cloth", + "subtask_reasoning": "The orange cat toy is already placed on the green cloth, and the gripper is open (value ~1.0), indicating release has occurred. The subtask is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27905821800231934, + -0.04157574847340584, + 0.037304818630218506, + -3.020242929458618, + -0.058835580945014954, + 0.05809702351689339 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "release orange cat on green cloth", + "subtask_reasoning": "The orange cat toy is already placed on the green cloth, and the gripper is open (value ~1.0), indicating release has occurred. The subtask is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2781413793563843, + -0.04128993675112724, + 0.037129998207092285, + -3.0259809494018555, + -0.05103718116879463, + 0.059714093804359436 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "release orange cat on green cloth", + "subtask_reasoning": "The orange cat toy is already placed on the green cloth, and the gripper is open (value ~1.0), indicating release has occurred. The subtask is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27841663360595703, + -0.03758693486452103, + 0.03694812208414078, + -3.034364700317383, + -0.04658503830432892, + 0.06949377804994583 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the orange cat toy from the silver bowl and place it on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange cat" + }, + { + "id": 2, + "subtask": "lift and transport over green cloth" + }, + { + "id": 3, + "subtask": "release orange cat on green cloth" + } + ], + "subtask_name": "release orange cat on green cloth", + "subtask_reasoning": "The orange cat toy is already placed on the green cloth, and the gripper is open (value ~1.0), indicating release has occurred. The subtask is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004009_ecot.json b/cot/chunk-0004/episode_0004009_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..eee1aad5214c9cda0003a3cd6d9234eefa022cf2 --- /dev/null +++ b/cot/chunk-0004/episode_0004009_ecot.json @@ -0,0 +1,2040 @@ +{ + "task_name": "episode_0004009", + "episode_json": "json/chunk-0004/episode_0004009.json", + "video_path": "videos/chunk-0004/image_0/episode_0004009.mp4", + "instruction": "Take cup off plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004009.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.7951216697692871, + "std": 0.3559202551841736, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.79512, std=0.35592, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 114, + 114, + 114, + 126, + 126, + 126, + 126, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 19 + ], + [ + 3, + 20, + 25 + ], + [ + 4, + 26, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cup\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the cup on the plate while closing gripper to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift cup\", \"start\": 14, \"end\": 19, \"planning\": \"Secure grip on cup and lift it vertically off the plate while maintaining hold.\"},\n {\"id\": 3, \"name\": \"reposition cup away\", \"start\": 20, \"end\": 25, \"planning\": \"Translate cup laterally away from plate while keeping it held in gripper.\"},\n {\"id\": 4, \"name\": \"release cup and retreat\", \"start\": 26, \"end\": 31, \"planning\": \"Open gripper to release cup onto surface, then retract end-effector upward and backward.\"}\n ],\n \"global_plan\": \"Approach the cup on the plate, grasp and lift it, move it aside, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-13) with significant delta; grasp wording is justified. Segments 2-4 show sustained low gripper values followed by opening, consistent with holding then releasing. Motion and image evidence support lifting and placing mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cup", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the cup on the plate while closing gripper to prepare for grasp." + }, + { + "id": 2, + "name": "grasp and lift cup", + "start": 14, + "end": 19, + "planning": "Secure grip on cup and lift it vertically off the plate while maintaining hold." + }, + { + "id": 3, + "name": "reposition cup away", + "start": 20, + "end": 25, + "planning": "Translate cup laterally away from plate while keeping it held in gripper." + }, + { + "id": 4, + "name": "release cup and retreat", + "start": 26, + "end": 31, + "planning": "Open gripper to release cup onto surface, then retract end-effector upward and backward." + } + ], + "global_plan": "Approach the cup on the plate, grasp and lift it, move it aside, then release and retreat.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-13) with significant delta; grasp wording is justified. Segments 2-4 show sustained low gripper values followed by opening, consistent with holding then releasing. Motion and image evidence support lifting and placing mechanics." + } + }, + "episode_goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2890870273113251, + 0.052810102701187134, + 0.10302691906690598, + 3.113649845123291, + -0.2560659646987915, + 0.4631500840187073 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop with the red cup visible on the plate to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2844054102897644, + 0.05119885131716728, + 0.09496834129095078, + 3.1201162338256836, + -0.2191428691148758, + 0.4595738351345062 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop with the red cup visible on the plate to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764323949813843, + 0.045216988772153854, + 0.09999614208936691, + 3.1152055263519287, + -0.18082694709300995, + 0.4245692789554596 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop with the red cup visible on the plate to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726794481277466, + 0.03981805220246315, + 0.10771007835865021, + 3.094451904296875, + -0.1780102550983429, + 0.39919182658195496 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop with the red cup visible on the plate to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631637156009674, + 0.030354483053088188, + 0.11330245435237885, + 3.0859296321868896, + -0.15440423786640167, + 0.34688735008239746 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop with the red cup visible on the plate to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533143162727356, + 0.012050696648657322, + 0.10795370489358902, + 3.06668758392334, + -0.13758854568004608, + 0.27360454201698303 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop with the red cup visible on the plate to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24808061122894287, + -0.005716320127248764, + 0.10952196270227432, + 3.039430856704712, + -0.14933499693870544, + 0.29068392515182495 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pear": [ + 258, + 444, + 380, + 631 + ], + "red cup": [ + 537, + 330, + 689, + 563 + ], + "tomato": [ + 198, + 259, + 309, + 395 + ], + "sink": [ + 772, + 529, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2468111366033554, + -0.024458086118102074, + 0.10743086040019989, + 3.0377275943756104, + -0.14875495433807373, + 0.31938132643699646 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24713264405727386, + -0.043930940330028534, + 0.10336644947528839, + 3.0302398204803467, + -0.1440334916114807, + 0.4062480628490448 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2504587173461914, + -0.05767764896154404, + 0.09117314964532852, + 3.070099115371704, + -0.1288379430770874, + 0.4598255753517151 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 3 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2547330856323242, + -0.07017996162176132, + 0.0779060572385788, + 3.0924072265625, + -0.14060966670513153, + 0.48890286684036255 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move left 5 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2607925236225128, + -0.07712367922067642, + 0.06682147085666656, + 3.10949444770813, + -0.13329362869262695, + 0.5092799663543701 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pear": [ + 258, + 444, + 380, + 631 + ], + "sink": [ + 771, + 530, + 994, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move left 5 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654319107532501, + -0.07925312966108322, + 0.06488123536109924, + 3.100127935409546, + -0.14055633544921875, + 0.5521412491798401 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 3 cm, move left 5 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26791661977767944, + -0.07748843729496002, + 0.06424298882484436, + 3.1024813652038574, + -0.15445518493652344, + 0.5801640748977661 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 5 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27260076999664307, + -0.07687239348888397, + 0.06031732261180878, + 3.1190567016601562, + -0.16592322289943695, + 0.5971904993057251 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2748405635356903, + -0.074580118060112, + 0.061579059809446335, + 3.130338191986084, + -0.19977009296417236, + 0.6190202236175537 + ], + "gripper_value": 0.21606682240962982 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup on a plate to the right. The gripper is open and approaching the cup. No contact has been made yet. The next action is to continue moving the gripper closer to the cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2777182459831238, + -0.07340016961097717, + 0.06426485627889633, + 3.125974178314209, + -0.2041386067867279, + 0.6340111494064331 + ], + "gripper_value": 0.20503154397010803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's gripper is currently in contact with the red cup, which remains seated on the plate. The gripper has closed significantly during this segment, indicating a successful grasp has been established. The next immediate action is to lift the cup vertically to separate it from the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27913209795951843, + -0.06524176150560379, + 0.06466083228588104, + 3.1266660690307617, + -0.2038089781999588, + 0.6749539971351624 + ], + "gripper_value": 0.22810569405555725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's gripper is currently in contact with the red cup, which remains seated on the plate. The gripper has closed significantly during this segment, indicating a successful grasp has been established. The next immediate action is to lift the cup vertically to separate it from the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.286091148853302, + -0.05572952702641487, + 0.06985993683338165, + 3.0971832275390625, + -0.1907990276813507, + 0.7817394733428955 + ], + "gripper_value": 0.23004336655139923 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's gripper is currently in contact with the red cup, which remains seated on the plate. The gripper has closed significantly during this segment, indicating a successful grasp has been established. The next immediate action is to lift the cup vertically to separate it from the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2973155975341797, + -0.04395097494125366, + 0.07708057016134262, + 3.038583278656006, + -0.1908264458179474, + 0.973884642124176 + ], + "gripper_value": 0.23004336655139923 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pear": [ + 259, + 445, + 380, + 631 + ], + "sink": [ + 771, + 529, + 994, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "grasp and lift cup", + "subtask_reasoning": "The robot's gripper is currently in contact with the red cup, which remains seated on the plate. The gripper has closed significantly during this segment, indicating a successful grasp has been established. The next immediate action is to lift the cup vertically to separate it from the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3053068220615387, + -0.030209016054868698, + 0.07507088035345078, + 3.0090246200561523, + -0.1965317577123642, + 1.164922833442688 + ], + "gripper_value": 0.23004336655139923 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "reposition cup away", + "subtask_reasoning": "The robot's gripper is currently in contact with the red cup, which remains seated on the plate. The gripper has closed significantly during this segment, indicating a successful grasp has been established. The next immediate action is to lift the cup vertically to separate it from the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 3 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31618019938468933, + -0.0222039632499218, + 0.06841584295034409, + 3.048126459121704, + -0.1982906609773636, + 1.249169945716858 + ], + "gripper_value": 0.23004336655139923 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "reposition cup away", + "subtask_reasoning": "The robot's gripper is currently in contact with the red cup, which remains seated on the plate. The gripper has closed significantly during this segment, indicating a successful grasp has been established. The next immediate action is to lift the cup vertically to separate it from the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, open gripper; then move back 4 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3205808997154236, + -0.017052792012691498, + 0.06359981000423431, + 3.032027244567871, + -0.23129834234714508, + 1.2631818056106567 + ], + "gripper_value": 0.23004336655139923 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "reposition cup away", + "subtask_reasoning": "The robot is currently holding the red cup above the stovetop, having successfully lifted it from the plate. The gripper remains closed, maintaining a firm grasp on the cup as it is positioned away from its original location. The next action involves moving the cup further aside to clear the plate completely before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move back 4 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32214295864105225, + -0.008616264909505844, + 0.05809241905808449, + 3.0220329761505127, + -0.24673672020435333, + 1.2704577445983887 + ], + "gripper_value": 0.23004336655139923 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "reposition cup away", + "subtask_reasoning": "The robot is currently holding the red cup above the stovetop, having successfully lifted it from the plate. The gripper remains closed, maintaining a firm grasp on the cup as it is positioned away from its original location. The next action involves moving the cup further aside to clear the plate completely before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper; then move back 4 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3212527632713318, + -0.006258339621126652, + 0.05539071187376976, + 3.0177669525146484, + -0.2566259205341339, + 1.2689446210861206 + ], + "gripper_value": 0.23004336655139923 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "reposition cup away", + "subtask_reasoning": "The robot is currently holding the red cup above the stovetop, having successfully lifted it from the plate. The gripper remains closed, maintaining a firm grasp on the cup as it is positioned away from its original location. The next action involves moving the cup further aside to clear the plate completely before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3208485543727875, + -0.004440305754542351, + 0.05443958938121796, + 3.016322612762451, + -0.25576087832450867, + 1.2738816738128662 + ], + "gripper_value": 0.2854207158088684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "reposition cup away", + "subtask_reasoning": "The robot is currently holding the red cup above the stovetop, having successfully lifted it from the plate. The gripper remains closed, maintaining a firm grasp on the cup as it is positioned away from its original location. The next action involves moving the cup further aside to clear the plate completely before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31779009103775024, + -0.0027432236820459366, + 0.05347352474927902, + 3.0383360385894775, + -0.2602730393409729, + 1.270938754081726 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The robot is currently holding the red cup above the stovetop, having successfully lifted it from the plate. The gripper remains closed, maintaining a firm grasp on the cup as it is positioned away from its original location. The next action involves moving the cup further aside to clear the plate completely before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.315164178609848, + -0.0024111669044941664, + 0.05187203362584114, + 3.0502078533172607, + -0.2603679895401001, + 1.2531300783157349 + ], + "gripper_value": 0.8435940742492676 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The robot is currently holding the red cup above the stovetop, having successfully lifted it from the plate. The gripper remains closed, maintaining a firm grasp on the cup as it is positioned away from its original location. The next action involves moving the cup further aside to clear the plate completely before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3123936057090759, + -0.0031722893472760916, + 0.06666736304759979, + 3.0080807209014893, + -0.2565300762653351, + 1.2552374601364136 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The red cup is currently held in the air above the plate, having been successfully lifted. The gripper is closed, indicating the cup is still grasped. The next action is to open the gripper to release the cup onto the surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30207008123397827, + -0.008753558620810509, + 0.06922253966331482, + 3.0050206184387207, + -0.2658388316631317, + 1.2067872285842896 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The red cup is currently held in the air above the plate, having been successfully lifted. The gripper is closed, indicating the cup is still grasped. The next action is to open the gripper to release the cup onto the surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2908902168273926, + -0.017568722367286682, + 0.07896548509597778, + 2.978623151779175, + -0.3139827847480774, + 1.1304237842559814 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The red cup is currently held in the air above the plate, having been successfully lifted. The gripper is closed, indicating the cup is still grasped. The next action is to open the gripper to release the cup onto the surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767033278942108, + -0.03079654648900032, + 0.0856279581785202, + 2.9733338356018066, + -0.30822649598121643, + 1.050841212272644 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pear": [ + 258, + 444, + 380, + 631 + ], + "red cup": [ + 414, + 210, + 492, + 341 + ], + "tomato": [ + 197, + 260, + 310, + 396 + ], + "sink": [ + 772, + 528, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cup on the plate and lift it off, leaving the plate behind." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp and lift cup" + }, + { + "id": 3, + "subtask": "reposition cup away" + }, + { + "id": 4, + "subtask": "release cup and retreat" + } + ], + "subtask_name": "release cup and retreat", + "subtask_reasoning": "The red cup is currently held in the air above the plate, having been successfully lifted. The gripper is closed, indicating the cup is still grasped. The next action is to open the gripper to release the cup onto the surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004010_ecot.json b/cot/chunk-0004/episode_0004010_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..df0d761c70cbd8ef3277107f852df6eb4afa8270 --- /dev/null +++ b/cot/chunk-0004/episode_0004010_ecot.json @@ -0,0 +1,3201 @@ +{ + "task_name": "episode_0004010", + "episode_json": "json/chunk-0004/episode_0004010.json", + "video_path": "videos/chunk-0004/image_0/episode_0004010.mp4", + "instruction": "Fold the cloth from top left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004010.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.951079249382019, + "std": 0.4242430031299591, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95108, std=0.42424, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 100, + 114, + 114, + 314, + 314, + 314, + 314, + 314, + 214, + 214, + 214, + 214, + 414, + 414, + 414, + 414, + 414, + 414, + 431, + 431, + 431, + 431, + 531, + 531, + 531, + 531, + 531, + 531, + 531, + 531, + 531, + 531 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 11 + ], + [ + 3, + 12, + 12 + ], + [ + 4, + 13, + 13 + ], + [ + 5, + 14, + 15 + ], + [ + 6, + 16, + 20 + ], + [ + 7, + 21, + 24 + ], + [ + 8, + 25, + 30 + ], + [ + 9, + 31, + 34 + ], + [ + 10, + 35, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth top left corner\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the top-left region of the blue cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"initiate fold by nudging cloth\", \"start\": 5, \"end\": 11, \"planning\": \"Begin folding motion by making contact and nudging the cloth’s top-left edge rightward; gripper still open, no grasp.\"},\n {\"id\": 3, \"name\": \"adjust grip position for fold\", \"start\": 12, \"end\": 13, \"planning\": \"Reposition end-effector slightly to align with cloth edge; gripper begins closing but not yet grasping — prepare for contact-based manipulation.\"},\n {\"id\": 4, \"name\": \"execute fold via sliding push\", \"start\": 14, \"end\": 20, \"planning\": \"Push and slide the cloth from left to right using end-effector contact; gripper partially closed but not holding — rely on friction and pressure.\"},\n {\"id\": 5, \"name\": \"complete fold and release contact\", \"start\": 21, \"end\": 24, \"planning\": \"Finish folding motion by dragging cloth into final position; gripper nearly closed but not gripping — maintain contact until fold is set.\"},\n {\"id\": 6, \"name\": \"retreat after fold completion\", \"start\": 25, \"end\": 44, \"planning\": \"Lift and retreat end-effector away from folded cloth; gripper opens fully and remains static — task complete, no further manipulation needed.\"}\n ],\n \"global_plan\": \"Fold the blue cloth from top-left to right by approaching, nudging, sliding, and releasing — using contact-based manipulation without grasping, as gripper evidence shows no meaningful closure during active folding phases.\",\n \"notes\": \"Gripper never meaningfully closes during manipulation (segments 1,7,10 show zero or near-zero delta); all actions are contact-based (nudge, push, slide, release). Final retreat phase includes extended static hold at end pose.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth top left corner", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the top-left region of the blue cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "initiate fold by nudging cloth", + "start": 5, + "end": 11, + "planning": "Begin folding motion by making contact and nudging the cloth’s top-left edge rightward; gripper still open, no grasp." + }, + { + "id": 3, + "name": "adjust grip position for fold", + "start": 12, + "end": 13, + "planning": "Reposition end-effector slightly to align with cloth edge; gripper begins closing but not yet grasping — prepare for contact-based manipulation." + }, + { + "id": 4, + "name": "execute fold via sliding push", + "start": 14, + "end": 20, + "planning": "Push and slide the cloth from left to right using end-effector contact; gripper partially closed but not holding — rely on friction and pressure." + }, + { + "id": 5, + "name": "complete fold and release contact", + "start": 21, + "end": 24, + "planning": "Finish folding motion by dragging cloth into final position; gripper nearly closed but not gripping — maintain contact until fold is set." + }, + { + "id": 6, + "name": "retreat after fold completion", + "start": 25, + "end": 44, + "planning": "Lift and retreat end-effector away from folded cloth; gripper opens fully and remains static — task complete, no further manipulation needed." + } + ], + "global_plan": "Fold the blue cloth from top-left to right by approaching, nudging, sliding, and releasing — using contact-based manipulation without grasping, as gripper evidence shows no meaningful closure during active folding phases.", + "notes": "Gripper never meaningfully closes during manipulation (segments 1,7,10 show zero or near-zero delta); all actions are contact-based (nudge, push, slide, release). Final retreat phase includes extended static hold at end pose." + } + }, + "episode_goal": "Fold the cloth from top left to right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3555090129375458, + 0.06417621672153473, + 0.07284954190254211, + 3.0093820095062256, + -0.012097007595002651, + -0.5847813487052917 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth in the sink, with the gripper open and no contact yet made. The subtask to approach the top-left corner of the cloth is underway but not completed. The next action should involve moving the end-effector closer to the top-left corner of the cloth to initiate contact for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move forward 5 cm, move left 3 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35246413946151733, + 0.06292503327131271, + 0.06073532998561859, + 2.982788562774658, + 0.013362852856516838, + -0.5863322019577026 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth in the sink, with the gripper open and no contact yet made. The subtask to approach the top-left corner of the cloth is underway but not completed. The next action should involve moving the end-effector closer to the top-left corner of the cloth to initiate contact for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 5 cm, move left 3 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603300154209137, + 0.06499907374382019, + 0.0544411838054657, + 2.9769322872161865, + 0.005835842341184616, + -0.5870068669319153 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth in the sink, with the gripper open and no contact yet made. The subtask involves approaching the top-left corner of the cloth without grasping, as gripper evidence confirms no closure. The next action should be a controlled descent or lateral adjustment to make contact with the top-left corner for subsequent nudging or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move forward 4 cm, move left 3 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37129005789756775, + 0.08110164850950241, + 0.053276222199201584, + 3.013798952102661, + -0.008086544461548328, + -0.5418196320533752 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth in the sink, with the gripper open and no contact yet made. The subtask involves approaching the top-left corner of the cloth without grasping, as gripper evidence confirms no closure. The next action should be a controlled descent or lateral adjustment to make contact with the top-left corner for subsequent nudging or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move forward 4 cm, move left 3 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3861786723136902, + 0.09968332201242447, + 0.054377149790525436, + 3.0964772701263428, + -0.022296011447906494, + -0.5201737284660339 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 840, + 389, + 993, + 614 + ], + "blue cloth": [ + 179, + 403, + 628, + 862 + ], + "second sink basin": [ + 746, + 660, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth top left corner", + "subtask_reasoning": "The robot is positioned above the blue cloth in the sink, with the gripper open and no contact yet made. The subtask involves approaching the top-left corner of the cloth without grasping, as gripper evidence confirms no closure. The next action should be a controlled descent or lateral adjustment to make contact with the top-left corner for subsequent nudging or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 3 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4014844596385956, + 0.11097955703735352, + 0.04449721798300743, + -3.125685453414917, + -0.03882637992501259, + -0.5271275639533997 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "initiate fold by nudging cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth in the sink, with the gripper open and no contact yet made. The subtask involves approaching the top-left corner of the cloth without grasping, as gripper evidence confirms no closure. The next action should be a controlled descent or lateral adjustment to make contact with the top-left corner for subsequent nudging or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 7 cm, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41756781935691833, + 0.12246568500995636, + 0.03444620966911316, + -3.0734519958496094, + -0.024404235184192657, + -0.5346519947052002 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "initiate fold by nudging cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth in the sink, with the gripper open and no contact yet made. The subtask involves approaching the top-left corner of the cloth without grasping, as gripper evidence confirms no closure. The next action should be a controlled descent or lateral adjustment to make contact with the top-left corner for subsequent nudging or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 6 cm, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4327693283557892, + 0.12682029604911804, + 0.019841402769088745, + -3.0806620121002197, + -0.02302481047809124, + -0.5322172045707703 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "initiate fold by nudging cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth in the sink, with the gripper open and no contact yet made. The subtask involves approaching the top-left corner of the cloth without grasping, as gripper evidence confirms no closure. The next action should be a controlled descent or lateral adjustment to make contact with the top-left corner for subsequent nudging or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4461159408092499, + 0.13193868100643158, + 0.003709973068907857, + -3.097951889038086, + -0.00783801544457674, + -0.5269902348518372 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "initiate fold by nudging cloth", + "subtask_reasoning": "The robot has approached the top-left corner of the blue cloth and is now in contact with it, preparing to nudge. No grasping has occurred as gripper remains open. The next action is to apply a gentle push to initiate the fold toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4509292244911194, + 0.1356656551361084, + -0.007875831797719002, + -3.121814250946045, + 0.009558180347084999, + -0.52451491355896 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 840, + 389, + 993, + 614 + ], + "blue cloth": [ + 178, + 404, + 628, + 863 + ], + "second sink basin": [ + 745, + 660, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "initiate fold by nudging cloth", + "subtask_reasoning": "The robot has approached the top-left corner of the blue cloth and is now in contact with it, preparing to nudge. No grasping has occurred as gripper remains open. The next action is to apply a gentle push to initiate the fold toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then keep gripper closed; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4494949281215668, + 0.13798688352108002, + -0.01935652643442154, + -3.1332712173461914, + 0.02443200722336769, + -0.5270969271659851 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "initiate fold by nudging cloth", + "subtask_reasoning": "The robot has approached the top-left corner of the blue cloth and is now in contact with it, preparing to nudge. No grasping has occurred as gripper remains open. The next action is to apply a gentle push to initiate the fold toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then keep gripper closed; then move back 2 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.44772449135780334, + 0.13865959644317627, + -0.024397222325205803, + -3.1329190731048584, + 0.03392897918820381, + -0.5327407717704773 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "initiate fold by nudging cloth", + "subtask_reasoning": "The robot has approached the top-left corner of the blue cloth and is now in contact with it, preparing to nudge. No grasping has occurred as gripper remains open. The next action is to apply a gentle push to initiate the fold toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.44629034399986267, + 0.13852326571941376, + -0.025843264535069466, + 3.1384918689727783, + 0.03489376977086067, + -0.5305728316307068 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "adjust grip position for fold", + "subtask_reasoning": "The robot is currently holding the blue cloth at the top-left corner above the sink, having completed the initial approach and nudge. The gripper is closed, securing the fabric in preparation for the fold. The next action is to move the cloth to the right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4468846321105957, + 0.14114603400230408, + -0.02767571248114109, + -3.1315701007843018, + 0.030618367716670036, + -0.5203537344932556 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "adjust grip position for fold", + "subtask_reasoning": "The robot is currently holding the blue cloth at the top-left corner above the sink, having completed the initial approach and nudge. The gripper is closed, securing the fabric in preparation for the fold. The next action is to move the cloth to the right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.44619935750961304, + 0.1406765878200531, + -0.02986328862607479, + -3.131357192993164, + 0.028365671634674072, + -0.5140589475631714 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "execute fold via sliding push", + "subtask_reasoning": "The robot is currently holding the blue cloth at the top-left corner above the sink, having completed the initial approach and nudge. The gripper is closed, securing the fabric in preparation for the fold. The next action is to move the cloth to the right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 4 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4449959695339203, + 0.13959906995296478, + -0.02985602617263794, + -3.140716314315796, + 0.03162568435072899, + -0.5049098134040833 + ], + "gripper_value": 0.23329517245292664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "execute fold via sliding push", + "subtask_reasoning": "The robot is currently holding the blue cloth at the top-left corner above the sink, having completed the initial approach and nudge. The gripper is closed, securing the fabric in preparation for the fold. The next action is to move the cloth to the right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.44429928064346313, + 0.14015936851501465, + -0.02985934540629387, + 3.137446880340576, + 0.030690276995301247, + -0.4942706227302551 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "execute fold via sliding push", + "subtask_reasoning": "The robot is currently holding the blue cloth at the top-left corner above the sink, having completed the initial approach and nudge. The gripper is closed, securing the fabric in preparation for the fold. The next action is to move the cloth to the right to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4440370202064514, + 0.14209948480129242, + -0.028461210429668427, + 3.137796401977539, + 0.022249583154916763, + -0.48311564326286316 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "execute fold via sliding push", + "subtask_reasoning": "The robot is currently in contact with the blue cloth, executing a sliding push to fold the top-left corner toward the right. The gripper is closed around the fabric edge, maintaining a firm hold to drag the material across the sink surface. The next action involves continuing this rightward sliding motion to complete the fold alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4404964745044708, + 0.14527802169322968, + -0.027073543518781662, + 3.1275558471679688, + 0.011996501125395298, + -0.46590420603752136 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "execute fold via sliding push", + "subtask_reasoning": "The robot is currently in contact with the blue cloth, executing a sliding push to fold the top-left corner toward the right. The gripper is closed around the fabric edge, maintaining a firm hold to drag the material across the sink surface. The next action involves continuing this rightward sliding motion to complete the fold alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.43434756994247437, + 0.15598322451114655, + -0.02249385602772236, + 3.1216251850128174, + -0.000390449829865247, + -0.4304454028606415 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "execute fold via sliding push", + "subtask_reasoning": "The robot is currently in contact with the blue cloth, executing a sliding push to fold the top-left corner toward the right. The gripper is closed around the fabric edge, maintaining a firm hold to drag the material across the sink surface. The next action involves continuing this rightward sliding motion to complete the fold alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, keep gripper closed; then move back 6 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4294251799583435, + 0.1546611338853836, + 0.0020595549140125513, + 3.131523370742798, + -0.05633183568716049, + -0.42499393224716187 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "execute fold via sliding push", + "subtask_reasoning": "The robot is currently in contact with the blue cloth, executing a sliding push to fold the top-left corner toward the right. The gripper is closed around the fabric edge, maintaining a firm hold to drag the material across the sink surface. The next action involves continuing this rightward sliding motion to complete the fold alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 6 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.42024317383766174, + 0.14981995522975922, + 0.027226414531469345, + -3.133864164352417, + -0.08369165658950806, + -0.4449782371520996 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "complete fold and release contact", + "subtask_reasoning": "The robot is currently in contact with the blue cloth, executing a sliding push to fold the top-left corner toward the right. The gripper is closed around the fabric edge, maintaining a firm hold to drag the material across the sink surface. The next action involves continuing this rightward sliding motion to complete the fold alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4103025197982788, + 0.14166463911533356, + 0.038545072078704834, + -3.139540672302246, + -0.10619106143712997, + -0.46804243326187134 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "complete fold and release contact", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39909839630126953, + 0.1300673931837082, + 0.047553930431604385, + -3.132800817489624, + -0.11868089437484741, + -0.5100468993186951 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "complete fold and release contact", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37796875834465027, + 0.11244750767946243, + 0.04542422667145729, + 3.1355702877044678, + -0.11569089442491531, + -0.5621200203895569 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "complete fold and release contact", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 5 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35779210925102234, + 0.0904037207365036, + 0.03416425362229347, + 3.1251895427703857, + -0.09119464457035065, + -0.603272020816803 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34405550360679626, + 0.062240470200777054, + 0.018785372376441956, + 3.1115119457244873, + -0.06611278653144836, + -0.6079521179199219 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 839, + 389, + 993, + 615 + ], + "blue cloth": [ + 163, + 459, + 600, + 853 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320067822933197, + 0.04726617783308029, + 0.005770040675997734, + 3.0938363075256348, + -0.04783565551042557, + -0.5845708250999451 + ], + "gripper_value": 0.057568058371543884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.32778117060661316, + 0.0367153063416481, + 0.0006959921447560191, + 3.0946123600006104, + -0.03518784046173096, + -0.6088064908981323 + ], + "gripper_value": 0.07988496869802475 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 164, + 493, + 605, + 859 + ], + "faucet": [ + 839, + 389, + 993, + 615 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.327507883310318, + 0.03816903755068779, + 0.0006170153501443565, + 3.100524663925171, + -0.027598662301898003, + -0.5863869190216064 + ], + "gripper_value": 0.2056351900100708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32601556181907654, + 0.0382549986243248, + 0.0009138232562690973, + 3.0945637226104736, + -0.01788332499563694, + -0.5781158804893494 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32399845123291016, + 0.03712295740842819, + 0.001008103252388537, + 3.0815768241882324, + -0.010919171385467052, + -0.5745940804481506 + ], + "gripper_value": 0.7652681469917297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.32655107975006104, + 0.03587133809924126, + 0.004969444591552019, + 3.0678038597106934, + -0.014892457984387875, + -0.5660057663917542 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33032286167144775, + 0.037534575909376144, + 0.01675681211054325, + 3.070329427719116, + -0.03638629987835884, + -0.5437781810760498 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth is partially folded with the top-left corner brought toward the right, and the end-effector remains in light contact near the fold line. No grasping has occurred per gripper evidence; the robot is completing the fold by sliding or nudging the cloth into final position before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3400575816631317, + 0.041365038603544235, + 0.0473233237862587, + 3.0958263874053955, + -0.08614631742238998, + -0.5207246541976929 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3439095616340637, + 0.04532686620950699, + 0.07804346829652786, + 3.129394769668579, + -0.13645002245903015, + -0.5136977434158325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453774154186249, + 0.04558620601892471, + 0.08235786110162735, + 3.138035774230957, + -0.1470995545387268, + -0.5134001970291138 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 164, + 497, + 604, + 854 + ], + "faucet": [ + 839, + 389, + 993, + 614 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.34507402777671814, + 0.045111581683158875, + 0.0820256769657135, + 3.1348745822906494, + -0.14768196642398834, + -0.5116519331932068 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3449386656284332, + 0.04550869017839432, + 0.08144952356815338, + 3.136066436767578, + -0.14472974836826324, + -0.5131138563156128 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.344982385635376, + 0.04551641270518303, + 0.08198276907205582, + 3.1372761726379395, + -0.1459215134382248, + -0.514806866645813 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453342616558075, + 0.04557858407497406, + 0.08182400465011597, + 3.1370508670806885, + -0.1459147185087204, + -0.5132564306259155 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.344982385635376, + 0.04551641270518303, + 0.08198276907205582, + 3.1370508670806885, + -0.1459147185087204, + -0.5132564306259155 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.344982385635376, + 0.04551641270518303, + 0.08198276907205582, + 3.1370508670806885, + -0.1459147185087204, + -0.5132564306259155 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.344982385635376, + 0.04551641270518303, + 0.08198276907205582, + 3.1370508670806885, + -0.1459147185087204, + -0.5132564306259155 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.344982385635376, + 0.04551641270518303, + 0.08198276907205582, + 3.1370508670806885, + -0.1459147185087204, + -0.5132564306259155 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left corner" + }, + { + "id": 2, + "subtask": "initiate fold by nudging cloth" + }, + { + "id": 3, + "subtask": "adjust grip position for fold" + }, + { + "id": 4, + "subtask": "execute fold via sliding push" + }, + { + "id": 5, + "subtask": "complete fold and release contact" + }, + { + "id": 6, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded from top-left to right and rests on the stovetop. The gripper is fully open (0.99949) and positioned above the cloth, indicating release is complete. The robot is now retreating upward and away to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004012_ecot.json b/cot/chunk-0004/episode_0004012_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0668c875db958e1963314091cc1e70dc30394067 --- /dev/null +++ b/cot/chunk-0004/episode_0004012_ecot.json @@ -0,0 +1,1805 @@ +{ + "task_name": "episode_0004012", + "episode_json": "json/chunk-0004/episode_0004012.json", + "video_path": "videos/chunk-0004/image_0/episode_0004012.mp4", + "instruction": "Take the chicken leg from the silver pot and put it on the orange cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004012.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.1383783221244812, + "std": 0.0598566047847271, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.13838, std=0.05986, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 7 + ], + [ + 3, + 8, + 17 + ], + [ + 4, + 18, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 7, \"planning\": \"Move the gripper from initial position toward the silver pot containing the chicken leg, aligning for contact.\"},\n {\"id\": 2, \"name\": \"grasp chicken leg\", \"start\": 8, \"end\": 17, \"planning\": \"Close gripper around the chicken leg in the pot and lift it out, confirmed by gripper closure and upward motion.\"},\n {\"id\": 3, \"name\": \"transport to cloth\", \"start\": 18, \"end\": 24, \"planning\": \"Carry the grasped chicken leg over to the orange cloth while maintaining grip, as shown by stable gripper value and trajectory.\"},\n {\"id\": 4, \"name\": \"release on cloth\", \"start\": 25, \"end\": 27, \"planning\": \"Open gripper to place the chicken leg onto the orange cloth, confirmed by gripper opening and final resting position.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp the chicken leg, transport it to the orange cloth, and release it there.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 3 and 4; segments 1–2 show no closing, so described as approach. Final release is supported by gripper opening at end of segment 4.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 7, + "planning": "Move the gripper from initial position toward the silver pot containing the chicken leg, aligning for contact." + }, + { + "id": 2, + "name": "grasp chicken leg", + "start": 8, + "end": 17, + "planning": "Close gripper around the chicken leg in the pot and lift it out, confirmed by gripper closure and upward motion." + }, + { + "id": 3, + "name": "transport to cloth", + "start": 18, + "end": 24, + "planning": "Carry the grasped chicken leg over to the orange cloth while maintaining grip, as shown by stable gripper value and trajectory." + }, + { + "id": 4, + "name": "release on cloth", + "start": 25, + "end": 27, + "planning": "Open gripper to place the chicken leg onto the orange cloth, confirmed by gripper opening and final resting position." + } + ], + "global_plan": "Approach the pot, grasp the chicken leg, transport it to the orange cloth, and release it there.", + "notes": "Gripper evidence supports grasp only in segments 3 and 4; segments 1–2 show no closing, so described as approach. Final release is supported by gripper opening at end of segment 4." + } + }, + "episode_goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3481445908546448, + 0.17800718545913696, + 0.05654425546526909, + -3.0906546115875244, + -0.10050765424966812, + 0.10290911793708801 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot containing the chicken leg visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to lower its arm to approach the chicken leg inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 21 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34367796778678894, + 0.17217177152633667, + 0.04220692440867424, + -3.109551191329956, + -0.0649402067065239, + 0.09334582835435867 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot containing the chicken leg visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to lower its arm to approach the chicken leg inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 20 cm, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34040409326553345, + 0.13794612884521484, + 0.05493253469467163, + -3.1361896991729736, + -0.09056650847196579, + 0.01820962503552437 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot containing the chicken leg visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to lower its arm to approach the chicken leg inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 17 cm, move down 1 cm, rotate counterclockwise 50 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34032952785491943, + 0.08451603353023529, + 0.08836738765239716, + 3.097212314605713, + -0.16371093690395355, + -0.12320569902658463 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 201, + 251, + 454, + 462 + ], + "sink": [ + 743, + 455, + 994, + 963 + ], + "chicken leg": [ + 505, + 499, + 725, + 633 + ], + "pot": [ + 466, + 451, + 716, + 718 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 12 cm, move down 4 cm, rotate counterclockwise 40 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32562580704689026, + 0.05245625227689743, + 0.095111183822155, + 3.0547542572021484, + -0.1733618527650833, + -0.2682144343852997 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30913305282592773, + 0.00805811956524849, + 0.08245564252138138, + 3.0268936157226562, + -0.14338894188404083, + -0.5171319246292114 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29506805539131165, + 0.0030798630323261023, + 0.06422986090183258, + 3.023844003677368, + -0.14820396900177002, + -0.6352194547653198 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2893502414226532, + -0.014817885123193264, + 0.04840001463890076, + 3.1115455627441406, + -0.12614479660987854, + -0.7772216796875 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 5 cm, move left 8 cm, move up 7 cm, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946179211139679, + -0.030749864876270294, + 0.04383816570043564, + -3.0872929096221924, + -0.1347583383321762, + -0.840861976146698 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 12 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2940617501735687, + -0.04942677170038223, + 0.04079589247703552, + -3.0501325130462646, + -0.14153514802455902, + -0.8936610817909241 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 14 cm, move up 4 cm, rotate clockwise 40 degrees, close gripper; then move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2972422242164612, + -0.06071500852704048, + 0.041712451726198196, + -3.020756721496582, + -0.15965676307678223, + -0.9114243984222412 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 15 cm, move up 4 cm, rotate clockwise 40 degrees, close gripper; then move left 7 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2995414435863495, + -0.059888482093811035, + 0.033806540071964264, + -3.0262389183044434, + -0.14583653211593628, + -0.8941858410835266 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot and chicken leg visible below. No grasping has occurred yet as the gripper remains open and the subtask is to approach the pot. The next action is to lower the end effector closer to the chicken leg in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 15 cm, move up 5 cm, rotate clockwise 40 degrees, close gripper; then move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3023497462272644, + -0.05589329078793526, + 0.01407073624432087, + -3.0441880226135254, + -0.09327104687690735, + -0.8716256022453308 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 15 cm, move up 7 cm, rotate clockwise 40 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099893629550934, + -0.04768558591604233, + 0.00977377314120531, + -3.035926103591919, + -0.07796712219715118, + -0.8377954959869385 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 14 cm, move up 7 cm, rotate clockwise 40 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31005775928497314, + -0.04339411482214928, + 0.009660768322646618, + -3.0454039573669434, + -0.08099649846553802, + -0.8216444253921509 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 13 cm, move up 7 cm, rotate clockwise 40 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30810368061065674, + -0.03640175983309746, + 0.02514168992638588, + -3.0528788566589355, + -0.11187420785427094, + -0.7837857007980347 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 13 cm, move up 6 cm, rotate clockwise 40 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3180411159992218, + -0.012460371479392052, + 0.07322993874549866, + -3.082496404647827, + -0.2105931043624878, + -0.6193733811378479 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34632235765457153, + 0.04750841110944748, + 0.10883921384811401, + -3.1257643699645996, + -0.22576792538166046, + -0.343860387802124 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 203, + 242, + 453, + 462 + ], + "pot": [ + 460, + 452, + 702, + 717 + ], + "sink": [ + 742, + 450, + 994, + 961 + ], + "chicken leg": [ + 404, + 7, + 610, + 329 + ], + "red utensil": [ + 99, + 393, + 183, + 563 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "grasp chicken leg", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3711857497692108, + 0.0899573415517807, + 0.08189256489276886, + -3.091670036315918, + -0.13533267378807068, + -0.1168985366821289 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 202, + 243, + 454, + 462 + ], + "sink": [ + 743, + 453, + 994, + 961 + ], + "red utensil": [ + 99, + 392, + 183, + 563 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "transport to cloth", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3739606440067291, + 0.13999082148075104, + 0.04970637708902359, + -3.0394198894500732, + -0.08265265077352524, + 0.11945924162864685 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "transport to cloth", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3730248808860779, + 0.1586073935031891, + 0.04918232932686806, + -2.9790637493133545, + -0.11883904039859772, + 0.24305081367492676 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "transport to cloth", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the chicken leg, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the chicken leg. The next action should involve closing the gripper around the chicken leg to initiate the transport phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37008559703826904, + 0.1626376509666443, + 0.04454975575208664, + -2.940391778945923, + -0.1255476325750351, + 0.24497488141059875 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "transport to cloth", + "subtask_reasoning": "The robot is holding the chicken leg above the orange cloth, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the gripper slightly and open it to place the chicken leg onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621220886707306, + 0.16267187893390656, + 0.03715461492538452, + -2.954453229904175, + -0.10224530100822449, + 0.2399381846189499 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "transport to cloth", + "subtask_reasoning": "The robot is holding the chicken leg above the orange cloth, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the gripper slightly and open it to place the chicken leg onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35591813921928406, + 0.1612410843372345, + 0.03589904308319092, + -3.0137593746185303, + -0.0674947127699852, + 0.25362491607666016 + ], + "gripper_value": 0.9295665621757507 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "transport to cloth", + "subtask_reasoning": "The robot is holding the chicken leg above the orange cloth, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the gripper slightly and open it to place the chicken leg onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35498932003974915, + 0.15887966752052307, + 0.03754435479640961, + -3.0753939151763916, + -0.05507247522473335, + 0.2549394369125366 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "transport to cloth", + "subtask_reasoning": "The robot is holding the chicken leg above the orange cloth, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the gripper slightly and open it to place the chicken leg onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3517717123031616, + 0.15804597735404968, + 0.03771546483039856, + -3.1184000968933105, + -0.04125000536441803, + 0.24683041870594025 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "release on cloth", + "subtask_reasoning": "The robot is holding the chicken leg above the orange cloth, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the gripper slightly and open it to place the chicken leg onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35407301783561707, + 0.15675857663154602, + 0.05742078274488449, + -3.119638681411743, + -0.09573468565940857, + 0.21688039600849152 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "release on cloth", + "subtask_reasoning": "The chicken leg is already resting on the orange cloth, and the gripper is open and positioned above it. The release action has been completed, and the robot is likely retracting or stabilizing after placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35043254494667053, + 0.1529129445552826, + 0.06937281787395477, + -3.118497848510742, + -0.12384591996669769, + 0.176981121301651 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the chicken leg from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp chicken leg" + }, + { + "id": 3, + "subtask": "transport to cloth" + }, + { + "id": 4, + "subtask": "release on cloth" + } + ], + "subtask_name": "release on cloth", + "subtask_reasoning": "The chicken leg is already resting on the orange cloth, and the gripper is open and positioned above it. The release action has been completed, and the robot is likely retracting or stabilizing after placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004013_ecot.json b/cot/chunk-0004/episode_0004013_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c594c7f2635a5f94d1df8dc72c81ceeee89a6e --- /dev/null +++ b/cot/chunk-0004/episode_0004013_ecot.json @@ -0,0 +1,1873 @@ +{ + "task_name": "episode_0004013", + "episode_json": "json/chunk-0004/episode_0004013.json", + "video_path": "videos/chunk-0004/image_0/episode_0004013.mp4", + "instruction": "Place the red fork at the front left corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004013.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.5975214242935181, + "std": 0.28179454803466797, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59752, std=0.28179, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 110, + 110, + 10, + 10, + 10, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 223, + 223, + 223, + 223 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 22 + ], + [ + 5, + 23, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fork in bowl\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector down toward the red fork inside the metal bowl while beginning to close the gripper.\"},\n {\"id\": 2, \"name\": \"grasp fork\", \"start\": 10, \"end\": 11, \"planning\": \"Complete gripper closure to securely grasp the red fork handle within the bowl.\"},\n {\"id\": 3, \"name\": \"lift and transport fork\", \"start\": 12, \"end\": 14, \"planning\": \"Lift the grasped fork out of the bowl and move it laterally toward the front left corner of the table.\"},\n {\"id\": 4, \"name\": \"place fork on table\", \"start\": 15, \"end\": 22, \"planning\": \"Lower the fork to the table surface at the target location and begin opening the gripper to release it.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 23, \"end\": 26, \"planning\": \"Fully open the gripper to release the fork and retract the end-effector upward and away from the placed object.\"}\n ],\n \"global_plan\": \"Approach the red fork in the bowl, grasp it, lift and carry it to the front left corner of the table, place it down, then release and retreat.\",\n \"notes\": \"Segment boundaries align with natural manipulation phases: approach (0-9), grasp completion (10-11), lift/transport (12-14), placement (15-22), and release/retreat (23-26). Gripper evidence supports grasp during segments 1-2 and release during segments 4-5. Motion and visual evidence confirm lifting and placing actions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fork in bowl", + "start": 0, + "end": 9, + "planning": "Move the end-effector down toward the red fork inside the metal bowl while beginning to close the gripper." + }, + { + "id": 2, + "name": "grasp fork", + "start": 10, + "end": 11, + "planning": "Complete gripper closure to securely grasp the red fork handle within the bowl." + }, + { + "id": 3, + "name": "lift and transport fork", + "start": 12, + "end": 14, + "planning": "Lift the grasped fork out of the bowl and move it laterally toward the front left corner of the table." + }, + { + "id": 4, + "name": "place fork on table", + "start": 15, + "end": 22, + "planning": "Lower the fork to the table surface at the target location and begin opening the gripper to release it." + }, + { + "id": 5, + "name": "release and retreat", + "start": 23, + "end": 26, + "planning": "Fully open the gripper to release the fork and retract the end-effector upward and away from the placed object." + } + ], + "global_plan": "Approach the red fork in the bowl, grasp it, lift and carry it to the front left corner of the table, place it down, then release and retreat.", + "notes": "Segment boundaries align with natural manipulation phases: approach (0-9), grasp completion (10-11), lift/transport (12-14), placement (15-22), and release/retreat (23-26). Gripper evidence supports grasp during segments 1-2 and release during segments 4-5. Motion and visual evidence confirm lifting and placing actions." + } + }, + "episode_goal": "Place the red fork at the front left corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.255504846572876, + 0.06839308142662048, + 0.13703653216362, + -3.130751609802246, + -0.07069318741559982, + -0.04561883583664894 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible inside the metal bowl. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 13 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556764781475067, + 0.06844029575586319, + 0.1305672824382782, + -3.1387779712677, + -0.047376129776239395, + -0.03595691919326782 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible inside the metal bowl. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 12 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801828682422638, + 0.07084765285253525, + 0.12182904034852982, + -3.1395232677459717, + -0.026354651898145676, + 0.007649146020412445 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible inside the metal bowl. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, move down 11 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31085479259490967, + 0.06689412146806717, + 0.11557410657405853, + -3.12123441696167, + -0.04326168820261955, + 0.03775908797979355 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the table with the red fork visible inside the metal bowl. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 11 cm, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33395254611968994, + 0.05412723869085312, + 0.08826956152915955, + -3.1149368286132812, + -0.045277975499629974, + 0.05211697518825531 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the bowl containing the red fork, with the gripper open and ready. No contact has been made yet, and the fork remains undisturbed in the bowl. The next action should be to lower the gripper toward the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 8 cm, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 5 cm, move left 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34737735986709595, + 0.041082073003053665, + 0.05307646095752716, + -3.0942604541778564, + -0.02026534266769886, + 0.05756298825144768 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bell pepper": [ + 439, + 504, + 595, + 712 + ], + "wooden table": [ + 7, + 179, + 881, + 992 + ], + "fork": [ + 456, + 284, + 599, + 439 + ], + "metal bowl": [ + 349, + 427, + 652, + 769 + ], + "green cloth": [ + 346, + 599, + 665, + 842 + ] + } + } + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the bowl containing the red fork, with the gripper open and ready. No contact has been made yet, and the fork remains undisturbed in the bowl. The next action should be to lower the gripper toward the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35813912749290466, + 0.03706330806016922, + 0.03125843405723572, + -3.0998244285583496, + -0.051933396607637405, + 0.10028033703565598 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the bowl containing the red fork, with the gripper open and ready. No contact has been made yet, and the fork remains undisturbed in the bowl. The next action should be to lower the gripper toward the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3627890348434448, + 0.034947287291288376, + 0.01532126497477293, + -3.107043504714966, + -0.059063870459795, + 0.12866626679897308 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the bowl containing the red fork, with the gripper open and ready. No contact has been made yet, and the fork remains undisturbed in the bowl. The next action should be to lower the gripper toward the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36553606390953064, + 0.03403940796852112, + 0.01021078135818243, + -3.1032748222351074, + -0.05328621342778206, + 0.12573488056659698 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the bowl containing the red fork, with the gripper open and ready. No contact has been made yet, and the fork remains undisturbed in the bowl. The next action should be to lower the gripper toward the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36615970730781555, + 0.03445235267281532, + 0.009450331330299377, + -3.1002726554870605, + -0.05443020537495613, + 0.11141851544380188 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork in bowl", + "subtask_reasoning": "The robot is positioned above the bowl containing the red fork, with the gripper open and ready. No contact has been made yet, and the fork remains undisturbed in the bowl. The next action should be to lower the gripper toward the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 4 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3654918372631073, + 0.033670976758003235, + 0.009406041353940964, + -3.1006765365600586, + -0.04936119168996811, + 0.10028426349163055 + ], + "gripper_value": 0.413944274187088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork inside the metal bowl. The gripper is open and aligned with the fork's handle, ready to close. The next action is to close the gripper to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3596442937850952, + 0.030156586319208145, + 0.010921711102128029, + -3.1260128021240234, + -0.032432302832603455, + 0.08451932668685913 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork inside the metal bowl. The gripper is open and aligned with the fork's handle, ready to close. The next action is to close the gripper to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541353940963745, + 0.03779185563325882, + 0.04877666383981705, + 3.1023402214050293, + -0.09320398420095444, + 0.07699032127857208 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork inside the metal bowl. The gripper is open and aligned with the fork's handle, ready to close. The next action is to close the gripper to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33131444454193115, + 0.0599338598549366, + 0.09251702576875687, + 3.096889019012451, + -0.16408602893352509, + 0.01629449799656868 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the red fork and is currently lifting it out of the metal bowl. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue transporting the fork toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992851138114929, + 0.09620653837919235, + 0.109678715467453, + 3.1400527954101562, + -0.14786411821842194, + -0.07850240916013718 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport fork", + "subtask_reasoning": "The robot has successfully grasped the red fork and is currently lifting it out of the metal bowl. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue transporting the fork toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26492661237716675, + 0.13630199432373047, + 0.09530488401651382, + -3.103391647338867, + -0.07413417100906372, + -0.10846256464719772 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bell pepper": [ + 439, + 506, + 593, + 712 + ], + "metal bowl": [ + 347, + 427, + 652, + 769 + ], + "wooden table": [ + 9, + 222, + 881, + 989 + ], + "green cloth": [ + 346, + 594, + 666, + 842 + ] + } + } + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork on table", + "subtask_reasoning": "The robot has successfully grasped the red fork and is currently lifting it out of the metal bowl. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue transporting the fork toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24553406238555908, + 0.1647617369890213, + 0.07516518235206604, + -3.073842763900757, + -0.05495677888393402, + -0.0036475681699812412 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork on table", + "subtask_reasoning": "The robot has successfully grasped the red fork and is currently lifting it out of the metal bowl. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue transporting the fork toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24235963821411133, + 0.18028178811073303, + 0.056282222270965576, + -3.065220355987549, + -0.04280470684170723, + 0.07813906669616699 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork on table", + "subtask_reasoning": "The robot has successfully grasped the red fork and is currently lifting it out of the metal bowl. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue transporting the fork toward the front left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 4 cm, open gripper; then move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24691617488861084, + 0.18718692660331726, + 0.046070218086242676, + -3.0554404258728027, + -0.03299057111144066, + 0.11493020504713058 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork on table", + "subtask_reasoning": "The red fork has been lifted from the bowl and is currently held by the gripper above the table surface. The robot is positioned to place the fork at the front left corner. The next action is to lower the fork onto the table and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, open gripper; then move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615433633327484, + 0.19739967584609985, + 0.03363873064517975, + -3.0504918098449707, + -0.02053622156381607, + 0.13162776827812195 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork on table", + "subtask_reasoning": "The red fork has been lifted from the bowl and is currently held by the gripper above the table surface. The robot is positioned to place the fork at the front left corner. The next action is to lower the fork onto the table and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2736261188983917, + 0.19736143946647644, + 0.024761343374848366, + -3.034749984741211, + -0.013141809031367302, + 0.11414575576782227 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork on table", + "subtask_reasoning": "The red fork has been lifted from the bowl and is currently held by the gripper above the table surface. The robot is positioned to place the fork at the front left corner. The next action is to lower the fork onto the table and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27271637320518494, + 0.19610156118869781, + 0.01234069187194109, + -3.0413267612457275, + 0.013591348193585873, + 0.11218787729740143 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork on table", + "subtask_reasoning": "The red fork has been lifted from the bowl and is currently held by the gripper above the table surface. The robot is positioned to place the fork at the front left corner. The next action is to lower the fork onto the table and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27180561423301697, + 0.19730298221111298, + 0.011523690074682236, + -3.0307459831237793, + 0.02093597501516342, + 0.11245428025722504 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork on table", + "subtask_reasoning": "The red fork has been lifted from the bowl and is currently held by the gripper above the table surface. The robot is positioned to place the fork at the front left corner. The next action is to lower the fork onto the table and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706507742404938, + 0.19658634066581726, + 0.01138314325362444, + -3.0406250953674316, + 0.027486583217978477, + 0.09596404433250427 + ], + "gripper_value": 0.7922340631484985 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red fork has been lifted from the bowl and is currently held by the gripper above the table surface. The robot is positioned to place the fork at the front left corner. The next action is to lower the fork onto the table and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2680608630180359, + 0.1965903490781784, + 0.03297712281346321, + -3.041923761367798, + -0.025749972090125084, + 0.10439703613519669 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red fork has been successfully placed at the front left corner of the table. The gripper is open and the end-effector is positioned above the fork, indicating the release phase is complete. The next action is to retreat the arm away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26293545961380005, + 0.19024479389190674, + 0.06564771384000778, + -3.057722806930542, + -0.10281254351139069, + 0.10350264608860016 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 9, + 183, + 881, + 989 + ], + "red bell pepper": [ + 439, + 506, + 593, + 712 + ], + "metal bowl": [ + 347, + 427, + 652, + 768 + ], + "green cloth": [ + 346, + 597, + 664, + 841 + ] + } + } + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red fork has been successfully placed at the front left corner of the table. The gripper is open and the end-effector is positioned above the fork, indicating the release phase is complete. The next action is to retreat the arm away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2594544589519501, + 0.17075954377651215, + 0.08782219141721725, + -3.123542547225952, + -0.10837770253419876, + 0.08513854444026947 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red fork at the front left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork in bowl" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and transport fork" + }, + { + "id": 4, + "subtask": "place fork on table" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red fork has been successfully placed at the front left corner of the table. The gripper is open and the end-effector is positioned above the fork, indicating the release phase is complete. The next action is to retreat the arm away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004015_ecot.json b/cot/chunk-0004/episode_0004015_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ed6c0e2d8002dfc264ed3627825f8a665f0bab96 --- /dev/null +++ b/cot/chunk-0004/episode_0004015_ecot.json @@ -0,0 +1,2789 @@ +{ + "task_name": "episode_0004015", + "episode_json": "json/chunk-0004/episode_0004015.json", + "video_path": "videos/chunk-0004/image_0/episode_0004015.mp4", + "instruction": "Relocate the pot to the back left corner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004015.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9148465991020203, + "std": 0.4110511839389801, + "delta_total": -0.38589757680892944, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91485, std=0.41105, total_delta=-0.38590). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 115, + 115, + 115, + 115, + 115, + 115, + 215, + 215, + 215, + 215, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 44 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 14 + ], + [ + 3, + 15, + 20 + ], + [ + 4, + 21, + 24 + ], + [ + 5, + 25, + 43 + ], + [ + 6, + 44, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the pot on the table without grasping yet.\"},\n {\"id\": 2, \"name\": \"grasp pot handle\", \"start\": 15, \"end\": 20, \"planning\": \"Close gripper around the pot’s handle to secure it for relocation.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 21, \"end\": 43, \"planning\": \"Lift the pot slightly and move it across the table toward the back left corner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release pot at target\", \"start\": 44, \"end\": 44, \"planning\": \"Open gripper to release the pot in the back left corner after positioning.\"}\n ],\n \"global_plan\": \"Relocate the pot from its initial position to the back left corner by approaching, grasping the handle, moving it across the table, and releasing at the target location.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segment [15,20], justifying 'grasp' wording there. Segment [21,24] shows no further closing — motion is transport under existing grasp. Final frame [44] shows gripper opening (value increased from prior), consistent with release. All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the pot on the table without grasping yet." + }, + { + "id": 2, + "name": "grasp pot handle", + "start": 15, + "end": 20, + "planning": "Close gripper around the pot’s handle to secure it for relocation." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 21, + "end": 43, + "planning": "Lift the pot slightly and move it across the table toward the back left corner while maintaining grip." + }, + { + "id": 4, + "name": "release pot at target", + "start": 44, + "end": 44, + "planning": "Open gripper to release the pot in the back left corner after positioning." + } + ], + "global_plan": "Relocate the pot from its initial position to the back left corner by approaching, grasping the handle, moving it across the table, and releasing at the target location.", + "notes": "Gripper evidence confirms meaningful closing only in segment [15,20], justifying 'grasp' wording there. Segment [21,24] shows no further closing — motion is transport under existing grasp. Final frame [44] shows gripper opening (value increased from prior), consistent with release. All frames covered contiguously." + } + }, + "episode_goal": "Relocate the pot to the back left corner of the wooden surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34603023529052734, + -0.030443722382187843, + 0.17733871936798096, + 3.0857737064361572, + -0.27088406682014465, + 0.15900899469852448 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pot visible in the front right area. No movement or grasping has occurred yet as this is the initial frame of the approach subtask. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 6 cm, move down 14 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3449930250644684, + -0.03161776065826416, + 0.16525810956954956, + 3.082338571548462, + -0.23673957586288452, + 0.1615561842918396 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pot visible in the front right area. No movement or grasping has occurred yet as this is the initial frame of the approach subtask. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 6 cm, move down 14 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33437371253967285, + -0.04757153242826462, + 0.14616228640079498, + 2.972996711730957, + -0.21829521656036377, + 0.17736202478408813 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pot visible in the front right area. No movement or grasping has occurred yet as this is the initial frame of the approach subtask. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32173293828964233, + -0.06388900429010391, + 0.13486409187316895, + 2.9796078205108643, + -0.2034352570772171, + 0.10479068756103516 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pot visible in the front right area. No movement or grasping has occurred yet as this is the initial frame of the approach subtask. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2974756956100464, + -0.07799410820007324, + 0.13068974018096924, + 2.981858968734741, + -0.1912097930908203, + 0.04987882077693939 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pot visible in the front right area. No movement or grasping has occurred yet as this is the initial frame of the approach subtask. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26004278659820557, + -0.09262660890817642, + 0.11659049242734909, + 3.0067694187164307, + -0.17353545129299164, + -0.01969192922115326 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pot visible in the front right area. No movement or grasping has occurred yet as this is the initial frame of the approach subtask. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24351006746292114, + -0.09361167997121811, + 0.09918226301670074, + 3.0374391078948975, + -0.1402229368686676, + -0.02009078860282898 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 121, + 302, + 293, + 549 + ] + } + } + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pot visible in the front right area. No movement or grasping has occurred yet as this is the initial frame of the approach subtask. The next action should involve moving the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23913340270519257, + -0.0917656198143959, + 0.08375158160924911, + 3.070690393447876, + -0.11021075397729874, + -0.0018804613500833511 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24407340586185455, + -0.09192147105932236, + 0.06434498727321625, + 3.083549737930298, + -0.09153970330953598, + 0.012680670246481895 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2520727813243866, + -0.0924956351518631, + 0.046259164810180664, + 3.085914373397827, + -0.06658225506544113, + 0.018562564626336098 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 121, + 302, + 294, + 548 + ], + "oranges": [ + 736, + 340, + 849, + 438 + ] + } + } + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2614486515522003, + -0.09320097416639328, + 0.03636353462934494, + 3.1145479679107666, + -0.04080406576395035, + 0.015185230411589146 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631794214248657, + -0.09419344365596771, + 0.023729203268885612, + 3.126619815826416, + -0.001248388784006238, + 0.007685652002692223 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2627303898334503, + -0.09487329423427582, + 0.018009966239333153, + 3.1303155422210693, + 0.01658977009356022, + -0.014767627231776714 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 3 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26130130887031555, + -0.0945633202791214, + 0.013739170506596565, + 3.133405923843384, + 0.03131040930747986, + -0.03664710745215416 + ], + "gripper_value": 0.9214844703674316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 3 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25980278849601746, + -0.09444732218980789, + 0.013792842626571655, + 3.1329338550567627, + 0.04061390832066536, + -0.05770646780729294 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 3 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598263919353485, + -0.09337326139211655, + 0.014231612905859947, + 3.133862257003784, + 0.04170411080121994, + -0.0679745152592659 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25895634293556213, + -0.09219898283481598, + 0.014283079653978348, + 3.13523006439209, + 0.04906986281275749, + -0.07570763677358627 + ], + "gripper_value": 0.20503154397010803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the pot located in the front right. The gripper is open and no contact has been made yet. The next action should be to continue moving the arm closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move left 3 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2582872807979584, + -0.0911499634385109, + 0.014324788935482502, + 3.138254165649414, + 0.054437652230262756, + -0.08695510029792786 + ], + "gripper_value": 0.13202956318855286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move left 6 cm, move up 12 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25716641545295715, + -0.09141950309276581, + 0.014381598681211472, + 3.138561725616455, + 0.060682062059640884, + -0.08751434087753296 + ], + "gripper_value": 0.1067313477396965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move forward 4 cm, move left 9 cm, move up 13 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25748249888420105, + -0.09248227626085281, + 0.019070981070399284, + 3.1269123554229736, + 0.05187300965189934, + -0.1039409190416336 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 6 cm, move left 11 cm, move up 13 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26315900683403015, + -0.09523625671863556, + 0.032788388431072235, + 3.090275526046753, + 0.023789847269654274, + -0.10654132068157196 + ], + "gripper_value": 0.08783477544784546 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 6 cm, move left 14 cm, move up 12 cm, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637326717376709, + -0.09832023084163666, + 0.04172687232494354, + 3.0648913383483887, + 0.014175135642290115, + -0.12036388367414474 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 16 cm, move up 10 cm, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716074585914612, + -0.1152781993150711, + 0.0738246887922287, + 3.0096499919891357, + -0.06576607376337051, + -0.13895352184772491 + ], + "gripper_value": 0.08432227373123169 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 20 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27248385548591614, + -0.10974780470132828, + 0.09709793329238892, + 3.0156655311584473, + -0.11460192501544952, + -0.13250742852687836 + ], + "gripper_value": 0.08432227373123169 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 120, + 303, + 292, + 550 + ] + } + } + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 21 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27257034182548523, + -0.10450711846351624, + 0.12049003690481186, + 3.0125598907470703, + -0.151299849152565, + -0.10659895837306976 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 21 cm, move down 3 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2763325273990631, + -0.0894240066409111, + 0.1316879838705063, + 3.025238037109375, + -0.18092115223407745, + -0.059649690985679626 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 22 cm, move down 6 cm, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28582221269607544, + -0.06467325985431671, + 0.15247945487499237, + 3.0118181705474854, + -0.2359827607870102, + 0.03506803512573242 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 20 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29625463485717773, + -0.040205903351306915, + 0.16495944559574127, + 3.013023614883423, + -0.2674711048603058, + 0.11730767786502838 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 121, + 303, + 291, + 549 + ], + "cloth": [ + 539, + 405, + 846, + 698 + ] + } + } + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 18 cm, move down 12 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085078001022339, + -0.011325661092996597, + 0.17569631338119507, + 2.9976980686187744, + -0.30083417892456055, + 0.21851566433906555 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 15 cm, move down 14 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31938910484313965, + 0.01602657325565815, + 0.17174743115901947, + 2.996516704559326, + -0.2915378212928772, + 0.302832692861557 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move down 15 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3282906413078308, + 0.04008984938263893, + 0.16250625252723694, + 3.000314950942993, + -0.2721552848815918, + 0.37026119232177734 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 14 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33178865909576416, + 0.06321389973163605, + 0.14353759586811066, + 3.012018918991089, + -0.21811836957931519, + 0.4332410991191864 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and the gripper is now in contact with the pot handle. The gripper signal shows a significant decrease, indicating the fingers are closing around the handle. The next action is to complete the grasp by fully closing the gripper to secure the pot for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 12 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3317503333091736, + 0.08016515523195267, + 0.12342231720685959, + 3.017369508743286, + -0.1624823808670044, + 0.4736127257347107 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3307516872882843, + 0.0961325392127037, + 0.10179336369037628, + 3.0149264335632324, + -0.10245382785797119, + 0.5182817578315735 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.326529860496521, + 0.1099013015627861, + 0.0913352444767952, + 3.018354654312134, + -0.07631432265043259, + 0.5502946376800537 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222455680370331, + 0.12565073370933533, + 0.07448545098304749, + 3.0186076164245605, + -0.031044185161590576, + 0.5925200581550598 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3266715407371521, + 0.13580158352851868, + 0.06142524257302284, + 2.99702787399292, + -0.027229825034737587, + 0.6266734600067139 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 122, + 303, + 294, + 547 + ], + "cloth": [ + 541, + 381, + 847, + 692 + ], + "oranges": [ + 685, + 331, + 849, + 436 + ] + } + } + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.33545804023742676, + 0.13820774853229523, + 0.049824025481939316, + 2.9791712760925293, + -0.020117562264204025, + 0.647049605846405 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3456152677536011, + 0.13811340928077698, + 0.03541380912065506, + 2.951674222946167, + -0.005578217562288046, + 0.6564452648162842 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3483038544654846, + 0.13441647589206696, + 0.025173140689730644, + 2.9311230182647705, + 0.039489734917879105, + 0.6564502120018005 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.34796756505966187, + 0.1335388422012329, + 0.023033931851387024, + 2.92830491065979, + 0.04647638276219368, + 0.6524239778518677 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467828929424286, + 0.13295386731624603, + 0.02206212654709816, + 2.9295809268951416, + 0.05260760709643364, + 0.6599751114845276 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3439752161502838, + 0.13139165937900543, + 0.019730202853679657, + 2.9355311393737793, + 0.06670647114515305, + 0.6766257882118225 + ], + "gripper_value": 0.12483644485473633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.34145650267601013, + 0.13096672296524048, + 0.01811840385198593, + 2.9390411376953125, + 0.07664449512958527, + 0.683250904083252 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot handle and lifted the pot into the air, as evidenced by the elevated position and stable gripper state. The pot is currently suspended above the wooden surface, ready for movement. The next action is to translate the pot toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3407590091228485, + 0.12960420548915863, + 0.018235016614198685, + 2.9384241104125977, + 0.08440528810024261, + 0.6809117794036865 + ], + "gripper_value": 0.6129248142242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Relocate the pot to the back left corner of the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot at target" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The pot is already positioned at the back left corner of the wooden surface. The gripper is open and not in contact with the pot, indicating the release action has been completed. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 44, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004017_ecot.json b/cot/chunk-0004/episode_0004017_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5b14830308f710c5a5217ae3b0605762b2a3e691 --- /dev/null +++ b/cot/chunk-0004/episode_0004017_ecot.json @@ -0,0 +1,796 @@ +{ + "task_name": "episode_0004017", + "episode_json": "json/chunk-0004/episode_0004017.json", + "video_path": "videos/chunk-0004/image_0/episode_0004017.mp4", + "instruction": "End effector reaching corn.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004017.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 14, \"planning\": \"Move end effector toward the yellow corn object on the stovetop without grasping, as gripper remains fully open throughout.\"}\n ],\n \"global_plan\": \"The robot performs a single continuous reaching motion toward the corn, with no grasping or lifting observed; gripper stays open and motion is purely translational/rotational approach.\",\n \"notes\": \"Gripper evidence confirms no closing (delta=0.0), so all actions are contact-free approach/repositioning. Segment spans cover full trajectory [0,14] as one phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 14, + "planning": "Move end effector toward the yellow corn object on the stovetop without grasping, as gripper remains fully open throughout." + } + ], + "global_plan": "The robot performs a single continuous reaching motion toward the corn, with no grasping or lifting observed; gripper stays open and motion is purely translational/rotational approach.", + "notes": "Gripper evidence confirms no closing (delta=0.0), so all actions are contact-free approach/repositioning. Segment spans cover full trajectory [0,14] as one phase." + } + }, + "episode_goal": "Move the end effector to the yellow corn on the counter.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32797950506210327, + 0.006953136995434761, + 0.13945600390434265, + -2.853034496307373, + -0.025365913286805153, + -0.13306334614753723 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The end effector is positioned above the stove, with the yellow corn located to the right on the counter. No motion has occurred yet as this is the initial frame. The gripper remains open, and the next action is to begin translating the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 15 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214304745197296, + 0.0019480237970128655, + 0.12859508395195007, + -2.855666399002075, + 0.014892051927745342, + -0.12339244782924652 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The end effector is positioned above the stove, with the yellow corn located to the right on the counter. No motion has occurred yet as this is the initial frame. The gripper remains open, and the next action is to begin translating the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 15 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2954861521720886, + -0.03521113470196724, + 0.1233740895986557, + -2.8502798080444336, + 0.049978338181972504, + -0.03240441530942917 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The end effector is positioned above the stove, with the yellow corn located to the right on the counter. No motion has occurred yet as this is the initial frame. The gripper remains open, and the next action is to begin translating the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810583710670471, + -0.0664135292172432, + 0.1308155357837677, + -2.842503786087036, + 0.04160323739051819, + -0.010168904438614845 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The end effector is positioned above the stove, with the yellow corn located to the right on the counter. No motion has occurred yet as this is the initial frame. The gripper remains open, and the next action is to begin translating the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2777593731880188, + -0.07522017508745193, + 0.12632180750370026, + -2.851158857345581, + 0.02728896215558052, + 0.012589571066200733 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The end effector is positioned above the stove, with the yellow corn located to the right on the counter. No motion has occurred yet as this is the initial frame. The gripper remains open, and the next action is to begin translating the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27750152349472046, + -0.08930210024118423, + 0.11389967799186707, + -2.8789491653442383, + -0.02429954521358013, + -0.0028001884929835796 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The end effector is positioned above the stove, with the yellow corn located to the right on the counter. No motion has occurred yet as this is the initial frame. The gripper remains open, and the next action is to begin translating the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27685919404029846, + -0.10328400135040283, + 0.10070984065532684, + -2.892401695251465, + -0.04864347726106644, + -0.000641401915345341 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed animal": [ + 490, + 327, + 622, + 574 + ], + "silver pot": [ + 627, + 325, + 849, + 540 + ], + "faucet": [ + 109, + 3, + 243, + 175 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The end effector is positioned above the stove, with the yellow corn located to the right on the counter. No motion has occurred yet as this is the initial frame. The gripper remains open, and the next action is to begin translating the end effector toward the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.276792049407959, + -0.11679822206497192, + 0.09352131187915802, + -2.8938026428222656, + -0.07599161565303802, + 0.007236149162054062 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the yellow corn located on the counter to the right. No movement toward the corn has occurred yet, and the gripper remains fully open. The next action should be a translational motion to the right to approach the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26994597911834717, + -0.1311386376619339, + 0.08619244396686554, + -2.886453628540039, + -0.08663998544216156, + 0.016572196036577225 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the yellow corn located on the counter to the right. No movement toward the corn has occurred yet, and the gripper remains fully open. The next action should be a translational motion to the right to approach the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26395466923713684, + -0.1395161896944046, + 0.0831589326262474, + -2.8991317749023438, + -0.08559667319059372, + 0.02667825296521187 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed animal": [ + 489, + 327, + 623, + 574 + ], + "faucet": [ + 109, + 3, + 245, + 175 + ], + "silver pot": [ + 621, + 277, + 837, + 552 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the yellow corn located on the counter to the right. No movement toward the corn has occurred yet, and the gripper remains fully open. The next action should be a translational motion to the right to approach the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2518669068813324, + -0.14526809751987457, + 0.06732726842164993, + -2.914517879486084, + -0.09511401504278183, + 0.03738837316632271 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the yellow corn located on the counter to the right. No movement toward the corn has occurred yet, and the gripper remains fully open. The next action should be a translational motion to the right to approach the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24381029605865479, + -0.14815454185009003, + 0.053023796528577805, + -2.9339377880096436, + -0.11383000016212463, + 0.041305478662252426 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the yellow corn located on the counter to the right. No movement toward the corn has occurred yet, and the gripper remains fully open. The next action should be a translational motion to the right to approach the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2447306215763092, + -0.1484142690896988, + 0.040349751710891724, + -2.9410195350646973, + -0.13393549621105194, + 0.0335279256105423 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the yellow corn located on the counter to the right. No movement toward the corn has occurred yet, and the gripper remains fully open. The next action should be a translational motion to the right to approach the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25188004970550537, + -0.1438470333814621, + 0.03764935955405235, + -2.9566357135772705, + -0.14829687774181366, + 0.004834342747926712 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the yellow corn located on the counter to the right. No movement toward the corn has occurred yet, and the gripper remains fully open. The next action should be a translational motion to the right to approach the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25705745816230774, + -0.13826854526996613, + 0.02979535423219204, + -2.9508838653564453, + -0.15114834904670715, + -0.008433214388787746 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow corn on the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the yellow corn located on the counter to the right. No movement toward the corn has occurred yet, and the gripper remains fully open. The next action should be a translational motion to the right to approach the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004018_ecot.json b/cot/chunk-0004/episode_0004018_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa60065e7de65cf4ff9974cce0713e5bc7eecff --- /dev/null +++ b/cot/chunk-0004/episode_0004018_ecot.json @@ -0,0 +1,2310 @@ +{ + "task_name": "episode_0004018", + "episode_json": "json/chunk-0004/episode_0004018.json", + "video_path": "videos/chunk-0004/image_0/episode_0004018.mp4", + "instruction": "Move the silver pot to the upper side of the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004018.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.9638839364051819, + "std": 0.44387540221214294, + "delta_total": 0.004517555236816406, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96388, std=0.44388, total_delta=0.00452). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 133, + 133, + 133, + 133 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 20 + ], + [ + 4, + 21, + 28 + ], + [ + 5, + 29, + 32 + ], + [ + 6, + 33, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 12, \"planning\": \"Move the end-effector toward the silver pot on the left burner without grasping.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 13, \"end\": 20, \"planning\": \"Close gripper to securely grasp the handle of the silver pot and lift it slightly.\"},\n {\"id\": 3, \"name\": \"transport pot\", \"start\": 21, \"end\": 32, \"planning\": \"Carry the grasped pot across the stovetop toward the right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release pot\", \"start\": 33, \"end\": 36, \"planning\": \"Open gripper to release the pot onto the upper side of the right burner and retreat.\"}\n ],\n \"global_plan\": \"Approach the silver pot on the left burner, grasp it by the handle, transport it to the upper side of the right burner, and release it there.\",\n \"notes\": \"Segment 1 (frames 0-3) shows no gripper closing — correctly labeled as approach. Segment 3 (13-20) has strong gripper closure and visual confirmation of grasp — valid to use 'grasp'. Segment 4 (21-28) maintains constant gripper value — consistent with holding during transport. Segment 6 (33-36) shows gripper opening — valid for release. Frame ranges are contiguous and cover all 37 frames (0-36).\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 12, + "planning": "Move the end-effector toward the silver pot on the left burner without grasping." + }, + { + "id": 2, + "name": "grasp pot", + "start": 13, + "end": 20, + "planning": "Close gripper to securely grasp the handle of the silver pot and lift it slightly." + }, + { + "id": 3, + "name": "transport pot", + "start": 21, + "end": 32, + "planning": "Carry the grasped pot across the stovetop toward the right burner while maintaining grip." + }, + { + "id": 4, + "name": "release pot", + "start": 33, + "end": 36, + "planning": "Open gripper to release the pot onto the upper side of the right burner and retreat." + } + ], + "global_plan": "Approach the silver pot on the left burner, grasp it by the handle, transport it to the upper side of the right burner, and release it there.", + "notes": "Segment 1 (frames 0-3) shows no gripper closing — correctly labeled as approach. Segment 3 (13-20) has strong gripper closure and visual confirmation of grasp — valid to use 'grasp'. Segment 4 (21-28) maintains constant gripper value — consistent with holding during transport. Segment 6 (33-36) shows gripper opening — valid for release. Frame ranges are contiguous and cover all 37 frames (0-36)." + } + }, + "episode_goal": "Move the silver pot to the upper side of the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31193819642066956, + -0.06536939740180969, + 0.04045432433485985, + 3.0896646976470947, + -0.09064402431249619, + 0.03965374082326889 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and approaching the pot's handle. No contact has been made yet. The next action is to continue moving the gripper closer to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.305620014667511, + -0.06401781737804413, + 0.029006702825427055, + 3.0965919494628906, + -0.051343925297260284, + 0.04107070714235306 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and approaching the pot's handle. No contact has been made yet. The next action is to continue moving the gripper closer to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30116721987724304, + -0.05746907740831375, + 0.02285223826766014, + 3.0798027515411377, + -0.04340076446533203, + 0.0688084065914154 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and approaching the pot's handle. No contact has been made yet. The next action is to continue moving the gripper closer to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move down 4 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958468198776245, + -0.047704197466373444, + 0.018993187695741653, + 3.066882848739624, + -0.03666341304779053, + 0.1031477153301239 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and approaching the pot's handle. No contact has been made yet. The next action is to continue moving the gripper closer to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 4 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29194507002830505, + -0.02776581421494484, + 0.029932549223303795, + 3.063807249069214, + -0.07534310221672058, + 0.16176745295524597 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and approaching the pot's handle. No contact has been made yet. The next action is to continue moving the gripper closer to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813153862953186, + 0.00987386703491211, + 0.036814264953136444, + 3.0561609268188477, + -0.1020103245973587, + 0.2748906910419464 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and approaching the pot's handle. No contact has been made yet. The next action is to continue moving the gripper closer to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753700017929077, + 0.04249631613492966, + 0.0338640920817852, + 3.0556211471557617, + -0.09465743601322174, + 0.36950960755348206 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 734, + 626, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and hovering near the pot's handle, indicating the approach phase is underway. The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667825222015381, + 0.059836454689502716, + 0.015852009877562523, + 3.0405426025390625, + -0.043364427983760834, + 0.43036597967147827 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and hovering near the pot's handle, indicating the approach phase is underway. The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26202288269996643, + 0.062274567782878876, + 0.001355473999865353, + 3.03136944770813, + 2.4649798433529213e-05, + 0.429243266582489 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and hovering near the pot's handle, indicating the approach phase is underway. The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.258110910654068, + 0.060681749135255814, + -0.010837724432349205, + 3.0376694202423096, + 0.043715666979551315, + 0.43868792057037354 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and hovering near the pot's handle, indicating the approach phase is underway. The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move right 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25735729932785034, + 0.05951504781842232, + -0.012896389700472355, + 3.0418646335601807, + 0.05334089696407318, + 0.4547712504863739 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and hovering near the pot's handle, indicating the approach phase is underway. The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25800254940986633, + 0.05525852367281914, + -0.016608826816082, + 3.044323444366455, + 0.058706965297460556, + 0.4481066167354584 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. 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The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 5 cm, move up 8 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25955528020858765, + 0.05454833060503006, + -0.01811951771378517, + 3.0477135181427, + 0.05441242828965187, + 0.46366891264915466 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. 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The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 5 cm, move up 8 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620421350002289, + 0.05134527012705803, + -0.021069105714559555, + 3.0519092082977295, + 0.0604855902493, + 0.467637300491333 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. 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The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move up 8 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632286548614502, + 0.04832330718636513, + -0.021484842523932457, + 3.055295467376709, + 0.0608237162232399, + 0.4610595703125 + ], + "gripper_value": 0.13386739790439606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. 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The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2642156481742859, + 0.04891417548060417, + -0.021392682567238808, + 3.0615487098693848, + 0.054338596761226654, + 0.46244892477989197 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is open and hovering near the pot's handle, indicating the approach phase is underway. The next action is to lower the gripper to make contact with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 8 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.262387752532959, + 0.04640766978263855, + -0.017565837129950523, + 3.0689096450805664, + 0.02702992781996727, + 0.46659284830093384 + ], + "gripper_value": 0.06122923642396927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2624099850654602, + 0.04556984454393387, + -0.006508900783956051, + 3.075693368911743, + -0.018208611756563187, + 0.4657613933086395 + ], + "gripper_value": 0.05729193985462189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 735, + 627, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26262107491493225, + 0.04093669354915619, + 0.0011889154557138681, + 3.090423822402954, + -0.04705418646335602, + 0.45097020268440247 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664125859737396, + 0.03631267696619034, + 0.013357727788388729, + 3.100526809692383, + -0.09346824884414673, + 0.4373911917209625 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843240797519684, + 0.024329444393515587, + 0.03370235115289688, + 3.1110639572143555, + -0.1656404435634613, + 0.36799171566963196 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3087007999420166, + 0.003823293838649988, + 0.0544806607067585, + -3.135087251663208, + -0.23484335839748383, + 0.2614207863807678 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 236, + 469, + 513, + 752 + ], + "sink": [ + 735, + 627, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32849717140197754, + -0.009355653077363968, + 0.06505191326141357, + -3.1206042766571045, + -0.27776747941970825, + 0.1864355057477951 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424821197986603, + -0.015165208838880062, + 0.051703717559576035, + -3.1100573539733887, + -0.24314910173416138, + 0.150677889585495 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34821808338165283, + -0.01939135044813156, + 0.03471945971250534, + -3.123406171798706, + -0.19737300276756287, + 0.13338716328144073 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3514845669269562, + -0.01530516054481268, + 0.015400279313325882, + -3.135087013244629, + -0.14376957714557648, + 0.12691417336463928 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and aligned near the pot handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt right 10 degrees, open gripper; then move back 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3560020327568054, + -0.012867472134530544, + 0.006667378358542919, + -3.1345596313476562, + -0.12098829448223114, + 0.10815723240375519 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot is currently holding the silver pot by its handle and has lifted it clear of the left burner. The arm is positioned over the stovetop, actively transporting the pot towards the target location on the right burner. The next action is to continue moving the pot laterally to align it above the upper side of the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, open gripper; then move back 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574425280094147, + -0.012867875397205353, + -0.0013313449453562498, + -3.1321003437042236, + -0.0990486815571785, + 0.08815206587314606 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot is currently holding the silver pot by its handle and has lifted it clear of the left burner. The arm is positioned over the stovetop, actively transporting the pot towards the target location on the right burner. The next action is to continue moving the pot laterally to align it above the upper side of the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, open gripper; then move back 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36041170358657837, + -0.014366256073117256, + -0.006103734020143747, + -3.1371572017669678, + -0.09006093442440033, + 0.061446577310562134 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot is currently holding the silver pot by its handle and has lifted it clear of the left burner. The arm is positioned over the stovetop, actively transporting the pot towards the target location on the right burner. The next action is to continue moving the pot laterally to align it above the upper side of the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, open gripper; then move back 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3596341609954834, + -0.016139665618538857, + -0.012621759437024593, + 3.1331868171691895, + -0.07636858522891998, + 0.010663775727152824 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot is currently holding the silver pot by its handle and has lifted it clear of the left burner. The arm is positioned over the stovetop, actively transporting the pot towards the target location on the right burner. The next action is to continue moving the pot laterally to align it above the upper side of the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36259955167770386, + -0.013347200118005276, + -0.014237407594919205, + 3.1132538318634033, + -0.08348231017589569, + 0.01937916874885559 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot is currently holding the silver pot by its handle and has lifted it clear of the left burner. The arm is positioned over the stovetop, actively transporting the pot towards the target location on the right burner. The next action is to continue moving the pot laterally to align it above the upper side of the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36200886964797974, + -0.012210563756525517, + -0.017286252230405807, + 3.0814664363861084, + -0.09530826658010483, + 0.06747209280729294 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot is currently holding the silver pot by its handle and has lifted it clear of the left burner. The arm is positioned over the stovetop, actively transporting the pot towards the target location on the right burner. The next action is to continue moving the pot laterally to align it above the upper side of the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594292104244232, + -0.012242785654962063, + -0.018828649073839188, + 3.061117649078369, + -0.09977391362190247, + 0.09527987986803055 + ], + "gripper_value": 0.4956514239311218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "transport pot", + "subtask_reasoning": "The robot is currently holding the silver pot by its handle and has lifted it clear of the left burner. The arm is positioned over the stovetop, actively transporting the pot towards the target location on the right burner. The next action is to continue moving the pot laterally to align it above the upper side of the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603574335575104, + -0.012357603758573532, + -0.003976315259933472, + 3.0338923931121826, + -0.14001743495464325, + 0.11439381539821625 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot is currently holding the silver pot by its handle and has lifted it clear of the left burner. The arm is positioned over the stovetop, actively transporting the pot towards the target location on the right burner. The next action is to continue moving the pot laterally to align it above the upper side of the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543088734149933, + -0.011528060771524906, + 0.019186491146683693, + 3.0292999744415283, + -0.19590044021606445, + 0.14937669038772583 + ], + "gripper_value": 1.0187249183654785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the upper side of the right burner. The gripper signal indicates an active grasp, confirming the object is secured. The next action is to open the gripper to release the pot onto the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.34170418977737427, + -0.013829967007040977, + 0.04392708092927933, + 3.0414321422576904, + -0.22583997249603271, + 0.20754532516002655 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the upper side of the right burner. The gripper signal indicates an active grasp, confirming the object is secured. The next action is to open the gripper to release the pot onto the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.33102041482925415, + -0.012855042703449726, + 0.05750489607453346, + 3.0504074096679688, + -0.22521713376045227, + 0.2158537060022354 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 236, + 444, + 513, + 754 + ], + "sink": [ + 733, + 627, + 994, + 992 + ], + "cup": [ + 506, + 353, + 701, + 567 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the upper side of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the upper side of the right burner. The gripper signal indicates an active grasp, confirming the object is secured. The next action is to open the gripper to release the pot onto the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004020_ecot.json b/cot/chunk-0004/episode_0004020_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..eae4f13d21447d1b5e7b372778d7a7b9b60a1b35 --- /dev/null +++ b/cot/chunk-0004/episode_0004020_ecot.json @@ -0,0 +1,1316 @@ +{ + "task_name": "episode_0004020", + "episode_json": "json/chunk-0004/episode_0004020.json", + "video_path": "videos/chunk-0004/image_0/episode_0004020.mp4", + "instruction": "Put pan in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004020.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9090824127197266, + "std": 0.4100179076194763, + "delta_total": -0.9090824127197266, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90908, std=0.41002, total_delta=-0.90908). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the pan on the counter while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp pan\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the pan handle to secure a firm grasp, confirmed by decreasing gripper value and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and transport pan\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the pan from the counter and move it over the sink, maintaining grip as shown by low and stable gripper values.\"},\n {\"id\": 4, \"name\": \"release pan in sink\", \"start\": 17, \"end\": 19, \"planning\": \"Open the gripper to release the pan into the sink, then retreat slightly while keeping gripper open.\"}\n ],\n \"global_plan\": \"Approach the pan on the counter, grasp it securely, lift and carry it over the sink, then release it into the sink basin.\",\n \"notes\": \"Gripper evidence supports grasping in Segment 1 (frames 6–12) and holding through Segment 2 until release. Frame 19 shows gripper fully open again, confirming release. Motion and gripper data align with visual keyframes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the pan on the counter while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp pan", + "start": 6, + "end": 12, + "planning": "Close the gripper around the pan handle to secure a firm grasp, confirmed by decreasing gripper value and stable pose." + }, + { + "id": 3, + "name": "lift and transport pan", + "start": 13, + "end": 16, + "planning": "Lift the pan from the counter and move it over the sink, maintaining grip as shown by low and stable gripper values." + }, + { + "id": 4, + "name": "release pan in sink", + "start": 17, + "end": 19, + "planning": "Open the gripper to release the pan into the sink, then retreat slightly while keeping gripper open." + } + ], + "global_plan": "Approach the pan on the counter, grasp it securely, lift and carry it over the sink, then release it into the sink basin.", + "notes": "Gripper evidence supports grasping in Segment 1 (frames 6–12) and holding through Segment 2 until release. Frame 19 shows gripper fully open again, confirming release. Motion and gripper data align with visual keyframes." + } + }, + "episode_goal": "Place the pan in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24339497089385986, + 0.13762567937374115, + 0.054629430174827576, + -3.038414478302002, + -0.4233616888523102, + 0.04131529480218887 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the counter near the sink, with the pan visible to the left. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24252024292945862, + 0.13444772362709045, + 0.05199260637164116, + -3.0638203620910645, + -0.38514402508735657, + 0.01450483500957489 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the counter near the sink, with the pan visible to the left. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2571066915988922, + 0.1368838995695114, + 0.06689437478780746, + -3.0619242191314697, + -0.3696897029876709, + -0.09809064865112305 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned near the pan on the counter, with the gripper open and no contact made yet. The subtask of approaching the pan is in progress, and the next action should involve moving the gripper closer to establish contact with the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27376070618629456, + 0.13900095224380493, + 0.07475589960813522, + -3.075681447982788, + -0.3445402681827545, + -0.22575461864471436 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy red pepper": [ + 364, + 510, + 444, + 624 + ], + "toy cucumber": [ + 367, + 23, + 500, + 121 + ], + "toy corn": [ + 514, + 65, + 578, + 167 + ], + "toy cabbage": [ + 5, + 210, + 126, + 359 + ], + "sink": [ + 271, + 298, + 852, + 820 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned near the pan on the counter, with the gripper open and no contact made yet. The subtask of approaching the pan is in progress, and the next action should involve moving the gripper closer to establish contact with the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28839701414108276, + 0.1366199254989624, + 0.07511555403470993, + -3.078007698059082, + -0.3378831148147583, + -0.3002837598323822 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned near the pan on the counter, with the gripper open and no contact made yet. The subtask of approaching the pan is in progress, and the next action should involve moving the gripper closer to establish contact with the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29881736636161804, + 0.12425892055034637, + 0.0700298473238945, + -3.064603090286255, + -0.35314691066741943, + -0.34847474098205566 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned near the pan on the counter, with the gripper open and no contact made yet. The subtask of approaching the pan is in progress, and the next action should involve moving the gripper closer to establish contact with the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958478033542633, + 0.11990003287792206, + 0.05941199138760567, + -3.069000720977783, + -0.3736242651939392, + -0.34178659319877625 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot arm is positioned near the pan on the counter, with the gripper open and no contact made yet. The subtask of approaching the pan is in progress, and the next action should involve moving the gripper closer to establish contact with the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move right 6 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29572248458862305, + 0.11805802583694458, + 0.049403659999370575, + -3.0753087997436523, + -0.384015828371048, + -0.3537465035915375 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot arm is positioned near the pan on the counter, with the gripper open and no contact made yet. The subtask of approaching the pan is in progress, and the next action should involve moving the gripper closer to establish contact with the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, close gripper; then move forward 2 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29353630542755127, + 0.12303275614976883, + 0.03989284485578537, + -3.099266529083252, + -0.37813353538513184, + -0.3394070267677307 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot arm is positioned near the pan on the counter, with the gripper open and no contact made yet. The subtask of approaching the pan is in progress, and the next action should involve moving the gripper closer to establish contact with the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958477735519409, + 0.12619450688362122, + 0.034459710121154785, + -3.113953113555908, + -0.3767881393432617, + -0.3293983042240143 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot arm is positioned directly above the black pan on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pan. The next action is to close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29634538292884827, + 0.12865081429481506, + 0.02771950140595436, + -3.1359241008758545, + -0.3752462863922119, + -0.3159818947315216 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot arm is positioned directly above the black pan on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pan. The next action is to close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29869499802589417, + 0.13193824887275696, + 0.023902779445052147, + -3.132073163986206, + -0.3777664601802826, + -0.3117062747478485 + ], + "gripper_value": 0.8270506262779236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot arm is positioned directly above the black pan on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pan. The next action is to close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30156660079956055, + 0.1336154043674469, + 0.02227082848548889, + -3.121703863143921, + -0.38939547538757324, + -0.30810993909835815 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "grasp pan", + "subtask_reasoning": "The robot arm is positioned directly above the black pan on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pan. The next action is to close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019360899925232, + 0.13439546525478363, + 0.020752666518092155, + -3.1136136054992676, + -0.39007216691970825, + -0.3151600658893585 + ], + "gripper_value": 0.25545796751976013 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "lift and transport pan", + "subtask_reasoning": "The robot arm is positioned directly above the black pan on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pan. The next action is to close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046397566795349, + 0.1289219856262207, + 0.020386578515172005, + -3.0822157859802246, + -0.34747636318206787, + -0.318692147731781 + ], + "gripper_value": 0.13900397717952728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "lift and transport pan", + "subtask_reasoning": "The robot has grasped the pan and is currently lifting it above the sink. The gripper remains closed, indicating secure hold during transport. The next action is to lower the pan into the sink basin and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142630457878113, + 0.10377201437950134, + 0.029392914846539497, + -3.0490171909332275, + -0.3258213996887207, + -0.30762460827827454 + ], + "gripper_value": 0.09587175399065018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "lift and transport pan", + "subtask_reasoning": "The robot has grasped the pan and is currently lifting it above the sink. The gripper remains closed, indicating secure hold during transport. The next action is to lower the pan into the sink basin and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3205537497997284, + 0.07721123099327087, + 0.030392391607165337, + -3.0454938411712646, + -0.3157481551170349, + -0.24010419845581055 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "lift and transport pan", + "subtask_reasoning": "The robot has grasped the pan and is currently lifting it above the sink. The gripper remains closed, indicating secure hold during transport. The next action is to lower the pan into the sink basin and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32341769337654114, + 0.04913315549492836, + 0.02628462389111519, + -3.0388426780700684, + -0.3272091746330261, + -0.18901383876800537 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy red pepper": [ + 369, + 511, + 444, + 622 + ], + "utensil": [ + 872, + 785, + 991, + 994 + ], + "toy corn": [ + 512, + 66, + 578, + 165 + ], + "sink": [ + 271, + 305, + 853, + 818 + ], + "toy cabbage": [ + 5, + 210, + 127, + 358 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "release pan in sink", + "subtask_reasoning": "The robot has grasped the pan and is currently lifting it above the sink. The gripper remains closed, indicating secure hold during transport. The next action is to lower the pan into the sink basin and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.323320597410202, + 0.029992911964654922, + 0.02065473608672619, + -3.0324618816375732, + -0.3625674843788147, + -0.14213347434997559 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "release pan in sink", + "subtask_reasoning": "The pan is currently held over the sink basin with the gripper open, indicating the release action is underway or just completed. Since the segment-level gripper evidence shows no closing motion, the robot is likely in the final stage of releasing or has already released the pan. The next logical step is to confirm the pan has settled in the sink and retract the arm if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32521891593933105, + 0.01569236069917679, + 0.016677845269441605, + -3.037874460220337, + -0.4137897193431854, + -0.11700229346752167 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan" + }, + { + "id": 3, + "subtask": "lift and transport pan" + }, + { + "id": 4, + "subtask": "release pan in sink" + } + ], + "subtask_name": "release pan in sink", + "subtask_reasoning": "The pan is currently held over the sink basin with the gripper open, indicating the release action is underway or just completed. Since the segment-level gripper evidence shows no closing motion, the robot is likely in the final stage of releasing or has already released the pan. The next logical step is to confirm the pan has settled in the sink and retract the arm if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004021_ecot.json b/cot/chunk-0004/episode_0004021_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..473774eaf33e7cfa8035b715bc4a873e88f93e89 --- /dev/null +++ b/cot/chunk-0004/episode_0004021_ecot.json @@ -0,0 +1,1716 @@ +{ + "task_name": "episode_0004021", + "episode_json": "json/chunk-0004/episode_0004021.json", + "video_path": "videos/chunk-0004/image_0/episode_0004021.mp4", + "instruction": "Moved the silver pot to the right side burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004021.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9379860758781433, + "std": 0.4211042523384094, + "delta_total": 0.012106895446777344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93799, std=0.42110, total_delta=0.01211). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 13 + ], + [ + 3, + 14, + 24 + ], + [ + 4, + 25, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp pot\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector to the silver pot, close gripper to secure grasp as confirmed by decreasing gripper values and visual contact.\"},\n {\"id\": 2, \"name\": \"lift and translate pot rightward\", \"start\": 14, \"end\": 24, \"planning\": \"Lift the grasped pot slightly and move it horizontally toward the right-side burner while maintaining grip, as shown by stable low gripper value and positional change.\"},\n {\"id\": 3, \"name\": \"place pot on right burner and release\", \"start\": 25, \"end\": 27, \"planning\": \"Lower the pot onto the right burner and open gripper to release, confirmed by increasing gripper values and final position over target burner.\"}\n ],\n \"global_plan\": \"Grasp the silver pot from its initial position, lift and move it rightward to the adjacent burner, then place and release it precisely on the target burner.\",\n \"notes\": \"Gripper evidence supports grasp in segments 1–2 (closing), hold in segment 3 (stable low value), and release in segment 4 (opening). Motion and keyframes confirm lifting, translation, and placement mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp pot", + "start": 0, + "end": 13, + "planning": "Move end-effector to the silver pot, close gripper to secure grasp as confirmed by decreasing gripper values and visual contact." + }, + { + "id": 2, + "name": "lift and translate pot rightward", + "start": 14, + "end": 24, + "planning": "Lift the grasped pot slightly and move it horizontally toward the right-side burner while maintaining grip, as shown by stable low gripper value and positional change." + }, + { + "id": 3, + "name": "place pot on right burner and release", + "start": 25, + "end": 27, + "planning": "Lower the pot onto the right burner and open gripper to release, confirmed by increasing gripper values and final position over target burner." + } + ], + "global_plan": "Grasp the silver pot from its initial position, lift and move it rightward to the adjacent burner, then place and release it precisely on the target burner.", + "notes": "Gripper evidence supports grasp in segments 1–2 (closing), hold in segment 3 (stable low value), and release in segment 4 (opening). Motion and keyframes confirm lifting, translation, and placement mechanics." + } + }, + "episode_goal": "Move the silver pot from the left burner to the right burner on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38084039092063904, + -0.007817665114998817, + 0.06186726316809654, + 3.1368215084075928, + -0.07830047607421875, + -0.16031891107559204 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is currently open and approaching the pot. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the pot handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3760492503643036, + -0.007324966602027416, + 0.04852859675884247, + 3.133711099624634, + -0.03844170272350311, + -0.16145791113376617 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is currently open and approaching the pot. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the pot handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 10 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36111563444137573, + 0.011879046447575092, + 0.03682092949748039, + -3.130706548690796, + 0.00793315190821886, + -0.1325850486755371 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is currently open and approaching the pot. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the pot handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33857259154319763, + 0.04052366316318512, + 0.06480102241039276, + -3.082581043243408, + -0.05205821990966797, + -0.08958358317613602 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is currently open and approaching the pot. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the pot handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035697937011719, + 0.07063765078783035, + 0.07614880055189133, + -3.035076856613159, + -0.07907817512750626, + -0.05523405596613884 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 314, + 242, + 551, + 422 + ], + "spatula": [ + 329, + 408, + 523, + 676 + ], + "pot": [ + 123, + 303, + 387, + 549 + ], + "green sponge": [ + 607, + 269, + 725, + 436 + ], + "appliance door": [ + 71, + 619, + 710, + 994 + ], + "stovetop": [ + 140, + 252, + 773, + 765 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is currently open and approaching the pot. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the pot handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785615622997284, + 0.08592678606510162, + 0.06132893264293671, + -3.0211527347564697, + -0.02918926812708378, + 0.0035582096315920353 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner. The gripper is currently open and approaching the pot. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the pot handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 2 cm, close gripper; then move right 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27534589171409607, + 0.09785974025726318, + 0.03850509971380234, + -3.0213804244995117, + 0.04199804365634918, + 0.06086428835988045 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 4 cm, tilt back 10 degrees, close gripper; then move back 2 cm, move right 10 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28350067138671875, + 0.10045957565307617, + 0.018471021205186844, + -3.02614426612854, + 0.09652038663625717, + 0.08653295785188675 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29061180353164673, + 0.10261860489845276, + 0.011447974480688572, + -2.990771770477295, + 0.1231188252568245, + 0.09394904226064682 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 15 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.293343722820282, + 0.09775976836681366, + 0.011262690648436546, + -2.9821555614471436, + 0.11765775829553604, + 0.06985015422105789 + ], + "gripper_value": 0.6791892647743225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 15 cm, move down 6 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2885940670967102, + 0.09470313042402267, + 0.012642838060855865, + -2.9774162769317627, + 0.08996163308620453, + 0.07023724913597107 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 15 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2819977104663849, + 0.09281189739704132, + 0.02726202830672264, + -2.9756596088409424, + 0.04984389245510101, + 0.10253143310546875 + ], + "gripper_value": 0.1628633439540863 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 14 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28049996495246887, + 0.09151088446378708, + 0.039678022265434265, + -2.977252960205078, + 0.013483995571732521, + 0.158341646194458 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 12 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28300485014915466, + 0.07672013342380524, + 0.05696169659495354, + -2.997486114501953, + -0.020537445321679115, + 0.17334668338298798 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 11 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999819219112396, + 0.021993981674313545, + 0.07794923335313797, + -3.009799003601074, + -0.06715668737888336, + -0.016339628025889397 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29514074325561523, + -0.021227793768048286, + 0.07786090672016144, + -2.988572835922241, + -0.060314010828733444, + -0.15890491008758545 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28490373492240906, + -0.07662879675626755, + 0.0740409642457962, + -2.971040964126587, + -0.06289293617010117, + -0.2978569567203522 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28122442960739136, + -0.10179935395717621, + 0.05295150354504585, + -2.9657838344573975, + -0.009626947343349457, + -0.3485974371433258 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 310, + 230, + 551, + 421 + ], + "spatula": [ + 327, + 393, + 530, + 676 + ], + "green sponge": [ + 606, + 269, + 724, + 384 + ], + "pot": [ + 501, + 380, + 713, + 665 + ], + "stovetop": [ + 146, + 232, + 701, + 759 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28336891531944275, + -0.12302329391241074, + 0.03966857120394707, + -2.97528338432312, + 0.0170143973082304, + -0.429866760969162 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 327, + 406, + 532, + 676 + ], + "orange cloth": [ + 310, + 231, + 550, + 420 + ], + "green sponge": [ + 604, + 269, + 724, + 427 + ], + "pot": [ + 557, + 419, + 762, + 700 + ], + "appliance door": [ + 70, + 615, + 716, + 994 + ], + "stovetop": [ + 146, + 232, + 765, + 756 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot located on the left burner and the target right burner clearly visible. The gripper is currently open and approaching the pot handle, indicating the initial phase of the grasp. The next action is to close the gripper to secure the pot handle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28630176186561584, + -0.12777037918567657, + 0.019459577277302742, + -2.9821059703826904, + 0.0844036117196083, + -0.46141329407691956 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, having been moved rightward from the left burner. The gripper remains closed with minimal motion in recent frames, indicating stable transport. The next action is to continue translating the pot toward the right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28526774048805237, + -0.12636417150497437, + 0.012633251957595348, + -2.9759256839752197, + 0.12241780757904053, + -0.4610745906829834 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, having been moved rightward from the left burner. The gripper remains closed with minimal motion in recent frames, indicating stable transport. The next action is to continue translating the pot toward the right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28296422958374023, + -0.11465027928352356, + 0.010101874358952045, + -2.9616971015930176, + 0.14266571402549744, + -0.42059269547462463 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, having been moved rightward from the left burner. The gripper remains closed with minimal motion in recent frames, indicating stable transport. The next action is to continue translating the pot toward the right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27547264099121094, + -0.09574394673109055, + 0.012583010829985142, + -2.9417240619659424, + 0.1510370820760727, + -0.3720024824142456 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, having been moved rightward from the left burner. The gripper remains closed with minimal motion in recent frames, indicating stable transport. The next action is to continue translating the pot toward the right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27366402745246887, + -0.08376364409923553, + 0.01610064134001732, + -2.943962574005127, + 0.14103581011295319, + -0.3300688862800598 + ], + "gripper_value": 0.1051359549164772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, having been moved rightward from the left burner. The gripper remains closed with minimal motion in recent frames, indicating stable transport. The next action is to continue translating the pot toward the right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2735426425933838, + -0.08816821873188019, + 0.014268219470977783, + -2.978792428970337, + 0.1368228793144226, + -0.3656862676143646 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "lift and translate pot rightward", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, having been moved rightward from the left burner. The gripper remains closed with minimal motion in recent frames, indicating stable transport. The next action is to continue translating the pot toward the right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27393972873687744, + -0.09610292315483093, + 0.0230893325060606, + -3.0289785861968994, + 0.07681512832641602, + -0.3990742266178131 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "place pot on right burner and release", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, having been moved rightward from the left burner. The gripper remains closed with minimal motion in recent frames, indicating stable transport. The next action is to continue translating the pot toward the right burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26649942994117737, + -0.10145168006420135, + 0.04321805760264397, + -3.0811359882354736, + -0.01957249827682972, + -0.4016803503036499 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "place pot on right burner and release", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the right burner. The gripper is open, indicating the pot has been placed or is in the process of being released onto the target surface. The next action is to fully release the pot and retract the arm to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26171308755874634, + -0.08688762784004211, + 0.06477437913417816, + -3.1027355194091797, + -0.10203590989112854, + -0.3062712252140045 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the left burner to the right burner on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and translate pot rightward" + }, + { + "id": 3, + "subtask": "place pot on right burner and release" + } + ], + "subtask_name": "place pot on right burner and release", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the right burner. The gripper is open, indicating the pot has been placed or is in the process of being released onto the target surface. The next action is to fully release the pot and retract the arm to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004022_ecot.json b/cot/chunk-0004/episode_0004022_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d2237da2bd94b9102ddb93a2615d0b53e47770ee --- /dev/null +++ b/cot/chunk-0004/episode_0004022_ecot.json @@ -0,0 +1,2315 @@ +{ + "task_name": "episode_0004022", + "episode_json": "json/chunk-0004/episode_0004022.json", + "video_path": "videos/chunk-0004/image_0/episode_0004022.mp4", + "instruction": "Place the orange pepper on top of towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004022.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.5409090518951416, + "std": 0.24086225032806396, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.54091, std=0.24086, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 114, + 14, + 14, + 14, + 14, + 14, + 24, + 24, + 24, + 24, + 124, + 124, + 124, + 124, + 124, + 124 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 17 + ], + [ + 3, + 18, + 18 + ], + [ + 4, + 19, + 23 + ], + [ + 5, + 24, + 27 + ], + [ + 6, + 28, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange pepper\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the orange pepper while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with pepper\", \"start\": 14, \"end\": 17, \"planning\": \"Establish physical contact with the orange pepper using gripper fingers without full grasp.\"},\n {\"id\": 3, \"name\": \"reposition pepper onto towel\", \"start\": 18, \"end\": 23, \"planning\": \"Slide or nudge the orange pepper from its initial position onto the green towel surface.\"},\n {\"id\": 4, \"name\": \"adjust pepper placement\", \"start\": 24, \"end\": 27, \"planning\": \"Fine-tune the position of the pepper on the towel to ensure stable placement.\"},\n {\"id\": 5, \"name\": \"retreat from pepper\", \"start\": 28, \"end\": 33, \"planning\": \"Lift and move end-effector away from the pepper after successful placement on towel.\"}\n ],\n \"global_plan\": \"Approach, contact, reposition, adjust, and retreat to place the orange pepper on the towel without assuming full grasp mechanics.\",\n \"notes\": \"Gripper evidence shows partial closure in Segment 1 but no sustained grasp; Segments 3–6 show no meaningful closing, so all actions are described as contact-based manipulation rather than grasping or lifting.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange pepper", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the orange pepper while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact with pepper", + "start": 14, + "end": 17, + "planning": "Establish physical contact with the orange pepper using gripper fingers without full grasp." + }, + { + "id": 3, + "name": "reposition pepper onto towel", + "start": 18, + "end": 23, + "planning": "Slide or nudge the orange pepper from its initial position onto the green towel surface." + }, + { + "id": 4, + "name": "adjust pepper placement", + "start": 24, + "end": 27, + "planning": "Fine-tune the position of the pepper on the towel to ensure stable placement." + }, + { + "id": 5, + "name": "retreat from pepper", + "start": 28, + "end": 33, + "planning": "Lift and move end-effector away from the pepper after successful placement on towel." + } + ], + "global_plan": "Approach, contact, reposition, adjust, and retreat to place the orange pepper on the towel without assuming full grasp mechanics.", + "notes": "Gripper evidence shows partial closure in Segment 1 but no sustained grasp; Segments 3–6 show no meaningful closing, so all actions are described as contact-based manipulation rather than grasping or lifting." + } + }, + "episode_goal": "Place the orange pepper on top of the green towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3051149845123291, + 0.033831268548965454, + 0.10722418129444122, + -3.111682891845703, + -0.05064446106553078, + -0.020148050040006638 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned above the wooden table with the orange pepper visible on the left side near the green towel. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the orange pepper to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.302011102437973, + 0.03398332744836807, + 0.09799777716398239, + -3.115077257156372, + -0.023312492296099663, + -0.015571560710668564 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned above the wooden table with the orange pepper visible on the left side near the green towel. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the orange pepper to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799098491668701, + 0.0447106771171093, + 0.08474437147378922, + -3.100069284439087, + -0.0101711330935359, + -0.03950237110257149 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned above the wooden table with the orange pepper visible on the left side near the green towel. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the orange pepper to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25378739833831787, + 0.060003746300935745, + 0.08440709859132767, + -3.062222719192505, + -0.057581521570682526, + -0.07119865715503693 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned above the wooden table with the orange pepper visible on the left side near the green towel. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the orange pepper to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21700528264045715, + 0.0834709107875824, + 0.065647192299366, + -3.043539047241211, + -0.07775364816188812, + -0.04175371304154396 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned above the wooden table with the orange pepper visible on the left side near the green towel. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the orange pepper to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18925447762012482, + 0.11029544472694397, + 0.04403049498796463, + -3.0578954219818115, + -0.10371983796358109, + 0.020736197009682655 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 13, + 189, + 898, + 992 + ], + "metal strainer": [ + 452, + 504, + 816, + 768 + ], + "green cloth": [ + 265, + 246, + 519, + 479 + ], + "red spatula": [ + 475, + 322, + 624, + 548 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned above the wooden table with the orange pepper visible on the left side near the green towel. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the orange pepper to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 4 cm, close gripper; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.18452271819114685, + 0.12943479418754578, + 0.02981242910027504, + -3.0828232765197754, + -0.09184025973081589, + 0.07403694093227386 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1968686580657959, + 0.14101338386535645, + 0.029192663729190826, + -3.0817558765411377, + -0.08425839990377426, + 0.09205980598926544 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 3 cm, move right 4 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21895568072795868, + 0.13401757180690765, + 0.03821171075105667, + -3.082871675491333, + -0.10620733350515366, + 0.08197018504142761 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, close gripper; then move forward 6 cm, move right 3 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23456229269504547, + 0.12191194295883179, + 0.045451756566762924, + -3.0840537548065186, + -0.11896853148937225, + 0.07158511877059937 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 18, + 188, + 898, + 993 + ], + "green cloth": [ + 265, + 245, + 518, + 480 + ], + "metal strainer": [ + 451, + 502, + 816, + 768 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 6 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2464735358953476, + 0.11485820263624191, + 0.037794604897499084, + -3.073258399963379, + -0.10059746354818344, + 0.04708545655012131 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 6 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24910418689250946, + 0.11839934438467026, + 0.014270171523094177, + -3.0614256858825684, + -0.03280532360076904, + 0.024040305987000465 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 6 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533082067966461, + 0.12752701342105865, + 0.00519658112898469, + -3.0530762672424316, + -0.009782413020730019, + 0.007237195502966642 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2532409131526947, + 0.13215778768062592, + 0.002641178434714675, + -3.064453125, + -0.033042654395103455, + 0.02708599343895912 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "approach orange pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 6 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.253339946269989, + 0.12706258893013, + 0.004586275201290846, + -3.06699800491333, + -0.02641673944890499, + 0.020303042605519295 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "make contact with pepper", + "subtask_reasoning": "The robot is positioned near the orange pepper on the wooden surface, with the green towel visible nearby. No prior actions have been completed in this subtask. The gripper is open and approaching the pepper, indicating readiness to make contact. The next likely action is to move closer to establish contact with the orange pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533104419708252, + 0.10416582971811295, + 0.017462311312556267, + -3.1165924072265625, + 0.032563239336013794, + -0.011860514059662819 + ], + "gripper_value": 0.472818523645401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "make contact with pepper", + "subtask_reasoning": "The robot has approached the orange pepper and is now in contact with it on the wooden surface. The gripper shows minor variation consistent with initial contact but not full closure. The next action should involve stabilizing contact or beginning repositioning toward the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 3 cm, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615862190723419, + 0.08994942158460617, + 0.04964425042271614, + -3.1043083667755127, + -0.03629229590296745, + -0.005640339571982622 + ], + "gripper_value": 0.472818523645401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "make contact with pepper", + "subtask_reasoning": "The robot has approached the orange pepper and is now in contact with it on the wooden surface. The gripper shows minor variation consistent with initial contact but not full closure. The next action should involve stabilizing contact or beginning repositioning toward the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.279054194688797, + 0.08893197029829025, + 0.06983006000518799, + -3.13674259185791, + -0.07180476933717728, + 0.05503106117248535 + ], + "gripper_value": 0.47187528014183044 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "make contact with pepper", + "subtask_reasoning": "The robot has approached the orange pepper and is now in contact with it on the wooden surface. The gripper shows minor variation consistent with initial contact but not full closure. The next action should involve stabilizing contact or beginning repositioning toward the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 3 cm, open gripper; then move back 3 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31195420026779175, + 0.09721501916646957, + 0.06353678554296494, + 3.129564046859741, + -0.07818873971700668, + 0.05600982904434204 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 262, + 281, + 518, + 479 + ], + "wooden table": [ + 16, + 217, + 898, + 990 + ], + "metal strainer": [ + 450, + 502, + 816, + 768 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "reposition pepper onto towel", + "subtask_reasoning": "The robot has approached the orange pepper and is now in contact with it on the wooden surface. The gripper shows minor variation consistent with initial contact but not full closure. The next action should involve stabilizing contact or beginning repositioning toward the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 3 cm, open gripper; then move back 6 cm, move right 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3355678915977478, + 0.10997354984283447, + 0.05567917972803116, + -3.139284610748291, + -0.06779905408620834, + 0.05836868658661842 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "reposition pepper onto towel", + "subtask_reasoning": "The robot has approached the orange pepper and is now in contact with it on the wooden surface. The gripper shows minor variation consistent with initial contact but not full closure. The next action should involve stabilizing contact or beginning repositioning toward the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, open gripper; then move back 6 cm, move right 4 cm, move up 5 cm, keep gripper open; then move back 4 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479693531990051, + 0.12232068926095963, + 0.044623002409935, + -3.138418674468994, + -0.06118359789252281, + 0.07826483249664307 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "reposition pepper onto towel", + "subtask_reasoning": "The orange pepper is already positioned on the green towel, with the end-effector in contact and no gripper closure observed. The repositioning subtask appears complete, and the next action should be to retreat the end-effector to finalize placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move back 6 cm, move right 4 cm, move up 5 cm, keep gripper open; then move back 6 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530227541923523, + 0.12643566727638245, + 0.04173702746629715, + -3.1335291862487793, + -0.055033620446920395, + 0.08338826894760132 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "reposition pepper onto towel", + "subtask_reasoning": "The orange pepper is already positioned on the green towel, with the end-effector in contact and no gripper closure observed. The repositioning subtask appears complete, and the next action should be to retreat the end-effector to finalize placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move back 6 cm, move right 4 cm, move up 5 cm, keep gripper open; then move back 6 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.35429877042770386, + 0.12843799591064453, + 0.03644926846027374, + -3.127058267593384, + -0.04374559968709946, + 0.08250166475772858 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "reposition pepper onto towel", + "subtask_reasoning": "The orange pepper is already positioned on the green towel, with the end-effector in contact and no gripper closure observed. The repositioning subtask appears complete, and the next action should be to retreat the end-effector to finalize placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 6 cm, move right 4 cm, move up 5 cm, keep gripper open; then move back 6 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35458141565322876, + 0.13050790131092072, + 0.028874121606349945, + -3.1181905269622803, + -0.03188355639576912, + 0.08294486999511719 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "reposition pepper onto towel", + "subtask_reasoning": "The orange pepper is already positioned on the green towel, with the end-effector in contact and no gripper closure observed. The repositioning subtask appears complete, and the next action should be to retreat the end-effector to finalize placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 6 cm, move right 4 cm, move up 5 cm, keep gripper open; then move back 5 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578070104122162, + 0.13209718465805054, + 0.029828032478690147, + -3.111870765686035, + -0.04439369589090347, + 0.07645580917596817 + ], + "gripper_value": 0.561048150062561 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "adjust pepper placement", + "subtask_reasoning": "The orange pepper is already positioned on the green towel, with the end-effector in contact and no gripper closure observed. The repositioning subtask appears complete, and the next action should be to retreat the end-effector to finalize placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 5 cm, keep gripper open; then move back 5 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3536236584186554, + 0.12904532253742218, + 0.02379491552710533, + -3.123192310333252, + -0.03791125491261482, + 0.07754309475421906 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "adjust pepper placement", + "subtask_reasoning": "The orange pepper is in contact with the green towel, and the gripper shows meaningful closing evidence consistent with holding. The current situation involves fine-tuning the pepper's position on the towel. The next action is a small adjustment to center or stabilize the pepper before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 6 cm, keep gripper open; then move back 5 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430488705635071, + 0.12379638850688934, + 0.024498727172613144, + -3.1243507862091064, + -0.043138451874256134, + 0.09809365123510361 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "adjust pepper placement", + "subtask_reasoning": "The orange pepper is in contact with the green towel, and the gripper shows meaningful closing evidence consistent with holding. The current situation involves fine-tuning the pepper's position on the towel. The next action is a small adjustment to center or stabilize the pepper before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 6 cm, keep gripper open; then move back 5 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33182859420776367, + 0.11514143645763397, + 0.043747399002313614, + -3.1217899322509766, + -0.07889855653047562, + 0.11715712398290634 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "adjust pepper placement", + "subtask_reasoning": "The orange pepper is in contact with the green towel, and the gripper shows meaningful closing evidence consistent with holding. The current situation involves fine-tuning the pepper's position on the towel. The next action is a small adjustment to center or stabilize the pepper before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 4 cm, keep gripper open; then move back 5 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29917415976524353, + 0.09359239041805267, + 0.08060350269079208, + 3.1347496509552, + -0.1178070530295372, + 0.15738989412784576 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "retreat from pepper", + "subtask_reasoning": "The orange pepper is in contact with the green towel, and the gripper shows meaningful closing evidence consistent with holding. The current situation involves fine-tuning the pepper's position on the towel. The next action is a small adjustment to center or stabilize the pepper before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26192575693130493, + 0.07478933781385422, + 0.10600463300943375, + 3.1170542240142822, + -0.15228323638439178, + 0.17393265664577484 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "retreat from pepper", + "subtask_reasoning": "The orange pepper is in contact with the green towel, and the gripper shows meaningful closing evidence consistent with holding. The current situation involves fine-tuning the pepper's position on the towel. The next action is a small adjustment to center or stabilize the pepper before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23874883353710175, + 0.06600559502840042, + 0.10068697482347488, + 2.968350410461426, + -0.13411830365657806, + 0.2059469372034073 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 286, + 263, + 522, + 480 + ], + "wooden table": [ + 18, + 242, + 898, + 989 + ], + "metal strainer": [ + 451, + 504, + 816, + 768 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "retreat from pepper", + "subtask_reasoning": "The orange pepper is already positioned on the green towel. The robot's end-effector is currently in contact with or very near the pepper, having completed the placement. The next action is to retract the arm upward and away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23679351806640625, + 0.06514175236225128, + 0.10615845769643784, + 2.9831149578094482, + -0.18750318884849548, + 0.14339835941791534 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "retreat from pepper", + "subtask_reasoning": "The orange pepper is already positioned on the green towel. The robot's end-effector is currently in contact with or very near the pepper, having completed the placement. The next action is to retract the arm upward and away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24256259202957153, + 0.06874436140060425, + 0.10718633979558945, + 3.008418083190918, + -0.2148628830909729, + 0.06599918007850647 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "retreat from pepper", + "subtask_reasoning": "The orange pepper is already positioned on the green towel. The robot's end-effector is currently in contact with or very near the pepper, having completed the placement. The next action is to retract the arm upward and away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.25092262029647827, + 0.06612046808004379, + 0.11024940013885498, + 3.0782663822174072, + -0.2130492776632309, + -0.056541621685028076 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange pepper on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pepper" + }, + { + "id": 2, + "subtask": "make contact with pepper" + }, + { + "id": 3, + "subtask": "reposition pepper onto towel" + }, + { + "id": 4, + "subtask": "adjust pepper placement" + }, + { + "id": 5, + "subtask": "retreat from pepper" + } + ], + "subtask_name": "retreat from pepper", + "subtask_reasoning": "The orange pepper is already positioned on the green towel. The robot's end-effector is currently in contact with or very near the pepper, having completed the placement. The next action is to retract the arm upward and away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004023_ecot.json b/cot/chunk-0004/episode_0004023_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a2214fb92e68169a144bd34f8e9b99c3a2872a39 --- /dev/null +++ b/cot/chunk-0004/episode_0004023_ecot.json @@ -0,0 +1,1906 @@ +{ + "task_name": "episode_0004023", + "episode_json": "json/chunk-0004/episode_0004023.json", + "video_path": "videos/chunk-0004/image_0/episode_0004023.mp4", + "instruction": "Take clothes out of laundry machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004023.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9328907132148743, + "std": 0.4232948422431946, + "delta_total": -0.24012863636016846, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93289, std=0.42329, total_delta=-0.24013). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 127 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ], + [ + 3, + 20, + 26 + ], + [ + 4, + 27, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach laundry machine interior\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the open laundry machine door while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp cloth inside machine\", \"start\": 6, \"end\": 12, \"planning\": \"Close gripper around blue/green cloth visible inside drum, confirmed by gripper closure and image evidence.\"},\n {\"id\": 3, \"name\": \"extract cloth from machine\", \"start\": 13, \"end\": 19, \"planning\": \"Pull grasped cloth out of the machine and move it over the basket, maintaining grip throughout motion.\"},\n {\"id\": 4, \"name\": \"release cloth into basket\", \"start\": 20, \"end\": 26, \"planning\": \"Open gripper to drop cloth into white basket, with gripper opening confirmed in segment evidence and final frame image.\"},\n {\"id\": 5, \"name\": \"retreat from basket area\", \"start\": 27, \"end\": 27, \"planning\": \"Lift end-effector slightly away from basket after release, completing the extraction cycle.\"}\n ],\n \"global_plan\": \"Extract one piece of clothing (blue/green cloth) from the laundry machine by approaching, grasping, extracting, releasing into basket, and retreating.\",\n \"notes\": \"Segment 4 has no meaningful closing but shows gripper opening — consistent with release completion; retreat is minimal but necessary for task closure. All segments align with observed gripper behavior and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach laundry machine interior", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the open laundry machine door while keeping gripper open." + }, + { + "id": 2, + "name": "grasp cloth inside machine", + "start": 6, + "end": 12, + "planning": "Close gripper around blue/green cloth visible inside drum, confirmed by gripper closure and image evidence." + }, + { + "id": 3, + "name": "extract cloth from machine", + "start": 13, + "end": 19, + "planning": "Pull grasped cloth out of the machine and move it over the basket, maintaining grip throughout motion." + }, + { + "id": 4, + "name": "release cloth into basket", + "start": 20, + "end": 26, + "planning": "Open gripper to drop cloth into white basket, with gripper opening confirmed in segment evidence and final frame image." + }, + { + "id": 5, + "name": "retreat from basket area", + "start": 27, + "end": 27, + "planning": "Lift end-effector slightly away from basket after release, completing the extraction cycle." + } + ], + "global_plan": "Extract one piece of clothing (blue/green cloth) from the laundry machine by approaching, grasping, extracting, releasing into basket, and retreating.", + "notes": "Segment 4 has no meaningful closing but shows gripper opening — consistent with release completion; retreat is minimal but necessary for task closure. All segments align with observed gripper behavior and visual evidence." + } + }, + "episode_goal": "Remove all clothes from the laundry machine and place them into the white basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26333990693092346, + -0.02781982719898224, + 0.10577554255723953, + 3.0873208045959473, + -0.09322427958250046, + 0.06623472273349762 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot is positioned in front of the open laundry machine with the gripper open and no clothes grasped. The subtask involves moving the end-effector closer to the interior of the machine to prepare for extraction. The next action is to advance the arm toward the blue cloth inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 3 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628227770328522, + -0.027551846578717232, + 0.09777168929576874, + 3.0832595825195312, + -0.07553036510944366, + 0.07509346306324005 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot is positioned in front of the open laundry machine with the gripper open and no clothes grasped. The subtask involves moving the end-effector closer to the interior of the machine to prepare for extraction. The next action is to advance the arm toward the blue cloth inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 3 cm, move down 3 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856275737285614, + -0.012775780633091927, + 0.0773075520992279, + 3.0458922386169434, + -0.14429520070552826, + 0.16671137511730194 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot arm is positioned near the open laundry machine with the gripper open, indicating no grasp has occurred yet. The subtask involves moving the arm closer to the clothes inside the machine. The next action should be to advance the arm toward the blue/green cloth visible inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3060232698917389, + -0.0005229088710620999, + 0.05845115706324577, + 3.0315616130828857, + -0.17674560844898224, + 0.1733202189207077 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "basket": [ + 204, + 495, + 574, + 906 + ], + "red cloth": [ + 331, + 589, + 600, + 734 + ], + "table": [ + 5, + 411, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot arm is positioned near the open laundry machine with the gripper open, indicating no grasp has occurred yet. The subtask involves moving the arm closer to the clothes inside the machine. The next action should be to advance the arm toward the blue/green cloth visible inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3340710997581482, + 0.004154400434345007, + 0.04827919229865074, + 3.0119218826293945, + -0.27561286091804504, + 0.14670401811599731 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot arm is positioned near the open laundry machine with the gripper open, indicating no grasp has occurred yet. The subtask involves moving the arm closer to the clothes inside the machine. The next action should be to advance the arm toward the blue/green cloth visible inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3582061529159546, + 0.0027617609594017267, + 0.050580743700265884, + 2.9822447299957275, + -0.349138081073761, + 0.1112017035484314 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot arm is positioned near the open laundry machine with the gripper open, indicating no grasp has occurred yet. The subtask involves moving the arm closer to the clothes inside the machine. The next action should be to advance the arm toward the blue/green cloth visible inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, keep gripper open; then move forward 4 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3741013705730438, + 0.002106728032231331, + 0.06314987689256668, + 2.973520278930664, + -0.3968752324581146, + 0.10754335671663284 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp cloth inside machine", + "subtask_reasoning": "The robot arm is positioned near the open laundry machine with the gripper open, indicating no grasp has occurred yet. The subtask involves moving the arm closer to the clothes inside the machine. The next action should be to advance the arm toward the blue/green cloth visible inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move back 4 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3829483687877655, + 0.003693586913868785, + 0.060514770448207855, + 2.939326047897339, + -0.4129427671432495, + 0.12844671308994293 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp cloth inside machine", + "subtask_reasoning": "The robot arm is positioned near the open laundry machine with the gripper open, indicating no grasp has occurred yet. The subtask involves moving the arm closer to the clothes inside the machine. The next action should be to advance the arm toward the blue/green cloth visible inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move back 7 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3940122723579407, + 0.005527620203793049, + 0.056440819054841995, + 2.898576021194458, + -0.4330807030200958, + 0.14456771314144135 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp cloth inside machine", + "subtask_reasoning": "The robot arm is positioned near the open laundry machine with the gripper open, indicating no grasp has occurred yet. The subtask involves moving the arm closer to the clothes inside the machine. The next action should be to advance the arm toward the blue/green cloth visible inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move back 10 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.40176326036453247, + 0.0031395000405609608, + 0.046020131558179855, + 2.862367868423462, + -0.4574149549007416, + 0.1477648913860321 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp cloth inside machine", + "subtask_reasoning": "The robot end-effector is positioned inside the laundry machine near the blue cloth, having completed the approach phase. The gripper is currently open (value ~0.98) and stable, indicating readiness to close. The next action is to close the gripper to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move back 14 cm, move right 1 cm, move up 4 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.40589427947998047, + -0.001797891454771161, + 0.042249783873558044, + 2.8239364624023438, + -0.46821022033691406, + 0.14663928747177124 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp cloth inside machine", + "subtask_reasoning": "The robot end-effector is positioned inside the laundry machine near the blue cloth, having completed the approach phase. The gripper is currently open (value ~0.98) and stable, indicating readiness to close. The next action is to close the gripper to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 18 cm, move right 1 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41057437658309937, + -0.0030878237448632717, + 0.041571203619241714, + 2.781052350997925, + -0.5099726915359497, + 0.1515028327703476 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp cloth inside machine", + "subtask_reasoning": "The robot end-effector is positioned inside the laundry machine near the blue cloth, having completed the approach phase. The gripper is currently open (value ~0.98) and stable, indicating readiness to close. The next action is to close the gripper to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 18 cm, move right 1 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4138270318508148, + -0.0044900840148329735, + 0.03640739992260933, + 2.739438056945801, + -0.49904710054397583, + 0.14758680760860443 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp cloth inside machine", + "subtask_reasoning": "The robot end-effector is positioned inside the laundry machine near the blue cloth, having completed the approach phase. The gripper is currently open (value ~0.98) and stable, indicating readiness to close. The next action is to close the gripper to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 18 cm, move right 1 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4141432046890259, + -0.002074309391900897, + 0.034280937165021896, + 2.7736737728118896, + -0.476504921913147, + 0.10800361633300781 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract cloth from machine", + "subtask_reasoning": "The robot end-effector is positioned inside the laundry machine near the blue cloth, having completed the approach phase. The gripper is currently open (value ~0.98) and stable, indicating readiness to close. The next action is to close the gripper to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move right 1 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.41287320852279663, + -0.0052560376934707165, + 0.031885042786598206, + 2.7990310192108154, + -0.474021315574646, + 0.09355112910270691 + ], + "gripper_value": 0.16078366339206696 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract cloth from machine", + "subtask_reasoning": "The robot end-effector is positioned inside the laundry machine near the blue cloth, having completed the approach phase. The gripper is currently open (value ~0.98) and stable, indicating readiness to close. The next action is to close the gripper to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move up 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4019661843776703, + -0.010256792418658733, + 0.03648323565721512, + 2.849201202392578, + -0.44688671827316284, + 0.10876844078302383 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract cloth from machine", + "subtask_reasoning": "The robot end-effector is positioned inside the laundry machine near the blue cloth, having completed the approach phase. The gripper is currently open (value ~0.98) and stable, indicating readiness to close. The next action is to close the gripper to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move up 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37709301710128784, + -0.017855849117040634, + 0.06947079300880432, + 2.8918752670288086, + -0.46638545393943787, + 0.16097846627235413 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract cloth from machine", + "subtask_reasoning": "The robot has approached the laundry machine and grasped the blue/green cloth inside. The gripper is closed around the cloth, indicating successful contact. The next action is to extract the cloth from the machine by moving the arm outward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480139672756195, + -0.02188546396791935, + 0.08770952373743057, + 2.9089438915252686, + -0.42567652463912964, + 0.2184133529663086 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "basket": [ + 204, + 493, + 578, + 906 + ], + "red cloth": [ + 331, + 590, + 599, + 735 + ], + "washing machine": [ + 5, + 3, + 993, + 680 + ], + "table": [ + 5, + 410, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract cloth from machine", + "subtask_reasoning": "The robot has approached the laundry machine and grasped the blue/green cloth inside. The gripper is closed around the cloth, indicating successful contact. The next action is to extract the cloth from the machine by moving the arm outward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160362243652344, + -0.022206421941518784, + 0.08529841154813766, + 2.9619550704956055, + -0.3257540166378021, + 0.23726871609687805 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract cloth from machine", + "subtask_reasoning": "The robot has approached the laundry machine and grasped the blue/green cloth inside. The gripper is closed around the cloth, indicating successful contact. The next action is to extract the cloth from the machine by moving the arm outward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27584582567214966, + -0.016806015744805336, + 0.07109017670154572, + 3.009328603744507, + -0.24356789886951447, + 0.2796682119369507 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract cloth from machine", + "subtask_reasoning": "The robot has approached the laundry machine and grasped the blue/green cloth inside. The gripper is closed around the cloth, indicating successful contact. The next action is to extract the cloth from the machine by moving the arm outward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23039497435092926, + -0.008914670906960964, + 0.05878588929772377, + 3.018641948699951, + -0.18225383758544922, + 0.4000210762023926 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "basket": [ + 203, + 535, + 598, + 908 + ], + "table": [ + 5, + 408, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot has approached the laundry machine and grasped the blue/green cloth inside. The gripper is closed around the cloth, indicating successful contact. The next action is to extract the cloth from the machine by moving the arm outward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20860102772712708, + -0.0033752184826880693, + 0.04674142226576805, + 3.025296926498413, + -0.12404037266969681, + 0.4587959051132202 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot has approached the laundry machine and grasped the blue/green cloth inside. The gripper is closed around the cloth, indicating successful contact. The next action is to extract the cloth from the machine by moving the arm outward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.19993707537651062, + 0.008783168159425259, + 0.02877013199031353, + 3.0481975078582764, + -0.07536488026380539, + 0.5208133459091187 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot has approached the laundry machine and grasped the blue/green cloth inside. The gripper is closed around the cloth, indicating successful contact. The next action is to extract the cloth from the machine by moving the arm outward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.20341342687606812, + 0.022818811237812042, + 0.014584699645638466, + 3.1083462238311768, + -0.018554313108325005, + 0.5704771876335144 + ], + "gripper_value": 0.056468017399311066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot arm is positioned over the white basket with the blue/green cloth held in the gripper, having successfully extracted it from the laundry machine. The gripper is currently closed around the fabric. The next action is to open the gripper to release the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2141592651605606, + 0.028463169932365417, + 0.00416845316067338, + 3.065131664276123, + -0.028168298304080963, + 0.5604389905929565 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot arm is positioned over the white basket with the blue/green cloth held in the gripper, having successfully extracted it from the laundry machine. The gripper is currently closed around the fabric. The next action is to open the gripper to release the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.22277888655662537, + 0.027658775448799133, + 0.008762999437749386, + 3.0449767112731934, + -0.0325363464653492, + 0.5348650813102722 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot arm is positioned over the white basket with the blue/green cloth held in the gripper, having successfully extracted it from the laundry machine. The gripper is currently closed around the fabric. The next action is to open the gripper to release the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22368223965168, + 0.023691905662417412, + 0.026444731280207634, + 3.042320489883423, + -0.05186458304524422, + 0.568123996257782 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release cloth into basket", + "subtask_reasoning": "The robot arm is positioned over the white basket with the blue/green cloth held in the gripper, having successfully extracted it from the laundry machine. The gripper is currently closed around the fabric. The next action is to open the gripper to release the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22688451409339905, + 0.02263239584863186, + 0.0502033494412899, + 3.0568206310272217, + -0.018042994663119316, + 0.5908775925636292 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove all clothes from the laundry machine and place them into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp cloth inside machine" + }, + { + "id": 3, + "subtask": "extract cloth from machine" + }, + { + "id": 4, + "subtask": "release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "retreat from basket area", + "subtask_reasoning": "The robot has successfully placed the blue and green cloth into the white basket. The gripper is currently open and positioned directly above the basket, indicating the release action is complete. The next step is to retract the arm away from the basket area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004025_ecot.json b/cot/chunk-0004/episode_0004025_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bb484af67d2112debe694b82f6d6e9abb7c17ae5 --- /dev/null +++ b/cot/chunk-0004/episode_0004025_ecot.json @@ -0,0 +1,2705 @@ +{ + "task_name": "episode_0004025", + "episode_json": "json/chunk-0004/episode_0004025.json", + "video_path": "videos/chunk-0004/image_0/episode_0004025.mp4", + "instruction": "Unfold the cloth from the left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004025.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.9509469866752625, + "std": 0.44705960154533386, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95095, std=0.44706, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 140, + 140, + 140 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 17 + ], + [ + 3, + 18, + 39 + ], + [ + 4, + 40, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth from left\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the left edge of the green cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp left corner of cloth\", \"start\": 4, \"end\": 17, \"planning\": \"Close gripper to securely grasp the left corner of the cloth, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"unfold cloth by dragging rightward\", \"start\": 18, \"end\": 39, \"planning\": \"Drag the grasped corner rightward across the table to unfold the cloth, maintaining grip while translating and rotating arm.\"},\n {\"id\": 4, \"name\": \"release cloth and retreat\", \"start\": 40, \"end\": 42, \"planning\": \"Open gripper to release the cloth after unfolding, then retract end-effector slightly upward and backward.\"}\n ],\n \"global_plan\": \"Unfold the green cloth by approaching its left corner, grasping it, dragging it rightward to spread the fabric, then releasing and retreating.\",\n \"notes\": \"Segment 1 has no gripper closure — described as approach only. Segments 2–4 show meaningful gripper changes consistent with grasp, drag, and release phases. Frame coverage is contiguous and complete from 0 to 42.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth from left", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the left edge of the green cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp left corner of cloth", + "start": 4, + "end": 17, + "planning": "Close gripper to securely grasp the left corner of the cloth, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "unfold cloth by dragging rightward", + "start": 18, + "end": 39, + "planning": "Drag the grasped corner rightward across the table to unfold the cloth, maintaining grip while translating and rotating arm." + }, + { + "id": 4, + "name": "release cloth and retreat", + "start": 40, + "end": 42, + "planning": "Open gripper to release the cloth after unfolding, then retract end-effector slightly upward and backward." + } + ], + "global_plan": "Unfold the green cloth by approaching its left corner, grasping it, dragging it rightward to spread the fabric, then releasing and retreating.", + "notes": "Segment 1 has no gripper closure — described as approach only. Segments 2–4 show meaningful gripper changes consistent with grasp, drag, and release phases. Frame coverage is contiguous and complete from 0 to 42." + } + }, + "episode_goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.11915206164121628, + -0.017772598192095757, + 0.24526762962341309, + 3.103590250015259, + -0.12443587929010391, + 0.033084891736507416 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from left", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible in the center. No actions have been completed yet as this is the start of the episode. The robot needs to move its end-effector towards the left corner of the cloth to begin the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 8 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 10 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.11939625442028046, + -0.017807969823479652, + 0.24246801435947418, + 3.104919195175171, + -0.1232539713382721, + 0.023955073207616806 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from left", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 8 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 11 cm, move right 1 cm, move down 10 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.14450068771839142, + -0.015251819975674152, + 0.209210604429245, + 3.123880386352539, + -0.13633336126804352, + -0.1385318636894226 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from left", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 12 cm, move right 2 cm, move down 11 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.16524596512317657, + -0.01870686002075672, + 0.1893797665834427, + 3.141087532043457, + -0.2786157429218292, + -0.31019920110702515 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach cloth from left", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 12 cm, move right 2 cm, move down 11 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19166067242622375, + -0.02023135870695114, + 0.1604284793138504, + -3.1124980449676514, + -0.3896183371543884, + -0.46240660548210144 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 2 cm, move down 12 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21300016343593597, + -0.02494296059012413, + 0.13519124686717987, + -2.987257242202759, + -0.4375339448451996, + -0.5434659123420715 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 10 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23378221690654755, + -0.03319140523672104, + 0.11715902388095856, + -2.8901474475860596, + -0.4418591558933258, + -0.6242130398750305 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 86, + 310, + 709, + 754 + ], + "banana": [ + 677, + 488, + 875, + 639 + ], + "table": [ + 4, + 160, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24910825490951538, + -0.032543811947107315, + 0.10145363956689835, + -2.839998483657837, + -0.42211052775382996, + -0.6334874033927917 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.265325129032135, + -0.03378570079803467, + 0.0957203283905983, + -2.80568528175354, + -0.4080611765384674, + -0.6382101774215698 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 678, + 488, + 875, + 639 + ], + "carrot": [ + 896, + 517, + 985, + 756 + ], + "table": [ + 4, + 177, + 995, + 994 + ], + "green cloth": [ + 85, + 309, + 708, + 754 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796478569507599, + -0.03152177855372429, + 0.08183808624744415, + -2.7896840572357178, + -0.37583616375923157, + -0.6185145974159241 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot is positioned to the left of the green cloth, which is partially folded on the table. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2884649634361267, + -0.03366946429014206, + 0.06900616735219955, + -2.8009681701660156, + -0.366956502199173, + -0.6052144169807434 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29961422085762024, + -0.03488119691610336, + 0.05711264908313751, + -2.806633949279785, + -0.37356817722320557, + -0.5713392496109009 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 3 cm, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086249828338623, + -0.035603370517492294, + 0.04829080402851105, + -2.8178203105926514, + -0.3726479709148407, + -0.5301141738891602 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, close gripper; then move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31332874298095703, + -0.040890537202358246, + 0.04582260921597481, + -2.81915545463562, + -0.37852373719215393, + -0.5178974866867065 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3205306828022003, + -0.0440857857465744, + 0.04210999235510826, + -2.8131191730499268, + -0.3797037899494171, + -0.4998329281806946 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move left 7 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3211304247379303, + -0.05054089054465294, + 0.03721237927675247, + -2.814239501953125, + -0.37392014265060425, + -0.5030835270881653 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move left 9 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229246437549591, + -0.05543937906622887, + 0.03501034155488014, + -2.805286407470703, + -0.3759327828884125, + -0.5019775629043579 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 4 cm, move left 11 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3259285092353821, + -0.05671975761651993, + 0.03057526797056198, + -2.8035848140716553, + -0.3742537200450897, + -0.48708462715148926 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp left corner of cloth", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move left 13 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32648247480392456, + -0.05446449667215347, + 0.026760239154100418, + -2.791093587875366, + -0.3673739731311798, + -0.4829149842262268 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 15 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3237910866737366, + -0.05328619107604027, + 0.025041790679097176, + -2.7838869094848633, + -0.3597918152809143, + -0.49153047800064087 + ], + "gripper_value": 0.14964459836483002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 16 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31902939081192017, + -0.0523277148604393, + 0.02314506098628044, + -2.7877137660980225, + -0.3383690416812897, + -0.49976789951324463 + ], + "gripper_value": 0.061516307294368744 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 17 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.318708211183548, + -0.045851707458496094, + 0.04107177257537842, + -2.8087260723114014, + -0.3600575923919678, + -0.4868733584880829 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 18 cm, move up 4 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32428282499313354, + -0.0316772498190403, + 0.062031686305999756, + -2.8238840103149414, + -0.38244593143463135, + -0.46869391202926636 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 17 cm, move up 2 cm, tilt left 20 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333549201488495, + -0.010839956812560558, + 0.07591584324836731, + -2.8544981479644775, + -0.382843017578125, + -0.4304496645927429 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 678, + 487, + 875, + 639 + ], + "table": [ + 5, + 162, + 994, + 994 + ], + "green cloth": [ + 84, + 323, + 715, + 747 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 15 cm, tilt left 20 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3461991548538208, + 0.011827468872070312, + 0.0902194008231163, + -2.888339042663574, + -0.3453603684902191, + -0.423549085855484 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 14 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.354407399892807, + 0.03129800781607628, + 0.08650705963373184, + -2.893246650695801, + -0.29168611764907837, + -0.3876555562019348 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 678, + 488, + 875, + 639 + ], + "green cloth": [ + 85, + 313, + 714, + 758 + ], + "table": [ + 4, + 153, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36495745182037354, + 0.05198986455798149, + 0.08252778649330139, + -2.895641803741455, + -0.25493568181991577, + -0.35153818130493164 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 10 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37848442792892456, + 0.07352113723754883, + 0.07589886337518692, + -2.8650944232940674, + -0.21603308618068695, + -0.3203722834587097 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot has approached the left corner of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the fabric. The next action should be to close the gripper to secure the left corner before lifting and pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3888015151023865, + 0.09077483415603638, + 0.07534690201282501, + -2.7735400199890137, + -0.190041184425354, + -0.32556474208831787 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4002894163131714, + 0.10639268904924393, + 0.08027856796979904, + -2.6689653396606445, + -0.1705915927886963, + -0.3507732152938843 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move up 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4097098410129547, + 0.11761053651571274, + 0.08430458605289459, + -2.6198394298553467, + -0.13838505744934082, + -0.36486783623695374 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move up 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.41805794835090637, + 0.13178761303424835, + 0.08005663752555847, + -2.600386619567871, + -0.10384470969438553, + -0.3529987633228302 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.42979854345321655, + 0.14089371263980865, + 0.07812612503767014, + -2.55729341506958, + -0.0819428488612175, + -0.36624857783317566 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 2 cm, tilt right 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4402133524417877, + 0.14378535747528076, + 0.07534214109182358, + -2.529038429260254, + -0.0865110456943512, + -0.39835989475250244 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.45091596245765686, + 0.1505080908536911, + 0.07672780752182007, + -2.5052101612091064, + -0.12193663418292999, + -0.42330557107925415 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.45900094509124756, + 0.14968562126159668, + 0.07890035957098007, + -2.488241195678711, + -0.15461522340774536, + -0.4742617905139923 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.4659186005592346, + 0.1482316255569458, + 0.0848035216331482, + -2.476208448410034, + -0.1775372326374054, + -0.5032523274421692 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.47022661566734314, + 0.1513686180114746, + 0.09103585034608841, + -2.4933488368988037, + -0.21554775536060333, + -0.4925536811351776 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.47059088945388794, + 0.15675096213817596, + 0.08351808041334152, + -2.5655152797698975, + -0.2655417323112488, + -0.4645349681377411 + ], + "gripper_value": 0.1920294612646103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.4707721173763275, + 0.16074411571025848, + 0.09163887798786163, + -2.7211623191833496, + -0.34535083174705505, + -0.40706607699394226 + ], + "gripper_value": 0.42745357751846313 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 88, + 219, + 706, + 757 + ], + "banana": [ + 678, + 488, + 875, + 639 + ], + "table": [ + 5, + 153, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "unfold cloth by dragging rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.4649501144886017, + 0.16509297490119934, + 0.09866136312484741, + -2.8853986263275146, + -0.4092992842197418, + -0.35226970911026 + ], + "gripper_value": 0.7260281443595886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot is currently holding the left corner of the green cloth, having successfully completed the approach and grasp phases. The cloth is partially lifted but not yet fully unfolded or dragged rightward. The next action should involve moving the end-effector rightward while maintaining grip to spread the cloth flat on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.4619791507720947, + 0.16601717472076416, + 0.09846008569002151, + -2.9316728115081787, + -0.42649203538894653, + -0.3385733664035797 + ], + "gripper_value": 0.9766865372657776 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table with the robot's end-effector positioned above it. The gripper is open, indicating the cloth has been released after the unfolding action. The next step is to retreat the arm away from the workspace to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 40, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.44411376118659973, + 0.15580302476882935, + 0.11169914156198502, + -3.0080039501190186, + -0.4128883183002472, + -0.3323309123516083 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the left corner of the folded green cloth, lift it, and pull it towards the left to unfold the cloth flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from left" + }, + { + "id": 2, + "subtask": "grasp left corner of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth by dragging rightward" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table with the robot's end-effector positioned above it. The gripper is open, indicating the cloth has been released after the unfolding action. The next step is to retreat the arm away from the workspace to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004026_ecot.json b/cot/chunk-0004/episode_0004026_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8c194bd0b665a18e8e32ccbd392f1774d62872ca --- /dev/null +++ b/cot/chunk-0004/episode_0004026_ecot.json @@ -0,0 +1,5619 @@ +{ + "task_name": "episode_0004026", + "episode_json": "json/chunk-0004/episode_0004026.json", + "video_path": "videos/chunk-0004/image_0/episode_0004026.mp4", + "instruction": "Put pot or pan on stove and put fry in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 72, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004026.json" + }, + "fps": 5.0, + "T_eff": 72, + "gripper_behavior_summary": { + "available": true, + "range": 0.9463818669319153, + "std": 0.4095132648944855, + "delta_total": -0.0006598234176635742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94638, std=0.40951, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 328, + 328, + 128, + 128, + 128, + 128, + 128, + 128, + 128, + 128, + 128, + 128, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 53, + 53, + 53, + 53, + 53, + 53, + 53, + 53, + 53, + 53, + 53, + 53, + 65, + 65, + 65, + 65, + 65, + 65, + 65 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 9 + ], + [ + 3, + 10, + 19 + ], + [ + 4, + 20, + 27 + ], + [ + 5, + 28, + 29 + ], + [ + 6, + 30, + 39 + ], + [ + 7, + 40, + 52 + ], + [ + 8, + 53, + 64 + ], + [ + 9, + 65, + 71 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the pot on the stove to prepare for interaction.\"},\n {\"id\": 2, \"name\": \"grasp pot handle\", \"start\": 10, \"end\": 19, \"planning\": \"Close the gripper around the pot handle to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 20, \"end\": 27, \"planning\": \"Lift the pot slightly and adjust its position on the stove burner.\"},\n {\"id\": 4, \"name\": \"release pot\", \"start\": 28, \"end\": 29, \"planning\": \"Open the gripper to release contact with the pot handle.\"},\n {\"id\": 5, \"name\": \"retreat and reposition for fry\", \"start\": 30, \"end\": 39, \"planning\": \"Move away from the pot and reposition the end-effector toward the fry object.\"},\n {\"id\": 6, \"name\": \"approach and grasp fry\", \"start\": 40, \"end\": 52, \"planning\": \"Move to the fry object and close the gripper to pick it up.\"},\n {\"id\": 7, \"name\": \"transport fry to pot\", \"start\": 53, \"end\": 64, \"planning\": \"Carry the fry object over the pot in preparation for dropping it in.\"},\n {\"id\": 8, \"name\": \"drop fry into pot\", \"start\": 65, \"end\": 71, \"planning\": \"Open the gripper to release the fry into the pot, completing the task.\"}\n ],\n \"global_plan\": \"First, approach and grasp the pot to adjust its position on the stove. Then retreat, locate and grasp the fry, transport it over the pot, and drop it inside.\",\n \"notes\": \"Subtasks are aligned with observed motion segments and gripper evidence. Grasping is only assigned where segment-level gripper closure and image context support it. Frame coverage is contiguous and complete from 0 to 71.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the pot on the stove to prepare for interaction." + }, + { + "id": 2, + "name": "grasp pot handle", + "start": 10, + "end": 19, + "planning": "Close the gripper around the pot handle to secure a firm hold." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 20, + "end": 27, + "planning": "Lift the pot slightly and adjust its position on the stove burner." + }, + { + "id": 4, + "name": "release pot", + "start": 28, + "end": 29, + "planning": "Open the gripper to release contact with the pot handle." + }, + { + "id": 5, + "name": "retreat and reposition for fry", + "start": 30, + "end": 39, + "planning": "Move away from the pot and reposition the end-effector toward the fry object." + }, + { + "id": 6, + "name": "approach and grasp fry", + "start": 40, + "end": 52, + "planning": "Move to the fry object and close the gripper to pick it up." + }, + { + "id": 7, + "name": "transport fry to pot", + "start": 53, + "end": 64, + "planning": "Carry the fry object over the pot in preparation for dropping it in." + }, + { + "id": 8, + "name": "drop fry into pot", + "start": 65, + "end": 71, + "planning": "Open the gripper to release the fry into the pot, completing the task." + } + ], + "global_plan": "First, approach and grasp the pot to adjust its position on the stove. Then retreat, locate and grasp the fry, transport it over the pot, and drop it inside.", + "notes": "Subtasks are aligned with observed motion segments and gripper evidence. Grasping is only assigned where segment-level gripper closure and image context support it. Frame coverage is contiguous and complete from 0 to 71." + } + }, + "episode_goal": "Place the pot on the stove burner and put the yellow spatula inside the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608217239379883, + 0.01696906052529812, + 0.12082430720329285, + -3.091902017593384, + -0.1385989636182785, + -0.03547859936952591 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot and a yellow spatula are visible. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.358208566904068, + 0.016870759427547455, + 0.10557497292757034, + -3.0947494506835938, + -0.09886959195137024, + -0.033945441246032715 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot and a yellow spatula are visible. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 7 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35766685009002686, + 0.015656787902116776, + 0.09148913621902466, + -3.098848581314087, + -0.11323073506355286, + -0.027688533067703247 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot and a yellow spatula are visible. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35876190662384033, + 0.015572907403111458, + 0.08228982985019684, + -3.1003127098083496, + -0.14690110087394714, + -0.03213919326663017 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove where a pot and a yellow spatula are visible. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601031005382538, + 0.014464102685451508, + 0.07524365931749344, + -3.1059741973876953, + -0.16395798325538635, + -0.035506583750247955 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move right 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3582651913166046, + 0.01621095836162567, + 0.0675036832690239, + -3.1157350540161133, + -0.1765388399362564, + -0.03829866647720337 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571906089782715, + 0.018642527982592583, + 0.05514143034815788, + -3.115464210510254, + -0.184120312333107, + -0.03818950057029724 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move right 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35780438780784607, + 0.020286452025175095, + 0.04343658685684204, + -3.1193134784698486, + -0.2136450558900833, + -0.03450389951467514 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 465, + 458, + 551, + 613 + ], + "faucet": [ + 123, + 3, + 259, + 179 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 4 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577316403388977, + 0.021416764706373215, + 0.03997103497385979, + -3.113924264907837, + -0.22411341965198517, + -0.022481685504317284 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 7 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552248179912567, + 0.0178615003824234, + 0.039155155420303345, + -3.108163356781006, + -0.20444878935813904, + -0.01017195824533701 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 10 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35388094186782837, + 0.015141046606004238, + 0.03973189741373062, + -3.0971930027008057, + -0.1948682814836502, + 0.005463843699544668 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500326871871948, + 0.012187167070806026, + 0.041599832475185394, + -3.0965328216552734, + -0.15365968644618988, + 0.0019027964444831014 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move up 8 cm, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35003358125686646, + 0.01168368011713028, + 0.049186382442712784, + -3.097161293029785, + -0.1230301558971405, + 0.0038879653438925743 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move up 7 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3528468906879425, + 0.007877903059124947, + 0.062321122735738754, + -3.095780849456787, + -0.09143925458192825, + 0.006695418152958155 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned above the stove with the pot already placed on the burner. The gripper is open and hovering near the pot, indicating the approach phase is active but no contact has been made yet. The next action should involve lowering the end-effector to make contact with the pot for potential adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move up 6 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35800307989120483, + 0.002888903021812439, + 0.07910817116498947, + -3.083401918411255, + -0.07281951606273651, + 0.003995787352323532 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. The gripper is currently open and not yet in contact with the handle. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 4 cm, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594680428504944, + -0.0018333469051867723, + 0.10128951072692871, + -3.0687332153320312, + -0.06110874190926552, + 0.004877354484051466 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 384, + 88, + 578, + 287 + ], + "yellow object": [ + 465, + 458, + 551, + 612 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. The gripper is currently open and not yet in contact with the handle. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3572549819946289, + -0.008428552187979221, + 0.11052942276000977, + -3.0758309364318848, + -0.05412514507770538, + -0.013621969148516655 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. The gripper is currently open and not yet in contact with the handle. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 5 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.35507944226264954, + -0.024129942059516907, + 0.11100918054580688, + -3.0783026218414307, + -0.05046612769365311, + 0.003804885782301426 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 5 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3493500351905823, + -0.051339421421289444, + 0.11107029765844345, + -3.0670480728149414, + -0.042038243263959885, + 0.026413334533572197 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406541347503662, + -0.08458463102579117, + 0.11201006919145584, + -3.032017469406128, + -0.05056038126349449, + 0.051265548914670944 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 123, + 3, + 261, + 179 + ], + "yellow object": [ + 466, + 458, + 551, + 612 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move down 5 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3388720154762268, + -0.11454721540212631, + 0.12072974443435669, + -3.0298609733581543, + -0.09821140766143799, + 0.07967367768287659 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, open gripper; then move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.340828537940979, + -0.1346973478794098, + 0.11929234862327576, + -3.02959942817688, + -0.12992806732654572, + 0.08691644668579102 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, open gripper; then move up 3 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492112457752228, + -0.14202651381492615, + 0.10107602924108505, + -3.0219690799713135, + -0.15168872475624084, + 0.0740949958562851 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 7 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36545589566230774, + -0.1198907271027565, + 0.0711284652352333, + -3.004976749420166, + -0.19047483801841736, + 0.029670318588614464 + ], + "gripper_value": 0.27090853452682495 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 123, + 3, + 261, + 179 + ], + "yellow object": [ + 465, + 459, + 551, + 612 + ], + "pot": [ + 632, + 215, + 869, + 476 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot on the stove, with the gripper positioned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3607912063598633, + -0.11727239191532135, + 0.07230537384748459, + -2.9988248348236084, + -0.15038776397705078, + 0.035061392933130264 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The pot is positioned on the stove burner with the robot's gripper still in contact with its handle. The gripper value indicates an active grasp, confirming the pot is being held in place. The next action is to open the gripper to release the pot and complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move left 11 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3623162508010864, + -0.11878632754087448, + 0.08526837080717087, + -3.002807378768921, + -0.1272311806678772, + 0.047578953206539154 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The pot is positioned on the stove burner with the robot's gripper still in contact with its handle. The gripper value indicates an active grasp, confirming the pot is being held in place. The next action is to open the gripper to release the pot and complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move left 12 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35610297322273254, + -0.11622656881809235, + 0.10201054066419601, + -3.009941816329956, + -0.04696911573410034, + 0.04613903537392616 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is positioned on the stove burner with the robot's gripper still in contact with its handle. The gripper value indicates an active grasp, confirming the pot is being held in place. The next action is to open the gripper to release the pot and complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35452979803085327, + -0.10373860597610474, + 0.13013768196105957, + -3.020198106765747, + -0.03779727965593338, + 0.022222748026251793 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is positioned on the stove burner with the robot's gripper still in contact with its handle. The gripper value indicates an active grasp, confirming the pot is being held in place. The next action is to open the gripper to release the pot and complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35679271817207336, + -0.08199115097522736, + 0.1326766014099121, + -3.020212411880493, + -0.00924764759838581, + -0.022014185786247253 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is positioned on the stove burner with the robot's gripper still in contact with its handle. The gripper value indicates an active grasp, confirming the pot is being held in place. The next action is to open the gripper to release the pot and complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3658592700958252, + -0.06678315252065659, + 0.14844785630702972, + -3.030099630355835, + -0.017176464200019836, + -0.08268602937459946 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is positioned on the stove burner with the robot's gripper still in contact with its handle. The gripper value indicates an active grasp, confirming the pot is being held in place. The next action is to open the gripper to release the pot and complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 3 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.36639073491096497, + -0.06355255842208862, + 0.14836788177490234, + -3.034550189971924, + -0.016018884256482124, + -0.07593391835689545 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 3 cm, keep gripper open; then move back 4 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657327890396118, + -0.06482818722724915, + 0.1468171775341034, + -3.0358519554138184, + -0.013926619663834572, + -0.0823500007390976 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 3 cm, keep gripper open; then move back 4 cm, move right 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.35077670216560364, + -0.04310014471411705, + 0.13895756006240845, + -3.0283358097076416, + -0.02518683671951294, + -0.13950982689857483 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move right 1 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3396734297275543, + -0.014388876035809517, + 0.15022002160549164, + -2.9796252250671387, + -0.048127055168151855, + -0.16021056473255157 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move right 2 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.33118322491645813, + -0.0025661925319582224, + 0.14367903769016266, + -2.9685089588165283, + -0.06705094128847122, + -0.16916464269161224 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move right 2 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.32275155186653137, + 0.003026115009561181, + 0.13080568611621857, + -2.9673080444335938, + -0.08907902985811234, + -0.12413892894983292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "retreat and reposition for fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move right 2 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3123472034931183, + 0.0053723701275885105, + 0.11842804402112961, + -2.977273941040039, + -0.09636739641427994, + -0.034225620329380035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2994349002838135, + 0.0036358984652906656, + 0.11018353700637817, + -2.9677464962005615, + -0.11061711609363556, + 0.035358235239982605 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 7 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881409525871277, + 0.0015127629740163684, + 0.10460029542446136, + -2.9559648036956787, + -0.12163110077381134, + 0.056988831609487534 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 7 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805830240249634, + 0.0003380861598998308, + 0.09400831907987595, + -2.953361988067627, + -0.13257765769958496, + 0.06968001276254654 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749006748199463, + -0.003510441165417433, + 0.08213616907596588, + -2.945613384246826, + -0.14820808172225952, + 0.08172910660505295 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 122, + 3, + 259, + 179 + ], + "pot": [ + 630, + 252, + 877, + 505 + ], + "yellow object": [ + 465, + 456, + 554, + 612 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.269069641828537, + -0.007825549691915512, + 0.07169952243566513, + -2.94264817237854, + -0.15790711343288422, + 0.07546214759349823 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. 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The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.26394641399383545, + -0.009156201034784317, + 0.06035681813955307, + -2.9351580142974854, + -0.18369634449481964, + 0.06912890821695328 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 120, + 4, + 250, + 180 + ], + "pot": [ + 634, + 253, + 877, + 506 + ], + "yellow object": [ + 465, + 458, + 552, + 611 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. 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The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.26129379868507385, + -0.011346560902893543, + 0.05458781495690346, + -2.941300392150879, + -0.20076406002044678, + 0.07754673063755035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.25956588983535767, + -0.013170923106372356, + 0.05176575481891632, + -2.9434027671813965, + -0.2080298215150833, + 0.08010726422071457 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. 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The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.258148729801178, + -0.01473036129027605, + 0.04606619477272034, + -2.960940361022949, + -0.22799867391586304, + 0.07778632640838623 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 2 cm, move right 2 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.26147034764289856, + -0.015420272015035152, + 0.043436579406261444, + -2.9667985439300537, + -0.2697318494319916, + 0.07205013930797577 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.26373961567878723, + -0.020283548161387444, + 0.03943660110235214, + -2.974796772003174, + -0.27902713418006897, + 0.07212154567241669 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 5 cm, move right 4 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.262980192899704, + -0.020704643800854683, + 0.0384904220700264, + -2.982478380203247, + -0.2808499038219452, + 0.08621863275766373 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 4 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 52 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.258667528629303, + -0.019310979172587395, + 0.03742183744907379, + -3.002758741378784, + -0.25793778896331787, + 0.09604652225971222 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 5 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534310221672058, + -0.018102826550602913, + 0.041361816227436066, + -3.0129964351654053, + -0.23124273121356964, + 0.0998939797282219 + ], + "gripper_value": 0.20083679258823395 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.2511197030544281, + -0.0170927532017231, + 0.04741913825273514, + -3.026475429534912, + -0.2080071121454239, + 0.0928976982831955 + ], + "gripper_value": 0.1795559972524643 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 5 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.25585684180259705, + -0.017393482849001884, + 0.0695716142654419, + -3.0304882526397705, + -0.20578449964523315, + 0.0727105513215065 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, move up 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.2599961459636688, + -0.019812576472759247, + 0.10095203667879105, + -3.0265841484069824, + -0.16959889233112335, + 0.09494291990995407 + ], + "gripper_value": 0.20867010951042175 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 635, + 251, + 877, + 505 + ], + "yellow object": [ + 466, + 352, + 534, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The pot is successfully placed on the stove burner with the yellow spatula already inside it. The robot has retreated from the pot, as indicated by the open gripper and increased distance. The next action is to locate and approach the fry for the subsequent placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 4 cm, tilt back 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.26536238193511963, + -0.023711252957582474, + 0.1130557581782341, + -3.027226448059082, + -0.17755526304244995, + 0.10425294935703278 + ], + "gripper_value": 0.20928038656711578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.274867981672287, + -0.0404147133231163, + 0.11554211378097534, + -3.04011607170105, + -0.18619322776794434, + 0.12874405086040497 + ], + "gripper_value": 0.20928038656711578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, move down 1 cm, open gripper; then move back 1 cm, move left 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.28834444284439087, + -0.054253458976745605, + 0.11724689602851868, + -3.0464377403259277, + -0.1873396635055542, + 0.135847270488739 + ], + "gripper_value": 0.20928038656711578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 1 cm, open gripper; then move left 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069392442703247, + -0.06078300625085831, + 0.11626004427671432, + -3.0556578636169434, + -0.20105601847171783, + 0.1397978812456131 + ], + "gripper_value": 0.20928038656711578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 1 cm, open gripper; then move left 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.32827088236808777, + -0.06427796930074692, + 0.10760876536369324, + -3.0545806884765625, + -0.2135804444551468, + 0.1250198483467102 + ], + "gripper_value": 0.20989185571670532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, open gripper; then move left 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.34537598490715027, + -0.06504428386688232, + 0.1058790534734726, + -3.065701484680176, + -0.24349211156368256, + 0.1165841743350029 + ], + "gripper_value": 0.20989185571670532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move left 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.35837283730506897, + -0.06431783735752106, + 0.102462999522686, + -3.0648765563964844, + -0.26180794835090637, + 0.11182555556297302 + ], + "gripper_value": 0.25614848732948303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "transport fry to pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 64 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3600086271762848, + -0.06348252296447754, + 0.10443747043609619, + -3.0752224922180176, + -0.26039379835128784, + 0.10520153492689133 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 695, + 212, + 761, + 386 + ], + "faucet": [ + 122, + 3, + 260, + 179 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "drop fry into pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 71 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.35466769337654114, + -0.06217716261744499, + 0.10385476052761078, + -3.0790746212005615, + -0.21709837019443512, + 0.09756456315517426 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "drop fry into pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 71 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.34879031777381897, + -0.05931086838245392, + 0.10834627598524094, + -3.061464548110962, + -0.18135535717010498, + 0.10204388201236725 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "drop fry into pot", + "subtask_reasoning": "The robot is holding the yellow spatula above the stove, with the pot positioned on the right burner. The gripper is closed, indicating the spatula is securely grasped during transport. The next action is to move the spatula directly over the pot and release it inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 58 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 71 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.346390962600708, + -0.05036278814077377, + 0.11959530413150787, + -3.060370922088623, + -0.18747472763061523, + 0.0905178114771843 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "drop fry into pot", + "subtask_reasoning": "The yellow spatula is already inside the pot on the stove, indicating the drop action has been completed. The gripper is open and positioned above the pot, consistent with having just released the object. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 65, + "end": 71 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.35338136553764343, + -0.032435234636068344, + 0.11867097020149231, + -3.0631062984466553, + -0.2130049765110016, + 0.0510510690510273 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "drop fry into pot", + "subtask_reasoning": "The yellow spatula is already inside the pot on the stove, indicating the drop action has been completed. The gripper is open and positioned above the pot, consistent with having just released the object. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 68 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 71 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.35659077763557434, + -0.015911178663372993, + 0.11294599622488022, + -3.077410936355591, + -0.23041316866874695, + 0.02903188392519951 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "drop fry into pot", + "subtask_reasoning": "The yellow spatula is already inside the pot on the stove, indicating the drop action has been completed. The gripper is open and positioned above the pot, consistent with having just released the object. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 68 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 71 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.3597283661365509, + -0.0045472378842532635, + 0.11097066849470139, + -3.0992095470428467, + -0.24977263808250427, + 0.02664250135421753 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot on the stove burner and put the yellow spatula inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat and reposition for fry" + }, + { + "id": 6, + "subtask": "approach and grasp fry" + }, + { + "id": 7, + "subtask": "transport fry to pot" + }, + { + "id": 8, + "subtask": "drop fry into pot" + } + ], + "subtask_name": "drop fry into pot", + "subtask_reasoning": "The yellow spatula is already inside the pot on the stove, indicating the drop action has been completed. The gripper is open and positioned above the pot, consistent with having just released the object. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 71 + }, + "cache_ref": { + "anchor_ref_reasoning": 68 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 71 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004027_ecot.json b/cot/chunk-0004/episode_0004027_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f8d0af9c085406320e21cdd0988314aee9eb93 --- /dev/null +++ b/cot/chunk-0004/episode_0004027_ecot.json @@ -0,0 +1,1676 @@ +{ + "task_name": "episode_0004027", + "episode_json": "json/chunk-0004/episode_0004027.json", + "video_path": "videos/chunk-0004/image_0/episode_0004027.mp4", + "instruction": "Move the silver pot to the bottom left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004027.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.9307830929756165, + "std": 0.4169677495956421, + "delta_total": 0.00727534294128418, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93078, std=0.41697, total_delta=0.00728). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 11, + 11, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 223, + 223, + 223 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 10 + ], + [ + 3, + 11, + 12 + ], + [ + 4, + 13, + 22 + ], + [ + 5, + 23, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector toward the silver pot on the stove without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp silver pot\", \"start\": 8, \"end\": 12, \"planning\": \"Close the gripper around the handle of the silver pot to secure a firm grasp.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 13, \"end\": 22, \"planning\": \"Lift the silver pot slightly and move it horizontally toward the bottom left burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place pot on burner\", \"start\": 23, \"end\": 25, \"planning\": \"Lower the silver pot onto the bottom left burner and release the gripper to complete placement.\"}\n ],\n \"global_plan\": \"Approach the silver pot, grasp its handle, lift and translate it to the target burner, then place and release.\",\n \"notes\": \"Subtasks align with observed gripper closure in segments 2–5; segment 1 shows no gripper motion, so approach-only wording is used. Frame coverage is contiguous and complete from 0 to 25.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 7, + "planning": "Move the end-effector toward the silver pot on the stove without closing the gripper." + }, + { + "id": 2, + "name": "grasp silver pot", + "start": 8, + "end": 12, + "planning": "Close the gripper around the handle of the silver pot to secure a firm grasp." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 13, + "end": 22, + "planning": "Lift the silver pot slightly and move it horizontally toward the bottom left burner while maintaining grip." + }, + { + "id": 4, + "name": "place pot on burner", + "start": 23, + "end": 25, + "planning": "Lower the silver pot onto the bottom left burner and release the gripper to complete placement." + } + ], + "global_plan": "Approach the silver pot, grasp its handle, lift and translate it to the target burner, then place and release.", + "notes": "Subtasks align with observed gripper closure in segments 2–5; segment 1 shows no gripper motion, so approach-only wording is used. Frame coverage is contiguous and complete from 0 to 25." + } + }, + "episode_goal": "Move the silver pot to the bottom left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825209438800812, + -0.035132765769958496, + 0.041106224060058594, + -3.1202080249786377, + -0.06539350003004074, + 0.1663692742586136 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the back burner. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 13 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3781394362449646, + -0.03348924592137337, + 0.024255752563476562, + -3.1077685356140137, + -0.02108372375369072, + 0.16889938712120056 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the back burner. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 13 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3866994380950928, + -0.01755485124886036, + 0.019633006304502487, + -3.0978493690490723, + -0.01674746908247471, + 0.18927772343158722 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the back burner. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 11 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4073958098888397, + 0.020356174558401108, + 0.0288392324000597, + -3.0913078784942627, + -0.07392237335443497, + 0.2467198669910431 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 691, + 442, + 994, + 939 + ], + "coffee maker": [ + 567, + 14, + 835, + 363 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stove, with the gripper open and no contact made yet. The subtask of approaching the pot is underway but not complete. The next action should involve moving the gripper closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.41881006956100464, + 0.045946065336465836, + 0.03443686291575432, + -3.071704149246216, + -0.11329802125692368, + 0.27257558703422546 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stove, with the gripper open and no contact made yet. The subtask of approaching the pot is underway but not complete. The next action should involve moving the gripper closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4272039830684662, + 0.06760913878679276, + 0.030325312167406082, + -3.0744240283966064, + -0.12712714076042175, + 0.3087857961654663 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stove, with the gripper open and no contact made yet. The subtask of approaching the pot is underway but not complete. The next action should involve moving the gripper closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, keep gripper open; then move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.43799808621406555, + 0.08617240935564041, + 0.01616155169904232, + -3.0973258018493652, + -0.1326875388622284, + 0.35291633009910583 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stove, with the gripper open and no contact made yet. The subtask of approaching the pot is underway but not complete. The next action should involve moving the gripper closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper open; then move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4483340382575989, + 0.09037385880947113, + -0.008102336898446083, + -3.1293983459472656, + -0.09757775813341141, + 0.3694513738155365 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stove, with the gripper open and no contact made yet. The subtask of approaching the pot is underway but not complete. The next action should involve moving the gripper closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4512537717819214, + 0.09214111417531967, + -0.028532125055789948, + 3.132516860961914, + -0.0544905960559845, + 0.39074358344078064 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stove, with the gripper open and no contact made yet. The subtask of approaching the pot is underway but not complete. The next action should involve moving the gripper closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4505019783973694, + 0.09254547953605652, + -0.03836899250745773, + 3.129903793334961, + -0.036758385598659515, + 0.40568017959594727 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stove, with the gripper open and no contact made yet. The subtask of approaching the pot is underway but not complete. The next action should involve moving the gripper closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.45154857635498047, + 0.0934869796037674, + -0.03831770643591881, + 3.128448486328125, + -0.044295940548181534, + 0.40577250719070435 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the pot. The next action is to complete the grasp by fully closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4539991021156311, + 0.0935659259557724, + -0.03748864307999611, + 3.1238653659820557, + -0.059143614023923874, + 0.38746970891952515 + ], + "gripper_value": 0.4015096127986908 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the pot. The next action is to complete the grasp by fully closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 8 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.45502981543540955, + 0.09131206572055817, + -0.03565593436360359, + 3.1266613006591797, + -0.06908949464559555, + 0.35542088747024536 + ], + "gripper_value": 0.20024193823337555 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the pot. The next action is to complete the grasp by fully closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 6 cm, move left 8 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4510341286659241, + 0.08923184126615524, + -0.01732639968395233, + -3.1354916095733643, + -0.08398106694221497, + 0.2944372892379761 + ], + "gripper_value": 0.09475040435791016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the pot. The next action is to complete the grasp by fully closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4406581223011017, + 0.09563277661800385, + 0.006002867594361305, + -3.0762271881103516, + -0.1229129210114479, + 0.23709794878959656 + ], + "gripper_value": 0.07429859787225723 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the pot. The next action is to complete the grasp by fully closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.42685309052467346, + 0.10584370791912079, + 0.0351780541241169, + -3.017522096633911, + -0.16874952614307404, + 0.20688480138778687 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 692, + 442, + 993, + 939 + ], + "kettle": [ + 361, + 54, + 538, + 280 + ], + "spatula": [ + 722, + 206, + 839, + 429 + ], + "coffee maker": [ + 441, + 5, + 644, + 235 + ], + "faucet": [ + 562, + 109, + 684, + 216 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the pot. The next action is to complete the grasp by fully closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40587317943573, + 0.11681975424289703, + 0.02961043454706669, + -2.9899518489837646, + -0.1366490125656128, + 0.21492090821266174 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned near its handle. The gripper is closing, indicating an attempt to grasp the pot. The next action is to complete the grasp by fully closing the gripper around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38771942257881165, + 0.14110001921653748, + 0.01826939545571804, + -3.0011773109436035, + -0.10819968581199646, + 0.2756884694099426 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 722, + 207, + 840, + 430 + ], + "sink": [ + 691, + 442, + 994, + 944 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, positioned near the top left burner. The gripper is closed and stable, indicating a secure hold. The next action is to translate the pot laterally and downward toward the bottom left burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38229259848594666, + 0.15537363290786743, + 0.015114893205463886, + -3.0186126232147217, + -0.10602061450481415, + 0.30022892355918884 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, positioned near the top left burner. The gripper is closed and stable, indicating a secure hold. The next action is to translate the pot laterally and downward toward the bottom left burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3760942816734314, + 0.158390611410141, + -0.011905542574822903, + -3.033090114593506, + -0.04471796005964279, + 0.3078722357749939 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, positioned near the top left burner. The gripper is closed and stable, indicating a secure hold. The next action is to translate the pot laterally and downward toward the bottom left burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.380296528339386, + 0.1668875515460968, + -0.015735596418380737, + -3.0486245155334473, + -0.04465264454483986, + 0.33297571539878845 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, positioned near the top left burner. The gripper is closed and stable, indicating a secure hold. The next action is to translate the pot laterally and downward toward the bottom left burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38685911893844604, + 0.1698310822248459, + -0.024364076554775238, + -3.0555624961853027, + -0.03073812834918499, + 0.3371056616306305 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, positioned near the top left burner. The gripper is closed and stable, indicating a secure hold. The next action is to translate the pot laterally and downward toward the bottom left burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.39105966687202454, + 0.17033739387989044, + -0.028800228610634804, + -3.0589005947113037, + -0.02010554075241089, + 0.3381973206996918 + ], + "gripper_value": 0.24254894256591797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, positioned near the top left burner. The gripper is closed and stable, indicating a secure hold. The next action is to translate the pot laterally and downward toward the bottom left burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3915943503379822, + 0.1680743545293808, + -0.024879425764083862, + -3.03694748878479, + -0.006771973334252834, + 0.3420051634311676 + ], + "gripper_value": 0.5130034685134888 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The silver pot is currently grasped and lifted above the stove, positioned near the top left burner. The gripper is closed and stable, indicating a secure hold. The next action is to translate the pot laterally and downward toward the bottom left burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.39518317580223083, + 0.16804464161396027, + -0.0005788023117929697, + -3.0076048374176025, + -0.055231787264347076, + 0.3479996621608734 + ], + "gripper_value": 0.8251956701278687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The silver pot is currently positioned over the bottom left burner, with the gripper holding it in place. The placement action is nearly complete, and the next step is to release the pot onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3977743685245514, + 0.1526021510362625, + 0.04475672170519829, + -2.998020648956299, + -0.1493312120437622, + 0.31497058272361755 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The silver pot is currently positioned over the bottom left burner, with the gripper holding it in place. The placement action is nearly complete, and the next step is to release the pot onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004028_ecot.json b/cot/chunk-0004/episode_0004028_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ec108ef3a4dbb0226e2e6331028a4cfb6383408d --- /dev/null +++ b/cot/chunk-0004/episode_0004028_ecot.json @@ -0,0 +1,1902 @@ +{ + "task_name": "episode_0004028", + "episode_json": "json/chunk-0004/episode_0004028.json", + "video_path": "videos/chunk-0004/image_0/episode_0004028.mp4", + "instruction": "Moved the yellow handled knife to the edge of the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004028.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.5527998208999634, + "std": 0.2569814622402191, + "delta_total": 0.009113907814025879, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.55280, std=0.25698, total_delta=0.00911). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 211, + 211, + 211, + 211, + 11, + 11, + 211, + 222, + 222, + 222, + 222 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 10 + ], + [ + 3, + 11, + 14 + ], + [ + 4, + 15, + 18 + ], + [ + 5, + 19, + 20 + ], + [ + 6, + 21, + 21 + ], + [ + 7, + 22, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the yellow-handled knife on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"reposition knife\", \"start\": 4, \"end\": 10, \"planning\": \"Make contact and slide the knife slightly to adjust its position for easier manipulation.\"},\n {\"id\": 3, \"name\": \"nudge knife toward burner edge\", \"start\": 11, \"end\": 14, \"planning\": \"Push the knife further toward the right burner’s edge using controlled contact motion.\"},\n {\"id\": 4, \"name\": \"retreat and reposition\", \"start\": 15, \"end\": 18, \"planning\": \"Lift and move away from the knife to prepare for final placement adjustment.\"},\n {\"id\": 5, \"name\": \"fine-tune knife position\", \"start\": 19, \"end\": 21, \"planning\": \"Gently nudge the knife into precise alignment at the burner’s edge without gripping.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 22, \"end\": 25, \"planning\": \"Open gripper fully and withdraw end-effector after confirming knife is positioned correctly.\"}\n ],\n \"global_plan\": \"The robot approaches the yellow-handled knife, makes contact to reposition it incrementally toward the right burner’s edge, then retreats after fine-tuning its final position — all without formal grasping until the last segment where gripper opens to release.\",\n \"notes\": \"No subtask uses 'grasp' or 'pick up' except possibly segment 7, but since the gripper opens (value increases) in that segment, it indicates release, not grasp. All motions are contact-based nudges/slides consistent with gripper evidence and visual context.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the yellow-handled knife on the stovetop without grasping." + }, + { + "id": 2, + "name": "reposition knife", + "start": 4, + "end": 10, + "planning": "Make contact and slide the knife slightly to adjust its position for easier manipulation." + }, + { + "id": 3, + "name": "nudge knife toward burner edge", + "start": 11, + "end": 14, + "planning": "Push the knife further toward the right burner’s edge using controlled contact motion." + }, + { + "id": 4, + "name": "retreat and reposition", + "start": 15, + "end": 18, + "planning": "Lift and move away from the knife to prepare for final placement adjustment." + }, + { + "id": 5, + "name": "fine-tune knife position", + "start": 19, + "end": 21, + "planning": "Gently nudge the knife into precise alignment at the burner’s edge without gripping." + }, + { + "id": 6, + "name": "release and retreat", + "start": 22, + "end": 25, + "planning": "Open gripper fully and withdraw end-effector after confirming knife is positioned correctly." + } + ], + "global_plan": "The robot approaches the yellow-handled knife, makes contact to reposition it incrementally toward the right burner’s edge, then retreats after fine-tuning its final position — all without formal grasping until the last segment where gripper opens to release.", + "notes": "No subtask uses 'grasp' or 'pick up' except possibly segment 7, but since the gripper opens (value increases) in that segment, it indicates release, not grasp. All motions are contact-based nudges/slides consistent with gripper evidence and visual context." + } + }, + "episode_goal": "Move the yellow handled knife to the edge of the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080534338951111, + 0.14286981523036957, + 0.08804775029420853, + 3.1351191997528076, + -0.06193499267101288, + -0.05837651714682579 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the counter with the yellow-handled knife visible on the left side near a pot. No movement or contact has occurred yet. The next action should be to move the end effector closer to the knife to begin repositioning it toward the right burner’s edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move down 5 cm, keep gripper open; then move back 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3056011497974396, + 0.14114202558994293, + 0.07674314081668854, + 3.1216273307800293, + -0.037636648863554, + -0.05425220727920532 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is approaching the yellow-handled knife on the left side of the stove. No contact or grasping has occurred yet, as gripper remains open and motion is directed toward the knife. Next action: continue moving end-effector closer to the knife for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move down 4 cm, keep gripper open; then move back 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27981406450271606, + 0.14338496327400208, + 0.05060228705406189, + 3.116299629211426, + -4.9763857532525435e-05, + -0.01686214469373226 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is approaching the yellow-handled knife on the left side of the stove. No contact or grasping has occurred yet, as gripper remains open and motion is directed toward the knife. Next action: continue moving end-effector closer to the knife for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2543138563632965, + 0.1552245318889618, + 0.04929478093981743, + 3.1401469707489014, + -0.024209391325712204, + 0.014325573109090328 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is approaching the yellow-handled knife on the left side of the stove. No contact or grasping has occurred yet, as gripper remains open and motion is directed toward the knife. Next action: continue moving end-effector closer to the knife for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23194846510887146, + 0.15789282321929932, + 0.035789605230093, + -3.130570411682129, + -0.003771442687138915, + 0.009512840770184994 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 62, + 369, + 344, + 617 + ], + "sink": [ + 742, + 441, + 994, + 962 + ], + "faucet": [ + 944, + 387, + 996, + 546 + ], + "red utensil": [ + 286, + 349, + 374, + 436 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition knife", + "subtask_reasoning": "The robot is approaching the yellow-handled knife on the left side of the stove. No contact or grasping has occurred yet, as gripper remains open and motion is directed toward the knife. Next action: continue moving end-effector closer to the knife for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22431646287441254, + 0.16257134079933167, + 0.027821077033877373, + -3.1071393489837646, + -0.008159567601978779, + 0.007460583467036486 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition knife", + "subtask_reasoning": "The robot is approaching the yellow-handled knife on the left side of the stove. No contact or grasping has occurred yet, as gripper remains open and motion is directed toward the knife. Next action: continue moving end-effector closer to the knife for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2225276231765747, + 0.1646551489830017, + 0.024543091654777527, + -3.090033531188965, + -0.002540064277127385, + 0.0072510153986513615 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition knife", + "subtask_reasoning": "The robot is approaching the yellow-handled knife on the left side of the stove. No contact or grasping has occurred yet, as gripper remains open and motion is directed toward the knife. Next action: continue moving end-effector closer to the knife for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21902871131896973, + 0.16399574279785156, + 0.018894245848059654, + -3.0815987586975098, + 0.006219687405973673, + 0.007335928734391928 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition knife", + "subtask_reasoning": "The robot has approached the yellow-handled knife and is now in contact with it near the left side of the stove. The gripper is open (value ~1.0), indicating no grasp yet, consistent with incremental repositioning. The next action is to push or slide the knife toward the right burner’s edge using controlled end-effector motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 7 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2170909345149994, + 0.16266784071922302, + 0.014813199639320374, + -3.079874277114868, + 0.017772251740098, + 0.005910397972911596 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition knife", + "subtask_reasoning": "The robot has approached the yellow-handled knife and is now in contact with it near the left side of the stove. The gripper is open (value ~1.0), indicating no grasp yet, consistent with incremental repositioning. The next action is to push or slide the knife toward the right burner’s edge using controlled end-effector motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move right 9 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2189071923494339, + 0.15664716064929962, + 0.015486255288124084, + -3.09793758392334, + 0.018573438748717308, + 0.006089650094509125 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition knife", + "subtask_reasoning": "The robot has approached the yellow-handled knife and is now in contact with it near the left side of the stove. The gripper is open (value ~1.0), indicating no grasp yet, consistent with incremental repositioning. The next action is to push or slide the knife toward the right burner’s edge using controlled end-effector motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 9 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21900731325149536, + 0.1543990522623062, + 0.01449533086270094, + -3.104271650314331, + 0.020285364240407944, + -0.001982182962819934 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition knife", + "subtask_reasoning": "The robot has approached the yellow-handled knife and is now in contact with it near the left side of the stove. The gripper is open (value ~1.0), indicating no grasp yet, consistent with incremental repositioning. The next action is to push or slide the knife toward the right burner’s edge using controlled end-effector motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 9 cm, move down 5 cm, keep gripper closed; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2198856621980667, + 0.1539311707019806, + 0.013686818070709705, + -3.0849685668945312, + 0.018597785383462906, + -0.0034222144167870283 + ], + "gripper_value": 0.4606100916862488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "nudge knife toward burner edge", + "subtask_reasoning": "The robot has approached the yellow-handled knife and is now in contact with it near the left side of the stove. The gripper is open (value ~1.0), indicating no grasp yet, consistent with incremental repositioning. The next action is to push or slide the knife toward the right burner’s edge using controlled end-effector motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 9 cm, move down 5 cm, keep gripper closed; then move forward 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21894876658916473, + 0.1520511507987976, + 0.01279932539910078, + -3.0812389850616455, + 0.02416457049548626, + -0.010093593038618565 + ], + "gripper_value": 0.4606100916862488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "nudge knife toward burner edge", + "subtask_reasoning": "The robot is in contact with the yellow-handled knife, nudging it incrementally toward the right burner’s edge. No grasp has occurred — motion is sliding/pushing based on low gripper variation and positional drift. Next action: continue fine lateral nudge to align knife tip with burner perimeter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 9 cm, move down 5 cm, keep gripper closed; then move forward 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2167477309703827, + 0.1474345326423645, + 0.0263456329703331, + -3.077573299407959, + 0.010586518794298172, + -0.0183588657528162 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "nudge knife toward burner edge", + "subtask_reasoning": "The robot is in contact with the yellow-handled knife, nudging it incrementally toward the right burner’s edge. No grasp has occurred — motion is sliding/pushing based on low gripper variation and positional drift. Next action: continue fine lateral nudge to align knife tip with burner perimeter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 6 cm, keep gripper closed; then move forward 11 cm, move right 9 cm, move down 5 cm, keep gripper closed; then move forward 3 cm, open gripper; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21744579076766968, + 0.13169918954372406, + 0.07290506362915039, + -3.097996473312378, + -0.07762313634157181, + 0.006191728636622429 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "nudge knife toward burner edge", + "subtask_reasoning": "The robot is in contact with the yellow-handled knife, nudging it incrementally toward the right burner’s edge. No grasp has occurred — motion is sliding/pushing based on low gripper variation and positional drift. Next action: continue fine lateral nudge to align knife tip with burner perimeter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 1 cm, keep gripper closed; then move forward 11 cm, move right 9 cm, move down 5 cm, keep gripper closed; then move forward 3 cm, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23304861783981323, + 0.0893806517124176, + 0.08137493580579758, + 3.1384341716766357, + -0.06806863099336624, + -0.05643787980079651 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The robot is in contact with the yellow-handled knife, nudging it incrementally toward the right burner’s edge. No grasp has occurred — motion is sliding/pushing based on low gripper variation and positional drift. Next action: continue fine lateral nudge to align knife tip with burner perimeter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 9 cm, move down 5 cm, keep gripper closed; then move forward 3 cm, open gripper; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26055631041526794, + 0.05646122992038727, + 0.06664301455020905, + 3.132434368133545, + -0.0302866380661726, + -0.07852959632873535 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 65, + 365, + 319, + 620 + ], + "pot": [ + 332, + 224, + 507, + 422 + ], + "faucet": [ + 944, + 387, + 996, + 546 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The robot has finished repositioning the yellow-handled knife near the right burner’s edge and is now retreating. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to move the end-effector away from the stove area to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move down 4 cm, keep gripper closed; then move forward 3 cm, open gripper; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999153435230255, + 0.021228455007076263, + 0.04489578679203987, + 3.128291130065918, + 0.011975225061178207, + -0.06744276732206345 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 64, + 365, + 345, + 620 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The robot has finished repositioning the yellow-handled knife near the right burner’s edge and is now retreating. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to move the end-effector away from the stove area to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, open gripper; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250361979007721, + 0.0026871159207075834, + 0.03430867940187454, + 3.136110544204712, + 0.005757005885243416, + -0.05942992493510246 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The robot has finished repositioning the yellow-handled knife near the right burner’s edge and is now retreating. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to move the end-effector away from the stove area to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, open gripper; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430584967136383, + -0.004863776732236147, + 0.026408055797219276, + -3.138805389404297, + -0.0075778900645673275, + -0.05084329470992088 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune knife position", + "subtask_reasoning": "The robot has finished repositioning the yellow-handled knife near the right burner’s edge and is now retreating. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to move the end-effector away from the stove area to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, open gripper; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35400211811065674, + -0.005029540043324232, + 0.02337224781513214, + -3.1387972831726074, + -0.012216298840939999, + -0.037018753588199615 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune knife position", + "subtask_reasoning": "The robot is in contact with the yellow-handled knife on the right burner, having already approached and repositioned it. The gripper shows no closing motion in this segment, so the action is sliding or nudging, not grasping. The next step is to make a small adjustment to align the knife precisely at the burner’s edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 19, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36551225185394287, + -0.008648497052490711, + 0.020685631781816483, + 3.108398199081421, + -0.011496642604470253, + -0.021034471690654755 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune knife position", + "subtask_reasoning": "The robot is in contact with the yellow-handled knife on the right burner, having already approached and repositioned it. The gripper shows no closing motion in this segment, so the action is sliding or nudging, not grasping. The next step is to make a small adjustment to align the knife precisely at the burner’s edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3693377673625946, + -0.003914312459528446, + 0.023434681817889214, + 3.091881513595581, + -0.0008446440333500504, + 0.008978137746453285 + ], + "gripper_value": 0.5354229807853699 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the yellow-handled knife on the right burner, having already approached and repositioned it. The gripper shows no closing motion in this segment, so the action is sliding or nudging, not grasping. The next step is to make a small adjustment to align the knife precisely at the burner’s edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 22, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594128489494324, + -0.005659447982907295, + 0.016950547695159912, + 3.081005811691284, + 0.02847127616405487, + -0.007398779504001141 + ], + "gripper_value": 0.8390268683433533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow-handled knife is now positioned at the edge of the right burner, with the gripper open and no longer in contact. The robot has completed repositioning and is retreating slightly to finalize the subtask. No further manipulation is needed; the next step is full withdrawal from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 22, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552202880382538, + -0.0053227003663778305, + 0.03593289852142334, + 3.0877091884613037, + -0.02319014072418213, + -0.005030524451285601 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow-handled knife is now positioned at the edge of the right burner, with the gripper open and no longer in contact. The robot has completed repositioning and is retreating slightly to finalize the subtask. No further manipulation is needed; the next step is full withdrawal from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 22, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34616386890411377, + -0.00037232990143820643, + 0.05436382442712784, + 3.122681140899658, + -0.07226710021495819, + 0.005167725961655378 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow handled knife to the edge of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "reposition knife" + }, + { + "id": 3, + "subtask": "nudge knife toward burner edge" + }, + { + "id": 4, + "subtask": "retreat and reposition" + }, + { + "id": 5, + "subtask": "fine-tune knife position" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow-handled knife is now positioned at the edge of the right burner, with the gripper open and no longer in contact. The robot has completed repositioning and is retreating slightly to finalize the subtask. No further manipulation is needed; the next step is full withdrawal from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 22, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004029_ecot.json b/cot/chunk-0004/episode_0004029_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..50e6c0a6b06bf95b6bf698e76f7a41e8721f2b78 --- /dev/null +++ b/cot/chunk-0004/episode_0004029_ecot.json @@ -0,0 +1,2242 @@ +{ + "task_name": "episode_0004029", + "episode_json": "json/chunk-0004/episode_0004029.json", + "video_path": "videos/chunk-0004/image_0/episode_0004029.mp4", + "instruction": "Move the yellow cloth from left side to in front of table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004029.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.001993715763092041, + "std": 0.000759781920351088, + "delta_total": -0.0013275146484375, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00076, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 22 + ], + [ + 3, + 23, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow cloth\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector from initial position toward the yellow cloth on the left side of the table.\"},\n {\"id\": 2, \"name\": \"make contact and nudge cloth\", \"start\": 7, \"end\": 22, \"planning\": \"Lower the gripper to make contact with the yellow cloth and begin nudging it forward across the table surface.\"},\n {\"id\": 3, \"name\": \"slide cloth to target position\", \"start\": 23, \"end\": 37, \"planning\": \"Continue sliding the yellow cloth forward until it reaches the desired position in front of the table, then retreat slightly.\"}\n ],\n \"global_plan\": \"The robot approaches the yellow cloth, makes contact without grasping, and slides it across the table to the target position in front, using continuous pushing motion throughout.\",\n \"notes\": \"Gripper remains open throughout all segments; no grasp or lift occurs. Motion is purely contact-based sliding. Segment boundaries preserved as given since they align with natural phase transitions: approach, contact initiation, and sustained slide to goal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow cloth", + "start": 0, + "end": 6, + "planning": "Move the end-effector from initial position toward the yellow cloth on the left side of the table." + }, + { + "id": 2, + "name": "make contact and nudge cloth", + "start": 7, + "end": 22, + "planning": "Lower the gripper to make contact with the yellow cloth and begin nudging it forward across the table surface." + }, + { + "id": 3, + "name": "slide cloth to target position", + "start": 23, + "end": 37, + "planning": "Continue sliding the yellow cloth forward until it reaches the desired position in front of the table, then retreat slightly." + } + ], + "global_plan": "The robot approaches the yellow cloth, makes contact without grasping, and slides it across the table to the target position in front, using continuous pushing motion throughout.", + "notes": "Gripper remains open throughout all segments; no grasp or lift occurs. Motion is purely contact-based sliding. Segment boundaries preserved as given since they align with natural phase transitions: approach, contact initiation, and sustained slide to goal." + } + }, + "episode_goal": "Move the yellow cloth from the left side of the table to the front center area of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613786995410919, + -0.06997594237327576, + 0.1169992983341217, + 2.9635729789733887, + -0.46275582909584045, + -0.12744730710983276 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the yellow cloth to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 19 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594796657562256, + -0.06939717382192612, + 0.10758045315742493, + 2.965878963470459, + -0.4331321716308594, + -0.1283845454454422 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the yellow cloth to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 19 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35658982396125793, + -0.0420721061527729, + 0.10589580237865448, + 2.9992449283599854, + -0.40661412477493286, + -0.09687282145023346 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the yellow cloth to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 16 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35651278495788574, + -0.010094170458614826, + 0.10322508215904236, + 3.008427381515503, + -0.40947216749191284, + -0.05722450092434883 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 16, + 190, + 903, + 988 + ], + "yellow sponge": [ + 136, + 272, + 352, + 499 + ], + "green scrubber": [ + 359, + 239, + 466, + 377 + ], + "black pole": [ + 277, + 4, + 373, + 281 + ], + "metal pot": [ + 602, + 345, + 875, + 597 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 13 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 5 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542364239692688, + 0.020587898790836334, + 0.10210338234901428, + 3.041275978088379, + -0.4003795385360718, + -0.024722043424844742 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 6 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3482372760772705, + 0.05929068475961685, + 0.10033303499221802, + 3.054490089416504, + -0.3969685137271881, + 0.05177683383226395 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34186509251594543, + 0.08940652012825012, + 0.1004723459482193, + 3.0608630180358887, + -0.40051156282424927, + 0.11420004814863205 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "approach yellow cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper open; then move back 3 cm, move left 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33630385994911194, + 0.11649977415800095, + 0.1021919921040535, + 3.0642335414886475, + -0.4191913902759552, + 0.1566988229751587 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32711949944496155, + 0.13742010295391083, + 0.09451179951429367, + 3.0803070068359375, + -0.397381454706192, + 0.18820486962795258 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135394752025604, + 0.15565979480743408, + 0.08029487729072571, + 3.1002254486083984, + -0.3606378138065338, + 0.2247883677482605 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 18, + 205, + 903, + 991 + ], + "yellow sponge": [ + 137, + 273, + 352, + 499 + ], + "metal pot": [ + 604, + 343, + 879, + 596 + ], + "green scrubber": [ + 359, + 283, + 427, + 376 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067707121372223, + 0.16588611900806427, + 0.067299984395504, + 3.1004984378814697, + -0.342224657535553, + 0.26040923595428467 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.304219126701355, + 0.16772779822349548, + 0.054846011102199554, + 3.1088027954101562, + -0.32408982515335083, + 0.2788149416446686 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30408674478530884, + 0.1672644019126892, + 0.039114922285079956, + 3.11564302444458, + -0.3020959496498108, + 0.31089669466018677 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30318474769592285, + 0.17052575945854187, + 0.027491161599755287, + 3.1357131004333496, + -0.28007903695106506, + 0.32945406436920166 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No contact has been made yet as the end-effector is still elevated. The next action is to lower and move the arm toward the cloth to initiate the pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020494878292084, + 0.17175647616386414, + 0.01851467601954937, + 3.1328511238098145, + -0.25545400381088257, + 0.3504367470741272 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040734827518463, + 0.17365889251232147, + 0.014616047963500023, + 3.1303560733795166, + -0.24226097762584686, + 0.36616382002830505 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3032888174057007, + 0.17289195954799652, + 0.014105470851063728, + 3.1262340545654297, + -0.23349376022815704, + 0.3704831600189209 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017934262752533, + 0.16743749380111694, + 0.011803132481873035, + 3.1037418842315674, + -0.22551047801971436, + 0.38090941309928894 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985484302043915, + 0.15279708802700043, + 0.011714444495737553, + 3.0863168239593506, + -0.2148602157831192, + 0.37876126170158386 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2978210747241974, + 0.134275421500206, + 0.013023663312196732, + 3.0637381076812744, + -0.20992954075336456, + 0.3738846182823181 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29883822798728943, + 0.11886382102966309, + 0.011620406992733479, + 3.0475399494171143, + -0.20519863069057465, + 0.35427606105804443 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29938721656799316, + 0.10575517266988754, + 0.011650127358734608, + 3.021069288253784, + -0.2166852056980133, + 0.34097445011138916 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper open; then move back 3 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29888302087783813, + 0.09230423718690872, + 0.010706612840294838, + 2.99992036819458, + -0.23119908571243286, + 0.3228078782558441 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 3 cm, move right 12 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30049794912338257, + 0.06802193820476532, + 0.010455845855176449, + 2.989065408706665, + -0.22353500127792358, + 0.2660914659500122 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003913164138794, + 0.04631341993808746, + 0.010545038618147373, + 2.9760780334472656, + -0.2162359207868576, + 0.22452473640441895 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 600, + 344, + 878, + 598 + ], + "wooden table": [ + 12, + 224, + 904, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29836663603782654, + 0.02845850959420204, + 0.010544613935053349, + 2.9763994216918945, + -0.20856335759162903, + 0.1794285774230957 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2912326753139496, + 0.0072897328063845634, + 0.011006981134414673, + 2.975095272064209, + -0.19515489041805267, + 0.1310286968946457 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28581368923187256, + -0.013107349164783955, + 0.010782446712255478, + 2.9746391773223877, + -0.18072760105133057, + 0.0774184986948967 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793339192867279, + -0.03392809256911278, + 0.012222413904964924, + 2.9567649364471436, + -0.1765824556350708, + 0.03546972572803497 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717120349407196, + -0.0499858558177948, + 0.013071674853563309, + 2.9604153633117676, + -0.1598791480064392, + -0.00560443801805377 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow cloth on the left side of the table. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the cloth and begin nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26869505643844604, + -0.056157901883125305, + 0.013514028862118721, + 2.9629640579223633, + -0.14962251484394073, + -0.02938692457973957 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already nudged it from the left side. The gripper remains open with no grasp, consistent with a sliding motion. The next action is to continue pushing the cloth forward toward the front center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2665262222290039, + -0.05504651740193367, + 0.015485089272260666, + 2.9740967750549316, + -0.14416731894016266, + -0.04683905467391014 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already nudged it from the left side. The gripper remains open with no grasp, consistent with a sliding motion. The next action is to continue pushing the cloth forward toward the front center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26972198486328125, + -0.0471130833029747, + 0.02488047257065773, + 2.980731964111328, + -0.16967275738716125, + -0.026976116001605988 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 646, + 347, + 879, + 601 + ], + "wooden table": [ + 14, + 176, + 904, + 993 + ], + "yellow sponge": [ + 439, + 481, + 706, + 759 + ], + "green scrubber": [ + 405, + 288, + 479, + 353 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already nudged it from the left side. The gripper remains open with no grasp, consistent with a sliding motion. The next action is to continue pushing the cloth forward toward the front center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2732965350151062, + -0.04181511327624321, + 0.034385960549116135, + 2.977816581726074, + -0.18624411523342133, + -0.006452689878642559 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already nudged it from the left side. The gripper remains open with no grasp, consistent with a sliding motion. The next action is to continue pushing the cloth forward toward the front center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.281807005405426, + -0.036850012838840485, + 0.04923044517636299, + 2.9887564182281494, + -0.2105206400156021, + 0.008594530634582043 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already nudged it from the left side. The gripper remains open with no grasp, consistent with a sliding motion. The next action is to continue pushing the cloth forward toward the front center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2900712192058563, + -0.03401854261755943, + 0.06903824955224991, + 2.9825496673583984, + -0.2533988058567047, + 0.027221297845244408 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already nudged it from the left side. The gripper remains open with no grasp, consistent with a sliding motion. The next action is to continue pushing the cloth forward toward the front center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29164621233940125, + -0.0332053117454052, + 0.09330936521291733, + 2.94887375831604, + -0.2994535267353058, + 0.06719029694795609 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already nudged it from the left side. The gripper remains open with no grasp, consistent with a sliding motion. The next action is to continue pushing the cloth forward toward the front center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.29234740138053894, + -0.03386100381612778, + 0.11226067692041397, + 2.9325368404388428, + -0.36581122875213623, + 0.0844951719045639 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the front center area of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target position" + } + ], + "subtask_name": "slide cloth to target position", + "subtask_reasoning": "The robot is in contact with the yellow cloth on the table, having already nudged it from the left side. The gripper remains open with no grasp, consistent with a sliding motion. The next action is to continue pushing the cloth forward toward the front center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004031_ecot.json b/cot/chunk-0004/episode_0004031_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..adc88f5b071f37d3ec1a60527267bd791f29086e --- /dev/null +++ b/cot/chunk-0004/episode_0004031_ecot.json @@ -0,0 +1,2403 @@ +{ + "task_name": "episode_0004031", + "episode_json": "json/chunk-0004/episode_0004031.json", + "video_path": "videos/chunk-0004/image_0/episode_0004031.mp4", + "instruction": "Removed the lid from the silver pot and put it on the top right of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004031.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.7222776412963867, + "std": 0.33205944299697876, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72228, std=0.33206, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 415, + 415, + 415, + 415, + 415, + 415, + 415, + 115, + 115, + 115, + 215, + 215, + 215, + 228, + 228, + 228, + 228, + 228 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 10 + ], + [ + 3, + 11, + 14 + ], + [ + 4, + 15, + 21 + ], + [ + 5, + 22, + 24 + ], + [ + 6, + 25, + 27 + ], + [ + 7, + 28, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the silver pot lid on the stove without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 7, \"end\": 14, \"planning\": \"Close the gripper around the lid handle to secure a firm grasp, confirmed by significant gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and transport lid\", \"start\": 15, \"end\": 21, \"planning\": \"Lift the lid from the pot and move it horizontally toward the top-right corner of the stove while maintaining grip.\"},\n {\"id\": 4, \"name\": \"position over target\", \"start\": 22, \"end\": 24, \"planning\": \"Hold the lid steady above the designated placement zone on the stove’s top right, preparing for release.\"},\n {\"id\": 5, \"name\": \"release lid\", \"start\": 25, \"end\": 27, \"planning\": \"Open the gripper to release the lid onto the stove surface, confirmed by gripper opening and no motion resistance.\"},\n {\"id\": 6, \"name\": \"retreat from lid\", \"start\": 28, \"end\": 32, \"planning\": \"Withdraw the end-effector upward and away from the placed lid to complete the task safely.\"}\n ],\n \"global_plan\": \"Remove the lid from the silver pot by approaching, grasping, lifting, transporting, releasing at the top-right stove position, and retreating.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 2 (frames 7-14) and 5 (frames 25-27). Segment 4 (frames 15-21) involves transport with held grip but no new closing. Segment 6 (frames 28-32) shows gripper opening and retreat, consistent with release completion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the silver pot lid on the stove without closing the gripper." + }, + { + "id": 2, + "name": "grasp lid", + "start": 7, + "end": 14, + "planning": "Close the gripper around the lid handle to secure a firm grasp, confirmed by significant gripper closure and stable pose." + }, + { + "id": 3, + "name": "lift and transport lid", + "start": 15, + "end": 21, + "planning": "Lift the lid from the pot and move it horizontally toward the top-right corner of the stove while maintaining grip." + }, + { + "id": 4, + "name": "position over target", + "start": 22, + "end": 24, + "planning": "Hold the lid steady above the designated placement zone on the stove’s top right, preparing for release." + }, + { + "id": 5, + "name": "release lid", + "start": 25, + "end": 27, + "planning": "Open the gripper to release the lid onto the stove surface, confirmed by gripper opening and no motion resistance." + }, + { + "id": 6, + "name": "retreat from lid", + "start": 28, + "end": 32, + "planning": "Withdraw the end-effector upward and away from the placed lid to complete the task safely." + } + ], + "global_plan": "Remove the lid from the silver pot by approaching, grasping, lifting, transporting, releasing at the top-right stove position, and retreating.", + "notes": "Gripper evidence supports grasp only in segments 2 (frames 7-14) and 5 (frames 25-27). Segment 4 (frames 15-21) involves transport with held grip but no new closing. Segment 6 (frames 28-32) shows gripper opening and retreat, consistent with release completion." + } + }, + "episode_goal": "Remove the lid from the silver pot and place it on the top right of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37646159529685974, + 0.07367423921823502, + -0.014822364784777164, + 3.0178351402282715, + 0.04304154962301254, + 1.587529182434082 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. No actions have been completed yet. The next step is to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 5 cm, move up 6 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36986619234085083, + 0.07254272699356079, + -0.031219538301229477, + 3.065467596054077, + 0.0542076975107193, + 1.588869571685791 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. No actions have been completed yet. The next step is to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, move up 8 cm, keep gripper open; then move left 2 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37601765990257263, + 0.07355133444070816, + -0.02401604875922203, + 3.0916123390197754, + 0.0766347274184227, + 1.5799469947814941 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. No actions have been completed yet. The next step is to move the arm closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 5 cm, move up 7 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37127652764320374, + 0.07770936191082001, + -0.019942499697208405, + 3.1075689792633057, + 0.08820801973342896, + 1.5818926095962524 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. The gripper is open and has not yet made contact with the lid. The next action should involve moving the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660806715488434, + 0.07602976262569427, + 0.009041758254170418, + 3.0692458152770996, + 0.07320728152990341, + 1.5621285438537598 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. The gripper is open and has not yet made contact with the lid. The next action should involve moving the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 6 cm, move up 4 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3384798467159271, + 0.051363423466682434, + 0.032364264130592346, + 3.0715389251708984, + 0.04170198366045952, + 1.5296612977981567 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. The gripper is open and has not yet made contact with the lid. The next action should involve moving the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2962992787361145, + 0.030625008046627045, + 0.053870078176259995, + 3.06325626373291, + -0.019447676837444305, + 1.5731321573257446 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. The gripper is open and has not yet made contact with the lid. The next action should involve moving the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2671114206314087, + 0.0187410656362772, + 0.04975452274084091, + 3.0709638595581055, + -0.0018542837351560593, + 1.567636251449585 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 95, + 467, + 345, + 752 + ], + "colander": [ + 310, + 522, + 520, + 759 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. The gripper is open and has not yet made contact with the lid. The next action should involve moving the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 7 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25380659103393555, + 0.024308549240231514, + 0.03680872172117233, + 3.0709221363067627, + -0.0022021459881216288, + 1.576607584953308 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. The gripper is open and has not yet made contact with the lid. The next action should involve moving the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25265416502952576, + 0.03994148224592209, + 0.025326933711767197, + 3.0432591438293457, + -0.00467965193092823, + 1.6141960620880127 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 663, + 563, + 993, + 991 + ], + "sponge": [ + 94, + 467, + 314, + 753 + ], + "blue lid": [ + 449, + 446, + 539, + 554 + ], + "colander": [ + 305, + 524, + 518, + 758 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot lid visible on the left burner. The gripper is open and has not yet made contact with the lid. The next action should involve moving the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2564895451068878, + 0.03989003598690033, + -0.0011130855418741703, + 3.078650951385498, + 0.01490734051913023, + 1.5971262454986572 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot lid in the sink, having completed the approach phase. The gripper is currently open and aligned with the lid handle, ready to initiate contact. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move forward 2 cm, move right 3 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26466894149780273, + 0.04169321060180664, + -0.014030253514647484, + 3.086456298828125, + 0.020438499748706818, + 1.5849920511245728 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot lid in the sink, having completed the approach phase. The gripper is currently open and aligned with the lid handle, ready to initiate contact. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 5 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27545490860939026, + 0.042175229638814926, + -0.01750655472278595, + 3.079230546951294, + 0.02555081993341446, + 1.5857012271881104 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot lid in the sink, having completed the approach phase. The gripper is currently open and aligned with the lid handle, ready to initiate contact. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27705118060112, + 0.04163173958659172, + -0.016829146072268486, + 3.0778110027313232, + 0.007930928841233253, + 1.564246416091919 + ], + "gripper_value": 0.775918185710907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot lid in the sink, having completed the approach phase. The gripper is currently open and aligned with the lid handle, ready to initiate contact. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778225541114807, + 0.04171982780098915, + -0.017392778769135475, + 3.080287218093872, + 0.00279666087590158, + 1.5569976568222046 + ], + "gripper_value": 0.5501742362976074 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot lid in the sink, having completed the approach phase. The gripper is currently open and aligned with the lid handle, ready to initiate contact. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779281437397003, + 0.04159596562385559, + -0.01531180925667286, + 3.0740742683410645, + 0.0025963729713112116, + 1.5566520690917969 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot lid in the sink, having completed the approach phase. The gripper is currently open and aligned with the lid handle, ready to initiate contact. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755246162414551, + 0.04020097479224205, + -0.014295505359768867, + 3.076918601989746, + 0.004018926061689854, + 1.5532137155532837 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot lid in the sink, having completed the approach phase. The gripper is currently open and aligned with the lid handle, ready to initiate contact. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27265703678131104, + 0.036677516996860504, + -0.012633858248591423, + 3.088243007659912, + 0.017150089144706726, + 1.5443127155303955 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot lid in the sink, having completed the approach phase. The gripper is currently open and aligned with the lid handle, ready to initiate contact. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2729528248310089, + 0.03068285994231701, + -0.0004028757393825799, + 3.079197645187378, + 0.029377056285738945, + 1.5272910594940186 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the lid of the silver pot and is currently lifting it slightly above the pot. The next action is to transport the lid toward the top right of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832578718662262, + 0.023145658895373344, + 0.023671362549066544, + 3.039337158203125, + 0.0354091078042984, + 1.5402170419692993 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the lid of the silver pot and is currently lifting it slightly above the pot. The next action is to transport the lid toward the top right of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30044302344322205, + 0.009320398792624474, + 0.03917195647954941, + 2.9956703186035156, + 0.06150710582733154, + 1.5419093370437622 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the lid of the silver pot and is currently lifting it slightly above the pot. The next action is to transport the lid toward the top right of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 2 cm, keep gripper closed; then move forward 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33250167965888977, + -0.01812150701880455, + 0.035523999482393265, + 2.9693264961242676, + 0.07638280093669891, + 1.4970117807388306 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red lid": [ + 268, + 442, + 366, + 534 + ], + "sponge": [ + 95, + 467, + 344, + 753 + ], + "colander": [ + 317, + 520, + 526, + 757 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the lid of the silver pot and is currently lifting it slightly above the pot. The next action is to transport the lid toward the top right of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move forward 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605407774448395, + -0.034292928874492645, + 0.018086913973093033, + 2.979212522506714, + 0.06034134700894356, + 1.4852371215820312 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot has grasped the lid of the silver pot and is currently lifting it slightly above the pot. The next action is to transport the lid toward the top right of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.378776878118515, + -0.038737889379262924, + 0.00018193070718552917, + 3.0147671699523926, + 0.03117074817419052, + 1.507993221282959 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper holding the silver pot lid. The lid has been successfully lifted from the pot and is now being moved towards the top right of the stove. The next action is to release the lid at the designated position on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.39472445845603943, + -0.037826791405677795, + -0.023621849715709686, + 3.0638275146484375, + 0.015579245053231716, + 1.5180400609970093 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper holding the silver pot lid. The lid has been successfully lifted from the pot and is now being moved towards the top right of the stove. The next action is to release the lid at the designated position on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40726667642593384, + -0.039026882499456406, + -0.044497765600681305, + 3.097452402114868, + 0.014326944015920162, + 1.5104129314422607 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 94, + 467, + 344, + 753 + ], + "spoon": [ + 358, + 387, + 541, + 554 + ], + "colander": [ + 314, + 512, + 547, + 764 + ], + "blue lid": [ + 421, + 442, + 540, + 553 + ], + "stovetop": [ + 100, + 350, + 645, + 841 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper holding the silver pot lid. The lid has been successfully lifted from the pot and is now being moved towards the top right of the stove. The next action is to release the lid at the designated position on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.41573086380958557, + -0.03987183794379234, + -0.04918346926569939, + 3.1158175468444824, + 0.014157477766275406, + 1.5069835186004639 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot arm is positioned over the top-right burner with the silver lid held in the gripper. The gripper is currently closed, maintaining contact with the lid. The next action is to open the gripper to release the lid onto the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.41768619418144226, + -0.040686529129743576, + -0.04930783808231354, + 3.128085136413574, + 0.01777939684689045, + 1.5032893419265747 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot arm is positioned over the top-right burner with the silver lid held in the gripper. The gripper is currently closed, maintaining contact with the lid. The next action is to open the gripper to release the lid onto the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4160936772823334, + -0.04044545814394951, + -0.05087558925151825, + 3.134028911590576, + 0.025047341361641884, + 1.4964255094528198 + ], + "gripper_value": 0.6059080362319946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The robot arm is positioned over the top-right burner with the silver lid held in the gripper. The gripper is currently closed, maintaining contact with the lid. The next action is to open the gripper to release the lid onto the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4116424024105072, + -0.03979125991463661, + -0.051406171172857285, + 3.140371322631836, + 0.027320729568600655, + 1.5062440633773804 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The robot arm is positioned over the top-right burner with the silver lid held in the gripper. The gripper is currently closed, maintaining contact with the lid. The next action is to open the gripper to release the lid onto the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4030097723007202, + -0.037845343351364136, + -0.04582899063825607, + 3.1371395587921143, + 0.03548301383852959, + 1.5086041688919067 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The lid has been successfully placed on the top right of the stove, and the gripper is now open and clear of the lid. The robot arm is positioned above the stove, having completed the release. The next action is to retreat the arm to a safe home position away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 28, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4050240218639374, + -0.03696155548095703, + -0.027441481128335, + 3.0903360843658447, + 0.04474451392889023, + 1.4993401765823364 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The lid has been successfully placed on the top right of the stove, and the gripper is now open and clear of the lid. The robot arm is positioned above the stove, having completed the release. The next action is to retreat the arm to a safe home position away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4073652923107147, + -0.03778409585356712, + 0.0040010749362409115, + 3.0141077041625977, + 0.046714410185813904, + 1.4787944555282593 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the silver pot and place it on the top right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release lid" + }, + { + "id": 6, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The lid has been successfully placed on the top right of the stove, and the gripper is now open and clear of the lid. The robot arm is positioned above the stove, having completed the release. The next action is to retreat the arm to a safe home position away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004032_ecot.json b/cot/chunk-0004/episode_0004032_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0d2b5025220d0fd18c222bbf4a1a8e89fb96b0ed --- /dev/null +++ b/cot/chunk-0004/episode_0004032_ecot.json @@ -0,0 +1,2770 @@ +{ + "task_name": "episode_0004032", + "episode_json": "json/chunk-0004/episode_0004032.json", + "video_path": "videos/chunk-0004/image_0/episode_0004032.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004032.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.8241330981254578, + "std": 0.37981370091438293, + "delta_total": 0.0026550889015197754, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.82413, std=0.37981, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 119, + 119, + 19, + 119, + 19, + 119, + 19, + 19, + 119, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 36, + 136, + 136 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 18 + ], + [ + 3, + 19, + 20 + ], + [ + 4, + 21, + 21 + ], + [ + 5, + 22, + 22 + ], + [ + 6, + 23, + 23 + ], + [ + 7, + 24, + 24 + ], + [ + 8, + 25, + 26 + ], + [ + 9, + 27, + 27 + ], + [ + 10, + 28, + 35 + ], + [ + 11, + 36, + 36 + ], + [ + 12, + 37, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 18, \"planning\": \"Move end-effector toward the drawer handle while maintaining open gripper posture.\"},\n {\"id\": 2, \"name\": \"align with handle\", \"start\": 19, \"end\": 20, \"planning\": \"Fine-tune position and orientation to align gripper with the handle’s geometry.\"},\n {\"id\": 3, \"name\": \"close gripper on handle\", \"start\": 21, \"end\": 26, \"planning\": \"Close gripper around the handle and establish secure contact for pulling.\"},\n {\"id\": 4, \"name\": \"pull drawer open\", \"start\": 27, \"end\": 35, \"planning\": \"Apply backward force via gripper to slide the drawer open along its track.\"},\n {\"id\": 5, \"name\": \"release handle\", \"start\": 36, \"end\": 36, \"planning\": \"Open gripper to disengage from the handle after drawer is sufficiently open.\"},\n {\"id\": 6, \"name\": \"retreat from drawer\", \"start\": 37, \"end\": 38, \"planning\": \"Lift and move end-effector away from the drawer to complete the task.\"}\n ],\n \"global_plan\": \"Approach, grasp, pull, release, and retreat — a complete sequence to open the drawer using handle-based manipulation.\",\n \"notes\": \"Gripper closure confirmed in segment 8 (frames 25-26) with meaningful closing evidence; all other segments use contact-based or motion-based descriptions per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 18, + "planning": "Move end-effector toward the drawer handle while maintaining open gripper posture." + }, + { + "id": 2, + "name": "align with handle", + "start": 19, + "end": 20, + "planning": "Fine-tune position and orientation to align gripper with the handle’s geometry." + }, + { + "id": 3, + "name": "close gripper on handle", + "start": 21, + "end": 26, + "planning": "Close gripper around the handle and establish secure contact for pulling." + }, + { + "id": 4, + "name": "pull drawer open", + "start": 27, + "end": 35, + "planning": "Apply backward force via gripper to slide the drawer open along its track." + }, + { + "id": 5, + "name": "release handle", + "start": 36, + "end": 36, + "planning": "Open gripper to disengage from the handle after drawer is sufficiently open." + }, + { + "id": 6, + "name": "retreat from drawer", + "start": 37, + "end": 38, + "planning": "Lift and move end-effector away from the drawer to complete the task." + } + ], + "global_plan": "Approach, grasp, pull, release, and retreat — a complete sequence to open the drawer using handle-based manipulation.", + "notes": "Gripper closure confirmed in segment 8 (frames 25-26) with meaningful closing evidence; all other segments use contact-based or motion-based descriptions per anti-hallucination rules." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23193241655826569, + 0.0830041840672493, + 0.12208414077758789, + -3.1271450519561768, + -0.1797877997159958, + -0.784981906414032 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 6 cm, move down 5 cm, tilt back 20 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23204655945301056, + 0.08233344554901123, + 0.11806721985340118, + 3.1370341777801514, + -0.1782040148973465, + -0.772404134273529 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 5 cm, move down 5 cm, tilt back 20 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23477807641029358, + 0.06930751353502274, + 0.118306003510952, + 3.062177896499634, + -0.21684783697128296, + -0.6353817582130432 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2446441352367401, + 0.05751517787575722, + 0.11692284792661667, + 3.026175022125244, + -0.26047125458717346, + -0.46671056747436523 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2568066418170929, + 0.04683665931224823, + 0.11290020495653152, + 3.0129480361938477, + -0.2922298014163971, + -0.28644663095474243 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2699390649795532, + 0.040564607828855515, + 0.09443577378988266, + 3.014153003692627, + -0.3093491196632385, + -0.0909045934677124 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28484195470809937, + 0.031373556703329086, + 0.08435551822185516, + 3.0345842838287354, + -0.3602915108203888, + 0.05118286609649658 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29954952001571655, + 0.022705264389514923, + 0.07707522809505463, + 3.01926851272583, + -0.40334534645080566, + 0.16558437049388885 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "open wooden box": [ + 507, + 63, + 927, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3123099207878113, + 0.016877809539437294, + 0.07019725441932678, + 3.009810447692871, + -0.4097643494606018, + 0.22612382471561432 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on a wooden surface, with no prior actions completed. The gripper is open and approaching the handle, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3332671523094177, + 0.014848392456769943, + 0.0672759860754013, + 2.998429536819458, + -0.4334004819393158, + 0.2938165068626404 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "open wooden box": [ + 510, + 62, + 927, + 546 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.348871648311615, + 0.01859239675104618, + 0.06965721398591995, + 3.000370979309082, + -0.4584660530090332, + 0.32167863845825195 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575264513492584, + 0.027961183339357376, + 0.06858274340629578, + 3.0046820640563965, + -0.45886725187301636, + 0.3548182249069214 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3606965243816376, + 0.03495911881327629, + 0.07235495746135712, + 3.0210824012756348, + -0.4662924110889435, + 0.38385260105133057 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608672320842743, + 0.04547940939664841, + 0.07332281023263931, + 3.0327980518341064, + -0.4823717474937439, + 0.4614436626434326 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36044350266456604, + 0.05226033926010132, + 0.07410063594579697, + 3.052417755126953, + -0.4965148866176605, + 0.5033498406410217 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35797110199928284, + 0.05684073269367218, + 0.06413163244724274, + 3.083690643310547, + -0.48783257603645325, + 0.5126184225082397 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move left 1 cm, keep gripper closed; then move back 3 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35811614990234375, + 0.056487541645765305, + 0.05506909266114235, + 3.0947515964508057, + -0.4836671054363251, + 0.5004593729972839 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 1 cm, keep gripper closed; then move back 3 cm, move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3586236834526062, + 0.05461036041378975, + 0.05284474417567253, + 3.0950822830200195, + -0.49212318658828735, + 0.4976096451282501 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3538850247859955, + 0.054207753390073776, + 0.04221978783607483, + 3.116061210632324, + -0.47605088353157043, + 0.49845534563064575 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to move the gripper closer to make contact with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 5 cm, move up 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35212573409080505, + 0.05053810402750969, + 0.03883850947022438, + 3.1056058406829834, + -0.4766579568386078, + 0.4881074130535126 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and aligned with the handle, ready for contact. The next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 5 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 19, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454148769378662, + 0.052967723459005356, + 0.034133344888687134, + 3.1092679500579834, + -0.4740341305732727, + 0.48129332065582275 + ], + "gripper_value": 0.2385561764240265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and aligned with the handle, ready for contact. The next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move left 5 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3344486653804779, + 0.06390895694494247, + 0.03603999316692352, + -3.1404166221618652, + -0.4845743477344513, + 0.4591219127178192 + ], + "gripper_value": 0.22362354397773743 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and aligned with the handle, ready for contact. The next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3239612877368927, + 0.07511356472969055, + 0.03617529198527336, + 3.138077974319458, + -0.4724236726760864, + 0.48131948709487915 + ], + "gripper_value": 0.22298766672611237 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is open and aligned with the handle, ready for contact. The next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131449520587921, + 0.08788234740495682, + 0.03976549208164215, + -3.135701894760132, + -0.4718540906906128, + 0.4816833734512329 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "open wooden box": [ + 434, + 69, + 920, + 536 + ], + "grey duct tape": [ + 681, + 394, + 815, + 652 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned at the drawer handle with the gripper partially closed (value ~0.22), indicating active engagement. The segment-level gripper evidence shows a closing trend consistent with grasping. The next action is to fully close the gripper to secure a firm hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.310072660446167, + 0.09556736052036285, + 0.04246075451374054, + 3.1392428874969482, + -0.4759379029273987, + 0.48635610938072205 + ], + "gripper_value": 0.20503154397010803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned at the drawer handle with the gripper partially closed (value ~0.22), indicating active engagement. The segment-level gripper evidence shows a closing trend consistent with grasping. The next action is to fully close the gripper to secure a firm hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3052850067615509, + 0.10587470978498459, + 0.04253123328089714, + -3.1385302543640137, + -0.4661168158054352, + 0.49457114934921265 + ], + "gripper_value": 0.18686315417289734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned at the drawer handle with the gripper partially closed (value ~0.22), indicating active engagement. The segment-level gripper evidence shows a closing trend consistent with grasping. The next action is to fully close the gripper to secure a firm hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3012409508228302, + 0.10999701172113419, + 0.04596146196126938, + -3.135960102081299, + -0.47139090299606323, + 0.4938243329524994 + ], + "gripper_value": 0.17900145053863525 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is positioned at the drawer handle with the gripper partially closed (value ~0.22), indicating active engagement. The segment-level gripper evidence shows a closing trend consistent with grasping. The next action is to fully close the gripper to secure a firm hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29836922883987427, + 0.11223451048135757, + 0.044604603201150894, + 3.1412100791931152, + -0.46027299761772156, + 0.5052187442779541 + ], + "gripper_value": 0.1778956800699234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is positioned at the drawer handle with the gripper partially closed (value ~0.22), indicating active engagement. The segment-level gripper evidence shows a closing trend consistent with grasping. The next action is to fully close the gripper to secure a firm hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, open gripper; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2940412163734436, + 0.11717148870229721, + 0.04427427798509598, + -3.1244640350341797, + -0.4615333080291748, + 0.4979212284088135 + ], + "gripper_value": 0.1778956800699234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is positioned at the drawer handle with the gripper partially closed (value ~0.22), indicating active engagement. The segment-level gripper evidence shows a closing trend consistent with grasping. The next action is to fully close the gripper to secure a firm hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, open gripper; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29297980666160583, + 0.11964644491672516, + 0.04430559650063515, + -3.114039421081543, + -0.461508572101593, + 0.4913015365600586 + ], + "gripper_value": 0.1778956800699234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is positioned at the drawer handle with the gripper partially closed (value ~0.22), indicating active engagement. The segment-level gripper evidence shows a closing trend consistent with grasping. The next action is to fully close the gripper to secure a firm hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, open gripper; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29013410210609436, + 0.12092682719230652, + 0.04626933112740517, + -3.1125500202178955, + -0.46501269936561584, + 0.4963395893573761 + ], + "gripper_value": 0.1778956800699234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is positioned at the drawer handle with the gripper partially closed (value ~0.22), indicating active engagement. The segment-level gripper evidence shows a closing trend consistent with grasping. The next action is to fully close the gripper to secure a firm hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, open gripper; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2877826392650604, + 0.12378218024969101, + 0.04699178412556648, + -3.1075289249420166, + -0.46301427483558655, + 0.5089607238769531 + ], + "gripper_value": 0.1778956800699234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, and the drawer is partially open. The gripper has maintained a consistent grasp throughout this segment, indicating active pulling. The next action is to continue pulling the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842085361480713, + 0.12402526289224625, + 0.04649416729807854, + -3.1045923233032227, + -0.461283802986145, + 0.5242139101028442 + ], + "gripper_value": 0.1778956800699234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, and the drawer is partially open. The gripper has maintained a consistent grasp throughout this segment, indicating active pulling. The next action is to continue pulling the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28220677375793457, + 0.12461867928504944, + 0.05072394758462906, + -3.101732015609741, + -0.46919769048690796, + 0.5278175473213196 + ], + "gripper_value": 0.17734436690807343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, and the drawer is partially open. The gripper has maintained a consistent grasp throughout this segment, indicating active pulling. The next action is to continue pulling the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2797221541404724, + 0.12476836889982224, + 0.05055992305278778, + -3.100041151046753, + -0.46623659133911133, + 0.5290997624397278 + ], + "gripper_value": 0.22108687460422516 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, and the drawer is partially open. The gripper has maintained a consistent grasp throughout this segment, indicating active pulling. The next action is to continue pulling the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.27795159816741943, + 0.12369983643293381, + 0.053012777119874954, + -3.08678936958313, + -0.46167823672294617, + 0.49502328038215637 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is in contact with the drawer handle, and the drawer is partially open. The gripper has maintained a consistent grasp throughout this segment, indicating active pulling. The next action is to continue pulling the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.27752557396888733, + 0.12399504333734512, + 0.060601480305194855, + -3.1095430850982666, + -0.44791319966316223, + 0.4088062644004822 + ], + "gripper_value": 0.7931879758834839 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release handle", + "subtask_reasoning": "The drawer is already open, and the robot's end-effector is positioned near the handle but not in contact. The gripper is open, indicating no grasp is occurring. The next action should involve retreating the arm away from the drawer to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783459722995758, + 0.12661921977996826, + 0.07745348662137985, + 3.130467653274536, + -0.4080577790737152, + 0.26524633169174194 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "open wooden box": [ + 318, + 72, + 920, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is open and the robot's end-effector is positioned near the handle with the gripper open. The retreat subtask involves moving the arm away from the drawer to complete the sequence. The next action is to retract the arm backward and upward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 37, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.27581849694252014, + 0.12988682091236115, + 0.11059480160474777, + 3.084049940109253, + -0.41192328929901123, + 0.0828908160328865 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle" + }, + { + "id": 6, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is open and the robot's end-effector is positioned near the handle with the gripper open. The retreat subtask involves moving the arm away from the drawer to complete the sequence. The next action is to retract the arm backward and upward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004033_ecot.json b/cot/chunk-0004/episode_0004033_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ed57e8b4c2bcbd5d286913584c1e82befd2c91e8 --- /dev/null +++ b/cot/chunk-0004/episode_0004033_ecot.json @@ -0,0 +1,1549 @@ +{ + "task_name": "episode_0004033", + "episode_json": "json/chunk-0004/episode_0004033.json", + "video_path": "videos/chunk-0004/image_0/episode_0004033.mp4", + "instruction": "Put bowl on plate cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004033.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.9401949644088745, + "std": 0.41869601607322693, + "delta_total": -0.006178140640258789, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94019, std=0.41870, total_delta=-0.00618). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 122, + 122 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 14 + ], + [ + 3, + 15, + 21 + ], + [ + 4, + 22, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue bowl\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector down toward the blue bowl while closing gripper to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift blue bowl\", \"start\": 9, \"end\": 14, \"planning\": \"Securely grasp the blue bowl and lift it upward, clearing the tray surface.\"},\n {\"id\": 3, \"name\": \"place blue bowl on plate\", \"start\": 15, \"end\": 21, \"planning\": \"Position the blue bowl over the yellow plate and lower it gently to rest centered on the plate.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 22, \"end\": 23, \"planning\": \"Open gripper to release the bowl and begin retracting end-effector upward.\"}\n ],\n \"global_plan\": \"Grasp the blue bowl from the tray, lift it, place it centered on the yellow plate, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-8) with delta=-0.33130 and visual alignment; grasp is valid. Segment 2 shows full closure and lift motion. Segment 3 shows placement with gripper opening. Segment 4 confirms release via gripper opening and upward motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue bowl", + "start": 0, + "end": 8, + "planning": "Move end-effector down toward the blue bowl while closing gripper to prepare for grasp." + }, + { + "id": 2, + "name": "grasp and lift blue bowl", + "start": 9, + "end": 14, + "planning": "Securely grasp the blue bowl and lift it upward, clearing the tray surface." + }, + { + "id": 3, + "name": "place blue bowl on plate", + "start": 15, + "end": 21, + "planning": "Position the blue bowl over the yellow plate and lower it gently to rest centered on the plate." + }, + { + "id": 4, + "name": "release and retreat", + "start": 22, + "end": 23, + "planning": "Open gripper to release the bowl and begin retracting end-effector upward." + } + ], + "global_plan": "Grasp the blue bowl from the tray, lift it, place it centered on the yellow plate, then release and retreat.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-8) with delta=-0.33130 and visual alignment; grasp is valid. Segment 2 shows full closure and lift motion. Segment 3 shows placement with gripper opening. Segment 4 confirms release via gripper opening and upward motion." + } + }, + "episode_goal": "Place the blue bowl on top of the yellow plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559524476528168, + -0.013747635297477245, + 0.08258945494890213, + -3.099041700363159, + -0.15863540768623352, + 0.18907694518566132 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No actions have been completed yet as the gripper is open and hovering. The next step is to move the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 7 cm, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25277215242385864, + -0.013438132591545582, + 0.07819855958223343, + -3.0957891941070557, + -0.14424970746040344, + 0.19587059319019318 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No actions have been completed yet as the gripper is open and hovering. The next step is to move the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 7 cm, rotate clockwise 20 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24953779578208923, + 0.01745082437992096, + 0.07811228930950165, + -3.1019763946533203, + -0.16764265298843384, + 0.36750853061676025 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No actions have been completed yet as the gripper is open and hovering. The next step is to move the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2474175989627838, + 0.04831147566437721, + 0.07383941113948822, + -3.098860740661621, + -0.1630507856607437, + 0.42615562677383423 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 312, + 563, + 503, + 740 + ], + "white toy food": [ + 407, + 378, + 623, + 590 + ], + "blue bowl": [ + 167, + 436, + 345, + 646 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No actions have been completed yet as the gripper is open and hovering. The next step is to move the end-effector closer to the blue bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24474455416202545, + 0.06389009207487106, + 0.05969595909118652, + -3.0877954959869385, + -0.14644107222557068, + 0.45744451880455017 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No objects have been moved yet. The gripper is open and approaching the blue bowl, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, close gripper; then move forward 5 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24645553529262543, + 0.07500123977661133, + 0.038026634603738785, + -3.09759521484375, + -0.12149734050035477, + 0.5328155755996704 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No objects have been moved yet. The gripper is open and approaching the blue bowl, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 6 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2501303553581238, + 0.07485409080982208, + 0.023985177278518677, + -3.111829996109009, + -0.11289475858211517, + 0.5561864376068115 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No objects have been moved yet. The gripper is open and approaching the blue bowl, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 6 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24917647242546082, + 0.07292796671390533, + 0.016273751854896545, + -3.0962607860565186, + -0.12257213145494461, + 0.5359843373298645 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No objects have been moved yet. The gripper is open and approaching the blue bowl, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24867568910121918, + 0.07070621848106384, + 0.014493432827293873, + -3.106691598892212, + -0.11048932373523712, + 0.5423327684402466 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No objects have been moved yet. The gripper is open and approaching the blue bowl, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24792344868183136, + 0.07008993625640869, + 0.012552164494991302, + -3.099130868911743, + -0.1034356877207756, + 0.5344575643539429 + ], + "gripper_value": 0.3644362688064575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No objects have been moved yet. The gripper is open and approaching the blue bowl, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24588578939437866, + 0.06996975839138031, + 0.01279763225466013, + -3.0939176082611084, + -0.09276975691318512, + 0.5400115847587585 + ], + "gripper_value": 0.15163248777389526 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift blue bowl", + "subtask_reasoning": "The robot arm is positioned above the tray, with the blue bowl visible to the left and the yellow plate to the right. No objects have been moved yet. The gripper is open and approaching the blue bowl, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24598628282546997, + 0.06731259822845459, + 0.020723268389701843, + -3.0755624771118164, + -0.10238823294639587, + 0.5193237066268921 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift blue bowl", + "subtask_reasoning": "The robot has approached the blue bowl and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The next action is to lift the blue bowl slightly to confirm a secure grasp before moving it toward the yellow plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.259915828704834, + 0.0576765201985836, + 0.05119068920612335, + -3.024658203125, + -0.13443510234355927, + 0.4754863381385803 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 312, + 564, + 503, + 739 + ], + "white toy food": [ + 408, + 379, + 622, + 588 + ], + "blue bowl": [ + 160, + 376, + 341, + 569 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift blue bowl", + "subtask_reasoning": "The robot has approached the blue bowl and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The next action is to lift the blue bowl slightly to confirm a secure grasp before moving it toward the yellow plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27687790989875793, + 0.03541288152337074, + 0.07097411900758743, + -2.997429132461548, + -0.13707056641578674, + 0.36286506056785583 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift blue bowl", + "subtask_reasoning": "The robot has approached the blue bowl and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The next action is to lift the blue bowl slightly to confirm a secure grasp before moving it toward the yellow plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982032299041748, + 0.01440285611897707, + 0.0704868882894516, + -2.965150833129883, + -0.0868842676281929, + 0.20687492191791534 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift blue bowl", + "subtask_reasoning": "The robot has approached the blue bowl and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The next action is to lift the blue bowl slightly to confirm a secure grasp before moving it toward the yellow plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30604228377342224, + 0.0006905145710334182, + 0.056008994579315186, + -2.989704132080078, + -0.03962011635303497, + 0.05542571470141411 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bowl on plate", + "subtask_reasoning": "The robot has approached the blue bowl and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The next action is to lift the blue bowl slightly to confirm a secure grasp before moving it toward the yellow plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3132501542568207, + -0.009816250763833523, + 0.04330039024353027, + -3.061354160308838, + -0.0542270727455616, + -0.00673109432682395 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 312, + 563, + 504, + 739 + ], + "blue bowl": [ + 396, + 300, + 543, + 481 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bowl on plate", + "subtask_reasoning": "The robot has approached the blue bowl and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The next action is to lift the blue bowl slightly to confirm a secure grasp before moving it toward the yellow plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31549331545829773, + -0.019156726077198982, + 0.03663354739546776, + -3.1068103313446045, + -0.0803934708237648, + -0.037811990827322006 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bowl on plate", + "subtask_reasoning": "The robot has approached the blue bowl and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The next action is to lift the blue bowl slightly to confirm a secure grasp before moving it toward the yellow plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3189595639705658, + -0.026842942461371422, + 0.03238968923687935, + -3.1345386505126953, + -0.0954291895031929, + -0.05680521950125694 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bowl on plate", + "subtask_reasoning": "The blue bowl is currently held by the gripper and positioned directly above the yellow plate. The gripper is closed, indicating a secure grasp. The next action is to lower the bowl onto the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3187054693698883, + -0.024539191275835037, + 0.03209281340241432, + -3.1231448650360107, + -0.09439720213413239, + -0.056524451822042465 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bowl on plate", + "subtask_reasoning": "The blue bowl is currently held by the gripper and positioned directly above the yellow plate. The gripper is closed, indicating a secure grasp. The next action is to lower the bowl onto the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32070761919021606, + -0.02141452208161354, + 0.029133884236216545, + -3.1088314056396484, + -0.1218993067741394, + -0.00979980081319809 + ], + "gripper_value": 0.22617807984352112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bowl on plate", + "subtask_reasoning": "The blue bowl is currently held by the gripper and positioned directly above the yellow plate. The gripper is closed, indicating a secure grasp. The next action is to lower the bowl onto the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.315337210893631, + -0.019751811400055885, + 0.028932664543390274, + -3.0975544452667236, + -0.0874863862991333, + 0.012330744415521622 + ], + "gripper_value": 0.47944000363349915 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bowl on plate", + "subtask_reasoning": "The blue bowl is currently held by the gripper and positioned directly above the yellow plate. The gripper is closed, indicating a secure grasp. The next action is to lower the bowl onto the plate and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31166157126426697, + -0.018846003338694572, + 0.02945728786289692, + -3.092010974884033, + -0.06397010385990143, + 0.02077089622616768 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue bowl is currently positioned on the yellow plate, with the gripper still in contact and slightly open. The subtask of releasing the bowl is underway, and the next action should be to fully open the gripper and retreat the end-effector to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31114479899406433, + -0.022515710443258286, + 0.05655825883150101, + -3.109266757965088, + -0.07321371883153915, + 0.042919792234897614 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bowl on top of the yellow plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bowl" + }, + { + "id": 2, + "subtask": "grasp and lift blue bowl" + }, + { + "id": 3, + "subtask": "place blue bowl on plate" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue bowl is currently positioned on the yellow plate, with the gripper still in contact and slightly open. The subtask of releasing the bowl is underway, and the next action should be to fully open the gripper and retreat the end-effector to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004034_ecot.json b/cot/chunk-0004/episode_0004034_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f8b11ed59d318f2ab9eb21aca8231eadce7b65f1 --- /dev/null +++ b/cot/chunk-0004/episode_0004034_ecot.json @@ -0,0 +1,2745 @@ +{ + "task_name": "episode_0004034", + "episode_json": "json/chunk-0004/episode_0004034.json", + "video_path": "videos/chunk-0004/image_0/episode_0004034.mp4", + "instruction": "Fold the cloth from top left to bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004034.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.9471018314361572, + "std": 0.41570696234703064, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94710, std=0.41571, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 15, + 15, + 29, + 29, + 29, + 129, + 129, + 129, + 129, + 129, + 129, + 129, + 129, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 14 + ], + [ + 4, + 15, + 26 + ], + [ + 5, + 27, + 28 + ], + [ + 6, + 29, + 31 + ], + [ + 7, + 32, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth top left\", \"start\": 0, \"end\": 4, \"planning\": \"Move gripper from initial position toward the top-left corner of the cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp top left corner\", \"start\": 5, \"end\": 14, \"planning\": \"Close gripper to securely grasp the top-left corner of the cloth as evidenced by significant gripper closure and contact.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 15, \"end\": 26, \"planning\": \"Pull the grasped corner diagonally toward bottom-right to initiate folding motion while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release and reposition\", \"start\": 27, \"end\": 31, \"planning\": \"Open gripper to release the cloth after partial fold, then retreat slightly to prepare for final adjustment.\"},\n {\"id\": 5, \"name\": \"finalize fold alignment\", \"start\": 32, \"end\": 40, \"planning\": \"Make minor positional adjustments without gripping to align the folded edge neatly along the diagonal.\"}\n ],\n \"global_plan\": \"Fold the cloth by grasping the top-left corner, dragging it diagonally to meet the bottom-right, releasing, and making final alignment adjustments.\",\n \"notes\": \"Subtasks respect segment boundaries where gripper evidence supports grasp/release; non-grasp segments use contact-based verbs. Full frame coverage ensured with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth top left", + "start": 0, + "end": 4, + "planning": "Move gripper from initial position toward the top-left corner of the cloth without closing." + }, + { + "id": 2, + "name": "grasp top left corner", + "start": 5, + "end": 14, + "planning": "Close gripper to securely grasp the top-left corner of the cloth as evidenced by significant gripper closure and contact." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 15, + "end": 26, + "planning": "Pull the grasped corner diagonally toward bottom-right to initiate folding motion while maintaining grip." + }, + { + "id": 4, + "name": "release and reposition", + "start": 27, + "end": 31, + "planning": "Open gripper to release the cloth after partial fold, then retreat slightly to prepare for final adjustment." + }, + { + "id": 5, + "name": "finalize fold alignment", + "start": 32, + "end": 40, + "planning": "Make minor positional adjustments without gripping to align the folded edge neatly along the diagonal." + } + ], + "global_plan": "Fold the cloth by grasping the top-left corner, dragging it diagonally to meet the bottom-right, releasing, and making final alignment adjustments.", + "notes": "Subtasks respect segment boundaries where gripper evidence supports grasp/release; non-grasp segments use contact-based verbs. Full frame coverage ensured with contiguous ranges." + } + }, + "episode_goal": "Fold the cloth from top left to bottom right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2980915307998657, + 0.015155958011746407, + 0.09042611718177795, + -3.042328119277954, + -0.09969563037157059, + 0.07838166505098343 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "approach cloth top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating movement toward the top-left corner. No contact or grasping has occurred yet. The next action is to continue approaching and aligning with the top-left corner of the cloth for precise contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2973025441169739, + 0.016595669090747833, + 0.08120241016149521, + -3.034064531326294, + -0.07350055873394012, + 0.08275631815195084 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "approach cloth top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, initiating movement toward the top-left corner. No contact or grasping has occurred yet. The next action is to continue approaching and aligning with the top-left corner of the cloth for precise contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 9 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 7 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31324365735054016, + 0.02583939954638481, + 0.07046464830636978, + -2.978205919265747, + -0.10120558738708496, + 0.06435301899909973 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "approach cloth top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 7 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33478933572769165, + 0.046951860189437866, + 0.07017212361097336, + -2.9768173694610596, + -0.13100771605968475, + 0.0534452348947525 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "approach cloth top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 6 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36914491653442383, + 0.07530063390731812, + 0.05978726968169212, + -2.9918577671051025, + -0.13600879907608032, + -0.020159367471933365 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 124, + 227, + 786, + 910 + ], + "white table": [ + 3, + 4, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "approach cloth top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, keep gripper open; then move forward 5 cm, move left 6 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3950941264629364, + 0.1048683449625969, + 0.0582207515835762, + -2.9906973838806152, + -0.16409257054328918, + -0.08000051975250244 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.42340087890625, + 0.12657110393047333, + 0.06985902041196823, + -2.954197645187378, + -0.17327235639095306, + -0.13624337315559387 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 6 cm, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4320225715637207, + 0.13758571445941925, + 0.07462036609649658, + -2.9347870349884033, + -0.1508951038122177, + -0.1393078714609146 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 7 cm, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4492453932762146, + 0.1439763903617859, + 0.07217147201299667, + -2.9230895042419434, + -0.16313455998897552, + -0.15527278184890747 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4617469310760498, + 0.15133245289325714, + 0.06187816336750984, + -2.920804977416992, + -0.1459713727235794, + -0.14528195559978485 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4704657793045044, + 0.15955188870429993, + 0.041578251868486404, + -2.9244582653045654, + -0.11491294205188751, + -0.14829722046852112 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 5, + 5, + 995, + 995 + ], + "cables": [ + 117, + 21, + 243, + 132 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4735759198665619, + 0.17059412598609924, + 0.028592657297849655, + -2.934858798980713, + -0.1186450645327568, + -0.12808504700660706 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, close gripper; then move up 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4627402424812317, + 0.17299258708953857, + 0.015596028417348862, + -2.9606130123138428, + -0.10419799387454987, + -0.1136559471487999 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4555132985115051, + 0.16966231167316437, + 0.012257062830030918, + -2.9840097427368164, + -0.12210430949926376, + -0.10979071259498596 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 4 cm, move right 5 cm, move up 12 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4487197995185852, + 0.16596366465091705, + 0.010529596358537674, + -3.0016422271728516, + -0.12630383670330048, + -0.10620959848165512 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "grasp top left corner", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move right 8 cm, move up 12 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.44898721575737, + 0.16241881251335144, + 0.009185967966914177, + -3.018693447113037, + -0.13411051034927368, + -0.12365594506263733 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 11 cm, move up 11 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.45434805750846863, + 0.16399416327476501, + 0.011339695192873478, + -3.021860122680664, + -0.1614423543214798, + -0.14621242880821228 + ], + "gripper_value": 0.2117326408624649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 14 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.45690226554870605, + 0.1646357774734497, + 0.010716181248426437, + -3.0153279304504395, + -0.16957207024097443, + -0.16362696886062622 + ], + "gripper_value": 0.11661893874406815 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 16 cm, move up 6 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.45882517099380493, + 0.16580186784267426, + 0.012289046309888363, + -3.000399351119995, + -0.17709875106811523, + -0.17407728731632233 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 16 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.45749208331108093, + 0.16720324754714966, + 0.017492733895778656, + -2.9691145420074463, + -0.12407968193292618, + -0.20601989328861237 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is positioned above the top-left corner of the cloth with the gripper open. The approach phase is complete, and the robot is ready to close the gripper to grasp the corner. The next action is to close the gripper to secure the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 16 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.44889551401138306, + 0.17308460175991058, + 0.020630979910492897, + -2.9265100955963135, + -0.05551408976316452, + -0.20758286118507385 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 16 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.44470542669296265, + 0.1644746959209442, + 0.061616916209459305, + -2.8584401607513428, + -0.07632702589035034, + -0.21403877437114716 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 16 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4341980218887329, + 0.1387787014245987, + 0.10294366627931595, + -2.792804479598999, + -0.10756772756576538, + -0.21984584629535675 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 4, + 996, + 995 + ], + "blue cloth": [ + 112, + 90, + 754, + 893 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 13 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.40616926550865173, + 0.10763731598854065, + 0.13049180805683136, + -2.8187975883483887, + -0.19251081347465515, + -0.16968761384487152 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 10 cm, move down 6 cm, tilt right 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35928669571876526, + 0.0781494602560997, + 0.13021647930145264, + -2.9075522422790527, + -0.22924886643886566, + -0.0885167345404625 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 7 cm, move down 6 cm, open gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32036542892456055, + 0.05284243822097778, + 0.11485794186592102, + -2.9722063541412354, + -0.25988930463790894, + -0.07368100434541702 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 4 cm, open gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30066466331481934, + 0.024935636669397354, + 0.0930146872997284, + -2.9629878997802734, + -0.27646180987358093, + -0.10903670638799667 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29483792185783386, + 0.008454961702227592, + 0.07392166554927826, + -2.9580366611480713, + -0.2864222228527069, + -0.12381879985332489 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 5, + 996, + 995 + ], + "blue cloth": [ + 111, + 285, + 760, + 892 + ], + "cables": [ + 2, + 31, + 192, + 133 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "release and reposition", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.293829083442688, + 0.00326677318662405, + 0.066623754799366, + -2.961966037750244, + -0.28818953037261963, + -0.11681493371725082 + ], + "gripper_value": 0.2438887059688568 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "release and reposition", + "subtask_reasoning": "The robot is currently holding the top-left corner of the cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned above the cloth, ready to initiate movement. The next action is to drag the cloth diagonally toward the bottom-right corner to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.290833443403244, + 0.003412653459236026, + 0.06390122324228287, + -2.9614198207855225, + -0.25072744488716125, + -0.11691372841596603 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "release and reposition", + "subtask_reasoning": "The cloth has been partially folded with the top-left corner brought toward the bottom-right. The gripper is currently open and hovering above the cloth, indicating the release phase is complete. The next action should involve repositioning the gripper to adjust or smooth the fold for proper alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923485338687897, + 0.0029564504511654377, + 0.06731398403644562, + -2.963104486465454, + -0.2428733855485916, + -0.11978944391012192 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "release and reposition", + "subtask_reasoning": "The cloth has been partially folded with the top-left corner brought toward the bottom-right. The gripper is currently open and hovering above the cloth, indicating the release phase is complete. The next action should involve repositioning the gripper to adjust or smooth the fold for proper alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29505038261413574, + 0.0018374189967289567, + 0.075743667781353, + -2.970195770263672, + -0.2172793447971344, + -0.11798422038555145 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "release and reposition", + "subtask_reasoning": "The cloth has been partially folded with the top-left corner brought toward the bottom-right. The gripper is currently open and hovering above the cloth, indicating the release phase is complete. The next action should involve repositioning the gripper to adjust or smooth the fold for proper alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3104846775531769, + 0.017082098871469498, + 0.09007073938846588, + -2.9323394298553467, + -0.20262661576271057, + -0.12125245481729507 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 120, + 308, + 763, + 891 + ], + "white table": [ + 3, + 5, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been partially folded with the top-left corner brought toward the bottom-right. The gripper is currently open and hovering above the cloth, indicating the release phase is complete. The next action should involve repositioning the gripper to adjust or smooth the fold for proper alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32307446002960205, + 0.022850872948765755, + 0.09256324917078018, + -2.9094276428222656, + -0.21255871653556824, + -0.13905388116836548 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been partially folded with the top-left corner brought toward the bottom-right. The gripper is currently open and hovering above the cloth, indicating the release phase is complete. The next action should involve repositioning the gripper to adjust or smooth the fold for proper alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.32352155447006226, + 0.025716496631503105, + 0.09340041875839233, + -2.906280279159546, + -0.21382173895835876, + -0.1330777257680893 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been partially folded with the top-left corner brought toward the bottom-right. The gripper is currently open and hovering above the cloth, indicating the release phase is complete. The next action should involve repositioning the gripper to adjust or smooth the fold for proper alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3235476315021515, + 0.025715896859765053, + 0.09389567375183105, + -2.9061079025268555, + -0.21534642577171326, + -0.13311445713043213 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been partially folded with the top-left corner brought toward the bottom-right. The gripper is currently open and hovering above the cloth, indicating the release phase is complete. The next action should involve repositioning the gripper to adjust or smooth the fold for proper alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.32352155447006226, + 0.025716496631503105, + 0.09340041875839233, + -2.906280279159546, + -0.21382173895835876, + -0.1330777257680893 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been folded with the top-left corner brought toward the bottom-right, and the gripper is currently open and hovering above the cloth. No grasping is occurring in this segment; the next action should involve minor positional adjustments or pressing down to finalize alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.32352155447006226, + 0.025716496631503105, + 0.09340041875839233, + -2.906280279159546, + -0.21382173895835876, + -0.1330777257680893 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been folded with the top-left corner brought toward the bottom-right, and the gripper is currently open and hovering above the cloth. No grasping is occurring in this segment; the next action should involve minor positional adjustments or pressing down to finalize alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232877552509308, + 0.025763846933841705, + 0.09335283935070038, + -2.9062540531158447, + -0.21233348548412323, + -0.13271263241767883 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been folded with the top-left corner brought toward the bottom-right, and the gripper is currently open and hovering above the cloth. No grasping is occurring in this segment; the next action should involve minor positional adjustments or pressing down to finalize alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3234943747520447, + 0.02553649991750717, + 0.0933552235364914, + -2.907670736312866, + -0.21397122740745544, + -0.13208657503128052 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been folded with the top-left corner brought toward the bottom-right, and the gripper is currently open and hovering above the cloth. No grasping is occurring in this segment; the next action should involve minor positional adjustments or pressing down to finalize alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.32271021604537964, + 0.025735169649124146, + 0.09260591864585876, + -2.9066250324249268, + -0.2107723206281662, + -0.13300511240959167 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top left" + }, + { + "id": 2, + "subtask": "grasp top left corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release and reposition" + }, + { + "id": 5, + "subtask": "finalize fold alignment" + } + ], + "subtask_name": "finalize fold alignment", + "subtask_reasoning": "The cloth has been folded with the top-left corner brought toward the bottom-right, and the gripper is currently open and hovering above the cloth. No grasping is occurring in this segment; the next action should involve minor positional adjustments or pressing down to finalize alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004038_ecot.json b/cot/chunk-0004/episode_0004038_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..05cb5e2fc2c7a0076f98202acb85aa750a351a83 --- /dev/null +++ b/cot/chunk-0004/episode_0004038_ecot.json @@ -0,0 +1,3001 @@ +{ + "task_name": "episode_0004038", + "episode_json": "json/chunk-0004/episode_0004038.json", + "video_path": "videos/chunk-0004/image_0/episode_0004038.mp4", + "instruction": "Fold the cloth from bottom right to top.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004038.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9615912437438965, + "std": 0.4399491250514984, + "delta_total": -0.0006677508354187012, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96159, std=0.43995, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 216, + 216, + 216, + 216, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 116, + 116, + 116, + 116, + 116, + 116, + 137, + 137, + 137, + 137, + 137, + 137, + 137, + 137 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 19 + ], + [ + 3, + 20, + 30 + ], + [ + 4, + 31, + 36 + ], + [ + 5, + 37, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 15, \"planning\": \"Move gripper toward bottom-right corner of cloth while closing to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and secure cloth\", \"start\": 16, \"end\": 19, \"planning\": \"Firmly close gripper on cloth corner to establish stable grasp before lifting.\"},\n {\"id\": 3, \"name\": \"lift and fold cloth upward\", \"start\": 20, \"end\": 30, \"planning\": \"Lift grasped corner and move it upward to initiate folding motion over the cloth body.\"},\n {\"id\": 4, \"name\": \"reposition and release cloth\", \"start\": 31, \"end\": 36, \"planning\": \"Adjust position of folded edge and begin releasing grip to settle cloth into folded state.\"},\n {\"id\": 5, \"name\": \"retreat after fold completion\", \"start\": 37, \"end\": 44, \"planning\": \"Fully open gripper and retreat upward to disengage from cloth after fold is complete.\"}\n ],\n \"global_plan\": \"Fold the cloth by grasping its bottom-right corner, lifting it upward to drape over the main body, then releasing to complete the fold.\",\n \"notes\": \"Plan follows observed gripper closure in segments 1–2 (grasp), lift/fold in segment 3, release in segment 4, and retreat in segment 5. All frame ranges are contiguous and cover full trajectory [0,44].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 15, + "planning": "Move gripper toward bottom-right corner of cloth while closing to prepare for contact." + }, + { + "id": 2, + "name": "grasp and secure cloth", + "start": 16, + "end": 19, + "planning": "Firmly close gripper on cloth corner to establish stable grasp before lifting." + }, + { + "id": 3, + "name": "lift and fold cloth upward", + "start": 20, + "end": 30, + "planning": "Lift grasped corner and move it upward to initiate folding motion over the cloth body." + }, + { + "id": 4, + "name": "reposition and release cloth", + "start": 31, + "end": 36, + "planning": "Adjust position of folded edge and begin releasing grip to settle cloth into folded state." + }, + { + "id": 5, + "name": "retreat after fold completion", + "start": 37, + "end": 44, + "planning": "Fully open gripper and retreat upward to disengage from cloth after fold is complete." + } + ], + "global_plan": "Fold the cloth by grasping its bottom-right corner, lifting it upward to drape over the main body, then releasing to complete the fold.", + "notes": "Plan follows observed gripper closure in segments 1–2 (grasp), lift/fold in segment 3, release in segment 4, and retreat in segment 5. All frame ranges are contiguous and cover full trajectory [0,44]." + } + }, + "episode_goal": "Fold the cloth from bottom right to top.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946723401546478, + 0.03880850225687027, + 0.12751340866088867, + 2.8951151371002197, + -0.10601639747619629, + 0.273568332195282 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, with the gripper open and ready to approach the bottom-right corner. No part of the folding task has been completed yet. The next action is to move the gripper downward and toward the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 9 cm, move down 6 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2919809818267822, + 0.036502595990896225, + 0.12107938528060913, + 2.8912267684936523, + -0.08179564028978348, + 0.27094167470932007 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, with the gripper open and ready to approach the bottom-right corner. No part of the folding task has been completed yet. The next action is to move the gripper downward and toward the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 8 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28074905276298523, + 0.02555028907954693, + 0.11602595448493958, + 2.850961685180664, + -0.04924480989575386, + 0.23525556921958923 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, with the gripper open and ready to approach the bottom-right corner. No part of the folding task has been completed yet. The next action is to move the gripper downward and toward the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 7 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718951404094696, + 0.02303619682788849, + 0.11758094280958176, + 2.8435890674591064, + -0.056062810122966766, + 0.19117486476898193 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, with the gripper open and ready to approach the bottom-right corner. No part of the folding task has been completed yet. The next action is to move the gripper downward and toward the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589467763900757, + 0.016695387661457062, + 0.12140881270170212, + 2.8241896629333496, + -0.07445638626813889, + 0.10414628684520721 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, with the gripper open and ready to approach the bottom-right corner. No part of the folding task has been completed yet. The next action is to move the gripper downward and toward the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521318197250366, + 0.008442915976047516, + 0.11312298476696014, + 2.8412997722625732, + -0.07653944194316864, + 0.06747904419898987 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, with the gripper open and ready to approach the bottom-right corner. No part of the folding task has been completed yet. The next action is to move the gripper downward and toward the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2410179227590561, + -0.012647520750761032, + 0.10865402221679688, + 2.875101089477539, + -0.0851903185248375, + -0.009948629885911942 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, with the gripper open and ready to approach the bottom-right corner. No part of the folding task has been completed yet. The next action is to move the gripper downward and toward the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.229115292429924, + -0.027595609426498413, + 0.09532982856035233, + 2.8901569843292236, + -0.08387379348278046, + -0.08654143661260605 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21734625101089478, + -0.04533686116337776, + 0.08297275006771088, + 2.935065746307373, + -0.08164674043655396, + -0.18950998783111572 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 241, + 361, + 645, + 896 + ], + "faucet": [ + 901, + 354, + 994, + 565 + ], + "sink": [ + 803, + 616, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2141266018152237, + -0.05417606979608536, + 0.07326094061136246, + 2.9967474937438965, + -0.1117391437292099, + -0.30343958735466003 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21756960451602936, + -0.049362942576408386, + 0.06468091905117035, + 3.055616855621338, + -0.14688459038734436, + -0.3421061336994171 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22355827689170837, + -0.04658900573849678, + 0.0475197471678257, + 3.075458288192749, + -0.12620960175991058, + -0.3485983908176422 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 242, + 359, + 646, + 898 + ], + "faucet": [ + 901, + 354, + 994, + 565 + ], + "sink": [ + 803, + 616, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2251240611076355, + -0.04897255450487137, + 0.029162222519516945, + 3.080357789993286, + -0.09366768598556519, + -0.37040212750434875 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2266535758972168, + -0.054173678159713745, + 0.018917743116617203, + 3.0908422470092773, + -0.08194378763437271, + -0.4106368124485016 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2254614681005478, + -0.05617427080869675, + 0.018547093495726585, + 3.099536180496216, + -0.0782720074057579, + -0.4352814853191376 + ], + "gripper_value": 0.959831714630127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22697412967681885, + -0.053977448493242264, + 0.017641635611653328, + 3.1205086708068848, + -0.0828041061758995, + -0.42971986532211304 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move left 2 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2272888869047165, + -0.055585503578186035, + 0.012947479262948036, + -3.1242454051971436, + -0.06851102411746979, + -0.43792909383773804 + ], + "gripper_value": 0.413944274187088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "grasp and secure cloth", + "subtask_reasoning": "The robot arm is positioned above the cloth on the stovetop, with the gripper open and ready to engage. No part of the folding task has been completed yet. The current subtask requires moving the gripper to make contact with the bottom-right corner of the cloth. The next action is to lower and align the gripper to grasp the target corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 3 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22666721045970917, + -0.05903495475649834, + 0.01269030012190342, + -3.0985522270202637, + -0.06490930914878845, + -0.4452812969684601 + ], + "gripper_value": 0.2631158232688904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "grasp and secure cloth", + "subtask_reasoning": "The robot arm is positioned over the bottom-right corner of the cloth on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the cloth corner. The next action is to close the gripper to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 11 cm, move left 4 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22662223875522614, + -0.05924302339553833, + 0.012695424258708954, + -3.098151922225952, + -0.0651409700512886, + -0.4388192892074585 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "grasp and secure cloth", + "subtask_reasoning": "The robot arm is positioned over the bottom-right corner of the cloth on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the cloth corner. The next action is to close the gripper to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 13 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22155815362930298, + -0.06230827420949936, + 0.017146771773695946, + -3.1267783641815186, + -0.06591891497373581, + -0.45498842000961304 + ], + "gripper_value": 0.10713252425193787 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "grasp and secure cloth", + "subtask_reasoning": "The robot arm is positioned over the bottom-right corner of the cloth on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the cloth corner. The next action is to close the gripper to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 14 cm, move left 5 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21417495608329773, + -0.06252781301736832, + 0.03319237008690834, + 3.1314594745635986, + -0.06462053954601288, + -0.4553796947002411 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot arm is positioned over the bottom-right corner of the cloth on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the cloth corner. The next action is to close the gripper to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21038131415843964, + -0.06165022403001785, + 0.05514046922326088, + 3.1167290210723877, + -0.08347653597593307, + -0.44321930408477783 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot arm is positioned over the bottom-right corner of the cloth on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the cloth corner. The next action is to close the gripper to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 5 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21263855695724487, + -0.0642232745885849, + 0.07503053545951843, + 3.0905261039733887, + -0.11325083673000336, + -0.4313450753688812 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 285, + 411, + 738, + 854 + ], + "faucet": [ + 902, + 353, + 994, + 565 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot arm is positioned over the bottom-right corner of the cloth on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the cloth corner. The next action is to close the gripper to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2238994687795639, + -0.06177423894405365, + 0.09116790443658829, + 3.065866231918335, + -0.12995545566082, + -0.401619553565979 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot arm is positioned over the bottom-right corner of the cloth on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the cloth corner. The next action is to close the gripper to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2441118359565735, + -0.04945060610771179, + 0.11520758271217346, + 3.0402066707611084, + -0.16174320876598358, + -0.34648633003234863 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot arm is positioned over the bottom-right corner of the cloth on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the cloth corner. The next action is to close the gripper to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678471803665161, + -0.03882713243365288, + 0.1212262362241745, + 3.0129246711730957, + -0.1388055384159088, + -0.30854538083076477 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the cloth and is currently lifting it upward. The cloth is partially draped over the main body, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29767078161239624, + -0.03051881305873394, + 0.1214740052819252, + 3.004265785217285, + -0.11954262107610703, + -0.28784579038619995 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the cloth and is currently lifting it upward. The cloth is partially draped over the main body, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32295289635658264, + -0.026360899209976196, + 0.1163715273141861, + 3.0031824111938477, + -0.11341477930545807, + -0.27497008442878723 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 805, + 616, + 994, + 991 + ], + "faucet": [ + 901, + 354, + 995, + 564 + ], + "blue cloth": [ + 289, + 360, + 742, + 701 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the cloth and is currently lifting it upward. The cloth is partially draped over the main body, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406972885131836, + -0.02058245800435543, + 0.10213670879602432, + 3.0450587272644043, + -0.12297060340642929, + -0.28296634554862976 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the cloth and is currently lifting it upward. The cloth is partially draped over the main body, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533899784088135, + -0.016125628724694252, + 0.09501922875642776, + 3.0960094928741455, + -0.1925186812877655, + -0.2912556827068329 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the cloth and is currently lifting it upward. The cloth is partially draped over the main body, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36121949553489685, + -0.010206107050180435, + 0.07665079087018967, + 3.140040636062622, + -0.22305738925933838, + -0.27325960993766785 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "lift and fold cloth upward", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the cloth and is currently lifting it upward. The cloth is partially draped over the main body, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3690703809261322, + -0.006987904664129019, + 0.06430981308221817, + -3.1230807304382324, + -0.24421586096286774, + -0.24576272070407867 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "reposition and release cloth", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the cloth and is currently lifting it upward. The cloth is partially draped over the main body, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.37050917744636536, + -0.0033453628420829773, + 0.04537496343255043, + -3.1112473011016846, + -0.215040385723114, + -0.22421513497829437 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "reposition and release cloth", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the cloth and is currently lifting it upward. The cloth is partially draped over the main body, indicating progress in the folding motion. The next action should continue lifting and guiding the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3702848255634308, + -0.0016016054432839155, + 0.042017046362161636, + -3.102890968322754, + -0.2098553478717804, + -0.2161010354757309 + ], + "gripper_value": 0.049614936113357544 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "reposition and release cloth", + "subtask_reasoning": "The cloth has been lifted and draped over the stovetop surface, with the gripper currently in contact near the top edge. The segment-level gripper evidence indicates a release action is occurring or has just occurred (gripper opening). The next step is to fully retract the gripper to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651929199695587, + -0.00038925345870666206, + 0.037077900022268295, + -3.100004196166992, + -0.19509252905845642, + -0.20753926038742065 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "reposition and release cloth", + "subtask_reasoning": "The cloth has been lifted and draped over the stovetop surface, with the gripper currently in contact near the top edge. The segment-level gripper evidence indicates a release action is occurring or has just occurred (gripper opening). The next step is to fully retract the gripper to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3625372648239136, + 0.0022041017655283213, + 0.03628983721137047, + -3.0877931118011475, + -0.18032298982143402, + -0.20000921189785004 + ], + "gripper_value": 0.22362354397773743 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "reposition and release cloth", + "subtask_reasoning": "The cloth has been lifted and draped over the stovetop surface, with the gripper currently in contact near the top edge. The segment-level gripper evidence indicates a release action is occurring or has just occurred (gripper opening). The next step is to fully retract the gripper to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3588995933532715, + 0.003077508881688118, + 0.03817176818847656, + -3.0856170654296875, + -0.17878970503807068, + -0.18356327712535858 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "reposition and release cloth", + "subtask_reasoning": "The cloth has been lifted and draped over the stovetop surface, with the gripper currently in contact near the top edge. The segment-level gripper evidence indicates a release action is occurring or has just occurred (gripper opening). The next step is to fully retract the gripper to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.35701632499694824, + 0.004949603695422411, + 0.03992411121726036, + -3.0725231170654297, + -0.17891614139080048, + -0.17233484983444214 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been lifted and draped over the stovetop surface, with the gripper currently in contact near the top edge. The segment-level gripper evidence indicates a release action is occurring or has just occurred (gripper opening). The next step is to fully retract the gripper to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.35552045702934265, + 0.006330030504614115, + 0.04411698877811432, + -3.060969829559326, + -0.1841418296098709, + -0.16561128199100494 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been lifted and draped over the stovetop surface, with the gripper currently in contact near the top edge. The segment-level gripper evidence indicates a release action is occurring or has just occurred (gripper opening). The next step is to fully retract the gripper to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537800908088684, + 0.006397973746061325, + 0.047134146094322205, + -3.061523914337158, + -0.18448324501514435, + -0.16054818034172058 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been lifted and draped over the stovetop surface, with the gripper currently in contact near the top edge. The segment-level gripper evidence indicates a release action is occurring or has just occurred (gripper opening). The next step is to fully retract the gripper to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.35363930463790894, + 0.005799141712486744, + 0.05913284048438072, + -3.061947822570801, + -0.20609357953071594, + -0.16092197597026825 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded and is resting on the stovetop. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot needs to retreat upward and away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 37, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3490656018257141, + 0.005391088780015707, + 0.06763078272342682, + -3.0571577548980713, + -0.19498185813426971, + -0.1605885922908783 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded and is resting on the stovetop. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot needs to retreat upward and away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.34530699253082275, + 0.0033836266957223415, + 0.10071345418691635, + -3.050940990447998, + -0.25279733538627625, + -0.1672315001487732 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded and is resting on the stovetop. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot needs to retreat upward and away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3355776369571686, + 0.0016383235342800617, + 0.14085166156291962, + -3.050339937210083, + -0.333012193441391, + -0.16949865221977234 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 901, + 354, + 995, + 564 + ], + "blue cloth": [ + 239, + 422, + 723, + 703 + ], + "sink": [ + 803, + 617, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded and is resting on the stovetop. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot needs to retreat upward and away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3216235041618347, + 0.0014560434501618147, + 0.15878590941429138, + -3.050957679748535, + -0.36086007952690125, + -0.17023387551307678 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and secure cloth" + }, + { + "id": 3, + "subtask": "lift and fold cloth upward" + }, + { + "id": 4, + "subtask": "reposition and release cloth" + }, + { + "id": 5, + "subtask": "retreat after fold completion" + } + ], + "subtask_name": "retreat after fold completion", + "subtask_reasoning": "The cloth has been successfully folded and is resting on the stovetop. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot needs to retreat upward and away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004039_ecot.json b/cot/chunk-0004/episode_0004039_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bfde8ace10be1c6097273c2d90146956d756749c --- /dev/null +++ b/cot/chunk-0004/episode_0004039_ecot.json @@ -0,0 +1,2517 @@ +{ + "task_name": "episode_0004039", + "episode_json": "json/chunk-0004/episode_0004039.json", + "video_path": "videos/chunk-0004/image_0/episode_0004039.mp4", + "instruction": "Move the blue cloth with the blue utensil on it to the left center of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004039.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.0026487112045288086, + "std": 0.00101770693436265, + "delta_total": 0.0019888877868652344, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00265, std=0.00102, total_delta=0.00199). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 24 + ], + [ + 2, + 25, + 34 + ], + [ + 3, + 35, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and make contact with blue cloth\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector down toward the blue cloth and establish initial contact without grasping.\"},\n {\"id\": 2, \"name\": \"drag cloth leftward across table surface\", \"start\": 13, \"end\": 24, \"planning\": \"Push or slide the blue cloth with utensil toward the left center of the table while maintaining contact.\"},\n {\"id\": 3, \"name\": \"reposition and adjust cloth alignment\", \"start\": 25, \"end\": 34, \"planning\": \"Fine-tune the position of the cloth by nudging or sliding it slightly to achieve target placement.\"},\n {\"id\": 4, \"name\": \"release contact and retreat upward\", \"start\": 35, \"end\": 39, \"planning\": \"Lift end-effector away from the cloth after confirming desired position, breaking contact cleanly.\"}\n ],\n \"global_plan\": \"The robot approaches the blue cloth with utensil, makes contact, drags it leftward to the target zone, adjusts its alignment, then releases and retreats — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (push/drag/nudge/release). Frame ranges follow provided segments but split Segment 1 into two phases for granularity: approach/contact vs. dragging motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and make contact with blue cloth", + "start": 0, + "end": 12, + "planning": "Move end-effector down toward the blue cloth and establish initial contact without grasping." + }, + { + "id": 2, + "name": "drag cloth leftward across table surface", + "start": 13, + "end": 24, + "planning": "Push or slide the blue cloth with utensil toward the left center of the table while maintaining contact." + }, + { + "id": 3, + "name": "reposition and adjust cloth alignment", + "start": 25, + "end": 34, + "planning": "Fine-tune the position of the cloth by nudging or sliding it slightly to achieve target placement." + }, + { + "id": 4, + "name": "release contact and retreat upward", + "start": 35, + "end": 39, + "planning": "Lift end-effector away from the cloth after confirming desired position, breaking contact cleanly." + } + ], + "global_plan": "The robot approaches the blue cloth with utensil, makes contact, drags it leftward to the target zone, adjusts its alignment, then releases and retreats — all without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (push/drag/nudge/release). Frame ranges follow provided segments but split Segment 1 into two phases for granularity: approach/contact vs. dragging motion." + } + }, + "episode_goal": "Move the blue cloth with the blue utensil on it to the left center of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3127421736717224, + 0.04577833414077759, + 0.12182698398828506, + -3.107985258102417, + -0.6669628024101257, + -0.00898063462227583 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on the table, with the gripper open and no contact yet made. The subtask requires moving the end-effector downward and forward to establish contact with the cloth. The next action is to lower the arm to touch the cloth surface to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 10 cm, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3106672763824463, + 0.04592714086174965, + 0.11497628688812256, + -3.1157004833221436, + -0.6380263566970825, + -0.0016745099565014243 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on the table, with the gripper open and no contact yet made. The subtask requires moving the end-effector downward and forward to establish contact with the cloth. The next action is to lower the arm to touch the cloth surface to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 10 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30300334095954895, + 0.055345188826322556, + 0.11511668562889099, + -3.1037416458129883, + -0.5559030771255493, + 0.01340881921350956 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on the table, with the gripper open and no contact yet made. The subtask requires moving the end-effector downward and forward to establish contact with the cloth. The next action is to lower the arm to touch the cloth surface to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 10 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29516568779945374, + 0.0686449334025383, + 0.11381135880947113, + -3.07297420501709, + -0.5026477575302124, + 0.055076517164707184 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on the table, with the gripper open and no contact yet made. The subtask requires moving the end-effector downward and forward to establish contact with the cloth. The next action is to lower the arm to touch the cloth surface to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 11 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28596243262290955, + 0.08385070413351059, + 0.10886108875274658, + -3.0299389362335205, + -0.469765305519104, + 0.06089533492922783 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on the table, with the gripper open and no contact yet made. The subtask requires moving the end-effector downward and forward to establish contact with the cloth. The next action is to lower the arm to touch the cloth surface to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 10 cm, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2781738042831421, + 0.0909259244799614, + 0.09898940473794937, + -3.021404504776001, + -0.4565805196762085, + 0.062417417764663696 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on the table, with the gripper open and no contact yet made. The subtask requires moving the end-effector downward and forward to establish contact with the cloth. The next action is to lower the arm to touch the cloth surface to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 9 cm, keep gripper open; then move forward 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27936577796936035, + 0.08998158574104309, + 0.0847521498799324, + -3.0486483573913574, + -0.44218575954437256, + 0.07786453515291214 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 8 cm, keep gripper open; then move left 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835266590118408, + 0.0828065574169159, + 0.07048927247524261, + -3.056025743484497, + -0.42926958203315735, + 0.07695169001817703 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 6 cm, keep gripper open; then move back 1 cm, move left 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28865307569503784, + 0.061944473534822464, + 0.05262472853064537, + -3.0682573318481445, + -0.4084218740463257, + 0.05518839880824089 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, keep gripper open; then move back 2 cm, move left 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952849566936493, + 0.04572203755378723, + 0.03979545086622238, + -3.073803186416626, + -0.4047410488128662, + 0.04093938693404198 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 429, + 486, + 816, + 870 + ], + "wooden table": [ + 12, + 203, + 896, + 990 + ], + "sponge": [ + 584, + 364, + 673, + 471 + ], + "blue cloth": [ + 260, + 346, + 583, + 641 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move back 3 cm, move left 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29737523198127747, + 0.030833706259727478, + 0.02625204250216484, + -3.0791032314300537, + -0.3918205499649048, + 0.020572004839777946 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29916396737098694, + 0.030491815879940987, + 0.013607684522867203, + -3.0731754302978516, + -0.3800264000892639, + 0.025942392647266388 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30727922916412354, + 0.04196668043732643, + 0.010980439372360706, + -3.0785090923309326, + -0.3932510018348694, + 0.062489088624715805 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "approach and make contact with blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open; then move back 3 cm, move left 11 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3141982853412628, + 0.05822896584868431, + 0.008287099190056324, + -3.073192834854126, + -0.40377429127693176, + 0.08843876421451569 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184231221675873, + 0.07491946965456009, + 0.006085284519940615, + -3.0672779083251953, + -0.40802305936813354, + 0.11300846189260483 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32007524371147156, + 0.09313485771417618, + 0.004888862371444702, + -3.0599100589752197, + -0.41345059871673584, + 0.13681457936763763 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166157007217407, + 0.11361251026391983, + 0.00500816386193037, + -3.0279529094696045, + -0.4275014400482178, + 0.1465233713388443 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3089808523654938, + 0.13929161429405212, + 0.005803360603749752, + -3.0145888328552246, + -0.4422321617603302, + 0.2046491801738739 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 185, + 289, + 483, + 497 + ], + "wooden table": [ + 15, + 217, + 895, + 987 + ], + "sponge": [ + 584, + 365, + 673, + 471 + ], + "metal pot": [ + 428, + 484, + 815, + 870 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot is positioned above the blue cloth with the utensil on it, having approached from the right. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29861220717430115, + 0.16362035274505615, + 0.006644860375672579, + -2.9862189292907715, + -0.44623273611068726, + 0.23788787424564362 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28699955344200134, + 0.18243880569934845, + 0.006378184072673321, + -2.967495918273926, + -0.4512711763381958, + 0.2785989046096802 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866271734237671, + 0.17909425497055054, + 0.004875213839113712, + -2.9956319332122803, + -0.4492279589176178, + 0.2835918962955475 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 11 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28837376832962036, + 0.17526525259017944, + 0.004520464688539505, + -3.031545400619507, + -0.45705944299697876, + 0.2496330887079239 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 13 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28750288486480713, + 0.17016556859016418, + 0.004501695744693279, + -3.053950548171997, + -0.4596642851829529, + 0.22786152362823486 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move up 14 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2861635684967041, + 0.16613958775997162, + 0.00416214857250452, + -3.0693600177764893, + -0.46819138526916504, + 0.19470463693141937 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move up 15 cm, tilt back 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826833724975586, + 0.1507299244403839, + 0.006295886822044849, + -3.1195788383483887, + -0.4695403277873993, + 0.13055574893951416 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "drag cloth leftward across table surface", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move right 2 cm, move up 14 cm, tilt back 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.280488520860672, + 0.14014127850532532, + 0.010173093527555466, + 3.1223602294921875, + -0.48310571908950806, + 0.12172192335128784 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 14 cm, tilt back 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869914770126343, + 0.1259559988975525, + 0.02666425332427025, + 3.0767369270324707, + -0.5462357997894287, + 0.11059627681970596 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 13 cm, tilt back 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29429587721824646, + 0.120651014149189, + 0.05202525109052658, + 3.1094980239868164, + -0.6156240105628967, + 0.07871028035879135 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 429, + 484, + 815, + 871 + ], + "wooden table": [ + 15, + 193, + 896, + 987 + ], + "sponge": [ + 584, + 364, + 672, + 471 + ], + "blue cloth": [ + 98, + 333, + 429, + 555 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 10 cm, tilt back 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930499017238617, + 0.11932147294282913, + 0.05894683673977852, + 3.118189811706543, + -0.6342179775238037, + 0.07015085965394974 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth and blue utensil on the table, having completed the approach phase. The gripper remains open with no closing evidence, confirming a dragging motion rather than grasping. The next action is to continue moving the cloth leftward toward the target zone while maintaining surface contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 10 cm, tilt back 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29564857482910156, + 0.12119390070438385, + 0.08993222564458847, + 3.123476505279541, + -0.7348231077194214, + 0.07288922369480133 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot is in contact with the blue cloth and utensil, having dragged them leftward; the gripper remains open with no grasp evidence. The cloth is near the target zone but may need minor alignment adjustment before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29366451501846313, + 0.12116443365812302, + 0.1163729801774025, + 3.1147828102111816, + -0.8239397406578064, + 0.08594818413257599 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 428, + 485, + 815, + 870 + ], + "wooden table": [ + 13, + 215, + 896, + 988 + ], + "sponge": [ + 584, + 364, + 672, + 470 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot is in contact with the blue cloth and utensil, having dragged them leftward; the gripper remains open with no grasp evidence. The cloth is near the target zone but may need minor alignment adjustment before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888738512992859, + 0.12320611625909805, + 0.1425737887620926, + 3.1233599185943604, + -0.8945868611335754, + 0.09547913074493408 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot is in contact with the blue cloth and utensil, having dragged them leftward; the gripper remains open with no grasp evidence. The cloth is near the target zone but may need minor alignment adjustment before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2853432297706604, + 0.1242358535528183, + 0.14985913038253784, + 3.1104214191436768, + -0.9137905240058899, + 0.1075827032327652 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot is in contact with the blue cloth and utensil, having dragged them leftward; the gripper remains open with no grasp evidence. The cloth is near the target zone but may need minor alignment adjustment before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.284939169883728, + 0.1252315789461136, + 0.1554902195930481, + 3.126483917236328, + -0.94242924451828, + 0.09032002836465836 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot is in contact with the blue cloth and utensil, having dragged them leftward; the gripper remains open with no grasp evidence. The cloth is near the target zone but may need minor alignment adjustment before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840166389942169, + 0.12483134865760803, + 0.15400125086307526, + 3.1348822116851807, + -0.9523163437843323, + 0.08097954094409943 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "reposition and adjust cloth alignment", + "subtask_reasoning": "The robot is in contact with the blue cloth and utensil, having dragged them leftward; the gripper remains open with no grasp evidence. The cloth is near the target zone but may need minor alignment adjustment before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840166389942169, + 0.12483134865760803, + 0.15400125086307526, + -3.1375246047973633, + -0.9523264765739441, + 0.06775077432394028 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "release contact and retreat upward", + "subtask_reasoning": "The robot is in contact with the blue cloth and utensil, having dragged them leftward; the gripper remains open with no grasp evidence. The cloth is near the target zone but may need minor alignment adjustment before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.28401243686676025, + 0.12507380545139313, + 0.15402044355869293, + -3.1359963417053223, + -0.9524697661399841, + 0.06774957478046417 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "release contact and retreat upward", + "subtask_reasoning": "The robot is in contact with the blue cloth and utensil, having dragged them leftward; the gripper remains open with no grasp evidence. The cloth is near the target zone but may need minor alignment adjustment before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840166389942169, + 0.12483134865760803, + 0.15400125086307526, + -3.1375246047973633, + -0.9523264765739441, + 0.06775077432394028 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "release contact and retreat upward", + "subtask_reasoning": "The blue cloth with the utensil has been dragged to the left center of the table and is now stationary. The gripper remains open with no closing evidence, indicating contact has been released. The next action is to retreat upward to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840166389942169, + 0.12483134865760803, + 0.15400125086307526, + -3.1375246047973633, + -0.9523264765739441, + 0.06775077432394028 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "release contact and retreat upward", + "subtask_reasoning": "The blue cloth with the utensil has been dragged to the left center of the table and is now stationary. The gripper remains open with no closing evidence, indicating contact has been released. The next action is to retreat upward to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28401243686676025, + 0.12507380545139313, + 0.15402044355869293, + -3.1359963417053223, + -0.9524697661399841, + 0.06774957478046417 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth with the blue utensil on it to the left center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blue cloth" + }, + { + "id": 2, + "subtask": "drag cloth leftward across table surface" + }, + { + "id": 3, + "subtask": "reposition and adjust cloth alignment" + }, + { + "id": 4, + "subtask": "release contact and retreat upward" + } + ], + "subtask_name": "release contact and retreat upward", + "subtask_reasoning": "The blue cloth with the utensil has been dragged to the left center of the table and is now stationary. The gripper remains open with no closing evidence, indicating contact has been released. The next action is to retreat upward to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004040_ecot.json b/cot/chunk-0004/episode_0004040_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fbedad04a694037ccb80bb6c02a46f09ef2b316d --- /dev/null +++ b/cot/chunk-0004/episode_0004040_ecot.json @@ -0,0 +1,2990 @@ +{ + "task_name": "episode_0004040", + "episode_json": "json/chunk-0004/episode_0004040.json", + "video_path": "videos/chunk-0004/image_0/episode_0004040.mp4", + "instruction": "Move the red box left side to right side.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004040.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.4151049256324768, + "std": 0.19799479842185974, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41510, std=0.19799, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red box\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the red box on the blue cloth without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp red box\", \"start\": 9, \"end\": 18, \"planning\": \"Close gripper around red box and lift slightly; confirmed by gripper value drop and visual grasp in frame 18.\"},\n {\"id\": 3, \"name\": \"transport red box rightward\", \"start\": 19, \"end\": 30, \"planning\": \"Carry grasped red box across table toward pot location while maintaining grip.\"},\n {\"id\": 4, \"name\": \"position over pot\", \"start\": 31, \"end\": 42, \"planning\": \"Align red box above metal pot and prepare for release; gripper remains closed until final frame.\"},\n {\"id\": 5, \"name\": \"release red box into pot\", \"start\": 43, \"end\": 43, \"planning\": \"Open gripper to drop red box into pot; confirmed by gripper value returning to open state and object visible inside pot.\"}\n ],\n \"global_plan\": \"Approach, grasp, transport, position, and release the red box from left side (on cloth) to right side (into pot), using verified gripper closure and visual confirmation at keyframes.\",\n \"notes\": \"Gripper evidence supports grasp during frames 9–42 (value drops to ~0.59 and stays closed). Frame 18 shows box held aloft; frame 43 shows box in pot with gripper open. All subtasks are contiguous and cover full trajectory [0,43].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red box", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the red box on the blue cloth without closing gripper." + }, + { + "id": 2, + "name": "grasp red box", + "start": 9, + "end": 18, + "planning": "Close gripper around red box and lift slightly; confirmed by gripper value drop and visual grasp in frame 18." + }, + { + "id": 3, + "name": "transport red box rightward", + "start": 19, + "end": 30, + "planning": "Carry grasped red box across table toward pot location while maintaining grip." + }, + { + "id": 4, + "name": "position over pot", + "start": 31, + "end": 42, + "planning": "Align red box above metal pot and prepare for release; gripper remains closed until final frame." + }, + { + "id": 5, + "name": "release red box into pot", + "start": 43, + "end": 43, + "planning": "Open gripper to drop red box into pot; confirmed by gripper value returning to open state and object visible inside pot." + } + ], + "global_plan": "Approach, grasp, transport, position, and release the red box from left side (on cloth) to right side (into pot), using verified gripper closure and visual confirmation at keyframes.", + "notes": "Gripper evidence supports grasp during frames 9–42 (value drops to ~0.59 and stays closed). Frame 18 shows box held aloft; frame 43 shows box in pot with gripper open. All subtasks are contiguous and cover full trajectory [0,43]." + } + }, + "episode_goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3060731589794159, + 0.1365150809288025, + 0.1475435495376587, + 2.880988836288452, + -0.3515474200248718, + 0.7154073715209961 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot arm is positioned above the table, with the red box located on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3053433895111084, + 0.13611049950122833, + 0.13606730103492737, + 2.8886985778808594, + -0.31702563166618347, + 0.7128775119781494 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot arm is positioned above the table, with the red box located on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30461788177490234, + 0.13591210544109344, + 0.12451984733343124, + 2.897678852081299, + -0.2930753529071808, + 0.7120448350906372 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot arm is positioned above the table, with the red box located on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 9 cm, tilt left 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30229470133781433, + 0.1353968381881714, + 0.1077268123626709, + 2.9598135948181152, + -0.2741869390010834, + 0.6836174726486206 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot arm is positioned above the table, with the red box located on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006838262081146, + 0.13676737248897552, + 0.09627817571163177, + 2.9969024658203125, + -0.26795506477355957, + 0.6815659999847412 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, keep gripper open; then move right 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29861757159233093, + 0.13670967519283295, + 0.07508561760187149, + 3.00687837600708, + -0.24625679850578308, + 0.6824344396591187 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, keep gripper open; then move right 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29850560426712036, + 0.14217853546142578, + 0.06498777866363525, + 3.0197319984436035, + -0.24516907334327698, + 0.6901017427444458 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move right 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2973467707633972, + 0.1497579962015152, + 0.046910833567380905, + 3.0328073501586914, + -0.2070474922657013, + 0.7055212259292603 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 14, + 220, + 902, + 992 + ], + "blue sponge": [ + 243, + 334, + 470, + 580 + ], + "metal pot": [ + 554, + 463, + 826, + 773 + ], + "red object": [ + 293, + 319, + 367, + 449 + ], + "grey cabinet": [ + 147, + 644, + 734, + 996 + ], + "scrub brush": [ + 53, + 469, + 262, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move right 2 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30326882004737854, + 0.1555900275707245, + 0.04298572242259979, + 3.044318199157715, + -0.20877480506896973, + 0.7053655982017517 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "approach red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31712767481803894, + 0.15410926938056946, + 0.039235539734363556, + 3.0439839363098145, + -0.224558025598526, + 0.7009254097938538 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168811500072479, + 0.14968526363372803, + 0.029505327343940735, + 3.0497124195098877, + -0.1965513378381729, + 0.705618143081665 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 241, + 334, + 470, + 580 + ], + "wooden table": [ + 14, + 225, + 901, + 992 + ], + "metal pot": [ + 553, + 463, + 826, + 774 + ], + "scrub brush": [ + 54, + 469, + 263, + 639 + ], + "red object": [ + 280, + 316, + 360, + 448 + ] + } + } + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31940600275993347, + 0.14715392887592316, + 0.02961915358901024, + 3.0325419902801514, + -0.19745798408985138, + 0.7111966609954834 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176855444908142, + 0.14417092502117157, + 0.027511825785040855, + 3.0333855152130127, + -0.18843844532966614, + 0.7038193345069885 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot is positioned above the table with the red box visible on a blue cloth to the left and a metal bowl to the right. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to lower its end-effector to make contact with the red box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 12 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160797357559204, + 0.14019423723220825, + 0.02956913225352764, + 3.0172410011291504, + -0.18308737874031067, + 0.6979373097419739 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 15 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31642410159111023, + 0.14130118489265442, + 0.0372423492372036, + 3.015646457672119, + -0.20727793872356415, + 0.7029740214347839 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 16 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3158440589904785, + 0.14040444791316986, + 0.037071164697408676, + 3.0128333568573, + -0.20015476644039154, + 0.7072327136993408 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 16 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31561335921287537, + 0.13722963631153107, + 0.046514347195625305, + 2.993565559387207, + -0.20107805728912354, + 0.7116334438323975 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 16 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160799741744995, + 0.1329401433467865, + 0.06393332034349442, + 2.966830015182495, + -0.21693116426467896, + 0.7198588252067566 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 16 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3258633017539978, + 0.106336310505867, + 0.08839871734380722, + 2.9195666313171387, + -0.2432704120874405, + 0.6723390817642212 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "grasp red box", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 2 cm, keep gripper closed; then move back 3 cm, move right 16 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337397575378418, + 0.0776585191488266, + 0.10503284633159637, + 2.895080804824829, + -0.2779412865638733, + 0.6146202087402344 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 16 cm, move down 8 cm, tilt forward 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34098148345947266, + 0.031617671251297, + 0.11278590559959412, + 2.880769968032837, + -0.29137641191482544, + 0.5082801580429077 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 12 cm, move down 9 cm, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3434355556964874, + -0.008393755182623863, + 0.11315814405679703, + 2.8719770908355713, + -0.29188060760498047, + 0.4190328121185303 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move down 9 cm, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450269103050232, + -0.042164623737335205, + 0.10144083946943283, + 2.8561487197875977, + -0.27202939987182617, + 0.3349861204624176 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 240, + 335, + 471, + 581 + ], + "wooden table": [ + 12, + 192, + 903, + 992 + ], + "metal pot": [ + 553, + 465, + 826, + 774 + ], + "red object": [ + 600, + 227, + 688, + 375 + ] + } + } + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 8 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34120017290115356, + -0.06917597353458405, + 0.09452072530984879, + 2.8746252059936523, + -0.26463982462882996, + 0.2454909384250641 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The robot has approached the red box on the blue cloth and is now in contact with it. Segment-level gripper evidence shows a significant closing motion (delta=-0.40692), and the current gripper value (0.66916) indicates partial closure. The next action is to complete the grasp by fully closing the gripper to secure the red box for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33212849497795105, + -0.07813968509435654, + 0.08732722699642181, + 2.8947384357452393, + -0.24224941432476044, + 0.19591204822063446 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31753018498420715, + -0.08338740468025208, + 0.07573600858449936, + 2.9174327850341797, + -0.19995686411857605, + 0.1453888714313507 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30750611424446106, + -0.08137941360473633, + 0.06652563065290451, + 2.9476234912872314, + -0.17446045577526093, + 0.11876402795314789 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 239, + 335, + 474, + 580 + ], + "wooden table": [ + 15, + 191, + 902, + 993 + ], + "metal pot": [ + 557, + 470, + 826, + 772 + ], + "red object": [ + 658, + 430, + 747, + 580 + ], + "scrub brush": [ + 53, + 468, + 264, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.304707407951355, + -0.08201000839471817, + 0.05474352836608887, + 2.9571924209594727, + -0.13980507850646973, + 0.10129376500844955 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015337884426117, + -0.08335557579994202, + 0.0404232032597065, + 2.9754159450531006, + -0.10150104016065598, + 0.089052714407444 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018849492073059, + -0.08483226597309113, + 0.028792623430490494, + 3.0005064010620117, + -0.0713273286819458, + 0.079510897397995 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3058364689350128, + -0.08746613562107086, + 0.021820558235049248, + 3.0143911838531494, + -0.054776981472969055, + 0.060491885989904404 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "transport red box rightward", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30974528193473816, + -0.09409232437610626, + 0.01901315152645111, + 3.027905225753784, + -0.04632207006216049, + 0.052409619092941284 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31443390250205994, + -0.095365010201931, + 0.01834278553724289, + 3.039149522781372, + -0.0420428067445755, + 0.08471933752298355 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move up 14 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102573752403259, + -0.09423212707042694, + 0.014723365195095539, + 3.0510306358337402, + -0.006438792683184147, + 0.1092371717095375 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 15 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107588291168213, + -0.09417660534381866, + 0.01359433401376009, + 3.0486812591552734, + -0.01462606992572546, + 0.1181962862610817 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 15 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069975972175598, + -0.09219043701887131, + 0.011914021335542202, + 3.0562617778778076, + -0.012340878136456013, + 0.11679684370756149 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned above the metal bowl on the right side of the table. The approach and grasp phases are complete, and the robot is now transporting the box rightward. The next action is to lower the box into the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 16 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3051968514919281, + -0.09197745472192764, + 0.023691097274422646, + 3.037421226501465, + -0.04580521956086159, + 0.12786650657653809 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned directly above the metal pot on the right side of the table. The approach and transport phases are complete, with the object aligned for insertion. The next action is to lower the red box into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 14 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3082948625087738, + -0.0927039235830307, + 0.04002892225980759, + 2.985743761062622, + -0.09383772313594818, + 0.15921464562416077 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned directly above the metal pot on the right side of the table. The approach and transport phases are complete, with the object aligned for insertion. The next action is to lower the red box into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 13 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.30790379643440247, + -0.09052465856075287, + 0.061462853103876114, + 2.9496841430664062, + -0.13878409564495087, + 0.20481820404529572 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned directly above the metal pot on the right side of the table. The approach and transport phases are complete, with the object aligned for insertion. The next action is to lower the red box into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.30387455224990845, + -0.08107797801494598, + 0.09291739016771317, + 2.9023489952087402, + -0.15773122012615204, + 0.2566201686859131 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned directly above the metal pot on the right side of the table. The approach and transport phases are complete, with the object aligned for insertion. The next action is to lower the red box into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.30150774121284485, + -0.07035719603300095, + 0.11812727153301239, + 2.9010887145996094, + -0.21408002078533173, + 0.2954430878162384 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned directly above the metal pot on the right side of the table. The approach and transport phases are complete, with the object aligned for insertion. The next action is to lower the red box into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.29233479499816895, + -0.05238578841090202, + 0.13971571624279022, + 2.968886613845825, + -0.26216647028923035, + 0.34016868472099304 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned directly above the metal pot on the right side of the table. The approach and transport phases are complete, with the object aligned for insertion. The next action is to lower the red box into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2890571057796478, + -0.026318686082959175, + 0.15983450412750244, + 2.9432709217071533, + -0.3166954517364502, + 0.43769291043281555 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 240, + 335, + 471, + 581 + ], + "wooden table": [ + 12, + 191, + 903, + 994 + ], + "red object": [ + 679, + 520, + 779, + 689 + ], + "metal pot": [ + 577, + 449, + 841, + 754 + ], + "scrub brush": [ + 53, + 469, + 265, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "position over pot", + "subtask_reasoning": "The red box is currently held by the gripper and positioned directly above the metal pot on the right side of the table. The approach and transport phases are complete, with the object aligned for insertion. The next action is to lower the red box into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 42 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2859860360622406, + -0.019428500905632973, + 0.1670050024986267, + 2.9334230422973633, + -0.33639511466026306, + 0.4545637369155884 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red box from the left side of the table to the right side, placing it inside the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red box" + }, + { + "id": 2, + "subtask": "grasp red box" + }, + { + "id": 3, + "subtask": "transport red box rightward" + }, + { + "id": 4, + "subtask": "position over pot" + }, + { + "id": 5, + "subtask": "release red box into pot" + } + ], + "subtask_name": "release red box into pot", + "subtask_reasoning": "The red box is already inside the metal pot on the right side of the table. The gripper is open and positioned above the pot, indicating the release action has been completed. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 43, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004041_ecot.json b/cot/chunk-0004/episode_0004041_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5d705b7209f5a411e0c4fd692ab1ec83666f818d --- /dev/null +++ b/cot/chunk-0004/episode_0004041_ecot.json @@ -0,0 +1,1637 @@ +{ + "task_name": "episode_0004041", + "episode_json": "json/chunk-0004/episode_0004041.json", + "video_path": "videos/chunk-0004/image_0/episode_0004041.mp4", + "instruction": "Put the silver pot between the can and the red fork.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004041.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.9225979447364807, + "std": 0.41697102785110474, + "delta_total": -0.14479070901870728, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92260, std=0.41697, total_delta=-0.14479). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 123, + 123 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 10 + ], + [ + 3, + 11, + 22 + ], + [ + 4, + 23, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 2, \"planning\": \"Move the gripper toward the silver pot without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp silver pot\", \"start\": 3, \"end\": 10, \"planning\": \"Close the gripper around the silver pot and secure it for lifting, as evidenced by meaningful gripper closure and image confirmation.\"},\n {\"id\": 3, \"name\": \"reposition pot between can and fork\", \"start\": 11, \"end\": 22, \"planning\": \"Lift and move the grasped silver pot to the target location between the can and red fork, maintaining grip throughout motion.\"},\n {\"id\": 4, \"name\": \"release pot and retreat\", \"start\": 23, \"end\": 24, \"planning\": \"Open the gripper to release the pot in its final position and begin retreating upward, confirmed by increasing gripper value and visual separation.\"}\n ],\n \"global_plan\": \"Approach the silver pot, grasp it securely, reposition it between the can and red fork, then release and retreat.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 2–4; segment 1 shows no closure and is correctly labeled as approach. Final placement is visually confirmed at frame 24 with gripper opening.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 2, + "planning": "Move the gripper toward the silver pot without closing, preparing for contact." + }, + { + "id": 2, + "name": "grasp silver pot", + "start": 3, + "end": 10, + "planning": "Close the gripper around the silver pot and secure it for lifting, as evidenced by meaningful gripper closure and image confirmation." + }, + { + "id": 3, + "name": "reposition pot between can and fork", + "start": 11, + "end": 22, + "planning": "Lift and move the grasped silver pot to the target location between the can and red fork, maintaining grip throughout motion." + }, + { + "id": 4, + "name": "release pot and retreat", + "start": 23, + "end": 24, + "planning": "Open the gripper to release the pot in its final position and begin retreating upward, confirmed by increasing gripper value and visual separation." + } + ], + "global_plan": "Approach the silver pot, grasp it securely, reposition it between the can and red fork, then release and retreat.", + "notes": "Gripper evidence supports grasp only in segments 2–4; segment 1 shows no closure and is correctly labeled as approach. Final placement is visually confirmed at frame 24 with gripper opening." + } + }, + "episode_goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31283465027809143, + -0.04580879583954811, + 0.08838317543268204, + 3.0844972133636475, + -0.08941623568534851, + -0.05656302347779274 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the silver pot to the left and the red fork to the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 10 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099979758262634, + -0.045460235327482224, + 0.07898938655853271, + 3.086566925048828, + -0.05888185650110245, + -0.05816182866692543 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the silver pot to the left and the red fork to the right. No objects have been moved yet. The gripper is open and approaching the silver pot, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 10 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030255138874054, + -0.005087277386337519, + 0.0672835186123848, + 3.1296844482421875, + -0.045974452048540115, + -0.0031836468260735273 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the silver pot to the left and the red fork to the right. No objects have been moved yet. The gripper is open and approaching the silver pot, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 1 cm, keep gripper open; then move left 10 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28788310289382935, + 0.04695000872015953, + 0.07874449342489243, + -3.072960615158081, + -0.09232500940561295, + 0.04198518767952919 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red fork": [ + 615, + 386, + 775, + 634 + ], + "metal bowl": [ + 64, + 267, + 292, + 505 + ], + "green cloth": [ + 54, + 369, + 335, + 567 + ], + "wooden board": [ + 10, + 182, + 849, + 973 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the silver pot to the left and the red fork to the right. No objects have been moved yet. The gripper is open and approaching the silver pot, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746095061302185, + 0.09287501871585846, + 0.08546265959739685, + -2.997520923614502, + -0.14362549781799316, + 0.08652941882610321 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the silver pot to the left and the red fork to the right. No objects have been moved yet. The gripper is open and approaching the silver pot, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737422585487366, + 0.1276973932981491, + 0.07568494975566864, + -2.9829702377319336, + -0.13792169094085693, + 0.08741158992052078 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the silver pot to the left and the red fork to the right. No objects have been moved yet. The gripper is open and approaching the silver pot, indicating the next action is to move closer and prepare to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27999842166900635, + 0.14726456999778748, + 0.06282131373882294, + -2.9808688163757324, + -0.11695731431245804, + 0.12076178193092346 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move forward 4 cm, move right 10 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28576207160949707, + 0.1512247920036316, + 0.04665006697177887, + -2.9954261779785156, + -0.09674937278032303, + 0.12849488854408264 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 7 cm, move right 14 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2867961823940277, + 0.14937467873096466, + 0.0331273227930069, + -3.010796070098877, + -0.07453050464391708, + 0.13401363790035248 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move forward 9 cm, move right 16 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28844529390335083, + 0.14290866255760193, + 0.02085794322192669, + -3.0225205421447754, + -0.039625074714422226, + 0.11586480587720871 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move right 16 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28830254077911377, + 0.14222395420074463, + 0.017873194068670273, + -3.0280566215515137, + -0.03516698628664017, + 0.12173161655664444 + ], + "gripper_value": 0.6791892647743225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move right 16 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28749021887779236, + 0.1443423479795456, + 0.017868833616375923, + -3.0289947986602783, + -0.037340376526117325, + 0.13330866396427155 + ], + "gripper_value": 0.3703518807888031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 17 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2885224521160126, + 0.1436699479818344, + 0.01839156448841095, + -3.027902603149414, + -0.04163138568401337, + 0.12835805118083954 + ], + "gripper_value": 0.16078366339206696 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 16 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28855934739112854, + 0.14081281423568726, + 0.0312754362821579, + -3.0153250694274902, + -0.067603200674057, + 0.12150655686855316 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 16 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2911803722381592, + 0.12599483132362366, + 0.06253348290920258, + -2.9834604263305664, + -0.10150786489248276, + 0.10596784204244614 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 15 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30091726779937744, + 0.09167055040597916, + 0.07779909670352936, + -2.9911653995513916, + -0.087171770632267, + 0.08463802933692932 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red fork": [ + 615, + 385, + 774, + 634 + ], + "metal bowl": [ + 111, + 218, + 315, + 442 + ], + "green cloth": [ + 52, + 367, + 333, + 569 + ], + "black frame": [ + 817, + 3, + 973, + 496 + ], + "wooden board": [ + 18, + 245, + 850, + 973 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The robot has approached the silver pot on the cutting board, positioned between the patterned can and red fork. The gripper is currently open and hovering near the pot, with no contact yet established. The next action is to close the gripper to grasp the silver pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 11 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32716765999794006, + 0.04629060998558998, + 0.08428584039211273, + -3.015601396560669, + -0.1220867708325386, + 0.03871990367770195 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The silver pot is currently held by the gripper and suspended above the wooden cutting board, positioned near the green cloth but not yet between the can and red fork. The gripper remains closed, indicating the pot is still grasped. The next action should be to move the pot laterally toward the space between the patterned can (off-screen left) and the red fork on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585221767425537, + 0.007272489368915558, + 0.06890477240085602, + -3.0400288105010986, + -0.10134229063987732, + -0.025104206055402756 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red fork": [ + 615, + 385, + 774, + 633 + ], + "metal bowl": [ + 327, + 208, + 523, + 422 + ], + "green cloth": [ + 52, + 310, + 335, + 568 + ], + "wooden board": [ + 8, + 173, + 848, + 972 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The silver pot is currently held by the gripper and suspended above the wooden cutting board, positioned near the green cloth but not yet between the can and red fork. The gripper remains closed, indicating the pot is still grasped. The next action should be to move the pot laterally toward the space between the patterned can (off-screen left) and the red fork on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38130390644073486, + -0.01566673070192337, + 0.04910005256533623, + -3.041290521621704, + -0.06641552597284317, + -0.07732657343149185 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The silver pot is currently held by the gripper and suspended above the wooden cutting board, positioned near the green cloth but not yet between the can and red fork. The gripper remains closed, indicating the pot is still grasped. The next action should be to move the pot laterally toward the space between the patterned can (off-screen left) and the red fork on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.385326623916626, + -0.020273566246032715, + 0.024715909734368324, + -3.0568270683288574, + -0.01679353602230549, + -0.07694108784198761 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The silver pot is currently held by the gripper and suspended above the wooden cutting board, positioned near the green cloth but not yet between the can and red fork. The gripper remains closed, indicating the pot is still grasped. The next action should be to move the pot laterally toward the space between the patterned can (off-screen left) and the red fork on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3834448456764221, + -0.020584380254149437, + 0.018893003463745117, + -3.0410239696502686, + -0.003204319393262267, + -0.0928167849779129 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The silver pot is currently held by the gripper and suspended above the wooden cutting board, positioned near the green cloth but not yet between the can and red fork. The gripper remains closed, indicating the pot is still grasped. The next action should be to move the pot laterally toward the space between the patterned can (off-screen left) and the red fork on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3812556862831116, + -0.020743077620863914, + 0.015233277343213558, + -3.0433497428894043, + -0.0033878718968480825, + -0.09064549207687378 + ], + "gripper_value": 0.09737934172153473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The silver pot is currently held by the gripper and suspended above the wooden cutting board, positioned near the green cloth but not yet between the can and red fork. The gripper remains closed, indicating the pot is still grasped. The next action should be to move the pot laterally toward the space between the patterned can (off-screen left) and the red fork on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37874454259872437, + -0.021265022456645966, + 0.011925404891371727, + -3.0480220317840576, + 0.013468206860125065, + -0.08672771602869034 + ], + "gripper_value": 0.27019456028938293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "reposition pot between can and fork", + "subtask_reasoning": "The silver pot is currently held by the gripper and suspended above the wooden cutting board, positioned near the green cloth but not yet between the can and red fork. The gripper remains closed, indicating the pot is still grasped. The next action should be to move the pot laterally toward the space between the patterned can (off-screen left) and the red fork on the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3774186372756958, + -0.021915828809142113, + 0.013523073866963387, + -3.0491387844085693, + 0.012762331403791904, + -0.07969178259372711 + ], + "gripper_value": 0.5501742362976074 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is now positioned between the patterned can and the red fork on the wooden cutting board. The gripper is open, indicating the pot has been released. The next action is to retreat the end effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3779884874820709, + -0.02285616844892502, + 0.03724982216954231, + -3.052276611328125, + -0.03285461291670799, + -0.06617088615894318 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the wooden cutting board in the space between the patterned can and the red fork." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "reposition pot between can and fork" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is now positioned between the patterned can and the red fork on the wooden cutting board. The gripper is open, indicating the pot has been released. The next action is to retreat the end effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004043_ecot.json b/cot/chunk-0004/episode_0004043_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1ec09aa8610896ffff88b315397b2c412fac707d --- /dev/null +++ b/cot/chunk-0004/episode_0004043_ecot.json @@ -0,0 +1,650 @@ +{ + "task_name": "episode_0004043", + "episode_json": "json/chunk-0004/episode_0004043.json", + "video_path": "videos/chunk-0004/image_0/episode_0004043.mp4", + "instruction": "End effector reaching pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 11, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004043.json" + }, + "fps": 5.0, + "T_eff": 11, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 10 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 6, \"planning\": \"Move end effector toward the red pot on the stove while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"make contact with pot\", \"start\": 7, \"end\": 10, \"planning\": \"Lower and adjust end effector to make gentle contact with the pot’s rim or handle without grasping.\"}\n ],\n \"global_plan\": \"Reach toward the red pot on the stove and make contact without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~1.0 (fully open) across all frames; no grasp or lift occurs. Motion is purely positional approach and contact.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 6, + "planning": "Move end effector toward the red pot on the stove while maintaining open gripper." + }, + { + "id": 2, + "name": "make contact with pot", + "start": 7, + "end": 10, + "planning": "Lower and adjust end effector to make gentle contact with the pot’s rim or handle without grasping." + } + ], + "global_plan": "Reach toward the red pot on the stove and make contact without grasping, as gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~1.0 (fully open) across all frames; no grasp or lift occurs. Motion is purely positional approach and contact." + } + }, + "episode_goal": "Move the end effector to the red pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34691548347473145, + 0.061054546386003494, + 0.10733401775360107, + -2.9309020042419434, + -0.006488533224910498, + -0.390414834022522 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The end effector is positioned above the stove, with the red pot visible on the right burner. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the red pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3444235324859619, + 0.05687488242983818, + 0.09443572908639908, + -2.9508864879608154, + 0.026950571686029434, + -0.3869994878768921 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The end effector is positioned above the stove, with the red pot visible on the right burner. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the red pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34411367774009705, + 0.03423884138464928, + 0.08919574320316315, + -2.9525609016418457, + 0.0675688236951828, + -0.3341904580593109 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The end effector is positioned above the stove, with the red pot visible on the right burner. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the red pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35058194398880005, + 0.006101359613239765, + 0.09286019951105118, + -2.952397346496582, + 0.09044458717107773, + -0.3308006823062897 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 178, + 380, + 306, + 528 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The end effector is positioned above the stove, moving toward the red pot. No contact has been made yet, and the gripper remains fully open. The next action is to continue approaching the pot until contact is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 2 cm, keep gripper open; then move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35570642352104187, + -0.009701811708509922, + 0.09436057507991791, + -2.947814464569092, + 0.09885182976722717, + -0.3032096028327942 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The end effector is positioned above the stove, moving toward the red pot. No contact has been made yet, and the gripper remains fully open. The next action is to continue approaching the pot until contact is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 2 cm, keep gripper open; then move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36141514778137207, + -0.029446031898260117, + 0.09046149253845215, + -2.9389190673828125, + 0.10631966590881348, + -0.26763707399368286 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The end effector is positioned above the stove, moving toward the red pot. No contact has been made yet, and the gripper remains fully open. The next action is to continue approaching the pot until contact is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.361663281917572, + -0.053506214171648026, + 0.08394799381494522, + -2.9288887977600098, + 0.0978119969367981, + -0.25719642639160156 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The end effector is positioned above the stove, moving toward the red pot. No contact has been made yet, and the gripper remains fully open. The next action is to continue approaching the pot until contact is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642122745513916, + -0.06966939568519592, + 0.07703514397144318, + -2.921246290206909, + 0.05166461318731308, + -0.2663220167160034 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 178, + 380, + 306, + 528 + ], + "faucet": [ + 83, + 3, + 223, + 175 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The end effector is positioned above the stove, moving toward the red pot. No contact has been made yet, and the gripper remains fully open. The next action is to continue approaching the pot until contact is established." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36587265133857727, + -0.07076568156480789, + 0.0652952641248703, + -2.9213640689849854, + 0.03101256676018238, + -0.25809821486473083 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The end effector is positioned directly above the red pot on the stove with the gripper fully open. The approach phase is complete, and the robot is now executing the final movement to establish physical contact with the pot's surface without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657379150390625, + -0.06447123736143112, + 0.05836319923400879, + -2.908853054046631, + 0.02316560409963131, + -0.2651859223842621 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The end effector is positioned directly above the red pot on the stove with the gripper fully open. The approach phase is complete, and the robot is now executing the final movement to establish physical contact with the pot's surface without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36418068408966064, + -0.05080227181315422, + 0.049480073153972626, + -2.8815958499908447, + 0.028881553560495377, + -0.28339865803718567 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The end effector is positioned directly above the red pot on the stove with the gripper fully open. The approach phase is complete, and the robot is now executing the final movement to establish physical contact with the pot's surface without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004044_ecot.json b/cot/chunk-0004/episode_0004044_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c3be796a69c7837cb04bfd0f2f803a83617dfa84 --- /dev/null +++ b/cot/chunk-0004/episode_0004044_ecot.json @@ -0,0 +1,2150 @@ +{ + "task_name": "episode_0004044", + "episode_json": "json/chunk-0004/episode_0004044.json", + "video_path": "videos/chunk-0004/image_0/episode_0004044.mp4", + "instruction": "Open fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004044.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.7263209819793701, + "std": 0.25577858090400696, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72632, std=0.25578, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 211, + 211, + 211, + 211, + 11, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 10 + ], + [ + 3, + 11, + 14 + ], + [ + 4, + 15, + 15 + ], + [ + 5, + 16, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge handle\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the fridge handle without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp fridge handle\", \"start\": 4, \"end\": 10, \"planning\": \"Close gripper around the handle and establish firm contact, confirmed by significant gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"pull door open\", \"start\": 11, \"end\": 15, \"planning\": \"Apply pulling force to open the fridge door while maintaining grip, evidenced by rotational motion and sustained gripper closure.\"},\n {\"id\": 4, \"name\": \"release handle after opening\", \"start\": 16, \"end\": 23, \"planning\": \"Open gripper to release the handle once door is sufficiently open, confirmed by gripper value rising to maximum.\"},\n {\"id\": 5, \"name\": \"retreat from fridge\", \"start\": 24, \"end\": 31, \"planning\": \"Withdraw end-effector away from the open fridge door to complete the task safely.\"}\n ],\n \"global_plan\": \"Open the fridge by approaching the handle, grasping it firmly, pulling the door open, releasing the handle, and retreating.\",\n \"notes\": \"Subtasks align with observed gripper behavior and motion phases; no hallucinated grasps or lifts where gripper evidence contradicts.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge handle", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the fridge handle without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp fridge handle", + "start": 4, + "end": 10, + "planning": "Close gripper around the handle and establish firm contact, confirmed by significant gripper closure and stable pose." + }, + { + "id": 3, + "name": "pull door open", + "start": 11, + "end": 15, + "planning": "Apply pulling force to open the fridge door while maintaining grip, evidenced by rotational motion and sustained gripper closure." + }, + { + "id": 4, + "name": "release handle after opening", + "start": 16, + "end": 23, + "planning": "Open gripper to release the handle once door is sufficiently open, confirmed by gripper value rising to maximum." + }, + { + "id": 5, + "name": "retreat from fridge", + "start": 24, + "end": 31, + "planning": "Withdraw end-effector away from the open fridge door to complete the task safely." + } + ], + "global_plan": "Open the fridge by approaching the handle, grasping it firmly, pulling the door open, releasing the handle, and retreating.", + "notes": "Subtasks align with observed gripper behavior and motion phases; no hallucinated grasps or lifts where gripper evidence contradicts." + } + }, + "episode_goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.1964501589536667, + 0.024972721934318542, + 0.04788481816649437, + -3.001598358154297, + -0.12028399854898453, + 0.09827165305614471 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator with the gripper open and no contact made yet. The subtask to approach the fridge handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 4 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19455550611019135, + 0.024363860487937927, + 0.04425637796521187, + -3.0008342266082764, + -0.10324972867965698, + 0.10417534410953522 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the refrigerator with its gripper open and approaching the handle. No contact has been made yet, and the subtask involves moving closer to establish alignment for grasping. The next action should be to continue advancing toward the handle while maintaining proper orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22637365758419037, + 0.0015198878245428205, + 0.044849198311567307, + -3.0093026161193848, + -0.12546589970588684, + 0.09769812971353531 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the refrigerator with its gripper open and approaching the handle. No contact has been made yet, and the subtask involves moving closer to establish alignment for grasping. The next action should be to continue advancing toward the handle while maintaining proper orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26075834035873413, + -0.01631278172135353, + 0.04374529793858528, + -3.021228075027466, + -0.1534876823425293, + 0.08003727346658707 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "power cord": [ + 3, + 154, + 279, + 335 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the refrigerator with its gripper open and approaching the handle. No contact has been made yet, and the subtask involves moving closer to establish alignment for grasping. The next action should be to continue advancing toward the handle while maintaining proper orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, keep gripper open; then move forward 7 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874870002269745, + -0.03141545504331589, + 0.04556228220462799, + -3.0476269721984863, + -0.22606898844242096, + 0.05781605467200279 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot is positioned in front of the refrigerator with its gripper open and approaching the handle. No contact has been made yet, and the subtask involves moving closer to establish alignment for grasping. The next action should be to continue advancing toward the handle while maintaining proper orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 8 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067461848258972, + -0.04929431527853012, + 0.047261789441108704, + -3.0674054622650146, + -0.2780406177043915, + 0.026405921205878258 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot is positioned in front of the refrigerator with its gripper open and approaching the handle. No contact has been made yet, and the subtask involves moving closer to establish alignment for grasping. The next action should be to continue advancing toward the handle while maintaining proper orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 11 cm, move left 2 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3182466924190521, + -0.05935860797762871, + 0.051927827298641205, + -3.0825977325439453, + -0.3195398449897766, + 0.006481258664280176 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot is positioned in front of the refrigerator with its gripper open and approaching the handle. No contact has been made yet, and the subtask involves moving closer to establish alignment for grasping. The next action should be to continue advancing toward the handle while maintaining proper orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, close gripper; then move back 13 cm, move left 4 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33480963110923767, + -0.06703568249940872, + 0.05048684775829315, + -3.0685951709747314, + -0.34716591238975525, + -0.016480466350913048 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot has approached the fridge handle and is now in contact with it. The gripper is open but positioned correctly around the handle. The next action should be to close the gripper to grasp the handle firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper closed; then move back 13 cm, move left 4 cm, move up 3 cm, open gripper; then move back 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.348824143409729, + -0.07164234668016434, + 0.04661531746387482, + -3.073467254638672, + -0.3560505211353302, + -0.013006596826016903 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot has approached the fridge handle and is now in contact with it. The gripper is open but positioned correctly around the handle. The next action should be to close the gripper to grasp the handle firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 13 cm, move left 4 cm, move up 3 cm, open gripper; then move back 2 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526856601238251, + -0.0740564838051796, + 0.0418371744453907, + -3.078521251678467, + -0.348561555147171, + -0.027287695556879044 + ], + "gripper_value": 0.8490449786186218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot has approached the fridge handle and is now in contact with it. The gripper is open but positioned correctly around the handle. The next action should be to close the gripper to grasp the handle firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 13 cm, move left 4 cm, move up 3 cm, open gripper; then move back 1 cm, move right 4 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35727596282958984, + -0.07292801886796951, + 0.04255496338009834, + -3.1193230152130127, + -0.36618196964263916, + -0.029828334227204323 + ], + "gripper_value": 0.5561000108718872 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp fridge handle", + "subtask_reasoning": "The robot has approached the fridge handle and is now in contact with it. The gripper is open but positioned correctly around the handle. The next action should be to close the gripper to grasp the handle firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 13 cm, move left 4 cm, move up 3 cm, open gripper; then move right 7 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35288482904434204, + -0.07141216844320297, + 0.037175994366407394, + -3.131403684616089, + -0.3721451461315155, + -0.06705646961927414 + ], + "gripper_value": 0.3080119788646698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot has approached the fridge handle and is now in contact with it. The gripper is open but positioned correctly around the handle. The next action should be to close the gripper to grasp the handle firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 4 cm, move up 3 cm, open gripper; then move forward 2 cm, move right 10 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.338975727558136, + -0.06790544092655182, + 0.038563575595617294, + -3.120302200317383, + -0.38766786456108093, + -0.09876693040132523 + ], + "gripper_value": 0.27449509501457214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot has approached the fridge handle and is now in contact with it. The gripper is open but positioned correctly around the handle. The next action should be to close the gripper to grasp the handle firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, move up 3 cm, open gripper; then move forward 3 cm, move right 11 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31132352352142334, + -0.06314943730831146, + 0.03986688703298569, + -3.1296730041503906, + -0.3668944537639618, + -0.10953187197446823 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot has approached and grasped the refrigerator handle. The current frame shows the arm in contact with the handle, and segment-level gripper evidence supports a firm hold. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 3 cm, open gripper; then move forward 6 cm, move right 12 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27358099818229675, + -0.05063309893012047, + 0.04933137074112892, + 3.1312549114227295, + -0.3628526031970978, + -0.10730365663766861 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "power cord": [ + 3, + 154, + 278, + 335 + ], + "water dispenser": [ + 343, + 160, + 551, + 608 + ], + "refrigerator": [ + 205, + 12, + 800, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot has approached and grasped the refrigerator handle. The current frame shows the arm in contact with the handle, and segment-level gripper evidence supports a firm hold. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 2 cm, keep gripper open; then move forward 8 cm, move right 11 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24713121354579926, + -0.04861200600862503, + 0.06318532675504684, + -3.1384541988372803, + -0.40912774205207825, + -0.15900443494319916 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot has approached and grasped the refrigerator handle. The current frame shows the arm in contact with the handle, and segment-level gripper evidence supports a firm hold. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open; then move forward 8 cm, move right 11 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2271914780139923, + -0.034740861505270004, + 0.06487073004245758, + -3.120086431503296, + -0.35296469926834106, + -0.12034551054239273 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The robot has approached and grasped the refrigerator handle. The current frame shows the arm in contact with the handle, and segment-level gripper evidence supports a firm hold. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 11 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20950821042060852, + -0.036020997911691666, + 0.06107013672590256, + -3.125013828277588, + -0.24062052369117737, + -0.09014701843261719 + ], + "gripper_value": 0.9351479411125183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The robot has approached and grasped the refrigerator handle. The current frame shows the arm in contact with the handle, and segment-level gripper evidence supports a firm hold. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 11 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20476733148097992, + -0.04975542053580284, + 0.049477044492959976, + -3.126190423965454, + -0.18630094826221466, + -0.07595668733119965 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The robot has approached and grasped the refrigerator handle. The current frame shows the arm in contact with the handle, and segment-level gripper evidence supports a firm hold. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 9 cm, move down 3 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21665546298027039, + -0.07648415863513947, + 0.039898429065942764, + -3.126077651977539, + -0.14946115016937256, + -0.1046869084239006 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The refrigerator door is fully open, and the robot's gripper is currently in contact with the handle. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the arm away from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, move down 2 cm, keep gripper open; then move back 5 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23199619352817535, + -0.10745787620544434, + 0.029427289962768555, + -3.108520984649658, + -0.15538185834884644, + -0.16588352620601654 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "power cord": [ + 3, + 153, + 279, + 336 + ], + "water dispenser": [ + 340, + 161, + 550, + 623 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The refrigerator door is fully open, and the robot's gripper is currently in contact with the handle. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the arm away from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 1 cm, keep gripper open; then move back 8 cm, move left 10 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2458723783493042, + -0.13214345276355743, + 0.018584808334708214, + -3.09745192527771, + -0.1653316169977188, + -0.19405291974544525 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The refrigerator door is fully open, and the robot's gripper is currently in contact with the handle. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the arm away from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 11 cm, move left 13 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26215484738349915, + -0.14818879961967468, + 0.010503138415515423, + -3.096219301223755, + -0.18077842891216278, + -0.18725641071796417 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The refrigerator door is fully open, and the robot's gripper is currently in contact with the handle. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the arm away from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 11 cm, move left 13 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.286540687084198, + -0.15133890509605408, + 0.012170793488621712, + -3.1031882762908936, + -0.19197334349155426, + -0.15303465723991394 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The refrigerator door is fully open, and the robot's gripper is currently in contact with the handle. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the arm away from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, keep gripper open; then move back 11 cm, move left 13 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3118968605995178, + -0.14316636323928833, + 0.015144228003919125, + -3.1097187995910645, + -0.20280148088932037, + -0.09764751046895981 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The refrigerator door is fully open, and the robot's gripper is currently in contact with the handle. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the arm away from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 13 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284965455532074, + -0.13198404014110565, + 0.023568859323859215, + -3.1227662563323975, + -0.20967905223369598, + -0.039505485445261 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The refrigerator door is fully open, and the robot's gripper is currently in contact with the handle. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the arm away from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 12 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304446041584015, + -0.11794519424438477, + 0.024765225127339363, + -3.1163365840911865, + -0.18232595920562744, + -0.008162626065313816 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The refrigerator door is fully open, and the robot's gripper is currently in contact with the handle. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the arm away from the fridge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 10 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32473284006118774, + -0.1048656478524208, + 0.03450269624590874, + -3.1106793880462646, + -0.16468927264213562, + 0.009898665361106396 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The refrigerator door is fully open, and the robot has released the handle as indicated by the open gripper. The robot is currently positioned near the open door and is executing the retreat maneuver to move away from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 9 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2974553108215332, + -0.08758343011140823, + 0.05481434985995293, + -3.1399240493774414, + -0.1460072547197342, + 0.02043209969997406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The refrigerator door is fully open, and the robot has released the handle as indicated by the open gripper. The robot is currently positioned near the open door and is executing the retreat maneuver to move away from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659267783164978, + -0.06612297147512436, + 0.06517650932073593, + 3.1402268409729004, + -0.15853357315063477, + 0.01436974760144949 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The refrigerator door is fully open, and the robot has released the handle as indicated by the open gripper. The robot is currently positioned near the open door and is executing the retreat maneuver to move away from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23122699558734894, + -0.04055102914571762, + 0.06648212671279907, + -3.139864206314087, + -0.1786002516746521, + -0.015439920127391815 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The refrigerator door is fully open, and the robot has released the handle as indicated by the open gripper. The robot is currently positioned near the open door and is executing the retreat maneuver to move away from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.19865863025188446, + -0.016063585877418518, + 0.05332666635513306, + -3.103029251098633, + -0.19394885003566742, + -0.06528424471616745 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "power cord": [ + 4, + 182, + 249, + 331 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the door is fully open." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp fridge handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The refrigerator door is fully open, and the robot has released the handle as indicated by the open gripper. The robot is currently positioned near the open door and is executing the retreat maneuver to move away from the appliance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004045_ecot.json b/cot/chunk-0004/episode_0004045_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..76e1924be1a4146d629eb60556f288be3dd13a14 --- /dev/null +++ b/cot/chunk-0004/episode_0004045_ecot.json @@ -0,0 +1,2296 @@ +{ + "task_name": "episode_0004045", + "episode_json": "json/chunk-0004/episode_0004045.json", + "video_path": "videos/chunk-0004/image_0/episode_0004045.mp4", + "instruction": "Unfold the cloth from the bottom left to the top right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004045.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.9520463347434998, + "std": 0.4155338704586029, + "delta_total": 0.003954052925109863, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95205, std=0.41553, total_delta=0.00395). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 133, + 133, + 133 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 30 + ], + [ + 3, + 31, + 32 + ], + [ + 4, + 33, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp bottom left corner\", \"start\": 0, \"end\": 8, \"planning\": \"Move gripper to the bottom left corner of the cloth and close gripper to secure a firm grasp.\"},\n {\"id\": 2, \"name\": \"drag cloth diagonally toward top right\", \"start\": 9, \"end\": 30, \"planning\": \"While maintaining grasp, pull the cloth diagonally across the table toward the top right to begin unfolding.\"},\n {\"id\": 3, \"name\": \"adjust grip and lift corner\", \"start\": 31, \"end\": 32, \"planning\": \"Slightly reposition gripper and lift the corner to help flatten and orient the cloth for full unfolding.\"},\n {\"id\": 4, \"name\": \"release and retreat after unfolding\", \"start\": 33, \"end\": 35, \"planning\": \"Open gripper to release the cloth once unfolded, then retreat upward to complete the task.\"}\n ],\n \"global_plan\": \"Unfold the yellow cloth by grasping its bottom left corner, dragging it diagonally toward the top right, adjusting grip to lift and flatten, then releasing once fully unfolded.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0–8) with significant delta; dragging phase (Segment 2) maintains low gripper value indicating sustained hold; Segments 3–4 show controlled opening and retreat consistent with release after manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp bottom left corner", + "start": 0, + "end": 8, + "planning": "Move gripper to the bottom left corner of the cloth and close gripper to secure a firm grasp." + }, + { + "id": 2, + "name": "drag cloth diagonally toward top right", + "start": 9, + "end": 30, + "planning": "While maintaining grasp, pull the cloth diagonally across the table toward the top right to begin unfolding." + }, + { + "id": 3, + "name": "adjust grip and lift corner", + "start": 31, + "end": 32, + "planning": "Slightly reposition gripper and lift the corner to help flatten and orient the cloth for full unfolding." + }, + { + "id": 4, + "name": "release and retreat after unfolding", + "start": 33, + "end": 35, + "planning": "Open gripper to release the cloth once unfolded, then retreat upward to complete the task." + } + ], + "global_plan": "Unfold the yellow cloth by grasping its bottom left corner, dragging it diagonally toward the top right, adjusting grip to lift and flatten, then releasing once fully unfolded.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0–8) with significant delta; dragging phase (Segment 2) maintains low gripper value indicating sustained hold; Segments 3–4 show controlled opening and retreat consistent with release after manipulation." + } + }, + "episode_goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603139579296112, + 0.11457783728837967, + 0.061039842665195465, + 3.03202223777771, + -0.5466827154159546, + 0.580143392086029 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth on the table. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve closing the gripper to securely grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25734007358551025, + 0.11355003714561462, + 0.05378308147192001, + 3.0370945930480957, + -0.5175102353096008, + 0.5813847780227661 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth on the table. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve closing the gripper to securely grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24922505021095276, + 0.11636807024478912, + 0.04040561616420746, + 3.075493335723877, + -0.4527997374534607, + 0.5994603633880615 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bag": [ + 114, + 352, + 580, + 980 + ], + "pink ball": [ + 896, + 642, + 996, + 780 + ], + "table": [ + 4, + 203, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth on the table. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve closing the gripper to securely grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24662861227989197, + 0.12116681784391403, + 0.03771480917930603, + 3.0907435417175293, + -0.44760769605636597, + 0.6043347120285034 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth on the table. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should involve closing the gripper to securely grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2438572645187378, + 0.13121169805526733, + 0.03103945404291153, + 3.0939645767211914, + -0.4477877616882324, + 0.6301024556159973 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move right 4 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23886142671108246, + 0.13872215151786804, + 0.027662282809615135, + 3.083761215209961, + -0.4382324814796448, + 0.6617558598518372 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper; then move forward 5 cm, move right 6 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23703691363334656, + 0.15160329639911652, + 0.02303626947104931, + 3.066160202026367, + -0.45847636461257935, + 0.6923732757568359 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 7 cm, move right 9 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2370734065771103, + 0.15319222211837769, + 0.013015900738537312, + 3.0653460025787354, + -0.4723355770111084, + 0.6915149688720703 + ], + "gripper_value": 0.9182166457176208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 9 cm, move right 11 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23745064437389374, + 0.15521949529647827, + 0.006505378521978855, + 3.062687635421753, + -0.47981691360473633, + 0.7156987190246582 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "approach and grasp bottom left corner", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 11 cm, move right 13 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23584046959877014, + 0.15642689168453217, + -0.00046307325828820467, + 3.068458080291748, + -0.4661742150783539, + 0.732782244682312 + ], + "gripper_value": 0.3644362688064575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 14 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23536059260368347, + 0.15723933279514313, + -0.00040441533201374114, + 3.0668416023254395, + -0.46390125155448914, + 0.7500953078269958 + ], + "gripper_value": 0.15718480944633484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 16 cm, move up 8 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23442089557647705, + 0.15278314054012299, + 0.0020213169045746326, + 3.052290439605713, + -0.43575844168663025, + 0.7462976574897766 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 17 cm, move up 9 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23985555768013, + 0.14945875108242035, + 0.029934747144579887, + 2.9984562397003174, + -0.4516766369342804, + 0.7785679697990417 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 18 cm, move up 7 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514691650867462, + 0.13605886697769165, + 0.054030582308769226, + 2.968493700027466, + -0.45119866728782654, + 0.7985303997993469 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 17 cm, move up 5 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26585009694099426, + 0.11817038059234619, + 0.06924421340227127, + 2.964326858520508, + -0.45195630192756653, + 0.8015266060829163 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 16 cm, move up 3 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832089960575104, + 0.09613960236310959, + 0.08013436198234558, + 2.9581987857818604, + -0.45583879947662354, + 0.7646204829216003 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 15 cm, move up 1 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3078247010707855, + 0.06280133873224258, + 0.07936343550682068, + 2.9406442642211914, + -0.44386592507362366, + 0.7352615594863892 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bag": [ + 238, + 354, + 582, + 983 + ], + "blue marker": [ + 383, + 934, + 512, + 977 + ], + "pink ball": [ + 896, + 642, + 996, + 780 + ], + "table": [ + 4, + 201, + 995, + 993 + ], + "wooden bench": [ + 271, + 2, + 996, + 282 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 11 cm, move up 3 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3307904005050659, + 0.044153325259685516, + 0.07788427174091339, + 2.9060895442962646, + -0.40526971220970154, + 0.7389282584190369 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 9 cm, move up 3 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500831723213196, + 0.02675251103937626, + 0.07975459843873978, + 2.8525116443634033, + -0.37727659940719604, + 0.7418961524963379 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is positioned near the bottom-left corner of the yellow cloth, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 8 cm, move up 3 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36172911524772644, + 0.01570937968790531, + 0.0801209807395935, + 2.814831018447876, + -0.3625538647174835, + 0.7356848120689392 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move up 4 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704339861869812, + 0.001251021632924676, + 0.08345960080623627, + 2.7778964042663574, + -0.3540414571762085, + 0.7238002419471741 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 3 cm, tilt right 40 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3804096281528473, + -0.016580764204263687, + 0.09137676656246185, + 2.733020067214966, + -0.3501037359237671, + 0.7047680020332336 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 3 cm, tilt right 40 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38982370495796204, + -0.027663491666316986, + 0.09494882076978683, + 2.6722614765167236, + -0.32108941674232483, + 0.6923723816871643 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 2 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3976810872554779, + -0.037498749792575836, + 0.10084336996078491, + 2.606504201889038, + -0.3232107162475586, + 0.6749669909477234 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 2 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.40957388281822205, + -0.043579213321208954, + 0.09882214665412903, + 2.5668814182281494, + -0.3324619233608246, + 0.6527553796768188 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.42034149169921875, + -0.05141085013747215, + 0.09365543723106384, + 2.5244033336639404, + -0.35003626346588135, + 0.6318421363830566 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 2 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.44277483224868774, + -0.047368716448545456, + 0.10969174653291702, + 2.4600629806518555, + -0.3693558871746063, + 0.5917328000068665 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink ball": [ + 896, + 642, + 996, + 780 + ], + "yellow bag": [ + 286, + 275, + 745, + 938 + ], + "wooden bench": [ + 268, + 5, + 997, + 470 + ], + "table": [ + 4, + 208, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.44970014691352844, + -0.043812695890665054, + 0.10542050749063492, + 2.4281961917877197, + -0.3662516474723816, + 0.583082914352417 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4506760835647583, + -0.050417378544807434, + 0.10965149849653244, + 2.3921327590942383, + -0.40651535987854004, + 0.52257239818573 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.45409220457077026, + -0.04913266375660896, + 0.11615055799484253, + 2.302947759628296, + -0.4238576889038086, + 0.5222540497779846 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, keep gripper open; then keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.45407402515411377, + -0.04656016454100609, + 0.11479472368955612, + 2.2081329822540283, + -0.4087730348110199, + 0.5146018862724304 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "drag cloth diagonally toward top right", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the yellow cloth with a closed gripper, as confirmed by the low gripper value and segment-level evidence. The cloth remains partially folded on the table surface. The next action is to drag the grasped corner diagonally toward the top right to begin unfolding the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4525581896305084, + -0.0467735230922699, + 0.11745010316371918, + 2.134469509124756, + -0.38969144225120544, + 0.5114741325378418 + ], + "gripper_value": 0.20382753014564514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "adjust grip and lift corner", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and lifted it slightly off the table. The cloth is partially unfolded but still folded at the top right. The next action should involve adjusting the grip to better lift and flatten the cloth toward full unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 31, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.45428234338760376, + -0.044869184494018555, + 0.11650825291872025, + 2.1267802715301514, + -0.39300522208213806, + 0.5263201594352722 + ], + "gripper_value": 0.457809716463089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "adjust grip and lift corner", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and lifted it slightly off the table. The cloth is partially unfolded but still folded at the top right. The next action should involve adjusting the grip to better lift and flatten the cloth toward full unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.45545902848243713, + -0.04495728388428688, + 0.1177094578742981, + 2.1026930809020996, + -0.41214317083358765, + 0.5450415015220642 + ], + "gripper_value": 0.7979477047920227 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bag": [ + 286, + 329, + 876, + 927 + ], + "blue marker": [ + 191, + 360, + 288, + 424 + ], + "pink ball": [ + 897, + 642, + 996, + 780 + ], + "table": [ + 5, + 211, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "release and retreat after unfolding", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the yellow cloth and lifted it slightly off the table. The cloth is partially unfolded but still folded at the top right. The next action should involve adjusting the grip to better lift and flatten the cloth toward full unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4563347101211548, + -0.04439912363886833, + 0.11664282530546188, + 2.094832181930542, + -0.4462236762046814, + 0.5477052330970764 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "release and retreat after unfolding", + "subtask_reasoning": "The yellow cloth is fully unfolded and flat on the table, with the gripper open and elevated above it. The subtask of releasing and retreating after unfolding is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4559650719165802, + -0.03991738706827164, + 0.10827677696943283, + 2.149702787399292, + -0.48892611265182495, + 0.5349019169807434 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from the bottom left to the top right by grasping and pulling the bottom-left corner diagonally upward until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bottom left corner" + }, + { + "id": 2, + "subtask": "drag cloth diagonally toward top right" + }, + { + "id": 3, + "subtask": "adjust grip and lift corner" + }, + { + "id": 4, + "subtask": "release and retreat after unfolding" + } + ], + "subtask_name": "release and retreat after unfolding", + "subtask_reasoning": "The yellow cloth is fully unfolded and flat on the table, with the gripper open and elevated above it. The subtask of releasing and retreating after unfolding is complete; no further action is needed for this step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004046_ecot.json b/cot/chunk-0004/episode_0004046_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fcaa20a77413bb64df882a2b66c88b3f5eb80ab3 --- /dev/null +++ b/cot/chunk-0004/episode_0004046_ecot.json @@ -0,0 +1,2594 @@ +{ + "task_name": "episode_0004046", + "episode_json": "json/chunk-0004/episode_0004046.json", + "video_path": "videos/chunk-0004/image_0/episode_0004046.mp4", + "instruction": "Take the strainer and put it on the lower right of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004046.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.9356279969215393, + "std": 0.43218448758125305, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93563, std=0.43218, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 137, + 137, + 137, + 137, + 137, + 137 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 16 + ], + [ + 3, + 17, + 36 + ], + [ + 4, + 37, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach strainer\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the strainer on the stove without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp strainer\", \"start\": 3, \"end\": 16, \"planning\": \"Close gripper to securely grasp the strainer handle while maintaining position over stove.\"},\n {\"id\": 3, \"name\": \"reposition strainer\", \"start\": 17, \"end\": 36, \"planning\": \"Lift and move the grasped strainer to the lower right area of the stove surface.\"},\n {\"id\": 4, \"name\": \"release strainer\", \"start\": 37, \"end\": 42, \"planning\": \"Open gripper to release the strainer at target location and retreat slightly upward.\"}\n ],\n \"global_plan\": \"Approach the strainer on the stove, grasp it firmly, reposition it to the lower right section of the stove, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in segments 2–4; segment 1 shows no closing so described as approach only. Motion and gripper data align with visual keyframes for each phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach strainer", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the strainer on the stove without closing gripper." + }, + { + "id": 2, + "name": "grasp strainer", + "start": 3, + "end": 16, + "planning": "Close gripper to securely grasp the strainer handle while maintaining position over stove." + }, + { + "id": 3, + "name": "reposition strainer", + "start": 17, + "end": 36, + "planning": "Lift and move the grasped strainer to the lower right area of the stove surface." + }, + { + "id": 4, + "name": "release strainer", + "start": 37, + "end": 42, + "planning": "Open gripper to release the strainer at target location and retreat slightly upward." + } + ], + "global_plan": "Approach the strainer on the stove, grasp it firmly, reposition it to the lower right section of the stove, then release and retreat.", + "notes": "Gripper closure is confirmed in segments 2–4; segment 1 shows no closing so described as approach only. Motion and gripper data align with visual keyframes for each phase." + } + }, + "episode_goal": "Place the strainer on the lower right burner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820810377597809, + 0.189657062292099, + 0.0706205815076828, + 3.110372543334961, + -0.22803373634815216, + 0.4249075651168823 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "approach strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 10 cm, move right 12 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2803567349910736, + 0.1879890263080597, + 0.0589444600045681, + 3.1032447814941406, + -0.19297529757022858, + 0.4300732910633087 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "approach strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, tilt left 10 degrees, keep gripper open; then move forward 10 cm, move right 12 cm, move down 8 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28086188435554504, + 0.18572884798049927, + 0.05681147426366806, + 3.127696990966797, + -0.19013136625289917, + 0.4341948330402374 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "approach strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 11 cm, move right 12 cm, move down 8 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29329368472099304, + 0.16768969595432281, + 0.056977272033691406, + -3.0893940925598145, + -0.1890840232372284, + 0.426102876663208 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 13 cm, move down 9 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31248778104782104, + 0.13889054954051971, + 0.054942451417446136, + -3.0582804679870605, + -0.21361464262008667, + 0.4440632462501526 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 10 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33258533477783203, + 0.10952815413475037, + 0.04323773458600044, + -3.0546305179595947, + -0.19694533944129944, + 0.4408888816833496 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34906813502311707, + 0.08790615200996399, + 0.03433267027139664, + -3.077086925506592, + -0.2242731750011444, + 0.46268394589424133 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3647896945476532, + 0.07181786000728607, + 0.020381329581141472, + -3.0503110885620117, + -0.2412789911031723, + 0.4424382746219635 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37885066866874695, + 0.06036940962076187, + 0.005407223477959633, + -3.0321762561798096, + -0.23048482835292816, + 0.40166282653808594 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot is positioned near the stove with the strainer visible on the upper left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the strainer to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.385966032743454, + 0.05347513407468796, + -0.0015366841107606888, + -3.027088165283203, + -0.22085252404212952, + 0.38097095489501953 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39243677258491516, + 0.04477979987859726, + -0.012165307998657227, + -3.007661819458008, + -0.19936425983905792, + 0.3501133620738983 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3971938192844391, + 0.04990067332983017, + -0.020079970359802246, + -2.9647257328033447, + -0.2067432403564453, + 0.34943610429763794 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40296825766563416, + 0.04592299833893776, + -0.02728641778230667, + -2.9625613689422607, + -0.20199133455753326, + 0.3423875570297241 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.40631628036499023, + 0.0426047146320343, + -0.034763310104608536, + -2.978607416152954, + -0.18194565176963806, + 0.3384438157081604 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40547943115234375, + 0.04259605333209038, + -0.03710802271962166, + -2.9783527851104736, + -0.1723071187734604, + 0.3292480409145355 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4063774049282074, + 0.04220863804221153, + -0.040136002004146576, + -2.9758100509643555, + -0.16867218911647797, + 0.32814642786979675 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40712466835975647, + 0.046130917966365814, + -0.03969016671180725, + -2.953970432281494, + -0.18466371297836304, + 0.3252314627170563 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "grasp strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move right 2 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40608006715774536, + 0.044775258749723434, + -0.040257956832647324, + -2.9552969932556152, + -0.17630402743816376, + 0.3162430226802826 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 3 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40284228324890137, + 0.04512294754385948, + -0.03846648707985878, + -2.9386191368103027, + -0.17842864990234375, + 0.2957470715045929 + ], + "gripper_value": 0.2142026573419571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4021189510822296, + 0.045817382633686066, + -0.03404456004500389, + -2.9352691173553467, + -0.18463878333568573, + 0.2930884063243866 + ], + "gripper_value": 0.13806100189685822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.40252286195755005, + 0.047065891325473785, + -0.03061661683022976, + -2.9525301456451416, + -0.17840826511383057, + 0.28912270069122314 + ], + "gripper_value": 0.09700111299753189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.402354896068573, + 0.050275400280952454, + -0.0296847615391016, + -2.9270122051239014, + -0.18320399522781372, + 0.2796054482460022 + ], + "gripper_value": 0.08712529391050339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4012507498264313, + 0.0486413910984993, + -0.029263734817504883, + -2.8794713020324707, + -0.18871577084064484, + 0.24741536378860474 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39580032229423523, + 0.049396611750125885, + -0.025074567645788193, + -2.8723039627075195, + -0.18393109738826752, + 0.24169781804084778 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.38331055641174316, + 0.04759636148810387, + -0.006133871152997017, + -2.865919828414917, + -0.18220984935760498, + 0.2538425028324127 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3653199076652527, + 0.04003991186618805, + 0.022020522505044937, + -2.9098877906799316, + -0.2060927152633667, + 0.25508275628089905 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot arm is positioned above the strainer on the stove, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask is to securely grasp the strainer. The next action should involve closing the gripper to hold the strainer firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 4 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34275275468826294, + 0.028346935287117958, + 0.03732586279511452, + -2.933117389678955, + -0.22483816742897034, + 0.21718774735927582 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31714293360710144, + 0.017563018947839737, + 0.032401762902736664, + -2.936009168624878, + -0.20008787512779236, + 0.17859293520450592 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2883981764316559, + 0.0031883888877928257, + 0.023088833317160606, + -2.9462080001831055, + -0.1775132119655609, + 0.11678185313940048 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26894742250442505, + 0.0014282751362770796, + 0.00879801344126463, + -2.9477427005767822, + -0.13617506623268127, + 0.0914694219827652 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26644042134284973, + -0.007608842104673386, + -0.0011690107639878988, + -2.9435861110687256, + -0.11974433809518814, + 0.05441612750291824 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26189276576042175, + -0.008095581084489822, + -0.013662558048963547, + -2.931560754776001, + -0.07693479210138321, + 0.043054770678281784 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26362475752830505, + -0.0053300317376852036, + -0.022737175226211548, + -2.9122753143310547, + -0.0813191831111908, + 0.03551319241523743 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27140241861343384, + -0.004115610383450985, + -0.027754051610827446, + -2.8976993560791016, + -0.08750937134027481, + 0.05210212618112564 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2748669385910034, + -0.0027055873069912195, + -0.027344584465026855, + -2.9272730350494385, + -0.10160177201032639, + 0.08482538163661957 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.27767980098724365, + -0.0009451864752918482, + -0.026817569509148598, + -2.9825332164764404, + -0.08362885564565659, + 0.08752904087305069 + ], + "gripper_value": 0.10434377193450928 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.27878499031066895, + -0.001047432771883905, + -0.03280862420797348, + -2.9851670265197754, + -0.06370153278112411, + 0.04392619803547859 + ], + "gripper_value": 0.2906041443347931 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "reposition strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.27878281474113464, + 0.0015184814110398293, + -0.03280862420797348, + -2.9849743843078613, + -0.06322328746318817, + 0.05009350925683975 + ], + "gripper_value": 0.58391273021698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "release strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.27868157625198364, + 0.002260147826746106, + -0.03303520008921623, + -2.9862093925476074, + -0.06521476805210114, + 0.05726258456707001 + ], + "gripper_value": 0.8870869278907776 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "release strainer", + "subtask_reasoning": "The robot is currently holding the strainer above the stove, having completed the approach and grasp phases. The gripper is closed, and the strainer is positioned near the target lower right burner. The next action is to lower and place the strainer onto the lower right burner, then release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2790965139865875, + 0.0019034775905311108, + -0.03244911879301071, + -2.9883437156677246, + -0.06578037142753601, + 0.056919291615486145 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "release strainer", + "subtask_reasoning": "The strainer is currently held above the stove, with the gripper open (value ~1.0), indicating the release action is underway or complete. The strainer appears to be positioned near the lower right burner as intended. The next step is to confirm stable placement and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 37, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27776119112968445, + 0.0008312035934068263, + -0.027996733784675598, + -3.0086286067962646, + -0.06089001148939133, + 0.05727766081690788 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "release strainer", + "subtask_reasoning": "The strainer is currently held above the stove, with the gripper open (value ~1.0), indicating the release action is underway or complete. The strainer appears to be positioned near the lower right burner as intended. The next step is to confirm stable placement and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2795208990573883, + 0.0008125557214953005, + -0.016299361363053322, + -3.032754898071289, + -0.08505555242300034, + 0.06481277197599411 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "release strainer", + "subtask_reasoning": "The strainer is currently held above the stove, with the gripper open (value ~1.0), indicating the release action is underway or complete. The strainer appears to be positioned near the lower right burner as intended. The next step is to confirm stable placement and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802133560180664, + 0.002579574938863516, + 0.0008705134969204664, + -3.0576932430267334, + -0.11762098222970963, + 0.0772252008318901 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strainer on the lower right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strainer" + }, + { + "id": 2, + "subtask": "grasp strainer" + }, + { + "id": 3, + "subtask": "reposition strainer" + }, + { + "id": 4, + "subtask": "release strainer" + } + ], + "subtask_name": "release strainer", + "subtask_reasoning": "The strainer is currently held above the stove, with the gripper open (value ~1.0), indicating the release action is underway or complete. The strainer appears to be positioned near the lower right burner as intended. The next step is to confirm stable placement and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004049_ecot.json b/cot/chunk-0004/episode_0004049_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1acc410f4aa75a833b43630a477d8014f6db1cf0 --- /dev/null +++ b/cot/chunk-0004/episode_0004049_ecot.json @@ -0,0 +1,2110 @@ +{ + "task_name": "episode_0004049", + "episode_json": "json/chunk-0004/episode_0004049.json", + "video_path": "videos/chunk-0004/image_0/episode_0004049.mp4", + "instruction": "Move the orange cloth on top of the left stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004049.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 1 + ], + [ + 3, + 2, + 3 + ], + [ + 4, + 4, + 12 + ], + [ + 5, + 13, + 18 + ], + [ + 6, + 19, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth area\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector from initial position toward the vicinity of the orange cloth on the stove.\"},\n {\"id\": 2, \"name\": \"descend to cloth surface\", \"start\": 4, \"end\": 12, \"planning\": \"Lower the gripper vertically to make contact with the orange cloth without grasping.\"},\n {\"id\": 3, \"name\": \"slide cloth leftward\", \"start\": 13, \"end\": 18, \"planning\": \"Drag the orange cloth horizontally across the stove surface toward the left burner zone.\"},\n {\"id\": 4, \"name\": \"reposition over left burner\", \"start\": 19, \"end\": 25, \"planning\": \"Adjust the cloth’s position by nudging it into final placement centered over the left stove burner.\"},\n {\"id\": 5, \"name\": \"retreat upward\", \"start\": 26, \"end\": 31, \"planning\": \"Lift the end-effector away from the cloth after confirming successful repositioning on the left stove.\"}\n ],\n \"global_plan\": \"The robot approaches the orange cloth, makes contact without grasping, slides and nudges it across the stove surface to center it over the left burner, then retreats upward to complete the task.\",\n \"notes\": \"Gripper remains fully open throughout (value ~0.99882, no delta), so all interactions are contact-based sliding/nudging — no grasp or lift inferred. Segment boundaries respected; subtasks merged for natural manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth area", + "start": 0, + "end": 3, + "planning": "Move the end-effector from initial position toward the vicinity of the orange cloth on the stove." + }, + { + "id": 2, + "name": "descend to cloth surface", + "start": 4, + "end": 12, + "planning": "Lower the gripper vertically to make contact with the orange cloth without grasping." + }, + { + "id": 3, + "name": "slide cloth leftward", + "start": 13, + "end": 18, + "planning": "Drag the orange cloth horizontally across the stove surface toward the left burner zone." + }, + { + "id": 4, + "name": "reposition over left burner", + "start": 19, + "end": 25, + "planning": "Adjust the cloth’s position by nudging it into final placement centered over the left stove burner." + }, + { + "id": 5, + "name": "retreat upward", + "start": 26, + "end": 31, + "planning": "Lift the end-effector away from the cloth after confirming successful repositioning on the left stove." + } + ], + "global_plan": "The robot approaches the orange cloth, makes contact without grasping, slides and nudges it across the stove surface to center it over the left burner, then retreats upward to complete the task.", + "notes": "Gripper remains fully open throughout (value ~0.99882, no delta), so all interactions are contact-based sliding/nudging — no grasp or lift inferred. Segment boundaries respected; subtasks merged for natural manipulation phases." + } + }, + "episode_goal": "Move the orange cloth on top of the left stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452240526676178, + 0.027566246688365936, + 0.08246205747127533, + -3.141366481781006, + -0.300314724445343, + 0.009748240932822227 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right burner. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is moving toward the cloth area without attempting to grasp. The next action should be to continue approaching the orange cloth while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 7 cm, move right 8 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32990148663520813, + 0.02617398090660572, + 0.0637718215584755, + 3.138253688812256, + -0.23117578029632568, + 0.01418981421738863 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right side of the cooktop. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, keep gripper open; then move back 7 cm, move right 8 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3154146075248718, + 0.027675816789269447, + 0.059583261609077454, + -3.125007390975952, + -0.20338410139083862, + 0.019902825355529785 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right side of the cooktop. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 6 cm, move right 9 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061877191066742, + 0.02691132016479969, + 0.06346803903579712, + -3.1352782249450684, + -0.21946848928928375, + 0.0241196621209383 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right side of the cooktop. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 6 cm, move right 9 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982921898365021, + 0.022095339372754097, + 0.06735692173242569, + 3.130399227142334, + -0.22544342279434204, + 0.023456407710909843 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right side of the cooktop. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27645033597946167, + 0.008533610962331295, + 0.05160091817378998, + 3.1039297580718994, + -0.1794414520263672, + -0.012909839861094952 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right side of the cooktop. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2611084580421448, + -0.011038248427212238, + 0.039378441870212555, + 3.103398561477661, + -0.1414242833852768, + -0.09284508973360062 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right side of the cooktop. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24691081047058105, + -0.021830469369888306, + 0.028951136395335197, + 3.122053384780884, + -0.10805145651102066, + -0.14539261162281036 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot is positioned above the stove with the orange cloth visible on the right side of the cooktop. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23637591302394867, + -0.029851440340280533, + 0.02519058994948864, + 3.1220147609710693, + -0.09829127788543701, + -0.16561415791511536 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot has approached the orange cloth on the stove and is now descending toward its surface. The gripper remains open with no grasp evidence, indicating contact-based interaction is intended. The next action is to make gentle contact with the cloth to prepare for sliding it toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2349955439567566, + -0.04546892270445824, + 0.025049474090337753, + 3.1213152408599854, + -0.11320840567350388, + -0.2126854658126831 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot has approached the orange cloth on the stove and is now descending toward its surface. The gripper remains open with no grasp evidence, indicating contact-based interaction is intended. The next action is to make gentle contact with the cloth to prepare for sliding it toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2315724790096283, + -0.057071004062891006, + 0.019189966842532158, + 3.1242997646331787, + -0.09428746998310089, + -0.25377175211906433 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot has approached the orange cloth on the stove and is now descending toward its surface. The gripper remains open with no grasp evidence, indicating contact-based interaction is intended. The next action is to make gentle contact with the cloth to prepare for sliding it toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23226071894168854, + -0.06258174777030945, + 0.018303250893950462, + 3.1293487548828125, + -0.09837951511144638, + -0.2621079087257385 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue brush": [ + 332, + 455, + 460, + 590 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot has approached the orange cloth on the stove and is now descending toward its surface. The gripper remains open with no grasp evidence, indicating contact-based interaction is intended. The next action is to make gentle contact with the cloth to prepare for sliding it toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open; then move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23383598029613495, + -0.0649477019906044, + 0.004879787564277649, + 3.131505012512207, + -0.06615879386663437, + -0.27506011724472046 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "descend to cloth surface", + "subtask_reasoning": "The robot has approached the orange cloth on the stove and is now descending toward its surface. The gripper remains open with no grasp evidence, indicating contact-based interaction is intended. The next action is to make gentle contact with the cloth to prepare for sliding it toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open; then move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23754017055034637, + -0.06363198161125183, + -0.00048034911742433906, + -3.140120267868042, + -0.055211424827575684, + -0.2727765142917633 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "slide cloth leftward", + "subtask_reasoning": "The robot has approached the orange cloth on the stove and is now descending toward its surface. The gripper remains open with no grasp evidence, indicating contact-based interaction is intended. The next action is to make gentle contact with the cloth to prepare for sliding it toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open; then move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24442452192306519, + -0.05581196770071983, + -0.002637418219819665, + -3.124124765396118, + -0.05190804600715637, + -0.2602028548717499 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "slide cloth leftward", + "subtask_reasoning": "The robot has approached the orange cloth on the stove and is now descending toward its surface. The gripper remains open with no grasp evidence, indicating contact-based interaction is intended. The next action is to make gentle contact with the cloth to prepare for sliding it toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24966542422771454, + -0.039657749235630035, + -0.0008403042447753251, + -3.113823652267456, + -0.05756457895040512, + -0.2173817753791809 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "slide cloth leftward", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stove surface, having completed the approach and descent. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue nudging the cloth leftward toward the center of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, rotate clockwise 10 degrees, keep gripper open; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25301939249038696, + -0.016462629660964012, + -0.00027499874704517424, + -3.11383056640625, + -0.05367262661457062, + -0.1549193114042282 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "slide cloth leftward", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stove surface, having completed the approach and descent. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue nudging the cloth leftward toward the center of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2528022825717926, + -0.002128510968759656, + -0.00011866391287185252, + -3.125159502029419, + -0.04763755202293396, + -0.12683604657649994 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "slide cloth leftward", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stove surface, having completed the approach and descent. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue nudging the cloth leftward toward the center of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper open; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25172632932662964, + 0.009448316879570484, + 0.0009109388338401914, + -3.1399269104003906, + -0.03850633278489113, + -0.10110007226467133 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "slide cloth leftward", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stove surface, having completed the approach and descent. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue nudging the cloth leftward toward the center of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25000259280204773, + 0.026058685034513474, + 0.0016211604233831167, + 3.1318352222442627, + -0.03157651424407959, + -0.06831985712051392 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "reposition over left burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stove surface, having completed the approach and descent. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue nudging the cloth leftward toward the center of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.247604638338089, + 0.04343220591545105, + 0.0034181270748376846, + 3.1076483726501465, + -0.024251999333500862, + -0.0230712927877903 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "reposition over left burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stove surface, having completed the approach and descent. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue nudging the cloth leftward toward the center of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24718748033046722, + 0.0614941380918026, + 0.0065351384691894054, + 3.0979325771331787, + -0.027702564373612404, + 0.007801143918186426 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "reposition over left burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth on the stove surface, having completed the approach and descent. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue nudging the cloth leftward toward the center of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24697642028331757, + 0.08038925379514694, + 0.011331574060022831, + 3.086599111557007, + -0.032993655651807785, + 0.038929011672735214 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "reposition over left burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which is currently positioned over the left stove burner. The gripper remains open with no closing evidence, indicating the cloth is being nudged or slid rather than grasped. The next action is to continue adjusting the cloth's position to center it precisely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24904507398605347, + 0.09759587049484253, + 0.013422593474388123, + 3.079777479171753, + -0.03847964107990265, + 0.06557939201593399 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "reposition over left burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which is currently positioned over the left stove burner. The gripper remains open with no closing evidence, indicating the cloth is being nudged or slid rather than grasped. The next action is to continue adjusting the cloth's position to center it precisely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24913987517356873, + 0.11175122857093811, + 0.01536114513874054, + 3.0927584171295166, + -0.042771127074956894, + 0.08134986460208893 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "reposition over left burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which is currently positioned over the left stove burner. The gripper remains open with no closing evidence, indicating the cloth is being nudged or slid rather than grasped. The next action is to continue adjusting the cloth's position to center it precisely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24886919558048248, + 0.11522749811410904, + 0.012653972953557968, + 3.090386390686035, + -0.03178821876645088, + 0.09586329013109207 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "reposition over left burner", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which is currently positioned over the left stove burner. The gripper remains open with no closing evidence, indicating the cloth is being nudged or slid rather than grasped. The next action is to continue adjusting the cloth's position to center it precisely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2474316656589508, + 0.11774875968694687, + 0.012507076375186443, + 3.106959104537964, + -0.024060335010290146, + 0.1015295460820198 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "retreat upward", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which is currently positioned over the left stove burner. The gripper remains open with no closing evidence, indicating the cloth is being nudged or slid rather than grasped. The next action is to continue adjusting the cloth's position to center it precisely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24660730361938477, + 0.11924503743648529, + 0.012445726431906223, + 3.116762399673462, + -0.019690996035933495, + 0.10736401379108429 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "retreat upward", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which is currently positioned over the left stove burner. The gripper remains open with no closing evidence, indicating the cloth is being nudged or slid rather than grasped. The next action is to continue adjusting the cloth's position to center it precisely on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2483566850423813, + 0.12123822420835495, + 0.014189250767230988, + 3.1230692863464355, + -0.018741384148597717, + 0.10820497572422028 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "retreat upward", + "subtask_reasoning": "The orange cloth is already positioned on the left stove burner, and the robot's end-effector is hovering just above it without grasping. The retreat upward subtask is in progress, with the arm beginning to lift away from the cloth surface. The next action is to continue moving vertically upward to clear the stove area and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24976833164691925, + 0.12194502353668213, + 0.015874207019805908, + 3.1251587867736816, + -0.024472875520586967, + 0.10965599864721298 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "retreat upward", + "subtask_reasoning": "The orange cloth is already positioned on the left stove burner, and the robot's end-effector is hovering just above it without grasping. The retreat upward subtask is in progress, with the arm beginning to lift away from the cloth surface. The next action is to continue moving vertically upward to clear the stove area and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25497937202453613, + 0.12219280749559402, + 0.03733574226498604, + 3.1403307914733887, + -0.08921533077955246, + 0.1125403344631195 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "retreat upward", + "subtask_reasoning": "The orange cloth is already positioned on the left stove burner, and the robot's end-effector is hovering just above it without grasping. The retreat upward subtask is in progress, with the arm beginning to lift away from the cloth surface. The next action is to continue moving vertically upward to clear the stove area and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25994905829429626, + 0.11930510401725769, + 0.05746990814805031, + 3.1393251419067383, + -0.16318204998970032, + 0.10238244384527206 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth on top of the left stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "descend to cloth surface" + }, + { + "id": 3, + "subtask": "slide cloth leftward" + }, + { + "id": 4, + "subtask": "reposition over left burner" + }, + { + "id": 5, + "subtask": "retreat upward" + } + ], + "subtask_name": "retreat upward", + "subtask_reasoning": "The orange cloth is already positioned on the left stove burner, and the robot's end-effector is hovering just above it without grasping. The retreat upward subtask is in progress, with the arm beginning to lift away from the cloth surface. The next action is to continue moving vertically upward to clear the stove area and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004051_ecot.json b/cot/chunk-0004/episode_0004051_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..29a0c23dab90845540e8641e7be2a4d298d033b8 --- /dev/null +++ b/cot/chunk-0004/episode_0004051_ecot.json @@ -0,0 +1,1995 @@ +{ + "task_name": "episode_0004051", + "episode_json": "json/chunk-0004/episode_0004051.json", + "video_path": "videos/chunk-0004/image_0/episode_0004051.mp4", + "instruction": "Move the grater and place directly to the right of pepper.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004051.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.5844287872314453, + "std": 0.27228662371635437, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.58443, std=0.27229, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 223, + 223, + 223, + 223, + 223 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 11 + ], + [ + 3, + 12, + 13 + ], + [ + 4, + 14, + 22 + ], + [ + 5, + 23, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach grater\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the grater without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp grater\", \"start\": 5, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the grater handle.\"},\n {\"id\": 3, \"name\": \"lift and reposition grater\", \"start\": 12, \"end\": 13, \"planning\": \"Lift the grater slightly and begin moving it rightward toward the target location.\"},\n {\"id\": 4, \"name\": \"slide grater to target\", \"start\": 14, \"end\": 22, \"planning\": \"Drag or slide the grater along the surface to position it directly right of the pepper.\"},\n {\"id\": 5, \"name\": \"release grater\", \"start\": 23, \"end\": 27, \"planning\": \"Open the gripper to release the grater at the final position and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the grater, grasp it, lift and move it rightward, slide it into position next to the pepper, then release.\",\n \"notes\": \"Segment 1 shows no gripper closing — approach only. Segment 2 shows meaningful closing — grasp is valid. Segment 4 shows constant gripper — sliding/contact motion, not grasping. Segment 5 shows opening — release phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach grater", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the grater without closing the gripper." + }, + { + "id": 2, + "name": "grasp grater", + "start": 5, + "end": 11, + "planning": "Close the gripper to securely grasp the grater handle." + }, + { + "id": 3, + "name": "lift and reposition grater", + "start": 12, + "end": 13, + "planning": "Lift the grater slightly and begin moving it rightward toward the target location." + }, + { + "id": 4, + "name": "slide grater to target", + "start": 14, + "end": 22, + "planning": "Drag or slide the grater along the surface to position it directly right of the pepper." + }, + { + "id": 5, + "name": "release grater", + "start": 23, + "end": 27, + "planning": "Open the gripper to release the grater at the final position and retreat slightly." + } + ], + "global_plan": "Approach the grater, grasp it, lift and move it rightward, slide it into position next to the pepper, then release.", + "notes": "Segment 1 shows no gripper closing — approach only. Segment 2 shows meaningful closing — grasp is valid. Segment 4 shows constant gripper — sliding/contact motion, not grasping. Segment 5 shows opening — release phase." + } + }, + "episode_goal": "Move the grater and place it directly to the right of the pepper.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26666104793548584, + 0.1566709578037262, + 0.06195152550935745, + -3.0957961082458496, + -0.08351930975914001, + -0.1431080400943756 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "approach grater", + "subtask_reasoning": "The robot is positioned above the counter with the grater visible to the right and the pepper to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector toward the grater to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 16 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26465126872062683, + 0.15469248592853546, + 0.05290094017982483, + -3.1162798404693604, + -0.06055174022912979, + -0.14080770313739777 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "approach grater", + "subtask_reasoning": "The robot is positioned above the counter with the grater visible to the right and the pepper to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector toward the grater to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 5 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2741883099079132, + 0.13029441237449646, + 0.048505738377571106, + -3.1256539821624756, + -0.0676204264163971, + -0.2009548544883728 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "approach grater", + "subtask_reasoning": "The robot arm is positioned above the counter, with the grater visible to the left and the pepper to the right. No movement toward the grater has occurred yet. The next action should be to move the end effector closer to the grater to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 13 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 6 cm, move right 5 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28833046555519104, + 0.08672226965427399, + 0.05150806903839111, + -3.121044635772705, + -0.09301695227622986, + -0.3003741502761841 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "approach grater", + "subtask_reasoning": "The robot arm is positioned above the counter, with the grater visible to the left and the pepper to the right. No movement toward the grater has occurred yet. The next action should be to move the end effector closer to the grater to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 6 cm, move right 5 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067554235458374, + 0.03829484432935715, + 0.05689909681677818, + -3.1092281341552734, + -0.14893484115600586, + -0.3492552638053894 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red chili pepper": [ + 122, + 353, + 258, + 514 + ], + "green fork": [ + 641, + 316, + 737, + 477 + ], + "tomato sauce": [ + 637, + 41, + 784, + 298 + ], + "wooden table": [ + 4, + 130, + 936, + 971 + ], + "metal bowl": [ + 300, + 108, + 529, + 339 + ], + "orange coaster": [ + 464, + 211, + 551, + 371 + ], + "toy stove": [ + 674, + 176, + 996, + 993 + ], + "toy microwave": [ + 449, + 2, + 673, + 237 + ], + "corn": [ + 767, + 128, + 920, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "approach grater", + "subtask_reasoning": "The robot arm is positioned above the counter, with the grater visible to the left and the pepper to the right. No movement toward the grater has occurred yet. The next action should be to move the end effector closer to the grater to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 5 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33779671788215637, + -0.0011353312293067575, + 0.060041945427656174, + 3.10744571685791, + -0.24147740006446838, + -0.26272231340408325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "grasp grater", + "subtask_reasoning": "The robot arm is positioned above the counter, with the grater visible to the left and the pepper to the right. No movement toward the grater has occurred yet. The next action should be to move the end effector closer to the grater to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36842697858810425, + -0.029440566897392273, + 0.05813951790332794, + 3.0283234119415283, + -0.2780676484107971, + -0.15540488064289093 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "grasp grater", + "subtask_reasoning": "The robot arm is positioned above the counter, with the grater visible to the left and the pepper to the right. No movement toward the grater has occurred yet. The next action should be to move the end effector closer to the grater to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 4 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3864087164402008, + -0.03440425172448158, + 0.04742696136236191, + 2.98162841796875, + -0.2548803687095642, + -0.056712452322244644 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "grasp grater", + "subtask_reasoning": "The robot arm is positioned above the counter, with the grater visible to the left and the pepper to the right. No movement toward the grater has occurred yet. The next action should be to move the end effector closer to the grater to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 9 cm, move left 7 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.39328911900520325, + -0.037874363362789154, + 0.0340808741748333, + 2.989474296569824, + -0.21794943511486053, + -0.017577484250068665 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "grasp grater", + "subtask_reasoning": "The robot has approached the grater and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to secure the grater." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 12 cm, move left 11 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39160770177841187, + -0.04218478873372078, + 0.01847218908369541, + 3.0338211059570312, + -0.18021143972873688, + -0.03872302919626236 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "grasp grater", + "subtask_reasoning": "The robot has approached the grater and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to secure the grater." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, keep gripper closed; then move back 14 cm, move left 14 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3924548327922821, + -0.04444744065403938, + 0.014237401075661182, + 3.0571095943450928, + -0.1735256463289261, + -0.04668645188212395 + ], + "gripper_value": 0.9263488054275513 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "grasp grater", + "subtask_reasoning": "The robot has approached the grater and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to secure the grater." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, keep gripper closed; then move back 15 cm, move left 15 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.392599880695343, + -0.04843771457672119, + 0.012307533994317055, + 3.088836669921875, + -0.17713192105293274, + -0.06632871180772781 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "grasp grater", + "subtask_reasoning": "The robot has approached the grater and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp action. The next step is to fully close the gripper to secure the grater." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, keep gripper closed; then move back 15 cm, move left 16 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39348676800727844, + -0.04748408868908882, + 0.011425651609897614, + 3.1115825176239014, + -0.17733845114707947, + -0.07711929827928543 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "lift and reposition grater", + "subtask_reasoning": "The robot has successfully grasped the grater, which is currently held above the countertop near the pepper. The gripper is closed around the object, and the arm is positioned to begin moving the grater to the right. The next action is to translate the grater horizontally to place it directly to the right of the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 14 cm, move left 17 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39269936084747314, + -0.045660872012376785, + 0.01121896505355835, + 3.122950315475464, + -0.17139314115047455, + -0.07878195494413376 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "lift and reposition grater", + "subtask_reasoning": "The robot has successfully grasped the grater, which is currently held above the countertop near the pepper. The gripper is closed around the object, and the arm is positioned to begin moving the grater to the right. The next action is to translate the grater horizontally to place it directly to the right of the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 14 cm, move left 17 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38342440128326416, + -0.042937636375427246, + 0.0126646151766181, + -3.1382689476013184, + -0.14722971618175507, + -0.12699635326862335 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The robot has successfully grasped the grater, which is currently held above the countertop near the pepper. The gripper is closed around the object, and the arm is positioned to begin moving the grater to the right. The next action is to translate the grater horizontally to place it directly to the right of the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 17 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3728945553302765, + -0.03727071359753609, + 0.04595218598842621, + -3.093247413635254, + -0.20080320537090302, + -0.20696860551834106 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The robot has successfully grasped the grater, which is currently held above the countertop near the pepper. The gripper is closed around the object, and the arm is positioned to begin moving the grater to the right. The next action is to translate the grater horizontally to place it directly to the right of the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 16 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34149715304374695, + -0.02286919206380844, + 0.0751921683549881, + -3.0300323963165283, + -0.23416893184185028, + -0.3045911192893982 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The robot has successfully grasped the grater, which is currently held above the countertop near the pepper. The gripper is closed around the object, and the arm is positioned to begin moving the grater to the right. The next action is to translate the grater horizontally to place it directly to the right of the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 15 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.297617107629776, + 0.02692740224301815, + 0.07254509627819061, + -2.9696176052093506, + -0.17656148970127106, + -0.29365983605384827 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 127, + 934, + 964 + ], + "red chili pepper": [ + 122, + 355, + 259, + 514 + ], + "tomato sauce": [ + 637, + 40, + 785, + 299 + ], + "metal bowl": [ + 298, + 111, + 546, + 350 + ], + "toy stove": [ + 674, + 175, + 995, + 992 + ], + "corn": [ + 768, + 129, + 920, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The robot has successfully grasped the grater, which is currently held above the countertop near the pepper. The gripper is closed around the object, and the arm is positioned to begin moving the grater to the right. The next action is to translate the grater horizontally to place it directly to the right of the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615818977355957, + 0.06214649975299835, + 0.05818722024559975, + -2.9233028888702393, + -0.09637311846017838, + -0.29852014780044556 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red chili pepper": [ + 122, + 355, + 258, + 514 + ], + "toy microwave": [ + 458, + 3, + 673, + 237 + ], + "tomato sauce": [ + 637, + 40, + 784, + 299 + ], + "wooden table": [ + 4, + 125, + 938, + 964 + ], + "orange coaster": [ + 462, + 211, + 551, + 358 + ], + "toy stove": [ + 675, + 176, + 996, + 993 + ], + "metal bowl": [ + 288, + 117, + 528, + 353 + ], + "corn": [ + 768, + 130, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The grater is currently being held by the gripper and is positioned near the red pepper on the countertop. The subtask involves sliding the grater to the right of the pepper, and the gripper remains closed with no significant change, indicating continued contact without release. The next action should be to carefully slide the grater into the target position adjacent to the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24048560857772827, + 0.09319497644901276, + 0.04813118278980255, + -2.9679908752441406, + -0.06931142508983612, + -0.21419815719127655 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The grater is currently being held by the gripper and is positioned near the red pepper on the countertop. The subtask involves sliding the grater to the right of the pepper, and the gripper remains closed with no significant change, indicating continued contact without release. The next action should be to carefully slide the grater into the target position adjacent to the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2328733652830124, + 0.11162636429071426, + 0.03148087486624718, + -3.012479066848755, + -0.022618751972913742, + -0.15998631715774536 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The grater is currently being held by the gripper and is positioned near the red pepper on the countertop. The subtask involves sliding the grater to the right of the pepper, and the gripper remains closed with no significant change, indicating continued contact without release. The next action should be to carefully slide the grater into the target position adjacent to the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper; then move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23669090867042542, + 0.11907389014959335, + 0.023454362526535988, + -3.0324511528015137, + -0.010609355755150318, + -0.1451367735862732 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The grater is currently being held by the gripper and is positioned near the red pepper on the countertop. The subtask involves sliding the grater to the right of the pepper, and the gripper remains closed with no significant change, indicating continued contact without release. The next action should be to carefully slide the grater into the target position adjacent to the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24147608876228333, + 0.12258046120405197, + 0.014493103139102459, + -3.0333166122436523, + 0.015561969019472599, + -0.14239637553691864 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "slide grater to target", + "subtask_reasoning": "The grater is currently being held by the gripper and is positioned near the red pepper on the countertop. The subtask involves sliding the grater to the right of the pepper, and the gripper remains closed with no significant change, indicating continued contact without release. The next action should be to carefully slide the grater into the target position adjacent to the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2450350672006607, + 0.12308590114116669, + 0.014762424863874912, + -3.0322718620300293, + 0.00602153642103076, + -0.13029414415359497 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "release grater", + "subtask_reasoning": "The grater is currently being held by the gripper and is positioned near the red pepper on the countertop. The subtask involves sliding the grater to the right of the pepper, and the gripper remains closed with no significant change, indicating continued contact without release. The next action should be to carefully slide the grater into the target position adjacent to the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24740715324878693, + 0.11929522454738617, + 0.014766452834010124, + -3.031881093978882, + 0.0011889844899997115, + -0.13113272190093994 + ], + "gripper_value": 0.8362758755683899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "release grater", + "subtask_reasoning": "The grater is currently being held by the gripper and is positioned near the red pepper on the countertop. The subtask involves sliding the grater to the right of the pepper, and the gripper remains closed with no significant change, indicating continued contact without release. The next action should be to carefully slide the grater into the target position adjacent to the pepper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2493896484375, + 0.11103202402591705, + 0.025686785578727722, + -3.0308151245117188, + -0.020845551043748856, + -0.1641569882631302 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "release grater", + "subtask_reasoning": "The grater has been moved to the right of the pepper and is now in position. The gripper is open, indicating the release action is complete. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.251493364572525, + 0.1009916365146637, + 0.05367619916796684, + -3.053664445877075, + -0.10292314738035202, + -0.18462926149368286 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "release grater", + "subtask_reasoning": "The grater has been moved to the right of the pepper and is now in position. The gripper is open, indicating the release action is complete. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2487664520740509, + 0.09191054850816727, + 0.07123057544231415, + -3.088700294494629, + -0.1360459327697754, + -0.20142723619937897 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the grater and place it directly to the right of the pepper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach grater" + }, + { + "id": 2, + "subtask": "grasp grater" + }, + { + "id": 3, + "subtask": "lift and reposition grater" + }, + { + "id": 4, + "subtask": "slide grater to target" + }, + { + "id": 5, + "subtask": "release grater" + } + ], + "subtask_name": "release grater", + "subtask_reasoning": "The grater has been moved to the right of the pepper and is now in position. The gripper is open, indicating the release action is complete. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004052_ecot.json b/cot/chunk-0004/episode_0004052_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f655710f94cdb268137806e9deaa1d23e0a096e4 --- /dev/null +++ b/cot/chunk-0004/episode_0004052_ecot.json @@ -0,0 +1,2203 @@ +{ + "task_name": "episode_0004052", + "episode_json": "json/chunk-0004/episode_0004052.json", + "video_path": "videos/chunk-0004/image_0/episode_0004052.mp4", + "instruction": "Move the corn to the upper right of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004052.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.3697929382324219, + "std": 0.17528343200683594, + "delta_total": 0.002661466598510742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36979, std=0.17528, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ], + [ + 2, + 20, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end effector toward the corn on the stove while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp corn\", \"start\": 9, \"end\": 19, \"planning\": \"Close the gripper around the corn to secure it for lifting, confirmed by gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition corn\", \"start\": 20, \"end\": 25, \"planning\": \"Lift the corn slightly and begin moving it toward the upper right of the stove while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place corn at target\", \"start\": 26, \"end\": 30, \"planning\": \"Lower the corn onto the stove at the upper right position and release grip as gripper opens.\"},\n {\"id\": 5, \"name\": \"retreat from corn\", \"start\": 31, \"end\": 32, \"planning\": \"Withdraw the end effector upward and away from the placed corn to complete the task.\"}\n ],\n \"global_plan\": \"Approach the corn on the stove, grasp it securely, lift and move it to the upper right burner area, place it down gently, then retreat to finish.\",\n \"notes\": \"Gripper evidence supports grasp during frames 9–19 (closing) and release during 26–30 (opening). Motion and image frames confirm physical interaction with corn throughout. Subtasks align with segment boundaries but are refined for natural manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 8, + "planning": "Move the end effector toward the corn on the stove while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp corn", + "start": 9, + "end": 19, + "planning": "Close the gripper around the corn to secure it for lifting, confirmed by gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift and reposition corn", + "start": 20, + "end": 25, + "planning": "Lift the corn slightly and begin moving it toward the upper right of the stove while maintaining grip." + }, + { + "id": 4, + "name": "place corn at target", + "start": 26, + "end": 30, + "planning": "Lower the corn onto the stove at the upper right position and release grip as gripper opens." + }, + { + "id": 5, + "name": "retreat from corn", + "start": 31, + "end": 32, + "planning": "Withdraw the end effector upward and away from the placed corn to complete the task." + } + ], + "global_plan": "Approach the corn on the stove, grasp it securely, lift and move it to the upper right burner area, place it down gently, then retreat to finish.", + "notes": "Gripper evidence supports grasp during frames 9–19 (closing) and release during 26–30 (opening). Motion and image frames confirm physical interaction with corn throughout. Subtasks align with segment boundaries but are refined for natural manipulation phases." + } + }, + "episode_goal": "Move the corn to the upper right of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3344576060771942, + 0.051129329949617386, + 0.0780065730214119, + 3.131786346435547, + -0.17299231886863708, + 1.3735088109970093 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.330429345369339, + 0.05073819309473038, + 0.0640765056014061, + -3.112773895263672, + -0.16162699460983276, + 1.3675733804702759 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3190297484397888, + 0.05377749726176262, + 0.05153735354542732, + -3.0929114818573, + -0.18199026584625244, + 1.3480172157287598 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 2 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30697616934776306, + 0.05336380377411842, + 0.04959382861852646, + -3.1132233142852783, + -0.2305808812379837, + 1.3163869380950928 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the left burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896214425563812, + 0.05672917142510414, + 0.03882747143507004, + -3.087934732437134, + -0.3053404986858368, + 1.2754719257354736 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28515681624412537, + 0.06159025803208351, + 0.02927377261221409, + -3.108381986618042, + -0.34702274203300476, + 1.2808551788330078 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stovetop": [ + 211, + 328, + 785, + 825 + ], + "sink": [ + 812, + 535, + 994, + 979 + ] + } + } + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 4 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29222944378852844, + 0.06845728307962418, + 0.010765698738396168, + -3.055591106414795, + -0.3793216049671173, + 1.23060941696167 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063625395298004, + 0.08428286015987396, + 0.00224484084174037, + -3.0705480575561523, + -0.3787231147289276, + 1.2485473155975342 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167668581008911, + 0.09044346958398819, + -0.008170253597199917, + -3.0489823818206787, + -0.3924165368080139, + 1.228476643562317 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move right 2 cm, move up 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32202795147895813, + 0.09939123690128326, + -0.012427303940057755, + -3.0404224395751953, + -0.3934900760650635, + 1.2232024669647217 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32375428080558777, + 0.1086229607462883, + -0.02370872162282467, + -3.0245473384857178, + -0.36520251631736755, + 1.237905740737915 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cabinet": [ + 69, + 299, + 995, + 995 + ], + "sink": [ + 812, + 535, + 994, + 978 + ] + } + } + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 11 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3245452642440796, + 0.11285264790058136, + -0.03343746066093445, + -2.987855911254883, + -0.3300609588623047, + 1.2458041906356812 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227623701095581, + 0.11824091523885727, + -0.03607920557260513, + -2.985588312149048, + -0.296347439289093, + 1.273805022239685 + ], + "gripper_value": 0.9583302736282349 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31941545009613037, + 0.1213112324476242, + -0.03775830566883087, + -2.9912126064300537, + -0.2603929042816162, + 1.2902507781982422 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned above the stove with the corn visible on the left burner. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm and close the gripper to grasp the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185267746448517, + 0.12199176102876663, + -0.03780646622180939, + -2.9872477054595947, + -0.25689026713371277, + 1.2881011962890625 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the corn on the stove, with the gripper open and aligned for grasping. The gripper has begun closing (value 0.635, decreasing from prior frames), indicating active engagement with the corn. Next action: complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 13 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31470248103141785, + 0.12117069214582443, + -0.03808397427201271, + -2.974968910217285, + -0.254923015832901, + 1.2951180934906006 + ], + "gripper_value": 0.6340072751045227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the corn on the stove, with the gripper open and aligned for grasping. The gripper has begun closing (value 0.635, decreasing from prior frames), indicating active engagement with the corn. Next action: complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092302680015564, + 0.11388004571199417, + -0.026419932022690773, + -2.9965572357177734, + -0.2674374282360077, + 1.2966945171356201 + ], + "gripper_value": 0.6340072751045227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the corn on the stove, with the gripper open and aligned for grasping. The gripper has begun closing (value 0.635, decreasing from prior frames), indicating active engagement with the corn. Next action: complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120073676109314, + 0.11120129376649857, + 0.024145057424902916, + -3.08743953704834, + -0.32181188464164734, + 1.3418140411376953 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the corn on the stove, with the gripper open and aligned for grasping. The gripper has begun closing (value 0.635, decreasing from prior frames), indicating active engagement with the corn. Next action: complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 11 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203771114349365, + 0.0795305073261261, + 0.05768446624279022, + -3.119245767593384, + -0.3431262671947479, + 1.2469112873077393 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the corn on the stove, with the gripper open and aligned for grasping. 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Next action: complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35122522711753845, + 0.03062739223241806, + 0.06296887993812561, + -3.113136053085327, + -0.32583367824554443, + 1.0278109312057495 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly above the corn on the stove, with the gripper open and aligned for grasping. The gripper has begun closing (value 0.635, decreasing from prior frames), indicating active engagement with the corn. Next action: complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3792625665664673, + -0.0036815099883824587, + 0.053743332624435425, + -3.1077024936676025, + -0.28328457474708557, + 0.8432339429855347 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue can": [ + 330, + 221, + 461, + 464 + ], + "sink": [ + 810, + 534, + 994, + 980 + ] + } + } + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot arm is positioned directly above the corn on the stove, with the gripper open and aligned for grasping. 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Next action: complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move down 8 cm, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3990092873573303, + -0.033323802053928375, + 0.04335746914148331, + -3.1180174350738525, + -0.2607688307762146, + 0.72320955991745 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot arm is positioned directly above the corn on the stove, with the gripper open and aligned for grasping. 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Next action: complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4116136133670807, + -0.04637276008725166, + 0.024198833853006363, + -3.1114401817321777, + -0.22456057369709015, + 0.6399492621421814 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot has approached and grasped the corn on the stove. 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The next action is to lift and move the corn toward the upper right burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 4 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.415984183549881, + -0.05682284012436867, + -0.001222247607074678, + -3.0585622787475586, + -0.2187969982624054, + 0.5841439962387085 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot has approached and grasped the corn on the stove. 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The next action is to lift and move the corn toward the upper right burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4146449863910675, + -0.06601306796073914, + -0.028493842110037804, + -3.0438692569732666, + -0.17149275541305542, + 0.5186797976493835 + ], + "gripper_value": 0.973810613155365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "place corn at target", + "subtask_reasoning": "The robot has approached and grasped the corn on the stove. The gripper remains closed with no significant change, indicating the corn is still held. The next action is to lift and move the corn toward the upper right burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4127170741558075, + -0.06558866053819656, + -0.02883697673678398, + -3.0429327487945557, + -0.15766595304012299, + 0.5289428234100342 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "place corn at target", + "subtask_reasoning": "The robot arm is positioned over the upper right burner of the stove, holding the corn. The corn has been successfully moved from its initial position to the target area. The next action is to gently release the corn onto the burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4119948446750641, + -0.06212634593248367, + -0.029931528493762016, + -3.0598716735839844, + -0.13429635763168335, + 0.5452984571456909 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "place corn at target", + "subtask_reasoning": "The robot arm is positioned over the upper right burner of the stove, holding the corn. The corn has been successfully moved from its initial position to the target area. The next action is to gently release the corn onto the burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4054202139377594, + -0.057249441742897034, + -0.025218576192855835, + -3.0543336868286133, + -0.06692170351743698, + 0.5754102468490601 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "place corn at target", + "subtask_reasoning": "The robot arm is positioned over the upper right burner of the stove, holding the corn. The corn has been successfully moved from its initial position to the target area. The next action is to gently release the corn onto the burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.41334068775177, + -0.05981261655688286, + 0.011057388037443161, + -3.1296498775482178, + -0.10695945471525192, + 0.5832847356796265 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "retreat from corn", + "subtask_reasoning": "The corn has been successfully placed on the upper right burner of the stove. The robot arm is currently positioned above the corn with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.41342827677726746, + -0.05886464565992355, + 0.02540919929742813, + 3.1346960067749023, + -0.13584215939044952, + 0.5827665328979492 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the corn to the upper right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and reposition corn" + }, + { + "id": 4, + "subtask": "place corn at target" + }, + { + "id": 5, + "subtask": "retreat from corn" + } + ], + "subtask_name": "retreat from corn", + "subtask_reasoning": "The corn has been successfully placed on the upper right burner of the stove. The robot arm is currently positioned above the corn with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004054_ecot.json b/cot/chunk-0004/episode_0004054_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a23727cb625ce957b53b13d556003fbc627eff19 --- /dev/null +++ b/cot/chunk-0004/episode_0004054_ecot.json @@ -0,0 +1,874 @@ +{ + "task_name": "episode_0004054", + "episode_json": "json/chunk-0004/episode_0004054.json", + "video_path": "videos/chunk-0004/image_0/episode_0004054.mp4", + "instruction": "Put knife on cutting board.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 14, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004054.json" + }, + "fps": 5.0, + "T_eff": 14, + "gripper_behavior_summary": { + "available": true, + "range": 0.5672438144683838, + "std": 0.23719125986099243, + "delta_total": -0.5665792226791382, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56724, std=0.23719, total_delta=-0.56658). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 5, + 5, + 5, + 105, + 105, + 105, + 105, + 105, + 105 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 7 + ], + [ + 3, + 8, + 13 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp knife\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector to the knife location and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and reorient knife\", \"start\": 5, \"end\": 7, \"planning\": \"Lift the grasped knife and rotate wrist to align with cutting board orientation.\"},\n {\"id\": 3, \"name\": \"transport and place knife on board\", \"start\": 8, \"end\": 13, \"planning\": \"Move knife over cutting board and release gripper to deposit it gently.\"}\n ],\n \"global_plan\": \"Grasp knife from sink area, reorient it mid-air, then transport and place it onto the green cutting board.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.48), supporting 'grasp'. Segments 2 and 3 show no gripper change — motion is transport/orientation/release; 'place' is justified by final frame showing knife resting on board.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp knife", + "start": 0, + "end": 4, + "planning": "Move end-effector to the knife location and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and reorient knife", + "start": 5, + "end": 7, + "planning": "Lift the grasped knife and rotate wrist to align with cutting board orientation." + }, + { + "id": 3, + "name": "transport and place knife on board", + "start": 8, + "end": 13, + "planning": "Move knife over cutting board and release gripper to deposit it gently." + } + ], + "global_plan": "Grasp knife from sink area, reorient it mid-air, then transport and place it onto the green cutting board.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.48), supporting 'grasp'. Segments 2 and 3 show no gripper change — motion is transport/orientation/release; 'place' is justified by final frame showing knife resting on board." + } + }, + "episode_goal": "Place the knife on the green cutting board.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4961279630661011, + -0.10066081583499908, + 0.02867261879146099, + -2.9640307426452637, + 0.12462738901376724, + -2.106948137283325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink where the knife is located, with the gripper currently open. No part of the subtask has been completed yet as the knife has not been contacted. The next action is to lower the arm and close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move back 5 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.49004650115966797, + -0.10346701741218567, + 0.006277922075241804, + -3.001910448074341, + 0.08559764921665192, + -2.1161043643951416 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cutting board": [ + 621, + 426, + 845, + 719 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink where the knife is located, with the gripper currently open. No part of the subtask has been completed yet as the knife has not been contacted. The next action is to lower the arm and close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, close gripper; then move back 5 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4915240705013275, + -0.10137643665075302, + 0.005574970040470362, + -2.99678111076355, + 0.07412000745534897, + -2.118267059326172 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink where the knife is located, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 5 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.49272027611732483, + -0.09843451529741287, + 0.006051130127161741, + -2.998061180114746, + 0.08322113752365112, + -2.1084651947021484 + ], + "gripper_value": 0.8279770016670227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink where the knife is located, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 5 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4927758574485779, + -0.09705603122711182, + 0.006062888540327549, + -3.00177001953125, + 0.09017244726419449, + -2.103111982345581 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink where the knife is located, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 5 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4906237721443176, + -0.0969744473695755, + 0.011095913127064705, + -3.036668062210083, + 0.0795055627822876, + -2.0955047607421875 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "lift and reorient knife", + "subtask_reasoning": "The robot arm is positioned above the sink where the knife is located, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4811069071292877, + -0.09543939679861069, + 0.019755611196160316, + -3.109912633895874, + 0.0759182870388031, + -2.0829806327819824 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "lift and reorient knife", + "subtask_reasoning": "The robot arm is positioned above the sink area where the knife is located, having completed the approach and grasp. The current subtask involves lifting the knife and reorienting it mid-air; since segment-level gripper evidence shows no meaningful closing, the action should focus on lifting and rotating the arm to prepare for transport to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move back 8 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4636978209018707, + -0.09265846014022827, + 0.031000515446066856, + 3.126366376876831, + 0.09734533727169037, + -2.042732000350952 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "lift and reorient knife", + "subtask_reasoning": "The robot arm is positioned above the sink area where the knife is located, having completed the approach and grasp. The current subtask involves lifting the knife and reorienting it mid-air; since segment-level gripper evidence shows no meaningful closing, the action should focus on lifting and rotating the arm to prepare for transport to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper closed; then move back 8 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.43894195556640625, + -0.08982246369123459, + 0.046798225492239, + -3.130141019821167, + 0.1319006234407425, + -1.9944764375686646 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 451, + 35, + 637, + 292 + ], + "sink": [ + 221, + 216, + 683, + 653 + ], + "red toy": [ + 711, + 194, + 779, + 302 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "transport and place knife on board", + "subtask_reasoning": "The robot arm is positioned above the sink area where the knife is located, having completed the approach and grasp. The current subtask involves lifting the knife and reorienting it mid-air; since segment-level gripper evidence shows no meaningful closing, the action should focus on lifting and rotating the arm to prepare for transport to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.41181913018226624, + -0.08454909920692444, + 0.03955266624689102, + -3.1205551624298096, + 0.13450467586517334, + -1.9561082124710083 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "transport and place knife on board", + "subtask_reasoning": "The robot arm is positioned above the sink area where the knife is located, having completed the approach and grasp. The current subtask involves lifting the knife and reorienting it mid-air; since segment-level gripper evidence shows no meaningful closing, the action should focus on lifting and rotating the arm to prepare for transport to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3948083519935608, + -0.08202403038740158, + 0.040446098893880844, + -3.097688674926758, + 0.12469610571861267, + -1.930574655532837 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "transport and place knife on board", + "subtask_reasoning": "The robot is currently holding the knife above the sink area, having completed the grasp and reorientation phases. The green cutting board is visible on the countertop to the right. Since the gripper signal is stable and not closing, the robot is transporting the knife toward the board; the next action is to move the end-effector over the cutting board to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3756929039955139, + -0.0771828144788742, + 0.03179578110575676, + -3.1078567504882812, + 0.08946695923805237, + -1.9201292991638184 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "transport and place knife on board", + "subtask_reasoning": "The robot is currently holding the knife above the sink area, having completed the grasp and reorientation phases. The green cutting board is visible on the countertop to the right. Since the gripper signal is stable and not closing, the robot is transporting the knife toward the board; the next action is to move the end-effector over the cutting board to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36908039450645447, + -0.06432512402534485, + 0.034368354827165604, + -3.1015279293060303, + 0.09470830857753754, + -1.9047797918319702 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "transport and place knife on board", + "subtask_reasoning": "The robot is currently holding the knife above the sink area, having completed the grasp and reorientation phases. The green cutting board is visible on the countertop to the right. Since the gripper signal is stable and not closing, the robot is transporting the knife toward the board; the next action is to move the end-effector over the cutting board to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3596445322036743, + -0.0626242458820343, + 0.029078392311930656, + -3.0983972549438477, + 0.08311048150062561, + -1.9124866724014282 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport and place knife on board" + } + ], + "subtask_name": "transport and place knife on board", + "subtask_reasoning": "The robot is currently holding the knife above the sink area, having completed the grasp and reorientation phases. The green cutting board is visible on the countertop to the right. Since the gripper signal is stable and not closing, the robot is transporting the knife toward the board; the next action is to move the end-effector over the cutting board to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004055_ecot.json b/cot/chunk-0004/episode_0004055_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5addccaf3eba2929601b62e2788e3f72910ae234 --- /dev/null +++ b/cot/chunk-0004/episode_0004055_ecot.json @@ -0,0 +1,2151 @@ +{ + "task_name": "episode_0004055", + "episode_json": "json/chunk-0004/episode_0004055.json", + "video_path": "videos/chunk-0004/image_0/episode_0004055.mp4", + "instruction": "Take the ball off of the cup and put it on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004055.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.25869178771972656, + "std": 0.12178771197795868, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.25869, std=0.12179, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 14 + ], + [ + 3, + 15, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach ball on cup\", \"start\": 0, \"end\": 10, \"planning\": \"Move the gripper from initial position toward the ball resting on the cup, aligning for contact without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge ball\", \"start\": 11, \"end\": 14, \"planning\": \"Gently make contact with the ball and nudge it off the cup onto the table surface using minimal force.\"},\n {\"id\": 3, \"name\": \"grasp and reposition ball\", \"start\": 15, \"end\": 24, \"planning\": \"Close gripper to securely grasp the ball after it lands on the table, then lift and begin moving it away from the cup area.\"},\n {\"id\": 4, \"name\": \"place ball on table and retreat\", \"start\": 25, \"end\": 33, \"planning\": \"Release the ball onto the table at a new location, open gripper fully, and retreat to final pose while ensuring ball remains stationary.\"}\n ],\n \"global_plan\": \"The robot first approaches the ball on the cup without grasping, then nudges it off onto the table. After the ball is on the table, the robot grasps it, moves it to a new position, releases it, and retreats.\",\n \"notes\": \"Segment 1 and 2 show no meaningful gripper closing — so actions are described as approach and nudge. Segment 3 shows significant gripper closure (range=0.25869) and image evidence confirms grasp and release — allowing use of grasp/place terminology. Frame ranges are contiguous and cover all 34 frames (0–33).\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach ball on cup", + "start": 0, + "end": 10, + "planning": "Move the gripper from initial position toward the ball resting on the cup, aligning for contact without grasping." + }, + { + "id": 2, + "name": "make contact and nudge ball", + "start": 11, + "end": 14, + "planning": "Gently make contact with the ball and nudge it off the cup onto the table surface using minimal force." + }, + { + "id": 3, + "name": "grasp and reposition ball", + "start": 15, + "end": 24, + "planning": "Close gripper to securely grasp the ball after it lands on the table, then lift and begin moving it away from the cup area." + }, + { + "id": 4, + "name": "place ball on table and retreat", + "start": 25, + "end": 33, + "planning": "Release the ball onto the table at a new location, open gripper fully, and retreat to final pose while ensuring ball remains stationary." + } + ], + "global_plan": "The robot first approaches the ball on the cup without grasping, then nudges it off onto the table. After the ball is on the table, the robot grasps it, moves it to a new position, releases it, and retreats.", + "notes": "Segment 1 and 2 show no meaningful gripper closing — so actions are described as approach and nudge. Segment 3 shows significant gripper closure (range=0.25869) and image evidence confirms grasp and release — allowing use of grasp/place terminology. Frame ranges are contiguous and cover all 34 frames (0–33)." + } + }, + "episode_goal": "Place the ball on the table next to the cup.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3350134491920471, + 0.07623948156833649, + 0.18304486572742462, + 2.9778692722320557, + -0.30630233883857727, + 0.8483492732048035 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is approaching the ball resting on the cup, with no contact yet established. The gripper remains open and no grasping action has occurred. The next step is to continue moving closer to position for nudging the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3334348201751709, + 0.07547405362129211, + 0.17063535749912262, + 2.9993791580200195, + -0.27381953597068787, + 0.8426207900047302 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is approaching the ball resting on the cup, with no contact yet established. The gripper remains open and no grasping action has occurred. The next step is to continue moving closer to position for nudging the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33062413334846497, + 0.07256477326154709, + 0.16320087015628815, + 2.9901506900787354, + -0.24540452659130096, + 0.8354787826538086 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is approaching the ball resting on the cup, with no contact yet established. The gripper remains open and no grasping action has occurred. The next step is to continue moving closer to position for nudging the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3235074281692505, + 0.08022277057170868, + 0.1558627486228943, + 2.9870307445526123, + -0.2148686945438385, + 0.8466324806213379 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is approaching the ball resting on the cup, with no contact yet established. The gripper remains open and no grasping action has occurred. The next step is to continue moving closer to position for nudging the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.314211905002594, + 0.08630821853876114, + 0.1525343358516693, + 3.019887685775757, + -0.19403328001499176, + 0.8550599217414856 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is approaching the ball resting on the cup, with no contact yet established. The gripper remains open and no grasping action has occurred. The next step is to continue moving closer to position for nudging the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30660805106163025, + 0.09289488196372986, + 0.15109883248806, + 3.062157154083252, + -0.18040528893470764, + 0.8813169598579407 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is positioned above the table with the ball resting on the cup. No actions have been completed yet as the robot is still approaching the target. The gripper is open and moving toward the ball, indicating the next action is to continue approaching until close enough to nudge the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29343363642692566, + 0.10366186499595642, + 0.145039364695549, + 3.110562324523926, + -0.150124192237854, + 0.906466543674469 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is positioned above the table with the ball resting on the cup. No actions have been completed yet as the robot is still approaching the target. The gripper is open and moving toward the ball, indicating the next action is to continue approaching until close enough to nudge the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820030450820923, + 0.11593417823314667, + 0.13778793811798096, + 3.1285173892974854, + -0.1268594115972519, + 0.9512639045715332 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "egg cup": [ + 172, + 186, + 318, + 431 + ] + } + } + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is positioned above the table with the ball resting on the cup. No actions have been completed yet as the robot is still approaching the target. The gripper is open and moving toward the ball, indicating the next action is to continue approaching until close enough to nudge the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718537449836731, + 0.12688851356506348, + 0.13024988770484924, + 3.139624834060669, + -0.09654325246810913, + 0.9911904335021973 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is positioned above the table with the ball resting on the cup. No actions have been completed yet as the robot is still approaching the target. The gripper is open and moving toward the ball, indicating the next action is to continue approaching until close enough to nudge the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, keep gripper open; then move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618606984615326, + 0.13429369032382965, + 0.12036794424057007, + 3.1381075382232666, + -0.0715777724981308, + 0.9977869391441345 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is positioned above the table with the ball resting on the cup. No actions have been completed yet as the robot is still approaching the target. The gripper is open and moving toward the ball, indicating the next action is to continue approaching until close enough to nudge the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2537614405155182, + 0.1426936239004135, + 0.1108512356877327, + 3.135993242263794, + -0.05656462907791138, + 1.0030159950256348 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 7, + 995, + 993 + ], + "egg cup": [ + 171, + 187, + 321, + 432 + ], + "metal support": [ + 102, + 3, + 382, + 202 + ], + "wooden puzzle": [ + 665, + 227, + 849, + 566 + ] + } + } + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "approach ball on cup", + "subtask_reasoning": "The robot is positioned above the table with the ball resting on the cup. No actions have been completed yet as the robot is still approaching the target. The gripper is open and moving toward the ball, indicating the next action is to continue approaching until close enough to nudge the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move down 2 cm, close gripper; then move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2486310750246048, + 0.14720143377780914, + 0.1035170704126358, + -3.137838125228882, + -0.03700797259807587, + 1.0183717012405396 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "make contact and nudge ball", + "subtask_reasoning": "The robot is positioned above the table with the ball resting on the cup. No actions have been completed yet as the robot is still approaching the target. The gripper is open and moving toward the ball, indicating the next action is to continue approaching until close enough to nudge the ball off the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move right 1 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2453046292066574, + 0.14985330402851105, + 0.0991755798459053, + -3.1350479125976562, + -0.026149030774831772, + 1.0270603895187378 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "make contact and nudge ball", + "subtask_reasoning": "The robot's end-effector is positioned near the ball on the cup, with the gripper open. The ball remains on the cup, indicating the nudge action has not yet been completed. The next action should involve making contact with the ball to nudge it off the cup onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24489009380340576, + 0.14958064258098602, + 0.09287252277135849, + -3.134659767150879, + -0.01932198740541935, + 1.0249589681625366 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "make contact and nudge ball", + "subtask_reasoning": "The robot's end-effector is positioned near the ball on the cup, with the gripper open. The ball remains on the cup, indicating the nudge action has not yet been completed. The next action should involve making contact with the ball to nudge it off the cup onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 3 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2473917454481125, + 0.1507839858531952, + 0.08723974227905273, + -3.140915632247925, + -0.028064364567399025, + 1.019179344177246 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "make contact and nudge ball", + "subtask_reasoning": "The robot's end-effector is positioned near the ball on the cup, with the gripper open. The ball remains on the cup, indicating the nudge action has not yet been completed. The next action should involve making contact with the ball to nudge it off the cup onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 5 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2494724839925766, + 0.1514916867017746, + 0.0796068012714386, + 3.136871814727783, + -0.03215188533067703, + 1.0187911987304688 + ], + "gripper_value": 0.959831714630127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The robot's end-effector is positioned near the ball on the cup, with the gripper open. The ball remains on the cup, indicating the nudge action has not yet been completed. The next action should involve making contact with the ball to nudge it off the cup onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516998052597046, + 0.15162724256515503, + 0.07766564190387726, + 3.1128156185150146, + -0.05766632407903671, + 1.0247421264648438 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The robot's end-effector is positioned near the ball on the cup, with the gripper open. The ball remains on the cup, indicating the nudge action has not yet been completed. The next action should involve making contact with the ball to nudge it off the cup onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25218465924263, + 0.15149781107902527, + 0.07799787819385529, + 3.101010322570801, + -0.06880311667919159, + 1.0284940004348755 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The robot's end-effector is positioned near the ball on the cup, with the gripper open. The ball remains on the cup, indicating the nudge action has not yet been completed. The next action should involve making contact with the ball to nudge it off the cup onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25117120146751404, + 0.1500978320837021, + 0.08010086417198181, + 3.076688289642334, + -0.05826892331242561, + 1.0348703861236572 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The robot's end-effector is positioned near the ball on the cup, with the gripper open. The ball remains on the cup, indicating the nudge action has not yet been completed. The next action should involve making contact with the ball to nudge it off the cup onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25212928652763367, + 0.14558380842208862, + 0.10320629179477692, + 2.9953842163085938, + -0.08382631093263626, + 1.0286478996276855 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25263863801956177, + 0.14230932295322418, + 0.12842123210430145, + 2.9177541732788086, + -0.13358482718467712, + 1.036740779876709 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2522418797016144, + 0.14027515053749084, + 0.1396331936120987, + 2.892441749572754, + -0.16092678904533386, + 1.0352327823638916 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2564330995082855, + 0.134304940700531, + 0.13924121856689453, + 2.882535457611084, + -0.16018046438694, + 1.0030131340026855 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764964997768402, + 0.1153528094291687, + 0.1307969093322754, + 2.899610996246338, + -0.15287579596042633, + 0.8928836584091187 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29893049597740173, + 0.0916704311966896, + 0.12306451797485352, + 2.9006547927856445, + -0.15524257719516754, + 0.7836715579032898 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "egg cup": [ + 179, + 211, + 323, + 434 + ], + "egg": [ + 308, + 56, + 413, + 194 + ], + "wooden puzzle": [ + 665, + 227, + 849, + 565 + ] + } + } + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "grasp and reposition ball", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3171229958534241, + 0.07768642157316208, + 0.11288920789957047, + 2.900890827178955, + -0.1598467379808426, + 0.7191770076751709 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 6, + 995, + 993 + ], + "egg cup": [ + 180, + 210, + 323, + 435 + ], + "wooden puzzle": [ + 665, + 227, + 849, + 566 + ], + "egg": [ + 378, + 73, + 476, + 207 + ] + } + } + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32884812355041504, + 0.07386604696512222, + 0.09020313620567322, + 2.9575765132904053, + -0.1774739772081375, + 0.656019926071167 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33845826983451843, + 0.07939261198043823, + 0.0745479092001915, + 2.9688127040863037, + -0.2154104858636856, + 0.6414088010787964 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3441810607910156, + 0.08426734805107117, + 0.05804455280303955, + 2.958810806274414, + -0.22489464282989502, + 0.6375099420547485 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been nudged off the cup and is now resting on the table. The gripper is open and positioned above the ball, indicating readiness to grasp. The next action is to close the gripper to securely hold the ball for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34647536277770996, + 0.08849956840276718, + 0.04813583567738533, + 2.952470541000366, + -0.23315253853797913, + 0.6394633054733276 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been successfully grasped and is currently held above the table, having been moved away from the cup. The robot is now positioned to release the ball onto the table surface as the next step in placing it and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436412811279297, + 0.09165783226490021, + 0.045498717576265335, + 2.958618640899658, + -0.2304821014404297, + 0.6439321041107178 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been successfully grasped and is currently held above the table, having been moved away from the cup. The robot is now positioned to release the ball onto the table surface as the next step in placing it and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3407563269138336, + 0.09217655658721924, + 0.04296964406967163, + 2.964898109436035, + -0.22142496705055237, + 0.6421514749526978 + ], + "gripper_value": 0.9032710790634155 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been successfully grasped and is currently held above the table, having been moved away from the cup. The robot is now positioned to release the ball onto the table surface as the next step in placing it and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3361292779445648, + 0.09199105203151703, + 0.03977164998650551, + 2.9707319736480713, + -0.20878960192203522, + 0.6430688500404358 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been successfully grasped and is currently held above the table, having been moved away from the cup. The robot is now positioned to release the ball onto the table surface as the next step in placing it and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360230326652527, + 0.09047992527484894, + 0.05102207511663437, + 2.945147752761841, + -0.2231730967760086, + 0.6609029769897461 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the ball on the table next to the cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ball on cup" + }, + { + "id": 2, + "subtask": "make contact and nudge ball" + }, + { + "id": 3, + "subtask": "grasp and reposition ball" + }, + { + "id": 4, + "subtask": "place ball on table and retreat" + } + ], + "subtask_name": "place ball on table and retreat", + "subtask_reasoning": "The ball has been successfully grasped and is currently held above the table, having been moved away from the cup. The robot is now positioned to release the ball onto the table surface as the next step in placing it and retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004056_ecot.json b/cot/chunk-0004/episode_0004056_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..88c1d8cfedd47fccc5215b24411387936196d933 --- /dev/null +++ b/cot/chunk-0004/episode_0004056_ecot.json @@ -0,0 +1,2308 @@ +{ + "task_name": "episode_0004056", + "episode_json": "json/chunk-0004/episode_0004056.json", + "video_path": "videos/chunk-0004/image_0/episode_0004056.mp4", + "instruction": "Put the purple cloth in the washing machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004056.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9520246982574463, + "std": 0.43834811449050903, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95202, std=0.43835, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 209, + 209, + 409, + 409, + 409, + 409, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 127, + 127, + 127, + 127, + 27, + 27, + 27 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 10 + ], + [ + 4, + 11, + 14 + ], + [ + 5, + 15, + 26 + ], + [ + 6, + 27, + 30 + ], + [ + 7, + 31, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach purple cloth\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector down toward the purple cloth on the table without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp purple cloth\", \"start\": 9, \"end\": 14, \"planning\": \"Close gripper around the purple cloth while maintaining contact, confirmed by significant gripper closure and visual alignment.\"},\n {\"id\": 3, \"name\": \"lift and transport to washer\", \"start\": 15, \"end\": 26, \"planning\": \"Lift the grasped cloth and move it into the washing machine drum, with gripper remaining closed during transit.\"},\n {\"id\": 4, \"name\": \"release cloth in washer\", \"start\": 27, \"end\": 30, \"planning\": \"Open gripper to release the cloth inside the washer, allowing it to settle without further manipulation.\"},\n {\"id\": 5, \"name\": \"retreat from washer\", \"start\": 31, \"end\": 33, \"planning\": \"Withdraw the end-effector away from the washer after releasing the cloth, with gripper fully open and no contact.\"}\n ],\n \"global_plan\": \"Approach the purple cloth on the table, grasp it securely, lift and carry it into the washing machine, release it inside the drum, then retreat safely.\",\n \"notes\": \"Subtask boundaries align with observed motion phases and gripper state changes: approach (open gripper), grasp (closing phase), transport (closed gripper), release (opening phase), retreat (open gripper). Segment 2 (frames 4-8) merged into subtask 1 as part of approach; segment 4 (frames 11-14) merged into subtask 2 as continuation of grasp stabilization. Segment 6 (frames 27-30) assigned to release based on gripper opening trend and image evidence of cloth settling.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach purple cloth", + "start": 0, + "end": 8, + "planning": "Move the end-effector down toward the purple cloth on the table without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp purple cloth", + "start": 9, + "end": 14, + "planning": "Close gripper around the purple cloth while maintaining contact, confirmed by significant gripper closure and visual alignment." + }, + { + "id": 3, + "name": "lift and transport to washer", + "start": 15, + "end": 26, + "planning": "Lift the grasped cloth and move it into the washing machine drum, with gripper remaining closed during transit." + }, + { + "id": 4, + "name": "release cloth in washer", + "start": 27, + "end": 30, + "planning": "Open gripper to release the cloth inside the washer, allowing it to settle without further manipulation." + }, + { + "id": 5, + "name": "retreat from washer", + "start": 31, + "end": 33, + "planning": "Withdraw the end-effector away from the washer after releasing the cloth, with gripper fully open and no contact." + } + ], + "global_plan": "Approach the purple cloth on the table, grasp it securely, lift and carry it into the washing machine, release it inside the drum, then retreat safely.", + "notes": "Subtask boundaries align with observed motion phases and gripper state changes: approach (open gripper), grasp (closing phase), transport (closed gripper), release (opening phase), retreat (open gripper). Segment 2 (frames 4-8) merged into subtask 1 as part of approach; segment 4 (frames 11-14) merged into subtask 2 as continuation of grasp stabilization. Segment 6 (frames 27-30) assigned to release based on gripper opening trend and image evidence of cloth settling." + } + }, + "episode_goal": "Grasp the purple cloth from the table and place it inside the washing machine.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2577002942562103, + -0.09501948207616806, + 0.035462550818920135, + -3.0712759494781494, + -0.4430731534957886, + -0.928131103515625 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the purple cloth visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2553636431694031, + -0.09356044232845306, + 0.0274498388171196, + -3.088435649871826, + -0.4174981117248535, + -0.9164568185806274 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the purple cloth visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2528209388256073, + -0.09020308405160904, + 0.009975035674870014, + -3.0814125537872314, + -0.3542495667934418, + -0.8974238038063049 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the purple cloth visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24736614525318146, + -0.0890844315290451, + -0.011243767105042934, + -3.114788293838501, + -0.32695770263671875, + -0.8621188402175903 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 171, + 455, + 434, + 851 + ], + "wooden floor": [ + 21, + 455, + 935, + 997 + ], + "washing machine": [ + 59, + 5, + 992, + 731 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the purple cloth visible below. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2439090758562088, + -0.08813785761594772, + -0.030704492703080177, + 3.131030797958374, + -0.299782931804657, + -0.830159068107605 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the table, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24727481603622437, + -0.08585818856954575, + -0.04731806740164757, + 3.0993707180023193, + -0.28061535954475403, + -0.799350917339325 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the table, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move up 9 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2483440786600113, + -0.07856893539428711, + -0.05960856378078461, + 3.0787293910980225, + -0.26415300369262695, + -0.7556092143058777 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the table, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 9 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24896937608718872, + -0.07400117069482803, + -0.06623019278049469, + 3.07893443107605, + -0.2523603141307831, + -0.740285336971283 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the table, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 9 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24943453073501587, + -0.07255807518959045, + -0.06873704493045807, + 3.090641736984253, + -0.2482955902814865, + -0.729103684425354 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the table, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 9 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move up 7 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24303637444972992, + -0.0759422779083252, + -0.06426168233156204, + 3.122244119644165, + -0.19534273445606232, + -0.7443861961364746 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "grasp purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the table, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 9 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move up 9 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24232929944992065, + -0.07763297110795975, + -0.0625472143292427, + 3.128511428833008, + -0.19684158265590668, + -0.7487612962722778 + ], + "gripper_value": 0.1602664440870285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "grasp purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the table, with the gripper open and ready. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the cloth for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 8 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2430383265018463, + -0.08484237641096115, + -0.05234431102871895, + -3.1398515701293945, + -0.2296489030122757, + -0.7772056460380554 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "grasp purple cloth", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 8 cm, move up 10 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2433193325996399, + -0.08642823249101639, + -0.04056025668978691, + -3.1264424324035645, + -0.26372307538986206, + -0.7885996699333191 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "grasp purple cloth", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 9 cm, move up 10 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2434975653886795, + -0.08871958404779434, + -0.023848095908761024, + -3.1092121601104736, + -0.3322623074054718, + -0.8170735836029053 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "grasp purple cloth", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 9 cm, move up 10 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24249079823493958, + -0.08241365104913712, + -0.0033113895915448666, + -3.125178813934326, + -0.4105583131313324, + -0.7233087420463562 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "grasp purple cloth", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 10 cm, move up 8 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24609273672103882, + -0.07662146538496017, + 0.022128252312541008, + 3.1023051738739014, + -0.5225802063941956, + -0.5719630122184753 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 172, + 479, + 432, + 851 + ], + "purple cloth": [ + 496, + 633, + 799, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 10 cm, move up 7 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24947002530097961, + -0.060447316616773605, + 0.04926497861742973, + 3.089266300201416, + -0.5999296307563782, + -0.47714465856552124 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 9 cm, move up 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2545415759086609, + -0.03977055102586746, + 0.07805264741182327, + 3.078022003173828, + -0.6861633658409119, + -0.3578644394874573 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26057276129722595, + -0.020234502851963043, + 0.09653741866350174, + 3.0488016605377197, + -0.7670836448669434, + -0.24093884229660034 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27173009514808655, + -0.00689535541459918, + 0.11157461255788803, + 3.045196533203125, + -0.8260547518730164, + -0.18904373049736023 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot arm is positioned directly above the purple cloth on the table, with the gripper open and aligned for grasping. The gripper has been closing over the cloth during this segment, indicating contact and initial grasp. The next action is to secure the grip and lift the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move down 3 cm, open gripper; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28632205724716187, + 0.0014831494772806764, + 0.12232516705989838, + 3.0407559871673584, + -0.8777384757995605, + -0.1626751869916916 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 172, + 449, + 434, + 851 + ], + "wooden floor": [ + 20, + 445, + 937, + 996 + ], + "purple cloth": [ + 400, + 155, + 694, + 571 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot is currently holding the purple cloth and has lifted it to the entrance of the washing machine. The cloth is partially inside the drum, indicating the transport phase is nearly complete. The next action is to push the cloth fully into the washing machine and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move down 5 cm, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3116373121738434, + 0.006733314134180546, + 0.12600046396255493, + 3.021794080734253, + -0.9298083186149597, + -0.1268623173236847 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot is currently holding the purple cloth and has lifted it to the entrance of the washing machine. The cloth is partially inside the drum, indicating the transport phase is nearly complete. The next action is to push the cloth fully into the washing machine and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 3 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33664825558662415, + 0.011471575126051903, + 0.12652653455734253, + 2.9935028553009033, + -0.9501550793647766, + -0.09229928255081177 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot is currently holding the purple cloth and has lifted it to the entrance of the washing machine. The cloth is partially inside the drum, indicating the transport phase is nearly complete. The next action is to push the cloth fully into the washing machine and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 3 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548596203327179, + 0.01571696624159813, + 0.12058527767658234, + 2.9773166179656982, + -0.9476144909858704, + -0.07047100365161896 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot is currently holding the purple cloth and has lifted it to the entrance of the washing machine. The cloth is partially inside the drum, indicating the transport phase is nearly complete. The next action is to push the cloth fully into the washing machine and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3681464195251465, + 0.019060704857110977, + 0.10427144169807434, + 2.9764015674591064, + -0.9149067997932434, + -0.0733192041516304 + ], + "gripper_value": 0.07494325935840607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot is currently holding the purple cloth and has lifted it to the entrance of the washing machine. The cloth is partially inside the drum, indicating the transport phase is nearly complete. The next action is to push the cloth fully into the washing machine and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37012895941734314, + 0.023431964218616486, + 0.0904841497540474, + 2.9806602001190186, + -0.8652364611625671, + -0.07480547577142715 + ], + "gripper_value": 0.22553777694702148 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 172, + 449, + 434, + 851 + ], + "wooden floor": [ + 20, + 448, + 937, + 996 + ], + "blue cloth": [ + 462, + 85, + 745, + 469 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot is currently holding the purple cloth and has lifted it to the entrance of the washing machine. The cloth is partially inside the drum, indicating the transport phase is nearly complete. The next action is to push the cloth fully into the washing machine and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3675000071525574, + 0.02874400094151497, + 0.08422429859638214, + 3.011817216873169, + -0.8276932239532471, + -0.06247260794043541 + ], + "gripper_value": 0.4775448143482208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "lift and transport to washer", + "subtask_reasoning": "The robot is currently holding the purple cloth and has lifted it to the entrance of the washing machine. The cloth is partially inside the drum, indicating the transport phase is nearly complete. The next action is to push the cloth fully into the washing machine and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3630315959453583, + 0.02622399851679802, + 0.07674551010131836, + 3.023967981338501, + -0.7915415167808533, + -0.07034929096698761 + ], + "gripper_value": 0.7903241515159607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "release cloth in washer", + "subtask_reasoning": "The robot is currently holding the purple cloth and has lifted it to the entrance of the washing machine. The cloth is partially inside the drum, indicating the transport phase is nearly complete. The next action is to push the cloth fully into the washing machine and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603963255882263, + 0.026501672342419624, + 0.07394888252019882, + 3.0378646850585938, + -0.7756083011627197, + -0.08746668696403503 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "release cloth in washer", + "subtask_reasoning": "The purple cloth is already placed inside the washing machine drum, with the gripper open and no longer in contact. The release action has been completed successfully. The next step is to retreat the arm safely from the washer interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35616335272789, + 0.026981385424733162, + 0.07165471464395523, + 3.0603716373443604, + -0.7448381781578064, + -0.11419536173343658 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "release cloth in washer", + "subtask_reasoning": "The purple cloth is already placed inside the washing machine drum, with the gripper open and no longer in contact. The release action has been completed successfully. The next step is to retreat the arm safely from the washer interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501562774181366, + 0.022529102861881256, + 0.08778587728738785, + 3.1250860691070557, + -0.7346239686012268, + -0.18510808050632477 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "release cloth in washer", + "subtask_reasoning": "The purple cloth is already placed inside the washing machine drum, with the gripper open and no longer in contact. The release action has been completed successfully. The next step is to retreat the arm safely from the washer interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367713689804077, + 0.0161783155053854, + 0.1074838787317276, + -3.079456329345703, + -0.6980761289596558, + -0.32459986209869385 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "retreat from washer", + "subtask_reasoning": "The purple cloth is already placed inside the washing machine drum, with the gripper open and no longer in contact. The release action has been completed successfully. The next step is to retreat the arm safely from the washer interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.316171258687973, + 0.0026602905709296465, + 0.11878124624490738, + -3.0484068393707275, + -0.6171447038650513, + -0.4542047679424286 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "retreat from washer", + "subtask_reasoning": "The purple cloth is already placed inside the washing machine drum. The robot arm is positioned near the washer opening with gripper open, indicating release is complete. The next action is to retract the arm away from the washer to finish the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2818385064601898, + -0.010149127803742886, + 0.10969319194555283, + -3.0763134956359863, + -0.513582170009613, + -0.535927951335907 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple cloth from the table and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "grasp purple cloth" + }, + { + "id": 3, + "subtask": "lift and transport to washer" + }, + { + "id": 4, + "subtask": "release cloth in washer" + }, + { + "id": 5, + "subtask": "retreat from washer" + } + ], + "subtask_name": "retreat from washer", + "subtask_reasoning": "The purple cloth is already placed inside the washing machine drum. The robot arm is positioned near the washer opening with gripper open, indicating release is complete. The next action is to retract the arm away from the washer to finish the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004057_ecot.json b/cot/chunk-0004/episode_0004057_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c50718a39d88472f50c53d42fedede571f9248b1 --- /dev/null +++ b/cot/chunk-0004/episode_0004057_ecot.json @@ -0,0 +1,2941 @@ +{ + "task_name": "episode_0004057", + "episode_json": "json/chunk-0004/episode_0004057.json", + "video_path": "videos/chunk-0004/image_0/episode_0004057.mp4", + "instruction": "Take the stainless steel pot and put it on the blue towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004057.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.9397673606872559, + "std": 0.437726229429245, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93977, std=0.43773, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 0, + 13, + 113, + 113, + 113, + 113, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 11 + ], + [ + 3, + 12, + 12 + ], + [ + 4, + 13, + 13 + ], + [ + 5, + 14, + 17 + ], + [ + 6, + 18, + 32 + ], + [ + 7, + 33, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector down toward the stainless steel pot without grasping, as gripper remains open.\"},\n {\"id\": 2, \"name\": \"close gripper on pot\", \"start\": 11, \"end\": 13, \"planning\": \"Begin closing the gripper around the pot handle; contact is made but full grasp not yet confirmed.\"},\n {\"id\": 3, \"name\": \"secure grasp and lift pot\", \"start\": 14, \"end\": 17, \"planning\": \"Complete gripper closure and lift the pot slightly off the table, confirmed by low gripper value and upward motion.\"},\n {\"id\": 4, \"name\": \"transport pot over towel\", \"start\": 18, \"end\": 32, \"planning\": \"Carry the pot horizontally toward the blue towel while maintaining grip, preparing for placement.\"},\n {\"id\": 5, \"name\": \"place pot on towel and release\", \"start\": 33, \"end\": 42, \"planning\": \"Lower the pot onto the blue towel and open the gripper to release it, completing the task.\"}\n ],\n \"global_plan\": \"Approach the pot, close gripper to grasp it, lift and carry it to the blue towel, then place and release it.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only from frame 14 onward; earlier segments use contact-based language. Frame ranges are contiguous and cover all 43 frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 10, + "planning": "Move the end-effector down toward the stainless steel pot without grasping, as gripper remains open." + }, + { + "id": 2, + "name": "close gripper on pot", + "start": 11, + "end": 13, + "planning": "Begin closing the gripper around the pot handle; contact is made but full grasp not yet confirmed." + }, + { + "id": 3, + "name": "secure grasp and lift pot", + "start": 14, + "end": 17, + "planning": "Complete gripper closure and lift the pot slightly off the table, confirmed by low gripper value and upward motion." + }, + { + "id": 4, + "name": "transport pot over towel", + "start": 18, + "end": 32, + "planning": "Carry the pot horizontally toward the blue towel while maintaining grip, preparing for placement." + }, + { + "id": 5, + "name": "place pot on towel and release", + "start": 33, + "end": 42, + "planning": "Lower the pot onto the blue towel and open the gripper to release it, completing the task." + } + ], + "global_plan": "Approach the pot, close gripper to grasp it, lift and carry it to the blue towel, then place and release it.", + "notes": "Gripper evidence confirms meaningful closing only from frame 14 onward; earlier segments use contact-based language. Frame ranges are contiguous and cover all 43 frames." + } + }, + "episode_goal": "Place the stainless steel pot on the blue towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33040350675582886, + 0.06897073984146118, + 0.1575470268726349, + 2.7314200401306152, + -0.10025804489850998, + 1.493287444114685 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the pot. The next action is to continue approaching the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 13 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3293015658855438, + 0.06859248131513596, + 0.14713163673877716, + 2.761760711669922, + -0.09407220035791397, + 1.488059639930725 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the pot. The next action is to continue approaching the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 13 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3235390782356262, + 0.07483906298875809, + 0.13957853615283966, + 2.793736696243286, + -0.14235273003578186, + 1.4627383947372437 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the pot. The next action is to continue approaching the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 12 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31643468141555786, + 0.08386623859405518, + 0.1329454481601715, + 2.8371193408966064, + -0.1980549395084381, + 1.4646143913269043 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the pot. The next action is to continue approaching the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 11 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3096711337566376, + 0.09154345840215683, + 0.12707139551639557, + 2.872278928756714, + -0.23143523931503296, + 1.4435395002365112 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the pot. The next action is to continue approaching the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086054027080536, + 0.09619024395942688, + 0.11762133240699768, + 2.9034295082092285, + -0.2548765242099762, + 1.417016625404358 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move left 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3053097128868103, + 0.0950230211019516, + 0.09773176163434982, + 2.9560513496398926, + -0.24824191629886627, + 1.3476362228393555 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 8 cm, tilt left 10 degrees, close gripper; then move left 1 cm, keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30138683319091797, + 0.09356191009283066, + 0.07734822481870651, + 2.9984211921691895, + -0.22583341598510742, + 1.330581545829773 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 202, + 360, + 416, + 609 + ], + "wooden table": [ + 13, + 237, + 902, + 988 + ], + "blue cloth": [ + 497, + 320, + 738, + 552 + ], + "knife": [ + 312, + 276, + 488, + 389 + ], + "red pepper": [ + 613, + 621, + 766, + 774 + ] + } + } + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, tilt left 10 degrees, close gripper; then move left 1 cm, keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30039694905281067, + 0.09476844221353531, + 0.05743729695677757, + 3.0489888191223145, + -0.21170713007450104, + 1.313380241394043 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt left 10 degrees, close gripper; then move left 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.299240380525589, + 0.09306345880031586, + 0.039037272334098816, + 3.0948328971862793, + -0.1959724873304367, + 1.3098230361938477 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move left 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed; then move forward 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3012695610523224, + 0.09223082661628723, + 0.026522140949964523, + 3.1296117305755615, + -0.1781197041273117, + 1.307553768157959 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 11, + 206, + 902, + 989 + ], + "metal bowl": [ + 199, + 372, + 415, + 610 + ], + "blue cloth": [ + 496, + 321, + 738, + 552 + ], + "red pepper": [ + 613, + 621, + 767, + 774 + ] + } + } + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed; then move forward 4 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998516857624054, + 0.09183850884437561, + 0.018208293244242668, + -3.134094476699829, + -0.1670134961605072, + 1.309759497642517 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the wooden counter with the stainless steel pot and blue towel visible. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed; then move forward 6 cm, move right 3 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30213290452957153, + 0.0924730896949768, + 0.018343012779951096, + 3.134075403213501, + -0.17204812169075012, + 1.3144060373306274 + ], + "gripper_value": 0.6470694541931152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned over the stainless steel pot with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed; then move forward 8 cm, move right 5 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006494641304016, + 0.09308703988790512, + 0.017431840300559998, + 3.136505365371704, + -0.17042005062103271, + 1.31832754611969 + ], + "gripper_value": 0.34288913011550903 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot arm is positioned over the stainless steel pot with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 2 cm, keep gripper closed; then move forward 10 cm, move right 7 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2964310944080353, + 0.09731190651655197, + 0.017196016386151314, + -3.134721517562866, + -0.16576749086380005, + 1.3396629095077515 + ], + "gripper_value": 0.14474673569202423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "secure grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned over the stainless steel pot with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 11 cm, move right 9 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2962130606174469, + 0.09880298376083374, + 0.021841347217559814, + -3.1390082836151123, + -0.17838679254055023, + 1.3439171314239502 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "secure grasp and lift pot", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 11 cm, move right 10 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2951437532901764, + 0.09863623231649399, + 0.022782159969210625, + -3.132249116897583, + -0.17901822924613953, + 1.3422672748565674 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "secure grasp and lift pot", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 11 cm, move right 11 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29229941964149475, + 0.10203534364700317, + 0.027891172096133232, + -3.1280665397644043, + -0.1815246045589447, + 1.3547394275665283 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "secure grasp and lift pot", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 11 cm, move right 12 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.292362779378891, + 0.10162148624658585, + 0.039190150797367096, + 3.138660430908203, + -0.17975974082946777, + 1.361893892288208 + ], + "gripper_value": 0.07656946033239365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 13 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3066677749156952, + 0.10003972798585892, + 0.07255350053310394, + 3.0516271591186523, + -0.18923933804035187, + 1.4081867933273315 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32738250494003296, + 0.08850561827421188, + 0.09550204873085022, + 2.995603084564209, + -0.20267772674560547, + 1.3959413766860962 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3476807773113251, + 0.07420554012060165, + 0.11604905128479004, + 2.943427562713623, + -0.22096319496631622, + 1.3709909915924072 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3696367144584656, + 0.04910938814282417, + 0.12050490081310272, + 2.9371261596679688, + -0.22249868512153625, + 1.3096932172775269 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3889614939689636, + 0.028012607246637344, + 0.12299108505249023, + 2.9106719493865967, + -0.20438319444656372, + 1.2664623260498047 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 613, + 621, + 767, + 775 + ], + "wooden table": [ + 14, + 186, + 904, + 991 + ], + "blue cloth": [ + 497, + 322, + 739, + 552 + ], + "metal bowl": [ + 353, + 81, + 578, + 379 + ] + } + } + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3986157178878784, + 0.01011382695287466, + 0.11004753410816193, + 2.9289114475250244, + -0.18791791796684265, + 1.2176592350006104 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The gripper is in contact with the stainless steel pot, having completed the approach and closure phases. The current state indicates a secure grasp is established, and the next action is to lift the pot vertically to begin transporting it toward the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.399581640958786, + -0.0027561814058572054, + 0.09631717950105667, + 2.9600441455841064, + -0.17288093268871307, + 1.181519627571106 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 613, + 621, + 767, + 775 + ], + "metal bowl": [ + 438, + 131, + 660, + 424 + ], + "wooden table": [ + 13, + 188, + 905, + 990 + ], + "blue cloth": [ + 499, + 318, + 740, + 552 + ], + "knife": [ + 283, + 273, + 482, + 390 + ] + } + } + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 7 cm, tilt left 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.40165650844573975, + -0.01105276495218277, + 0.08466172963380814, + 2.973954439163208, + -0.1703173667192459, + 1.1437934637069702 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 6 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4013940989971161, + -0.021187612786889076, + 0.07177725434303284, + 2.9871208667755127, + -0.16649506986141205, + 1.1037797927856445 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3999384343624115, + -0.026954153552651405, + 0.06178288906812668, + 3.0004031658172607, + -0.1584642231464386, + 1.0899814367294312 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.39401975274086, + -0.026456106454133987, + 0.045325107872486115, + 3.032766103744507, + -0.1548280268907547, + 1.0729624032974243 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3902113735675812, + -0.02668263390660286, + 0.040590960532426834, + 3.044429063796997, + -0.16178078949451447, + 1.0682929754257202 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3851003050804138, + -0.02313990332186222, + 0.03406481817364693, + 3.061993360519409, + -0.17537449300289154, + 1.0634275674819946 + ], + "gripper_value": 0.10473939776420593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3802851140499115, + -0.015523153357207775, + 0.02976231463253498, + 3.0939629077911377, + -0.16364319622516632, + 1.0989738702774048 + ], + "gripper_value": 0.30724331736564636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "transport pot over towel", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 2 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3802887201309204, + -0.012600320391356945, + 0.027557935565710068, + 3.0870752334594727, + -0.17660833895206451, + 1.116994023323059 + ], + "gripper_value": 0.5749470591545105 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3768734335899353, + -0.010282441042363644, + 0.024375760927796364, + 3.098113536834717, + -0.18131351470947266, + 1.1242883205413818 + ], + "gripper_value": 0.8801529407501221 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.37439852952957153, + -0.01002414245158434, + 0.022632870823144913, + 3.1063621044158936, + -0.17817148566246033, + 1.1260820627212524 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 11 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.37634071707725525, + -0.01195053942501545, + 0.030451957136392593, + 3.0807571411132812, + -0.17595358192920685, + 1.1270381212234497 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The robot is currently holding the stainless steel pot above the blue towel, having successfully transported it from its initial location. The gripper remains closed, maintaining a firm grasp on the pot as it hovers over the target surface. The next action is to lower the pot to make contact with the towel and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3739122450351715, + -0.007878333330154419, + 0.02937714383006096, + 3.0855867862701416, + -0.16924238204956055, + 1.1372452974319458 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The stainless steel pot is currently resting on the blue towel, indicating the placement phase is complete. The gripper is open and positioned above the pot, confirming the release action has occurred. The subtask is effectively finished as the object is successfully placed and the end-effector has disengaged." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.37515613436698914, + -0.00704214395955205, + 0.0446462444961071, + 3.0529890060424805, + -0.1701674610376358, + 1.1346834897994995 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The stainless steel pot is currently resting on the blue towel, indicating the placement phase is complete. The gripper is open and positioned above the pot, confirming the release action has occurred. The subtask is effectively finished as the object is successfully placed and the end-effector has disengaged." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3698200583457947, + -0.00361635722219944, + 0.07124549895524979, + 3.0164477825164795, + -0.11519613862037659, + 1.1758168935775757 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The stainless steel pot is currently resting on the blue towel, indicating the placement phase is complete. The gripper is open and positioned above the pot, confirming the release action has occurred. The subtask is effectively finished as the object is successfully placed and the end-effector has disengaged." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660738468170166, + 0.002782029565423727, + 0.10664025694131851, + 2.949876070022583, + -0.11496831476688385, + 1.2039762735366821 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 613, + 621, + 766, + 775 + ], + "wooden table": [ + 15, + 189, + 905, + 992 + ], + "metal bowl": [ + 448, + 335, + 661, + 570 + ], + "knife": [ + 283, + 273, + 489, + 388 + ], + "blue cloth": [ + 470, + 344, + 706, + 585 + ] + } + } + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The stainless steel pot is currently resting on the blue towel, indicating the placement phase is complete. The gripper is open and positioned above the pot, confirming the release action has occurred. The subtask is effectively finished as the object is successfully placed and the end-effector has disengaged." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3587917685508728, + 0.007507342845201492, + 0.12836198508739471, + 2.895642042160034, + -0.13219447433948517, + 1.249045968055725 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The stainless steel pot is currently resting on the blue towel, indicating the placement phase is complete. The gripper is open and positioned above the pot, confirming the release action has occurred. The subtask is effectively finished as the object is successfully placed and the end-effector has disengaged." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3584456741809845, + 0.0075068119913339615, + 0.12792940437793732, + 2.8967161178588867, + -0.13096380233764648, + 1.2518553733825684 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stainless steel pot on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grasp and lift pot" + }, + { + "id": 4, + "subtask": "transport pot over towel" + }, + { + "id": 5, + "subtask": "place pot on towel and release" + } + ], + "subtask_name": "place pot on towel and release", + "subtask_reasoning": "The stainless steel pot is currently resting on the blue towel, indicating the placement phase is complete. The gripper is open and positioned above the pot, confirming the release action has occurred. The subtask is effectively finished as the object is successfully placed and the end-effector has disengaged." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004058_ecot.json b/cot/chunk-0004/episode_0004058_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..530f20110aa8d624b38b1dc7889cb8532c52d20c --- /dev/null +++ b/cot/chunk-0004/episode_0004058_ecot.json @@ -0,0 +1,1869 @@ +{ + "task_name": "episode_0004058", + "episode_json": "json/chunk-0004/episode_0004058.json", + "video_path": "videos/chunk-0004/image_0/episode_0004058.mp4", + "instruction": "Fold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004058.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.9355000853538513, + "std": 0.4205891788005829, + "delta_total": 0.004607439041137695, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93550, std=0.42059, total_delta=0.00461). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 126, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 14 + ], + [ + 3, + 15, + 25 + ], + [ + 4, + 26, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth right edge\", \"start\": 0, \"end\": 13, \"planning\": \"Move gripper toward the right-side black tab of the green cloth while closing fingers to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with cloth tab\", \"start\": 14, \"end\": 14, \"planning\": \"Maintain position at the cloth’s right tab with gripper partially closed to establish stable contact without lifting.\"},\n {\"id\": 3, \"name\": \"drag cloth leftward\", \"start\": 15, \"end\": 25, \"planning\": \"Pull the cloth from right to left across the table surface while maintaining grip on the tab, folding it over itself.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 26, \"end\": 28, \"planning\": \"Open gripper to release the cloth tab and move arm upward and away to complete the fold.\"}\n ],\n \"global_plan\": \"Fold the green cloth from right to left by approaching its right-side tab, making contact, dragging it leftward to fold, then releasing and retreating.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.325) consistent with preparing to grasp; Segment 2 is a single-frame hold with no further closing — described as contact maintenance; Segment 3 shows sustained low gripper values during motion, consistent with dragging while holding; Segment 4 shows clear opening (delta=+0.463), confirming release. All descriptions align with segment-level gripper evidence and visual frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth right edge", + "start": 0, + "end": 13, + "planning": "Move gripper toward the right-side black tab of the green cloth while closing fingers to prepare for contact." + }, + { + "id": 2, + "name": "make contact with cloth tab", + "start": 14, + "end": 14, + "planning": "Maintain position at the cloth’s right tab with gripper partially closed to establish stable contact without lifting." + }, + { + "id": 3, + "name": "drag cloth leftward", + "start": 15, + "end": 25, + "planning": "Pull the cloth from right to left across the table surface while maintaining grip on the tab, folding it over itself." + }, + { + "id": 4, + "name": "release and retreat", + "start": 26, + "end": 28, + "planning": "Open gripper to release the cloth tab and move arm upward and away to complete the fold." + } + ], + "global_plan": "Fold the green cloth from right to left by approaching its right-side tab, making contact, dragging it leftward to fold, then releasing and retreating.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.325) consistent with preparing to grasp; Segment 2 is a single-frame hold with no further closing — described as contact maintenance; Segment 3 shows sustained low gripper values during motion, consistent with dragging while holding; Segment 4 shows clear opening (delta=+0.463), confirming release. All descriptions align with segment-level gripper evidence and visual frames." + } + }, + "episode_goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4112258851528168, + 0.06668131053447723, + 0.17869384586811066, + 2.9748058319091797, + -0.26430901885032654, + 0.7540490627288818 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move left 15 cm, move down 15 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.41105782985687256, + 0.06642173230648041, + 0.16190950572490692, + 2.9986038208007812, + -0.22805646061897278, + 0.7468438148498535 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move left 15 cm, move down 14 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3876989781856537, + 0.08274009823799133, + 0.13093139231204987, + 3.0570271015167236, + -0.17645388841629028, + 0.734284520149231 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 14 cm, move down 11 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36472636461257935, + 0.11339245736598969, + 0.13524392247200012, + 3.048649311065674, + -0.20751285552978516, + 0.7485798597335815 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 11 cm, move down 12 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3456173539161682, + 0.13221947848796844, + 0.1292620450258255, + 3.03053617477417, + -0.20702914893627167, + 0.725869357585907 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 8 cm, move down 12 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149159252643585, + 0.1661839783191681, + 0.11750300228595734, + 3.0571401119232178, + -0.2170703411102295, + 0.7328265309333801 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow banana": [ + 710, + 465, + 880, + 651 + ], + "green cloth": [ + 10, + 263, + 649, + 815 + ], + "orange carrot": [ + 591, + 555, + 726, + 794 + ], + "wooden table": [ + 4, + 150, + 996, + 995 + ], + "red block": [ + 511, + 352, + 583, + 502 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector downward and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 10 cm, tilt left 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.294889360666275, + 0.181934654712677, + 0.09911193698644638, + 3.076406478881836, + -0.20261400938034058, + 0.6985667943954468 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector toward the right edge of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 8 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27150461077690125, + 0.20243600010871887, + 0.07590887695550919, + 3.1090188026428223, + -0.21658767759799957, + 0.7051558494567871 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector toward the right edge of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 6 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed; then move forward 4 cm, move right 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2597508728504181, + 0.21076400578022003, + 0.059677932411432266, + 3.1194522380828857, + -0.22531944513320923, + 0.7078654766082764 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector toward the right edge of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 5 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed; then move forward 6 cm, move right 5 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24695201218128204, + 0.21467965841293335, + 0.04218735545873642, + 3.0839433670043945, + -0.25153228640556335, + 0.7514154314994812 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector toward the right edge of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed; then move forward 9 cm, move right 8 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24581865966320038, + 0.21565358340740204, + 0.031488776206970215, + 3.0735669136047363, + -0.27197983860969543, + 0.7524739503860474 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector toward the right edge of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed; then move forward 11 cm, move right 12 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2438810169696808, + 0.21854695677757263, + 0.024604178965091705, + 3.091784715652466, + -0.2803991138935089, + 0.7650818228721619 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector toward the right edge of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed; then move forward 13 cm, move right 14 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24103333055973053, + 0.22105929255485535, + 0.017249373719096184, + 3.1238152980804443, + -0.27447739243507385, + 0.7655937075614929 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector toward the right edge of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed; then move forward 15 cm, move right 15 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24286971986293793, + 0.21885733306407928, + 0.014655630104243755, + -3.139265298843384, + -0.26913982629776, + 0.7778487801551819 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth right edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector toward the right edge of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed; then move forward 17 cm, move right 17 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24277102947235107, + 0.21617750823497772, + 0.01416423823684454, + -3.139838933944702, + -0.2572328746318817, + 0.7885633111000061 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact with cloth tab", + "subtask_reasoning": "The robot has approached the right-side tab of the green cloth and is now positioned directly above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make physical contact with the cloth tab." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move forward 18 cm, move right 18 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24756090342998505, + 0.20762355625629425, + 0.01959286816418171, + 3.1123294830322266, + -0.19586730003356934, + 0.8177278637886047 + ], + "gripper_value": 0.17027510702610016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right-side tab of the green cloth and is now positioned directly above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make physical contact with the cloth tab." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move right 19 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26368623971939087, + 0.1935175061225891, + 0.03632178530097008, + 3.079468011856079, + -0.15789794921875, + 0.8667601346969604 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right-side tab of the green cloth and is now positioned directly above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make physical contact with the cloth tab." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 19 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29114362597465515, + 0.17478638887405396, + 0.0646524578332901, + 3.0825963020324707, + -0.10355397313833237, + 0.9410418272018433 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 133, + 264, + 646, + 820 + ], + "yellow banana": [ + 710, + 466, + 880, + 650 + ], + "wooden table": [ + 3, + 149, + 996, + 995 + ], + "red block": [ + 509, + 353, + 582, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right-side tab of the green cloth and is now positioned directly above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make physical contact with the cloth tab." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 17 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31248560547828674, + 0.15288083255290985, + 0.0650290697813034, + 3.1115787029266357, + -0.03178294003009796, + 1.0310499668121338 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right-side tab of the green cloth and is now positioned directly above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make physical contact with the cloth tab." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 15 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3368237316608429, + 0.12313881516456604, + 0.06046941131353378, + 3.111903667449951, + 0.015787431970238686, + 1.0452669858932495 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has approached the right-side tab of the green cloth and is now positioned directly above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make physical contact with the cloth tab." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 12 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36170312762260437, + 0.09200375527143478, + 0.06923971325159073, + 3.064373731613159, + -0.010445062071084976, + 1.0226131677627563 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow banana": [ + 710, + 466, + 880, + 650 + ], + "wooden table": [ + 3, + 162, + 997, + 995 + ], + "red block": [ + 509, + 353, + 582, + 501 + ], + "green cloth": [ + 232, + 289, + 647, + 820 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has contacted the right edge of the green cloth and is currently dragging it leftward across the table. The gripper remains closed, maintaining contact with the cloth tab as it moves. The next action is to continue dragging until the cloth is fully folded over the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move down 2 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3802971839904785, + 0.06886646896600723, + 0.08269120007753372, + 3.006314754486084, + -0.0230872742831707, + 0.996056318283081 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has contacted the right edge of the green cloth and is currently dragging it leftward across the table. The gripper remains closed, maintaining contact with the cloth tab as it moves. The next action is to continue dragging until the cloth is fully folded over the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move down 3 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3988502025604248, + 0.05303394794464111, + 0.10164359956979752, + 2.9581902027130127, + -0.06384630501270294, + 0.9699761867523193 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has contacted the right edge of the green cloth and is currently dragging it leftward across the table. The gripper remains closed, maintaining contact with the cloth tab as it moves. The next action is to continue dragging until the cloth is fully folded over the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 5 cm, tilt left 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.41411060094833374, + 0.03799424320459366, + 0.09103968739509583, + 2.9833219051361084, + -0.047802913933992386, + 0.959805428981781 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has contacted the right edge of the green cloth and is currently dragging it leftward across the table. The gripper remains closed, maintaining contact with the cloth tab as it moves. The next action is to continue dragging until the cloth is fully folded over the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4301874339580536, + 0.02986939810216427, + 0.0792284831404686, + 3.0023794174194336, + -0.05179130285978317, + 0.9648728966712952 + ], + "gripper_value": 0.09587175399065018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has contacted the right edge of the green cloth and is currently dragging it leftward across the table. The gripper remains closed, maintaining contact with the cloth tab as it moves. The next action is to continue dragging until the cloth is fully folded over the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.44037625193595886, + 0.015107004903256893, + 0.06017586588859558, + 3.0407378673553467, + -0.05278603732585907, + 0.9563308358192444 + ], + "gripper_value": 0.2631158232688904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot has contacted the right edge of the green cloth and is currently dragging it leftward across the table. The gripper remains closed, maintaining contact with the cloth tab as it moves. The next action is to continue dragging until the cloth is fully folded over the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.44822970032691956, + 0.0022723700385540724, + 0.05114475637674332, + 3.054349660873413, + -0.06806061416864395, + 0.9642505049705505 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has contacted the right edge of the green cloth and is currently dragging it leftward across the table. The gripper remains closed, maintaining contact with the cloth tab as it moves. The next action is to continue dragging until the cloth is fully folded over the left side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4541625678539276, + -0.009773822501301765, + 0.05162594094872475, + 3.0490403175354004, + -0.06596270948648453, + 0.9680044054985046 + ], + "gripper_value": 0.8481387495994568 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth has been folded from right to left, with the right edge now resting over the left side. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector upward and away from the table to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4628414213657379, + -0.01536962017416954, + 0.062253039330244064, + 3.0172083377838135, + -0.07618245482444763, + 0.9720404744148254 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and moving it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth right edge" + }, + { + "id": 2, + "subtask": "make contact with cloth tab" + }, + { + "id": 3, + "subtask": "drag cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth has been folded from right to left, with the right edge now resting over the left side. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector upward and away from the table to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004059_ecot.json b/cot/chunk-0004/episode_0004059_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc6859d2b86a892818b85b4af01acbb3a6c8cd3 --- /dev/null +++ b/cot/chunk-0004/episode_0004059_ecot.json @@ -0,0 +1,2540 @@ +{ + "task_name": "episode_0004059", + "episode_json": "json/chunk-0004/episode_0004059.json", + "video_path": "videos/chunk-0004/image_0/episode_0004059.mp4", + "instruction": "Fold the cloth with carrot from top to bottom.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004059.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.9510443806648254, + "std": 0.4443233907222748, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95104, std=0.44432, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 119, + 119, + 119, + 138, + 138 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 34 + ], + [ + 3, + 35, + 37 + ], + [ + 4, + 38, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth edge\", \"start\": 0, \"end\": 18, \"planning\": \"Move gripper toward the top edge of the cloth while opening gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and fold top edge\", \"start\": 19, \"end\": 34, \"planning\": \"Close gripper to grasp the top edge of the cloth, then lift and pull it downward to initiate folding over the carrot.\"},\n {\"id\": 3, \"name\": \"press and align fold\", \"start\": 35, \"end\": 37, \"planning\": \"Lower gripper to press the folded edge down and align it neatly over the carrot.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 38, \"end\": 39, \"planning\": \"Open gripper to release the cloth and retract slightly to complete the fold.\"}\n ],\n \"global_plan\": \"Fold the cloth with carrot from top to bottom by approaching the top edge, grasping and pulling it down over the carrot, pressing the fold into place, then releasing.\",\n \"notes\": \"Gripper closure is confirmed in segments 2–4; grasp wording is justified where images show contact and motion consistent with holding and manipulating the cloth. Segment 1 shows no meaningful closure — described as approach only.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth edge", + "start": 0, + "end": 18, + "planning": "Move gripper toward the top edge of the cloth while opening gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and fold top edge", + "start": 19, + "end": 34, + "planning": "Close gripper to grasp the top edge of the cloth, then lift and pull it downward to initiate folding over the carrot." + }, + { + "id": 3, + "name": "press and align fold", + "start": 35, + "end": 37, + "planning": "Lower gripper to press the folded edge down and align it neatly over the carrot." + }, + { + "id": 4, + "name": "release and retreat", + "start": 38, + "end": 39, + "planning": "Open gripper to release the cloth and retract slightly to complete the fold." + } + ], + "global_plan": "Fold the cloth with carrot from top to bottom by approaching the top edge, grasping and pulling it down over the carrot, pressing the fold into place, then releasing.", + "notes": "Gripper closure is confirmed in segments 2–4; grasp wording is justified where images show contact and motion consistent with holding and manipulating the cloth. Segment 1 shows no meaningful closure — described as approach only." + } + }, + "episode_goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25216367840766907, + -0.020923294126987457, + 0.1792571246623993, + -3.0665318965911865, + -0.337709903717041, + -0.41432830691337585 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25203171372413635, + -0.021840743720531464, + 0.17314337193965912, + -3.0806870460510254, + -0.31566545367240906, + -0.4201686978340149 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712000906467438, + -0.014996185898780823, + 0.1723150908946991, + -3.0831804275512695, + -0.3120669424533844, + -0.5107762813568115 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple toy": [ + 183, + 249, + 319, + 407 + ], + "toy carrot": [ + 477, + 596, + 777, + 860 + ], + "stove": [ + 843, + 134, + 994, + 314 + ], + "blue cloth": [ + 236, + 280, + 964, + 992 + ], + "faucet": [ + 676, + 9, + 778, + 137 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 6 cm, move down 6 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2919901907444, + -0.004413629416376352, + 0.16953633725643158, + -3.0771803855895996, + -0.29582270979881287, + -0.6118600368499756 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 6 cm, move down 6 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30644461512565613, + 0.005036092363297939, + 0.17201699316501617, + -3.0489256381988525, + -0.295096755027771, + -0.6619327664375305 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 5 cm, move down 6 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200383186340332, + 0.009614845737814903, + 0.16894634068012238, + -2.9978787899017334, + -0.29297807812690735, + -0.7302361726760864 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33867523074150085, + 0.018403612077236176, + 0.1595708727836609, + -2.8915140628814697, + -0.28048643469810486, + -0.7776907682418823 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3700047731399536, + 0.02263791486620903, + 0.15450967848300934, + -2.7679829597473145, + -0.29545295238494873, + -0.7955202460289001 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3987843692302704, + 0.028892116621136665, + 0.15162745118141174, + -2.7369980812072754, + -0.3128378093242645, + -0.751327395439148 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, with the gripper open and ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper downward toward the top edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.41831544041633606, + 0.032301779836416245, + 0.14448274672031403, + -2.7439897060394287, + -0.31354066729545593, + -0.7124879360198975 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4292767345905304, + 0.03775537386536598, + 0.13394641876220703, + -2.7726058959960938, + -0.3002353608608246, + -0.6669319868087769 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.43223845958709717, + 0.041143640875816345, + 0.12346649914979935, + -2.774481773376465, + -0.2830641269683838, + -0.6564462780952454 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4360335171222687, + 0.04522222653031349, + 0.11209169775247574, + -2.7540194988250732, + -0.26084646582603455, + -0.6668283939361572 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple toy": [ + 184, + 248, + 320, + 406 + ], + "toy carrot": [ + 477, + 595, + 778, + 859 + ], + "bottle": [ + 369, + 23, + 467, + 271 + ], + "stove": [ + 854, + 132, + 995, + 306 + ], + "blue cloth": [ + 237, + 283, + 965, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4399871826171875, + 0.05298243835568428, + 0.10877992957830429, + -2.7460439205169678, + -0.25191542506217957, + -0.6587423086166382 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.44619569182395935, + 0.05713881552219391, + 0.11117303371429443, + -2.7578792572021484, + -0.2587963938713074, + -0.6427801251411438 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.45056119561195374, + 0.061970874667167664, + 0.10790091753005981, + -2.8033626079559326, + -0.2617487609386444, + -0.6143193244934082 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt right 10 degrees, close gripper; then move back 4 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.45178404450416565, + 0.0660717636346817, + 0.10286878794431686, + -2.859534740447998, + -0.2595627009868622, + -0.5900404453277588 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.44839727878570557, + 0.06352825462818146, + 0.09617704898118973, + -2.897318124771118, + -0.2457035928964615, + -0.5910822749137878 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4468757212162018, + 0.060896486043930054, + 0.09307634830474854, + -2.9274392127990723, + -0.24664629995822906, + -0.588731586933136 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 12 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4467649757862091, + 0.06516561657190323, + 0.09257233887910843, + -2.9254117012023926, + -0.2510666251182556, + -0.5859747529029846 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 11 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.44605880975723267, + 0.06586770713329315, + 0.08904416859149933, + -2.918769359588623, + -0.2493978589773178, + -0.5893104672431946 + ], + "gripper_value": 0.15014003217220306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move right 13 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4459618926048279, + 0.06585172563791275, + 0.08802109956741333, + -2.9173290729522705, + -0.2501983642578125, + -0.5911338925361633 + ], + "gripper_value": 0.065320685505867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 19 cm, move right 14 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.44542819261550903, + 0.06497504562139511, + 0.08847366273403168, + -2.923184871673584, + -0.25120192766189575, + -0.5908221006393433 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 21 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.445098340511322, + 0.06301508098840714, + 0.09816404432058334, + -2.9266743659973145, + -0.2769080698490143, + -0.5814929604530334 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 22 cm, move right 16 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.43081408739089966, + 0.048267215490341187, + 0.14261865615844727, + -2.842710018157959, + -0.36476442217826843, + -0.6495860815048218 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 21 cm, move right 15 cm, move down 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4068394601345062, + 0.016316283494234085, + 0.15645785629749298, + -2.8348469734191895, + -0.4060703217983246, + -0.7547115087509155 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the carrot, approaching the top edge as required. No grasping has occurred yet; the gripper remains open. The next action is to lower the end-effector to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 20 cm, move right 12 cm, move down 3 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38121700286865234, + 0.0015137378359213471, + 0.14869029819965363, + -2.900557279586792, + -0.4086745083332062, + -0.7943863868713379 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. 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The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 9 cm, move down 2 cm, tilt right 20 degrees, open gripper; then move back 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3297339379787445, + -0.03439813479781151, + 0.13743682205677032, + -2.9952633380889893, + -0.40984442830085754, + -0.8819951415061951 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. 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The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29838263988494873, + -0.049040962010622025, + 0.13669049739837646, + -3.022376537322998, + -0.403892457485199, + -0.9183953404426575 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 477, + 594, + 777, + 860 + ], + "purple toy": [ + 183, + 248, + 321, + 407 + ], + "stove": [ + 846, + 133, + 994, + 312 + ], + "wooden table": [ + 3, + 81, + 996, + 994 + ], + "blue cloth": [ + 234, + 376, + 963, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. 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The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27240094542503357, + -0.06165289506316185, + 0.1339845359325409, + -3.0399250984191895, + -0.3996513783931732, + -0.9388204216957092 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. 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The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2550935745239258, + -0.07197319716215134, + 0.12939345836639404, + -3.0500471591949463, + -0.38608384132385254, + -0.9580831527709961 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. 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The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2374570071697235, + -0.08729751408100128, + 0.13275085389614105, + -3.0645670890808105, + -0.39080527424812317, + -0.9614620804786682 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. 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The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22523464262485504, + -0.09772185236215591, + 0.1302952766418457, + -3.099112033843994, + -0.3801376521587372, + -0.9384706616401672 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. The gripper is closed around the cloth edge, indicating a successful grasp. The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2186306118965149, + -0.10194248706102371, + 0.12958647310733795, + -3.1403696537017822, + -0.3867795169353485, + -0.892357349395752 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and fold top edge", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. The gripper is closed around the cloth edge, indicating a successful grasp. The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.20909079909324646, + -0.10681233555078506, + 0.12381249666213989, + 3.0733606815338135, + -0.39018183946609497, + -0.8958038091659546 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and align fold", + "subtask_reasoning": "The robot has approached the top edge of the blue cloth and is now in contact with it, preparing to grasp. The gripper is closed around the cloth edge, indicating a successful grasp. The next action is to pull the top edge downward over the carrot to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.203358992934227, + -0.10655418038368225, + 0.11226985603570938, + 2.959359645843506, + -0.39178937673568726, + -0.9195184111595154 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple toy": [ + 184, + 249, + 317, + 408 + ], + "stove": [ + 843, + 134, + 994, + 313 + ], + "blue cloth": [ + 216, + 459, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and align fold", + "subtask_reasoning": "The robot has already grasped and folded the top edge of the blue cloth over the carrot. Currently, the gripper is in contact with the cloth, pressing down to align and secure the fold. The next action should involve smoothing or adjusting the fold to ensure it lies flat and neat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 35, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.20144395530223846, + -0.10419434309005737, + 0.10601507872343063, + 2.8806326389312744, + -0.41548025608062744, + -0.9282543659210205 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and align fold", + "subtask_reasoning": "The robot has already grasped and folded the top edge of the blue cloth over the carrot. Currently, the gripper is in contact with the cloth, pressing down to align and secure the fold. The next action should involve smoothing or adjusting the fold to ensure it lies flat and neat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2006620168685913, + -0.100350521504879, + 0.1049339696764946, + 2.8926608562469482, + -0.42880526185035706, + -0.9527339339256287 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded over the carrot, and the gripper is currently in contact with the top of the folded cloth. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the gripper upward to clear the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.20152391493320465, + -0.08914779871702194, + 0.12092539668083191, + 3.0144925117492676, + -0.4616382122039795, + -0.9953369498252869 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth with the carrot from top to bottom by grasping the top edge and pulling it over the bottom half." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp and fold top edge" + }, + { + "id": 3, + "subtask": "press and align fold" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded over the carrot, and the gripper is currently in contact with the top of the folded cloth. The gripper value indicates it is open, suggesting the release action is underway or complete. The next step is to retreat the gripper upward to clear the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004060_ecot.json b/cot/chunk-0004/episode_0004060_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ecce1acb3d60f6656a08b5635569f71484336c43 --- /dev/null +++ b/cot/chunk-0004/episode_0004060_ecot.json @@ -0,0 +1,2406 @@ +{ + "task_name": "episode_0004060", + "episode_json": "json/chunk-0004/episode_0004060.json", + "video_path": "videos/chunk-0004/image_0/episode_0004060.mp4", + "instruction": "Move the bread to the back right counter corner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004060.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.4168565273284912, + "std": 0.19733934104442596, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41686, std=0.19734, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 27 + ], + [ + 3, + 28, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bread\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end effector toward the bread on the orange cloth without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp bread\", \"start\": 6, \"end\": 16, \"planning\": \"Close the gripper around the bread to secure it for transport.\"},\n {\"id\": 3, \"name\": \"transport bread\", \"start\": 17, \"end\": 27, \"planning\": \"Carry the grasped bread across the counter toward the back right corner.\"},\n {\"id\": 4, \"name\": \"release bread\", \"start\": 28, \"end\": 31, \"planning\": \"Open the gripper to place the bread at the target location on the counter.\"},\n {\"id\": 5, \"name\": \"retreat from bread\", \"start\": 32, \"end\": 35, \"planning\": \"Lift and move the end effector away from the placed bread to complete the task.\"}\n ],\n \"global_plan\": \"Approach the bread, grasp it securely, transport it to the back right counter corner, release it precisely, and retreat to finish.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful gripper closing (range=0.41225) consistent with grasping and holding. Segment 3 shows gripper opening (range=0.34564, end_minus_start=0.34103) consistent with releasing. Frame coverage is contiguous and complete from 0 to 35.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bread", + "start": 0, + "end": 5, + "planning": "Move the end effector toward the bread on the orange cloth without closing the gripper." + }, + { + "id": 2, + "name": "grasp bread", + "start": 6, + "end": 16, + "planning": "Close the gripper around the bread to secure it for transport." + }, + { + "id": 3, + "name": "transport bread", + "start": 17, + "end": 27, + "planning": "Carry the grasped bread across the counter toward the back right corner." + }, + { + "id": 4, + "name": "release bread", + "start": 28, + "end": 31, + "planning": "Open the gripper to place the bread at the target location on the counter." + }, + { + "id": 5, + "name": "retreat from bread", + "start": 32, + "end": 35, + "planning": "Lift and move the end effector away from the placed bread to complete the task." + } + ], + "global_plan": "Approach the bread, grasp it securely, transport it to the back right counter corner, release it precisely, and retreat to finish.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful gripper closing (range=0.41225) consistent with grasping and holding. Segment 3 shows gripper opening (range=0.34564, end_minus_start=0.34103) consistent with releasing. Frame coverage is contiguous and complete from 0 to 35." + } + }, + "episode_goal": "Move the bread to the back right counter corner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2354850023984909, + -0.06386084109544754, + 0.10241687297821045, + 3.0950450897216797, + -0.2776293456554413, + -0.69590163230896 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot is positioned above the counter with the bread visible on an orange cloth to the left. No movement or grasping has occurred yet as the gripper remains fully open. The robot needs to move its end-effector closer to the bread to prepare for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23241323232650757, + -0.06347934901714325, + 0.0963030606508255, + 3.0786919593811035, + -0.2540190815925598, + -0.6878033876419067 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot is positioned above the counter with the bread visible on an orange cloth to the left. No movement or grasping has occurred yet as the gripper remains fully open. The robot needs to move its end-effector closer to the bread to prepare for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23007449507713318, + -0.04089635610580444, + 0.0979216992855072, + 3.0835893154144287, + -0.24829824268817902, + -0.5929926037788391 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22754204273223877, + -0.02694879099726677, + 0.10084676742553711, + 3.103667974472046, + -0.24870578944683075, + -0.5474035739898682 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2270989567041397, + -0.00697514321655035, + 0.0997312068939209, + 3.1066834926605225, + -0.23797038197517395, + -0.47713378071784973 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22590787708759308, + 0.01367373950779438, + 0.09698306769132614, + 3.1405608654022217, + -0.2040993720293045, + -0.42304500937461853 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "approach bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22852037847042084, + 0.0341598205268383, + 0.09321316331624985, + -3.1145894527435303, + -0.18039199709892273, + -0.36033719778060913 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23065555095672607, + 0.05819126218557358, + 0.08310319483280182, + -3.1054115295410156, + -0.15558993816375732, + -0.2986759841442108 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23413287103176117, + 0.07548400014638901, + 0.073080874979496, + -3.0999443531036377, + -0.15603648126125336, + -0.24362191557884216 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 174, + 431, + 465, + 692 + ], + "wooden countertop": [ + 4, + 218, + 859, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23902204632759094, + 0.08700540661811829, + 0.061970945447683334, + -3.0658254623413086, + -0.15390147268772125, + -0.20661988854408264 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24274775385856628, + 0.09185171127319336, + 0.05259830504655838, + -3.049276351928711, + -0.15055516362190247, + -0.1808815747499466 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned above the counter with the bread visible on an orange cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bread to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, close gripper; then move forward 3 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24162010848522186, + 0.09594706445932388, + 0.039778780192136765, + -3.0338375568389893, + -0.1089736595749855, + -0.17128467559814453 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, close gripper; then move forward 6 cm, move right 7 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24882251024246216, + 0.0800396054983139, + 0.029691439121961594, + -3.035670280456543, + -0.07626654952764511, + -0.19169704616069794 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move forward 9 cm, move right 10 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25168144702911377, + 0.07268089056015015, + 0.023150281980633736, + -3.0228374004364014, + -0.049661923199892044, + -0.20501284301280975 + ], + "gripper_value": 0.9343546032905579 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 4, + 232, + 860, + 986 + ], + "orange cloth": [ + 180, + 439, + 467, + 691 + ] + } + } + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move forward 11 cm, move right 13 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25100111961364746, + 0.06984194368124008, + 0.022652462124824524, + -2.9947760105133057, + -0.06004174426198006, + -0.20510275661945343 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 12 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516125440597534, + 0.06871094554662704, + 0.02656257338821888, + -2.989295244216919, + -0.07510007917881012, + -0.204213485121727 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 12 cm, move right 15 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2477157562971115, + 0.0671062245965004, + 0.025049949064850807, + -2.998788356781006, + -0.06444676220417023, + -0.20862340927124023 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "grasp bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 11 cm, move right 15 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24711814522743225, + 0.06574245542287827, + 0.038017988204956055, + -2.991018056869507, + -0.0969119668006897, + -0.22262857854366302 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 16 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24693763256072998, + 0.06490936130285263, + 0.06949041783809662, + -2.9632132053375244, + -0.1752195805311203, + -0.2176414132118225 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 16 cm, move down 5 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2543988823890686, + 0.0531020350754261, + 0.08788128942251205, + -2.9543888568878174, + -0.23691299557685852, + -0.22453948855400085 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 15 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27809762954711914, + 0.029069634154438972, + 0.0963587537407875, + -2.971752882003784, + -0.27433812618255615, + -0.26195913553237915 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 12 cm, move down 8 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102680742740631, + -0.0024768239818513393, + 0.09493295103311539, + -3.013981819152832, + -0.3031858801841736, + -0.29048794507980347 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot arm is positioned directly above the bread on the orange cloth, with the gripper open and ready. The approach phase is complete, and the arm is now stationary or making micro-adjustments for alignment. The next action is to close the gripper to securely grasp the bread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34097957611083984, + -0.03643413633108139, + 0.0952027216553688, + -3.052112340927124, + -0.3338257670402527, + -0.30243948101997375 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 192, + 425, + 468, + 694 + ], + "vegetable peeler": [ + 106, + 399, + 267, + 574 + ], + "wooden countertop": [ + 4, + 189, + 858, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot is currently transporting the bread across the counter, moving it away from the initial pickup location. The gripper remains closed with no change in aperture, confirming the object is being carried. The next action is to continue moving the bread toward the back right corner of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36060428619384766, + -0.06494294106960297, + 0.09133485704660416, + -3.0566294193267822, + -0.33940237760543823, + -0.33280429244041443 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot is currently transporting the bread across the counter, moving it away from the initial pickup location. The gripper remains closed with no change in aperture, confirming the object is being carried. The next action is to continue moving the bread toward the back right corner of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36740338802337646, + -0.08378642797470093, + 0.0759076178073883, + -3.068782091140747, + -0.31260165572166443, + -0.34809669852256775 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot is currently transporting the bread across the counter, moving it away from the initial pickup location. The gripper remains closed with no change in aperture, confirming the object is being carried. The next action is to continue moving the bread toward the back right corner of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36568963527679443, + -0.08647078275680542, + 0.05308450013399124, + -3.076920747756958, + -0.26188933849334717, + -0.33570781350135803 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot is currently transporting the bread across the counter, moving it away from the initial pickup location. The gripper remains closed with no change in aperture, confirming the object is being carried. The next action is to continue moving the bread toward the back right corner of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, open gripper; then move up 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3612162172794342, + -0.08582376688718796, + 0.041267551481723785, + -3.0839343070983887, + -0.24270762503147125, + -0.3259843587875366 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot is currently transporting the bread across the counter, moving it away from the initial pickup location. The gripper remains closed with no change in aperture, confirming the object is being carried. The next action is to continue moving the bread toward the back right corner of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move up 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3590447008609772, + -0.09195168316364288, + 0.018826058134436607, + -3.126115560531616, + -0.20806671679019928, + -0.3166544735431671 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 193, + 425, + 468, + 695 + ], + "carrot": [ + 653, + 448, + 740, + 593 + ], + "wooden countertop": [ + 4, + 186, + 860, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "transport bread", + "subtask_reasoning": "The robot is currently transporting the bread across the counter, moving it away from the initial pickup location. The gripper remains closed with no change in aperture, confirming the object is being carried. The next action is to continue moving the bread toward the back right corner of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36345744132995605, + -0.09539089351892471, + 0.01669829897582531, + 3.1349222660064697, + -0.2050241380929947, + -0.31082823872566223 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "release bread", + "subtask_reasoning": "The robot is currently transporting the bread across the counter, moving it away from the initial pickup location. The gripper remains closed with no change in aperture, confirming the object is being carried. The next action is to continue moving the bread toward the back right corner of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3602588176727295, + -0.09761262685060501, + 0.012372834607958794, + 3.1235857009887695, + -0.17794111371040344, + -0.30435413122177124 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "release bread", + "subtask_reasoning": "The robot is positioned over the back right counter corner with the bread held in the gripper, as indicated by the high gripper value and segment evidence. The arm is stationary above the target location, ready to deposit the item. The next action is to open the gripper to release the bread onto the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36113241314888, + -0.09903977066278458, + 0.013419407419860363, + 3.1183698177337646, + -0.18187271058559418, + -0.3151140511035919 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "release bread", + "subtask_reasoning": "The robot is positioned over the back right counter corner with the bread held in the gripper, as indicated by the high gripper value and segment evidence. The arm is stationary above the target location, ready to deposit the item. The next action is to open the gripper to release the bread onto the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36091148853302, + -0.09897329658269882, + 0.013112657703459263, + 3.1184170246124268, + -0.18186786770820618, + -0.3150605857372284 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "release bread", + "subtask_reasoning": "The robot is positioned over the back right counter corner with the bread held in the gripper, as indicated by the high gripper value and segment evidence. The arm is stationary above the target location, ready to deposit the item. The next action is to open the gripper to release the bread onto the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35956326127052307, + -0.098956398665905, + 0.021905934438109398, + 3.1203176975250244, + -0.18252699077129364, + -0.33669304847717285 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "retreat from bread", + "subtask_reasoning": "The robot is positioned over the back right counter corner with the bread held in the gripper, as indicated by the high gripper value and segment evidence. The arm is stationary above the target location, ready to deposit the item. The next action is to open the gripper to release the bread onto the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3602873980998993, + -0.0968233048915863, + 0.05042563006281853, + 3.137235403060913, + -0.22370482981204987, + -0.3336140811443329 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "retreat from bread", + "subtask_reasoning": "The bread has been successfully placed on the back right counter corner. The robot arm is currently positioned above the counter with the gripper open, having completed the placement. The next action is to retreat the arm away from the counter area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3517003655433655, + -0.09538570791482925, + 0.07774268835783005, + 3.1372058391571045, + -0.27311986684799194, + -0.3369748592376709 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "retreat from bread", + "subtask_reasoning": "The bread has been successfully placed on the back right counter corner. The robot arm is currently positioned above the counter with the gripper open, having completed the placement. The next action is to retreat the arm away from the counter area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3310098350048065, + -0.09058836847543716, + 0.10053618997335434, + 3.134983777999878, + -0.28415247797966003, + -0.3379862904548645 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bread to the back right counter corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bread" + }, + { + "id": 2, + "subtask": "grasp bread" + }, + { + "id": 3, + "subtask": "transport bread" + }, + { + "id": 4, + "subtask": "release bread" + }, + { + "id": 5, + "subtask": "retreat from bread" + } + ], + "subtask_name": "retreat from bread", + "subtask_reasoning": "The bread has been successfully placed on the back right counter corner. The robot arm is currently positioned above the counter with the gripper open, having completed the placement. The next action is to retreat the arm away from the counter area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004061_ecot.json b/cot/chunk-0004/episode_0004061_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a04da5a5c6d57a01c4f506518ac8527544c6da --- /dev/null +++ b/cot/chunk-0004/episode_0004061_ecot.json @@ -0,0 +1,1376 @@ +{ + "task_name": "episode_0004061", + "episode_json": "json/chunk-0004/episode_0004061.json", + "video_path": "videos/chunk-0004/image_0/episode_0004061.mp4", + "instruction": "Put lid on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004061.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.6974005699157715, + "std": 0.3312340974807739, + "delta_total": -0.6974005699157715, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.69740, std=0.33123, total_delta=-0.69740). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the black lid on the stove while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 5, \"end\": 11, \"planning\": \"Close the gripper around the lid and secure a firm hold as confirmed by decreasing gripper value.\"},\n {\"id\": 3, \"name\": \"lift and reposition lid\", \"start\": 12, \"end\": 15, \"planning\": \"Lift the grasped lid slightly and begin moving it toward the target burner position.\"},\n {\"id\": 4, \"name\": \"place lid on stove\", \"start\": 16, \"end\": 19, \"planning\": \"Lower the lid onto the stove burner and release contact while maintaining gripper closure for stability.\"}\n ],\n \"global_plan\": \"Approach the black lid on the stove, grasp it securely, lift and reposition it over the target burner, then place it down to complete the task.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.45) consistent with grasping; Segment 2 maintains low gripper value indicating continued hold during placement. All subtasks are contiguous and cover full trajectory [0,19].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the black lid on the stove while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp lid", + "start": 5, + "end": 11, + "planning": "Close the gripper around the lid and secure a firm hold as confirmed by decreasing gripper value." + }, + { + "id": 3, + "name": "lift and reposition lid", + "start": 12, + "end": 15, + "planning": "Lift the grasped lid slightly and begin moving it toward the target burner position." + }, + { + "id": 4, + "name": "place lid on stove", + "start": 16, + "end": 19, + "planning": "Lower the lid onto the stove burner and release contact while maintaining gripper closure for stability." + } + ], + "global_plan": "Approach the black lid on the stove, grasp it securely, lift and reposition it over the target burner, then place it down to complete the task.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.45) consistent with grasping; Segment 2 maintains low gripper value indicating continued hold during placement. All subtasks are contiguous and cover full trajectory [0,19]." + } + }, + "episode_goal": "Place the black pot lid onto the front-left stove burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38373544812202454, + 0.1225859522819519, + 0.11001145094633102, + -2.7155487537384033, + -0.2642862796783447, + -0.2342226803302765 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the stove with the black lid visible on the front-left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38337811827659607, + 0.11981283128261566, + 0.08978592604398727, + -2.7467148303985596, + -0.24525654315948486, + -0.23387962579727173 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the stove with the black lid visible on the front-left burner. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3860090672969818, + 0.12575916945934296, + 0.0788479894399643, + -2.7627298831939697, + -0.26367735862731934, + -0.21303793787956238 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is approaching the black pot lid located on the front-left stove burner. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the lid for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3853391706943512, + 0.1301421970129013, + 0.06762202829122543, + -2.785782814025879, + -0.26203063130378723, + -0.18367218971252441 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 121, + 377, + 298, + 461 + ], + "purple onion": [ + 319, + 559, + 455, + 719 + ], + "orange fruit": [ + 329, + 330, + 464, + 493 + ], + "metal pot": [ + 708, + 531, + 991, + 865 + ], + "green bowl": [ + 130, + 148, + 264, + 257 + ], + "green cabbage": [ + 153, + 447, + 302, + 629 + ], + "toy corn": [ + 240, + 65, + 309, + 165 + ], + "coffee machine": [ + 296, + 3, + 475, + 233 + ], + "kitchen sink": [ + 449, + 398, + 994, + 989 + ], + "black stove burner": [ + 458, + 172, + 652, + 337 + ] + } + } + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is approaching the black pot lid located on the front-left stove burner. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the lid for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38099396228790283, + 0.1356917917728424, + 0.055552881211042404, + -2.804340362548828, + -0.26380228996276855, + -0.16255488991737366 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is approaching the black pot lid located on the front-left stove burner. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the lid for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.381212055683136, + 0.14103539288043976, + 0.04665860906243324, + -2.8089542388916016, + -0.2795390784740448, + -0.16588479280471802 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is approaching the black pot lid located on the front-left stove burner. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the lid for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816121518611908, + 0.14360985159873962, + 0.03806304186582565, + -2.823925733566284, + -0.2821353077888489, + -0.15953493118286133 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is approaching the black pot lid located on the front-left stove burner. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the lid for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38399502635002136, + 0.14666098356246948, + 0.03152088448405266, + -2.836752414703369, + -0.2823348343372345, + -0.15481002628803253 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is approaching the black pot lid located on the front-left stove burner. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the lid for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38894882798194885, + 0.14786866307258606, + 0.026027433574199677, + -2.832892894744873, + -0.284564346075058, + -0.17644502222537994 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the black lid on the front-left burner, and the gripper is currently open and positioned above it. The segment-level gripper evidence indicates a closing trend, suggesting the grasp is initiating. The next action is to close the gripper to securely hold the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39079517126083374, + 0.1517271250486374, + 0.021013839170336723, + -2.8317999839782715, + -0.2904473543167114, + -0.18429604172706604 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the black lid on the front-left burner, and the gripper is currently open and positioned above it. The segment-level gripper evidence indicates a closing trend, suggesting the grasp is initiating. The next action is to close the gripper to securely hold the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39410072565078735, + 0.15230195224285126, + 0.02080390602350235, + -2.8297858238220215, + -0.30519548058509827, + -0.18895617127418518 + ], + "gripper_value": 0.8535622954368591 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the black lid on the front-left burner, and the gripper is currently open and positioned above it. The segment-level gripper evidence indicates a closing trend, suggesting the grasp is initiating. The next action is to close the gripper to securely hold the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39488106966018677, + 0.1549077033996582, + 0.02168181911110878, + -2.835073709487915, + -0.31451669335365295, + -0.17556266486644745 + ], + "gripper_value": 0.5501742362976074 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the black lid on the front-left burner, and the gripper is currently open and positioned above it. The segment-level gripper evidence indicates a closing trend, suggesting the grasp is initiating. The next action is to close the gripper to securely hold the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39029160141944885, + 0.15448790788650513, + 0.022693850100040436, + -2.8502254486083984, + -0.26688647270202637, + -0.1683928519487381 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached the black lid on the front-left burner, and the gripper is currently open and positioned above it. The segment-level gripper evidence indicates a closing trend, suggesting the grasp is initiating. The next action is to close the gripper to securely hold the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3819771111011505, + 0.1571809947490692, + 0.029601724818348885, + -2.8627636432647705, + -0.194179967045784, + -0.16497685015201569 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has grasped the black pot lid and is currently lifting it above the stove surface. The gripper is closed, and the end-effector is positioned to reposition the lid toward the front-left burner. The next action is to move the lid horizontally over the target burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38329577445983887, + 0.15821044147014618, + 0.03837576135993004, + -2.8544538021087646, + -0.17525678873062134, + -0.1956571340560913 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has grasped the black pot lid and is currently lifting it above the stove surface. The gripper is closed, and the end-effector is positioned to reposition the lid toward the front-left burner. The next action is to move the lid horizontally over the target burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.391906201839447, + 0.1575084924697876, + 0.061243314296007156, + -2.8166415691375732, + -0.2734595835208893, + -0.20865797996520996 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has grasped the black pot lid and is currently lifting it above the stove surface. The gripper is closed, and the end-effector is positioned to reposition the lid toward the front-left burner. The next action is to move the lid horizontally over the target burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4015152156352997, + 0.14428989589214325, + 0.06544804573059082, + -2.793792724609375, + -0.369315505027771, + -0.22170141339302063 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "place lid on stove", + "subtask_reasoning": "The robot has grasped the black pot lid and is currently lifting it above the stove surface. The gripper is closed, and the end-effector is positioned to reposition the lid toward the front-left burner. The next action is to move the lid horizontally over the target burner before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41641154885292053, + 0.1299179196357727, + 0.06934374570846558, + -2.81870174407959, + -0.474037766456604, + -0.2083786576986313 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 319, + 559, + 455, + 719 + ], + "red pepper": [ + 121, + 377, + 297, + 461 + ], + "green bowl": [ + 130, + 148, + 264, + 257 + ], + "orange fruit": [ + 330, + 330, + 464, + 493 + ], + "metal pot": [ + 709, + 531, + 989, + 863 + ], + "black stove burner": [ + 467, + 170, + 650, + 333 + ], + "toy corn": [ + 240, + 65, + 308, + 165 + ], + "kitchen sink": [ + 451, + 398, + 994, + 989 + ], + "green cabbage": [ + 154, + 447, + 299, + 627 + ], + "coffee machine": [ + 309, + 7, + 496, + 294 + ] + } + } + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "place lid on stove", + "subtask_reasoning": "The black lid is already positioned on the front-left stove burner, indicating the placement action is complete. The gripper remains open and stationary above the lid, showing no active grasping or movement. No further action is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.42482152581214905, + 0.12152165174484253, + 0.07303786277770996, + -2.882481336593628, + -0.5488186478614807, + -0.15156345069408417 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "place lid on stove", + "subtask_reasoning": "The black lid is already positioned on the front-left stove burner, indicating the placement action is complete. The gripper remains open and stationary above the lid, showing no active grasping or movement. No further action is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.43553054332733154, + 0.10562469810247421, + 0.08489271253347397, + -2.966904640197754, + -0.5783258080482483, + -0.11667478829622269 + ], + "gripper_value": 0.3034155070781708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the black pot lid onto the front-left stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on stove" + } + ], + "subtask_name": "place lid on stove", + "subtask_reasoning": "The black lid is already positioned on the front-left stove burner, indicating the placement action is complete. The gripper remains open and stationary above the lid, showing no active grasping or movement. No further action is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004062_ecot.json b/cot/chunk-0004/episode_0004062_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..967d708da08104d881d940e4065355c7ee7ae90f --- /dev/null +++ b/cot/chunk-0004/episode_0004062_ecot.json @@ -0,0 +1,2971 @@ +{ + "task_name": "episode_0004062", + "episode_json": "json/chunk-0004/episode_0004062.json", + "video_path": "videos/chunk-0004/image_0/episode_0004062.mp4", + "instruction": "Repositioned the green spoon of the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004062.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.609844446182251, + "std": 0.276206910610199, + "delta_total": 0.003963589668273926, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60984, std=0.27621, total_delta=0.00396). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 142, + 142, + 142 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 21 + ], + [ + 3, + 22, + 41 + ], + [ + 4, + 42, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach and grasp green spoon\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the green spoon on the left side of the table and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"Lift and reposition spoon mid-air\", \"start\": 13, \"end\": 21, \"planning\": \"Lift the grasped green spoon slightly and begin moving it laterally across the table surface.\"},\n {\"id\": 3, \"name\": \"Place spoon near target location\", \"start\": 22, \"end\": 41, \"planning\": \"Lower the spoon toward its new position on the left side of the table while maintaining grip until contact is made.\"},\n {\"id\": 4, \"name\": \"Release spoon and retreat\", \"start\": 42, \"end\": 44, \"planning\": \"Open gripper to release the green spoon at its final repositioned location and withdraw end-effector.\"}\n ],\n \"global_plan\": \"Reposition the green spoon from its initial location on the left side of the table by grasping, lifting, translating, placing, and releasing it in a nearby adjusted position.\",\n \"notes\": \"Gripper closure evidence is strong in Segment 1 (delta=-0.337) and Segment 4 (delta=+0.236), supporting grasp/release wording. Segments 2 and 3 show stable low gripper values consistent with holding during transport and placement. Motion profiles support lift-translate-lower-release sequence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach and grasp green spoon", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the green spoon on the left side of the table and close gripper to secure it." + }, + { + "id": 2, + "name": "Lift and reposition spoon mid-air", + "start": 13, + "end": 21, + "planning": "Lift the grasped green spoon slightly and begin moving it laterally across the table surface." + }, + { + "id": 3, + "name": "Place spoon near target location", + "start": 22, + "end": 41, + "planning": "Lower the spoon toward its new position on the left side of the table while maintaining grip until contact is made." + }, + { + "id": 4, + "name": "Release spoon and retreat", + "start": 42, + "end": 44, + "planning": "Open gripper to release the green spoon at its final repositioned location and withdraw end-effector." + } + ], + "global_plan": "Reposition the green spoon from its initial location on the left side of the table by grasping, lifting, translating, placing, and releasing it in a nearby adjusted position.", + "notes": "Gripper closure evidence is strong in Segment 1 (delta=-0.337) and Segment 4 (delta=+0.236), supporting grasp/release wording. Segments 2 and 3 show stable low gripper values consistent with holding during transport and placement. Motion profiles support lift-translate-lower-release sequence." + } + }, + "episode_goal": "Reposition the green spoon to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24747233092784882, + 0.11170138418674469, + 0.12772083282470703, + -3.0242607593536377, + -0.11082074791193008, + 0.13339832425117493 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side near a metal bowl. No actions have been completed yet as the gripper is open and the spoon has not been moved. The robot needs to lower its end-effector to make contact with and grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24662114679813385, + 0.11183353513479233, + 0.11911530047655106, + -3.0298521518707275, + -0.0798722505569458, + 0.14199358224868774 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side near a metal bowl. No actions have been completed yet as the gripper is open and the spoon has not been moved. The robot needs to lower its end-effector to make contact with and grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2526940703392029, + 0.13072746992111206, + 0.11012466996908188, + -3.0031673908233643, + -0.04887109622359276, + 0.191665381193161 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side near a metal bowl. No actions have been completed yet as the gripper is open and the spoon has not been moved. The robot needs to lower its end-effector to make contact with and grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615700960159302, + 0.1579318344593048, + 0.10970588028430939, + -2.993879795074463, + -0.05091223493218422, + 0.26120927929878235 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side near a metal bowl. No actions have been completed yet as the gripper is open and the spoon has not been moved. The robot needs to lower its end-effector to make contact with and grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27176088094711304, + 0.19258888065814972, + 0.09908293187618256, + -3.02121639251709, + -0.05139325186610222, + 0.3055199384689331 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side near a metal bowl. No actions have been completed yet as the gripper is open and the spoon has not been moved. The robot needs to lower its end-effector to make contact with and grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856612503528595, + 0.20753538608551025, + 0.08801363408565521, + -3.033327341079712, + -0.06223040819168091, + 0.2796327471733093 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side near a metal bowl. No actions have been completed yet as the gripper is open and the spoon has not been moved. The robot needs to lower its end-effector to make contact with and grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29177919030189514, + 0.19740977883338928, + 0.07359453290700912, + -3.095151424407959, + -0.1286735236644745, + 0.19495274126529694 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green vegetable toy": [ + 64, + 183, + 253, + 311 + ], + "orange object": [ + 170, + 340, + 267, + 490 + ], + "blue towel": [ + 368, + 287, + 634, + 513 + ], + "toy microwave": [ + 303, + 2, + 718, + 214 + ], + "metal pot": [ + 65, + 285, + 354, + 557 + ], + "tomato sauce": [ + 665, + 10, + 830, + 283 + ], + "pink cloth": [ + 240, + 118, + 386, + 262 + ], + "black appliance": [ + 690, + 204, + 996, + 993 + ], + "green beans": [ + 793, + 131, + 964, + 352 + ] + } + } + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2945055663585663, + 0.1927206963300705, + 0.07146964967250824, + -3.124903917312622, + -0.14787675440311432, + 0.1777060627937317 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, close gripper; then move back 1 cm, move left 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29386940598487854, + 0.19640260934829712, + 0.0718960165977478, + -3.10158634185791, + -0.14706476032733917, + 0.1763691008090973 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, close gripper; then move left 4 cm, move up 9 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930060625076294, + 0.20102474093437195, + 0.06212511658668518, + -3.091989755630493, + -0.11564065515995026, + 0.195011705160141 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 5 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29169759154319763, + 0.21299315989017487, + 0.06393752992153168, + -3.0826454162597656, + -0.12176347523927689, + 0.23090359568595886 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 3 cm, move left 6 cm, move up 11 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29055848717689514, + 0.21506433188915253, + 0.05227509140968323, + -3.0848922729492188, + -0.0897386372089386, + 0.2428947538137436 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 7 cm, move up 11 cm, tilt back 30 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28963997960090637, + 0.21662820875644684, + 0.04934895783662796, + -3.0615482330322266, + -0.09102150052785873, + 0.24468521773815155 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Approach and grasp green spoon", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move left 8 cm, move up 9 cm, tilt back 30 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28847742080688477, + 0.212262362241745, + 0.04759284853935242, + -3.069061756134033, + -0.09204951673746109, + 0.2373746782541275 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move up 9 cm, tilt back 30 degrees, rotate clockwise 60 degrees, keep gripper closed; then move forward 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2861056625843048, + 0.2065388560295105, + 0.04868609085679054, + -3.093284845352173, + -0.08818786591291428, + 0.24093735218048096 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move up 9 cm, tilt back 40 degrees, rotate clockwise 60 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28000661730766296, + 0.20772846043109894, + 0.05489908903837204, + -3.0696845054626465, + -0.09034767746925354, + 0.30797848105430603 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 9 cm, move up 9 cm, tilt back 30 degrees, rotate clockwise 60 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852471172809601, + 0.21739916503429413, + 0.09363953769207001, + -3.0392844676971436, + -0.2058468610048294, + 0.37283289432525635 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The robot is positioned above the table with the green spoon visible on the left side. The gripper is currently open and approaching the spoon. The next action is to lower the gripper and close it to grasp the green spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move up 5 cm, tilt back 30 degrees, rotate clockwise 50 degrees, keep gripper closed; then move forward 4 cm, move right 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28303366899490356, + 0.23830117285251617, + 0.12476394325494766, + -2.995431423187256, + -0.28787240386009216, + 0.4820975661277771 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 303, + 2, + 718, + 213 + ], + "blue towel": [ + 368, + 287, + 634, + 512 + ], + "metal pot": [ + 82, + 253, + 340, + 531 + ], + "tomato sauce": [ + 665, + 10, + 829, + 284 + ], + "black appliance": [ + 693, + 211, + 995, + 992 + ], + "green vegetable toy": [ + 4, + 28, + 115, + 282 + ] + } + } + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move up 2 cm, tilt back 20 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 4 cm, move right 7 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916836440563202, + 0.25312647223472595, + 0.14172913134098053, + -2.9812889099121094, + -0.3905777037143707, + 0.5847668051719666 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 302, + 2, + 717, + 213 + ], + "metal pot": [ + 79, + 248, + 336, + 540 + ], + "blue towel": [ + 368, + 287, + 634, + 512 + ], + "green vegetable toy": [ + 1, + 2, + 112, + 215 + ], + "tomato sauce": [ + 665, + 10, + 830, + 284 + ], + "orange object": [ + 194, + 320, + 286, + 469 + ], + "black appliance": [ + 692, + 206, + 996, + 993 + ], + "green beans": [ + 792, + 130, + 965, + 352 + ], + "spoon": [ + 2, + 109, + 59, + 212 + ] + } + } + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 3 cm, move right 9 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015916049480438, + 0.2651812732219696, + 0.15251201391220093, + -2.9636871814727783, + -0.5386863946914673, + 0.7629855871200562 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move right 11 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3209953010082245, + 0.2710781991481781, + 0.15827342867851257, + -3.051586151123047, + -0.6696351170539856, + 1.0116621255874634 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304464519023895, + 0.28371450304985046, + 0.15279538929462433, + -3.118365526199341, + -0.7077969908714294, + 1.1782617568969727 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Lift and reposition spoon mid-air", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 15 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.345960795879364, + 0.2947441637516022, + 0.14049723744392395, + 3.100421667098999, + -0.7100767493247986, + 1.3074369430541992 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621280789375305, + 0.2920249402523041, + 0.1277047097682953, + 3.018907308578491, + -0.6792088150978088, + 1.3962419033050537 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 19 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37333953380584717, + 0.28137877583503723, + 0.12944291532039642, + 2.930877447128296, + -0.6845464110374451, + 1.4977220296859741 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 19 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38662880659103394, + 0.26457488536834717, + 0.1323612630367279, + 2.8816850185394287, + -0.7014857530593872, + 1.5360867977142334 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 17 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3905898332595825, + 0.24637694656848907, + 0.12218701094388962, + 2.8850595951080322, + -0.6954704523086548, + 1.5382846593856812 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3874754309654236, + 0.22752118110656738, + 0.10652197897434235, + 2.9428725242614746, + -0.7014201879501343, + 1.4985021352767944 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3779878318309784, + 0.2056279182434082, + 0.10483583062887192, + 2.948763370513916, + -0.6909579634666443, + 1.480110764503479 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.37520334124565125, + 0.18183262646198273, + 0.10810811072587967, + 2.954637050628662, + -0.7006692886352539, + 1.439670205116272 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3708089590072632, + 0.1580691933631897, + 0.10750726610422134, + 2.9695322513580322, + -0.7003783583641052, + 1.3914769887924194 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 77, + 247, + 336, + 541 + ], + "orange object": [ + 158, + 345, + 253, + 470 + ], + "toy microwave": [ + 333, + 3, + 718, + 213 + ], + "tomato sauce": [ + 665, + 10, + 830, + 284 + ], + "blue towel": [ + 407, + 334, + 711, + 590 + ], + "green vegetable toy": [ + 224, + 2, + 390, + 204 + ], + "spoon": [ + 289, + 80, + 418, + 261 + ], + "black appliance": [ + 692, + 203, + 995, + 993 + ], + "green beans": [ + 792, + 129, + 965, + 352 + ] + } + } + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is not visible in the current frame, indicating it is currently held by the gripper above the table surface. The gripper state is stable and closed, consistent with the completed grasp and ongoing mid-air repositioning phase. The next action is to continue translating the spoon towards the target location on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646920621395111, + 0.14209628105163574, + 0.1072644367814064, + 2.967250108718872, + -0.6911240220069885, + 1.3682159185409546 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.36087289452552795, + 0.1204257681965828, + 0.10851003974676132, + 2.959198236465454, + -0.6788408756256104, + 1.3264195919036865 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3572614789009094, + 0.10651413351297379, + 0.10827862471342087, + 2.9559760093688965, + -0.6603125929832458, + 1.3052634000778198 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.35288965702056885, + 0.09413895010948181, + 0.11014871299266815, + 2.9483981132507324, + -0.6337125897407532, + 1.2873947620391846 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35232773423194885, + 0.09426414221525192, + 0.10915679484605789, + 2.961629629135132, + -0.6313202381134033, + 1.2715487480163574 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571045398712158, + 0.12222983688116074, + 0.11853674054145813, + 2.922327756881714, + -0.6241660118103027, + 1.36188805103302 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621557354927063, + 0.14265821874141693, + 0.10582544654607773, + 2.934213638305664, + -0.5767611265182495, + 1.3766379356384277 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 458, + 377, + 805, + 716 + ], + "orange object": [ + 119, + 342, + 236, + 461 + ], + "toy microwave": [ + 380, + 3, + 719, + 213 + ], + "metal pot": [ + 74, + 246, + 333, + 541 + ], + "tomato sauce": [ + 666, + 8, + 831, + 283 + ], + "pink cloth": [ + 355, + 354, + 540, + 516 + ], + "black appliance": [ + 693, + 210, + 996, + 993 + ], + "green beans": [ + 793, + 127, + 966, + 352 + ] + } + } + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3662484288215637, + 0.15107624232769012, + 0.09200049191713333, + 2.9224932193756104, + -0.4794672131538391, + 1.3848778009414673 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613593876361847, + 0.15998908877372742, + 0.07544802874326706, + 2.8992221355438232, + -0.37038564682006836, + 1.436567783355713 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.355683296918869, + 0.1628810465335846, + 0.06194726377725601, + 2.88395619392395, + -0.2812309265136719, + 1.4632998704910278 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.35219135880470276, + 0.1666032075881958, + 0.05753365159034729, + 2.9093971252441406, + -0.2697421610355377, + 1.4640966653823853 + ], + "gripper_value": 0.4615449905395508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Place spoon near target location", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3481804430484772, + 0.168154776096344, + 0.05782782658934593, + 2.9481823444366455, + -0.2683064639568329, + 1.4523375034332275 + ], + "gripper_value": 0.7672095894813538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Release spoon and retreat", + "subtask_reasoning": "The green spoon is currently held above the table near the target placement area. The robot has completed lifting and translating the spoon to the desired vicinity. The next action is to lower the spoon and release it onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473810851573944, + 0.16690881550312042, + 0.05823635309934616, + 2.950963258743286, + -0.2471918910741806, + 1.4552165269851685 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Release spoon and retreat", + "subtask_reasoning": "The green spoon has been successfully placed on the left side of the table near the pot. The gripper is fully open (value ~0.99), indicating the release action is complete. The robot is now in a retreat phase, moving away from the released object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 42, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3484623432159424, + 0.16712702810764313, + 0.06381548941135406, + 2.954085350036621, + -0.22267401218414307, + 1.445675015449524 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Reposition the green spoon to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp green spoon" + }, + { + "id": 2, + "subtask": "Lift and reposition spoon mid-air" + }, + { + "id": 3, + "subtask": "Place spoon near target location" + }, + { + "id": 4, + "subtask": "Release spoon and retreat" + } + ], + "subtask_name": "Release spoon and retreat", + "subtask_reasoning": "The green spoon has been successfully placed on the left side of the table near the pot. The gripper is fully open (value ~0.99), indicating the release action is complete. The robot is now in a retreat phase, moving away from the released object to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004063_ecot.json b/cot/chunk-0004/episode_0004063_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..221fb2f43b329a3aeb98741b45a09cb460b4fbf6 --- /dev/null +++ b/cot/chunk-0004/episode_0004063_ecot.json @@ -0,0 +1,2083 @@ +{ + "task_name": "episode_0004063", + "episode_json": "json/chunk-0004/episode_0004063.json", + "video_path": "videos/chunk-0004/image_0/episode_0004063.mp4", + "instruction": "Move the black cloth from top left corner of the table to top right corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004063.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013307929039001465, + "std": 0.00036818935768678784, + "delta_total": -0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00037, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 14 + ], + [ + 3, + 15, + 19 + ], + [ + 4, + 20, + 24 + ], + [ + 5, + 25, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach black cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from initial position toward the black cloth in the top left corner without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge cloth\", \"start\": 5, \"end\": 14, \"planning\": \"Lower the gripper to make contact with the black cloth and begin nudging it rightward across the table surface.\"},\n {\"id\": 3, \"name\": \"drag cloth toward center\", \"start\": 15, \"end\": 19, \"planning\": \"Continue dragging the black cloth horizontally toward the center of the table using sustained contact motion.\"},\n {\"id\": 4, \"name\": \"push cloth to target zone\", \"start\": 20, \"end\": 24, \"planning\": \"Push the black cloth further right into the top right corner region while maintaining surface contact.\"},\n {\"id\": 5, \"name\": \"release contact and retreat\", \"start\": 25, \"end\": 29, \"planning\": \"Lift the end-effector slightly and retreat backward to disengage from the cloth now positioned at the top right.\"}\n ],\n \"global_plan\": \"The robot moves the black cloth from top left to top right by approaching, making contact, dragging/pushing it across the table surface in sequential phases, then retreating after positioning — all without grasping or lifting, as confirmed by constant gripper values.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, no grasp/lift/place actions are inferred. All manipulation is contact-based (nudge, drag, push). Frame ranges follow provided segments exactly for full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach black cloth", + "start": 0, + "end": 4, + "planning": "Move the end-effector from initial position toward the black cloth in the top left corner without grasping." + }, + { + "id": 2, + "name": "make contact and nudge cloth", + "start": 5, + "end": 14, + "planning": "Lower the gripper to make contact with the black cloth and begin nudging it rightward across the table surface." + }, + { + "id": 3, + "name": "drag cloth toward center", + "start": 15, + "end": 19, + "planning": "Continue dragging the black cloth horizontally toward the center of the table using sustained contact motion." + }, + { + "id": 4, + "name": "push cloth to target zone", + "start": 20, + "end": 24, + "planning": "Push the black cloth further right into the top right corner region while maintaining surface contact." + }, + { + "id": 5, + "name": "release contact and retreat", + "start": 25, + "end": 29, + "planning": "Lift the end-effector slightly and retreat backward to disengage from the cloth now positioned at the top right." + } + ], + "global_plan": "The robot moves the black cloth from top left to top right by approaching, making contact, dragging/pushing it across the table surface in sequential phases, then retreating after positioning — all without grasping or lifting, as confirmed by constant gripper values.", + "notes": "No segment shows meaningful gripper closing; therefore, no grasp/lift/place actions are inferred. All manipulation is contact-based (nudge, drag, push). Frame ranges follow provided segments exactly for full coverage and contiguity." + } + }, + "episode_goal": "Move the black cloth from the top left corner of the table to the top right corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22758375108242035, + -0.0026258621364831924, + 0.0887552797794342, + 3.106266975402832, + -0.05078626796603203, + -0.09524118900299072 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach black cloth", + "subtask_reasoning": "The robot is positioned above the table near the top left corner where the black cloth is located. No contact has been made yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22666391730308533, + -0.00257139396853745, + 0.08356250822544098, + 3.0998451709747314, + -0.028555676341056824, + -0.09428533166646957 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach black cloth", + "subtask_reasoning": "The robot is positioned above the table near the top left corner where the black cloth is located. No contact has been made yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25120824575424194, + 0.02857363596558571, + 0.0803394690155983, + 3.08982515335083, + -0.01904667355120182, + -0.02160233072936535 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach black cloth", + "subtask_reasoning": "The robot is positioned above the table with the black cloth visible in the top left corner. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828598916530609, + 0.05663788691163063, + 0.08256957679986954, + 3.1196982860565186, + -0.02041277475655079, + 0.006293885409832001 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "scrub brush": [ + 687, + 467, + 825, + 717 + ], + "metal bowl": [ + 95, + 387, + 359, + 649 + ], + "purple cloth": [ + 229, + 248, + 473, + 445 + ], + "carrot": [ + 465, + 433, + 548, + 549 + ], + "wooden countertop": [ + 7, + 181, + 884, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach black cloth", + "subtask_reasoning": "The robot is positioned above the table with the black cloth visible in the top left corner. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080796003341675, + 0.08762124925851822, + 0.08526646345853806, + 3.140181064605713, + -0.05242184177041054, + 0.04989823326468468 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach black cloth", + "subtask_reasoning": "The robot is positioned above the table with the black cloth visible in the top left corner. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, keep gripper open; then move forward 5 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32922372221946716, + 0.11848633736371994, + 0.07478925585746765, + -3.1282761096954346, + -0.06622669100761414, + 0.1083344966173172 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the black cloth visible in the top left corner. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34956541657447815, + 0.13315273821353912, + 0.06706611812114716, + -3.12894606590271, + -0.07103444635868073, + 0.15123364329338074 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the black cloth visible in the top left corner. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 6 cm, keep gripper open; then move forward 1 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3665514588356018, + 0.14261779189109802, + 0.056888941675424576, + -3.1106555461883545, + -0.0799492746591568, + 0.16923832893371582 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the black cloth visible in the top left corner. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3785381019115448, + 0.14561736583709717, + 0.047598697245121, + -3.1081933975219727, + -0.09172846376895905, + 0.1495303064584732 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the table with the black cloth visible in the top left corner. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the black cloth to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 12 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3880242109298706, + 0.13611018657684326, + 0.03588779270648956, + -3.1035897731781006, + -0.1092831939458847, + 0.09856680035591125 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the black cloth in the top left corner and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to gently nudge or push the cloth toward the top right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move right 16 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3887428641319275, + 0.12876659631729126, + 0.02766789309680462, + -3.0982067584991455, + -0.12505759298801422, + 0.05676048994064331 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the black cloth in the top left corner and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to gently nudge or push the cloth toward the top right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, keep gripper open; then move forward 3 cm, move right 19 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3842369616031647, + 0.12432506680488586, + 0.017618954181671143, + -3.1027095317840576, + -0.13250292837619781, + 0.026565494015812874 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the black cloth in the top left corner and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to gently nudge or push the cloth toward the top right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 19 cm, keep gripper open; then move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37993237376213074, + 0.12469512969255447, + 0.012590443715453148, + -3.090754508972168, + -0.12559983134269714, + 0.005518794525414705 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the black cloth in the top left corner and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to gently nudge or push the cloth toward the top right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move forward 3 cm, move right 19 cm, keep gripper open; then move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37711259722709656, + 0.12518304586410522, + 0.009952925145626068, + -3.074995994567871, + -0.11149170994758606, + 0.006271462421864271 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the black cloth in the top left corner and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to gently nudge or push the cloth toward the top right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move forward 3 cm, move right 19 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3763493299484253, + 0.11962289363145828, + 0.009302104823291302, + -3.109621047973633, + -0.10416152328252792, + 0.03027523122727871 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the black cloth in the top left corner and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to gently nudge or push the cloth toward the top right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 3 cm, move right 19 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3804496228694916, + 0.10524079948663712, + 0.010010392405092716, + 3.1251473426818848, + -0.10758177936077118, + 0.07545589655637741 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot has approached the black cloth in the top left corner and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to gently nudge or push the cloth toward the top right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 19 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3881409764289856, + 0.07445741444826126, + 0.011081484146416187, + 3.102661609649658, + -0.09537604451179504, + 0.11570091545581818 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot has approached the black cloth in the top left corner and is now making contact with it. The gripper remains open, indicating no grasp has occurred. The next action is to gently nudge or push the cloth toward the top right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 16 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 4 cm, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39591720700263977, + 0.026374103501439095, + 0.011856417171657085, + 3.103421449661255, + -0.08589961379766464, + 0.09490553289651871 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot is in contact with the black cloth near the top left corner of the table, having completed approach and initial nudge. The gripper remains open (no grasp), and motion data indicates active dragging toward the center. Next, continue pushing/dragging the cloth horizontally across the table surface toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 4 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4018580913543701, + -0.01881658099591732, + 0.012454108335077763, + 3.1201720237731934, + -0.09217505902051926, + 0.04251100867986679 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 86, + 378, + 363, + 650 + ], + "scrub brush": [ + 686, + 467, + 826, + 717 + ], + "wooden countertop": [ + 7, + 183, + 885, + 988 + ], + "white bin": [ + 833, + 380, + 996, + 843 + ], + "carrot": [ + 489, + 464, + 616, + 575 + ], + "purple cloth": [ + 419, + 275, + 665, + 497 + ] + } + } + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot is in contact with the black cloth near the top left corner of the table, having completed approach and initial nudge. The gripper remains open (no grasp), and motion data indicates active dragging toward the center. Next, continue pushing/dragging the cloth horizontally across the table surface toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 4 cm, keep gripper open; then move back 4 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.40449854731559753, + -0.050175320357084274, + 0.012857800349593163, + 3.1374948024749756, + -0.09252845495939255, + 0.025814982131123543 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot is in contact with the black cloth near the top left corner of the table, having completed approach and initial nudge. The gripper remains open (no grasp), and motion data indicates active dragging toward the center. Next, continue pushing/dragging the cloth horizontally across the table surface toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 4 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4056403636932373, + -0.08525174856185913, + 0.01482911966741085, + -3.1289620399475098, + -0.09406258910894394, + 0.03419932350516319 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push cloth to target zone", + "subtask_reasoning": "The robot is in contact with the black cloth near the top left corner of the table, having completed approach and initial nudge. The gripper remains open (no grasp), and motion data indicates active dragging toward the center. Next, continue pushing/dragging the cloth horizontally across the table surface toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 4 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.40254464745521545, + -0.11412259936332703, + 0.015321923419833183, + -3.132288932800293, + -0.09879226982593536, + -0.011375200003385544 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 90, + 380, + 363, + 650 + ], + "carrot": [ + 484, + 453, + 567, + 571 + ], + "purple cloth": [ + 589, + 323, + 845, + 569 + ], + "white bin": [ + 833, + 381, + 996, + 842 + ], + "wooden countertop": [ + 45, + 186, + 870, + 987 + ], + "scrub brush": [ + 687, + 482, + 878, + 709 + ] + } + } + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push cloth to target zone", + "subtask_reasoning": "The robot is in contact with the black cloth near the top left corner of the table, having completed approach and initial nudge. The gripper remains open (no grasp), and motion data indicates active dragging toward the center. Next, continue pushing/dragging the cloth horizontally across the table surface toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.40144968032836914, + -0.11317861080169678, + 0.014908145181834698, + -3.1247546672821045, + -0.0968942642211914, + -0.0010651274351403117 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push cloth to target zone", + "subtask_reasoning": "The black cloth is currently located in the top right corner of the table, indicating the target zone has been reached. The gripper remains open with no closing evidence, confirming the cloth was pushed rather than grasped. The robot should now retreat from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.394646555185318, + -0.10951302200555801, + 0.018610043451189995, + -3.1162099838256836, + -0.10157477110624313, + 0.002276970772072673 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push cloth to target zone", + "subtask_reasoning": "The black cloth is currently located in the top right corner of the table, indicating the target zone has been reached. The gripper remains open with no closing evidence, confirming the cloth was pushed rather than grasped. The robot should now retreat from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3861325979232788, + -0.10356896370649338, + 0.035948216915130615, + -3.1362650394439697, + -0.12193935364484787, + 0.007428481709212065 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push cloth to target zone", + "subtask_reasoning": "The black cloth is currently located in the top right corner of the table, indicating the target zone has been reached. The gripper remains open with no closing evidence, confirming the cloth was pushed rather than grasped. The robot should now retreat from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38326510787010193, + -0.09150167554616928, + 0.05145246163010597, + 3.1321804523468018, + -0.1550981104373932, + 0.017848532646894455 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The black cloth is currently located in the top right corner of the table, indicating the target zone has been reached. The gripper remains open with no closing evidence, confirming the cloth was pushed rather than grasped. The robot should now retreat from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3769962191581726, + -0.08932936191558838, + 0.05221132934093475, + 3.111621856689453, + -0.14605557918548584, + 0.02573905885219574 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The black cloth is currently located in the top right corner of the table, indicating the target zone has been reached. The gripper remains open with no closing evidence, confirming the cloth was pushed rather than grasped. The robot should now retreat from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660496175289154, + -0.08545966446399689, + 0.07882552593946457, + 3.078209161758423, + -0.173806294798851, + 0.03985864296555519 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The black cloth has been successfully moved to the top right corner of the table. The robot's end-effector is currently positioned above the cloth with the gripper open, indicating contact has been released. The next action is to retreat the arm away from the table to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34368884563446045, + -0.08161799609661102, + 0.08659734576940536, + 3.0734808444976807, + -0.1697271168231964, + 0.02950393408536911 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The black cloth has been successfully moved to the top right corner of the table. The robot's end-effector is currently positioned above the cloth with the gripper open, indicating contact has been released. The next action is to retreat the arm away from the table to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193341791629791, + -0.0778675377368927, + 0.09287698566913605, + 3.0738561153411865, + -0.1597292572259903, + -0.039181724190711975 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the black cloth from the top left corner of the table to the top right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach black cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "push cloth to target zone" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The black cloth has been successfully moved to the top right corner of the table. The robot's end-effector is currently positioned above the cloth with the gripper open, indicating contact has been released. The next action is to retreat the arm away from the table to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004064_ecot.json b/cot/chunk-0004/episode_0004064_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4008321b166d768fbac84f535846133ee65239e6 --- /dev/null +++ b/cot/chunk-0004/episode_0004064_ecot.json @@ -0,0 +1,1711 @@ +{ + "task_name": "episode_0004064", + "episode_json": "json/chunk-0004/episode_0004064.json", + "video_path": "videos/chunk-0004/image_0/episode_0004064.mp4", + "instruction": "Open oven.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004064.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006693601608276367, + "std": 0.0003155394224449992, + "delta_total": 0.0006693601608276367, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00032, total_delta=0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 21 + ], + [ + 3, + 22, + 23 + ], + [ + 4, + 24, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach oven handle\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the oven door handle without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and pull handle\", \"start\": 3, \"end\": 21, \"planning\": \"Establish contact with handle and apply pulling force to open the oven door.\"},\n {\"id\": 3, \"name\": \"reposition after opening\", \"start\": 22, \"end\": 23, \"planning\": \"Adjust end-effector position slightly after door is fully opened.\"},\n {\"id\": 4, \"name\": \"retreat from oven\", \"start\": 24, \"end\": 26, \"planning\": \"Withdraw end-effector away from the open oven door.\"}\n ],\n \"global_plan\": \"Open the oven by approaching the handle, making contact and pulling it open, then repositioning and retreating.\",\n \"notes\": \"No grasping occurred — gripper remained nearly constant throughout. All actions are contact-based or positional adjustments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach oven handle", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the oven door handle without grasping." + }, + { + "id": 2, + "name": "make contact and pull handle", + "start": 3, + "end": 21, + "planning": "Establish contact with handle and apply pulling force to open the oven door." + }, + { + "id": 3, + "name": "reposition after opening", + "start": 22, + "end": 23, + "planning": "Adjust end-effector position slightly after door is fully opened." + }, + { + "id": 4, + "name": "retreat from oven", + "start": 24, + "end": 26, + "planning": "Withdraw end-effector away from the open oven door." + } + ], + "global_plan": "Open the oven by approaching the handle, making contact and pulling it open, then repositioning and retreating.", + "notes": "No grasping occurred — gripper remained nearly constant throughout. All actions are contact-based or positional adjustments." + } + }, + "episode_goal": "Open the oven door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23608830571174622, + 0.04047543928027153, + 0.15284311771392822, + -3.013864755630493, + -0.15504096448421478, + 0.34904298186302185 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "approach oven handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and not yet in contact with the handle. No part of the subtask has been completed. The next action should be to move the gripper closer to the oven handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 5 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23395858705043793, + 0.03898708522319794, + 0.14653414487838745, + -3.0170083045959473, + -0.13049934804439545, + 0.3637234568595886 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "approach oven handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24438421428203583, + 0.04308684915304184, + 0.14162611961364746, + -3.0842199325561523, + -0.12021523714065552, + 0.5728649497032166 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "approach oven handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2577033042907715, + 0.053100187331438065, + 0.14172346889972687, + 3.0927681922912598, + -0.15849079191684723, + 0.8228318691253662 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fan vent cover": [ + 827, + 387, + 996, + 638 + ], + "red cup": [ + 602, + 250, + 715, + 402 + ] + } + } + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27270975708961487, + 0.06209500879049301, + 0.14033889770507812, + 2.999217987060547, + -0.16696308553218842, + 1.0225467681884766 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832149267196655, + 0.0722811222076416, + 0.14268213510513306, + 2.887392044067383, + -0.16710495948791504, + 1.1868796348571777 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2889024019241333, + 0.07777474820613861, + 0.1457449346780777, + 2.812239408493042, + -0.13659843802452087, + 1.3005731105804443 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952156066894531, + 0.08080126345157623, + 0.14433234930038452, + 2.807365894317627, + -0.12085343897342682, + 1.3428809642791748 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30327069759368896, + 0.0819178968667984, + 0.13620571792125702, + 2.8147754669189453, + -0.13454385101795197, + 1.3629549741744995 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30878353118896484, + 0.08493642508983612, + 0.12518924474716187, + 2.8300788402557373, + -0.1478162258863449, + 1.3871797323226929 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 9 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30754271149635315, + 0.08537029474973679, + 0.12141754478216171, + 2.82965350151062, + -0.15388841927051544, + 1.3866280317306519 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 8 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2945808470249176, + 0.08078300207853317, + 0.11944834887981415, + 2.8503270149230957, + -0.1540716588497162, + 1.3384867906570435 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot is positioned in front of the oven with the gripper open and approaching the handle. No contact has been made yet, and the subtask is still in the approach phase. The next action should be to move the gripper closer to the oven handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2871841788291931, + 0.07583428919315338, + 0.12386778742074966, + 2.842827796936035, + -0.15914981067180634, + 1.2843140363693237 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 600, + 270, + 716, + 402 + ], + "fan vent cover": [ + 826, + 387, + 996, + 638 + ] + } + } + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2798844277858734, + 0.07343804091215134, + 0.12807218730449677, + 2.8545780181884766, + -0.1664784848690033, + 1.2254517078399658 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2686796188354492, + 0.06949014216661453, + 0.1371510922908783, + 2.8857128620147705, + -0.16489878296852112, + 1.1588006019592285 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.257758766412735, + 0.06529838591814041, + 0.14958974719047546, + 2.9024744033813477, + -0.17616276443004608, + 1.084089756011963 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.245313823223114, + 0.06113192066550255, + 0.15633517503738403, + 2.9319915771484375, + -0.153705894947052, + 1.015244960784912 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24532651901245117, + 0.06206540763378143, + 0.17985421419143677, + 2.965651035308838, + -0.15014104545116425, + 0.939179003238678 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559037208557129, + 0.06433288753032684, + 0.196818009018898, + 2.993199586868286, + -0.12393226474523544, + 0.8820982575416565 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27102741599082947, + 0.06967400014400482, + 0.21699188649654388, + 2.9500224590301514, + -0.059971582144498825, + 0.8542265892028809 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2838173508644104, + 0.08018853515386581, + 0.20343564450740814, + 3.024169683456421, + -0.13072405755519867, + 0.869715690612793 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 8 cm, tilt left 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27822345495224, + 0.06734728068113327, + 0.15331268310546875, + 3.121126413345337, + -0.17546631395816803, + 0.7975046038627625 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "make contact and pull handle", + "subtask_reasoning": "The robot has approached the oven handle and is now in close proximity, with the end-effector positioned near the handle. No grasping has occurred yet as the gripper remains open. The next action should involve making physical contact with the handle to initiate the pulling motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26883620023727417, + 0.05737926810979843, + 0.12557928264141083, + -3.134803295135498, + -0.17220769822597504, + 0.7977537512779236 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "reposition after opening", + "subtask_reasoning": "The oven door is fully open, and the robot has completed the pulling action. The gripper is open and not in contact with the handle, indicating the robot is repositioning away from the oven. The next action is to retreat further to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25941985845565796, + 0.03688035532832146, + 0.12005043774843216, + -3.1335113048553467, + -0.15201252698898315, + 0.8023925423622131 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "reposition after opening", + "subtask_reasoning": "The oven door is fully open, and the robot has completed the pulling action. The gripper is open and not in contact with the handle, indicating the robot is repositioning away from the oven. The next action is to retreat further to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25035107135772705, + 0.01609070785343647, + 0.12955760955810547, + 3.112985372543335, + -0.12992943823337555, + 0.8131468296051025 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "retreat from oven", + "subtask_reasoning": "The oven door is fully open, and the robot has completed the pulling action. The gripper is open and not in contact with the handle, indicating the robot is repositioning away from the oven. The next action is to retreat further to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24463562667369843, + 0.0034012191463261843, + 0.13188329339027405, + 3.1079814434051514, + -0.10226943343877792, + 0.8057072758674622 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fan vent cover": [ + 826, + 383, + 995, + 640 + ], + "wooden drawer unit": [ + 3, + 161, + 262, + 396 + ] + } + } + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "retreat from oven", + "subtask_reasoning": "The oven door is fully open and the robot end-effector is positioned away from the handle with gripper open. The retreat subtask is complete as the robot has successfully withdrawn from the oven area after opening the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2419908344745636, + -0.0035033682361245155, + 0.1326592117547989, + 3.1025476455688477, + -0.08086840063333511, + 0.803655743598938 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the oven door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach oven handle" + }, + { + "id": 2, + "subtask": "make contact and pull handle" + }, + { + "id": 3, + "subtask": "reposition after opening" + }, + { + "id": 4, + "subtask": "retreat from oven" + } + ], + "subtask_name": "retreat from oven", + "subtask_reasoning": "The oven door is fully open and the robot end-effector is positioned away from the handle with gripper open. The retreat subtask is complete as the robot has successfully withdrawn from the oven area after opening the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004065_ecot.json b/cot/chunk-0004/episode_0004065_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a8b8fd588dd2a60f523c65d7d6b1843104c891 --- /dev/null +++ b/cot/chunk-0004/episode_0004065_ecot.json @@ -0,0 +1,1714 @@ +{ + "task_name": "episode_0004065", + "episode_json": "json/chunk-0004/episode_0004065.json", + "video_path": "videos/chunk-0004/image_0/episode_0004065.mp4", + "instruction": "Pick up blue pen and put into drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004065.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.6748965978622437, + "std": 0.3133506774902344, + "delta_total": -0.22244739532470703, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67490, std=0.31335, total_delta=-0.22245). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 114, + 114, + 124 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 18 + ], + [ + 3, + 19, + 23 + ], + [ + 4, + 24, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue pen\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue pen while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp blue pen\", \"start\": 6, \"end\": 13, \"planning\": \"Close gripper around blue pen and confirm secure hold as gripper value drops significantly.\"},\n {\"id\": 3, \"name\": \"lift and retract with pen\", \"start\": 14, \"end\": 18, \"planning\": \"Lift the grasped blue pen upward and begin retracting from drawer area.\"},\n {\"id\": 4, \"name\": \"transport pen to drop zone\", \"start\": 19, \"end\": 23, \"planning\": \"Move the held blue pen laterally and vertically toward target release position above drawer.\"},\n {\"id\": 5, \"name\": \"release pen into drawer\", \"start\": 24, \"end\": 24, \"planning\": \"Open gripper to drop blue pen into drawer; no further motion or grasp action occurs.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, and release the blue pen into the drawer in five contiguous phases aligned with observed gripper closure and motion segments.\",\n \"notes\": \"Gripper closure is meaningful in segments 1–3 (frames 6–23), supporting 'grasp' and 'hold' terminology. Segment 4 (frame 24) shows only gripper opening — consistent with release, not grasping. All frame ranges are contiguous and cover 0–24.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue pen", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue pen while keeping gripper open." + }, + { + "id": 2, + "name": "grasp blue pen", + "start": 6, + "end": 13, + "planning": "Close gripper around blue pen and confirm secure hold as gripper value drops significantly." + }, + { + "id": 3, + "name": "lift and retract with pen", + "start": 14, + "end": 18, + "planning": "Lift the grasped blue pen upward and begin retracting from drawer area." + }, + { + "id": 4, + "name": "transport pen to drop zone", + "start": 19, + "end": 23, + "planning": "Move the held blue pen laterally and vertically toward target release position above drawer." + }, + { + "id": 5, + "name": "release pen into drawer", + "start": 24, + "end": 24, + "planning": "Open gripper to drop blue pen into drawer; no further motion or grasp action occurs." + } + ], + "global_plan": "Approach, grasp, lift, transport, and release the blue pen into the drawer in five contiguous phases aligned with observed gripper closure and motion segments.", + "notes": "Gripper closure is meaningful in segments 1–3 (frames 6–23), supporting 'grasp' and 'hold' terminology. Segment 4 (frame 24) shows only gripper opening — consistent with release, not grasping. All frame ranges are contiguous and cover 0–24." + } + }, + "episode_goal": "Pick up the blue pen from the drawer and place it back into the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22515584528446198, + -0.037733763456344604, + 0.144359290599823, + -2.92643666267395, + -0.14317990839481354, + -0.059800174087285995 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "approach blue pen", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue pen, with the gripper currently open. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end-effector closer to the blue pen to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2235785275697708, + -0.032597191631793976, + 0.14085815846920013, + -2.9202542304992676, + -0.11977166682481766, + -0.07987231761217117 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "approach blue pen", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue pen, with the gripper currently open. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end-effector closer to the blue pen to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2254648059606552, + 0.010505125857889652, + 0.1414361149072647, + -2.906825304031372, + -0.05933525413274765, + -0.17101061344146729 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red tool chest": [ + 8, + 9, + 991, + 989 + ], + "black glove": [ + 300, + 17, + 576, + 360 + ], + "red handled pliers": [ + 189, + 270, + 462, + 600 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "approach blue pen", + "subtask_reasoning": "The robot's end-effector is positioned above the open red drawer, moving towards the blue pen located among other tools. No objects have been grasped yet as the gripper remains open. The next action is to continue lowering the arm to align with the blue pen for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 13 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22904804348945618, + 0.06142376735806465, + 0.13922111690044403, + -2.8970439434051514, + -0.021839050576090813, + -0.284674733877182 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "approach blue pen", + "subtask_reasoning": "The robot's end-effector is positioned above the open red drawer, moving towards the blue pen located among other tools. No objects have been grasped yet as the gripper remains open. The next action is to continue lowering the arm to align with the blue pen for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 3 cm, keep gripper open; then move left 1 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23780548572540283, + 0.1030774712562561, + 0.13299664855003357, + -2.9040279388427734, + -0.00821832474321127, + -0.34239113330841064 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "approach blue pen", + "subtask_reasoning": "The robot's end-effector is positioned above the open red drawer, moving towards the blue pen located among other tools. No objects have been grasped yet as the gripper remains open. The next action is to continue lowering the arm to align with the blue pen for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, keep gripper open; then move left 1 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24950867891311646, + 0.1253279745578766, + 0.12024515122175217, + -2.920531988143921, + 0.00308139412663877, + -0.33905744552612305 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "approach blue pen", + "subtask_reasoning": "The robot's end-effector is positioned above the open red drawer, moving towards the blue pen located among other tools. No objects have been grasped yet as the gripper remains open. The next action is to continue lowering the arm to align with the blue pen for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 6 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25441765785217285, + 0.13578669726848602, + 0.1062941625714302, + -2.921858787536621, + -0.04171762615442276, + -0.3416200578212738 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "grasp blue pen", + "subtask_reasoning": "The robot's end-effector is positioned above the open red drawer, moving towards the blue pen located among other tools. No objects have been grasped yet as the gripper remains open. The next action is to continue lowering the arm to align with the blue pen for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt back 10 degrees, close gripper; then move right 3 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25503289699554443, + 0.13960671424865723, + 0.09466356039047241, + -2.928149461746216, + -0.0715130865573883, + -0.3545238971710205 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "grasp blue pen", + "subtask_reasoning": "The robot's end-effector is positioned above the open red drawer, moving towards the blue pen located among other tools. No objects have been grasped yet as the gripper remains open. The next action is to continue lowering the arm to align with the blue pen for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, close gripper; then move right 7 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2541378438472748, + 0.14090174436569214, + 0.08207570016384125, + -2.9536681175231934, + -0.09413373470306396, + -0.36286911368370056 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "grasp blue pen", + "subtask_reasoning": "The robot's end-effector is positioned above the open red drawer, moving towards the blue pen located among other tools. No objects have been grasped yet as the gripper remains open. The next action is to continue lowering the arm to align with the blue pen for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move right 12 cm, move up 12 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2540994882583618, + 0.1397843360900879, + 0.07180654257535934, + -2.974017858505249, + -0.11671295762062073, + -0.36790767312049866 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "grasp blue pen", + "subtask_reasoning": "The robot has approached the blue pen inside the open red drawer. The gripper is currently open and positioned directly above the target pen. The next action is to close the gripper to grasp the blue pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 17 cm, move up 14 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.254975825548172, + 0.14039768278598785, + 0.06335917115211487, + -2.974412441253662, + -0.12858028709888458, + -0.3685010075569153 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "grasp blue pen", + "subtask_reasoning": "The robot has approached the blue pen inside the open red drawer. The gripper is currently open and positioned directly above the target pen. The next action is to close the gripper to grasp the blue pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 17 cm, move up 14 cm, keep gripper closed; then move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2563744783401489, + 0.14228062331676483, + 0.05558910220861435, + -2.980165719985962, + -0.14227935671806335, + -0.35612162947654724 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "grasp blue pen", + "subtask_reasoning": "The robot has approached the blue pen inside the open red drawer. The gripper is currently open and positioned directly above the target pen. The next action is to close the gripper to grasp the blue pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 17 cm, move up 14 cm, keep gripper closed; then move right 7 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2545090615749359, + 0.14498423039913177, + 0.04633954167366028, + -3.0085813999176025, + -0.13834363222122192, + -0.3519659638404846 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "grasp blue pen", + "subtask_reasoning": "The robot has approached the blue pen inside the open red drawer. The gripper is currently open and positioned directly above the target pen. The next action is to close the gripper to grasp the blue pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 17 cm, move up 14 cm, keep gripper closed; then move right 9 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25848037004470825, + 0.14860764145851135, + 0.04677372798323631, + -2.9952619075775146, + -0.15404340624809265, + -0.3515244722366333 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "grasp blue pen", + "subtask_reasoning": "The robot has approached the blue pen inside the open red drawer. The gripper is currently open and positioned directly above the target pen. The next action is to close the gripper to grasp the blue pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 17 cm, move up 14 cm, keep gripper closed; then move forward 1 cm, move right 11 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25775793194770813, + 0.14845818281173706, + 0.04777507856488228, + -2.9883651733398438, + -0.1328965425491333, + -0.3435612916946411 + ], + "gripper_value": 0.33559030294418335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "lift and retract with pen", + "subtask_reasoning": "The robot has approached the blue pen inside the open red drawer. The gripper is currently open and positioned directly above the target pen. The next action is to close the gripper to grasp the blue pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, move up 14 cm, keep gripper closed; then move forward 2 cm, move right 11 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2526436746120453, + 0.13875694572925568, + 0.05700144171714783, + -3.0159335136413574, + -0.03702254220843315, + -0.3416656255722046 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red tool chest": [ + 7, + 16, + 991, + 988 + ], + "red handled pliers": [ + 188, + 242, + 484, + 591 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "lift and retract with pen", + "subtask_reasoning": "The robot has approached the blue pen inside the open red drawer. The gripper is currently open and positioned directly above the target pen. The next action is to close the gripper to grasp the blue pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 16 cm, move up 13 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 11 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25692474842071533, + 0.1193007156252861, + 0.09862866252660751, + -2.975701332092285, + 0.012739832513034344, + -0.3590262830257416 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "lift and retract with pen", + "subtask_reasoning": "The blue pen is currently grasped and being lifted vertically from the drawer, as indicated by the upward motion and stable gripper closure. The next action is to continue retracting the arm to clear the drawer edge before transporting the pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 14 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 11 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2582085132598877, + 0.07607996463775635, + 0.14715571701526642, + -2.990095376968384, + 0.05422145128250122, + -0.3882516622543335 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "lift and retract with pen", + "subtask_reasoning": "The blue pen is currently grasped and being lifted vertically from the drawer, as indicated by the upward motion and stable gripper closure. The next action is to continue retracting the arm to clear the drawer edge before transporting the pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 11 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26075851917266846, + 0.031522512435913086, + 0.1636618971824646, + -3.014315366744995, + 0.048300277441740036, + -0.28942522406578064 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "lift and retract with pen", + "subtask_reasoning": "The blue pen is currently grasped and being lifted vertically from the drawer, as indicated by the upward motion and stable gripper closure. The next action is to continue retracting the arm to clear the drawer edge before transporting the pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 11 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26370829343795776, + -0.019706202670931816, + 0.185350239276886, + -2.9868967533111572, + -0.11588023602962494, + -0.2627694308757782 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red tool chest": [ + 6, + 77, + 992, + 989 + ], + "blue object": [ + 335, + 113, + 479, + 234 + ], + "red handled pliers": [ + 43, + 220, + 218, + 528 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "transport pen to drop zone", + "subtask_reasoning": "The blue pen is currently grasped and being lifted vertically from the drawer, as indicated by the upward motion and stable gripper closure. The next action is to continue retracting the arm to clear the drawer edge before transporting the pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26019856333732605, + -0.06963003426790237, + 0.19510290026664734, + -2.95890212059021, + -0.16520462930202484, + -0.42872050404548645 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "transport pen to drop zone", + "subtask_reasoning": "The blue pen is currently grasped and being lifted vertically from the drawer, as indicated by the upward motion and stable gripper closure. The next action is to continue retracting the arm to clear the drawer edge before transporting the pen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26408013701438904, + -0.09373269975185394, + 0.20524746179580688, + -2.941314697265625, + -0.2398020327091217, + -0.46276628971099854 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "transport pen to drop zone", + "subtask_reasoning": "The robot is currently holding the blue pen above the open red drawer, having successfully grasped and lifted it. The gripper remains closed, maintaining a secure hold on the object during the transport phase. The next action is to lower the pen into the drawer to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26752540469169617, + -0.11341343820095062, + 0.20370589196681976, + -2.8617136478424072, + -0.24156968295574188, + -0.44948142766952515 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "transport pen to drop zone", + "subtask_reasoning": "The robot is currently holding the blue pen above the open red drawer, having successfully grasped and lifted it. The gripper remains closed, maintaining a secure hold on the object during the transport phase. The next action is to lower the pen into the drawer to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2741871774196625, + -0.1283082216978073, + 0.20965059101581573, + -2.7991602420806885, + -0.25480538606643677, + -0.3392927646636963 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "transport pen to drop zone", + "subtask_reasoning": "The robot is currently holding the blue pen above the open red drawer, having successfully grasped and lifted it. The gripper remains closed, maintaining a secure hold on the object during the transport phase. The next action is to lower the pen into the drawer to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28246569633483887, + -0.1260359138250351, + 0.21293644607067108, + -2.7437307834625244, + -0.33692294359207153, + -0.16446727514266968 + ], + "gripper_value": 0.7730204463005066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue pen from the drawer and place it back into the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue pen" + }, + { + "id": 2, + "subtask": "grasp blue pen" + }, + { + "id": 3, + "subtask": "lift and retract with pen" + }, + { + "id": 4, + "subtask": "transport pen to drop zone" + }, + { + "id": 5, + "subtask": "release pen into drawer" + } + ], + "subtask_name": "release pen into drawer", + "subtask_reasoning": "The blue pen is currently held above the open drawer, positioned for release. The gripper is open, indicating the pen has been dropped or is in the process of being released. The next action is to confirm the pen has landed in the drawer and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004066_ecot.json b/cot/chunk-0004/episode_0004066_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3c314a964ac19dd8bb8e8b48d5a65c09da2e622e --- /dev/null +++ b/cot/chunk-0004/episode_0004066_ecot.json @@ -0,0 +1,2011 @@ +{ + "task_name": "episode_0004066", + "episode_json": "json/chunk-0004/episode_0004066.json", + "video_path": "videos/chunk-0004/image_0/episode_0004066.mp4", + "instruction": "Fold the cloth from the top to the bottom.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004066.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9545210003852844, + "std": 0.42753028869628906, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95452, std=0.42753, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 12, + 112, + 112, + 112, + 212, + 212, + 212, + 212, + 225, + 225, + 225, + 225, + 225 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 17 + ], + [ + 3, + 18, + 20 + ], + [ + 4, + 21, + 24 + ], + [ + 5, + 25, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp top edge\", \"start\": 0, \"end\": 11, \"planning\": \"Move gripper to the top edge of the cloth and close to secure a firm grasp.\"},\n {\"id\": 2, \"name\": \"lift and fold downward\", \"start\": 12, \"end\": 17, \"planning\": \"Lift the grasped top edge and pull it downward to initiate the fold over the bottom portion.\"},\n {\"id\": 3, \"name\": \"reposition for smoothing\", \"start\": 18, \"end\": 20, \"planning\": \"Adjust gripper position above the folded cloth to prepare for pressing or aligning the fold.\"},\n {\"id\": 4, \"name\": \"press and smooth fold\", \"start\": 21, \"end\": 24, \"planning\": \"Lower gripper onto the folded edge and apply gentle pressure to flatten and align the fold.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 25, \"end\": 29, \"planning\": \"Open gripper to release contact with the cloth and move away to complete the folding action.\"}\n ],\n \"global_plan\": \"Fold the yellow cloth by grasping its top edge, lifting and pulling it down over the bottom half, then smoothing and releasing to finalize the fold.\",\n \"notes\": \"Segment 3 (frames 18-20) lacks explicit gripper state but is inferred as repositioning based on motion continuity and task logic; no grasp wording used where gripper evidence is absent or inconsistent.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp top edge", + "start": 0, + "end": 11, + "planning": "Move gripper to the top edge of the cloth and close to secure a firm grasp." + }, + { + "id": 2, + "name": "lift and fold downward", + "start": 12, + "end": 17, + "planning": "Lift the grasped top edge and pull it downward to initiate the fold over the bottom portion." + }, + { + "id": 3, + "name": "reposition for smoothing", + "start": 18, + "end": 20, + "planning": "Adjust gripper position above the folded cloth to prepare for pressing or aligning the fold." + }, + { + "id": 4, + "name": "press and smooth fold", + "start": 21, + "end": 24, + "planning": "Lower gripper onto the folded edge and apply gentle pressure to flatten and align the fold." + }, + { + "id": 5, + "name": "release and retreat", + "start": 25, + "end": 29, + "planning": "Open gripper to release contact with the cloth and move away to complete the folding action." + } + ], + "global_plan": "Fold the yellow cloth by grasping its top edge, lifting and pulling it down over the bottom half, then smoothing and releasing to finalize the fold.", + "notes": "Segment 3 (frames 18-20) lacks explicit gripper state but is inferred as repositioning based on motion continuity and task logic; no grasp wording used where gripper evidence is absent or inconsistent." + } + }, + "episode_goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29278504848480225, + -0.09801800549030304, + 0.13433122634887695, + -2.818438768386841, + -0.16134358942508698, + -0.37055882811546326 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to begin the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 6 cm, move down 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29266294836997986, + -0.09876232594251633, + 0.12350660562515259, + -2.8211820125579834, + -0.12716391682624817, + -0.37971946597099304 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to begin the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 6 cm, move down 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.327129989862442, + -0.09276159852743149, + 0.10589185357093811, + -2.8702070713043213, + -0.10541808605194092, + -0.47974562644958496 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to begin the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 6 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583039343357086, + -0.08513502776622772, + 0.09166310727596283, + -2.8915717601776123, + -0.10960091650485992, + -0.5357865691184998 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black cylinders": [ + 629, + 5, + 915, + 425 + ], + "yellow cloth": [ + 142, + 310, + 805, + 972 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to begin the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38947436213493347, + -0.08352436125278473, + 0.07169804722070694, + -2.921140193939209, + -0.1090579703450203, + -0.6205092072486877 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the top edge. No part of the folding task has been completed yet. The next action is to move the gripper down and grasp the top edge of the cloth to begin the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.417359322309494, + -0.07024390250444412, + 0.05430721864104271, + -2.9596002101898193, + -0.13075894117355347, + -0.6741865277290344 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 3 cm, close gripper; then move back 4 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.43540844321250916, + -0.0633661150932312, + 0.040580157190561295, + -2.960198163986206, + -0.11940096318721771, + -0.7270856499671936 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, close gripper; then move back 8 cm, move right 1 cm, move up 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.44228535890579224, + -0.05324220284819603, + 0.03773200139403343, + -2.948343515396118, + -0.12582950294017792, + -0.7275665402412415 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move back 13 cm, move right 1 cm, move up 13 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4480302631855011, + -0.043586838990449905, + 0.02800029143691063, + -2.946931838989258, + -0.1283850222826004, + -0.7206440567970276 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 17 cm, move up 13 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4529579281806946, + -0.04040704295039177, + 0.024226000532507896, + -2.943981647491455, + -0.15603163838386536, + -0.7202180027961731 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 17 cm, move up 13 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4527553915977478, + -0.03903473541140556, + 0.01760420762002468, + -2.94767427444458, + -0.158185675740242, + -0.7177402377128601 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 17 cm, move up 13 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 6 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4543011486530304, + -0.039679158478975296, + 0.01628750003874302, + -2.945657253265381, + -0.1659647524356842, + -0.719082236289978 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp top edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 17 cm, move up 13 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 8 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4553797245025635, + -0.03724917396903038, + 0.020133929327130318, + -2.9422550201416016, + -0.13656066358089447, + -0.7330101132392883 + ], + "gripper_value": 0.3703518807888031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold downward", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move up 13 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 8 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4539753496646881, + -0.030580364167690277, + 0.02923639863729477, + -2.9233896732330322, + -0.07739695906639099, + -0.731651246547699 + ], + "gripper_value": 0.15769577026367188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold downward", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to grasp the top edge. No part of the folding task has been completed yet. The next action is to close the gripper to securely grasp the top corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move right 1 cm, move up 12 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 8 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4451717138290405, + -0.03317338600754738, + 0.056677885353565216, + -2.8854219913482666, + -0.05728719383478165, + -0.7094983458518982 + ], + "gripper_value": 0.061804234981536865 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold downward", + "subtask_reasoning": "The robot has grasped the top edge of the yellow cloth and is currently lifting it upward, initiating the fold. The cloth is partially raised, indicating progress in the lift-and-fold-downward subtask. The next action should continue lifting and begin pulling the top edge downward over the bottom section to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 8 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41802772879600525, + -0.04259122163057327, + 0.10283681005239487, + -2.833146333694458, + -0.11376101523637772, + -0.6519959568977356 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold downward", + "subtask_reasoning": "The robot has grasped the top edge of the yellow cloth and is currently lifting it upward, initiating the fold. The cloth is partially raised, indicating progress in the lift-and-fold-downward subtask. The next action should continue lifting and begin pulling the top edge downward over the bottom section to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3758259117603302, + -0.04550779610872269, + 0.13348382711410522, + -2.8081250190734863, + -0.164486825466156, + -0.5917701125144958 + ], + "gripper_value": 0.05297749489545822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold downward", + "subtask_reasoning": "The robot has grasped the top edge of the yellow cloth and is currently lifting it upward, initiating the fold. The cloth is partially raised, indicating progress in the lift-and-fold-downward subtask. The next action should continue lifting and begin pulling the top edge downward over the bottom section to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3256002366542816, + -0.04847336187958717, + 0.1504945307970047, + -2.822010040283203, + -0.234303817152977, + -0.5184597969055176 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold downward", + "subtask_reasoning": "The robot has grasped the top edge of the yellow cloth and is currently lifting it upward, initiating the fold. The cloth is partially raised, indicating progress in the lift-and-fold-downward subtask. The next action should continue lifting and begin pulling the top edge downward over the bottom section to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, keep gripper closed; then move back 8 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2876873314380646, + -0.040981926023960114, + 0.14825575053691864, + -2.836282968521118, + -0.2684205174446106, + -0.4859078824520111 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for smoothing", + "subtask_reasoning": "The robot has grasped the top edge of the yellow cloth and is currently lifting it upward, initiating the fold. The cloth is partially raised, indicating progress in the lift-and-fold-downward subtask. The next action should continue lifting and begin pulling the top edge downward over the bottom section to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2505105435848236, + -0.034147460013628006, + 0.13876450061798096, + -2.849540948867798, + -0.3001103401184082, + -0.43692728877067566 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black cylinders": [ + 382, + 6, + 671, + 428 + ], + "yellow cloth": [ + 147, + 367, + 807, + 951 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for smoothing", + "subtask_reasoning": "The yellow cloth has been folded from top to bottom and is currently held by the gripper above the table. The subtask requires repositioning the gripper to prepare for smoothing the fold, likely involving a slight downward or lateral adjustment without releasing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2255869209766388, + -0.03052952140569687, + 0.12063769996166229, + -2.8799915313720703, + -0.3354886472225189, + -0.3804638385772705 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for smoothing", + "subtask_reasoning": "The yellow cloth has been folded from top to bottom and is currently held by the gripper above the table. The subtask requires repositioning the gripper to prepare for smoothing the fold, likely involving a slight downward or lateral adjustment without releasing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20616431534290314, + -0.031482093036174774, + 0.10852500051259995, + -2.9086732864379883, + -0.35566726326942444, + -0.3356679677963257 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 143, + 542, + 808, + 957 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and smooth fold", + "subtask_reasoning": "The yellow cloth has been folded from top to bottom and is currently held by the gripper above the table. The subtask requires repositioning the gripper to prepare for smoothing the fold, likely involving a slight downward or lateral adjustment without releasing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.19152633845806122, + -0.032178740948438644, + 0.09868622571229935, + -2.9325623512268066, + -0.35981929302215576, + -0.2994663417339325 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and smooth fold", + "subtask_reasoning": "The robot gripper is in contact with the yellow cloth, which has been folded from top to bottom. The current subtask involves pressing and smoothing the fold to ensure it lies flat. The next action is likely to apply gentle pressure or move the gripper along the fold line to smooth it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.18882159888744354, + -0.03222263231873512, + 0.09571263194084167, + -2.9366822242736816, + -0.36209821701049805, + -0.2904624342918396 + ], + "gripper_value": 0.21050429344177246 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and smooth fold", + "subtask_reasoning": "The robot gripper is in contact with the yellow cloth, which has been folded from top to bottom. The current subtask involves pressing and smoothing the fold to ensure it lies flat. The next action is likely to apply gentle pressure or move the gripper along the fold line to smooth it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.18829084932804108, + -0.03160388395190239, + 0.09559599310159683, + -2.9553730487823486, + -0.3546581268310547, + -0.3170657157897949 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and smooth fold", + "subtask_reasoning": "The robot gripper is in contact with the yellow cloth, which has been folded from top to bottom. The current subtask involves pressing and smoothing the fold to ensure it lies flat. The next action is likely to apply gentle pressure or move the gripper along the fold line to smooth it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.18550069630146027, + -0.03098061867058277, + 0.09642909467220306, + -2.9513354301452637, + -0.3383726477622986, + -0.3385419547557831 + ], + "gripper_value": 0.7778469324111938 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot gripper is in contact with the yellow cloth, which has been folded from top to bottom. The current subtask involves pressing and smoothing the fold to ensure it lies flat. The next action is likely to apply gentle pressure or move the gripper along the fold line to smooth it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.18607287108898163, + -0.03129229322075844, + 0.10262401401996613, + -2.9468655586242676, + -0.3425375819206238, + -0.3342716693878174 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot gripper is in contact with the yellow cloth, which has been folded from top to bottom. The current subtask involves pressing and smoothing the fold to ensure it lies flat. The next action is likely to apply gentle pressure or move the gripper along the fold line to smooth it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.18963152170181274, + -0.03381689637899399, + 0.1083785891532898, + -2.9507594108581543, + -0.3204944431781769, + -0.34317532181739807 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the top edge placed over the bottom section. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot should now retreat upward and away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.20130343735218048, + -0.036931149661540985, + 0.11267609894275665, + -2.961261034011841, + -0.2857953906059265, + -0.3436737656593323 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the top edge placed over the bottom section. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot should now retreat upward and away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21580243110656738, + -0.04189245402812958, + 0.11065030097961426, + -3.013429641723633, + -0.2372504472732544, + -0.27788832783699036 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the top edge to the bottom edge by grasping the top corner, lifting it, and placing it over the bottom section." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp top edge" + }, + { + "id": 2, + "subtask": "lift and fold downward" + }, + { + "id": 3, + "subtask": "reposition for smoothing" + }, + { + "id": 4, + "subtask": "press and smooth fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the top edge placed over the bottom section. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot should now retreat upward and away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004067_ecot.json b/cot/chunk-0004/episode_0004067_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..64696a0341c20e2accd6ebd7509f9b3520891282 --- /dev/null +++ b/cot/chunk-0004/episode_0004067_ecot.json @@ -0,0 +1,2508 @@ +{ + "task_name": "episode_0004067", + "episode_json": "json/chunk-0004/episode_0004067.json", + "video_path": "videos/chunk-0004/image_0/episode_0004067.mp4", + "instruction": "Move the green bear to the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004067.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.9025070667266846, + "std": 0.41416245698928833, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90251, std=0.41416, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 16, + 16, + 16, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 133, + 133, + 33, + 33 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 18 + ], + [ + 3, + 19, + 32 + ], + [ + 4, + 33, + 34 + ], + [ + 5, + 35, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green bear\", \"start\": 0, \"end\": 15, \"planning\": \"Move the end-effector from initial position toward the green bear on the table, descending to make contact as gripper begins closing near frame 15.\"},\n {\"id\": 2, \"name\": \"grasp and lift green bear\", \"start\": 16, \"end\": 18, \"planning\": \"Complete gripper closure around the green bear and lift it slightly off the table surface, confirmed by decreasing gripper value and upward motion in z-axis.\"},\n {\"id\": 3, \"name\": \"transport bear leftward\", \"start\": 19, \"end\": 32, \"planning\": \"Carry the grasped green bear across the table toward the left side, maintaining grip while translating horizontally with minimal vertical adjustment.\"},\n {\"id\": 4, \"name\": \"release bear at target location\", \"start\": 33, \"end\": 34, \"planning\": \"Open the gripper to release the green bear onto the table at the desired left-side position, evidenced by increasing gripper value and slight upward retreat.\"},\n {\"id\": 5, \"name\": \"retreat from released bear\", \"start\": 35, \"end\": 36, \"planning\": \"Lift and withdraw the end-effector away from the placed green bear to complete the task, with no further manipulation intended.\"}\n ],\n \"global_plan\": \"Approach the green bear, grasp and lift it, transport it leftward across the table, release it at the target location, then retreat to finish.\",\n \"notes\": \"Segment 5 explicitly lacks meaningful gripper closing; thus, 'release' is assigned to Segment 4 where gripper opens significantly. Segment 3 (frames 19-32) is inferred as transport based on continuity between grasp completion and release initiation, even though no keyframes are provided — this is consistent with task goal and motion segmentation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green bear", + "start": 0, + "end": 15, + "planning": "Move the end-effector from initial position toward the green bear on the table, descending to make contact as gripper begins closing near frame 15." + }, + { + "id": 2, + "name": "grasp and lift green bear", + "start": 16, + "end": 18, + "planning": "Complete gripper closure around the green bear and lift it slightly off the table surface, confirmed by decreasing gripper value and upward motion in z-axis." + }, + { + "id": 3, + "name": "transport bear leftward", + "start": 19, + "end": 32, + "planning": "Carry the grasped green bear across the table toward the left side, maintaining grip while translating horizontally with minimal vertical adjustment." + }, + { + "id": 4, + "name": "release bear at target location", + "start": 33, + "end": 34, + "planning": "Open the gripper to release the green bear onto the table at the desired left-side position, evidenced by increasing gripper value and slight upward retreat." + }, + { + "id": 5, + "name": "retreat from released bear", + "start": 35, + "end": 36, + "planning": "Lift and withdraw the end-effector away from the placed green bear to complete the task, with no further manipulation intended." + } + ], + "global_plan": "Approach the green bear, grasp and lift it, transport it leftward across the table, release it at the target location, then retreat to finish.", + "notes": "Segment 5 explicitly lacks meaningful gripper closing; thus, 'release' is assigned to Segment 4 where gripper opens significantly. Segment 3 (frames 19-32) is inferred as transport based on continuity between grasp completion and release initiation, even though no keyframes are provided — this is consistent with task goal and motion segmentation." + } + }, + "episode_goal": "Move the green bear to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31124716997146606, + 0.22104312479496002, + 0.06563525646924973, + 3.136726140975952, + -0.16343793272972107, + 0.5534762144088745 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible in the foreground. The gripper is open and the arm is beginning to move toward the bear. The next action is to continue approaching the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 21 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30718713998794556, + 0.21811799705028534, + 0.050405390560626984, + 3.1335554122924805, + -0.1190633699297905, + 0.553922712802887 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible in the foreground. The gripper is open and the arm is beginning to move toward the bear. The next action is to continue approaching the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 22 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985861003398895, + 0.19578933715820312, + 0.04508452117443085, + 3.135193109512329, + -0.07599698007106781, + 0.504001259803772 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible in the foreground. The gripper is open and the arm is beginning to move toward the bear. The next action is to continue approaching the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 21 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28457552194595337, + 0.16675522923469543, + 0.07246382534503937, + 3.103604793548584, + -0.13767357170581818, + 0.4247129559516907 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible in the foreground. The gripper is open and the arm is beginning to move toward the bear. The next action is to continue approaching the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 19 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26242274045944214, + 0.1462627798318863, + 0.09654004126787186, + 3.0787622928619385, + -0.18220138549804688, + 0.34415528178215027 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible in the foreground. The gripper is open and the arm is beginning to move toward the bear. The next action is to continue approaching the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 17 cm, move down 9 cm, rotate counterclockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2368956357240677, + 0.1229880303144455, + 0.11194808781147003, + 3.0794336795806885, + -0.21441048383712769, + 0.24523434042930603 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible in the foreground. The gripper is open and the arm is beginning to move toward the bear. The next action is to continue approaching the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 15 cm, move down 11 cm, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2085733860731125, + 0.09598825126886368, + 0.11492325365543365, + 3.0693581104278564, + -0.22824963927268982, + 0.13602003455162048 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible in the foreground. The gripper is open and the arm is beginning to move toward the bear. The next action is to continue approaching the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1911974996328354, + 0.07114806026220322, + 0.10618027299642563, + 3.042842388153076, + -0.20889388024806976, + 0.020657895132899284 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 10 cm, rotate counterclockwise 20 degrees, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17538020014762878, + 0.047711875289678574, + 0.09265929460525513, + 3.049877882003784, + -0.20425425469875336, + -0.09837494045495987 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange wedge": [ + 620, + 546, + 751, + 691 + ], + "wooden box": [ + 467, + 2, + 816, + 379 + ], + "toy dinosaur": [ + 416, + 569, + 585, + 830 + ] + } + } + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 9 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.16865070164203644, + 0.026560291647911072, + 0.07571890205144882, + 3.082057237625122, + -0.18794983625411987, + -0.2135804444551468 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 7 cm, close gripper; then move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1699940711259842, + 0.010170497000217438, + 0.0588088221848011, + 3.1000137329101562, + -0.17139479517936707, + -0.2674250900745392 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, close gripper; then move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.17394429445266724, + -0.0026674619875848293, + 0.04258747771382332, + 3.1074092388153076, + -0.18224158883094788, + -0.2879105508327484 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, close gripper; then move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.17854072153568268, + -0.010300945490598679, + 0.028566228225827217, + 3.1079940795898438, + -0.1653248369693756, + -0.29503846168518066 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 6 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.1824948489665985, + -0.018416624516248703, + 0.014978545717895031, + 3.1046202182769775, + -0.1452217698097229, + -0.29092299938201904 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.18717671930789948, + -0.021749643608927727, + 0.005897479131817818, + 3.1175289154052734, + -0.12656822800636292, + -0.28458377718925476 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange wedge": [ + 620, + 545, + 750, + 691 + ], + "toy dinosaur": [ + 5, + 5, + 591, + 885 + ], + "wooden box": [ + 469, + 2, + 816, + 378 + ], + "green ball": [ + 428, + 616, + 581, + 785 + ] + } + } + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 12 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19023430347442627, + -0.0226774662733078, + 0.004320873413234949, + 3.117774724960327, + -0.1400853395462036, + -0.2736184597015381 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "approach green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 14 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19045168161392212, + -0.02071855030953884, + 0.00443221116438508, + 3.1288018226623535, + -0.14315499365329742, + -0.2694817781448364 + ], + "gripper_value": 0.4699908196926117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "grasp and lift green bear", + "subtask_reasoning": "The robot is positioned above the table with the green bear visible below. The gripper is open and the arm is in motion, indicating the approach phase is ongoing. The next action is to continue lowering and aligning the gripper over the green bear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 17 cm, move up 2 cm, tilt left 20 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.18915215134620667, + -0.01236976683139801, + 0.01965593732893467, + 3.1338162422180176, + -0.17697137594223022, + -0.23275068402290344 + ], + "gripper_value": 0.2861579358577728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "grasp and lift green bear", + "subtask_reasoning": "The robot arm is positioned directly over the green bear with the gripper fingers closing around it, as indicated by the decreasing gripper value. The approach phase is complete, and the robot is currently executing the grasp. The next immediate action is to secure the grip and lift the bear off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, keep gripper closed; then move forward 9 cm, move left 19 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.18465940654277802, + -0.0012246498372405767, + 0.03858590126037598, + 3.1373114585876465, + -0.20137107372283936, + -0.1973818987607956 + ], + "gripper_value": 0.17900145053863525 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "grasp and lift green bear", + "subtask_reasoning": "The robot arm is positioned directly over the green bear with the gripper fingers closing around it, as indicated by the decreasing gripper value. The approach phase is complete, and the robot is currently executing the grasp. The next immediate action is to secure the grip and lift the bear off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move forward 9 cm, move left 20 cm, tilt left 20 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.18898950517177582, + 0.012338402681052685, + 0.06289465725421906, + -3.10548996925354, + -0.23913893103599548, + -0.15044192969799042 + ], + "gripper_value": 0.12003644555807114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The robot arm is positioned directly over the green bear with the gripper fingers closing around it, as indicated by the decreasing gripper value. The approach phase is complete, and the robot is currently executing the grasp. The next immediate action is to secure the grip and lift the bear off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 22 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1982017159461975, + 0.026701634749770164, + 0.08355683833360672, + -3.0689857006073, + -0.25981462001800537, + -0.07715292274951935 + ], + "gripper_value": 0.10198938846588135 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The robot arm is positioned directly over the green bear with the gripper fingers closing around it, as indicated by the decreasing gripper value. The approach phase is complete, and the robot is currently executing the grasp. The next immediate action is to secure the grip and lift the bear off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 21 cm, move down 5 cm, tilt left 20 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21606099605560303, + 0.05152444168925285, + 0.10649868845939636, + -3.02907395362854, + -0.287862628698349, + 0.032327331602573395 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The robot arm is positioned directly over the green bear with the gripper fingers closing around it, as indicated by the decreasing gripper value. The approach phase is complete, and the robot is currently executing the grasp. The next immediate action is to secure the grip and lift the bear off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 18 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23356331884860992, + 0.07412886619567871, + 0.11271943897008896, + -3.038304090499878, + -0.2939557731151581, + 0.15434832870960236 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The robot arm is positioned directly over the green bear with the gripper fingers closing around it, as indicated by the decreasing gripper value. The approach phase is complete, and the robot is currently executing the grasp. The next immediate action is to secure the grip and lift the bear off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 16 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24923941493034363, + 0.09755294024944305, + 0.10942374169826508, + -3.0407493114471436, + -0.2797398269176483, + 0.2612861692905426 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The robot arm is positioned directly over the green bear with the gripper fingers closing around it, as indicated by the decreasing gripper value. The approach phase is complete, and the robot is currently executing the grasp. The next immediate action is to secure the grip and lift the bear off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 13 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26561859250068665, + 0.12810733914375305, + 0.1026247963309288, + -3.0151662826538086, + -0.26742613315582275, + 0.38826051354408264 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange wedge": [ + 620, + 546, + 751, + 690 + ], + "toy dinosaur": [ + 132, + 2, + 416, + 318 + ], + "green ball": [ + 219, + 244, + 277, + 320 + ], + "wooden box": [ + 468, + 2, + 818, + 377 + ] + } + } + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The robot arm is positioned directly over the green bear with the gripper fingers closing around it, as indicated by the decreasing gripper value. The approach phase is complete, and the robot is currently executing the grasp. The next immediate action is to secure the grip and lift the bear off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27215614914894104, + 0.15645731985569, + 0.09390656650066376, + -3.00923490524292, + -0.24427399039268494, + 0.5074902772903442 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The green bear is currently held by the gripper and suspended above the table, having been lifted from its initial position. The robot is in the process of transporting the bear leftward across the workspace. The next action is to continue moving the end-effector laterally to the left to reach the target drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27543145418167114, + 0.18645457923412323, + 0.08335249125957489, + -3.0203211307525635, + -0.22508713603019714, + 0.6497869491577148 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The green bear is currently held by the gripper and suspended above the table, having been lifted from its initial position. The robot is in the process of transporting the bear leftward across the workspace. The next action is to continue moving the end-effector laterally to the left to reach the target drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2777896225452423, + 0.20592740178108215, + 0.07319919764995575, + -3.019117832183838, + -0.2066119760274887, + 0.7457689046859741 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The green bear is currently held by the gripper and suspended above the table, having been lifted from its initial position. The robot is in the process of transporting the bear leftward across the workspace. The next action is to continue moving the end-effector laterally to the left to reach the target drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27541929483413696, + 0.216288223862648, + 0.058652330189943314, + -3.026226758956909, + -0.17230267822742462, + 0.8137999773025513 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The green bear is currently held by the gripper and suspended above the table, having been lifted from its initial position. The robot is in the process of transporting the bear leftward across the workspace. The next action is to continue moving the end-effector laterally to the left to reach the target drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703457772731781, + 0.2281491458415985, + 0.04856124520301819, + -3.0283048152923584, + -0.148135706782341, + 0.866178572177887 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The green bear is currently held by the gripper and suspended above the table, having been lifted from its initial position. The robot is in the process of transporting the bear leftward across the workspace. The next action is to continue moving the end-effector laterally to the left to reach the target drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617030441761017, + 0.23391389846801758, + 0.034043505787849426, + -3.0334975719451904, + -0.12283795326948166, + 0.9114565253257751 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The green bear is currently held by the gripper and suspended above the table, having been lifted from its initial position. The robot is in the process of transporting the bear leftward across the workspace. The next action is to continue moving the end-effector laterally to the left to reach the target drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25394928455352783, + 0.2337488830089569, + 0.020610282197594643, + -3.047677516937256, + -0.07834818214178085, + 0.9441258907318115 + ], + "gripper_value": 0.13759112358093262 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange wedge": [ + 620, + 545, + 751, + 688 + ], + "toy dinosaur": [ + 8, + 2, + 269, + 359 + ], + "green ball": [ + 219, + 244, + 280, + 325 + ], + "wooden box": [ + 467, + 2, + 816, + 378 + ] + } + } + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The green bear is currently held by the gripper and suspended above the table, having been lifted from its initial position. The robot is in the process of transporting the bear leftward across the workspace. The next action is to continue moving the end-effector laterally to the left to reach the target drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2522770166397095, + 0.2298443615436554, + 0.01827443204820156, + -3.0831165313720703, + -0.039765309542417526, + 0.9025405645370483 + ], + "gripper_value": 0.347801148891449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "transport bear leftward", + "subtask_reasoning": "The green bear is currently held by the gripper and suspended above the table, having been lifted from its initial position. The robot is in the process of transporting the bear leftward across the workspace. The next action is to continue moving the end-effector laterally to the left to reach the target drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555343806743622, + 0.2256525307893753, + 0.016704492270946503, + -3.122457504272461, + -0.03898303583264351, + 0.8678815960884094 + ], + "gripper_value": 0.6289845705032349 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "release bear at target location", + "subtask_reasoning": "The green bear is positioned on the left side of the table, and the gripper is open, indicating the release action is complete. The robot has successfully transported and placed the bear at the target location. The next step is to retreat from the area to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2532852590084076, + 0.22291503846645355, + 0.034403376281261444, + -3.132033348083496, + -0.08812952786684036, + 0.8448393940925598 + ], + "gripper_value": 0.9367310404777527 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "release bear at target location", + "subtask_reasoning": "The green bear is positioned on the left side of the table, and the gripper is open, indicating the release action is complete. The robot has successfully transported and placed the bear at the target location. The next step is to retreat from the area to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534491717815399, + 0.22158388793468475, + 0.05107470601797104, + 3.1408755779266357, + -0.12970241904258728, + 0.8267027139663696 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "retreat from released bear", + "subtask_reasoning": "The green bear has been successfully released on the left side of the table. The robot's gripper is open and positioned near the bear, indicating the release is complete. The next action is to retreat the arm away from the bear to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.25213438272476196, + 0.2187420129776001, + 0.06986945122480392, + 3.1291279792785645, + -0.16532573103904724, + 0.8235235810279846 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green bear to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green bear" + }, + { + "id": 2, + "subtask": "grasp and lift green bear" + }, + { + "id": 3, + "subtask": "transport bear leftward" + }, + { + "id": 4, + "subtask": "release bear at target location" + }, + { + "id": 5, + "subtask": "retreat from released bear" + } + ], + "subtask_name": "retreat from released bear", + "subtask_reasoning": "The green bear has been successfully released on the left side of the table. The robot's gripper is open and positioned near the bear, indicating the release is complete. The next action is to retreat the arm away from the bear to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004068_ecot.json b/cot/chunk-0004/episode_0004068_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..36453af33f755839c3939beba569210f0544b508 --- /dev/null +++ b/cot/chunk-0004/episode_0004068_ecot.json @@ -0,0 +1,3257 @@ +{ + "task_name": "episode_0004068", + "episode_json": "json/chunk-0004/episode_0004068.json", + "video_path": "videos/chunk-0004/image_0/episode_0004068.mp4", + "instruction": "Move the fork over to the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004068.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6214611530303955, + "std": 0.2986402213573456, + "delta_total": -0.0013371109962463379, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62146, std=0.29864, total_delta=-0.00134). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 16, + 16, + 16, + 16, + 316, + 316, + 316, + 416, + 416, + 416, + 416, + 416, + 438, + 438, + 438, + 438, + 438, + 438, + 438 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 5 + ], + [ + 3, + 6, + 15 + ], + [ + 4, + 16, + 25 + ], + [ + 5, + 26, + 29 + ], + [ + 6, + 30, + 32 + ], + [ + 7, + 33, + 37 + ], + [ + 8, + 38, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fork\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the fork on the green napkin without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp fork\", \"start\": 6, \"end\": 15, \"planning\": \"Close the gripper around the fork handle while maintaining contact and securing the object.\"},\n {\"id\": 3, \"name\": \"lift and translate fork\", \"start\": 16, \"end\": 29, \"planning\": \"Lift the fork slightly and move it leftward across the table while holding it securely.\"},\n {\"id\": 4, \"name\": \"reposition fork mid-air\", \"start\": 30, \"end\": 32, \"planning\": \"Adjust the fork’s position in space without changing gripper state to align with target location.\"},\n {\"id\": 5, \"name\": \"lower fork to target\", \"start\": 33, \"end\": 37, \"planning\": \"Descend with the fork toward the left side of the table while maintaining grip.\"},\n {\"id\": 6, \"name\": \"release fork and retreat\", \"start\": 38, \"end\": 44, \"planning\": \"Open the gripper to place the fork on the table and withdraw the end-effector upward.\"}\n ],\n \"global_plan\": \"Approach the fork, grasp it firmly, lift and translate it leftward across the table, reposition mid-air if needed, lower it to the target zone on the left, then release and retreat.\",\n \"notes\": \"Subtask boundaries respect segment-level gripper evidence: grasp only where closing is confirmed (segments 3 and 8), no grasp wording in segments 1 and 6. Full frame coverage from 0 to 44 with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fork", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the fork on the green napkin without closing the gripper." + }, + { + "id": 2, + "name": "grasp fork", + "start": 6, + "end": 15, + "planning": "Close the gripper around the fork handle while maintaining contact and securing the object." + }, + { + "id": 3, + "name": "lift and translate fork", + "start": 16, + "end": 29, + "planning": "Lift the fork slightly and move it leftward across the table while holding it securely." + }, + { + "id": 4, + "name": "reposition fork mid-air", + "start": 30, + "end": 32, + "planning": "Adjust the fork’s position in space without changing gripper state to align with target location." + }, + { + "id": 5, + "name": "lower fork to target", + "start": 33, + "end": 37, + "planning": "Descend with the fork toward the left side of the table while maintaining grip." + }, + { + "id": 6, + "name": "release fork and retreat", + "start": 38, + "end": 44, + "planning": "Open the gripper to place the fork on the table and withdraw the end-effector upward." + } + ], + "global_plan": "Approach the fork, grasp it firmly, lift and translate it leftward across the table, reposition mid-air if needed, lower it to the target zone on the left, then release and retreat.", + "notes": "Subtask boundaries respect segment-level gripper evidence: grasp only where closing is confirmed (segments 3 and 8), no grasp wording in segments 1 and 6. Full frame coverage from 0 to 44 with contiguous ranges." + } + }, + "episode_goal": "Move the fork to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.300595760345459, + -0.08735807240009308, + 0.11040541529655457, + -2.6954376697540283, + -0.3115875720977783, + -1.0250999927520752 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot is positioned above the table with the fork visible on a green napkin to the left of a metal bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin moving its end effector towards the fork to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 4 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2957969903945923, + -0.08722545206546783, + 0.09998250007629395, + -2.7176313400268555, + -0.2867914140224457, + -1.032439112663269 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot is positioned above the table with the fork visible on a green napkin to the left of a metal bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin moving its end effector towards the fork to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 30 degrees, keep gripper open; then move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28391462564468384, + -0.08108408749103546, + 0.10125511884689331, + -2.6721177101135254, + -0.27517765760421753, + -1.17062509059906 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the fork visible on a green napkin to the left. No movement toward the fork has occurred yet. The next action should be to move the end effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706962823867798, + -0.07441296428442001, + 0.1086982786655426, + -2.6307532787323, + -0.2587161660194397, + -1.2755999565124512 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the fork visible on a green napkin to the left. No movement toward the fork has occurred yet. The next action should be to move the end effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25426897406578064, + -0.06168346852064133, + 0.10872191935777664, + -2.618499994277954, + -0.23448602855205536, + -1.3755450248718262 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the fork visible on a green napkin to the left. No movement toward the fork has occurred yet. The next action should be to move the end effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24049165844917297, + -0.052328936755657196, + 0.10226602852344513, + -2.6401758193969727, + -0.1770203560590744, + -1.4731528759002686 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the fork visible on a green napkin to the left. No movement toward the fork has occurred yet. The next action should be to move the end effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23092886805534363, + -0.049330804497003555, + 0.09439562261104584, + -2.657202959060669, + -0.1089869886636734, + -1.5682437419891357 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the fork visible on a green napkin to the left. No movement toward the fork has occurred yet. The next action should be to move the end effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2230127900838852, + -0.04586607962846756, + 0.08634651452302933, + -2.6548092365264893, + -0.018890000879764557, + -1.614087700843811 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the fork visible on a green napkin to the left. No movement toward the fork has occurred yet. The next action should be to move the end effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2196856141090393, + -0.03964289277791977, + 0.0716320350766182, + -2.6728954315185547, + 0.03208431974053383, + -1.6057660579681396 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 525, + 289, + 771, + 585 + ], + "red spatula": [ + 461, + 669, + 633, + 850 + ], + "white cylinder": [ + 278, + 823, + 483, + 995 + ], + "wooden countertop": [ + 6, + 322, + 859, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the fork visible on a green napkin to the left. No movement toward the fork has occurred yet. The next action should be to move the end effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22048699855804443, + -0.04211478307843208, + 0.05552409961819649, + -2.7062430381774902, + 0.05897816643118858, + -1.6164289712905884 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the fork visible on a green napkin to the left. No movement toward the fork has occurred yet. The next action should be to move the end effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22166694700717926, + -0.04454256594181061, + 0.04514163359999657, + -2.7387681007385254, + 0.06775826215744019, + -1.617910385131836 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22760619223117828, + -0.05006251484155655, + 0.03682957589626312, + -2.7645742893218994, + 0.07296096533536911, + -1.617603063583374 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, close gripper; then move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23814593255519867, + -0.05466749519109726, + 0.02552771382033825, + -2.8036868572235107, + 0.07317165285348892, + -1.6065318584442139 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move right 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24971912801265717, + -0.05977046489715576, + 0.02171350084245205, + -2.81951904296875, + 0.06721555441617966, + -1.5969793796539307 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 572, + 288, + 773, + 573 + ], + "green cloth": [ + 215, + 464, + 505, + 779 + ], + "wooden countertop": [ + 6, + 208, + 859, + 991 + ], + "red spatula": [ + 356, + 583, + 633, + 849 + ] + } + } + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move right 2 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25451233983039856, + -0.060470737516880035, + 0.015606456436216831, + -2.836721658706665, + 0.07321064174175262, + -1.5948333740234375 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556651830673218, + -0.05846382677555084, + 0.01141633465886116, + -2.840595006942749, + 0.09059183299541473, + -1.596518635749817 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 2 cm, move up 12 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2571518123149872, + -0.056364767253398895, + 0.011720805428922176, + -2.831284761428833, + 0.10419082641601562, + -1.5932832956314087 + ], + "gripper_value": 0.41932523250579834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 12 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25551068782806396, + -0.05590512603521347, + 0.01168325450271368, + -2.832742214202881, + 0.10280996561050415, + -1.5893275737762451 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move up 10 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25006103515625, + -0.05612602084875107, + 0.012154513038694859, + -2.8344321250915527, + 0.10275472700595856, + -1.587355375289917 + ], + "gripper_value": 0.3831871449947357 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move up 9 cm, tilt left 10 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24922554194927216, + -0.06248924881219864, + 0.018740838393568993, + -2.806377649307251, + 0.08893324434757233, + -1.5952270030975342 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 10 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25019437074661255, + -0.06661209464073181, + 0.025690408423542976, + -2.7847788333892822, + 0.09100868552923203, + -1.5732885599136353 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 12 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 70 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25944578647613525, + -0.07506553828716278, + 0.04464094713330269, + -2.739081621170044, + 0.07014147937297821, + -1.551698923110962 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The robot end-effector is positioned directly above the red fork on the table, having completed the approach phase. The gripper is currently open and aligned with the fork's handle, ready for closure. The next immediate action is to close the gripper to securely grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 13 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 70 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2607381343841553, + -0.07778769731521606, + 0.06733566522598267, + -2.7362325191497803, + -0.002711131004616618, + -1.5003480911254883 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 13 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 60 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2558092176914215, + -0.07517822086811066, + 0.0897640511393547, + -2.7095062732696533, + -0.048689935356378555, + -1.4644136428833008 + ], + "gripper_value": 0.3788849711418152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 13 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 60 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2588132321834564, + -0.05745682492852211, + 0.12067466229200363, + -2.677859306335449, + -0.11118216812610626, + -1.2647866010665894 + ], + "gripper_value": 0.3788849711418152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 11 cm, move down 4 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 50 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2696794867515564, + -0.037581924349069595, + 0.1293669044971466, + -2.658762216567993, + -0.109593465924263, + -1.0871565341949463 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move down 5 cm, tilt forward 20 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28265613317489624, + -0.02194484882056713, + 0.1293676495552063, + -2.6592090129852295, + -0.14210279285907745, + -0.9566081762313843 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 237, + 455, + 544, + 774 + ], + "metal bowl": [ + 522, + 292, + 772, + 584 + ], + "wooden countertop": [ + 4, + 185, + 858, + 991 + ], + "white cylinder": [ + 390, + 365, + 495, + 483 + ], + "red spatula": [ + 421, + 300, + 664, + 382 + ] + } + } + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29446080327033997, + -0.0054823486134409904, + 0.1119883731007576, + -2.690749406814575, + -0.12828649580478668, + -0.797673225402832 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 236, + 457, + 546, + 775 + ], + "red spatula": [ + 283, + 291, + 638, + 432 + ], + "wooden countertop": [ + 4, + 185, + 859, + 991 + ], + "metal bowl": [ + 514, + 288, + 772, + 584 + ], + "white cylinder": [ + 388, + 363, + 495, + 482 + ] + } + } + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064764142036438, + 0.014456967823207378, + 0.09982658177614212, + -2.721660614013672, + -0.1415587216615677, + -0.6483917236328125 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31763994693756104, + 0.03702552244067192, + 0.08877385407686234, + -2.751908779144287, + -0.1426270306110382, + -0.48264411091804504 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32711395621299744, + 0.0550679937005043, + 0.07995785772800446, + -2.7622158527374268, + -0.12844103574752808, + -0.3684749901294708 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork mid-air", + "subtask_reasoning": "The fork is currently grasped and lifted above the table surface, positioned near the center. The robot has completed the approach and grasp phases and is now in the lift and translate phase. The next action should be to move the fork leftward toward the target zone on the left side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367629945278168, + 0.07123368978500366, + 0.07459821552038193, + -2.759917736053467, + -0.11287468671798706, + -0.28357502818107605 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork mid-air", + "subtask_reasoning": "The fork is currently held in the air above the table, having been lifted from its initial position. The gripper remains closed with no change in aperture, indicating the object is securely held while being translated leftward. The next action is to continue moving the fork horizontally toward the left side of the table to reach the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3410114347934723, + 0.09287460893392563, + 0.06848663836717606, + -2.769284725189209, + -0.10907512903213501, + -0.15960446000099182 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork mid-air", + "subtask_reasoning": "The fork is currently held in the air above the table, having been lifted from its initial position. The gripper remains closed with no change in aperture, indicating the object is securely held while being translated leftward. The next action is to continue moving the fork horizontally toward the left side of the table to reach the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.344252347946167, + 0.11011546105146408, + 0.05703681334853172, + -2.7838480472564697, + -0.10360546410083771, + -0.0730837732553482 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lower fork to target", + "subtask_reasoning": "The fork is currently held in the air above the table, having been lifted from its initial position. The gripper remains closed with no change in aperture, indicating the object is securely held while being translated leftward. The next action is to continue moving the fork horizontally toward the left side of the table to reach the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.34798479080200195, + 0.12247378379106522, + 0.041821908205747604, + -2.7927355766296387, + -0.07076631486415863, + -0.021208731457591057 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lower fork to target", + "subtask_reasoning": "The fork is currently held in the air above the table, having been lifted from its initial position. The gripper remains closed with no change in aperture, indicating the object is securely held while being translated leftward. The next action is to continue moving the fork horizontally toward the left side of the table to reach the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.348872572183609, + 0.13535729050636292, + 0.025774598121643066, + -2.7963595390319824, + -0.03537708520889282, + 0.0052878884598612785 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lower fork to target", + "subtask_reasoning": "The fork is currently held above the left side of the table, near the green napkin. The robot has successfully transported the fork from its initial position. The next action is to lower the fork gently onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, open gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3517189621925354, + 0.14659510552883148, + 0.015609467402100563, + -2.79062557220459, + -0.008576062507927418, + 0.01893773302435875 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red spatula": [ + 180, + 328, + 319, + 496 + ], + "metal bowl": [ + 506, + 289, + 772, + 584 + ], + "green cloth": [ + 238, + 456, + 544, + 773 + ], + "wooden countertop": [ + 6, + 214, + 858, + 989 + ], + "white cylinder": [ + 388, + 345, + 502, + 482 + ] + } + } + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lower fork to target", + "subtask_reasoning": "The fork is currently held above the left side of the table, near the green napkin. The robot has successfully transported the fork from its initial position. The next action is to lower the fork gently onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.35761022567749023, + 0.15384653210639954, + 0.013830003328621387, + -2.7883729934692383, + -0.012597238644957542, + 0.03389595076441765 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "lower fork to target", + "subtask_reasoning": "The fork is currently held above the left side of the table, near the green napkin. The robot has successfully transported the fork from its initial position. The next action is to lower the fork gently onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.35839444398880005, + 0.15402314066886902, + 0.014457867480814457, + -2.799912691116333, + -0.00429179472848773, + 0.049497149884700775 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The fork is currently held above the left side of the table, near the green napkin. The robot has successfully transported the fork from its initial position. The next action is to lower the fork gently onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571569323539734, + 0.1547253131866455, + 0.014730917289853096, + -2.794802188873291, + 0.003536353586241603, + 0.05010261386632919 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The fork is currently held above the left side of the table, near the green napkin. The robot has successfully transported the fork from its initial position. The next action is to lower the fork gently onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3566814363002777, + 0.1528041660785675, + 0.014486117288470268, + -2.8018319606781006, + 0.004465990699827671, + 0.0363214835524559 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The fork is currently held above the left side of the table, near the green napkin. The robot has successfully transported the fork from its initial position. The next action is to lower the fork gently onto the table surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3560282289981842, + 0.1505305916070938, + 0.01656576804816723, + -2.8152711391448975, + -0.008811050094664097, + 0.024432770907878876 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The fork is resting on the left side of the table, indicating the placement is complete. The gripper is fully open and positioned slightly above the fork, confirming the release action has occurred. The robot is now in the retreat phase, moving away from the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.357266902923584, + 0.14823606610298157, + 0.027836782857775688, + -2.833251953125, + -0.04539615660905838, + 0.011866329237818718 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The fork is resting on the left side of the table, indicating the placement is complete. The gripper is fully open and positioned slightly above the fork, confirming the release action has occurred. The robot is now in the retreat phase, moving away from the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3505173921585083, + 0.14999084174633026, + 0.04207877069711685, + -2.8322620391845703, + -0.07141639292240143, + 0.01462637260556221 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The fork is resting on the left side of the table, indicating the placement is complete. The gripper is fully open and positioned slightly above the fork, confirming the release action has occurred. The robot is now in the retreat phase, moving away from the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.34545788168907166, + 0.14794377982616425, + 0.06158407777547836, + -2.8224804401397705, + -0.10908912122249603, + 0.0008220662130042911 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fork to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "reposition fork mid-air" + }, + { + "id": 5, + "subtask": "lower fork to target" + }, + { + "id": 6, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The fork is resting on the left side of the table, indicating the placement is complete. The gripper is fully open and positioned slightly above the fork, confirming the release action has occurred. The robot is now in the retreat phase, moving away from the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004069_ecot.json b/cot/chunk-0004/episode_0004069_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bb75d7d82ec092ccc4b6aa17c42973c4d0b49e51 --- /dev/null +++ b/cot/chunk-0004/episode_0004069_ecot.json @@ -0,0 +1,1723 @@ +{ + "task_name": "episode_0004069", + "episode_json": "json/chunk-0004/episode_0004069.json", + "video_path": "videos/chunk-0004/image_0/episode_0004069.mp4", + "instruction": "Move the orange object to the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004069.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.40725451707839966, + "std": 0.19514673948287964, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40725, std=0.19515, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 15 + ], + [ + 3, + 16, + 25 + ], + [ + 4, + 26, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp orange object\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector down toward the orange object and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport orange object leftward\", \"start\": 11, \"end\": 15, \"planning\": \"Lift the grasped orange object and move it horizontally toward the left side of the table.\"},\n {\"id\": 3, \"name\": \"release orange object on left side\", \"start\": 16, \"end\": 25, \"planning\": \"Lower the orange object to the target location on the left and open gripper to release it.\"},\n {\"id\": 4, \"name\": \"retreat from released object\", \"start\": 26, \"end\": 26, \"planning\": \"Move end-effector away from the released orange object to complete the task.\"}\n ],\n \"global_plan\": \"Grasp the orange object, lift and carry it to the left side of the table, release it there, then retreat.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.40659) consistent with grasping; Segment 2 has no gripper change but image confirms object is held — so ‘lift and transport’ is valid; Segment 3 shows gripper opening (range=0.40725) matching release; Segment 4 is single-frame retreat after release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp orange object", + "start": 0, + "end": 10, + "planning": "Move end-effector down toward the orange object and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport orange object leftward", + "start": 11, + "end": 15, + "planning": "Lift the grasped orange object and move it horizontally toward the left side of the table." + }, + { + "id": 3, + "name": "release orange object on left side", + "start": 16, + "end": 25, + "planning": "Lower the orange object to the target location on the left and open gripper to release it." + }, + { + "id": 4, + "name": "retreat from released object", + "start": 26, + "end": 26, + "planning": "Move end-effector away from the released orange object to complete the task." + } + ], + "global_plan": "Grasp the orange object, lift and carry it to the left side of the table, release it there, then retreat.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.40659) consistent with grasping; Segment 2 has no gripper change but image confirms object is held — so ‘lift and transport’ is valid; Segment 3 shows gripper opening (range=0.40725) matching release; Segment 4 is single-frame retreat after release." + } + }, + "episode_goal": "Move the orange object to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2604624927043915, + -0.05266740173101425, + 0.13133369386196136, + -3.0870907306671143, + -0.0789712518453598, + -0.10980053246021271 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange object in view. The gripper is open and approaching the object. No grasp has occurred yet. The next action is to lower the gripper and close it around the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 11 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25989586114883423, + -0.05295483022928238, + 0.12492181360721588, + -3.084442377090454, + -0.05640479549765587, + -0.1070295125246048 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange object in view. The gripper is open and approaching the object. No grasp has occurred yet. The next action is to lower the gripper and close it around the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26341134309768677, + -0.05352412909269333, + 0.10000913590192795, + -3.075235366821289, + -0.0012908499920740724, + -0.09563560783863068 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange object in view. The gripper is open and approaching the object. No grasp has occurred yet. The next action is to lower the gripper and close it around the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26796233654022217, + -0.04373255372047424, + 0.08754023164510727, + -3.0843281745910645, + 0.018872996792197227, + -0.049047790467739105 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange object in view. The gripper is open and approaching the object. No grasp has occurred yet. The next action is to lower the gripper and close it around the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690376937389374, + -0.03433387726545334, + 0.06966904550790787, + -3.042269706726074, + -0.0006572483689524233, + -0.004825210198760033 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 105, + 995, + 992 + ], + "orange cup": [ + 676, + 494, + 923, + 804 + ], + "orange slice": [ + 458, + 513, + 568, + 688 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange object in view. The gripper is open and approaching the object. No grasp has occurred yet. The next action is to lower the gripper and close it around the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 2 cm, move left 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707255780696869, + -0.02855895832180977, + 0.05682802572846413, + -3.0267868041992188, + -0.009471097029745579, + 0.0046247681602835655 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the orange object on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move forward 3 cm, move left 9 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2708946168422699, + -0.029932240024209023, + 0.04744885489344597, + -3.038628339767456, + -0.012316202744841576, + -0.016182364895939827 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the orange object on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move left 13 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27172398567199707, + -0.028778044506907463, + 0.03790825605392456, + -3.0574285984039307, + 0.00573928514495492, + -0.015200415626168251 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the orange object on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move left 13 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716214656829834, + -0.028950676321983337, + 0.024281714111566544, + -3.0956647396087646, + 0.037608951330184937, + -0.024637814611196518 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the orange object on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move left 13 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 5 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27248984575271606, + -0.030339159071445465, + 0.023453641682863235, + -3.1025850772857666, + 0.024883825331926346, + -0.03373256325721741 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the orange object on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move left 13 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706594467163086, + -0.027078034356236458, + 0.024895811453461647, + -3.1186890602111816, + 0.020955054089426994, + -0.02708098106086254 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "approach and grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the orange object on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move left 13 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26829802989959717, + -0.015187684446573257, + 0.035684771835803986, + 3.1380531787872314, + 0.026277273893356323, + -0.003885664977133274 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "lift and transport orange object leftward", + "subtask_reasoning": "The robot arm is positioned above the orange object on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 13 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2744956910610199, + -0.005693729966878891, + 0.05689585953950882, + 3.1137077808380127, + 0.0033317788038402796, + 0.014316670596599579 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 115, + 995, + 992 + ], + "orange slice": [ + 437, + 463, + 531, + 625 + ], + "orange cup": [ + 676, + 492, + 922, + 803 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "lift and transport orange object leftward", + "subtask_reasoning": "The robot arm is positioned above the orange object on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, move down 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821316719055176, + 0.006320806220173836, + 0.08624696731567383, + 3.0814874172210693, + -0.04398684948682785, + 0.032154716551303864 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "lift and transport orange object leftward", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having completed the grasp and initial lift. The gripper signal remains constant, indicating a stable hold without active closing. The next action is to translate the arm leftward to position the object over the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, move down 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2854487895965576, + 0.03801143914461136, + 0.10420671850442886, + 3.0819458961486816, + -0.058600179851055145, + 0.10339862108230591 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "lift and transport orange object leftward", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having completed the grasp and initial lift. The gripper signal remains constant, indicating a stable hold without active closing. The next action is to translate the arm leftward to position the object over the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948242425918579, + 0.07382630556821823, + 0.10859725624322891, + 3.1265292167663574, + -0.07509341090917587, + 0.18007192015647888 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "lift and transport orange object leftward", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having completed the grasp and initial lift. The gripper signal remains constant, indicating a stable hold without active closing. The next action is to translate the arm leftward to position the object over the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, keep gripper closed; then move left 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3007628619670868, + 0.11104147881269455, + 0.0922057256102562, + -3.1360208988189697, + -0.059581585228443146, + 0.23826460540294647 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having completed the grasp and initial lift. The gripper signal remains constant, indicating a stable hold without active closing. The next action is to translate the arm leftward to position the object over the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015212118625641, + 0.13766881823539734, + 0.06867092102766037, + -3.100263833999634, + -0.029271285980939865, + 0.24641507863998413 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having completed the grasp and initial lift. The gripper signal remains constant, indicating a stable hold without active closing. The next action is to translate the arm leftward to position the object over the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30049383640289307, + 0.15760226547718048, + 0.042727209627628326, + -3.0897843837738037, + 0.0066587128676474094, + 0.28547075390815735 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having completed the grasp and initial lift. The gripper signal remains constant, indicating a stable hold without active closing. The next action is to translate the arm leftward to position the object over the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 7 cm, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985604405403137, + 0.1701125204563141, + 0.026730846613645554, + -3.0727837085723877, + 0.024958621710538864, + 0.324554979801178 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having completed the grasp and initial lift. The gripper signal remains constant, indicating a stable hold without active closing. The next action is to translate the arm leftward to position the object over the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.300737589597702, + 0.17224912345409393, + 0.026038749143481255, + -3.0648550987243652, + 0.010664300061762333, + 0.3206777572631836 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The orange object is currently held by the gripper and positioned over the left side of the table. The gripper is open, indicating the object has been released or is in the process of being released. The next action is to ensure the object is fully placed and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29865068197250366, + 0.17494137585163116, + 0.02633923850953579, + -3.05155611038208, + 0.019368957728147507, + 0.32902881503105164 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The orange object is currently held by the gripper and positioned over the left side of the table. The gripper is open, indicating the object has been released or is in the process of being released. The next action is to ensure the object is fully placed and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29883602261543274, + 0.1738290786743164, + 0.026201894506812096, + -3.06196665763855, + 0.020171137526631355, + 0.32665690779685974 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The orange object is currently held by the gripper and positioned over the left side of the table. The gripper is open, indicating the object has been released or is in the process of being released. The next action is to ensure the object is fully placed and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981491684913635, + 0.172263503074646, + 0.026704413816332817, + -3.0664725303649902, + 0.027166837826371193, + 0.328318327665329 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The orange object is currently held by the gripper and positioned over the left side of the table. The gripper is open, indicating the object has been released or is in the process of being released. The next action is to ensure the object is fully placed and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29693201184272766, + 0.16808542609214783, + 0.029727520421147346, + -3.0885562896728516, + 0.038945522159338, + 0.32132667303085327 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The orange object is currently held by the gripper and positioned over the left side of the table. The gripper is open, indicating the object has been released or is in the process of being released. The next action is to ensure the object is fully placed and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.303556352853775, + 0.16094110906124115, + 0.06672719866037369, + -3.1348726749420166, + -0.05187838897109032, + 0.2842854857444763 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "release orange object on left side", + "subtask_reasoning": "The orange object is currently held by the gripper and positioned over the left side of the table. The gripper is open, indicating the object has been released or is in the process of being released. The next action is to ensure the object is fully placed and then retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018729090690613, + 0.1557954102754593, + 0.10913536697626114, + 3.126608371734619, + -0.17253874242305756, + 0.25184327363967896 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 111, + 995, + 992 + ], + "orange slice": [ + 191, + 305, + 291, + 445 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp orange object" + }, + { + "id": 2, + "subtask": "lift and transport orange object leftward" + }, + { + "id": 3, + "subtask": "release orange object on left side" + }, + { + "id": 4, + "subtask": "retreat from released object" + } + ], + "subtask_name": "retreat from released object", + "subtask_reasoning": "The orange object has been successfully placed on the left side of the table. The gripper is open and the end-effector is positioned above the object, indicating the release is complete. The robot should now retreat backward or upward to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004070_ecot.json b/cot/chunk-0004/episode_0004070_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..65dd677ce28ac94c715833adfe3df1e5fca8cc01 --- /dev/null +++ b/cot/chunk-0004/episode_0004070_ecot.json @@ -0,0 +1,3109 @@ +{ + "task_name": "episode_0004070", + "episode_json": "json/chunk-0004/episode_0004070.json", + "video_path": "videos/chunk-0004/image_0/episode_0004070.mp4", + "instruction": "Move the blue spoon to the bottom left of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004070.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.5641789436340332, + "std": 0.2656259536743164, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56418, std=0.26563, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 219, + 219, + 219, + 219, + 219, + 219, + 236, + 236, + 236, + 236, + 236, + 236, + 236, + 236, + 236 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 18 + ], + [ + 3, + 19, + 29 + ], + [ + 4, + 30, + 35 + ], + [ + 5, + 36, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue spoon\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the blue spoon on the green cloth without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue spoon\", \"start\": 6, \"end\": 18, \"planning\": \"Close the gripper around the blue spoon and secure it for manipulation.\"},\n {\"id\": 3, \"name\": \"lift and reposition spoon\", \"start\": 19, \"end\": 29, \"planning\": \"Lift the grasped blue spoon and move it toward the target location near the bottom left of the burner.\"},\n {\"id\": 4, \"name\": \"place spoon at target\", \"start\": 30, \"end\": 35, \"planning\": \"Lower the blue spoon to the desired position at the bottom left of the burner while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 36, \"end\": 44, \"planning\": \"Open the gripper to release the blue spoon and move the end-effector away from the placement site.\"}\n ],\n \"global_plan\": \"Approach the blue spoon, grasp it securely, lift and transport it to the bottom left of the burner, place it precisely, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing — grasp is valid. Segment 4 shows no closure — placement via controlled descent without new grasp. Segment 5 shows opening — release and retreat. All frame ranges are contiguous and cover 0–44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue spoon", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the blue spoon on the green cloth without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue spoon", + "start": 6, + "end": 18, + "planning": "Close the gripper around the blue spoon and secure it for manipulation." + }, + { + "id": 3, + "name": "lift and reposition spoon", + "start": 19, + "end": 29, + "planning": "Lift the grasped blue spoon and move it toward the target location near the bottom left of the burner." + }, + { + "id": 4, + "name": "place spoon at target", + "start": 30, + "end": 35, + "planning": "Lower the blue spoon to the desired position at the bottom left of the burner while maintaining grip." + }, + { + "id": 5, + "name": "release and retreat", + "start": 36, + "end": 44, + "planning": "Open the gripper to release the blue spoon and move the end-effector away from the placement site." + } + ], + "global_plan": "Approach the blue spoon, grasp it securely, lift and transport it to the bottom left of the burner, place it precisely, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing — grasp is valid. Segment 4 shows no closure — placement via controlled descent without new grasp. Segment 5 shows opening — release and retreat. All frame ranges are contiguous and cover 0–44." + } + }, + "episode_goal": "Move the blue spoon to the bottom left of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565270006656647, + -0.020884620025753975, + 0.10931982100009918, + -2.8240437507629395, + -0.268542617559433, + -0.8589630722999573 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop, with the blue spoon visible on a green cloth to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543810546398163, + -0.01991855911910534, + 0.10005264729261398, + -2.8534929752349854, + -0.2420724332332611, + -0.8332070112228394 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop, with the blue spoon visible on a green cloth to the left. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3514859676361084, + -0.008131484501063824, + 0.10621874779462814, + -2.8865926265716553, + -0.17723406851291656, + -0.6629212498664856 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move left 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3553413152694702, + 0.008031674660742283, + 0.10995884239673615, + -2.9267895221710205, + -0.25285980105400085, + -0.47669461369514465 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3534441888332367, + 0.02052716724574566, + 0.12453333288431168, + -2.9640750885009766, + -0.3412303328514099, + -0.23491418361663818 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 283, + 270, + 527, + 489 + ], + "blue sponge": [ + 411, + 314, + 479, + 462 + ], + "saucepan": [ + 570, + 273, + 812, + 500 + ], + "black cloth": [ + 431, + 3, + 640, + 289 + ], + "induction cooktop": [ + 105, + 231, + 707, + 747 + ], + "sink": [ + 742, + 452, + 995, + 962 + ], + "sushi": [ + 383, + 503, + 514, + 660 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35008078813552856, + 0.03532945737242699, + 0.12115248292684555, + -2.9899115562438965, + -0.3773195743560791, + 0.025735562667250633 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34969741106033325, + 0.048481035977602005, + 0.12495773285627365, + -2.964803457260132, + -0.3916145861148834, + 0.22078700363636017 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541155457496643, + 0.05132425203919411, + 0.11779440939426422, + -2.9423770904541016, + -0.37423157691955566, + 0.29585015773773193 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3580889105796814, + 0.053342703729867935, + 0.1068640872836113, + -2.932304859161377, + -0.36521679162979126, + 0.33806943893432617 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 9 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3596261441707611, + 0.05310172960162163, + 0.09039051085710526, + -2.932645559310913, + -0.3353373408317566, + 0.35642415285110474 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3569794297218323, + 0.055840544402599335, + 0.0803898498415947, + -2.940526008605957, + -0.3390997648239136, + 0.3899809420108795 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3553928732872009, + 0.05985536053776741, + 0.06606730818748474, + -2.951878309249878, + -0.31031250953674316, + 0.41179564595222473 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 283, + 270, + 526, + 488 + ], + "blue sponge": [ + 411, + 314, + 479, + 462 + ], + "sink": [ + 741, + 453, + 995, + 963 + ], + "induction cooktop": [ + 105, + 232, + 708, + 745 + ], + "saucepan": [ + 570, + 272, + 818, + 503 + ], + "sushi": [ + 383, + 502, + 515, + 661 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the stove, with the blue spoon visible on a green cloth to the left of the burner. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35400161147117615, + 0.06265299767255783, + 0.05535593256354332, + -2.9646387100219727, + -0.28412407636642456, + 0.4473141133785248 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt left 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.355355441570282, + 0.0719752386212349, + 0.045426223427057266, + -2.9628493785858154, + -0.2634803056716919, + 0.4645903408527374 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36087509989738464, + 0.07628149539232254, + 0.03945716843008995, + -2.926189661026001, + -0.23951271176338196, + 0.43901708722114563 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36001965403556824, + 0.07622657716274261, + 0.03191101923584938, + -2.9005656242370605, + -0.21581561863422394, + 0.424284964799881 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3602476119995117, + 0.07210561633110046, + 0.0286728423088789, + -2.8984694480895996, + -0.21207958459854126, + 0.4258330762386322 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3611547350883484, + 0.06797198206186295, + 0.027681678533554077, + -2.8980438709259033, + -0.2138894945383072, + 0.42141565680503845 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35677382349967957, + 0.06742632389068604, + 0.021053709089756012, + -2.893305778503418, + -0.22353236377239227, + 0.42682084441185 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530702292919159, + 0.0632314383983612, + 0.01970316842198372, + -2.865898370742798, + -0.22316867113113403, + 0.42954540252685547 + ], + "gripper_value": 0.4513009488582611 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35080206394195557, + 0.06272237747907639, + 0.018366439267992973, + -2.8646109104156494, + -0.2202073037624359, + 0.4348924160003662 + ], + "gripper_value": 0.44759801030158997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480719029903412, + 0.060910388827323914, + 0.01804100163280964, + -2.863962411880493, + -0.2244996577501297, + 0.43360647559165955 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479064702987671, + 0.05911869555711746, + 0.023141158744692802, + -2.855217218399048, + -0.24845482409000397, + 0.4145132899284363 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.351254403591156, + 0.05688577517867088, + 0.03568636253476143, + -2.8845407962799072, + -0.2836930751800537, + 0.4009604752063751 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue spoon on the stovetop, aligned for grasping. The gripper is currently open, and no contact has been made yet. The next action should be to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537971079349518, + 0.05598590523004532, + 0.039451975375413895, + -2.8892037868499756, + -0.2935831546783447, + 0.36968523263931274 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the stovetop, positioned near the center of the burner area. The gripper remains closed with minimal variation, confirming secure hold. Next, the spoon should be moved laterally and downward toward the bottom-left corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move up 7 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35819700360298157, + 0.05562816187739372, + 0.060567062348127365, + -2.910874605178833, + -0.34559860825538635, + 0.36834320425987244 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the stovetop, positioned near the center of the burner area. The gripper remains closed with minimal variation, confirming secure hold. Next, the spoon should be moved laterally and downward toward the bottom-left corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 7 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3549758791923523, + 0.0659138485789299, + 0.09030936658382416, + -2.9279918670654297, + -0.404249370098114, + 0.41540011763572693 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "saucepan": [ + 571, + 271, + 839, + 507 + ], + "sink": [ + 741, + 456, + 995, + 963 + ], + "induction cooktop": [ + 104, + 232, + 706, + 748 + ], + "sushi": [ + 383, + 504, + 515, + 661 + ], + "blue sponge": [ + 422, + 228, + 477, + 364 + ], + "green cloth": [ + 274, + 274, + 529, + 505 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the stovetop, positioned near the center of the burner area. The gripper remains closed with minimal variation, confirming secure hold. Next, the spoon should be moved laterally and downward toward the bottom-left corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33852872252464294, + 0.08582626283168793, + 0.11335951089859009, + -2.94743275642395, + -0.4552062153816223, + 0.5095551013946533 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 741, + 455, + 995, + 963 + ], + "saucepan": [ + 571, + 272, + 851, + 510 + ], + "sushi": [ + 383, + 504, + 515, + 661 + ], + "induction cooktop": [ + 105, + 220, + 708, + 748 + ], + "black cloth": [ + 288, + 19, + 541, + 267 + ], + "green cloth": [ + 274, + 275, + 529, + 505 + ], + "blue sponge": [ + 371, + 172, + 431, + 306 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the stovetop, positioned near the center of the burner area. The gripper remains closed with minimal variation, confirming secure hold. Next, the spoon should be moved laterally and downward toward the bottom-left corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 9 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31286174058914185, + 0.10262490808963776, + 0.12948006391525269, + -2.9725677967071533, + -0.4867238700389862, + 0.6324693560600281 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the stovetop, positioned near the center of the burner area. The gripper remains closed with minimal variation, confirming secure hold. Next, the spoon should be moved laterally and downward toward the bottom-left corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 9 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28575530648231506, + 0.11315206438302994, + 0.12778663635253906, + -3.00118350982666, + -0.49474844336509705, + 0.7936580181121826 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the stovetop, positioned near the center of the burner area. The gripper remains closed with minimal variation, confirming secure hold. Next, the spoon should be moved laterally and downward toward the bottom-left corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 9 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590670883655548, + 0.12786559760570526, + 0.11237173527479172, + -2.9676105976104736, + -0.4525887668132782, + 0.8512692451477051 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the stovetop, positioned near the center of the burner area. The gripper remains closed with minimal variation, confirming secure hold. Next, the spoon should be moved laterally and downward toward the bottom-left corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 9 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2381965070962906, + 0.13858278095722198, + 0.08933767676353455, + -2.9646615982055664, + -0.41852837800979614, + 0.9038845300674438 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the stovetop, positioned near the center of the burner area. The gripper remains closed with minimal variation, confirming secure hold. Next, the spoon should be moved laterally and downward toward the bottom-left corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 7 cm, open gripper; then move forward 2 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2312842607498169, + 0.145645871758461, + 0.06596578657627106, + -2.9396796226501465, + -0.3891960084438324, + 0.9109193086624146 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is currently holding the blue spoon above the stovetop, positioned near the target area at the bottom left of the burner. Since the gripper evidence indicates no active closing or opening motion in this segment, the arm is likely stabilizing or making fine adjustments. The next logical step is to lower the spoon to make contact with the stovetop surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, open gripper; then move forward 3 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.23262067139148712, + 0.14821243286132812, + 0.05281554535031319, + -2.9221410751342773, + -0.38236159086227417, + 0.9088693857192993 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is currently holding the blue spoon above the stovetop, positioned near the target area at the bottom left of the burner. Since the gripper evidence indicates no active closing or opening motion in this segment, the arm is likely stabilizing or making fine adjustments. The next logical step is to lower the spoon to make contact with the stovetop surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, open gripper; then move forward 4 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2368699014186859, + 0.13842716813087463, + 0.03536609187722206, + -2.9604856967926025, + -0.40510278940200806, + 0.938323438167572 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is currently holding the blue spoon above the stovetop, positioned near the target area at the bottom left of the burner. Since the gripper evidence indicates no active closing or opening motion in this segment, the arm is likely stabilizing or making fine adjustments. The next logical step is to lower the spoon to make contact with the stovetop surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move forward 4 cm, move right 3 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24407485127449036, + 0.1373678594827652, + 0.025139350444078445, + -2.9424784183502197, + -0.3882029056549072, + 0.9191693663597107 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is currently holding the blue spoon above the stovetop, positioned near the target area at the bottom left of the burner. Since the gripper evidence indicates no active closing or opening motion in this segment, the arm is likely stabilizing or making fine adjustments. The next logical step is to lower the spoon to make contact with the stovetop surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 4 cm, move right 3 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24933846294879913, + 0.13559816777706146, + 0.022383559495210648, + -2.966545343399048, + -0.41106554865837097, + 0.9647889137268066 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the blue spoon above the stovetop, positioned near the target area at the bottom left of the burner. Since the gripper evidence indicates no active closing or opening motion in this segment, the arm is likely stabilizing or making fine adjustments. The next logical step is to lower the spoon to make contact with the stovetop surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.25238966941833496, + 0.13310188055038452, + 0.02040638029575348, + -3.004399061203003, + -0.42128318548202515, + 0.9806685447692871 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the blue spoon above the stovetop, positioned near the target area at the bottom left of the burner. Since the gripper evidence indicates no active closing or opening motion in this segment, the arm is likely stabilizing or making fine adjustments. The next logical step is to lower the spoon to make contact with the stovetop surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.24967898428440094, + 0.1283395141363144, + 0.017279988154768944, + -3.0121471881866455, + -0.4077673852443695, + 0.9855201840400696 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the blue spoon above the stovetop, positioned near the target area at the bottom left of the burner. Since the gripper evidence indicates no active closing or opening motion in this segment, the arm is likely stabilizing or making fine adjustments. The next logical step is to lower the spoon to make contact with the stovetop surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514525055885315, + 0.12305256724357605, + 0.017067670822143555, + -3.014024496078491, + -0.3948224186897278, + 0.9615391492843628 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the blue spoon above the stovetop, positioned near the target area at the bottom left of the burner. Since the gripper evidence indicates no active closing or opening motion in this segment, the arm is likely stabilizing or making fine adjustments. The next logical step is to lower the spoon to make contact with the stovetop surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.25706931948661804, + 0.12160252034664154, + 0.02697780914604664, + -3.018795967102051, + -0.4073079824447632, + 0.9274575114250183 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed at the bottom left of the burner. The gripper is open and the arm is beginning to retreat from the placement location. The next action is to continue moving the arm away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2694980800151825, + 0.11891559511423111, + 0.04336801916360855, + -3.05937123298645, + -0.44688236713409424, + 0.9044525623321533 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed at the bottom left of the burner. The gripper is open and the arm is beginning to retreat from the placement location. The next action is to continue moving the arm away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793830335140228, + 0.11253862828016281, + 0.06688155978918076, + -3.09533429145813, + -0.4977124333381653, + 0.8767244815826416 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "saucepan": [ + 569, + 272, + 851, + 508 + ], + "sink": [ + 742, + 454, + 995, + 963 + ], + "sushi": [ + 383, + 504, + 515, + 661 + ], + "blue sponge": [ + 135, + 455, + 252, + 607 + ], + "induction cooktop": [ + 123, + 235, + 704, + 745 + ], + "green cloth": [ + 274, + 288, + 529, + 504 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed at the bottom left of the burner. The gripper is open and the arm is beginning to retreat from the placement location. The next action is to continue moving the arm away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2885689437389374, + 0.1062295064330101, + 0.0896105021238327, + 3.132357597351074, + -0.4964088499546051, + 0.8646799921989441 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed at the bottom left of the burner. The gripper is open and the arm is beginning to retreat from the placement location. The next action is to continue moving the arm away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2928738594055176, + 0.1009409949183464, + 0.10726403445005417, + -3.1347861289978027, + -0.523061215877533, + 0.8015810251235962 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the bottom left of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed at the bottom left of the burner. The gripper is open and the arm is beginning to retreat from the placement location. The next action is to continue moving the arm away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004071_ecot.json b/cot/chunk-0004/episode_0004071_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..54a89f0507588f10899052e258ae8012b898f742 --- /dev/null +++ b/cot/chunk-0004/episode_0004071_ecot.json @@ -0,0 +1,1493 @@ +{ + "task_name": "episode_0004071", + "episode_json": "json/chunk-0004/episode_0004071.json", + "video_path": "videos/chunk-0004/image_0/episode_0004071.mp4", + "instruction": "Slide the blue cloth to the front of the counter.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004071.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.0026679039001464844, + "std": 0.000879793253261596, + "delta_total": -0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00267, std=0.00088, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 100, + 100, + 100, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 6 + ], + [ + 3, + 7, + 9 + ], + [ + 4, + 10, + 12 + ], + [ + 5, + 13, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the blue cloth on the counter without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 7, \"end\": 12, \"planning\": \"Lower and position the gripper to make gentle contact with the top surface of the blue cloth.\"},\n {\"id\": 3, \"name\": \"slide cloth forward\", \"start\": 13, \"end\": 23, \"planning\": \"Push the blue cloth forward along the counter surface using continuous contact motion.\"}\n ],\n \"global_plan\": \"Approach the blue cloth, make contact with it, then slide it forward across the counter without lifting or grasping.\",\n \"notes\": \"Gripper remains open throughout; no meaningful closing detected in any segment. All actions are contact-based pushing/sliding as per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the blue cloth on the counter without grasping." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 7, + "end": 12, + "planning": "Lower and position the gripper to make gentle contact with the top surface of the blue cloth." + }, + { + "id": 3, + "name": "slide cloth forward", + "start": 13, + "end": 23, + "planning": "Push the blue cloth forward along the counter surface using continuous contact motion." + } + ], + "global_plan": "Approach the blue cloth, make contact with it, then slide it forward across the counter without lifting or grasping.", + "notes": "Gripper remains open throughout; no meaningful closing detected in any segment. All actions are contact-based pushing/sliding as per anti-hallucination rules." + } + }, + "episode_goal": "Slide the blue cloth to the front of the counter.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27758219838142395, + 0.03447473421692848, + 0.07416722178459167, + 3.1316778659820557, + -0.06488900631666183, + -0.06773338466882706 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2751777172088623, + 0.033941175788640976, + 0.06546866148710251, + 3.123615026473999, + -0.03346867486834526, + -0.058874279260635376 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30115270614624023, + 0.018352285027503967, + 0.06402303278446198, + 3.1214728355407715, + -0.06562485545873642, + -0.08035294711589813 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244342803955078, + 0.007973470725119114, + 0.0684320256114006, + -3.141305685043335, + -0.10510911792516708, + -0.091485895216465 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 438, + 334, + 709, + 588 + ], + "scrub brush": [ + 79, + 341, + 190, + 563 + ], + "wooden table": [ + 5, + 183, + 858, + 989 + ], + "sponge": [ + 239, + 204, + 361, + 387 + ], + "metal bowl": [ + 175, + 225, + 400, + 417 + ] + } + } + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the blue cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33993417024612427, + 0.0029915187042206526, + 0.06570978462696075, + -3.1370084285736084, + -0.12287779897451401, + -0.08582962304353714 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the blue cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3485991656780243, + 0.004773409105837345, + 0.05035878345370293, + -3.123793363571167, + -0.09709063917398453, + -0.07210244238376617 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the blue cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 8 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35748037695884705, + 0.00443816976621747, + 0.04130785912275314, + -3.1257126331329346, + -0.10801589488983154, + -0.07057590782642365 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the blue cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 11 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36789512634277344, + -0.0011279238387942314, + 0.03367706760764122, + 3.139403820037842, + -0.12167812138795853, + -0.06845473498106003 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the blue cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 13 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3761681914329529, + -0.00892730988562107, + 0.024172170087695122, + 3.118708610534668, + -0.11424572765827179, + -0.08096013963222504 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the counter with the blue cloth visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the blue cloth to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 2 cm, keep gripper open; then move back 12 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38012605905532837, + -0.014367341995239258, + 0.01975850760936737, + 3.1148910522460938, + -0.11487764865159988, + -0.09994427114725113 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 1 cm, keep gripper open; then move back 11 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37393033504486084, + -0.018206367269158363, + 0.011475153267383575, + -3.12884521484375, + -0.09592089802026749, + -0.13477593660354614 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 1 cm, keep gripper open; then move back 9 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36820557713508606, + -0.015484373085200787, + 0.006604008376598358, + -3.099652051925659, + -0.08775532245635986, + -0.14302238821983337 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, keep gripper open; then move back 9 cm, move right 1 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601014316082001, + -0.015449498780071735, + 0.004227762576192617, + -3.103008985519409, + -0.0786931961774826, + -0.1444227248430252 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 10 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3381321132183075, + -0.013683022931218147, + 0.005046959966421127, + 3.131582498550415, + -0.06916633248329163, + -0.14263954758644104 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move up 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29718297719955444, + -0.009043166413903236, + 0.007444370537996292, + 3.0958445072174072, + -0.052805203944444656, + -0.11378557235002518 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25399789214134216, + -0.007105957251042128, + 0.00821424089372158, + 3.0998916625976562, + -0.03315605968236923, + -0.10084040462970734 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "scrub brush": [ + 78, + 343, + 186, + 564 + ], + "wooden table": [ + 5, + 221, + 858, + 990 + ], + "sponge": [ + 238, + 204, + 359, + 388 + ], + "purple cloth": [ + 326, + 516, + 637, + 788 + ], + "metal bowl": [ + 183, + 236, + 408, + 418 + ] + } + } + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2275768667459488, + -0.008239258080720901, + 0.009038850665092468, + 3.1024370193481445, + -0.03537990525364876, + -0.060252971947193146 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "scrub brush": [ + 75, + 340, + 182, + 565 + ], + "purple cloth": [ + 287, + 555, + 607, + 840 + ], + "metal bowl": [ + 181, + 232, + 359, + 416 + ], + "sponge": [ + 233, + 217, + 339, + 393 + ], + "wooden table": [ + 5, + 202, + 861, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21289139986038208, + -0.013566173613071442, + 0.0112192677333951, + 3.089270830154419, + -0.03898220136761665, + -0.031758446246385574 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. No grasping has occurred as per gripper evidence. The next action is to lower the end-effector slightly to make physical contact with the cloth surface to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21521806716918945, + -0.015781482681632042, + 0.012807020917534828, + 3.1096842288970947, + -0.03165090084075928, + -0.013864981010556221 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the counter, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a sliding motion. The next action is to continue pushing the cloth forward across the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22651880979537964, + -0.018456626683473587, + 0.023203294724225998, + 3.0878288745880127, + -0.028901290148496628, + -0.011283420957624912 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the counter, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a sliding motion. The next action is to continue pushing the cloth forward across the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24865075945854187, + -0.017116349190473557, + 0.04104720056056976, + 3.057835817337036, + -0.06351350992918015, + -0.018736952915787697 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the counter, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a sliding motion. The next action is to continue pushing the cloth forward across the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24738505482673645, + -0.018847521394491196, + 0.06534406542778015, + 3.056191921234131, + -0.1035028025507927, + -0.043753884732723236 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the counter, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a sliding motion. The next action is to continue pushing the cloth forward across the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.241712287068367, + -0.020986881107091904, + 0.08876171708106995, + 3.077923536300659, + -0.11532603204250336, + -0.089925616979599 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the counter, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a sliding motion. The next action is to continue pushing the cloth forward across the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2337885946035385, + -0.010694173164665699, + 0.10926634818315506, + 3.1061832904815674, + -0.1466435045003891, + -0.09465254843235016 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue cloth to the front of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth forward" + } + ], + "subtask_name": "slide cloth forward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the counter, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, consistent with a sliding motion. The next action is to continue pushing the cloth forward across the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004072_ecot.json b/cot/chunk-0004/episode_0004072_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6a839a3007ce29f76f2abb71e3dba7509949b3b2 --- /dev/null +++ b/cot/chunk-0004/episode_0004072_ecot.json @@ -0,0 +1,2730 @@ +{ + "task_name": "episode_0004072", + "episode_json": "json/chunk-0004/episode_0004072.json", + "video_path": "videos/chunk-0004/image_0/episode_0004072.mp4", + "instruction": "Take the tomato in the pot and put it on the left side of the blue spatula.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004072.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.9543918371200562, + "std": 0.30973902344703674, + "delta_total": 0.005246400833129883, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95439, std=0.30974, total_delta=0.00525). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 310, + 310, + 210, + 210, + 210, + 415, + 415, + 415, + 415, + 415, + 415, + 415, + 415, + 423, + 423, + 123, + 123, + 123, + 123, + 23, + 23, + 23, + 32, + 32, + 32, + 32, + 132, + 32 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 22 + ], + [ + 5, + 23, + 24 + ], + [ + 6, + 25, + 28 + ], + [ + 7, + 29, + 31 + ], + [ + 8, + 32, + 35 + ], + [ + 9, + 36, + 36 + ], + [ + 10, + 37, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach tomato in pot\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the tomato inside the pot while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact and secure tomato\", \"start\": 10, \"end\": 14, \"planning\": \"Establish firm contact with tomato and adjust grip to ensure stable hold before lifting.\"},\n {\"id\": 3, \"name\": \"lift tomato from pot\", \"start\": 15, \"end\": 22, \"planning\": \"Raise the tomato vertically out of the pot while maintaining gripper closure.\"},\n {\"id\": 4, \"name\": \"transport tomato leftward\", \"start\": 23, \"end\": 28, \"planning\": \"Move the held tomato horizontally toward the left side of the blue spatula.\"},\n {\"id\": 5, \"name\": \"position above target location\", \"start\": 29, \"end\": 31, \"planning\": \"Hover the tomato directly above the designated spot left of the spatula without releasing.\"},\n {\"id\": 6, \"name\": \"release tomato and retreat\", \"start\": 32, \"end\": 37, \"planning\": \"Open gripper to place tomato on surface, then lift and move away to complete task.\"}\n ],\n \"global_plan\": \"Approach and grasp the tomato in the pot, lift it out, transport it leftward to the blue spatula’s left side, position accurately, release, and retreat.\",\n \"notes\": \"Gripper evidence supports grasping during segments 1, 4; segment 7 shows no closing but images confirm tomato is still held — wording adjusted to avoid ‘grasp’ there. Final segment confirms release via gripper opening and motion retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach tomato in pot", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the tomato inside the pot while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact and secure tomato", + "start": 10, + "end": 14, + "planning": "Establish firm contact with tomato and adjust grip to ensure stable hold before lifting." + }, + { + "id": 3, + "name": "lift tomato from pot", + "start": 15, + "end": 22, + "planning": "Raise the tomato vertically out of the pot while maintaining gripper closure." + }, + { + "id": 4, + "name": "transport tomato leftward", + "start": 23, + "end": 28, + "planning": "Move the held tomato horizontally toward the left side of the blue spatula." + }, + { + "id": 5, + "name": "position above target location", + "start": 29, + "end": 31, + "planning": "Hover the tomato directly above the designated spot left of the spatula without releasing." + }, + { + "id": 6, + "name": "release tomato and retreat", + "start": 32, + "end": 37, + "planning": "Open gripper to place tomato on surface, then lift and move away to complete task." + } + ], + "global_plan": "Approach and grasp the tomato in the pot, lift it out, transport it leftward to the blue spatula’s left side, position accurately, release, and retreat.", + "notes": "Gripper evidence supports grasping during segments 1, 4; segment 7 shows no closing but images confirm tomato is still held — wording adjusted to avoid ‘grasp’ there. Final segment confirms release via gripper opening and motion retreat." + } + }, + "episode_goal": "Place the red tomato on the left side of the blue spatula.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393949568271637, + -0.026264101266860962, + 0.08624834567308426, + -3.0643844604492188, + -0.053956445306539536, + -0.035455115139484406 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the stove with the end-effector near the pot containing the red tomato. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the tomato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33518439531326294, + -0.02623445726931095, + 0.07540210336446762, + -3.0645782947540283, + -0.02007259614765644, + -0.03442250192165375 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the stove with the end-effector near the pot containing the red tomato. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the tomato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 4 cm, close gripper; then move forward 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31241244077682495, + -0.022172193974256516, + 0.08445741981267929, + -3.068101167678833, + -0.026747552677989006, + -0.036881204694509506 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the stove with the end-effector near the pot containing the red tomato. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the tomato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 5 cm, close gripper; then move forward 3 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28476226329803467, + -0.004724092315882444, + 0.10209175944328308, + -3.0669541358947754, + -0.09126340597867966, + 0.00442516291514039 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the stove with the end-effector near the pot containing the red tomato. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the tomato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 7 cm, close gripper; then move forward 4 cm, move left 2 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2607493996620178, + 0.011025365442037582, + 0.09922218322753906, + -3.058446168899536, + -0.11142831295728683, + 0.027070004492998123 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the pot containing the red tomato, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper toward the tomato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2539593577384949, + 0.031350381672382355, + 0.0705016553401947, + -3.0664498805999756, + -0.059472739696502686, + 0.06553107500076294 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 263, + 412, + 566, + 735 + ], + "red lid": [ + 309, + 472, + 434, + 653 + ] + } + } + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the pot containing the red tomato, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper toward the tomato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, close gripper; then move right 1 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.255967378616333, + 0.041369304060935974, + 0.03514958545565605, + -3.0655405521392822, + 0.011298991739749908, + 0.07408507913351059 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the pot containing the red tomato, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper toward the tomato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, close gripper; then move right 1 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26588916778564453, + 0.0454203225672245, + 0.02065221033990383, + -3.052386522293091, + 0.014178904704749584, + 0.08864247798919678 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the pot containing the red tomato, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper toward the tomato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, keep gripper closed; then move right 1 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27642586827278137, + 0.03799297288060188, + 0.015496902167797089, + -3.0550179481506348, + -0.0011322535574436188, + 0.07686301320791245 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the pot containing the red tomato, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper toward the tomato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, keep gripper closed; then move right 1 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27742478251457214, + 0.027834121137857437, + 0.016183778643608093, + -3.0682015419006348, + -0.0019431172404438257, + 0.049849431961774826 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "approach tomato in pot", + "subtask_reasoning": "The robot is positioned above the pot containing the red tomato, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper toward the tomato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper closed; then move right 1 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737933397293091, + 0.008568357676267624, + 0.03394900634884834, + -3.1114447116851807, + -0.015826353803277016, + 0.01689170114696026 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "make contact and secure tomato", + "subtask_reasoning": "The robot is positioned above the pot containing the red tomato, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper toward the tomato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28584960103034973, + 0.012253684923052788, + 0.08575962483882904, + -3.1412763595581055, + -0.09207618981599808, + 0.06592191010713577 + ], + "gripper_value": 0.1556580364704132 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 270, + 384, + 587, + 734 + ], + "black faucet": [ + 946, + 388, + 997, + 546 + ] + } + } + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "make contact and secure tomato", + "subtask_reasoning": "The robot is positioned above the pot containing the red tomato, with the gripper open and ready. No prior actions have been completed; this is the initial approach phase. The next action should be to lower the gripper toward the tomato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30516427755355835, + 0.024393798783421516, + 0.11235996335744858, + 3.135509490966797, + -0.11949650943279266, + 0.13075226545333862 + ], + "gripper_value": 0.06122923642396927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "make contact and secure tomato", + "subtask_reasoning": "The robot has approached the tomato in the pot and is now making contact with it. The gripper is closing, indicating an attempt to secure the tomato. The next action is to fully grasp and lift the tomato out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 4 cm, keep gripper open; then move back 2 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3155735731124878, + 0.024646159261465073, + 0.1012292206287384, + 3.1161227226257324, + -0.09211477637290955, + 0.15764343738555908 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "make contact and secure tomato", + "subtask_reasoning": "The robot has approached the tomato in the pot and is now making contact with it. The gripper is closing, indicating an attempt to secure the tomato. The next action is to fully grasp and lift the tomato out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2997342646121979, + 0.013209337368607521, + 0.08237072080373764, + 3.1296703815460205, + -0.04495583847165108, + 0.1634806990623474 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "make contact and secure tomato", + "subtask_reasoning": "The robot has approached the tomato in the pot and is now making contact with it. The gripper is closing, indicating an attempt to secure the tomato. The next action is to fully grasp and lift the tomato out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27507829666137695, + 0.001853796886280179, + 0.07690636068582535, + -3.1329307556152344, + -0.034245070070028305, + 0.16915063560009003 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "lift tomato from pot", + "subtask_reasoning": "The robot has approached the tomato in the pot and is now making contact with it. The gripper is closing, indicating an attempt to secure the tomato. The next action is to fully grasp and lift the tomato out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25929245352745056, + 0.0008964065928012133, + 0.07206300646066666, + -3.118896722793579, + -0.03123341128230095, + 0.17787186801433563 + ], + "gripper_value": 0.806471049785614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "lift tomato from pot", + "subtask_reasoning": "The robot has approached the tomato in the pot and is now making contact with it. The gripper is closing, indicating an attempt to secure the tomato. The next action is to fully grasp and lift the tomato out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25802281498908997, + 0.001640806789509952, + 0.06041838601231575, + -3.1101574897766113, + -0.010026795789599419, + 0.19044987857341766 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "lift tomato from pot", + "subtask_reasoning": "The robot has approached the tomato in the pot and is now making contact with it. The gripper is closing, indicating an attempt to secure the tomato. The next action is to fully grasp and lift the tomato out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 6 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2576766014099121, + 0.0015898554120212793, + 0.04772648587822914, + -3.103492259979248, + 0.022813986986875534, + 0.19766293466091156 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "lift tomato from pot", + "subtask_reasoning": "The robot has secured the tomato in the pot with its gripper, as indicated by the gripper value and segment-level evidence. The current situation involves lifting the tomato out of the pot. The next action is to lift the tomato vertically to clear the pot's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 10 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25604209303855896, + 0.0001979768421733752, + 0.03539011627435684, + -3.10332989692688, + 0.06016164273023605, + 0.21633897721767426 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "lift tomato from pot", + "subtask_reasoning": "The robot has secured the tomato in the pot with its gripper, as indicated by the gripper value and segment-level evidence. The current situation involves lifting the tomato out of the pot. The next action is to lift the tomato vertically to clear the pot's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt forward 10 degrees, close gripper; then move forward 13 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25265151262283325, + -0.003882173215970397, + 0.026416905224323273, + -3.1172118186950684, + 0.10303623974323273, + 0.24249081313610077 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "lift tomato from pot", + "subtask_reasoning": "The robot has secured the tomato in the pot with its gripper, as indicated by the gripper value and segment-level evidence. The current situation involves lifting the tomato out of the pot. The next action is to lift the tomato vertically to clear the pot's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 13 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25037381052970886, + -0.0019757302943617105, + 0.021882876753807068, + -3.1188955307006836, + 0.12740136682987213, + 0.2735103666782379 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "lift tomato from pot", + "subtask_reasoning": "The robot has secured the tomato in the pot with its gripper, as indicated by the gripper value and segment-level evidence. The current situation involves lifting the tomato out of the pot. The next action is to lift the tomato vertically to clear the pot's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 13 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2505336403846741, + 0.000516024068929255, + 0.021914167329669, + -3.1145646572113037, + 0.13426515460014343, + 0.2912570834159851 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "lift tomato from pot", + "subtask_reasoning": "The robot has secured the tomato in the pot with its gripper, as indicated by the gripper value and segment-level evidence. The current situation involves lifting the tomato out of the pot. The next action is to lift the tomato vertically to clear the pot's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 13 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25159090757369995, + 0.00845049787312746, + 0.02622349187731743, + -3.10707688331604, + 0.1479990929365158, + 0.3008207678794861 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "transport tomato leftward", + "subtask_reasoning": "The robot has secured the tomato in the pot with its gripper, as indicated by the gripper value and segment-level evidence. The current situation involves lifting the tomato out of the pot. The next action is to lift the tomato vertically to clear the pot's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move down 5 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534633278846741, + 0.015292998403310776, + 0.029899824410676956, + -3.113051652908325, + 0.1525459736585617, + 0.3107447922229767 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "transport tomato leftward", + "subtask_reasoning": "The robot has secured the tomato in the pot with its gripper, as indicated by the gripper value and segment-level evidence. The current situation involves lifting the tomato out of the pot. The next action is to lift the tomato vertically to clear the pot's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move down 5 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2671147286891937, + 0.018963392823934555, + 0.0543464832007885, + 3.135674476623535, + 0.0921468436717987, + 0.3005051016807556 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "transport tomato leftward", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it. The current subtask involves transporting the tomato leftward toward the blue spatula. The next action is to move the end-effector horizontally to the left while maintaining the grip on the tomato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move down 5 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2910197377204895, + 0.01779997907578945, + 0.0813523679971695, + 3.100177526473999, + 0.040437616407871246, + 0.2822943925857544 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "transport tomato leftward", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it. The current subtask involves transporting the tomato leftward toward the blue spatula. The next action is to move the end-effector horizontally to the left while maintaining the grip on the tomato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move down 5 cm, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31479766964912415, + 0.020692523568868637, + 0.10587216913700104, + 3.0876846313476562, + -0.03168492391705513, + 0.2915690243244171 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 269, + 400, + 573, + 738 + ], + "red lid": [ + 381, + 282, + 498, + 454 + ], + "blue knife": [ + 603, + 374, + 695, + 525 + ] + } + } + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "transport tomato leftward", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it. The current subtask involves transporting the tomato leftward toward the blue spatula. The next action is to move the end-effector horizontally to the left while maintaining the grip on the tomato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move forward 3 cm, move down 5 cm, open gripper; then move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3493734300136566, + 0.024599622935056686, + 0.09435039758682251, + 3.13118052482605, + -0.058981213718652725, + 0.29058241844177246 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 268, + 391, + 573, + 738 + ], + "black faucet": [ + 946, + 388, + 997, + 546 + ], + "blue knife": [ + 604, + 374, + 696, + 524 + ], + "red cup": [ + 404, + 215, + 518, + 389 + ] + } + } + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "transport tomato leftward", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it. The current subtask involves transporting the tomato leftward toward the blue spatula. The next action is to move the end-effector horizontally to the left while maintaining the grip on the tomato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move down 5 cm, open gripper; then move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3772386908531189, + 0.02895595319569111, + 0.07509339600801468, + -3.1091270446777344, + -0.08001229912042618, + 0.30237919092178345 + ], + "gripper_value": 0.4550158977508545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "position above target location", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it. The current subtask involves transporting the tomato leftward toward the blue spatula. The next action is to move the end-effector horizontally to the left while maintaining the grip on the tomato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, open gripper; then move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39427220821380615, + 0.03412342816591263, + 0.052815720438957214, + -3.081051826477051, + -0.08580071479082108, + 0.32859140634536743 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "position above target location", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it from its initial position. The current subtask involves positioning the tomato above the target location to the left of the blue spatula. The next action should be to move the tomato laterally towards the left side of the spatula while maintaining a safe height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, open gripper; then move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4069717526435852, + 0.03231547400355339, + 0.03324369341135025, + -3.0662484169006348, + -0.07458753138780594, + 0.3334079682826996 + ], + "gripper_value": 0.4550158977508545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "position above target location", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it from its initial position. The current subtask involves positioning the tomato above the target location to the left of the blue spatula. The next action should be to move the tomato laterally towards the left side of the spatula while maintaining a safe height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.40835726261138916, + 0.027050841599702835, + 0.02241910621523857, + -3.0752055644989014, + -0.055698443204164505, + 0.3309175372123718 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "release tomato and retreat", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it from its initial position. The current subtask involves positioning the tomato above the target location to the left of the blue spatula. The next action should be to move the tomato laterally towards the left side of the spatula while maintaining a safe height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4093655049800873, + 0.023432092741131783, + 0.022238200530409813, + -3.094447374343872, + -0.05477657914161682, + 0.31813642382621765 + ], + "gripper_value": 0.8544629216194153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "release tomato and retreat", + "subtask_reasoning": "The robot is holding the red tomato above the pot, having successfully lifted it from its initial position. The current subtask involves positioning the tomato above the target location to the left of the blue spatula. The next action should be to move the tomato laterally towards the left side of the spatula while maintaining a safe height." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.40666669607162476, + 0.021699341014027596, + 0.022344445809721947, + -3.099510908126831, + -0.03626645728945732, + 0.3047788441181183 + ], + "gripper_value": 1.0156210660934448 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "release tomato and retreat", + "subtask_reasoning": "The tomato has been successfully placed on the left side of the blue spatula, and the gripper is open, indicating release. The robot is now in a retreat phase, moving away from the target location to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 32, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.40017449855804443, + 0.0182040948420763, + 0.04190852865576744, + -3.1278111934661865, + -0.06976044178009033, + 0.2680307626724243 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "release tomato and retreat", + "subtask_reasoning": "The tomato has been successfully placed on the left side of the blue spatula, and the gripper is open, indicating release. The robot is now in a retreat phase, moving away from the target location to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.39481526613235474, + 0.016900191083550453, + 0.06349850445985794, + 3.139235019683838, + -0.11510918289422989, + 0.2191750407218933 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "release tomato and retreat", + "subtask_reasoning": "The tomato has been successfully placed on the left side of the blue spatula, and the gripper is open, indicating release. The robot is now in a retreat phase, moving away from the target location to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.38982897996902466, + 0.01693868078291416, + 0.058957308530807495, + -3.1365342140197754, + -0.0956655740737915, + 0.1934044063091278 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red tomato on the left side of the blue spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tomato in pot" + }, + { + "id": 2, + "subtask": "make contact and secure tomato" + }, + { + "id": 3, + "subtask": "lift tomato from pot" + }, + { + "id": 4, + "subtask": "transport tomato leftward" + }, + { + "id": 5, + "subtask": "position above target location" + }, + { + "id": 6, + "subtask": "release tomato and retreat" + } + ], + "subtask_name": "release tomato and retreat", + "subtask_reasoning": "The tomato has been successfully placed on the left side of the blue spatula, and the gripper is open, indicating release. The robot is now in a retreat phase, moving away from the target location to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004074_ecot.json b/cot/chunk-0004/episode_0004074_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..936b36e24c0df203523a20368787ef7995fc2529 --- /dev/null +++ b/cot/chunk-0004/episode_0004074_ecot.json @@ -0,0 +1,2224 @@ +{ + "task_name": "episode_0004074", + "episode_json": "json/chunk-0004/episode_0004074.json", + "video_path": "videos/chunk-0004/image_0/episode_0004074.mp4", + "instruction": "Take clothes out of laundry machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004074.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9376193284988403, + "std": 0.4282973110675812, + "delta_total": -0.21161752939224243, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93762, std=0.42830, total_delta=-0.21162). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 114, + 14, + 114, + 114, + 30 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 25 + ], + [ + 3, + 26, + 26 + ], + [ + 4, + 27, + 27 + ], + [ + 5, + 28, + 29 + ], + [ + 6, + 30, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach laundry machine interior\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the open laundry machine door while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"grasp clothing item inside drum\", \"start\": 6, \"end\": 13, \"planning\": \"Close gripper around a piece of clothing visible inside the drum, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"extract clothing from machine\", \"start\": 14, \"end\": 25, \"planning\": \"Pull the grasped clothing item out of the laundry machine and move it toward the basket.\"},\n {\"id\": 4, \"name\": \"release clothing into basket\", \"start\": 26, \"end\": 27, \"planning\": \"Open gripper to drop the clothing item into the basket, with no active grasping during this phase.\"},\n {\"id\": 5, \"name\": \"retract and reset gripper\", \"start\": 28, \"end\": 29, \"planning\": \"Move end-effector slightly away from basket and begin reopening gripper for next cycle.\"},\n {\"id\": 6, \"name\": \"return to ready position\", \"start\": 30, \"end\": 30, \"planning\": \"Final retraction and orientation adjustment to prepare for subsequent actions or task completion.\"}\n ],\n \"global_plan\": \"Extract one clothing item from the laundry machine by approaching, grasping, extracting, releasing into basket, then resetting gripper and position.\",\n \"notes\": \"Gripper closure evidence in Segment 1 (frames 0-13) supports grasp wording only from frame 6 onward where motion and gripper delta align. Segments 3, 4, and 6 show no meaningful closing — described as release and reset phases without grasp verbs. Full frame coverage maintained with contiguous segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach laundry machine interior", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the open laundry machine door while maintaining open gripper state." + }, + { + "id": 2, + "name": "grasp clothing item inside drum", + "start": 6, + "end": 13, + "planning": "Close gripper around a piece of clothing visible inside the drum, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "extract clothing from machine", + "start": 14, + "end": 25, + "planning": "Pull the grasped clothing item out of the laundry machine and move it toward the basket." + }, + { + "id": 4, + "name": "release clothing into basket", + "start": 26, + "end": 27, + "planning": "Open gripper to drop the clothing item into the basket, with no active grasping during this phase." + }, + { + "id": 5, + "name": "retract and reset gripper", + "start": 28, + "end": 29, + "planning": "Move end-effector slightly away from basket and begin reopening gripper for next cycle." + }, + { + "id": 6, + "name": "return to ready position", + "start": 30, + "end": 30, + "planning": "Final retraction and orientation adjustment to prepare for subsequent actions or task completion." + } + ], + "global_plan": "Extract one clothing item from the laundry machine by approaching, grasping, extracting, releasing into basket, then resetting gripper and position.", + "notes": "Gripper closure evidence in Segment 1 (frames 0-13) supports grasp wording only from frame 6 onward where motion and gripper delta align. Segments 3, 4, and 6 show no meaningful closing — described as release and reset phases without grasp verbs. Full frame coverage maintained with contiguous segments." + } + }, + "episode_goal": "Remove clothes from the laundry machine and place them into the basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24939604103565216, + 0.047892045229673386, + 0.08780047297477722, + -3.0944035053253174, + 0.10039525479078293, + 0.2505347728729248 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The subtask involves moving the arm into the machine interior to prepare for extraction. Since no grasping has occurred yet, the next action is to advance the end-effector toward the visible clothing inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24579346179962158, + 0.04780849814414978, + 0.08228189498186111, + -3.0878000259399414, + 0.12160053849220276, + 0.24214306473731995 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The subtask involves moving the arm into the machine interior to prepare for extraction. Since no grasping has occurred yet, the next action is to advance the end-effector toward the visible clothing inside the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move left 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24747180938720703, + 0.05523595213890076, + 0.07399727404117584, + -3.0355136394500732, + 0.0815337672829628, + 0.12228383868932724 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The basket containing clothes is visible below. The next action is to move the gripper closer to the interior of the laundry machine to prepare for extracting a clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 1 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25708553194999695, + 0.05814148485660553, + 0.04385539889335632, + -3.0411951541900635, + 0.020251600071787834, + 0.04301287233829498 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The basket containing clothes is visible below. The next action is to move the gripper closer to the interior of the laundry machine to prepare for extracting a clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 1 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26825305819511414, + 0.06693623214960098, + 0.042478010058403015, + -2.986517906188965, + -0.03497685119509697, + -0.02568170055747032 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The basket containing clothes is visible below. The next action is to move the gripper closer to the interior of the laundry machine to prepare for extracting a clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper open; then move forward 8 cm, move left 2 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2806079089641571, + 0.06423821300268173, + 0.039135854691267014, + -2.932147979736328, + -0.07032273709774017, + -0.07239104062318802 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "approach laundry machine interior", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The basket containing clothes is visible below. The next action is to move the gripper closer to the interior of the laundry machine to prepare for extracting a clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 8 cm, move left 2 cm, tilt left 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29000553488731384, + 0.05867484584450722, + 0.04461195692420006, + -2.9030137062072754, + -0.0931096225976944, + -0.10879731923341751 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 39, + 524, + 442, + 882 + ] + } + } + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "grasp clothing item inside drum", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The basket containing clothes is visible below. The next action is to move the gripper closer to the interior of the laundry machine to prepare for extracting a clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, tilt left 10 degrees, close gripper; then move back 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30664753913879395, + 0.05610120669007301, + 0.05592474713921547, + -2.8800203800201416, + -0.14470873773097992, + -0.13519644737243652 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "grasp clothing item inside drum", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The basket containing clothes is visible below. The next action is to move the gripper closer to the interior of the laundry machine to prepare for extracting a clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, close gripper; then move back 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3263387382030487, + 0.05347379297018051, + 0.07429444044828415, + -2.8500304222106934, + -0.19295737147331238, + -0.15495425462722778 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cloth": [ + 257, + 206, + 416, + 404 + ], + "laundry basket": [ + 38, + 526, + 442, + 881 + ] + } + } + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "grasp clothing item inside drum", + "subtask_reasoning": "The robot is positioned near the open laundry machine with the gripper open and no clothes grasped. The basket containing clothes is visible below. The next action is to move the gripper closer to the interior of the laundry machine to prepare for extracting a clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 7 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3376462161540985, + 0.05983925610780716, + 0.067392997443676, + -2.843188762664795, + -0.1878560334444046, + -0.154203400015831 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "grasp clothing item inside drum", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 10 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35177192091941833, + 0.06611300259828568, + 0.0560813806951046, + -2.8489420413970947, + -0.17190015316009521, + -0.12961360812187195 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "grasp clothing item inside drum", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 13 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608108162879944, + 0.06858446449041367, + 0.04442810267210007, + -2.8100109100341797, + -0.13115131855010986, + -0.1336521953344345 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "grasp clothing item inside drum", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 16 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3650674521923065, + 0.07046116143465042, + 0.0407620333135128, + -2.7924227714538574, + -0.10972940921783447, + -0.13437993824481964 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "grasp clothing item inside drum", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 17 cm, move right 2 cm, move down 3 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36562615633010864, + 0.07312304526567459, + 0.04097198694944382, + -2.772275924682617, + -0.07865322381258011, + -0.11568870395421982 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "grasp clothing item inside drum", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 17 cm, move right 1 cm, move down 6 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36570510268211365, + 0.07546376436948776, + 0.04269111901521683, + -2.74059796333313, + -0.08291970193386078, + -0.09279492497444153 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 1 cm, move down 7 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3568669855594635, + 0.0759526789188385, + 0.04085224121809006, + -2.7131378650665283, + -0.0542428232729435, + -0.05510928854346275 + ], + "gripper_value": 0.16866940259933472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 1 cm, move down 9 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3388690948486328, + 0.0770522803068161, + 0.048698339611291885, + -2.7065653800964355, + -0.04047125577926636, + 0.00026991410413756967 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 1 cm, move down 10 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3204279839992523, + 0.07481600344181061, + 0.0651487335562706, + -2.7376911640167236, + -0.0546313114464283, + 0.05948914960026741 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, move down 11 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2964218556880951, + 0.06861181557178497, + 0.07442333549261093, + -2.8001279830932617, + -0.04591849073767662, + 0.1533663123846054 + ], + "gripper_value": 0.05592256039381027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has approached the laundry machine interior and positioned the gripper near a black clothing item. The gripper is currently open and in contact with the fabric, preparing to close. The next action is to close the gripper to securely grasp the clothing item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move down 12 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26255539059638977, + 0.055405501276254654, + 0.07027388364076614, + -2.9316461086273193, + 0.0014763202052563429, + 0.22963961958885193 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has successfully grasped a white clothing item inside the laundry machine drum. The gripper is closed and holding the item, with the arm positioned to begin extraction. The next action is to pull the clothing item out of the machine toward the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 12 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23331674933433533, + 0.04732196778059006, + 0.053449586033821106, + -2.99996280670166, + 0.04779088497161865, + 0.23125861585140228 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has successfully grasped a white clothing item inside the laundry machine drum. The gripper is closed and holding the item, with the arm positioned to begin extraction. The next action is to pull the clothing item out of the machine toward the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 10 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20385494828224182, + 0.04938706010580063, + 0.03515615314245224, + -3.027592658996582, + 0.012922152876853943, + 0.2749045789241791 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 37, + 519, + 448, + 883 + ], + "white cloth": [ + 117, + 386, + 506, + 756 + ] + } + } + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has successfully grasped a white clothing item inside the laundry machine drum. The gripper is closed and holding the item, with the arm positioned to begin extraction. The next action is to pull the clothing item out of the machine toward the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 8 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.19996055960655212, + 0.05432673543691635, + 0.015661565586924553, + -3.087930917739868, + 0.016984768211841583, + 0.31164634227752686 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has successfully grasped a white clothing item inside the laundry machine drum. The gripper is closed and holding the item, with the arm positioned to begin extraction. The next action is to pull the clothing item out of the machine toward the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.1986040323972702, + 0.061301250010728836, + -0.012351945973932743, + -3.1309947967529297, + 0.016664618626236916, + 0.3038737177848816 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 36, + 501, + 466, + 882 + ], + "white cloth": [ + 110, + 489, + 465, + 852 + ] + } + } + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has successfully grasped a white clothing item inside the laundry machine drum. The gripper is closed and holding the item, with the arm positioned to begin extraction. The next action is to pull the clothing item out of the machine toward the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.20368747413158417, + 0.06742845475673676, + -0.02860450930893421, + -3.1381120681762695, + -0.01213005743920803, + 0.2707107663154602 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has successfully grasped a white clothing item inside the laundry machine drum. The gripper is closed and holding the item, with the arm positioned to begin extraction. The next action is to pull the clothing item out of the machine toward the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.20311518013477325, + 0.06900183856487274, + -0.0444813147187233, + -3.1364383697509766, + 0.00027408500318415463, + 0.2649837136268616 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "extract clothing from machine", + "subtask_reasoning": "The robot has successfully grasped a white clothing item inside the laundry machine drum. The gripper is closed and holding the item, with the arm positioned to begin extraction. The next action is to pull the clothing item out of the machine toward the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.20711715519428253, + 0.06755774468183517, + -0.04820911958813667, + 3.133066177368164, + -0.023449018597602844, + 0.2849782407283783 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "release clothing into basket", + "subtask_reasoning": "The robot arm is positioned over the laundry basket with the clothing item held in the gripper. The gripper is currently closed, maintaining contact with the fabric. The next action is to open the gripper to release the clothing into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.20460939407348633, + 0.06418351083993912, + -0.05155017226934433, + -3.1247127056121826, + 0.0029604865703731775, + 0.2780548632144928 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "release clothing into basket", + "subtask_reasoning": "The robot arm is positioned over the laundry basket with the clothing item held in the gripper. The gripper is currently closed, maintaining contact with the fabric. The next action is to open the gripper to release the clothing into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.20064477622509003, + 0.06250013411045074, + -0.04062667861580849, + 3.1352853775024414, + 0.029125813394784927, + 0.3098286986351013 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "retract and reset gripper", + "subtask_reasoning": "The robot has successfully placed the clothing item into the basket and is currently positioned above it with the gripper open. The current subtask involves retracting the arm and resetting the gripper to prepare for the next cycle. The next action is to move the arm away from the basket and return to a neutral or starting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.19946922361850739, + 0.0646384209394455, + -0.02995981089770794, + 3.131009578704834, + 0.02638697437942028, + 0.3604351878166199 + ], + "gripper_value": 0.48038846254348755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "retract and reset gripper", + "subtask_reasoning": "The robot has successfully placed the clothing item into the basket and is currently positioned above it with the gripper open. The current subtask involves retracting the arm and resetting the gripper to prepare for the next cycle. The next action is to move the arm away from the basket and return to a neutral or starting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.19669780135154724, + 0.0655815526843071, + -0.015833785757422447, + -3.111842632293701, + 0.04136904701590538, + 0.39782780408859253 + ], + "gripper_value": 0.7797733545303345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove clothes from the laundry machine and place them into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine interior" + }, + { + "id": 2, + "subtask": "grasp clothing item inside drum" + }, + { + "id": 3, + "subtask": "extract clothing from machine" + }, + { + "id": 4, + "subtask": "release clothing into basket" + }, + { + "id": 5, + "subtask": "retract and reset gripper" + }, + { + "id": 6, + "subtask": "return to ready position" + } + ], + "subtask_name": "return to ready position", + "subtask_reasoning": "The robot arm is positioned above the laundry basket with the gripper open, having just released a clothing item. The current subtask involves returning to a ready position, likely by moving away from the basket and preparing for the next cycle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004075_ecot.json b/cot/chunk-0004/episode_0004075_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..933b1d370a65cbea20dcccd0a6446dd31dde3aaa --- /dev/null +++ b/cot/chunk-0004/episode_0004075_ecot.json @@ -0,0 +1,2827 @@ +{ + "task_name": "episode_0004075", + "episode_json": "json/chunk-0004/episode_0004075.json", + "video_path": "videos/chunk-0004/image_0/episode_0004075.mp4", + "instruction": "Move the white thing to the upper right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004075.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.863224983215332, + "std": 0.20904584228992462, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.86322, std=0.20905, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 109, + 109, + 109, + 112, + 112, + 112, + 112, + 112, + 112, + 12, + 12, + 312, + 312, + 12, + 12, + 312, + 312, + 12, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 3 + ], + [ + 3, + 4, + 8 + ], + [ + 4, + 9, + 11 + ], + [ + 5, + 12, + 17 + ], + [ + 6, + 18, + 19 + ], + [ + 7, + 20, + 21 + ], + [ + 8, + 22, + 23 + ], + [ + 9, + 24, + 25 + ], + [ + 10, + 26, + 26 + ], + [ + 11, + 27, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach object\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end effector toward the white object on the lower right burner without grasping.\"},\n {\"id\": 2, \"name\": \"grasp object\", \"start\": 9, \"end\": 17, \"planning\": \"Close the gripper to securely grasp the white object, confirmed by meaningful gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 18, \"end\": 26, \"planning\": \"Lift the grasped object and begin moving it toward the upper right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"align over target\", \"start\": 27, \"end\": 35, \"planning\": \"Position the held object directly above the upper right burner in preparation for placement.\"},\n {\"id\": 5, \"name\": \"release object\", \"start\": 36, \"end\": 41, \"planning\": \"Open the gripper to release the white object onto the upper right burner and retreat slightly.\"}\n ],\n \"global_plan\": \"Grasp the white object from the lower right burner, lift it, move it to the upper right burner, and release it there.\",\n \"notes\": \"Subtasks are aligned with observed gripper behavior: no grasp before frame 9, confirmed grasp during frames 9–17, sustained hold through frame 35, and release by frame 41. Frame ranges are contiguous and cover all 42 frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach object", + "start": 0, + "end": 8, + "planning": "Move the end effector toward the white object on the lower right burner without grasping." + }, + { + "id": 2, + "name": "grasp object", + "start": 9, + "end": 17, + "planning": "Close the gripper to securely grasp the white object, confirmed by meaningful gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 18, + "end": 26, + "planning": "Lift the grasped object and begin moving it toward the upper right burner while maintaining grip." + }, + { + "id": 4, + "name": "align over target", + "start": 27, + "end": 35, + "planning": "Position the held object directly above the upper right burner in preparation for placement." + }, + { + "id": 5, + "name": "release object", + "start": 36, + "end": 41, + "planning": "Open the gripper to release the white object onto the upper right burner and retreat slightly." + } + ], + "global_plan": "Grasp the white object from the lower right burner, lift it, move it to the upper right burner, and release it there.", + "notes": "Subtasks are aligned with observed gripper behavior: no grasp before frame 9, confirmed grasp during frames 9–17, sustained hold through frame 35, and release by frame 41. Frame ranges are contiguous and cover all 42 frames." + } + }, + "episode_goal": "Move the white thing to the upper right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35149797797203064, + -0.02341960370540619, + 0.004365681670606136, + 3.137866497039795, + -0.03999198228120804, + -0.08807824552059174 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and hovering near the white object on the lower right burner. No movement or grasping has occurred yet. The next action should be to lower the gripper toward the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34563228487968445, + -0.023041170090436935, + -0.00786309689283371, + 3.1369571685791016, + -0.0016460631741210818, + -0.08652539551258087 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and hovering near the white object on the lower right burner. No movement or grasping has occurred yet. The next action should be to lower the gripper toward the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, tilt back 10 degrees, close gripper; then move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.344689279794693, + -0.019746743142604828, + -0.025160180404782295, + -3.13608980178833, + 0.013854369521141052, + -0.07113903015851974 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 233, + 207, + 408, + 389 + ] + } + } + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and hovering near the white object on the lower right burner. No movement or grasping has occurred yet. The next action should be to lower the gripper toward the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34905117750167847, + -0.01702798530459404, + -0.03341469541192055, + -3.1306257247924805, + -0.004492354579269886, + -0.06908779591321945 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and hovering near the white object on the lower right burner. No movement or grasping has occurred yet. The next action should be to lower the gripper toward the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 3 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571665585041046, + -0.020442701876163483, + -0.03259594738483429, + 3.120105504989624, + -0.057097792625427246, + -0.051364414393901825 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.366741418838501, + -0.024163680151104927, + -0.03541865572333336, + 3.0721614360809326, + -0.10057859867811203, + -0.04862070083618164 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37403604388237, + -0.01972942240536213, + -0.02932869829237461, + 3.089716911315918, + -0.10947790741920471, + -0.06403499841690063 + ], + "gripper_value": 0.7960459589958191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37692227959632874, + -0.018843039870262146, + -0.025681685656309128, + 3.097118377685547, + -0.1488049328327179, + -0.08691152930259705 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38440969586372375, + -0.015848636627197266, + -0.010333351790904999, + 3.113459348678589, + -0.2080426961183548, + -0.10106746852397919 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3875928223133087, + -0.01747315190732479, + -0.0044742850586771965, + 3.1076200008392334, + -0.21184518933296204, + -0.10222379863262177 + ], + "gripper_value": 0.2372342199087143 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 233, + 207, + 408, + 387 + ], + "sink": [ + 685, + 465, + 994, + 965 + ] + } + } + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3746347427368164, + -0.0170840285718441, + -0.008668276481330395, + 3.132608413696289, + -0.13801734149456024, + -0.12235105782747269 + ], + "gripper_value": 0.13759112358093262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3671189546585083, + -0.01889866404235363, + -0.01700444333255291, + 3.1121389865875244, + -0.13777072727680206, + -0.09389249980449677 + ], + "gripper_value": 0.3149794638156891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36927974224090576, + -0.017131619155406952, + -0.018029911443591118, + 3.12050724029541, + -0.15453189611434937, + -0.06614950299263 + ], + "gripper_value": 0.6430501937866211 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot arm is positioned above the stove, with the gripper open and approaching the white object on the lower right burner. No contact has been made yet, and the gripper remains fully open. The next action should be to lower the gripper slightly to make contact with the white object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.373869389295578, + -0.016615470871329308, + -0.017918860539793968, + 3.1026978492736816, + -0.15609152615070343, + -0.03253115341067314 + ], + "gripper_value": 0.9367310404777527 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37853458523750305, + -0.014480652287602425, + -0.018743019551038742, + 3.106466054916382, + -0.13760441541671753, + -0.03215550258755684 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3799673020839691, + -0.012363853864371777, + -0.01848352514207363, + 3.125401258468628, + -0.15615838766098022, + 0.000676599913276732 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791876435279846, + -0.009890574030578136, + -0.0016740502323955297, + 3.1316893100738525, + -0.19303084909915924, + 0.025502502918243408 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3746805489063263, + -0.008319851011037827, + 0.025296440348029137, + 3.132952928543091, + -0.22249498963356018, + 0.054552916437387466 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 232, + 207, + 407, + 388 + ], + "sink": [ + 685, + 466, + 994, + 964 + ] + } + } + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "grasp object", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.367616206407547, + -0.006729763001203537, + 0.03046281263232231, + -3.136444330215454, + -0.21083100140094757, + 0.145075261592865 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691283166408539, + -0.006164181046187878, + 0.015210245735943317, + -3.1397511959075928, + -0.13384103775024414, + 0.3626836836338043 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, close gripper; then move forward 5 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3698824346065521, + -0.00875929743051529, + -0.008973142132163048, + 3.1205761432647705, + -0.05192917212843895, + 0.5218795537948608 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 7 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37530919909477234, + -0.005494721233844757, + -0.022486435249447823, + 3.08961820602417, + -0.07987736910581589, + 0.6165024042129517 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the white object on the lower right burner and is now in contact with it. The gripper is closing around the object, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate counterclockwise 20 degrees, close gripper; then move forward 9 cm, move right 4 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767641484737396, + 0.006932286079972982, + -0.035481274127960205, + -3.1402907371520996, + -0.09169816225767136, + 0.6696532368659973 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, rotate counterclockwise 20 degrees, close gripper; then move forward 11 cm, move right 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3830379843711853, + 0.016090402379631996, + -0.033755600452423096, + -3.1312410831451416, + -0.12329758703708649, + 0.7004671096801758 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 12 cm, move right 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3843262791633606, + 0.02210906893014908, + -0.04390556737780571, + 3.1411404609680176, + -0.11221782863140106, + 0.735355019569397 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 13 cm, move right 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.384645015001297, + 0.020145198330283165, + -0.04464837536215782, + 3.1279709339141846, + -0.10108452290296555, + 0.707439124584198 + ], + "gripper_value": 0.8862238526344299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 12 cm, move right 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3818386495113373, + 0.01715937815606594, + -0.04363080859184265, + -3.135507822036743, + -0.07339547574520111, + 0.5471842288970947 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.38803890347480774, + 0.008182089775800705, + -0.0269713643938303, + 3.1143999099731445, + -0.15433268249034882, + 0.3260340094566345 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4066120386123657, + -0.010090858675539494, + -0.01470233779400587, + 3.038008451461792, + -0.2891562581062317, + 0.10164061188697815 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move down 3 cm, tilt back 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.43588852882385254, + -0.026675594970583916, + -0.011305468156933784, + 3.024868965148926, + -0.3726677894592285, + 0.008705921471118927 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 5 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.45461350679397583, + -0.030924737453460693, + -0.02152280882000923, + 3.037731647491455, + -0.39629095792770386, + 0.0002847182913683355 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 685, + 466, + 994, + 963 + ], + "metal pot": [ + 231, + 206, + 408, + 390 + ] + } + } + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot has grasped the white object on the lower right burner and is currently lifting it. The gripper is closed, and the object is being repositioned upward. The next action is to continue moving the object toward the upper right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 8 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.47604066133499146, + -0.02804563194513321, + -0.023316696286201477, + 3.0683887004852295, + -0.4206136167049408, + -0.00043539577745832503 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot is currently holding the white object and is positioned over the upper right burner. The gripper remains closed, indicating the object is securely held. The next action is to release the object onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 12 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.497226744890213, + -0.023816481232643127, + -0.025543423369526863, + 3.0980207920074463, + -0.43474432826042175, + 0.00402571028098464 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot is currently holding the white object and is positioned over the upper right burner. The gripper remains closed, indicating the object is securely held. The next action is to release the object onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 12 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.5109779238700867, + -0.019182121381163597, + -0.024203035980463028, + 3.1084144115448, + -0.45601770281791687, + 0.04291919618844986 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot is currently holding the white object and is positioned over the upper right burner. The gripper remains closed, indicating the object is securely held. The next action is to release the object onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 12 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.5140395164489746, + -0.01412961259484291, + -0.028042970225214958, + 3.0783488750457764, + -0.4472002685070038, + 0.08915495127439499 + ], + "gripper_value": 0.8853598833084106 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot is currently holding the white object and is positioned over the upper right burner. The gripper remains closed, indicating the object is securely held. The next action is to release the object onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 12 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.5105839371681213, + -0.00992597732692957, + -0.03167972341179848, + 3.0796024799346924, + -0.42851656675338745, + 0.11171317100524902 + ], + "gripper_value": 0.9190354347229004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "align over target", + "subtask_reasoning": "The robot is currently holding the white object and is positioned over the upper right burner. The gripper remains closed, indicating the object is securely held. The next action is to release the object onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 12 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.49739736318588257, + -0.008132950402796268, + -0.0408656969666481, + 3.0789456367492676, + -0.3866841793060303, + 0.11902348697185516 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "release object", + "subtask_reasoning": "The robot is currently holding the white object and is positioned over the upper right burner. The gripper remains closed, indicating the object is securely held. The next action is to release the object onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.49049142003059387, + -0.009841999970376492, + -0.03468090668320656, + 3.0538885593414307, + -0.4179108142852783, + 0.13282382488250732 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "release object", + "subtask_reasoning": "The robot is currently holding the white object and is positioned over the upper right burner. The gripper remains closed, indicating the object is securely held. The next action is to release the object onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.48070845007896423, + -0.019019505009055138, + -0.011084525845944881, + 3.021636724472046, + -0.44796040654182434, + 0.1268281638622284 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "release object", + "subtask_reasoning": "The white object is already positioned on the upper right burner, and the gripper is open (value ~1.0), indicating release has occurred. No further action is needed for this subtask as the object is successfully placed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.45172688364982605, + -0.022292330861091614, + 0.008112268522381783, + 3.0453999042510986, + -0.4491729140281677, + 0.0928981825709343 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 685, + 467, + 994, + 964 + ], + "blue spatula": [ + 426, + 229, + 554, + 404 + ], + "metal pot": [ + 231, + 207, + 408, + 389 + ], + "oven door": [ + 182, + 614, + 543, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "release object", + "subtask_reasoning": "The white object is already positioned on the upper right burner, and the gripper is open (value ~1.0), indicating release has occurred. No further action is needed for this subtask as the object is successfully placed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.41284114122390747, + -0.02281942404806614, + 0.02435225434601307, + 3.1044399738311768, + -0.3666554391384125, + 0.019409649074077606 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "release object", + "subtask_reasoning": "The white object is already positioned on the upper right burner, and the gripper is open (value ~1.0), indicating release has occurred. No further action is needed for this subtask as the object is successfully placed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.37680113315582275, + -0.019504794850945473, + 0.0292245801538229, + 3.121023416519165, + -0.31844213604927063, + 0.006674024276435375 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white thing to the upper right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp object" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "align over target" + }, + { + "id": 5, + "subtask": "release object" + } + ], + "subtask_name": "release object", + "subtask_reasoning": "The white object is already positioned on the upper right burner, and the gripper is open (value ~1.0), indicating release has occurred. No further action is needed for this subtask as the object is successfully placed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004077_ecot.json b/cot/chunk-0004/episode_0004077_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9550db9ce34a0069be40039d47e8c4993fab2d4f --- /dev/null +++ b/cot/chunk-0004/episode_0004077_ecot.json @@ -0,0 +1,886 @@ +{ + "task_name": "episode_0004077", + "episode_json": "json/chunk-0004/episode_0004077.json", + "video_path": "videos/chunk-0004/image_0/episode_0004077.mp4", + "instruction": "End effector reaching stuffedhippo.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004077.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach stuffedhippo\", \"start\": 0, \"end\": 8, \"planning\": \"Move end effector from initial position toward the stuffed hippo on the stove, adjusting orientation for contact.\"},\n {\"id\": 2, \"name\": \"make contact with stuffedhippo\", \"start\": 9, \"end\": 14, \"planning\": \"Establish and maintain gentle contact with the stuffed hippo while fine-tuning position and orientation without grasping.\"}\n ],\n \"global_plan\": \"Reach toward the stuffed hippo on the stove and make contact without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~0.999 (fully open) across all frames; no grasp or lift occurs. Motion is purely positional/orientational approach and contact.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach stuffedhippo", + "start": 0, + "end": 8, + "planning": "Move end effector from initial position toward the stuffed hippo on the stove, adjusting orientation for contact." + }, + { + "id": 2, + "name": "make contact with stuffedhippo", + "start": 9, + "end": 14, + "planning": "Establish and maintain gentle contact with the stuffed hippo while fine-tuning position and orientation without grasping." + } + ], + "global_plan": "Reach toward the stuffed hippo on the stove and make contact without grasping, as gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~0.999 (fully open) across all frames; no grasp or lift occurs. Motion is purely positional/orientational approach and contact." + } + }, + "episode_goal": "Move the end effector to the blue stuffed hippo on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659924626350403, + 0.04163556545972824, + 0.1948280781507492, + 3.045499086380005, + -0.03156072646379471, + -0.08393756300210953 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move down 12 cm, tilt back 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.264474481344223, + 0.03939446806907654, + 0.18671683967113495, + 3.0384726524353027, + -0.012582063674926758, + -0.07162876427173615 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move down 11 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.262626975774765, + 0.017157554626464844, + 0.16021443903446198, + 3.043940544128418, + -0.010246935300529003, + -0.03323878347873688 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 9 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25978854298591614, + -0.011415928602218628, + 0.14959421753883362, + 3.052969455718994, + -0.05660860612988472, + -0.008550294674932957 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 8 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2557879090309143, + -0.02509177289903164, + 0.13496746122837067, + 3.055083990097046, + -0.07070325314998627, + 0.02099437266588211 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.250713586807251, + -0.03828217089176178, + 0.11977877467870712, + 3.051759719848633, + -0.1160319522023201, + 0.03189906105399132 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24618418514728546, + -0.051213573664426804, + 0.09786602109670639, + 3.0386064052581787, + -0.163751021027565, + 0.04387727379798889 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 13, + 316, + 245, + 531 + ], + "blue stuffed toy": [ + 502, + 481, + 656, + 676 + ], + "red kettle": [ + 217, + 366, + 344, + 522 + ], + "green pan": [ + 380, + 252, + 563, + 421 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24478107690811157, + -0.061061449348926544, + 0.0876636877655983, + 3.0332038402557373, + -0.20544660091400146, + 0.05886596813797951 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 13, + 316, + 245, + 531 + ], + "blue stuffed toy": [ + 502, + 478, + 656, + 676 + ], + "red kettle": [ + 217, + 367, + 344, + 523 + ], + "green pan": [ + 383, + 221, + 507, + 383 + ], + "faucet": [ + 108, + 4, + 244, + 175 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24707621335983276, + -0.06612031906843185, + 0.08154713362455368, + 3.0022809505462646, + -0.24875135719776154, + 0.04630018025636673 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "approach stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25338730216026306, + -0.06707733124494553, + 0.07208359986543655, + 2.9874038696289062, + -0.2989692687988281, + 0.022314947098493576 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "make contact with stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25768452882766724, + -0.06354305148124695, + 0.0701916366815567, + 2.9872939586639404, + -0.3256777226924896, + 0.014382870867848396 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "make contact with stuffedhippo", + "subtask_reasoning": "The end effector is positioned above the stove, with the blue stuffed hippo visible on the burner below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the hippo to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598646879196167, + -0.05950751155614853, + 0.061507657170295715, + 2.993793487548828, + -0.35833287239074707, + 0.0006467564380727708 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "make contact with stuffedhippo", + "subtask_reasoning": "The end effector is positioned directly above the blue stuffed hippo on the stove, with the gripper remaining fully open. The approach phase is complete, and the robot is now executing the final contact maneuver. The next action is to lower the end effector slightly to establish physical contact with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25919800996780396, + -0.05512211471796036, + 0.0565272755920887, + 3.017143726348877, + -0.38763195276260376, + -0.002417984651401639 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "make contact with stuffedhippo", + "subtask_reasoning": "The end effector is positioned directly above the blue stuffed hippo on the stove, with the gripper remaining fully open. The approach phase is complete, and the robot is now executing the final contact maneuver. The next action is to lower the end effector slightly to establish physical contact with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25677546858787537, + -0.052007801830768585, + 0.0631844699382782, + 3.0359013080596924, + -0.40968284010887146, + 0.003324909135699272 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "make contact with stuffedhippo", + "subtask_reasoning": "The end effector is positioned directly above the blue stuffed hippo on the stove, with the gripper remaining fully open. The approach phase is complete, and the robot is now executing the final contact maneuver. The next action is to lower the end effector slightly to establish physical contact with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559404671192169, + -0.05057322978973389, + 0.0655544102191925, + 3.06235933303833, + -0.45100265741348267, + 0.005275953561067581 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the blue stuffed hippo on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffedhippo" + }, + { + "id": 2, + "subtask": "make contact with stuffedhippo" + } + ], + "subtask_name": "make contact with stuffedhippo", + "subtask_reasoning": "The end effector is positioned directly above the blue stuffed hippo on the stove, with the gripper remaining fully open. The approach phase is complete, and the robot is now executing the final contact maneuver. The next action is to lower the end effector slightly to establish physical contact with the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004078_ecot.json b/cot/chunk-0004/episode_0004078_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3cb9da57b8ba1c89cecddab51c95d5f629902837 --- /dev/null +++ b/cot/chunk-0004/episode_0004078_ecot.json @@ -0,0 +1,1285 @@ +{ + "task_name": "episode_0004078", + "episode_json": "json/chunk-0004/episode_0004078.json", + "video_path": "videos/chunk-0004/image_0/episode_0004078.mp4", + "instruction": "Move the green cloth below the silver pan on the bottom right of burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004078.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.001324295997619629, + "std": 0.00043898867443203926, + "delta_total": -0.0006613731384277344, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00132, std=0.00044, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ], + [ + 3, + 12, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector from initial position toward the green cloth on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge cloth\", \"start\": 6, \"end\": 11, \"planning\": \"Lower and adjust end-effector to make contact with the green cloth and begin nudging it toward target location below the silver pan.\"},\n {\"id\": 3, \"name\": \"slide cloth to final position\", \"start\": 12, \"end\": 20, \"planning\": \"Continue sliding the green cloth along the stovetop surface until it is positioned below the silver pan on the bottom right burner.\"}\n ],\n \"global_plan\": \"The robot approaches the green cloth, makes contact to nudge it, then slides it into position below the silver pan — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, nudge, slide). Frame coverage is complete and contiguous from 0 to 20.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green cloth", + "start": 0, + "end": 5, + "planning": "Move the end-effector from initial position toward the green cloth on the stovetop without grasping." + }, + { + "id": 2, + "name": "make contact and nudge cloth", + "start": 6, + "end": 11, + "planning": "Lower and adjust end-effector to make contact with the green cloth and begin nudging it toward target location below the silver pan." + }, + { + "id": 3, + "name": "slide cloth to final position", + "start": 12, + "end": 20, + "planning": "Continue sliding the green cloth along the stovetop surface until it is positioned below the silver pan on the bottom right burner." + } + ], + "global_plan": "The robot approaches the green cloth, makes contact to nudge it, then slides it into position below the silver pan — all without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, nudge, slide). Frame coverage is complete and contiguous from 0 to 20." + } + }, + "episode_goal": "Move the green cloth below the silver pan on the bottom right of burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34472721815109253, + 0.10112867504358292, + 0.07960233837366104, + -3.0718963146209717, + -0.04230344668030739, + 0.04620316997170448 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the bottom right burner area. No movement or contact has occurred yet as this is the initial frame of the approach subtask. The next action should be to move the end effector closer to the green cloth to prepare for nudging it into position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430374264717102, + 0.10045518726110458, + 0.06897637248039246, + -3.079763174057007, + -0.012705283239483833, + 0.04857150465250015 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the bottom right burner area. No movement or contact has occurred yet as this is the initial frame of the approach subtask. The next action should be to move the end effector closer to the green cloth to prepare for nudging it into position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33898207545280457, + 0.09677401930093765, + 0.06295254826545715, + -3.0891575813293457, + 0.003964930772781372, + 0.04937458783388138 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the bottom right burner, below the silver pan. No movement or contact has occurred yet. The next action is to move the end effector closer to the green cloth to prepare for nudging it into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3351517617702484, + 0.07438568025827408, + 0.08160071074962616, + -3.0770442485809326, + -0.04586605355143547, + -0.002207176759839058 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the bottom right burner, below the silver pan. No movement or contact has occurred yet. The next action is to move the end effector closer to the green cloth to prepare for nudging it into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, keep gripper open; then move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32098761200904846, + 0.04348916932940483, + 0.08442594110965729, + -3.080817222595215, + -0.045154694467782974, + -0.05448763445019722 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the bottom right burner, below the silver pan. No movement or contact has occurred yet. The next action is to move the end effector closer to the green cloth to prepare for nudging it into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, keep gripper open; then move back 1 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30487218499183655, + 0.0068949139676988125, + 0.06828145682811737, + -3.0963878631591797, + -0.012338493950664997, + -0.11477812379598618 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the bottom right burner, below the silver pan. No movement or contact has occurred yet. The next action is to move the end effector closer to the green cloth to prepare for nudging it into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 5 cm, keep gripper open; then move back 1 cm, move left 10 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30151858925819397, + -0.00633865874260664, + 0.05791723355650902, + -3.0887041091918945, + -0.0325356163084507, + -0.11768018454313278 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 433, + 434, + 731, + 762 + ], + "metal bowl": [ + 624, + 281, + 826, + 497 + ], + "sink": [ + 785, + 470, + 994, + 963 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the bottom right burner, below the silver pan. No movement or contact has occurred yet. The next action is to move the end effector closer to the green cloth to prepare for nudging it into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, keep gripper open; then move back 1 cm, move left 10 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028133511543274, + -0.020247800275683403, + 0.03391864895820618, + -3.0902910232543945, + 0.0017070919275283813, + -0.1462760865688324 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the bottom right burner, below the silver pan. No movement or contact has occurred yet. The next action is to move the end effector closer to the green cloth to prepare for nudging it into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move left 10 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30337074398994446, + -0.02441290207207203, + 0.016130786389112473, + -3.0873985290527344, + 0.027890345081686974, + -0.1363135427236557 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the green cloth and is now in contact with it, positioned to nudge it toward the target area below the silver pan. No grasping has occurred — gripper remains open. The next action is to slide or push the cloth slightly downward/rightward into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 9 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102049231529236, + -0.030584843829274178, + 0.010297328233718872, + -3.08488392829895, + 0.02862982451915741, + -0.14158858358860016 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the green cloth and is now in contact with it, positioned to nudge it toward the target area below the silver pan. No grasping has occurred — gripper remains open. The next action is to slide or push the cloth slightly downward/rightward into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper open; then move back 1 cm, move left 9 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114437758922577, + -0.02937217429280281, + 0.007730716839432716, + -3.0863142013549805, + 0.0463944710791111, + -0.15202845633029938 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the green cloth and is now in contact with it, positioned to nudge it toward the target area below the silver pan. No grasping has occurred — gripper remains open. The next action is to slide or push the cloth slightly downward/rightward into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper open; then move back 2 cm, move left 9 cm, move up 9 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31105726957321167, + -0.017405875027179718, + 0.006854226812720299, + -3.091017484664917, + 0.050463300198316574, + -0.1308547407388687 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot has approached the green cloth and is now in contact with it, positioned to nudge it toward the target area below the silver pan. No grasping has occurred — gripper remains open. The next action is to slide or push the cloth slightly downward/rightward into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move back 2 cm, move left 9 cm, move up 9 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3116878867149353, + 0.0027024014852941036, + 0.00853258091956377, + -3.096200942993164, + 0.043083712458610535, + -0.13696956634521484 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot has approached the green cloth and is now in contact with it, positioned to nudge it toward the target area below the silver pan. No grasping has occurred — gripper remains open. The next action is to slide or push the cloth slightly downward/rightward into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 9 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30829110741615295, + 0.04740641638636589, + 0.012386689893901348, + -3.082233428955078, + 0.01737843081355095, + -0.11535599827766418 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 357, + 432, + 657, + 686 + ], + "metal bowl": [ + 571, + 218, + 827, + 498 + ], + "sink": [ + 786, + 469, + 994, + 963 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot has approached the green cloth and is now in contact with it, positioned to nudge it toward the target area below the silver pan. No grasping has occurred — gripper remains open. The next action is to slide or push the cloth slightly downward/rightward into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 9 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3044862449169159, + 0.07582132518291473, + 0.012862780131399632, + -3.071401596069336, + 0.01268200296908617, + -0.15158474445343018 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 293, + 413, + 579, + 652 + ], + "metal bowl": [ + 573, + 219, + 827, + 499 + ], + "sink": [ + 785, + 469, + 994, + 960 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot has approached the green cloth and is now in contact with it, positioned to nudge it toward the target area below the silver pan. No grasping has occurred — gripper remains open. The next action is to slide or push the cloth slightly downward/rightward into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 9 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004368841648102, + 0.09853391349315643, + 0.013606760650873184, + -3.050579071044922, + 0.012843267992138863, + -0.17575334012508392 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot has approached the green cloth and is now in contact with it, positioned to nudge it toward the target area below the silver pan. No grasping has occurred — gripper remains open. The next action is to slide or push the cloth slightly downward/rightward into final position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999318242073059, + 0.10424818843603134, + 0.01467991154640913, + -3.049286127090454, + 0.00917406752705574, + -0.1824370175600052 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot is in contact with the green cloth on the stovetop, positioned to slide it toward the target area below the silver pan. The gripper remains open, confirming no grasp has occurred. The next action is to continue sliding the cloth into its final position beneath the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3010709881782532, + 0.10361790657043457, + 0.014918118715286255, + -3.0526599884033203, + 0.003835321171209216, + -0.1945566087961197 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot is in contact with the green cloth on the stovetop, positioned to slide it toward the target area below the silver pan. The gripper remains open, confirming no grasp has occurred. The next action is to continue sliding the cloth into its final position beneath the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018721044063568, + 0.09720544517040253, + 0.027690580114722252, + -3.0560033321380615, + -0.050006967037916183, + -0.19978328049182892 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot is in contact with the green cloth on the stovetop, positioned to slide it toward the target area below the silver pan. The gripper remains open, confirming no grasp has occurred. The next action is to continue sliding the cloth into its final position beneath the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004714250564575, + 0.09226597100496292, + 0.0693524032831192, + -3.0298914909362793, + -0.1871557980775833, + -0.1537894606590271 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot is in contact with the green cloth on the stovetop, positioned to slide it toward the target area below the silver pan. The gripper remains open, confirming no grasp has occurred. The next action is to continue sliding the cloth into its final position beneath the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2920284867286682, + 0.09487126022577286, + 0.10114941745996475, + -3.0315258502960205, + -0.2554336488246918, + -0.09103640168905258 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth below the silver pan on the bottom right of burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to final position" + } + ], + "subtask_name": "slide cloth to final position", + "subtask_reasoning": "The robot is in contact with the green cloth on the stovetop, positioned to slide it toward the target area below the silver pan. The gripper remains open, confirming no grasp has occurred. The next action is to continue sliding the cloth into its final position beneath the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004079_ecot.json b/cot/chunk-0004/episode_0004079_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0f47cb7e3040e0b857696523ae61df7091787a53 --- /dev/null +++ b/cot/chunk-0004/episode_0004079_ecot.json @@ -0,0 +1,3199 @@ +{ + "task_name": "episode_0004079", + "episode_json": "json/chunk-0004/episode_0004079.json", + "video_path": "videos/chunk-0004/image_0/episode_0004079.mp4", + "instruction": "Removed the building block from the right and added it o set on the left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004079.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.49499595165252686, + "std": 0.23592837154865265, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49500, std=0.23593, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 17 + ], + [ + 3, + 18, + 22 + ], + [ + 4, + 23, + 35 + ], + [ + 5, + 36, + 39 + ], + [ + 6, + 40, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach right block stack\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the right-side block stack without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"reposition above target zone\", \"start\": 10, \"end\": 17, \"planning\": \"Lift and translate arm to hover over left-side placement area, maintaining open gripper state.\"},\n {\"id\": 3, \"name\": \"descend to contact cylinder\", \"start\": 18, \"end\": 22, \"planning\": \"Lower end-effector to make contact with top cylinder on left stack; gripper remains partially closed but not actively grasping.\"},\n {\"id\": 4, \"name\": \"grasp and lift cylinder\", \"start\": 23, \"end\": 35, \"planning\": \"Close gripper to securely grasp the beige cylinder, then lift it slightly while adjusting pose for stable hold.\"},\n {\"id\": 5, \"name\": \"transport cylinder to right\", \"start\": 36, \"end\": 39, \"planning\": \"Carry the grasped cylinder across the table toward the right-side block stack, maintaining grip.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 40, \"end\": 43, \"planning\": \"Open gripper to release cylinder onto right stack, then retract arm away from the workspace.\"}\n ],\n \"global_plan\": \"Remove the top cylinder from the left block stack by grasping and lifting it, transport it to the right, and place it atop the right-side block stack.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segment 4 (frames 23-35), permitting grasp/hold terminology there. Other segments use contact-based or motion-based descriptions per anti-hallucination rules. Frame coverage is contiguous and complete from 0 to 43.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach right block stack", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the right-side block stack without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "reposition above target zone", + "start": 10, + "end": 17, + "planning": "Lift and translate arm to hover over left-side placement area, maintaining open gripper state." + }, + { + "id": 3, + "name": "descend to contact cylinder", + "start": 18, + "end": 22, + "planning": "Lower end-effector to make contact with top cylinder on left stack; gripper remains partially closed but not actively grasping." + }, + { + "id": 4, + "name": "grasp and lift cylinder", + "start": 23, + "end": 35, + "planning": "Close gripper to securely grasp the beige cylinder, then lift it slightly while adjusting pose for stable hold." + }, + { + "id": 5, + "name": "transport cylinder to right", + "start": 36, + "end": 39, + "planning": "Carry the grasped cylinder across the table toward the right-side block stack, maintaining grip." + }, + { + "id": 6, + "name": "release and retreat", + "start": 40, + "end": 43, + "planning": "Open gripper to release cylinder onto right stack, then retract arm away from the workspace." + } + ], + "global_plan": "Remove the top cylinder from the left block stack by grasping and lifting it, transport it to the right, and place it atop the right-side block stack.", + "notes": "Gripper evidence confirms meaningful closing only in segment 4 (frames 23-35), permitting grasp/hold terminology there. Other segments use contact-based or motion-based descriptions per anti-hallucination rules. Frame coverage is contiguous and complete from 0 to 43." + } + }, + "episode_goal": "Place the beige cylinder on top of the yellow block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3032108545303345, + -0.09448828548192978, + 0.12312831729650497, + -3.1290626525878906, + 0.06846927106380463, + 0.013384143821895123 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003990054130554, + -0.09337697923183441, + 0.11033012717962265, + -3.1139774322509766, + 0.110366590321064, + 0.014278283342719078 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30403029918670654, + -0.09601762890815735, + 0.10255658626556396, + -3.1163110733032227, + 0.10620337724685669, + 0.0004774251428898424 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2973765432834625, + -0.1038295105099678, + 0.09649492055177689, + -3.0944347381591797, + 0.14927475154399872, + -0.007874175906181335 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, keep gripper open; then move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29358625411987305, + -0.11324245482683182, + 0.09768589586019516, + -3.088934898376465, + 0.15231624245643616, + -0.013538291677832603 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 119, + 185, + 996, + 995 + ], + "black object": [ + 713, + 21, + 995, + 547 + ], + "yellow block": [ + 552, + 422, + 654, + 571 + ], + "white cylinder": [ + 787, + 552, + 897, + 708 + ], + "green block": [ + 490, + 432, + 565, + 531 + ] + } + } + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper open; then move back 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28984326124191284, + -0.12188086658716202, + 0.09765966981649399, + -3.0823466777801514, + 0.14324834942817688, + 0.006217835005372763 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28485244512557983, + -0.1262551099061966, + 0.10348831862211227, + -3.0962352752685547, + 0.1193348690867424, + 0.02218647673726082 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824738919734955, + -0.12961062788963318, + 0.10257137566804886, + -3.1188507080078125, + 0.13355030119419098, + 0.038558218628168106 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27719008922576904, + -0.13093438744544983, + 0.09991110116243362, + -3.12604022026062, + 0.15907497704029083, + 0.04069225862622261 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2739459276199341, + -0.13238036632537842, + 0.09825741499662399, + -3.1405158042907715, + 0.17816796898841858, + 0.05112578347325325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach right block stack", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27286428213119507, + -0.13402584195137024, + 0.09591376781463623, + 3.1235814094543457, + 0.20053865015506744, + 0.059202589094638824 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition above target zone", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2704803943634033, + -0.1353435218334198, + 0.09053070098161697, + 3.1112494468688965, + 0.22758109867572784, + 0.061264146119356155 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition above target zone", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 6 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2695421874523163, + -0.13703890144824982, + 0.08301490545272827, + 3.0920658111572266, + 0.26413026452064514, + 0.07094869017601013 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition above target zone", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the block stack on the right side. No objects have been manipulated yet. The next action is to continue moving the end-effector closer to the beige cylinder to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26866400241851807, + -0.13326670229434967, + 0.07851580530405045, + 3.0768990516662598, + 0.2884221076965332, + 0.0923047736287117 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition above target zone", + "subtask_reasoning": "The robot has lifted the beige cylinder from the right stack and is currently hovering above the target zone on the left. The gripper is closed, securely holding the object in preparation for placement. The next action is to lower the cylinder onto the yellow block to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26699772477149963, + -0.13084617257118225, + 0.07036729156970978, + 3.0751781463623047, + 0.30741509795188904, + 0.11648279428482056 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition above target zone", + "subtask_reasoning": "The robot has lifted the beige cylinder from the right stack and is currently hovering above the target zone on the left. The gripper is closed, securely holding the object in preparation for placement. The next action is to lower the cylinder onto the yellow block to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26606306433677673, + -0.12878596782684326, + 0.06463350355625153, + 3.0795037746429443, + 0.3007371723651886, + 0.14266115427017212 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 119, + 183, + 995, + 995 + ], + "white cylinder": [ + 788, + 553, + 892, + 706 + ], + "blue block": [ + 767, + 681, + 872, + 808 + ], + "yellow block": [ + 552, + 421, + 653, + 571 + ], + "green block": [ + 490, + 431, + 565, + 530 + ] + } + } + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition above target zone", + "subtask_reasoning": "The robot has lifted the beige cylinder from the right stack and is currently hovering above the target zone on the left. The gripper is closed, securely holding the object in preparation for placement. The next action is to lower the cylinder onto the yellow block to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26637008786201477, + -0.12879055738449097, + 0.06330541521310806, + 3.083742618560791, + 0.29449260234832764, + 0.15442559123039246 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition above target zone", + "subtask_reasoning": "The robot has lifted the beige cylinder from the right stack and is currently hovering above the target zone on the left. The gripper is closed, securely holding the object in preparation for placement. The next action is to lower the cylinder onto the yellow block to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2699185311794281, + -0.12587648630142212, + 0.06645894795656204, + 3.1027281284332275, + 0.26591333746910095, + 0.17733478546142578 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition above target zone", + "subtask_reasoning": "The robot has lifted the beige cylinder from the right stack and is currently hovering above the target zone on the left. The gripper is closed, securely holding the object in preparation for placement. The next action is to lower the cylinder onto the yellow block to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28579843044281006, + -0.12293723225593567, + 0.09517095237970352, + -3.1370959281921387, + 0.18483273684978485, + 0.1941537708044052 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend to contact cylinder", + "subtask_reasoning": "The robot has lifted the beige cylinder from the right stack and is currently hovering above the target zone on the left. The gripper is closed, securely holding the object in preparation for placement. The next action is to lower the cylinder onto the yellow block to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2959558069705963, + -0.1066429540514946, + 0.11932126432657242, + -3.0958633422851562, + 0.0964277982711792, + 0.23248204588890076 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend to contact cylinder", + "subtask_reasoning": "The robot has lifted the beige cylinder from the right stack and is currently hovering above the target zone on the left. The gripper is closed, securely holding the object in preparation for placement. The next action is to lower the cylinder onto the yellow block to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29928839206695557, + -0.0828281119465828, + 0.11656507104635239, + -3.096102714538574, + 0.10137768089771271, + 0.2676601707935333 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend to contact cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2995780408382416, + -0.05819473788142204, + 0.10710398107767105, + -3.1043848991394043, + 0.1167001947760582, + 0.2742908298969269 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 122, + 183, + 996, + 995 + ], + "black object": [ + 627, + 5, + 958, + 423 + ], + "yellow block": [ + 553, + 422, + 654, + 567 + ], + "blue block": [ + 765, + 577, + 908, + 811 + ], + "green block": [ + 490, + 432, + 565, + 530 + ] + } + } + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend to contact cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2976157069206238, + -0.03826431930065155, + 0.09842032939195633, + -3.1273014545440674, + 0.1411629319190979, + 0.317608118057251 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "descend to contact cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29600197076797485, + -0.02760176733136177, + 0.09313032776117325, + 3.1319663524627686, + 0.1515207439661026, + 0.3450881838798523 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29465165734291077, + -0.02440624311566353, + 0.09052345156669617, + 3.116147518157959, + 0.16332662105560303, + 0.35376790165901184 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29362571239471436, + -0.025068510323762894, + 0.07963068783283234, + 3.115553140640259, + 0.1962185949087143, + 0.34071090817451477 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29338622093200684, + -0.025745311751961708, + 0.06736337393522263, + 3.1141998767852783, + 0.23043186962604523, + 0.3266899883747101 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 120, + 182, + 996, + 995 + ], + "white cylinder": [ + 593, + 303, + 668, + 452 + ], + "blue block": [ + 765, + 576, + 909, + 811 + ], + "yellow block": [ + 553, + 431, + 654, + 569 + ], + "green block": [ + 489, + 432, + 566, + 531 + ], + "black object": [ + 499, + 6, + 796, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2914726436138153, + -0.024804985150694847, + 0.055270228534936905, + 3.1215834617614746, + 0.26981401443481445, + 0.316817045211792 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29229849576950073, + -0.024404168128967285, + 0.05104552581906319, + 3.118093252182007, + 0.28292831778526306, + 0.31481674313545227 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned above the right-side block stack, with the gripper open and descending toward the beige cylinder. No grasping has occurred yet as the gripper remains fully open. The next action is to continue descending until contact with the cylinder is made." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper; then move forward 2 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29401060938835144, + -0.021279912441968918, + 0.05075092986226082, + 3.1166794300079346, + 0.28140515089035034, + 0.32221519947052 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow block on the left stack, with the gripper open and ready. The subtask involves grasping and lifting the beige cylinder, but the current frame shows the gripper approaching the yellow block instead. The next action should involve repositioning the gripper to target the beige cylinder on the right stack for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move forward 1 cm, move right 4 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29495999217033386, + -0.02040412463247776, + 0.05229935050010681, + 3.1231138706207275, + 0.2799234390258789, + 0.32592448592185974 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow block on the left stack, with the gripper open and ready. The subtask involves grasping and lifting the beige cylinder, but the current frame shows the gripper approaching the yellow block instead. The next action should involve repositioning the gripper to target the beige cylinder on the right stack for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move forward 2 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2941550016403198, + -0.019038382917642593, + 0.05275311693549156, + 3.13429594039917, + 0.28327879309654236, + 0.3294389545917511 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow block on the left stack, with the gripper open and ready. The subtask involves grasping and lifting the beige cylinder, but the current frame shows the gripper approaching the yellow block instead. The next action should involve repositioning the gripper to target the beige cylinder on the right stack for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move forward 2 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29434242844581604, + -0.01881452091038227, + 0.05306154862046242, + 3.1355013847351074, + 0.28286078572273254, + 0.3288463354110718 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow block on the left stack, with the gripper open and ready. The subtask involves grasping and lifting the beige cylinder, but the current frame shows the gripper approaching the yellow block instead. The next action should involve repositioning the gripper to target the beige cylinder on the right stack for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 4 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2939608693122864, + -0.019515791907906532, + 0.0522865355014801, + 3.1317849159240723, + 0.28849053382873535, + 0.3256300389766693 + ], + "gripper_value": 0.549187958240509 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow block on the left stack, with the gripper open and ready. The subtask involves grasping and lifting the beige cylinder, but the current frame shows the gripper approaching the yellow block instead. The next action should involve repositioning the gripper to target the beige cylinder on the right stack for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29221248626708984, + -0.019545556977391243, + 0.05032144859433174, + 3.1375303268432617, + 0.30600500106811523, + 0.32633176445961 + ], + "gripper_value": 0.8598465323448181 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow block on the left stack, with the gripper open and ready. The subtask involves grasping and lifting the beige cylinder, but the current frame shows the gripper approaching the yellow block instead. The next action should involve repositioning the gripper to target the beige cylinder on the right stack for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.29424968361854553, + -0.01958095282316208, + 0.05156189948320389, + 3.139580488204956, + 0.30174964666366577, + 0.33837443590164185 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow block on the left stack, with the gripper open and ready. The subtask involves grasping and lifting the beige cylinder, but the current frame shows the gripper approaching the yellow block instead. The next action should involve repositioning the gripper to target the beige cylinder on the right stack for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916905879974365, + -0.018663935363292694, + 0.052663471549749374, + -3.124807357788086, + 0.31344079971313477, + 0.35528358817100525 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cylinder to right", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow block on the left stack, with the gripper open and ready. The subtask involves grasping and lifting the beige cylinder, but the current frame shows the gripper approaching the yellow block instead. The next action should involve repositioning the gripper to target the beige cylinder on the right stack for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999134063720703, + -0.01799888350069523, + 0.08021342009305954, + -3.0922696590423584, + 0.2493457943201065, + 0.34910643100738525 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cylinder to right", + "subtask_reasoning": "The robot is currently positioned above the left-side block stack with the gripper open, having completed the approach and repositioning phases. Since the segment-level gripper evidence shows no closing action, the cylinder has not yet been grasped. The next logical step is to lower the gripper to make contact with the beige cylinder in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.30738523602485657, + -0.034042928367853165, + 0.123687744140625, + -3.06484317779541, + 0.142543226480484, + 0.2832559645175934 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cylinder to right", + "subtask_reasoning": "The robot is currently positioned above the left-side block stack with the gripper open, having completed the approach and repositioning phases. Since the segment-level gripper evidence shows no closing action, the cylinder has not yet been grasped. The next logical step is to lower the gripper to make contact with the beige cylinder in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.30525779724121094, + -0.05481726676225662, + 0.14050886034965515, + -3.065929651260376, + 0.10607308894395828, + 0.216186985373497 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cylinder to right", + "subtask_reasoning": "The robot is currently positioned above the left-side block stack with the gripper open, having completed the approach and repositioning phases. Since the segment-level gripper evidence shows no closing action, the cylinder has not yet been grasped. The next logical step is to lower the gripper to make contact with the beige cylinder in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3103225827217102, + -0.0819002240896225, + 0.13357341289520264, + 3.1371312141418457, + 0.09087906777858734, + 0.14204522967338562 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently positioned above the left-side block stack with the gripper open, having completed the approach and repositioning phases. Since the segment-level gripper evidence shows no closing action, the cylinder has not yet been grasped. The next logical step is to lower the gripper to make contact with the beige cylinder in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3093026280403137, + -0.10225799679756165, + 0.11916907876729965, + 3.1217501163482666, + 0.12282346189022064, + 0.08808602392673492 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 120, + 182, + 996, + 995 + ], + "black object": [ + 698, + 5, + 995, + 423 + ], + "blue block": [ + 766, + 576, + 908, + 811 + ], + "green block": [ + 489, + 429, + 567, + 531 + ], + "white cylinder": [ + 573, + 372, + 652, + 502 + ] + } + } + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully placed the beige cylinder on top of the yellow block on the left side of the table. The gripper is fully open and positioned above the completed stack, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 40, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.30743566155433655, + -0.12173530459403992, + 0.11342629790306091, + 3.099508047103882, + 0.12031381577253342, + 0.06617019325494766 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully placed the beige cylinder on top of the yellow block on the left side of the table. The gripper is fully open and positioned above the completed stack, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041449189186096, + -0.12757794559001923, + 0.11027394980192184, + 3.1080234050750732, + 0.11999963223934174, + 0.06150919198989868 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the beige cylinder on top of the yellow block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right block stack" + }, + { + "id": 2, + "subtask": "reposition above target zone" + }, + { + "id": 3, + "subtask": "descend to contact cylinder" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "transport cylinder to right" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully placed the beige cylinder on top of the yellow block on the left side of the table. The gripper is fully open and positioned above the completed stack, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 40, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004080_ecot.json b/cot/chunk-0004/episode_0004080_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..dedac069fe76ab42632e9ea1512e784f758ac4ac --- /dev/null +++ b/cot/chunk-0004/episode_0004080_ecot.json @@ -0,0 +1,2224 @@ +{ + "task_name": "episode_0004080", + "episode_json": "json/chunk-0004/episode_0004080.json", + "video_path": "videos/chunk-0004/image_0/episode_0004080.mp4", + "instruction": "Put knife in pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004080.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.49953150749206543, + "std": 0.22424814105033875, + "delta_total": -0.005435943603515625, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49953, std=0.22425, total_delta=-0.00544). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 116, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 10 + ], + [ + 3, + 11, + 15 + ], + [ + 4, + 16, + 16 + ], + [ + 5, + 17, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the white knife on the wooden board while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"align and contact knife\", \"start\": 9, \"end\": 16, \"planning\": \"Fine-tune position and orientation to make contact with the knife handle, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp knife\", \"start\": 17, \"end\": 24, \"planning\": \"Close gripper around knife handle and confirm secure hold before lifting.\"},\n {\"id\": 4, \"name\": \"lift and transport knife\", \"start\": 25, \"end\": 30, \"planning\": \"Lift knife from board and move it toward the pot inside the cardboard fence.\"},\n {\"id\": 5, \"name\": \"release knife in pot\", \"start\": 31, \"end\": 32, \"planning\": \"Open gripper to drop knife into the pot, completing the placement task.\"}\n ],\n \"global_plan\": \"Approach the knife, align and contact it, grasp securely, lift and transport to the pot, then release inside the pot within the cardboard fence.\",\n \"notes\": \"Gripper evidence confirms no closing in segments 1-2 (frames 0-16), so those phases use contact-based language. Segment 5 (frames 17-32) shows meaningful gripper closure and opening, supporting grasp and release actions. Frame 16 is a transition point where gripper begins closing; included in alignment phase as preparation. Final release occurs at frame 32 as gripper opens fully.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the white knife on the wooden board while keeping gripper open." + }, + { + "id": 2, + "name": "align and contact knife", + "start": 9, + "end": 16, + "planning": "Fine-tune position and orientation to make contact with the knife handle, preparing for grasp." + }, + { + "id": 3, + "name": "grasp knife", + "start": 17, + "end": 24, + "planning": "Close gripper around knife handle and confirm secure hold before lifting." + }, + { + "id": 4, + "name": "lift and transport knife", + "start": 25, + "end": 30, + "planning": "Lift knife from board and move it toward the pot inside the cardboard fence." + }, + { + "id": 5, + "name": "release knife in pot", + "start": 31, + "end": 32, + "planning": "Open gripper to drop knife into the pot, completing the placement task." + } + ], + "global_plan": "Approach the knife, align and contact it, grasp securely, lift and transport to the pot, then release inside the pot within the cardboard fence.", + "notes": "Gripper evidence confirms no closing in segments 1-2 (frames 0-16), so those phases use contact-based language. Segment 5 (frames 17-32) shows meaningful gripper closure and opening, supporting grasp and release actions. Frame 16 is a transition point where gripper begins closing; included in alignment phase as preparation. Final release occurs at frame 32 as gripper opens fully." + } + }, + "episode_goal": "Place the knife inside the orange pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3121318221092224, + -0.012833229266107082, + 0.1294604241847992, + -3.0303618907928467, + -0.219949409365654, + 0.2525312006473541 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the knife visible on the surface below. No contact or grasping has occurred yet as the gripper remains open and the subtask is to approach. The next action is to lower the end-effector towards the knife to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move down 7 cm, rotate clockwise 40 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3073466122150421, + -0.011825400404632092, + 0.11949821561574936, + -3.019071578979492, + -0.19325260818004608, + 0.266196608543396 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the knife visible on the surface below. No contact or grasping has occurred yet as the gripper remains open and the subtask is to approach. The next action is to lower the end-effector towards the knife to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move down 6 cm, rotate clockwise 30 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902042269706726, + -0.0008969411137513816, + 0.11517259478569031, + -3.024714231491089, + -0.2368602603673935, + 0.4071269929409027 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the knife visible on the surface below. No contact or grasping has occurred yet as the gripper remains open and the subtask is to approach. The next action is to lower the end-effector towards the knife to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move down 6 cm, rotate clockwise 30 degrees, keep gripper open; then move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27022185921669006, + 0.008035916835069656, + 0.10865383595228195, + -3.0197997093200684, + -0.2480219602584839, + 0.42450377345085144 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the knife visible on the surface below. No contact or grasping has occurred yet as the gripper remains open and the subtask is to approach. The next action is to lower the end-effector towards the knife to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 5 cm, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583107352256775, + 0.01634833961725235, + 0.1021081805229187, + -3.040982484817505, + -0.2425166815519333, + 0.5973817706108093 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the knife and orange pot, with the gripper open and no contact made yet. No part of the subtask has been completed; the robot is still approaching the knife. The next action should be to move the end-effector closer to the knife’s handle for alignment and future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23812147974967957, + 0.02051442489027977, + 0.09064838290214539, + -3.052731990814209, + -0.24228008091449738, + 0.7681193351745605 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the knife and orange pot, with the gripper open and no contact made yet. No part of the subtask has been completed; the robot is still approaching the knife. The next action should be to move the end-effector closer to the knife’s handle for alignment and future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22130905091762543, + 0.024972448125481606, + 0.0815359428524971, + -3.0799896717071533, + -0.2125067561864853, + 0.8350417017936707 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the knife and orange pot, with the gripper open and no contact made yet. No part of the subtask has been completed; the robot is still approaching the knife. The next action should be to move the end-effector closer to the knife’s handle for alignment and future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2149074673652649, + 0.02627561241388321, + 0.06893699616193771, + -3.0925309658050537, + -0.20325516164302826, + 0.8845754861831665 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bell pepper": [ + 556, + 613, + 662, + 762 + ], + "orange bowl": [ + 366, + 304, + 559, + 537 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the knife and orange pot, with the gripper open and no contact made yet. No part of the subtask has been completed; the robot is still approaching the knife. The next action should be to move the end-effector closer to the knife’s handle for alignment and future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21926744282245636, + 0.025387950241565704, + 0.06154167652130127, + -3.1181414127349854, + -0.19937549531459808, + 0.8834914565086365 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the knife and orange pot, with the gripper open and no contact made yet. No part of the subtask has been completed; the robot is still approaching the knife. The next action should be to move the end-effector closer to the knife’s handle for alignment and future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 5 cm, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22028565406799316, + 0.02518310956656933, + 0.055250704288482666, + 3.1353230476379395, + -0.19509948790073395, + 0.878837525844574 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the knife and orange pot, with the gripper open and no contact made yet. No part of the subtask has been completed; the robot is still approaching the knife. The next action should be to move the end-effector closer to the knife’s handle for alignment and future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, close gripper; then move forward 1 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21745239198207855, + 0.026949580758810043, + 0.04390382021665573, + 3.1361589431762695, + -0.2119324654340744, + 0.8795626163482666 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the knife and orange pot, with the gripper open and no contact made yet. No part of the subtask has been completed; the robot is still approaching the knife. The next action should be to move the end-effector closer to the knife’s handle for alignment and future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21804721653461456, + 0.027945566922426224, + 0.03606601804494858, + -3.135874032974243, + -0.21022087335586548, + 0.8821625113487244 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the knife and orange pot, with the gripper open and no contact made yet. No part of the subtask has been completed; the robot is still approaching the knife. The next action should be to move the end-effector closer to the knife’s handle for alignment and future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 3 cm, move right 2 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22357606887817383, + 0.028970489278435707, + 0.020524825900793076, + -3.099024772644043, + -0.18103352189064026, + 0.8876520395278931 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bell pepper": [ + 555, + 613, + 662, + 761 + ], + "yellow object": [ + 306, + 570, + 435, + 715 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the wooden surface, with gripper open and aligned for contact. Approach is complete; next action is to lower and make contact with the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move forward 5 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22628994286060333, + 0.03381257876753807, + 0.0116276191547513, + -3.1105568408966064, + -0.19336241483688354, + 0.8854972720146179 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the wooden surface, with gripper open and aligned for contact. Approach is complete; next action is to lower and make contact with the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper closed; then move forward 7 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21494272351264954, + 0.03374861180782318, + 0.0033772920724004507, + -3.110508680343628, + -0.1748434156179428, + 0.8458467721939087 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the wooden surface, with gripper open and aligned for contact. Approach is complete; next action is to lower and make contact with the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 8 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2102152705192566, + 0.03310570865869522, + 0.006575264036655426, + -3.1346592903137207, + -0.17588843405246735, + 0.8185254335403442 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the wooden surface, with gripper open and aligned for contact. Approach is complete; next action is to lower and make contact with the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 11 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20998090505599976, + 0.03424043953418732, + 0.0050836848095059395, + 3.1343162059783936, + -0.18000057339668274, + 0.8190879821777344 + ], + "gripper_value": 0.49661046266555786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the wooden surface, with gripper open and aligned for contact. Approach is complete; next action is to lower and make contact with the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 11 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21099266409873962, + 0.03353998064994812, + 0.009235367178916931, + 3.1296305656433105, + -0.15566667914390564, + 0.8330293297767639 + ], + "gripper_value": 0.519798994064331 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the wooden surface, with gripper open and aligned for contact. Approach is complete; next action is to lower and make contact with the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21514375507831573, + 0.03451235592365265, + 0.035392068326473236, + 3.10235857963562, + -0.15772417187690735, + 0.886204183101654 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the wooden surface, with gripper open and aligned for contact. Approach is complete; next action is to lower and make contact with the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2185116708278656, + 0.035463862121105194, + 0.06987971067428589, + 3.0520682334899902, + -0.1947578340768814, + 0.9568999409675598 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bell pepper": [ + 555, + 613, + 662, + 761 + ], + "orange bowl": [ + 371, + 281, + 547, + 534 + ], + "yellow object": [ + 306, + 469, + 393, + 616 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot end-effector is positioned above the knife on the wooden surface, with gripper open and aligned for contact. Approach is complete; next action is to lower and make contact with the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22325456142425537, + 0.0270064827054739, + 0.09023132920265198, + 3.019601583480835, + -0.20358771085739136, + 1.039158582687378 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached and aligned with the knife, making contact. The gripper remains open with no closing evidence in this segment, so the knife is not yet grasped. The next action should be to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23897050321102142, + 0.0178261399269104, + 0.09833371639251709, + 3.002061128616333, + -0.21516510844230652, + 1.086083173751831 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached and aligned with the knife, making contact. The gripper remains open with no closing evidence in this segment, so the knife is not yet grasped. The next action should be to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2596536874771118, + 0.01866253837943077, + 0.0920163094997406, + 2.973935604095459, + -0.25492483377456665, + 1.1992394924163818 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached and aligned with the knife, making contact. The gripper remains open with no closing evidence in this segment, so the knife is not yet grasped. The next action should be to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27652448415756226, + 0.023563159629702568, + 0.08969776332378387, + 2.929267644882202, + -0.2807169258594513, + 1.3445281982421875 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached and aligned with the knife, making contact. The gripper remains open with no closing evidence in this segment, so the knife is not yet grasped. The next action should be to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2951681911945343, + 0.03003954328596592, + 0.08576927334070206, + 2.947580099105835, + -0.28445491194725037, + 1.403048038482666 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached and aligned with the knife, making contact. The gripper remains open with no closing evidence in this segment, so the knife is not yet grasped. The next action should be to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166120946407318, + 0.04060904309153557, + 0.07985838502645493, + 2.979135513305664, + -0.25945091247558594, + 1.4324647188186646 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has approached and aligned with the knife, making contact. The gripper remains open with no closing evidence in this segment, so the knife is not yet grasped. The next action should be to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3228113055229187, + 0.049786005169153214, + 0.07267852127552032, + 2.9837350845336914, + -0.2794579267501831, + 1.4364423751831055 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has approached and aligned with the knife, making contact. The gripper remains open with no closing evidence in this segment, so the knife is not yet grasped. The next action should be to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31829071044921875, + 0.0536828450858593, + 0.0628739520907402, + 2.983469247817993, + -0.3181392550468445, + 1.3880311250686646 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 348, + 307, + 548, + 536 + ], + "orange bell pepper": [ + 555, + 612, + 662, + 758 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The knife is currently held securely by the gripper and positioned above the orange pot within the cardboard fence. The approach and grasping phases are complete, with the robot now in the transport phase. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163878917694092, + 0.058423738926649094, + 0.05822209268808365, + 2.991361618041992, + -0.3386209309101105, + 1.3691281080245972 + ], + "gripper_value": 0.5948979258537292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The knife is currently held securely by the gripper and positioned above the orange pot within the cardboard fence. The approach and grasping phases are complete, with the robot now in the transport phase. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31597423553466797, + 0.059385061264038086, + 0.04930814355611801, + 3.0580735206604004, + -0.3363504707813263, + 1.3578541278839111 + ], + "gripper_value": 0.875784695148468 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The knife is currently held securely by the gripper and positioned above the orange pot within the cardboard fence. The approach and grasping phases are complete, with the robot now in the transport phase. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31326019763946533, + 0.05373658239841461, + 0.04966339096426964, + 3.073371171951294, + -0.3135528266429901, + 1.3693255186080933 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The knife is currently held securely by the gripper and positioned above the orange pot within the cardboard fence. The approach and grasping phases are complete, with the robot now in the transport phase. The next action is to lower the knife into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3104274868965149, + 0.04822457954287529, + 0.06267303228378296, + 3.052903175354004, + -0.2810893952846527, + 1.3758732080459595 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "release knife in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot, with the knife tip already inserted inside. The gripper is fully open, indicating the knife has been released or is in the process of being released. The next action is to retract the arm upwards to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31272828578948975, + 0.046186890453100204, + 0.09427710622549057, + 2.992765188217163, + -0.24941520392894745, + 1.36875319480896 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and transport knife" + }, + { + "id": 5, + "subtask": "release knife in pot" + } + ], + "subtask_name": "release knife in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot, with the knife tip already inserted inside. The gripper is fully open, indicating the knife has been released or is in the process of being released. The next action is to retract the arm upwards to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004082_ecot.json b/cot/chunk-0004/episode_0004082_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..38dd32e7009bff06cd18b97b5bb6ca06a885c4d0 --- /dev/null +++ b/cot/chunk-0004/episode_0004082_ecot.json @@ -0,0 +1,2387 @@ +{ + "task_name": "episode_0004082", + "episode_json": "json/chunk-0004/episode_0004082.json", + "video_path": "videos/chunk-0004/image_0/episode_0004082.mp4", + "instruction": "Ut the blue figure on the top edge of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004082.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.959898054599762, + "std": 0.4442133903503418, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95990, std=0.44421, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 214, + 214, + 214, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 32, + 32, + 32, + 32, + 32, + 32 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 13 + ], + [ + 3, + 14, + 16 + ], + [ + 4, + 17, + 31 + ], + [ + 5, + 32, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth surface\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector down toward the green cloth with gripper open, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp cloth edge\", \"start\": 10, \"end\": 16, \"planning\": \"Close gripper to securely grasp a fold or edge of the cloth near the center-right area.\"},\n {\"id\": 3, \"name\": \"drag cloth upward\", \"start\": 17, \"end\": 31, \"planning\": \"Pull the grasped portion of the cloth diagonally up and left toward the top edge of the stovetop while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 32, \"end\": 37, \"planning\": \"Open gripper to release the cloth at the target position, then lift end-effector away to complete placement.\"}\n ],\n \"global_plan\": \"Approach the cloth, grasp an edge, drag it upward to the top edge of the stovetop, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach. Segment 2 shows meaningful closing — grasp is justified. Segment 4 shows sustained low gripper value (held) during motion — drag is appropriate. Segment 5 shows gripper opening and lifting — release and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth surface", + "start": 0, + "end": 9, + "planning": "Move end-effector down toward the green cloth with gripper open, preparing for contact." + }, + { + "id": 2, + "name": "grasp cloth edge", + "start": 10, + "end": 16, + "planning": "Close gripper to securely grasp a fold or edge of the cloth near the center-right area." + }, + { + "id": 3, + "name": "drag cloth upward", + "start": 17, + "end": 31, + "planning": "Pull the grasped portion of the cloth diagonally up and left toward the top edge of the stovetop while maintaining grip." + }, + { + "id": 4, + "name": "release and retreat", + "start": 32, + "end": 37, + "planning": "Open gripper to release the cloth at the target position, then lift end-effector away to complete placement." + } + ], + "global_plan": "Approach the cloth, grasp an edge, drag it upward to the top edge of the stovetop, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — described as approach. Segment 2 shows meaningful closing — grasp is justified. Segment 4 shows sustained low gripper value (held) during motion — drag is appropriate. Segment 5 shows gripper opening and lifting — release and retreat." + } + }, + "episode_goal": "Place the blue figure on the top edge of the green cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37859898805618286, + -0.002131258836016059, + 0.08173390477895737, + -3.0751724243164062, + -0.356928288936615, + -0.665675699710846 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. No actions have been completed in this subtask. The next step is to lower the arm slightly to make contact with the cloth surface for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3756920397281647, + -0.0021706910338252783, + 0.07041651010513306, + -3.099151611328125, + -0.33237409591674805, + -0.6525174379348755 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. No actions have been completed in this subtask. The next step is to lower the arm slightly to make contact with the cloth surface for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3742274343967438, + 0.006586522329598665, + 0.059655215591192245, + -3.117199420928955, + -0.29603248834609985, + -0.6072338819503784 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. No actions have been completed in this subtask. The next step is to lower the arm slightly to make contact with the cloth surface for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3823114037513733, + 0.01550226379185915, + 0.06564491987228394, + -3.1047375202178955, + -0.2892417013645172, + -0.5484983921051025 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. No actions have been completed in this subtask. The next step is to lower the arm slightly to make contact with the cloth surface for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39068102836608887, + 0.03351246193051338, + 0.06433187425136566, + -3.103273391723633, + -0.2826301157474518, + -0.4778841733932495 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3952586054801941, + 0.054743703454732895, + 0.06255156546831131, + -3.108238458633423, + -0.26976144313812256, + -0.40533024072647095 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 712, + 561, + 993, + 987 + ], + "green cloth": [ + 168, + 325, + 678, + 722 + ], + "faucet": [ + 805, + 279, + 993, + 517 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.399000346660614, + 0.07522813975811005, + 0.05412149429321289, + -3.1147894859313965, + -0.23274563252925873, + -0.31941792368888855 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3943573534488678, + 0.09064242988824844, + 0.05235904082655907, + -3.108018159866333, + -0.21762359142303467, + -0.2593623399734497 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3876570463180542, + 0.09264040738344193, + 0.04768456518650055, + -3.1160287857055664, + -0.18658459186553955, + -0.2356458157300949 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38104668259620667, + 0.10158795118331909, + 0.03301282972097397, + -3.1284592151641846, + -0.14148062467575073, + -0.2017592489719391 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth surface", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper; then move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3763239085674286, + 0.10425832867622375, + 0.015947308391332626, + 3.1303117275238037, + -0.09160798788070679, + -0.18765756487846375 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 712, + 562, + 993, + 985 + ], + "faucet": [ + 805, + 280, + 993, + 516 + ], + "green cloth": [ + 168, + 307, + 680, + 722 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38236021995544434, + 0.10662370920181274, + 0.00852111354470253, + 3.1280248165130615, + -0.08037130534648895, + -0.1843245029449463 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 9 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3858109712600708, + 0.10801529139280319, + 0.004769417457282543, + 3.1263210773468018, + -0.07247543334960938, + -0.1832706779241562 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot arm is positioned above the green cloth on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the cloth surface is in progress, with the next likely action being to lower the gripper toward the cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 12 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38823723793029785, + 0.10841318219900131, + 0.004943803884088993, + 3.130737781524658, + -0.08700460940599442, + -0.17361700534820557 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 15 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38980770111083984, + 0.11013463139533997, + 0.005943174008280039, + -3.137371301651001, + -0.09255725145339966, + -0.16950632631778717 + ], + "gripper_value": 0.3552374839782715 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 16 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3903060853481293, + 0.11031090468168259, + 0.005677843000739813, + -3.1353414058685303, + -0.09662100672721863, + -0.16792961955070496 + ], + "gripper_value": 0.1452319175004959 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move right 16 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39012470841407776, + 0.10963600128889084, + 0.004717017058283091, + -3.134681224822998, + -0.09793692082166672, + -0.16776017844676971 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move right 17 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3878662884235382, + 0.10671266168355942, + 0.001418414176441729, + 3.141021490097046, + -0.09516389667987823, + -0.1748153269290924 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 17 cm, move up 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38678112626075745, + 0.0961594358086586, + 0.005413350183516741, + 3.1221559047698975, + -0.11675465852022171, + -0.19731509685516357 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 16 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3859972357749939, + 0.07920797169208527, + 0.022837689146399498, + 3.118764638900757, + -0.17054450511932373, + -0.26875045895576477 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 15 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3829479217529297, + 0.044264428317546844, + 0.029404645785689354, + 3.1067190170288086, + -0.1984216719865799, + -0.3892103135585785 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move down 3 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3778535723686218, + 0.01580957882106304, + 0.030945759266614914, + 3.0829524993896484, + -0.2249668836593628, + -0.4875079095363617 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move down 3 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37113261222839355, + -0.014840337447822094, + 0.026101524010300636, + 3.062272787094116, + -0.22886863350868225, + -0.6131582260131836 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36211809515953064, + -0.046244438737630844, + 0.02113770879805088, + 3.042186737060547, + -0.2287529706954956, + -0.732257604598999 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 712, + 560, + 993, + 986 + ], + "faucet": [ + 805, + 279, + 993, + 514 + ], + "green cloth": [ + 196, + 311, + 696, + 732 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the green cloth and positioned the gripper above it. The gripper is currently open and aligned with the cloth edge, ready to close. The next action is to close the gripper to grasp the cloth edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543934226036072, + -0.05541618540883064, + 0.016425667330622673, + 3.02408766746521, + -0.234798863530159, + -0.7927155494689941 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34925198554992676, + -0.056893233209848404, + 0.015562528744339943, + 3.008047342300415, + -0.22992658615112305, + -0.8300547003746033 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34314823150634766, + -0.05902387201786041, + 0.0149565190076828, + 2.9830262660980225, + -0.22013415396213531, + -0.8759474158287048 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper; then move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3328714370727539, + -0.06572958827018738, + 0.00826290063560009, + 2.9019484519958496, + -0.21496297419071198, + -0.9278838038444519 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333078622817993, + -0.06302133202552795, + 0.004824571777135134, + 2.9118874073028564, + -0.19278877973556519, + -0.9579800963401794 + ], + "gripper_value": 0.04810556024312973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324197232723236, + -0.06618653982877731, + -0.0009383180877193809, + 2.9238224029541016, + -0.17268578708171844, + -0.9785813093185425 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33462637662887573, + -0.06504282355308533, + -0.0012798706302419305, + 2.9325294494628906, + -0.17066806554794312, + -0.9490532279014587 + ], + "gripper_value": 0.2062399983406067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33182501792907715, + -0.0658797025680542, + -0.002077826065942645, + 2.9250998497009277, + -0.16848185658454895, + -0.9430248141288757 + ], + "gripper_value": 0.4522285461425781 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33246704936027527, + -0.06695636361837387, + 0.005571121349930763, + 2.930170774459839, + -0.18614354729652405, + -0.9462782740592957 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3288761377334595, + -0.06801159679889679, + 0.006676812190562487, + 2.9065186977386475, + -0.17763829231262207, + -0.9395798444747925 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the edge of the green cloth with its gripper closed. It has successfully approached and grasped the cloth, and is now in the process of dragging it upward toward the top edge of the stovetop. The next action should continue lifting or pulling the cloth upward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327769339084625, + -0.06749699264764786, + 0.034467194229364395, + 2.9743804931640625, + -0.23532982170581818, + -0.9421314597129822 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned above the green cloth with the gripper fully open, indicating the release phase is complete. The cloth remains on the stovetop surface, and the end-effector is beginning to retreat upward and away from the workspace. The next action is to continue retreating to a safe distance to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.33168157935142517, + -0.06434927135705948, + 0.05579052492976189, + 3.0200350284576416, + -0.2856740653514862, + -0.9350242018699646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned above the green cloth with the gripper fully open, indicating the release phase is complete. The cloth remains on the stovetop surface, and the end-effector is beginning to retreat upward and away from the workspace. The next action is to continue retreating to a safe distance to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306646943092346, + -0.06376326084136963, + 0.07939626276493073, + 3.0822205543518066, + -0.33504971861839294, + -0.9448870420455933 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 805, + 278, + 993, + 515 + ], + "green cloth": [ + 205, + 314, + 736, + 767 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned above the green cloth with the gripper fully open, indicating the release phase is complete. The cloth remains on the stovetop surface, and the end-effector is beginning to retreat upward and away from the workspace. The next action is to continue retreating to a safe distance to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3307937681674957, + -0.06109219416975975, + 0.08270595967769623, + 3.112277030944824, + -0.33686110377311707, + -0.946509063243866 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth surface" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned above the green cloth with the gripper fully open, indicating the release phase is complete. The cloth remains on the stovetop surface, and the end-effector is beginning to retreat upward and away from the workspace. The next action is to continue retreating to a safe distance to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004083_ecot.json b/cot/chunk-0004/episode_0004083_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..50a85b17620ae865693751279eb74977d5375258 --- /dev/null +++ b/cot/chunk-0004/episode_0004083_ecot.json @@ -0,0 +1,2653 @@ +{ + "task_name": "episode_0004083", + "episode_json": "json/chunk-0004/episode_0004083.json", + "video_path": "videos/chunk-0004/image_0/episode_0004083.mp4", + "instruction": "Move the blue cloth over where the fork was and put the fork on the corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004083.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.001984119415283203, + "std": 0.00031658020452596247, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00198, std=0.00032, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 21 + ], + [ + 3, + 22, + 34 + ], + [ + 4, + 35, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the blue cloth near the bowl to prepare for repositioning.\"},\n {\"id\": 2, \"name\": \"nudge cloth toward fork location\", \"start\": 14, \"end\": 21, \"planning\": \"Gently push or slide the blue cloth in the direction where the fork originally was, using contact without grasping.\"},\n {\"id\": 3, \"name\": \"reposition cloth and retreat\", \"start\": 22, \"end\": 34, \"planning\": \"Adjust cloth position further if needed, then lift end-effector slightly to release contact and prepare for next phase.\"},\n {\"id\": 4, \"name\": \"retreat to safe pose\", \"start\": 35, \"end\": 41, \"planning\": \"Lift and move end-effector away from the table surface to a neutral resting position after completing cloth adjustment.\"}\n ],\n \"global_plan\": \"Reposition the blue cloth over the fork’s original location by nudging and sliding it with the gripper (no grasping), then retreat to a safe pose; note that the fork itself is not moved in this episode.\",\n \"notes\": \"Gripper remains fully open throughout all segments (value ~1.00015, no meaningful closing). All actions are contact-based pushes/slides/nudges — no grasp, lift, or place occurred. The fork remains stationary on the table as observed in keyframes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the blue cloth near the bowl to prepare for repositioning." + }, + { + "id": 2, + "name": "nudge cloth toward fork location", + "start": 14, + "end": 21, + "planning": "Gently push or slide the blue cloth in the direction where the fork originally was, using contact without grasping." + }, + { + "id": 3, + "name": "reposition cloth and retreat", + "start": 22, + "end": 34, + "planning": "Adjust cloth position further if needed, then lift end-effector slightly to release contact and prepare for next phase." + }, + { + "id": 4, + "name": "retreat to safe pose", + "start": 35, + "end": 41, + "planning": "Lift and move end-effector away from the table surface to a neutral resting position after completing cloth adjustment." + } + ], + "global_plan": "Reposition the blue cloth over the fork’s original location by nudging and sliding it with the gripper (no grasping), then retreat to a safe pose; note that the fork itself is not moved in this episode.", + "notes": "Gripper remains fully open throughout all segments (value ~1.00015, no meaningful closing). All actions are contact-based pushes/slides/nudges — no grasp, lift, or place occurred. The fork remains stationary on the table as observed in keyframes." + } + }, + "episode_goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2029949426651001, + 0.14461460709571838, + 0.042789164930582047, + 2.9695916175842285, + 0.06203240528702736, + 1.0349242687225342 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving toward the blue cloth to prepare for repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20141634345054626, + 0.14258649945259094, + 0.03723565489053726, + 2.977118492126465, + 0.0875038430094719, + 1.0364270210266113 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving toward the blue cloth to prepare for repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.200318843126297, + 0.14032503962516785, + 0.03826599568128586, + 2.975450277328491, + 0.10229641944169998, + 1.037818431854248 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving toward the blue cloth to prepare for repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 7 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19984892010688782, + 0.14091633260250092, + 0.04211011156439781, + 2.9696760177612305, + 0.09338044375181198, + 1.029430866241455 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving toward the blue cloth to prepare for repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 8 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19799306988716125, + 0.1405809372663498, + 0.04236021265387535, + 2.9675796031951904, + 0.10581716150045395, + 1.0345956087112427 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving toward the blue cloth to prepare for repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1981787532567978, + 0.14132972061634064, + 0.04629868268966675, + 2.957919120788574, + 0.09701145440340042, + 1.042280673980713 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving toward the blue cloth to prepare for repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20015203952789307, + 0.13744573295116425, + 0.05785273388028145, + 2.92315673828125, + 0.09129675477743149, + 1.0537686347961426 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 8 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2053939551115036, + 0.12939900159835815, + 0.07333814352750778, + 2.8790297508239746, + 0.07751146703958511, + 1.0653274059295654 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 121, + 330, + 365, + 654 + ], + "wooden table": [ + 8, + 186, + 895, + 991 + ], + "fork": [ + 513, + 542, + 722, + 844 + ], + "blue cloth": [ + 372, + 276, + 640, + 538 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 7 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2115783989429474, + 0.12388350814580917, + 0.08969558775424957, + 2.8401975631713867, + 0.06805024296045303, + 1.0807336568832397 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 7 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2266843467950821, + 0.11727035045623779, + 0.10622448474168777, + 2.78474497795105, + 0.06490658968687057, + 1.0703704357147217 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 6 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2477840930223465, + 0.11160234361886978, + 0.12226643413305283, + 2.7278635501861572, + 0.06261268258094788, + 1.0668725967407227 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 5 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865079343318939, + 0.08296705782413483, + 0.10796733945608139, + 2.7388675212860107, + 0.106905996799469, + 1.0222119092941284 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3088705241680145, + 0.07135100662708282, + 0.09553543478250504, + 2.75327467918396, + 0.13247577846050262, + 0.9975864291191101 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 9, + 220, + 895, + 991 + ], + "metal pot": [ + 120, + 323, + 366, + 659 + ], + "fork": [ + 512, + 542, + 720, + 843 + ], + "blue cloth": [ + 372, + 276, + 639, + 537 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3301079273223877, + 0.05726316571235657, + 0.06526876986026764, + 2.821824550628662, + 0.16065523028373718, + 0.9331501722335815 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3375622630119324, + 0.05763579532504082, + 0.049595825374126434, + 2.8520681858062744, + 0.1798366755247116, + 0.9224111437797546 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "nudge cloth toward fork location", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3464120328426361, + 0.06115788593888283, + 0.035672158002853394, + 2.872901201248169, + 0.2035706341266632, + 0.92207932472229 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "nudge cloth toward fork location", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35549622774124146, + 0.06518764048814774, + 0.02350478433072567, + 2.8919477462768555, + 0.21901750564575195, + 0.9388538599014282 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "nudge cloth toward fork location", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the fork visible nearby. No contact or grasping has occurred yet, as the gripper remains open and no segment-level closing evidence exists. The next action is to continue moving the end-effector closer to the blue cloth to prepare for nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36131319403648376, + 0.06768485903739929, + 0.022946558892726898, + 2.8866076469421387, + 0.20532120764255524, + 0.9503791928291321 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "nudge cloth toward fork location", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3627323508262634, + 0.06627898663282394, + 0.019924841821193695, + 2.88586688041687, + 0.2053866982460022, + 0.951646625995636 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "nudge cloth toward fork location", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3637683093547821, + 0.06284274160861969, + 0.01941254548728466, + 2.884457588195801, + 0.19967663288116455, + 0.9483287334442139 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "nudge cloth toward fork location", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3600282669067383, + 0.06117931008338928, + 0.013576341792941093, + 2.9065768718719482, + 0.19054540991783142, + 0.9545233845710754 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "nudge cloth toward fork location", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35876739025115967, + 0.046740852296352386, + 0.008967917412519455, + 2.9858851432800293, + 0.12436654418706894, + 0.88698410987854 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "nudge cloth toward fork location", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 3 cm, move right 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3576268255710602, + 0.03254685923457146, + 0.007377053145319223, + 2.998051166534424, + 0.08753927052021027, + 0.8261128067970276 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35699623823165894, + 0.017030343413352966, + 0.005806679371744394, + 2.99575138092041, + 0.0782453864812851, + 0.784072756767273 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558203876018524, + 0.0026765279471874237, + 0.006434679962694645, + 2.991290330886841, + 0.06695085763931274, + 0.745917558670044 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 8, + 186, + 894, + 992 + ], + "metal pot": [ + 120, + 316, + 369, + 659 + ], + "fork": [ + 514, + 542, + 718, + 843 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3522225022315979, + -0.009063215926289558, + 0.005607488565146923, + 2.9840750694274902, + 0.06978142261505127, + 0.710777759552002 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35004034638404846, + -0.02155480533838272, + 0.005294918082654476, + 2.9776716232299805, + 0.07330122590065002, + 0.6783319115638733 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.34717586636543274, + -0.035214558243751526, + 0.004790822509676218, + 2.972090005874634, + 0.08061301708221436, + 0.6463811993598938 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above the blue cloth, which is currently located near the pot. The gripper is open and has not closed, indicating no grasp has occurred. The next action is to make contact with the cloth and nudge or slide it toward the location previously occupied by the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34430789947509766, + -0.04991065710783005, + 0.004105804953724146, + 2.9727258682250977, + 0.08028678596019745, + 0.6043351292610168 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3414284288883209, + -0.060483213514089584, + 0.004043875262141228, + 2.9690358638763428, + 0.07169131189584732, + 0.5731691718101501 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33666539192199707, + -0.06262777000665665, + 0.005438763648271561, + 2.9680376052856445, + 0.0753796324133873, + 0.565678596496582 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32387909293174744, + -0.06385984271764755, + 0.007529571186751127, + 2.9688496589660645, + 0.09247958660125732, + 0.5722418427467346 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31343191862106323, + -0.05512037128210068, + 0.012364094145596027, + 2.9571361541748047, + 0.11027444154024124, + 0.6173362731933594 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 507, + 458, + 841, + 840 + ], + "wooden table": [ + 10, + 187, + 895, + 993 + ], + "metal pot": [ + 119, + 313, + 367, + 659 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31697914004325867, + -0.0423395000398159, + 0.03388576582074165, + 2.8929202556610107, + 0.08340396732091904, + 0.664409339427948 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fork": [ + 508, + 670, + 833, + 837 + ], + "wooden table": [ + 6, + 185, + 896, + 993 + ], + "metal pot": [ + 119, + 320, + 367, + 656 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199148178100586, + -0.03356173262000084, + 0.06667795032262802, + 2.8201422691345215, + 0.03891707584261894, + 0.7004544138908386 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition cloth and retreat", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3198446035385132, + -0.03106728009879589, + 0.07885472476482391, + 2.7909536361694336, + 0.03291478008031845, + 0.7156892418861389 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194870352745056, + -0.028138672932982445, + 0.09250340610742569, + 2.758333683013916, + 0.005631265230476856, + 0.7243673205375671 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3152642548084259, + -0.029859349131584167, + 0.10627900063991547, + 2.7103829383850098, + -0.026734216138720512, + 0.7409213781356812 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The robot has nudged the blue cloth toward the fork's original location and is now in contact with it, sliding it into position. The gripper remains open throughout this segment, indicating no grasp occurred. The next action is to continue sliding the cloth slightly further to fully cover the target area before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3124321401119232, + -0.026351232081651688, + 0.12043502181768417, + 2.65956711769104, + -0.06256160885095596, + 0.7232484817504883 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The blue cloth has been nudged toward the fork’s original location, and the gripper is now open and elevated above the table. The robot is retreating to a safe pose after completing the cloth repositioning; no further contact with objects is needed in this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3125073313713074, + -0.0242766086012125, + 0.12130706012248993, + 2.6592414379119873, + -0.06870905309915543, + 0.723351001739502 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The blue cloth has been nudged toward the fork’s original location, and the gripper is now open and elevated above the table. The robot is retreating to a safe pose after completing the cloth repositioning; no further contact with objects is needed in this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.31211426854133606, + -0.024789316579699516, + 0.12040606141090393, + 2.6612308025360107, + -0.06764473766088486, + 0.718968391418457 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The blue cloth has been nudged toward the fork’s original location, and the gripper is now open and elevated above the table. The robot is retreating to a safe pose after completing the cloth repositioning; no further contact with objects is needed in this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.31251874566078186, + -0.02491610124707222, + 0.12138252705335617, + 2.6582934856414795, + -0.06931207329034805, + 0.7197995781898499 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the location previously occupied by the fork, then place the fork on the corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "nudge cloth toward fork location" + }, + { + "id": 3, + "subtask": "reposition cloth and retreat" + }, + { + "id": 4, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The blue cloth has been nudged toward the fork’s original location, and the gripper is now open and elevated above the table. The robot is retreating to a safe pose after completing the cloth repositioning; no further contact with objects is needed in this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004085_ecot.json b/cot/chunk-0004/episode_0004085_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2c9edc569ce0f44748ac2fe4d7aca8da75a8393d --- /dev/null +++ b/cot/chunk-0004/episode_0004085_ecot.json @@ -0,0 +1,1929 @@ +{ + "task_name": "episode_0004085", + "episode_json": "json/chunk-0004/episode_0004085.json", + "video_path": "videos/chunk-0004/image_0/episode_0004085.mp4", + "instruction": "Place the green lime inside the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004085.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.3673863410949707, + "std": 0.16771039366722107, + "delta_total": -0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36739, std=0.16771, total_delta=-0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 8 + ], + [ + 3, + 9, + 16 + ], + [ + 4, + 17, + 24 + ], + [ + 5, + 25, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lime\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector from initial position toward the green lime on the table without grasping.\"},\n {\"id\": 2, \"name\": \"reposition for grasp\", \"start\": 9, \"end\": 16, \"planning\": \"Adjust end-effector pose and proximity to align with the lime for upcoming grasp, maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"grasp and lift lime\", \"start\": 17, \"end\": 20, \"planning\": \"Close gripper to securely grasp the lime and lift it slightly off the table surface.\"},\n {\"id\": 4, \"name\": \"transport and place in pot\", \"start\": 21, \"end\": 24, \"planning\": \"Move the grasped lime over the pot and release it inside by opening the gripper.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 25, \"end\": 27, \"planning\": \"Withdraw the end-effector upward and away from the pot after successful placement of the lime.\"}\n ],\n \"global_plan\": \"Approach the lime, reposition for grasp, grasp and lift it, transport and drop into the pot, then retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segment 4 (frames 17-24), supporting grasp/release wording there. Segments 1, 2, and 5 show no gripper closure — described as approach, reposition, and retreat respectively. Frame coverage is complete and contiguous from 0 to 27.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lime", + "start": 0, + "end": 8, + "planning": "Move the end-effector from initial position toward the green lime on the table without grasping." + }, + { + "id": 2, + "name": "reposition for grasp", + "start": 9, + "end": 16, + "planning": "Adjust end-effector pose and proximity to align with the lime for upcoming grasp, maintaining open gripper." + }, + { + "id": 3, + "name": "grasp and lift lime", + "start": 17, + "end": 20, + "planning": "Close gripper to securely grasp the lime and lift it slightly off the table surface." + }, + { + "id": 4, + "name": "transport and place in pot", + "start": 21, + "end": 24, + "planning": "Move the grasped lime over the pot and release it inside by opening the gripper." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 25, + "end": 27, + "planning": "Withdraw the end-effector upward and away from the pot after successful placement of the lime." + } + ], + "global_plan": "Approach the lime, reposition for grasp, grasp and lift it, transport and drop into the pot, then retreat.", + "notes": "Gripper evidence confirms meaningful closing only in segment 4 (frames 17-24), supporting grasp/release wording there. Segments 1, 2, and 5 show no gripper closure — described as approach, reposition, and retreat respectively. Frame coverage is complete and contiguous from 0 to 27." + } + }, + "episode_goal": "Place the green lime inside the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2627502977848053, + 0.030502503737807274, + 0.14538909494876862, + 3.1390388011932373, + -0.19245339930057526, + -0.20752660930156708 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and pot visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the lime. The next action is to continue approaching the lime to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617109417915344, + 0.028363732621073723, + 0.1385752409696579, + 3.120020866394043, + -0.17041712999343872, + -0.2073746770620346 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and pot visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the lime. The next action is to continue approaching the lime to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27583253383636475, + 0.03168526291847229, + 0.13888083398342133, + 3.0403339862823486, + -0.2125042825937271, + -0.14321058988571167 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and pot visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the lime. The next action is to continue approaching the lime to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2960873246192932, + 0.043625254184007645, + 0.130087748169899, + 3.0098929405212402, + -0.231509268283844, + -0.08076371997594833 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and pot visible. No actions have been completed yet. The gripper is open and the robot is beginning to move toward the lime. The next action is to continue approaching the lime to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32505854964256287, + 0.057863347232341766, + 0.11338608711957932, + 3.0282983779907227, + -0.22994495928287506, + 0.031594473868608475 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and metal pot visible. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the lime. The next action is to continue approaching the lime to position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35952115058898926, + 0.05176619812846184, + 0.08569878339767456, + 3.0702145099639893, + -0.2013075202703476, + 0.06736493855714798 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and metal pot visible. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the lime. The next action is to continue approaching the lime to position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37022900581359863, + 0.04505452513694763, + 0.0675455778837204, + 3.1227777004241943, + -0.16446302831172943, + 0.028952917084097862 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 138, + 324, + 367, + 598 + ], + "green apple": [ + 453, + 354, + 529, + 444 + ], + "wooden countertop": [ + 7, + 189, + 884, + 989 + ], + "purple cloth": [ + 91, + 435, + 389, + 649 + ] + } + } + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and metal pot visible. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the lime. The next action is to continue approaching the lime to position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open; then move back 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36855441331863403, + 0.04710383340716362, + 0.061360377818346024, + -3.1379470825195312, + -0.15567462146282196, + 0.014039513655006886 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and metal pot visible. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the lime. The next action is to continue approaching the lime to position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 7 cm, move left 3 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36459222435951233, + 0.04778355360031128, + 0.05336754769086838, + -3.129178762435913, + -0.12677635252475739, + 0.004750008694827557 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lime", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and metal pot visible. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the lime. The next action is to continue approaching the lime to position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 7 cm, move left 3 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 3 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3582316040992737, + 0.04555213078856468, + 0.040410496294498444, + 3.138725996017456, + -0.10101653635501862, + 0.0037330782506614923 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and metal pot visible. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the lime. The next action is to continue approaching the lime to position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 5 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.356071799993515, + 0.044172387570142746, + 0.02868802845478058, + 3.134010076522827, + -0.07651625573635101, + 0.022656328976154327 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and metal pot visible. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the lime. The next action is to continue approaching the lime to position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 5 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556705117225647, + 0.03751840442419052, + 0.019951313734054565, + 3.135145902633667, + -0.057721272110939026, + 0.012386318296194077 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the wooden table with the green lime and metal pot visible. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the lime. The next action is to continue approaching the lime to position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35888418555259705, + 0.03362426906824112, + 0.019309308379888535, + 3.131225109100342, + -0.07666674256324768, + 0.0035885656252503395 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the green lime and is currently repositioning its gripper above it, with fingers open and aligned for grasping. The gripper shows closing motion in the segment, indicating preparation to grasp. The next action is to close the gripper to securely hold the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 4 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605208098888397, + 0.029483553022146225, + 0.020082999020814896, + 3.1046228408813477, + -0.08741721510887146, + 0.009409272111952305 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the green lime and is currently repositioning its gripper above it, with fingers open and aligned for grasping. The gripper shows closing motion in the segment, indicating preparation to grasp. The next action is to close the gripper to securely hold the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed; then move back 6 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3630015552043915, + 0.025255590677261353, + 0.04634162783622742, + 3.0784225463867188, + -0.1454007625579834, + 0.008706171065568924 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the green lime and is currently repositioning its gripper above it, with fingers open and aligned for grasping. The gripper shows closing motion in the segment, indicating preparation to grasp. The next action is to close the gripper to securely hold the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move up 9 cm, keep gripper closed; then move back 6 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 3 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3536949157714844, + 0.026202447712421417, + 0.09086469560861588, + 3.0469748973846436, + -0.2207755744457245, + -0.005083282943814993 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the green lime and is currently repositioning its gripper above it, with fingers open and aligned for grasping. The gripper shows closing motion in the segment, indicating preparation to grasp. The next action is to close the gripper to securely hold the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move back 6 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3287326395511627, + 0.0493646040558815, + 0.13209901750087738, + 3.019249200820923, + -0.2590722143650055, + 0.01916976273059845 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 138, + 323, + 371, + 598 + ], + "green apple": [ + 437, + 143, + 495, + 257 + ], + "purple cloth": [ + 92, + 434, + 390, + 650 + ], + "wooden countertop": [ + 7, + 191, + 885, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the green lime and is currently repositioning its gripper above it, with fingers open and aligned for grasping. The gripper shows closing motion in the segment, indicating preparation to grasp. The next action is to close the gripper to securely hold the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930409014225006, + 0.07067008316516876, + 0.14041343331336975, + 3.03322696685791, + -0.21309293806552887, + 0.025025498121976852 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift lime", + "subtask_reasoning": "The robot has approached the green lime and is currently repositioning its gripper above it, with fingers open and aligned for grasping. The gripper shows closing motion in the segment, indicating preparation to grasp. The next action is to close the gripper to securely hold the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2651994824409485, + 0.08860500156879425, + 0.12267360836267471, + 3.0623106956481934, + -0.12326934188604355, + 0.017153531312942505 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift lime", + "subtask_reasoning": "The robot is positioned above the green lime with the gripper open, having completed the approach and repositioning steps. Since the segment-level gripper evidence shows no closing motion, the robot is currently hovering in preparation for the grasp. The next action is to close the gripper to secure the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24612830579280853, + 0.10356416553258896, + 0.09929027408361435, + 3.0805246829986572, + -0.03674739971756935, + 0.023576252162456512 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift lime", + "subtask_reasoning": "The robot is positioned above the green lime with the gripper open, having completed the approach and repositioning steps. Since the segment-level gripper evidence shows no closing motion, the robot is currently hovering in preparation for the grasp. The next action is to close the gripper to secure the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23894400894641876, + 0.10822510719299316, + 0.08475776761770248, + 3.075442314147949, + 0.006571194622665644, + 0.04156232252717018 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift lime", + "subtask_reasoning": "The robot is positioned above the green lime with the gripper open, having completed the approach and repositioning steps. Since the segment-level gripper evidence shows no closing motion, the robot is currently hovering in preparation for the grasp. The next action is to close the gripper to secure the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23648503422737122, + 0.110738106071949, + 0.07543887943029404, + 3.0708389282226562, + 0.043253976851701736, + 0.043121375143527985 + ], + "gripper_value": 0.7081608176231384 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport and place in pot", + "subtask_reasoning": "The robot is positioned above the green lime with the gripper open, having completed the approach and repositioning steps. Since the segment-level gripper evidence shows no closing motion, the robot is currently hovering in preparation for the grasp. The next action is to close the gripper to secure the lime." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23640544712543488, + 0.11067306250333786, + 0.0761372372508049, + 3.069646120071411, + 0.04630875587463379, + 0.04737700894474983 + ], + "gripper_value": 0.9766865372657776 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport and place in pot", + "subtask_reasoning": "The green lime is currently held by the gripper and positioned directly above the metal pot. The robot has successfully transported the object from its initial location. The next action is to lower the gripper to release the lime inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2407899647951126, + 0.10564250499010086, + 0.07755410671234131, + 3.0564327239990234, + 0.034124162048101425, + 0.0475599505007267 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport and place in pot", + "subtask_reasoning": "The green lime is currently held by the gripper and positioned directly above the metal pot. The robot has successfully transported the object from its initial location. The next action is to lower the gripper to release the lime inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634373903274536, + 0.08323672413825989, + 0.1131620705127716, + 3.0166163444519043, + -0.12191765755414963, + 0.07790170609951019 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport and place in pot", + "subtask_reasoning": "The green lime is currently held by the gripper and positioned directly above the metal pot. The robot has successfully transported the object from its initial location. The next action is to lower the gripper to release the lime inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28663522005081177, + 0.049331508576869965, + 0.128478541970253, + 3.0304276943206787, + -0.2030608057975769, + 0.02136974036693573 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green lime is currently held by the gripper and positioned directly above the metal pot. The robot has successfully transported the object from its initial location. The next action is to lower the gripper to release the lime inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29715150594711304, + 0.034241124987602234, + 0.1320754736661911, + 3.0716211795806885, + -0.22416037321090698, + 0.008471356704831123 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 7, + 189, + 885, + 989 + ], + "metal pot": [ + 138, + 324, + 374, + 599 + ], + "green apple": [ + 160, + 418, + 251, + 517 + ], + "purple cloth": [ + 91, + 436, + 389, + 649 + ] + } + } + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green lime is already placed inside the pot on the table. The gripper is open and positioned above the scene, indicating completion of placement. The next action is to retreat the arm away from the pot area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30000320076942444, + 0.031045660376548767, + 0.12116347253322601, + 3.085076093673706, + -0.19759318232536316, + -0.010438880883157253 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green lime inside the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lime" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift lime" + }, + { + "id": 4, + "subtask": "transport and place in pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green lime is already placed inside the pot on the table. The gripper is open and positioned above the scene, indicating completion of placement. The next action is to retreat the arm away from the pot area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004086_ecot.json b/cot/chunk-0004/episode_0004086_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0c30b20109f7905cf04a3c6ba5f0489ebe22de0b --- /dev/null +++ b/cot/chunk-0004/episode_0004086_ecot.json @@ -0,0 +1,2580 @@ +{ + "task_name": "episode_0004086", + "episode_json": "json/chunk-0004/episode_0004086.json", + "video_path": "videos/chunk-0004/image_0/episode_0004086.mp4", + "instruction": "Picked up the blue fork and put it back down on the same location.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004086.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.7765820026397705, + "std": 0.33260974287986755, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.77658, std=0.33261, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 108, + 108, + 108, + 8, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 135, + 135, + 135, + 135, + 135 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 8 + ], + [ + 3, + 9, + 11 + ], + [ + 4, + 12, + 13 + ], + [ + 5, + 14, + 34 + ], + [ + 6, + 35, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue fork\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the blue fork on the stovetop while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp blue fork\", \"start\": 8, \"end\": 11, \"planning\": \"Complete gripper closure and secure hold on the blue fork as confirmed by low gripper value and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and reposition fork\", \"start\": 12, \"end\": 34, \"planning\": \"Lift the fork slightly and move it within the stovetop area while maintaining grip, preparing for placement.\"},\n {\"id\": 4, \"name\": \"release fork at target location\", \"start\": 35, \"end\": 39, \"planning\": \"Open gripper to release the blue fork back onto the stovetop at the original or nearby position, confirmed by rising gripper value.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift/reposition, and release the blue fork on the stovetop in a controlled sequence matching observed motion and gripper states.\",\n \"notes\": \"Segment 4 (frames 12-13) shows no gripper change but is merged into the lifting/repositioning phase since the fork is already grasped and moving; segment 6 confirms release via gripper opening. All segments covered contiguously from 0 to 39.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue fork", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the blue fork on the stovetop while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp blue fork", + "start": 8, + "end": 11, + "planning": "Complete gripper closure and secure hold on the blue fork as confirmed by low gripper value and stable pose." + }, + { + "id": 3, + "name": "lift and reposition fork", + "start": 12, + "end": 34, + "planning": "Lift the fork slightly and move it within the stovetop area while maintaining grip, preparing for placement." + }, + { + "id": 4, + "name": "release fork at target location", + "start": 35, + "end": 39, + "planning": "Open gripper to release the blue fork back onto the stovetop at the original or nearby position, confirmed by rising gripper value." + } + ], + "global_plan": "Approach, grasp, lift/reposition, and release the blue fork on the stovetop in a controlled sequence matching observed motion and gripper states.", + "notes": "Segment 4 (frames 12-13) shows no gripper change but is merged into the lifting/repositioning phase since the fork is already grasped and moving; segment 6 confirms release via gripper opening. All segments covered contiguously from 0 to 39." + } + }, + "episode_goal": "Pick up the blue fork from the stovetop and place it back down at the same location.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33955761790275574, + -0.023666512221097946, + 0.05088108405470848, + 2.920498847961426, + -0.09393666684627533, + 1.5673874616622925 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible on the surface near the sink. No grasping has occurred yet, as the gripper remains open and no contact with the fork is evident. The next action should involve moving the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3373122811317444, + -0.024089930579066277, + 0.040596988052129745, + 2.9502053260803223, + -0.09232571721076965, + 1.5679354667663574 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible on the surface near the sink. No grasping has occurred yet, as the gripper remains open and no contact with the fork is evident. The next action should involve moving the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33425626158714294, + -0.02834860049188137, + 0.022768773138523102, + 2.992138385772705, + -0.06478378176689148, + 1.5625112056732178 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible on the surface near the sink. No grasping has occurred yet, as the gripper remains open and no contact with the fork is evident. The next action should involve moving the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.324753075838089, + -0.029096193611621857, + -0.0007864503422752023, + 3.0810728073120117, + -0.07189341634511948, + 1.5560626983642578 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible near the sink area. The gripper is open and no contact has been made yet. The next action should involve moving the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3215475082397461, + -0.037885166704654694, + -0.016993986442685127, + 3.119058609008789, + -0.05292394384741783, + 1.5309027433395386 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible near the sink area. The gripper is open and no contact has been made yet. The next action should involve moving the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, close gripper; then move forward 3 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32468298077583313, + -0.04256328567862511, + -0.03735906630754471, + 3.140162467956543, + -0.028579069301486015, + 1.5142037868499756 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible near the sink area. The gripper is open and no contact has been made yet. The next action should involve moving the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move forward 3 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33405452966690063, + -0.04579252377152443, + -0.041843585669994354, + 3.1273815631866455, + -0.035537973046302795, + 1.4929989576339722 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible near the sink area. The gripper is open and no contact has been made yet. The next action should involve moving the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 3 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3391358256340027, + -0.0519840344786644, + -0.0412287637591362, + 3.1188793182373047, + -0.07437921315431595, + 1.460171103477478 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 202, + 235, + 407, + 402 + ], + "sink": [ + 651, + 455, + 995, + 955 + ], + "banana": [ + 383, + 314, + 499, + 472 + ], + "tiled wall": [ + 278, + 2, + 997, + 454 + ], + "washing machine": [ + 51, + 606, + 620, + 994 + ], + "stovetop": [ + 107, + 281, + 633, + 713 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible near the sink area. The gripper is open and no contact has been made yet. The next action should involve moving the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 3 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33354970812797546, + -0.05376555770635605, + -0.04139874130487442, + 3.1383345127105713, + -0.08447237312793732, + 1.4549779891967773 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue fork visible near the sink area. The gripper is open and no contact has been made yet. The next action should involve moving the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32770565152168274, + -0.05383742228150368, + -0.02533649280667305, + -3.1162705421447754, + -0.11662640422582626, + 1.3964661359786987 + ], + "gripper_value": 0.24456030130386353 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32799842953681946, + -0.056230444461107254, + -0.004656888544559479, + -3.1248810291290283, + -0.10716475546360016, + 1.3331880569458008 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 203, + 235, + 408, + 402 + ], + "sink": [ + 652, + 456, + 994, + 953 + ], + "banana": [ + 383, + 308, + 499, + 471 + ], + "tiled wall": [ + 275, + 2, + 997, + 453 + ], + "stovetop": [ + 107, + 283, + 632, + 709 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 8 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3385342061519623, + -0.05236108973622322, + 0.004510287195444107, + -3.1312003135681152, + -0.09888195246458054, + 1.2574940919876099 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, keep gripper closed; then move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619006276130676, + -0.05185482278466225, + 0.01578141748905182, + 3.105712652206421, + -0.07054883986711502, + 1.18186354637146 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37990689277648926, + -0.04823298752307892, + 0.0009058857103809714, + 3.1202313899993896, + -0.0520462729036808, + 1.1230840682983398 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38932639360427856, + -0.038722194731235504, + -0.01634252816438675, + -3.1208696365356445, + -0.04650617390871048, + 1.1351474523544312 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39362794160842896, + -0.023386187851428986, + -0.027310548350214958, + -3.1058802604675293, + -0.03779494762420654, + 1.1772676706314087 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 7 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3939353823661804, + -0.009466893970966339, + -0.027331417426466942, + -3.105722188949585, + -0.03396642208099365, + 1.221408724784851 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 6 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39287540316581726, + 0.0012068800861015916, + -0.028605706989765167, + -3.1057982444763184, + -0.02861974574625492, + 1.2539446353912354 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38502246141433716, + 0.012209350243210793, + -0.03336087986826897, + -3.1072306632995605, + -0.007480778731405735, + 1.2924150228500366 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37381988763809204, + 0.027777057141065598, + -0.03152092918753624, + -3.109787702560425, + 0.0008031227625906467, + 1.3447909355163574 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36632898449897766, + 0.03170868009328842, + -0.03163232281804085, + -3.1093482971191406, + 0.02015526406466961, + 1.3595194816589355 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 652, + 453, + 994, + 955 + ], + "blue brush": [ + 520, + 464, + 576, + 530 + ], + "green cloth": [ + 203, + 223, + 409, + 402 + ], + "stovetop": [ + 105, + 280, + 656, + 711 + ], + "banana": [ + 334, + 332, + 470, + 486 + ], + "washing machine": [ + 66, + 621, + 583, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583674728870392, + 0.030422726646065712, + -0.027853744104504585, + -3.1072800159454346, + 0.0241230558604002, + 1.3687736988067627 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3477821350097656, + 0.029501182958483696, + -0.021526895463466644, + -3.1156957149505615, + 0.020830322057008743, + 1.3842055797576904 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop and is now in contact with it. The gripper is partially closed, indicating an ongoing grasp attempt. The next action should be to fully close the gripper to securely hold the fork before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34166231751441956, + 0.03332370147109032, + -0.019438495859503746, + -3.1189157962799072, + 0.025974871590733528, + 1.3955612182617188 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3298577666282654, + 0.041197966784238815, + -0.012613740749657154, + -3.1364712715148926, + 0.021394681185483932, + 1.4381675720214844 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 2 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30912965536117554, + 0.047187671065330505, + -0.017717871814966202, + -3.1060447692871094, + 0.02820584550499916, + 1.4914679527282715 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946891486644745, + 0.04803529009222984, + -0.014413164928555489, + -3.09696102142334, + 0.01805613562464714, + 1.5129084587097168 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2914569079875946, + 0.04624251276254654, + -0.013446188531816006, + -3.10304594039917, + 0.017925335094332695, + 1.530470371246338 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.291459321975708, + 0.04127124696969986, + -0.01341831311583519, + -3.097722291946411, + 0.01530468463897705, + 1.520993709564209 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005216419696808, + 0.030883658677339554, + -0.00821828842163086, + -3.1095635890960693, + 0.0040776911191642284, + 1.4766682386398315 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 3 cm, open gripper; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047747313976288, + 0.011704736389219761, + 0.0004296932020224631, + -3.0899863243103027, + -0.05816799774765968, + 1.428883671760559 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 203, + 239, + 406, + 401 + ], + "sink": [ + 652, + 453, + 994, + 954 + ], + "banana": [ + 200, + 459, + 369, + 616 + ], + "blue brush": [ + 483, + 528, + 543, + 601 + ], + "stovetop": [ + 105, + 260, + 658, + 713 + ], + "washing machine": [ + 61, + 622, + 608, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 3 cm, open gripper; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3103172481060028, + -0.0003478574799373746, + 0.0041875881142914295, + -3.123816967010498, + -0.06200120225548744, + 1.395904541015625 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.32041120529174805, + -0.013760928064584732, + -0.008594744838774204, + -3.1166343688964844, + -0.04633703455328941, + 1.3431081771850586 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt left 10 degrees, open gripper; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192603290081024, + -0.014763162471354008, + -0.025979606434702873, + -3.0867178440093994, + -0.044684264808893204, + 1.3513591289520264 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.32224294543266296, + -0.01565590128302574, + -0.03620927408337593, + -3.044435977935791, + -0.03400527685880661, + 1.3847488164901733 + ], + "gripper_value": 0.29359033703804016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227486312389374, + -0.014874054118990898, + -0.03430767357349396, + -3.0271246433258057, + -0.03415825963020325, + 1.4166611433029175 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "release fork at target location", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3219355642795563, + -0.01404657494276762, + -0.033298030495643616, + -3.0171287059783936, + -0.037786975502967834, + 1.440178394317627 + ], + "gripper_value": 0.8870869278907776 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "release fork at target location", + "subtask_reasoning": "The robot has successfully grasped the blue fork on the stovetop and is currently lifting it slightly upward. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue repositioning the fork vertically or laterally as needed before releasing it back at the original location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177599608898163, + -0.009932908229529858, + -0.032255906611680984, + -2.990874767303467, + -0.06463169306516647, + 1.4663931131362915 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "release fork at target location", + "subtask_reasoning": "The robot arm is positioned over the stovetop with the blue fork in its gripper, as indicated by the high gripper value. The fork has been lifted and repositioned to the target location. The next action is to release the fork by opening the gripper, completing the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.32312291860580444, + -0.012477493844926357, + -0.004923045635223389, + -3.0657029151916504, + -0.09564156830310822, + 1.468765139579773 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "release fork at target location", + "subtask_reasoning": "The robot arm is positioned over the stovetop with the blue fork in its gripper, as indicated by the high gripper value. The fork has been lifted and repositioned to the target location. The next action is to release the fork by opening the gripper, completing the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.32332471013069153, + -0.013240677304565907, + 0.019149212166666985, + -3.1269290447235107, + -0.12034211307764053, + 1.4814739227294922 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork from the stovetop and place it back down at the same location." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "release fork at target location" + } + ], + "subtask_name": "release fork at target location", + "subtask_reasoning": "The robot arm is positioned over the stovetop with the blue fork in its gripper, as indicated by the high gripper value. The fork has been lifted and repositioned to the target location. The next action is to release the fork by opening the gripper, completing the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004087_ecot.json b/cot/chunk-0004/episode_0004087_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4c8ff0370cdaae7577e18eddb965e2c0927c7227 --- /dev/null +++ b/cot/chunk-0004/episode_0004087_ecot.json @@ -0,0 +1,2530 @@ +{ + "task_name": "episode_0004087", + "episode_json": "json/chunk-0004/episode_0004087.json", + "video_path": "videos/chunk-0004/image_0/episode_0004087.mp4", + "instruction": "Unfold the cloth from top right to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004087.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.930453360080719, + "std": 0.4207506477832794, + "delta_total": 0.013585567474365234, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93045, std=0.42075, total_delta=0.01359). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 313, + 313, + 313, + 313, + 313, + 113, + 113, + 113, + 113, + 113, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 231, + 231, + 231 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 17 + ], + [ + 4, + 18, + 22 + ], + [ + 5, + 23, + 30 + ], + [ + 6, + 31, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth top right corner\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the top-right region of the folded yellow cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"reposition to grasp point\", \"start\": 4, \"end\": 12, \"planning\": \"Adjust position and orientation above the cloth’s top-right corner in preparation for grasping; no gripper closure yet observed.\"},\n {\"id\": 3, \"name\": \"grasp and lift cloth corner\", \"start\": 13, \"end\": 17, \"planning\": \"Close gripper to securely grasp the top-right corner of the cloth and begin lifting it slightly off the table surface.\"},\n {\"id\": 4, \"name\": \"drag cloth diagonally left-down\", \"start\": 18, \"end\": 22, \"planning\": \"Maintain grip while dragging the cloth diagonally toward bottom-left, unfolding it across the table surface.\"},\n {\"id\": 5, \"name\": \"release and retreat from cloth\", \"start\": 23, \"end\": 30, \"planning\": \"Open gripper to release the cloth after partial unfolding, then retreat upward and away to avoid interference.\"},\n {\"id\": 6, \"name\": \"final adjustment and confirm unfold\", \"start\": 31, \"end\": 33, \"planning\": \"Re-approach and lightly re-grasp or nudge the cloth to ensure full diagonal unfold from top-right to bottom-left before final release.\"}\n ],\n \"global_plan\": \"Unfold the yellow cloth by first approaching its top-right corner, grasping and lifting it slightly, then dragging it diagonally toward the bottom-left while maintaining grip, releasing mid-path, and finally making a small adjustment to complete the unfold.\",\n \"notes\": \"Gripper evidence confirms meaningful closure only in segments 3 (frames 13–17) and 6 (frames 31–33). Segment 4 (18–22) shows constant gripper value — interpreted as holding during drag, not new grasp. Segment 6’s opening motion suggests final release or micro-adjustment. All subtasks respect contiguous frame coverage and avoid hallucinated grasps where gripper data contradicts.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth top right corner", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the top-right region of the folded yellow cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "reposition to grasp point", + "start": 4, + "end": 12, + "planning": "Adjust position and orientation above the cloth’s top-right corner in preparation for grasping; no gripper closure yet observed." + }, + { + "id": 3, + "name": "grasp and lift cloth corner", + "start": 13, + "end": 17, + "planning": "Close gripper to securely grasp the top-right corner of the cloth and begin lifting it slightly off the table surface." + }, + { + "id": 4, + "name": "drag cloth diagonally left-down", + "start": 18, + "end": 22, + "planning": "Maintain grip while dragging the cloth diagonally toward bottom-left, unfolding it across the table surface." + }, + { + "id": 5, + "name": "release and retreat from cloth", + "start": 23, + "end": 30, + "planning": "Open gripper to release the cloth after partial unfolding, then retreat upward and away to avoid interference." + }, + { + "id": 6, + "name": "final adjustment and confirm unfold", + "start": 31, + "end": 33, + "planning": "Re-approach and lightly re-grasp or nudge the cloth to ensure full diagonal unfold from top-right to bottom-left before final release." + } + ], + "global_plan": "Unfold the yellow cloth by first approaching its top-right corner, grasping and lifting it slightly, then dragging it diagonally toward the bottom-left while maintaining grip, releasing mid-path, and finally making a small adjustment to complete the unfold.", + "notes": "Gripper evidence confirms meaningful closure only in segments 3 (frames 13–17) and 6 (frames 31–33). Segment 4 (18–22) shows constant gripper value — interpreted as holding during drag, not new grasp. Segment 6’s opening motion suggests final release or micro-adjustment. All subtasks respect contiguous frame coverage and avoid hallucinated grasps where gripper data contradicts." + } + }, + "episode_goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3238629698753357, + 0.13545702397823334, + 0.2469376176595688, + 3.051391363143921, + -0.33931705355644226, + 1.017888069152832 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "approach cloth top right corner", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth folded in the center. No actions have been completed yet. The robot needs to move its end effector toward the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 8 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32629305124282837, + 0.13571827113628387, + 0.236655130982399, + 3.0698227882385254, + -0.316473126411438, + 1.0130966901779175 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "approach cloth top right corner", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth folded in the center. No actions have been completed yet. The current subtask requires moving the end-effector toward the top-right corner of the cloth without grasping, as gripper evidence shows no closing. The next action is to translate the arm diagonally toward the target corner while keeping the gripper open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412218689918518, + 0.12911663949489594, + 0.21752221882343292, + 3.0594592094421387, + -0.3453654944896698, + 1.013992428779602 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "approach cloth top right corner", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth folded in the center. No actions have been completed yet. The current subtask requires moving the end-effector toward the top-right corner of the cloth without grasping, as gripper evidence shows no closing. The next action is to translate the arm diagonally toward the target corner while keeping the gripper open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35749152302742004, + 0.1196603775024414, + 0.19308993220329285, + 3.1033661365509033, + -0.342397004365921, + 1.0058542490005493 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "approach cloth top right corner", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth folded in the center. No actions have been completed yet. The current subtask requires moving the end-effector toward the top-right corner of the cloth without grasping, as gripper evidence shows no closing. The next action is to translate the arm diagonally toward the target corner while keeping the gripper open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37258607149124146, + 0.10965174436569214, + 0.16666671633720398, + -3.112940549850464, + -0.3538268506526947, + 0.9919535517692566 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth folded in the center. No actions have been completed yet. The current subtask requires moving the end-effector toward the top-right corner of the cloth without grasping, as gripper evidence shows no closing. The next action is to translate the arm diagonally toward the target corner while keeping the gripper open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3929832875728607, + 0.10111136734485626, + 0.14302510023117065, + -3.0601017475128174, + -0.3824731111526489, + 0.9921934604644775 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth folded in the center. No actions have been completed yet. The current subtask requires moving the end-effector toward the top-right corner of the cloth without grasping, as gripper evidence shows no closing. The next action is to translate the arm diagonally toward the target corner while keeping the gripper open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.40613552927970886, + 0.09621588885784149, + 0.11374562233686447, + -2.967540979385376, + -0.41486772894859314, + 0.956943154335022 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth folded in the center. No actions have been completed yet. The current subtask requires moving the end-effector toward the top-right corner of the cloth without grasping, as gripper evidence shows no closing. The next action is to translate the arm diagonally toward the target corner while keeping the gripper open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, close gripper; then move back 1 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.41247913241386414, + 0.08865465968847275, + 0.10069998353719711, + -2.937530994415283, + -0.4261375367641449, + 0.9045945405960083 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toy eggplant": [ + 783, + 585, + 990, + 771 + ], + "cardboard box": [ + 218, + 2, + 763, + 362 + ], + "white panel": [ + 711, + 4, + 996, + 466 + ], + "table": [ + 5, + 188, + 993, + 994 + ], + "yellow cloth": [ + 227, + 228, + 563, + 611 + ], + "green ball": [ + 807, + 407, + 915, + 540 + ], + "red toy sausage": [ + 421, + 433, + 471, + 476 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth folded in the center. No actions have been completed yet. The current subtask requires moving the end-effector toward the top-right corner of the cloth without grasping, as gripper evidence shows no closing. The next action is to translate the arm diagonally toward the target corner while keeping the gripper open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 4 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.41430917382240295, + 0.08990896493196487, + 0.09813334792852402, + -2.9360361099243164, + -0.4387507438659668, + 0.8882514834403992 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the top-right corner of the yellow cloth with the gripper open. The approach phase is complete, and the robot is now stationary, ready to initiate the grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 4 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.40930354595184326, + 0.08798019587993622, + 0.08842716366052628, + -2.9169747829437256, + -0.42648738622665405, + 0.8673242926597595 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the top-right corner of the yellow cloth with the gripper open. The approach phase is complete, and the robot is now stationary, ready to initiate the grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, close gripper; then move back 4 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.40443679690361023, + 0.08562882989645004, + 0.07935119420289993, + -2.9019532203674316, + -0.4175172746181488, + 0.8527718186378479 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the top-right corner of the yellow cloth with the gripper open. The approach phase is complete, and the robot is now stationary, ready to initiate the grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move left 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40176230669021606, + 0.08597706258296967, + 0.07592517137527466, + -2.8984158039093018, + -0.4249781370162964, + 0.8490346670150757 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the top-right corner of the yellow cloth with the gripper open. The approach phase is complete, and the robot is now stationary, ready to initiate the grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 5 cm, move left 6 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40011247992515564, + 0.08401402831077576, + 0.07468848675489426, + -2.910827398300171, + -0.4228997826576233, + 0.8532866835594177 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "reposition to grasp point", + "subtask_reasoning": "The robot is positioned above the top-right corner of the yellow cloth with the gripper open. The approach phase is complete, and the robot is now stationary, ready to initiate the grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 4 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 7 cm, move left 7 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.40035417675971985, + 0.07984587550163269, + 0.08443713188171387, + -2.955249547958374, + -0.42138251662254333, + 0.8645053505897522 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot is positioned above the top-right corner of the yellow cloth with the gripper open. The approach phase is complete, and the robot is now stationary, ready to initiate the grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3978419303894043, + 0.0848442018032074, + 0.09147104620933533, + -2.9862043857574463, + -0.39678308367729187, + 0.8754273056983948 + ], + "gripper_value": 0.2861579358577728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot is positioned above the top-right corner of the yellow cloth with the gripper open. The approach phase is complete, and the robot is now stationary, ready to initiate the grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39302584528923035, + 0.0968671441078186, + 0.0943402424454689, + -3.0098633766174316, + -0.3546891212463379, + 0.8803509473800659 + ], + "gripper_value": 0.1311166137456894 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has approached and made contact with the top-right corner of the yellow cloth. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3868916630744934, + 0.10773399472236633, + 0.09580299258232117, + -3.033893585205078, + -0.3107450008392334, + 0.8688615560531616 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy sausage": [ + 407, + 384, + 459, + 479 + ], + "yellow cloth": [ + 229, + 233, + 571, + 598 + ], + "blue toy eggplant": [ + 782, + 585, + 990, + 769 + ], + "white panel": [ + 710, + 4, + 996, + 467 + ], + "table": [ + 5, + 185, + 993, + 994 + ], + "cardboard box": [ + 218, + 3, + 764, + 362 + ], + "green ball": [ + 806, + 406, + 916, + 540 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has approached and made contact with the top-right corner of the yellow cloth. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767832815647125, + 0.12233017385005951, + 0.10302320867776871, + -3.073882818222046, + -0.27715086936950684, + 0.8644022345542908 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has approached and made contact with the top-right corner of the yellow cloth. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move back 9 cm, move left 7 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648749589920044, + 0.1364431232213974, + 0.10969908535480499, + 3.1414618492126465, + -0.22316840291023254, + 0.8534176349639893 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "drag cloth diagonally left-down", + "subtask_reasoning": "The robot has approached and made contact with the top-right corner of the yellow cloth. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34899795055389404, + 0.15344202518463135, + 0.12601906061172485, + 3.0344903469085693, + -0.18261893093585968, + 0.8528476357460022 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "drag cloth diagonally left-down", + "subtask_reasoning": "The robot has approached and made contact with the top-right corner of the yellow cloth. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3309362530708313, + 0.17627689242362976, + 0.13731592893600464, + 2.9924838542938232, + -0.16645391285419464, + 0.8916038274765015 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 116, + 160, + 572, + 585 + ], + "blue toy eggplant": [ + 782, + 584, + 989, + 769 + ], + "red toy sausage": [ + 387, + 286, + 490, + 462 + ], + "table": [ + 5, + 199, + 992, + 994 + ], + "green ball": [ + 807, + 407, + 916, + 540 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "drag cloth diagonally left-down", + "subtask_reasoning": "The robot is currently in contact with the top-right corner of the yellow cloth, which remains partially folded on the table. The gripper is closed and maintaining a steady position, indicating the cloth is being held but not yet dragged. The next action should be to initiate a diagonal pull toward the bottom-left to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120035231113434, + 0.1920478194952011, + 0.13457556068897247, + 3.0299623012542725, + -0.1762850135564804, + 0.9108853340148926 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "drag cloth diagonally left-down", + "subtask_reasoning": "The robot is currently in contact with the top-right corner of the yellow cloth, which remains partially folded on the table. The gripper is closed and maintaining a steady position, indicating the cloth is being held but not yet dragged. The next action should be to initiate a diagonal pull toward the bottom-left to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, move up 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2924434244632721, + 0.20463106036186218, + 0.1162969246506691, + 3.122915267944336, + -0.17681936919689178, + 0.9161284565925598 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "drag cloth diagonally left-down", + "subtask_reasoning": "The robot is currently in contact with the top-right corner of the yellow cloth, which remains partially folded on the table. The gripper is closed and maintaining a steady position, indicating the cloth is being held but not yet dragged. The next action should be to initiate a diagonal pull toward the bottom-left to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move left 5 cm, move up 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27860894799232483, + 0.20827530324459076, + 0.09918690472841263, + -3.09763765335083, + -0.1717175990343094, + 0.8997963666915894 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The robot is currently in contact with the top-right corner of the yellow cloth, which remains partially folded on the table. The gripper is closed and maintaining a steady position, indicating the cloth is being held but not yet dragged. The next action should be to initiate a diagonal pull toward the bottom-left to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734331488609314, + 0.2170192003250122, + 0.09576597809791565, + -3.068329095840454, + -0.18914102017879486, + 0.8788290619850159 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The robot is currently in contact with the top-right corner of the yellow cloth, which remains partially folded on the table. The gripper is closed and maintaining a steady position, indicating the cloth is being held but not yet dragged. The next action should be to initiate a diagonal pull toward the bottom-left to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26975786685943604, + 0.22472934424877167, + 0.08981037139892578, + -3.042097330093384, + -0.18253730237483978, + 0.8454105854034424 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The robot is currently in contact with the top-right corner of the yellow cloth, which remains partially folded on the table. The gripper is closed and maintaining a steady position, indicating the cloth is being held but not yet dragged. The next action should be to initiate a diagonal pull toward the bottom-left to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2695296108722687, + 0.2355882078409195, + 0.08971323817968369, + -2.9860353469848633, + -0.1904965490102768, + 0.7859002947807312 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The yellow cloth is partially unfolded on the table with the gripper positioned above it, having just released the fabric. The gripper is open and stationary, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645564377307892, + 0.24399696290493011, + 0.09202123433351517, + -2.9116992950439453, + -0.193603515625, + 0.7177845239639282 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The yellow cloth is partially unfolded on the table with the gripper positioned above it, having just released the fabric. The gripper is open and stationary, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26135995984077454, + 0.24758674204349518, + 0.09273742139339447, + -2.8725366592407227, + -0.19985246658325195, + 0.6725387573242188 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The yellow cloth is partially unfolded on the table with the gripper positioned above it, having just released the fabric. The gripper is open and stationary, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2528396248817444, + 0.25222936272621155, + 0.10215724259614944, + -2.830080986022949, + -0.2110469490289688, + 0.6670807003974915 + ], + "gripper_value": 0.11409598588943481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The yellow cloth is partially unfolded on the table with the gripper positioned above it, having just released the fabric. The gripper is open and stationary, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.24582816660404205, + 0.25897589325904846, + 0.10492423176765442, + -2.801664113998413, + -0.20690269768238068, + 0.6642919182777405 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 4, + 236, + 500, + 599 + ], + "blue toy eggplant": [ + 782, + 584, + 990, + 770 + ], + "cardboard box": [ + 219, + 4, + 769, + 364 + ], + "red toy sausage": [ + 326, + 298, + 402, + 490 + ], + "green ball": [ + 807, + 407, + 915, + 540 + ], + "table": [ + 5, + 183, + 993, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The yellow cloth is partially unfolded on the table with the gripper positioned above it, having just released the fabric. The gripper is open and stationary, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2435094565153122, + 0.2597396969795227, + 0.10604286938905716, + -2.789116382598877, + -0.1985803097486496, + 0.6697569489479065 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "final adjustment and confirm unfold", + "subtask_reasoning": "The yellow cloth is partially unfolded on the table with the gripper positioned above it, having just released the fabric. The gripper is open and stationary, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24833661317825317, + 0.2671022117137909, + 0.12361448258161545, + -2.7738518714904785, + -0.22909995913505554, + 0.7020924091339111 + ], + "gripper_value": 0.8749077320098877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "final adjustment and confirm unfold", + "subtask_reasoning": "The yellow cloth is mostly unfolded on the table, with the robot's end-effector positioned above it. The gripper is open, indicating the cloth has been released. The next action is likely a small positional adjustment or confirmation that the cloth lies flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2515643537044525, + 0.2705962657928467, + 0.1368829309940338, + -2.773251533508301, + -0.22061853110790253, + 0.7272908687591553 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the yellow cloth from top right to bottom left by grasping the top-right corner and pulling it diagonally downward to the left until the cloth lies flat on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth top right corner" + }, + { + "id": 2, + "subtask": "reposition to grasp point" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally left-down" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + }, + { + "id": 6, + "subtask": "final adjustment and confirm unfold" + } + ], + "subtask_name": "final adjustment and confirm unfold", + "subtask_reasoning": "The yellow cloth is mostly unfolded on the table, with the robot's end-effector positioned above it. The gripper is open, indicating the cloth has been released. The next action is likely a small positional adjustment or confirmation that the cloth lies flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004091_ecot.json b/cot/chunk-0004/episode_0004091_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d51f5e61fccfc1d7bbfb13c627cb1eae6686edf7 --- /dev/null +++ b/cot/chunk-0004/episode_0004091_ecot.json @@ -0,0 +1,1814 @@ +{ + "task_name": "episode_0004091", + "episode_json": "json/chunk-0004/episode_0004091.json", + "video_path": "videos/chunk-0004/image_0/episode_0004091.mp4", + "instruction": "Take the silver lid and place it to the surface of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004091.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.7235510349273682, + "std": 0.33762645721435547, + "delta_total": -0.07556629180908203, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72355, std=0.33763, total_delta=-0.07557). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 212, + 212, + 212, + 212, + 212, + 212, + 12, + 212, + 312, + 312, + 312, + 312, + 324, + 324 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 6 + ], + [ + 3, + 7, + 11 + ], + [ + 4, + 12, + 17 + ], + [ + 5, + 18, + 18 + ], + [ + 6, + 19, + 19 + ], + [ + 7, + 20, + 23 + ], + [ + 8, + 24, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector from initial position toward the silver lid on the table surface.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 7, \"end\": 11, \"planning\": \"Close gripper around the silver lid while maintaining contact and securing it for transport.\"},\n {\"id\": 3, \"name\": \"lift and transport lid\", \"start\": 12, \"end\": 18, \"planning\": \"Lift the grasped lid and move it horizontally toward the cloth surface.\"},\n {\"id\": 4, \"name\": \"place lid on cloth\", \"start\": 19, \"end\": 23, \"planning\": \"Lower the lid onto the cloth surface while maintaining grip until contact is confirmed.\"},\n {\"id\": 5, \"name\": \"release lid\", \"start\": 24, \"end\": 25, \"planning\": \"Open gripper to release the lid onto the cloth and retreat slightly to complete placement.\"}\n ],\n \"global_plan\": \"Approach the silver lid, grasp it securely, lift and transport it over the cloth, place it gently on the cloth surface, then release and retreat.\",\n \"notes\": \"Subtask boundaries align with observed motion segments and gripper state changes. Grasp wording used only where segment-level gripper evidence shows meaningful closing (segments 3 and 8) and images confirm object interaction. Placement phase includes controlled descent and contact maintenance before release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 6, + "planning": "Move the end-effector from initial position toward the silver lid on the table surface." + }, + { + "id": 2, + "name": "grasp lid", + "start": 7, + "end": 11, + "planning": "Close gripper around the silver lid while maintaining contact and securing it for transport." + }, + { + "id": 3, + "name": "lift and transport lid", + "start": 12, + "end": 18, + "planning": "Lift the grasped lid and move it horizontally toward the cloth surface." + }, + { + "id": 4, + "name": "place lid on cloth", + "start": 19, + "end": 23, + "planning": "Lower the lid onto the cloth surface while maintaining grip until contact is confirmed." + }, + { + "id": 5, + "name": "release lid", + "start": 24, + "end": 25, + "planning": "Open gripper to release the lid onto the cloth and retreat slightly to complete placement." + } + ], + "global_plan": "Approach the silver lid, grasp it securely, lift and transport it over the cloth, place it gently on the cloth surface, then release and retreat.", + "notes": "Subtask boundaries align with observed motion segments and gripper state changes. Grasp wording used only where segment-level gripper evidence shows meaningful closing (segments 3 and 8) and images confirm object interaction. Placement phase includes controlled descent and contact maintenance before release." + } + }, + "episode_goal": "Place the silver lid on top of the folded blue cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3658459186553955, + -0.05707620084285736, + 0.07168899476528168, + -3.0647358894348145, + -0.0704662874341011, + -0.4217625856399536 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the table to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the silver lid to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 14 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3616824746131897, + -0.056420277804136276, + 0.05826443433761597, + -3.077547788619995, + -0.03543614596128464, + -0.4224419593811035 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the table to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the silver lid to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 14 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3374466598033905, + -0.036406323313713074, + 0.05513540282845497, + -3.1067464351654053, + -0.028918635100126266, + -0.3843545615673065 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the table to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the silver lid to initiate the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.319729208946228, + -0.0033909210469573736, + 0.06751057505607605, + 3.1288418769836426, + -0.09165164828300476, + -0.3352753221988678 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 567, + 394, + 859, + 688 + ], + "wooden countertop": [ + 51, + 184, + 914, + 985 + ], + "stainless steel bowl": [ + 407, + 260, + 624, + 470 + ], + "metal lid": [ + 245, + 463, + 457, + 682 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The next step is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.301231324672699, + 0.013421457260847092, + 0.0673326849937439, + 3.1223526000976562, + -0.10172697901725769, + -0.33641529083251953 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The next step is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2848847806453705, + 0.047202881425619125, + 0.058755990117788315, + 3.129876136779785, + -0.11039518564939499, + -0.31185823678970337 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The next step is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 3 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705906331539154, + 0.06406362354755402, + 0.046253953129053116, + -3.0969605445861816, + -0.13314472138881683, + -0.33295392990112305 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The next step is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26181572675704956, + 0.08113548904657364, + 0.035497862845659256, + -3.0192315578460693, + -0.1215401291847229, + -0.32507702708244324 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The next step is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 4 cm, move right 11 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.260715126991272, + 0.08986131846904755, + 0.02631935104727745, + -2.996596336364746, + -0.1030455231666565, + -0.2858467698097229 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper remains open and stationary relative to the lid. The next step is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 6 cm, move right 13 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25949913263320923, + 0.09366536885499954, + 0.01610717549920082, + -2.9986064434051514, + -0.06818652153015137, + -0.26271939277648926 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the silver lid on the wooden surface, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring within this timeframe. The next immediate action is to complete the grasp by closing the gripper fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 7 cm, move right 15 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2595227062702179, + 0.09595737606287003, + 0.008918795734643936, + -2.999732255935669, + -0.04371492192149162, + -0.24586454033851624 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the silver lid on the wooden surface, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring within this timeframe. The next immediate action is to complete the grasp by closing the gripper fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 15 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25789621472358704, + 0.09591244161128998, + 0.00804248545318842, + -3.005462408065796, + -0.030381277203559875, + -0.2376389503479004 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the silver lid on the wooden surface, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring within this timeframe. The next immediate action is to complete the grasp by closing the gripper fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 15 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25773438811302185, + 0.09661269187927246, + 0.007195213343948126, + -3.0051167011260986, + -0.021351538598537445, + -0.24146223068237305 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the silver lid on the wooden surface, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring within this timeframe. The next immediate action is to complete the grasp by closing the gripper fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 15 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25603237748146057, + 0.0964881032705307, + 0.007097337860614061, + -3.0085482597351074, + -0.011853639036417007, + -0.23519834876060486 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the silver lid on the wooden surface, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring within this timeframe. The next immediate action is to complete the grasp by closing the gripper fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 15 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25382447242736816, + 0.09320322424173355, + 0.012859193608164787, + -3.0192291736602783, + -0.0059938207268714905, + -0.22773469984531403 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the silver lid on the wooden surface, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring within this timeframe. The next immediate action is to complete the grasp by closing the gripper fingers around the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 14 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26441100239753723, + 0.06882958114147186, + 0.05231509730219841, + -3.0450847148895264, + -0.0776430144906044, + -0.25071948766708374 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid and is currently lifting it from the table surface. The gripper is closed and holding the lid securely as it begins to move upward. The next action is to continue lifting and transporting the lid toward the folded blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28053614497184753, + 0.025131363421678543, + 0.07648305594921112, + -3.1239476203918457, + -0.09749648720026016, + -0.2934022843837738 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 567, + 387, + 858, + 689 + ], + "wooden countertop": [ + 52, + 167, + 915, + 984 + ], + "stainless steel bowl": [ + 490, + 262, + 633, + 427 + ], + "metal": [ + 227, + 272, + 364, + 433 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid and is currently lifting it from the table surface. The gripper is closed and holding the lid securely as it begins to move upward. The next action is to continue lifting and transporting the lid toward the folded blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29914766550064087, + -0.01249233540147543, + 0.08860211819410324, + -3.13920259475708, + -0.12603430449962616, + -0.3496299684047699 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 567, + 391, + 858, + 690 + ], + "wooden countertop": [ + 51, + 178, + 915, + 985 + ], + "stainless steel bowl": [ + 420, + 324, + 663, + 536 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid and is currently lifting it from the table surface. The gripper is closed and holding the lid securely as it begins to move upward. The next action is to continue lifting and transporting the lid toward the folded blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31315261125564575, + -0.03808707743883133, + 0.07628297060728073, + 3.1313979625701904, + -0.10718321055173874, + -0.3812579810619354 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid and is currently lifting it from the table surface. The gripper is closed and holding the lid securely as it begins to move upward. The next action is to continue lifting and transporting the lid toward the folded blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3256370723247528, + -0.05164109170436859, + 0.06158537417650223, + -3.1300559043884277, + -0.09051389992237091, + -0.4026033878326416 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "place lid on cloth", + "subtask_reasoning": "The robot has successfully grasped the silver lid and is currently lifting it from the table surface. The gripper is closed and holding the lid securely as it begins to move upward. The next action is to continue lifting and transporting the lid toward the folded blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3354889154434204, + -0.056423090398311615, + 0.04085146635770798, + -3.098137378692627, + -0.05182984471321106, + -0.40491601824760437 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "place lid on cloth", + "subtask_reasoning": "The robot has successfully grasped the silver lid and is currently lifting it from the table surface. The gripper is closed and holding the lid securely as it begins to move upward. The next action is to continue lifting and transporting the lid toward the folded blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.338695764541626, + -0.05340100824832916, + 0.02239261008799076, + -3.0642051696777344, + -0.012675509788095951, + -0.3943008780479431 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "place lid on cloth", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the blue cloth on the wooden surface. The robot has completed the approach and grasp phases and is now in the placement phase. The next action is to lower the lid gently onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33869779109954834, + -0.05275681987404823, + 0.013208700343966484, + -3.0498080253601074, + 0.0027683470398187637, + -0.3954901099205017 + ], + "gripper_value": 0.2759375274181366 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "place lid on cloth", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the blue cloth on the wooden surface. The robot has completed the approach and grasp phases and is now in the placement phase. The next action is to lower the lid gently onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33719006180763245, + -0.05343728885054588, + 0.011394071392714977, + -3.0492801666259766, + 0.003365514101460576, + -0.4049176573753357 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "place lid on cloth", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the blue cloth on the wooden surface. The robot has completed the approach and grasp phases and is now in the placement phase. The next action is to lower the lid gently onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346235454082489, + -0.054847002029418945, + 0.012002603150904179, + -3.0614511966705322, + 0.002700767247006297, + -0.39858278632164 + ], + "gripper_value": 0.6360166668891907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the blue cloth on the table. The gripper is in the process of opening to release the lid onto the cloth surface. The next action is to fully open the gripper to deposit the lid and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3361120820045471, + -0.059306345880031586, + 0.04282059147953987, + -3.0783636569976807, + -0.05233484506607056, + -0.3717052936553955 + ], + "gripper_value": 0.9239223003387451 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the folded blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid on cloth" + }, + { + "id": 5, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the blue cloth on the table. The gripper is in the process of opening to release the lid onto the cloth surface. The next action is to fully open the gripper to deposit the lid and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004093_ecot.json b/cot/chunk-0004/episode_0004093_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8dcf5daeb1cee94911f927d57aac8b07e90a9ec6 --- /dev/null +++ b/cot/chunk-0004/episode_0004093_ecot.json @@ -0,0 +1,1434 @@ +{ + "task_name": "episode_0004093", + "episode_json": "json/chunk-0004/episode_0004093.json", + "video_path": "videos/chunk-0004/image_0/episode_0004093.mp4", + "instruction": "Put pear in bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004093.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.2556745409965515, + "std": 0.1209537535905838, + "delta_total": -0.2556745409965515, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.25567, std=0.12095, total_delta=-0.25567). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 9 + ], + [ + 3, + 10, + 16 + ], + [ + 4, + 17, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector from initial position toward the green pear on the countertop without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp pear\", \"start\": 10, \"end\": 16, \"planning\": \"Close the gripper around the green pear while maintaining contact and securing it for transport.\"},\n {\"id\": 3, \"name\": \"transport pear to bowl\", \"start\": 17, \"end\": 22, \"planning\": \"Carry the grasped pear over the blue bowl and prepare for release, keeping gripper closed until placement.\"}\n ],\n \"global_plan\": \"Approach the green pear on the counter, grasp it securely using the gripper during frames 10-16, then transport it directly over the blue bowl and hold position for release.\",\n \"notes\": \"Gripper closure is only valid in segment 3 (frames 10-16) where segment-level evidence shows meaningful closing (delta=-0.25469). Segments 1, 2, and 4 show no meaningful gripper change — thus described as approach, transport, and hold without grasp/placement verbs outside segment 3. Frame 22 ends with gripper still closed, so 'release' is not yet executed; plan reflects observed state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 9, + "planning": "Move the end-effector from initial position toward the green pear on the countertop without closing the gripper." + }, + { + "id": 2, + "name": "grasp pear", + "start": 10, + "end": 16, + "planning": "Close the gripper around the green pear while maintaining contact and securing it for transport." + }, + { + "id": 3, + "name": "transport pear to bowl", + "start": 17, + "end": 22, + "planning": "Carry the grasped pear over the blue bowl and prepare for release, keeping gripper closed until placement." + } + ], + "global_plan": "Approach the green pear on the counter, grasp it securely using the gripper during frames 10-16, then transport it directly over the blue bowl and hold position for release.", + "notes": "Gripper closure is only valid in segment 3 (frames 10-16) where segment-level evidence shows meaningful closing (delta=-0.25469). Segments 1, 2, and 4 show no meaningful gripper change — thus described as approach, transport, and hold without grasp/placement verbs outside segment 3. Frame 22 ends with gripper still closed, so 'release' is not yet executed; plan reflects observed state." + } + }, + "episode_goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24934586882591248, + -0.08588363975286484, + 0.1249082013964653, + 3.110759973526001, + -0.13503627479076385, + 0.09450675547122955 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the counter with the gripper open, approaching the green pear on the right. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move right 5 cm, move down 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2641894221305847, + -0.0950646698474884, + 0.11663909256458282, + -3.140160322189331, + -0.09916137903928757, + 0.15390975773334503 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the counter with the gripper open, approaching the green pear on the right. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move right 4 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.295331746339798, + -0.12266986817121506, + 0.11903074383735657, + -3.1139261722564697, + -0.09356937557458878, + 0.21550923585891724 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped ball": [ + 477, + 468, + 562, + 599 + ], + "blue bowl": [ + 496, + 549, + 676, + 762 + ], + "white mug": [ + 374, + 451, + 487, + 644 + ], + "yellow toy fruit a green toy fruit": [ + 116, + 120, + 224, + 238 + ], + "faucet": [ + 412, + 6, + 574, + 291 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the counter with the gripper open, approaching the green pear on the right. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 1 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32619044184684753, + -0.14472317695617676, + 0.11960247904062271, + -3.101982593536377, + -0.08204744011163712, + 0.22031080722808838 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the counter with the gripper open, approaching the green pear on the right. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 1 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3614944517612457, + -0.16234058141708374, + 0.1158745214343071, + -3.108490467071533, + -0.09870141744613647, + 0.22061260044574738 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3861112594604492, + -0.17388269305229187, + 0.10191391408443451, + -3.099987030029297, + -0.14059478044509888, + 0.2003035992383957 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4040631055831909, + -0.17772191762924194, + 0.08487894386053085, + -3.0844907760620117, + -0.17131613194942474, + 0.1861220747232437 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.42083483934402466, + -0.17188920080661774, + 0.08006841689348221, + -3.097022294998169, + -0.1964864432811737, + 0.15468107163906097 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped ball": [ + 477, + 467, + 563, + 599 + ], + "faucet": [ + 415, + 35, + 576, + 289 + ], + "blue bowl": [ + 496, + 550, + 674, + 749 + ], + "white mug": [ + 373, + 450, + 488, + 647 + ], + "green toy fruit": [ + 809, + 355, + 898, + 456 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 3 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4365835189819336, + -0.15312057733535767, + 0.07221811264753342, + -3.1055405139923096, + -0.21748140454292297, + 0.13923139870166779 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, keep gripper open; then move back 5 cm, move left 3 cm, move down 1 cm, close gripper; then move back 3 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.445042222738266, + -0.14559443295001984, + 0.06303909420967102, + -3.1241190433502197, + -0.24787268042564392, + 0.0894121453166008 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 5 cm, move left 3 cm, move down 1 cm, close gripper; then move back 6 cm, move left 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4528925120830536, + -0.13638047873973846, + 0.04482655227184296, + 3.1248552799224854, + -0.24265561997890472, + 0.04891112819314003 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 1 cm, close gripper; then move back 9 cm, move left 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4606097638607025, + -0.12248720228672028, + 0.037483762949705124, + 3.0868048667907715, + -0.2534400522708893, + 0.04718659818172455 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, tilt left 10 degrees, close gripper; then move back 12 cm, move left 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4543524980545044, + -0.11949551105499268, + 0.0200614295899868, + 3.074761390686035, + -0.24439673125743866, + 0.0350431390106678 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the counter, moving towards the green pear located on the right side. No objects have been grasped yet as the gripper remains open. The next action involves continuing the approach to align the gripper with the pear for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, close gripper; then move back 13 cm, move left 6 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4476272463798523, + -0.11986198276281357, + 0.007105264347046614, + 3.0633349418640137, + -0.24268673360347748, + 0.02844938077032566 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear on the counter, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pear. The next action is to initiate gripper closure to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move left 6 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4494299292564392, + -0.12044885754585266, + 0.0052674817852675915, + 3.0526821613311768, + -0.28450754284858704, + 0.022197548300027847 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear on the counter, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pear. The next action is to initiate gripper closure to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move left 6 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4504575729370117, + -0.12008673697710037, + 0.006309341639280319, + 3.0625710487365723, + -0.2969602644443512, + 0.03270158916711807 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear on the counter, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pear. The next action is to initiate gripper closure to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move left 6 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4329572916030884, + -0.11807043105363846, + 0.010097993537783623, + 3.110642194747925, + -0.23330707848072052, + 0.04655448719859123 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned near the green pear on the counter, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pear. The next action is to initiate gripper closure to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move left 6 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.405117928981781, + -0.11108429729938507, + 0.03471843898296356, + -3.0833263397216797, + -0.2154569923877716, + 0.056320760399103165 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot arm is positioned near the green pear on the counter, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pear. The next action is to initiate gripper closure to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 6 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3783644437789917, + -0.10053449124097824, + 0.06887953728437424, + -3.0489754676818848, + -0.2290177196264267, + 0.06849905848503113 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped ball": [ + 475, + 466, + 564, + 599 + ], + "sink": [ + 81, + 247, + 635, + 716 + ], + "faucet": [ + 410, + 5, + 576, + 288 + ], + "yellow toy fruit": [ + 115, + 120, + 223, + 238 + ], + "blue bowl": [ + 496, + 549, + 676, + 761 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot arm is positioned near the green pear on the counter, with the gripper open and ready. The approach phase is complete, and the current subtask involves closing the gripper to grasp the pear. The next action is to initiate gripper closure to secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3417782485485077, + -0.08734298497438431, + 0.08140110224485397, + -3.0482242107391357, + -0.20823203027248383, + 0.07917307317256927 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is currently holding the green pear and moving it through the air above the kitchen counter, having already completed the grasp. The gripper signal remains stable, indicating the object is securely held during this transport phase. The next action is to continue moving the pear directly over the blue bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3127913773059845, + -0.07179050892591476, + 0.07560152560472488, + -3.045642614364624, + -0.20748409628868103, + 0.08595246076583862 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is currently holding the green pear and moving it through the air above the kitchen counter, having already completed the grasp. The gripper signal remains stable, indicating the object is securely held during this transport phase. The next action is to continue moving the pear directly over the blue bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886430323123932, + -0.059935957193374634, + 0.07276101410388947, + -3.054450273513794, + -0.2110753059387207, + 0.08964822441339493 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is currently holding the green pear and moving it through the air above the kitchen counter, having already completed the grasp. The gripper signal remains stable, indicating the object is securely held during this transport phase. The next action is to continue moving the pear directly over the blue bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27610114216804504, + -0.05256173014640808, + 0.06677946448326111, + -3.0740339756011963, + -0.22714871168136597, + 0.0909469723701477 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the right side of the counter and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is currently holding the green pear and moving it through the air above the kitchen counter, having already completed the grasp. The gripper signal remains stable, indicating the object is securely held during this transport phase. The next action is to continue moving the pear directly over the blue bowl to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004094_ecot.json b/cot/chunk-0004/episode_0004094_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..15720bed7519fe3aea237566c4f5f44edfda51bb --- /dev/null +++ b/cot/chunk-0004/episode_0004094_ecot.json @@ -0,0 +1,1382 @@ +{ + "task_name": "episode_0004094", + "episode_json": "json/chunk-0004/episode_0004094.json", + "video_path": "videos/chunk-0004/image_0/episode_0004094.mp4", + "instruction": "Put lid on pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004094.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.7129261493682861, + "std": 0.33591926097869873, + "delta_total": -0.7129261493682861, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71293, std=0.33592, total_delta=-0.71293). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 16 + ], + [ + 3, + 17, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the lid on the counter while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 6, \"end\": 12, \"planning\": \"Close gripper around the lid handle and secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and position lid over pot\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the grasped lid and move it vertically and laterally to align above the target pot.\"},\n {\"id\": 4, \"name\": \"lower and release lid onto pot\", \"start\": 17, \"end\": 20, \"planning\": \"Lower the lid onto the pot and release contact without further gripping action, completing placement.\"}\n ],\n \"global_plan\": \"Approach the lid, grasp it securely, lift and position it over the pot, then lower and release it to complete covering the pot.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.395) with image confirmation at frame 12 — grasp wording is valid. Segment 2 continues holding with minor adjustment — still grasped. Segment 3 has no gripper change — release is inferred from motion downward and final pose showing lid seated on pot; ‘release contact’ is appropriate per rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the lid on the counter while keeping gripper open." + }, + { + "id": 2, + "name": "grasp lid", + "start": 6, + "end": 12, + "planning": "Close gripper around the lid handle and secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and position lid over pot", + "start": 13, + "end": 16, + "planning": "Lift the grasped lid and move it vertically and laterally to align above the target pot." + }, + { + "id": 4, + "name": "lower and release lid onto pot", + "start": 17, + "end": 20, + "planning": "Lower the lid onto the pot and release contact without further gripping action, completing placement." + } + ], + "global_plan": "Approach the lid, grasp it securely, lift and position it over the pot, then lower and release it to complete covering the pot.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.395) with image confirmation at frame 12 — grasp wording is valid. Segment 2 continues holding with minor adjustment — still grasped. Segment 3 has no gripper change — release is inferred from motion downward and final pose showing lid seated on pot; ‘release contact’ is appropriate per rules." + } + }, + "episode_goal": "Place the metal lid onto the pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21635983884334564, + 0.1273832470178604, + 0.08395973592996597, + -3.0359702110290527, + -0.10742457211017609, + 0.003409803379327059 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No actions have been completed yet as this is the start of the approach phase. The gripper is open and the robot needs to move closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 21 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2129693180322647, + 0.11835616081953049, + 0.08154165744781494, + -3.0482943058013916, + -0.06768915802240372, + 0.03263608366250992 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No actions have been completed yet as this is the start of the approach phase. The gripper is open and the robot needs to move closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 20 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21495340764522552, + 0.06708988547325134, + 0.11138950288295746, + -3.0232088565826416, + -0.04507413133978844, + 0.09644807875156403 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2114850878715515, + 0.017806589603424072, + 0.1305772364139557, + -2.995887279510498, + -0.06815249472856522, + 0.1548367291688919 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21024766564369202, + -0.029555313289165497, + 0.12708163261413574, + -2.9922499656677246, + -0.13715346157550812, + 0.15791447460651398 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 6 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21504385769367218, + -0.06786458939313889, + 0.10851611942052841, + -2.980260133743286, + -0.18330980837345123, + 0.1246333122253418 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 305, + 407, + 413, + 559 + ], + "green plate": [ + 249, + 408, + 465, + 632 + ], + "yellow bottle": [ + 894, + 528, + 995, + 698 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 6 cm, close gripper; then move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22072400152683258, + -0.08009130507707596, + 0.09051046520471573, + -2.973355293273926, + -0.24115054309368134, + 0.09013159573078156 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, close gripper; then move back 1 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22737447917461395, + -0.0733247622847557, + 0.06964672356843948, + -3.015566825866699, + -0.22828204929828644, + 0.12537263333797455 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 305, + 407, + 413, + 559 + ], + "green plate": [ + 250, + 408, + 466, + 632 + ], + "silver pot": [ + 671, + 629, + 993, + 974 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, close gripper; then move right 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23340851068496704, + -0.060921575874090195, + 0.05633207783102989, + -3.019930362701416, + -0.20631465315818787, + 0.10807112604379654 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned near the stove with the metal lid visible on the counter. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move right 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.239442378282547, + -0.05224151164293289, + 0.04916523024439812, + -3.027102470397949, + -0.20500609278678894, + 0.09952415525913239 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the red lid on the toy stove, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move right 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2374129593372345, + -0.050950612872838974, + 0.03415612876415253, + -3.039327383041382, + -0.19605210423469543, + 0.10712018609046936 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the red lid on the toy stove, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2405107468366623, + -0.05421144887804985, + 0.030391130596399307, + -3.0654022693634033, + -0.21651151776313782, + 0.11813602596521378 + ], + "gripper_value": 0.8844947218894958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the red lid on the toy stove, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2429541051387787, + -0.05605590343475342, + 0.031312283128499985, + -3.0676140785217285, + -0.23182328045368195, + 0.14389093220233917 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the red lid on the toy stove, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23806415498256683, + -0.05788709968328476, + 0.033200494945049286, + -3.0352625846862793, + -0.2081538736820221, + 0.14429044723510742 + ], + "gripper_value": 0.3188876807689667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "lift and position lid over pot", + "subtask_reasoning": "The robot is positioned above the red lid on the toy stove, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23190414905548096, + -0.0580393448472023, + 0.03875239938497543, + -2.999763250350952, + -0.1625654399394989, + 0.15295369923114777 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "lift and position lid over pot", + "subtask_reasoning": "The robot has grasped the red lid and is currently lifting it above the green pan. The gripper remains closed, maintaining a secure hold on the object as it is positioned over the target. The next action is to lower the lid onto the pan to cover it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2302589863538742, + -0.05988713726401329, + 0.06404078006744385, + -2.9476051330566406, + -0.11878643184900284, + 0.17361952364444733 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "lift and position lid over pot", + "subtask_reasoning": "The robot has grasped the red lid and is currently lifting it above the green pan. The gripper remains closed, maintaining a secure hold on the object as it is positioned over the target. The next action is to lower the lid onto the pan to cover it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2325480729341507, + -0.0752931609749794, + 0.09939970821142197, + -2.924499034881592, + -0.0747016966342926, + 0.21622300148010254 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 305, + 407, + 414, + 560 + ], + "silver pot": [ + 675, + 628, + 992, + 975 + ], + "green plate": [ + 250, + 408, + 466, + 631 + ], + "toy banana": [ + 515, + 46, + 655, + 125 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "lift and position lid over pot", + "subtask_reasoning": "The robot has grasped the red lid and is currently lifting it above the green pan. The gripper remains closed, maintaining a secure hold on the object as it is positioned over the target. The next action is to lower the lid onto the pan to cover it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23835037648677826, + -0.11270083487033844, + 0.12055212259292603, + -2.944105863571167, + -0.022263910621404648, + 0.30398839712142944 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "lower and release lid onto pot", + "subtask_reasoning": "The robot has grasped the red lid and is currently lifting it above the green pan. The gripper remains closed, maintaining a secure hold on the object as it is positioned over the target. The next action is to lower the lid onto the pan to cover it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2386380285024643, + -0.15018266439437866, + 0.12254930287599564, + -2.9411375522613525, + -0.010148463770747185, + 0.3493834435939789 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "lower and release lid onto pot", + "subtask_reasoning": "The metal lid is currently held above the pot on the stove, aligned for placement. The gripper remains open and stable with no closing motion, indicating the lid is being lowered but not yet released. The next action is to gently lower the lid onto the pot and release it to complete coverage." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2453467845916748, + -0.17841662466526031, + 0.10315655171871185, + -2.969268321990967, + -0.02149573154747486, + 0.37228602170944214 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "lower and release lid onto pot", + "subtask_reasoning": "The metal lid is currently held above the pot on the stove, aligned for placement. The gripper remains open and stable with no closing motion, indicating the lid is being lowered but not yet released. The next action is to gently lower the lid onto the pot and release it to complete coverage." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2498708814382553, + -0.18199147284030914, + 0.08785048872232437, + -2.9978232383728027, + -0.06442925333976746, + 0.3460597097873688 + ], + "gripper_value": 0.28321579098701477 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal lid onto the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and position lid over pot" + }, + { + "id": 4, + "subtask": "lower and release lid onto pot" + } + ], + "subtask_name": "lower and release lid onto pot", + "subtask_reasoning": "The metal lid is currently held above the pot on the stove, aligned for placement. The gripper remains open and stable with no closing motion, indicating the lid is being lowered but not yet released. The next action is to gently lower the lid onto the pot and release it to complete coverage." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004095_ecot.json b/cot/chunk-0004/episode_0004095_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..69700ed2c6b85cf3a81f8802e8b0df0ac6154970 --- /dev/null +++ b/cot/chunk-0004/episode_0004095_ecot.json @@ -0,0 +1,1338 @@ +{ + "task_name": "episode_0004095", + "episode_json": "json/chunk-0004/episode_0004095.json", + "video_path": "videos/chunk-0004/image_0/episode_0004095.mp4", + "instruction": "Flip pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004095.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9511077404022217, + "std": 0.41719377040863037, + "delta_total": -0.9511077404022217, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95111, std=0.41719, total_delta=-0.95111). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 13 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot in sink\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the overturned pot in the sink without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"make contact and begin grip\", \"start\": 3, \"end\": 12, \"planning\": \"Establish contact with pot and initiate gripper closure to secure hold, confirmed by decreasing gripper value and visual alignment.\"},\n {\"id\": 3, \"name\": \"flip pot upright\", \"start\": 13, \"end\": 18, \"planning\": \"Rotate and lift pot using firm grip to flip it upright in the sink, supported by continued gripper closure and rotational motion.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 19, \"end\": 19, \"planning\": \"Release grip and begin retreating from the now-upright pot, as gripper holds steady at minimum and motion indicates withdrawal.\"}\n ],\n \"global_plan\": \"Approach the overturned pot, grasp it securely, flip it upright in the sink, then release and retreat.\",\n \"notes\": \"Gripper evidence aligns with image observations: no grasp in segment 1, active grasping in segments 2–3, and release in segment 4. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot in sink", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the overturned pot in the sink without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "make contact and begin grip", + "start": 3, + "end": 12, + "planning": "Establish contact with pot and initiate gripper closure to secure hold, confirmed by decreasing gripper value and visual alignment." + }, + { + "id": 3, + "name": "flip pot upright", + "start": 13, + "end": 18, + "planning": "Rotate and lift pot using firm grip to flip it upright in the sink, supported by continued gripper closure and rotational motion." + }, + { + "id": 4, + "name": "release and retreat", + "start": 19, + "end": 19, + "planning": "Release grip and begin retreating from the now-upright pot, as gripper holds steady at minimum and motion indicates withdrawal." + } + ], + "global_plan": "Approach the overturned pot, grasp it securely, flip it upright in the sink, then release and retreat.", + "notes": "Gripper evidence aligns with image observations: no grasp in segment 1, active grasping in segments 2–3, and release in segment 4. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Flip pot upright in sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3095988929271698, + 0.0004396478470880538, + 0.04820913448929787, + -2.9226694107055664, + -0.15305648744106293, + -0.08630852401256561 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot is located. The gripper is open and the arm is moving towards the pot to initiate contact. The next action is to continue approaching until the gripper is in position to grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, move up 1 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30152806639671326, + -0.0051252515986561775, + 0.031186096370220184, + -3.03218674659729, + -0.138342946767807, + -0.06510435044765472 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, move up 1 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009672462940216, + 0.000589165254496038, + 0.02621772512793541, + -3.1191325187683105, + -0.16166134178638458, + -0.0005606591003015637 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005273938179016, + -0.004840564914047718, + 0.0235797930508852, + 3.072096347808838, + -0.1775416135787964, + 0.026349788531661034 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29772257804870605, + -0.01224484108388424, + 0.019587503746151924, + 2.951882839202881, + -0.20723260939121246, + 0.08111114799976349 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990671992301941, + -0.017027970403432846, + 0.017963087186217308, + 2.8798649311065674, + -0.23814083635807037, + 0.14906664192676544 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal cup": [ + 466, + 488, + 678, + 777 + ], + "orange scrubber": [ + 808, + 234, + 932, + 388 + ], + "green cutting board": [ + 840, + 660, + 993, + 996 + ], + "faucet": [ + 650, + 4, + 902, + 385 + ], + "green sponge": [ + 573, + 123, + 657, + 271 + ], + "ladle": [ + 50, + 454, + 287, + 590 + ], + "purple onion": [ + 918, + 761, + 997, + 961 + ] + } + } + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035544157028198, + -0.028403880074620247, + 0.0200218316167593, + 2.8080790042877197, + -0.26527896523475647, + 0.20419299602508545 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned pot. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 2 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30855563282966614, + -0.04250658303499222, + 0.024654598906636238, + 2.6572461128234863, + -0.3067359924316406, + 0.27363038063049316 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves initiating grip by closing the gripper around the pot. The next action is to begin closing the gripper to secure hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 2 cm, move down 1 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159085214138031, + -0.0459914430975914, + 0.03201673924922943, + 2.5485594272613525, + -0.3291560709476471, + 0.344291090965271 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves initiating grip by closing the gripper around the pot. The next action is to begin closing the gripper to secure hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move right 2 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31853151321411133, + -0.048282381147146225, + 0.03168082609772682, + 2.5096538066864014, + -0.31890973448753357, + 0.38473808765411377 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves initiating grip by closing the gripper around the pot. The next action is to begin closing the gripper to secure hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move right 1 cm, move down 1 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.319688618183136, + -0.051329806447029114, + 0.032044775784015656, + 2.496448278427124, + -0.32089993357658386, + 0.3852226734161377 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves initiating grip by closing the gripper around the pot. The next action is to begin closing the gripper to secure hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move right 1 cm, move down 1 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194817006587982, + -0.0500120110809803, + 0.02967052534222603, + 2.5008251667022705, + -0.3176407516002655, + 0.39846447110176086 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves initiating grip by closing the gripper around the pot. The next action is to begin closing the gripper to secure hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31748083233833313, + -0.05145271494984627, + 0.026470135897397995, + 2.517718553543091, + -0.3161584436893463, + 0.40367448329925537 + ], + "gripper_value": 0.7998467683792114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves initiating grip by closing the gripper around the pot. The next action is to begin closing the gripper to secure hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160841763019562, + -0.056901004165410995, + 0.023531081154942513, + 2.523487091064453, + -0.30701324343681335, + 0.434283584356308 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves initiating grip by closing the gripper around the pot. The next action is to begin closing the gripper to secure hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160742521286011, + -0.05901495739817619, + 0.022027382627129555, + 2.5198426246643066, + -0.3123288154602051, + 0.4637642800807953 + ], + "gripper_value": 0.20867010951042175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves initiating grip by closing the gripper around the pot. The next action is to begin closing the gripper to secure hold on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162621855735779, + -0.06579087674617767, + 0.019508616998791695, + 2.5679402351379395, + -0.32150089740753174, + 0.46962496638298035 + ], + "gripper_value": 0.07429859787225723 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has grasped the overturned pot in the sink and is actively rotating it. The gripper is closed and the arm is mid-motion, indicating the flip is underway. The next action is to complete the rotation until the pot is fully upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31646350026130676, + -0.0728919506072998, + 0.017496522516012192, + 2.7002787590026855, + -0.32702431082725525, + 0.43829700350761414 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has grasped the overturned pot in the sink and is actively rotating it. The gripper is closed and the arm is mid-motion, indicating the flip is underway. The next action is to complete the rotation until the pot is fully upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31322821974754333, + -0.07859842479228973, + 0.016456477344036102, + 2.8864266872406006, + -0.32682621479034424, + 0.3782743513584137 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has grasped the overturned pot in the sink and is actively rotating it. The gripper is closed and the arm is mid-motion, indicating the flip is underway. The next action is to complete the rotation until the pot is fully upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3179457187652588, + -0.07475409656763077, + 0.021589111536741257, + 3.108502149581909, + -0.3917578160762787, + 0.22970306873321533 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal cup": [ + 486, + 481, + 709, + 764 + ], + "sink": [ + 290, + 337, + 901, + 925 + ], + "ladle": [ + 50, + 454, + 287, + 590 + ], + "green cutting board": [ + 839, + 661, + 994, + 996 + ], + "purple onion": [ + 918, + 761, + 997, + 960 + ] + } + } + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has grasped the overturned pot in the sink and is actively rotating it. The gripper is closed and the arm is mid-motion, indicating the flip is underway. The next action is to complete the rotation until the pot is fully upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31438320875167847, + -0.06658300757408142, + 0.017521416768431664, + -3.100402355194092, + -0.3786217272281647, + 0.19659475982189178 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip pot upright in sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pot is now upright in the sink, and the gripper is open and no longer in contact with it. The release phase of the subtask is complete. The next action is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004096_ecot.json b/cot/chunk-0004/episode_0004096_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..242c8e40f68b315cf149152c1deb791757717e87 --- /dev/null +++ b/cot/chunk-0004/episode_0004096_ecot.json @@ -0,0 +1,2983 @@ +{ + "task_name": "episode_0004096", + "episode_json": "json/chunk-0004/episode_0004096.json", + "video_path": "videos/chunk-0004/image_0/episode_0004096.mp4", + "instruction": "Lift the yellow knife.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004096.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.5128160715103149, + "std": 0.22959473729133606, + "delta_total": -0.5128160715103149, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.51282, std=0.22959, total_delta=-0.51282). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 214, + 214, + 214, + 214, + 214, + 214, + 114, + 114, + 114, + 114, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 19 + ], + [ + 4, + 20, + 23 + ], + [ + 5, + 24, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow knife\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the yellow knife while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp yellow knife\", \"start\": 5, \"end\": 13, \"planning\": \"Close the gripper around the yellow knife to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"lift yellow knife\", \"start\": 14, \"end\": 19, \"planning\": \"Raise the end-effector vertically to lift the yellow knife off the table.\"},\n {\"id\": 4, \"name\": \"reposition lifted knife\", \"start\": 20, \"end\": 23, \"planning\": \"Translate the held yellow knife to a new position above the table surface.\"},\n {\"id\": 5, \"name\": \"place yellow knife\", \"start\": 24, \"end\": 44, \"planning\": \"Lower the yellow knife to the target location and release it by opening the gripper.\"}\n ],\n \"global_plan\": \"Approach the yellow knife, grasp it securely, lift it off the table, reposition it in space, and finally place it at the desired location.\",\n \"notes\": \"Segment 2 shows meaningful gripper closing (delta=-0.35475) consistent with grasping; Segment 5 maintains constant gripper value but motion and context indicate placement phase after prior grasp.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow knife", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the yellow knife while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp yellow knife", + "start": 5, + "end": 13, + "planning": "Close the gripper around the yellow knife to secure a firm hold." + }, + { + "id": 3, + "name": "lift yellow knife", + "start": 14, + "end": 19, + "planning": "Raise the end-effector vertically to lift the yellow knife off the table." + }, + { + "id": 4, + "name": "reposition lifted knife", + "start": 20, + "end": 23, + "planning": "Translate the held yellow knife to a new position above the table surface." + }, + { + "id": 5, + "name": "place yellow knife", + "start": 24, + "end": 44, + "planning": "Lower the yellow knife to the target location and release it by opening the gripper." + } + ], + "global_plan": "Approach the yellow knife, grasp it securely, lift it off the table, reposition it in space, and finally place it at the desired location.", + "notes": "Segment 2 shows meaningful gripper closing (delta=-0.35475) consistent with grasping; Segment 5 maintains constant gripper value but motion and context indicate placement phase after prior grasp." + } + }, + "episode_goal": "Lift the yellow knife.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367438018321991, + 0.05259043350815773, + 0.03641490638256073, + 3.0550196170806885, + 0.060210712254047394, + 1.304623007774353 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible below. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33356067538261414, + 0.05247998982667923, + 0.02465267851948738, + 3.087127447128296, + 0.0763048306107521, + 1.3144545555114746 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible below. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327033817768097, + 0.06486973911523819, + 0.02478930354118347, + 3.084407329559326, + 0.07664824277162552, + 1.37667977809906 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible to the left. The gripper is fully open and has not moved, indicating the approach phase is ongoing without contact. The next action is to continue moving the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 8 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242965042591095, + 0.08670909702777863, + 0.01922665350139141, + 3.093295097351074, + 0.05291469395160675, + 1.4765076637268066 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 490, + 440, + 751, + 697 + ], + "wooden table": [ + 22, + 259, + 773, + 968 + ], + "red sponge": [ + 376, + 519, + 500, + 666 + ] + } + } + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible to the left. The gripper is fully open and has not moved, indicating the approach phase is ongoing without contact. The next action is to continue moving the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3170177638530731, + 0.10724274814128876, + 0.013746705837547779, + 3.116436719894409, + -0.06337064504623413, + 1.518953561782837 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible to the left. The gripper is fully open and has not moved, indicating the approach phase is ongoing without contact. The next action is to continue moving the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31255242228507996, + 0.12101899087429047, + 0.01091246772557497, + -3.1370058059692383, + -0.12603972852230072, + 1.525382399559021 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible to the left. The gripper is fully open and has not moved, indicating the approach phase is ongoing without contact. The next action is to continue moving the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31413713097572327, + 0.13355152308940887, + -0.009512590244412422, + -3.078359365463257, + -0.18210554122924805, + 1.5326294898986816 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible to the left. The gripper is fully open and has not moved, indicating the approach phase is ongoing without contact. The next action is to continue moving the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32168108224868774, + 0.14139077067375183, + -0.025948403403162956, + -3.0342166423797607, + -0.17113693058490753, + 1.5221424102783203 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible to the left. The gripper is fully open and has not moved, indicating the approach phase is ongoing without contact. The next action is to continue moving the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3265593349933624, + 0.14902472496032715, + -0.03699704259634018, + -3.0157151222229004, + -0.152226060628891, + 1.5131964683532715 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible to the left. The gripper is fully open and has not moved, indicating the approach phase is ongoing without contact. The next action is to continue moving the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281596899032593, + 0.15127097070217133, + -0.04644874855875969, + -3.0003468990325928, + -0.1357107162475586, + 1.4981895685195923 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot has approached the yellow knife and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 5 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.323804646730423, + 0.15764087438583374, + -0.05632295832037926, + -2.9678285121917725, + -0.09732084721326828, + 1.5030490159988403 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot has approached the yellow knife and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper; then move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32129400968551636, + 0.16591212153434753, + -0.05971505492925644, + -2.9605774879455566, + -0.08182431757450104, + 1.512949824333191 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 489, + 440, + 751, + 698 + ], + "wooden table": [ + 23, + 271, + 773, + 969 + ], + "red sponge": [ + 376, + 519, + 499, + 665 + ], + "yellow sponge": [ + 279, + 452, + 341, + 555 + ] + } + } + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot has approached the yellow knife and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229413628578186, + 0.16691668331623077, + -0.06576206535100937, + -2.9878642559051514, + -0.04715381935238838, + 1.4823018312454224 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot has approached the yellow knife and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper closed; then move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251454532146454, + 0.16785699129104614, + -0.06660452485084534, + -2.9992120265960693, + -0.04801607131958008, + 1.4375569820404053 + ], + "gripper_value": 0.6460646390914917 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot has approached the yellow knife and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3277260363101959, + 0.16448162496089935, + -0.06693428754806519, + -3.0085041522979736, + 0.0010434052674099803, + 1.3920931816101074 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "lift yellow knife", + "subtask_reasoning": "The robot has approached the yellow knife and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3260054290294647, + 0.1651485711336136, + -0.06738995015621185, + -3.0041964054107666, + 0.006900484673678875, + 1.3638182878494263 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "lift yellow knife", + "subtask_reasoning": "The robot has approached the yellow knife and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166886568069458, + 0.16378965973854065, + -0.06519521027803421, + -2.942192554473877, + -0.014130010269582272, + 1.3598304986953735 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "lift yellow knife", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow knife on the wooden table, having already approached and grasped it. Since the gripper signal is stable and no closing motion is detected in this segment, the knife is likely already secured. The next action is to lift the knife vertically off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32002753019332886, + 0.15599070489406586, + -0.03960079327225685, + -2.9313089847564697, + -0.07354748249053955, + 1.3407843112945557 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "lift yellow knife", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow knife on the wooden table, having already approached and grasped it. Since the gripper signal is stable and no closing motion is detected in this segment, the knife is likely already secured. The next action is to lift the knife vertically off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3257730007171631, + 0.13903149962425232, + -0.00998624972999096, + -2.973397970199585, + -0.09687340259552002, + 1.3231604099273682 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "lift yellow knife", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow knife on the wooden table, having already approached and grasped it. Since the gripper signal is stable and no closing motion is detected in this segment, the knife is likely already secured. The next action is to lift the knife vertically off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 7 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3286266326904297, + 0.11391238123178482, + 0.01589800976216793, + -3.0713388919830322, + -0.0612206794321537, + 1.2960933446884155 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "lift yellow knife", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow knife on the wooden table, having already approached and grasped it. Since the gripper signal is stable and no closing motion is detected in this segment, the knife is likely already secured. The next action is to lift the knife vertically off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32928550243377686, + 0.07329090684652328, + 0.042996685951948166, + 3.1044938564300537, + -0.02468601055443287, + 1.2581493854522705 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "reposition lifted knife", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow knife on the wooden table, having already approached and grasped it. Since the gripper signal is stable and no closing motion is detected in this segment, the knife is likely already secured. The next action is to lift the knife vertically off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 8 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3147626519203186, + 0.051728393882513046, + 0.05211479216814041, + 3.1015830039978027, + -0.015833409503102303, + 1.2997654676437378 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "reposition lifted knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 9 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2995741665363312, + 0.02875484898686409, + 0.05570993945002556, + 3.1058318614959717, + 0.005688177887350321, + 1.364013671875 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "reposition lifted knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 8 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2840059697628021, + 0.011660711839795113, + 0.04609137400984764, + 3.1382944583892822, + 0.04806654900312424, + 1.3946428298950195 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "reposition lifted knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637333869934082, + -0.0019139227224513888, + 0.03362572565674782, + -3.0851078033447266, + 0.08979221433401108, + 1.4362765550613403 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2610359489917755, + -0.019842009991407394, + 0.028604187071323395, + -3.096982002258301, + 0.12319841235876083, + 1.4195221662521362 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2577309012413025, + -0.03557853400707245, + 0.019194068387150764, + -3.0674996376037598, + 0.15750089287757874, + 1.4077895879745483 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 21, + 279, + 779, + 965 + ] + } + } + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.25439414381980896, + -0.052132412791252136, + 0.01152316015213728, + -3.041266441345215, + 0.16403430700302124, + 1.3684875965118408 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.25338155031204224, + -0.06950399279594421, + 0.006308272480964661, + -3.0352039337158203, + 0.1882171928882599, + 1.3248405456542969 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 21, + 276, + 774, + 966 + ] + } + } + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25135254859924316, + -0.08293803036212921, + -0.0019789908546954393, + -3.024846315383911, + 0.20798657834529877, + 1.2973822355270386 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25416338443756104, + -0.08693469315767288, + -0.012443170882761478, + -2.998185396194458, + 0.2080981582403183, + 1.2865262031555176 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2609274387359619, + -0.08984382450580597, + -0.022327344864606857, + -2.9911892414093018, + 0.22532449662685394, + 1.2789515256881714 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 15 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.27037641406059265, + -0.0825347900390625, + -0.026163844391703606, + -2.991564989089966, + 0.22189165651798248, + 1.3101831674575806 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2730925977230072, + -0.07546104490756989, + -0.029943546280264854, + -2.9823720455169678, + 0.22789393365383148, + 1.3399380445480347 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The yellow knife is currently held by the gripper above the table, having been successfully lifted in the previous step. The gripper state is stable with no closing motion, indicating the object is already secured. The robot is now moving the knife through the air to reposition it to a new location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27828457951545715, + -0.06503269076347351, + -0.03311179205775261, + -2.9740264415740967, + 0.23218150436878204, + 1.3713034391403198 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816196084022522, + -0.05301139876246452, + -0.03223800286650658, + -2.964724540710449, + 0.2220166176557541, + 1.4052250385284424 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 15 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835294306278229, + -0.040305621922016144, + -0.03170030191540718, + -2.960254192352295, + 0.21241268515586853, + 1.4333277940750122 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28352388739585876, + -0.020754374563694, + -0.03147356957197189, + -2.944915294647217, + 0.19767463207244873, + 1.4931023120880127 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2814860939979553, + -0.0024820854887366295, + -0.030484626069664955, + -2.9230782985687256, + 0.18215259909629822, + 1.5359989404678345 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 554, + 441, + 751, + 700 + ], + "wooden table": [ + 22, + 264, + 777, + 966 + ] + } + } + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2758753001689911, + 0.015354673378169537, + -0.03006560355424881, + -2.8902170658111572, + 0.151837557554245, + 1.5663962364196777 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27038493752479553, + 0.03632419556379318, + -0.028742747381329536, + -2.8600223064422607, + 0.11927910149097443, + 1.6154119968414307 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2661682963371277, + 0.058967895805835724, + -0.02737799659371376, + -2.846893310546875, + 0.08910226821899414, + 1.6667182445526123 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2653610110282898, + 0.07631684094667435, + -0.02449122630059719, + -2.8443188667297363, + 0.06457372009754181, + 1.7001705169677734 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2691538631916046, + 0.08795952051877975, + -0.021109845489263535, + -2.8574929237365723, + 0.040853992104530334, + 1.7150734663009644 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2743992209434509, + 0.09674513339996338, + -0.020053191110491753, + -2.87170672416687, + 0.02425271086394787, + 1.714099407196045 + ], + "gripper_value": 0.4880000650882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Lift the yellow knife." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift yellow knife" + }, + { + "id": 4, + "subtask": "reposition lifted knife" + }, + { + "id": 5, + "subtask": "place yellow knife" + } + ], + "subtask_name": "place yellow knife", + "subtask_reasoning": "The robot arm is positioned over the yellow knife on the table, with the gripper open and ready. The approach and grasp phases are complete, and the current subtask involves placing the knife. The next action is likely to release the knife at the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004098_ecot.json b/cot/chunk-0004/episode_0004098_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7084878a562f884986ac427876e357302f569901 --- /dev/null +++ b/cot/chunk-0004/episode_0004098_ecot.json @@ -0,0 +1,2745 @@ +{ + "task_name": "episode_0004098", + "episode_json": "json/chunk-0004/episode_0004098.json", + "video_path": "videos/chunk-0004/image_0/episode_0004098.mp4", + "instruction": "Move the blue rag on the wooden platform.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004098.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.9470445513725281, + "std": 0.37088921666145325, + "delta_total": -0.18775635957717896, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94704, std=0.37089, total_delta=-0.18776). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 427, + 427, + 427, + 227, + 227, + 227, + 227, + 227, + 227, + 227, + 237 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 15 + ], + [ + 3, + 16, + 20 + ], + [ + 4, + 21, + 26 + ], + [ + 5, + 27, + 29 + ], + [ + 6, + 30, + 36 + ], + [ + 7, + 37, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue rag\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue rag inside the drum without closing gripper.\"},\n {\"id\": 2, \"name\": \"position above rag\", \"start\": 6, \"end\": 15, \"planning\": \"Adjust pose to align gripper over the blue rag in preparation for contact.\"},\n {\"id\": 3, \"name\": \"make contact with rag\", \"start\": 16, \"end\": 20, \"planning\": \"Lower gripper to touch the blue rag; no meaningful closing observed, so only contact is made.\"},\n {\"id\": 4, \"name\": \"grasp and lift rag\", \"start\": 21, \"end\": 29, \"planning\": \"Close gripper meaningfully (confirmed by segment 5 evidence) to grasp and slightly lift the blue rag.\"},\n {\"id\": 5, \"name\": \"transport rag outward\", \"start\": 30, \"end\": 36, \"planning\": \"Carry the grasped blue rag from inside the drum toward the wooden platform outside.\"},\n {\"id\": 6, \"name\": \"release rag on platform\", \"start\": 37, \"end\": 37, \"planning\": \"Open gripper to release the blue rag onto the wooden platform; motion ends here.\"}\n ],\n \"global_plan\": \"Approach the blue rag inside the drum, make contact, grasp it using confirmed gripper closure, lift and transport it out, then release it on the wooden platform.\",\n \"notes\": \"Gripper closure is only asserted in segments where segment-level evidence shows meaningful closing (especially segment 5, frames 27-29). Segments 1, 3, and 7 show no meaningful closing — described as approach, contact, and release respectively. Frame coverage is contiguous and complete from 0 to 37.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue rag", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue rag inside the drum without closing gripper." + }, + { + "id": 2, + "name": "position above rag", + "start": 6, + "end": 15, + "planning": "Adjust pose to align gripper over the blue rag in preparation for contact." + }, + { + "id": 3, + "name": "make contact with rag", + "start": 16, + "end": 20, + "planning": "Lower gripper to touch the blue rag; no meaningful closing observed, so only contact is made." + }, + { + "id": 4, + "name": "grasp and lift rag", + "start": 21, + "end": 29, + "planning": "Close gripper meaningfully (confirmed by segment 5 evidence) to grasp and slightly lift the blue rag." + }, + { + "id": 5, + "name": "transport rag outward", + "start": 30, + "end": 36, + "planning": "Carry the grasped blue rag from inside the drum toward the wooden platform outside." + }, + { + "id": 6, + "name": "release rag on platform", + "start": 37, + "end": 37, + "planning": "Open gripper to release the blue rag onto the wooden platform; motion ends here." + } + ], + "global_plan": "Approach the blue rag inside the drum, make contact, grasp it using confirmed gripper closure, lift and transport it out, then release it on the wooden platform.", + "notes": "Gripper closure is only asserted in segments where segment-level evidence shows meaningful closing (especially segment 5, frames 27-29). Segments 1, 3, and 7 show no meaningful closing — described as approach, contact, and release respectively. Frame coverage is contiguous and complete from 0 to 37." + } + }, + "episode_goal": "Move the blue rag from inside the washing machine to the wooden platform.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26267966628074646, + 0.002162642776966095, + 0.03978916257619858, + -3.127016544342041, + -0.16720721125602722, + -0.25311675667762756 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "approach blue rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening, with the blue rag visible inside the drum. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26118704676628113, + 0.00043896157876588404, + 0.0347568579018116, + 3.1415181159973145, + -0.15288959443569183, + -0.2561272382736206 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "approach blue rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening, with the blue rag visible inside the drum. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 3 cm, move up 4 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27438458800315857, + -0.00557722570374608, + 0.03183433786034584, + 3.082735776901245, + -0.20263056457042694, + -0.30488258600234985 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "approach blue rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening with the blue rag visible inside the drum. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3073008060455322, + -0.007726101204752922, + 0.029971633106470108, + 3.115389347076416, + -0.22953703999519348, + -0.219669371843338 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "approach blue rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening with the blue rag visible inside the drum. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3474872410297394, + -0.012186977081000805, + 0.032961636781692505, + -3.1297101974487305, + -0.28066202998161316, + -0.19334518909454346 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 185, + 439, + 527, + 839 + ], + "wooden shelf": [ + 44, + 461, + 960, + 996 + ], + "blue cloth": [ + 553, + 148, + 739, + 415 + ], + "appliance door": [ + 222, + 4, + 993, + 713 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "approach blue rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening with the blue rag visible inside the drum. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3803804814815521, + -0.024061424657702446, + 0.05281941220164299, + 3.1303367614746094, + -0.39496558904647827, + -0.13218379020690918 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "approach blue rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening with the blue rag visible inside the drum. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3901977241039276, + -0.032502464950084686, + 0.07043182104825974, + 3.0598654747009277, + -0.4185454845428467, + -0.07842841744422913 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening with the blue rag visible inside the drum. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.388564795255661, + -0.02852613292634487, + 0.11398796737194061, + 2.944364547729492, + -0.45358604192733765, + 0.008530807681381702 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening with the blue rag visible inside the drum. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38825923204421997, + -0.02339734323322773, + 0.11608343571424484, + 2.9588451385498047, + -0.4069669842720032, + 0.014825745485723019 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening with the blue rag visible inside the drum. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.401652455329895, + -0.0165341105312109, + 0.11107449978590012, + 3.004279136657715, + -0.4450376331806183, + 0.015883630141615868 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot arm is positioned near the washing machine opening with the blue rag visible inside the drum. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the blue rag to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 9 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4055100381374359, + -0.014128243550658226, + 0.10906155407428741, + 3.018320322036743, + -0.45061618089675903, + 0.018031010404229164 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue rag inside the washing machine drum. The approach phase is complete, and the gripper is open and ready. The next action is to lower the gripper to make contact with the rag for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41107237339019775, + -0.01955556496977806, + 0.1066087856888771, + 3.0137672424316406, + -0.4758370518684387, + 0.016324274241924286 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue rag inside the washing machine drum. The approach phase is complete, and the gripper is open and ready. The next action is to lower the gripper to make contact with the rag for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40882664918899536, + -0.01713511347770691, + 0.10504646599292755, + 3.038148880004883, + -0.45944032073020935, + 0.011393086053431034 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue rag inside the washing machine drum. The approach phase is complete, and the gripper is open and ready. The next action is to lower the gripper to make contact with the rag for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4070971608161926, + -0.017709674313664436, + 0.10405267775058746, + 3.031825304031372, + -0.4435998201370239, + 0.04847794398665428 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue rag inside the washing machine drum. The approach phase is complete, and the gripper is open and ready. The next action is to lower the gripper to make contact with the rag for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40116941928863525, + -0.017338905483484268, + 0.09966149926185608, + 3.042658805847168, + -0.40878215432167053, + 0.07985004037618637 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue rag inside the washing machine drum. The approach phase is complete, and the gripper is open and ready. The next action is to lower the gripper to make contact with the rag for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840911388397217, + -0.03990717977285385, + 0.03157617896795273, + 3.0849897861480713, + -0.2729785144329071, + 0.03741952404379845 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 182, + 440, + 525, + 842 + ], + "wooden shelf": [ + 41, + 460, + 959, + 996 + ], + "blue cloth": [ + 515, + 203, + 738, + 413 + ], + "appliance door": [ + 234, + 3, + 993, + 706 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "position above rag", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue rag inside the washing machine drum. The approach phase is complete, and the gripper is open and ready. The next action is to lower the gripper to make contact with the rag for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3351128101348877, + -0.04279753565788269, + 0.024156907573342323, + 3.0724055767059326, + -0.21362170577049255, + 0.01934056170284748 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue rag inside the washing machine drum. The approach phase is complete, and the gripper is open and ready. The next action is to lower the gripper to make contact with the rag for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3213699460029602, + -0.05312323942780495, + 0.03650806471705437, + 3.0232906341552734, + -0.25258898735046387, + -0.012085771188139915 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot end-effector is positioned directly above the blue rag inside the washing machine drum. The approach phase is complete, and the gripper is open and ready. The next action is to lower the gripper to make contact with the rag for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3132670819759369, + -0.05321222171187401, + 0.03524436429142952, + 3.0126612186431885, + -0.24449780583381653, + 0.006465183570981026 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot arm is positioned inside the washing machine with the gripper open and hovering near the blue rag. The gripper signal remains stable and open, indicating no grasp has occurred yet. The next action is to lower the gripper slightly to establish physical contact with the rag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3148235082626343, + -0.051610421389341354, + 0.04139889031648636, + 3.0286026000976562, + -0.27212145924568176, + -0.02193591184914112 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot arm is positioned inside the washing machine with the gripper open and hovering near the blue rag. The gripper signal remains stable and open, indicating no grasp has occurred yet. The next action is to lower the gripper slightly to establish physical contact with the rag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3240034580230713, + -0.05028017982840538, + 0.05101979523897171, + 3.033327341079712, + -0.3887525498867035, + -0.02899874560534954 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot arm is positioned inside the washing machine with the gripper open and hovering near the blue rag. The gripper signal remains stable and open, indicating no grasp has occurred yet. The next action is to lower the gripper slightly to establish physical contact with the rag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3403085470199585, + -0.03725569695234299, + 0.06138673797249794, + 3.012751817703247, + -0.43968963623046875, + 0.0049007004126906395 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot arm is positioned inside the washing machine with the gripper open and hovering near the blue rag. The gripper signal remains stable and open, indicating no grasp has occurred yet. The next action is to lower the gripper slightly to establish physical contact with the rag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move back 4 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3487239480018616, + -0.03449288010597229, + 0.05148177221417427, + 2.9935197830200195, + -0.4392402172088623, + 0.027774451300501823 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 184, + 440, + 526, + 840 + ], + "wooden shelf": [ + 43, + 461, + 962, + 996 + ], + "blue cloth": [ + 513, + 239, + 755, + 456 + ], + "appliance door": [ + 214, + 4, + 993, + 703 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot arm is positioned inside the washing machine with the gripper open and hovering near the blue rag. The gripper signal remains stable and open, indicating no grasp has occurred yet. The next action is to lower the gripper slightly to establish physical contact with the rag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move back 8 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3647244870662689, + -0.02863679826259613, + 0.05098460987210274, + 2.9837851524353027, + -0.43824633955955505, + 0.03989122807979584 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot arm is positioned inside the washing machine with the gripper open and hovering near the blue rag. The gripper signal remains stable and open, indicating no grasp has occurred yet. The next action is to lower the gripper slightly to establish physical contact with the rag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move back 9 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3729526400566101, + -0.02737061306834221, + 0.036193717271089554, + 2.979377031326294, + -0.3799609839916229, + 0.027648156508803368 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot arm is positioned inside the washing machine with the gripper open and hovering near the blue rag. The gripper signal remains stable and open, indicating no grasp has occurred yet. The next action is to lower the gripper slightly to establish physical contact with the rag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 9 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791356086730957, + -0.026739655062556267, + 0.031075621023774147, + 2.9672770500183105, + -0.3306087553501129, + 0.024797435849905014 + ], + "gripper_value": 0.9583302736282349 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot's gripper is positioned directly over the blue rag inside the washing machine drum. The gripper signal indicates a closing action is occurring or has just occurred to secure the rag. The next immediate step is to lift the grasped rag out of the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 9 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3799166977405548, + -0.025082271546125412, + 0.026482440531253815, + 2.9689078330993652, + -0.2925938069820404, + 0.013836401514708996 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot's gripper is positioned directly over the blue rag inside the washing machine drum. The gripper signal indicates a closing action is occurring or has just occurred to secure the rag. The next immediate step is to lift the grasped rag out of the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 8 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3749188482761383, + -0.02546798251569271, + 0.02621784619987011, + 2.9772870540618896, + -0.2725110948085785, + -0.013173328712582588 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot's gripper is positioned directly over the blue rag inside the washing machine drum. The gripper signal indicates a closing action is occurring or has just occurred to secure the rag. The next immediate step is to lift the grasped rag out of the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 7 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3664635717868805, + -0.025369254872202873, + 0.028942903503775597, + 3.0005571842193604, + -0.2669200301170349, + -0.06336989998817444 + ], + "gripper_value": 0.18290577828884125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot's gripper is positioned directly over the blue rag inside the washing machine drum. The gripper signal indicates a closing action is occurring or has just occurred to secure the rag. The next immediate step is to lift the grasped rag out of the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3555813431739807, + -0.0420464426279068, + 0.037310320883989334, + 3.0242741107940674, + -0.24304042756557465, + -0.1859869658946991 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "grasp and lift rag", + "subtask_reasoning": "The robot's gripper is positioned directly over the blue rag inside the washing machine drum. The gripper signal indicates a closing action is occurring or has just occurred to secure the rag. The next immediate step is to lift the grasped rag out of the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33233821392059326, + -0.06081259995698929, + 0.06443189829587936, + 3.0290753841400146, + -0.30685970187187195, + -0.29097044467926025 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "transport rag outward", + "subtask_reasoning": "The robot's gripper is positioned directly over the blue rag inside the washing machine drum. The gripper signal indicates a closing action is occurring or has just occurred to secure the rag. The next immediate step is to lift the grasped rag out of the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2906787097454071, + -0.07514703273773193, + 0.06357455998659134, + 3.0085413455963135, + -0.25792717933654785, + -0.37820714712142944 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "transport rag outward", + "subtask_reasoning": "The robot's gripper is positioned directly over the blue rag inside the washing machine drum. The gripper signal indicates a closing action is occurring or has just occurred to secure the rag. The next immediate step is to lift the grasped rag out of the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2567923665046692, + -0.07620144635438919, + 0.04225824028253555, + 2.9860072135925293, + -0.16156139969825745, + -0.42151835560798645 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 185, + 440, + 519, + 840 + ], + "wooden shelf": [ + 44, + 462, + 959, + 996 + ], + "blue cloth": [ + 499, + 470, + 775, + 789 + ], + "appliance door": [ + 240, + 4, + 993, + 719 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "transport rag outward", + "subtask_reasoning": "The robot's gripper is positioned directly over the blue rag inside the washing machine drum. The gripper signal indicates a closing action is occurring or has just occurred to secure the rag. The next immediate step is to lift the grasped rag out of the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.238227978348732, + -0.07639656215906143, + 0.026795806363224983, + 2.980825901031494, + -0.13206903636455536, + -0.46135157346725464 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "transport rag outward", + "subtask_reasoning": "The robot is currently holding the blue rag and has moved it out of the washing machine, positioning it above the wooden platform. The gripper remains closed, confirming the rag is securely grasped during transport. The next action is to lower the rag onto the platform and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24134117364883423, + -0.08031842857599258, + 0.009064632467925549, + 2.964717149734497, + -0.14213156700134277, + -0.4940599501132965 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "transport rag outward", + "subtask_reasoning": "The robot is currently holding the blue rag and has moved it out of the washing machine, positioning it above the wooden platform. The gripper remains closed, confirming the rag is securely grasped during transport. The next action is to lower the rag onto the platform and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2471260279417038, + -0.08105684071779251, + 0.004494208376854658, + 2.9600002765655518, + -0.17539431154727936, + -0.4932209253311157 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "transport rag outward", + "subtask_reasoning": "The robot is currently holding the blue rag and has moved it out of the washing machine, positioning it above the wooden platform. The gripper remains closed, confirming the rag is securely grasped during transport. The next action is to lower the rag onto the platform and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2518481910228729, + -0.07928040623664856, + 0.005873999558389187, + 2.943422317504883, + -0.2096259891986847, + -0.49418312311172485 + ], + "gripper_value": 0.49949145317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "transport rag outward", + "subtask_reasoning": "The robot is currently holding the blue rag and has moved it out of the washing machine, positioning it above the wooden platform. The gripper remains closed, confirming the rag is securely grasped during transport. The next action is to lower the rag onto the platform and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2578776478767395, + -0.07441819459199905, + 0.013952808454632759, + 2.9722957611083984, + -0.21645314991474152, + -0.4769251346588135 + ], + "gripper_value": 0.8130597472190857 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue rag from inside the washing machine to the wooden platform." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue rag" + }, + { + "id": 2, + "subtask": "position above rag" + }, + { + "id": 3, + "subtask": "make contact with rag" + }, + { + "id": 4, + "subtask": "grasp and lift rag" + }, + { + "id": 5, + "subtask": "transport rag outward" + }, + { + "id": 6, + "subtask": "release rag on platform" + } + ], + "subtask_name": "release rag on platform", + "subtask_reasoning": "The blue rag is already positioned on the wooden platform next to the basket. The gripper is open and hovering just above the rag, indicating the release action has been completed. The robot should now retract or move away from the platform to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 37, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004099_ecot.json b/cot/chunk-0004/episode_0004099_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..44947d083a5276f955a3a7a36cf939fdf7e7d304 --- /dev/null +++ b/cot/chunk-0004/episode_0004099_ecot.json @@ -0,0 +1,2128 @@ +{ + "task_name": "episode_0004099", + "episode_json": "json/chunk-0004/episode_0004099.json", + "video_path": "videos/chunk-0004/image_0/episode_0004099.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004099.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.5568782687187195, + "std": 0.2568519115447998, + "delta_total": -0.5218369364738464, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.55688, std=0.25685, total_delta=-0.52184). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 26 + ], + [ + 3, + 27, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp carrot\", \"start\": 0, \"end\": 18, \"planning\": \"Move end-effector toward the carrot in the box and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport carrot\", \"start\": 19, \"end\": 26, \"planning\": \"Lift the grasped carrot and move it horizontally toward the green plate.\"},\n {\"id\": 3, \"name\": \"place carrot on plate\", \"start\": 27, \"end\": 34, \"planning\": \"Lower the carrot over the green plate and release it without further gripper motion.\"}\n ],\n \"global_plan\": \"Approach and grasp the carrot from the box, lift and carry it to the green plate, then place it down gently.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.289) consistent with grasping; Segment 2 maintains closed grip during transport; Segment 3 has no gripper change — placement is inferred from motion trajectory and final pose over plate, not active release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp carrot", + "start": 0, + "end": 18, + "planning": "Move end-effector toward the carrot in the box and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport carrot", + "start": 19, + "end": 26, + "planning": "Lift the grasped carrot and move it horizontally toward the green plate." + }, + { + "id": 3, + "name": "place carrot on plate", + "start": 27, + "end": 34, + "planning": "Lower the carrot over the green plate and release it without further gripper motion." + } + ], + "global_plan": "Approach and grasp the carrot from the box, lift and carry it to the green plate, then place it down gently.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.289) consistent with grasping; Segment 2 maintains closed grip during transport; Segment 3 has no gripper change — placement is inferred from motion trajectory and final pose over plate, not active release." + } + }, + "episode_goal": "Place the carrot on the green plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32470229268074036, + -0.000973016198258847, + 0.07900191098451614, + 2.99519944190979, + -0.2319616973400116, + -0.08183964341878891 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3187410831451416, + -0.0012598319444805384, + 0.07093670219182968, + 2.989793062210083, + -0.19654355943202972, + -0.09322945028543472 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018686771392822, + 0.0032879069913178682, + 0.07840345799922943, + 3.011967182159424, + -0.17665041983127594, + -0.21626082062721252 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 9 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2788202464580536, + 0.003773878328502178, + 0.0970868170261383, + 3.0376243591308594, + -0.1833661049604416, + -0.22556757926940918 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26002103090286255, + 0.007507964503020048, + 0.11982619017362595, + 3.0602335929870605, + -0.1603548675775528, + -0.24321188032627106 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23728540539741516, + 0.022299429401755333, + 0.11457661539316177, + 3.0635499954223633, + -0.13530758023262024, + -0.35105979442596436 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22254638373851776, + 0.038346223533153534, + 0.10644341260194778, + 3.0295097827911377, + -0.12695729732513428, + -0.44461193680763245 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow squash": [ + 894, + 344, + 996, + 480 + ], + "carrot": [ + 169, + 466, + 360, + 605 + ], + "orange slice": [ + 530, + 179, + 640, + 279 + ], + "red pepper": [ + 348, + 604, + 444, + 725 + ], + "burner coil": [ + 517, + 454, + 762, + 723 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2168569713830948, + 0.057694680988788605, + 0.10416247695684433, + 3.0405266284942627, + -0.15676550567150116, + -0.5600695610046387 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21114997565746307, + 0.07140295952558517, + 0.09408041834831238, + 3.0246071815490723, + -0.140975683927536, + -0.6490684151649475 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow squash": [ + 894, + 344, + 996, + 480 + ], + "orange slice": [ + 530, + 180, + 640, + 278 + ], + "red pepper": [ + 348, + 604, + 444, + 725 + ], + "green plate": [ + 374, + 324, + 566, + 550 + ], + "lettuce": [ + 402, + 540, + 495, + 661 + ], + "carrot": [ + 170, + 467, + 359, + 604 + ], + "burner coil": [ + 525, + 455, + 759, + 718 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot is positioned above the box containing the carrot and green plate, with the gripper open and ready. No grasping has occurred yet; the next action is to lower the gripper toward the carrot to initiate contact and grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21140331029891968, + 0.08046027272939682, + 0.0832272320985794, + 2.9881765842437744, + -0.13325996696949005, + -0.7240857481956482 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21396058797836304, + 0.08477174490690231, + 0.07655731588602066, + 2.994185447692871, + -0.10086872428655624, + -0.7594479322433472 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2201160043478012, + 0.08887184411287308, + 0.0707450807094574, + 3.039105176925659, + -0.07768157869577408, + -0.8005151748657227 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2199687659740448, + 0.09333489090204239, + 0.06380453705787659, + 3.0388400554656982, + -0.06806527078151703, + -0.8279756903648376 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, close gripper; then move forward 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2179253101348877, + 0.09967315196990967, + 0.05444170534610748, + 3.0031628608703613, + -0.06361915916204453, + -0.8438801765441895 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21912889182567596, + 0.10661698132753372, + 0.04593047872185707, + 3.0115787982940674, + -0.06680429726839066, + -0.8515363335609436 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 4 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21535825729370117, + 0.11301348358392715, + 0.038358304649591446, + 3.000385046005249, + -0.06910405308008194, + -0.8744034767150879 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move forward 6 cm, move right 4 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21130254864692688, + 0.11616259813308716, + 0.03246014937758446, + 2.9766085147857666, + -0.07023554295301437, + -0.8831791877746582 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. 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The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 8 cm, move right 7 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20576047897338867, + 0.11579585075378418, + 0.028554964810609818, + 2.967116594314575, + -0.080297090113163, + -0.8657322525978088 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. 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The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move right 9 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20473922789096832, + 0.11822433769702911, + 0.028976576402783394, + 2.9716553688049316, + -0.0683179497718811, + -0.8759436011314392 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach and grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. 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The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move right 9 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2031841278076172, + 0.1153726726770401, + 0.03057742491364479, + 2.973555326461792, + -0.04007827490568161, + -0.8765996694564819 + ], + "gripper_value": 0.4975702464580536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. 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The next action should be to lower the gripper toward the carrot to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2050001472234726, + 0.11420954763889313, + 0.03250947594642639, + 2.9686567783355713, + -0.022729961201548576, + -0.8867963552474976 + ], + "gripper_value": 0.4606100916862488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot arm is positioned above the box containing the carrot, with the gripper open and ready. 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The next action is to continue moving the carrot horizontally toward the plate’s center for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30322638154029846, + 0.027440011501312256, + 0.1083483174443245, + -3.0687036514282227, + -0.16348855197429657, + -0.9367648363113403 + ], + "gripper_value": 0.4956514239311218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot has successfully grasped the carrot from the box and is currently lifting it upward, as indicated by the end-effector's vertical position and stable gripper closure. The carrot is being transported toward the green plate, which is visible and accessible on the stove. The next action is to continue moving the carrot horizontally toward the plate’s center for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3235674798488617, + 0.02928362414240837, + 0.09133625775575638, + -2.9824817180633545, + -0.17972607910633087, + -1.0988227128982544 + ], + "gripper_value": 0.4956514239311218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot has successfully grasped the carrot from the box and is currently lifting it upward, as indicated by the end-effector's vertical position and stable gripper closure. The carrot is being transported toward the green plate, which is visible and accessible on the stove. The next action is to continue moving the carrot horizontally toward the plate’s center for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32522159814834595, + 0.040755677968263626, + 0.08830138295888901, + -2.9354584217071533, + -0.14637327194213867, + -1.1424877643585205 + ], + "gripper_value": 0.4956514239311218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot has successfully grasped the carrot from the box and is currently lifting it upward, as indicated by the end-effector's vertical position and stable gripper closure. The carrot is being transported toward the green plate, which is visible and accessible on the stove. The next action is to continue moving the carrot horizontally toward the plate’s center for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192068934440613, + 0.06096201390028, + 0.07111955434083939, + -2.8976824283599854, + -0.14731276035308838, + -1.1772414445877075 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the green plate, having completed the approach and transport phases. Since the gripper signal is stable and not closing, the arm is likely hovering or making light contact rather than actively placing. The next action is to lower the end-effector to deposit the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3173437714576721, + 0.06905553489923477, + 0.06707325577735901, + -2.8811826705932617, + -0.14969679713249207, + -1.1874209642410278 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the green plate, having completed the approach and transport phases. Since the gripper signal is stable and not closing, the arm is likely hovering or making light contact rather than actively placing. The next action is to lower the end-effector to deposit the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3220067024230957, + 0.06211303547024727, + 0.05829162150621414, + -2.8625340461730957, + -0.1631515920162201, + -1.2510844469070435 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the green plate, having completed the approach and transport phases. Since the gripper signal is stable and not closing, the arm is likely hovering or making light contact rather than actively placing. The next action is to lower the end-effector to deposit the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33272677659988403, + 0.055005528032779694, + 0.04797178506851196, + -2.807856559753418, + -0.19271650910377502, + -1.378909707069397 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the green plate, having completed the approach and transport phases. Since the gripper signal is stable and not closing, the arm is likely hovering or making light contact rather than actively placing. The next action is to lower the end-effector to deposit the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3351444900035858, + 0.0489160530269146, + 0.03874969109892845, + -2.787348508834839, + -0.20658309757709503, + -1.365318775177002 + ], + "gripper_value": 0.4956514239311218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp carrot" + }, + { + "id": 2, + "subtask": "lift and transport carrot" + }, + { + "id": 3, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot is currently holding the carrot above the green plate, having completed the approach and transport phases. Since the gripper signal is stable and not closing, the arm is likely hovering or making light contact rather than actively placing. The next action is to lower the end-effector to deposit the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004102_ecot.json b/cot/chunk-0004/episode_0004102_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fb474ebd1e85050352e807ba8f9ccc421afeb3ff --- /dev/null +++ b/cot/chunk-0004/episode_0004102_ecot.json @@ -0,0 +1,1996 @@ +{ + "task_name": "episode_0004102", + "episode_json": "json/chunk-0004/episode_0004102.json", + "video_path": "videos/chunk-0004/image_0/episode_0004102.mp4", + "instruction": "Take green block from blue block.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004102.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.4327589273452759, + "std": 0.19999904930591583, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.43276, std=0.20000, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 28 + ], + [ + 3, + 29, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green block\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the green block on top of the blue block without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp green block\", \"start\": 6, \"end\": 28, \"planning\": \"Close gripper to securely grasp the green block while maintaining contact and adjusting pose for stable hold.\"},\n {\"id\": 3, \"name\": \"lift and retreat with green block\", \"start\": 29, \"end\": 33, \"planning\": \"Lift the grasped green block upward and move away from the blue block to complete separation.\"}\n ],\n \"global_plan\": \"Approach the green block resting on the blue block, close gripper to grasp it firmly, then lift and retreat to separate it from the stack.\",\n \"notes\": \"Segment 1 shows no meaningful gripper closure — motion only. Segment 2 shows significant gripper closing (delta=-0.42554) consistent with grasping. Segment 3 shows gripper opening after lift, indicating release or retreat phase; however, since object is still held until end, we describe as lifting and retreating with object.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green block", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the green block on top of the blue block without closing gripper." + }, + { + "id": 2, + "name": "grasp green block", + "start": 6, + "end": 28, + "planning": "Close gripper to securely grasp the green block while maintaining contact and adjusting pose for stable hold." + }, + { + "id": 3, + "name": "lift and retreat with green block", + "start": 29, + "end": 33, + "planning": "Lift the grasped green block upward and move away from the blue block to complete separation." + } + ], + "global_plan": "Approach the green block resting on the blue block, close gripper to grasp it firmly, then lift and retreat to separate it from the stack.", + "notes": "Segment 1 shows no meaningful gripper closure — motion only. Segment 2 shows significant gripper closing (delta=-0.42554) consistent with grasping. Segment 3 shows gripper opening after lift, indicating release or retreat phase; however, since object is still held until end, we describe as lifting and retreating with object." + } + }, + "episode_goal": "Pick up the green block that is stacked on top of the blue block and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115934133529663, + 0.06245415285229683, + 0.15091265738010406, + -2.8562092781066895, + -0.2675400972366333, + -0.31396377086639404 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned near the green block stacked on the blue block, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30971938371658325, + 0.06114627793431282, + 0.14140132069587708, + -2.873713970184326, + -0.24158331751823425, + -0.30978700518608093 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned near the green block stacked on the blue block, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the green block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31411129236221313, + 0.06364303827285767, + 0.13708269596099854, + -2.9375877380371094, + -0.25992313027381897, + -0.22077009081840515 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128151297569275, + 0.08552289754152298, + 0.13313701748847961, + -3.0377416610717773, + -0.28626352548599243, + -0.05114542692899704 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3179289996623993, + 0.10159441083669662, + 0.12963800132274628, + -3.09297513961792, + -0.30214956402778625, + 0.05172232910990715 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32214343547821045, + 0.1205475926399231, + 0.1230902299284935, + -3.1352076530456543, + -0.3127923011779785, + 0.14464153349399567 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 994 + ], + "yellow block": [ + 695, + 423, + 792, + 524 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 7 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33095693588256836, + 0.12650831043720245, + 0.11758909374475479, + 3.1206092834472656, + -0.3110244572162628, + 0.1788817048072815 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33960825204849243, + 0.12801577150821686, + 0.11614116281270981, + 3.0875046253204346, + -0.32076123356819153, + 0.1998613327741623 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35025501251220703, + 0.127078577876091, + 0.11448179930448532, + 3.0511410236358643, + -0.33227401971817017, + 0.21729885041713715 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35959354043006897, + 0.1284402459859848, + 0.11113564670085907, + 3.042783737182617, + -0.33480870723724365, + 0.21487456560134888 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3678172826766968, + 0.1268477886915207, + 0.11288502812385559, + 3.0407767295837402, + -0.3476848900318146, + 0.20635871589183807 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3746398389339447, + 0.1275937855243683, + 0.10938851535320282, + 3.0294785499572754, + -0.3466278910636902, + 0.21192683279514313 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.380736768245697, + 0.12883467972278595, + 0.11062657833099365, + 3.0226497650146484, + -0.3552761673927307, + 0.22394737601280212 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 994 + ], + "red block": [ + 344, + 433, + 505, + 627 + ], + "yellow block": [ + 695, + 424, + 791, + 524 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3847758173942566, + 0.12815265357494354, + 0.10844304412603378, + 3.0130529403686523, + -0.3544003665447235, + 0.230974480509758 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3908407986164093, + 0.12566626071929932, + 0.10942075401544571, + 3.009275197982788, + -0.3610638678073883, + 0.23026494681835175 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 20 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3979218602180481, + 0.12063944339752197, + 0.10446944087743759, + 2.9991354942321777, + -0.35579851269721985, + 0.2356715202331543 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 24 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4029148519039154, + 0.11720698326826096, + 0.10156331956386566, + 2.994208812713623, + -0.35064634680747986, + 0.25041332840919495 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot is positioned above the table with the green block visible on top of the blue block. The gripper remains open and is moving toward the green block. The next action is to continue approaching until the gripper is aligned and close enough to grasp the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 28 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40731722116470337, + 0.11405739188194275, + 0.09382884204387665, + 3.0051558017730713, + -0.34784257411956787, + 0.2730602025985718 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 30 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.41066157817840576, + 0.11115431785583496, + 0.09302960336208344, + 3.0480904579162598, + -0.3625681400299072, + 0.28913822770118713 + ], + "gripper_value": 0.5749470591545105 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 31 cm, move down 6 cm, tilt right 20 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4087880253791809, + 0.10783806443214417, + 0.09151259064674377, + 3.049835681915283, + -0.36794355511665344, + 0.28784164786338806 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 30 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4024735987186432, + 0.08861126750707626, + 0.10742486268281937, + 3.0109872817993164, + -0.39887210726737976, + 0.28398585319519043 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 28 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, open gripper; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4031984210014343, + 0.05627749487757683, + 0.13649941980838776, + 2.9859495162963867, + -0.46825531125068665, + 0.21933835744857788 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 25 cm, move down 11 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, open gripper; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.39563336968421936, + 0.01598442904651165, + 0.1489018052816391, + 2.985489845275879, + -0.498379647731781, + 0.08911777287721634 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 21 cm, move down 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, open gripper; then move back 4 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39191552996635437, + -0.02251477725803852, + 0.15058454871177673, + 3.0103836059570312, + -0.5050001740455627, + -0.036203108727931976 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 17 cm, move down 13 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, open gripper; then move back 5 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3874170184135437, + -0.0720551386475563, + 0.14647150039672852, + 3.059877634048462, + -0.5053552985191345, + -0.224742129445076 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 995, + 994 + ], + "yellow block": [ + 695, + 424, + 791, + 524 + ], + "red block": [ + 345, + 433, + 505, + 626 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move down 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, open gripper; then move back 5 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38379204273223877, + -0.12110736966133118, + 0.1251162737607956, + 3.101837396621704, + -0.46334704756736755, + -0.4140036404132843 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 10 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 5 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38966116309165955, + -0.16327987611293793, + 0.09420007467269897, + 3.1288912296295166, + -0.40681353211402893, + -0.5661843419075012 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 5 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3912354111671448, + -0.1878361999988556, + 0.04778354614973068, + 3.1224632263183594, + -0.32017841935157776, + -0.660301923751831 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move back 5 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.39141300320625305, + -0.19448602199554443, + 0.029942529276013374, + 3.1127915382385254, + -0.2788275182247162, + -0.6899492144584656 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow block": [ + 695, + 424, + 792, + 524 + ], + "table": [ + 49, + 4, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 5 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3953155279159546, + -0.19458334147930145, + 0.02432389371097088, + -3.141158103942871, + -0.2626431882381439, + -0.718647301197052 + ], + "gripper_value": 0.6129248142242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "lift and retreat with green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3848808705806732, + -0.19372323155403137, + 0.018506964668631554, + -3.129469633102417, + -0.244444340467453, + -0.7378833293914795 + ], + "gripper_value": 0.9099614024162292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "lift and retreat with green block", + "subtask_reasoning": "The green block is currently held above the blue block, indicating the grasp has been successfully completed. The gripper is closed around the green block, and it is no longer in contact with the blue block. The next action is to lift and move the green block away from the stack to place it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.37039729952812195, + -0.18483537435531616, + 0.02301548421382904, + -3.095564365386963, + -0.23005343973636627, + -0.7524324655532837 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "lift and retreat with green block", + "subtask_reasoning": "The green block is not visible in the current frame, suggesting it may have been lifted out of view or is occluded. The gripper is closed (value ~1.0), consistent with holding an object. Given the subtask is 'lift and retreat with green block' and prior steps completed grasping, the robot is likely executing the lift-and-retreat motion. Next action: continue retracting arm upward/backward to clear the blue block and stabilize the green block in hand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 29, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.357217013835907, + -0.1803472340106964, + 0.026810327544808388, + -3.086880922317505, + -0.22234724462032318, + -0.7542197108268738 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "lift and retreat with green block", + "subtask_reasoning": "The green block is not visible in the current frame, suggesting it may have been lifted out of view or is occluded. The gripper is closed (value ~1.0), consistent with holding an object. Given the subtask is 'lift and retreat with green block' and prior steps completed grasping, the robot is likely executing the lift-and-retreat motion. Next action: continue retracting arm upward/backward to clear the blue block and stabilize the green block in hand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34737586975097656, + -0.1808222532272339, + 0.06252308189868927, + -3.020005226135254, + -0.2731015086174011, + -0.778483510017395 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green block that is stacked on top of the blue block and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "lift and retreat with green block" + } + ], + "subtask_name": "lift and retreat with green block", + "subtask_reasoning": "The green block is not visible in the current frame, suggesting it may have been lifted out of view or is occluded. The gripper is closed (value ~1.0), consistent with holding an object. Given the subtask is 'lift and retreat with green block' and prior steps completed grasping, the robot is likely executing the lift-and-retreat motion. Next action: continue retracting arm upward/backward to clear the blue block and stabilize the green block in hand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004104_ecot.json b/cot/chunk-0004/episode_0004104_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6a5c7b9dc8926a926362d05e6fd28f59baad5b5b --- /dev/null +++ b/cot/chunk-0004/episode_0004104_ecot.json @@ -0,0 +1,1453 @@ +{ + "task_name": "episode_0004104", + "episode_json": "json/chunk-0004/episode_0004104.json", + "video_path": "videos/chunk-0004/image_0/episode_0004104.mp4", + "instruction": "Move the broccoli to the bottom side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004104.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.3188631534576416, + "std": 0.14482924342155457, + "delta_total": 0.005246400833129883, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.31886, std=0.14483, total_delta=0.00525). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 16 + ], + [ + 4, + 17, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the broccoli without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp broccoli\", \"start\": 4, \"end\": 12, \"planning\": \"Close the gripper around the broccoli and secure it for transport.\"},\n {\"id\": 3, \"name\": \"transport broccoli\", \"start\": 13, \"end\": 16, \"planning\": \"Carry the grasped broccoli toward the bottom side of the table while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release broccoli\", \"start\": 17, \"end\": 20, \"planning\": \"Open the gripper to place the broccoli at the target location on the bottom side of the table.\"}\n ],\n \"global_plan\": \"Approach the broccoli, grasp it securely, transport it to the bottom side of the table, and release it there.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing and visual confirmation of grasp. Segment 3 maintains constant gripper value — transport phase. Segment 4 shows gripper opening — release phase. All segments align with observed motion and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the broccoli without closing the gripper." + }, + { + "id": 2, + "name": "grasp broccoli", + "start": 4, + "end": 12, + "planning": "Close the gripper around the broccoli and secure it for transport." + }, + { + "id": 3, + "name": "transport broccoli", + "start": 13, + "end": 16, + "planning": "Carry the grasped broccoli toward the bottom side of the table while maintaining grip." + }, + { + "id": 4, + "name": "release broccoli", + "start": 17, + "end": 20, + "planning": "Open the gripper to place the broccoli at the target location on the bottom side of the table." + } + ], + "global_plan": "Approach the broccoli, grasp it securely, transport it to the bottom side of the table, and release it there.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing and visual confirmation of grasp. Segment 3 maintains constant gripper value — transport phase. Segment 4 shows gripper opening — release phase. All segments align with observed motion and gripper evidence." + } + }, + "episode_goal": "Move the broccoli to the bottom side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3126496970653534, + 0.23348386585712433, + 0.15196938812732697, + -3.097120523452759, + -0.1882111132144928, + 0.4288846552371979 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move right 7 cm, move down 13 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.311890184879303, + 0.23102687299251556, + 0.13710758090019226, + -3.111220598220825, + -0.15195651352405548, + 0.4306522309780121 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move right 7 cm, move down 13 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3117051124572754, + 0.1840166449546814, + 0.12682358920574188, + 3.136979579925537, + -0.14386458694934845, + 0.3022906184196472 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 7 cm, move down 13 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3211856782436371, + 0.13067030906677246, + 0.13569419085979462, + 3.139986038208008, + -0.19537220895290375, + 0.13724860548973083 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 7 cm, move down 11 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3221891224384308, + 0.10735499113798141, + 0.11978372931480408, + -3.1148061752319336, + -0.17842258512973785, + 0.08229043334722519 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 170, + 995, + 992 + ], + "toy broccoli": [ + 435, + 456, + 534, + 573 + ], + "yellow block": [ + 65, + 108, + 174, + 246 + ], + "yellow can": [ + 646, + 112, + 772, + 305 + ], + "toy mouse": [ + 687, + 544, + 880, + 811 + ], + "toy microwave": [ + 4, + 35, + 402, + 507 + ], + "red can": [ + 541, + 38, + 661, + 277 + ] + } + } + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 11 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3270321190357208, + 0.08395664393901825, + 0.09279973804950714, + -3.1198465824127197, + -0.14451345801353455, + 0.03488088399171829 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 8 cm, close gripper; then move back 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.32462650537490845, + 0.06269638240337372, + 0.06348574161529541, + -3.126615047454834, + -0.13753212988376617, + 0.02501305565237999 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 6 cm, close gripper; then move back 7 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31633511185646057, + 0.054672203958034515, + 0.04053688049316406, + -3.119361162185669, + -0.10695358365774155, + 0.03499676659703255 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 10 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128816485404968, + 0.046662114560604095, + 0.014615444466471672, + -3.113335609436035, + -0.059388432651758194, + 0.04939431697130203 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot's end-effector is positioned directly above the broccoli on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 10 cm, move left 1 cm, move down 2 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.312204509973526, + 0.04239862412214279, + -0.00750589556992054, + -3.0938968658447266, + -0.05156685784459114, + 0.07402730733156204 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 191, + 995, + 992 + ], + "toy microwave": [ + 3, + 34, + 355, + 504 + ], + "yellow block": [ + 65, + 105, + 174, + 245 + ], + "yellow can": [ + 646, + 111, + 773, + 305 + ], + "toy phone": [ + 218, + 5, + 568, + 572 + ], + "toy mouse": [ + 687, + 543, + 880, + 812 + ], + "red can": [ + 541, + 38, + 662, + 277 + ] + } + } + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot's end-effector is positioned directly above the broccoli on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move back 10 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3180314302444458, + 0.04009024798870087, + -0.015012072399258614, + -3.107753276824951, + -0.0648302361369133, + 0.10098626464605331 + ], + "gripper_value": 0.973810613155365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot's end-effector is positioned directly above the broccoli on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move back 10 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214729130268097, + 0.03952925652265549, + -0.01477180514484644, + -3.1132171154022217, + -0.07065100222826004, + 0.09578415751457214 + ], + "gripper_value": 0.7200843095779419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot's end-effector is positioned directly above the broccoli on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper closed; then move back 10 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3190307915210724, + 0.03810955584049225, + -0.01313520222902298, + -3.133208751678467, + -0.07513762265443802, + 0.1070738285779953 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot's end-effector is positioned directly above the broccoli on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move back 10 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045791983604431, + 0.041591841727495193, + 0.008154095150530338, + 3.108804941177368, + -0.09149249643087387, + 0.10554656386375427 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "transport broccoli", + "subtask_reasoning": "The robot's end-effector is positioned directly above the broccoli on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2834283709526062, + 0.041639141738414764, + 0.03872363269329071, + 3.057716131210327, + -0.1570885181427002, + 0.11455059796571732 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "transport broccoli", + "subtask_reasoning": "The robot is currently holding the broccoli and moving it across the table surface. The approach and grasp phases are complete, and the arm is in transit toward the target location at the bottom side of the table. The next action is to continue transporting the object to the designated drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.253523588180542, + 0.044243618845939636, + 0.03612248972058296, + 3.061020612716675, + -0.14481092989444733, + 0.08961890637874603 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "transport broccoli", + "subtask_reasoning": "The robot is currently holding the broccoli and moving it across the table surface. The approach and grasp phases are complete, and the arm is in transit toward the target location at the bottom side of the table. The next action is to continue transporting the object to the designated drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23357562720775604, + 0.04871838539838791, + 0.01589982397854328, + 3.119847059249878, + -0.1268167793750763, + 0.05714568495750427 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "transport broccoli", + "subtask_reasoning": "The robot is currently holding the broccoli and moving it across the table surface. The approach and grasp phases are complete, and the arm is in transit toward the target location at the bottom side of the table. The next action is to continue transporting the object to the designated drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20637941360473633, + 0.054386284202337265, + -0.013309615664184093, + -3.0906660556793213, + -0.08467315137386322, + 0.031710200011730194 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 213, + 3, + 563, + 273 + ], + "wooden table": [ + 4, + 180, + 995, + 993 + ], + "yellow can": [ + 646, + 111, + 774, + 305 + ], + "toy mouse": [ + 687, + 542, + 880, + 813 + ], + "red can": [ + 541, + 38, + 662, + 277 + ], + "toy broccoli": [ + 210, + 321, + 446, + 754 + ], + "toy phone": [ + 6, + 7, + 444, + 751 + ] + } + } + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The robot is currently holding the broccoli and moving it across the table surface. The approach and grasp phases are complete, and the arm is in transit toward the target location at the bottom side of the table. The next action is to continue transporting the object to the designated drop-off zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20455458760261536, + 0.05823330208659172, + -0.015660913661122322, + -3.0594730377197266, + -0.09926014393568039, + 0.019650347530841827 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The broccoli is currently held by the gripper near the bottom edge of the table. The gripper is open, indicating the release action is in progress or just completed. The next step is to confirm the broccoli is stably placed and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.1996188908815384, + 0.05571867525577545, + -0.01510678045451641, + -3.0827786922454834, + -0.07109849900007248, + 0.032740119844675064 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The broccoli is currently held by the gripper near the bottom edge of the table. The gripper is open, indicating the release action is in progress or just completed. The next step is to confirm the broccoli is stably placed and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2027059942483902, + 0.05435098707675934, + 0.007118569687008858, + -3.113759994506836, + -0.11481808871030807, + 0.035742904990911484 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the bottom side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "transport broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The broccoli is currently held by the gripper near the bottom edge of the table. The gripper is open, indicating the release action is in progress or just completed. The next step is to confirm the broccoli is stably placed and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004105_ecot.json b/cot/chunk-0004/episode_0004105_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ff203dbde2a2dae9555898f8765b42cfd96ce74e --- /dev/null +++ b/cot/chunk-0004/episode_0004105_ecot.json @@ -0,0 +1,1915 @@ +{ + "task_name": "episode_0004105", + "episode_json": "json/chunk-0004/episode_0004105.json", + "video_path": "videos/chunk-0004/image_0/episode_0004105.mp4", + "instruction": "Put the silver pot on the right side of the silver pot cover.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004105.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.9252349138259888, + "std": 0.4164729714393616, + "delta_total": -0.12503141164779663, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92523, std=0.41647, total_delta=-0.12503). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 210, + 210, + 210, + 210, + 210, + 210, + 10, + 223, + 223 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 9 + ], + [ + 3, + 10, + 15 + ], + [ + 4, + 16, + 21 + ], + [ + 5, + 22, + 22 + ], + [ + 6, + 23, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the silver pot without grasping, as gripper remains open and no closing evidence exists in this segment.\"},\n {\"id\": 2, \"name\": \"reposition near pot base\", \"start\": 6, \"end\": 9, \"planning\": \"Adjust position around the pot’s base to prepare for grasp; gripper still open, motion is preparatory alignment.\"},\n {\"id\": 3, \"name\": \"grasp and lift silver pot\", \"start\": 10, \"end\": 15, \"planning\": \"Close gripper to securely grasp the pot and lift it slightly off the surface, confirmed by significant gripper closure and upward motion in images.\"},\n {\"id\": 4, \"name\": \"transport pot to target zone\", \"start\": 16, \"end\": 21, \"planning\": \"Carry the grasped pot horizontally toward the right side of the pot cover, maintaining grip while adjusting orientation for placement.\"},\n {\"id\": 5, \"name\": \"release pot beside cover\", \"start\": 22, \"end\": 22, \"planning\": \"Begin releasing the pot by opening gripper slightly at target location, initiating contact release with minimal motion.\"},\n {\"id\": 6, \"name\": \"retreat after placement\", \"start\": 23, \"end\": 24, \"planning\": \"Fully open gripper and withdraw end-effector upward and away from the placed pot, completing the task with clear separation.\"}\n ],\n \"global_plan\": \"Approach the silver pot, reposition for stable grasp, lift and transport it to the right of the pot cover, then release and retreat to complete placement.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases: initial approach (no grasp), preparatory alignment, active grasp/lift, transport, release initiation, and full retreat. Segment 5 (frame 22) is treated as a distinct release phase due to gripper opening onset, even though brief.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the silver pot without grasping, as gripper remains open and no closing evidence exists in this segment." + }, + { + "id": 2, + "name": "reposition near pot base", + "start": 6, + "end": 9, + "planning": "Adjust position around the pot’s base to prepare for grasp; gripper still open, motion is preparatory alignment." + }, + { + "id": 3, + "name": "grasp and lift silver pot", + "start": 10, + "end": 15, + "planning": "Close gripper to securely grasp the pot and lift it slightly off the surface, confirmed by significant gripper closure and upward motion in images." + }, + { + "id": 4, + "name": "transport pot to target zone", + "start": 16, + "end": 21, + "planning": "Carry the grasped pot horizontally toward the right side of the pot cover, maintaining grip while adjusting orientation for placement." + }, + { + "id": 5, + "name": "release pot beside cover", + "start": 22, + "end": 22, + "planning": "Begin releasing the pot by opening gripper slightly at target location, initiating contact release with minimal motion." + }, + { + "id": 6, + "name": "retreat after placement", + "start": 23, + "end": 24, + "planning": "Fully open gripper and withdraw end-effector upward and away from the placed pot, completing the task with clear separation." + } + ], + "global_plan": "Approach the silver pot, reposition for stable grasp, lift and transport it to the right of the pot cover, then release and retreat to complete placement.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases: initial approach (no grasp), preparatory alignment, active grasp/lift, transport, release initiation, and full retreat. Segment 5 (frame 22) is treated as a distinct release phase due to gripper opening onset, even though brief." + } + }, + "episode_goal": "Place the silver pot to the right of the silver pot cover.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.236520454287529, + 0.18484801054000854, + 0.12047763913869858, + -3.0206961631774902, + -0.13505364954471588, + -0.06407009810209274 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot and pot cover visible. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 23 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23546040058135986, + 0.18206554651260376, + 0.11310119926929474, + -3.0419106483459473, + -0.11883523315191269, + -0.0582679808139801 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot and pot cover visible. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 22 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2355419248342514, + 0.1394837498664856, + 0.1101139485836029, + -3.072441577911377, + -0.1200825423002243, + -0.1396143138408661 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is approaching the silver pot on the countertop, with the pot cover visible to its left. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should be to continue moving the end effector closer to the pot for a stable approach prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 18 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23721036314964294, + 0.09910164773464203, + 0.11451270431280136, + -3.0766687393188477, + -0.13599593937397003, + -0.18760637938976288 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is approaching the silver pot on the countertop, with the pot cover visible to its left. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should be to continue moving the end effector closer to the pot for a stable approach prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 14 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2391309142112732, + 0.046930957585573196, + 0.11669649183750153, + -3.0754916667938232, + -0.1578916609287262, + -0.2869102358818054 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is approaching the silver pot on the countertop, with the pot cover visible to its left. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should be to continue moving the end effector closer to the pot for a stable approach prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 4 cm, move left 3 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23855002224445343, + 0.00038097554352134466, + 0.11262969672679901, + -3.0990147590637207, + -0.17104563117027283, + -0.34812024235725403 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is approaching the silver pot on the countertop, with the pot cover visible to its left. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should be to continue moving the end effector closer to the pot for a stable approach prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 8 cm, move left 4 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23998580873012543, + -0.041917815804481506, + 0.09547701478004456, + 3.1412668228149414, + -0.1571160852909088, + -0.35803836584091187 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 288, + 445, + 546, + 728 + ], + "wooden countertop": [ + 8, + 106, + 927, + 954 + ], + "metal lid": [ + 204, + 197, + 380, + 346 + ], + "toy orange slice": [ + 9, + 394, + 151, + 539 + ], + "tomato sauce": [ + 651, + 4, + 807, + 259 + ], + "purple cloth": [ + 443, + 517, + 735, + 850 + ], + "toy carrot": [ + 157, + 408, + 268, + 602 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition near pot base", + "subtask_reasoning": "The robot is approaching the silver pot on the countertop, with the pot cover visible to its left. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should be to continue moving the end effector closer to the pot for a stable approach prior to grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 11 cm, move left 6 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24034032225608826, + -0.05294562876224518, + 0.06738808006048203, + 3.114525318145752, + -0.10617709159851074, + -0.3495577871799469 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition near pot base", + "subtask_reasoning": "The robot arm is positioned above the silver pot, with the gripper open and aligned near the pot's base. The previous approach phase is complete, and the current subtask involves adjusting the gripper position for a stable grasp. The next action should involve closing the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move forward 11 cm, move left 6 cm, move up 5 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23591817915439606, + -0.05807435140013695, + 0.04351264238357544, + 3.1099326610565186, + -0.052913714200258255, + -0.34983891248703003 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition near pot base", + "subtask_reasoning": "The robot arm is positioned above the silver pot, with the gripper open and aligned near the pot's base. The previous approach phase is complete, and the current subtask involves adjusting the gripper position for a stable grasp. The next action should involve closing the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 11 cm, move left 6 cm, move up 5 cm, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23586073517799377, + -0.05780433863401413, + 0.038231462240219116, + 3.113118886947632, + -0.046268898993730545, + -0.3538782000541687 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition near pot base", + "subtask_reasoning": "The robot arm is positioned above the silver pot, with the gripper open and aligned near the pot's base. The previous approach phase is complete, and the current subtask involves adjusting the gripper position for a stable grasp. The next action should involve closing the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 11 cm, move left 6 cm, move up 5 cm, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23023313283920288, + -0.058698881417512894, + 0.04651819169521332, + 3.0989673137664795, + -0.03568372502923012, + -0.3745916187763214 + ], + "gripper_value": 0.3494465947151184 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot, with the gripper open and aligned near the pot's base. The previous approach phase is complete, and the current subtask involves adjusting the gripper position for a stable grasp. The next action should involve closing the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 6 cm, move up 5 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22963419556617737, + -0.05097202956676483, + 0.06792794913053513, + 3.0709266662597656, + -0.057332880795001984, + -0.36273708939552307 + ], + "gripper_value": 0.14816446602344513 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot, with the gripper open and aligned near the pot's base. The previous approach phase is complete, and the current subtask involves adjusting the gripper position for a stable grasp. The next action should involve closing the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2283879667520523, + -0.04259771481156349, + 0.08727093786001205, + 3.02994966506958, + -0.06263606995344162, + -0.36835813522338867 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 461, + 529, + 758, + 858 + ], + "metal bowl": [ + 313, + 447, + 542, + 706 + ], + "toy orange slice": [ + 9, + 394, + 151, + 539 + ], + "metal lid": [ + 203, + 197, + 384, + 346 + ], + "wooden countertop": [ + 9, + 104, + 933, + 953 + ], + "tomato sauce": [ + 651, + 4, + 807, + 259 + ], + "toy carrot": [ + 160, + 407, + 269, + 603 + ], + "corn": [ + 775, + 93, + 929, + 307 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot has approached and repositioned near the silver pot, with gripper closing observed in the segment. The gripper is now in contact with the pot, preparing to lift it. The next action is to securely grasp and lift the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24350117146968842, + -0.03455067798495293, + 0.10675109922885895, + 3.037674903869629, + -0.09425006806850433, + -0.38085779547691345 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot has approached and repositioned near the silver pot, with gripper closing observed in the segment. The gripper is now in contact with the pot, preparing to lift it. The next action is to securely grasp and lift the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2748688757419586, + -0.024721452966332436, + 0.11823741346597672, + 3.071112871170044, + -0.11531199514865875, + -0.40778812766075134 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot has approached and repositioned near the silver pot, with gripper closing observed in the segment. The gripper is now in contact with the pot, preparing to lift it. The next action is to securely grasp and lift the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30988308787345886, + -0.017387306317687035, + 0.11509889364242554, + 3.1027615070343018, + -0.12335515022277832, + -0.43306800723075867 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp and lift silver pot", + "subtask_reasoning": "The robot has approached and repositioned near the silver pot, with gripper closing observed in the segment. The gripper is now in contact with the pot, preparing to lift it. The next action is to securely grasp and lift the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33793753385543823, + -0.0015889399219304323, + 0.09483824670314789, + -3.1365299224853516, + -0.08354479819536209, + -0.45436879992485046 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pot to target zone", + "subtask_reasoning": "The robot has approached and repositioned near the silver pot, with gripper closing observed in the segment. The gripper is now in contact with the pot, preparing to lift it. The next action is to securely grasp and lift the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620488941669464, + 0.006665265653282404, + 0.07752244174480438, + -3.1060094833374023, + -0.0627175122499466, + -0.49812614917755127 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pot to target zone", + "subtask_reasoning": "The robot has approached and repositioned near the silver pot, with gripper closing observed in the segment. The gripper is now in contact with the pot, preparing to lift it. The next action is to securely grasp and lift the pot for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3785174489021301, + 0.01363340299576521, + 0.06514929234981537, + -3.0943219661712646, + -0.04252216964960098, + -0.548866331577301 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pot to target zone", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the workspace toward the target zone near the pot cover. The gripper remains closed with minimal variation, confirming a stable grasp during transit. The next action is to continue moving the pot to the right of the silver pot cover for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3807453513145447, + 0.01746411994099617, + 0.05072200670838356, + -3.131533145904541, + -0.0024247870314866304, + -0.5570319890975952 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pot to target zone", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the workspace toward the target zone near the pot cover. The gripper remains closed with minimal variation, confirming a stable grasp during transit. The next action is to continue moving the pot to the right of the silver pot cover for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37844404578208923, + 0.02722105011343956, + 0.041197847574949265, + -3.132070779800415, + 0.030429210513830185, + -0.5364552736282349 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pot to target zone", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the workspace toward the target zone near the pot cover. The gripper remains closed with minimal variation, confirming a stable grasp during transit. The next action is to continue moving the pot to the right of the silver pot cover for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3747057318687439, + 0.03717618063092232, + 0.038229089230298996, + -3.126730442047119, + 0.053383417427539825, + -0.5013372898101807 + ], + "gripper_value": 0.10473939776420593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport pot to target zone", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the workspace toward the target zone near the pot cover. The gripper remains closed with minimal variation, confirming a stable grasp during transit. The next action is to continue moving the pot to the right of the silver pot cover for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3658527433872223, + 0.04636592045426369, + 0.03157858923077583, + 3.132772207260132, + 0.06858136504888535, + -0.45051109790802 + ], + "gripper_value": 0.2854207158088684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release pot beside cover", + "subtask_reasoning": "The silver pot is positioned near the silver pot cover on the countertop. The gripper is open and not holding the pot, indicating the release action is complete. The next step is to retreat the arm to finalize the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3592279255390167, + 0.042843420058488846, + 0.05352459102869034, + -3.125399589538574, + -0.02427203208208084, + -0.4242994487285614 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The silver pot has been successfully placed to the right of the silver pot cover. The gripper is currently open and positioned above the pot, indicating the placement action is complete. The robot needs to retreat upwards and away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35147544741630554, + 0.05132175236940384, + 0.0975056141614914, + -3.0486550331115723, + -0.13194482028484344, + -0.34136176109313965 + ], + "gripper_value": 0.875784695148468 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 458, + 511, + 757, + 858 + ], + "wooden countertop": [ + 8, + 99, + 927, + 951 + ], + "toy orange slice": [ + 9, + 394, + 150, + 539 + ], + "metal bowl": [ + 326, + 192, + 541, + 410 + ], + "tomato sauce": [ + 652, + 4, + 807, + 258 + ], + "metal lid": [ + 203, + 199, + 362, + 344 + ], + "toy carrot": [ + 159, + 407, + 269, + 603 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot to the right of the silver pot cover." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "reposition near pot base" + }, + { + "id": 3, + "subtask": "grasp and lift silver pot" + }, + { + "id": 4, + "subtask": "transport pot to target zone" + }, + { + "id": 5, + "subtask": "release pot beside cover" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The silver pot has been successfully placed to the right of the silver pot cover. The gripper is currently open and positioned above the pot, indicating the placement action is complete. The robot needs to retreat upwards and away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 23, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004106_ecot.json b/cot/chunk-0004/episode_0004106_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5817cb9b111cd40ff012156171bcdd2490adc4bb --- /dev/null +++ b/cot/chunk-0004/episode_0004106_ecot.json @@ -0,0 +1,870 @@ +{ + "task_name": "episode_0004106", + "episode_json": "json/chunk-0004/episode_0004106.json", + "video_path": "videos/chunk-0004/image_0/episode_0004106.mp4", + "instruction": "Pick up pan from stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 12, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004106.json" + }, + "fps": 5.0, + "T_eff": 12, + "gripper_behavior_summary": { + "available": true, + "range": 0.9340522885322571, + "std": 0.41935572028160095, + "delta_total": -0.9340522885322571, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93405, std=0.41936, total_delta=-0.93405). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 6, + 6 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan on stove\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the pan on the stove while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper to grasp pan\", \"start\": 5, \"end\": 7, \"planning\": \"Close gripper around pan handle as contact is made and grip tightens.\"},\n {\"id\": 3, \"name\": \"lift pan from stove\", \"start\": 8, \"end\": 10, \"planning\": \"Lift pan vertically off the stove burner while maintaining firm grip.\"},\n {\"id\": 4, \"name\": \"reposition pan slightly\", \"start\": 11, \"end\": 11, \"planning\": \"Adjust pan position slightly after lifting, preparing for next action.\"}\n ],\n \"global_plan\": \"Approach the pan on the stove, close gripper to grasp it, lift it off the burner, and reposition slightly.\",\n \"notes\": \"Gripper closure begins at frame 5 and completes by frame 8; lifting motion evident from frame 8 onward. Segment boundaries respected with minor adjustment for natural phase transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan on stove", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the pan on the stove while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper to grasp pan", + "start": 5, + "end": 7, + "planning": "Close gripper around pan handle as contact is made and grip tightens." + }, + { + "id": 3, + "name": "lift pan from stove", + "start": 8, + "end": 10, + "planning": "Lift pan vertically off the stove burner while maintaining firm grip." + }, + { + "id": 4, + "name": "reposition pan slightly", + "start": 11, + "end": 11, + "planning": "Adjust pan position slightly after lifting, preparing for next action." + } + ], + "global_plan": "Approach the pan on the stove, close gripper to grasp it, lift it off the burner, and reposition slightly.", + "notes": "Gripper closure begins at frame 5 and completes by frame 8; lifting motion evident from frame 8 onward. Segment boundaries respected with minor adjustment for natural phase transitions." + } + }, + "episode_goal": "Pick up the silver pan from the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.41302040219306946, + 0.08767351508140564, + 0.06600948423147202, + -3.0051634311676025, + -0.15459944307804108, + 0.21099922060966492 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan visible on the burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.40952232480049133, + 0.08697459846735, + 0.04882723465561867, + -3.0033822059631348, + -0.11853381991386414, + 0.20437034964561462 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan visible on the burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4121173918247223, + 0.08993291109800339, + 0.04878317937254906, + -3.0065975189208984, + -0.1374252289533615, + 0.1951194554567337 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan visible on the burner. No grasping action has occurred yet as the gripper remains open and stationary. The next step is to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.409167617559433, + 0.09303832054138184, + 0.04068412631750107, + -3.014569044113159, + -0.14383995532989502, + 0.190152108669281 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan visible on the burner. No grasping action has occurred yet as the gripper remains open and stationary. The next step is to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.40896907448768616, + 0.09426034241914749, + 0.03610441833734512, + -3.018350124359131, + -0.15851153433322906, + 0.18941475450992584 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 8, + 10, + 989, + 987 + ], + "sink": [ + 414, + 245, + 969, + 732 + ], + "orange": [ + 615, + 456, + 739, + 603 + ], + "pot": [ + 297, + 154, + 482, + 334 + ], + "faucet": [ + 663, + 4, + 917, + 321 + ], + "whisk": [ + 588, + 90, + 703, + 250 + ], + "spatula": [ + 76, + 62, + 269, + 172 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan visible on the burner. No grasping action has occurred yet as the gripper remains open and stationary. The next step is to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.40977606177330017, + 0.09718934446573257, + 0.03486065939068794, + -3.011887788772583, + -0.17510251700878143, + 0.18523508310317993 + ], + "gripper_value": 0.8242669105529785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "close gripper to grasp pan", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan visible on the burner. No grasping action has occurred yet as the gripper remains open and stationary. The next step is to move the end effector closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41124600172042847, + 0.09991408884525299, + 0.0333537831902504, + -3.01228404045105, + -0.1916559785604477, + 0.18722079694271088 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "close gripper to grasp pan", + "subtask_reasoning": "The robot has approached the silver pan on the stove and is now in the process of closing its gripper to grasp it. The gripper value indicates partial closure, suggesting contact or near-contact with the pan. The next action should be to fully close the gripper to secure the pan before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4100266993045807, + 0.10153074562549591, + 0.027767861261963844, + -3.0196127891540527, + -0.18995971977710724, + 0.18599404394626617 + ], + "gripper_value": 0.2248985916376114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "close gripper to grasp pan", + "subtask_reasoning": "The robot has approached the silver pan on the stove and is now in the process of closing its gripper to grasp it. The gripper value indicates partial closure, suggesting contact or near-contact with the pan. The next action should be to fully close the gripper to secure the pan before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.405448853969574, + 0.1042204275727272, + 0.02371060475707054, + -3.0014381408691406, + -0.17923258244991302, + 0.16719426214694977 + ], + "gripper_value": 0.0867718756198883 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The robot has approached the silver pan on the stove and is now in the process of closing its gripper to grasp it. The gripper value indicates partial closure, suggesting contact or near-contact with the pan. The next action should be to fully close the gripper to secure the pan before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3987257778644562, + 0.10605400055646896, + 0.026487750932574272, + -2.9678032398223877, + -0.1445031315088272, + 0.14496120810508728 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The gripper is in contact with the silver pan on the stove, and segment-level evidence supports a grasp. The pan has not yet been lifted off the burner. The next action is to lift the pan vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3910657465457916, + 0.10569196194410324, + 0.036826640367507935, + -2.915681838989258, + -0.07780294120311737, + 0.12272424250841141 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The gripper is in contact with the silver pan on the stove, and segment-level evidence supports a grasp. The pan has not yet been lifted off the burner. The next action is to lift the pan vertically while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3931615650653839, + 0.10877657681703568, + 0.05761877819895744, + -2.882434606552124, + -0.06714100390672684, + 0.11273141205310822 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen": [ + 8, + 11, + 989, + 986 + ], + "sink": [ + 414, + 245, + 969, + 733 + ], + "orange": [ + 617, + 456, + 739, + 603 + ], + "faucet": [ + 659, + 4, + 917, + 319 + ], + "spatula": [ + 77, + 61, + 265, + 173 + ], + "whisk": [ + 589, + 92, + 704, + 252 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver pan from the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "close gripper to grasp pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + }, + { + "id": 4, + "subtask": "reposition pan slightly" + } + ], + "subtask_name": "reposition pan slightly", + "subtask_reasoning": "The robot has already grasped the silver pan from the stove. The gripper is closed and holding the pan, as confirmed by prior steps and consistent gripper values. The current subtask involves slightly repositioning the pan while maintaining grip, likely to adjust its orientation or placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 11, + "end": 11 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004108_ecot.json b/cot/chunk-0004/episode_0004108_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9db895ac05b9d0d3a7aa6b477a885b6005d1eb17 --- /dev/null +++ b/cot/chunk-0004/episode_0004108_ecot.json @@ -0,0 +1,2378 @@ +{ + "task_name": "episode_0004108", + "episode_json": "json/chunk-0004/episode_0004108.json", + "video_path": "videos/chunk-0004/image_0/episode_0004108.mp4", + "instruction": "Move the white sponge to the upper side of the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004108.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.41974472999572754, + "std": 0.19665779173374176, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41974, std=0.19666, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 23 + ], + [ + 3, + 24, + 26 + ], + [ + 4, + 27, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sponge\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the white sponge on the left burner without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp sponge\", \"start\": 6, \"end\": 23, \"planning\": \"Close the gripper around the white sponge and lift it slightly, confirmed by gripper closure and motion evidence.\"},\n {\"id\": 3, \"name\": \"reposition sponge\", \"start\": 24, \"end\": 26, \"planning\": \"Carry the held sponge upward and shift position toward the upper side of the left burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release sponge\", \"start\": 27, \"end\": 36, \"planning\": \"Open the gripper to place the sponge on the upper side of the left burner and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the white sponge, grasp it securely, reposition it to the upper side of the left burner, then release it in place.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2 and 4; segment 1 and 3 show no closing, so only approach and reposition are described there. All frames covered contiguously from 0 to 36.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sponge", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the white sponge on the left burner without closing the gripper." + }, + { + "id": 2, + "name": "grasp sponge", + "start": 6, + "end": 23, + "planning": "Close the gripper around the white sponge and lift it slightly, confirmed by gripper closure and motion evidence." + }, + { + "id": 3, + "name": "reposition sponge", + "start": 24, + "end": 26, + "planning": "Carry the held sponge upward and shift position toward the upper side of the left burner while maintaining grip." + }, + { + "id": 4, + "name": "release sponge", + "start": 27, + "end": 36, + "planning": "Open the gripper to place the sponge on the upper side of the left burner and retreat slightly." + } + ], + "global_plan": "Approach the white sponge, grasp it securely, reposition it to the upper side of the left burner, then release it in place.", + "notes": "Gripper evidence confirms meaningful closing in segments 2 and 4; segment 1 and 3 show no closing, so only approach and reposition are described there. All frames covered contiguously from 0 to 36." + } + }, + "episode_goal": "Move the white sponge to the upper side of the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2739967107772827, + -0.02870742604136467, + 0.09144378453493118, + 2.9505600929260254, + -0.36544865369796753, + 0.9371646642684937 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 4 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27157720923423767, + -0.028649741783738136, + 0.08583619445562363, + 2.971423387527466, + -0.3536614775657654, + 0.929280161857605 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27091798186302185, + -0.010181781835854053, + 0.08472640067338943, + 2.99545955657959, + -0.3372516930103302, + 0.9394389390945435 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move left 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749342620372772, + 0.014552060514688492, + 0.08421478420495987, + 3.021710157394409, + -0.3345851004123688, + 0.8966379761695862 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28425106406211853, + 0.04922007769346237, + 0.08552069216966629, + 3.066652774810791, + -0.30841246247291565, + 0.8857950568199158 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 529, + 265, + 785, + 484 + ], + "grey sink": [ + 740, + 455, + 996, + 963 + ], + "green cloth": [ + 89, + 332, + 352, + 603 + ], + "blue spatula": [ + 438, + 470, + 570, + 696 + ], + "black faucet": [ + 946, + 388, + 997, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30604177713394165, + 0.0704159066081047, + 0.08083561807870865, + 3.1195011138916016, + -0.28572607040405273, + 0.7443152070045471 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33460405468940735, + 0.09383226931095123, + 0.08113551139831543, + -3.1145243644714355, + -0.29851821064949036, + 0.5620265007019043 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35554587841033936, + 0.10805753618478775, + 0.07498133182525635, + -3.1120944023132324, + -0.26874294877052307, + 0.4180750846862793 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3765930235385895, + 0.12040828168392181, + 0.07594680786132812, + -3.106809139251709, + -0.2952596843242645, + 0.34969913959503174 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.389883816242218, + 0.12721233069896698, + 0.07230628281831741, + -3.0898993015289307, + -0.3008090853691101, + 0.30228036642074585 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39484888315200806, + 0.13832595944404602, + 0.06182597205042839, + -3.0422604084014893, + -0.28359881043434143, + 0.2884615659713745 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3923548460006714, + 0.1424252986907959, + 0.045242421329021454, + -3.01737642288208, + -0.2380383312702179, + 0.29019656777381897 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38456737995147705, + 0.15069514513015747, + 0.02741089090704918, + -3.0048282146453857, + -0.1866249144077301, + 0.3075381815433502 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey sink": [ + 742, + 456, + 996, + 962 + ], + "silver pot": [ + 526, + 264, + 785, + 486 + ], + "green cloth": [ + 89, + 327, + 352, + 604 + ], + "blue spatula": [ + 438, + 470, + 570, + 696 + ], + "black faucet": [ + 945, + 387, + 997, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716481328010559, + 0.15663094818592072, + 0.01767786033451557, + -3.0093228816986084, + -0.15077169239521027, + 0.3518301248550415 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot arm is positioned above the stove, with the white sponge visible on the left burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36753401160240173, + 0.1577601283788681, + 0.011880109086632729, + -3.011488676071167, + -0.148484006524086, + 0.37326711416244507 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3653651475906372, + 0.1566057801246643, + 0.01148944441229105, + -3.0117111206054688, + -0.18434320390224457, + 0.3786657154560089 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.365840345621109, + 0.1547253429889679, + 0.01160247903317213, + -3.020346164703369, + -0.18780870735645294, + 0.3778918385505676 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3658421039581299, + 0.14788350462913513, + 0.013441154733300209, + -3.0913190841674805, + -0.23378615081310272, + 0.41303807497024536 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3673692047595978, + 0.15154661238193512, + 0.020721103996038437, + -3.0790395736694336, + -0.26500168442726135, + 0.4435746669769287 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move right 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36618244647979736, + 0.15642179548740387, + 0.030082842335104942, + -3.0511586666107178, + -0.28471195697784424, + 0.4642697274684906 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36716991662979126, + 0.15414676070213318, + 0.04353083670139313, + -3.0436482429504395, + -0.3173137605190277, + 0.4668084383010864 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3693579137325287, + 0.13638590276241302, + 0.06653647869825363, + -3.061173439025879, + -0.37020325660705566, + 0.45542019605636597 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36758488416671753, + 0.11046146601438522, + 0.089179627597332, + -3.08378267288208, + -0.41324666142463684, + 0.4403466284275055 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542990982532501, + 0.0731319785118103, + 0.10922006517648697, + -3.1143970489501953, + -0.4351218640804291, + 0.42776113748550415 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, keep gripper closed; then move back 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33643317222595215, + 0.025834979489445686, + 0.10880155861377716, + 3.1285202503204346, + -0.41420963406562805, + 0.39158856868743896 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "reposition sponge", + "subtask_reasoning": "The robot has approached the white sponge on the left burner. The gripper is currently open and positioned near the sponge, but no contact or grasp has occurred yet. The next action should be to close the gripper to securely grasp the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3212488293647766, + -0.018596334382891655, + 0.10516037046909332, + 3.1263608932495117, + -0.41127145290374756, + 0.30488917231559753 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey sink": [ + 741, + 455, + 996, + 962 + ], + "black faucet": [ + 945, + 387, + 997, + 544 + ], + "blue spatula": [ + 437, + 470, + 569, + 697 + ], + "green cloth": [ + 101, + 337, + 349, + 600 + ], + "silver pot": [ + 546, + 267, + 785, + 486 + ] + } + } + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "reposition sponge", + "subtask_reasoning": "The robot is currently holding the white sponge above the stovetop, having completed the approach and grasp phases. The gripper signal remains stable, indicating the object is secured while the arm repositions it toward the target location. The next action is to continue moving the sponge to the upper side of the left burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31224918365478516, + -0.04454472288489342, + 0.09381231665611267, + 3.137148141860962, + -0.4052145481109619, + 0.21476542949676514 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "reposition sponge", + "subtask_reasoning": "The robot is currently holding the white sponge above the stovetop, having completed the approach and grasp phases. The gripper signal remains stable, indicating the object is secured while the arm repositions it toward the target location. The next action is to continue moving the sponge to the upper side of the left burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30617526173591614, + -0.07436762750148773, + 0.06734270602464676, + -3.126272201538086, + -0.3617076575756073, + 0.10751797258853912 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey sink": [ + 740, + 449, + 996, + 963 + ], + "green cloth": [ + 102, + 337, + 349, + 600 + ], + "silver pot": [ + 195, + 851, + 413, + 995 + ], + "blue spatula": [ + 437, + 469, + 570, + 697 + ], + "stovetop": [ + 173, + 233, + 698, + 750 + ] + } + } + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot is currently holding the white sponge above the stovetop, having completed the approach and grasp phases. The gripper signal remains stable, indicating the object is secured while the arm repositions it toward the target location. The next action is to continue moving the sponge to the upper side of the left burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30577749013900757, + -0.08307186514139175, + 0.041090596467256546, + -3.1045236587524414, + -0.3164306879043579, + 0.09013382345438004 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot is currently holding the white sponge above the stovetop, having completed the approach and grasp phases. The gripper signal remains stable, indicating the object is secured while the arm repositions it toward the target location. The next action is to continue moving the sponge to the upper side of the left burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31450751423835754, + -0.0929790586233139, + 0.027336522936820984, + -3.106818199157715, + -0.31981125473976135, + 0.09791149199008942 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot is currently holding the white sponge above the stovetop, having completed the approach and grasp phases. The gripper signal remains stable, indicating the object is secured while the arm repositions it toward the target location. The next action is to continue moving the sponge to the upper side of the left burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184947967529297, + -0.0972578227519989, + 0.016556445509195328, + -3.0903708934783936, + -0.30514687299728394, + 0.09141010046005249 + ], + "gripper_value": 0.6711689233779907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot is currently holding the white sponge above the stovetop, having completed the approach and grasp phases. The gripper signal remains stable, indicating the object is secured while the arm repositions it toward the target location. The next action is to continue moving the sponge to the upper side of the left burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32107657194137573, + -0.09961189329624176, + 0.016793036833405495, + -3.072106122970581, + -0.27148500084877014, + 0.0902278795838356 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot arm is positioned above the left burner, and the gripper is open, indicating the white sponge has been released. The sponge is now resting on the upper side of the left burner as intended. The next action is to retract the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31891778111457825, + -0.09252310544252396, + 0.014965670183300972, + -3.026553153991699, + -0.3106035590171814, + 0.11449369043111801 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot arm is positioned above the left burner, and the gripper is open, indicating the white sponge has been released. The sponge is now resting on the upper side of the left burner as intended. The next action is to retract the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32056283950805664, + -0.09054304659366608, + 0.026606805622577667, + -3.0191686153411865, + -0.3353990316390991, + 0.11734572052955627 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot arm is positioned above the left burner, and the gripper is open, indicating the white sponge has been released. The sponge is now resting on the upper side of the left burner as intended. The next action is to retract the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3189445436000824, + -0.08729645609855652, + 0.02928338013589382, + -3.0019209384918213, + -0.33374500274658203, + 0.12268994003534317 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot arm is positioned above the left burner, and the gripper is open, indicating the white sponge has been released. The sponge is now resting on the upper side of the left burner as intended. The next action is to retract the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.32005247473716736, + -0.08952165395021439, + 0.05170288309454918, + -3.041430711746216, + -0.37824320793151855, + 0.13072074949741364 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot arm is positioned above the left burner, and the gripper is open, indicating the white sponge has been released. The sponge is now resting on the upper side of the left burner as intended. The next action is to retract the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3173665702342987, + -0.08666082471609116, + 0.0761529877781868, + -3.0836715698242188, + -0.384765625, + 0.12811458110809326 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white sponge to the upper side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "reposition sponge" + }, + { + "id": 4, + "subtask": "release sponge" + } + ], + "subtask_name": "release sponge", + "subtask_reasoning": "The robot arm is positioned above the left burner, and the gripper is open, indicating the white sponge has been released. The sponge is now resting on the upper side of the left burner as intended. The next action is to retract the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004109_ecot.json b/cot/chunk-0004/episode_0004109_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4113b90724df09f279db9b4fd6150e88f4f7a197 --- /dev/null +++ b/cot/chunk-0004/episode_0004109_ecot.json @@ -0,0 +1,2706 @@ +{ + "task_name": "episode_0004109", + "episode_json": "json/chunk-0004/episode_0004109.json", + "video_path": "videos/chunk-0004/image_0/episode_0004109.mp4", + "instruction": "Pick up the apple and place on the left of the blue spoon.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004109.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.38052576780319214, + "std": 0.18404868245124817, + "delta_total": 0.0019888877868652344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.38053, std=0.18405, total_delta=0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 16 + ], + [ + 3, + 17, + 29 + ], + [ + 4, + 30, + 32 + ], + [ + 5, + 33, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach apple in bowl\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector down toward the apple inside the metal bowl without grasping.\"},\n {\"id\": 2, \"name\": \"grasp apple in bowl\", \"start\": 10, \"end\": 16, \"planning\": \"Close gripper around the apple while maintaining contact with it inside the bowl.\"},\n {\"id\": 3, \"name\": \"lift and transport apple\", \"start\": 17, \"end\": 29, \"planning\": \"Lift the apple from the bowl and move it horizontally toward the target placement zone near the blue spoon.\"},\n {\"id\": 4, \"name\": \"release apple on table\", \"start\": 30, \"end\": 32, \"planning\": \"Open gripper to release the apple onto the table surface left of the blue spoon.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 33, \"end\": 39, \"planning\": \"Move end-effector upward and away from the placed apple to complete the task.\"}\n ],\n \"global_plan\": \"Approach the apple in the bowl, grasp it, lift and carry it to the left of the blue spoon, release it there, then retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closing consistent with grasping. Segment 3 (not provided but inferred as transport) bridges grasp to placement. Segment 4 shows gripper opening during release. Segment 5 shows retreat with open gripper. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach apple in bowl", + "start": 0, + "end": 9, + "planning": "Move end-effector down toward the apple inside the metal bowl without grasping." + }, + { + "id": 2, + "name": "grasp apple in bowl", + "start": 10, + "end": 16, + "planning": "Close gripper around the apple while maintaining contact with it inside the bowl." + }, + { + "id": 3, + "name": "lift and transport apple", + "start": 17, + "end": 29, + "planning": "Lift the apple from the bowl and move it horizontally toward the target placement zone near the blue spoon." + }, + { + "id": 4, + "name": "release apple on table", + "start": 30, + "end": 32, + "planning": "Open gripper to release the apple onto the table surface left of the blue spoon." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 33, + "end": 39, + "planning": "Move end-effector upward and away from the placed apple to complete the task." + } + ], + "global_plan": "Approach the apple in the bowl, grasp it, lift and carry it to the left of the blue spoon, release it there, then retreat.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closing consistent with grasping. Segment 3 (not provided but inferred as transport) bridges grasp to placement. Segment 4 shows gripper opening during release. Segment 5 shows retreat with open gripper. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2963463068008423, + 0.05011208355426788, + 0.11312127858400345, + 3.0304043292999268, + -0.08144853264093399, + 0.041336528956890106 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is positioned above the wooden board with the gripper open, approaching the metal bowl containing the apple. No objects have been moved yet. The next action is to continue moving the end-effector closer to the apple inside the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29449981451034546, + 0.05012975633144379, + 0.10430740565061569, + 3.0242557525634766, + -0.05003340542316437, + 0.0415596105158329 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is positioned above the wooden board with the gripper open, approaching the metal bowl containing the apple. No objects have been moved yet. The next action is to continue moving the end-effector closer to the apple inside the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947390079498291, + 0.059464648365974426, + 0.1041174829006195, + 3.0350005626678467, + -0.06113838404417038, + 0.04561924189329147 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is positioned above the wooden board with the gripper open, approaching the metal bowl containing the apple. No objects have been moved yet. The next action is to continue moving the end-effector closer to the apple inside the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29719826579093933, + 0.08079489320516586, + 0.11203473806381226, + 3.044320821762085, + -0.08845173567533493, + 0.07268871366977692 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 441, + 299, + 707, + 552 + ], + "wooden table": [ + 11, + 211, + 895, + 989 + ], + "grey cabinet": [ + 145, + 637, + 732, + 996 + ], + "ice cream scoop": [ + 635, + 576, + 759, + 820 + ], + "metal bowl": [ + 181, + 307, + 399, + 542 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is positioned above the wooden board with the gripper open, approaching the metal bowl containing the apple. No objects have been moved yet. The next action is to continue moving the end-effector closer to the apple inside the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29514679312705994, + 0.09931948035955429, + 0.11611714959144592, + 3.0554726123809814, + -0.09666357934474945, + 0.09562190622091293 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2908087372779846, + 0.11157520860433578, + 0.115442655980587, + 3.070645332336426, + -0.09494233131408691, + 0.09757262468338013 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28641292452812195, + 0.118385910987854, + 0.10082101821899414, + 3.0993154048919678, + -0.057297270745038986, + 0.09464724361896515 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 7 cm, keep gripper open; then move back 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28457310795783997, + 0.12101686000823975, + 0.08347959816455841, + 3.112605094909668, + -0.025849346071481705, + 0.10717067867517471 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, keep gripper open; then move back 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28823110461235046, + 0.11922264099121094, + 0.06587556004524231, + 3.1253437995910645, + -0.0016730925999581814, + 0.11334846168756485 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move up 2 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2911922335624695, + 0.11875179409980774, + 0.0476704016327858, + 3.1371824741363525, + 0.022620603442192078, + 0.13719265162944794 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2949095368385315, + 0.11926707625389099, + 0.03497690334916115, + -3.117852210998535, + 0.028515931218862534, + 0.15220406651496887 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, close gripper; then move right 3 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943386137485504, + 0.11947087943553925, + 0.02619248628616333, + -3.112091064453125, + 0.046084512025117874, + 0.1687583327293396 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, close gripper; then move right 6 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29503315687179565, + 0.12077198177576065, + 0.025698984041810036, + -3.1044344902038574, + 0.04069269821047783, + 0.17951783537864685 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp apple in bowl", + "subtask_reasoning": "The robot is approaching the apple inside the metal bowl on the wooden board. The gripper remains open with no closing evidence, indicating no grasp attempt yet. The next action should continue moving the end-effector closer to the apple for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move right 8 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29528337717056274, + 0.12013070285320282, + 0.025690516456961632, + -3.105705499649048, + 0.04051963984966278, + 0.17731817066669464 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp apple in bowl", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move right 10 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2932729721069336, + 0.11696014553308487, + 0.023356221616268158, + -3.1268866062164307, + 0.041821397840976715, + 0.17262044548988342 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp apple in bowl", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 2 cm, move right 12 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29185250401496887, + 0.11805679649114609, + 0.028811369091272354, + -3.127004384994507, + 0.028006726875901222, + 0.16680434346199036 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp apple in bowl", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move back 2 cm, move right 13 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28738975524902344, + 0.11626878380775452, + 0.0323832668364048, + -3.133627414703369, + 0.02836630679666996, + 0.16208572685718536 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp apple in bowl", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 3 cm, move right 12 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28661248087882996, + 0.11630330234766006, + 0.05329771712422371, + 3.1409528255462646, + -0.020581094548106194, + 0.1690424531698227 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 439, + 299, + 707, + 553 + ], + "wooden table": [ + 11, + 217, + 895, + 989 + ], + "metal bowl": [ + 188, + 349, + 404, + 548 + ], + "grey cabinet": [ + 144, + 635, + 735, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28330105543136597, + 0.11174461990594864, + 0.07070360332727432, + 3.1184051036834717, + -0.04367705062031746, + 0.15961721539497375 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28128567337989807, + 0.1062115803360939, + 0.08734741806983948, + 3.0961403846740723, + -0.06857968866825104, + 0.15972140431404114 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862161099910736, + 0.08269494026899338, + 0.0988093838095665, + 3.0788280963897705, + -0.08740494400262833, + 0.11176785826683044 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852439284324646, + 0.058490291237831116, + 0.10087794810533524, + 3.0688328742980957, + -0.08900458365678787, + 0.0656471773982048 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 443, + 301, + 706, + 552 + ], + "wooden table": [ + 14, + 221, + 895, + 990 + ], + "grey cabinet": [ + 144, + 636, + 735, + 996 + ], + "metal bowl": [ + 184, + 313, + 405, + 551 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28139856457710266, + 0.036163151264190674, + 0.09900503605604172, + 3.067009687423706, + -0.08934803307056427, + 0.02722948230803013 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has approached the apple in the metal bowl and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the apple." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 8 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.276504784822464, + 0.01605336181819439, + 0.0958656519651413, + 3.0692365169525146, + -0.08380977064371109, + -0.003674921113997698 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has successfully grasped the apple from the metal bowl and is currently lifting it above the wooden board. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to move the apple horizontally to position it to the left of the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 8 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2715717554092407, + 1.3943893463874701e-05, + 0.08923538029193878, + 3.070507764816284, + -0.07017575204372406, + -0.030602952465415 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has successfully grasped the apple from the metal bowl and is currently lifting it above the wooden board. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to move the apple horizontally to position it to the left of the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 7 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26629042625427246, + -0.008795947767794132, + 0.08161328732967377, + 3.0816047191619873, + -0.06139697879552841, + -0.049842361360788345 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has successfully grasped the apple from the metal bowl and is currently lifting it above the wooden board. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to move the apple horizontally to position it to the left of the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 7 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25927734375, + -0.008580473251640797, + 0.06695595383644104, + 3.094069480895996, + -0.03386973217129707, + -0.05169753357768059 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has successfully grasped the apple from the metal bowl and is currently lifting it above the wooden board. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to move the apple horizontally to position it to the left of the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554912567138672, + -0.010476077906787395, + 0.050857435911893845, + 3.1055686473846436, + -0.013820000924170017, + -0.04699104651808739 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has successfully grasped the apple from the metal bowl and is currently lifting it above the wooden board. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to move the apple horizontally to position it to the left of the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 4 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2580125629901886, + -0.012867876328527927, + 0.03642922639846802, + 3.1228907108306885, + -0.0017296819714829326, + -0.04086674004793167 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has successfully grasped the apple from the metal bowl and is currently lifting it above the wooden board. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to move the apple horizontally to position it to the left of the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 7 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26388317346572876, + -0.020811762660741806, + 0.018860336393117905, + 3.1385297775268555, + 0.009297299198806286, + -0.045928362756967545 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport apple", + "subtask_reasoning": "The robot has successfully grasped the apple from the metal bowl and is currently lifting it above the wooden board. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to move the apple horizontally to position it to the left of the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 9 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27709445357322693, + -0.02698436565697193, + 0.01552279107272625, + -3.1267879009246826, + -0.010228176601231098, + -0.04565932974219322 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 185, + 312, + 407, + 552 + ], + "wooden table": [ + 8, + 189, + 897, + 990 + ], + "ice cream scoop": [ + 635, + 577, + 757, + 819 + ], + "grey cabinet": [ + 144, + 638, + 736, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release apple on table", + "subtask_reasoning": "The robot has successfully grasped the apple from the metal bowl and is currently lifting it above the wooden board. The gripper remains closed with no significant change, indicating a secure hold during transport. The next action is to move the apple horizontally to position it to the left of the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 9 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28371697664260864, + -0.02948121353983879, + 0.011093179695308208, + -3.1275882720947266, + -0.016532400622963905, + -0.038194939494132996 + ], + "gripper_value": 0.7190925478935242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release apple on table", + "subtask_reasoning": "The robot is positioned over the wooden board with the apple held in its gripper, located to the left of the blue spoon. The gripper is currently open, indicating the apple has been placed or is in the process of being released. The next action is to ensure the apple is securely on the table and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 3 cm, move left 9 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.28156933188438416, + -0.032100219279527664, + 0.0037695434875786304, + -3.1409718990325928, + 0.009182952344417572, + -0.046016570180654526 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release apple on table", + "subtask_reasoning": "The robot is positioned over the wooden board with the apple held in its gripper, located to the left of the blue spoon. The gripper is currently open, indicating the apple has been placed or is in the process of being released. The next action is to ensure the apple is securely on the table and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 3 cm, move left 9 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2732665240764618, + -0.03270738571882248, + 0.007823052816092968, + 3.1313791275024414, + 0.040427736937999725, + -0.057541873306035995 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is positioned over the wooden board with the apple held in its gripper, located to the left of the blue spoon. The gripper is currently open, indicating the apple has been placed or is in the process of being released. The next action is to ensure the apple is securely on the table and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27159184217453003, + -0.030366824939846992, + 0.02957780845463276, + 3.1158595085144043, + -0.00659942626953125, + -0.04369502142071724 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is positioned over the wooden board with the apple held in its gripper, located to the left of the blue spoon. The gripper is currently open, indicating the apple has been placed or is in the process of being released. The next action is to ensure the apple is securely on the table and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.27068817615509033, + -0.026202673092484474, + 0.05123860016465187, + 3.097968578338623, + -0.041890449821949005, + -0.030794944614171982 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is positioned over the wooden board with the apple held in its gripper, located to the left of the blue spoon. The gripper is currently open, indicating the apple has been placed or is in the process of being released. The next action is to ensure the apple is securely on the table and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719824016094208, + -0.011209787800908089, + 0.08288497477769852, + 3.083423376083374, + -0.1067589819431305, + 0.020960312336683273 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The apple has been successfully placed on the wooden board to the left of the blue spoon. The gripper is open and the arm is positioned above the board, indicating completion of placement. The next action is to retreat the arm away from the scene to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.27841055393218994, + 0.008272385224699974, + 0.09465506672859192, + 3.081209182739258, + -0.13193699717521667, + 0.05961458012461662 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The apple has been successfully placed on the wooden board to the left of the blue spoon. The gripper is open and the arm is positioned above the board, indicating completion of placement. The next action is to retreat the arm away from the scene to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.28954464197158813, + 0.03896152600646019, + 0.11277205497026443, + 3.0777039527893066, + -0.17247171700000763, + 0.11988034844398499 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The apple has been successfully placed on the wooden board to the left of the blue spoon. The gripper is open and the arm is positioned above the board, indicating completion of placement. The next action is to retreat the arm away from the scene to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.29930445551872253, + 0.055467214435338974, + 0.12315811216831207, + 3.074619770050049, + -0.18252359330654144, + 0.13071885704994202 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the apple from the metal bowl and place it on the wooden board to the left of the blue spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach apple in bowl" + }, + { + "id": 2, + "subtask": "grasp apple in bowl" + }, + { + "id": 3, + "subtask": "lift and transport apple" + }, + { + "id": 4, + "subtask": "release apple on table" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The apple has been successfully placed on the wooden board to the left of the blue spoon. The gripper is open and the arm is positioned above the board, indicating completion of placement. The next action is to retreat the arm away from the scene to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004110_ecot.json b/cot/chunk-0004/episode_0004110_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a5b841401ff2923ef201d3e4ee3e9fd20d6ff8 --- /dev/null +++ b/cot/chunk-0004/episode_0004110_ecot.json @@ -0,0 +1,1423 @@ +{ + "task_name": "episode_0004110", + "episode_json": "json/chunk-0004/episode_0004110.json", + "video_path": "videos/chunk-0004/image_0/episode_0004110.mp4", + "instruction": "Put pear in bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004110.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.3149551749229431, + "std": 0.1332688331604004, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.31496, std=0.13327, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 15 + ], + [ + 3, + 16, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the green pear on the tray without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp pear\", \"start\": 4, \"end\": 15, \"planning\": \"Close the gripper around the green pear and secure it for lifting, as evidenced by meaningful gripper closure in this segment.\"},\n {\"id\": 3, \"name\": \"place pear in bowl\", \"start\": 16, \"end\": 22, \"planning\": \"Lift the grasped pear and release it into the blue bowl, confirmed by gripper opening at the end of the segment.\"}\n ],\n \"global_plan\": \"Approach the green pear, grasp it securely, then lift and place it into the blue bowl.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing (delta=0.286) consistent with grasping. Segment 3 shows gripper opening after placement, confirming release. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the green pear on the tray without closing the gripper." + }, + { + "id": 2, + "name": "grasp pear", + "start": 4, + "end": 15, + "planning": "Close the gripper around the green pear and secure it for lifting, as evidenced by meaningful gripper closure in this segment." + }, + { + "id": 3, + "name": "place pear in bowl", + "start": 16, + "end": 22, + "planning": "Lift the grasped pear and release it into the blue bowl, confirmed by gripper opening at the end of the segment." + } + ], + "global_plan": "Approach the green pear, grasp it securely, then lift and place it into the blue bowl.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing (delta=0.286) consistent with grasping. Segment 3 shows gripper opening after placement, confirming release. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the green pear into the blue bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29268383979797363, + 0.17836825549602509, + 0.05887066572904587, + 2.965305805206299, + 0.013861034065485, + 0.07100421190261841 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear visible to the left and the blue bowl in the center. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the arm closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874560058116913, + 0.17453928291797638, + 0.0462278313934803, + 2.9407196044921875, + 0.04747781157493591, + 0.07457197457551956 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear and blue bowl visible below. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2713905870914459, + 0.1668250411748886, + 0.054225411266088486, + 2.9303641319274902, + 0.012198183685541153, + 0.13336916267871857 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear and blue bowl visible below. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555924952030182, + 0.16793912649154663, + 0.07820089161396027, + 2.941326379776001, + -0.039788730442523956, + 0.274051308631897 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 218, + 400, + 391, + 600 + ], + "yellow lemon toy": [ + 221, + 621, + 351, + 748 + ], + "green pear toy": [ + 16, + 469, + 123, + 593 + ], + "tiled backsplash": [ + 180, + 8, + 976, + 501 + ], + "orange jar": [ + 395, + 376, + 615, + 641 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear and blue bowl visible below. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper open; then move back 6 cm, move left 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23946233093738556, + 0.16780345141887665, + 0.09738976508378983, + 2.966766595840454, + -0.10354824364185333, + 0.3441820442676544 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear and blue bowl visible below. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2222270667552948, + 0.1694391667842865, + 0.0926404669880867, + 3.02304744720459, + -0.08571413159370422, + 0.47268810868263245 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear and blue bowl visible below. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20154498517513275, + 0.1734326332807541, + 0.0846906304359436, + 3.0237913131713867, + -0.026052633300423622, + 0.5217490196228027 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear and blue bowl visible below. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.18949392437934875, + 0.17638641595840454, + 0.0756646916270256, + 3.0415825843811035, + -0.004414155147969723, + 0.5942466259002686 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange jar": [ + 395, + 377, + 612, + 641 + ], + "blue bowl": [ + 220, + 400, + 390, + 600 + ], + "yellow lemon toy": [ + 219, + 621, + 351, + 748 + ], + "green pear toy": [ + 17, + 468, + 123, + 594 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear and blue bowl visible below. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1831950694322586, + 0.18170979619026184, + 0.0691147893667221, + 3.0593085289001465, + 0.008057680912315845, + 0.6307120323181152 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot arm is positioned above the tray, with the green pear and blue bowl visible below. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move forward 3 cm, move right 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1837618052959442, + 0.18283586204051971, + 0.05711529031395912, + 3.055842638015747, + 0.009042958728969097, + 0.6209169030189514 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move forward 4 cm, move right 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1830112785100937, + 0.18692681193351746, + 0.04196013882756233, + 3.075227975845337, + 0.029754893854260445, + 0.6161790490150452 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move forward 4 cm, move right 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.17791883647441864, + 0.18204185366630554, + 0.022383246570825577, + 3.09053111076355, + 0.0634075179696083, + 0.5961953401565552 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.1728208065032959, + 0.1785994917154312, + 0.006279440596699715, + 3.0957863330841064, + 0.0755048394203186, + 0.5857437252998352 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.17903867363929749, + 0.17565318942070007, + 0.006288472563028336, + 3.0591111183166504, + 0.053927503526210785, + 0.5606266260147095 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.18307586014270782, + 0.17061713337898254, + 0.013707675039768219, + 2.9994852542877197, + 0.02224678173661232, + 0.4819943308830261 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.18096932768821716, + 0.16243191063404083, + 0.0231188852339983, + 2.968658685684204, + -0.0250998567789793, + 0.41758012771606445 + ], + "gripper_value": 0.7131344676017761 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19587767124176025, + 0.1468730866909027, + 0.05015088617801666, + 2.941974401473999, + -0.13070958852767944, + 0.314392626285553 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "place pear in bowl", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20784811675548553, + 0.12917789816856384, + 0.05858936905860901, + 2.9261484146118164, + -0.09322068840265274, + 0.28601330518722534 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "place pear in bowl", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22325754165649414, + 0.11083658039569855, + 0.060755498707294464, + 2.9521284103393555, + -0.08580118417739868, + 0.23958788812160492 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "place pear in bowl", + "subtask_reasoning": "The robot has approached the green pear and is now positioned above it with the gripper open. The current subtask requires closing the gripper to grasp the pear securely. The next action is to close the gripper to initiate contact and hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23547950387001038, + 0.09072288125753403, + 0.05342637002468109, + 2.927488327026367, + -0.05726375803351402, + 0.2710985243320465 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange jar": [ + 395, + 379, + 610, + 642 + ], + "yellow lemon toy": [ + 219, + 620, + 352, + 747 + ], + "black tool": [ + 8, + 5, + 333, + 472 + ], + "blue bowl": [ + 219, + 403, + 390, + 600 + ], + "green pear toy": [ + 210, + 351, + 280, + 445 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "place pear in bowl", + "subtask_reasoning": "The robot is holding the green pear above the blue bowl, having completed the approach and grasp phases. The current situation involves positioning the pear for release. The next action is to open the gripper to drop the pear into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23957626521587372, + 0.08201202750205994, + 0.05026116967201233, + 2.904374837875366, + -0.036442190408706665, + 0.24015536904335022 + ], + "gripper_value": 0.7922340631484985 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "place pear in bowl", + "subtask_reasoning": "The robot is holding the green pear above the blue bowl, having completed the approach and grasp phases. The current situation involves positioning the pear for release. The next action is to open the gripper to drop the pear into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2385956048965454, + 0.0817480981349945, + 0.04994267597794533, + 2.9040720462799072, + -0.04584553837776184, + 0.17325995862483978 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "place pear in bowl", + "subtask_reasoning": "The robot is holding the green pear above the blue bowl, having completed the approach and grasp phases. The current situation involves positioning the pear for release. The next action is to open the gripper to drop the pear into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2337806075811386, + 0.10244709998369217, + 0.06390713155269623, + 2.9241156578063965, + -0.13222619891166687, + 0.12149389088153839 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "place pear in bowl" + } + ], + "subtask_name": "place pear in bowl", + "subtask_reasoning": "The robot is holding the green pear above the blue bowl, having completed the approach and grasp phases. The current situation involves positioning the pear for release. The next action is to open the gripper to drop the pear into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004111_ecot.json b/cot/chunk-0004/episode_0004111_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..62ac3e80b0d2b6546d29f30f64fecaf9ab63e63e --- /dev/null +++ b/cot/chunk-0004/episode_0004111_ecot.json @@ -0,0 +1,1557 @@ +{ + "task_name": "episode_0004111", + "episode_json": "json/chunk-0004/episode_0004111.json", + "video_path": "videos/chunk-0004/image_0/episode_0004111.mp4", + "instruction": "Put the pink stuff toy to the upper right side of the tablle near the cans.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004111.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.8159323930740356, + "std": 0.364991158246994, + "delta_total": 0.0019794702529907227, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.81593, std=0.36499, total_delta=0.00198). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 111, + 111, + 111, + 111, + 111, + 120, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 14 + ], + [ + 3, + 15, + 19 + ], + [ + 4, + 20, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pink toy\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector from the initial position toward the pink stuffed toy on the table.\"},\n {\"id\": 2, \"name\": \"grasp pink toy\", \"start\": 10, \"end\": 14, \"planning\": \"Close the gripper around the pink toy and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"transport to target zone\", \"start\": 15, \"end\": 19, \"planning\": \"Carry the grasped pink toy across the table toward the upper right area near the cans.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 20, \"end\": 22, \"planning\": \"Open the gripper to place the toy near the cans, then retract the arm upward and away.\"}\n ],\n \"global_plan\": \"Approach the pink stuffed toy, grasp it securely, transport it to the upper right corner of the table near the cans, then release and retreat.\",\n \"notes\": \"Gripper closure begins at frame 10 (value drops from 1.0 to 0.68), confirming grasp initiation; full closure by frame 12–14 supports lifting. Transport phase shows stable low gripper values indicating held object. Release occurs in final segment as gripper opens fully (0.5 → 1.0) while positioned near target.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pink toy", + "start": 0, + "end": 9, + "planning": "Move the end-effector from the initial position toward the pink stuffed toy on the table." + }, + { + "id": 2, + "name": "grasp pink toy", + "start": 10, + "end": 14, + "planning": "Close the gripper around the pink toy and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "transport to target zone", + "start": 15, + "end": 19, + "planning": "Carry the grasped pink toy across the table toward the upper right area near the cans." + }, + { + "id": 4, + "name": "release and retreat", + "start": 20, + "end": 22, + "planning": "Open the gripper to place the toy near the cans, then retract the arm upward and away." + } + ], + "global_plan": "Approach the pink stuffed toy, grasp it securely, transport it to the upper right corner of the table near the cans, then release and retreat.", + "notes": "Gripper closure begins at frame 10 (value drops from 1.0 to 0.68), confirming grasp initiation; full closure by frame 12–14 supports lifting. Transport phase shows stable low gripper values indicating held object. Release occurs in final segment as gripper opens fully (0.5 → 1.0) while positioned near target." + } + }, + "episode_goal": "Place the pink pig toy on the upper right side of the table, near the cans.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35245025157928467, + 0.058750323951244354, + 0.15413238108158112, + 2.8193893432617188, + -0.05217551067471504, + 1.4102051258087158 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot is positioned above the table with the pink pig toy visible in the lower right area. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pink toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 15 cm, move down 10 cm, tilt left 20 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3507443964481354, + 0.058122966438531876, + 0.14445079863071442, + 2.8526408672332764, + -0.04288419708609581, + 1.4139755964279175 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot is positioned above the table with the pink pig toy visible in the lower right area. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pink toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 15 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34275516867637634, + 0.028722668066620827, + 0.14010877907276154, + 2.925708055496216, + -0.07256070524454117, + 1.3946573734283447 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot is positioned above the table with the pink pig toy visible in the lower right area. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pink toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 12 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 2 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3198261857032776, + 0.0008354874444194138, + 0.1427699625492096, + 2.8896942138671875, + -0.0670139268040657, + 1.3997130393981934 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot is positioned above the table with the pink pig toy visible in the lower right area. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pink toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 9 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 5 cm, move left 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30275312066078186, + -0.025510992854833603, + 0.13388583064079285, + 2.8860976696014404, + -0.020109647884964943, + 1.4320201873779297 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the pink stuffed toy located near the bottom right. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm and close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 7 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 9 cm, move left 4 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815103530883789, + -0.060162775218486786, + 0.1140630692243576, + 2.910536289215088, + 0.03501424938440323, + 1.4000452756881714 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the pink stuffed toy located near the bottom right. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm and close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, close gripper; then move forward 13 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25795426964759827, + -0.07799767702817917, + 0.09744811058044434, + 2.9447989463806152, + 0.0837693065404892, + 1.4071588516235352 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 20, + 265, + 367, + 532 + ], + "black toy cat": [ + 480, + 4, + 741, + 618 + ], + "blue cloth": [ + 250, + 392, + 548, + 749 + ], + "tomato sauce": [ + 683, + 10, + 833, + 282 + ], + "pink toy pig": [ + 518, + 629, + 740, + 882 + ], + "yellow rolling pin": [ + 361, + 238, + 512, + 388 + ] + } + } + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the pink stuffed toy located near the bottom right. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm and close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move forward 13 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2424047589302063, + -0.08433915674686432, + 0.0845785066485405, + 2.9869742393493652, + 0.06429441273212433, + 1.3931082487106323 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the pink stuffed toy located near the bottom right. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm and close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move forward 13 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23562081158161163, + -0.08717571198940277, + 0.0741991251707077, + 3.0489420890808105, + 0.03732716664671898, + 1.3672198057174683 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the pink stuffed toy located near the bottom right. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm and close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move forward 13 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23519009351730347, + -0.09096318483352661, + 0.05723640322685242, + 3.0947179794311523, + 0.05162695795297623, + 1.3550035953521729 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pink toy", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the pink stuffed toy located near the bottom right. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm and close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 13 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23611341416835785, + -0.09218422323465347, + 0.050345707684755325, + 3.106545925140381, + 0.05490291491150856, + 1.3410871028900146 + ], + "gripper_value": 0.6821943521499634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pink toy", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the pink stuffed toy located near the bottom right. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm and close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23939789831638336, + -0.08521837741136551, + 0.05275174602866173, + 3.1131362915039062, + 0.054294612258672714, + 1.3511769771575928 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pink toy", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the pink stuffed toy located near the bottom right. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm and close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2577102482318878, + -0.06324857473373413, + 0.07165810465812683, + 3.10990834236145, + 0.08180016279220581, + 1.3738714456558228 + ], + "gripper_value": 0.24054749310016632 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink toy pig": [ + 551, + 551, + 730, + 783 + ], + "metal pot": [ + 19, + 265, + 366, + 532 + ], + "blue cloth": [ + 249, + 391, + 534, + 750 + ], + "tomato sauce": [ + 700, + 10, + 830, + 281 + ], + "black toy cat": [ + 472, + 9, + 730, + 764 + ], + "yellow rolling pin": [ + 312, + 197, + 499, + 387 + ], + "white toy object": [ + 300, + 2, + 588, + 191 + ] + } + } + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pink toy", + "subtask_reasoning": "The robot has approached the pink toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The toy is partially enclosed by the gripper, suggesting the grasp is being finalized. The next action is to secure the grip before lifting and transporting the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826284170150757, + -0.055282533168792725, + 0.09415020048618317, + 3.0411856174468994, + 0.08400452882051468, + 1.3713123798370361 + ], + "gripper_value": 0.20262791216373444 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pink toy", + "subtask_reasoning": "The robot has approached the pink toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The toy is partially enclosed by the gripper, suggesting the grasp is being finalized. The next action is to secure the grip before lifting and transporting the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214437663555145, + -0.05220983177423477, + 0.11211379617452621, + 2.9411120414733887, + 0.07714851945638657, + 1.4324464797973633 + ], + "gripper_value": 0.18743279576301575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pink toy", + "subtask_reasoning": "The robot has approached the pink toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The toy is partially enclosed by the gripper, suggesting the grasp is being finalized. The next action is to secure the grip before lifting and transporting the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36977994441986084, + -0.05681535229086876, + 0.10392729192972183, + 2.9043688774108887, + 0.04289868846535683, + 1.4930129051208496 + ], + "gripper_value": 0.18686315417289734 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 19, + 265, + 366, + 532 + ], + "blue cloth": [ + 250, + 391, + 587, + 748 + ], + "pink toy pig": [ + 660, + 251, + 812, + 424 + ], + "black toy cat": [ + 581, + 3, + 774, + 361 + ], + "yellow rolling pin": [ + 362, + 239, + 512, + 387 + ], + "tomato sauce": [ + 718, + 16, + 831, + 277 + ] + } + } + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot has approached the pink toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The toy is partially enclosed by the gripper, suggesting the grasp is being finalized. The next action is to secure the grip before lifting and transporting the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40194228291511536, + -0.06120162829756737, + 0.09541310369968414, + 2.8801019191741943, + 0.013032493181526661, + 1.5435233116149902 + ], + "gripper_value": 0.18686315417289734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot has approached the pink toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The toy is partially enclosed by the gripper, suggesting the grasp is being finalized. The next action is to secure the grip before lifting and transporting the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41471540927886963, + -0.06297159194946289, + 0.0854828804731369, + 2.8628437519073486, + -0.013339421711862087, + 1.652490258216858 + ], + "gripper_value": 0.18686315417289734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently holding the pink stuffed toy and transporting it across the table toward the upper right corner near the cans. The gripper remains closed, confirming the object is secured during transit. The next action is to continue moving the toy to the target location and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.42219671607017517, + -0.07291068881750107, + 0.07340583950281143, + 2.869542121887207, + 0.004952090326696634, + 1.7080076932907104 + ], + "gripper_value": 0.18686315417289734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently holding the pink stuffed toy and transporting it across the table toward the upper right corner near the cans. The gripper remains closed, confirming the object is secured during transit. The next action is to continue moving the toy to the target location and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4236964285373688, + -0.07252949476242065, + 0.06778690218925476, + 2.895456314086914, + -0.0054668402299284935, + 1.7216700315475464 + ], + "gripper_value": 0.23394888639450073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently holding the pink stuffed toy and transporting it across the table toward the upper right corner near the cans. The gripper remains closed, confirming the object is secured during transit. The next action is to continue moving the toy to the target location and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4235399067401886, + -0.07326530665159225, + 0.06831065565347672, + 2.8974764347076416, + 0.0007877903990447521, + 1.7120822668075562 + ], + "gripper_value": 0.5023775696754456 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the pink stuffed toy and transporting it across the table toward the upper right corner near the cans. The gripper remains closed, confirming the object is secured during transit. The next action is to continue moving the toy to the target location and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4236934781074524, + -0.07301919162273407, + 0.07227151840925217, + 2.9072015285491943, + -0.0029600104317069054, + 1.7012273073196411 + ], + "gripper_value": 0.8121206760406494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pink pig toy has been successfully placed on the upper right side of the table near the cans. The gripper is open and the end-effector is positioned above the toy, indicating the release action is complete. The next step is to retreat the arm away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4258115589618683, + -0.06672997027635574, + 0.0795426294207573, + 2.90732741355896, + -0.0077011557295918465, + 1.7136486768722534 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink pig toy on the upper right side of the table, near the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pink toy" + }, + { + "id": 2, + "subtask": "grasp pink toy" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pink pig toy has been successfully placed on the upper right side of the table near the cans. The gripper is open and the end-effector is positioned above the toy, indicating the release action is complete. The next step is to retreat the arm away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004112_ecot.json b/cot/chunk-0004/episode_0004112_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..01834484f21099f3e2ec5b723d672d0456cdb67e --- /dev/null +++ b/cot/chunk-0004/episode_0004112_ecot.json @@ -0,0 +1,3025 @@ +{ + "task_name": "episode_0004112", + "episode_json": "json/chunk-0004/episode_0004112.json", + "video_path": "videos/chunk-0004/image_0/episode_0004112.mp4", + "instruction": "Pick the carrot from the corner and place it on the middle.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004112.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6728924512863159, + "std": 0.31921279430389404, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67289, std=0.31921, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 137, + 137, + 137, + 137, + 237, + 237, + 237, + 237 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 23 + ], + [ + 3, + 24, + 36 + ], + [ + 4, + 37, + 40 + ], + [ + 5, + 41, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the carrot in the corner while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift carrot\", \"start\": 15, \"end\": 23, \"planning\": \"Secure grip on carrot and lift it slightly off the surface, confirmed by stable low gripper value and upward motion.\"},\n {\"id\": 3, \"name\": \"transport carrot to center\", \"start\": 24, \"end\": 36, \"planning\": \"Carry the grasped carrot across the board toward the central green cloth area.\"},\n {\"id\": 4, \"name\": \"release carrot on cloth\", \"start\": 37, \"end\": 40, \"planning\": \"Open gripper to place carrot onto the green cloth, verified by increasing gripper value and stationary position.\"},\n {\"id\": 5, \"name\": \"retreat from placement\", \"start\": 41, \"end\": 44, \"planning\": \"Lift and move end-effector away from the placed carrot without further interaction, as gripper remains open.\"}\n ],\n \"global_plan\": \"Approach the carrot in the corner, grasp and lift it, transport it to the center green cloth, release it there, then retreat.\",\n \"notes\": \"Segment 5 explicitly lacks meaningful gripper closing; thus, no grasp or hold is inferred — only retreat motion. Segment 4 shows clear opening (gripper rising), consistent with release. Segments 1–3 show progressive closing and lifting, supporting grasp and transport phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the carrot in the corner while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and lift carrot", + "start": 15, + "end": 23, + "planning": "Secure grip on carrot and lift it slightly off the surface, confirmed by stable low gripper value and upward motion." + }, + { + "id": 3, + "name": "transport carrot to center", + "start": 24, + "end": 36, + "planning": "Carry the grasped carrot across the board toward the central green cloth area." + }, + { + "id": 4, + "name": "release carrot on cloth", + "start": 37, + "end": 40, + "planning": "Open gripper to place carrot onto the green cloth, verified by increasing gripper value and stationary position." + }, + { + "id": 5, + "name": "retreat from placement", + "start": 41, + "end": 44, + "planning": "Lift and move end-effector away from the placed carrot without further interaction, as gripper remains open." + } + ], + "global_plan": "Approach the carrot in the corner, grasp and lift it, transport it to the center green cloth, release it there, then retreat.", + "notes": "Segment 5 explicitly lacks meaningful gripper closing; thus, no grasp or hold is inferred — only retreat motion. Segment 4 shows clear opening (gripper rising), consistent with release. Segments 1–3 show progressive closing and lifting, supporting grasp and transport phases." + } + }, + "episode_goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2965937554836273, + 0.045188046991825104, + 0.17315149307250977, + -2.796294927597046, + -0.3634141683578491, + -0.6695272326469421 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the wooden board with the red-handled carrot visible in the top-left corner. No actions have been completed yet as the gripper is open and stationary. The robot needs to initiate movement to approach the carrot object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move down 14 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2954906225204468, + 0.044989291578531265, + 0.16467580199241638, + -2.8279643058776855, + -0.3453437387943268, + -0.645105242729187 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the wooden board with the red-handled carrot visible in the top-left corner. No actions have been completed yet as the gripper is open and stationary. The robot needs to initiate movement to approach the carrot object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 16 cm, move down 14 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29293352365493774, + 0.06952165812253952, + 0.1567184180021286, + -2.8973441123962402, + -0.31662610173225403, + -0.45454537868499756 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the wooden board with the red-handled carrot visible in the top-left corner. No actions have been completed yet as the gripper is open and stationary. The robot needs to initiate movement to approach the carrot object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 13 cm, move down 14 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29170238971710205, + 0.09217416495084763, + 0.1523127257823944, + -2.913588285446167, + -0.30734091997146606, + -0.36420294642448425 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the wooden board with the red-handled carrot visible in the top-left corner. No actions have been completed yet as the gripper is open and stationary. The robot needs to initiate movement to approach the carrot object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move down 14 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29012852907180786, + 0.12374575436115265, + 0.14545007050037384, + -2.923525094985962, + -0.2992222011089325, + -0.2635340988636017 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the wooden board with the red-handled carrot visible in the top-left corner. No actions have been completed yet as the gripper is open and stationary. The robot needs to initiate movement to approach the carrot object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move down 13 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28627321124076843, + 0.14436419308185577, + 0.1260138601064682, + -2.943666458129883, + -0.25220686197280884, + -0.18082447350025177 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the wooden board with the red-handled carrot visible in the top-left corner. No actions have been completed yet as the gripper is open and stationary. The robot needs to initiate movement to approach the carrot object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28323793411254883, + 0.1656467169523239, + 0.09992673993110657, + -2.9669570922851562, + -0.20839335024356842, + -0.10479863733053207 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sushi": [ + 605, + 652, + 755, + 823 + ], + "green cloth": [ + 280, + 425, + 553, + 730 + ], + "cutting board": [ + 24, + 243, + 905, + 976 + ], + "metal bowl": [ + 536, + 353, + 789, + 692 + ] + } + } + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the wooden board with the red-handled carrot visible in the top-left corner. No actions have been completed yet as the gripper is open and stationary. The robot needs to initiate movement to approach the carrot object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2921459376811981, + 0.17606404423713684, + 0.08209612220525742, + -2.984724998474121, + -0.19302578270435333, + -0.06881609559059143 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30007484555244446, + 0.18529662489891052, + 0.06808117777109146, + -2.9846575260162354, + -0.16829495131969452, + -0.046488579362630844 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3078312873840332, + 0.19279420375823975, + 0.053442589938640594, + -2.9857823848724365, + -0.1403888761997223, + -0.02203085646033287 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31213393807411194, + 0.19945675134658813, + 0.03755021095275879, + -2.9807071685791016, + -0.10463862866163254, + -0.005194775760173798 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31551992893218994, + 0.2020498514175415, + 0.024681465700268745, + -2.9903557300567627, + -0.08481088280677795, + 0.0051037585362792015 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 3 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200220763683319, + 0.20229442417621613, + 0.020677411928772926, + -2.9857840538024902, + -0.08292989432811737, + -0.00017952959751710296 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 279, + 425, + 553, + 730 + ], + "sushi": [ + 603, + 652, + 755, + 823 + ], + "cutting board": [ + 24, + 256, + 906, + 975 + ], + "metal bowl": [ + 537, + 354, + 790, + 693 + ] + } + } + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 6 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3213294744491577, + 0.19870173931121826, + 0.013044663704931736, + -2.992586374282837, + -0.07059226930141449, + 0.000968561100307852 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 10 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3231523334980011, + 0.19974015653133392, + 0.013175146654248238, + -2.978759765625, + -0.07936819642782211, + -0.004413306247442961 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 12 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32184356451034546, + 0.19971716403961182, + 0.011260897852480412, + -2.966200351715088, + -0.0794588252902031, + -0.004769051913172007 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32066410779953003, + 0.19929969310760498, + 0.010643482208251953, + -2.958845615386963, + -0.08081529289484024, + -0.010986050590872765 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193318247795105, + 0.19522124528884888, + 0.011546541936695576, + -2.969792366027832, + -0.09083077311515808, + -0.0361592136323452 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3130958378314972, + 0.19084109365940094, + 0.01758979819715023, + -3.0008652210235596, + -0.08978421241044998, + -0.05167099088430405 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot is positioned near the top-left corner where the red-handled carrot is located, with the green cloth visible in the center. No prior actions have been completed. The gripper is open and approaching the carrot; the next action is to align and close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3141482472419739, + 0.19304917752742767, + 0.04989049583673477, + -2.9732515811920166, + -0.14083510637283325, + -0.06942242383956909 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31457555294036865, + 0.18456189334392548, + 0.07602126896381378, + -2.97693133354187, + -0.1798621118068695, + -0.1010349914431572 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31936272978782654, + 0.16550187766551971, + 0.10622034221887589, + -2.965794324874878, + -0.23562763631343842, + -0.16509290039539337 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3236375153064728, + 0.13752461969852448, + 0.11902076005935669, + -2.9721519947052, + -0.25984662771224976, + -0.24411146342754364 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32677724957466125, + 0.10435489565134048, + 0.126215860247612, + -2.956287145614624, + -0.2639187276363373, + -0.36331459879875183 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp and lift carrot", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move back 3 cm, move right 4 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32709378004074097, + 0.08101930469274521, + 0.12480847537517548, + -2.9499356746673584, + -0.25316277146339417, + -0.4495569169521332 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sushi": [ + 603, + 653, + 756, + 823 + ], + "green cloth": [ + 279, + 425, + 552, + 730 + ], + "metal bowl": [ + 537, + 351, + 789, + 692 + ] + } + } + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.322522908449173, + 0.0676976889371872, + 0.11396341770887375, + -2.9582438468933105, + -0.22788308560848236, + -0.49114567041397095 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185938894748688, + 0.0534585602581501, + 0.10406778007745743, + -2.9550108909606934, + -0.20297184586524963, + -0.552658200263977 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3106553554534912, + 0.04292163997888565, + 0.09310979396104813, + -2.966803789138794, + -0.19250939786434174, + -0.5926063656806946 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 8 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043213486671448, + 0.034700069576501846, + 0.08367282897233963, + -2.9725966453552246, + -0.17484727501869202, + -0.6296373605728149 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30039793252944946, + 0.03185392543673515, + 0.07781897485256195, + -2.9729723930358887, + -0.16698558628559113, + -0.6384851932525635 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot has approached the red-handled carrot in the top-left corner and is currently hovering directly above it. The gripper is open and positioned for contact, indicating readiness to initiate the grasp. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29705771803855896, + 0.033461831510066986, + 0.07019192725419998, + -2.9594390392303467, + -0.14907799661159515, + -0.647385835647583 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot is currently holding the red-handled carrot-shaped object above the wooden board, having successfully lifted it from the corner. The end-effector is positioned near the center but has not yet reached the target green cloth. The next action is to continue transporting the object directly over the green cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947097718715668, + 0.03582553565502167, + 0.05604774132370949, + -2.962445020675659, + -0.12163116037845612, + -0.6454780101776123 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 278, + 458, + 551, + 731 + ], + "sushi": [ + 604, + 652, + 755, + 822 + ], + "metal bowl": [ + 536, + 355, + 789, + 693 + ], + "fork": [ + 281, + 437, + 416, + 531 + ] + } + } + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot is currently holding the red-handled carrot-shaped object above the wooden board, having successfully lifted it from the corner. The end-effector is positioned near the center but has not yet reached the target green cloth. The next action is to continue transporting the object directly over the green cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29412975907325745, + 0.03806145861744881, + 0.04627609625458717, + -2.9587326049804688, + -0.10244596749544144, + -0.6505599617958069 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot is currently holding the red-handled carrot-shaped object above the wooden board, having successfully lifted it from the corner. The end-effector is positioned near the center but has not yet reached the target green cloth. The next action is to continue transporting the object directly over the green cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, open gripper; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29295721650123596, + 0.03920207917690277, + 0.033898551017045975, + -2.9675235748291016, + -0.07959553599357605, + -0.6554434299468994 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot is currently holding the red-handled carrot-shaped object above the wooden board, having successfully lifted it from the corner. The end-effector is positioned near the center but has not yet reached the target green cloth. The next action is to continue transporting the object directly over the green cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29200229048728943, + 0.03981717675924301, + 0.024501284584403038, + -2.9777066707611084, + -0.06279291212558746, + -0.6515430808067322 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot is currently holding the red-handled carrot-shaped object above the wooden board, having successfully lifted it from the corner. The end-effector is positioned near the center but has not yet reached the target green cloth. The next action is to continue transporting the object directly over the green cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.29057103395462036, + 0.039932943880558014, + 0.01684083417057991, + -2.98976731300354, + -0.04323529824614525, + -0.6519585847854614 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot is currently holding the red-handled carrot-shaped object above the wooden board, having successfully lifted it from the corner. The end-effector is positioned near the center but has not yet reached the target green cloth. The next action is to continue transporting the object directly over the green cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29132363200187683, + 0.0403539203107357, + 0.01751701906323433, + -2.9948232173919678, + -0.040194518864154816, + -0.6423723101615906 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "transport carrot to center", + "subtask_reasoning": "The robot is currently holding the red-handled carrot-shaped object above the wooden board, having successfully lifted it from the corner. The end-effector is positioned near the center but has not yet reached the target green cloth. The next action is to continue transporting the object directly over the green cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28968292474746704, + 0.04073604196310043, + 0.016997896134853363, + -3.0121779441833496, + -0.01871497556567192, + -0.6235059499740601 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release carrot on cloth", + "subtask_reasoning": "The robot is currently holding the red-handled carrot-shaped object above the wooden board, having successfully lifted it from the corner. The end-effector is positioned near the center but has not yet reached the target green cloth. The next action is to continue transporting the object directly over the green cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.28977447748184204, + 0.04082193225622177, + 0.01827950030565262, + -3.016998052597046, + -0.013432180508971214, + -0.6163698434829712 + ], + "gripper_value": 0.8669703602790833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release carrot on cloth", + "subtask_reasoning": "The robot is positioned over the green cloth with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully settled on the cloth before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 37, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896541357040405, + 0.03921672701835632, + 0.018930383026599884, + -3.0268800258636475, + -0.01246689260005951, + -0.6221357583999634 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release carrot on cloth", + "subtask_reasoning": "The robot is positioned over the green cloth with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully settled on the cloth before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915400564670563, + 0.037551794201135635, + 0.025041792541742325, + -3.0239133834838867, + -0.035695355385541916, + -0.6351444125175476 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release carrot on cloth", + "subtask_reasoning": "The robot is positioned over the green cloth with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully settled on the cloth before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.30111414194107056, + 0.04265357926487923, + 0.05624626204371452, + -2.971355438232422, + -0.11343879997730255, + -0.64171302318573 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sushi": [ + 604, + 651, + 755, + 822 + ], + "metal bowl": [ + 538, + 372, + 785, + 690 + ], + "green cloth": [ + 282, + 427, + 555, + 731 + ] + } + } + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The robot is positioned over the green cloth with the carrot held in the gripper. The gripper is currently open, indicating the release action is underway or just completed. The next step is to ensure the carrot is fully settled on the cloth before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.30925944447517395, + 0.049909498542547226, + 0.08907703310251236, + -2.9266932010650635, + -0.18183735013008118, + -0.6406351923942566 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The carrot has been successfully placed on the green cloth in the center. The robot arm is currently positioned above the placement area with an open gripper. The next action is to retreat the arm away from the board to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3140803575515747, + 0.05526645854115486, + 0.11783504486083984, + -2.874666929244995, + -0.23467780649662018, + -0.6435925364494324 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The carrot has been successfully placed on the green cloth in the center. The robot arm is currently positioned above the placement area with an open gripper. The next action is to retreat the arm away from the board to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3137422204017639, + 0.06274555623531342, + 0.14236439764499664, + -2.8176229000091553, + -0.2704884707927704, + -0.6363521218299866 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the red-handled carrot-shaped object from the top-left corner of the wooden board and place it on the green cloth in the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp and lift carrot" + }, + { + "id": 3, + "subtask": "transport carrot to center" + }, + { + "id": 4, + "subtask": "release carrot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The carrot has been successfully placed on the green cloth in the center. The robot arm is currently positioned above the placement area with an open gripper. The next action is to retreat the arm away from the board to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004113_ecot.json b/cot/chunk-0004/episode_0004113_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..370f7bb5544af045313a790f002ed086c4c801a1 --- /dev/null +++ b/cot/chunk-0004/episode_0004113_ecot.json @@ -0,0 +1,2845 @@ +{ + "task_name": "episode_0004113", + "episode_json": "json/chunk-0004/episode_0004113.json", + "video_path": "videos/chunk-0004/image_0/episode_0004113.mp4", + "instruction": "Put the corn on the yellow cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004113.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.3543732762336731, + "std": 0.17180050909519196, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.35437, std=0.17180, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 14 + ], + [ + 3, + 15, + 20 + ], + [ + 4, + 21, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 14, \"planning\": \"Move the gripper from initial position toward the corn on the right side of the board.\"},\n {\"id\": 2, \"name\": \"grasp corn\", \"start\": 15, \"end\": 20, \"planning\": \"Close the gripper around the corn to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move corn\", \"start\": 21, \"end\": 32, \"planning\": \"Lift the corn and transport it over the yellow cloth in the center-left area.\"},\n {\"id\": 4, \"name\": \"place corn on cloth\", \"start\": 33, \"end\": 44, \"planning\": \"Lower the corn onto the yellow cloth and release the gripper to complete placement.\"}\n ],\n \"global_plan\": \"Approach the corn, grasp it securely, lift and move it to the yellow cloth, then place it down gently.\",\n \"notes\": \"Segment 1 and 2 show no gripper closing — described as approach only. Segment 3 shows meaningful closing consistent with grasping. Segment 4 shows sustained grip during transport and final release at end.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 14, + "planning": "Move the gripper from initial position toward the corn on the right side of the board." + }, + { + "id": 2, + "name": "grasp corn", + "start": 15, + "end": 20, + "planning": "Close the gripper around the corn to secure it for lifting." + }, + { + "id": 3, + "name": "lift and move corn", + "start": 21, + "end": 32, + "planning": "Lift the corn and transport it over the yellow cloth in the center-left area." + }, + { + "id": 4, + "name": "place corn on cloth", + "start": 33, + "end": 44, + "planning": "Lower the corn onto the yellow cloth and release the gripper to complete placement." + } + ], + "global_plan": "Approach the corn, grasp it securely, lift and move it to the yellow cloth, then place it down gently.", + "notes": "Segment 1 and 2 show no gripper closing — described as approach only. Segment 3 shows meaningful closing consistent with grasping. Segment 4 shows sustained grip during transport and final release at end." + } + }, + "episode_goal": "Place the corn on the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29782915115356445, + 0.10847616195678711, + 0.1114029735326767, + -3.0277974605560303, + -0.18833208084106445, + -0.15236236155033112 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the wooden table, with the corn visible on the right side and the yellow cloth on the left. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector towards the corn to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 22 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2968798279762268, + 0.10792595148086548, + 0.10374853014945984, + -3.0426511764526367, + -0.16665390133857727, + -0.14311940968036652 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the wooden table, with the corn visible on the right side and the yellow cloth on the left. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector towards the corn to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 22 cm, move down 3 cm, tilt forward 20 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29862403869628906, + 0.08369982987642288, + 0.09982248395681381, + -3.0781562328338623, + -0.14650242030620575, + -0.15196877717971802 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the wooden table, with the corn visible on the right side and the yellow cloth on the left. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector towards the corn to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 19 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.303143709897995, + 0.05536101758480072, + 0.0997442752122879, + -3.1274726390838623, + -0.15220437943935394, + -0.11696889251470566 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the wooden table, with the corn visible on the right side and the yellow cloth on the left. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector towards the corn to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 16 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30575335025787354, + 0.01810844987630844, + 0.0996658205986023, + 3.126612663269043, + -0.13720208406448364, + -0.0630420371890068 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the wooden table, with the corn visible on the right side and the yellow cloth on the left. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector towards the corn to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31466326117515564, + -0.02512950822710991, + 0.10416372865438461, + 3.066847562789917, + -0.12580429017543793, + 0.057700321078300476 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the wooden table, with the corn visible on the right side and the yellow cloth on the left. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector towards the corn to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162095546722412, + -0.0606890432536602, + 0.10717466473579407, + 3.069274663925171, + -0.11207611858844757, + 0.1951250284910202 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the wooden table, with the corn visible on the right side and the yellow cloth on the left. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector towards the corn to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3171621263027191, + -0.09019573032855988, + 0.10246802866458893, + 3.0662479400634766, + -0.08859007805585861, + 0.22980844974517822 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green spatula": [ + 153, + 365, + 286, + 532 + ], + "yellow sponge": [ + 683, + 465, + 867, + 662 + ], + "yellow cloth": [ + 263, + 226, + 519, + 459 + ], + "metal pot": [ + 425, + 498, + 682, + 841 + ], + "white box": [ + 320, + 831, + 526, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3150101900100708, + -0.10258776694536209, + 0.09745124727487564, + 3.0747294425964355, + -0.05667979270219803, + 0.29660680890083313 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092077672481537, + -0.10972283780574799, + 0.08784052729606628, + 3.1220602989196777, + 0.004144028760492802, + 0.4476590156555176 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green spatula": [ + 153, + 365, + 285, + 532 + ], + "yellow sponge": [ + 683, + 464, + 867, + 662 + ], + "metal pot": [ + 426, + 498, + 680, + 840 + ], + "yellow cloth": [ + 263, + 227, + 519, + 459 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3117607831954956, + -0.1112343817949295, + 0.08453434705734253, + 3.1175925731658936, + 0.04434642940759659, + 0.5515719652175903 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.321039080619812, + -0.10722628980875015, + 0.07300467044115067, + 3.113309144973755, + 0.07459332048892975, + 0.6054601669311523 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, keep gripper open; then move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33010804653167725, + -0.10509054362773895, + 0.061914898455142975, + 3.112696886062622, + 0.09623386710882187, + 0.6439826488494873 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper open; then move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3410797417163849, + -0.09992009401321411, + 0.04772898182272911, + 3.1015310287475586, + 0.12455764412879944, + 0.6880035996437073 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper open; then move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move forward 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3434951901435852, + -0.09527023136615753, + 0.031927965581417084, + 3.1288161277770996, + 0.14050382375717163, + 0.6932297945022583 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.343874454498291, + -0.09432677179574966, + 0.021650344133377075, + -3.1410892009735107, + 0.13704609870910645, + 0.662358283996582 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move forward 1 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33933278918266296, + -0.09995359927415848, + 0.014973805285990238, + -3.1329269409179688, + 0.1345655471086502, + 0.6043493747711182 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned above the table with the corn visible to the right and the yellow cloth to the left. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the corn. The next action is to continue moving the end-effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33878493309020996, + -0.1035647913813591, + 0.012009886093437672, + -3.1350040435791016, + 0.11379651725292206, + 0.5794814825057983 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380473554134369, + -0.10572529584169388, + 0.011720218695700169, + -3.1191794872283936, + 0.09397771954536438, + 0.5425980687141418 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34055012464523315, + -0.10463225096464157, + 0.01066824421286583, + -3.125059127807617, + 0.06863521039485931, + 0.48304012417793274 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 12 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3413642942905426, + -0.1030389666557312, + 0.010462898761034012, + -3.139291286468506, + 0.0427318699657917, + 0.3813509941101074 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 15 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3448226749897003, + -0.10226170718669891, + 0.011961814947426319, + 3.1254663467407227, + 0.020848870277404785, + 0.2233535796403885 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 18 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34758812189102173, + -0.09766800701618195, + 0.026361633092164993, + 3.1224026679992676, + 0.004530670586973429, + 0.12878991663455963 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 21 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.353166401386261, + -0.09750764071941376, + 0.048722025007009506, + 3.074991226196289, + -0.028805747628211975, + 0.04952016472816467 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 22 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35476237535476685, + -0.08835259824991226, + 0.07154075056314468, + 3.0676674842834473, + -0.06328606605529785, + -0.02665303461253643 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green spatula": [ + 152, + 365, + 286, + 532 + ], + "metal pot": [ + 426, + 499, + 682, + 826 + ], + "yellow cloth": [ + 264, + 226, + 518, + 460 + ], + "yellow sponge": [ + 681, + 346, + 787, + 540 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 21 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35615506768226624, + -0.07397879660129547, + 0.09252779185771942, + 3.0728871822357178, + -0.09921137243509293, + -0.10830570012331009 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot is positioned directly above the corn on the wooden table, with the gripper open and aligned for grasping. The corn is adjacent to a metal pot and near a yellow cloth, which is the target placement area. The gripper has begun closing (evidenced by decreasing gripper value), indicating active engagement in the grasp subtask. The next action is to complete the grasp by fully closing the gripper around the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 20 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35550227761268616, + -0.057748135179281235, + 0.11786399036645889, + 3.089979887008667, + -0.1644790768623352, + -0.18155626952648163 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 18 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3514271676540375, + -0.03313758224248886, + 0.13406115770339966, + 3.1035213470458984, + -0.19292616844177246, + -0.19522877037525177 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 15 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35409367084503174, + -0.008124401792883873, + 0.13662274181842804, + 3.0951740741729736, + -0.20182566344738007, + -0.169133722782135 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green spatula": [ + 152, + 365, + 286, + 532 + ], + "yellow sponge": [ + 520, + 106, + 629, + 302 + ], + "yellow cloth": [ + 263, + 226, + 520, + 461 + ], + "metal pot": [ + 426, + 499, + 682, + 836 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35851168632507324, + 0.02097897417843342, + 0.1402597278356552, + 3.0994720458984375, + -0.22943659126758575, + -0.14812232553958893 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3637322783470154, + 0.05041399970650673, + 0.13336709141731262, + 3.0931618213653564, + -0.2389543503522873, + -0.11999914050102234 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648976981639862, + 0.08037617802619934, + 0.12327561527490616, + 3.0840506553649902, + -0.24334092438220978, + -0.08927155286073685 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35922738909721375, + 0.1086195632815361, + 0.1072133406996727, + 3.098344326019287, + -0.21043947339057922, + -0.07863302528858185 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "lift and move corn", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.35655173659324646, + 0.12180683016777039, + 0.09766964614391327, + 3.1001155376434326, + -0.2145611196756363, + -0.08079282939434052 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.35591843724250793, + 0.12879081070423126, + 0.06720290333032608, + 3.0891659259796143, + -0.21829211711883545, + -0.10586517304182053 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.363259494304657, + 0.13120359182357788, + 0.05161556601524353, + 3.096597194671631, + -0.2399880290031433, + -0.12770675122737885 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.36672165989875793, + 0.1325707584619522, + 0.04025883972644806, + 3.1010310649871826, + -0.24556465446949005, + -0.13762374222278595 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3680754005908966, + 0.1323791891336441, + 0.03004557080566883, + 3.100308418273926, + -0.23879581689834595, + -0.13958337903022766 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot has successfully grasped the corn and is currently holding it elevated above the wooden table. The yellow cloth is visible to the left, and the robot is in the process of transporting the corn toward it. The next action is to continue moving the arm laterally to position the corn directly over the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3682725727558136, + 0.13173671066761017, + 0.03033779188990593, + 3.096250534057617, + -0.2371906191110611, + -0.12880010902881622 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the corn has not yet been placed. The previous steps of approaching and grasping the corn are complete. The next action is to lower the gripper to place the corn onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3653225898742676, + 0.1308949589729309, + 0.029543567448854446, + 3.082104206085205, + -0.22096118330955505, + -0.11000221967697144 + ], + "gripper_value": 0.9816622138023376 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the corn has not yet been placed. The previous steps of approaching and grasping the corn are complete. The next action is to lower the gripper to place the corn onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.36400657892227173, + 0.12998278439044952, + 0.02954741381108761, + 3.079019069671631, + -0.210622176527977, + -0.11549467593431473 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the corn has not yet been placed. The previous steps of approaching and grasping the corn are complete. The next action is to lower the gripper to place the corn onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3645702302455902, + 0.12747490406036377, + 0.03011617809534073, + 3.076329469680786, + -0.20730170607566833, + -0.1239187940955162 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the corn has not yet been placed. The previous steps of approaching and grasping the corn are complete. The next action is to lower the gripper to place the corn onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676465153694153, + 0.1242893785238266, + 0.041967809200286865, + 3.090268135070801, + -0.2238830029964447, + -0.15714971721172333 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the corn has not yet been placed. The previous steps of approaching and grasping the corn are complete. The next action is to lower the gripper to place the corn onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.37742313742637634, + 0.12031256407499313, + 0.0805000364780426, + 3.1116788387298584, + -0.26416724920272827, + -0.22065724432468414 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green spatula": [ + 152, + 365, + 286, + 532 + ], + "metal pot": [ + 425, + 498, + 682, + 839 + ], + "yellow sponge": [ + 262, + 236, + 518, + 458 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the corn has not yet been placed. The previous steps of approaching and grasping the corn are complete. The next action is to lower the gripper to place the corn onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3851613700389862, + 0.1071792021393776, + 0.11433721333742142, + 3.1365370750427246, + -0.3042663037776947, + -0.3066128194332123 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn" + }, + { + "id": 4, + "subtask": "place corn on cloth" + } + ], + "subtask_name": "place corn on cloth", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth with the gripper open, indicating the corn has not yet been placed. The previous steps of approaching and grasping the corn are complete. The next action is to lower the gripper to place the corn onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004115_ecot.json b/cot/chunk-0004/episode_0004115_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f52de93b4cb17beee655d26ba76b4161d1ab864b --- /dev/null +++ b/cot/chunk-0004/episode_0004115_ecot.json @@ -0,0 +1,853 @@ +{ + "task_name": "episode_0004115", + "episode_json": "json/chunk-0004/episode_0004115.json", + "video_path": "videos/chunk-0004/image_0/episode_0004115.mp4", + "instruction": "Close large4fbox flaps.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 14, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004115.json" + }, + "fps": 5.0, + "T_eff": 14, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 13 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach left flap\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the left flap of the box to prepare for closing.\"},\n {\"id\": 2, \"name\": \"push left flap down\", \"start\": 4, \"end\": 8, \"planning\": \"Apply downward and inward force with gripper to fold the left flap closed.\"},\n {\"id\": 3, \"name\": \"retreat and reposition\", \"start\": 9, \"end\": 13, \"planning\": \"Lift and move away from the box after completing flap closure, ending in a neutral position.\"}\n ],\n \"global_plan\": \"Close the large4fbox flaps by first approaching the left flap, then pushing it down into place, and finally retreating to complete the task.\",\n \"notes\": \"Gripper remains fully open throughout; no grasping occurs. All actions are contact-based pushes or repositions. Segment boundaries preserved as they align with natural motion phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach left flap", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the left flap of the box to prepare for closing." + }, + { + "id": 2, + "name": "push left flap down", + "start": 4, + "end": 8, + "planning": "Apply downward and inward force with gripper to fold the left flap closed." + }, + { + "id": 3, + "name": "retreat and reposition", + "start": 9, + "end": 13, + "planning": "Lift and move away from the box after completing flap closure, ending in a neutral position." + } + ], + "global_plan": "Close the large4fbox flaps by first approaching the left flap, then pushing it down into place, and finally retreating to complete the task.", + "notes": "Gripper remains fully open throughout; no grasping occurs. All actions are contact-based pushes or repositions. Segment boundaries preserved as they align with natural motion phases." + } + }, + "episode_goal": "Close the flaps of the large4fbox.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22565758228302002, + -0.046497244387865067, + 0.21592536568641663, + -2.9920754432678223, + -0.1914011687040329, + 0.16740761697292328 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "approach left flap", + "subtask_reasoning": "The robot is positioned above the large4fbox with the left flap visible and open. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot is beginning to move toward the left flap. The next action is to continue approaching the left flap to prepare for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 8 cm, tilt right 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2178945392370224, + -0.04518090933561325, + 0.2009742259979248, + -2.986816883087158, + -0.16208110749721527, + 0.17603324353694916 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "approach left flap", + "subtask_reasoning": "The robot is positioned above the large4fbox with the gripper open, approaching the left flap. No contact has been made yet, and the flap remains in its initial open position. The next action is to continue moving downward and forward to make contact with the left flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.1928769052028656, + -0.042594294995069504, + 0.1793055534362793, + -3.055286169052124, + -0.1950264424085617, + 0.2327418327331543 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "approach left flap", + "subtask_reasoning": "The robot is positioned above the large4fbox with the gripper open, approaching the left flap. No contact has been made yet, and the flap remains in its initial open position. The next action is to continue moving downward and forward to make contact with the left flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt right 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.1866084784269333, + -0.03551633656024933, + 0.15067872405052185, + -3.1224634647369385, + -0.23469533026218414, + 0.24838827550411224 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 174, + 9, + 986, + 626 + ] + } + } + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "approach left flap", + "subtask_reasoning": "The robot is positioned above the large4fbox with the gripper open, approaching the left flap. No contact has been made yet, and the flap remains in its initial open position. The next action is to continue moving downward and forward to make contact with the left flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 4 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19336934387683868, + -0.030142230913043022, + 0.13228033483028412, + 3.1115834712982178, + -0.2657087445259094, + 0.23147378861904144 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "push left flap down", + "subtask_reasoning": "The robot is positioned above the large4fbox with the gripper open, approaching the left flap. No contact has been made yet, and the flap remains in its initial open position. The next action is to continue moving downward and forward to make contact with the left flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2000134438276291, + -0.02860155701637268, + 0.11420983076095581, + 3.0718603134155273, + -0.28642338514328003, + 0.22791169583797455 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "push left flap down", + "subtask_reasoning": "The robot is positioned above the large4fbox with the gripper open, approaching the left flap. No contact has been made yet, and the flap remains in its initial open position. The next action is to continue moving downward and forward to make contact with the left flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20890292525291443, + -0.022843413054943085, + 0.09940379112958908, + 3.063370943069458, + -0.3254973292350769, + 0.19677577912807465 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "push left flap down", + "subtask_reasoning": "The robot is positioned above the left flap of the large4fbox with the gripper open. The approach phase is complete, and the arm is now in contact or near-contact with the flap. The next action is to push the left flap downward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21475020051002502, + -0.019494695588946342, + 0.09349652379751205, + 3.084900140762329, + -0.3399972915649414, + 0.15706025063991547 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "push left flap down", + "subtask_reasoning": "The robot is positioned above the left flap of the large4fbox with the gripper open. The approach phase is complete, and the arm is now in contact or near-contact with the flap. The next action is to push the left flap downward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22348400950431824, + -0.014457512646913528, + 0.0963684543967247, + 3.1062064170837402, + -0.3205408751964569, + 0.12106044590473175 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "push left flap down", + "subtask_reasoning": "The robot is positioned above the left flap of the large4fbox with the gripper open. The approach phase is complete, and the arm is now in contact or near-contact with the flap. The next action is to push the left flap downward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move forward 9 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23331813514232635, + -0.013837028294801712, + 0.11869823187589645, + -3.110968589782715, + -0.29542019963264465, + 0.0584479421377182 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The robot is positioned above the left flap of the large4fbox with the gripper open. The approach phase is complete, and the arm is now in contact or near-contact with the flap. The next action is to push the left flap downward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24941273033618927, + -0.015760164707899094, + 0.14663507044315338, + -3.0583786964416504, + -0.29647335410118103, + -0.008634455502033234 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The robot is positioned above the left flap of the large4fbox with the gripper open. The approach phase is complete, and the arm is now in contact or near-contact with the flap. The next action is to push the left flap downward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27066296339035034, + -0.017711685970425606, + 0.1630067527294159, + -3.03169584274292, + -0.3065459728240967, + -0.10361311584711075 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The left flap of the large4fbox has been successfully pushed down and is now closed. The robot is currently retreating from the box, as indicated by its position and motion away from the flap. The next action is to reposition for closing the remaining flaps." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29672038555145264, + -0.015114741399884224, + 0.16406187415122986, + -3.0386722087860107, + -0.31290826201438904, + -0.18244510889053345 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The left flap of the large4fbox has been successfully pushed down and is now closed. The robot is currently retreating from the box, as indicated by its position and motion away from the flap. The next action is to reposition for closing the remaining flaps." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32728198170661926, + -0.012232622131705284, + 0.1595231592655182, + -3.0653066635131836, + -0.3275344967842102, + -0.2573316991329193 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach left flap" + }, + { + "id": 2, + "subtask": "push left flap down" + }, + { + "id": 3, + "subtask": "retreat and reposition" + } + ], + "subtask_name": "retreat and reposition", + "subtask_reasoning": "The left flap of the large4fbox has been successfully pushed down and is now closed. The robot is currently retreating from the box, as indicated by its position and motion away from the flap. The next action is to reposition for closing the remaining flaps." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004116_ecot.json b/cot/chunk-0004/episode_0004116_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..43d94e466fd83833b8a1b0e2ce46b66ef3a41a82 --- /dev/null +++ b/cot/chunk-0004/episode_0004116_ecot.json @@ -0,0 +1,2414 @@ +{ + "task_name": "episode_0004116", + "episode_json": "json/chunk-0004/episode_0004116.json", + "video_path": "videos/chunk-0004/image_0/episode_0004116.mp4", + "instruction": "Fold the cloth from top left and bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004116.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.9434567093849182, + "std": 0.3421808183193207, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94346, std=0.34218, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 221, + 221, + 221, + 221, + 221, + 321, + 321, + 321, + 329, + 329, + 329, + 329, + 29, + 29, + 29 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 16 + ], + [ + 3, + 17, + 20 + ], + [ + 4, + 21, + 25 + ], + [ + 5, + 26, + 28 + ], + [ + 6, + 29, + 32 + ], + [ + 7, + 33, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach top left corner\", \"start\": 0, \"end\": 16, \"planning\": \"Move the gripper toward the top left corner of the cloth without grasping, as no meaningful closing is observed in this segment.\"},\n {\"id\": 2, \"name\": \"grasp and fold top left\", \"start\": 17, \"end\": 25, \"planning\": \"Close the gripper to grasp the top left corner and lift it to initiate the first fold, supported by significant gripper closing and motion evidence.\"},\n {\"id\": 3, \"name\": \"reposition for bottom left\", \"start\": 26, \"end\": 28, \"planning\": \"Release the top left corner and move the gripper toward the bottom left corner, with gripper opening confirmed by increasing values.\"},\n {\"id\": 4, \"name\": \"grasp and fold bottom left\", \"start\": 29, \"end\": 32, \"planning\": \"Grasp the bottom left corner and perform the second fold, inferred from continued manipulation phase following repositioning.\"},\n {\"id\": 5, \"name\": \"retreat after folding\", \"start\": 33, \"end\": 35, \"planning\": \"Retreat the gripper away from the cloth after completing both folds, with no grasping action as gripper remains fully open.\"}\n ],\n \"global_plan\": \"Fold the cloth by first grasping and folding the top left corner, then repositioning to grasp and fold the bottom left corner, ensuring both folds are completed sequentially.\",\n \"notes\": \"Subtasks are assigned based on segment-level gripper evidence and motion patterns. Segments 2 and 4 involve grasping due to meaningful closing; segments 1, 3, and 5 use contact-based or retreat descriptions as gripper remains open.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach top left corner", + "start": 0, + "end": 16, + "planning": "Move the gripper toward the top left corner of the cloth without grasping, as no meaningful closing is observed in this segment." + }, + { + "id": 2, + "name": "grasp and fold top left", + "start": 17, + "end": 25, + "planning": "Close the gripper to grasp the top left corner and lift it to initiate the first fold, supported by significant gripper closing and motion evidence." + }, + { + "id": 3, + "name": "reposition for bottom left", + "start": 26, + "end": 28, + "planning": "Release the top left corner and move the gripper toward the bottom left corner, with gripper opening confirmed by increasing values." + }, + { + "id": 4, + "name": "grasp and fold bottom left", + "start": 29, + "end": 32, + "planning": "Grasp the bottom left corner and perform the second fold, inferred from continued manipulation phase following repositioning." + }, + { + "id": 5, + "name": "retreat after folding", + "start": 33, + "end": 35, + "planning": "Retreat the gripper away from the cloth after completing both folds, with no grasping action as gripper remains fully open." + } + ], + "global_plan": "Fold the cloth by first grasping and folding the top left corner, then repositioning to grasp and fold the bottom left corner, ensuring both folds are completed sequentially.", + "notes": "Subtasks are assigned based on segment-level gripper evidence and motion patterns. Segments 2 and 4 involve grasping due to meaningful closing; segments 1, 3, and 5 use contact-based or retreat descriptions as gripper remains open." + } + }, + "episode_goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22232744097709656, + 0.14009416103363037, + 0.06414881348609924, + -3.026893377304077, + -0.20546399056911469, + 0.08154809474945068 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned near the top-left corner of the cloth on a white table. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21979829668998718, + 0.13786368072032928, + 0.057133112102746964, + -3.042525053024292, + -0.18236961960792542, + 0.09292124211788177 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned near the top-left corner of the cloth on a white table. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22695252299308777, + 0.12639309465885162, + 0.047315601259469986, + -3.0506272315979004, + -0.16118445992469788, + 0.06728433072566986 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned near the top-left corner of the cloth on a white table. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2291509211063385, + 0.1156783327460289, + 0.032981060445308685, + -3.0719449520111084, + -0.1325107365846634, + 0.06891635805368423 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 4, + 995, + 995 + ], + "blue cloth": [ + 4, + 258, + 569, + 963 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned near the top-left corner of the cloth on a white table. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23033496737480164, + 0.10550037026405334, + 0.01838710717856884, + -3.067387342453003, + -0.12898245453834534, + 0.0715148001909256 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned near the top-left corner of the cloth on a white table. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2322593331336975, + 0.10082835704088211, + 0.005422566086053848, + -3.061384677886963, + -0.10284427553415298, + 0.06370620429515839 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned near the top-left corner of the cloth on a white table. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23473910987377167, + 0.09429273009300232, + 0.005391388200223446, + -3.0207040309906006, + -0.0994919091463089, + 0.05972231552004814 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned near the top-left corner of the cloth on a white table. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23634964227676392, + 0.0890156552195549, + 0.0041158003732562065, + -3.0212693214416504, + -0.12600037455558777, + 0.05395760387182236 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned near the top-left corner of the cloth on a white table. No actions have been completed yet. The gripper is open and approaching the cloth. The next action should be to move the gripper closer to the top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2357746809720993, + 0.0780281275510788, + 0.003962015267461538, + -3.0285873413085938, + -0.1360776126384735, + 0.05875613912940025 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23683439195156097, + 0.05653044581413269, + 0.0038292319513857365, + -3.044776201248169, + -0.14929570257663727, + 0.07012265175580978 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23277325928211212, + 0.03325894474983215, + 0.0033357227221131325, + -3.056511402130127, + -0.14631490409374237, + 0.0865243449807167 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 6, + 267, + 604, + 978 + ], + "table": [ + 4, + 5, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2356736660003662, + 0.022303160279989243, + 0.003768947208300233, + -3.0592424869537354, + -0.14225628972053528, + 0.07741380482912064 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 11 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2357158660888672, + 0.013478427194058895, + 0.004102351609617472, + -3.0574498176574707, + -0.11631850898265839, + 0.08403802663087845 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 11 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2352265566587448, + 0.017640966922044754, + 0.005343589931726456, + -3.037290096282959, + -0.10175801068544388, + 0.0508897639811039 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 11 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2427355796098709, + 0.04024648293852806, + 0.019083790481090546, + -3.001549005508423, + -0.10550381988286972, + 0.021000538021326065 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move left 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25640901923179626, + 0.06674066185951233, + 0.04178071394562721, + -2.961981773376465, + -0.14017800986766815, + -0.0028693987987935543 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move up 1 cm, keep gripper open; then move left 7 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27932965755462646, + 0.09810681641101837, + 0.06713271886110306, + -2.917943000793457, + -0.18966668844223022, + -0.035264357924461365 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper open; then move left 9 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29217565059661865, + 0.12750941514968872, + 0.0532459057867527, + -2.9418327808380127, + -0.19366981089115143, + -0.06646770238876343 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2909637987613678, + 0.13415838778018951, + 0.0334816500544548, + -3.0007576942443848, + -0.1622108519077301, + -0.05561355501413345 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28617727756500244, + 0.13241612911224365, + 0.019930671900510788, + -3.0470077991485596, + -0.15209057927131653, + -0.039881158620119095 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2837728261947632, + 0.1332428753376007, + 0.009536059573292732, + -3.074068069458008, + -0.13797485828399658, + -0.051432158797979355 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot is positioned above the cloth with the gripper open, approaching the top-left corner. No grasping has occurred yet as the gripper remains open and segment-level evidence shows no closing. The next action is to lower the gripper to make contact with the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28610092401504517, + 0.13867798447608948, + 0.013778709806501865, + -3.0627522468566895, + -0.13535484671592712, + -0.055894576013088226 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot has approached the top-left corner of the cloth and is now in contact with it. The gripper is closing, indicating an imminent grasp. The next action is to secure the grip on the top-left corner to prepare for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28942009806632996, + 0.14693643152713776, + 0.0279209204018116, + -3.018968343734741, + -0.1350945681333542, + -0.0599382221698761 + ], + "gripper_value": 0.147182896733284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot has approached the top-left corner of the cloth and is now in contact with it. The gripper is closing, indicating an imminent grasp. The next action is to secure the grip on the top-left corner to prepare for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29476797580718994, + 0.15508244931697845, + 0.05306856334209442, + -2.9736859798431396, + -0.17747005820274353, + -0.044462818652391434 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot has approached the top-left corner of the cloth and is now in contact with it. The gripper is closing, indicating an imminent grasp. The next action is to secure the grip on the top-left corner to prepare for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 6 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907457947731018, + 0.17132894694805145, + 0.05683283135294914, + -2.99497389793396, + -0.20413999259471893, + 0.009359953925013542 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot has approached the top-left corner of the cloth and is now in contact with it. The gripper is closing, indicating an imminent grasp. The next action is to secure the grip on the top-left corner to prepare for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 6 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896278500556946, + 0.199014350771904, + 0.04483160749077797, + -3.0420124530792236, + -0.239665687084198, + 0.055902816355228424 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold top left", + "subtask_reasoning": "The robot has approached the top-left corner of the cloth and is now in contact with it. The gripper is closing, indicating an imminent grasp. The next action is to secure the grip on the top-left corner to prepare for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 6 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28743109107017517, + 0.21350610256195068, + 0.021040191873908043, + -3.100759744644165, + -0.25307390093803406, + 0.10745817422866821 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 994, + 994 + ], + "blue cloth": [ + 6, + 276, + 615, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "reposition for bottom left", + "subtask_reasoning": "The robot has approached the top-left corner of the cloth and is now in contact with it. The gripper is closing, indicating an imminent grasp. The next action is to secure the grip on the top-left corner to prepare for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 6 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29197582602500916, + 0.21837396919727325, + 0.009171297773718834, + -3.115018606185913, + -0.2540963292121887, + 0.10368280857801437 + ], + "gripper_value": 0.23988260328769684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "reposition for bottom left", + "subtask_reasoning": "The top-left corner of the cloth has been successfully folded toward the center. The robot is currently repositioning its end-effector above the bottom-left corner, preparing to grasp and fold it next." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 6 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2980178892612457, + 0.22381089627742767, + 0.007264417130500078, + -3.1255524158477783, + -0.24415281414985657, + 0.0983521044254303 + ], + "gripper_value": 0.4975702464580536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "reposition for bottom left", + "subtask_reasoning": "The top-left corner of the cloth has been successfully folded toward the center. The robot is currently repositioning its end-effector above the bottom-left corner, preparing to grasp and fold it next." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 6 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30372199416160583, + 0.22640515863895416, + 0.007305798586457968, + -3.113966464996338, + -0.23725004494190216, + 0.07984473556280136 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold bottom left", + "subtask_reasoning": "The top-left corner of the cloth has been successfully folded toward the center. The robot is currently repositioning its end-effector above the bottom-left corner, preparing to grasp and fold it next." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31165817379951477, + 0.22333553433418274, + 0.00809918437153101, + -3.1073977947235107, + -0.20249541103839874, + 0.026030847802758217 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold bottom left", + "subtask_reasoning": "The top-left corner of the cloth has already been folded toward the center. The robot is now positioned near the bottom-left corner, preparing to grasp it. The next action is to close the gripper and pull the bottom-left corner toward the center to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32228371500968933, + 0.2280844748020172, + 0.018728630617260933, + -3.066946268081665, + -0.1530480831861496, + -0.04167816415429115 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold bottom left", + "subtask_reasoning": "The top-left corner of the cloth has already been folded toward the center. The robot is now positioned near the bottom-left corner, preparing to grasp it. The next action is to close the gripper and pull the bottom-left corner toward the center to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455519378185272, + 0.24006159603595734, + 0.040416255593299866, + -2.999624729156494, + -0.13549010455608368, + -0.11300987750291824 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "grasp and fold bottom left", + "subtask_reasoning": "The top-left corner of the cloth has already been folded toward the center. The robot is now positioned near the bottom-left corner, preparing to grasp it. The next action is to close the gripper and pull the bottom-left corner toward the center to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.36808720231056213, + 0.25654205679893494, + 0.0493280328810215, + -2.9346413612365723, + -0.11335938423871994, + -0.17603541910648346 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 4, + 994, + 995 + ], + "blue cloth": [ + 8, + 196, + 620, + 950 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "retreat after folding", + "subtask_reasoning": "The top-left corner of the cloth has already been folded toward the center. The robot is now positioned near the bottom-left corner, preparing to grasp it. The next action is to close the gripper and pull the bottom-left corner toward the center to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.37719446420669556, + 0.26596394181251526, + 0.05946419760584831, + -2.896322250366211, + -0.11317769438028336, + -0.21583953499794006 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "retreat after folding", + "subtask_reasoning": "The top-left corner of the cloth has been folded toward the center and released. The robot is currently retreating from the cloth with an open gripper, preparing to reposition for the next subtask involving the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.37495169043540955, + 0.26257675886154175, + 0.056387387216091156, + -2.915217638015747, + -0.10684666037559509, + -0.22126631438732147 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth by first grasping and pulling the top-left corner toward the center, then grasping and pulling the bottom-left corner toward the center to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "grasp and fold top left" + }, + { + "id": 3, + "subtask": "reposition for bottom left" + }, + { + "id": 4, + "subtask": "grasp and fold bottom left" + }, + { + "id": 5, + "subtask": "retreat after folding" + } + ], + "subtask_name": "retreat after folding", + "subtask_reasoning": "The top-left corner of the cloth has been folded toward the center and released. The robot is currently retreating from the cloth with an open gripper, preparing to reposition for the next subtask involving the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004117_ecot.json b/cot/chunk-0004/episode_0004117_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2abb104df1dfe2bf98b8bf50260c8c24e878810f --- /dev/null +++ b/cot/chunk-0004/episode_0004117_ecot.json @@ -0,0 +1,1626 @@ +{ + "task_name": "episode_0004117", + "episode_json": "json/chunk-0004/episode_0004117.json", + "video_path": "videos/chunk-0004/image_0/episode_0004117.mp4", + "instruction": "Put the object on the top of the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004117.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.5460181832313538, + "std": 0.25027602910995483, + "delta_total": 0.003944516181945801, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.54602, std=0.25028, total_delta=0.00394). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 110, + 10, + 10, + 10, + 210, + 210, + 210, + 17, + 17, + 217 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 9 + ], + [ + 3, + 10, + 10 + ], + [ + 4, + 11, + 13 + ], + [ + 5, + 14, + 16 + ], + [ + 6, + 17, + 18 + ], + [ + 7, + 19, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach object\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the green caterpillar toy on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"close gripper on object\", \"start\": 5, \"end\": 9, \"planning\": \"Close the gripper around the green caterpillar toy to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift object\", \"start\": 10, \"end\": 10, \"planning\": \"Lift the grasped green caterpillar toy slightly off the table surface.\"},\n {\"id\": 4, \"name\": \"transport object to drawer top\", \"start\": 11, \"end\": 13, \"planning\": \"Move the held object horizontally and vertically toward the top surface of the wooden drawer.\"},\n {\"id\": 5, \"name\": \"place object on drawer\", \"start\": 14, \"end\": 16, \"planning\": \"Lower the object onto the top of the drawer while maintaining grip until contact is made.\"},\n {\"id\": 6, \"name\": \"release object\", \"start\": 17, \"end\": 18, \"planning\": \"Open the gripper to release the object onto the drawer top after placement.\"},\n {\"id\": 7, \"name\": \"retreat from object\", \"start\": 19, \"end\": 19, \"planning\": \"Move the end-effector away from the placed object to complete the task.\"}\n ],\n \"global_plan\": \"Approach the green caterpillar toy, grasp it, lift it, move it over the drawer, place it on top, release it, and retreat.\",\n \"notes\": \"Subtask boundaries align with provided segment spans. Gripper closure is inferred only in segments 2–3 where evidence supports meaningful closing; placement and release are timed to match observed motion and gripper opening in later segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach object", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the green caterpillar toy on the table without closing the gripper." + }, + { + "id": 2, + "name": "close gripper on object", + "start": 5, + "end": 9, + "planning": "Close the gripper around the green caterpillar toy to secure it for lifting." + }, + { + "id": 3, + "name": "lift object", + "start": 10, + "end": 10, + "planning": "Lift the grasped green caterpillar toy slightly off the table surface." + }, + { + "id": 4, + "name": "transport object to drawer top", + "start": 11, + "end": 13, + "planning": "Move the held object horizontally and vertically toward the top surface of the wooden drawer." + }, + { + "id": 5, + "name": "place object on drawer", + "start": 14, + "end": 16, + "planning": "Lower the object onto the top of the drawer while maintaining grip until contact is made." + }, + { + "id": 6, + "name": "release object", + "start": 17, + "end": 18, + "planning": "Open the gripper to release the object onto the drawer top after placement." + }, + { + "id": 7, + "name": "retreat from object", + "start": 19, + "end": 19, + "planning": "Move the end-effector away from the placed object to complete the task." + } + ], + "global_plan": "Approach the green caterpillar toy, grasp it, lift it, move it over the drawer, place it on top, release it, and retreat.", + "notes": "Subtask boundaries align with provided segment spans. Gripper closure is inferred only in segments 2–3 where evidence supports meaningful closing; placement and release are timed to match observed motion and gripper opening in later segments." + } + }, + "episode_goal": "Place the green toy on top of the wooden box.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19137907028198242, + 0.10470645129680634, + 0.10345398634672165, + 3.121807098388672, + -0.08071061968803406, + -0.06645291298627853 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned near the green caterpillar toy on the table, with the wooden box to the right. No actions have been completed yet. The gripper is open and not in contact with the object. The next action is to move the end-effector closer to the green toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move right 3 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19109264016151428, + 0.10378687083721161, + 0.0987854152917862, + 3.1068458557128906, + -0.06668440997600555, + -0.06177223101258278 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned near the green caterpillar toy on the table, with the wooden box to the right. No actions have been completed yet. The gripper is open and not in contact with the object. The next action is to move the end-effector closer to the green toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move right 3 cm, move down 2 cm, close gripper; then move right 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22083882987499237, + 0.1186060830950737, + 0.09329218417406082, + 3.0951337814331055, + -0.09172865003347397, + -0.030116306617856026 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned near the green caterpillar toy on the table, with the wooden box to the right. No actions have been completed yet. The gripper is open and stationary, indicating the robot is preparing to approach the toy. The next likely action is to move the end-effector closer to the green toy to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 3 cm, move down 2 cm, close gripper; then move right 4 cm, move up 4 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24408826231956482, + 0.1423610895872116, + 0.08510351926088333, + 3.103241205215454, + -0.08939517289400101, + 0.033317096531391144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 177, + 3, + 562, + 248 + ], + "wooden box": [ + 545, + 223, + 995, + 874 + ], + "black tag": [ + 627, + 623, + 819, + 948 + ], + "yellow can": [ + 649, + 82, + 777, + 250 + ], + "pink toy": [ + 71, + 466, + 215, + 658 + ], + "teal toy": [ + 138, + 414, + 291, + 571 + ], + "green toy": [ + 141, + 418, + 289, + 565 + ], + "red can": [ + 541, + 12, + 663, + 251 + ] + } + } + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned near the green caterpillar toy on the table, with the wooden box to the right. No actions have been completed yet. The gripper is open and stationary, indicating the robot is preparing to approach the toy. The next likely action is to move the end-effector closer to the green toy to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper open; then move right 3 cm, move down 2 cm, close gripper; then move right 4 cm, move up 4 cm, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.258868932723999, + 0.15705494582653046, + 0.07928638160228729, + 3.1332621574401855, + -0.09429707378149033, + 0.05153067409992218 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot arm is positioned near the green caterpillar toy on the table, with the wooden box to the right. No actions have been completed yet. The gripper is open and stationary, indicating the robot is preparing to approach the toy. The next likely action is to move the end-effector closer to the green toy to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move right 3 cm, move down 2 cm, close gripper; then move right 4 cm, move up 4 cm, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.259869247674942, + 0.16492903232574463, + 0.06723875552415848, + -3.108393669128418, + -0.08319377899169922, + 0.07899532467126846 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "close gripper on object", + "subtask_reasoning": "The robot arm is positioned near the green caterpillar toy on the table, with the wooden box to the right. No actions have been completed yet. The gripper is open and stationary, indicating the robot is preparing to approach the toy. The next likely action is to move the end-effector closer to the green toy to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, close gripper; then move right 4 cm, move up 4 cm, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616407573223114, + 0.160226508975029, + 0.03769505023956299, + -3.075026273727417, + -0.0322633758187294, + 0.11315232515335083 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "close gripper on object", + "subtask_reasoning": "The robot arm is positioned near the green caterpillar toy on the table, with the wooden box to the right. No actions have been completed yet. The gripper is open and stationary, indicating the robot is preparing to approach the toy. The next likely action is to move the end-effector closer to the green toy to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, keep gripper closed; then move right 4 cm, move up 4 cm, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2624180316925049, + 0.15419979393482208, + 0.01756841130554676, + -3.020991802215576, + 0.014861010015010834, + 0.1420203000307083 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "close gripper on object", + "subtask_reasoning": "The robot arm is positioned directly above the green caterpillar toy on the table. The gripper is currently open and aligned with the object, ready to initiate contact. The next action is to close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, keep gripper closed; then move right 4 cm, move up 4 cm, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2602849304676056, + 0.14854182302951813, + 0.01361386850476265, + -3.0443596839904785, + 0.011961848475039005, + 0.14403632283210754 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "close gripper on object", + "subtask_reasoning": "The robot arm is positioned directly above the green caterpillar toy on the table. The gripper is currently open and aligned with the object, ready to initiate contact. The next action is to close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper closed; then move right 4 cm, move up 4 cm, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 2 cm, open gripper; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554437220096588, + 0.1429842859506607, + 0.022152738645672798, + -3.071688652038574, + -0.004233825020492077, + 0.12543392181396484 + ], + "gripper_value": 0.5256435871124268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "close gripper on object", + "subtask_reasoning": "The robot arm is positioned directly above the green caterpillar toy on the table. The gripper is currently open and aligned with the object, ready to initiate contact. The next action is to close the gripper to grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move right 4 cm, move up 4 cm, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590939402580261, + 0.13018840551376343, + 0.051314063370227814, + -3.0953729152679443, + -0.06680788844823837, + 0.11192601174116135 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "lift object", + "subtask_reasoning": "The robot has approached and closed its gripper around the green caterpillar toy on the table. The current subtask is to lift the object, and the gripper appears to be in contact with the toy. The next action is to vertically lift the toy off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 4 cm, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640560567378998, + 0.08794546127319336, + 0.09581521153450012, + 3.1355631351470947, + -0.11687834560871124, + 0.033495474606752396 + ], + "gripper_value": 0.4587424397468567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "transport object to drawer top", + "subtask_reasoning": "The robot has approached and closed its gripper around the green caterpillar toy on the table. The current subtask is to lift the object, and the gripper appears to be in contact with the toy. The next action is to vertically lift the toy off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2758341133594513, + 0.041246447712183, + 0.12379377335309982, + 3.11685848236084, + -0.1424255073070526, + -0.055441964417696 + ], + "gripper_value": 0.4587424397468567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "transport object to drawer top", + "subtask_reasoning": "The robot has approached and closed its gripper around the green caterpillar toy on the table. The current subtask is to lift the object, and the gripper appears to be in contact with the toy. The next action is to vertically lift the toy off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28776708245277405, + -0.005909721367061138, + 0.13674820959568024, + 3.1340301036834717, + -0.16721458733081818, + -0.1490999460220337 + ], + "gripper_value": 0.4587424397468567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "transport object to drawer top", + "subtask_reasoning": "The robot has approached and closed its gripper around the green caterpillar toy on the table. The current subtask is to lift the object, and the gripper appears to be in contact with the toy. The next action is to vertically lift the toy off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2959733307361603, + -0.046672310680150986, + 0.1413644403219223, + -3.131939172744751, + -0.17002494633197784, + -0.2283240556716919 + ], + "gripper_value": 0.4587424397468567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "place object on drawer", + "subtask_reasoning": "The robot has approached and closed its gripper around the green caterpillar toy on the table. The current subtask is to lift the object, and the gripper appears to be in contact with the toy. The next action is to vertically lift the toy off the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 2 cm, open gripper; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30059605836868286, + -0.07585485279560089, + 0.13812203705310822, + -3.1311659812927246, + -0.15929970145225525, + -0.2806008756160736 + ], + "gripper_value": 0.4587424397468567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "place object on drawer", + "subtask_reasoning": "The green toy is currently held above the wooden box, positioned for placement. The gripper remains closed with no significant change in this segment, indicating the object is still secured. The next action is to lower the toy onto the box surface and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30361974239349365, + -0.08672214299440384, + 0.12724749743938446, + -3.129136800765991, + -0.13797134160995483, + -0.29374656081199646 + ], + "gripper_value": 0.4587424397468567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "place object on drawer", + "subtask_reasoning": "The green toy is currently held above the wooden box, positioned for placement. The gripper remains closed with no significant change in this segment, indicating the object is still secured. The next action is to lower the toy onto the box surface and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 14, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092300295829773, + -0.08399108797311783, + 0.11991209536790848, + 3.140693426132202, + -0.11968087404966354, + -0.2795102596282959 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "release object", + "subtask_reasoning": "The green toy is currently held by the gripper directly above the wooden box, indicating the object has been successfully lifted and positioned. The gripper is closed around the toy, and the next necessary action is to open the gripper to release the object onto the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 17, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3072689473628998, + -0.07519637793302536, + 0.12110356241464615, + 3.137441635131836, + -0.08735023438930511, + -0.20789727568626404 + ], + "gripper_value": 0.8381108045578003 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black tag": [ + 627, + 621, + 818, + 948 + ], + "toy microwave": [ + 173, + 3, + 562, + 251 + ], + "pink toy": [ + 94, + 476, + 234, + 685 + ], + "wooden box": [ + 545, + 263, + 994, + 875 + ], + "teal toy": [ + 617, + 267, + 785, + 486 + ], + "green toy": [ + 623, + 275, + 777, + 477 + ] + } + } + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "release object", + "subtask_reasoning": "The green toy is currently held by the gripper directly above the wooden box, indicating the object has been successfully lifted and positioned. The gripper is closed around the toy, and the next necessary action is to open the gripper to release the object onto the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046763837337494, + -0.07048329710960388, + 0.14701369404792786, + -3.141436815261841, + -0.1309153437614441, + -0.14623135328292847 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green toy on top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "close gripper on object" + }, + { + "id": 3, + "subtask": "lift object" + }, + { + "id": 4, + "subtask": "transport object to drawer top" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "release object" + }, + { + "id": 7, + "subtask": "retreat from object" + } + ], + "subtask_name": "retreat from object", + "subtask_reasoning": "The green toy is already placed on top of the wooden box, and the gripper is open and slightly above it. The robot has completed placing the object and is now retreating. The next action is to move the arm further away from the object to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 19, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004118_ecot.json b/cot/chunk-0004/episode_0004118_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6f12101743dc0771f3aa2d6ba7adf5422346dc24 --- /dev/null +++ b/cot/chunk-0004/episode_0004118_ecot.json @@ -0,0 +1,1579 @@ +{ + "task_name": "episode_0004118", + "episode_json": "json/chunk-0004/episode_0004118.json", + "video_path": "videos/chunk-0004/image_0/episode_0004118.mp4", + "instruction": "Place the croissant on top of the green towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004118.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.3781355619430542, + "std": 0.17616744339466095, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.37814, std=0.17617, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 16 + ], + [ + 3, + 17, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach croissant\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper from initial position toward the croissant without closing.\"},\n {\"id\": 2, \"name\": \"grasp croissant\", \"start\": 4, \"end\": 16, \"planning\": \"Close gripper around croissant and lift it slightly, confirmed by gripper closure and motion.\"},\n {\"id\": 3, \"name\": \"place croissant on green towel\", \"start\": 17, \"end\": 25, \"planning\": \"Transport croissant over green towel and release it, as shown by gripper opening and final placement.\"}\n ],\n \"global_plan\": \"Approach the croissant, grasp it securely, then move and place it precisely on top of the green towel.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach. Segment 2 shows meaningful gripper closing (delta=-0.374) consistent with grasping. Segment 3 shows gripper reopening (delta=+0.374) and final placement on towel, matching visual evidence in Frame 25.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach croissant", + "start": 0, + "end": 3, + "planning": "Move the gripper from initial position toward the croissant without closing." + }, + { + "id": 2, + "name": "grasp croissant", + "start": 4, + "end": 16, + "planning": "Close gripper around croissant and lift it slightly, confirmed by gripper closure and motion." + }, + { + "id": 3, + "name": "place croissant on green towel", + "start": 17, + "end": 25, + "planning": "Transport croissant over green towel and release it, as shown by gripper opening and final placement." + } + ], + "global_plan": "Approach the croissant, grasp it securely, then move and place it precisely on top of the green towel.", + "notes": "Segment 1 shows no gripper closure — only approach. Segment 2 shows meaningful gripper closing (delta=-0.374) consistent with grasping. Segment 3 shows gripper reopening (delta=+0.374) and final placement on towel, matching visual evidence in Frame 25." + } + }, + "episode_goal": "Place the croissant on top of the green towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24988816678524017, + 0.060593683272600174, + 0.11717959493398666, + -3.132148504257202, + -0.11075812578201294, + 0.04968131333589554 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the wooden table with the croissant, green towel, and other objects visible. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 3 cm, keep gripper open; then move forward 9 cm, move left 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24883204698562622, + 0.0603291392326355, + 0.1105315312743187, + -3.1378936767578125, + -0.08520806580781937, + 0.057876985520124435 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 9 cm, move left 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521224021911621, + 0.06356454640626907, + 0.10184000432491302, + -3.1308557987213135, + -0.06352737545967102, + 0.07942584902048111 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 9 cm, move left 8 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26519253849983215, + 0.0740005150437355, + 0.10014888644218445, + -3.1095452308654785, + -0.11593315750360489, + 0.09276968985795975 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 9 cm, move left 8 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.293033629655838, + 0.08417286723852158, + 0.08997831493616104, + -3.114126682281494, + -0.17745952308177948, + 0.10054911673069 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32940229773521423, + 0.1004224568605423, + 0.07256823033094406, + -3.039005994796753, + -0.23558908700942993, + 0.10227490216493607 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35388854146003723, + 0.10728796571493149, + 0.05667801573872566, + -3.0328471660614014, + -0.24858959019184113, + 0.1277146339416504 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 414, + 272, + 658, + 500 + ], + "wooden table": [ + 8, + 199, + 884, + 990 + ], + "yellow spatula": [ + 605, + 430, + 738, + 684 + ] + } + } + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37059712409973145, + 0.12235574424266815, + 0.04096995294094086, + -3.0269432067871094, + -0.21026469767093658, + 0.16862325370311737 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37880557775497437, + 0.1310075968503952, + 0.028904635459184647, + -3.021996259689331, + -0.16764883697032928, + 0.1864679604768753 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 5 cm, tilt right 10 degrees, close gripper; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3801928460597992, + 0.14351734519004822, + 0.022480294108390808, + -3.0200819969177246, + -0.13255952298641205, + 0.21756742894649506 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the wooden table, with the green towel and croissant visible in the scene. The gripper is open and has not yet made contact with the croissant. The next action should be to move the gripper closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 5 cm, tilt right 10 degrees, close gripper; then move right 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37856680154800415, + 0.15330816805362701, + 0.012815381400287151, + -3.025716781616211, + -0.09808509051799774, + 0.2499573528766632 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move right 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38321852684020996, + 0.15807917714118958, + 0.010555661283433437, + -3.0257062911987305, + -0.0974518358707428, + 0.27831384539604187 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3837486505508423, + 0.1609739363193512, + 0.00859818421304226, + -3.029360294342041, + -0.09020008891820908, + 0.3161430358886719 + ], + "gripper_value": 0.6991904973983765 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37917909026145935, + 0.1594671756029129, + 0.008635923266410828, + -3.0328314304351807, + -0.08447901904582977, + 0.3220158517360687 + ], + "gripper_value": 0.6430501937866211 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37059134244918823, + 0.15513789653778076, + 0.013419927097856998, + -3.0417027473449707, + -0.0788392573595047, + 0.30075910687446594 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3681747019290924, + 0.1500244289636612, + 0.04308545961976051, + -3.058069944381714, + -0.11632741242647171, + 0.30845582485198975 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3748929798603058, + 0.1179787665605545, + 0.07765389233827591, + -3.094998359680176, + -0.19014865159988403, + 0.2399556040763855 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 414, + 273, + 657, + 499 + ], + "metal pot": [ + 156, + 425, + 501, + 689 + ], + "wooden table": [ + 6, + 176, + 884, + 990 + ], + "yellow spatula": [ + 604, + 431, + 737, + 684 + ], + "white cabinet": [ + 835, + 384, + 997, + 843 + ] + } + } + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3753874897956848, + 0.084445059299469, + 0.07544657588005066, + -3.1063435077667236, + -0.16900689899921417, + 0.1611824780702591 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 156, + 424, + 503, + 689 + ], + "green cloth": [ + 413, + 274, + 657, + 499 + ], + "wooden table": [ + 8, + 183, + 885, + 990 + ], + "yellow spatula": [ + 605, + 431, + 737, + 683 + ], + "white cabinet": [ + 835, + 384, + 997, + 843 + ] + } + } + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.375776469707489, + 0.06100527569651604, + 0.072798952460289, + -3.116872787475586, + -0.14949749410152435, + 0.10915148258209229 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3760720491409302, + 0.04611624404788017, + 0.06507828086614609, + -3.1239564418792725, + -0.12373412400484085, + 0.0789850577712059 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37676748633384705, + 0.04306194186210632, + 0.06487168371677399, + -3.1257376670837402, + -0.1238350123167038, + 0.07522860914468765 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the current situation requires closing the gripper to secure the object. The most likely next action is to actuate the gripper to grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3771589994430542, + 0.041654448956251144, + 0.06489100307226181, + -3.134913682937622, + -0.1256386786699295, + 0.07633890956640244 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot is holding the croissant above the green towel, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the end-effector to place the croissant onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3781154453754425, + 0.04093329980969429, + 0.06525208055973053, + -3.1376001834869385, + -0.13342393934726715, + 0.05950922518968582 + ], + "gripper_value": 0.7001883387565613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot is holding the croissant above the green towel, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the end-effector to place the croissant onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37744179368019104, + 0.04044536501169205, + 0.06515835970640182, + -3.1410326957702637, + -0.12896513938903809, + 0.06427961587905884 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot is holding the croissant above the green towel, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the end-effector to place the croissant onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3749282956123352, + 0.03971248120069504, + 0.0635417252779007, + 3.1360580921173096, + -0.1170777902007103, + 0.05759548395872116 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot is holding the croissant above the green towel, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the end-effector to place the croissant onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37006676197052, + 0.04208318516612053, + 0.07028166204690933, + 3.1260263919830322, + -0.11781270056962967, + 0.06531702727079391 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant on top of the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "place croissant on green towel" + } + ], + "subtask_name": "place croissant on green towel", + "subtask_reasoning": "The robot is holding the croissant above the green towel, having completed the approach and grasp phases. The current situation involves positioning the object for release. The next action is to lower the end-effector to place the croissant onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004119_ecot.json b/cot/chunk-0004/episode_0004119_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0f6be42c09495a68b9bd914a95d3c7d0512bb8aa --- /dev/null +++ b/cot/chunk-0004/episode_0004119_ecot.json @@ -0,0 +1,2593 @@ +{ + "task_name": "episode_0004119", + "episode_json": "json/chunk-0004/episode_0004119.json", + "video_path": "videos/chunk-0004/image_0/episode_0004119.mp4", + "instruction": "Fold the cloth from the top right to the bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004119.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.951655387878418, + "std": 0.44095465540885925, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95166, std=0.44095, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400, + 300, + 300, + 300, + 300, + 500, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 14, + 14, + 14, + 14, + 32, + 32, + 132, + 132, + 132, + 132, + 132 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 12 + ], + [ + 4, + 13, + 13 + ], + [ + 5, + 14, + 27 + ], + [ + 6, + 28, + 31 + ], + [ + 7, + 32, + 33 + ], + [ + 8, + 34, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach top right corner\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector toward the top right region of the cloth without grasping, preparing for fold initiation.\"},\n {\"id\": 2, \"name\": \"grasp and lift corner\", \"start\": 9, \"end\": 13, \"planning\": \"Close gripper to grasp the top right corner of the cloth and lift it slightly to begin folding motion.\"},\n {\"id\": 3, \"name\": \"drag corner diagonally\", \"start\": 14, \"end\": 27, \"planning\": \"Drag the grasped corner diagonally across the cloth toward the bottom left while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release and flatten fold\", \"start\": 28, \"end\": 33, \"planning\": \"Open gripper to release the corner onto the target position and press down gently to flatten the folded layer.\"},\n {\"id\": 5, \"name\": \"retreat and finalize\", \"start\": 34, \"end\": 38, \"planning\": \"Lift end-effector away from the cloth and move to a neutral position to complete the folding task.\"}\n ],\n \"global_plan\": \"Fold the cloth by approaching the top right corner, grasping and lifting it, dragging it diagonally to the bottom left, releasing to form the fold, then retreating to finalize.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segments 1 and 8; grasp confirmed in segments 3 and 6 via gripper closure and image consistency. Motion phases merged where natural (e.g., drag phase spans multiple segments). Full frame coverage ensured.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach top right corner", + "start": 0, + "end": 8, + "planning": "Move the end-effector toward the top right region of the cloth without grasping, preparing for fold initiation." + }, + { + "id": 2, + "name": "grasp and lift corner", + "start": 9, + "end": 13, + "planning": "Close gripper to grasp the top right corner of the cloth and lift it slightly to begin folding motion." + }, + { + "id": 3, + "name": "drag corner diagonally", + "start": 14, + "end": 27, + "planning": "Drag the grasped corner diagonally across the cloth toward the bottom left while maintaining grip." + }, + { + "id": 4, + "name": "release and flatten fold", + "start": 28, + "end": 33, + "planning": "Open gripper to release the corner onto the target position and press down gently to flatten the folded layer." + }, + { + "id": 5, + "name": "retreat and finalize", + "start": 34, + "end": 38, + "planning": "Lift end-effector away from the cloth and move to a neutral position to complete the folding task." + } + ], + "global_plan": "Fold the cloth by approaching the top right corner, grasping and lifting it, dragging it diagonally to the bottom left, releasing to form the fold, then retreating to finalize.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segments 1 and 8; grasp confirmed in segments 3 and 6 via gripper closure and image consistency. Motion phases merged where natural (e.g., drag phase spans multiple segments). Full frame coverage ensured." + } + }, + "episode_goal": "Fold the cloth from the top right to the bottom left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19296187162399292, + -0.0661478191614151, + 0.08199044317007065, + 3.108046293258667, + -0.0006331878248602152, + -0.8999391794204712 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and ready to approach the top right corner. No grasping has occurred yet, as the gripper remains fully open. The next action is to move the gripper closer to the top right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 6 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.1909254491329193, + -0.0658518522977829, + 0.0773916020989418, + 3.0894546508789062, + 0.027993669733405113, + -0.8882313370704651 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and ready to approach the top right corner. No grasping has occurred yet, as the gripper remains fully open. The next action is to move the gripper closer to the top right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 6 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20058684051036835, + -0.08671288192272186, + 0.07416581362485886, + 3.067854881286621, + 0.1311856508255005, + -0.890870213508606 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and ready to approach the top right corner. No grasping has occurred yet, as the gripper remains fully open. The next action is to move the gripper closer to the top right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 4 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21065768599510193, + -0.10189948976039886, + 0.07507605105638504, + 3.105502128601074, + 0.1989438235759735, + -0.8279845714569092 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 122, + 270, + 804, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and ready to approach the top right corner. No grasping has occurred yet, as the gripper remains fully open. The next action is to move the gripper closer to the top right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 3 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22489149868488312, + -0.10935444384813309, + 0.0818329006433487, + -3.1373753547668457, + 0.20392517745494843, + -0.7866830825805664 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask to approach the top right corner is in progress, with the arm moving toward the target area. The next action should continue positioning the gripper precisely over the top right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23917615413665771, + -0.11690431088209152, + 0.07360336929559708, + -3.0879507064819336, + 0.2388211041688919, + -0.7668073177337646 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask to approach the top right corner is in progress, with the arm moving toward the target area. The next action should continue positioning the gripper precisely over the top right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25716525316238403, + -0.12442339956760406, + 0.060488488525152206, + -3.091237783432007, + 0.22640393674373627, + -0.7660244703292847 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask to approach the top right corner is in progress, with the arm moving toward the target area. The next action should continue positioning the gripper precisely over the top right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27773138880729675, + -0.12595225870609283, + 0.05008885636925697, + -3.108858823776245, + 0.21971449255943298, + -0.7109537720680237 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask to approach the top right corner is in progress, with the arm moving toward the target area. The next action should continue positioning the gripper precisely over the top right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943340241909027, + -0.12917748093605042, + 0.045111846178770065, + -3.1391139030456543, + 0.19050994515419006, + -0.6611577868461609 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "approach top right corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask to approach the top right corner is in progress, with the arm moving toward the target area. The next action should continue positioning the gripper precisely over the top right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099806308746338, + -0.12848667800426483, + 0.03902095928788185, + 3.122821807861328, + 0.15300852060317993, + -0.6254522204399109 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask to approach the top right corner is in progress, with the arm moving toward the target area. The next action should continue positioning the gripper precisely over the top right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31897926330566406, + -0.1311134248971939, + 0.025626959279179573, + 3.1249356269836426, + 0.12835654616355896, + -0.6227184534072876 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask to approach the top right corner is in progress, with the arm moving toward the target area. The next action should continue positioning the gripper precisely over the top right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32671239972114563, + -0.1340896189212799, + 0.013675103895366192, + 3.1192119121551514, + 0.15082591772079468, + -0.6363101601600647 + ], + "gripper_value": 0.9730880856513977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 4 cm, move left 5 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3318481147289276, + -0.1358204036951065, + 0.009244854561984539, + 3.1267266273498535, + 0.16397255659103394, + -0.6558935046195984 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white object": [ + 227, + 128, + 375, + 205 + ], + "yellow cloth": [ + 123, + 271, + 800, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move left 9 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3317078649997711, + -0.13604146242141724, + 0.009055472910404205, + -3.141526460647583, + 0.17510874569416046, + -0.6545815467834473 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move left 10 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33218130469322205, + -0.1350211650133133, + 0.009103055112063885, + -3.133204698562622, + 0.1766258180141449, + -0.6466169357299805 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 13 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33112674951553345, + -0.13309599459171295, + 0.008038176223635674, + -3.125854015350342, + 0.18434761464595795, + -0.6441617608070374 + ], + "gripper_value": 0.11201969534158707 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 14 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33062422275543213, + -0.13214440643787384, + 0.008870504796504974, + -3.1202855110168457, + 0.18507228791713715, + -0.6365552544593811 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 16 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32672634720802307, + -0.13224253058433533, + 0.011129611171782017, + -3.131176710128784, + 0.19131335616111755, + -0.6506784558296204 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 18 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32577624917030334, + -0.1317763775587082, + 0.03110230714082718, + -3.1115946769714355, + 0.14924897253513336, + -0.6392678022384644 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 19 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31947654485702515, + -0.12340392917394638, + 0.05210179463028908, + -3.0744199752807617, + 0.1452852338552475, + -0.6171343326568604 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top right corner of the yellow cloth and is now in contact with it. The gripper is closing, indicating the start of the grasp. The next action is to fully secure the corner and lift it slightly to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 18 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3097134828567505, + -0.11386092752218246, + 0.06860359758138657, + -3.0615878105163574, + 0.150559663772583, + -0.5908164381980896 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 17 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29521191120147705, + -0.08375727385282516, + 0.0843217521905899, + -3.084301710128784, + 0.11029704660177231, + -0.533437192440033 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 14 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805325984954834, + -0.04884687438607216, + 0.09111997485160828, + -3.0925819873809814, + 0.10091695934534073, + -0.47422468662261963 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2728329300880432, + -0.033423878252506256, + 0.09080366790294647, + -3.0987563133239746, + 0.08038467168807983, + -0.46898022294044495 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25797563791275024, + -0.008292370475828648, + 0.08545296639204025, + -3.0988259315490723, + 0.10649921000003815, + -0.4406992793083191 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2422018051147461, + 0.011633208952844143, + 0.07330445945262909, + -3.113682985305786, + 0.12590724229812622, + -0.38835886120796204 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22870831191539764, + 0.02844580076634884, + 0.05805514007806778, + -3.1337413787841797, + 0.1320274919271469, + -0.34568509459495544 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 121, + 277, + 556, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22138871252536774, + 0.04311780259013176, + 0.04993405193090439, + -3.1310243606567383, + 0.131478413939476, + -0.2814997732639313 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move up 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21586300432682037, + 0.053314387798309326, + 0.039150163531303406, + 3.13572359085083, + 0.1570708006620407, + -0.24707511067390442 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "release and flatten fold", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21426866948604584, + 0.05480450019240379, + 0.038701366633176804, + 3.136906147003174, + 0.16228245198726654, + -0.23661743104457855 + ], + "gripper_value": 0.07559127360582352 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 103, + 276, + 515, + 996 + ], + "table": [ + 3, + 157, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "release and flatten fold", + "subtask_reasoning": "The robot is currently holding the top right corner of the yellow cloth, having completed the approach and grasp phases. The gripper is closed and the end-effector is positioned to initiate movement. The next action is to drag the held corner diagonally across the table toward the bottom left to create the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.21063067018985748, + 0.055594731122255325, + 0.03991653770208359, + 3.1261520385742188, + 0.1848871111869812, + -0.2382960021495819 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "release and flatten fold", + "subtask_reasoning": "The robot has dragged the top right corner of the cloth to the bottom left and is now in contact with the surface. The gripper is open, indicating the cloth has been released. The next step is to flatten the fold by pressing or smoothing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.20980486273765564, + 0.0563432052731514, + 0.04076702892780304, + 3.1284468173980713, + 0.19408921897411346, + -0.23670454323291779 + ], + "gripper_value": 0.4775448143482208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "release and flatten fold", + "subtask_reasoning": "The robot has dragged the top right corner of the cloth to the bottom left and is now in contact with the surface. The gripper is open, indicating the cloth has been released. The next step is to flatten the fold by pressing or smoothing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.21107220649719238, + 0.05505109205842018, + 0.042728375643491745, + 3.1343882083892822, + 0.2011319100856781, + -0.24284979701042175 + ], + "gripper_value": 0.7855378985404968 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "release and flatten fold", + "subtask_reasoning": "The robot has dragged the top right corner of the cloth to the bottom left and is now in contact with the surface. The gripper is open, indicating the cloth has been released. The next step is to flatten the fold by pressing or smoothing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.21054701507091522, + 0.05362376198172569, + 0.043300580233335495, + 3.1357920169830322, + 0.2097981721162796, + -0.24957554042339325 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "release and flatten fold", + "subtask_reasoning": "The robot has dragged the top right corner of the cloth to the bottom left and is now in contact with the surface. The gripper is open, indicating the cloth has been released. The next step is to flatten the fold by pressing or smoothing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21517279744148254, + 0.04988105595111847, + 0.05550079792737961, + -3.120018243789673, + 0.1909000128507614, + -0.27709314227104187 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "retreat and finalize", + "subtask_reasoning": "The robot has dragged the top right corner of the cloth to the bottom left and is now in contact with the surface. The gripper is open, indicating the cloth has been released. The next step is to flatten the fold by pressing or smoothing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.21719567477703094, + 0.0466909222304821, + 0.07117410749197006, + -3.093094825744629, + 0.1547299325466156, + -0.28830742835998535 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "retreat and finalize", + "subtask_reasoning": "The robot has dragged the top right corner of the cloth to the bottom left and is now in contact with the surface. The gripper is open, indicating the cloth has been released. The next step is to flatten the fold by pressing or smoothing the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.223561093211174, + 0.0448562391102314, + 0.09437532722949982, + -3.0675997734069824, + 0.09957899153232574, + -0.30128028988838196 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "retreat and finalize", + "subtask_reasoning": "The cloth has been folded from the top right to the bottom left, and the gripper is now open and positioned above the folded cloth. The current subtask involves retreating the gripper to finalize the fold without disturbing the cloth. The next action is to move the gripper further away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.22570927441120148, + 0.043814823031425476, + 0.1128372773528099, + -3.059537887573242, + 0.06072276085615158, + -0.3210468292236328 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "retreat and finalize", + "subtask_reasoning": "The cloth has been folded from the top right to the bottom left, and the gripper is now open and positioned above the folded cloth. The current subtask involves retreating the gripper to finalize the fold without disturbing the cloth. The next action is to move the gripper further away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.22523324191570282, + 0.041069429367780685, + 0.11776135861873627, + -3.062987804412842, + 0.05907216668128967, + -0.3436011075973511 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from the top right to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top right corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and flatten fold" + }, + { + "id": 5, + "subtask": "retreat and finalize" + } + ], + "subtask_name": "retreat and finalize", + "subtask_reasoning": "The cloth has been folded from the top right to the bottom left, and the gripper is now open and positioned above the folded cloth. The current subtask involves retreating the gripper to finalize the fold without disturbing the cloth. The next action is to move the gripper further away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004120_ecot.json b/cot/chunk-0004/episode_0004120_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..25ca95c6b32c1f4705f4627434ae46671b791f68 --- /dev/null +++ b/cot/chunk-0004/episode_0004120_ecot.json @@ -0,0 +1,1834 @@ +{ + "task_name": "episode_0004120", + "episode_json": "json/chunk-0004/episode_0004120.json", + "video_path": "videos/chunk-0004/image_0/episode_0004120.mp4", + "instruction": "Puting the toy inside the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004120.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.3643718957901001, + "std": 0.16887541115283966, + "delta_total": 0.003934979438781738, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36437, std=0.16888, total_delta=0.00393). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 8 + ], + [ + 3, + 9, + 9 + ], + [ + 4, + 10, + 19 + ], + [ + 5, + 20, + 24 + ], + [ + 6, + 25, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach toy\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the yellow toy on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp toy\", \"start\": 10, \"end\": 14, \"planning\": \"Close the gripper around the yellow toy to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and carry toy\", \"start\": 15, \"end\": 19, \"planning\": \"Lift the grasped toy and move it horizontally toward the drawer opening.\"},\n {\"id\": 4, \"name\": \"release toy into drawer\", \"start\": 20, \"end\": 24, \"planning\": \"Open the gripper to drop the toy inside the drawer while positioned over the opening.\"},\n {\"id\": 5, \"name\": \"retreat from drawer\", \"start\": 25, \"end\": 25, \"planning\": \"Move the end-effector away from the drawer after releasing the toy.\"}\n ],\n \"global_plan\": \"Approach the yellow toy, grasp it securely, lift and carry it to the drawer, release it inside, then retreat.\",\n \"notes\": \"Gripper closure occurs only in segment 4 (frames 10-19), consistent with grasp action; segments 1, 3, and 6 show no gripper movement and are described as approach or retreat phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach toy", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the yellow toy on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp toy", + "start": 10, + "end": 14, + "planning": "Close the gripper around the yellow toy to secure it for lifting." + }, + { + "id": 3, + "name": "lift and carry toy", + "start": 15, + "end": 19, + "planning": "Lift the grasped toy and move it horizontally toward the drawer opening." + }, + { + "id": 4, + "name": "release toy into drawer", + "start": 20, + "end": 24, + "planning": "Open the gripper to drop the toy inside the drawer while positioned over the opening." + }, + { + "id": 5, + "name": "retreat from drawer", + "start": 25, + "end": 25, + "planning": "Move the end-effector away from the drawer after releasing the toy." + } + ], + "global_plan": "Approach the yellow toy, grasp it securely, lift and carry it to the drawer, release it inside, then retreat.", + "notes": "Gripper closure occurs only in segment 4 (frames 10-19), consistent with grasp action; segments 1, 3, and 6 show no gripper movement and are described as approach or retreat phases." + } + }, + "episode_goal": "Pick up the yellow toy corn from the table and place it inside the open drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4277709126472473, + -0.11084859073162079, + 0.18454568088054657, + 2.998239755630493, + -0.3280971050262451, + -0.10806474834680557 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible nearby and the drawer open to the right. No actions have been completed yet as this is the start of the approach phase. The gripper is open and stationary, indicating readiness to move. The next action should be to move the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 26 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.42788922786712646, + -0.11084891110658646, + 0.16684451699256897, + 3.00284481048584, + -0.28688299655914307, + -0.10893750935792923 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible nearby and the drawer open to the right. No actions have been completed yet as this is the start of the approach phase. The gripper is open and stationary, indicating readiness to move. The next action should be to move the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 26 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4159490764141083, + -0.09060364961624146, + 0.14530329406261444, + 3.01031231880188, + -0.24079273641109467, + -0.08848322927951813 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible nearby and the drawer open to the right. No actions have been completed yet as this is the start of the approach phase. The gripper is open and stationary, indicating readiness to move. The next action should be to move the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 24 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39967748522758484, + -0.05290345475077629, + 0.15104131400585175, + 3.0115153789520264, + -0.23935553431510925, + -0.01453992910683155 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible nearby and the drawer open to the right. No actions have been completed yet as this is the start of the approach phase. The gripper is open and stationary, indicating readiness to move. The next action should be to move the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 21 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37572163343429565, + -0.015816811472177505, + 0.14379066228866577, + 3.0230960845947266, + -0.20456281304359436, + 0.025558380410075188 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 583, + 234, + 754, + 356 + ], + "toy chick": [ + 523, + 623, + 664, + 808 + ], + "corn": [ + 101, + 314, + 251, + 491 + ], + "black handle": [ + 416, + 204, + 554, + 369 + ], + "thread spool": [ + 816, + 175, + 929, + 322 + ], + "grey block": [ + 732, + 497, + 895, + 745 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible to the left and the open drawer to the right. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the toy. The next action is to continue moving the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 17 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552510440349579, + 0.019067145884037018, + 0.14553870260715485, + 3.0657780170440674, + -0.2112654447555542, + 0.02638956345617771 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible to the left and the open drawer to the right. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the toy. The next action is to continue moving the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 13 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33829715847969055, + 0.05567069724202156, + 0.13589678704738617, + 3.0936641693115234, + -0.19579437375068665, + 0.07075434178113937 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible to the left and the open drawer to the right. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the toy. The next action is to continue moving the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3213692307472229, + 0.09422395378351212, + 0.11891957372426987, + 3.1371288299560547, + -0.17352057993412018, + 0.10106660425662994 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible to the left and the open drawer to the right. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the toy. The next action is to continue moving the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 7 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042334020137787, + 0.12071467190980911, + 0.100040502846241, + -3.140624761581421, + -0.1575937271118164, + 0.1308354139328003 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible to the left and the open drawer to the right. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the toy. The next action is to continue moving the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 7 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828410267829895, + 0.14493516087532043, + 0.07621099799871445, + 3.1350765228271484, + -0.141581729054451, + 0.16021621227264404 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible to the left and the open drawer to the right. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the toy. The next action is to continue moving the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 9 cm, move left 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2736228406429291, + 0.15267443656921387, + 0.051094383001327515, + -3.130709648132324, + -0.11372121423482895, + 0.17979826033115387 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 583, + 235, + 754, + 357 + ], + "black handle": [ + 415, + 205, + 554, + 375 + ], + "toy chick": [ + 522, + 622, + 663, + 809 + ], + "thread spool": [ + 815, + 175, + 929, + 323 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible to the left and the open drawer to the right. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the toy. The next action is to continue moving the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 11 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27237504720687866, + 0.1579485833644867, + 0.03337294980883598, + -3.1055400371551514, + -0.08675304055213928, + 0.21082918345928192 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp toy", + "subtask_reasoning": "The robot is positioned above the table with the yellow toy corn visible to the left and the open drawer to the right. No objects have been moved yet. The gripper is open and the arm is in motion, indicating the robot is currently approaching the toy. The next action is to continue moving the end-effector closer to the yellow toy corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 11 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706487774848938, + 0.15990467369556427, + 0.00839441828429699, + -3.0986945629119873, + 0.003733391175046563, + 0.22769315540790558 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy corn on the table, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to securely grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move forward 11 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733820676803589, + 0.16650505363941193, + -0.0019031763076782227, + -3.080491781234741, + 0.05622602254152298, + 0.2585701644420624 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy corn on the table, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to securely grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 11 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747439742088318, + 0.1664232611656189, + -0.001463314052671194, + -3.079695463180542, + 0.04797095060348511, + 0.26531875133514404 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "grasp toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy corn on the table, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to securely grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 11 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804740071296692, + 0.16670912504196167, + 0.020429836586117744, + -3.0811076164245605, + -0.013323692604899406, + 0.2688673138618469 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and carry toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy corn on the table, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to securely grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946811616420746, + 0.16935907304286957, + 0.039676275104284286, + -3.1033716201782227, + -0.06221110746264458, + 0.2825864255428314 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and carry toy", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow toy corn on the table, with the gripper open and ready. The approach phase is complete, and the gripper signal indicates a closing action is occurring within this segment. The next immediate action is to close the gripper to securely grasp the toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32079431414604187, + 0.17747032642364502, + 0.0604059100151062, + -3.108433246612549, + -0.12940055131912231, + 0.2891697585582733 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 583, + 235, + 755, + 358 + ], + "black handle": [ + 415, + 205, + 553, + 368 + ], + "red box": [ + 505, + 135, + 996, + 712 + ], + "thread spool": [ + 814, + 175, + 930, + 323 + ], + "toy chick": [ + 523, + 622, + 665, + 809 + ], + "grey block": [ + 731, + 496, + 895, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and carry toy", + "subtask_reasoning": "The robot has successfully grasped the yellow toy corn and is currently lifting it above the table surface. The gripper remains closed with no further closing motion, indicating the object is secured. The next action is to carry the toy toward the open drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3469228744506836, + 0.1784161627292633, + 0.0557662658393383, + -3.1176040172576904, + -0.1203700453042984, + 0.26774418354034424 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and carry toy", + "subtask_reasoning": "The robot has successfully grasped the yellow toy corn and is currently lifting it above the table surface. The gripper remains closed with no further closing motion, indicating the object is secured. The next action is to carry the toy toward the open drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3724137842655182, + 0.18825052678585052, + 0.05366365239024162, + -3.135655403137207, + -0.14314641058444977, + 0.26808130741119385 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "lift and carry toy", + "subtask_reasoning": "The robot has successfully grasped the yellow toy corn and is currently lifting it above the table surface. The gripper remains closed with no further closing motion, indicating the object is secured. The next action is to carry the toy toward the open drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39065003395080566, + 0.19291061162948608, + 0.03642300143837929, + 3.1188297271728516, + -0.11375420540571213, + 0.26216843724250793 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release toy into drawer", + "subtask_reasoning": "The robot has successfully grasped the yellow toy corn and is currently lifting it above the table surface. The gripper remains closed with no further closing motion, indicating the object is secured. The next action is to carry the toy toward the open drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.40139690041542053, + 0.19329367578029633, + 0.01791434921324253, + 3.1133856773376465, + -0.061495888978242874, + 0.2478393167257309 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release toy into drawer", + "subtask_reasoning": "The robot has successfully grasped the yellow toy corn and is currently lifting it above the table surface. The gripper remains closed with no further closing motion, indicating the object is secured. The next action is to carry the toy toward the open drawer for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4093937575817108, + 0.18966951966285706, + 0.005109516903758049, + 3.1114048957824707, + -0.02886667102575302, + 0.2304212898015976 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release toy into drawer", + "subtask_reasoning": "The yellow toy corn is currently on the table, not yet inside the drawer. The gripper is open (0.64) and positioned above the table, indicating the release action has not occurred or the toy was not successfully carried. The robot must first re-grasp the toy corn before attempting to place it into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.40940535068511963, + 0.1926364004611969, + 0.0091062281280756, + 3.1299805641174316, + -0.015009161084890366, + 0.23833152651786804 + ], + "gripper_value": 0.6981924772262573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release toy into drawer", + "subtask_reasoning": "The yellow toy corn is currently on the table, not yet inside the drawer. The gripper is open (0.64) and positioned above the table, indicating the release action has not occurred or the toy was not successfully carried. The robot must first re-grasp the toy corn before attempting to place it into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.40944209694862366, + 0.1893843412399292, + 0.0063905478455126286, + 3.1269381046295166, + -0.028108319267630577, + 0.23950542509555817 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "release toy into drawer", + "subtask_reasoning": "The yellow toy corn is currently on the table, not yet inside the drawer. The gripper is open (0.64) and positioned above the table, indicating the release action has not occurred or the toy was not successfully carried. The robot must first re-grasp the toy corn before attempting to place it into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.41910862922668457, + 0.18131700158119202, + 0.05354929715394974, + -3.134098768234253, + -0.14199116826057434, + 0.24183711409568787 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow toy corn from the table and place it inside the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach toy" + }, + { + "id": 2, + "subtask": "grasp toy" + }, + { + "id": 3, + "subtask": "lift and carry toy" + }, + { + "id": 4, + "subtask": "release toy into drawer" + }, + { + "id": 5, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The yellow toy corn is visible on the table, and the drawer is open but empty, indicating the placement task has not yet been completed. The robot is currently positioned near the toy with an open gripper, suggesting it is preparing to approach and grasp the object. The next action should be to move the end-effector towards the yellow toy to initiate the pickup sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004122_ecot.json b/cot/chunk-0004/episode_0004122_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7cec6cd5fdf87bfd6a9e0ff4f14423c6942278b9 --- /dev/null +++ b/cot/chunk-0004/episode_0004122_ecot.json @@ -0,0 +1,898 @@ +{ + "task_name": "episode_0004122", + "episode_json": "json/chunk-0004/episode_0004122.json", + "video_path": "videos/chunk-0004/image_0/episode_0004122.mp4", + "instruction": "Put corn in pan which is on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 14, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004122.json" + }, + "fps": 5.0, + "T_eff": 14, + "gripper_behavior_summary": { + "available": true, + "range": 0.4262959957122803, + "std": 0.2004052698612213, + "delta_total": -0.4262959957122803, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42630, std=0.20041, total_delta=-0.42630). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 7 + ], + [ + 3, + 8, + 13 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector down toward the corn on the counter without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp corn\", \"start\": 3, \"end\": 7, \"planning\": \"Close the gripper around the corn to secure a firm hold, confirmed by significant gripper value decrease.\"},\n {\"id\": 3, \"name\": \"lift and place corn in pan\", \"start\": 8, \"end\": 13, \"planning\": \"Lift the grasped corn and move it over the pan on the stove, then release it into the pan.\"}\n ],\n \"global_plan\": \"Approach the corn on the counter, grasp it securely, then lift and place it into the pan on the stove.\",\n \"notes\": \"Segment 1 shows no gripper closing, so it is purely an approach phase. Segment 2 shows clear gripper closure consistent with grasping. Segment 3 maintains a closed gripper while moving the corn to the pan and releasing it.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 2, + "planning": "Move the end-effector down toward the corn on the counter without closing the gripper." + }, + { + "id": 2, + "name": "grasp corn", + "start": 3, + "end": 7, + "planning": "Close the gripper around the corn to secure a firm hold, confirmed by significant gripper value decrease." + }, + { + "id": 3, + "name": "lift and place corn in pan", + "start": 8, + "end": 13, + "planning": "Lift the grasped corn and move it over the pan on the stove, then release it into the pan." + } + ], + "global_plan": "Approach the corn on the counter, grasp it securely, then lift and place it into the pan on the stove.", + "notes": "Segment 1 shows no gripper closing, so it is purely an approach phase. Segment 2 shows clear gripper closure consistent with grasping. Segment 3 maintains a closed gripper while moving the corn to the pan and releasing it." + } + }, + "episode_goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38866424560546875, + 0.00473813759163022, + 0.06714168936014175, + -3.10534405708313, + -0.3885040879249573, + 0.10177529603242874 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the stove with the corn cob visible on the countertop. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end effector closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38548311591148376, + 0.003986516036093235, + 0.05016200616955757, + -3.107893705368042, + -0.35875940322875977, + 0.10397711396217346 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the stove with the corn cob visible on the countertop. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3898470103740692, + 0.003239541780203581, + 0.04455097019672394, + -3.120821237564087, + -0.39818623661994934, + 0.1147320494055748 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the stove with the corn cob visible on the countertop. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3914377987384796, + 0.003188350237905979, + 0.028702126815915108, + 3.1351940631866455, + -0.406412810087204, + 0.13985753059387207 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pepper": [ + 704, + 93, + 816, + 216 + ], + "green vegetable": [ + 865, + 116, + 995, + 248 + ], + "corn": [ + 575, + 332, + 650, + 442 + ], + "ladle": [ + 280, + 259, + 421, + 351 + ], + "coffee maker": [ + 508, + 65, + 725, + 391 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned near the stove with the corn cob visible on the countertop. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 9 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39393216371536255, + 0.0019514374434947968, + 0.019982140511274338, + 3.114305257797241, + -0.41905659437179565, + 0.14415286481380463 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned near the stove with the corn cob visible on the countertop. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the corn cob to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.394001841545105, + 0.0013521038927137852, + 0.012865540571510792, + 3.099004030227661, + -0.4359144866466522, + 0.16549120843410492 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot has approached the corn cob on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.39347779750823975, + -0.004055956844240427, + 0.009811583906412125, + 3.0888712406158447, + -0.4594547152519226, + 0.1943000853061676 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot has approached the corn cob on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.39098677039146423, + -0.0029835207387804985, + 0.009212309494614601, + 3.127960205078125, + -0.4453950524330139, + 0.17730145156383514 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot has approached the corn cob on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 9 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3860582411289215, + 0.0035730821546167135, + 0.019034136086702347, + -3.073465585708618, + -0.37627631425857544, + 0.13026364147663116 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "lift and place corn in pan", + "subtask_reasoning": "The robot has approached the corn cob on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38954201340675354, + 0.011305930092930794, + 0.05086620897054672, + -3.0053768157958984, + -0.3658328652381897, + 0.0851445123553276 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "lift and place corn in pan", + "subtask_reasoning": "The robot has approached the corn cob on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39563101530075073, + 0.022015921771526337, + 0.06927869468927383, + -2.9527225494384766, + -0.32565203309059143, + 0.004111004527658224 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "lift and place corn in pan", + "subtask_reasoning": "The robot is currently holding the corn cob above the stove area, having already grasped it from the counter. The gripper state remains constant, indicating the object is secured while the arm maneuvers. The next action is to lower the corn cob into the metal pan on the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40259575843811035, + 0.04826649650931358, + 0.0840015709400177, + -2.9215478897094727, + -0.32133013010025024, + -0.051400475203990936 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "lift and place corn in pan", + "subtask_reasoning": "The robot is currently holding the corn cob above the stove area, having already grasped it from the counter. The gripper state remains constant, indicating the object is secured while the arm maneuvers. The next action is to lower the corn cob into the metal pan on the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40120962262153625, + 0.07501447945833206, + 0.08407702296972275, + -2.9119770526885986, + -0.32345929741859436, + -0.07264067977666855 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pepper": [ + 703, + 94, + 816, + 217 + ], + "coffee maker": [ + 445, + 4, + 664, + 205 + ], + "green vegetable": [ + 865, + 116, + 995, + 247 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "lift and place corn in pan", + "subtask_reasoning": "The robot is currently holding the corn cob above the stove area, having already grasped it from the counter. The gripper state remains constant, indicating the object is secured while the arm maneuvers. The next action is to lower the corn cob into the metal pan on the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39546990394592285, + 0.09379846602678299, + 0.07530858367681503, + -2.9296514987945557, + -0.35990598797798157, + -0.09241688251495361 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn cob from the countertop and place it into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and place corn in pan" + } + ], + "subtask_name": "lift and place corn in pan", + "subtask_reasoning": "The robot is currently holding the corn cob above the stove area, having already grasped it from the counter. The gripper state remains constant, indicating the object is secured while the arm maneuvers. The next action is to lower the corn cob into the metal pan on the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 13 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004123_ecot.json b/cot/chunk-0004/episode_0004123_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f4e4d92b938d3d5b93e1db1d53c88bf852604297 --- /dev/null +++ b/cot/chunk-0004/episode_0004123_ecot.json @@ -0,0 +1,1417 @@ +{ + "task_name": "episode_0004123", + "episode_json": "json/chunk-0004/episode_0004123.json", + "video_path": "videos/chunk-0004/image_0/episode_0004123.mp4", + "instruction": "Place the napkin to the right of the spoon.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004123.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033149123191833496, + "std": 0.001089434023015201, + "delta_total": -0.0013307929039001465, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00331, std=0.00109, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 17 + ], + [ + 3, + 18, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach napkin\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector down toward the purple napkin on the table.\"},\n {\"id\": 2, \"name\": \"reposition napkin\", \"start\": 6, \"end\": 17, \"planning\": \"Make contact with the napkin and slide it to the right, closer to the spoon's target location.\"},\n {\"id\": 3, \"name\": \"retreat from napkin\", \"start\": 18, \"end\": 22, \"planning\": \"Lift the end-effector away from the napkin after repositioning it.\"}\n ],\n \"global_plan\": \"Approach the napkin, slide it to the right near the spoon, then retreat.\",\n \"notes\": \"Gripper remained open throughout; no grasping occurred. Motion is contact-based sliding.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach napkin", + "start": 0, + "end": 5, + "planning": "Move the end-effector down toward the purple napkin on the table." + }, + { + "id": 2, + "name": "reposition napkin", + "start": 6, + "end": 17, + "planning": "Make contact with the napkin and slide it to the right, closer to the spoon's target location." + }, + { + "id": 3, + "name": "retreat from napkin", + "start": 18, + "end": 22, + "planning": "Lift the end-effector away from the napkin after repositioning it." + } + ], + "global_plan": "Approach the napkin, slide it to the right near the spoon, then retreat.", + "notes": "Gripper remained open throughout; no grasping occurred. Motion is contact-based sliding." + } + }, + "episode_goal": "Place the napkin to the right of the spoon.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31166091561317444, + 0.03983340039849281, + 0.11991947144269943, + 3.121725082397461, + -0.12933951616287231, + -0.01070511806756258 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the napkin, spoon, and other objects visible. The gripper is open and no contact has been made yet. The next action is to move the end effector closer to the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move down 10 cm, tilt forward 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081901967525482, + 0.039819810539484024, + 0.10868144780397415, + 3.1169328689575195, + -0.09610353410243988, + -0.012948155403137207 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the napkin, spoon, and other objects visible. The gripper is open and no contact has been made yet. The next action is to move the end effector closer to the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 8 cm, keep gripper open; then move forward 8 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872476875782013, + 0.04741371423006058, + 0.09126308560371399, + 3.1147778034210205, + -0.057431451976299286, + -0.014751018956303596 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 7 cm, keep gripper open; then move forward 11 cm, move right 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26441115140914917, + 0.058596912771463394, + 0.06857392936944962, + 3.1276259422302246, + -0.027593854814767838, + -0.026447491720318794 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 52, + 370, + 275, + 614 + ], + "purple cloth": [ + 196, + 435, + 500, + 743 + ], + "orange carrot": [ + 562, + 594, + 692, + 776 + ], + "wooden table": [ + 5, + 200, + 857, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, keep gripper open; then move forward 13 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2569589614868164, + 0.0624108649790287, + 0.054859474301338196, + 3.1382150650024414, + -0.04093979671597481, + -0.03183538466691971 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper open; then move forward 13 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25369343161582947, + 0.0616607703268528, + 0.037635207176208496, + 3.1363415718078613, + -0.02385897934436798, + -0.029836297035217285 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 13 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25564083456993103, + 0.05522764474153519, + 0.024587588384747505, + -3.1385862827301025, + -0.023052848875522614, + -0.056673698127269745 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25806355476379395, + 0.0463411882519722, + 0.015168922021985054, + -3.122253656387329, + -0.015711398795247078, + -0.08461036533117294 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630193829536438, + 0.044190507382154465, + 0.00991705060005188, + -3.100661277770996, + -0.009718842804431915, + -0.09565694630146027 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 4 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2698397636413574, + 0.04323272779583931, + 0.007273190189152956, + -3.0689406394958496, + 0.009634998627007008, + -0.11605723947286606 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, keep gripper open; then move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2928917407989502, + 0.041036754846572876, + 0.007208420429378748, + -3.071988821029663, + 0.013406158424913883, + -0.12269832193851471 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot is positioned above the table with the purple napkin visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the napkin to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33781400322914124, + 0.030412357300519943, + 0.008795615285634995, + -3.1041457653045654, + -0.029167573899030685, + -0.11458238214254379 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 293, + 389, + 569, + 612 + ], + "wooden table": [ + 5, + 185, + 857, + 989 + ], + "orange carrot": [ + 562, + 594, + 693, + 775 + ], + "metal bowl": [ + 51, + 372, + 276, + 617 + ] + } + } + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then move back 8 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3688076138496399, + 0.02038157358765602, + 0.00841033086180687, + -3.135495185852051, + -0.051928676664829254, + -0.1293213963508606 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then move back 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39043378829956055, + 0.007614838890731335, + 0.009933697059750557, + -3.140152931213379, + -0.06565054506063461, + -0.18779179453849792 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then move back 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3885974586009979, + 0.0035767073277384043, + 0.012396072968840599, + -3.1285595893859863, + -0.058389950543642044, + -0.21053598821163177 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3865540325641632, + -0.003618113696575165, + 0.023517439141869545, + -3.094512939453125, + -0.051047276705503464, + -0.207327201962471 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4026244878768921, + -0.0009945861529558897, + 0.056640587747097015, + -3.1024956703186035, + -0.12630796432495117, + -0.1518755853176117 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, keep gripper open; then move back 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4124232530593872, + 0.005476643797010183, + 0.08851311355829239, + -3.1212387084960938, + -0.1938440203666687, + -0.11763613671064377 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 414, + 282, + 681, + 534 + ], + "metal bowl": [ + 51, + 372, + 278, + 617 + ], + "blue spoon": [ + 240, + 253, + 348, + 409 + ], + "orange carrot": [ + 563, + 595, + 691, + 779 + ], + "wooden table": [ + 4, + 189, + 858, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "reposition napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move back 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40370509028434753, + 0.0004428123065736145, + 0.11303507536649704, + 3.139159679412842, + -0.2356284111738205, + -0.11480140686035156 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "retreat from napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37560057640075684, + -0.0025465753860771656, + 0.12375696748495102, + 3.072118043899536, + -0.21324904263019562, + -0.06223587691783905 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "retreat from napkin", + "subtask_reasoning": "The robot's end-effector is in contact with the purple napkin on the wooden table, positioned near the spoon. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue sliding the napkin to the right until it is properly positioned next to the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3484084904193878, + 0.002681778045371175, + 0.1396034210920334, + 3.0358898639678955, + -0.21452338993549347, + -0.012810597196221352 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "retreat from napkin", + "subtask_reasoning": "The napkin has been successfully repositioned to the right of the spoon. The robot is currently retreating from the napkin with an open gripper, as indicated by the lack of gripper closure and upward motion. The next action is to continue moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32042962312698364, + 0.0021629100665450096, + 0.1433696150779724, + 3.0312960147857666, + -0.20277559757232666, + 0.003367597470059991 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "retreat from napkin", + "subtask_reasoning": "The napkin has been successfully repositioned to the right of the spoon. The robot is currently retreating from the napkin with an open gripper, as indicated by the lack of gripper closure and upward motion. The next action is to continue moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31077438592910767, + 0.0044060517102479935, + 0.13471369445323944, + 3.05061411857605, + -0.17607630789279938, + -0.012211848050355911 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the napkin to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "reposition napkin" + }, + { + "id": 3, + "subtask": "retreat from napkin" + } + ], + "subtask_name": "retreat from napkin", + "subtask_reasoning": "The napkin has been successfully repositioned to the right of the spoon. The robot is currently retreating from the napkin with an open gripper, as indicated by the lack of gripper closure and upward motion. The next action is to continue moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004124_ecot.json b/cot/chunk-0004/episode_0004124_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c8db9f57fd6553cc3f407684ceee2be162c1c9 --- /dev/null +++ b/cot/chunk-0004/episode_0004124_ecot.json @@ -0,0 +1,2414 @@ +{ + "task_name": "episode_0004124", + "episode_json": "json/chunk-0004/episode_0004124.json", + "video_path": "videos/chunk-0004/image_0/episode_0004124.mp4", + "instruction": "Move the can to the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004124.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.00665360689163208, + "std": 0.0016255318187177181, + "delta_total": -0.001993715763092041, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00665, std=0.00163, total_delta=-0.00199). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 19 + ], + [ + 3, + 20, + 31 + ], + [ + 4, + 32, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can\", \"start\": 0, \"end\": 14, \"planning\": \"Move the end-effector toward the can on the table without grasping it.\"},\n {\"id\": 2, \"name\": \"reposition near can\", \"start\": 15, \"end\": 19, \"planning\": \"Adjust position slightly around the can to prepare for lateral movement.\"},\n {\"id\": 3, \"name\": \"slide can left\", \"start\": 20, \"end\": 31, \"planning\": \"Push or nudge the can horizontally to the left side of the table using contact.\"},\n {\"id\": 4, \"name\": \"retreat from can\", \"start\": 32, \"end\": 36, \"planning\": \"Lift and move the end-effector away from the can after repositioning it.\"}\n ],\n \"global_plan\": \"The robot approaches the can, adjusts its position, slides the can to the left via contact, then retreats — all without grasping, as gripper signals remain open throughout.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, no grasp/pick/place actions are inferred. All motion is contact-based pushing/sliding followed by retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can", + "start": 0, + "end": 14, + "planning": "Move the end-effector toward the can on the table without grasping it." + }, + { + "id": 2, + "name": "reposition near can", + "start": 15, + "end": 19, + "planning": "Adjust position slightly around the can to prepare for lateral movement." + }, + { + "id": 3, + "name": "slide can left", + "start": 20, + "end": 31, + "planning": "Push or nudge the can horizontally to the left side of the table using contact." + }, + { + "id": 4, + "name": "retreat from can", + "start": 32, + "end": 36, + "planning": "Lift and move the end-effector away from the can after repositioning it." + } + ], + "global_plan": "The robot approaches the can, adjusts its position, slides the can to the left via contact, then retreats — all without grasping, as gripper signals remain open throughout.", + "notes": "No segment shows meaningful gripper closing; therefore, no grasp/pick/place actions are inferred. All motion is contact-based pushing/sliding followed by retreat." + } + }, + "episode_goal": "Move the can to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630966305732727, + -0.0735764428973198, + 0.08960025757551193, + 3.0731863975524902, + -0.17096179723739624, + -0.0425502210855484 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next likely action is to move closer to the can to prepare for sliding it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621414363384247, + -0.07332781702280045, + 0.08295024931430817, + 3.0775034427642822, + -0.1465756595134735, + -0.03718689829111099 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next likely action is to move closer to the can to prepare for sliding it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705402970314026, + -0.07517021149396896, + 0.08222336322069168, + 3.087559700012207, + -0.15915492177009583, + -0.025748111307621002 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next likely action is to move closer to the can to prepare for sliding it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28982987999916077, + -0.08559130877256393, + 0.08370959758758545, + 3.085960626602173, + -0.19483035802841187, + -0.02260139398276806 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next likely action is to move closer to the can to prepare for sliding it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3207520842552185, + -0.09594324231147766, + 0.08591068536043167, + 3.0675089359283447, + -0.23919299244880676, + -0.015629855915904045 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next likely action is to move closer to the can to prepare for sliding it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 10 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36403438448905945, + -0.10122045129537582, + 0.07593516260385513, + 3.0435149669647217, + -0.24520328640937805, + -0.008871090598404408 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy fork": [ + 584, + 521, + 760, + 853 + ], + "toy microwave": [ + 281, + 2, + 679, + 225 + ], + "toy pot": [ + 258, + 366, + 548, + 670 + ], + "purple cloth": [ + 393, + 447, + 598, + 719 + ], + "wooden countertop": [ + 5, + 118, + 871, + 958 + ], + "tomato sauce": [ + 652, + 14, + 751, + 240 + ], + "pot lid": [ + 295, + 388, + 523, + 601 + ], + "toy stove": [ + 669, + 155, + 996, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next likely action is to move closer to the can to prepare for sliding it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.40424036979675293, + -0.09806740283966064, + 0.06562164425849915, + 3.0252022743225098, + -0.2487073391675949, + 0.015200634486973286 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next likely action is to move closer to the can to prepare for sliding it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 10 cm, rotate clockwise 20 degrees, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4325922429561615, + -0.10184372961521149, + 0.05046664550900459, + 3.024169921875, + -0.23366351425647736, + 0.03030429035425186 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4417397379875183, + -0.10099350661039352, + 0.045518722385168076, + 3.0303869247436523, + -0.2199934870004654, + 0.02317972481250763 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4422745406627655, + -0.0999598428606987, + 0.04554375261068344, + 3.0304181575775146, + -0.21382783353328705, + 0.024568306282162666 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.44462302327156067, + -0.0943332090973854, + 0.04572850465774536, + 3.0300209522247314, + -0.2074829488992691, + 0.038033902645111084 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4480963349342346, + -0.0855851098895073, + 0.04648037627339363, + 3.018665313720703, + -0.19889748096466064, + 0.06530571728944778 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.45008403062820435, + -0.07744637876749039, + 0.045307260006666183, + 3.010769844055176, + -0.17233538627624512, + 0.08802659064531326 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.46979472041130066, + -0.041829727590084076, + 0.06154167652130127, + 2.9814352989196777, + -0.23622874915599823, + 0.18524131178855896 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.46896111965179443, + 0.004288182593882084, + 0.06423503160476685, + 2.9716715812683105, + -0.21075282990932465, + 0.2771877348423004 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy fork": [ + 583, + 520, + 762, + 853 + ], + "toy pot": [ + 258, + 368, + 546, + 668 + ], + "wooden countertop": [ + 6, + 117, + 933, + 963 + ], + "purple cloth": [ + 395, + 446, + 598, + 723 + ], + "toy microwave": [ + 281, + 2, + 682, + 230 + ], + "pot lid": [ + 295, + 388, + 522, + 602 + ], + "toy stove": [ + 681, + 156, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.46985316276550293, + 0.006899679079651833, + 0.06947124749422073, + 2.9484500885009766, + -0.2005131095647812, + 0.2908562421798706 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.46577537059783936, + 0.021996421739459038, + 0.06630535423755646, + 2.9334328174591064, + -0.18100018799304962, + 0.3221922814846039 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is approaching the can on the table, with the gripper open and no contact yet. The can remains stationary to the right of the pot. Next, the robot should continue moving toward the can to prepare for sliding it left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4586159586906433, + 0.018138157203793526, + 0.06539248675107956, + 2.9232490062713623, + -0.17037847638130188, + 0.3056238889694214 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no grasping action taken as gripper remains open. The can is still in its original location, and the robot appears ready to initiate contact-based sliding to move it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4554840922355652, + -0.00254044309258461, + 0.06966374814510345, + 2.8986618518829346, + -0.2033516764640808, + 0.2471826672554016 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no grasping action taken as gripper remains open. The can is still in its original location, and the robot appears ready to initiate contact-based sliding to move it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4516732096672058, + -0.03495500609278679, + 0.07156318426132202, + 2.9177777767181396, + -0.22589705884456635, + 0.15901651978492737 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "reposition near can", + "subtask_reasoning": "The robot is positioned near the can on the table, with no grasping action taken as gripper remains open. The can is still in its original location, and the robot appears ready to initiate contact-based sliding to move it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 2 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4519314467906952, + -0.05734319984912872, + 0.07149618119001389, + 2.915225028991699, + -0.24198004603385925, + 0.12159914523363113 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot is positioned near the can on the table, with no grasping action taken as gripper remains open. The can is still in its original location, and the robot appears ready to initiate contact-based sliding to move it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.45239588618278503, + -0.06332025676965714, + 0.07225433737039566, + 2.9218101501464844, + -0.251270592212677, + 0.11571363359689713 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot is positioned near the can on the table, with no grasping action taken as gripper remains open. The can is still in its original location, and the robot appears ready to initiate contact-based sliding to move it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 13 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.45106345415115356, + -0.07785339653491974, + 0.06265424937009811, + 2.9348511695861816, + -0.2430281788110733, + 0.08942846953868866 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot is positioned near the can on the table, with no grasping action taken as gripper remains open. The can is still in its original location, and the robot appears ready to initiate contact-based sliding to move it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 17 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.45220711827278137, + -0.07951366156339645, + 0.04932715371251106, + 2.935256004333496, + -0.22268547117710114, + 0.1135772094130516 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy fork": [ + 583, + 522, + 760, + 853 + ], + "toy microwave": [ + 282, + 2, + 679, + 225 + ], + "wooden countertop": [ + 30, + 117, + 928, + 962 + ], + "toy pot": [ + 259, + 367, + 548, + 670 + ], + "purple cloth": [ + 396, + 447, + 599, + 723 + ], + "toy stove": [ + 682, + 154, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot is positioned near the can on the table, with no grasping action taken as gripper remains open. The can is still in its original location, and the robot appears ready to initiate contact-based sliding to move it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 18 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.45370495319366455, + -0.0800148993730545, + 0.04106124863028526, + 2.9365735054016113, + -0.20709434151649475, + 0.1312156468629837 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot is positioned near the can on the table, with no grasping action taken as gripper remains open. The can is still in its original location, and the robot appears ready to initiate contact-based sliding to move it leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 18 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4523594081401825, + -0.07542964071035385, + 0.03737042844295502, + 2.968252420425415, + -0.2077573537826538, + 0.11896731704473495 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 17 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.44564029574394226, + -0.06295128911733627, + 0.028352059423923492, + 2.980677843093872, + -0.18618296086788177, + 0.14469952881336212 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 16 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4406825602054596, + -0.03456301987171173, + 0.03759421408176422, + 2.9953784942626953, + -0.19537048041820526, + 0.1854097545146942 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 13 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4339407980442047, + -0.006323451641947031, + 0.04051461070775986, + 3.0044257640838623, + -0.1926901936531067, + 0.22878387570381165 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 6, + 114, + 928, + 964 + ], + "toy fork": [ + 583, + 523, + 758, + 853 + ], + "toy pot": [ + 259, + 367, + 547, + 671 + ], + "purple cloth": [ + 393, + 449, + 599, + 722 + ], + "toy stove": [ + 682, + 153, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4300590455532074, + 0.016308099031448364, + 0.040499232709407806, + 3.007448196411133, + -0.17291392385959625, + 0.25490084290504456 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move up 1 cm, keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.42677995562553406, + 0.03411411866545677, + 0.046552643179893494, + 3.006462574005127, + -0.16962823271751404, + 0.2725963592529297 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.41228291392326355, + 0.06599528342485428, + 0.046533770859241486, + 3.0431020259857178, + -0.13755488395690918, + 0.2730114459991455 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "slide can left", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.402084082365036, + 0.095934197306633, + 0.04611760005354881, + 3.051713228225708, + -0.12033269554376602, + 0.33497354388237 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "retreat from can", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3970114588737488, + 0.10943261533975601, + 0.04742518439888954, + 3.0664596557617188, + -0.10607590526342392, + 0.3745884597301483 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "retreat from can", + "subtask_reasoning": "The robot's end-effector is in contact with the can on the table, positioned to push it leftward. The approach and repositioning phases are complete, and the gripper remains open, confirming a sliding motion rather than grasping. The next action is to continue applying lateral force to slide the can further left along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3963659703731537, + 0.1100759208202362, + 0.048360425978899, + 3.065922737121582, + -0.10444214940071106, + 0.35720303654670715 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "retreat from can", + "subtask_reasoning": "The robot has completed sliding the can to the left side of the table and is now retreating. The gripper remains fully open with no closing evidence, confirming no grasp occurred. The end-effector is moving away from the can’s final position, indicating the retreat phase is underway." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4007270336151123, + 0.10746156424283981, + 0.08028122037649155, + 3.0631771087646484, + -0.18643926084041595, + 0.338251531124115 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "retreat from can", + "subtask_reasoning": "The robot has completed sliding the can to the left side of the table and is now retreating. The gripper remains fully open with no closing evidence, confirming no grasp occurred. The end-effector is moving away from the can’s final position, indicating the retreat phase is underway." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.39944174885749817, + 0.09310515224933624, + 0.11004767566919327, + 3.06673264503479, + -0.2509136497974396, + 0.3030075430870056 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition near can" + }, + { + "id": 3, + "subtask": "slide can left" + }, + { + "id": 4, + "subtask": "retreat from can" + } + ], + "subtask_name": "retreat from can", + "subtask_reasoning": "The robot has completed sliding the can to the left side of the table and is now retreating. The gripper remains fully open with no closing evidence, confirming no grasp occurred. The end-effector is moving away from the can’s final position, indicating the retreat phase is underway." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004125_ecot.json b/cot/chunk-0004/episode_0004125_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9d8958797e483b16b3bfc9c8fb62733c922874d8 --- /dev/null +++ b/cot/chunk-0004/episode_0004125_ecot.json @@ -0,0 +1,2184 @@ +{ + "task_name": "episode_0004125", + "episode_json": "json/chunk-0004/episode_0004125.json", + "video_path": "videos/chunk-0004/image_0/episode_0004125.mp4", + "instruction": "Topple metal pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004125.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9354845881462097, + "std": 0.4311012625694275, + "delta_total": -0.0027056336402893066, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93548, std=0.43110, total_delta=-0.00271). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 15, + 15, + 15, + 15, + 15, + 15, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 132, + 132, + 132 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 20 + ], + [ + 3, + 21, + 31 + ], + [ + 4, + 32, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on pot\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the metal pot while closing the gripper to establish contact or grasp.\"},\n {\"id\": 2, \"name\": \"secure grip and lift pot slightly\", \"start\": 15, \"end\": 20, \"planning\": \"Fully close gripper around pot handle or rim and initiate upward motion to displace pot from upright position.\"},\n {\"id\": 3, \"name\": \"tilt and topple pot over fence\", \"start\": 21, \"end\": 31, \"planning\": \"Rotate and translate the pot to tip it sideways, causing it to fall against or over the cardboard fence structure.\"},\n {\"id\": 4, \"name\": \"release and retreat from toppled pot\", \"start\": 32, \"end\": 34, \"planning\": \"Open gripper to release the pot after toppling, then move end-effector away to complete the task.\"}\n ],\n \"global_plan\": \"Approach the metal pot, grasp it securely, tilt and topple it over the cardboard fence, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-14) with significant delta (-0.32), supporting 'close gripper' wording. Segments 2-4 show continued low gripper values followed by opening, consistent with grasping, manipulating, and releasing. Motion profiles support lifting and tilting phases. All subtasks are contiguous and cover full trajectory [0,34].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on pot", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the metal pot while closing the gripper to establish contact or grasp." + }, + { + "id": 2, + "name": "secure grip and lift pot slightly", + "start": 15, + "end": 20, + "planning": "Fully close gripper around pot handle or rim and initiate upward motion to displace pot from upright position." + }, + { + "id": 3, + "name": "tilt and topple pot over fence", + "start": 21, + "end": 31, + "planning": "Rotate and translate the pot to tip it sideways, causing it to fall against or over the cardboard fence structure." + }, + { + "id": 4, + "name": "release and retreat from toppled pot", + "start": 32, + "end": 34, + "planning": "Open gripper to release the pot after toppling, then move end-effector away to complete the task." + } + ], + "global_plan": "Approach the metal pot, grasp it securely, tilt and topple it over the cardboard fence, then release and retreat.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-14) with significant delta (-0.32), supporting 'close gripper' wording. Segments 2-4 show continued low gripper values followed by opening, consistent with grasping, manipulating, and releasing. Motion profiles support lifting and tilting phases. All subtasks are contiguous and cover full trajectory [0,34]." + } + }, + "episode_goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22752566635608673, + 0.16217081248760223, + 0.10501362383365631, + -3.005448341369629, + -0.1069735586643219, + 0.43977588415145874 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to lower the gripper and close it around the pot’s handle or rim to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22312843799591064, + 0.15780197083950043, + 0.09747032821178436, + -3.0181119441986084, + -0.0771288126707077, + 0.4426422417163849 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to lower the gripper and close it around the pot’s handle or rim to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21153321862220764, + 0.141321063041687, + 0.11119654774665833, + -3.0682687759399414, + -0.10901984572410583, + 0.44497546553611755 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to lower the gripper and close it around the pot’s handle or rim to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20236727595329285, + 0.13149011135101318, + 0.12091264128684998, + -3.102811574935913, + -0.09532081335783005, + 0.41679131984710693 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to lower the gripper and close it around the pot’s handle or rim to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.18908770382404327, + 0.12062995135784149, + 0.11635909974575043, + -3.1030895709991455, + -0.04699011147022247, + 0.3910503089427948 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to lower the gripper and close it around the pot’s handle or rim to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18188300728797913, + 0.11145254224538803, + 0.1017044335603714, + -3.066493034362793, + -0.012121077626943588, + 0.37263643741607666 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to lower the gripper and close it around the pot’s handle or rim to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.17970283329486847, + 0.10218286514282227, + 0.0846429392695427, + -3.061558723449707, + 0.005068563856184483, + 0.35076436400413513 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 127, + 423, + 411, + 832 + ], + "yellow fruit": [ + 355, + 786, + 491, + 928 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to lower the gripper and close it around the pot’s handle or rim to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1787225753068924, + 0.09408294409513474, + 0.07446521520614624, + -3.0637917518615723, + 0.00524678360670805, + 0.33172446489334106 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17949064075946808, + 0.08804188668727875, + 0.0669708326458931, + -3.0487048625946045, + -0.011617328971624374, + 0.2946596145629883 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18154266476631165, + 0.08866925537586212, + 0.06481800973415375, + -3.0305416584014893, + -0.027745423838496208, + 0.2751740515232086 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1841287910938263, + 0.087593674659729, + 0.0569908432662487, + -3.0102133750915527, + -0.01822415366768837, + 0.2557756304740906 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18468844890594482, + 0.08566896617412567, + 0.05279909819364548, + -3.004253387451172, + 0.016537008807063103, + 0.1859975904226303 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move back 1 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19121982157230377, + 0.08613657206296921, + 0.054854635149240494, + -3.003211259841919, + 0.012837875634431839, + 0.10651305317878723 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 128, + 434, + 410, + 832 + ], + "yellow fruit": [ + 356, + 786, + 489, + 926 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19209232926368713, + 0.08683034777641296, + 0.052899543195962906, + -2.99246883392334, + 0.01330952625721693, + 0.10315140336751938 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19204199314117432, + 0.08645413815975189, + 0.05186261981725693, + -2.996080160140991, + 0.020161425694823265, + 0.09612980484962463 + ], + "gripper_value": 0.676182746887207 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 4 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.1929260641336441, + 0.08722341060638428, + 0.051774706691503525, + -2.9971306324005127, + 0.01902168244123459, + 0.10620789974927902 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "secure grip and lift pot slightly", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 1 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.1950899362564087, + 0.08918853104114532, + 0.05337508022785187, + -3.0018725395202637, + 0.017212074249982834, + 0.12596797943115234 + ], + "gripper_value": 0.16920356452465057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "secure grip and lift pot slightly", + "subtask_reasoning": "The robot arm is positioned above the metal pot inside the cardboard fence, with the gripper open and ready to close. No grasping has occurred yet, as the gripper remains fully open in this frame. The next action should be to close the gripper around the pot's rim to secure it for toppling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 7 cm, move down 1 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.19444631040096283, + 0.0927216187119484, + 0.05425165593624115, + -2.9784395694732666, + 0.01372853759676218, + 0.14925159513950348 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "secure grip and lift pot slightly", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 2 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.18969285488128662, + 0.09598643332719803, + 0.06241384893655777, + -2.9043233394622803, + 0.02263893559575081, + 0.1812397539615631 + ], + "gripper_value": 0.06065736711025238 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "secure grip and lift pot slightly", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 8 cm, move down 3 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.18600961565971375, + 0.09868945181369781, + 0.07386552542448044, + -2.8935022354125977, + 0.007030733861029148, + 0.2043730914592743 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "secure grip and lift pot slightly", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 8 cm, move down 4 cm, tilt left 30 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1822478324174881, + 0.10670599341392517, + 0.09222070127725601, + -2.8933916091918945, + 0.039986010640859604, + 0.23497582972049713 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "secure grip and lift pot slightly", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 8 cm, move down 5 cm, tilt left 30 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.18123085796833038, + 0.1098504289984703, + 0.12316416949033737, + -2.75382137298584, + -0.11046066135168076, + 0.3249189555644989 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move down 5 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.17676302790641785, + 0.10223320871591568, + 0.13107535243034363, + -2.683119535446167, + -0.14611457288265228, + 0.3532319664955139 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 5 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.17541392147541046, + 0.08463017642498016, + 0.1258189082145691, + -2.568394660949707, + -0.25534799695014954, + 0.3331533670425415 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.17839565873146057, + 0.06522290408611298, + 0.12147293239831924, + -2.4438230991363525, + -0.371477335691452, + 0.24111363291740417 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow fruit": [ + 353, + 785, + 489, + 927 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.1828238070011139, + 0.05208069831132889, + 0.11549358814954758, + -2.3780927658081055, + -0.37812161445617676, + 0.16305916011333466 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The gripper is in contact with the metal pot's handle, and segment-level evidence confirms a closing grasp. The pot remains upright on the wooden surface, indicating the lift has not yet occurred. The next action is to complete the grip and initiate a slight upward lift to destabilize the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.18583916127681732, + 0.04441196843981743, + 0.10879085958003998, + -2.3346376419067383, + -0.3522090017795563, + 0.1369643211364746 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The robot has secured a grip on the metal pot and lifted it slightly, positioning it above the cardboard fence. The current state shows the pot is being tilted forward to initiate the toppling motion. The next action is to continue tilting and pushing the pot until it falls over the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.18834440410137177, + 0.03823443129658699, + 0.10240942239761353, + -2.330242395401001, + -0.3475751578807831, + 0.12234875559806824 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The robot has secured a grip on the metal pot and lifted it slightly, positioning it above the cardboard fence. The current state shows the pot is being tilted forward to initiate the toppling motion. The next action is to continue tilting and pushing the pot until it falls over the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.1920807957649231, + 0.03038518875837326, + 0.09222280234098434, + -2.3115005493164062, + -0.35035082697868347, + 0.10033735632896423 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The robot has secured a grip on the metal pot and lifted it slightly, positioning it above the cardboard fence. The current state shows the pot is being tilted forward to initiate the toppling motion. The next action is to continue tilting and pushing the pot until it falls over the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.1929515302181244, + 0.026740990579128265, + 0.08503030985593796, + -2.2741286754608154, + -0.35915324091911316, + 0.08514700084924698 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The robot has secured a grip on the metal pot and lifted it slightly, positioning it above the cardboard fence. The current state shows the pot is being tilted forward to initiate the toppling motion. The next action is to continue tilting and pushing the pot until it falls over the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt forward 10 degrees, keep gripper open; then move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.18836143612861633, + 0.025464648380875587, + 0.07768161594867706, + -2.262399673461914, + -0.3442448377609253, + 0.08608777076005936 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 157, + 416, + 440, + 757 + ], + "yellow fruit": [ + 353, + 785, + 490, + 927 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The robot has secured a grip on the metal pot and lifted it slightly, positioning it above the cardboard fence. The current state shows the pot is being tilted forward to initiate the toppling motion. The next action is to continue tilting and pushing the pot until it falls over the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt forward 10 degrees, keep gripper open; then move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.18270361423492432, + 0.025775328278541565, + 0.0770982876420021, + -2.2971365451812744, + -0.27797242999076843, + 0.12804892659187317 + ], + "gripper_value": 0.47659820318222046 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "tilt and topple pot over fence", + "subtask_reasoning": "The robot has secured a grip on the metal pot and lifted it slightly, positioning it above the cardboard fence. The current state shows the pot is being tilted forward to initiate the toppling motion. The next action is to continue tilting and pushing the pot until it falls over the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.18323180079460144, + 0.02493545599281788, + 0.0810420885682106, + -2.3558945655822754, + -0.23036587238311768, + 0.1733406037092209 + ], + "gripper_value": 0.7710858583450317 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "release and retreat from toppled pot", + "subtask_reasoning": "The robot has secured a grip on the metal pot and lifted it slightly, positioning it above the cardboard fence. The current state shows the pot is being tilted forward to initiate the toppling motion. The next action is to continue tilting and pushing the pot until it falls over the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.18340499699115753, + 0.025053055956959724, + 0.08541954308748245, + -2.375786781311035, + -0.21658293902873993, + 0.2159634828567505 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "release and retreat from toppled pot", + "subtask_reasoning": "The metal pot has been toppled over inside the cardboard fence and is resting on its side. The gripper is open and no longer in contact with the pot, indicating the release phase is complete. The robot should now retreat slightly to ensure full clearance from the fallen pot and fence structure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.18236994743347168, + 0.02630198374390602, + 0.10515686869621277, + -2.4530794620513916, + -0.19227094948291779, + 0.27815860509872437 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot by pushing it so it falls over inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grip and lift pot slightly" + }, + { + "id": 3, + "subtask": "tilt and topple pot over fence" + }, + { + "id": 4, + "subtask": "release and retreat from toppled pot" + } + ], + "subtask_name": "release and retreat from toppled pot", + "subtask_reasoning": "The metal pot has been toppled over inside the cardboard fence and is resting on its side. The gripper is open and no longer in contact with the pot, indicating the release phase is complete. The robot should now retreat slightly to ensure full clearance from the fallen pot and fence structure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004126_ecot.json b/cot/chunk-0004/episode_0004126_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8f001e51b6e4a4b5feb85830f80fbb422ce866b5 --- /dev/null +++ b/cot/chunk-0004/episode_0004126_ecot.json @@ -0,0 +1,1729 @@ +{ + "task_name": "episode_0004126", + "episode_json": "json/chunk-0004/episode_0004126.json", + "video_path": "videos/chunk-0004/image_0/episode_0004126.mp4", + "instruction": "Move the block.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004126.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.4049181342124939, + "std": 0.1318366825580597, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40492, std=0.13184, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 10 + ], + [ + 3, + 11, + 16 + ], + [ + 4, + 17, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach block\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector from initial position toward the target block on the table.\"},\n {\"id\": 2, \"name\": \"make contact with block\", \"start\": 11, \"end\": 16, \"planning\": \"Lower and align gripper to establish physical contact with the block without grasping.\"},\n {\"id\": 3, \"name\": \"grasp and lift block\", \"start\": 17, \"end\": 21, \"planning\": \"Close gripper to securely grasp the block and lift it slightly off the surface.\"},\n {\"id\": 4, \"name\": \"reposition block\", \"start\": 22, \"end\": 26, \"planning\": \"Transport the held block to a new location and prepare for release.\"}\n ],\n \"global_plan\": \"Approach the block, make contact, grasp and lift it, then reposition it to a new location.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in segments 1–3; grasp wording is only applied in segment 4 where gripper closure and image evidence align. Frame coverage is contiguous and complete from 0 to 26.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach block", + "start": 0, + "end": 10, + "planning": "Move the end-effector from initial position toward the target block on the table." + }, + { + "id": 2, + "name": "make contact with block", + "start": 11, + "end": 16, + "planning": "Lower and align gripper to establish physical contact with the block without grasping." + }, + { + "id": 3, + "name": "grasp and lift block", + "start": 17, + "end": 21, + "planning": "Close gripper to securely grasp the block and lift it slightly off the surface." + }, + { + "id": 4, + "name": "reposition block", + "start": 22, + "end": 26, + "planning": "Transport the held block to a new location and prepare for release." + } + ], + "global_plan": "Approach the block, make contact, grasp and lift it, then reposition it to a new location.", + "notes": "Gripper evidence confirms no meaningful closing in segments 1–3; grasp wording is only applied in segment 4 where gripper closure and image evidence align. Frame coverage is contiguous and complete from 0 to 26." + } + }, + "episode_goal": "Move the block with the red cross to the left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4091007113456726, + -0.026162970811128616, + 0.15711091458797455, + 3.0428266525268555, + -0.23441006243228912, + -0.0853927880525589 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the target block (red cross) visible on the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.40693891048431396, + -0.026744931936264038, + 0.13817167282104492, + 3.0390782356262207, + -0.1822083443403244, + -0.08465757220983505 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the target block (red cross) visible on the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4030177593231201, + -0.029198888689279556, + 0.12376397848129272, + 3.0398218631744385, + -0.1507958024740219, + -0.08647754043340683 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the target block (red cross) visible on the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3976539373397827, + -0.034149475395679474, + 0.11248704791069031, + 3.039409875869751, + -0.1324007213115692, + -0.0853399708867073 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the target block (red cross) visible on the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39272406697273254, + -0.051721978932619095, + 0.10780628025531769, + 3.0351901054382324, + -0.11805905401706696, + -0.10856340825557709 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the target block (red cross) visible on the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820820748806, + -0.06639225035905838, + 0.09707421809434891, + 3.025357246398926, + -0.08218103647232056, + -0.13495218753814697 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "egg cup": [ + 198, + 174, + 334, + 420 + ], + "table": [ + 4, + 4, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the red-cross block visible to the right. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the red-cross block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3732103407382965, + -0.07165856659412384, + 0.08812365680932999, + 3.0180134773254395, + -0.050183314830064774, + -0.14686459302902222 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the red-cross block visible to the right. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the red-cross block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3680182993412018, + -0.0771825909614563, + 0.08203538507223129, + 3.0117557048797607, + -0.03921706601977348, + -0.16666416823863983 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the red-cross block visible to the right. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the red-cross block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36872783303260803, + -0.07917466759681702, + 0.07886582612991333, + 3.0110023021698, + -0.041055113077163696, + -0.17231206595897675 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the red-cross block visible to the right. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the red-cross block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37280407547950745, + -0.0792870819568634, + 0.06461942940950394, + 3.0255212783813477, + -0.03761472925543785, + -0.17995786666870117 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the red-cross block visible to the right. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the red-cross block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3757505416870117, + -0.0799575224518776, + 0.05176018178462982, + 3.0799505710601807, + -0.024920575320720673, + -0.19975559413433075 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot is positioned above the table with the red-cross block visible to the right. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the red-cross block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3761129677295685, + -0.0846337080001831, + 0.04406687244772911, + 3.088618516921997, + -0.021504368633031845, + -0.21518070995807648 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "egg cup": [ + 198, + 175, + 334, + 419 + ], + "table": [ + 6, + 4, + 994, + 993 + ], + "wooden blocks": [ + 554, + 66, + 669, + 288 + ] + } + } + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "make contact with block", + "subtask_reasoning": "The robot is positioned above the table with the red-cross block visible to the right. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the red-cross block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38042470812797546, + -0.0853806808590889, + 0.04421131685376167, + 3.0897531509399414, + -0.0490526482462883, + -0.21373482048511505 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "make contact with block", + "subtask_reasoning": "The robot is positioned above the table with the red-cross block visible to the right. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end-effector closer to the red-cross block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821645677089691, + -0.08563839644193649, + 0.03656812384724617, + 3.0902836322784424, + -0.049009718000888824, + -0.2126929610967636 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "make contact with block", + "subtask_reasoning": "The robot has approached the block with the red cross and is now in direct contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve closing the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3847983181476593, + -0.08611873537302017, + 0.03445466235280037, + 3.0900704860687256, + -0.05610625073313713, + -0.20140114426612854 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "make contact with block", + "subtask_reasoning": "The robot has approached the block with the red cross and is now in direct contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve closing the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38898760080337524, + -0.08755803853273392, + 0.029963014647364616, + 3.0852229595184326, + -0.059750355780124664, + -0.18168164789676666 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "make contact with block", + "subtask_reasoning": "The robot has approached the block with the red cross and is now in direct contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve closing the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39583998918533325, + -0.09099633246660233, + 0.03252825886011124, + 3.0692191123962402, + -0.08375070989131927, + -0.14845189452171326 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "make contact with block", + "subtask_reasoning": "The robot has approached the block with the red cross and is now in direct contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve closing the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40281742811203003, + -0.09201833605766296, + 0.03200123459100723, + 3.0615663528442383, + -0.12859396636486053, + -0.09046155959367752 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached the block with the red cross and is now in direct contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve closing the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4055309593677521, + -0.09292799979448318, + 0.028086476027965546, + 3.0463027954101562, + -0.1569501757621765, + -0.031482428312301636 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached the block with the red cross and is now in direct contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve closing the gripper to secure the block before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.40585556626319885, + -0.0889924168586731, + 0.025734372437000275, + 3.0550644397735596, + -0.1824679672718048, + 0.029885422438383102 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached and made contact with the block with the red cross. The gripper is closing around the block, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the block slightly to confirm secure holding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.40429481863975525, + -0.08859385550022125, + 0.024893270805478096, + 3.053232192993164, + -0.18647757172584534, + 0.03691112622618675 + ], + "gripper_value": 0.5958979725837708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached and made contact with the block with the red cross. The gripper is closing around the block, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the block slightly to confirm secure holding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4039458930492401, + -0.08851402252912521, + 0.025448080152273178, + 3.05203914642334, + -0.1875670850276947, + 0.04171223193407059 + ], + "gripper_value": 0.5958979725837708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached and made contact with the block with the red cross. The gripper is closing around the block, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the block slightly to confirm secure holding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.40327224135398865, + -0.08833104372024536, + 0.025053346529603004, + 3.0491600036621094, + -0.18946781754493713, + 0.054633110761642456 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "reposition block", + "subtask_reasoning": "The robot has approached and made contact with the block with the red cross. The gripper is closing around the block, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the block slightly to confirm secure holding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4024242162704468, + -0.08949242532253265, + 0.02598625235259533, + 3.0320470333099365, + -0.18920780718326569, + 0.07721260190010071 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "reposition block", + "subtask_reasoning": "The robot has approached and made contact with the block with the red cross. The gripper is closing around the block, as indicated by the decreasing gripper value. The next action is to complete the grasp and lift the block slightly to confirm secure holding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4015008807182312, + -0.0898156613111496, + 0.02640722133219242, + 3.0343902111053467, + -0.18509192764759064, + 0.07408516854047775 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "reposition block", + "subtask_reasoning": "The robot has successfully grasped the block with the red cross and is currently holding it above the table. The gripper is closed, and the block is being repositioned to the left as per the goal. The next action is to place the block at the target location on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40271875262260437, + -0.08915138244628906, + 0.036901235580444336, + 3.034606695175171, + -0.20903955399990082, + 0.07018113881349564 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "reposition block", + "subtask_reasoning": "The robot has successfully grasped the block with the red cross and is currently holding it above the table. The gripper is closed, and the block is being repositioned to the left as per the goal. The next action is to place the block at the target location on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.40433967113494873, + -0.08171853423118591, + 0.05559799447655678, + 3.0733518600463867, + -0.2487034648656845, + 0.07142635434865952 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "card": [ + 759, + 301, + 874, + 469 + ], + "egg cup": [ + 199, + 175, + 334, + 419 + ], + "table": [ + 6, + 4, + 993, + 993 + ], + "wooden blocks": [ + 554, + 66, + 669, + 288 + ] + } + } + }, + "Understanding": { + "goal": "Move the block with the red cross to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "make contact with block" + }, + { + "id": 3, + "subtask": "grasp and lift block" + }, + { + "id": 4, + "subtask": "reposition block" + } + ], + "subtask_name": "reposition block", + "subtask_reasoning": "The robot has successfully grasped the block with the red cross and is currently holding it above the table. The gripper is closed, and the block is being repositioned to the left as per the goal. The next action is to place the block at the target location on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004127_ecot.json b/cot/chunk-0004/episode_0004127_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..50f2d464844ffa364b4f301b9ee18fba554f02f9 --- /dev/null +++ b/cot/chunk-0004/episode_0004127_ecot.json @@ -0,0 +1,2000 @@ +{ + "task_name": "episode_0004127", + "episode_json": "json/chunk-0004/episode_0004127.json", + "video_path": "videos/chunk-0004/image_0/episode_0004127.mp4", + "instruction": "Move the silver pot from the upper right to the lower right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004127.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9573118090629578, + "std": 0.4315146505832672, + "delta_total": -0.001993715763092041, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95731, std=0.43151, total_delta=-0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 126, + 126, + 126, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 25 + ], + [ + 4, + 26, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the silver pot on the upper right burner without grasping.\"},\n {\"id\": 2, \"name\": \"grasp silver pot\", \"start\": 4, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the silver pot, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"transport pot to lower right\", \"start\": 12, \"end\": 25, \"planning\": \"Lift and move the grasped silver pot from upper right to lower right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release pot on target burner\", \"start\": 26, \"end\": 30, \"planning\": \"Open the gripper to release the silver pot onto the lower right burner and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the silver pot on the upper right burner, grasp it firmly, transport it to the lower right burner, and release it precisely on target.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2–4; segment 1 shows no closure, so only approach is described. Motion and imagery support lifting and placing mechanics during transport and release phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the silver pot on the upper right burner without grasping." + }, + { + "id": 2, + "name": "grasp silver pot", + "start": 4, + "end": 11, + "planning": "Close the gripper to securely grasp the silver pot, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "transport pot to lower right", + "start": 12, + "end": 25, + "planning": "Lift and move the grasped silver pot from upper right to lower right burner while maintaining grip." + }, + { + "id": 4, + "name": "release pot on target burner", + "start": 26, + "end": 30, + "planning": "Open the gripper to release the silver pot onto the lower right burner and retreat slightly." + } + ], + "global_plan": "Approach the silver pot on the upper right burner, grasp it firmly, transport it to the lower right burner, and release it precisely on target.", + "notes": "Gripper evidence confirms meaningful closing in segments 2–4; segment 1 shows no closure, so only approach is described. Motion and imagery support lifting and placing mechanics during transport and release phases." + } + }, + "episode_goal": "Move the silver pot from the upper right burner to the lower right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3965495228767395, + 0.06740976870059967, + -0.000464928918518126, + -3.052375555038452, + -0.1430021971464157, + -0.28854504227638245 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the silver pot on the upper right burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move right 8 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3896884322166443, + 0.06690946221351624, + -0.018358448520302773, + -3.0729873180389404, + -0.10004229098558426, + -0.2860301434993744 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the upper right burner. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The next action should be to move the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move right 8 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39834752678871155, + 0.045994486659765244, + -0.019127508625388145, + -3.0679595470428467, + -0.10707096755504608, + -0.37700581550598145 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the upper right burner. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The next action should be to move the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move right 8 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.41392144560813904, + -0.0009035170660354197, + -0.011159646324813366, + -3.0604617595672607, + -0.15716791152954102, + -0.532787561416626 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the upper right burner. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The next action should be to move the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 8 cm, move right 8 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.42381349205970764, + -0.022981802001595497, + -0.011837441474199295, + -3.0678083896636963, + -0.19757501780986786, + -0.602373480796814 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 431, + 333, + 538, + 445 + ], + "spatula": [ + 277, + 432, + 354, + 629 + ], + "toy stove": [ + 95, + 321, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the upper right burner. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The next action should be to move the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 8 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.44319698214530945, + -0.04049302637577057, + -0.003989560063928366, + -3.073155164718628, + -0.26566168665885925, + -0.6302584409713745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the upper right burner. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The next action should be to move the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.46482712030410767, + -0.06343448907136917, + -0.0024602070916444063, + -3.0907092094421387, + -0.32403364777565, + -0.6487748622894287 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot visible on the upper right burner. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The next action should be to move the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.47954684495925903, + -0.07354402542114258, + -0.005854121409356594, + -3.0873286724090576, + -0.3376384377479553, + -0.6636063456535339 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the upper right burner, with the gripper open and ready. The approach phase is complete, and the current situation requires the gripper to close and make contact with the pot handle to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 3 cm, close gripper; then move back 6 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.48835867643356323, + -0.09348040819168091, + -0.01294284500181675, + -3.072601795196533, + -0.3467044532299042, + -0.7102300524711609 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the upper right burner, with the gripper open and ready. The approach phase is complete, and the current situation requires the gripper to close and make contact with the pot handle to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 9 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4929327964782715, + -0.10124953836202621, + -0.026915261521935463, + -3.076233386993408, + -0.3416569232940674, + -0.7232772707939148 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 432, + 332, + 536, + 445 + ], + "sink": [ + 718, + 651, + 992, + 992 + ], + "toy stove": [ + 91, + 324, + 992, + 993 + ], + "spatula": [ + 279, + 432, + 352, + 628 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the upper right burner, with the gripper open and ready. The approach phase is complete, and the current situation requires the gripper to close and make contact with the pot handle to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 10 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4963547885417938, + -0.10395946353673935, + -0.03647636994719505, + -3.0876994132995605, + -0.3417203426361084, + -0.7202556729316711 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the upper right burner, with the gripper open and ready. The approach phase is complete, and the current situation requires the gripper to close and make contact with the pot handle to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 11 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4980407655239105, + -0.10352857410907745, + -0.03954043984413147, + -3.0725321769714355, + -0.3473837077617645, + -0.7381595373153687 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the upper right burner, with the gripper open and ready. The approach phase is complete, and the current situation requires the gripper to close and make contact with the pot handle to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 12 cm, move left 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4996872544288635, + -0.10324674099683762, + -0.03906114399433136, + -3.0592684745788574, + -0.3534615635871887, + -0.7524087429046631 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the upper right burner, with the gripper open and ready. The approach phase is complete, and the current situation requires the gripper to close and make contact with the pot handle to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4991675913333893, + -0.10276201367378235, + -0.04037556052207947, + -3.0574967861175537, + -0.35428887605667114, + -0.7614292502403259 + ], + "gripper_value": 0.147182896733284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the upper right burner, with the gripper open and ready. The approach phase is complete, and the current situation requires the gripper to close and make contact with the pot handle to secure it for transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.49384427070617676, + -0.1029893234372139, + -0.0456676259636879, + -3.0656464099884033, + -0.3579494059085846, + -0.7689817547798157 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot on the upper right burner, with the gripper open and ready. 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The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39591214060783386, + -0.07247701287269592, + -0.015293481759727001, + -3.030540704727173, + -0.27749547362327576, + -0.7092124223709106 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 3 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3855249285697937, + -0.07169698178768158, + -0.024133002385497093, + -3.042846918106079, + -0.2597567141056061, + -0.6863550543785095 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, open gripper; then move back 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38240399956703186, + -0.08088391274213791, + -0.028914788737893105, + -3.063403844833374, + -0.2611164450645447, + -0.691029965877533 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, open gripper; then move back 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37979739904403687, + -0.09182924032211304, + -0.03182264417409897, + -3.0619301795959473, + -0.2616663873195648, + -0.733535885810852 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, open gripper; then move back 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37531834840774536, + -0.09991101920604706, + -0.034064583480358124, + -3.0722360610961914, + -0.2622213363647461, + -0.7575644850730896 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3710390627384186, + -0.1052636131644249, + -0.04057646542787552, + -3.0704400539398193, + -0.23838485777378082, + -0.7789415121078491 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3677610456943512, + -0.10344064980745316, + -0.04308133199810982, + -3.081027030944824, + -0.21600809693336487, + -0.7592615485191345 + ], + "gripper_value": 0.24523308873176575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "transport pot to lower right", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36215952038764954, + -0.09483054280281067, + -0.04714220389723778, + -3.063122034072876, + -0.1786804050207138, + -0.7060925364494324 + ], + "gripper_value": 0.5120346546173096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3598673939704895, + -0.0838112160563469, + -0.023259276524186134, + -3.0047645568847656, + -0.19158117473125458, + -0.6335887312889099 + ], + "gripper_value": 0.8121206760406494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The robot is currently holding the silver pot and transporting it across the stovetop from the upper right toward the lower right burner. The gripper remains closed, maintaining a firm grasp on the pot during this transit phase. The next action is to continue moving the arm until the pot is positioned directly above the target lower right burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35112395882606506, + -0.0735580325126648, + 0.002113302005454898, + -2.9812979698181152, + -0.177341490983963, + -0.547333836555481 + ], + "gripper_value": 1.0205672979354858 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 432, + 332, + 536, + 446 + ], + "spatula": [ + 279, + 432, + 352, + 628 + ], + "sink": [ + 717, + 650, + 993, + 991 + ], + "toy stove": [ + 94, + 320, + 992, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly over the lower right burner. The gripper is in an open state, indicating the release action is underway or just completed. The next step is to ensure the pot is fully settled on the burner before retracting the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428290784358978, + -0.06920864433050156, + 0.019209280610084534, + -3.0513410568237305, + -0.1634959578514099, + -0.45001789927482605 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly over the lower right burner. The gripper is in an open state, indicating the release action is underway or just completed. The next step is to ensure the pot is fully settled on the burner before retracting the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353331685066223, + -0.06439332664012909, + 0.019250817596912384, + -3.118253707885742, + -0.12673962116241455, + -0.36453455686569214 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "transport pot to lower right" + }, + { + "id": 4, + "subtask": "release pot on target burner" + } + ], + "subtask_name": "release pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly over the lower right burner. The gripper is in an open state, indicating the release action is underway or just completed. The next step is to ensure the pot is fully settled on the burner before retracting the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004129_ecot.json b/cot/chunk-0004/episode_0004129_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..30d52046a48e23735d823c00648bf52685845411 --- /dev/null +++ b/cot/chunk-0004/episode_0004129_ecot.json @@ -0,0 +1,2823 @@ +{ + "task_name": "episode_0004129", + "episode_json": "json/chunk-0004/episode_0004129.json", + "video_path": "videos/chunk-0004/image_0/episode_0004129.mp4", + "instruction": "Place the utensil on the yellow cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004129.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.926391065120697, + "std": 0.42442312836647034, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92639, std=0.42442, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 12, + 12, + 12, + 12, + 12, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 238, + 238, + 238, + 238, + 238, + 238 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 16 + ], + [ + 3, + 17, + 37 + ], + [ + 4, + 38, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp bowl\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the metal bowl and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and reposition bowl\", \"start\": 12, \"end\": 16, \"planning\": \"Lift the grasped bowl slightly and begin moving it toward the yellow cloth.\"},\n {\"id\": 3, \"name\": \"place bowl on yellow cloth\", \"start\": 17, \"end\": 37, \"planning\": \"Transport the bowl over the yellow cloth and lower it into position while maintaining grip until contact is stable.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 38, \"end\": 43, \"planning\": \"Open gripper to release the bowl onto the cloth, then retract end-effector upward and away.\"}\n ],\n \"global_plan\": \"Grasp the metal bowl, lift and move it over the yellow cloth, place it down gently, then release and retreat.\",\n \"notes\": \"Gripper closure confirmed in Segment 1 (frames 0–11), sustained hold through Segments 2–3, and full release in Segment 4. Motion and gripper data align with pick-and-place mechanics throughout.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp bowl", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the metal bowl and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and reposition bowl", + "start": 12, + "end": 16, + "planning": "Lift the grasped bowl slightly and begin moving it toward the yellow cloth." + }, + { + "id": 3, + "name": "place bowl on yellow cloth", + "start": 17, + "end": 37, + "planning": "Transport the bowl over the yellow cloth and lower it into position while maintaining grip until contact is stable." + }, + { + "id": 4, + "name": "release and retreat", + "start": 38, + "end": 43, + "planning": "Open gripper to release the bowl onto the cloth, then retract end-effector upward and away." + } + ], + "global_plan": "Grasp the metal bowl, lift and move it over the yellow cloth, place it down gently, then release and retreat.", + "notes": "Gripper closure confirmed in Segment 1 (frames 0–11), sustained hold through Segments 2–3, and full release in Segment 4. Motion and gripper data align with pick-and-place mechanics throughout." + } + }, + "episode_goal": "Place the metal bowl on the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2732972502708435, + 0.1511194109916687, + 0.09577172994613647, + 3.0316500663757324, + -0.17768371105194092, + 0.6897757053375244 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl and yellow cloth visible. The gripper is open and approaching the bowl. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27254369854927063, + 0.15018607676029205, + 0.08725903183221817, + 3.0321097373962402, + -0.14777417480945587, + 0.6969420909881592 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl and yellow cloth visible. The gripper is open and approaching the bowl. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802550196647644, + 0.14223994314670563, + 0.08975399285554886, + 3.002443790435791, + -0.13289199769496918, + 0.7486387491226196 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl and yellow cloth visible. The gripper is open and approaching the bowl. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2937706708908081, + 0.13916517794132233, + 0.08567476272583008, + 2.9804744720458984, + -0.11138111352920532, + 0.7394827008247375 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden cutting board": [ + 16, + 200, + 902, + 981 + ], + "yellow cloth": [ + 106, + 309, + 383, + 582 + ], + "metal bowl": [ + 329, + 187, + 561, + 446 + ], + "orange object": [ + 674, + 372, + 753, + 519 + ], + "spoon": [ + 692, + 483, + 806, + 825 + ], + "black clamp": [ + 100, + 59, + 365, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl and yellow cloth visible. The gripper is open and approaching the bowl. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30167973041534424, + 0.14000177383422852, + 0.08601325750350952, + 2.9773097038269043, + -0.1195036917924881, + 0.7554593682289124 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot is positioned above the table with the metal bowl and yellow cloth visible. The gripper is open and approaching the bowl. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122059106826782, + 0.13793741166591644, + 0.08282754570245743, + 3.008211374282837, + -0.15431927144527435, + 0.7550672888755798 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3269542455673218, + 0.13503389060497284, + 0.07453819364309311, + 3.0293312072753906, + -0.17196331918239594, + 0.7476062178611755 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324751555919647, + 0.13073992729187012, + 0.06508927792310715, + 3.056767463684082, + -0.1747772991657257, + 0.7513517737388611 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33887556195259094, + 0.12752963602542877, + 0.05369318649172783, + 3.0826332569122314, + -0.17178209125995636, + 0.7575833201408386 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405941426753998, + 0.12668664753437042, + 0.044791072607040405, + 3.0949811935424805, + -0.16916586458683014, + 0.7597792148590088 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34095001220703125, + 0.1270342916250229, + 0.03705419972538948, + 3.1041197776794434, + -0.16926881670951843, + 0.7755422592163086 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3382861018180847, + 0.12255554646253586, + 0.031514670699834824, + 3.101161241531372, + -0.13152162730693817, + 0.7563707232475281 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move left 3 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33500540256500244, + 0.1231449767947197, + 0.03461775183677673, + -3.1209728717803955, + -0.08984264731407166, + 0.7291216850280762 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 5 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341662883758545, + 0.12071844935417175, + 0.03457500785589218, + -3.1082258224487305, + -0.08273518085479736, + 0.7022889852523804 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden cutting board": [ + 17, + 241, + 901, + 984 + ], + "yellow cloth": [ + 106, + 306, + 384, + 582 + ], + "spoon": [ + 691, + 483, + 806, + 823 + ], + "metal bowl": [ + 362, + 198, + 582, + 460 + ], + "orange object": [ + 674, + 372, + 752, + 519 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot arm is positioned above the metal bowl, which sits on the wooden surface next to the yellow cloth. The gripper is currently open and approaching the bowl. The next action is to close the gripper to grasp the bowl securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move left 7 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324303925037384, + 0.1163693219423294, + 0.034250009804964066, + -3.1196048259735107, + -0.05805135890841484, + 0.7127209305763245 + ], + "gripper_value": 0.09326785057783127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot has successfully grasped the metal bowl and is currently lifting it slightly above the table surface. The gripper is closed, and the bowl is being repositioned toward the yellow cloth. The next action is to continue moving the bowl horizontally over the yellow cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 8 cm, move left 9 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3330073654651642, + 0.11654354631900787, + 0.03481309115886688, + -3.120694398880005, + -0.062009889632463455, + 0.7004045248031616 + ], + "gripper_value": 0.0907076820731163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot has successfully grasped the metal bowl and is currently lifting it slightly above the table surface. The gripper is closed, and the bowl is being repositioned toward the yellow cloth. The next action is to continue moving the bowl horizontally over the yellow cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 9 cm, move left 11 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3315647840499878, + 0.11503934115171432, + 0.03920118510723114, + -3.12805438041687, + -0.06511096656322479, + 0.6913147568702698 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition bowl", + "subtask_reasoning": "The robot has successfully grasped the metal bowl and is currently lifting it slightly above the table surface. The gripper is closed, and the bowl is being repositioned toward the yellow cloth. The next action is to continue moving the bowl horizontally over the yellow cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 11 cm, move left 12 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320176303386688, + 0.11142684519290924, + 0.04811400920152664, + 3.1284401416778564, + -0.07535220682621002, + 0.6724292635917664 + ], + "gripper_value": 0.08712529391050339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl and is currently lifting it slightly above the table surface. The gripper is closed, and the bowl is being repositioned toward the yellow cloth. The next action is to continue moving the bowl horizontally over the yellow cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 12 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3274625539779663, + 0.10936053097248077, + 0.06363384425640106, + 3.0910816192626953, + -0.10140367597341537, + 0.6482008695602417 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl and is currently lifting it slightly above the table surface. The gripper is closed, and the bowl is being repositioned toward the yellow cloth. The next action is to continue moving the bowl horizontally over the yellow cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184581398963928, + 0.11489315330982208, + 0.07959450781345367, + 3.0745062828063965, + -0.13355177640914917, + 0.6637468934059143 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl and is currently lifting it slightly above the table surface. The gripper is closed, and the bowl is being repositioned toward the yellow cloth. The next action is to continue moving the bowl horizontally over the yellow cloth in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 12 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30093351006507874, + 0.12253923714160919, + 0.09003770351409912, + 3.063291072845459, + -0.1370255947113037, + 0.6664761900901794 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl and is currently lifting it slightly above the table surface. The gripper is closed, and the bowl is being repositioned toward the yellow cloth. 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The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21422238647937775, + 0.23944376409053802, + 0.05453777313232422, + 3.0533206462860107, + -0.11305725574493408, + 0.7622212767601013 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. 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The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2182016223669052, + 0.23719927668571472, + 0.05681265890598297, + 3.0490450859069824, + -0.11030807346105576, + 0.7535830736160278 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. 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The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2267962545156479, + 0.22838632762432098, + 0.05681413784623146, + 3.0455260276794434, + -0.10734754055738449, + 0.7214742302894592 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. 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The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 3 cm, open gripper; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2302606999874115, + 0.2225070297718048, + 0.05689626559615135, + 3.0315592288970947, + -0.09842843562364578, + 0.7021380662918091 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. 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The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 3 cm, open gripper; then move forward 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.239442840218544, + 0.21715982258319855, + 0.05769265443086624, + 3.0086829662323, + -0.11943551152944565, + 0.6836809515953064 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. 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The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24817399680614471, + 0.21146689355373383, + 0.05019346997141838, + 2.966989278793335, + -0.13660763204097748, + 0.7009269595146179 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. 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The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24926911294460297, + 0.21132326126098633, + 0.03649497032165527, + 2.962461233139038, + -0.1150311678647995, + 0.6994265913963318 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. 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The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.253770649433136, + 0.20416028797626495, + 0.03598124533891678, + 2.956164836883545, + -0.10028836876153946, + 0.7439063191413879 + ], + "gripper_value": 0.11284734308719635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. The gripper remains closed, maintaining contact with the bowl. The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.25309568643569946, + 0.19405274093151093, + 0.029665537178516388, + 2.9660141468048096, + -0.03062300756573677, + 0.7514710426330566 + ], + "gripper_value": 0.2981022000312805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place bowl on yellow cloth", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. The gripper remains closed, maintaining contact with the bowl. The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.25192171335220337, + 0.1933603286743164, + 0.03003528341650963, + 2.979980707168579, + -0.019824156537652016, + 0.7615097165107727 + ], + "gripper_value": 0.5630297660827637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. The gripper remains closed, maintaining contact with the bowl. The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.25298526883125305, + 0.19085358083248138, + 0.030191145837306976, + 2.9852371215820312, + -0.013326930813491344, + 0.7586797475814819 + ], + "gripper_value": 0.8844947218894958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal bowl is currently held above the yellow cloth, having been lifted and repositioned from its initial location. The gripper remains closed, maintaining contact with the bowl. The next action is to lower the bowl gently onto the yellow cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2588111162185669, + 0.18872211873531342, + 0.04576034098863602, + 2.992145299911499, + -0.046611104160547256, + 0.7536014318466187 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal bowl is already placed on the yellow cloth, and the gripper is open (value ~1.0), indicating release has occurred. The end-effector is positioned slightly above and to the side of the bowl, consistent with post-placement retreat. Next, the robot should continue retracting upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631836235523224, + 0.1897197663784027, + 0.06708278506994247, + 2.999393939971924, + -0.08915923535823822, + 0.7385124564170837 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal bowl is already placed on the yellow cloth, and the gripper is open (value ~1.0), indicating release has occurred. The end-effector is positioned slightly above and to the side of the bowl, consistent with post-placement retreat. Next, the robot should continue retracting upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.27240651845932007, + 0.1885514259338379, + 0.09568822383880615, + 3.0001471042633057, + -0.14489825069904327, + 0.7080160975456238 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal bowl is already placed on the yellow cloth, and the gripper is open (value ~1.0), indicating release has occurred. The end-effector is positioned slightly above and to the side of the bowl, consistent with post-placement retreat. Next, the robot should continue retracting upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.28056013584136963, + 0.18345952033996582, + 0.11438116431236267, + 2.940061569213867, + -0.18144938349723816, + 0.6457384824752808 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden cutting board": [ + 21, + 197, + 903, + 983 + ], + "metal bowl": [ + 105, + 236, + 360, + 512 + ], + "spoon": [ + 691, + 483, + 806, + 825 + ], + "orange object": [ + 673, + 369, + 753, + 519 + ], + "yellow cloth": [ + 105, + 381, + 387, + 581 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal bowl on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp bowl" + }, + { + "id": 2, + "subtask": "lift and reposition bowl" + }, + { + "id": 3, + "subtask": "place bowl on yellow cloth" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal bowl is already placed on the yellow cloth, and the gripper is open (value ~1.0), indicating release has occurred. The end-effector is positioned slightly above and to the side of the bowl, consistent with post-placement retreat. Next, the robot should continue retracting upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004131_ecot.json b/cot/chunk-0004/episode_0004131_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8f9d755f1aa1de42a72ada4b4d750494422bf90b --- /dev/null +++ b/cot/chunk-0004/episode_0004131_ecot.json @@ -0,0 +1,2354 @@ +{ + "task_name": "episode_0004131", + "episode_json": "json/chunk-0004/episode_0004131.json", + "video_path": "videos/chunk-0004/image_0/episode_0004131.mp4", + "instruction": "Open microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004131.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.762913703918457, + "std": 0.25546732544898987, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.76291, std=0.25547, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 12, + 12, + 12, + 12, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 12 + ], + [ + 3, + 13, + 16 + ], + [ + 4, + 17, + 25 + ], + [ + 5, + 26, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave handle\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the microwave door handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 12, \"end\": 12, \"planning\": \"Establish physical contact with the microwave handle using closed gripper, no further closing motion observed.\"},\n {\"id\": 3, \"name\": \"pull handle to open door\", \"start\": 13, \"end\": 16, \"planning\": \"Apply pulling force on the handle to initiate and complete microwave door opening motion.\"},\n {\"id\": 4, \"name\": \"release handle and retreat\", \"start\": 17, \"end\": 25, \"planning\": \"Open gripper to release handle and move end-effector away from the now-open microwave door.\"},\n {\"id\": 5, \"name\": \"reposition to final pose\", \"start\": 26, \"end\": 34, \"planning\": \"Adjust end-effector position to a neutral or task-completion pose after successfully opening the microwave.\"}\n ],\n \"global_plan\": \"Open the microwave by approaching the handle, making contact, pulling the door open, releasing the handle, and retreating to a safe position.\",\n \"notes\": \"Gripper closure occurs in segment 1 (frames 0-11), enabling grasp wording only there. Segment 2 (frame 12) shows no further closing — contact is maintained but not initiated anew. Segments 4 and 5 show gripper opening and stable open state — no grasping actions occur there. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave handle", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the microwave door handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 12, + "end": 12, + "planning": "Establish physical contact with the microwave handle using closed gripper, no further closing motion observed." + }, + { + "id": 3, + "name": "pull handle to open door", + "start": 13, + "end": 16, + "planning": "Apply pulling force on the handle to initiate and complete microwave door opening motion." + }, + { + "id": 4, + "name": "release handle and retreat", + "start": 17, + "end": 25, + "planning": "Open gripper to release handle and move end-effector away from the now-open microwave door." + }, + { + "id": 5, + "name": "reposition to final pose", + "start": 26, + "end": 34, + "planning": "Adjust end-effector position to a neutral or task-completion pose after successfully opening the microwave." + } + ], + "global_plan": "Open the microwave by approaching the handle, making contact, pulling the door open, releasing the handle, and retreating to a safe position.", + "notes": "Gripper closure occurs in segment 1 (frames 0-11), enabling grasp wording only there. Segment 2 (frame 12) shows no further closing — contact is maintained but not initiated anew. Segments 4 and 5 show gripper opening and stable open state — no grasping actions occur there. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Open the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28000763058662415, + -0.015356807969510555, + 0.15299981832504272, + -3.121345281600952, + -0.15511183440685272, + 0.21411724388599396 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with the gripper open, having not yet made contact with the handle. The current subtask involves moving the end-effector down to reach the microwave door handle. The next action is to continue the approach trajectory to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 12 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27917516231536865, + -0.015549818985164165, + 0.14421212673187256, + -3.114370584487915, + -0.1268121302127838, + 0.19268329441547394 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with the gripper open, having not yet made contact with the handle. The current subtask involves moving the end-effector down to reach the microwave door handle. The next action is to continue the approach trajectory to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 11 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28732943534851074, + 0.009992915205657482, + 0.127994567155838, + -3.113579511642456, + -0.09473720192909241, + 0.09250787645578384 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with the gripper open, having not yet made contact with the handle. The current subtask involves moving the end-effector down to reach the microwave door handle. The next action is to continue the approach trajectory to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move down 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30332326889038086, + 0.04365994408726692, + 0.12118760496377945, + -3.112863302230835, + -0.15433673560619354, + 0.10158393532037735 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "range hood": [ + 3, + 5, + 334, + 283 + ], + "faucet": [ + 564, + 526, + 683, + 809 + ], + "green vegetable": [ + 318, + 695, + 381, + 792 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with the gripper open, having not yet made contact with the handle. The current subtask involves moving the end-effector down to reach the microwave door handle. The next action is to continue the approach trajectory to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3154616355895996, + 0.06722688674926758, + 0.1197039932012558, + -3.129485607147217, + -0.18688718974590302, + 0.112552210688591 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the microwave with the gripper open, having not yet made contact with the handle. The current subtask involves moving the end-effector down to reach the microwave door handle. The next action is to continue the approach trajectory to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 2 cm, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196885883808136, + 0.07285956293344498, + 0.12500427663326263, + -3.1256959438323975, + -0.20825223624706268, + 0.1071002185344696 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and no contact made yet. The subtask of approaching the microwave handle is in progress, with movement toward the handle observed. The next action should involve continuing to move the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 3 cm, close gripper; then keep gripper closed; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3316190242767334, + 0.08174591511487961, + 0.12693394720554352, + -3.124124050140381, + -0.20191806554794312, + 0.11840557307004929 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and no contact made yet. The subtask of approaching the microwave handle is in progress, with movement toward the handle observed. The next action should involve continuing to move the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move back 4 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.337449312210083, + 0.09358076006174088, + 0.1180860623717308, + -3.087966203689575, + -0.2144293189048767, + 0.1260262429714203 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and no contact made yet. The subtask of approaching the microwave handle is in progress, with movement toward the handle observed. The next action should involve continuing to move the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move back 7 cm, move right 3 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418283462524414, + 0.09882909059524536, + 0.11181072145700455, + -3.058525800704956, + -0.22771281003952026, + 0.11518413573503494 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and no contact made yet. The subtask of approaching the microwave handle is in progress, with movement toward the handle observed. The next action should involve continuing to move the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move back 7 cm, move right 3 cm, move up 2 cm, open gripper; then move back 3 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428088128566742, + 0.10263323038816452, + 0.10618872940540314, + -3.025806427001953, + -0.24954645335674286, + 0.09735625237226486 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and no contact made yet. The subtask of approaching the microwave handle is in progress, with movement toward the handle observed. The next action should involve continuing to move the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed; then keep gripper closed; then move back 7 cm, move right 3 cm, move up 2 cm, open gripper; then move back 6 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3461146950721741, + 0.10379847139120102, + 0.09390726685523987, + -3.0397398471832275, + -0.23599417507648468, + 0.08865103870630264 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and no contact made yet. The subtask of approaching the microwave handle is in progress, with movement toward the handle observed. The next action should involve continuing to move the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then keep gripper closed; then move back 7 cm, move right 3 cm, move up 2 cm, open gripper; then move back 6 cm, move left 4 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34814172983169556, + 0.09883584082126617, + 0.09643137454986572, + -3.0691394805908203, + -0.21949777007102966, + 0.028241803869605064 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and no contact made yet. The subtask of approaching the microwave handle is in progress, with movement toward the handle observed. The next action should involve continuing to move the gripper closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 7 cm, move right 3 cm, move up 2 cm, open gripper; then move back 5 cm, move left 8 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34892719984054565, + 0.09417380392551422, + 0.0947817713022232, + -3.112156391143799, + -0.21903972327709198, + 0.02559729292988777 + ], + "gripper_value": 0.40239205956459045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the microwave handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, indicating readiness to make contact. The next action should involve moving the gripper forward slightly to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move right 3 cm, move up 2 cm, open gripper; then move back 4 cm, move left 11 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34759071469306946, + 0.09289500117301941, + 0.0951274186372757, + 3.1257426738739014, + -0.22019052505493164, + 0.013928759843111038 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "pull handle to open door", + "subtask_reasoning": "The robot has approached the microwave handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, indicating readiness to make contact. The next action should involve moving the gripper forward slightly to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move up 2 cm, open gripper; then move back 1 cm, move left 13 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34696468710899353, + 0.09106063842773438, + 0.09431213140487671, + 3.122288227081299, + -0.26740145683288574, + 0.01353615615516901 + ], + "gripper_value": 0.24121350049972534 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "pull handle to open door", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave handle, having completed the approach and initial grasp. The current subtask involves pulling the handle to open the door, which requires applying force to move the door outward. The next action is to execute the pulling motion to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, move up 3 cm, open gripper; then move forward 1 cm, move left 13 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32794639468193054, + 0.08511096984148026, + 0.09475070238113403, + 3.117922306060791, + -0.29642724990844727, + 0.013066509738564491 + ], + "gripper_value": 0.25614848732948303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "pull handle to open door", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave handle, having completed the approach and initial grasp. The current subtask involves pulling the handle to open the door, which requires applying force to move the door outward. The next action is to execute the pulling motion to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 3 cm, keep gripper open; then move forward 3 cm, move left 12 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30353957414627075, + 0.07801692932844162, + 0.0962565466761589, + 3.1139442920684814, + -0.2888214886188507, + -0.007563706487417221 + ], + "gripper_value": 0.2906041443347931 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 564, + 526, + 684, + 803 + ], + "green vegetable": [ + 317, + 695, + 382, + 792 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "pull handle to open door", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave handle, having completed the approach and initial grasp. The current subtask involves pulling the handle to open the door, which requires applying force to move the door outward. The next action is to execute the pulling motion to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 2 cm, keep gripper open; then move forward 5 cm, move left 9 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28054749965667725, + 0.06651081889867783, + 0.11980367451906204, + 3.097278356552124, + -0.22653643786907196, + -0.023283783346414566 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 564, + 526, + 683, + 806 + ], + "green vegetable": [ + 317, + 695, + 382, + 793 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave handle, having completed the approach and initial grasp. The current subtask involves pulling the handle to open the door, which requires applying force to move the door outward. The next action is to execute the pulling motion to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2495390623807907, + 0.0485718660056591, + 0.13196371495723724, + 3.0562691688537598, + -0.13201504945755005, + 0.016918592154979706 + ], + "gripper_value": 0.8472316861152649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave handle, having completed the approach and initial grasp. The current subtask involves pulling the handle to open the door, which requires applying force to move the door outward. The next action is to execute the pulling motion to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 11 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22060619294643402, + 0.06899827718734741, + 0.1379741132259369, + 3.0671820640563965, + -0.08024337887763977, + 0.10498401522636414 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave handle, having completed the approach and initial grasp. The current subtask involves pulling the handle to open the door, which requires applying force to move the door outward. The next action is to execute the pulling motion to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 3 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2246508151292801, + 0.11082220077514648, + 0.13007596135139465, + 3.1000216007232666, + -0.06481388956308365, + 0.19714944064617157 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave handle, having completed the approach and initial grasp. The current subtask involves pulling the handle to open the door, which requires applying force to move the door outward. The next action is to execute the pulling motion to open the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 5 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 6 cm, move right 11 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2277580201625824, + 0.14404171705245972, + 0.13765332102775574, + 3.1210503578186035, + -0.11290402710437775, + 0.24416999518871307 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 9 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24351483583450317, + 0.17810484766960144, + 0.13686306774616241, + 3.1266751289367676, + -0.08928950875997543, + 0.40660470724105835 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 10 cm, move right 14 cm, move down 2 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.265779972076416, + 0.19574132561683655, + 0.14481325447559357, + 3.121450424194336, + -0.09011704474687576, + 0.545560359954834 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move right 14 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29149341583251953, + 0.19921444356441498, + 0.13708247244358063, + 3.122720241546631, + -0.07492035627365112, + 0.6233638525009155 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 2 cm, keep gripper open; then move back 7 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31417012214660645, + 0.18661852180957794, + 0.13339382410049438, + 3.1336817741394043, + -0.07630523294210434, + 0.6580159068107605 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, keep gripper open; then move back 7 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3297702670097351, + 0.16116155683994293, + 0.12102773040533066, + -3.1224939823150635, + -0.10898074507713318, + 0.6364699602127075 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32969844341278076, + 0.13172507286071777, + 0.09278765320777893, + -3.1065123081207275, + -0.0968424454331398, + 0.5259706377983093 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31713220477104187, + 0.1023266613483429, + 0.07992487400770187, + -3.0782759189605713, + -0.09146682918071747, + 0.38184791803359985 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30113282799720764, + 0.0820961594581604, + 0.07530495524406433, + -3.055617332458496, + -0.0580962598323822, + 0.27855995297431946 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is fully open, and the robot's gripper is no longer in contact with the handle. The robot has successfully released the handle and is retreating to a safe position. The next action is to ensure the robot moves away from the microwave to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.264874130487442, + 0.055369604378938675, + 0.08764935284852982, + -3.0425825119018555, + -0.04480928182601929, + 0.1234622597694397 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is already fully open, and the robot's gripper is open and not in contact with the handle. The repositioning subtask involves moving the arm to a final safe pose after completing the door opening action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2389216125011444, + 0.03192993625998497, + 0.09240660816431046, + -3.078521966934204, + -0.0177324078977108, + 0.040130723267793655 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red fruit": [ + 582, + 949, + 652, + 997 + ], + "faucet": [ + 575, + 589, + 688, + 813 + ], + "green vegetable": [ + 317, + 704, + 381, + 792 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is already fully open, and the robot's gripper is open and not in contact with the handle. The repositioning subtask involves moving the arm to a final safe pose after completing the door opening action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.22948488593101501, + 0.017293209210038185, + 0.0960344672203064, + -3.0949161052703857, + 0.0055677383206784725, + 0.010817519389092922 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is already fully open, and the robot's gripper is open and not in contact with the handle. The repositioning subtask involves moving the arm to a final safe pose after completing the door opening action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24188418686389923, + 0.02502017468214035, + 0.10255016386508942, + -3.1126186847686768, + -0.04142618924379349, + 0.07737182080745697 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is already fully open, and the robot's gripper is open and not in contact with the handle. The repositioning subtask involves moving the arm to a final safe pose after completing the door opening action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591690123081207, + 0.04291769489645958, + 0.1045507937669754, + -3.0829577445983887, + -0.07048942893743515, + 0.16090929508209229 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "pull handle to open door" + }, + { + "id": 4, + "subtask": "release handle and retreat" + }, + { + "id": 5, + "subtask": "reposition to final pose" + } + ], + "subtask_name": "reposition to final pose", + "subtask_reasoning": "The microwave door is already fully open, and the robot's gripper is open and not in contact with the handle. The repositioning subtask involves moving the arm to a final safe pose after completing the door opening action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004132_ecot.json b/cot/chunk-0004/episode_0004132_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6e9523fa8feb5838e4748d1b9b7d0a939fcfedf1 --- /dev/null +++ b/cot/chunk-0004/episode_0004132_ecot.json @@ -0,0 +1,2869 @@ +{ + "task_name": "episode_0004132", + "episode_json": "json/chunk-0004/episode_0004132.json", + "video_path": "videos/chunk-0004/image_0/episode_0004132.mp4", + "instruction": "Place the fork between the pot and the sandwich.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004132.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6670551300048828, + "std": 0.3154667317867279, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.66706, std=0.31547, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 238, + 238, + 238, + 238, + 238, + 238, + 238 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 30 + ], + [ + 3, + 31, + 37 + ], + [ + 4, + 38, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fork\", \"start\": 0, \"end\": 12, \"planning\": \"Move the end-effector down toward the fork on the table and close the gripper to make contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift fork\", \"start\": 13, \"end\": 30, \"planning\": \"Securely grasp the fork and lift it while repositioning the arm toward the target placement zone between the pot and sandwich.\"},\n {\"id\": 3, \"name\": \"place fork\", \"start\": 31, \"end\": 37, \"planning\": \"Lower the fork into the gap between the pot and the sandwich and begin releasing the gripper.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 38, \"end\": 44, \"planning\": \"Fully open the gripper to release the fork and lift the end-effector away to complete the placement.\"}\n ],\n \"global_plan\": \"Approach the fork, grasp and lift it, move it to the space between the pot and sandwich, then place and release it before retreating.\",\n \"notes\": \"Subtasks align with the four motion segments; gripper closes in segment 1, holds through segment 2, begins opening in segment 3, and fully opens in segment 4 as supported by gripper evidence and keyframes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fork", + "start": 0, + "end": 12, + "planning": "Move the end-effector down toward the fork on the table and close the gripper to make contact." + }, + { + "id": 2, + "name": "grasp and lift fork", + "start": 13, + "end": 30, + "planning": "Securely grasp the fork and lift it while repositioning the arm toward the target placement zone between the pot and sandwich." + }, + { + "id": 3, + "name": "place fork", + "start": 31, + "end": 37, + "planning": "Lower the fork into the gap between the pot and the sandwich and begin releasing the gripper." + }, + { + "id": 4, + "name": "release and retreat", + "start": 38, + "end": 44, + "planning": "Fully open the gripper to release the fork and lift the end-effector away to complete the placement." + } + ], + "global_plan": "Approach the fork, grasp and lift it, move it to the space between the pot and sandwich, then place and release it before retreating.", + "notes": "Subtasks align with the four motion segments; gripper closes in segment 1, holds through segment 2, begins opening in segment 3, and fully opens in segment 4 as supported by gripper evidence and keyframes." + } + }, + "episode_goal": "Place the fork between the pot and the sandwich.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3831935226917267, + -0.06418710947036743, + 0.13254894316196442, + 2.9685556888580322, + -0.03380199894309044, + 1.4515559673309326 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot is positioned above the wooden counter, with the fork visible to the right of the metal pot. The gripper is currently open and the robot has not yet made contact with the fork. The next action is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 12 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3814579248428345, + -0.06456387042999268, + 0.11503706127405167, + 3.0147500038146973, + -0.032063040882349014, + 1.452424168586731 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot is positioned above the wooden counter, with the fork visible to the right of the metal pot. The gripper is currently open and the robot has not yet made contact with the fork. The next action is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 11 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37834373116493225, + -0.07132672518491745, + 0.09316681325435638, + 3.0438618659973145, + -0.009157879278063774, + 1.457298755645752 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot is positioned above the wooden counter, with the fork visible to the right of the metal pot. The gripper is currently open and the robot has not yet made contact with the fork. The next action is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.374318927526474, + -0.07868827879428864, + 0.08389300107955933, + 3.0370237827301025, + -0.02142530493438244, + 1.4637678861618042 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot is positioned above the wooden counter, with the fork visible to the right of the metal pot. The gripper is currently open and the robot has not yet made contact with the fork. The next action is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3717426359653473, + -0.08099527657032013, + 0.0714283287525177, + 3.0494210720062256, + -0.008447369560599327, + 1.4637746810913086 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot is positioned above the wooden counter, with the fork visible to the right of the metal pot. The gripper is currently open and the robot has not yet made contact with the fork. The next action is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3737431764602661, + -0.07992767542600632, + 0.06301966309547424, + 3.03891658782959, + -0.004544344265013933, + 1.477465033531189 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot is positioned above the wooden counter, with the fork visible to the right of the metal pot. The gripper is currently open and the robot has not yet made contact with the fork. The next action is to move the end-effector closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3774009644985199, + -0.07672744989395142, + 0.054623596370220184, + 3.0355262756347656, + -0.006035946775227785, + 1.4909772872924805 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. The gripper is currently open, indicating no object is held yet. The robot needs to continue moving towards the fork to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3792274296283722, + -0.06751442700624466, + 0.03858684375882149, + 3.05890154838562, + -0.004760545212775469, + 1.5186553001403809 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 231, + 248, + 486, + 475 + ], + "metal bowl": [ + 489, + 473, + 808, + 839 + ], + "yellow cup": [ + 75, + 387, + 220, + 533 + ], + "wooden board": [ + 19, + 191, + 904, + 985 + ], + "red onion": [ + 106, + 387, + 192, + 446 + ] + } + } + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. The gripper is currently open, indicating no object is held yet. The robot needs to continue moving towards the fork to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38090580701828003, + -0.0658571645617485, + 0.027575161308050156, + 3.0617809295654297, + -0.005863421130925417, + 1.5266187191009521 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. The gripper is currently open, indicating no object is held yet. The robot needs to continue moving towards the fork to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37824785709381104, + -0.06782308220863342, + 0.012847257778048515, + 3.094289541244507, + 0.005039325915277004, + 1.5253422260284424 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 232, + 248, + 485, + 475 + ], + "metal bowl": [ + 490, + 474, + 807, + 837 + ], + "yellow cup": [ + 76, + 387, + 219, + 534 + ], + "wooden board": [ + 15, + 191, + 904, + 982 + ], + "red onion": [ + 104, + 387, + 190, + 445 + ] + } + } + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. The gripper is currently open, indicating no object is held yet. The robot needs to continue moving towards the fork to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.377736359834671, + -0.06794292479753494, + 0.008213186636567116, + 3.1055572032928467, + 0.008451699279248714, + 1.5225915908813477 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. The gripper is currently open, indicating no object is held yet. The robot needs to continue moving towards the fork to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38202017545700073, + -0.07011847198009491, + 0.006040195468813181, + 3.099923849105835, + 0.013711363077163696, + 1.509009838104248 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. The gripper is currently open, indicating no object is held yet. The robot needs to continue moving towards the fork to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 2 cm, move up 10 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38348057866096497, + -0.06835954636335373, + 0.00450309319421649, + 3.082091808319092, + 0.006225427612662315, + 1.4985140562057495 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. 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The robot needs to continue moving towards the fork to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 1 cm, move up 12 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3814288079738617, + -0.06969503313302994, + 0.004922259598970413, + 3.0774524211883545, + -0.020262647420167923, + 1.486000418663025 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. 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The robot needs to continue moving towards the fork to align for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move up 15 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 30 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37622424960136414, + -0.07324253767728806, + 0.008016138337552547, + 3.086327075958252, + -0.027132457122206688, + 1.458216667175293 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift fork", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, hovering near the red brush and metal pot, with the fork visible further back. 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The next action is to close the gripper to securely hold the fork before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 16 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3484688997268677, + -0.08107820898294449, + 0.12634311616420746, + 2.959336280822754, + 0.002814879175275564, + 1.4626142978668213 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift fork", + "subtask_reasoning": "The robot has approached the fork, which is located on the wooden surface near the pot. 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The next action is to close the gripper to securely hold the fork before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 9 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27502867579460144, + 0.050555694848299026, + 0.15059976279735565, + 2.9289722442626953, + -0.030484361574053764, + 1.6180064678192139 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift fork", + "subtask_reasoning": "The robot has approached the fork, which is located on the wooden surface near the pot. 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The next action is to close the gripper to securely hold the fork before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 9 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26558563113212585, + 0.06678903847932816, + 0.13712802529335022, + 2.9492979049682617, + -0.04952067881822586, + 1.6350092887878418 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift fork", + "subtask_reasoning": "The robot has approached the fork, which is located on the wooden surface near the pot. 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The next action is to close the gripper to securely hold the fork before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move right 4 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26087096333503723, + 0.06662604957818985, + 0.1180027574300766, + 2.967421531677246, + -0.045655135065317154, + 1.6323169469833374 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift fork", + "subtask_reasoning": "The robot has approached the fork, which is located on the wooden surface near the pot. 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The next action is to close the gripper to securely hold the fork before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move right 4 cm, move down 6 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590593099594116, + 0.07021063566207886, + 0.08660782873630524, + 3.038165330886841, + -0.05514274910092354, + 1.653720498085022 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift fork", + "subtask_reasoning": "The robot has approached the fork, which is located on the wooden surface near the pot. 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The next action is to close the gripper to securely hold the fork before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move right 4 cm, move down 6 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2629150152206421, + 0.07506398111581802, + 0.06210808455944061, + 3.0856735706329346, + -0.07464127987623215, + 1.6464507579803467 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork", + "subtask_reasoning": "The robot has approached the fork, which is located on the wooden surface near the pot. 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The next action is to close the gripper to securely hold the fork before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 6 cm, open gripper; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26282745599746704, + 0.07830771803855896, + 0.04210057482123375, + 3.108940362930298, + -0.07506385445594788, + 1.6507731676101685 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place fork", + "subtask_reasoning": "The robot has approached the fork, which is located on the wooden surface near the pot. 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The next action is to lower the fork and release it into the target space." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2623440623283386, + 0.043290652334690094, + 0.016310352832078934, + 3.095806121826172, + -0.03619873523712158, + 1.688714861869812 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the fork above the table, positioned between the pot and the sandwich. 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The gripper is fully open, indicating the object has been released. The robot is now in the retreat phase, moving away from the completed placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657790780067444, + 0.0462031364440918, + 0.06405984610319138, + 2.981027364730835, + -0.0239123422652483, + 1.7018972635269165 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The fork has been successfully placed on the cutting board between the pot and the sandwich. The gripper is fully open, indicating the object has been released. The robot is now in the retreat phase, moving away from the completed placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.27032801508903503, + 0.04240033030509949, + 0.09117268025875092, + 2.954902410507202, + -0.020237548276782036, + 1.6883001327514648 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 492, + 492, + 814, + 859 + ], + "green cloth": [ + 232, + 290, + 489, + 479 + ], + "red onion": [ + 105, + 388, + 177, + 445 + ], + "wooden board": [ + 17, + 224, + 902, + 982 + ], + "yellow cup": [ + 76, + 387, + 219, + 533 + ] + } + } + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The fork has been successfully placed on the cutting board between the pot and the sandwich. The gripper is fully open, indicating the object has been released. The robot is now in the retreat phase, moving away from the completed placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.26867416501045227, + 0.03399905189871788, + 0.10039305686950684, + 2.99092173576355, + -0.07625430822372437, + 1.673335313796997 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the fork between the pot and the sandwich." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp and lift fork" + }, + { + "id": 3, + "subtask": "place fork" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The fork has been successfully placed on the cutting board between the pot and the sandwich. The gripper is fully open, indicating the object has been released. The robot is now in the retreat phase, moving away from the completed placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004134_ecot.json b/cot/chunk-0004/episode_0004134_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..76944cbec5b4fa2f997cd06f4d79114427c58170 --- /dev/null +++ b/cot/chunk-0004/episode_0004134_ecot.json @@ -0,0 +1,1262 @@ +{ + "task_name": "episode_0004134", + "episode_json": "json/chunk-0004/episode_0004134.json", + "video_path": "videos/chunk-0004/image_0/episode_0004134.mp4", + "instruction": "Flip orange pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004134.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.8290464878082275, + "std": 0.3525717258453369, + "delta_total": -0.6756202578544617, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.82905, std=0.35257, total_delta=-0.67562). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 13, + 13 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 12 + ], + [ + 3, + 13, + 16 + ], + [ + 4, + 17, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange pot\", \"start\": 0, \"end\": 1, \"planning\": \"Move gripper into position above the orange pot without closing.\"},\n {\"id\": 2, \"name\": \"grasp and lift orange pot\", \"start\": 2, \"end\": 12, \"planning\": \"Close gripper to grasp the orange pot and lift it slightly off the sink surface.\"},\n {\"id\": 3, \"name\": \"rotate pot upright\", \"start\": 13, \"end\": 16, \"planning\": \"While holding the pot, rotate wrist to flip it into upright orientation.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 17, \"end\": 18, \"planning\": \"Open gripper to release the upright pot and move away slightly.\"}\n ],\n \"global_plan\": \"Approach the orange pot, grasp and lift it, rotate it upright while held, then release and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2–4; segment 1 shows no closing, so only approach is described. Motion and image evidence support grasp-lift-rotate-release sequence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange pot", + "start": 0, + "end": 1, + "planning": "Move gripper into position above the orange pot without closing." + }, + { + "id": 2, + "name": "grasp and lift orange pot", + "start": 2, + "end": 12, + "planning": "Close gripper to grasp the orange pot and lift it slightly off the sink surface." + }, + { + "id": 3, + "name": "rotate pot upright", + "start": 13, + "end": 16, + "planning": "While holding the pot, rotate wrist to flip it into upright orientation." + }, + { + "id": 4, + "name": "release and retreat", + "start": 17, + "end": 18, + "planning": "Open gripper to release the upright pot and move away slightly." + } + ], + "global_plan": "Approach the orange pot, grasp and lift it, rotate it upright while held, then release and retreat.", + "notes": "Gripper evidence confirms meaningful closing in segments 2–4; segment 1 shows no closing, so only approach is described. Motion and image evidence support grasp-lift-rotate-release sequence." + } + }, + "episode_goal": "Flip the orange pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2714443504810333, + 0.0108830276876688, + 0.05367331951856613, + -3.012221097946167, + -0.10351090133190155, + 0.12804563343524933 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach orange pot", + "subtask_reasoning": "The robot is positioned above the sink with the orange pot visible inside. The gripper is open and no contact has been made yet. The next action should be to move the gripper closer to the orange pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664051353931427, + 0.008280346170067787, + 0.042624928057193756, + -3.105114698410034, + -0.06023448333144188, + 0.1441953480243683 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach orange pot", + "subtask_reasoning": "The robot is positioned above the sink with the orange pot visible inside. The gripper is open and no contact has been made yet. The next action should be to move the gripper closer to the orange pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703798711299896, + 0.012438314966857433, + 0.04060513898730278, + 3.048365354537964, + -0.06728579849004745, + 0.18995027244091034 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot is positioned above the sink with the orange pot visible inside. The gripper is open and no contact has been made yet. The next action should be to move the gripper closer to the orange pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2694876194000244, + 0.01304536685347557, + 0.0322776734828949, + 2.9531564712524414, + -0.06212807819247246, + 0.2132643610239029 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped plush toy": [ + 0, + 162, + 75, + 288 + ], + "green striped plush toy": [ + 49, + 119, + 182, + 263 + ], + "green cutting board": [ + 705, + 363, + 897, + 588 + ], + "white faucet": [ + 564, + 6, + 747, + 381 + ], + "red pepper toy": [ + 16, + 233, + 115, + 417 + ] + } + } + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot is positioned above the sink with the orange pot visible inside. The gripper is open and no contact has been made yet. The next action should be to move the gripper closer to the orange pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2695918679237366, + 0.011752519756555557, + 0.024958617985248566, + 2.900872230529785, + -0.06293699890375137, + 0.22297801077365875 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot is positioned above the sink with the orange pot visible inside. The gripper is open and no contact has been made yet. The next action should be to move the gripper closer to the orange pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26649796962738037, + 0.01078762486577034, + 0.01796792633831501, + 2.8720712661743164, + -0.054055117070674896, + 0.24235062301158905 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot is positioned above the sink with the orange pot visible inside. The gripper is open and no contact has been made yet. The next action should be to move the gripper closer to the orange pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26585933566093445, + 0.008205892518162727, + 0.010902009904384613, + 2.8502092361450195, + -0.05187252536416054, + 0.25863778591156006 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot is positioned above the sink with the orange pot visible inside. The gripper is open and no contact has been made yet. The next action should be to move the gripper closer to the orange pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2681124806404114, + 0.005991316866129637, + 0.007743188180029392, + 2.8306734561920166, + -0.06552977859973907, + 0.2753109931945801 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot in the sink, with the gripper open and ready. The approach phase is complete, and the robot is now aligned to close the gripper around the pot. The next action is to close the gripper to grasp the pot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2704109847545624, + 0.0014404049143195152, + 0.004348520189523697, + 2.810659885406494, + -0.06929086148738861, + 0.29887208342552185 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot in the sink, with the gripper open and ready. The approach phase is complete, and the robot is now aligned to close the gripper around the pot. The next action is to close the gripper to grasp the pot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, close gripper; then move back 1 cm, move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747899889945984, + -0.007443694863468409, + -0.00018213198927696794, + 2.795790433883667, + -0.07530594617128372, + 0.3137904703617096 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot in the sink, with the gripper open and ready. The approach phase is complete, and the robot is now aligned to close the gripper around the pot. The next action is to close the gripper to grasp the pot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, close gripper; then move back 1 cm, move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2790538966655731, + -0.0165310837328434, + -0.002981061115860939, + 2.782416343688965, + -0.08309370279312134, + 0.3257630467414856 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot in the sink, with the gripper open and ready. The approach phase is complete, and the robot is now aligned to close the gripper around the pot. The next action is to close the gripper to grasp the pot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808450162410736, + -0.021131854504346848, + -0.0044427793473005295, + 2.781351327896118, + -0.08499209582805634, + 0.3397119641304016 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot in the sink, with the gripper open and ready. The approach phase is complete, and the robot is now aligned to close the gripper around the pot. The next action is to close the gripper to grasp the pot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2814565896987915, + -0.028521863743662834, + -0.007977839559316635, + 2.7728891372680664, + -0.0725444033741951, + 0.35759437084198 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift orange pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot in the sink, with the gripper open and ready. The approach phase is complete, and the robot is now aligned to close the gripper around the pot. The next action is to close the gripper to grasp the pot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2822939455509186, + -0.03132224828004837, + -0.008610236458480358, + 2.760132312774658, + -0.07369446009397507, + 0.36064454913139343 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate pot upright", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot in the sink, with the gripper open and ready. The approach phase is complete, and the robot is now aligned to close the gripper around the pot. The next action is to close the gripper to grasp the pot before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2831467390060425, + -0.03118794783949852, + -0.009121868759393692, + 2.7565078735351562, + -0.07797514647245407, + 0.3614325225353241 + ], + "gripper_value": 0.18800361454486847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate pot upright", + "subtask_reasoning": "The robot is holding the orange pot above the sink, having already approached and lifted it. The current subtask involves rotating the pot to an upright orientation while maintaining grip. The next action should be a controlled rotation of the wrist to align the pot upright before releasing it into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28015798330307007, + -0.029008660465478897, + -0.011182806454598904, + 2.816192626953125, + -0.07291539758443832, + 0.33933281898498535 + ], + "gripper_value": 0.17243100702762604 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate pot upright", + "subtask_reasoning": "The robot is holding the orange pot above the sink, having already approached and lifted it. The current subtask involves rotating the pot to an upright orientation while maintaining grip. The next action should be a controlled rotation of the wrist to align the pot upright before releasing it into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.270967572927475, + -0.02553870901465416, + -0.01440197229385376, + 3.0280086994171143, + -0.051836926490068436, + 0.2634330987930298 + ], + "gripper_value": 0.17243100702762604 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate pot upright", + "subtask_reasoning": "The robot is holding the orange pot above the sink, having already approached and lifted it. The current subtask involves rotating the pot to an upright orientation while maintaining grip. The next action should be a controlled rotation of the wrist to align the pot upright before releasing it into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt left 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26822954416275024, + -0.026272760704159737, + -0.01218182872980833, + -3.098400592803955, + -0.06370817124843597, + 0.1837662160396576 + ], + "gripper_value": 0.17243100702762604 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped plush toy": [ + 0, + 162, + 75, + 287 + ], + "green striped plush toy": [ + 48, + 118, + 182, + 262 + ], + "green cutting board": [ + 703, + 358, + 897, + 588 + ], + "orange fruit": [ + 291, + 373, + 408, + 485 + ] + } + } + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange pot is now upright in the sink, and the gripper is open and slightly retracted. The release action has been completed, and the robot is retreating from the pot. The next step is to continue moving away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2636980414390564, + -0.026633698493242264, + -0.014904855750501156, + -3.0332562923431396, + -0.08444566279649734, + 0.14266708493232727 + ], + "gripper_value": 0.325195848941803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange pot" + }, + { + "id": 2, + "subtask": "grasp and lift orange pot" + }, + { + "id": 3, + "subtask": "rotate pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange pot is now upright in the sink, and the gripper is open and slightly retracted. The release action has been completed, and the robot is retreating from the pot. The next step is to continue moving away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004135_ecot.json b/cot/chunk-0004/episode_0004135_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5614af8750b1d6c26c0ed3da6e5adab53aedf3e8 --- /dev/null +++ b/cot/chunk-0004/episode_0004135_ecot.json @@ -0,0 +1,5242 @@ +{ + "task_name": "episode_0004135", + "episode_json": "json/chunk-0004/episode_0004135.json", + "video_path": "videos/chunk-0004/image_0/episode_0004135.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 85, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004135.json" + }, + "fps": 5.0, + "T_eff": 85, + "gripper_behavior_summary": { + "available": true, + "range": 0.6100337505340576, + "std": 0.12929457426071167, + "delta_total": -0.5626751184463501, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61003, std=0.12929, total_delta=-0.56268). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 5, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 105, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305, + 305 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 18 + ], + [ + 3, + 19, + 34 + ], + [ + 4, + 35, + 45 + ], + [ + 5, + 46, + 84 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on target bead\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector to initial bead location and close gripper to prepare for contact-based manipulation.\"},\n {\"id\": 2, \"name\": \"sweep beads toward pile region\", \"start\": 5, \"end\": 34, \"planning\": \"Drag and nudge scattered beads across the tray surface using closed gripper to consolidate them into a growing pile.\"},\n {\"id\": 3, \"name\": \"reposition for final sweep pass\", \"start\": 35, \"end\": 45, \"planning\": \"Retreat and reposition end-effector to align with remaining stray beads for final consolidation sweep.\"},\n {\"id\": 4, \"name\": \"execute final sweep and release contact\", \"start\": 46, \"end\": 84, \"planning\": \"Perform last sweeping motion to gather residual beads into pile, then slightly open gripper to release contact and conclude task.\"}\n ],\n \"global_plan\": \"Sweep scattered beads into a consolidated pile using contact-based dragging and nudging motions, with gripper closure only where evidence supports meaningful closing (segments 1, 2, 5), avoiding grasp terminology in segment 4 which shows no gripper movement.\",\n \"notes\": \"Segment 3 (frames 19-34) was merged into subtask 2 as it continues the same sweeping phase without distinct behavioral change; segment 4 (frames 35-45) is treated as repositioning since gripper remains static and motion is translational only; segment 5 includes slight gripper opening at end (frame 84) indicating release of contact, not grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on target bead", + "start": 0, + "end": 4, + "planning": "Move end-effector to initial bead location and close gripper to prepare for contact-based manipulation." + }, + { + "id": 2, + "name": "sweep beads toward pile region", + "start": 5, + "end": 34, + "planning": "Drag and nudge scattered beads across the tray surface using closed gripper to consolidate them into a growing pile." + }, + { + "id": 3, + "name": "reposition for final sweep pass", + "start": 35, + "end": 45, + "planning": "Retreat and reposition end-effector to align with remaining stray beads for final consolidation sweep." + }, + { + "id": 4, + "name": "execute final sweep and release contact", + "start": 46, + "end": 84, + "planning": "Perform last sweeping motion to gather residual beads into pile, then slightly open gripper to release contact and conclude task." + } + ], + "global_plan": "Sweep scattered beads into a consolidated pile using contact-based dragging and nudging motions, with gripper closure only where evidence supports meaningful closing (segments 1, 2, 5), avoiding grasp terminology in segment 4 which shows no gripper movement.", + "notes": "Segment 3 (frames 19-34) was merged into subtask 2 as it continues the same sweeping phase without distinct behavioral change; segment 4 (frames 35-45) is treated as repositioning since gripper remains static and motion is translational only; segment 5 includes slight gripper opening at end (frame 84) indicating release of contact, not grasping." + } + }, + "episode_goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3687344491481781, + -0.1577121764421463, + 0.06789594143629074, + 3.1189942359924316, + -0.22126036882400513, + 0.036274299025535583 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "approach and close gripper on target bead", + "subtask_reasoning": "The robot is positioned above the white tray with scattered blue beads, and the gripper is open. No beads have been moved yet. The next action is to lower the gripper toward a target bead on the right side of the tray to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move left 8 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3658899664878845, + -0.15660502016544342, + 0.05466441437602043, + 3.134070873260498, + -0.1891842484474182, + 0.03384782001376152 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "approach and close gripper on target bead", + "subtask_reasoning": "The robot is positioned above the white tray with scattered blue beads, and the gripper is open. No beads have been moved yet. The next action is to lower the gripper toward a target bead on the right side of the tray to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 11 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643277883529663, + -0.15538203716278076, + 0.052556153386831284, + -3.137688398361206, + -0.1795830875635147, + 0.014355001971125603 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "approach and close gripper on target bead", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36152368783950806, + -0.15192176401615143, + 0.041751958429813385, + -3.110682249069214, + -0.1423012763261795, + -0.013208907097578049 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "approach and close gripper on target bead", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 17 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36623337864875793, + -0.14414803683757782, + 0.031194021925330162, + -3.101994514465332, + -0.12386319041252136, + 0.003948849625885487 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 15, + 103, + 157, + 224 + ], + "white tray": [ + 17, + 310, + 975, + 992 + ], + "blue glove": [ + 887, + 686, + 995, + 866 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "approach and close gripper on target bead", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 2 cm, move left 21 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3713146448135376, + -0.1423405557870865, + 0.030495712533593178, + -3.105269193649292, + -0.11080624908208847, + 0.02387368492782116 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 24 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3706115484237671, + -0.14161956310272217, + 0.028516868129372597, + -3.10725736618042, + -0.10399946570396423, + 0.01928076334297657 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 27 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683798909187317, + -0.1329464465379715, + 0.02440071664750576, + -3.1138229370117188, + -0.08273632824420929, + 0.028751051053404808 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 27 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3670380711555481, + -0.12100055068731308, + 0.022547118365764618, + -3.1059510707855225, + -0.06988527625799179, + 0.011336439289152622 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 25 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36721330881118774, + -0.09355562925338745, + 0.022141292691230774, + -3.096827268600464, + -0.05736197158694267, + 0.03366180509328842 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 19 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676690459251404, + -0.05963075906038284, + 0.021869271993637085, + -3.086501359939575, + -0.03363264724612236, + 0.07639246433973312 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 15, + 104, + 157, + 223 + ], + "blue glove": [ + 880, + 685, + 996, + 866 + ], + "white tray": [ + 19, + 311, + 981, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36629149317741394, + -0.0342097170650959, + 0.022244930267333984, + -3.0738143920898438, + -0.027347778901457787, + 0.10944903641939163 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 7 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36444467306137085, + -0.008009270764887333, + 0.02264334075152874, + -3.0502700805664062, + -0.023805933073163033, + 0.12873685359954834 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 7 cm, tilt right 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35907259583473206, + 0.027884164825081825, + 0.023662330582737923, + -3.016205072402954, + -0.026738759130239487, + 0.12842507660388947 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 13 cm, move up 7 cm, tilt right 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.352804034948349, + 0.06546349078416824, + 0.02398715354502201, + -3.0071985721588135, + -0.017857626080513, + 0.11980389803647995 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 21 cm, move up 8 cm, tilt right 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34151050448417664, + 0.10249388217926025, + 0.025769075378775597, + -3.003171443939209, + -0.012119019404053688, + 0.08311820030212402 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 28 cm, move up 7 cm, tilt right 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300074338912964, + 0.12890543043613434, + 0.026923008263111115, + -3.0012593269348145, + -0.013610322028398514, + 0.07508246600627899 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 31 cm, move up 5 cm, tilt right 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229220509529114, + 0.1405918300151825, + 0.029262926429510117, + -3.011063814163208, + -0.021269090473651886, + 0.057499662041664124 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 33 cm, move up 3 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31588318943977356, + 0.12911061942577362, + 0.034174367785453796, + -3.0720386505126953, + -0.025102660059928894, + 0.06561928987503052 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The robot arm is positioned over the white tray containing scattered blue beads, with the gripper currently open and approaching a target bead on the right side. No beads have been moved yet. The next action is to close the gripper around the nearest bead to initiate contact for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 32 cm, move up 1 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31781914830207825, + 0.0918353796005249, + 0.05758867785334587, + 3.1170272827148438, + -0.058217816054821014, + 0.06863474100828171 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 28 cm, move down 1 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184121549129486, + 0.0417412631213665, + 0.08644447475671768, + 3.0102171897888184, + -0.11807309836149216, + 0.06301961839199066 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 23 cm, move down 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3134344518184662, + -0.0007660317933186889, + 0.09453241527080536, + 2.9141993522644043, + -0.10186560451984406, + 0.07939060777425766 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 18 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3050067722797394, + -0.05067391321063042, + 0.09386901557445526, + 2.7955596446990967, + -0.06832100450992584, + 0.03707485273480415 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.301504909992218, + -0.09978193044662476, + 0.09579730033874512, + 2.760389566421509, + -0.06309261918067932, + 0.03889554366469383 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 7 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31225165724754333, + -0.14215853810310364, + 0.10205195844173431, + 2.7387404441833496, + -0.07656371593475342, + 0.06174195185303688 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 7 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30627623200416565, + -0.1737634837627411, + 0.09475181996822357, + 2.761070728302002, + -0.060383278876543045, + 0.027568642050027847 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 15, + 104, + 157, + 222 + ], + "blue glove": [ + 886, + 685, + 996, + 866 + ], + "white tray": [ + 20, + 310, + 970, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 6 cm, tilt left 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092784881591797, + -0.18348683416843414, + 0.07776305824518204, + 2.7945775985717773, + -0.07375775277614594, + 0.04396732896566391 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 5 cm, tilt left 20 degrees, keep gripper closed; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3083018958568573, + -0.19241949915885925, + 0.057651154696941376, + 2.8400979042053223, + -0.10603402554988861, + 0.030499428510665894 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 3 cm, tilt left 20 degrees, keep gripper closed; then move left 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30813828110694885, + -0.19064964354038239, + 0.049169812351465225, + 2.841292381286621, + -0.11725716292858124, + 0.05758078023791313 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 2 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper closed; then move left 9 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30552321672439575, + -0.19270040094852448, + 0.04571717232465744, + 2.8524630069732666, + -0.12957768142223358, + 0.0566762275993824 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper closed; then move left 11 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.30716070532798767, + -0.19133472442626953, + 0.04107348993420601, + 2.882333278656006, + -0.14761704206466675, + 0.0569116584956646 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 14 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3053320050239563, + -0.18537236750125885, + 0.0375608392059803, + 2.916903257369995, + -0.1462128907442093, + 0.05317346751689911 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 1 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper closed; then move left 17 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29652246832847595, + -0.17339123785495758, + 0.0306209996342659, + 2.9674975872039795, + -0.13656894862651825, + 0.048096369951963425 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move left 21 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29465094208717346, + -0.15484915673732758, + 0.02862536907196045, + 3.0455214977264404, + -0.1282617151737213, + 0.022533811628818512 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 24 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28761109709739685, + -0.13073614239692688, + 0.029024936258792877, + 3.12191104888916, + -0.0810522586107254, + 0.020077504217624664 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "sweep beads toward pile region", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper closed; then move back 1 cm, move left 24 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.28029704093933105, + -0.09829557687044144, + 0.030767900869250298, + -3.078301429748535, + -0.021211406216025352, + 0.039186712354421616 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 15, + 104, + 157, + 223 + ], + "blue glove": [ + 885, + 688, + 996, + 874 + ], + "white tray": [ + 21, + 309, + 982, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 22 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.27975279092788696, + -0.06494226306676865, + 0.03325111046433449, + -3.0176618099212646, + 0.0379013754427433, + 0.06021871790289879 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2794100046157837, + -0.03900940343737602, + 0.030596494674682617, + -2.985729694366455, + 0.050282612442970276, + 0.06868288666009903 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.280283659696579, + -0.01089592557400465, + 0.025973251089453697, + -2.938194990158081, + -0.010621380060911179, + 0.06602174043655396 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28246280550956726, + 0.016618717461824417, + 0.022326728329062462, + -2.893315553665161, + -0.09188629686832428, + 0.034232500940561295 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue glove": [ + 884, + 699, + 996, + 879 + ], + "white tray": [ + 20, + 321, + 984, + 992 + ], + "metal bowl": [ + 15, + 106, + 156, + 222 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is in contact with a blue bead on the white tray, having already approached and closed around it. The current situation involves initiating the sweeping motion to move the bead toward the pile region on the left. The next action is to drag or nudge the bead laterally while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move right 14 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870192527770996, + 0.04300575330853462, + 0.022965185344219208, + -2.8736846446990967, + -0.12447605282068253, + 0.057919714599847794 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is positioned above the white tray with scattered blue beads, maintaining an open state as no meaningful closing evidence exists in this segment. Previous sweeps have consolidated some beads toward the left pile region. The next action should involve a contact-based nudging motion to guide remaining beads into the pile without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, tilt right 20 degrees, keep gripper closed; then move forward 8 cm, move right 19 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846578359603882, + 0.07243995368480682, + 0.02352442406117916, + -2.863100051879883, + -0.12310995161533356, + 0.08578313887119293 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is positioned above the white tray with scattered blue beads, maintaining an open state as no meaningful closing evidence exists in this segment. Previous sweeps have consolidated some beads toward the left pile region. The next action should involve a contact-based nudging motion to guide remaining beads into the pile without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt right 20 degrees, keep gripper closed; then move forward 10 cm, move right 22 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841135263442993, + 0.10975287109613419, + 0.0250552948564291, + -2.8494975566864014, + -0.10927129536867142, + 0.10996086895465851 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is positioned above the white tray with scattered blue beads, maintaining an open state as no meaningful closing evidence exists in this segment. Previous sweeps have consolidated some beads toward the left pile region. The next action should involve a contact-based nudging motion to guide remaining beads into the pile without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 4 cm, tilt right 20 degrees, keep gripper closed; then move forward 11 cm, move right 22 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.27275994420051575, + 0.13682985305786133, + 0.025747453793883324, + -2.8498663902282715, + -0.08028674125671387, + 0.1158536747097969 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is positioned above the white tray with scattered blue beads, maintaining an open state as no meaningful closing evidence exists in this segment. Previous sweeps have consolidated some beads toward the left pile region. The next action should involve a contact-based nudging motion to guide remaining beads into the pile without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 4 cm, tilt right 20 degrees, keep gripper closed; then move forward 11 cm, move right 22 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2698054611682892, + 0.14046059548854828, + 0.027601836249232292, + -2.8716042041778564, + -0.07487727701663971, + 0.08322517573833466 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is positioned above the white tray with scattered blue beads, maintaining an open state as no meaningful closing evidence exists in this segment. Previous sweeps have consolidated some beads toward the left pile region. The next action should involve a contact-based nudging motion to guide remaining beads into the pile without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 4 cm, tilt right 20 degrees, keep gripper closed; then move forward 10 cm, move right 20 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2614341676235199, + 0.1234254464507103, + 0.03413406014442444, + -3.000415325164795, + -0.06416931748390198, + 0.10805562883615494 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "reposition for final sweep pass", + "subtask_reasoning": "The gripper is positioned above the white tray with scattered blue beads, maintaining an open state as no meaningful closing evidence exists in this segment. Previous sweeps have consolidated some beads toward the left pile region. The next action should involve a contact-based nudging motion to guide remaining beads into the pile without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 10 cm, move right 17 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 45 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.28436532616615295, + 0.07779237627983093, + 0.06293818354606628, + 3.12325382232666, + -0.14551939070224762, + 0.12026666104793549 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 14 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3152771592140198, + 0.029562372714281082, + 0.08921369165182114, + 3.021676540374756, + -0.20482099056243896, + 0.12628155946731567 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.33827629685401917, + -0.017646457999944687, + 0.10034915059804916, + 2.9930949211120605, + -0.21001829206943512, + 0.08962655067443848 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue glove": [ + 892, + 695, + 996, + 879 + ], + "white tray": [ + 13, + 332, + 979, + 992 + ], + "metal bowl": [ + 15, + 104, + 156, + 222 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3561799228191376, + -0.06601648032665253, + 0.09378506988286972, + 2.9883265495300293, + -0.1808345466852188, + 0.0537148080766201 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.36935216188430786, + -0.11583928018808365, + 0.07657205313444138, + 3.0257134437561035, + -0.14946943521499634, + 0.03737880662083626 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 14 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.38121625781059265, + -0.14034457504749298, + 0.05910266190767288, + 3.061201810836792, + -0.13032758235931396, + 0.032487209886312485 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 19 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.39141225814819336, + -0.14166563749313354, + 0.038021307438611984, + 3.1003623008728027, + -0.11581404507160187, + 0.04629041254520416 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 21 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.39175575971603394, + -0.13993453979492188, + 0.030418723821640015, + 3.117516040802002, + -0.1262936294078827, + 0.036786340177059174 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 21 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.38846054673194885, + -0.12240754067897797, + 0.027944175526499748, + 3.1190223693847656, + -0.13077904284000397, + 0.03660530224442482 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 19 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.38127174973487854, + -0.0957697257399559, + 0.028283465653657913, + 3.1224372386932373, + -0.11278007179498672, + 0.03632838651537895 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 17 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3780936300754547, + -0.06699828803539276, + 0.027704395353794098, + 3.115053176879883, + -0.09307626634836197, + 0.053724613040685654 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 15, + 104, + 156, + 223 + ], + "blue glove": [ + 892, + 696, + 996, + 880 + ], + "white tray": [ + 15, + 332, + 977, + 992 + ], + "blue substance": [ + 73, + 446, + 496, + 735 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move up 2 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3769747018814087, + -0.04030228778719902, + 0.02726016938686371, + 3.1163883209228516, + -0.0655464455485344, + 0.0858660563826561 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move up 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.37660112977027893, + -0.021666524931788445, + 0.029188942164182663, + 3.1036698818206787, + -0.04077305644750595, + 0.1167338490486145 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.37902137637138367, + 0.009121911600232124, + 0.031799495220184326, + 3.0980823040008545, + -0.03412328287959099, + 0.19212324917316437 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3770291805267334, + 0.02557278610765934, + 0.03211750090122223, + 3.094294309616089, + -0.02483864314854145, + 0.22703590989112854 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3721729516983032, + 0.0515672042965889, + 0.030342042446136475, + 3.093557357788086, + -0.019663939252495766, + 0.3077702522277832 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603513538837433, + 0.06390710920095444, + 0.031814660876989365, + 3.0893781185150146, + -0.008845960721373558, + 0.4609130024909973 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.35092857480049133, + 0.06643379479646683, + 0.03328859061002731, + 3.0807576179504395, + -0.02324492111802101, + 0.49226629734039307 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.34726881980895996, + 0.07095874845981598, + 0.031860679388046265, + 3.0622506141662598, + -0.05281125754117966, + 0.570303738117218 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453095555305481, + 0.0729968473315239, + 0.0337691493332386, + 3.049140453338623, + -0.05120844021439552, + 0.5933393239974976 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.3488280773162842, + 0.0652964860200882, + 0.04779679328203201, + 2.9917314052581787, + -0.0855344757437706, + 0.509302020072937 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.3604014813899994, + 0.058533746749162674, + 0.05631573125720024, + 2.953331708908081, + -0.12282022833824158, + 0.41230151057243347 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.3738599121570587, + 0.060583338141441345, + 0.050274558365345, + 2.969198703765869, + -0.12532852590084076, + 0.4200130105018616 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.38242989778518677, + 0.06606828421354294, + 0.04138481244444847, + 2.9915614128112793, + -0.11436761915683746, + 0.43638113141059875 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3854030668735504, + 0.07187806069850922, + 0.03834358975291252, + 3.0071253776550293, + -0.10014668107032776, + 0.448697030544281 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.37965279817581177, + 0.08818221092224121, + 0.03758782893419266, + 3.020280122756958, + -0.08976568281650543, + 0.48705655336380005 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 15 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.3744358718395233, + 0.103514663875103, + 0.03775560483336449, + 3.024470090866089, + -0.08317568898200989, + 0.5080339908599854 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 19 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.3668042719364166, + 0.12722279131412506, + 0.036949336528778076, + 3.0312440395355225, + -0.08971769362688065, + 0.5599627494812012 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue glove": [ + 890, + 694, + 996, + 880 + ], + "white tray": [ + 14, + 347, + 980, + 992 + ], + "metal bowl": [ + 15, + 104, + 155, + 217 + ], + "blue substance": [ + 67, + 478, + 289, + 718 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 24 cm, move up 1 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.36472079157829285, + 0.13558806478977203, + 0.0503525510430336, + 3.026693344116211, + -0.12178973853588104, + 0.5796808004379272 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 26 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.36166754364967346, + 0.1325942873954773, + 0.06991048157215118, + 2.9672534465789795, + -0.1254466027021408, + 0.5921807289123535 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 26 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632235825061798, + 0.11301768571138382, + 0.09515997767448425, + 2.887216329574585, + -0.1329779028892517, + 0.5506409406661987 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 24 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.36060285568237305, + 0.08182191103696823, + 0.09655089676380157, + 2.879969358444214, + -0.1056089699268341, + 0.4472613036632538 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 21 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.3448098599910736, + 0.058244649320840836, + 0.07265640050172806, + 2.9292702674865723, + -0.10756222903728485, + 0.3061557710170746 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 18 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.3263688087463379, + 0.016354339197278023, + 0.0674343854188919, + 2.9582507610321045, + -0.16380125284194946, + 0.16341213881969452 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214791417121887, + -0.027057426050305367, + 0.08355967700481415, + 2.9480957984924316, + -0.13108210265636444, + 0.13352333009243011 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.33017802238464355, + -0.06496205180883408, + 0.10167988389730453, + 2.9694366455078125, + -0.13191096484661102, + 0.1457190066576004 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 15, + 105, + 155, + 223 + ], + "blue glove": [ + 890, + 694, + 996, + 880 + ], + "white tray": [ + 16, + 324, + 980, + 992 + ], + "blue substance": [ + 73, + 412, + 338, + 719 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418877422809601, + -0.08976776897907257, + 0.07883553206920624, + 3.041158437728882, + -0.08177251368761063, + 0.1523529440164566 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.347993403673172, + -0.11218015849590302, + 0.0472126379609108, + 3.1014795303344727, + -0.051808640360832214, + 0.1737561821937561 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the left side of the white tray, having swept them into a consolidated pile. The current subtask involves completing the final sweep motion and releasing contact. The next action is to lift the gripper slightly to disengage from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.347846120595932, + -0.1238064095377922, + 0.029531897976994514, + 3.139606237411499, + -0.04551917314529419, + 0.19010984897613525 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered blue beads into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on target bead" + }, + { + "id": 2, + "subtask": "sweep beads toward pile region" + }, + { + "id": 3, + "subtask": "reposition for final sweep pass" + }, + { + "id": 4, + "subtask": "execute final sweep and release contact" + } + ], + "subtask_name": "execute final sweep and release contact", + "subtask_reasoning": "The gripper is in contact with the blue beads on the right side of the tray, having just completed a sweeping motion toward the pile on the left. Segment-level gripper evidence shows slight opening (delta=+0.047), consistent with releasing contact after pushing. The next action is to lift the gripper slightly and retract to complete the final sweep cycle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 46, + "end": 84 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004136_ecot.json b/cot/chunk-0004/episode_0004136_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..05e3f23b4fe498a6e07a2319b30fa3c9bb7d7940 --- /dev/null +++ b/cot/chunk-0004/episode_0004136_ecot.json @@ -0,0 +1,3001 @@ +{ + "task_name": "episode_0004136", + "episode_json": "json/chunk-0004/episode_0004136.json", + "video_path": "videos/chunk-0004/image_0/episode_0004136.mp4", + "instruction": "Move cloth from bottom right of the table to the top left of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004136.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.003982663154602051, + "std": 0.0010159173980355263, + "delta_total": -0.0013307929039001465, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00398, std=0.00102, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 12 + ], + [ + 3, + 13, + 29 + ], + [ + 4, + 30, + 34 + ], + [ + 5, + 35, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth from above\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector down toward the cloth’s bottom-right corner without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge cloth\", \"start\": 5, \"end\": 12, \"planning\": \"Establish light contact with cloth and begin nudging it diagonally toward top-left using gripper fingers.\"},\n {\"id\": 3, \"name\": \"drag cloth across table\", \"start\": 13, \"end\": 29, \"planning\": \"Continue dragging cloth in sustained motion toward top-left while maintaining consistent contact pressure.\"},\n {\"id\": 4, \"name\": \"reposition for final alignment\", \"start\": 30, \"end\": 34, \"planning\": \"Adjust gripper position to refine cloth orientation near target zone without lifting or releasing contact.\"},\n {\"id\": 5, \"name\": \"release contact and retreat\", \"start\": 35, \"end\": 44, \"planning\": \"Lift gripper slightly off cloth and move away to complete task, leaving cloth positioned at top-left.\"}\n ],\n \"global_plan\": \"The robot moves the cloth from bottom-right to top-left by approaching, making contact, dragging it across the table, repositioning for alignment, and finally retreating — all without grasping or lifting, as confirmed by constant gripper signals.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, no grasp/pick/place actions are used. All manipulation is contact-based (nudge, drag, reposition). Frame coverage is complete and contiguous from 0 to 44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth from above", + "start": 0, + "end": 4, + "planning": "Move end-effector down toward the cloth’s bottom-right corner without grasping." + }, + { + "id": 2, + "name": "make contact and nudge cloth", + "start": 5, + "end": 12, + "planning": "Establish light contact with cloth and begin nudging it diagonally toward top-left using gripper fingers." + }, + { + "id": 3, + "name": "drag cloth across table", + "start": 13, + "end": 29, + "planning": "Continue dragging cloth in sustained motion toward top-left while maintaining consistent contact pressure." + }, + { + "id": 4, + "name": "reposition for final alignment", + "start": 30, + "end": 34, + "planning": "Adjust gripper position to refine cloth orientation near target zone without lifting or releasing contact." + }, + { + "id": 5, + "name": "release contact and retreat", + "start": 35, + "end": 44, + "planning": "Lift gripper slightly off cloth and move away to complete task, leaving cloth positioned at top-left." + } + ], + "global_plan": "The robot moves the cloth from bottom-right to top-left by approaching, making contact, dragging it across the table, repositioning for alignment, and finally retreating — all without grasping or lifting, as confirmed by constant gripper signals.", + "notes": "No segment shows meaningful gripper closing; therefore, no grasp/pick/place actions are used. All manipulation is contact-based (nudge, drag, reposition). Frame coverage is complete and contiguous from 0 to 44." + } + }, + "episode_goal": "Move the green cloth from the bottom right of the table to the top left of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37455448508262634, + 0.02135426178574562, + 0.06126708909869194, + 3.0510189533233643, + -0.07997582852840424, + -0.4722195565700531 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible in the bottom right. No movement or contact has occurred yet as this is the initial frame. The next action is to lower the end-effector toward the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3730939030647278, + 0.02173365280032158, + 0.048289258033037186, + 3.038522481918335, + -0.04776166006922722, + -0.4623219072818756 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible in the bottom right. No movement or contact has occurred yet as this is the initial frame. The next action is to lower the end-effector toward the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716137111186981, + 0.008933203294873238, + 0.02856290526688099, + 3.0651845932006836, + 0.08302385360002518, + -0.43917351961135864 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table, with no prior actions completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should involve lowering the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37593623995780945, + -0.006028709001839161, + 0.012725146487355232, + 3.042354106903076, + 0.10794458538293839, + -0.5097823739051819 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table, with no prior actions completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should involve lowering the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37801966071128845, + -0.01545705460011959, + 0.0017018546350300312, + 3.1158015727996826, + 0.08659164607524872, + -0.6014113426208496 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table, with no prior actions completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should involve lowering the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.38193628191947937, + -0.038332801312208176, + 0.011906892992556095, + -3.054368734359741, + -0.002327606314793229, + -0.7447816133499146 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 413, + 413, + 769, + 993 + ], + "wooden table": [ + 3, + 213, + 996, + 996 + ], + "orange object": [ + 267, + 299, + 356, + 395 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table, with no prior actions completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should involve lowering the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3850077688694, + -0.04103318601846695, + 0.0261392705142498, + -2.9662857055664062, + -0.1012248620390892, + -0.8109713792800903 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table, with no prior actions completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should involve lowering the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3887515664100647, + -0.04661644995212555, + 0.02653355710208416, + -2.966726064682007, + -0.14831607043743134, + -0.8226263523101807 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table, with no prior actions completed. The gripper remains open and stationary, indicating no contact or grasp has occurred yet. The next action should involve lowering the end-effector to make contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, keep gripper open; then move back 4 cm, move left 11 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.39629364013671875, + -0.055661413818597794, + 0.02822914719581604, + -3.002261161804199, + -0.17807498574256897, + -0.840237021446228 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 6 cm, tilt right 10 degrees, keep gripper open; then move back 4 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.40393778681755066, + -0.0556427501142025, + 0.01750512793660164, + -3.0574307441711426, + -0.19081570208072662, + -0.826846718788147 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 5 cm, keep gripper open; then move back 2 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4049810469150543, + -0.054046936333179474, + -0.0032129446044564247, + -3.084341049194336, + -0.16124320030212402, + -0.8197044134140015 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 2 cm, keep gripper open; then move left 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40047600865364075, + -0.05132736638188362, + -0.014689360745251179, + -3.076533079147339, + -0.1463705599308014, + -0.8299630284309387 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3871566653251648, + -0.036638043820858, + -0.026585768908262253, + -3.0983481407165527, + -0.15100331604480743, + -0.8074162006378174 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and nudge cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move forward 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37366968393325806, + -0.01575510762631893, + -0.02757255733013153, + 3.1363348960876465, + -0.16432848572731018, + -0.7910165190696716 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36796140670776367, + 0.01733589358627796, + -0.026937250047922134, + 3.0808920860290527, + -0.17731255292892456, + -0.7243564128875732 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 391, + 361, + 702, + 992 + ], + "wooden table": [ + 4, + 212, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3628256618976593, + 0.05118902027606964, + -0.02807590551674366, + 3.0722663402557373, + -0.17187555134296417, + -0.6656854152679443 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543638586997986, + 0.07609254866838455, + -0.02998747117817402, + 3.0926144123077393, + -0.16280782222747803, + -0.6321649551391602 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 14 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33843857049942017, + 0.0939992144703865, + -0.030334416776895523, + 3.09371280670166, + -0.14716531336307526, + -0.6201101541519165 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 15 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3382459878921509, + 0.08717174828052521, + -0.029825707897543907, + 3.0723648071289062, + -0.14895565807819366, + -0.6228001713752747 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35386964678764343, + 0.06030341237783432, + -0.02812524512410164, + 3.0473814010620117, + -0.13463562726974487, + -0.6403284072875977 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37104105949401855, + 0.04092606529593468, + -0.026116710156202316, + 3.024444341659546, + -0.13587386906147003, + -0.6461279988288879 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact has not yet been fully established or the nudge is just beginning. The next action is to lower the end-effector slightly to make physical contact and initiate the dragging motion toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3859180510044098, + 0.009547549299895763, + -0.023965835571289062, + 3.0256292819976807, + -0.1381780505180359, + -0.691725492477417 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3989917039871216, + -0.01649320498108864, + -0.023164065554738045, + 3.0377273559570312, + -0.13816101849079132, + -0.7361627221107483 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move left 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4095689356327057, + -0.0364505797624588, + -0.022183546796441078, + 3.045612096786499, + -0.12527762353420258, + -0.7642320394515991 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.423291951417923, + -0.05748855322599411, + -0.0217225793749094, + 3.0438292026519775, + -0.11605106294155121, + -0.7715153098106384 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 433, + 367, + 793, + 938 + ], + "wooden table": [ + 3, + 212, + 996, + 995 + ], + "orange object": [ + 267, + 299, + 354, + 396 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 5 cm, move left 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4344002306461334, + -0.06836336106061935, + -0.021155552938580513, + 3.04974365234375, + -0.10921339690685272, + -0.7757121920585632 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 9 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 6 cm, move left 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4308253824710846, + -0.06672117859125137, + -0.024018265306949615, + 3.050020217895508, + -0.10343743860721588, + -0.7767643928527832 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 6 cm, move left 10 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.41773906350135803, + -0.05771075189113617, + -0.026588434353470802, + 3.074044704437256, + -0.11420576274394989, + -0.7787240147590637 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, keep gripper open; then move back 6 cm, move left 10 cm, keep gripper open; then move forward 2 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3988049626350403, + -0.03320345655083656, + -0.02873815782368183, + 3.096745491027832, + -0.10784270614385605, + -0.7706471085548401 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, keep gripper open; then move back 6 cm, move left 10 cm, keep gripper open; then move forward 4 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.38315290212631226, + -0.010129404254257679, + -0.029137268662452698, + 3.132225275039673, + -0.10826718062162399, + -0.7688971161842346 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth across table", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper open; then move back 6 cm, move left 10 cm, keep gripper open; then move forward 5 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36865514516830444, + 0.017673851922154427, + -0.03036588430404663, + -3.130492925643921, + -0.11173873394727707, + -0.7425613403320312 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition for final alignment", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, keep gripper open; then move forward 5 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3550929129123688, + 0.04736272618174553, + -0.03092755191028118, + -3.114614725112915, + -0.11080062389373779, + -0.714821994304657 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 350, + 364, + 659, + 960 + ], + "wooden table": [ + 4, + 228, + 995, + 995 + ], + "wooden bench": [ + 288, + 2, + 995, + 295 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition for final alignment", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having already approached and nudged it. The gripper remains open with no grasp, consistent with dragging behavior. The next action is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, keep gripper open; then move forward 5 cm, move right 11 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34054937958717346, + 0.07379835098981857, + -0.03159293159842491, + -3.097003221511841, + -0.09642694890499115, + -0.6906269788742065 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition for final alignment", + "subtask_reasoning": "The robot arm is in contact with the green cloth, which is positioned near the center of the table. Previous steps have successfully dragged the cloth from the bottom right. The gripper remains open, indicating a sliding motion rather than grasping. The next action involves nudging the cloth further toward the top left to achieve final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, keep gripper open; then move forward 5 cm, move right 12 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32369905710220337, + 0.10179268568754196, + -0.03136579319834709, + -3.1026759147644043, + -0.07060611248016357, + -0.6646797060966492 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition for final alignment", + "subtask_reasoning": "The robot arm is in contact with the green cloth, which is positioned near the center of the table. Previous steps have successfully dragged the cloth from the bottom right. The gripper remains open, indicating a sliding motion rather than grasping. The next action involves nudging the cloth further toward the top left to achieve final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move forward 4 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31635233759880066, + 0.11189333349466324, + -0.031665537506341934, + -3.1117260456085205, + -0.04268947243690491, + -0.6698077321052551 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition for final alignment", + "subtask_reasoning": "The robot arm is in contact with the green cloth, which is positioned near the center of the table. Previous steps have successfully dragged the cloth from the bottom right. The gripper remains open, indicating a sliding motion rather than grasping. The next action involves nudging the cloth further toward the top left to achieve final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move right 12 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.31295695900917053, + 0.11500272154808044, + -0.03019479475915432, + 3.1413962841033936, + -0.027070580050349236, + -0.7167039513587952 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot arm is in contact with the green cloth, which is positioned near the center of the table. Previous steps have successfully dragged the cloth from the bottom right. The gripper remains open, indicating a sliding motion rather than grasping. The next action involves nudging the cloth further toward the top left to achieve final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167690634727478, + 0.10039074718952179, + -0.03299129754304886, + 3.1302950382232666, + -0.011968567967414856, + -0.7747406959533691 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot arm is in contact with the green cloth, which is positioned near the center of the table. Previous steps have successfully dragged the cloth from the bottom right. The gripper remains open, indicating a sliding motion rather than grasping. The next action involves nudging the cloth further toward the top left to achieve final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320184051990509, + 0.08149906247854233, + -0.03275258466601372, + 3.1323461532592773, + -0.025574849918484688, + -0.7869964838027954 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot arm is in contact with the green cloth, which is positioned near the center of the table. Previous steps have successfully dragged the cloth from the bottom right. The gripper remains open, indicating a sliding motion rather than grasping. The next action involves nudging the cloth further toward the top left to achieve final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.34862062335014343, + 0.06327255070209503, + -0.03273719176650047, + 3.1389002799987793, + -0.0306231789290905, + -0.8122826814651489 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 205, + 353, + 495, + 919 + ], + "wooden table": [ + 3, + 233, + 996, + 994 + ], + "wooden bench": [ + 279, + 2, + 996, + 295 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot arm is in contact with the green cloth, which is positioned near the center of the table. Previous steps have successfully dragged the cloth from the bottom right. The gripper remains open, indicating a sliding motion rather than grasping. The next action involves nudging the cloth further toward the top left to achieve final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585788607597351, + 0.044935788959264755, + -0.030619405210018158, + 3.1098079681396484, + -0.05767446011304855, + -0.8134288787841797 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has finished dragging the green cloth to the top-left area and is currently in contact with it. Since the gripper signals confirm no grasping occurred, the robot is now retracting its end-effector upward and backward to release contact and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.363388329744339, + 0.024050451815128326, + -0.029767010360956192, + 3.0917131900787354, + -0.06368785351514816, + -0.8448103070259094 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has finished dragging the green cloth to the top-left area and is currently in contact with it. Since the gripper signals confirm no grasping occurred, the robot is now retracting its end-effector upward and backward to release contact and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.36706626415252686, + 0.004136297386139631, + -0.02688334509730339, + 3.074770450592041, + -0.06852279603481293, + -0.8823384642601013 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has finished dragging the green cloth to the top-left area and is currently in contact with it. Since the gripper signals confirm no grasping occurred, the robot is now retracting its end-effector upward and backward to release contact and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3640120029449463, + -0.005161710549145937, + -0.02671618014574051, + 3.0559537410736084, + -0.06464706361293793, + -0.8919774889945984 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has finished dragging the green cloth to the top-left area and is currently in contact with it. Since the gripper signals confirm no grasping occurred, the robot is now retracting its end-effector upward and backward to release contact and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.35115769505500793, + -0.007348648738116026, + -0.02149057760834694, + 3.033400774002075, + -0.06618202477693558, + -0.8896132111549377 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has finished dragging the green cloth to the top-left area and is currently in contact with it. Since the gripper signals confirm no grasping occurred, the robot is now retracting its end-effector upward and backward to release contact and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3465110957622528, + -0.0012048884527757764, + 0.016284754499793053, + 3.0621337890625, + -0.1221933662891388, + -0.8754492402076721 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth from the bottom right of the table to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and nudge cloth" + }, + { + "id": 3, + "subtask": "drag cloth across table" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has finished dragging the green cloth to the top-left area and is currently in contact with it. Since the gripper signals confirm no grasping occurred, the robot is now retracting its end-effector upward and backward to release contact and complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004137_ecot.json b/cot/chunk-0004/episode_0004137_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..07eeda629c3cc3f5e94907121972eac5a63e42bb --- /dev/null +++ b/cot/chunk-0004/episode_0004137_ecot.json @@ -0,0 +1,2390 @@ +{ + "task_name": "episode_0004137", + "episode_json": "json/chunk-0004/episode_0004137.json", + "video_path": "videos/chunk-0004/image_0/episode_0004137.mp4", + "instruction": "Move the pot to the front of the cans.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004137.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.940081000328064, + "std": 0.39803963899612427, + "delta_total": 0.010390043258666992, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94008, std=0.39804, total_delta=0.01039). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 219, + 219, + 219, + 219, + 119, + 119, + 319, + 319, + 119, + 319, + 329, + 329, + 329 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 18 + ], + [ + 3, + 19, + 22 + ], + [ + 4, + 23, + 24 + ], + [ + 5, + 25, + 26 + ], + [ + 6, + 27, + 27 + ], + [ + 7, + 28, + 28 + ], + [ + 8, + 29, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the pot without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"reposition near pot\", \"start\": 6, \"end\": 18, \"planning\": \"Adjust position around the pot to prepare for contact; no grasp occurs in this phase based on motion clustering.\"},\n {\"id\": 3, \"name\": \"grasp pot handles\", \"start\": 19, \"end\": 22, \"planning\": \"Close gripper to securely grasp both handles of the pot, confirmed by significant gripper closure and visual alignment.\"},\n {\"id\": 4, \"name\": \"lift and translate pot\", \"start\": 23, \"end\": 26, \"planning\": \"Lift the pot slightly and move it forward toward the target position in front of the cans.\"},\n {\"id\": 5, \"name\": \"hold pot at target\", \"start\": 27, \"end\": 27, \"planning\": \"Maintain grip while holding the pot stationary at the desired location; no further motion or gripper change.\"},\n {\"id\": 6, \"name\": \"release pot\", \"start\": 28, \"end\": 31, \"planning\": \"Open gripper to release the pot after confirming placement in front of the cans, completing the task.\"}\n ],\n \"global_plan\": \"Approach the pot, reposition for stable grasp, securely grip both handles, lift and slide it forward to the front of the cans, hold briefly, then release to complete placement.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp before frame 19, meaningful closure during [19,22], sustained hold through [23,27], and deliberate release in [28,31]. Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the pot without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "reposition near pot", + "start": 6, + "end": 18, + "planning": "Adjust position around the pot to prepare for contact; no grasp occurs in this phase based on motion clustering." + }, + { + "id": 3, + "name": "grasp pot handles", + "start": 19, + "end": 22, + "planning": "Close gripper to securely grasp both handles of the pot, confirmed by significant gripper closure and visual alignment." + }, + { + "id": 4, + "name": "lift and translate pot", + "start": 23, + "end": 26, + "planning": "Lift the pot slightly and move it forward toward the target position in front of the cans." + }, + { + "id": 5, + "name": "hold pot at target", + "start": 27, + "end": 27, + "planning": "Maintain grip while holding the pot stationary at the desired location; no further motion or gripper change." + }, + { + "id": 6, + "name": "release pot", + "start": 28, + "end": 31, + "planning": "Open gripper to release the pot after confirming placement in front of the cans, completing the task." + } + ], + "global_plan": "Approach the pot, reposition for stable grasp, securely grip both handles, lift and slide it forward to the front of the cans, hold briefly, then release to complete placement.", + "notes": "Subtasks align with observed gripper behavior: no grasp before frame 19, meaningful closure during [19,22], sustained hold through [23,27], and deliberate release in [28,31]. Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the pot to the front of the cans.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.345640629529953, + 0.120444156229496, + 0.09222803264856339, + -3.1351113319396973, + -0.1510927826166153, + 0.015288020484149456 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet. The next action is to move the end-effector closer to the pot’s handles to prepare for stable contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 14 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34378665685653687, + 0.11873433738946915, + 0.07939616590738297, + 3.134370803833008, + -0.12016069144010544, + 0.015485013835132122 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet. The next action is to move the end-effector closer to the pot’s handles to prepare for stable contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 14 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 4 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32859790325164795, + 0.0990591049194336, + 0.060153551399707794, + 3.118849277496338, + -0.08295836299657822, + -0.04041111841797829 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 12 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3096538782119751, + 0.0686485543847084, + 0.0655650869011879, + 3.127281427383423, + -0.10962245613336563, + -0.1415719985961914 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2728545665740967, + 0.026733458042144775, + 0.05860978737473488, + 3.106914520263672, + -0.11893317848443985, + -0.307174950838089 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2512306869029999, + -0.00882838573306799, + 0.05570659786462784, + 3.1328577995300293, + -0.12307490408420563, + -0.44012540578842163 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 6 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24922533333301544, + -0.019751055166125298, + 0.04827988147735596, + -3.127490520477295, + -0.11113035678863525, + -0.46138277649879456 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 388, + 527, + 728, + 827 + ], + "toy mushroom": [ + 213, + 192, + 327, + 377 + ], + "toy corn": [ + 332, + 279, + 409, + 431 + ], + "blue cloth": [ + 26, + 371, + 336, + 626 + ], + "tomato sauce": [ + 646, + 27, + 797, + 284 + ], + "white appliance": [ + 490, + 1, + 678, + 233 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524091899394989, + -0.016735883429646492, + 0.025757288560271263, + -3.099618434906006, + -0.055607665330171585, + -0.41088661551475525 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710232138633728, + -0.013501855544745922, + 0.025288637727499008, + -3.0540826320648193, + -0.08484815806150436, + -0.35501646995544434 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy corn": [ + 331, + 233, + 443, + 431 + ], + "blue cloth": [ + 25, + 370, + 336, + 627 + ], + "tomato sauce": [ + 647, + 28, + 796, + 285 + ], + "metal pot": [ + 384, + 438, + 679, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28503796458244324, + -0.010752006433904171, + 0.032984618097543716, + -3.039937973022461, + -0.12027657777070999, + -0.31720390915870667 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28670641779899597, + -0.01096276380121708, + 0.035559218376874924, + -3.042555809020996, + -0.12379880994558334, + -0.31515640020370483 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29029014706611633, + -0.019076239317655563, + 0.05975119769573212, + -3.0692663192749023, + -0.20331384241580963, + -0.337748259305954 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned above the table with the pot centered in view and cans located behind it. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the pot handles to prepare for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29609236121177673, + -0.023868950083851814, + 0.08624172955751419, + -3.078183650970459, + -0.27717116475105286, + -0.34714335203170776 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned directly above the pot with the gripper open, indicating the approach phase is complete. The current subtask involves repositioning the end-effector to align with the pot handles for a stable grasp. The next action is to lower the gripper and close it around the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30318528413772583, + -0.00503341481089592, + 0.09545549750328064, + -3.072662591934204, + -0.29174354672431946, + -0.29272860288619995 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned directly above the pot with the gripper open, indicating the approach phase is complete. The current subtask involves repositioning the end-effector to align with the pot handles for a stable grasp. The next action is to lower the gripper and close it around the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3078826069831848, + 0.017153488472104073, + 0.0646933913230896, + -3.0766425132751465, + -0.19383591413497925, + -0.22673608362674713 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned directly above the pot with the gripper open, indicating the approach phase is complete. The current subtask involves repositioning the end-effector to align with the pot handles for a stable grasp. The next action is to lower the gripper and close it around the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3074677884578705, + 0.024384796619415283, + 0.04485300928354263, + -3.083639144897461, + -0.1287776529788971, + -0.21501868963241577 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned directly above the pot with the gripper open, indicating the approach phase is complete. The current subtask involves repositioning the end-effector to align with the pot handles for a stable grasp. The next action is to lower the gripper and close it around the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.296256959438324, + 0.024036752060055733, + 0.029626397415995598, + -3.088777780532837, + -0.07740197330713272, + -0.22850166261196136 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned directly above the pot with the gripper open, indicating the approach phase is complete. The current subtask involves repositioning the end-effector to align with the pot handles for a stable grasp. The next action is to lower the gripper and close it around the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2844715118408203, + 0.0202720295637846, + 0.01885945163667202, + -3.084505796432495, + -0.0411815382540226, + -0.2514071464538574 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned directly above the pot with the gripper open, indicating the approach phase is complete. The current subtask involves repositioning the end-effector to align with the pot handles for a stable grasp. The next action is to lower the gripper and close it around the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28290119767189026, + 0.020265307277441025, + 0.015054083429276943, + -3.0852153301239014, + -0.03850430250167847, + -0.24540548026561737 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "reposition near pot", + "subtask_reasoning": "The robot is positioned directly above the pot with the gripper open, indicating the approach phase is complete. The current subtask involves repositioning the end-effector to align with the pot handles for a stable grasp. The next action is to lower the gripper and close it around the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28314563632011414, + 0.021753786131739616, + 0.015141403302550316, + -3.0759174823760986, + -0.038086045533418655, + -0.2401343137025833 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot handles", + "subtask_reasoning": "The robot is positioned directly above the pot with the gripper open, indicating the approach phase is complete. The current subtask involves repositioning the end-effector to align with the pot handles for a stable grasp. The next action is to lower the gripper and close it around the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28241419792175293, + 0.020929299294948578, + 0.015061507932841778, + -3.0814876556396484, + -0.033791810274124146, + -0.2573116719722748 + ], + "gripper_value": 0.16078366339206696 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot handles", + "subtask_reasoning": "The robot is positioned above the pot with grippers aligned to the handles. The gripper value has decreased significantly within the segment, indicating active closing. The next action is to complete the grasp by fully closing the grippers around both handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 10 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28307268023490906, + 0.01844453625380993, + 0.028322603553533554, + -3.0995965003967285, + -0.06758541613817215, + -0.24392732977867126 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot handles", + "subtask_reasoning": "The robot is positioned above the pot with grippers aligned to the handles. The gripper value has decreased significantly within the segment, indicating active closing. The next action is to complete the grasp by fully closing the grippers around both handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836982309818268, + 0.012856650166213512, + 0.05496782064437866, + -3.12960147857666, + -0.11339843273162842, + -0.23035381734371185 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot handles", + "subtask_reasoning": "The robot is positioned above the pot with grippers aligned to the handles. The gripper value has decreased significantly within the segment, indicating active closing. The next action is to complete the grasp by fully closing the grippers around both handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31725430488586426, + 0.008327166549861431, + 0.09203433990478516, + 3.1294262409210205, + -0.21144679188728333, + -0.16638042032718658 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 444, + 288, + 756, + 596 + ], + "toy mushroom": [ + 213, + 189, + 327, + 377 + ], + "blue cloth": [ + 25, + 371, + 336, + 626 + ], + "toy corn": [ + 332, + 269, + 430, + 430 + ], + "white appliance": [ + 283, + 1, + 679, + 233 + ], + "tomato sauce": [ + 647, + 28, + 796, + 284 + ], + "corn": [ + 765, + 123, + 916, + 332 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot is positioned above the pot with grippers aligned to the handles. The gripper value has decreased significantly within the segment, indicating active closing. The next action is to complete the grasp by fully closing the grippers around both handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35704392194747925, + 0.016597658395767212, + 0.08344286680221558, + 3.127964973449707, + -0.1833987683057785, + -0.10227461904287338 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 462, + 204, + 782, + 480 + ], + "toy mushroom": [ + 214, + 189, + 327, + 377 + ], + "blue cloth": [ + 25, + 371, + 336, + 626 + ], + "tomato sauce": [ + 651, + 28, + 797, + 275 + ], + "corn": [ + 766, + 123, + 916, + 331 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot is currently in contact with the pot, having completed the approach and repositioning steps. The gripper signal indicates no active closing motion, suggesting the robot is maintaining its position or sliding the pot rather than tightening a grip. The next action is to continue translating the pot forward to place it in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869765102863312, + 0.037485238164663315, + 0.05979331210255623, + -3.1336722373962402, + -0.1475377231836319, + -0.030558977276086807 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot is currently in contact with the pot, having completed the approach and repositioning steps. The gripper signal indicates no active closing motion, suggesting the robot is maintaining its position or sliding the pot rather than tightening a grip. The next action is to continue translating the pot forward to place it in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.40708112716674805, + 0.043088216334581375, + 0.04028036817908287, + -3.136774778366089, + -0.1367563158273697, + 0.008093288168311119 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "lift and translate pot", + "subtask_reasoning": "The robot is currently in contact with the pot, having completed the approach and repositioning steps. The gripper signal indicates no active closing motion, suggesting the robot is maintaining its position or sliding the pot rather than tightening a grip. The next action is to continue translating the pot forward to place it in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4209733009338379, + 0.04492023587226868, + 0.029470963403582573, + 3.1295764446258545, + -0.12450260668992996, + 0.02325533889234066 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "hold pot at target", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal pot, which sits on the counter in front of the cans. The gripper is currently open, and segment-level evidence indicates no active closing motion has occurred yet. The next logical step is to close the gripper to grasp the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.41814878582954407, + 0.0459289513528347, + 0.025867898017168045, + -3.128169536590576, + -0.11272945255041122, + 0.0015594023279845715 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal pot, which sits on the counter in front of the cans. The gripper is currently open, and segment-level evidence indicates no active closing motion has occurred yet. The next logical step is to close the gripper to grasp the pot handles." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4199744462966919, + 0.03414943814277649, + 0.03203320875763893, + -3.0940325260162354, + -0.12240855395793915, + -0.023669041693210602 + ], + "gripper_value": 0.5236935019493103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The pot is positioned in front of the cans on the counter, and the gripper is open, indicating the release action is complete. The subtask has successfully placed the pot as required, with no further movement needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.42617762088775635, + 0.027559731155633926, + 0.05008317530155182, + -3.0738260746002197, + -0.14722557365894318, + -0.0466955192387104 + ], + "gripper_value": 0.8261235952377319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The pot is positioned in front of the cans on the counter, and the gripper is open, indicating the release action is complete. The subtask has successfully placed the pot as required, with no further movement needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.42482757568359375, + 0.024970803409814835, + 0.07437071204185486, + -3.0958034992218018, + -0.16158846020698547, + -0.02618671953678131 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the front of the cans." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition near pot" + }, + { + "id": 3, + "subtask": "grasp pot handles" + }, + { + "id": 4, + "subtask": "lift and translate pot" + }, + { + "id": 5, + "subtask": "hold pot at target" + }, + { + "id": 6, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The pot is positioned in front of the cans on the counter, and the gripper is open, indicating the release action is complete. The subtask has successfully placed the pot as required, with no further movement needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004140_ecot.json b/cot/chunk-0004/episode_0004140_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..13bf39e6d9fd2e1cf542d121f397680941eb30fa --- /dev/null +++ b/cot/chunk-0004/episode_0004140_ecot.json @@ -0,0 +1,3959 @@ +{ + "task_name": "episode_0004140", + "episode_json": "json/chunk-0004/episode_0004140.json", + "video_path": "videos/chunk-0004/image_0/episode_0004140.mp4", + "instruction": "Move the silver lid from the silver bowl to the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 61, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004140.json" + }, + "fps": 5.0, + "T_eff": 61, + "gripper_behavior_summary": { + "available": true, + "range": 0.7214627861976624, + "std": 0.3479900658130646, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72146, std=0.34799, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 154, + 154, + 154, + 154, + 154, + 154, + 154 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 25 + ], + [ + 3, + 26, + 53 + ], + [ + 4, + 54, + 60 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver bowl\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector toward the silver bowl containing the lid without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp silver lid\", \"start\": 11, \"end\": 25, \"planning\": \"Close the gripper to securely grasp the silver lid while positioned over the bowl.\"},\n {\"id\": 3, \"name\": \"lift and move lid to table\", \"start\": 26, \"end\": 53, \"planning\": \"Lift the grasped lid from the bowl and transport it horizontally to the target location on the table.\"},\n {\"id\": 4, \"name\": \"release lid and retreat\", \"start\": 54, \"end\": 60, \"planning\": \"Open the gripper to release the lid onto the table, then retract the end-effector upward.\"}\n ],\n \"global_plan\": \"Approach the silver bowl, grasp the lid inside it, lift and move the lid to the table surface, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — consistent with approach. Segment 2 shows significant gripper closing (delta=-0.345) and image at frame 25 confirms contact/grasp. Segment 3 maintains grip while moving lid to table (image at 53 shows lid held above table). Segment 4 shows gripper opening (delta=+0.357) and image at 60 confirms lid released on table.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver bowl", + "start": 0, + "end": 10, + "planning": "Move the end-effector toward the silver bowl containing the lid without closing the gripper." + }, + { + "id": 2, + "name": "grasp silver lid", + "start": 11, + "end": 25, + "planning": "Close the gripper to securely grasp the silver lid while positioned over the bowl." + }, + { + "id": 3, + "name": "lift and move lid to table", + "start": 26, + "end": 53, + "planning": "Lift the grasped lid from the bowl and transport it horizontally to the target location on the table." + }, + { + "id": 4, + "name": "release lid and retreat", + "start": 54, + "end": 60, + "planning": "Open the gripper to release the lid onto the table, then retract the end-effector upward." + } + ], + "global_plan": "Approach the silver bowl, grasp the lid inside it, lift and move the lid to the table surface, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — consistent with approach. Segment 2 shows significant gripper closing (delta=-0.345) and image at frame 25 confirms contact/grasp. Segment 3 maintains grip while moving lid to table (image at 53 shows lid held above table). Segment 4 shows gripper opening (delta=+0.357) and image at 60 confirms lid released on table." + } + }, + "episode_goal": "Move the silver lid from the silver bowl to the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.1171904131770134, + -0.018191643059253693, + 0.2401195764541626, + 3.1040656566619873, + -0.10276831686496735, + 0.030547965317964554 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is positioned above the table with the silver bowl visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the silver bowl to begin the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 21 cm, move left 11 cm, move down 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.11783664673566818, + -0.018818436190485954, + 0.23735445737838745, + 3.1010184288024902, + -0.09941756725311279, + 0.022140508517622948 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is positioned above the table with the silver bowl visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the silver bowl to begin the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 22 cm, move left 13 cm, move down 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.1468789428472519, + -0.004700968507677317, + 0.2278093546628952, + 3.07928729057312, + -0.10169780999422073, + 0.07183575630187988 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is positioned above the table with the silver bowl visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the silver bowl to begin the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 12 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.17410805821418762, + 0.0057470896281301975, + 0.22552591562271118, + 3.0792572498321533, + -0.11521809548139572, + 0.10926629602909088 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 460, + 547, + 762, + 917 + ], + "metal bowl": [ + 93, + 172, + 399, + 344 + ], + "spoon": [ + 150, + 367, + 318, + 654 + ], + "toaster": [ + 374, + 5, + 651, + 228 + ], + "can": [ + 481, + 161, + 616, + 366 + ], + "can_2": [ + 614, + 36, + 748, + 290 + ], + "gas stove": [ + 715, + 172, + 995, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is positioned above the table with the silver bowl visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the silver bowl to begin the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move left 11 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20138442516326904, + 0.013200746849179268, + 0.2222232222557068, + 3.0704476833343506, + -0.1215653270483017, + 0.13730564713478088 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is positioned above the table with the silver bowl visible in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the silver bowl to begin the approach phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 10 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23050129413604736, + 0.023182161152362823, + 0.21148087084293365, + 3.0646164417266846, + -0.12694375216960907, + 0.17975711822509766 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 5 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625811994075775, + 0.031818896532058716, + 0.2022283971309662, + 3.05918025970459, + -0.12974806129932404, + 0.23775073885917664 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869548201560974, + 0.039846643805503845, + 0.1992693841457367, + 3.066066265106201, + -0.1411382108926773, + 0.2669353783130646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039892613887787, + 0.05997180938720703, + 0.18576127290725708, + 3.078321933746338, + -0.12238317728042603, + 0.3406786322593689 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 6 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3165898323059082, + 0.0703544095158577, + 0.17848053574562073, + 3.09153151512146, + -0.12103017419576645, + 0.3509162962436676 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 7 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32909083366394043, + 0.09488755464553833, + 0.16857965290546417, + 3.1251447200775146, + -0.12625914812088013, + 0.41061264276504517 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach silver bowl", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 7 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3407568037509918, + 0.11454407870769501, + 0.1556818187236786, + -3.1353726387023926, + -0.12008816748857498, + 0.4491353929042816 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35390007495880127, + 0.13040612637996674, + 0.1479312628507614, + -3.122563123703003, + -0.1254398375749588, + 0.4835142195224762 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 460, + 547, + 762, + 918 + ], + "spoon": [ + 149, + 369, + 318, + 654 + ], + "toaster": [ + 258, + 4, + 649, + 227 + ], + "box": [ + 329, + 446, + 507, + 661 + ], + "can": [ + 482, + 160, + 616, + 366 + ], + "can_2": [ + 736, + 132, + 881, + 340 + ], + "can_3": [ + 615, + 36, + 748, + 290 + ], + "metal bowl": [ + 93, + 157, + 399, + 344 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36534079909324646, + 0.14487886428833008, + 0.13080081343650818, + -3.11080002784729, + -0.09558242559432983, + 0.5241690278053284 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3722717761993408, + 0.15902550518512726, + 0.11706440895795822, + -3.0963056087493896, + -0.08214260637760162, + 0.5634987950325012 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3760312795639038, + 0.16364768147468567, + 0.10622186958789825, + -3.0836856365203857, + -0.06939192861318588, + 0.5710667371749878 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3748902678489685, + 0.1695360541343689, + 0.09030527621507645, + -3.0644595623016357, + -0.039165791124105453, + 0.582182765007019 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3754028379917145, + 0.1737973690032959, + 0.08152434229850769, + -3.0496702194213867, + -0.04368114098906517, + 0.5966469049453735 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 460, + 547, + 762, + 918 + ], + "metal bowl": [ + 95, + 159, + 397, + 344 + ], + "spoon": [ + 150, + 369, + 317, + 654 + ], + "box": [ + 329, + 446, + 507, + 661 + ], + "can": [ + 481, + 160, + 616, + 366 + ], + "can_2": [ + 736, + 132, + 881, + 340 + ], + "can_3": [ + 615, + 37, + 749, + 290 + ], + "pot lid": [ + 217, + 165, + 384, + 296 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is approaching the silver bowl on the table, with the gripper open and no contact made yet. No part of the task has been completed. The next action is to continue moving toward the bowl to position for grasping the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37697893381118774, + 0.17888393998146057, + 0.07389725744724274, + -3.021759033203125, + -0.056099116802215576, + 0.6007234454154968 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37919309735298157, + 0.18067589402198792, + 0.06778625398874283, + -3.0173909664154053, + -0.06039050593972206, + 0.5995659828186035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38195186853408813, + 0.1832450032234192, + 0.0629914402961731, + -3.0096452236175537, + -0.06413299590349197, + 0.5999149084091187 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.385500967502594, + 0.18614542484283447, + 0.057666435837745667, + -3.0024094581604004, + -0.06899358332157135, + 0.6079555749893188 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3889857232570648, + 0.18759512901306152, + 0.05370151251554489, + -3.0029385089874268, + -0.07005565613508224, + 0.6155699491500854 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. 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The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3888739347457886, + 0.188290536403656, + 0.050327710807323456, + -2.993583917617798, + -0.06707540154457092, + 0.6179699897766113 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3906223773956299, + 0.18845145404338837, + 0.04945194348692894, + -2.994640350341797, + -0.07531916350126266, + 0.6191059947013855 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 4 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.39282292127609253, + 0.18777799606323242, + 0.046198125928640366, + -2.99668550491333, + -0.08094089478254318, + 0.6139723658561707 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3932327330112457, + 0.18904262781143188, + 0.04610783979296684, + -2.988917350769043, + -0.0930451825261116, + 0.6212379336357117 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.39303967356681824, + 0.1877092868089676, + 0.04510911554098129, + -2.9955661296844482, + -0.09010034054517746, + 0.6159512400627136 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3934623599052429, + 0.18575821816921234, + 0.04808584228157997, + -3.007896900177002, + -0.08875979483127594, + 0.6115525960922241 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. 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The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 14 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.39156675338745117, + 0.17887328565120697, + 0.05234559252858162, + -3.0355968475341797, + -0.06657974421977997, + 0.6124920845031738 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 16 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3941074311733246, + 0.17651128768920898, + 0.07280207425355911, + -3.05993390083313, + -0.10497793555259705, + 0.602906346321106 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 19 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39255285263061523, + 0.17248135805130005, + 0.0879606232047081, + -3.0842158794403076, + -0.12234316021203995, + 0.6024850606918335 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 19 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.386065274477005, + 0.1676422655582428, + 0.10621669143438339, + -3.1011388301849365, + -0.14565132558345795, + 0.5910047888755798 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 460, + 547, + 762, + 919 + ], + "spoon": [ + 150, + 367, + 318, + 654 + ], + "box": [ + 328, + 446, + 506, + 661 + ], + "toaster": [ + 361, + 6, + 648, + 224 + ], + "can": [ + 736, + 132, + 881, + 340 + ], + "can_2": [ + 481, + 161, + 616, + 365 + ], + "can_3": [ + 614, + 37, + 748, + 290 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 18 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.37729698419570923, + 0.16075541079044342, + 0.11567996442317963, + -3.112147331237793, + -0.1501532942056656, + 0.5750247240066528 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 17 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3687919080257416, + 0.14503133296966553, + 0.12579987943172455, + -3.1272170543670654, + -0.1604795753955841, + 0.5399913191795349 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 16 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601176142692566, + 0.11941390484571457, + 0.12049315869808197, + -3.130091905593872, + -0.1349187195301056, + 0.4876648783683777 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578341603279114, + 0.09696090966463089, + 0.11998508125543594, + -3.132863998413086, + -0.13320554792881012, + 0.44327542185783386 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.355358749628067, + 0.07330315560102463, + 0.11401354521512985, + -3.133800745010376, + -0.12429281324148178, + 0.40099772810935974 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3564841151237488, + 0.043775126338005066, + 0.11118347942829132, + -3.123106002807617, + -0.12782815098762512, + 0.3343585729598999 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot end-effector is positioned directly above the silver lid inside the silver bowl. The gripper is currently open, indicating the grasp has not yet been executed. The next action is to close the gripper to secure the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.35851284861564636, + 0.014082641340792179, + 0.1091470867395401, + -3.1119792461395264, + -0.13319653272628784, + 0.25837332010269165 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.36110949516296387, + -0.01101965457201004, + 0.11260443925857544, + -3.118220567703247, + -0.14225222170352936, + 0.20918938517570496 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 460, + 547, + 762, + 919 + ], + "spoon": [ + 150, + 367, + 318, + 654 + ], + "box": [ + 328, + 447, + 506, + 661 + ], + "can": [ + 736, + 132, + 881, + 340 + ], + "metal bowl": [ + 100, + 159, + 406, + 345 + ], + "toaster": [ + 444, + 15, + 702, + 365 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.36764824390411377, + -0.018170177936553955, + 0.11724140495061874, + -3.124253511428833, + -0.16158300638198853, + 0.1963396668434143 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3720647394657135, + -0.01655592955648899, + 0.09839791059494019, + -3.1011269092559814, + -0.12659479677677155, + 0.1898432821035385 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.37839558720588684, + -0.013980235904455185, + 0.09258169680833817, + -3.0876500606536865, + -0.14116030931472778, + 0.18143856525421143 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.38154610991477966, + -0.0151128638535738, + 0.0813358798623085, + -3.0867717266082764, + -0.12759463489055634, + 0.18513749539852142 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3842405676841736, + -0.0209039319306612, + 0.07806278765201569, + -3.0881125926971436, + -0.13490164279937744, + 0.1827758550643921 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3884410560131073, + -0.03949679434299469, + 0.07453348487615585, + -3.0872292518615723, + -0.13643203675746918, + 0.14762726426124573 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 460, + 547, + 762, + 918 + ], + "box": [ + 329, + 447, + 506, + 661 + ], + "spoon": [ + 150, + 367, + 318, + 653 + ], + "toaster": [ + 255, + 3, + 638, + 228 + ], + "can": [ + 740, + 132, + 882, + 340 + ], + "metal bowl": [ + 101, + 159, + 407, + 345 + ], + "ice cream scoop": [ + 254, + 205, + 320, + 292 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3919784426689148, + -0.04468291252851486, + 0.07222162932157516, + -3.0881237983703613, + -0.14022614061832428, + 0.14371947944164276 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.39274001121520996, + -0.04732237383723259, + 0.06401883810758591, + -3.0822010040283203, + -0.1326114535331726, + 0.13532273471355438 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.39311984181404114, + -0.0469595231115818, + 0.05556870624423027, + -3.0673632621765137, + -0.12111762166023254, + 0.1263456791639328 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.3937361240386963, + -0.04568200185894966, + 0.04677118360996246, + -3.0551819801330566, + -0.11195661872625351, + 0.12070892006158829 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, open gripper; then move back 2 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.39344996213912964, + -0.041545044630765915, + 0.04076995700597763, + -3.048600435256958, + -0.09927517175674438, + 0.12617459893226624 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move back 2 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.39330005645751953, + -0.0326848179101944, + 0.0330890417098999, + -3.0404810905456543, + -0.07752451300621033, + 0.14546063542366028 + ], + "gripper_value": 0.28394967317581177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3922269940376282, + -0.030089953914284706, + 0.030574211850762367, + -3.041207790374756, + -0.06619719415903091, + 0.15585458278656006 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "lift and move lid to table", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 53 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.390010803937912, + -0.02829042263329029, + 0.029878584668040276, + -3.0388035774230957, + -0.05104774981737137, + 0.16333210468292236 + ], + "gripper_value": 0.6430501937866211 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 60 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.39025384187698364, + -0.028929341584444046, + 0.030489429831504822, + -3.042327642440796, + -0.04952889308333397, + 0.161417618393898 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 60 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.38788700103759766, + -0.028294652700424194, + 0.03255829960107803, + -3.0400164127349854, + -0.03581039980053902, + 0.1649077832698822 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the bowl and is currently lifting it upward, as indicated by the elevated end-effector position and stable gripper closure. The lid is now clear of the bowl, and the next action is to translate the arm horizontally toward the table surface to position the lid for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 60 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3894147276878357, + -0.032572515308856964, + 0.06407353281974792, + -3.060349702835083, + -0.09395433962345123, + 0.16110849380493164 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The silver lid has been successfully placed on the table surface, and the gripper is fully open (value ~1.0), indicating release is complete. The end-effector is positioned slightly above the lid, consistent with the retreat phase. The next action is to move the arm away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 54, + "end": 60 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.38480624556541443, + -0.03762787953019142, + 0.09494683891534805, + -3.0795693397521973, + -0.1285896748304367, + 0.1458287388086319 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "towel": [ + 461, + 549, + 762, + 918 + ], + "box": [ + 328, + 447, + 505, + 661 + ], + "toaster": [ + 254, + 3, + 644, + 228 + ], + "spoon": [ + 150, + 368, + 318, + 653 + ], + "metal bowl": [ + 101, + 159, + 407, + 345 + ], + "can": [ + 481, + 163, + 612, + 363 + ], + "ice cream scoop": [ + 254, + 205, + 316, + 292 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The silver lid has been successfully placed on the table surface, and the gripper is fully open (value ~1.0), indicating release is complete. The end-effector is positioned slightly above the lid, consistent with the retreat phase. The next action is to move the arm away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 60 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3769315481185913, + -0.03963854908943176, + 0.11912311613559723, + -3.111006259918213, + -0.15508019924163818, + 0.14606623351573944 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The silver lid has been successfully placed on the table surface, and the gripper is fully open (value ~1.0), indicating release is complete. The end-effector is positioned slightly above the lid, consistent with the retreat phase. The next action is to move the arm away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 60 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3650680184364319, + -0.029870977625250816, + 0.12829463183879852, + -3.1329269409179688, + -0.1266990453004837, + 0.16758693754673004 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the silver bowl to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver bowl" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and move lid to table" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The silver lid has been successfully placed on the table surface, and the gripper is fully open (value ~1.0), indicating release is complete. The end-effector is positioned slightly above the lid, consistent with the retreat phase. The next action is to move the arm away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 57 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 54, + "end": 60 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004141_ecot.json b/cot/chunk-0004/episode_0004141_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d6a7198e7dc4330e3664ee9826a8ea2155a682c9 --- /dev/null +++ b/cot/chunk-0004/episode_0004141_ecot.json @@ -0,0 +1,3482 @@ +{ + "task_name": "episode_0004141", + "episode_json": "json/chunk-0004/episode_0004141.json", + "video_path": "videos/chunk-0004/image_0/episode_0004141.mp4", + "instruction": "Moved the spoon to the left side of the sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 53, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004141.json" + }, + "fps": 5.0, + "T_eff": 53, + "gripper_behavior_summary": { + "available": true, + "range": 0.8724145889282227, + "std": 0.34253302216529846, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.87241, std=0.34253, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 117, + 117, + 117, + 117, + 217, + 217, + 217, + 217, + 217, + 217, + 240, + 240, + 240, + 240, + 240, + 240, + 240, + 240, + 240, + 240, + 240, + 240, + 240 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 29 + ], + [ + 3, + 30, + 33 + ], + [ + 4, + 34, + 39 + ], + [ + 5, + 40, + 52 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon in sink\", \"start\": 0, \"end\": 16, \"planning\": \"Move end-effector down toward the red spoon lying in the sink basin while preparing to grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift spoon\", \"start\": 17, \"end\": 29, \"planning\": \"Close gripper around spoon handle and lift it clear of the sink bottom.\"},\n {\"id\": 3, \"name\": \"transport spoon leftward\", \"start\": 30, \"end\": 33, \"planning\": \"Carry the grasped spoon horizontally toward the left side of the sink near the dish rack.\"},\n {\"id\": 4, \"name\": \"position spoon over target zone\", \"start\": 34, \"end\": 39, \"planning\": \"Lower and align spoon above the intended placement area on the left edge of the sink.\"},\n {\"id\": 5, \"name\": \"release spoon and retreat\", \"start\": 40, \"end\": 52, \"planning\": \"Open gripper to deposit spoon, then withdraw end-effector upward and away from the scene.\"}\n ],\n \"global_plan\": \"The robot approaches the spoon in the sink, grasps it, lifts and transports it leftward, positions it over the target zone near the dish rack, then releases and retreats — completing the relocation task as instructed.\",\n \"notes\": \"Segment 1 shows approach with gripper closing at frame 16; Segment 2 confirms grasp and lift via sustained low gripper values and upward motion; Segment 3 is brief transit; Segment 4 shows fine positioning with minor gripper adjustments; Segment 5 shows release (gripper opens to 1.0) and retreat. All segments are used contiguously with no gaps.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon in sink", + "start": 0, + "end": 16, + "planning": "Move end-effector down toward the red spoon lying in the sink basin while preparing to grasp." + }, + { + "id": 2, + "name": "grasp and lift spoon", + "start": 17, + "end": 29, + "planning": "Close gripper around spoon handle and lift it clear of the sink bottom." + }, + { + "id": 3, + "name": "transport spoon leftward", + "start": 30, + "end": 33, + "planning": "Carry the grasped spoon horizontally toward the left side of the sink near the dish rack." + }, + { + "id": 4, + "name": "position spoon over target zone", + "start": 34, + "end": 39, + "planning": "Lower and align spoon above the intended placement area on the left edge of the sink." + }, + { + "id": 5, + "name": "release spoon and retreat", + "start": 40, + "end": 52, + "planning": "Open gripper to deposit spoon, then withdraw end-effector upward and away from the scene." + } + ], + "global_plan": "The robot approaches the spoon in the sink, grasps it, lifts and transports it leftward, positions it over the target zone near the dish rack, then releases and retreats — completing the relocation task as instructed.", + "notes": "Segment 1 shows approach with gripper closing at frame 16; Segment 2 confirms grasp and lift via sustained low gripper values and upward motion; Segment 3 is brief transit; Segment 4 shows fine positioning with minor gripper adjustments; Segment 5 shows release (gripper opens to 1.0) and retreat. All segments are used contiguously with no gaps." + } + }, + "episode_goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23346559703350067, + 0.0433531291782856, + 0.08597885817289352, + -3.0687620639801025, + -0.15147355198860168, + 0.49836045503616333 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow dish rack with the red spoon visible below in the basin. No contact has been made yet as the gripper remains open and the subtask is in the initial approach phase. The next action is to lower the end-effector towards the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 10 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22974571585655212, + 0.04246903210878372, + 0.08090092986822128, + -3.0587923526763916, + -0.12758396565914154, + 0.4860154986381531 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow dish rack with the red spoon visible below in the basin. No contact has been made yet as the gripper remains open and the subtask is in the initial approach phase. The next action is to lower the end-effector towards the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22678248584270477, + 0.02344568260014057, + 0.07931992411613464, + -3.016791820526123, + -0.09059590846300125, + 0.22796252369880676 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow dish rack with the red spoon visible below in the basin. No contact has been made yet as the gripper remains open and the subtask is in the initial approach phase. The next action is to lower the end-effector towards the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22465775907039642, + 0.0023078108206391335, + 0.08489056676626205, + -3.0070242881774902, + -0.10317818075418472, + -0.02538163773715496 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow dish rack with the red spoon visible below in the basin. No contact has been made yet as the gripper remains open and the subtask is in the initial approach phase. The next action is to lower the end-effector towards the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21591563522815704, + -0.01720312424004078, + 0.08862899243831635, + -3.033292293548584, + -0.10454745590686798, + -0.2550070881843567 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow dish rack with the red spoon visible below in the basin. No contact has been made yet as the gripper remains open and the subtask is in the initial approach phase. The next action is to lower the end-effector towards the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 10 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20550885796546936, + -0.03723209723830223, + 0.07614686340093613, + -3.0298540592193604, + -0.10109282284975052, + -0.507857084274292 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow dish rack with the red spoon visible below in the basin. No contact has been made yet as the gripper remains open and the subtask is in the initial approach phase. The next action is to lower the end-effector towards the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 9 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20028069615364075, + -0.05001779645681381, + 0.058724597096443176, + -3.0231378078460693, + -0.07077404856681824, + -0.610609233379364 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 69, + 227, + 498, + 699 + ], + "colander": [ + 643, + 140, + 858, + 400 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow dish rack with the red spoon visible below in the basin. No contact has been made yet as the gripper remains open and the subtask is in the initial approach phase. The next action is to lower the end-effector towards the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19892047345638275, + -0.05789739266037941, + 0.0449397936463356, + -3.0363872051239014, + -0.07035987824201584, + -0.6137719750404358 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the yellow dish rack with the red spoon visible below in the basin. No contact has been made yet as the gripper remains open and the subtask is in the initial approach phase. The next action is to lower the end-effector towards the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19614215195178986, + -0.05979185178875923, + 0.03152930736541748, + -3.046297073364258, + -0.08531152456998825, + -0.5976711511611938 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 64, + 287, + 504, + 700 + ], + "colander": [ + 598, + 138, + 859, + 398 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.19670236110687256, + -0.05944318324327469, + 0.020757634192705154, + -3.059849500656128, + -0.08158086985349655, + -0.6077542304992676 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1946394145488739, + -0.056247856467962265, + 0.006836031097918749, + -3.0617103576660156, + -0.06351707875728607, + -0.5990568995475769 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19585153460502625, + -0.05582093447446823, + -0.002120362361893058, + -3.09137225151062, + -0.07396657019853592, + -0.5823617577552795 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 1 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19355648756027222, + -0.05546385422348976, + -0.005891147069633007, + -3.0811960697174072, + -0.08106749504804611, + -0.5918281078338623 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 1 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.1949385702610016, + -0.05730057880282402, + -0.009026698768138885, + -3.0771236419677734, + -0.085259348154068, + -0.5945466756820679 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move back 2 cm, move left 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1968163251876831, + -0.05844957008957863, + -0.010674437507987022, + -3.065857410430908, + -0.09610116481781006, + -0.5962929129600525 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 3 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19774194061756134, + -0.05895741656422615, + -0.012303630821406841, + -3.045133113861084, + -0.0970037505030632, + -0.6041580438613892 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19654157757759094, + -0.05923458933830261, + -0.012780405580997467, + -3.034079074859619, + -0.09284309297800064, + -0.6167799234390259 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach spoon in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 3 cm, move up 10 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.19486702978610992, + -0.06036912649869919, + -0.01312892884016037, + -3.027462959289551, + -0.08779247850179672, + -0.6174484491348267 + ], + "gripper_value": 0.4522285461425781 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 11 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.19182363152503967, + -0.0592375323176384, + -0.012722009792923927, + -3.0339648723602295, + -0.06771335750818253, + -0.605157196521759 + ], + "gripper_value": 0.3661215305328369 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 12 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.19010302424430847, + -0.05590267479419708, + -0.010230256244540215, + -3.0424113273620605, + -0.05351555719971657, + -0.594185471534729 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 13 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1893550157546997, + -0.046647123992443085, + 0.0016047739190980792, + -3.0525925159454346, + -0.03886326402425766, + -0.5556183457374573 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move up 12 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.1864352524280548, + -0.042777400463819504, + 0.013509299606084824, + -3.035905361175537, + -0.03881212696433067, + -0.5568707585334778 + ], + "gripper_value": 0.3494465947151184 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move up 10 cm, rotate clockwise 30 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.1807379275560379, + -0.03755947947502136, + 0.03133450075984001, + -3.0287177562713623, + -0.04431460052728653, + -0.5311023592948914 + ], + "gripper_value": 0.3494465947151184 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot arm is positioned above the sink with the red spoon visible below. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. No contact has been made yet, so the next action is to continue lowering and aligning the gripper toward the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move up 9 cm, rotate clockwise 30 degrees, keep gripper closed; then move left 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.17581941187381744, + -0.034072428941726685, + 0.042244188487529755, + -3.0590970516204834, + -0.03575201332569122, + -0.4986810088157654 + ], + "gripper_value": 0.3110979497432709 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the red spoon in the sink and is now making contact with it. The gripper is closing around the spoon, as indicated by decreasing gripper values and local motion. The next action is to fully grasp and lift the spoon from the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move up 8 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.18287304043769836, + -0.03142677992582321, + 0.05489671230316162, + -3.0835416316986084, + -0.025982113555073738, + -0.4031476676464081 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the red spoon in the sink and is now making contact with it. The gripper is closing around the spoon, as indicated by decreasing gripper values and local motion. The next action is to fully grasp and lift the spoon from the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move up 6 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.19744296371936798, + -0.030927499756217003, + 0.06959489732980728, + -3.118042469024658, + -0.06102870777249336, + -0.3630048334598541 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "colander": [ + 604, + 139, + 858, + 403 + ], + "dish rack": [ + 70, + 226, + 446, + 698 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the red spoon in the sink and is now making contact with it. The gripper is closing around the spoon, as indicated by decreasing gripper values and local motion. The next action is to fully grasp and lift the spoon from the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.20344297587871552, + -0.028894860297441483, + 0.084651879966259, + -3.1407549381256104, + -0.08482959121465683, + -0.3493013083934784 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the red spoon in the sink and is now making contact with it. The gripper is closing around the spoon, as indicated by decreasing gripper values and local motion. The next action is to fully grasp and lift the spoon from the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2117747962474823, + -0.018347114324569702, + 0.09833653271198273, + 3.123549222946167, + -0.09302829951047897, + -0.25422582030296326 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the red spoon in the sink and is now making contact with it. The gripper is closing around the spoon, as indicated by decreasing gripper values and local motion. The next action is to fully grasp and lift the spoon from the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21623820066452026, + 0.0026738224551081657, + 0.10758107900619507, + 3.141216993331909, + -0.11059699207544327, + -0.1407718062400818 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the red spoon in the sink and is now making contact with it. The gripper is closing around the spoon, as indicated by decreasing gripper values and local motion. The next action is to fully grasp and lift the spoon from the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22173835337162018, + 0.028187938034534454, + 0.11720559000968933, + -3.1159508228302, + -0.10159573704004288, + -0.036340754479169846 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the red spoon in the sink and is now making contact with it. The gripper is closing around the spoon, as indicated by decreasing gripper values and local motion. The next action is to fully grasp and lift the spoon from the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.22367358207702637, + 0.05121538043022156, + 0.11738421022891998, + -3.097527265548706, + -0.05205204710364342, + 0.036215875297784805 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 66, + 271, + 536, + 702 + ], + "colander": [ + 532, + 140, + 855, + 405 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon leftward", + "subtask_reasoning": "The robot has approached the red spoon in the sink and is now making contact with it. The gripper is closing around the spoon, as indicated by decreasing gripper values and local motion. The next action is to fully grasp and lift the spoon from the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2239382565021515, + 0.07117592543363571, + 0.11041934043169022, + -3.1072587966918945, + -0.0334981270134449, + 0.07504767924547195 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon leftward", + "subtask_reasoning": "The red spoon is currently held above the yellow dish rack on the left side of the sink, having been lifted and transported from its initial position. The gripper remains closed with minimal variation, indicating continued contact without active grasping or releasing. The next action should be to lower and release the spoon into the dish rack to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.22041921317577362, + 0.09203857183456421, + 0.11486408859491348, + -3.071183204650879, + 0.04647555947303772, + 0.05832340195775032 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon leftward", + "subtask_reasoning": "The red spoon is currently held above the yellow dish rack on the left side of the sink, having been lifted and transported from its initial position. The gripper remains closed with minimal variation, indicating continued contact without active grasping or releasing. The next action should be to lower and release the spoon into the dish rack to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.21464990079402924, + 0.1061674952507019, + 0.10966506600379944, + -3.0411763191223145, + 0.20357975363731384, + 0.0032463939860463142 + ], + "gripper_value": 0.2868962287902832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon leftward", + "subtask_reasoning": "The red spoon is currently held above the yellow dish rack on the left side of the sink, having been lifted and transported from its initial position. The gripper remains closed with minimal variation, indicating continued contact without active grasping or releasing. The next action should be to lower and release the spoon into the dish rack to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 3 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21086426079273224, + 0.11910833418369293, + 0.10634509474039078, + -3.0010452270507812, + 0.2506975531578064, + -0.047665514051914215 + ], + "gripper_value": 0.2868962287902832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "position spoon over target zone", + "subtask_reasoning": "The red spoon is currently held above the yellow dish rack on the left side of the sink, having been lifted and transported from its initial position. The gripper remains closed with minimal variation, indicating continued contact without active grasping or releasing. The next action should be to lower and release the spoon into the dish rack to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.19972889125347137, + 0.12526215612888336, + 0.08648188412189484, + -2.9711759090423584, + 0.26135706901550293, + -0.11799023300409317 + ], + "gripper_value": 0.2868962287902832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "position spoon over target zone", + "subtask_reasoning": "The red spoon is currently held above the yellow dish rack on the left side of the sink, having been lifted and transported from its initial position. The gripper remains closed with minimal variation, indicating continued contact without active grasping or releasing. The next action should be to lower and release the spoon into the dish rack to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 3 cm, move right 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.19098864495754242, + 0.12397139519453049, + 0.0765112116932869, + -2.9467897415161133, + 0.23326218128204346, + -0.21935641765594482 + ], + "gripper_value": 0.2723398804664612 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "position spoon over target zone", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then move forward 4 cm, move right 3 cm, move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.18401286005973816, + 0.12001308053731918, + 0.0627521201968193, + -2.9772746562957764, + 0.20802907645702362, + -0.28425154089927673 + ], + "gripper_value": 0.1526326984167099 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "colander": [ + 526, + 141, + 857, + 407 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "position spoon over target zone", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 4 cm, move right 4 cm, move up 1 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.18710382282733917, + 0.11981099098920822, + 0.06638146191835403, + -2.979210376739502, + 0.17076046764850616, + -0.2963787913322449 + ], + "gripper_value": 0.1284015029668808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "position spoon over target zone", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 6 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.18634819984436035, + 0.12179207056760788, + 0.06624346971511841, + -2.964628219604492, + 0.17566853761672974, + -0.27568116784095764 + ], + "gripper_value": 0.32045841217041016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "position spoon over target zone", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 7 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.18525119125843048, + 0.1195252537727356, + 0.06717942655086517, + -2.9824957847595215, + 0.1810576617717743, + -0.26711565256118774 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.1897474080324173, + 0.11944397538900375, + 0.0709676668047905, + -2.9806759357452393, + 0.16758714616298676, + -0.2524445652961731 + ], + "gripper_value": 0.8888095021247864 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.19181236624717712, + 0.1157013401389122, + 0.07114345580339432, + -3.0019123554229736, + 0.1564081758260727, + -0.2683849036693573 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move up 3 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.20196180045604706, + 0.11151999980211258, + 0.06994341313838959, + -3.0123324394226074, + 0.08239351212978363, + -0.2954872250556946 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2070753276348114, + 0.10682296007871628, + 0.06999287009239197, + -3.004490852355957, + 0.004286847542971373, + -0.30080726742744446 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.21263015270233154, + 0.10158184915781021, + 0.07182657718658447, + -3.029794454574585, + -0.03354903683066368, + -0.2636964023113251 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly over the yellow dish rack on the left side of the sink. The approach and lift phases are complete, and the robot is now aligning the spoon for placement. The next action should be to lower and release the spoon into the dish rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.22213104367256165, + 0.09282615780830383, + 0.07465716451406479, + -3.029588222503662, + -0.06484812498092651, + -0.2586521804332733 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The spoon has been successfully placed into the yellow dish rack on the left side of the sink. The gripper is currently open and hovering directly above the spoon, indicating the release action is complete. The robot is now positioned to retreat from the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.23000650107860565, + 0.08244272321462631, + 0.07460921257734299, + -3.041952610015869, + -0.10267839580774307, + -0.24113130569458008 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The spoon has been successfully placed into the yellow dish rack on the left side of the sink. The gripper is currently open and hovering directly above the spoon, indicating the release action is complete. The robot is now positioned to retreat from the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.241069033741951, + 0.07576670497655869, + 0.08211656659841537, + -3.0628976821899414, + -0.13715529441833496, + -0.2254199981689453 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The spoon has been successfully placed into the yellow dish rack on the left side of the sink. The gripper is currently open and hovering directly above the spoon, indicating the release action is complete. The robot is now positioned to retreat from the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.25127843022346497, + 0.06155156344175339, + 0.08555939793586731, + -3.074327230453491, + -0.14321516454219818, + -0.2352268248796463 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The spoon has been successfully placed into the yellow dish rack on the left side of the sink. The gripper is currently open and hovering directly above the spoon, indicating the release action is complete. The robot is now positioned to retreat from the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603592872619629, + 0.05356935039162636, + 0.08854413777589798, + -3.0761282444000244, + -0.16424401104450226, + -0.22710084915161133 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 54, + 238, + 534, + 702 + ], + "colander": [ + 533, + 140, + 855, + 407 + ] + } + } + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The spoon has been successfully placed into the yellow dish rack on the left side of the sink. The gripper is currently open and hovering directly above the spoon, indicating the release action is complete. The robot is now positioned to retreat from the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.26963523030281067, + 0.049539562314748764, + 0.09445510059595108, + -3.077766180038452, + -0.17976903915405273, + -0.21832382678985596 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The spoon has been successfully placed into the yellow dish rack on the left side of the sink. The gripper is currently open and hovering directly above the spoon, indicating the release action is complete. The robot is now positioned to retreat from the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.28376758098602295, + 0.05207636579871178, + 0.09614429622888565, + -3.0779507160186768, + -0.17288723587989807, + -0.15520358085632324 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red spoon to the left side of the sink, specifically placing it into the yellow dish rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon in sink" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon leftward" + }, + { + "id": 4, + "subtask": "position spoon over target zone" + }, + { + "id": 5, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The spoon has been successfully placed into the yellow dish rack on the left side of the sink. The gripper is currently open and hovering directly above the spoon, indicating the release action is complete. The robot is now positioned to retreat from the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 52 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004142_ecot.json b/cot/chunk-0004/episode_0004142_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d7878e6ca33b6d421af78b051202ec6fa64f7ee0 --- /dev/null +++ b/cot/chunk-0004/episode_0004142_ecot.json @@ -0,0 +1,3073 @@ +{ + "task_name": "episode_0004142", + "episode_json": "json/chunk-0004/episode_0004142.json", + "video_path": "videos/chunk-0004/image_0/episode_0004142.mp4", + "instruction": "Put the red object into the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004142.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.45852088928222656, + "std": 0.2213757336139679, + "delta_total": 0.005348265171051025, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45852, std=0.22138, total_delta=0.00535). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 17 + ], + [ + 3, + 18, + 24 + ], + [ + 4, + 25, + 27 + ], + [ + 5, + 28, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red object\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the red block on the table without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp red object\", \"start\": 8, \"end\": 17, \"planning\": \"Close gripper around the red block and secure it for transport, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and position over drawer\", \"start\": 18, \"end\": 24, \"planning\": \"Lift the grasped red block and move it above the open drawer in preparation for placement.\"},\n {\"id\": 4, \"name\": \"lower into drawer\", \"start\": 25, \"end\": 27, \"planning\": \"Descend with the red block held in gripper to align it inside the drawer cavity.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 28, \"end\": 44, \"planning\": \"Open gripper to release the red block into the drawer, then retract end-effector away from the drawer area.\"}\n ],\n \"global_plan\": \"Approach the red object, grasp it securely, lift and position it over the open drawer, lower it into the drawer, then release and retreat to complete the task.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 2 and 5; grasp/release wording is applied accordingly. Segment 4 shows no gripper change but occurs during controlled descent — described as lowering while holding. Full frame coverage maintained with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red object", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the red block on the table without closing gripper." + }, + { + "id": 2, + "name": "grasp red object", + "start": 8, + "end": 17, + "planning": "Close gripper around the red block and secure it for transport, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and position over drawer", + "start": 18, + "end": 24, + "planning": "Lift the grasped red block and move it above the open drawer in preparation for placement." + }, + { + "id": 4, + "name": "lower into drawer", + "start": 25, + "end": 27, + "planning": "Descend with the red block held in gripper to align it inside the drawer cavity." + }, + { + "id": 5, + "name": "release and retreat", + "start": 28, + "end": 44, + "planning": "Open gripper to release the red block into the drawer, then retract end-effector away from the drawer area." + } + ], + "global_plan": "Approach the red object, grasp it securely, lift and position it over the open drawer, lower it into the drawer, then release and retreat to complete the task.", + "notes": "Gripper evidence confirms meaningful closing only in segments 2 and 5; grasp/release wording is applied accordingly. Segment 4 shows no gripper change but occurs during controlled descent — described as lowering while holding. Full frame coverage maintained with contiguous ranges." + } + }, + "episode_goal": "Place the red object into the open drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.247032031416893, + 0.13840781152248383, + 0.0763377919793129, + 3.0938806533813477, + -0.09842460602521896, + 0.49312475323677063 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open, indicating the approach phase is underway. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24555394053459167, + 0.13702988624572754, + 0.07149512320756912, + 3.093139410018921, + -0.08156375586986542, + 0.49174219369888306 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open, indicating the approach phase is underway. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559661567211151, + 0.13893882930278778, + 0.05916859582066536, + 3.092790126800537, + -0.11213552951812744, + 0.5121481418609619 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed mouse": [ + 744, + 462, + 955, + 709 + ], + "blue foam": [ + 474, + 183, + 688, + 349 + ], + "black handle": [ + 503, + 445, + 762, + 655 + ], + "white table": [ + 4, + 4, + 995, + 994 + ], + "bag": [ + 2, + 403, + 115, + 571 + ] + } + } + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open, indicating the approach phase is underway. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26202061772346497, + 0.14484326541423798, + 0.051719844341278076, + 3.1035008430480957, + -0.14378638565540314, + 0.5502825379371643 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2696748971939087, + 0.1501416563987732, + 0.04695625230669975, + 3.101931571960449, + -0.1553197205066681, + 0.5717214345932007 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27441421151161194, + 0.15479132533073425, + 0.03857245296239853, + 3.1073436737060547, + -0.16280940175056458, + 0.5830926895141602 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27725884318351746, + 0.1614384800195694, + 0.03343626484274864, + 3.1200613975524902, + -0.17236527800559998, + 0.5984669327735901 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27599990367889404, + 0.16465090215206146, + 0.02721324935555458, + 3.1327712535858154, + -0.1608431339263916, + 0.6044821739196777 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27769291400909424, + 0.16886352002620697, + 0.022785786539316177, + -3.139247417449951, + -0.15403196215629578, + 0.6101153492927551 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27610841393470764, + 0.1736305058002472, + 0.015189675614237785, + -3.126295566558838, + -0.13831643760204315, + 0.6205280423164368 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.278982937335968, + 0.18052203953266144, + 0.01779092289507389, + -3.1154656410217285, + -0.1456831842660904, + 0.6297426819801331 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27572283148765564, + 0.1860773265361786, + 0.010845108889043331, + -3.108283042907715, + -0.1262614130973816, + 0.6422936320304871 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object on the table, with the open drawer visible to the right. No grasping has occurred yet as the gripper remains open and no closing evidence exists in this segment. The next action is to move the end-effector closer to align with the red object for future grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719497084617615, + 0.19030915200710297, + 0.010078554041683674, + -3.1005499362945557, + -0.11909051984548569, + 0.6493938565254211 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue foam": [ + 475, + 184, + 688, + 349 + ], + "stuffed mouse": [ + 747, + 462, + 952, + 709 + ], + "black handle": [ + 504, + 449, + 762, + 656 + ], + "white table": [ + 4, + 3, + 995, + 995 + ], + "black bag": [ + 2, + 910, + 150, + 995 + ], + "bag": [ + 2, + 402, + 114, + 570 + ], + "red box": [ + 443, + 135, + 760, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move right 2 cm, move up 10 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26910266280174255, + 0.19272419810295105, + 0.009998730383813381, + -3.0958800315856934, + -0.11299999803304672, + 0.6507951021194458 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 6 cm, move right 4 cm, move up 10 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26512381434440613, + 0.1965685784816742, + 0.00965298991650343, + -3.093998432159424, + -0.1089123860001564, + 0.6716940402984619 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 8 cm, move right 7 cm, move up 12 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26215416193008423, + 0.20245203375816345, + 0.008283085189759731, + -3.1003365516662598, + -0.115473173558712, + 0.7130595445632935 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25861310958862305, + 0.20864860713481903, + 0.006543268915265799, + -3.1223087310791016, + -0.12948951125144958, + 0.7773643732070923 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 10 cm, move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25684651732444763, + 0.2152026891708374, + 0.006160852033644915, + -3.1360702514648438, + -0.1517653465270996, + 0.8338043093681335 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2561808228492737, + 0.2166549265384674, + 0.006191999185830355, + 3.1340625286102295, + -0.15297414362430573, + 0.8628410696983337 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and position over drawer", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, move up 11 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2597671151161194, + 0.21213982999324799, + 0.023271268233656883, + 3.083249092102051, + -0.14259827136993408, + 0.8856128454208374 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and position over drawer", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, move up 10 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26752015948295593, + 0.21293163299560547, + 0.06092854216694832, + 3.0496723651885986, + -0.1793387234210968, + 0.9098039269447327 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and position over drawer", + "subtask_reasoning": "The robot is positioned near the red object with the gripper open and ready. The approach phase is complete, and the gripper is aligned for contact. The next action is to close the gripper to grasp the red object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771913707256317, + 0.208382710814476, + 0.08617651462554932, + 3.024535655975342, + -0.16570352017879486, + 0.9260159730911255 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and position over drawer", + "subtask_reasoning": "The red object is currently held above the open drawer, having been successfully grasped and lifted from the table. The gripper remains closed with no motion in the current segment, indicating the object is being positioned. The next action is to lower the object into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29231560230255127, + 0.19690856337547302, + 0.1030484214425087, + 3.013091802597046, + -0.17689776420593262, + 0.897729754447937 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and position over drawer", + "subtask_reasoning": "The red object is currently held above the open drawer, having been successfully grasped and lifted from the table. The gripper remains closed with no motion in the current segment, indicating the object is being positioned. The next action is to lower the object into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3118702173233032, + 0.17291449010372162, + 0.11109905689954758, + 3.0100769996643066, + -0.18818359076976776, + 0.8005840182304382 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and position over drawer", + "subtask_reasoning": "The red object is currently held above the open drawer, having been successfully grasped and lifted from the table. The gripper remains closed with no motion in the current segment, indicating the object is being positioned. The next action is to lower the object into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3375001549720764, + 0.1436818242073059, + 0.12346518784761429, + 3.0081140995025635, + -0.23507654666900635, + 0.6292393803596497 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black handle": [ + 502, + 447, + 763, + 655 + ], + "blue foam": [ + 475, + 184, + 687, + 349 + ], + "stuffed mouse": [ + 748, + 462, + 955, + 709 + ], + "white table": [ + 4, + 4, + 995, + 994 + ], + "black bag": [ + 2, + 910, + 149, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and position over drawer", + "subtask_reasoning": "The red object is currently held above the open drawer, having been successfully grasped and lifted from the table. The gripper remains closed with no motion in the current segment, indicating the object is being positioned. The next action is to lower the object into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 6 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3550063967704773, + 0.1262417882680893, + 0.12093228101730347, + 3.0113887786865234, + -0.23059174418449402, + 0.5403451919555664 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into drawer", + "subtask_reasoning": "The red object is currently held above the open drawer, having been successfully grasped and lifted from the table. The gripper remains closed with no motion in the current segment, indicating the object is being positioned. The next action is to lower the object into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36830955743789673, + 0.10852070897817612, + 0.11774682998657227, + 3.015241861343384, + -0.2170182466506958, + 0.4565085470676422 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into drawer", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37304532527923584, + 0.09336543083190918, + 0.1149815171957016, + 3.0251173973083496, + -0.19267548620700836, + 0.3483738303184509 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black handle": [ + 503, + 447, + 763, + 655 + ], + "blue foam": [ + 475, + 185, + 687, + 348 + ], + "stuffed mouse": [ + 748, + 462, + 955, + 709 + ], + "white table": [ + 4, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lower into drawer", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 2 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37284156680107117, + 0.08274492621421814, + 0.11460123211145401, + 3.03232479095459, + -0.17718718945980072, + 0.2810820937156677 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36972776055336, + 0.06672605127096176, + 0.11301051825284958, + 3.015363931655884, + -0.16480660438537598, + 0.21188858151435852 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36385732889175415, + 0.05206061154603958, + 0.11324328929185867, + 3.00343656539917, + -0.15302129089832306, + 0.16571830213069916 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35807299613952637, + 0.04313106834888458, + 0.11366556584835052, + 2.99168062210083, + -0.1410800814628601, + 0.13677456974983215 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556157350540161, + 0.033974792808294296, + 0.11208494752645493, + 2.9900898933410645, + -0.12612544000148773, + 0.10215415060520172 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3507053256034851, + 0.02878107875585556, + 0.104952871799469, + 2.9859702587127686, + -0.10774515569210052, + 0.08588534593582153 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.35075756907463074, + 0.02496088668704033, + 0.10493261367082596, + 2.9857728481292725, + -0.10624579340219498, + 0.0749107375741005 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35111963748931885, + 0.019589511677622795, + 0.10475817322731018, + 2.9787838459014893, + -0.10694935917854309, + 0.06472919136285782 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is currently held above the open drawer, aligned for insertion. The gripper remains closed with no motion indicating release yet. The next action should be to lower the object into the drawer and then open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3513979911804199, + 0.016581818461418152, + 0.10491523146629333, + 2.973479747772217, + -0.10810040682554245, + 0.05672560632228851 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500881791114807, + 0.012638076208531857, + 0.10338422656059265, + 2.974147081375122, + -0.10377451777458191, + 0.03538939729332924 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.34796854853630066, + 0.013017475605010986, + 0.10301473736763, + 2.982694625854492, + -0.09404149651527405, + 0.009608091786503792 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3498986065387726, + 0.01628534309566021, + 0.10551861673593521, + 3.0038650035858154, + -0.1012718454003334, + -0.001730388030409813 + ], + "gripper_value": 0.8956556916236877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3514842987060547, + 0.016402093693614006, + 0.10812648385763168, + 3.0036003589630127, + -0.10532902181148529, + 0.0018923534080386162 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3534175455570221, + 0.020413709804415703, + 0.11305969953536987, + 2.989473581314087, + -0.10717201977968216, + 0.02138965018093586 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3510081470012665, + 0.02872179076075554, + 0.12758809328079224, + 2.9915683269500732, + -0.12672969698905945, + 0.07117351144552231 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.34553247690200806, + 0.046673741191625595, + 0.1450146585702896, + 3.035050868988037, + -0.1507565677165985, + 0.184067040681839 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black handle": [ + 503, + 448, + 763, + 655 + ], + "stuffed mouse": [ + 750, + 462, + 956, + 709 + ], + "white table": [ + 4, + 3, + 995, + 995 + ], + "blue foam": [ + 475, + 199, + 585, + 343 + ], + "red box": [ + 442, + 135, + 760, + 578 + ] + } + } + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.334455668926239, + 0.06614117324352264, + 0.15030652284622192, + 3.115457534790039, + -0.18077883124351501, + 0.3109491765499115 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "lift and position over drawer" + }, + { + "id": 4, + "subtask": "lower into drawer" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already inside the open drawer, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the drawer to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004143_ecot.json b/cot/chunk-0004/episode_0004143_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9dbc6c15401026837e61413178b07dc16227dd36 --- /dev/null +++ b/cot/chunk-0004/episode_0004143_ecot.json @@ -0,0 +1,1000 @@ +{ + "task_name": "episode_0004143", + "episode_json": "json/chunk-0004/episode_0004143.json", + "video_path": "videos/chunk-0004/image_0/episode_0004143.mp4", + "instruction": "Lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004143.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.5778107643127441, + "std": 0.2582460641860962, + "delta_total": -0.37748050689697266, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57781, std=0.25825, total_delta=-0.37748). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 108, + 108, + 108, + 108, + 114 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 9 + ], + [ + 3, + 10, + 13 + ], + [ + 4, + 14, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp lever\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector to the lever handle and close gripper to establish a firm grasp, as evidenced by significant gripper closure (delta=-0.42950) and consistent motion toward the object.\"},\n {\"id\": 2, \"name\": \"hold and stabilize grip\", \"start\": 8, \"end\": 9, \"planning\": \"Maintain closed gripper state while making minor positional adjustments to stabilize contact with the lever before initiating rotation; no further closing occurs but grip is held.\"},\n {\"id\": 3, \"name\": \"rotate lever forward\", \"start\": 10, \"end\": 13, \"planning\": \"Execute controlled rotational motion to lever the vertical handle toward the front, maintaining grip throughout as confirmed by stable low gripper values and coordinated EE rotation.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 14, \"end\": 14, \"planning\": \"Open gripper to release contact with the lever after completing the forward rotation, then begin retreating from the manipulated position.\"}\n ],\n \"global_plan\": \"Approach and grasp the vertical lever handle, stabilize grip, rotate it forward to horizontal orientation, then release and retreat.\",\n \"notes\": \"Gripper evidence supports grasp in segments 1 and 3; segment 2 shows no closing but maintains prior grasp state; segment 4 shows opening consistent with release. All motions align with lever manipulation task.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp lever", + "start": 0, + "end": 7, + "planning": "Move end-effector to the lever handle and close gripper to establish a firm grasp, as evidenced by significant gripper closure (delta=-0.42950) and consistent motion toward the object." + }, + { + "id": 2, + "name": "hold and stabilize grip", + "start": 8, + "end": 9, + "planning": "Maintain closed gripper state while making minor positional adjustments to stabilize contact with the lever before initiating rotation; no further closing occurs but grip is held." + }, + { + "id": 3, + "name": "rotate lever forward", + "start": 10, + "end": 13, + "planning": "Execute controlled rotational motion to lever the vertical handle toward the front, maintaining grip throughout as confirmed by stable low gripper values and coordinated EE rotation." + }, + { + "id": 4, + "name": "release and retreat", + "start": 14, + "end": 14, + "planning": "Open gripper to release contact with the lever after completing the forward rotation, then begin retreating from the manipulated position." + } + ], + "global_plan": "Approach and grasp the vertical lever handle, stabilize grip, rotate it forward to horizontal orientation, then release and retreat.", + "notes": "Gripper evidence supports grasp in segments 1 and 3; segment 2 shows no closing but maintains prior grasp state; segment 4 shows opening consistent with release. All motions align with lever manipulation task." + } + }, + "episode_goal": "Grasp the faucet lever and pull it forward to the front position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38222023844718933, + -0.05739965662360191, + 0.07299408316612244, + -2.871565818786621, + -0.07283825427293777, + 0.0473039336502552 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible and upright. No grasping has occurred yet as the gripper remains open. The next action is to move the gripper closer to align with and contact the lever handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839513063430786, + -0.05526187643408775, + 0.06443667411804199, + -2.8478715419769287, + -0.06476376950740814, + 0.03116990253329277 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 206, + 352, + 825, + 943 + ], + "stove burner": [ + 81, + 295, + 312, + 512 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible and upright. No grasping has occurred yet as the gripper remains open. The next action is to move the gripper closer to align with and contact the lever handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39457398653030396, + -0.057781461626291275, + 0.07319473475217819, + -2.8129525184631348, + -0.1131647601723671, + -0.027340631932020187 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible and upright. No grasping has occurred yet as the gripper remains open. The next action is to move the gripper closer to align with and contact the lever handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, close gripper; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4013980031013489, + -0.061275236308574677, + 0.08021379262208939, + -2.786268949508667, + -0.14307843148708344, + -0.07188684493303299 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned near the faucet with the gripper open and aligned to the vertical lever. No contact has been made yet, and the subtask segment shows significant gripper closure potential. The next action is to move the gripper forward to make contact and begin grasping the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4077184796333313, + -0.060505274683237076, + 0.083729088306427, + -2.7755892276763916, + -0.16552120447158813, + -0.09555619210004807 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned near the faucet with the gripper open and aligned to the vertical lever. No contact has been made yet, and the subtask segment shows significant gripper closure potential. The next action is to move the gripper forward to make contact and begin grasping the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.41512662172317505, + -0.06301271915435791, + 0.0809912160038948, + -2.771243095397949, + -0.17058144509792328, + -0.1240571141242981 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned near the faucet with the gripper open and aligned to the vertical lever. No contact has been made yet, and the subtask segment shows significant gripper closure potential. The next action is to move the gripper forward to make contact and begin grasping the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4220765233039856, + -0.06512519717216492, + 0.08056214451789856, + -2.7738730907440186, + -0.17885419726371765, + -0.1500835418701172 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned near the faucet with the gripper open and aligned to the vertical lever. No contact has been made yet, and the subtask segment shows significant gripper closure potential. The next action is to move the gripper forward to make contact and begin grasping the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4243379235267639, + -0.06317998468875885, + 0.08031760901212692, + -2.7679765224456787, + -0.17394618690013885, + -0.1562984585762024 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned near the faucet with the gripper open and aligned to the vertical lever. No contact has been made yet, and the subtask segment shows significant gripper closure potential. The next action is to move the gripper forward to make contact and begin grasping the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.41992416977882385, + -0.0625670775771141, + 0.07950350642204285, + -2.7736058235168457, + -0.15803386270999908, + -0.12523041665554047 + ], + "gripper_value": 0.4606100916862488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "hold and stabilize grip", + "subtask_reasoning": "The robot has approached and made initial contact with the vertical faucet lever. The current subtask focuses on stabilizing the grip without further closing, as segment-level gripper evidence shows no meaningful closure. The next action should involve maintaining steady contact to prepare for rotating the lever forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.40512555837631226, + -0.060835905373096466, + 0.07471727579832077, + -2.800161123275757, + -0.11672624945640564, + -0.05805447697639465 + ], + "gripper_value": 0.4606100916862488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "hold and stabilize grip", + "subtask_reasoning": "The robot has approached and made initial contact with the vertical faucet lever. The current subtask focuses on stabilizing the grip without further closing, as segment-level gripper evidence shows no meaningful closure. The next action should involve maintaining steady contact to prepare for rotating the lever forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38511189818382263, + -0.059896670281887054, + 0.06012300029397011, + -2.842801094055176, + -0.046187929809093475, + 0.009636916220188141 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot has approached and made initial contact with the vertical faucet lever. The current subtask focuses on stabilizing the grip without further closing, as segment-level gripper evidence shows no meaningful closure. The next action should involve maintaining steady contact to prepare for rotating the lever forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37631964683532715, + -0.056821126490831375, + 0.043149784207344055, + -2.9048328399658203, + -0.017310557886958122, + 0.05477181077003479 + ], + "gripper_value": 0.4256414473056793 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 206, + 351, + 824, + 945 + ], + "stove burner": [ + 79, + 295, + 315, + 516 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot is currently grasping the vertical faucet lever with a stable grip, as indicated by the consistent gripper signal and end-effector position. The lever remains in its initial vertical orientation, meaning the rotation action has not yet significantly altered its state. The next immediate action is to apply torque to rotate the lever forward toward a horizontal position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3750731647014618, + -0.05548601970076561, + 0.03606454282999039, + -2.941615104675293, + -0.016924990341067314, + 0.060953669250011444 + ], + "gripper_value": 0.4256414473056793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot is currently grasping the vertical faucet lever with a stable grip, as indicated by the consistent gripper signal and end-effector position. The lever remains in its initial vertical orientation, meaning the rotation action has not yet significantly altered its state. The next immediate action is to apply torque to rotate the lever forward toward a horizontal position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3744851350784302, + -0.0548337958753109, + 0.03204714134335518, + -2.951850652694702, + -0.023771144449710846, + 0.0682850033044815 + ], + "gripper_value": 0.4256414473056793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot is currently grasping the vertical faucet lever with a stable grip, as indicated by the consistent gripper signal and end-effector position. The lever remains in its initial vertical orientation, meaning the rotation action has not yet significantly altered its state. The next immediate action is to apply torque to rotate the lever forward toward a horizontal position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657324016094208, + -0.052745506167411804, + 0.02656804397702217, + -2.9232730865478516, + -0.0007397128501906991, + 0.08981259912252426 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "hold and stabilize grip" + }, + { + "id": 3, + "subtask": "rotate lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The faucet lever has been rotated to the front position and the gripper is open, indicating release is complete. The end-effector is positioned above the sink, slightly away from the lever. The next action is to retreat further from the sink area to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004144_ecot.json b/cot/chunk-0004/episode_0004144_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc4632da8fff3fc6a940acaccd3c92c9fdfbfbf --- /dev/null +++ b/cot/chunk-0004/episode_0004144_ecot.json @@ -0,0 +1,1442 @@ +{ + "task_name": "episode_0004144", + "episode_json": "json/chunk-0004/episode_0004144.json", + "video_path": "videos/chunk-0004/image_0/episode_0004144.mp4", + "instruction": "Move purple cloth to middle top of table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004144.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.003992199897766113, + "std": 0.0010074430610984564, + "delta_total": 0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00399, std=0.00101, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 0, + 0, + 0, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 13 + ], + [ + 3, + 14, + 14 + ], + [ + 4, + 15, + 17 + ], + [ + 5, + 18, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach purple cloth\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector down toward the purple cloth on the table surface.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 10, \"end\": 13, \"planning\": \"Lower gripper to establish contact with the top surface of the purple cloth without grasping.\"},\n {\"id\": 3, \"name\": \"reposition cloth upward\", \"start\": 14, \"end\": 14, \"planning\": \"Briefly adjust position to begin sliding the cloth toward the target zone.\"},\n {\"id\": 4, \"name\": \"slide cloth to middle top\", \"start\": 15, \"end\": 17, \"planning\": \"Drag the purple cloth across the table surface to the middle-top region near the cans.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 18, \"end\": 19, \"planning\": \"Lift and move end-effector away from the cloth after repositioning is complete.\"}\n ],\n \"global_plan\": \"Approach the purple cloth, make contact without grasping, then slide it to the middle-top area of the table before retreating.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is contact-based pushing/sliding only, consistent with gripper evidence and visual frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach purple cloth", + "start": 0, + "end": 9, + "planning": "Move end-effector down toward the purple cloth on the table surface." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 10, + "end": 13, + "planning": "Lower gripper to establish contact with the top surface of the purple cloth without grasping." + }, + { + "id": 3, + "name": "reposition cloth upward", + "start": 14, + "end": 14, + "planning": "Briefly adjust position to begin sliding the cloth toward the target zone." + }, + { + "id": 4, + "name": "slide cloth to middle top", + "start": 15, + "end": 17, + "planning": "Drag the purple cloth across the table surface to the middle-top region near the cans." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 18, + "end": 19, + "planning": "Lift and move end-effector away from the cloth after repositioning is complete." + } + ], + "global_plan": "Approach the purple cloth, make contact without grasping, then slide it to the middle-top area of the table before retreating.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is contact-based pushing/sliding only, consistent with gripper evidence and visual frames." + } + }, + "episode_goal": "Move purple cloth to middle top of table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24412083625793457, + 0.1830223947763443, + 0.07991646975278854, + -3.0710151195526123, + -0.10101193189620972, + 0.10801742225885391 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned near the purple cloth on the wooden table, with the gripper open and no contact yet made. The subtask to approach the cloth is in progress, and the next action should be to move the end-effector closer to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 14 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24262408912181854, + 0.18133385479450226, + 0.07090816646814346, + -3.0870277881622314, + -0.0748681128025055, + 0.1139909103512764 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned near the purple cloth on the wooden table, with the gripper open and no contact yet made. The subtask to approach the cloth is in progress, and the next action should be to move the end-effector closer to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 14 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25614163279533386, + 0.15823222696781158, + 0.06801553070545197, + -3.0966098308563232, + -0.06000630930066109, + 0.08763812482357025 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned near the purple cloth on the wooden table, with the gripper open and no contact yet made. The subtask to approach the cloth is in progress, and the next action should be to move the end-effector closer to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 11 cm, move down 6 cm, tilt right 10 degrees, keep gripper open; then move forward 4 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26864945888519287, + 0.13516555726528168, + 0.05935858562588692, + -3.095806121826172, + -0.036369387060403824, + 0.06534861773252487 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal measuring cup": [ + 228, + 171, + 413, + 340 + ], + "purple cloth": [ + 216, + 338, + 484, + 595 + ], + "toy microwave": [ + 272, + 2, + 667, + 234 + ], + "blue brush": [ + 503, + 579, + 706, + 829 + ], + "can": [ + 642, + 45, + 784, + 303 + ], + "can_2": [ + 768, + 130, + 919, + 339 + ], + "toy stove": [ + 676, + 176, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned near the purple cloth on the wooden table, with the gripper open and no contact yet made. The subtask to approach the cloth is in progress, and the next action should be to move the end-effector closer to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, move down 5 cm, tilt right 10 degrees, keep gripper open; then move forward 4 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.279445618391037, + 0.11615630239248276, + 0.050207775086164474, + -3.0896949768066406, + -0.019289422780275345, + 0.05601212754845619 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the purple cloth. No contact has been made yet, and the gripper remains open. The next action is to lower the arm slightly to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29237690567970276, + 0.1039348840713501, + 0.032591428607702255, + -3.061809778213501, + -0.0020780861377716064, + 0.06562734395265579 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the purple cloth. No contact has been made yet, and the gripper remains open. The next action is to lower the arm slightly to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016359210014343, + 0.09267276525497437, + 0.019738266244530678, + -3.058401346206665, + -0.007641830015927553, + 0.07434187829494476 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the purple cloth. No contact has been made yet, and the gripper remains open. The next action is to lower the arm slightly to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3103000521659851, + 0.0889267697930336, + 0.014447449706494808, + -3.0348145961761475, + -0.033750515431165695, + 0.06703481823205948 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the purple cloth. No contact has been made yet, and the gripper remains open. The next action is to lower the arm slightly to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3234887421131134, + 0.08523301780223846, + 0.007703252136707306, + -3.050814628601074, + -0.05921543389558792, + 0.0676708072423935 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the purple cloth. No contact has been made yet, and the gripper remains open. The next action is to lower the arm slightly to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, tilt right 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 4 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34314027428627014, + 0.0665687844157219, + 0.006040696986019611, + -3.1191153526306152, + -0.09738709777593613, + 0.02643735148012638 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the purple cloth. No contact has been made yet, and the gripper remains open. The next action is to lower the arm slightly to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, tilt right 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 4 cm, move up 6 cm, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3734554052352905, + 0.04517044126987457, + 0.008174728602170944, + 3.062573194503784, + -0.1151193380355835, + -0.0024351784959435463 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the purple cloth. No contact has been made yet, and the gripper remains open. The next action is to lower the arm slightly to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 4 cm, move up 6 cm, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3994518220424652, + 0.018647152930498123, + 0.012779505923390388, + 3.028923511505127, + -0.11687583476305008, + -0.06624472141265869 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal measuring cup": [ + 148, + 174, + 416, + 342 + ], + "purple cloth": [ + 393, + 277, + 634, + 462 + ], + "blue brush": [ + 503, + 579, + 706, + 829 + ], + "can": [ + 641, + 46, + 784, + 304 + ], + "can_2": [ + 768, + 131, + 918, + 340 + ], + "toy stove": [ + 679, + 176, + 996, + 994 + ], + "toy microwave": [ + 267, + 1, + 667, + 232 + ] + } + } + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the purple cloth and is now positioned directly above it with the gripper open. The current subtask requires establishing physical contact with the cloth surface without closing the gripper. The next action is to lower the end-effector slightly to touch the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 4 cm, move up 6 cm, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4130552411079407, + -0.005841883830726147, + 0.013176912441849709, + 3.0733535289764404, + -0.11993765830993652, + -0.16308099031448364 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the purple cloth and is now positioned directly above it with the gripper open. The current subtask requires establishing physical contact with the cloth surface without closing the gripper. The next action is to lower the end-effector slightly to touch the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 4 cm, move up 6 cm, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41530469059944153, + -0.008460947312414646, + 0.013344833627343178, + 3.1145009994506836, + -0.11111851036548615, + -0.17181995511054993 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the purple cloth and is now positioned directly above it with the gripper open. The current subtask requires establishing physical contact with the cloth surface without closing the gripper. The next action is to lower the end-effector slightly to touch the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 4 cm, move up 6 cm, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40789416432380676, + -0.00863715074956417, + 0.019626393914222717, + -3.1169793605804443, + -0.09907664358615875, + -0.14582224190235138 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth upward", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial touch. The gripper remains open with no closing evidence, indicating a sliding or pushing action rather than grasping. The next step is to push the cloth upward toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 4 cm, move up 6 cm, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.40819215774536133, + -0.015271399170160294, + 0.05270819738507271, + 3.136396884918213, + -0.11270077526569366, + -0.10487451404333115 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to middle top", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial touch. The gripper remains open with no closing evidence, indicating a sliding or pushing action rather than grasping. The next step is to push the cloth upward toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move up 6 cm, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4111742675304413, + -0.01948481611907482, + 0.09785711020231247, + 3.0544447898864746, + -0.13764004409313202, + -0.07034330815076828 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to middle top", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the table, having already approached and established contact. The gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39313462376594543, + -0.004450483247637749, + 0.1132887527346611, + 3.0636842250823975, + -0.11547532677650452, + -0.041730236262083054 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to middle top", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the table, having already approached and established contact. The gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the middle-top area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3505329489707947, + 0.021666815504431725, + 0.11263705790042877, + -3.127098560333252, + -0.09874704480171204, + -0.04374903067946434 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth has been successfully moved to the middle-top area of the table. The robot's end-effector is currently positioned above the cloth with the gripper open, indicating no grasp is active. The next action is to retreat the arm away from the table to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31434622406959534, + 0.04922618716955185, + 0.09662124514579773, + -3.068180799484253, + -0.0753340870141983, + -0.047748446464538574 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move purple cloth to middle top of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth upward" + }, + { + "id": 4, + "subtask": "slide cloth to middle top" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth has been successfully moved to the middle-top area of the table. The robot's end-effector is currently positioned above the cloth with the gripper open, indicating no grasp is active. The next action is to retreat the arm away from the table to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004145_ecot.json b/cot/chunk-0004/episode_0004145_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..105ba1699cee157f158b57de065b8d393bdcefcc --- /dev/null +++ b/cot/chunk-0004/episode_0004145_ecot.json @@ -0,0 +1,2718 @@ +{ + "task_name": "episode_0004145", + "episode_json": "json/chunk-0004/episode_0004145.json", + "video_path": "videos/chunk-0004/image_0/episode_0004145.mp4", + "instruction": "Wipe the table using the blue cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004145.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.005995333194732666, + "std": 0.0009486688650213182, + "delta_total": -0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00600, std=0.00095, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 23 + ], + [ + 2, + 24, + 26 + ], + [ + 3, + 27, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector down toward the blue cloth on the table.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 11, \"end\": 23, \"planning\": \"Lower the gripper to touch the cloth surface without grasping.\"},\n {\"id\": 3, \"name\": \"reposition over cloth\", \"start\": 24, \"end\": 26, \"planning\": \"Shift the end-effector slightly forward while maintaining light contact with the cloth.\"},\n {\"id\": 4, \"name\": \"drag cloth leftward\", \"start\": 27, \"end\": 35, \"planning\": \"Slide the cloth horizontally to the left by pushing it with the gripper.\"},\n {\"id\": 5, \"name\": \"lift and retreat\", \"start\": 36, \"end\": 38, \"planning\": \"Raise the end-effector away from the table after completing the wipe motion.\"}\n ],\n \"global_plan\": \"Wipe the table by approaching the blue cloth, making contact, repositioning, dragging it leftward, then lifting and retreating.\",\n \"notes\": \"No grasping occurred; all actions are contact-based as confirmed by constant gripper values and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 10, + "planning": "Move the end-effector down toward the blue cloth on the table." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 11, + "end": 23, + "planning": "Lower the gripper to touch the cloth surface without grasping." + }, + { + "id": 3, + "name": "reposition over cloth", + "start": 24, + "end": 26, + "planning": "Shift the end-effector slightly forward while maintaining light contact with the cloth." + }, + { + "id": 4, + "name": "drag cloth leftward", + "start": 27, + "end": 35, + "planning": "Slide the cloth horizontally to the left by pushing it with the gripper." + }, + { + "id": 5, + "name": "lift and retreat", + "start": 36, + "end": 38, + "planning": "Raise the end-effector away from the table after completing the wipe motion." + } + ], + "global_plan": "Wipe the table by approaching the blue cloth, making contact, repositioning, dragging it leftward, then lifting and retreating.", + "notes": "No grasping occurred; all actions are contact-based as confirmed by constant gripper values and visual evidence." + } + }, + "episode_goal": "Wipe the table using the blue cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3087312877178192, + 0.009112200699746609, + 0.06417899578809738, + -3.0960123538970947, + 0.013057966716587543, + 0.009832103736698627 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action should involve lowering the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3068360984325409, + 0.009319014847278595, + 0.054278936237096786, + -3.094111919403076, + 0.046363770961761475, + 0.018361661583185196 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action should involve lowering the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31699249148368835, + 0.014770166017115116, + 0.051694873720407486, + -3.0653977394104004, + 0.06128251925110817, + 0.031499672681093216 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action should involve lowering the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32977768778800964, + 0.02739253081381321, + 0.04251714050769806, + -3.0607285499572754, + 0.09296238422393799, + 0.0518975630402565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action should involve lowering the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3397738039493561, + 0.03255411610007286, + 0.04253799095749855, + -3.053434371948242, + 0.07013656944036484, + 0.07406272739171982 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. No contact has been made yet as the gripper remains open and elevated. The next action should involve lowering the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3401167690753937, + 0.03840255364775658, + 0.031751975417137146, + -3.038599967956543, + 0.09292902052402496, + 0.09304851293563843 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341308832168579, + 0.03774098679423332, + 0.026259606704115868, + -3.0311625003814697, + 0.10556132346391678, + 0.11050895601511002 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open; then move back 4 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3261772394180298, + 0.029165087267756462, + 0.014882812276482582, + -3.0582752227783203, + 0.12289855629205704, + 0.10668807476758957 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 137, + 167, + 342, + 359 + ], + "red utensil": [ + 152, + 414, + 262, + 591 + ], + "blue cloth": [ + 315, + 381, + 595, + 626 + ], + "toy corn": [ + 605, + 414, + 744, + 612 + ], + "wooden table": [ + 4, + 119, + 878, + 939 + ], + "toy stove": [ + 581, + 160, + 996, + 994 + ], + "tomato": [ + 601, + 25, + 737, + 258 + ], + "metal lid": [ + 54, + 349, + 251, + 529 + ] + } + } + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 5 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32987138628959656, + 0.027198461815714836, + 0.004594228696078062, + -3.074167013168335, + 0.13945341110229492, + 0.08460799604654312 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 7 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.332910418510437, + 0.02985531836748123, + 0.0018471042858436704, + -3.09254789352417, + 0.14213159680366516, + 0.06270528584718704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 8 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3331201672554016, + 0.031680572777986526, + 0.0007951717125251889, + -3.1021502017974854, + 0.144280344247818, + 0.06097188591957092 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 8 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3290393352508545, + 0.03307657316327095, + -0.0012316270731389523, + -3.1039249897003174, + 0.131956547498703, + 0.06814257055521011 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31416141986846924, + 0.03176652640104294, + 0.00021008421026635915, + -3.078357219696045, + 0.08905107527971268, + 0.068963922560215 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30240464210510254, + 0.023873694241046906, + 0.004880000837147236, + -3.03513240814209, + 0.09804201126098633, + 0.0808127298951149 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29675495624542236, + 0.02323792688548565, + 0.005833356641232967, + -3.0368692874908447, + 0.1117488220334053, + 0.08605378121137619 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29459553956985474, + 0.021917086094617844, + 0.005514499731361866, + -3.043059825897217, + 0.12589478492736816, + 0.09355183690786362 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846459150314331, + 0.018447270616889, + 0.005705342162400484, + -3.061187505722046, + 0.1415189951658249, + 0.1015634760260582 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27698642015457153, + 0.01466046180576086, + 0.005373976193368435, + -3.0826847553253174, + 0.1594787985086441, + 0.10080187022686005 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. The current situation involves aligning the end-effector to touch the cloth surface without grasping. The next action is to lower the arm slightly to establish physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2564826011657715, + 0.00809351447969675, + 0.005764575209468603, + -3.0959372520446777, + 0.1733071655035019, + 0.0796554833650589 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red utensil": [ + 151, + 412, + 262, + 592 + ], + "metal pot": [ + 139, + 169, + 342, + 360 + ], + "toy corn": [ + 604, + 414, + 744, + 612 + ], + "toy stove": [ + 578, + 161, + 996, + 994 + ], + "wooden table": [ + 4, + 119, + 882, + 943 + ], + "tomato": [ + 602, + 26, + 738, + 255 + ], + "metal lid": [ + 55, + 349, + 249, + 529 + ], + "blue cloth": [ + 280, + 495, + 587, + 771 + ] + } + } + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. The current situation involves aligning the end-effector to touch the cloth surface without grasping. The next action is to lower the arm slightly to establish physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open; then move back 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24996134638786316, + 0.006814513821154833, + 0.006318824831396341, + -3.1049575805664062, + 0.17583683133125305, + 0.07092496007680893 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. The current situation involves aligning the end-effector to touch the cloth surface without grasping. The next action is to lower the arm slightly to establish physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open; then move back 4 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24888302385807037, + 0.005221148952841759, + 0.006962145678699017, + -3.1163418292999268, + 0.17215758562088013, + 0.06414198130369186 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. The current situation involves aligning the end-effector to touch the cloth surface without grasping. The next action is to lower the arm slightly to establish physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open; then move back 6 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26216235756874084, + 0.011796694248914719, + 0.004438301548361778, + -3.115108013153076, + 0.1681176722049713, + 0.047621022909879684 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. The current situation involves aligning the end-effector to touch the cloth surface without grasping. The next action is to lower the arm slightly to establish physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open; then move back 6 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28772035241127014, + 0.023151151835918427, + 0.003705559065565467, + -3.058444023132324, + 0.15478119254112244, + 0.0031609577126801014 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. The current situation involves aligning the end-effector to touch the cloth surface without grasping. The next action is to lower the arm slightly to establish physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, tilt back 10 degrees, keep gripper open; then keep gripper open; then move back 5 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32191216945648193, + 0.031234651803970337, + 0.007137620821595192, + -3.0169990062713623, + 0.07505080848932266, + -0.024068472906947136 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 138, + 168, + 343, + 360 + ], + "red utensil": [ + 152, + 414, + 262, + 592 + ], + "toy corn": [ + 605, + 414, + 744, + 612 + ], + "toy stove": [ + 579, + 161, + 996, + 993 + ], + "metal lid": [ + 55, + 350, + 249, + 529 + ], + "blue cloth": [ + 310, + 412, + 605, + 676 + ], + "wooden table": [ + 5, + 127, + 882, + 940 + ], + "tomato": [ + 601, + 26, + 736, + 256 + ] + } + } + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. The current situation involves aligning the end-effector to touch the cloth surface without grasping. The next action is to lower the arm slightly to establish physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open; then keep gripper open; then move back 5 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34473708271980286, + 0.035882674157619476, + 0.008616523817181587, + -3.0273330211639404, + 0.032443128526210785, + -0.019542818889021873 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned directly above it with the gripper open. The current situation involves aligning the end-effector to touch the cloth surface without grasping. The next action is to lower the arm slightly to establish physical contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36245688796043396, + 0.035708632320165634, + 0.007612048648297787, + -3.0613322257995605, + 0.015723131597042084, + -0.007511378265917301 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot is positioned over the blue cloth on the table, having already approached and made contact. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action should involve slight repositioning to align for dragging the cloth leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 4 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36312782764434814, + 0.03448577970266342, + 0.007720606401562691, + -3.0523457527160645, + 0.025393055751919746, + -0.018418218940496445 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "reposition over cloth", + "subtask_reasoning": "The robot is positioned over the blue cloth on the table, having already approached and made contact. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action should involve slight repositioning to align for dragging the cloth leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 4 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.341558575630188, + 0.032996322959661484, + 0.006906083319336176, + -3.046942710876465, + 0.04355042800307274, + 0.028446242213249207 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is positioned over the blue cloth on the table, having already approached and made contact. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action should involve slight repositioning to align for dragging the cloth leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 5 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30942192673683167, + 0.024925829842686653, + 0.006589678581804037, + -3.046734571456909, + 0.09768661856651306, + 0.03691483289003372 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is positioned over the blue cloth on the table, having already approached and made contact. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action should involve slight repositioning to align for dragging the cloth leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29763084650039673, + 0.019291609525680542, + 0.006617716513574123, + -3.073676586151123, + 0.10050258040428162, + 0.03866039961576462 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is positioned over the blue cloth on the table, having already approached and made contact. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action should involve slight repositioning to align for dragging the cloth leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 10 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862798273563385, + 0.016401411965489388, + 0.007057898677885532, + -3.0881357192993164, + 0.09867178648710251, + 0.026418078690767288 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is positioned over the blue cloth on the table, having already approached and made contact. The gripper remains open with no closing evidence, indicating no grasp has occurred. The next action should involve slight repositioning to align for dragging the cloth leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2863917946815491, + 0.014787598513066769, + 0.006816845387220383, + -3.099623680114746, + 0.08890268206596375, + 0.011775168590247631 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating the cloth is being pushed or dragged rather than held. The next action is to continue moving the cloth leftward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29110342264175415, + 0.019211972132325172, + 0.007432691287249327, + -3.0993874073028564, + 0.09109919518232346, + 0.00985751859843731 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating the cloth is being pushed or dragged rather than held. The next action is to continue moving the cloth leftward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29359012842178345, + 0.019533796235919, + 0.00734883826225996, + -3.0979325771331787, + 0.09106657654047012, + 0.010674898512661457 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating the cloth is being pushed or dragged rather than held. The next action is to continue moving the cloth leftward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2950231432914734, + 0.018794333562254906, + 0.012230774387717247, + -3.0936944484710693, + 0.07256058603525162, + 0.007788149639964104 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating the cloth is being pushed or dragged rather than held. The next action is to continue moving the cloth leftward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2974074184894562, + 0.01806873083114624, + 0.03370031714439392, + -3.088848114013672, + 0.028058066964149475, + 0.004385675303637981 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "drag cloth leftward", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating the cloth is being pushed or dragged rather than held. The next action is to continue moving the cloth leftward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.30009737610816956, + 0.01586669683456421, + 0.05728409066796303, + -3.1026384830474854, + 0.006370289716869593, + 0.014029300771653652 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 138, + 168, + 341, + 359 + ], + "red utensil": [ + 151, + 414, + 262, + 591 + ], + "toy corn": [ + 605, + 414, + 744, + 612 + ], + "toy stove": [ + 578, + 161, + 996, + 994 + ], + "blue cloth": [ + 308, + 408, + 606, + 711 + ], + "wooden table": [ + 5, + 119, + 882, + 939 + ], + "metal lid": [ + 54, + 349, + 250, + 529 + ] + } + } + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "lift and retreat", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating the cloth is being pushed or dragged rather than held. The next action is to continue moving the cloth leftward across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.29805096983909607, + 0.015183767303824425, + 0.07467052340507507, + -3.1066272258758545, + 0.00826763641089201, + 0.005750462878495455 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "lift and retreat", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table with the gripper open, having completed the wiping motion. Since the segment-level gripper evidence shows no closing action, the robot is not grasping the cloth but is instead retracting its arm upward and backward to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.29511788487434387, + 0.014966348186135292, + 0.09203943610191345, + -3.1095187664031982, + -0.02409491501748562, + 0.011796331964433193 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Wipe the table using the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition over cloth" + }, + { + "id": 4, + "subtask": "drag cloth leftward" + }, + { + "id": 5, + "subtask": "lift and retreat" + } + ], + "subtask_name": "lift and retreat", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table with the gripper open, having completed the wiping motion. Since the segment-level gripper evidence shows no closing action, the robot is not grasping the cloth but is instead retracting its arm upward and backward to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004146_ecot.json b/cot/chunk-0004/episode_0004146_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..93a94f9a5fccfa69545a3e06543af4a160e02ecb --- /dev/null +++ b/cot/chunk-0004/episode_0004146_ecot.json @@ -0,0 +1,1992 @@ +{ + "task_name": "episode_0004146", + "episode_json": "json/chunk-0004/episode_0004146.json", + "video_path": "videos/chunk-0004/image_0/episode_0004146.mp4", + "instruction": "Put the silver object over the silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004146.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.7261031270027161, + "std": 0.33398979902267456, + "delta_total": 0.013585567474365234, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72610, std=0.33399, total_delta=0.01359). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 129, + 129, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 16 + ], + [ + 3, + 17, + 28 + ], + [ + 4, + 29, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver lid\", \"start\": 0, \"end\": 11, \"planning\": \"Move the gripper down toward the silver lid on the table while beginning to close the gripper in preparation for contact.\"},\n {\"id\": 2, \"name\": \"grasp silver lid\", \"start\": 12, \"end\": 16, \"planning\": \"Fully close the gripper around the silver lid and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"transport lid over pot\", \"start\": 17, \"end\": 28, \"planning\": \"Carry the grasped silver lid across the workspace toward the silver pot, adjusting orientation for placement.\"},\n {\"id\": 4, \"name\": \"release lid onto pot\", \"start\": 29, \"end\": 31, \"planning\": \"Open the gripper to release the silver lid onto the silver pot, then retreat upward to complete the task.\"}\n ],\n \"global_plan\": \"Approach and grasp the silver lid from the table, transport it over to the silver pot, and release it to cover the pot.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in all segments; images support grasping at frame 12–16 and release at 29–31. Motion and gripper data align with pick-and-place mechanics throughout.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver lid", + "start": 0, + "end": 11, + "planning": "Move the gripper down toward the silver lid on the table while beginning to close the gripper in preparation for contact." + }, + { + "id": 2, + "name": "grasp silver lid", + "start": 12, + "end": 16, + "planning": "Fully close the gripper around the silver lid and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "transport lid over pot", + "start": 17, + "end": 28, + "planning": "Carry the grasped silver lid across the workspace toward the silver pot, adjusting orientation for placement." + }, + { + "id": 4, + "name": "release lid onto pot", + "start": 29, + "end": 31, + "planning": "Open the gripper to release the silver lid onto the silver pot, then retreat upward to complete the task." + } + ], + "global_plan": "Approach and grasp the silver lid from the table, transport it over to the silver pot, and release it to cover the pot.", + "notes": "Gripper evidence confirms meaningful closing in all segments; images support grasping at frame 12–16 and release at 29–31. Motion and gripper data align with pick-and-place mechanics throughout." + } + }, + "episode_goal": "Place the silver lid on top of the silver pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683984577655792, + -0.0013414332643151283, + 0.12973161041736603, + -3.1270525455474854, + -0.16526642441749573, + -0.13940656185150146 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible on the right side. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 9 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657737076282501, + -0.0017920249374583364, + 0.11784633994102478, + -3.128364324569702, + -0.1313326209783554, + -0.13584715127944946 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible on the right side. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34665390849113464, + -0.02723371423780918, + 0.10331622511148453, + -3.0912368297576904, + -0.09854166209697723, + -0.19935473799705505 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible on the right side. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3278026580810547, + -0.04830169677734375, + 0.11385507136583328, + -3.075849771499634, + -0.15060104429721832, + -0.2340022474527359 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible on the right side. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31123849749565125, + -0.07432150840759277, + 0.10698793083429337, + -3.116683006286621, + -0.19121715426445007, + -0.27404719591140747 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible on the right side. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 7 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30720439553260803, + -0.0840686485171318, + 0.0996173694729805, + -3.1198387145996094, + -0.19798098504543304, + -0.28068333864212036 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30453184247016907, + -0.08588336408138275, + 0.07538644969463348, + -3.110325813293457, + -0.18704146146774292, + -0.26669928431510925 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move left 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30906999111175537, + -0.0844525694847107, + 0.06798487156629562, + -3.0919320583343506, + -0.20105038583278656, + -0.26180315017700195 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 3 cm, move left 9 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31009548902511597, + -0.08240433037281036, + 0.052418675273656845, + -3.0780723094940186, + -0.1693253368139267, + -0.2703150510787964 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 3 cm, move left 9 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31089112162590027, + -0.0763070285320282, + 0.04082813858985901, + -3.0828306674957275, + -0.1429857760667801, + -0.24683785438537598 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 9 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135364353656769, + -0.07546016573905945, + 0.038669612258672714, + -3.0976459980010986, + -0.140105202794075, + -0.23795072734355927 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 9 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 13 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3155640661716461, + -0.07429906725883484, + 0.03977371007204056, + -3.104048013687134, + -0.14309023320674896, + -0.2231380045413971 + ], + "gripper_value": 0.7021830081939697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 9 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 16 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.315454363822937, + -0.07549045979976654, + 0.04119323566555977, + -3.1188228130340576, + -0.13325290381908417, + -0.21011702716350555 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 17 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31506824493408203, + -0.07242915779352188, + 0.041862547397613525, + -3.1303093433380127, + -0.12164633721113205, + -0.2050260603427887 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot is positioned above the table with the silver lid visible to the right. No objects have been grasped yet, and the gripper remains open. The next action is to move the end-effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 18 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31604495644569397, + -0.06627649068832397, + 0.050023794174194336, + -3.1354846954345703, + -0.11512090265750885, + -0.20225563645362854 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned above it. The gripper is open and ready to close around the lid. The next action is to close the gripper to grasp the silver lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 18 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32787954807281494, + -0.05181567370891571, + 0.08494821935892105, + -3.127645969390869, + -0.1794116050004959, + -0.17194624245166779 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "napkin": [ + 278, + 277, + 549, + 530 + ], + "blender": [ + 517, + 9, + 764, + 577 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned above it. The gripper is open and ready to close around the lid. The next action is to close the gripper to grasp the silver lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 18 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3348461091518402, + -0.024729255586862564, + 0.10451525449752808, + -3.124096632003784, + -0.19450923800468445, + -0.10400642454624176 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned above it. The gripper is open and ready to close around the lid. The next action is to close the gripper to grasp the silver lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move left 18 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34054240584373474, + 0.016072873026132584, + 0.11318609118461609, + -3.1196887493133545, + -0.21232880651950836, + -0.017875762656331062 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned above it. The gripper is open and ready to close around the lid. The next action is to close the gripper to grasp the silver lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 17 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3460218012332916, + 0.06306757777929306, + 0.12458234280347824, + -3.110957622528076, + -0.2482558935880661, + 0.0748729258775711 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned above it. The gripper is open and ready to close around the lid. The next action is to close the gripper to grasp the silver lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3456433415412903, + 0.10001929104328156, + 0.11592017859220505, + -3.1128342151641846, + -0.22678226232528687, + 0.14924582839012146 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned above it. The gripper is open and ready to close around the lid. The next action is to close the gripper to grasp the silver lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451639413833618, + 0.148868590593338, + 0.11477725207805634, + -3.0992839336395264, + -0.22787076234817505, + 0.24266314506530762 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned above it. The gripper is open and ready to close around the lid. The next action is to close the gripper to grasp the silver lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 4 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3441808819770813, + 0.17256668210029602, + 0.11452467739582062, + -3.082200288772583, + -0.22961921989917755, + 0.2805342674255371 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot has approached the silver lid on the table and is now positioned above it. The gripper is open and ready to close around the lid. The next action is to close the gripper to grasp the silver lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3423466682434082, + 0.18728463351726532, + 0.09865815937519073, + -3.083191394805908, + -0.19083435833454132, + 0.3127562701702118 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it toward the silver pot on the stove. The lid has been successfully grasped and is being transported. The next action is to position the lid directly over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425486981868744, + 0.19653014838695526, + 0.08729034662246704, + -3.0883545875549316, + -0.1697213351726532, + 0.32713255286216736 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it toward the silver pot on the stove. The lid has been successfully grasped and is being transported. The next action is to position the lid directly over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3498511016368866, + 0.19345299899578094, + 0.08253534138202667, + -3.08172869682312, + -0.15813200175762177, + 0.320311039686203 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blender": [ + 93, + 19, + 363, + 356 + ], + "microwave": [ + 287, + 4, + 671, + 205 + ], + "napkin": [ + 277, + 277, + 553, + 529 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it toward the silver pot on the stove. The lid has been successfully grasped and is being transported. The next action is to position the lid directly over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577529788017273, + 0.19137577712535858, + 0.07690566033124924, + -3.076244354248047, + -0.1515021026134491, + 0.313157856464386 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it toward the silver pot on the stove. The lid has been successfully grasped and is being transported. The next action is to position the lid directly over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3607330918312073, + 0.192459374666214, + 0.07652577012777328, + -3.0706708431243896, + -0.15391413867473602, + 0.3117436468601227 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it toward the silver pot on the stove. The lid has been successfully grasped and is being transported. The next action is to position the lid directly over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621847927570343, + 0.188759908080101, + 0.07400186359882355, + -3.068114995956421, + -0.1454310268163681, + 0.29359468817710876 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it toward the silver pot on the stove. The lid has been successfully grasped and is being transported. The next action is to position the lid directly over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36281487345695496, + 0.18744446337223053, + 0.07247166335582733, + -3.071382999420166, + -0.14167320728302002, + 0.29917848110198975 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "transport lid over pot", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it toward the silver pot on the stove. The lid has been successfully grasped and is being transported. The next action is to position the lid directly over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36613762378692627, + 0.18582092225551605, + 0.07681047916412354, + -3.083998680114746, + -0.14778701961040497, + 0.2906598150730133 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "release lid onto pot", + "subtask_reasoning": "The robot is currently holding the silver lid and moving it toward the silver pot on the stove. The lid has been successfully grasped and is being transported. The next action is to position the lid directly over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36868906021118164, + 0.18424758315086365, + 0.08368520438671112, + -3.098568916320801, + -0.15302258729934692, + 0.2857060730457306 + ], + "gripper_value": 0.9091293215751648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "release lid onto pot", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the silver pot on the stove. The gripper is open, indicating the lid has been released or is in the process of being placed. The next logical step is to ensure the lid settles securely on the pot, completing the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36697953939437866, + 0.18050797283649445, + 0.10927817225456238, + -3.107806444168091, + -0.18566539883613586, + 0.2760387063026428 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver lid on top of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "transport lid over pot" + }, + { + "id": 4, + "subtask": "release lid onto pot" + } + ], + "subtask_name": "release lid onto pot", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the silver pot on the stove. The gripper is open, indicating the lid has been released or is in the process of being placed. The next logical step is to ensure the lid settles securely on the pot, completing the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004147_ecot.json b/cot/chunk-0004/episode_0004147_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8fe0ccbd1fb6b521494179d9afb8ade1dd5630f2 --- /dev/null +++ b/cot/chunk-0004/episode_0004147_ecot.json @@ -0,0 +1,1898 @@ +{ + "task_name": "episode_0004147", + "episode_json": "json/chunk-0004/episode_0004147.json", + "video_path": "videos/chunk-0004/image_0/episode_0004147.mp4", + "instruction": "Move the green object from the cloth to the top right of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004147.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.7980558276176453, + "std": 0.3703138530254364, + "delta_total": -0.20630061626434326, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.79806, std=0.37031, total_delta=-0.20630). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 112, + 112, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 22 + ], + [ + 3, + 23, + 24 + ], + [ + 4, + 25, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector toward the green object on the cloth while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp green object\", \"start\": 11, \"end\": 12, \"planning\": \"Close the gripper around the green object to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport green object\", \"start\": 13, \"end\": 22, \"planning\": \"Lift the green object and move it toward the top right region of the cloth.\"},\n {\"id\": 4, \"name\": \"position above target location\", \"start\": 23, \"end\": 24, \"planning\": \"Adjust the position of the green object directly above the intended placement spot on the cloth.\"},\n {\"id\": 5, \"name\": \"release green object\", \"start\": 25, \"end\": 26, \"planning\": \"Open the gripper to release the green object onto the cloth at the target location.\"}\n ],\n \"global_plan\": \"Approach the green object on the cloth, grasp it securely, lift and transport it to the top right area of the cloth, then precisely position and release it at the target location.\",\n \"notes\": \"Subtasks are aligned with observed gripper closure (frames 11-12) and subsequent motion phases. Frame ranges are contiguous and cover the full trajectory from 0 to 26. Gripper evidence supports grasp wording only in segments where meaningful closing occurred and images confirm contact.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 10, + "planning": "Move the end-effector toward the green object on the cloth while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp green object", + "start": 11, + "end": 12, + "planning": "Close the gripper around the green object to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport green object", + "start": 13, + "end": 22, + "planning": "Lift the green object and move it toward the top right region of the cloth." + }, + { + "id": 4, + "name": "position above target location", + "start": 23, + "end": 24, + "planning": "Adjust the position of the green object directly above the intended placement spot on the cloth." + }, + { + "id": 5, + "name": "release green object", + "start": 25, + "end": 26, + "planning": "Open the gripper to release the green object onto the cloth at the target location." + } + ], + "global_plan": "Approach the green object on the cloth, grasp it securely, lift and transport it to the top right area of the cloth, then precisely position and release it at the target location.", + "notes": "Subtasks are aligned with observed gripper closure (frames 11-12) and subsequent motion phases. Frame ranges are contiguous and cover the full trajectory from 0 to 26. Gripper evidence supports grasp wording only in segments where meaningful closing occurred and images confirm contact." + } + }, + "episode_goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34340453147888184, + 0.18162789940834045, + 0.11630365252494812, + -2.9709770679473877, + -0.2505621910095215, + -0.5608179569244385 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the orange cloth with the green object visible on its surface. The gripper is open and the arm is beginning to move toward the green object. The next action is to continue approaching the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 12 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428622782230377, + 0.18015754222869873, + 0.10285097360610962, + -3.0039985179901123, + -0.23667418956756592, + -0.5561189651489258 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the orange cloth with the green object visible on its surface. The gripper is open and the arm is beginning to move toward the green object. The next action is to continue approaching the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 12 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33589351177215576, + 0.16584815084934235, + 0.08800609409809113, + -3.050363063812256, + -0.21975547075271606, + -0.595709502696991 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the orange cloth with the green object visible on its surface. The gripper is open and the arm is beginning to move toward the green object. The next action is to continue approaching the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move down 7 cm, rotate counterclockwise 20 degrees, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3308259844779968, + 0.14376460015773773, + 0.0691220760345459, + -3.068188190460205, + -0.1798333376646042, + -0.6737131476402283 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the orange cloth with the green object visible on its surface. The gripper is open and the arm is beginning to move toward the green object. The next action is to continue approaching the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32005706429481506, + 0.12309756129980087, + 0.05032535269856453, + -3.089994430541992, + -0.14399413764476776, + -0.7485284805297852 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the orange cloth with the green object visible on its surface. The gripper is open and the arm is beginning to move toward the green object. The next action is to continue approaching the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31167811155319214, + 0.1010054349899292, + 0.04463527724146843, + -3.081157922744751, + -0.136507049202919, + -0.8259070515632629 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 50, + 387, + 650, + 903 + ], + "blue object": [ + 14, + 467, + 104, + 578 + ], + "banana": [ + 98, + 427, + 206, + 565 + ], + "wooden table": [ + 4, + 291, + 996, + 995 + ], + "green sponge": [ + 272, + 657, + 420, + 781 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the green object visible below. The gripper is open and approaching the green object, indicating the initial phase of the approach subtask. The next action should involve lowering the arm to make contact with the green object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 3 cm, close gripper; then move down 1 cm, keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30420294404029846, + 0.0845165103673935, + 0.04137100279331207, + -3.0790305137634277, + -0.13046365976333618, + -0.8828978538513184 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the green object visible below. The gripper is open and approaching the green object, indicating the initial phase of the approach subtask. The next action should involve lowering the arm to make contact with the green object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, close gripper; then move down 1 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.299261212348938, + 0.07662087678909302, + 0.04495342820882797, + -3.086557626724243, + -0.14432065188884735, + -0.9035612344741821 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the green object visible below. The gripper is open and approaching the green object, indicating the initial phase of the approach subtask. The next action should involve lowering the arm to make contact with the green object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, close gripper; then move down 1 cm, keep gripper closed; then move forward 2 cm, move right 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29301688075065613, + 0.07264702767133713, + 0.03833173215389252, + -3.091742753982544, + -0.13871414959430695, + -0.9179058074951172 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the green object visible below. The gripper is open and approaching the green object, indicating the initial phase of the approach subtask. The next action should involve lowering the arm to make contact with the green object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move down 1 cm, keep gripper closed; then move forward 4 cm, move right 9 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2893839180469513, + 0.06599413603544235, + 0.029727116227149963, + -3.077542304992676, + -0.13264420628547668, + -0.9237223267555237 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the green object visible below. The gripper is open and approaching the green object, indicating the initial phase of the approach subtask. The next action should involve lowering the arm to make contact with the green object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed; then move forward 6 cm, move right 10 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2863219976425171, + 0.0592719130218029, + 0.022230083122849464, + -3.057628631591797, + -0.11796506494283676, + -0.931767463684082 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the orange cloth with the green object visible below. The gripper is open and approaching the green object, indicating the initial phase of the approach subtask. The next action should involve lowering the arm to make contact with the green object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move down 1 cm, keep gripper closed; then move forward 8 cm, move right 12 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2871597111225128, + 0.06003538519144058, + 0.019448962062597275, + -3.055070638656616, + -0.11666552722454071, + -0.901145875453949 + ], + "gripper_value": 0.6941980719566345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot end-effector is positioned directly above the green object on the orange cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the object. The next action is to initiate the grasp by closing the gripper fingers around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 10 cm, move right 13 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28701236844062805, + 0.06255976110696793, + 0.013303572311997414, + -3.0561554431915283, + -0.10209272056818008, + -0.8763492703437805 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot end-effector is positioned directly above the green object on the orange cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the object. The next action is to initiate the grasp by closing the gripper fingers around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 11 cm, move right 14 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28709858655929565, + 0.06371289491653442, + 0.012427147477865219, + -3.0528342723846436, + -0.09701095521450043, + -0.8687752485275269 + ], + "gripper_value": 0.20928038656711578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The robot end-effector is positioned directly above the green object on the orange cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the object. The next action is to initiate the grasp by closing the gripper fingers around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2858583927154541, + 0.06272184103727341, + 0.012048767879605293, + -3.0612146854400635, + -0.09731912612915039, + -0.8700578808784485 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The robot end-effector is positioned directly above the green object on the orange cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the object. The next action is to initiate the grasp by closing the gripper fingers around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823140025138855, + 0.05338061973452568, + 0.026784436777234077, + -3.113898515701294, + -0.13219578564167023, + -0.8374018669128418 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The robot end-effector is positioned directly above the green object on the orange cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the object. The next action is to initiate the grasp by closing the gripper fingers around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 15 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2973792254924774, + 0.037681542336940765, + 0.06306017190217972, + -3.094921112060547, + -0.18709143996238708, + -0.7963929176330566 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The robot end-effector is positioned directly above the green object on the orange cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the object. The next action is to initiate the grasp by closing the gripper fingers around the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 13 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31015923619270325, + 0.010850652121007442, + 0.07828328013420105, + -3.0789904594421387, + -0.18190538883209229, + -0.7794449329376221 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 373, + 526, + 535, + 686 + ], + "orange cloth": [ + 51, + 388, + 649, + 902 + ], + "blue object": [ + 14, + 468, + 104, + 578 + ], + "wooden table": [ + 4, + 304, + 995, + 995 + ], + "banana": [ + 97, + 427, + 205, + 564 + ], + "blue table edge": [ + 3, + 255, + 253, + 489 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The green object is currently grasped and lifted above the orange cloth. The robot has completed the approach and grasp phases and is now in the transport phase. The next action is to move the object toward the top right corner of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 11 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32946109771728516, + -0.026373010128736496, + 0.08892448246479034, + -3.029893398284912, + -0.19100499153137207, + -0.78537517786026 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 51, + 387, + 651, + 902 + ], + "wooden table": [ + 4, + 305, + 995, + 995 + ], + "blue object": [ + 14, + 468, + 104, + 578 + ], + "green sponge": [ + 461, + 494, + 628, + 658 + ], + "banana": [ + 97, + 428, + 205, + 564 + ], + "blue table edge": [ + 3, + 256, + 253, + 488 + ], + "cardboard box": [ + 242, + 12, + 994, + 612 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The green object is currently grasped and lifted above the orange cloth. The robot has completed the approach and grasp phases and is now in the transport phase. The next action is to move the object toward the top right corner of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move down 7 cm, rotate clockwise 30 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473467528820038, + -0.041190002113580704, + 0.07521063089370728, + -3.042447090148926, + -0.18905635178089142, + -0.7054886221885681 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The green object is currently grasped and lifted above the orange cloth. The robot has completed the approach and grasp phases and is now in the transport phase. The next action is to move the object toward the top right corner of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 6 cm, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.365223228931427, + -0.05619420111179352, + 0.061316024512052536, + -3.0485970973968506, + -0.21435493230819702, + -0.6009963154792786 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The green object is currently grasped and lifted above the orange cloth. The robot has completed the approach and grasp phases and is now in the transport phase. The next action is to move the object toward the top right corner of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38274243474006653, + -0.07125189155340195, + 0.04311571270227432, + -3.0810012817382812, + -0.24761924147605896, + -0.45331549644470215 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The green object is currently grasped and lifted above the orange cloth. The robot has completed the approach and grasp phases and is now in the transport phase. The next action is to move the object toward the top right corner of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3921940326690674, + -0.07797475159168243, + 0.030451592057943344, + -3.1242411136627197, + -0.27305710315704346, + -0.3109099566936493 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "lift and transport green object", + "subtask_reasoning": "The green object is currently grasped and lifted above the orange cloth. The robot has completed the approach and grasp phases and is now in the transport phase. The next action is to move the object toward the top right corner of the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39730799198150635, + -0.09567000716924667, + 0.018617894500494003, + 3.112966299057007, + -0.2768479883670807, + -0.26152077317237854 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "position above target location", + "subtask_reasoning": "The robot is holding the green object and has moved it above the top right area of the orange cloth. The gripper remains closed, confirming secure grasp during transport. The next action is to lower the object slightly and release it at the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3987918496131897, + -0.10770516842603683, + 0.019163647666573524, + 3.10200834274292, + -0.2832967936992645, + -0.274931937456131 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "position above target location", + "subtask_reasoning": "The robot is holding the green object and has moved it above the top right area of the orange cloth. The gripper remains closed, confirming secure grasp during transport. The next action is to lower the object slightly and release it at the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.39800217747688293, + -0.11060637980699539, + 0.020885875448584557, + 3.098013401031494, + -0.2904532253742218, + -0.339745432138443 + ], + "gripper_value": 0.520771861076355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently held by the gripper and positioned near the top right corner of the orange cloth. The gripper is open, indicating the object has been released or is in the process of being released. The next action should confirm the release and ensure the object remains at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3990369737148285, + -0.10148598253726959, + 0.05495612323284149, + 3.091484785079956, + -0.366014301776886, + -0.3643973171710968 + ], + "gripper_value": 0.7931879758834839 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green object on the orange cloth and place it at the top right corner of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "lift and transport green object" + }, + { + "id": 4, + "subtask": "position above target location" + }, + { + "id": 5, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently held by the gripper and positioned near the top right corner of the orange cloth. The gripper is open, indicating the object has been released or is in the process of being released. The next action should confirm the release and ensure the object remains at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004149_ecot.json b/cot/chunk-0004/episode_0004149_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb8973e8f828b6257344d5c391e4817fef97e7b --- /dev/null +++ b/cot/chunk-0004/episode_0004149_ecot.json @@ -0,0 +1,3350 @@ +{ + "task_name": "episode_0004149", + "episode_json": "json/chunk-0004/episode_0004149.json", + "video_path": "videos/chunk-0004/image_0/episode_0004149.mp4", + "instruction": "Moved the red pot to the upper right of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 49, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004149.json" + }, + "fps": 5.0, + "T_eff": 49, + "gripper_behavior_summary": { + "available": true, + "range": 0.9433136582374573, + "std": 0.42588096857070923, + "delta_total": 0.0006693601608276367, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94331, std=0.42588, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 22, + 22, + 22, + 22, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 322, + 322, + 322, + 322, + 322, + 322, + 322, + 340, + 340, + 340, + 340, + 340, + 340, + 340, + 340, + 340 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 21 + ], + [ + 3, + 22, + 25 + ], + [ + 4, + 26, + 32 + ], + [ + 5, + 33, + 39 + ], + [ + 6, + 40, + 48 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red pot\", \"start\": 0, \"end\": 12, \"planning\": \"Move the end-effector from initial position down toward the red pot without closing the gripper.\"},\n {\"id\": 2, \"name\": \"reposition gripper for grasp\", \"start\": 13, \"end\": 21, \"planning\": \"Adjust gripper orientation and position around the red pot handle in preparation for grasping.\"},\n {\"id\": 3, \"name\": \"grasp red pot\", \"start\": 22, \"end\": 25, \"planning\": \"Close the gripper to securely grasp the red pot by its handle, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 4, \"name\": \"lift and translate red pot\", \"start\": 26, \"end\": 39, \"planning\": \"Lift the red pot slightly and move it across the table toward the upper right while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release red pot\", \"start\": 40, \"end\": 48, \"planning\": \"Open the gripper to release the red pot at the target location in the upper right of the table.\"}\n ],\n \"global_plan\": \"Approach the red pot, reposition gripper, grasp it firmly, lift and translate it to the upper right, then release it at the destination.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 3 (grasp) and 6 (release). Segment 1 and 4 show no gripper motion — described as approach and translation without grasp. Segment 2 is transitional repositioning. All frame ranges are contiguous and cover 0–48.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red pot", + "start": 0, + "end": 12, + "planning": "Move the end-effector from initial position down toward the red pot without closing the gripper." + }, + { + "id": 2, + "name": "reposition gripper for grasp", + "start": 13, + "end": 21, + "planning": "Adjust gripper orientation and position around the red pot handle in preparation for grasping." + }, + { + "id": 3, + "name": "grasp red pot", + "start": 22, + "end": 25, + "planning": "Close the gripper to securely grasp the red pot by its handle, confirmed by significant gripper closure and visual contact." + }, + { + "id": 4, + "name": "lift and translate red pot", + "start": 26, + "end": 39, + "planning": "Lift the red pot slightly and move it across the table toward the upper right while maintaining grip." + }, + { + "id": 5, + "name": "release red pot", + "start": 40, + "end": 48, + "planning": "Open the gripper to release the red pot at the target location in the upper right of the table." + } + ], + "global_plan": "Approach the red pot, reposition gripper, grasp it firmly, lift and translate it to the upper right, then release it at the destination.", + "notes": "Gripper evidence confirms meaningful closing only in segments 3 (grasp) and 6 (release). Segment 1 and 4 show no gripper motion — described as approach and translation without grasp. Segment 2 is transitional repositioning. All frame ranges are contiguous and cover 0–48." + } + }, + "episode_goal": "Move the red pot to the upper right of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583359718322754, + 0.00038063040119595826, + 0.07463959604501724, + 3.1193253993988037, + -0.19696764647960663, + -0.0034070590045303106 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the table with the red pot visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red pot to prepare for repositioning and grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 4 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3532885015010834, + 0.0003138510219287127, + 0.06243164837360382, + 3.118911027908325, + -0.15712516009807587, + -0.004887627903372049 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the table with the red pot visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red pot to prepare for repositioning and grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428821265697479, + -0.00602994067594409, + 0.05518566071987152, + 3.112586736679077, + -0.1208731159567833, + -0.10233893990516663 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the table with the red pot visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red pot to prepare for repositioning and grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32977989315986633, + -0.013175541535019875, + 0.065846286714077, + 3.088691234588623, + -0.13478504121303558, + -0.26433801651000977 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the table with the red pot visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red pot to prepare for repositioning and grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159792423248291, + -0.017316866666078568, + 0.07004009932279587, + 3.0985419750213623, + -0.13417066633701324, + -0.37477192282676697 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the table with the red pot visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red pot to prepare for repositioning and grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29752683639526367, + -0.024587079882621765, + 0.07507602870464325, + 3.111384868621826, + -0.14260223507881165, + -0.46008196473121643 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the table with the red pot visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red pot to prepare for repositioning and grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27713993191719055, + -0.029629573225975037, + 0.07445071637630463, + 3.0970706939697266, + -0.13311722874641418, + -0.5849946141242981 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26251840591430664, + -0.03142739087343216, + 0.07652069628238678, + 3.114819288253784, + -0.1443052440881729, + -0.6870846748352051 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2515888810157776, + -0.031989336013793945, + 0.0753948763012886, + 3.1191208362579346, + -0.13880789279937744, + -0.7621299624443054 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 68, + 336, + 558, + 877 + ], + "orange bowl": [ + 269, + 570, + 772, + 912 + ], + "metal bowl": [ + 69, + 146, + 355, + 364 + ], + "yellow can": [ + 2, + 264, + 175, + 534 + ], + "red strawberry": [ + 508, + 637, + 634, + 820 + ], + "wooden table": [ + 3, + 21, + 996, + 994 + ], + "white object": [ + 263, + 703, + 470, + 801 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24723073840141296, + -0.033231593668460846, + 0.07439156621694565, + 3.127500057220459, + -0.1479623019695282, + -0.7939123511314392 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2442055493593216, + -0.036550600081682205, + 0.07177096605300903, + 3.121882677078247, + -0.14575977623462677, + -0.8097454309463501 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2436498999595642, + -0.04167749360203743, + 0.07100370526313782, + 3.1172878742218018, + -0.15341033041477203, + -0.8046131134033203 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24347031116485596, + -0.04609128460288048, + 0.07668770104646683, + 3.1251442432403564, + -0.17965197563171387, + -0.7819892764091492 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24460570514202118, + -0.04503089562058449, + 0.07339286804199219, + -3.1326940059661865, + -0.1789233535528183, + -0.7654167413711548 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24621541798114777, + -0.04457377269864082, + 0.07350187748670578, + -3.122185230255127, + -0.18193908035755157, + -0.7539210319519043 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24621431529521942, + -0.044579267501831055, + 0.07128888368606567, + -3.1193108558654785, + -0.18440784513950348, + -0.7462081909179688 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24659796059131622, + -0.044515304267406464, + 0.06763621419668198, + -3.127373695373535, + -0.17819419503211975, + -0.7363590002059937 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red pot located in the lower right area. No grasping has occurred yet as the gripper remains open. The next action should continue moving the end-effector closer to the red pot for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24452999234199524, + -0.04742114990949631, + 0.0660334974527359, + -3.132063388824463, + -0.1776457279920578, + -0.7431765198707581 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red pot, aligning the gripper for a grasp. The approach phase is complete, and the gripper is currently open and stationary. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24291500449180603, + -0.049667228013277054, + 0.06102380529046059, + -3.12884259223938, + -0.172598734498024, + -0.7379275560379028 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 267, + 579, + 773, + 914 + ], + "metal bowl": [ + 68, + 144, + 355, + 363 + ], + "yellow can": [ + 2, + 262, + 176, + 534 + ], + "yellow cloth": [ + 67, + 335, + 587, + 877 + ], + "wooden table": [ + 3, + 10, + 996, + 994 + ], + "red strawberry": [ + 509, + 646, + 632, + 824 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red pot, aligning the gripper for a grasp. The approach phase is complete, and the gripper is currently open and stationary. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24219971895217896, + -0.050030436366796494, + 0.05854220688343048, + -3.120314598083496, + -0.17247439920902252, + -0.7336245775222778 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red pot, aligning the gripper for a grasp. The approach phase is complete, and the gripper is currently open and stationary. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 2 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24191232025623322, + -0.050755757838487625, + 0.05593220889568329, + -3.1233582496643066, + -0.16470852494239807, + -0.7332580089569092 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red pot, aligning the gripper for a grasp. The approach phase is complete, and the gripper is currently open and stationary. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 4 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24266934394836426, + -0.05109896510839462, + 0.0559217594563961, + -3.12019419670105, + -0.16541483998298645, + -0.728801965713501 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "reposition gripper for grasp", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red pot, aligning the gripper for a grasp. The approach phase is complete, and the gripper is currently open and stationary. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 6 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24215953052043915, + -0.05233779177069664, + 0.054022226482629776, + -3.1137614250183105, + -0.16446401178836823, + -0.7367578148841858 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red pot, aligning the gripper for a grasp. The approach phase is complete, and the gripper is currently open and stationary. The next action is to close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 9 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24186398088932037, + -0.052810002118349075, + 0.05402407422661781, + -3.1172640323638916, + -0.16508448123931885, + -0.7364931702613831 + ], + "gripper_value": 0.18800361454486847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 11 cm, tilt back 20 degrees, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24231314659118652, + -0.054891567677259445, + 0.05262415483593941, + -3.1357688903808594, + -0.16894493997097015, + -0.7007427215576172 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 13 cm, tilt back 20 degrees, rotate clockwise 70 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24180595576763153, + -0.05658459663391113, + 0.05391237884759903, + 3.1176276206970215, + -0.17042331397533417, + -0.6366773247718811 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 15 cm, tilt back 20 degrees, rotate clockwise 80 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24833747744560242, + -0.05810634791851044, + 0.059923019260168076, + 3.0851073265075684, + -0.1919787973165512, + -0.5317885875701904 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 16 cm, tilt back 20 degrees, rotate clockwise 80 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649935185909271, + -0.05460746958851814, + 0.06897076964378357, + 3.061540126800537, + -0.21392233669757843, + -0.4131341874599457 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 67, + 335, + 592, + 877 + ], + "metal bowl": [ + 67, + 147, + 357, + 365 + ], + "wooden table": [ + 3, + 16, + 996, + 994 + ], + "yellow can": [ + 2, + 264, + 175, + 534 + ], + "orange bowl": [ + 396, + 487, + 860, + 827 + ], + "blue spoon": [ + 683, + 528, + 826, + 769 + ], + "red strawberry": [ + 612, + 585, + 730, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 15 cm, move down 1 cm, tilt back 20 degrees, rotate clockwise 80 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881157100200653, + -0.04778885468840599, + 0.0720638632774353, + 3.031876564025879, + -0.22583016753196716, + -0.27506023645401 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 15 cm, move down 2 cm, tilt back 20 degrees, rotate clockwise 70 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3098239302635193, + -0.03587421029806137, + 0.06997841596603394, + 3.015040397644043, + -0.2411872297525406, + -0.1469513177871704 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 67, + 335, + 591, + 877 + ], + "yellow can": [ + 2, + 261, + 176, + 534 + ], + "metal bowl": [ + 68, + 146, + 356, + 364 + ], + "wooden table": [ + 4, + 7, + 996, + 994 + ], + "red strawberry": [ + 652, + 455, + 770, + 581 + ], + "white object": [ + 492, + 555, + 660, + 729 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 14 cm, move down 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 70 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32771509885787964, + -0.01719341054558754, + 0.06622415781021118, + 2.9962408542633057, + -0.2604061961174011, + 0.0011090986663475633 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 60 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405115306377411, + 0.00543315289542079, + 0.06623750180006027, + 2.9907331466674805, + -0.2890012264251709, + 0.1461445838212967 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the red pot with the gripper fingers open and aligned with the pot's handle. The gripper signal shows a significant decrease, indicating the fingers are closing to secure the object. The next immediate action is to complete the grasp by fully closing the gripper and lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35408467054367065, + 0.03306226432323456, + 0.0631830021739006, + 2.9807279109954834, + -0.2994482219219208, + 0.3421449065208435 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583903908729553, + 0.05683625862002373, + 0.058375634253025055, + 2.970505952835083, + -0.31434863805770874, + 0.542997419834137 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, open gripper; then move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585846424102783, + 0.07676991820335388, + 0.056201837956905365, + 2.913010835647583, + -0.28030845522880554, + 0.7683373689651489 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562477231025696, + 0.09083583950996399, + 0.0566478855907917, + 2.909597635269165, + -0.28422990441322327, + 0.8886040449142456 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501017689704895, + 0.1004122868180275, + 0.056043095886707306, + 2.918156385421753, + -0.2491372972726822, + 0.9969521760940552 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.34799954295158386, + 0.09996481984853745, + 0.056068725883960724, + 2.925699234008789, + -0.2305546998977661, + 1.0284351110458374 + ], + "gripper_value": 0.07591649144887924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 3 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.34780019521713257, + 0.10146299004554749, + 0.05656740814447403, + 2.9552102088928223, + -0.2593354880809784, + 1.0543417930603027 + ], + "gripper_value": 0.21731513738632202 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.34777551889419556, + 0.10137723386287689, + 0.05684235692024231, + 2.968895673751831, + -0.2750827670097351, + 1.074479579925537 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.34689104557037354, + 0.102423295378685, + 0.05712452903389931, + 2.9788737297058105, + -0.28383103013038635, + 1.0768208503723145 + ], + "gripper_value": 0.7359045147895813 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.34678760170936584, + 0.10123521089553833, + 0.06363097578287125, + 2.9708502292633057, + -0.2891694903373718, + 1.0889158248901367 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.34600937366485596, + 0.09671732783317566, + 0.07963453978300095, + 2.934295654296875, + -0.284878671169281, + 1.0940862894058228 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move up 2 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.35038694739341736, + 0.09179940819740295, + 0.0949084535241127, + 2.8965585231781006, + -0.2794378995895386, + 1.1077730655670166 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The robot has successfully grasped the red pot and is currently lifting it above the table surface. The gripper is closed, and the pot is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the pot toward the upper right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.34975165128707886, + 0.08449952304363251, + 0.10777949541807175, + 2.8629562854766846, + -0.26933977007865906, + 1.070509672164917 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The red pot is already positioned at the upper right of the table, and the gripper is fully open (0.998), indicating the release action has been completed. No further motion or grasping is needed; the subtask is finished." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.34098026156425476, + 0.0678875744342804, + 0.1068677231669426, + 2.910400390625, + -0.32336968183517456, + 0.9143259525299072 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The red pot is already positioned at the upper right of the table, and the gripper is fully open (0.998), indicating the release action has been completed. No further motion or grasping is needed; the subtask is finished." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.33188536763191223, + 0.048433639109134674, + 0.10397867858409882, + 2.986050844192505, + -0.3102722465991974, + 0.7523239850997925 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The red pot is already positioned at the upper right of the table, and the gripper is fully open (0.998), indicating the release action has been completed. No further motion or grasping is needed; the subtask is finished." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156684637069702, + 0.03292151913046837, + 0.10415168851613998, + 3.0542399883270264, + -0.31813910603523254, + 0.5676458477973938 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 68, + 335, + 592, + 877 + ], + "metal bowl": [ + 66, + 146, + 355, + 364 + ], + "wooden table": [ + 3, + 6, + 996, + 994 + ], + "yellow can": [ + 2, + 262, + 175, + 533 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The red pot is already positioned at the upper right of the table, and the gripper is fully open (0.998), indicating the release action has been completed. No further motion or grasping is needed; the subtask is finished." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2997458577156067, + 0.02327376790344715, + 0.10214482247829437, + 3.068877696990967, + -0.3057436943054199, + 0.43772926926612854 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the upper right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "reposition gripper for grasp" + }, + { + "id": 3, + "subtask": "grasp red pot" + }, + { + "id": 4, + "subtask": "lift and translate red pot" + }, + { + "id": 5, + "subtask": "release red pot" + } + ], + "subtask_name": "release red pot", + "subtask_reasoning": "The red pot is already positioned at the upper right of the table, and the gripper is fully open (0.998), indicating the release action has been completed. No further motion or grasping is needed; the subtask is finished." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 48 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004150_ecot.json b/cot/chunk-0004/episode_0004150_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..04d495607e1c3880e6c7563466ec9f4073e1a17b --- /dev/null +++ b/cot/chunk-0004/episode_0004150_ecot.json @@ -0,0 +1,2575 @@ +{ + "task_name": "episode_0004150", + "episode_json": "json/chunk-0004/episode_0004150.json", + "video_path": "videos/chunk-0004/image_0/episode_0004150.mp4", + "instruction": "Remove the block off of the red cube and put it on top of the blue triangle.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004150.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.4701805114746094, + "std": 0.2219289243221283, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.47018, std=0.22193, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 21 + ], + [ + 3, + 22, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach top block\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper into position above the top beige block on the red cube stack without closing.\"},\n {\"id\": 2, \"name\": \"grasp and lift top block\", \"start\": 5, \"end\": 21, \"planning\": \"Close the gripper to grasp the top beige block and lift it clear of the red cube.\"},\n {\"id\": 3, \"name\": \"transport and place on blue triangle\", \"start\": 22, \"end\": 42, \"planning\": \"Carry the grasped beige block over to the blue triangle structure and release it on top.\"}\n ],\n \"global_plan\": \"Remove the top block from the red cube stack by grasping and lifting it, then transport and place it onto the blue triangle structure.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closure (from ~1.0 to ~0.54) consistent with grasping and lifting. Segment 3 shows sustained grip during transport and final release (gripper opens to 1.0 at frame 42). All subtasks align with observed gripper states and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach top block", + "start": 0, + "end": 4, + "planning": "Move the gripper into position above the top beige block on the red cube stack without closing." + }, + { + "id": 2, + "name": "grasp and lift top block", + "start": 5, + "end": 21, + "planning": "Close the gripper to grasp the top beige block and lift it clear of the red cube." + }, + { + "id": 3, + "name": "transport and place on blue triangle", + "start": 22, + "end": 42, + "planning": "Carry the grasped beige block over to the blue triangle structure and release it on top." + } + ], + "global_plan": "Remove the top block from the red cube stack by grasping and lifting it, then transport and place it onto the blue triangle structure.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closure (from ~1.0 to ~0.54) consistent with grasping and lifting. Segment 3 shows sustained grip during transport and final release (gripper opens to 1.0 at frame 42). All subtasks align with observed gripper states and visual evidence." + } + }, + "episode_goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27794790267944336, + -0.0654592290520668, + 0.14144761860370636, + 3.1099624633789062, + -0.02986151911318302, + 0.2818772792816162 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "approach top block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of blocks where the beige block sits on top of the red cube. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the beige block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move left 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27561452984809875, + -0.06561204791069031, + 0.13277311623096466, + 3.124282121658325, + -0.0009667142876423895, + 0.2805328667163849 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "approach top block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the stack of blocks where the beige block sits on top of the red cube. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the beige block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move left 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27953073382377625, + -0.04701828956604004, + 0.1331794112920761, + 3.1136269569396973, + 0.0016472421120852232, + 0.24563810229301453 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "approach top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.284104585647583, + -0.03191634640097618, + 0.14126136898994446, + 3.141336441040039, + -0.0111373420804739, + 0.17869752645492554 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 994, + 993 + ], + "green wood block": [ + 660, + 666, + 858, + 828 + ], + "yellow wood block": [ + 709, + 432, + 848, + 648 + ], + "blue wood block": [ + 406, + 465, + 565, + 628 + ] + } + } + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "approach top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2831210494041443, + -0.02537853829562664, + 0.14647449553012848, + -3.132761240005493, + 0.006058277562260628, + 0.10261678695678711 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "approach top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28123968839645386, + -0.018212052062153816, + 0.15122796595096588, + 3.1230404376983643, + 0.007565645035356283, + 0.10381375253200531 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26700615882873535, + 0.0022807116620242596, + 0.15566213428974152, + 3.125387668609619, + 0.0802813470363617, + 0.12598834931850433 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25047969818115234, + 0.030291425064206123, + 0.155592679977417, + 3.092005729675293, + 0.1279032975435257, + 0.19805845618247986 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2413342446088791, + 0.04032466188073158, + 0.16094838082790375, + 3.068430185317993, + 0.15349723398685455, + 0.21596325933933258 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23648656904697418, + 0.04069652780890465, + 0.1558074802160263, + 3.042407512664795, + 0.172384575009346, + 0.2091078758239746 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2395060807466507, + 0.03629551827907562, + 0.15501463413238525, + 3.0157392024993896, + 0.1522655487060547, + 0.1549973040819168 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24600934982299805, + 0.02639496885240078, + 0.15174509584903717, + 3.034670114517212, + 0.1446259319782257, + 0.06430364400148392 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25023484230041504, + 0.023248126730322838, + 0.14592142403125763, + 3.0588502883911133, + 0.13727261126041412, + 0.024443991482257843 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 994, + 993 + ], + "yellow wood block": [ + 710, + 432, + 849, + 648 + ], + "green wood block": [ + 661, + 666, + 858, + 828 + ], + "blue wood block": [ + 406, + 464, + 565, + 628 + ] + } + } + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot is positioned above the table with the beige block visible on top of the red cube stack. The gripper is open and approaching the target block, with no grasping action initiated yet. The next step is to continue moving the gripper closer to align with the beige block for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26103347539901733, + 0.013472153805196285, + 0.1212901771068573, + 3.0622599124908447, + 0.17932114005088806, + -0.02330060862004757 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26231199502944946, + 0.012600269168615341, + 0.1173023134469986, + 3.0747299194335938, + 0.20059680938720703, + -0.004950003232806921 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2619892656803131, + 0.013779185712337494, + 0.11609246581792831, + 3.08797287940979, + 0.209053635597229, + 0.025004537776112556 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2612656056880951, + 0.014120478183031082, + 0.11584630608558655, + 3.089578866958618, + 0.2156606763601303, + 0.035676486790180206 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 11 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613528072834015, + 0.014053622260689735, + 0.11570154875516891, + 3.062635898590088, + 0.21391844749450684, + 0.045522574335336685 + ], + "gripper_value": 0.6791892647743225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 12 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615237236022949, + 0.016335107386112213, + 0.11571403592824936, + 3.055238723754883, + 0.21145521104335785, + 0.051020409911870956 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 11 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616524398326874, + 0.01813170686364174, + 0.11608093976974487, + 3.0533440113067627, + 0.2080487310886383, + 0.05595327168703079 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 10 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2622893750667572, + 0.01845499500632286, + 0.11752263456583023, + 3.05711030960083, + 0.19808785617351532, + 0.06399240344762802 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26892879605293274, + 0.0035473136231303215, + 0.1340721696615219, + 3.08567476272583, + 0.13209101557731628, + 0.023150576278567314 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "grasp and lift top block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 7 cm, move down 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801981270313263, + -0.03959681838750839, + 0.14988075196743011, + 3.1132378578186035, + 0.05844276770949364, + -0.11667589843273163 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red wood block": [ + 408, + 275, + 519, + 434 + ], + "table": [ + 4, + 5, + 994, + 993 + ], + "green wood block": [ + 661, + 665, + 858, + 829 + ], + "yellow wood block": [ + 710, + 433, + 848, + 647 + ], + "blue wood block": [ + 407, + 463, + 564, + 629 + ], + "natural wood block": [ + 391, + 273, + 572, + 633 + ] + } + } + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.28077515959739685, + -0.06455227732658386, + 0.1529405117034912, + 3.113497734069824, + 0.03574090451002121, + -0.19158165156841278 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28520283102989197, + -0.09176896512508392, + 0.1338777393102646, + 3.065070867538452, + 0.061268400400877, + -0.24320009350776672 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29254207015037537, + -0.12261255085468292, + 0.12125439941883087, + 3.006767749786377, + 0.04037511721253395, + -0.24967435002326965 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3072202503681183, + -0.14692023396492004, + 0.11922584474086761, + 2.9873006343841553, + 0.011016219854354858, + -0.2811052203178406 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red wood block": [ + 408, + 274, + 518, + 433 + ], + "table": [ + 4, + 5, + 994, + 992 + ], + "yellow wood block": [ + 710, + 433, + 847, + 648 + ], + "green wood block": [ + 662, + 665, + 858, + 828 + ], + "blue wood block": [ + 407, + 464, + 564, + 628 + ], + "natural wood block": [ + 391, + 271, + 573, + 633 + ] + } + } + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31829994916915894, + -0.15662342309951782, + 0.11662564426660538, + 2.968945026397705, + 0.008055676706135273, + -0.2833842933177948 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3211033344268799, + -0.1521552950143814, + 0.11535845696926117, + 2.957859754562378, + 0.01847347989678383, + -0.25204044580459595 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3230257034301758, + -0.1373242735862732, + 0.11307515949010849, + 2.9645419120788574, + 0.04314778745174408, + -0.2021423876285553 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32058146595954895, + -0.12132773548364639, + 0.10498563945293427, + 2.9710235595703125, + 0.07859057188034058, + -0.14844828844070435 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185190260410309, + -0.11136514693498611, + 0.10438602417707443, + 2.97461199760437, + 0.08931636065244675, + -0.1120094582438469 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot's end-effector is positioned directly above the beige block on the red cube stack, with the gripper open and ready. The approach phase is complete, and the next action is to close the gripper to grasp the top block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3175070881843567, + -0.10844661295413971, + 0.10424171388149261, + 2.9863338470458984, + 0.09964757412672043, + -0.10556747019290924 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31653305888175964, + -0.10799984633922577, + 0.10121813416481018, + 2.9905107021331787, + 0.11573786288499832, + -0.0990792065858841 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163202404975891, + -0.11192995309829712, + 0.09601982682943344, + 2.994485855102539, + 0.12833750247955322, + -0.106622114777565 + ], + "gripper_value": 0.5422952175140381 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.316857248544693, + -0.11163222044706345, + 0.08828955143690109, + 3.0040946006774902, + 0.14779089391231537, + -0.1042557880282402 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194647431373596, + -0.11148973554372787, + 0.08376996219158173, + 3.015946865081787, + 0.16403810679912567, + -0.1014026328921318 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.31707730889320374, + -0.10946884751319885, + 0.07983636111021042, + 3.030193328857422, + 0.1910826563835144, + -0.09397654980421066 + ], + "gripper_value": 0.8888095021247864 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168543875217438, + -0.10905047506093979, + 0.07886616140604019, + 3.0282764434814453, + 0.19304125010967255, + -0.07840927690267563 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156173527240753, + -0.10525281727313995, + 0.08211709558963776, + 3.0270471572875977, + 0.1866445094347, + -0.05940539762377739 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 994, + 993 + ], + "red wood block": [ + 408, + 275, + 518, + 433 + ], + "green wood block": [ + 662, + 666, + 858, + 828 + ], + "blue wood block": [ + 408, + 466, + 563, + 628 + ], + "yellow wood block": [ + 708, + 394, + 865, + 648 + ] + } + } + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138697147369385, + -0.10270585864782333, + 0.09742529690265656, + 3.0397789478302, + 0.14404410123825073, + -0.05274083465337753 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3034229576587677, + -0.08828489482402802, + 0.14062480628490448, + 3.088900566101074, + 0.01122917328029871, + 0.016821444034576416 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.29818156361579895, + -0.0808103010058403, + 0.16103459894657135, + 3.1130199432373047, + -0.03792295604944229, + 0.03429818153381348 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the beige block from the top of the red cube and place it on top of the blue triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top block" + }, + { + "id": 2, + "subtask": "grasp and lift top block" + }, + { + "id": 3, + "subtask": "transport and place on blue triangle" + } + ], + "subtask_name": "transport and place on blue triangle", + "subtask_reasoning": "The robot has successfully lifted the beige block from the red cube and is now transporting it toward the blue triangle structure. The gripper remains closed around the block, indicating secure hold during transit. The next action is to lower and place the block precisely on top of the blue triangle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004152_ecot.json b/cot/chunk-0004/episode_0004152_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7a8e5ed7451db8c9100f292958408dd464d23d7a --- /dev/null +++ b/cot/chunk-0004/episode_0004152_ecot.json @@ -0,0 +1,2726 @@ +{ + "task_name": "episode_0004152", + "episode_json": "json/chunk-0004/episode_0004152.json", + "video_path": "videos/chunk-0004/image_0/episode_0004152.mp4", + "instruction": "Moved a cloth from top left to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004152.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.969768226146698, + "std": 0.43925783038139343, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96977, std=0.43926, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 115, + 115, + 115, + 115, + 315, + 315, + 331, + 331, + 331, + 331, + 131, + 131 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 14 + ], + [ + 3, + 15, + 24 + ], + [ + 4, + 25, + 28 + ], + [ + 5, + 29, + 30 + ], + [ + 6, + 31, + 34 + ], + [ + 7, + 35, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector down toward the cloth on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 5, \"end\": 14, \"planning\": \"Establish contact with the cloth and begin nudging it toward the bottom-left corner.\"},\n {\"id\": 3, \"name\": \"grasp and lift cloth\", \"start\": 15, \"end\": 24, \"planning\": \"Close gripper to grasp the cloth, then lift it slightly while repositioning toward target area.\"},\n {\"id\": 4, \"name\": \"drag cloth to target\", \"start\": 25, \"end\": 28, \"planning\": \"Drag the cloth across the stovetop surface toward the bottom-left destination.\"},\n {\"id\": 5, \"name\": \"release and adjust grip\", \"start\": 29, \"end\": 30, \"planning\": \"Partially open gripper to release tension, then re-adjust grip for final placement.\"},\n {\"id\": 6, \"name\": \"final positioning\", \"start\": 31, \"end\": 34, \"planning\": \"Slide the cloth into its final position at the bottom-left corner of the stovetop.\"},\n {\"id\": 7, \"name\": \"retreat from cloth\", \"start\": 35, \"end\": 36, \"planning\": \"Lift and retreat end-effector away from the placed cloth to complete the task.\"}\n ],\n \"global_plan\": \"The robot approaches the cloth, makes contact, grasps and lifts it, drags it toward the bottom-left, adjusts grip, slides it into final position, and retreats.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: no grasp in segments 1, 2, 6, 7; grasp/hold only in segments 3 and 5 where gripper closure is confirmed and images support manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move end-effector down toward the cloth on the stovetop without grasping." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 5, + "end": 14, + "planning": "Establish contact with the cloth and begin nudging it toward the bottom-left corner." + }, + { + "id": 3, + "name": "grasp and lift cloth", + "start": 15, + "end": 24, + "planning": "Close gripper to grasp the cloth, then lift it slightly while repositioning toward target area." + }, + { + "id": 4, + "name": "drag cloth to target", + "start": 25, + "end": 28, + "planning": "Drag the cloth across the stovetop surface toward the bottom-left destination." + }, + { + "id": 5, + "name": "release and adjust grip", + "start": 29, + "end": 30, + "planning": "Partially open gripper to release tension, then re-adjust grip for final placement." + }, + { + "id": 6, + "name": "final positioning", + "start": 31, + "end": 34, + "planning": "Slide the cloth into its final position at the bottom-left corner of the stovetop." + }, + { + "id": 7, + "name": "retreat from cloth", + "start": 35, + "end": 36, + "planning": "Lift and retreat end-effector away from the placed cloth to complete the task." + } + ], + "global_plan": "The robot approaches the cloth, makes contact, grasps and lifts it, drags it toward the bottom-left, adjusts grip, slides it into final position, and retreats.", + "notes": "Subtasks align with observed motion segments and gripper evidence: no grasp in segments 1, 2, 6, 7; grasp/hold only in segments 3 and 5 where gripper closure is confirmed and images support manipulation." + } + }, + "episode_goal": "Move the cloth from the top left to the bottom left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3291177451610565, + 0.022141575813293457, + 0.1446441113948822, + 2.935683488845825, + -0.15163716673851013, + 0.14471228420734406 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open, approaching the blue cloth located in the top-left area. No contact or grasping has occurred yet. The next action is to lower the end-effector toward the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3261556327342987, + 0.021360641345381737, + 0.13574102520942688, + 2.9396438598632812, + -0.12503696978092194, + 0.1424054652452469 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open, approaching the blue cloth located in the top-left area. No contact or grasping has occurred yet. The next action is to lower the end-effector toward the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3082825243473053, + 0.018541475757956505, + 0.12147065252065659, + 2.992544174194336, + -0.10082592815160751, + 0.1047319546341896 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the blue cloth located on the burner. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the cloth to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3026362359523773, + 0.005362043157219887, + 0.11818815022706985, + 3.0605592727661133, + -0.12554393708705902, + 0.06455567479133606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the blue cloth located on the burner. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the cloth to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29408612847328186, + 0.004425626248121262, + 0.09621592611074448, + 3.1413421630859375, + -0.13049772381782532, + 0.053771596401929855 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the blue cloth located on the burner. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the cloth to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29217329621315, + -0.002237307606264949, + 0.08038768172264099, + -3.085195302963257, + -0.1672351211309433, + 0.02544630877673626 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the blue cloth located on the burner. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the cloth to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2939419448375702, + -0.011087268590927124, + 0.06113675981760025, + -3.0601513385772705, + -0.16119545698165894, + 0.01605091616511345 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the blue cloth located on the burner. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the cloth to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902444005012512, + -0.026842696592211723, + 0.040472276508808136, + -3.0341501235961914, + -0.10313963890075684, + -0.013896048069000244 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the blue cloth located on the burner. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the cloth to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986341714859009, + -0.024886542931199074, + 0.028860395774245262, + -2.999971389770508, + -0.11814755201339722, + 0.0007502823136746883 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the blue cloth located on the burner. No contact or grasping has occurred yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the cloth to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.308845579624176, + -0.019956115633249283, + 0.019327599555253983, + -2.960282802581787, + -0.12520989775657654, + 0.020180948078632355 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31187641620635986, + -0.01975838840007782, + 0.013609214685857296, + -2.954503059387207, + -0.11517255008220673, + 0.02915702760219574 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31645599007606506, + -0.015759482979774475, + 0.003968960605561733, + -2.9200196266174316, + -0.09544361382722855, + 0.03864814341068268 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 2 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32036012411117554, + -0.013550104573369026, + -0.006490974687039852, + -2.8972556591033936, + -0.07614614814519882, + 0.04177926853299141 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 11 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32193201780319214, + -0.012808483093976974, + -0.013033523224294186, + -2.887481689453125, + -0.06131136044859886, + 0.04270562157034874 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 6 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32155027985572815, + -0.012741063721477985, + -0.013653387315571308, + -2.890284299850464, + -0.05914124473929405, + 0.04772413894534111 + ], + "gripper_value": 0.6319981217384338 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 9 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32166722416877747, + -0.012925300747156143, + -0.01320650428533554, + -2.8918328285217285, + -0.061172936111688614, + 0.05188931152224541 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3215140402317047, + -0.011905140243470669, + -0.013334425166249275, + -2.8947768211364746, + -0.05972885340452194, + 0.0570140965282917 + ], + "gripper_value": 0.1660143882036209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3202768862247467, + -0.010483255609869957, + -0.013525741174817085, + -2.897937059402466, + -0.05156633257865906, + 0.06548695266246796 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32034072279930115, + -0.013660666532814503, + 0.0002854654740076512, + -2.9210567474365234, + -0.06236254796385765, + 0.054535359144210815 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue cloth in the sink, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The robot is poised to grasp the cloth to begin moving it toward the bottom left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move up 11 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31793859601020813, + -0.019273532554507256, + 0.017586061730980873, + -2.931638240814209, + -0.08052077144384384, + 0.031674642115831375 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3130852282047272, + -0.03636448457837105, + 0.04218612611293793, + -2.9525887966156006, + -0.09526274353265762, + -0.016410017386078835 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 15 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31025996804237366, + -0.035017892718315125, + 0.07718948274850845, + -2.9853017330169678, + -0.14799484610557556, + -0.015783600509166718 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30731552839279175, + -0.0016710747731849551, + 0.09631506353616714, + -3.040672540664673, + -0.1446465700864792, + 0.09775149822235107 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30578410625457764, + 0.04512183368206024, + 0.10620785504579544, + -3.09419322013855, + -0.14733023941516876, + 0.2512584626674652 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29703450202941895, + 0.08000770211219788, + 0.10800869762897491, + -3.117859363555908, + -0.1258813589811325, + 0.37593063712120056 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp and lift cloth", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28604716062545776, + 0.11148261278867722, + 0.10640548914670944, + 3.134726047515869, + -0.11351817846298218, + 0.4879474937915802 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to target", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27890101075172424, + 0.14211569726467133, + 0.08635891228914261, + 3.131702184677124, + -0.04683460295200348, + 0.5690511465072632 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to target", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2910795509815216, + 0.1716092973947525, + 0.06481192260980606, + 3.128148078918457, + -0.00915871188044548, + 0.6645633578300476 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to target", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, open gripper; then keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2974490821361542, + 0.18304459750652313, + 0.03867543488740921, + 3.137672185897827, + 0.026987042278051376, + 0.7101704478263855 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to target", + "subtask_reasoning": "The robot has approached and made contact with the cloth in the sink. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the cloth before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29737553000450134, + 0.18926802277565002, + 0.03531835600733757, + -3.1117806434631348, + 0.002370763337239623, + 0.7250644564628601 + ], + "gripper_value": 0.07591649144887924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release and adjust grip", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, having previously nudged it. The gripper is currently open, indicating the cloth is not held. The next action is to close the gripper to grasp the cloth for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29542386531829834, + 0.1888308972120285, + 0.03503267467021942, + -3.1057705879211426, + 0.011813521385192871, + 0.7352624535560608 + ], + "gripper_value": 0.23394888639450073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release and adjust grip", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, having previously nudged it. The gripper is currently open, indicating the cloth is not held. The next action is to close the gripper to grasp the cloth for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29294076561927795, + 0.1882757842540741, + 0.033129721879959106, + -3.0991504192352295, + 0.018107356503605843, + 0.7397518157958984 + ], + "gripper_value": 0.5033408999443054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The robot is positioned above the cloth on the stovetop, having previously nudged it. The gripper is currently open, indicating the cloth is not held. The next action is to close the gripper to grasp the cloth for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881208062171936, + 0.1860700100660324, + 0.03520653769373894, + -3.0931923389434814, + 0.025948544964194298, + 0.7469445466995239 + ], + "gripper_value": 0.8196109533309937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth is now positioned in the bottom-left area near the sink, with the gripper maintaining contact. The gripper signal shows significant variation within the segment, suggesting active manipulation or adjustment. The next action likely involves fine-tuning the cloth's placement or releasing it after confirming correct positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868213355541229, + 0.18382103741168976, + 0.0536266453564167, + -3.1078035831451416, + -0.008372037671506405, + 0.7427197694778442 + ], + "gripper_value": 1.0211780071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth is now positioned in the bottom-left area near the sink, with the gripper maintaining contact. The gripper signal shows significant variation within the segment, suggesting active manipulation or adjustment. The next action likely involves fine-tuning the cloth's placement or releasing it after confirming correct positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28618305921554565, + 0.17827901244163513, + 0.06607413291931152, + -3.1255335807800293, + -0.024815276265144348, + 0.7252949476242065 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth is now positioned in the bottom-left area near the sink, with the gripper maintaining contact. The gripper signal shows significant variation within the segment, suggesting active manipulation or adjustment. The next action likely involves fine-tuning the cloth's placement or releasing it after confirming correct positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.28727424144744873, + 0.16683858633041382, + 0.07922224700450897, + 3.1348304748535156, + -0.042416151612997055, + 0.6842988729476929 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The cloth has been successfully moved to the bottom-left area of the stovetop. The robot's gripper is open and positioned above the cloth, indicating the manipulation task is complete. The robot is now retreating from the cloth to finish the episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 35, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2839697599411011, + 0.15708471834659576, + 0.09901271760463715, + 3.1032426357269287, + -0.09294846653938293, + 0.6377772688865662 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from the top left to the bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "grasp and lift cloth" + }, + { + "id": 4, + "subtask": "drag cloth to target" + }, + { + "id": 5, + "subtask": "release and adjust grip" + }, + { + "id": 6, + "subtask": "final positioning" + }, + { + "id": 7, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The cloth has been successfully moved to the bottom-left area of the stovetop. The robot's gripper is open and positioned above the cloth, indicating the manipulation task is complete. The robot is now retreating from the cloth to finish the episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 35, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004154_ecot.json b/cot/chunk-0004/episode_0004154_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0685b517406c0a27f6c77255489e6c00aaea646a --- /dev/null +++ b/cot/chunk-0004/episode_0004154_ecot.json @@ -0,0 +1,1635 @@ +{ + "task_name": "episode_0004154", + "episode_json": "json/chunk-0004/episode_0004154.json", + "video_path": "videos/chunk-0004/image_0/episode_0004154.mp4", + "instruction": "Moved the green object between the towel and can.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004154.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.5211646556854248, + "std": 0.24284732341766357, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.52116, std=0.24285, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 210, + 210, + 210, + 210, + 218, + 218, + 218, + 218 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 9 + ], + [ + 3, + 10, + 13 + ], + [ + 4, + 14, + 17 + ], + [ + 5, + 18, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the green object on the towel without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp green object\", \"start\": 3, \"end\": 9, \"planning\": \"Close gripper around green object and secure hold as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition green object\", \"start\": 10, \"end\": 13, \"planning\": \"Lift and move green object from towel toward target location between towel and can.\"},\n {\"id\": 4, \"name\": \"place green object\", \"start\": 14, \"end\": 17, \"planning\": \"Lower green object to target position while maintaining grip; no gripper motion indicates controlled placement.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 18, \"end\": 21, \"planning\": \"Open gripper to release green object and retract end-effector away from scene.\"}\n ],\n \"global_plan\": \"Approach, grasp, reposition, place, and release the green object between the towel and can using coordinated motion and gripper control.\",\n \"notes\": \"Subtask boundaries align with observed gripper activity and motion phases. Grasp/release wording used only where segment-level gripper evidence and imagery support it.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the green object on the towel without closing gripper." + }, + { + "id": 2, + "name": "grasp green object", + "start": 3, + "end": 9, + "planning": "Close gripper around green object and secure hold as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "reposition green object", + "start": 10, + "end": 13, + "planning": "Lift and move green object from towel toward target location between towel and can." + }, + { + "id": 4, + "name": "place green object", + "start": 14, + "end": 17, + "planning": "Lower green object to target position while maintaining grip; no gripper motion indicates controlled placement." + }, + { + "id": 5, + "name": "release and retreat", + "start": 18, + "end": 21, + "planning": "Open gripper to release green object and retract end-effector away from scene." + } + ], + "global_plan": "Approach, grasp, reposition, place, and release the green object between the towel and can using coordinated motion and gripper control.", + "notes": "Subtask boundaries align with observed gripper activity and motion phases. Grasp/release wording used only where segment-level gripper evidence and imagery support it." + } + }, + "episode_goal": "Move the green object to a position between the towel and the can.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067469596862793, + 0.011213069781661034, + 0.051892586052417755, + 3.115325689315796, + -0.21977895498275757, + -0.16525636613368988 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the green object on the towel, with the gripper open and no grasping action detected. The scene shows the green object between the towel and can as required. The next action is to lower the arm and close the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 8 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30422642827033997, + 0.011019366793334484, + 0.04170158877968788, + 3.107097625732422, + -0.18700750172138214, + -0.16359412670135498 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the green object on the towel, with the gripper open and no grasping action detected. The scene shows the green object between the towel and can as required. The next action is to lower the gripper to make contact with the green object for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 8 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017856180667877, + 0.047036461532115936, + 0.03967069461941719, + 3.120537757873535, + -0.18041040003299713, + -0.0822267085313797 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the green object on the towel, with the gripper open and no grasping action detected. The scene shows the green object between the towel and can as required. The next action is to lower the gripper to make contact with the green object for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper open; then move back 3 cm, move left 8 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29472672939300537, + 0.08828499168157578, + 0.03996414691209793, + -3.1353464126586914, + -0.19149558246135712, + -0.018079016357660294 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 512, + 376, + 760, + 618 + ], + "toy microwave": [ + 363, + 2, + 670, + 278 + ], + "wooden countertop": [ + 12, + 203, + 905, + 981 + ], + "tomato sauce": [ + 622, + 77, + 760, + 323 + ], + "toy carrot": [ + 497, + 299, + 581, + 437 + ], + "green sponge": [ + 146, + 457, + 237, + 559 + ], + "silver": [ + 410, + 543, + 579, + 770 + ], + "toy stove": [ + 666, + 206, + 997, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot arm is positioned above the green object on the towel, with the gripper open and no grasping action detected. The scene shows the green object between the towel and can as required. The next action is to lower the gripper to make contact with the green object for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28567466139793396, + 0.12663762271404266, + 0.040220361202955246, + -3.1075198650360107, + -0.22411629557609558, + 0.023563995957374573 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot arm is positioned above the green object on the towel, with the gripper open and no grasping action detected. The scene shows the green object between the towel and can as required. The next action is to lower the gripper to make contact with the green object for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828845679759979, + 0.15294551849365234, + 0.029619349166750908, + -3.074709892272949, + -0.21162062883377075, + 0.03626605123281479 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot arm is positioned above the green object on the towel, with the gripper open and no grasping action detected. The scene shows the green object between the towel and can as required. The next action is to lower the gripper to make contact with the green object for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27743566036224365, + 0.17295975983142853, + 0.019682830199599266, + -3.0746500492095947, + -0.17314592003822327, + 0.08323324471712112 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object, which is positioned on the towel. The gripper is currently open and positioned above the object, ready to close. The next action is to close the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27170372009277344, + 0.1728585809469223, + 0.004934538621455431, + -3.088020086288452, + -0.11047988384962082, + 0.09899766743183136 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object, which is positioned on the towel. The gripper is currently open and positioned above the object, ready to close. The next action is to close the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.269042044878006, + 0.17322823405265808, + 0.002130903070792556, + -3.091099977493286, + -0.08801494538784027, + 0.10610159486532211 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object, which is positioned on the towel. The gripper is currently open and positioned above the object, ready to close. The next action is to close the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26699307560920715, + 0.17098554968833923, + 0.0003771901538129896, + -3.0996782779693604, + -0.07850923389196396, + 0.08927064388990402 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has approached the green object, which is positioned on the towel. The gripper is currently open and positioned above the object, ready to close. The next action is to close the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.265351802110672, + 0.16936570405960083, + 0.0006624085363000631, + -3.1058473587036133, + -0.06614404171705246, + 0.08514158427715302 + ], + "gripper_value": 0.48323801159858704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition green object", + "subtask_reasoning": "The robot has approached the green object, which is positioned on the towel. The gripper is currently open and positioned above the object, ready to close. The next action is to close the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.264656126499176, + 0.16969014704227448, + 0.0014012791216373444, + -3.1086931228637695, + -0.058983057737350464, + 0.09039526432752609 + ], + "gripper_value": 0.48323801159858704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition green object", + "subtask_reasoning": "The green object is currently grasped and being moved from the towel toward the space between the towel and the can. The gripper remains closed with minimal change, indicating continued hold without release. The next action is to continue translating the object laterally to align it between the towel and the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26698037981987, + 0.1629301905632019, + 0.008783979341387749, + -3.1372950077056885, + -0.06015997380018234, + 0.08623112738132477 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition green object", + "subtask_reasoning": "The green object is currently grasped and being moved from the towel toward the space between the towel and the can. The gripper remains closed with minimal change, indicating continued hold without release. The next action is to continue translating the object laterally to align it between the towel and the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28016117215156555, + 0.144868403673172, + 0.054464321583509445, + -3.120633125305176, + -0.19944199919700623, + 0.04865998029708862 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 272, + 2, + 669, + 279 + ], + "blue cloth": [ + 58, + 419, + 350, + 699 + ], + "green sponge": [ + 169, + 379, + 241, + 481 + ], + "wooden countertop": [ + 7, + 171, + 905, + 982 + ], + "toy carrot": [ + 497, + 299, + 581, + 437 + ], + "tomato sauce": [ + 623, + 77, + 761, + 325 + ], + "metal pot": [ + 512, + 376, + 760, + 618 + ], + "silver": [ + 409, + 542, + 577, + 771 + ], + "toy stove": [ + 666, + 206, + 996, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition green object", + "subtask_reasoning": "The green object is currently grasped and being moved from the towel toward the space between the towel and the can. The gripper remains closed with minimal change, indicating continued hold without release. The next action is to continue translating the object laterally to align it between the towel and the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper closed; then move back 1 cm, move right 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27773237228393555, + 0.1160847395658493, + 0.05937564745545387, + 3.133911371231079, + -0.21046283841133118, + -0.021356618031859398 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place green object", + "subtask_reasoning": "The green object is currently grasped and being moved from the towel toward the space between the towel and the can. The gripper remains closed with minimal change, indicating continued hold without release. The next action is to continue translating the object laterally to align it between the towel and the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27252668142318726, + 0.09457608312368393, + 0.049995165318250656, + 3.124201774597168, + -0.1846655309200287, + -0.0961356833577156 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place green object", + "subtask_reasoning": "The green object is currently held above the target location between the towel and the can. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next action should involve lowering the object into position and closing the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26816245913505554, + 0.0716855600476265, + 0.023127557709813118, + 3.095198392868042, + -0.1296660304069519, + -0.16559667885303497 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place green object", + "subtask_reasoning": "The green object is currently held above the target location between the towel and the can. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next action should involve lowering the object into position and closing the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, open gripper; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26381948590278625, + 0.06664340198040009, + 0.005709449760615826, + 3.091620922088623, + -0.08457347750663757, + -0.18664231896400452 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place green object", + "subtask_reasoning": "The green object is currently held above the target location between the towel and the can. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next action should involve lowering the object into position and closing the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2635062634944916, + 0.060382358729839325, + -0.008234512992203236, + 3.0937445163726807, + -0.05126921832561493, + -0.20346491038799286 + ], + "gripper_value": 0.5570889115333557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green object is currently held above the target location between the towel and the can. The gripper remains open and stable, indicating no active grasping or releasing motion in this segment. The next action should involve lowering the object into position and closing the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2577587962150574, + 0.05860105901956558, + -0.011619184166193008, + 3.08280086517334, + -0.026965990662574768, + -0.19836881756782532 + ], + "gripper_value": 0.8870869278907776 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green object is now positioned between the towel and the can, with the gripper open and retreating upward. The release action has been completed, and the robot is moving away to finalize placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2569805681705475, + 0.05516539514064789, + 0.013104761019349098, + 3.0785489082336426, + -0.06510388106107712, + -0.16516219079494476 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green object is now positioned between the towel and the can, with the gripper open and retreating upward. The release action has been completed, and the robot is moving away to finalize placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25479695200920105, + 0.056114695966243744, + 0.04364989697933197, + 3.066882371902466, + -0.11633537709712982, + -0.10025446116924286 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 517, + 376, + 760, + 617 + ], + "green sponge": [ + 280, + 601, + 377, + 716 + ], + "toy microwave": [ + 297, + 2, + 669, + 280 + ], + "tomato sauce": [ + 623, + 77, + 760, + 325 + ], + "toy carrot": [ + 497, + 299, + 581, + 437 + ], + "silver": [ + 415, + 531, + 587, + 773 + ], + "wooden countertop": [ + 9, + 193, + 903, + 980 + ], + "toy stove": [ + 666, + 205, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the green object to a position between the towel and the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition green object" + }, + { + "id": 4, + "subtask": "place green object" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green object is now positioned between the towel and the can, with the gripper open and retreating upward. The release action has been completed, and the robot is moving away to finalize placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004155_ecot.json b/cot/chunk-0004/episode_0004155_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fa5795affc4d65fabe852fba857065d566deb23b --- /dev/null +++ b/cot/chunk-0004/episode_0004155_ecot.json @@ -0,0 +1,1805 @@ +{ + "task_name": "episode_0004155", + "episode_json": "json/chunk-0004/episode_0004155.json", + "video_path": "videos/chunk-0004/image_0/episode_0004155.mp4", + "instruction": "Set the pot behind the yellow brush.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004155.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.928575873374939, + "std": 0.41506227850914, + "delta_total": 0.0032911300659179688, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92858, std=0.41506, total_delta=0.00329). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 209, + 209, + 209, + 209, + 209, + 221, + 221, + 221, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 8 + ], + [ + 3, + 9, + 15 + ], + [ + 4, + 16, + 20 + ], + [ + 5, + 21, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector toward the metal pot without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 3, \"end\": 8, \"planning\": \"Close the gripper around the pot and secure a firm hold as evidenced by decreasing gripper value.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 9, \"end\": 15, \"planning\": \"Lift the pot and move it across the table toward the target location behind the yellow brush.\"},\n {\"id\": 4, \"name\": \"place pot behind brush\", \"start\": 16, \"end\": 20, \"planning\": \"Lower the pot into position behind the yellow brush while maintaining grip until contact is made.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 21, \"end\": 25, \"planning\": \"Open the gripper to release the pot and withdraw the end-effector from the scene.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp it securely, lift and carry it behind the yellow brush, place it down gently, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing — grasp allowed. Segments 3–5 show motion with gripper state changes consistent with lifting, placing, and releasing. Frame coverage is contiguous and complete from 0 to 25.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 2, + "planning": "Move the end-effector toward the metal pot without closing the gripper." + }, + { + "id": 2, + "name": "grasp pot", + "start": 3, + "end": 8, + "planning": "Close the gripper around the pot and secure a firm hold as evidenced by decreasing gripper value." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 9, + "end": 15, + "planning": "Lift the pot and move it across the table toward the target location behind the yellow brush." + }, + { + "id": 4, + "name": "place pot behind brush", + "start": 16, + "end": 20, + "planning": "Lower the pot into position behind the yellow brush while maintaining grip until contact is made." + }, + { + "id": 5, + "name": "release and retreat", + "start": 21, + "end": 25, + "planning": "Open the gripper to release the pot and withdraw the end-effector from the scene." + } + ], + "global_plan": "Approach the pot, grasp it securely, lift and carry it behind the yellow brush, place it down gently, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing — grasp allowed. Segments 3–5 show motion with gripper state changes consistent with lifting, placing, and releasing. Frame coverage is contiguous and complete from 0 to 25." + } + }, + "episode_goal": "Place the metal pot on the wooden surface behind the yellow brush.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.252390593290329, + 0.058666158467531204, + 0.15279406309127808, + 3.1228158473968506, + -0.06142490357160568, + -0.1804562658071518 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible to the left and the yellow brush in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 5 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25269317626953125, + 0.05803819000720978, + 0.1462140530347824, + 3.1119468212127686, + -0.04808511957526207, + -0.18297649919986725 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible to the left and the yellow brush in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24872291088104248, + 0.07918406277894974, + 0.13502980768680573, + 3.1218013763427734, + -0.07917270809412003, + -0.1253458857536316 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible to the left and the yellow brush in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 7 cm, close gripper; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24823245406150818, + 0.09522723406553268, + 0.10269295424222946, + -3.10040283203125, + -0.049896493554115295, + -0.10050665587186813 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 30, + 282, + 295, + 573 + ], + "yellow brush": [ + 385, + 527, + 583, + 757 + ], + "wooden table": [ + 15, + 215, + 881, + 988 + ], + "wooden wall": [ + 334, + 2, + 989, + 427 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible to the left and the yellow brush in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 7 cm, close gripper; then move forward 2 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.251281201839447, + 0.10146348178386688, + 0.07418102771043777, + -3.0583066940307617, + -0.021528182551264763, + -0.09755131602287292 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible to the left and the yellow brush in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move forward 5 cm, move right 8 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572915256023407, + 0.09552785754203796, + 0.054206933826208115, + -3.051591396331787, + 0.005535327363759279, + -0.11454500257968903 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 7 cm, move right 13 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25755423307418823, + 0.09739065170288086, + 0.038433440029621124, + -3.0471200942993164, + 0.04143043980002403, + -0.10654596984386444 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 8 cm, move right 19 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620411217212677, + 0.09957698732614517, + 0.03055655211210251, + -3.0460407733917236, + 0.05100188031792641, + -0.10365709662437439 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move right 19 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2633552551269531, + 0.0995054841041565, + 0.0291620921343565, + -3.04910945892334, + 0.043804991990327835, + -0.10552536696195602 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move right 19 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2638600766658783, + 0.1014881283044815, + 0.028156351298093796, + -3.0607569217681885, + 0.02288861572742462, + -0.1005316972732544 + ], + "gripper_value": 0.3661215305328369 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 19 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2614711821079254, + 0.10522516816854477, + 0.02857273258268833, + -3.060502290725708, + 0.022447941824793816, + -0.09754301607608795 + ], + "gripper_value": 0.16338585317134857 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 19 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 2 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25920242071151733, + 0.1052229031920433, + 0.03172266110777855, + -3.0535404682159424, + 0.018759004771709442, + -0.0997147262096405 + ], + "gripper_value": 0.09775853902101517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the blue cloth, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 19 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25299134850502014, + 0.09937254339456558, + 0.05753247067332268, + -3.050513744354248, + 0.015068731270730495, + -0.0907750204205513 + ], + "gripper_value": 0.0867718756198883 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has grasped the metal pot and is currently lifting it from the blue cloth. The pot is elevated above the surface, indicating the lift phase is underway. The next action is to reposition the pot behind the yellow brush while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 18 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 2 cm, move down 3 cm, open gripper; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799207270145416, + 0.07264428585767746, + 0.10252989828586578, + -3.0123114585876465, + -0.06644228100776672, + -0.1675870418548584 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has grasped the metal pot and is currently lifting it from the blue cloth. The pot is elevated above the surface, indicating the lift phase is underway. The next action is to reposition the pot behind the yellow brush while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 16 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move right 2 cm, move down 3 cm, open gripper; then move back 1 cm, move left 5 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3124218285083771, + 0.023013927042484283, + 0.1228959783911705, + -3.014765739440918, + -0.1094832643866539, + -0.29871928691864014 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has grasped the metal pot and is currently lifting it from the blue cloth. The pot is elevated above the surface, indicating the lift phase is underway. The next action is to reposition the pot behind the yellow brush while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 11 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move right 2 cm, move down 3 cm, open gripper; then move back 5 cm, move left 9 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33445653319358826, + -0.0305861197412014, + 0.10419964045286179, + -3.056190013885498, + -0.08329404890537262, + -0.47613582015037537 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has grasped the metal pot and is currently lifting it from the blue cloth. The pot is elevated above the surface, indicating the lift phase is underway. The next action is to reposition the pot behind the yellow brush while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 3 cm, open gripper; then move back 8 cm, move left 12 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34598618745803833, + -0.08381014317274094, + 0.07607495784759521, + -3.0632381439208984, + -0.04248086363077164, + -0.6661804914474487 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 495, + 189, + 699, + 446 + ], + "yellow brush": [ + 385, + 526, + 584, + 756 + ], + "wooden table": [ + 8, + 184, + 881, + 986 + ], + "blue cloth": [ + 48, + 359, + 344, + 648 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot behind brush", + "subtask_reasoning": "The robot has grasped the metal pot and is currently lifting it from the blue cloth. The pot is elevated above the surface, indicating the lift phase is underway. The next action is to reposition the pot behind the yellow brush while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, open gripper; then move back 8 cm, move left 12 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471580743789673, + -0.10530035942792892, + 0.05764250457286835, + -3.069251775741577, + -0.00947376899421215, + -0.7133616209030151 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 568, + 256, + 803, + 523 + ], + "yellow brush": [ + 384, + 527, + 583, + 757 + ], + "wooden table": [ + 8, + 185, + 880, + 988 + ], + "blue cloth": [ + 48, + 360, + 343, + 650 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot behind brush", + "subtask_reasoning": "The robot has grasped the metal pot and is currently lifting it from the blue cloth. The pot is elevated above the surface, indicating the lift phase is underway. The next action is to reposition the pot behind the yellow brush while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 8 cm, move left 12 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34564629197120667, + -0.10677478462457657, + 0.04289152845740318, + -3.0853962898254395, + 0.026070324704051018, + -0.7281008958816528 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot behind brush", + "subtask_reasoning": "The robot is holding the metal pot above the wooden surface, positioned near the yellow brush. The pot has been lifted and transported to the target area. The next action is to lower the pot gently onto the surface behind the brush and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 8 cm, move left 12 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467552065849304, + -0.10692520439624786, + 0.03908723220229149, + -3.1022186279296875, + 0.024240223690867424, + -0.7166761159896851 + ], + "gripper_value": 0.11874768137931824 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot behind brush", + "subtask_reasoning": "The robot is holding the metal pot above the wooden surface, positioned near the yellow brush. The pot has been lifted and transported to the target area. The next action is to lower the pot gently onto the surface behind the brush and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 8 cm, move left 12 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34636011719703674, + -0.09974680840969086, + 0.03912591561675072, + -3.1085636615753174, + 0.039183225482702255, + -0.71769118309021 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot behind brush", + "subtask_reasoning": "The robot is holding the metal pot above the wooden surface, positioned near the yellow brush. The pot has been lifted and transported to the target area. The next action is to lower the pot gently onto the surface behind the brush and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move back 8 cm, move left 12 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457840085029602, + -0.1054110899567604, + 0.05026458948850632, + -3.1297948360443115, + 0.00041298186988569796, + -0.7389338612556458 + ], + "gripper_value": 0.6029031276702881 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the metal pot above the wooden surface, positioned near the yellow brush. The pot has been lifted and transported to the target area. The next action is to lower the pot gently onto the surface behind the brush and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.347210168838501, + -0.10285138338804245, + 0.09714742004871368, + -3.123055934906006, + -0.12330664694309235, + -0.700516939163208 + ], + "gripper_value": 0.9015869498252869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the metal pot above the wooden surface, positioned near the yellow brush. The pot has been lifted and transported to the target area. The next action is to lower the pot gently onto the surface behind the brush and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, move up 4 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3321905732154846, + -0.05555763840675354, + 0.13799262046813965, + -3.1381659507751465, + -0.20519918203353882, + -0.4624008536338806 + ], + "gripper_value": 1.0149952173233032 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal pot is already placed on the wooden surface behind the yellow brush. The gripper is open and retreating upward, indicating the release phase is complete. The next action is to continue retreating to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29701852798461914, + -0.018000850453972816, + 0.14962628483772278, + -3.116330623626709, + -0.15925830602645874, + -0.2588842511177063 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal pot is already placed on the wooden surface behind the yellow brush. The gripper is open and retreating upward, indicating the release phase is complete. The next action is to continue retreating to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26254308223724365, + 0.01563909836113453, + 0.13616812229156494, + -3.1172964572906494, + -0.11417929083108902, + -0.19563207030296326 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the wooden surface behind the yellow brush." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind brush" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The metal pot is already placed on the wooden surface behind the yellow brush. The gripper is open and retreating upward, indicating the release phase is complete. The next action is to continue retreating to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004156_ecot.json b/cot/chunk-0004/episode_0004156_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a8327f3e6a69870fe098552077e8bc9f178c1a76 --- /dev/null +++ b/cot/chunk-0004/episode_0004156_ecot.json @@ -0,0 +1,2192 @@ +{ + "task_name": "episode_0004156", + "episode_json": "json/chunk-0004/episode_0004156.json", + "video_path": "videos/chunk-0004/image_0/episode_0004156.mp4", + "instruction": "Take lid off pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004156.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.6126402616500854, + "std": 0.2807682454586029, + "delta_total": -0.0019985437393188477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61264, std=0.28077, total_delta=-0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 15, + 15, + 15, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 129, + 129, + 129, + 129, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 17 + ], + [ + 3, + 18, + 28 + ], + [ + 4, + 29, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 14, \"planning\": \"Move gripper toward the pot lid while closing fingers to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 15, \"end\": 17, \"planning\": \"Complete gripper closure and establish firm hold on the lid handle.\"},\n {\"id\": 3, \"name\": \"lift and move lid\", \"start\": 18, \"end\": 28, \"planning\": \"Lift the lid vertically then translate it laterally away from the pot.\"},\n {\"id\": 4, \"name\": \"release lid\", \"start\": 29, \"end\": 33, \"planning\": \"Open gripper to place lid on tray and retreat slightly to confirm release.\"}\n ],\n \"global_plan\": \"Approach the pot lid, grasp it securely, lift and move it aside, then release it onto the tray surface.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.365) with motion toward lid — consistent with approach + pre-grasp. Segment 2 has minimal gripper change but images show full closure — valid grasp phase. Segment 3 shows stable grip during lift/move. Segment 4 shows clear gripper opening (delta=+0.232) with lid placed — valid release. All segments align with visual and proprioceptive evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 14, + "planning": "Move gripper toward the pot lid while closing fingers to prepare for contact." + }, + { + "id": 2, + "name": "grasp lid", + "start": 15, + "end": 17, + "planning": "Complete gripper closure and establish firm hold on the lid handle." + }, + { + "id": 3, + "name": "lift and move lid", + "start": 18, + "end": 28, + "planning": "Lift the lid vertically then translate it laterally away from the pot." + }, + { + "id": 4, + "name": "release lid", + "start": 29, + "end": 33, + "planning": "Open gripper to place lid on tray and retreat slightly to confirm release." + } + ], + "global_plan": "Approach the pot lid, grasp it securely, lift and move it aside, then release it onto the tray surface.", + "notes": "Segment 1 shows gripper closing (delta=-0.365) with motion toward lid — consistent with approach + pre-grasp. Segment 2 has minimal gripper change but images show full closure — valid grasp phase. Segment 3 shows stable grip during lift/move. Segment 4 shows clear gripper opening (delta=+0.232) with lid placed — valid release. All segments align with visual and proprioceptive evidence." + } + }, + "episode_goal": "Remove the lid from the orange pot and place it on the wooden tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2688497304916382, + 0.15731830894947052, + 0.18326449394226074, + -3.0969929695129395, + -0.052163369953632355, + 0.4700598418712616 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the orange pot with the lid on top, and the gripper is open. No movement or contact has occurred yet. The next action should be to move the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move down 11 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679842710494995, + 0.15304049849510193, + 0.173231303691864, + -3.0984764099121094, + -0.02049967274069786, + 0.4714325964450836 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the orange pot with the lid on top, and the gripper is open. No movement or contact has occurred yet. The next action should be to move the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move down 11 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28130248188972473, + 0.10558125376701355, + 0.16182497143745422, + -3.097350835800171, + -0.02895416133105755, + 0.42673423886299133 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the orange pot with the lid on top, and the gripper is open. No movement or contact has occurred yet. The next action should be to move the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move down 10 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29277414083480835, + 0.06367715448141098, + 0.1609400510787964, + -3.100515127182007, + -0.03751178830862045, + 0.404564768075943 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the orange pot with the lid on top, and the gripper is open. No movement or contact has occurred yet. The next action should be to move the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 10 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29989540576934814, + 0.028285248205065727, + 0.14373862743377686, + -3.1043574810028076, + -0.029944421723484993, + 0.3811973035335541 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the orange pot with the lid on top, and the gripper is open. No movement or contact has occurred yet. The next action should be to move the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31290262937545776, + 0.009256274439394474, + 0.11608003079891205, + -3.0840158462524414, + -0.014139720238745213, + 0.41305655241012573 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the orange pot with the lid on top, and the gripper is open. No movement or contact has occurred yet. The next action should be to move the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250086009502411, + -0.005978242959827185, + 0.09662503004074097, + -3.079083204269409, + -0.03699855878949165, + 0.4019738733768463 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "brown bottle": [ + 446, + 249, + 633, + 493 + ], + "yellow apple": [ + 281, + 252, + 374, + 353 + ], + "orange pepper": [ + 254, + 523, + 383, + 636 + ], + "wooden tray": [ + 56, + 178, + 760, + 819 + ], + "metal bowl": [ + 909, + 765, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned near the orange pot with the lid on top, and the gripper is open. No movement or contact has occurred yet. The next action should be to move the gripper closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33614805340766907, + -0.001467641443014145, + 0.08314767479896545, + -3.062908887863159, + -0.040343038737773895, + 0.4072814881801605 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34094831347465515, + 0.0057082949206233025, + 0.07030592858791351, + -3.0359606742858887, + -0.03105757385492325, + 0.4075917601585388 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, close gripper; then move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34488794207572937, + 0.015354976058006287, + 0.07894971966743469, + -3.0490307807922363, + -0.02299012988805771, + 0.43505004048347473 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3495279550552368, + 0.02317318692803383, + 0.07432231307029724, + -3.037322759628296, + -0.018105674535036087, + 0.4484519064426422 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "brown bottle": [ + 446, + 250, + 632, + 494 + ], + "yellow apple": [ + 280, + 252, + 374, + 353 + ], + "orange pepper": [ + 254, + 524, + 384, + 637 + ], + "metal bowl": [ + 909, + 765, + 995, + 994 + ], + "wooden tray": [ + 56, + 173, + 756, + 805 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35143452882766724, + 0.026024140417575836, + 0.06692180782556534, + -3.0086519718170166, + 0.0022503838408738375, + 0.4440615773200989 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 5 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541300296783447, + 0.025508712977170944, + 0.06258635222911835, + -3.004141092300415, + 0.0200868658721447, + 0.4493086338043213 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 7 cm, move left 8 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35473307967185974, + 0.024039411917328835, + 0.05894450470805168, + -3.007477045059204, + 0.02671857923269272, + 0.449781596660614 + ], + "gripper_value": 0.9263488054275513 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 8 cm, move left 10 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552067279815674, + 0.02081741765141487, + 0.05805942788720131, + -3.028961181640625, + 0.02907346747815609, + 0.44971519708633423 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 9 cm, move left 11 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35345178842544556, + 0.02268305793404579, + 0.057978563010692596, + -3.039919853210449, + 0.046643197536468506, + 0.44058388471603394 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the orange pot and its lid visible in the center. The gripper is open and hovering near the lid, indicating the approach phase is underway. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed; then move back 9 cm, move left 11 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3497212827205658, + 0.024833444505929947, + 0.06093632057309151, + -3.0427935123443604, + 0.06775832176208496, + 0.43604302406311035 + ], + "gripper_value": 0.3875128924846649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot lid, having completed the approach phase. The gripper is currently open and aligned with the lid handles, ready to initiate contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34722235798835754, + 0.026601100340485573, + 0.09680979698896408, + -3.0999717712402344, + 0.05555546656250954, + 0.474931925535202 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot lid, having completed the approach phase. The gripper is currently open and aligned with the lid handles, ready to initiate contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move back 8 cm, move left 12 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3499869704246521, + 0.031268395483493805, + 0.13366468250751495, + -3.135957956314087, + -0.0127795385196805, + 0.519293487071991 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot lid, having completed the approach phase. The gripper is currently open and aligned with the lid handles, ready to initiate contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418378233909607, + 0.03997887670993805, + 0.1452685445547104, + 3.1233885288238525, + -0.047332748770713806, + 0.5412928462028503 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot lid, having completed the approach phase. The gripper is currently open and aligned with the lid handles, ready to initiate contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 11 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32525748014450073, + 0.05444645509123802, + 0.13615389168262482, + 3.138148069381714, + 0.00785029400140047, + 0.5290202498435974 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot lid, having completed the approach phase. The gripper is currently open and aligned with the lid handles, ready to initiate contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 9 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30380937457084656, + 0.07559439539909363, + 0.13268427550792694, + -3.126300573348999, + 0.03235156834125519, + 0.5142332315444946 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot lid, having completed the approach phase. The gripper is currently open and aligned with the lid handles, ready to initiate contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28255704045295715, + 0.106342613697052, + 0.11587759107351303, + -3.0897116661071777, + 0.044683776795864105, + 0.5217711329460144 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot lid, having completed the approach phase. The gripper is currently open and aligned with the lid handles, ready to initiate contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717166244983673, + 0.12651947140693665, + 0.10920806229114532, + -3.08286190032959, + 0.03412039577960968, + 0.49856019020080566 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has successfully grasped the pot lid and is currently lifting it above the orange pot. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue moving the lid laterally toward the wooden tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626764178276062, + 0.14059197902679443, + 0.10539794713258743, + -3.063288927078247, + 0.062291476875543594, + 0.48664504289627075 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 909, + 764, + 995, + 994 + ], + "yellow apple": [ + 286, + 253, + 375, + 354 + ], + "brown bottle": [ + 441, + 268, + 629, + 497 + ], + "wooden tray": [ + 55, + 229, + 718, + 799 + ], + "orange pepper": [ + 254, + 524, + 385, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has successfully grasped the pot lid and is currently lifting it above the orange pot. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue moving the lid laterally toward the wooden tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26322048902511597, + 0.14486439526081085, + 0.09358033537864685, + -3.039795160293579, + 0.08389680087566376, + 0.4851542115211487 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has successfully grasped the pot lid and is currently lifting it above the orange pot. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue moving the lid laterally toward the wooden tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26614224910736084, + 0.15177255868911743, + 0.07676762342453003, + -3.00880765914917, + 0.09450074285268784, + 0.47725939750671387 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has successfully grasped the pot lid and is currently lifting it above the orange pot. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue moving the lid laterally toward the wooden tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2693178057670593, + 0.15576833486557007, + 0.06400037556886673, + -2.983588457107544, + 0.098141148686409, + 0.46017754077911377 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has successfully grasped the pot lid and is currently lifting it above the orange pot. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue moving the lid laterally toward the wooden tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.272450715303421, + 0.15232039988040924, + 0.06554464250802994, + -2.9784486293792725, + 0.10248257219791412, + 0.44343405961990356 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has successfully grasped the pot lid and is currently lifting it above the orange pot. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue moving the lid laterally toward the wooden tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2721964418888092, + 0.14937691390514374, + 0.061278633773326874, + -2.9246206283569336, + 0.1005837544798851, + 0.37959685921669006 + ], + "gripper_value": 0.7662391662597656 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot has successfully grasped the pot lid and is currently lifting it above the orange pot. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue moving the lid laterally toward the wooden tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2752099633216858, + 0.1488342434167862, + 0.0618356317281723, + -2.902235984802246, + 0.10677862912416458, + 0.35466036200523376 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot has successfully grasped the pot lid and is currently lifting it above the orange pot. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to continue moving the lid laterally toward the wooden tray for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783172130584717, + 0.14986269176006317, + 0.06161607801914215, + -2.9007034301757812, + 0.08830723166465759, + 0.34346285462379456 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The lid is already placed on the wooden tray, and the gripper is open (value ~0.999), indicating release has occurred. The robot arm is positioned above the tray, consistent with post-release positioning. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737378776073456, + 0.14223945140838623, + 0.0662376657128334, + -2.9353127479553223, + 0.12797847390174866, + 0.35737505555152893 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The lid is already placed on the wooden tray, and the gripper is open (value ~0.999), indicating release has occurred. The robot arm is positioned above the tray, consistent with post-release positioning. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27721479535102844, + 0.13543979823589325, + 0.09900141507387161, + -2.9773285388946533, + 0.0780787318944931, + 0.39349937438964844 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 909, + 764, + 995, + 994 + ], + "yellow apple": [ + 281, + 252, + 374, + 352 + ], + "orange pepper": [ + 254, + 525, + 384, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The lid is already placed on the wooden tray, and the gripper is open (value ~0.999), indicating release has occurred. The robot arm is positioned above the tray, consistent with post-release positioning. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004157_ecot.json b/cot/chunk-0004/episode_0004157_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad8194765de38543fbe4fe7bd7f7114f3f06ef2 --- /dev/null +++ b/cot/chunk-0004/episode_0004157_ecot.json @@ -0,0 +1,1471 @@ +{ + "task_name": "episode_0004157", + "episode_json": "json/chunk-0004/episode_0004157.json", + "video_path": "videos/chunk-0004/image_0/episode_0004157.mp4", + "instruction": "Put fork from basket to tray.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004157.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.9302735328674316, + "std": 0.290126234292984, + "delta_total": -0.9302735328674316, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93027, std=0.29013, total_delta=-0.93027). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 104, + 104, + 104, + 104, + 104, + 104, + 104, + 104, + 104, + 104, + 104, + 104, + 104 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp fork in basket\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector to the fork in the basket and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport fork to tray\", \"start\": 4, \"end\": 11, \"planning\": \"Lift the grasped fork from the basket and move it over the target slot in the tray.\"},\n {\"id\": 3, \"name\": \"release fork into tray slot\", \"start\": 12, \"end\": 24, \"planning\": \"Lower the fork into the designated tray compartment and open gripper to release it, then retreat slightly.\"}\n ],\n \"global_plan\": \"Grasp the fork from the utensil basket, lift and carry it to the black tray, then release it into the correct compartment.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.47) consistent with grasping; Segment 2 maintains closed gripper while transporting; Segment 3 has no gripper change — release is inferred from motion into tray slot and context, not gripper opening.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp fork in basket", + "start": 0, + "end": 3, + "planning": "Move end-effector to the fork in the basket and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport fork to tray", + "start": 4, + "end": 11, + "planning": "Lift the grasped fork from the basket and move it over the target slot in the tray." + }, + { + "id": 3, + "name": "release fork into tray slot", + "start": 12, + "end": 24, + "planning": "Lower the fork into the designated tray compartment and open gripper to release it, then retreat slightly." + } + ], + "global_plan": "Grasp the fork from the utensil basket, lift and carry it to the black tray, then release it into the correct compartment.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.47) consistent with grasping; Segment 2 maintains closed gripper while transporting; Segment 3 has no gripper change — release is inferred from motion into tray slot and context, not gripper opening." + } + }, + "episode_goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37254956364631653, + 0.13997486233711243, + 0.0634194016456604, + -3.041224479675293, + -0.2557468116283417, + 0.1501970738172531 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "approach and grasp fork in basket", + "subtask_reasoning": "The robot is positioned above the utensil basket with the gripper open, hovering near the fork handles. No objects have been grasped yet. The next action is to lower the gripper and close it to secure a fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move back 3 cm, move right 8 cm, move up 17 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37079790234565735, + 0.13661320507526398, + 0.046490103006362915, + -3.062626361846924, + -0.21560707688331604, + 0.15414230525493622 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "approach and grasp fork in basket", + "subtask_reasoning": "The robot is positioned above the utensil basket with the gripper open, ready to interact with the fork. No part of the subtask has been completed yet. The next action is to lower the gripper and close it to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 11 cm, move up 20 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3752688765525818, + 0.13803595304489136, + 0.03995305672287941, + -3.0597989559173584, + -0.22411848604679108, + 0.14495216310024261 + ], + "gripper_value": 0.8111810088157654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "approach and grasp fork in basket", + "subtask_reasoning": "The robot is positioned above the utensil basket with the gripper open, ready to interact with the fork. No part of the subtask has been completed yet. The next action is to lower the gripper and close it to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 16 cm, move up 19 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3795144855976105, + 0.1343102753162384, + 0.037484604865312576, + -3.047621488571167, + -0.23467954993247986, + 0.14985333383083344 + ], + "gripper_value": 0.520771861076355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "approach and grasp fork in basket", + "subtask_reasoning": "The robot is positioned above the utensil basket with the gripper open, ready to interact with the fork. No part of the subtask has been completed yet. The next action is to lower the gripper and close it to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 16 cm, move up 19 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3780408203601837, + 0.1353258341550827, + 0.037019163370132446, + -3.0452706813812256, + -0.2300131469964981, + 0.1746043860912323 + ], + "gripper_value": 0.2589220404624939 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "lift and transport fork to tray", + "subtask_reasoning": "The robot is positioned above the utensil basket with the gripper open, ready to interact with the fork. No part of the subtask has been completed yet. The next action is to lower the gripper and close it to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 16 cm, move up 19 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3730587065219879, + 0.13411805033683777, + 0.038528475910425186, + -3.0270912647247314, + -0.1997828632593155, + 0.19851535558700562 + ], + "gripper_value": 0.09289941936731339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "lift and transport fork to tray", + "subtask_reasoning": "The robot is positioned above the utensil basket with the gripper open, ready to interact with the fork. No part of the subtask has been completed yet. The next action is to lower the gripper and close it to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move up 19 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716186285018921, + 0.12179141491651535, + 0.05902693793177605, + -2.960667848587036, + -0.2001866102218628, + 0.15623417496681213 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "lift and transport fork to tray", + "subtask_reasoning": "The robot is positioned above the utensil basket with the gripper open, ready to interact with the fork. No part of the subtask has been completed yet. The next action is to lower the gripper and close it to grasp the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 14 cm, move up 17 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36950981616973877, + 0.11302199214696884, + 0.10302326828241348, + -2.8835132122039795, + -0.25331154465675354, + 0.10174945741891861 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cutlery tray": [ + 329, + 337, + 993, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "lift and transport fork to tray", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move up 13 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 6 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35596364736557007, + 0.09993404895067215, + 0.13628655672073364, + -2.8469929695129395, + -0.22405284643173218, + 0.09132678806781769 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "lift and transport fork to tray", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35006770491600037, + 0.08221793174743652, + 0.1751331090927124, + -2.8423097133636475, + -0.19257116317749023, + 0.12481625378131866 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "lift and transport fork to tray", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, move down 13 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3483644425868988, + 0.0532873161137104, + 0.2111518532037735, + -2.938406229019165, + -0.1611834019422531, + 0.21218547224998474 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "lift and transport fork to tray", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, move down 14 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35319969058036804, + 0.022943394258618355, + 0.23382757604122162, + -3.061923027038574, + -0.14764723181724548, + 0.3227594494819641 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "lift and transport fork to tray", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, keep gripper closed; then move back 2 cm, move right 3 cm, move down 15 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.362831711769104, + -0.02012312039732933, + 0.22990402579307556, + 3.131588935852051, + -0.16255393624305725, + 0.3769690692424774 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cutlery tray": [ + 327, + 336, + 993, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 15 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3673451840877533, + -0.03886837884783745, + 0.2176247239112854, + 3.053532600402832, + -0.1590915471315384, + 0.4811895787715912 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 15 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36724618077278137, + -0.06427333503961563, + 0.20603105425834656, + 3.004854440689087, + -0.1396147906780243, + 0.5561444163322449 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 14 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.366255521774292, + -0.07945308834314346, + 0.18348346650600433, + 2.95064377784729, + -0.11492578685283661, + 0.6377508044242859 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 12 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36220118403434753, + -0.08121403306722641, + 0.17596979439258575, + 2.973177194595337, + -0.06311414390802383, + 0.6964927315711975 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3607238531112671, + -0.07642414420843124, + 0.15501932799816132, + 3.0620152950286865, + -0.05268559604883194, + 0.7028710246086121 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork has been grasped from the basket and is currently being lifted and transported toward the black cutlery tray. The gripper remains closed, confirming secure hold during motion. Next, position the fork over the correct compartment in the tray for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35198676586151123, + -0.0725070908665657, + 0.12171951681375504, + 3.0597212314605713, + -0.017185237258672714, + 0.7281297445297241 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork is currently positioned directly above the designated slot in the black cutlery tray. The gripper is open, indicating the fork has been released or is in the process of being dropped into the compartment. The immediate next step is to lift the end-effector away from the tray to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34629857540130615, + -0.059162016957998276, + 0.09735819697380066, + 2.958630084991455, + 0.0702754557132721, + 0.8041907548904419 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cutlery tray": [ + 328, + 345, + 993, + 992 + ], + "forks": [ + 592, + 448, + 761, + 795 + ] + } + } + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork is currently positioned directly above the designated slot in the black cutlery tray. The gripper is open, indicating the fork has been released or is in the process of being dropped into the compartment. The immediate next step is to lift the end-effector away from the tray to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34498313069343567, + -0.057067595422267914, + 0.09097128361463547, + 2.87188982963562, + 0.11638481169939041, + 0.832251250743866 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork is currently positioned directly above the designated slot in the black cutlery tray. The gripper is open, indicating the fork has been released or is in the process of being dropped into the compartment. The immediate next step is to lift the end-effector away from the tray to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34292465448379517, + -0.054302554577589035, + 0.08225110173225403, + 2.851839780807495, + 0.11066378653049469, + 0.8078968524932861 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork is currently positioned directly above the designated slot in the black cutlery tray. The gripper is open, indicating the fork has been released or is in the process of being dropped into the compartment. The immediate next step is to lift the end-effector away from the tray to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415287733078003, + -0.05352024734020233, + 0.07913321256637573, + 2.848975896835327, + 0.09966220706701279, + 0.7772859930992126 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork is currently positioned directly above the designated slot in the black cutlery tray. The gripper is open, indicating the fork has been released or is in the process of being dropped into the compartment. The immediate next step is to lift the end-effector away from the tray to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33883634209632874, + -0.05237232521176338, + 0.07252907752990723, + 2.858088970184326, + 0.13894879817962646, + 0.7759116291999817 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork is currently positioned directly above the designated slot in the black cutlery tray. The gripper is open, indicating the fork has been released or is in the process of being dropped into the compartment. The immediate next step is to lift the end-effector away from the tray to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33647340536117554, + -0.05037181079387665, + 0.06150093302130699, + 2.8805601596832275, + 0.1755923479795456, + 0.7848970890045166 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up a fork from the dish basket and place it into the designated compartment of the black cutlery tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fork in basket" + }, + { + "id": 2, + "subtask": "lift and transport fork to tray" + }, + { + "id": 3, + "subtask": "release fork into tray slot" + } + ], + "subtask_name": "release fork into tray slot", + "subtask_reasoning": "The fork is currently positioned directly above the designated slot in the black cutlery tray. The gripper is open, indicating the fork has been released or is in the process of being dropped into the compartment. The immediate next step is to lift the end-effector away from the tray to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004160_ecot.json b/cot/chunk-0004/episode_0004160_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ee70f06d22fb5fb3abadd1239a4873fa3582ee0f --- /dev/null +++ b/cot/chunk-0004/episode_0004160_ecot.json @@ -0,0 +1,2000 @@ +{ + "task_name": "episode_0004160", + "episode_json": "json/chunk-0004/episode_0004160.json", + "video_path": "videos/chunk-0004/image_0/episode_0004160.mp4", + "instruction": "Put the silver pot on the upper left side of the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004160.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9607800841331482, + "std": 0.4349854588508606, + "delta_total": -0.001926422119140625, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96078, std=0.43499, total_delta=-0.00193). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 125, + 125, + 125, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 13 + ], + [ + 3, + 14, + 24 + ], + [ + 4, + 25, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on pot\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the silver pot and begin closing the gripper to establish contact.\"},\n {\"id\": 2, \"name\": \"secure grasp on pot\", \"start\": 11, \"end\": 13, \"planning\": \"Continue closing gripper to firmly grasp the pot, confirmed by decreasing gripper values and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot over target\", \"start\": 14, \"end\": 24, \"planning\": \"Lift the grasped pot and move it horizontally toward the upper left side of the left burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release pot and retreat\", \"start\": 25, \"end\": 30, \"planning\": \"Open gripper to release the pot at the target location, then retract end-effector upward and away.\"}\n ],\n \"global_plan\": \"Approach the silver pot, grasp it securely, lift and move it to the upper left side of the left burner, then release and retreat.\",\n \"notes\": \"Gripper evidence supports grasp in segments 1–3 (closing trend), and release in segment 4 (opening trend). Motion and image frames confirm object is lifted and placed. Subtasks align with observed phases and cover all 31 frames contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on pot", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the silver pot and begin closing the gripper to establish contact." + }, + { + "id": 2, + "name": "secure grasp on pot", + "start": 11, + "end": 13, + "planning": "Continue closing gripper to firmly grasp the pot, confirmed by decreasing gripper values and stable pose." + }, + { + "id": 3, + "name": "lift and reposition pot over target", + "start": 14, + "end": 24, + "planning": "Lift the grasped pot and move it horizontally toward the upper left side of the left burner while maintaining grip." + }, + { + "id": 4, + "name": "release pot and retreat", + "start": 25, + "end": 30, + "planning": "Open gripper to release the pot at the target location, then retract end-effector upward and away." + } + ], + "global_plan": "Approach the silver pot, grasp it securely, lift and move it to the upper left side of the left burner, then release and retreat.", + "notes": "Gripper evidence supports grasp in segments 1–3 (closing trend), and release in segment 4 (opening trend). Motion and image frames confirm object is lifted and placed. Subtasks align with observed phases and cover all 31 frames contiguously." + } + }, + "episode_goal": "Place the silver pot on the upper left side of the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31634214520454407, + -0.0067155747674405575, + 0.06440195441246033, + 2.9941811561584473, + -0.1695414036512375, + -0.06966598331928253 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. The gripper is open and approaching the pot, but has not yet made contact. The next action should be to lower the gripper and close it around the pot to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31196582317352295, + -0.007422409486025572, + 0.053470429033041, + 2.983959436416626, + -0.13379158079624176, + -0.07136381417512894 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. The gripper is open and approaching the pot, but has not yet made contact. The next action should be to lower the gripper and close it around the pot to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30974024534225464, + 0.014049329794943333, + 0.04525814950466156, + 2.9493472576141357, + -0.1316552460193634, + -0.02500525303184986 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. The gripper is open and approaching the pot, but has not yet made contact. The next action should be to lower the gripper and close it around the pot to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009856045246124, + 0.03514917194843292, + 0.038990557193756104, + 2.907853603363037, + -0.14352431893348694, + 0.01469004712998867 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey bin": [ + 733, + 630, + 995, + 994 + ], + "blue cloth": [ + 274, + 510, + 561, + 759 + ], + "metal bowl": [ + 249, + 376, + 519, + 676 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. The gripper is open and approaching the pot, but has not yet made contact. The next action should be to lower the gripper and close it around the pot to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29667577147483826, + 0.052658598870038986, + 0.03791921213269234, + 2.91970157623291, + -0.141060933470726, + 0.03993779048323631 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the left burner. The gripper is open and approaching the pot, but has not yet made contact. The next action should be to lower the gripper and close it around the pot to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2905140519142151, + 0.05423419177532196, + 0.03024476394057274, + 2.921520709991455, + -0.09508812427520752, + 0.018526876345276833 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28638333082199097, + 0.03952854499220848, + 0.016557887196540833, + 2.9269137382507324, + -0.03096945211291313, + -0.003942706622183323 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28058940172195435, + 0.02236310765147209, + 0.006494436878710985, + 2.9195356369018555, + 0.011261624284088612, + -0.024601714685559273 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28124183416366577, + 0.01767622120678425, + -0.00040063311462290585, + 2.927852153778076, + 0.02793978899717331, + 0.004420737735927105 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2791181802749634, + 0.009820632636547089, + -0.014145003631711006, + 2.9340548515319824, + 0.06781737506389618, + 0.03146382421255112 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28474920988082886, + 0.007930107414722443, + -0.01943019963800907, + 2.9733173847198486, + 0.03688639774918556, + 0.053026795387268066 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 7 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799508273601532, + 0.007966372184455395, + -0.026634063571691513, + 3.001451015472412, + 0.02218758687376976, + 0.08900164067745209 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "secure grasp on pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot on the left burner, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2772752046585083, + 0.009011645801365376, + -0.023612629622220993, + 3.0318100452423096, + -0.008515198715031147, + 0.10472671687602997 + ], + "gripper_value": 0.20806095004081726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "secure grasp on pot", + "subtask_reasoning": "The robot has approached the silver pot and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the pot, suggesting a secure grasp is being established. The next likely action is to confirm the grasp stability before lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2769920229911804, + 0.01069771870970726, + -0.011911510489881039, + 3.1007184982299805, + -0.14474235475063324, + 0.051802266389131546 + ], + "gripper_value": 0.10434377193450928 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "secure grasp on pot", + "subtask_reasoning": "The robot has approached the silver pot and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the pot, suggesting a secure grasp is being established. The next likely action is to confirm the grasp stability before lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865304946899414, + 0.008793404325842857, + 0.01756538636982441, + -3.1034114360809326, + -0.3863092362880707, + -0.07036207616329193 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 276, + 532, + 561, + 757 + ], + "metal bowl": [ + 299, + 341, + 527, + 606 + ], + "grey bin": [ + 734, + 630, + 995, + 995 + ], + "red cup": [ + 530, + 525, + 616, + 647 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has approached the silver pot and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the pot, suggesting a secure grasp is being established. The next likely action is to confirm the grasp stability before lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29456740617752075, + 0.005228253081440926, + 0.03397485986351967, + -3.0730254650115967, + -0.5435878038406372, + -0.15144947171211243 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has approached the silver pot and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the pot, suggesting a secure grasp is being established. The next likely action is to confirm the grasp stability before lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31398341059684753, + 0.011699497699737549, + 0.03328428044915199, + -3.0932486057281494, + -0.5511084794998169, + -0.17342425882816315 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 276, + 447, + 561, + 757 + ], + "grey bin": [ + 733, + 629, + 995, + 994 + ], + "metal bowl": [ + 373, + 239, + 611, + 519 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has approached the silver pot and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the pot, suggesting a secure grasp is being established. The next likely action is to confirm the grasp stability before lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.332655668258667, + 0.027269799262285233, + 0.019520685076713562, + -3.092942714691162, + -0.4781467914581299, + -0.12032075971364975 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has approached the silver pot and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the pot, suggesting a secure grasp is being established. The next likely action is to confirm the grasp stability before lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455786108970642, + 0.042993899434804916, + 0.009874989278614521, + -3.076437473297119, + -0.3860262334346771, + -0.05738738179206848 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has approached the silver pot and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the pot, suggesting a secure grasp is being established. The next likely action is to confirm the grasp stability before lifting the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 3 cm, open gripper; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34808799624443054, + 0.06416087597608566, + 0.012951553799211979, + -3.054668426513672, + -0.3812861442565918, + -0.004277895670384169 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has successfully grasped the silver pot and lifted it above the stovetop. The pot is currently suspended in mid-air, positioned generally over the target area but requiring precise alignment. The next action is to maneuver the pot directly over the upper left side of the left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34747302532196045, + 0.0822008028626442, + 0.007894231006503105, + -3.058854103088379, + -0.3723391592502594, + 0.042570650577545166 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has successfully grasped the silver pot and lifted it above the stovetop. The pot is currently suspended in mid-air, positioned generally over the target area but requiring precise alignment. The next action is to maneuver the pot directly over the upper left side of the left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, open gripper; then move back 5 cm, move right 2 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35044318437576294, + 0.09907710552215576, + 0.0005277343443594873, + -3.0624516010284424, + -0.37414973974227905, + 0.07464674860239029 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has successfully grasped the silver pot and lifted it above the stovetop. The pot is currently suspended in mid-air, positioned generally over the target area but requiring precise alignment. The next action is to maneuver the pot directly over the upper left side of the left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, open gripper; then move back 5 cm, move right 2 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594444692134857, + 0.10220690071582794, + -0.010043468326330185, + -3.0601351261138916, + -0.37674713134765625, + 0.06351243704557419 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has successfully grasped the silver pot and lifted it above the stovetop. The pot is currently suspended in mid-air, positioned generally over the target area but requiring precise alignment. The next action is to maneuver the pot directly over the upper left side of the left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, keep gripper open; then move back 5 cm, move right 2 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3751298785209656, + 0.09828715771436691, + -0.0159476175904274, + -3.045707941055298, + -0.36905381083488464, + 0.021783573552966118 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has successfully grasped the silver pot and lifted it above the stovetop. The pot is currently suspended in mid-air, positioned generally over the target area but requiring precise alignment. The next action is to maneuver the pot directly over the upper left side of the left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 5 cm, move right 2 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3805118799209595, + 0.0910414457321167, + -0.01842316798865795, + -3.048649311065674, + -0.3370186984539032, + 0.008681165054440498 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "lift and reposition pot over target", + "subtask_reasoning": "The robot has successfully grasped the silver pot and lifted it above the stovetop. The pot is currently suspended in mid-air, positioned generally over the target area but requiring precise alignment. The next action is to maneuver the pot directly over the upper left side of the left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 5 cm, move right 2 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3799624443054199, + 0.08415285497903824, + -0.018592512235045433, + -3.0491509437561035, + -0.3178373873233795, + 0.011106445454061031 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The robot has successfully grasped the silver pot and lifted it above the stovetop. The pot is currently suspended in mid-air, positioned generally over the target area but requiring precise alignment. The next action is to maneuver the pot directly over the upper left side of the left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3789958357810974, + 0.08070190250873566, + -0.008356481790542603, + -3.0768837928771973, + -0.3097894489765167, + 0.029505735263228416 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The robot has successfully grasped the silver pot and lifted it above the stovetop. The pot is currently suspended in mid-air, positioned generally over the target area but requiring precise alignment. The next action is to maneuver the pot directly over the upper left side of the left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3859204947948456, + 0.08315984904766083, + 0.019100317731499672, + -3.11114501953125, + -0.32485923171043396, + 0.05848008021712303 + ], + "gripper_value": 1.0156210660934448 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 311, + 198, + 518, + 424 + ], + "blue cloth": [ + 274, + 442, + 563, + 759 + ], + "grey bin": [ + 734, + 631, + 995, + 994 + ], + "spatula": [ + 505, + 401, + 748, + 790 + ], + "induction cooktop": [ + 149, + 328, + 781, + 894 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is currently held above the left burner, aligned with the target placement zone. The gripper has opened significantly (value ~1.0), indicating release has occurred or is in progress. The next action is to retreat the end-effector upward and away from the stove to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3835141658782959, + 0.08177414536476135, + 0.051989514380693436, + -3.0986385345458984, + -0.3193915784358978, + 0.06305849552154541 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is currently held above the left burner, aligned with the target placement zone. The gripper has opened significantly (value ~1.0), indicating release has occurred or is in progress. The next action is to retreat the end-effector upward and away from the stove to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3689438998699188, + 0.0733875036239624, + 0.06501337140798569, + -3.102877140045166, + -0.26880764961242676, + 0.05152156203985214 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is currently held above the left burner, aligned with the target placement zone. The gripper has opened significantly (value ~1.0), indicating release has occurred or is in progress. The next action is to retreat the end-effector upward and away from the stove to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3321661055088043, + 0.060372207313776016, + 0.059321168810129166, + -3.088271141052246, + -0.20017997920513153, + 0.09394488483667374 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the upper left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "secure grasp on pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot over target" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The silver pot is currently held above the left burner, aligned with the target placement zone. The gripper has opened significantly (value ~1.0), indicating release has occurred or is in progress. The next action is to retreat the end-effector upward and away from the stove to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004161_ecot.json b/cot/chunk-0004/episode_0004161_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ee3dac05078b51446ce8646a84ffec4f5fb2ec01 --- /dev/null +++ b/cot/chunk-0004/episode_0004161_ecot.json @@ -0,0 +1,1186 @@ +{ + "task_name": "episode_0004161", + "episode_json": "json/chunk-0004/episode_0004161.json", + "video_path": "videos/chunk-0004/image_0/episode_0004161.mp4", + "instruction": "Lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004161.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.617358922958374, + "std": 0.28714337944984436, + "delta_total": -0.617358922958374, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61736, std=0.28714, total_delta=-0.61736). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 10 + ], + [ + 3, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the vertical lever while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 9, \"end\": 10, \"planning\": \"Close gripper to securely grasp the lever as confirmed by significant gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"rotate lever forward\", \"start\": 11, \"end\": 19, \"planning\": \"Apply rotational torque to pivot the lever from vertical to front-facing orientation while maintaining grip.\"}\n ],\n \"global_plan\": \"Approach the vertical lever, grasp it firmly, then rotate it forward to complete the task.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.46340) and image consistency at frame 9; Segment 2 is a single frame with no further closing but maintains grasp; Segment 3 shows sustained grip with small adjustments during rotation. All phases are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the vertical lever while keeping gripper open." + }, + { + "id": 2, + "name": "grasp lever", + "start": 9, + "end": 10, + "planning": "Close gripper to securely grasp the lever as confirmed by significant gripper closure and stable pose." + }, + { + "id": 3, + "name": "rotate lever forward", + "start": 11, + "end": 19, + "planning": "Apply rotational torque to pivot the lever from vertical to front-facing orientation while maintaining grip." + } + ], + "global_plan": "Approach the vertical lever, grasp it firmly, then rotate it forward to complete the task.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.46340) and image consistency at frame 9; Segment 2 is a single frame with no further closing but maintains grasp; Segment 3 shows sustained grip with small adjustments during rotation. All phases are contiguous and cover full trajectory." + } + }, + "episode_goal": "Grasp the faucet lever and pull it forward to the vertical position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37871554493904114, + -0.06683480739593506, + 0.08752408623695374, + -3.116727828979492, + -0.0633561760187149, + 0.08836784213781357 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. The gripper is open, and the arm is in an initial approach pose. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37814849615097046, + -0.06516846269369125, + 0.0764857828617096, + -3.1033687591552734, + -0.05040006712079048, + 0.09856761246919632 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 206, + 351, + 824, + 940 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. The gripper is open, and the arm is in an initial approach pose. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3831866979598999, + -0.05969506874680519, + 0.07131167501211166, + -3.075794219970703, + -0.09725935012102127, + 0.10165431350469589 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. The gripper is open, and the arm is in an initial approach pose. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38999342918395996, + -0.05185011774301529, + 0.06454640626907349, + -3.030770778656006, + -0.18741749227046967, + 0.07066778838634491 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. The gripper is open, and the arm is in an initial approach pose. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39891254901885986, + -0.054679498076438904, + 0.07132542878389359, + -3.0205018520355225, + -0.2773490250110626, + 0.03874719887971878 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt right 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.40192243456840515, + -0.05460387095808983, + 0.07220982760190964, + -3.0159971714019775, + -0.2953493297100067, + 0.02242831327021122 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt right 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4091877341270447, + -0.05751141160726547, + 0.08081437647342682, + -3.0285139083862305, + -0.31818997859954834, + 0.004596362356096506 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move back 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.41482436656951904, + -0.05504941567778587, + 0.08568581193685532, + -3.054668426513672, + -0.32504838705062866, + -0.00826708972454071 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4176192879676819, + -0.05684048682451248, + 0.08350018411874771, + -3.0822033882141113, + -0.3185757100582123, + -0.013445468619465828 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.41939160227775574, + -0.05632970109581947, + 0.08081848174333572, + -3.1051185131073, + -0.3071190118789673, + 1.5710467778262682e-05 + ], + "gripper_value": 0.5354229807853699 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever in the sink area, having completed the approach phase. The gripper is currently open and aligned with the lever, ready to make contact. The next action is to close the gripper to grasp the lever firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.41819170117378235, + -0.05619126930832863, + 0.08117875456809998, + -3.127013921737671, + -0.29064834117889404, + 0.019723640754818916 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever in the sink area, having completed the approach phase. The gripper is currently open and aligned with the lever, ready to make contact. The next action is to close the gripper to grasp the lever firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41154026985168457, + -0.057888951152563095, + 0.08090982586145401, + 3.1301207542419434, + -0.23750995099544525, + 0.04779357463121414 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever in the sink area, having completed the approach phase. The gripper is currently open and aligned with the lever, ready to make contact. The next action is to close the gripper to grasp the lever firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40222442150115967, + -0.05880184471607208, + 0.07823414355516434, + 3.119032144546509, + -0.1815187931060791, + 0.10753490775823593 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever in the sink area, having completed the approach phase. The gripper is currently open and aligned with the lever, ready to make contact. The next action is to close the gripper to grasp the lever firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3902459740638733, + -0.061814043670892715, + 0.07428228855133057, + 3.1244237422943115, + -0.1646689623594284, + 0.15688449144363403 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever in the sink area, having completed the approach phase. The gripper is currently open and aligned with the lever, ready to make contact. The next action is to close the gripper to grasp the lever firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38038426637649536, + -0.06319445371627808, + 0.06802403181791306, + 3.120962381362915, + -0.15210916101932526, + 0.19422794878482819 + ], + "gripper_value": 0.40327540040016174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever in the sink area, having completed the approach phase. The gripper is currently open and aligned with the lever, ready to make contact. The next action is to close the gripper to grasp the lever firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37464001774787903, + -0.06716696172952652, + 0.06371592730283737, + 3.0824804306030273, + -0.15658576786518097, + 0.2131667286157608 + ], + "gripper_value": 0.40327540040016174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is holding the lever firmly as indicated by the stable gripper value. The next action is to rotate the lever forward to achieve the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3712104260921478, + -0.06653126329183578, + 0.05803728476166725, + 3.035219430923462, + -0.1461777240037918, + 0.23493601381778717 + ], + "gripper_value": 0.39798861742019653 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 206, + 350, + 824, + 938 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is holding the lever firmly as indicated by the stable gripper value. The next action is to rotate the lever forward to achieve the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.370430588722229, + -0.06445295363664627, + 0.05810676887631416, + 3.0117859840393066, + -0.09103687852621078, + 0.23280085623264313 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is holding the lever firmly as indicated by the stable gripper value. The next action is to rotate the lever forward to achieve the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37077051401138306, + -0.06361943483352661, + 0.05814961716532707, + 3.008869171142578, + -0.018435675650835037, + 0.21099887788295746 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is holding the lever firmly as indicated by the stable gripper value. The next action is to rotate the lever forward to achieve the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37067997455596924, + -0.06349516659975052, + 0.05676703155040741, + 3.0130441188812256, + 0.0012057351414114237, + 0.1994781792163849 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever forward" + } + ], + "subtask_name": "rotate lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is holding the lever firmly as indicated by the stable gripper value. The next action is to rotate the lever forward to achieve the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004163_ecot.json b/cot/chunk-0004/episode_0004163_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ca4fa21a71a7b67f2a7ad69dd65fcccea5ecd2e2 --- /dev/null +++ b/cot/chunk-0004/episode_0004163_ecot.json @@ -0,0 +1,2082 @@ +{ + "task_name": "episode_0004163", + "episode_json": "json/chunk-0004/episode_0004163.json", + "video_path": "videos/chunk-0004/image_0/episode_0004163.mp4", + "instruction": "Close microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004163.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.000666201114654541, + "std": 0.00011420008377172053, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00011, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave door\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the microwave door handle from initial position.\"},\n {\"id\": 2, \"name\": \"align with door handle\", \"start\": 9, \"end\": 16, \"planning\": \"Adjust orientation and position to align gripper with microwave door handle for contact.\"},\n {\"id\": 3, \"name\": \"make contact with handle\", \"start\": 17, \"end\": 24, \"planning\": \"Establish physical contact with microwave door handle without grasping, preparing to push.\"},\n {\"id\": 4, \"name\": \"push door closed\", \"start\": 25, \"end\": 32, \"planning\": \"Apply force via end-effector to slide or push microwave door until fully closed.\"}\n ],\n \"global_plan\": \"The robot approaches the microwave door, aligns its end-effector with the handle, makes contact, and then pushes the door shut without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, align, contact, push). No lifting or placing occurs. Frame ranges cover full trajectory [0,32] contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave door", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the microwave door handle from initial position." + }, + { + "id": 2, + "name": "align with door handle", + "start": 9, + "end": 16, + "planning": "Adjust orientation and position to align gripper with microwave door handle for contact." + }, + { + "id": 3, + "name": "make contact with handle", + "start": 17, + "end": 24, + "planning": "Establish physical contact with microwave door handle without grasping, preparing to push." + }, + { + "id": 4, + "name": "push door closed", + "start": 25, + "end": 32, + "planning": "Apply force via end-effector to slide or push microwave door until fully closed." + } + ], + "global_plan": "The robot approaches the microwave door, aligns its end-effector with the handle, makes contact, and then pushes the door shut without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, align, contact, push). No lifting or placing occurs. Frame ranges cover full trajectory [0,32] contiguously." + } + }, + "episode_goal": "Close the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23172277212142944, + -0.08622575551271439, + 0.024427900090813637, + 3.1249518394470215, + -0.16019366681575775, + 0.22357478737831116 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the microwave with its end-effector aligned toward the door handle. No contact has been made yet, and the gripper remains open as per plan. The next action is to move forward slightly to establish contact with the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 20 cm, move up 14 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.226685032248497, + -0.08422358334064484, + 0.021537775173783302, + 3.1371259689331055, + -0.12988993525505066, + 0.22669585049152374 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the microwave with its end-effector aligned toward the door handle. No contact has been made yet, and the gripper remains open as per plan. The next action is to move forward slightly to establish contact with the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 19 cm, move up 15 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23088863492012024, + -0.08309140056371689, + 0.0576726570725441, + 3.0786972045898438, + -0.10567867755889893, + 0.2428167164325714 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the microwave with its end-effector aligned toward the door handle. No contact has been made yet, and the gripper remains open as per plan. The next action is to move forward slightly to establish contact with the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 19 cm, move up 11 cm, rotate clockwise 10 degrees, keep gripper open; then move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23558491468429565, + -0.06629224866628647, + 0.10321465879678726, + 3.0099635124206543, + -0.12459442764520645, + 0.27302396297454834 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bottle": [ + 537, + 732, + 589, + 854 + ], + "sink": [ + 297, + 613, + 561, + 917 + ], + "blue bowl": [ + 350, + 156, + 504, + 306 + ], + "fan": [ + 586, + 743, + 838, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the microwave with its end-effector aligned toward the door handle. No contact has been made yet, and the gripper remains open as per plan. The next action is to move forward slightly to establish contact with the microwave door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 18 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.237923726439476, + -0.04029170796275139, + 0.14248864352703094, + 2.972036123275757, + -0.12317235767841339, + 0.32713237404823303 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot's end-effector is positioned above the sink area, approaching the microwave door from a distance. No contact has been made yet, and the gripper remains open as per the plan. The next action is to continue moving forward to align with the microwave door handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 15 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23180930316448212, + -0.0030631618574261665, + 0.16348424553871155, + 2.9751946926116943, + -0.1532984972000122, + 0.33566632866859436 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot's end-effector is positioned above the sink area, approaching the microwave door from a distance. No contact has been made yet, and the gripper remains open as per the plan. The next action is to continue moving forward to align with the microwave door handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move up 1 cm, keep gripper open; then move forward 3 cm, move right 5 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22509567439556122, + 0.032085221260786057, + 0.17460259795188904, + 2.9440290927886963, + -0.1702907830476761, + 0.3537495732307434 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot's end-effector is positioned above the sink area, approaching the microwave door from a distance. No contact has been made yet, and the gripper remains open as per the plan. The next action is to continue moving forward to align with the microwave door handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 9 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21852149069309235, + 0.061871789395809174, + 0.180575430393219, + 2.93721079826355, + -0.1886395663022995, + 0.3817286193370819 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot's end-effector is positioned above the sink area, approaching the microwave door from a distance. No contact has been made yet, and the gripper remains open as per the plan. The next action is to continue moving forward to align with the microwave door handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 1 cm, keep gripper open; then move forward 5 cm, move right 13 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2085782140493393, + 0.08989229053258896, + 0.17720507085323334, + 2.9636318683624268, + -0.21307946741580963, + 0.3844180703163147 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bottle": [ + 537, + 733, + 589, + 856 + ], + "blue bowl": [ + 351, + 156, + 502, + 309 + ], + "sink": [ + 298, + 614, + 565, + 916 + ], + "fan": [ + 586, + 740, + 837, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot's end-effector is positioned above the sink area, approaching the microwave door from a distance. No contact has been made yet, and the gripper remains open as per the plan. The next action is to continue moving forward to align with the microwave door handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 5 cm, move right 13 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.19856704771518707, + 0.1097128763794899, + 0.1685735583305359, + 2.9793169498443604, + -0.17537222802639008, + 0.3960382342338562 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "align with door handle", + "subtask_reasoning": "The robot's end-effector is positioned above the sink area, approaching the microwave door from a distance. No contact has been made yet, and the gripper remains open as per the plan. The next action is to continue moving forward to align with the microwave door handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1955132931470871, + 0.11804356426000595, + 0.16083385050296783, + 3.0213518142700195, + -0.18810200691223145, + 0.4014202654361725 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "align with door handle", + "subtask_reasoning": "The robot's end-effector is positioned above the sink area, approaching the microwave door from a distance. No contact has been made yet, and the gripper remains open as per the plan. The next action is to continue moving forward to align with the microwave door handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 14 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19324293732643127, + 0.11905249208211899, + 0.1469016820192337, + 3.0701956748962402, + -0.18504598736763, + 0.40822792053222656 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "align with door handle", + "subtask_reasoning": "The robot's end-effector is positioned above the sink area, approaching the microwave door from a distance. No contact has been made yet, and the gripper remains open as per the plan. The next action is to continue moving forward to align with the microwave door handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 14 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.1953543871641159, + 0.11390506476163864, + 0.13620124757289886, + 3.07901668548584, + -0.15373119711875916, + 0.40714654326438904 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "align with door handle", + "subtask_reasoning": "The robot is positioned near the microwave door, with the end-effector aligned toward the handle. The approach phase is complete, and the gripper remains open as per plan. The next action is to make contact with the handle to begin pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2004929482936859, + 0.10265080630779266, + 0.12525904178619385, + 3.0665555000305176, + -0.14176808297634125, + 0.4235812723636627 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "align with door handle", + "subtask_reasoning": "The robot is positioned near the microwave door, with the end-effector aligned toward the handle. The approach phase is complete, and the gripper remains open as per plan. The next action is to make contact with the handle to begin pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 10 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21348325908184052, + 0.08186955004930496, + 0.12042191624641418, + 3.02864670753479, + -0.12763988971710205, + 0.4560113251209259 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "align with door handle", + "subtask_reasoning": "The robot is positioned near the microwave door, with the end-effector aligned toward the handle. The approach phase is complete, and the gripper remains open as per plan. The next action is to make contact with the handle to begin pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move left 10 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22654926776885986, + 0.05513360723853111, + 0.11869899928569794, + 3.000183582305908, + -0.12319248169660568, + 0.47707656025886536 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "align with door handle", + "subtask_reasoning": "The robot is positioned near the microwave door, with the end-effector aligned toward the handle. The approach phase is complete, and the gripper remains open as per plan. The next action is to make contact with the handle to begin pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2396862655878067, + 0.02008109539747238, + 0.1258867233991623, + 2.9406213760375977, + -0.09824690222740173, + 0.4959958493709564 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "align with door handle", + "subtask_reasoning": "The robot is positioned near the microwave door, with the end-effector aligned toward the handle. The approach phase is complete, and the gripper remains open as per plan. The next action is to make contact with the handle to begin pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.249421626329422, + -0.017660921439528465, + 0.1477014124393463, + 2.8631200790405273, + -0.0963822603225708, + 0.49931469559669495 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the microwave door, with the end-effector aligned toward the handle. The approach phase is complete, and the gripper remains open as per plan. The next action is to make contact with the handle to begin pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23864731192588806, + -0.04802989959716797, + 0.1670766919851303, + 2.785048484802246, + -0.0923919826745987, + 0.43832162022590637 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bottle": [ + 536, + 735, + 589, + 855 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the microwave door, with the end-effector aligned toward the handle. The approach phase is complete, and the gripper remains open as per plan. The next action is to make contact with the handle to begin pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.220775306224823, + -0.03736839443445206, + 0.16091005504131317, + 2.8440680503845215, + -0.11696381866931915, + 0.382980614900589 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the microwave door, with the end-effector aligned toward the handle. The approach phase is complete, and the gripper remains open as per plan. The next action is to make contact with the handle to begin pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2196684032678604, + -0.0007358027505688369, + 0.14971433579921722, + 2.9214069843292236, + -0.12236500531435013, + 0.3977205157279968 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot's end-effector is positioned near the microwave door handle, having completed the approach and alignment phases. The gripper remains open, indicating no grasp has occurred yet. The next action is to make physical contact with the handle to prepare for pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22347413003444672, + 0.03555470332503319, + 0.1374974548816681, + 2.9538276195526123, + -0.1339416354894638, + 0.45233625173568726 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot's end-effector is positioned near the microwave door handle, having completed the approach and alignment phases. The gripper remains open, indicating no grasp has occurred yet. The next action is to make physical contact with the handle to prepare for pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.22788898646831512, + 0.06155248358845711, + 0.13222455978393555, + 2.973891496658325, + -0.14816637337207794, + 0.5080777406692505 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot's end-effector is positioned near the microwave door handle, having completed the approach and alignment phases. The gripper remains open, indicating no grasp has occurred yet. The next action is to make physical contact with the handle to prepare for pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23816294968128204, + 0.0807228684425354, + 0.1318567842245102, + 3.0019569396972656, + -0.12445969134569168, + 0.5689660310745239 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot's end-effector is positioned near the microwave door handle, having completed the approach and alignment phases. The gripper remains open, indicating no grasp has occurred yet. The next action is to make physical contact with the handle to prepare for pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24888986349105835, + 0.07981277257204056, + 0.1278708428144455, + 3.0122129917144775, + -0.1604173630475998, + 0.6033408641815186 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot's end-effector is positioned near the microwave door handle, having completed the approach and alignment phases. The gripper remains open, indicating no grasp has occurred yet. The next action is to make physical contact with the handle to prepare for pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25868916511535645, + 0.07054072618484497, + 0.12047029286623001, + 3.0141706466674805, + -0.16767744719982147, + 0.6148961186408997 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is positioned near the microwave door handle, having completed the approach and alignment phases. The gripper remains open, indicating no grasp has occurred yet. The next action is to make physical contact with the handle to prepare for pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2646675705909729, + 0.06355404108762741, + 0.1192765161395073, + 3.0012755393981934, + -0.19209060072898865, + 0.6134297251701355 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is positioned near the microwave door handle, having completed the approach and alignment phases. The gripper remains open, indicating no grasp has occurred yet. The next action is to make physical contact with the handle to prepare for pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2701863646507263, + 0.05827946215867996, + 0.1119997501373291, + 3.002734422683716, + -0.2125844657421112, + 0.6178193688392639 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is positioned near the microwave door handle, having completed the approach and alignment phases. The gripper remains open, indicating no grasp has occurred yet. The next action is to make physical contact with the handle to prepare for pushing the door shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28007620573043823, + 0.05171365663409233, + 0.11345268040895462, + 2.9775989055633545, + -0.2644970715045929, + 0.6115598082542419 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave door handle, positioned to push it closed. The gripper remains open throughout, consistent with a non-grasping push action. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2875870168209076, + 0.049181073904037476, + 0.11176179349422455, + 2.9486286640167236, + -0.318394273519516, + 0.6232314109802246 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave door handle, positioned to push it closed. The gripper remains open throughout, consistent with a non-grasping push action. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28885379433631897, + 0.047991469502449036, + 0.11210960894823074, + 2.945554733276367, + -0.3236580193042755, + 0.6445173025131226 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave door handle, positioned to push it closed. The gripper remains open throughout, consistent with a non-grasping push action. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26848435401916504, + 0.0529627799987793, + 0.1062234565615654, + 3.044395685195923, + -0.15189829468727112, + 0.6337820887565613 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave door handle, positioned to push it closed. The gripper remains open throughout, consistent with a non-grasping push action. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.23026970028877258, + 0.06171877309679985, + 0.09092541038990021, + 3.1253693103790283, + 0.011765439994633198, + 0.5957467555999756 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bottle": [ + 537, + 733, + 589, + 853 + ], + "fan": [ + 584, + 742, + 838, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "align with door handle" + }, + { + "id": 3, + "subtask": "make contact with handle" + }, + { + "id": 4, + "subtask": "push door closed" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the microwave door handle, positioned to push it closed. The gripper remains open throughout, consistent with a non-grasping push action. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004165_ecot.json b/cot/chunk-0004/episode_0004165_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d328be1659145c3de60a90f8b429b7329ed6335b --- /dev/null +++ b/cot/chunk-0004/episode_0004165_ecot.json @@ -0,0 +1,3012 @@ +{ + "task_name": "episode_0004165", + "episode_json": "json/chunk-0004/episode_0004165.json", + "video_path": "videos/chunk-0004/image_0/episode_0004165.mp4", + "instruction": "Move the red fork to the left side of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004165.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.7276279926300049, + "std": 0.33727261424064636, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72763, std=0.33727, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 16, + 16, + 16, + 16, + 35, + 35, + 35, + 35, + 35, + 35, + 35, + 35, + 35, + 35 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 15 + ], + [ + 4, + 16, + 30 + ], + [ + 5, + 31, + 34 + ], + [ + 6, + 35, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red fork\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the red fork on the right side of the stove without grasping.\"},\n {\"id\": 2, \"name\": \"grasp red fork\", \"start\": 4, \"end\": 15, \"planning\": \"Close gripper around the red fork and secure hold as confirmed by gripper closure and image alignment.\"},\n {\"id\": 3, \"name\": \"transport fork leftward\", \"start\": 16, \"end\": 30, \"planning\": \"Carry the grasped red fork across the stove to the left side while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release fork at target\", \"start\": 31, \"end\": 34, \"planning\": \"Open gripper to release the red fork at the designated left-side position on the stove.\"},\n {\"id\": 5, \"name\": \"retreat from fork\", \"start\": 35, \"end\": 44, \"planning\": \"Lift and move end-effector away from the released fork to complete the task.\"}\n ],\n \"global_plan\": \"Approach the red fork on the right, grasp it securely, transport it leftward across the stove, release it at the target location, then retreat to finish.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 3, 4, and 6 — allowing grasp/hold/release terminology where images support. Segment 1 (frame 0) and segment 2 (frames 1-3) show no gripper motion or closure, so described as approach only. Full frame coverage ensured with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red fork", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the red fork on the right side of the stove without grasping." + }, + { + "id": 2, + "name": "grasp red fork", + "start": 4, + "end": 15, + "planning": "Close gripper around the red fork and secure hold as confirmed by gripper closure and image alignment." + }, + { + "id": 3, + "name": "transport fork leftward", + "start": 16, + "end": 30, + "planning": "Carry the grasped red fork across the stove to the left side while maintaining grip." + }, + { + "id": 4, + "name": "release fork at target", + "start": 31, + "end": 34, + "planning": "Open gripper to release the red fork at the designated left-side position on the stove." + }, + { + "id": 5, + "name": "retreat from fork", + "start": 35, + "end": 44, + "planning": "Lift and move end-effector away from the released fork to complete the task." + } + ], + "global_plan": "Approach the red fork on the right, grasp it securely, transport it leftward across the stove, release it at the target location, then retreat to finish.", + "notes": "Gripper evidence confirms meaningful closing in segments 3, 4, and 6 — allowing grasp/hold/release terminology where images support. Segment 1 (frame 0) and segment 2 (frames 1-3) show no gripper motion or closure, so described as approach only. Full frame coverage ensured with contiguous ranges." + } + }, + "episode_goal": "Move the red fork to the left side of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2334013432264328, + 0.1018926128745079, + 0.05970010161399841, + -3.032186269760132, + 0.056700289249420166, + 0.603553831577301 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot is positioned above the stove with the red fork visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22208581864833832, + 0.09528401494026184, + 0.04848134517669678, + -3.0201854705810547, + 0.11007434129714966, + 0.6047617793083191 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red fork visible on the right side. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22624091804027557, + 0.06950090080499649, + 0.04930134490132332, + -3.00162672996521, + 0.13311444222927094, + 0.549608051776886 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red fork visible on the right side. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 8 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24397942423820496, + 0.04198380559682846, + 0.05757978931069374, + -3.0100626945495605, + 0.09980683028697968, + 0.46750858426094055 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "approach red fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red fork visible on the right side. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 1 cm, keep gripper open; then move forward 4 cm, move right 8 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26505300402641296, + 0.005932256113737822, + 0.06891606003046036, + -3.032200336456299, + 0.05160851031541824, + 0.3993760943412781 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red spatula": [ + 562, + 526, + 642, + 745 + ], + "green cloth": [ + 134, + 540, + 460, + 855 + ], + "wooden cabinet": [ + 2, + 3, + 267, + 529 + ], + "induction cooktop": [ + 8, + 432, + 706, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red fork visible on the right side. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2839874029159546, + -0.019362041726708412, + 0.06522520631551743, + -3.0484206676483154, + 0.058705270290374756, + 0.36728185415267944 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red fork visible on the right side. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29241013526916504, + -0.04716493561863899, + 0.05787525326013565, + -3.0283362865448, + 0.05231531336903572, + 0.3936370015144348 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red fork visible on the right side. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2945609986782074, + -0.057871993631124496, + 0.044483914971351624, + -3.018693685531616, + 0.0736762136220932, + 0.4243113100528717 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red fork visible on the right side. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2960514724254608, + -0.06211196258664131, + 0.02855456806719303, + -3.027841806411743, + 0.09565898776054382, + 0.4491845369338989 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red fork visible on the right side. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30116766691207886, + -0.06260859966278076, + 0.020138107240200043, + -3.0139174461364746, + 0.103633813560009, + 0.4614547789096832 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3026614487171173, + -0.06389269232749939, + 0.01188289187848568, + -3.0182881355285645, + 0.10493990778923035, + 0.47160935401916504 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3065142333507538, + -0.06717181950807571, + 0.01170840673148632, + -3.040196180343628, + 0.08486463129520416, + 0.4787482023239136 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30324918031692505, + -0.07256115972995758, + 0.004336273297667503, + -3.0159413814544678, + 0.09359897673130035, + 0.46987098455429077 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red spatula": [ + 573, + 579, + 641, + 746 + ], + "metal bowl": [ + 199, + 326, + 395, + 517 + ], + "green cloth": [ + 135, + 540, + 460, + 854 + ], + "induction cooktop": [ + 8, + 426, + 722, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 3 cm, move left 3 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3050522804260254, + -0.0735565796494484, + 0.0014929817989468575, + -3.018911838531494, + 0.08994821459054947, + 0.4707809090614319 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3072647154331207, + -0.07293291389942169, + 0.0010611293837428093, + -3.013373851776123, + 0.07782641798257828, + 0.4814140796661377 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30868980288505554, + -0.07497984170913696, + -0.0017905812710523605, + -3.030366897583008, + 0.05977945029735565, + 0.4803038239479065 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "grasp red fork", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 10 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.307873010635376, + -0.07603341341018677, + -0.0030698729678988457, + -3.051424026489258, + 0.055013641715049744, + 0.4663849472999573 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 13 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3083077073097229, + -0.07620471715927124, + -0.0031628215219825506, + -3.059774398803711, + 0.045958343893289566, + 0.46704936027526855 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 16 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30543777346611023, + -0.07298057526350021, + -0.0025526718236505985, + -3.048673152923584, + 0.03133760392665863, + 0.46395424008369446 + ], + "gripper_value": 0.3181038796901703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 17 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2904032766819, + -0.06355210393667221, + 0.002820429624989629, + -2.9859955310821533, + 0.05152279883623123, + 0.4449588358402252 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 17 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.286382257938385, + -0.05728698894381523, + 0.013440537266433239, + -2.9818906784057617, + 0.06951789557933807, + 0.46300438046455383 + ], + "gripper_value": 0.2906041443347931 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 18 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28612005710601807, + -0.05202014744281769, + 0.03167973831295967, + -2.974813222885132, + 0.03624776750802994, + 0.5123323798179626 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 17 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2803304195404053, + -0.045230019837617874, + 0.04288365691900253, + -2.987684488296509, + 0.01823868602514267, + 0.5506207942962646 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot arm is positioned directly above the red fork on the stove, with the gripper open and ready. The approach phase is complete, and the arm is aligned for grasping. The next action is to close the gripper to securely grasp the red fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 17 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26873743534088135, + -0.033169250935316086, + 0.0487220324575901, + -2.952556610107422, + 0.018965691328048706, + 0.6457349061965942 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25219494104385376, + -0.0009653668967075646, + 0.055680498480796814, + -2.9508581161499023, + 0.03763847425580025, + 0.7430121302604675 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 134, + 541, + 455, + 855 + ], + "red spatula": [ + 415, + 512, + 504, + 655 + ] + } + } + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23133614659309387, + 0.027544144541025162, + 0.052318718284368515, + -2.926514148712158, + 0.0500933937728405, + 0.8302949666976929 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2197975069284439, + 0.05450643226504326, + 0.05274687707424164, + -2.896597146987915, + 0.047839343547821045, + 0.830265998840332 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.21140709519386292, + 0.08060634881258011, + 0.05065080150961876, + -2.857419490814209, + 0.05407363921403885, + 0.7870250940322876 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 135, + 538, + 459, + 856 + ], + "red spatula": [ + 156, + 490, + 239, + 640 + ] + } + } + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.20230519771575928, + 0.09755104780197144, + 0.04139481857419014, + -2.817397117614746, + 0.07922138273715973, + 0.6793011426925659 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.20517152547836304, + 0.10956531018018723, + 0.034796930849552155, + -2.8039331436157227, + 0.07738921791315079, + 0.5766086578369141 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.20244412124156952, + 0.11918255686759949, + 0.024844488129019737, + -2.8173372745513916, + 0.0623503252863884, + 0.44720733165740967 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "transport fork leftward", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.20518720149993896, + 0.12103088200092316, + 0.018713776022195816, + -2.847910165786743, + 0.056078486144542694, + 0.28856411576271057 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "release fork at target", + "subtask_reasoning": "The robot is currently holding the red fork and moving it leftward across the stove surface. The approach and grasp phases are complete, and the fork is in transit toward the target location on the left. The next action is to continue the lateral movement until the fork reaches the designated spot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 9 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.20350567996501923, + 0.1261880099773407, + 0.012572180479764938, + -2.9007983207702637, + 0.04136763885617256, + 0.2085011601448059 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "release fork at target", + "subtask_reasoning": "The red fork is positioned on the left side of the stove near the green cloth, indicating the target location has been reached. The gripper is currently open (value ~0.29), confirming the fork has been released. The robot should now retreat from the stove area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, open gripper; then move right 13 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2093205749988556, + 0.12417546659708023, + 0.010270598344504833, + -2.9266982078552246, + 0.010877118445932865, + 0.14296764135360718 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "release fork at target", + "subtask_reasoning": "The red fork is positioned on the left side of the stove near the green cloth, indicating the target location has been reached. The gripper is currently open (value ~0.29), confirming the fork has been released. The robot should now retreat from the stove area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 15 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21049602329730988, + 0.12269439548254013, + 0.009680968709290028, + -2.9369566440582275, + 0.009621810168027878, + 0.11060548573732376 + ], + "gripper_value": 0.3552374839782715 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "release fork at target", + "subtask_reasoning": "The red fork is positioned on the left side of the stove near the green cloth, indicating the target location has been reached. The gripper is currently open (value ~0.29), confirming the fork has been released. The robot should now retreat from the stove area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 15 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2098555713891983, + 0.11933612823486328, + 0.009289771318435669, + -2.9587998390197754, + 0.02083895355463028, + 0.0943693146109581 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork is positioned on the left side of the stove near the green cloth, indicating the target location has been reached. The gripper is currently open (value ~0.29), confirming the fork has been released. The robot should now retreat from the stove area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2068609595298767, + 0.11596330255270004, + 0.010954052209854126, + -2.979813575744629, + 0.03855440393090248, + 0.09123260527849197 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork is positioned on the left side of the stove near the green cloth, indicating the target location has been reached. The gripper is currently open (value ~0.29), confirming the fork has been released. The robot should now retreat from the stove area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.20543159544467926, + 0.11677257716655731, + 0.026176631450653076, + -2.965315580368042, + 0.017946194857358932, + 0.11433989554643631 + ], + "gripper_value": 1.0174883604049683 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork is positioned on the left side of the stove near the green cloth, indicating the target location has been reached. The gripper is currently open (value ~0.29), confirming the fork has been released. The robot should now retreat from the stove area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.20191313326358795, + 0.11433345824480057, + 0.041379284113645554, + -2.934530019760132, + 0.012663268484175205, + 0.1557053029537201 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork is positioned on the left side of the stove near the green cloth, indicating the target location has been reached. The gripper is currently open (value ~0.29), confirming the fork has been released. The robot should now retreat from the stove area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 15 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.20191125571727753, + 0.09470810741186142, + 0.05853019654750824, + -2.9234180450439453, + 0.01413221750408411, + 0.20061370730400085 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork has been successfully placed on the left side of the stove, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the fork to complete the task. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.20418284833431244, + 0.06635294109582901, + 0.0652410164475441, + -2.9383904933929443, + 0.021856438368558884, + 0.2756299674510956 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork has been successfully placed on the left side of the stove, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the fork to complete the task. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2093108892440796, + 0.03183964267373085, + 0.06877590715885162, + -2.990036964416504, + 0.005494080949574709, + 0.2663775086402893 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork has been successfully placed on the left side of the stove, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the fork to complete the task. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2055453658103943, + -0.006761549040675163, + 0.06587082892656326, + -3.008814573287964, + 0.011859589256346226, + 0.2245446890592575 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red spatula": [ + 26, + 493, + 192, + 729 + ], + "metal bowl": [ + 729, + 667, + 994, + 993 + ], + "green cloth": [ + 135, + 545, + 459, + 856 + ] + } + } + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork has been successfully placed on the left side of the stove, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the fork to complete the task. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.1994554102420807, + -0.025964466854929924, + 0.07246749848127365, + -2.990412473678589, + 0.014189353212714195, + 0.1360095590353012 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork has been successfully placed on the left side of the stove, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the fork to complete the task. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.1996067762374878, + -0.031022362411022186, + 0.0957937240600586, + -2.9831509590148926, + 0.02510862424969673, + 0.16503113508224487 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red fork" + }, + { + "id": 2, + "subtask": "grasp red fork" + }, + { + "id": 3, + "subtask": "transport fork leftward" + }, + { + "id": 4, + "subtask": "release fork at target" + }, + { + "id": 5, + "subtask": "retreat from fork" + } + ], + "subtask_name": "retreat from fork", + "subtask_reasoning": "The red fork has been successfully placed on the left side of the stove, and the gripper is now open and positioned above it. The robot is in the retreat phase, moving away from the fork to complete the task. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004166_ecot.json b/cot/chunk-0004/episode_0004166_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0dad76a61b69f928708c1327fc303c8089387388 --- /dev/null +++ b/cot/chunk-0004/episode_0004166_ecot.json @@ -0,0 +1,1307 @@ +{ + "task_name": "episode_0004166", + "episode_json": "json/chunk-0004/episode_0004166.json", + "video_path": "videos/chunk-0004/image_0/episode_0004166.mp4", + "instruction": "Move the can to the lower right of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004166.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006613731384277344, + "std": 0.0003303738485556096, + "delta_total": -0.0006613731384277344, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00033, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector toward the can's initial position without grasping, as gripper remains open throughout this segment.\"},\n {\"id\": 2, \"name\": \"reposition can\", \"start\": 11, \"end\": 22, \"planning\": \"Push or slide the can to the lower right of the table using contact-based manipulation, since no grasp occurred and motion continues with open gripper.\"}\n ],\n \"global_plan\": \"The robot approaches the can and then repositions it to the lower right via pushing/sliding, without ever closing the gripper to grasp it.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in either segment; therefore, all actions are contact-based (approach, push, slide) rather than grasp-and-place. Frame coverage is complete and contiguous from 0 to 22.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can", + "start": 0, + "end": 10, + "planning": "Move the end-effector toward the can's initial position without grasping, as gripper remains open throughout this segment." + }, + { + "id": 2, + "name": "reposition can", + "start": 11, + "end": 22, + "planning": "Push or slide the can to the lower right of the table using contact-based manipulation, since no grasp occurred and motion continues with open gripper." + } + ], + "global_plan": "The robot approaches the can and then repositions it to the lower right via pushing/sliding, without ever closing the gripper to grasp it.", + "notes": "Gripper evidence confirms no meaningful closing in either segment; therefore, all actions are contact-based (approach, push, slide) rather than grasp-and-place. Frame coverage is complete and contiguous from 0 to 22." + } + }, + "episode_goal": "Move the can to the lower right of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24489666521549225, + 0.13509297370910645, + 0.12912601232528687, + 2.950288772583008, + -0.0780595913529396, + 1.8877595663070679 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the end-effector open, approaching the target can located in the upper right area. No contact has been made yet, and the gripper remains fully open as per the segment evidence. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24456241726875305, + 0.13491955399513245, + 0.12145505845546722, + 2.9773921966552734, + -0.07308623939752579, + 1.888724446296692 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the end-effector open, approaching the target can located in the upper right area. No contact has been made yet, and the gripper remains fully open as per the segment evidence. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26029548048973083, + 0.14371077716350555, + 0.12482808530330658, + 2.9861135482788086, + -0.07315294444561005, + 1.9007567167282104 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the end-effector open, approaching the target can located in the upper right area. No contact has been made yet, and the gripper remains fully open as per the segment evidence. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27695173025131226, + 0.15033486485481262, + 0.12773150205612183, + 2.9993715286254883, + -0.058398645371198654, + 1.9077178239822388 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 70, + 201, + 331, + 482 + ], + "knife": [ + 296, + 491, + 621, + 751 + ], + "tomato sauce": [ + 727, + 9, + 905, + 288 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the end-effector open, approaching the target can located in the upper right area. No contact has been made yet, and the gripper remains fully open as per the segment evidence. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3048642575740814, + 0.15759173035621643, + 0.13317029178142548, + 2.995126485824585, + -0.05521366745233536, + 1.909961223602295 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the end-effector open, approaching the target can located in the upper right area. No contact has been made yet, and the gripper remains fully open as per the segment evidence. The next action is to continue moving the end-effector closer to the can to prepare for pushing it toward the lower right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.334380567073822, + 0.17143821716308594, + 0.1296558529138565, + 3.0046818256378174, + -0.05596619471907616, + 1.9372689723968506 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 11 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3528423309326172, + 0.1806267499923706, + 0.1250748336315155, + 3.0263445377349854, + -0.055099327117204666, + 1.9339268207550049 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3724460005760193, + 0.18481995165348053, + 0.11405499279499054, + 3.0259220600128174, + -0.058737896382808685, + 1.90487539768219 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 7 cm, move right 16 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3854699730873108, + 0.17492812871932983, + 0.1071939691901207, + 3.0311107635498047, + -0.018538551405072212, + 1.8564250469207764 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 9 cm, move right 18 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39284956455230713, + 0.16530516743659973, + 0.10387489944696426, + 3.0082144737243652, + -0.020915186032652855, + 1.8042230606079102 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 10 cm, move right 20 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39616087079048157, + 0.14815281331539154, + 0.09789524227380753, + 3.0191574096679688, + -0.02142987586557865, + 1.7340317964553833 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, keep gripper open; then move back 11 cm, move right 21 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39017170667648315, + 0.12853071093559265, + 0.08257745951414108, + 3.073904514312744, + -0.02078823372721672, + 1.6708438396453857 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 19 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38679835200309753, + 0.10521262139081955, + 0.08110862225294113, + 3.1012961864471436, + -0.05327579379081726, + 1.6000109910964966 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 15 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37838155031204224, + 0.07807378470897675, + 0.08155813068151474, + 3.109060287475586, + -0.03691118210554123, + 1.534759521484375 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 296, + 492, + 620, + 750 + ], + "metal pot": [ + 70, + 200, + 332, + 482 + ], + "stove knobs": [ + 872, + 367, + 991, + 788 + ], + "tomato sauce": [ + 728, + 9, + 904, + 289 + ], + "pepper grinder": [ + 364, + 6, + 516, + 261 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 13 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3718017637729645, + 0.05235855281352997, + 0.08089279383420944, + 3.1148838996887207, + -0.03641149774193764, + 1.4813154935836792 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.356626957654953, + 0.022194813936948776, + 0.08695890754461288, + 3.105255365371704, + -0.03752755746245384, + 1.4179294109344482 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot is approaching the can on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the can for subsequent pushing/sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3387437164783478, + -0.0013281888095661998, + 0.08883160352706909, + 3.1009716987609863, + -0.03536298871040344, + 1.3778964281082153 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is in contact with the can, having approached it in the previous step. The gripper remains open, consistent with the plan to push or slide the object rather than grasp it. The next action is to continue applying force to move the can toward the lower right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31712761521339417, + -0.030855558812618256, + 0.08668821305036545, + 3.1044299602508545, + -0.010956441052258015, + 1.325934886932373 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is in contact with the can, having approached it in the previous step. The gripper remains open, consistent with the plan to push or slide the object rather than grasp it. The next action is to continue applying force to move the can toward the lower right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30188462138175964, + -0.05164055898785591, + 0.08473864197731018, + 3.1064817905426025, + -0.01756104826927185, + 1.2818071842193604 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is in contact with the can, having approached it in the previous step. The gripper remains open, consistent with the plan to push or slide the object rather than grasp it. The next action is to continue applying force to move the can toward the lower right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2861972451210022, + -0.07560821622610092, + 0.08724714070558548, + 3.1000664234161377, + -0.01965288817882538, + 1.2205719947814941 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 297, + 492, + 617, + 752 + ], + "metal pot": [ + 69, + 199, + 333, + 483 + ], + "tomato sauce": [ + 749, + 8, + 906, + 287 + ], + "pepper grinder": [ + 526, + 9, + 812, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is in contact with the can, having approached it in the previous step. The gripper remains open, consistent with the plan to push or slide the object rather than grasp it. The next action is to continue applying force to move the can toward the lower right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2837411165237427, + -0.07981743663549423, + 0.09124990552663803, + 3.087320327758789, + -0.015960099175572395, + 1.2197421789169312 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is in contact with the can, having approached it in the previous step. The gripper remains open, consistent with the plan to push or slide the object rather than grasp it. The next action is to continue applying force to move the can toward the lower right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835625410079956, + -0.0641331672668457, + 0.10900992900133133, + 3.0605297088623047, + -0.0062227677553892136, + 1.2719224691390991 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is in contact with the can, having approached it in the previous step. The gripper remains open, consistent with the plan to push or slide the object rather than grasp it. The next action is to continue applying force to move the can toward the lower right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28620702028274536, + -0.049018122255802155, + 0.1318920999765396, + 2.9973127841949463, + -0.024254534393548965, + 1.3143318891525269 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the lower right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition can" + } + ], + "subtask_name": "reposition can", + "subtask_reasoning": "The robot's end-effector is in contact with the can, having approached it in the previous step. The gripper remains open, consistent with the plan to push or slide the object rather than grasp it. The next action is to continue applying force to move the can toward the lower right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004167_ecot.json b/cot/chunk-0004/episode_0004167_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5844da3aa7307b76fdefc66a3d4eb4e2bfae3a67 --- /dev/null +++ b/cot/chunk-0004/episode_0004167_ecot.json @@ -0,0 +1,2626 @@ +{ + "task_name": "episode_0004167", + "episode_json": "json/chunk-0004/episode_0004167.json", + "video_path": "videos/chunk-0004/image_0/episode_0004167.mp4", + "instruction": "Place the yellow spoon vertically beside the can.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004167.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.6018296480178833, + "std": 0.28048789501190186, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60183, std=0.28049, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 233, + 233, + 233, + 233, + 233, + 233 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 16 + ], + [ + 3, + 17, + 24 + ], + [ + 4, + 25, + 32 + ], + [ + 5, + 33, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach spoon\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the yellow spoon on the table without grasping.\"},\n {\"id\": 2, \"name\": \"Grasp spoon\", \"start\": 9, \"end\": 16, \"planning\": \"Close gripper to securely grasp the handle of the yellow spoon.\"},\n {\"id\": 3, \"name\": \"Lift and reposition spoon\", \"start\": 17, \"end\": 24, \"planning\": \"Lift the grasped spoon and move it vertically beside the can.\"},\n {\"id\": 4, \"name\": \"Place spoon upright\", \"start\": 25, \"end\": 32, \"planning\": \"Lower the spoon while maintaining grip to position it vertically next to the can.\"},\n {\"id\": 5, \"name\": \"Release and retreat\", \"start\": 33, \"end\": 38, \"planning\": \"Open gripper to release the spoon and move end-effector away from the placed object.\"}\n ],\n \"global_plan\": \"Approach the yellow spoon, grasp it, lift and reposition it vertically beside the can, then release and retreat.\",\n \"notes\": \"Subtasks align with observed gripper closure in segments 2, 4, and 5; segment 1 shows no closing so described as approach only. Segment 3 (frames 17-24) is inferred as lift/reposition based on motion continuity and task goal, though no explicit state data was provided for those frames — consistent with surrounding grasp and placement phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach spoon", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the yellow spoon on the table without grasping." + }, + { + "id": 2, + "name": "Grasp spoon", + "start": 9, + "end": 16, + "planning": "Close gripper to securely grasp the handle of the yellow spoon." + }, + { + "id": 3, + "name": "Lift and reposition spoon", + "start": 17, + "end": 24, + "planning": "Lift the grasped spoon and move it vertically beside the can." + }, + { + "id": 4, + "name": "Place spoon upright", + "start": 25, + "end": 32, + "planning": "Lower the spoon while maintaining grip to position it vertically next to the can." + }, + { + "id": 5, + "name": "Release and retreat", + "start": 33, + "end": 38, + "planning": "Open gripper to release the spoon and move end-effector away from the placed object." + } + ], + "global_plan": "Approach the yellow spoon, grasp it, lift and reposition it vertically beside the can, then release and retreat.", + "notes": "Subtasks align with observed gripper closure in segments 2, 4, and 5; segment 1 shows no closing so described as approach only. Segment 3 (frames 17-24) is inferred as lift/reposition based on motion continuity and task goal, though no explicit state data was provided for those frames — consistent with surrounding grasp and placement phases." + } + }, + "episode_goal": "Place the yellow spoon vertically beside the can.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19813859462738037, + 0.11429733037948608, + 0.13849903643131256, + 3.0498149394989014, + -0.2832478880882263, + 0.04935992509126663 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon and can visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to the yellow spoon to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move right 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19796031713485718, + 0.11452838033437729, + 0.1333639919757843, + 3.0439441204071045, + -0.2672141194343567, + 0.056800905615091324 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon and can visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to the yellow spoon to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2121831625699997, + 0.1178523451089859, + 0.11398030817508698, + 3.071438789367676, + -0.2260659635066986, + 0.04359167441725731 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon and can visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to the yellow spoon to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move down 4 cm, rotate clockwise 30 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23572945594787598, + 0.1246228963136673, + 0.102652907371521, + 3.1108319759368896, + -0.20349177718162537, + 0.03225908428430557 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal measuring cup": [ + 156, + 243, + 372, + 497 + ], + "toy stove": [ + 688, + 283, + 996, + 993 + ], + "metal spoon": [ + 409, + 532, + 694, + 807 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the yellow spoon and can visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to the yellow spoon to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper open; then move forward 3 cm, move right 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24581314623355865, + 0.12643054127693176, + 0.08842488378286362, + 3.1407885551452637, + -0.16640792787075043, + -0.0190748181194067 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot arm is positioned above the table, with the yellow spoon lying horizontally in front of the can. No actions have been completed yet. The next step is to move the gripper closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 2 cm, rotate clockwise 40 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move down 7 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.252184122800827, + 0.11929678171873093, + 0.07769273966550827, + -3.1307525634765625, + -0.1452762335538864, + -0.11620676517486572 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot arm is positioned above the table, with the yellow spoon lying horizontally in front of the can. No actions have been completed yet. The next step is to move the gripper closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 1 cm, rotate clockwise 40 degrees, keep gripper open; then move forward 4 cm, move right 6 cm, move down 8 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25676968693733215, + 0.10924994945526123, + 0.07014316320419312, + 3.13091778755188, + -0.13693727552890778, + -0.10071126371622086 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot arm is positioned above the table, with the yellow spoon lying horizontally in front of the can. No actions have been completed yet. The next step is to move the gripper closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, rotate clockwise 40 degrees, keep gripper open; then move forward 4 cm, move right 6 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25218871235847473, + 0.09525858610868454, + 0.06280860304832458, + 3.051443576812744, + -0.10618510097265244, + 0.17586393654346466 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot arm is positioned above the table, with the yellow spoon lying horizontally in front of the can. No actions have been completed yet. The next step is to move the gripper closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24725501239299774, + 0.07584717124700546, + 0.06842724978923798, + 3.0144503116607666, + -0.09396222978830338, + 0.41872045397758484 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Approach spoon", + "subtask_reasoning": "The robot arm is positioned above the table, with the yellow spoon lying horizontally in front of the can. No actions have been completed yet. The next step is to move the gripper closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24839171767234802, + 0.058548472821712494, + 0.07149834930896759, + 3.0245110988616943, + -0.0805855393409729, + 0.6379026770591736 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the table, with the yellow spoon lying horizontally in front of the can. No actions have been completed yet. The next step is to move the gripper closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2515457570552826, + 0.045358289033174515, + 0.06808612495660782, + 3.0455222129821777, + -0.06800158321857452, + 0.8220664858818054 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the table, with the yellow spoon lying horizontally in front of the can. No actions have been completed yet. The next step is to move the gripper closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2596973180770874, + 0.0347338542342186, + 0.05558660253882408, + 3.0855467319488525, + -0.016690073534846306, + 0.9186360836029053 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the table, with the yellow spoon lying horizontally in front of the can. No actions have been completed yet. The next step is to move the gripper closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 7 cm, close gripper; then move back 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27347925305366516, + 0.02477152831852436, + 0.037748951464891434, + 3.052011728286743, + 0.040056321769952774, + 1.0170111656188965 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal measuring cup": [ + 156, + 242, + 346, + 445 + ], + "toy stove": [ + 696, + 286, + 996, + 992 + ], + "green fruit": [ + 408, + 532, + 588, + 708 + ], + "metal spoon": [ + 408, + 532, + 693, + 807 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Grasp spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 5 cm, close gripper; then move back 1 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27903518080711365, + 0.014633611775934696, + 0.012039273977279663, + 3.068080186843872, + 0.06233685463666916, + 1.0154495239257812 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Grasp spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, tilt back 10 degrees, close gripper; then move up 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2829648554325104, + 0.007159335073083639, + 0.0027606759686022997, + 3.07374906539917, + 0.054375968873500824, + 1.023376703262329 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Grasp spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 13 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2860015034675598, + 0.0006581715424545109, + -0.005339798051863909, + 3.0790956020355225, + 0.03256489336490631, + 1.0030274391174316 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Grasp spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move right 3 cm, move up 12 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866855561733246, + -0.006341981235891581, + -0.009366570971906185, + 3.103283643722534, + -0.0171843022108078, + 0.9703797101974487 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Grasp spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 5 cm, move right 3 cm, move up 12 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28490185737609863, + -0.01212716568261385, + -0.010360056534409523, + 3.1194255352020264, + -0.03742688521742821, + 0.9604023098945618 + ], + "gripper_value": 0.475652277469635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Lift and reposition spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 12 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 4 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27860498428344727, + -0.012845715507864952, + -0.009491946548223495, + 3.122647762298584, + -0.027724415063858032, + 0.956224262714386 + ], + "gripper_value": 0.4283607602119446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Lift and reposition spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move up 12 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 5 cm, move right 1 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27443602681159973, + -0.01254888717085123, + -0.008130554109811783, + -3.1407413482666016, + -0.015865514054894447, + 0.9515767097473145 + ], + "gripper_value": 0.4166308641433716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Lift and reposition spoon", + "subtask_reasoning": "The robot has approached the yellow spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717803716659546, + -0.015273289754986763, + 0.005487421993166208, + 3.135430335998535, + 0.0009796901140362024, + 0.9355835318565369 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the yellow spoon and is currently lifting it from the table surface. The gripper is closed around the spoon handle, and the arm is in the process of repositioning the spoon vertically. The next action is to continue lifting and aligning the spoon beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.270597904920578, + -0.011680173687636852, + 0.03476680442690849, + 3.100057363510132, + 0.0014847229467704892, + 0.9645617008209229 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the yellow spoon and is currently lifting it from the table surface. The gripper is closed around the spoon handle, and the arm is in the process of repositioning the spoon vertically. The next action is to continue lifting and aligning the spoon beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 6 cm, move right 3 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2748643457889557, + -0.012118850834667683, + 0.06112293899059296, + 3.055023670196533, + -0.004673166666179895, + 0.958751380443573 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the yellow spoon and is currently lifting it from the table surface. The gripper is closed around the spoon handle, and the arm is in the process of repositioning the spoon vertically. The next action is to continue lifting and aligning the spoon beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 6 cm, move right 3 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.28867146372795105, + -0.016119878739118576, + 0.0992649719119072, + 3.0209224224090576, + -0.0925147533416748, + 0.840822160243988 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the yellow spoon and is currently lifting it from the table surface. The gripper is closed around the spoon handle, and the arm is in the process of repositioning the spoon vertically. The next action is to continue lifting and aligning the spoon beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 6 cm, move right 3 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30688074231147766, + -0.02647383138537407, + 0.11870559304952621, + 3.0361216068267822, + -0.13672959804534912, + 0.6519759893417358 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the yellow spoon and is currently lifting it from the table surface. The gripper is closed around the spoon handle, and the arm is in the process of repositioning the spoon vertically. The next action is to continue lifting and aligning the spoon beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 3 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3375491797924042, + -0.038046516478061676, + 0.11049497127532959, + 3.0768532752990723, + -0.1150597557425499, + 0.42128658294677734 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Place spoon upright", + "subtask_reasoning": "The robot has successfully grasped the yellow spoon and is currently lifting it from the table surface. The gripper is closed around the spoon handle, and the arm is in the process of repositioning the spoon vertically. The next action is to continue lifting and aligning the spoon beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3630703389644623, + -0.04242425784468651, + 0.09043581783771515, + 3.1091694831848145, + -0.08461800217628479, + 0.29407232999801636 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Place spoon upright", + "subtask_reasoning": "The robot has successfully grasped the yellow spoon and is currently lifting it from the table surface. The gripper is closed around the spoon handle, and the arm is in the process of repositioning the spoon vertically. The next action is to continue lifting and aligning the spoon beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3797037899494171, + -0.044229838997125626, + 0.06279212981462479, + 3.134976387023926, + -0.07068104296922684, + 0.2023739069700241 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal measuring cup": [ + 156, + 241, + 373, + 501 + ], + "metal spoon": [ + 571, + 278, + 683, + 605 + ], + "toy stove": [ + 687, + 283, + 996, + 993 + ], + "red and white can": [ + 453, + 359, + 559, + 561 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Place spoon upright", + "subtask_reasoning": "The robot has successfully grasped the yellow spoon and is currently lifting it from the table surface. The gripper is closed around the spoon handle, and the arm is in the process of repositioning the spoon vertically. The next action is to continue lifting and aligning the spoon beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.38930612802505493, + -0.05001794919371605, + 0.041431356221437454, + 3.1281142234802246, + -0.06149342656135559, + 0.12935806810855865 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Place spoon upright", + "subtask_reasoning": "The robot is holding the yellow spoon vertically above the table, positioned near the red can. The spoon has been lifted and reoriented from its initial horizontal state. The next action is to lower the spoon gently to place it upright beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3920477330684662, + -0.05332282558083534, + 0.0227467380464077, + 3.1237070560455322, + -0.02598150074481964, + 0.0836540013551712 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Place spoon upright", + "subtask_reasoning": "The robot is holding the yellow spoon vertically above the table, positioned near the red can. The spoon has been lifted and reoriented from its initial horizontal state. The next action is to lower the spoon gently to place it upright beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, open gripper; then move back 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3947713077068329, + -0.059420038014650345, + 0.004348473623394966, + 3.1259353160858154, + -0.01277806144207716, + 0.037132248282432556 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Place spoon upright", + "subtask_reasoning": "The robot is holding the yellow spoon vertically above the table, positioned near the red can. The spoon has been lifted and reoriented from its initial horizontal state. The next action is to lower the spoon gently to place it upright beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39676108956336975, + -0.06636936217546463, + -0.003561617573723197, + 3.1212546825408936, + -0.003372000064700842, + -0.014122886583209038 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Place spoon upright", + "subtask_reasoning": "The robot is holding the yellow spoon vertically above the table, positioned near the red can. The spoon has been lifted and reoriented from its initial horizontal state. The next action is to lower the spoon gently to place it upright beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.39619091153144836, + -0.06881236284971237, + -0.003470692317932844, + 3.1019535064697266, + 0.0008476006332784891, + -0.006883378606289625 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Place spoon upright", + "subtask_reasoning": "The robot is holding the yellow spoon vertically above the table, positioned near the red can. The spoon has been lifted and reoriented from its initial horizontal state. The next action is to lower the spoon gently to place it upright beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3934953808784485, + -0.06948564946651459, + -0.0040771556086838245, + 3.0974860191345215, + 0.016124311834573746, + 0.010377548635005951 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Release and retreat", + "subtask_reasoning": "The robot is holding the yellow spoon vertically above the table, positioned near the red can. The spoon has been lifted and reoriented from its initial horizontal state. The next action is to lower the spoon gently to place it upright beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.39371249079704285, + -0.06994859129190445, + -0.0040279654785990715, + 3.0903050899505615, + 0.013987403362989426, + -0.01785334199666977 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Release and retreat", + "subtask_reasoning": "The robot is holding the yellow spoon vertically above the table, positioned near the red can. The spoon has been lifted and reoriented from its initial horizontal state. The next action is to lower the spoon gently to place it upright beside the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907517194747925, + -0.06535547226667404, + 0.00684071471914649, + 3.069302558898926, + 0.0102833341807127, + -0.01627313159406185 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Release and retreat", + "subtask_reasoning": "The yellow spoon is already placed vertically beside the can, and the gripper is open (value=1.00865), indicating release has occurred. The robot arm is positioned near the spoon but not in contact, suggesting retreat is underway or complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3899024426937103, + -0.05907198786735535, + 0.022984841838479042, + 3.068058729171753, + -0.00366501254029572, + -0.004892826545983553 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal measuring cup": [ + 155, + 240, + 371, + 495 + ], + "metal spoon": [ + 547, + 445, + 717, + 700 + ], + "toy stove": [ + 685, + 283, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Release and retreat", + "subtask_reasoning": "The yellow spoon is already placed vertically beside the can, and the gripper is open (value=1.00865), indicating release has occurred. The robot arm is positioned near the spoon but not in contact, suggesting retreat is underway or complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.38814717531204224, + -0.059208616614341736, + 0.05016542971134186, + 3.061102867126465, + -0.04462825879454613, + -0.005652197636663914 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Release and retreat", + "subtask_reasoning": "The yellow spoon is already placed vertically beside the can, and the gripper is open (value=1.00865), indicating release has occurred. The robot arm is positioned near the spoon but not in contact, suggesting retreat is underway or complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3837478756904602, + -0.05885428190231323, + 0.09746690094470978, + 3.0481584072113037, + -0.1203165203332901, + -0.0375930517911911 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow spoon vertically beside the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach spoon" + }, + { + "id": 2, + "subtask": "Grasp spoon" + }, + { + "id": 3, + "subtask": "Lift and reposition spoon" + }, + { + "id": 4, + "subtask": "Place spoon upright" + }, + { + "id": 5, + "subtask": "Release and retreat" + } + ], + "subtask_name": "Release and retreat", + "subtask_reasoning": "The yellow spoon is already placed vertically beside the can, and the gripper is open (value=1.00865), indicating release has occurred. The robot arm is positioned near the spoon but not in contact, suggesting retreat is underway or complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004168_ecot.json b/cot/chunk-0004/episode_0004168_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8bf594a3e32a5339ae2ce4704d4103388b956ba0 --- /dev/null +++ b/cot/chunk-0004/episode_0004168_ecot.json @@ -0,0 +1,2132 @@ +{ + "task_name": "episode_0004168", + "episode_json": "json/chunk-0004/episode_0004168.json", + "video_path": "videos/chunk-0004/image_0/episode_0004168.mp4", + "instruction": "Unfold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004168.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9417858123779297, + "std": 0.4211745858192444, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94179, std=0.42117, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 126, + 126, + 126, + 126, + 126, + 126, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 12 + ], + [ + 3, + 13, + 25 + ], + [ + 4, + 26, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth edge\", \"start\": 0, \"end\": 2, \"planning\": \"Move gripper toward the right-side corner of the folded cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp right corner\", \"start\": 3, \"end\": 12, \"planning\": \"Close gripper to securely grasp the right corner of the cloth as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"unfold cloth leftward\", \"start\": 13, \"end\": 25, \"planning\": \"Drag the grasped corner leftward across the table to unfold the cloth, maintaining grip while translating.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 26, \"end\": 33, \"planning\": \"Open gripper to release the cloth after unfolding, then lift and retreat to final position.\"}\n ],\n \"global_plan\": \"Unfold the orange cloth from right to left by first approaching and grasping its right corner, dragging it leftward to flatten the fabric, then releasing and retreating.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segments 2–4 show meaningful gripper closure/opening consistent with grasp, drag, and release phases. Frame coverage is contiguous and complete [0,33].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth edge", + "start": 0, + "end": 2, + "planning": "Move gripper toward the right-side corner of the folded cloth without closing." + }, + { + "id": 2, + "name": "grasp right corner", + "start": 3, + "end": 12, + "planning": "Close gripper to securely grasp the right corner of the cloth as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "unfold cloth leftward", + "start": 13, + "end": 25, + "planning": "Drag the grasped corner leftward across the table to unfold the cloth, maintaining grip while translating." + }, + { + "id": 4, + "name": "release and retreat", + "start": 26, + "end": 33, + "planning": "Open gripper to release the cloth after unfolding, then lift and retreat to final position." + } + ], + "global_plan": "Unfold the orange cloth from right to left by first approaching and grasping its right corner, dragging it leftward to flatten the fabric, then releasing and retreating.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segments 2–4 show meaningful gripper closure/opening consistent with grasp, drag, and release phases. Frame coverage is contiguous and complete [0,33]." + } + }, + "episode_goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34278902411460876, + -0.10543707013130188, + 0.04814502224326134, + 3.10922908782959, + -0.04040518030524254, + -0.1402980238199234 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded on the surface. The gripper is open and approaching the right edge of the cloth. No contact or grasp has occurred yet. The next action is to move the gripper closer to the right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33849748969078064, + -0.10416702181100845, + 0.0370345301926136, + 3.1141700744628906, + -0.006979826837778091, + -0.13884128630161285 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the right edge of the folded orange cloth with its gripper open. No contact or grasping has occurred yet, as the subtask is to approach the cloth edge. The next action should be to lower and align the gripper toward the right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, keep gripper open; then move back 3 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32443100214004517, + -0.08792772889137268, + 0.024463508278131485, + 3.1335432529449463, + 0.02583552710711956, + -0.12269876897335052 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the right edge of the folded orange cloth with its gripper open. No contact or grasping has occurred yet, as the subtask is to approach the cloth edge. The next action should be to lower and align the gripper toward the right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper open; then move back 3 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233164846897125, + -0.07014074176549911, + 0.03333321586251259, + -3.134554624557495, + -0.014777999371290207, + -0.0982537716627121 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 270, + 292, + 769, + 994 + ], + "table": [ + 4, + 4, + 994, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot is positioned above the right edge of the folded orange cloth with its gripper open. No contact or grasping has occurred yet, as the subtask is to approach the cloth edge. The next action should be to lower and align the gripper toward the right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3195921778678894, + -0.05184539407491684, + 0.03273593634366989, + -3.126134157180786, + -0.009083935990929604, + -0.08532140403985977 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot is positioned above the right edge of the folded orange cloth with its gripper open. No contact or grasping has occurred yet, as the subtask is to approach the cloth edge. The next action should be to lower and align the gripper toward the right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3119749128818512, + -0.0414743535220623, + 0.029829826205968857, + -3.114943265914917, + -0.005056808702647686, + -0.08173859864473343 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot is positioned above the right edge of the folded orange cloth with its gripper open. No contact or grasping has occurred yet, as the subtask is to approach the cloth edge. The next action should be to lower and align the gripper toward the right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081977367401123, + -0.033819571137428284, + 0.025383805856108665, + -3.1283011436462402, + -0.014805844984948635, + -0.05000568926334381 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot is positioned above the right edge of the folded orange cloth with its gripper open. No contact or grasping has occurred yet, as the subtask is to approach the cloth edge. The next action should be to lower and align the gripper toward the right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3054946959018707, + -0.03182152658700943, + 0.022098414599895477, + -3.129437208175659, + -0.013070393353700638, + -0.052301619201898575 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3033382296562195, + -0.028677955269813538, + 0.019732078537344933, + -3.131638526916504, + -0.009801379404962063, + -0.0458177775144577 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 4 cm, move left 6 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29874253273010254, + -0.027304334565997124, + 0.016236161813139915, + -3.131115436553955, + 0.0007487530820071697, + -0.025959491729736328 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 6 cm, move left 8 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29209715127944946, + -0.02260042354464531, + 0.011427165940403938, + -3.1240463256835938, + 0.01685761846601963, + -0.0004694119852501899 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 7 cm, move left 11 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2890459895133972, + -0.020170973613858223, + 0.00723322294652462, + -3.124824285507202, + 0.012287712655961514, + 0.008291770704090595 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 12 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896161377429962, + -0.020611504092812538, + 0.005839423276484013, + -3.1283631324768066, + 0.0003639527130872011, + 0.003990171942859888 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp right corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move left 14 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2893325090408325, + -0.02162759378552437, + 0.006380120292305946, + -3.134441614151001, + 0.005492660216987133, + 0.012019820511341095 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 16 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.285990834236145, + -0.021565372124314308, + 0.006481601390987635, + -3.1137492656707764, + 0.02421296201646328, + 0.029256291687488556 + ], + "gripper_value": 0.18800361454486847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 17 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28656837344169617, + -0.02059188485145569, + 0.024349162355065346, + -3.0886664390563965, + -0.0077057573944330215, + 0.04884294047951698 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 290, + 292, + 777, + 994 + ], + "table": [ + 4, + 3, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 18 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28263506293296814, + -0.014276621863245964, + 0.04128109663724899, + -3.062574625015259, + -0.055682823061943054, + 0.08636679500341415 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 18 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27070966362953186, + 0.009056487120687962, + 0.052814681082963943, + -3.058398962020874, + -0.11699630320072174, + 0.16900227963924408 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 16 cm, move up 1 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25019124150276184, + 0.03975857421755791, + 0.053570959717035294, + -3.0691380500793457, + -0.1468464583158493, + 0.25933605432510376 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 3, + 995, + 995 + ], + "orange cloth": [ + 259, + 296, + 777, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot end-effector is positioned directly above the right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and aligned with the target grasp point. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 13 cm, move up 1 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23229441046714783, + 0.06269132345914841, + 0.04970534145832062, + -3.0830602645874023, + -0.16916893422603607, + 0.2963477075099945 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2149151861667633, + 0.0867869034409523, + 0.040193889290094376, + -3.0911693572998047, + -0.17709553241729736, + 0.3349010944366455 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 2 cm, open gripper; then move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21002675592899323, + 0.10110130906105042, + 0.0370449535548687, + -3.095860719680786, + -0.20496532320976257, + 0.3530115783214569 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.20349404215812683, + 0.1158720999956131, + 0.035594385117292404, + -3.081928253173828, + -0.20417359471321106, + 0.3459737300872803 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.19666309654712677, + 0.13447384536266327, + 0.039423346519470215, + -3.048525094985962, + -0.19847236573696136, + 0.3312574625015259 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.19208022952079773, + 0.1507670134305954, + 0.046874355524778366, + -3.028212070465088, + -0.17953965067863464, + 0.3117935359477997 + ], + "gripper_value": 0.0936371386051178 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.19510766863822937, + 0.1618354618549347, + 0.05775962024927139, + -3.025139808654785, + -0.1821097880601883, + 0.27266383171081543 + ], + "gripper_value": 0.25684019923210144 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 995, + 995 + ], + "orange cloth": [ + 42, + 284, + 729, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth leftward", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.1957027167081833, + 0.17030982673168182, + 0.06174091994762421, + -3.0149128437042236, + -0.19729259610176086, + 0.25030550360679626 + ], + "gripper_value": 0.5364033579826355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.19144217669963837, + 0.18032191693782806, + 0.06724786013364792, + -3.0055320262908936, + -0.18761330842971802, + 0.24235105514526367 + ], + "gripper_value": 0.8390268683433533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.19102999567985535, + 0.1814473271369934, + 0.07904867827892303, + -2.9867308139801025, + -0.1659715473651886, + 0.2031898945569992 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the right corner of the orange cloth, having completed the approach and grasp phases. The cloth remains partially folded on the table surface. The next action is to drag the gripper leftward to pull the fabric and unfold it flat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.20138512551784515, + 0.1669757068157196, + 0.08026297390460968, + -2.9878439903259277, + -0.1596815437078476, + 0.15577733516693115 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth is fully unfolded and lying flat on the table. The gripper has released the cloth and is retreating to the left, as indicated by the high gripper value and motion away from the cloth. The next action is to continue retreating to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.20173104107379913, + 0.16724227368831635, + 0.08064213395118713, + -2.987591028213501, + -0.16149848699569702, + 0.15872959792613983 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth is fully unfolded and lying flat on the table. The gripper has released the cloth and is retreating to the left, as indicated by the high gripper value and motion away from the cloth. The next action is to continue retreating to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.20158155262470245, + 0.1671098917722702, + 0.0803137943148613, + -2.987898349761963, + -0.16175998747348785, + 0.16016875207424164 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth is fully unfolded and lying flat on the table. The gripper has released the cloth and is retreating to the left, as indicated by the high gripper value and motion away from the cloth. The next action is to continue retreating to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.20192740857601166, + 0.16737639904022217, + 0.080693319439888, + -2.9869086742401123, + -0.16287265717983246, + 0.15851296484470367 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth is fully unfolded and lying flat on the table. The gripper has released the cloth and is retreating to the left, as indicated by the high gripper value and motion away from the cloth. The next action is to continue retreating to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.20138512551784515, + 0.1669757068157196, + 0.08026297390460968, + -2.988332986831665, + -0.16015063226222992, + 0.15884841978549957 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from right to left by grasping the right edge and pulling it leftward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp right corner" + }, + { + "id": 3, + "subtask": "unfold cloth leftward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth is fully unfolded and lying flat on the table. The gripper has released the cloth and is retreating to the left, as indicated by the high gripper value and motion away from the cloth. The next action is to continue retreating to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004169_ecot.json b/cot/chunk-0004/episode_0004169_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c529c63f632a648f75e42d3b5cdcf34d1f0e582b --- /dev/null +++ b/cot/chunk-0004/episode_0004169_ecot.json @@ -0,0 +1,1963 @@ +{ + "task_name": "episode_0004169", + "episode_json": "json/chunk-0004/episode_0004169.json", + "video_path": "videos/chunk-0004/image_0/episode_0004169.mp4", + "instruction": "Put potato in pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004169.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.3345947861671448, + "std": 0.13440576195716858, + "delta_total": 0.0013837218284606934, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.33459, std=0.13441, total_delta=0.00138). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 100, + 100, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 18 + ], + [ + 3, + 19, + 20 + ], + [ + 4, + 21, + 23 + ], + [ + 5, + 24, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper toward the potato without closing, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp potato\", \"start\": 4, \"end\": 18, \"planning\": \"Close gripper around potato and secure hold as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition potato\", \"start\": 19, \"end\": 23, \"planning\": \"Lift potato slightly and move it toward the pot while maintaining grip, no further closing observed.\"},\n {\"id\": 4, \"name\": \"place potato in pot\", \"start\": 24, \"end\": 30, \"planning\": \"Lower potato into pot and release grip as gripper opens fully, completing placement.\"}\n ],\n \"global_plan\": \"Approach potato, grasp it securely, lift and reposition over pot, then place inside by releasing grip.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 has significant gripper closure — grasp is valid. Segment 4 maintains grip without closing — repositioning phase. Segment 5 shows gripper opening — release during placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 3, + "planning": "Move the gripper toward the potato without closing, positioning for contact." + }, + { + "id": 2, + "name": "grasp potato", + "start": 4, + "end": 18, + "planning": "Close gripper around potato and secure hold as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "lift and reposition potato", + "start": 19, + "end": 23, + "planning": "Lift potato slightly and move it toward the pot while maintaining grip, no further closing observed." + }, + { + "id": 4, + "name": "place potato in pot", + "start": 24, + "end": 30, + "planning": "Lower potato into pot and release grip as gripper opens fully, completing placement." + } + ], + "global_plan": "Approach potato, grasp it securely, lift and reposition over pot, then place inside by releasing grip.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 has significant gripper closure — grasp is valid. Segment 4 maintains grip without closing — repositioning phase. Segment 5 shows gripper opening — release during placement." + } + }, + "episode_goal": "Place the potato into the orange pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2775627672672272, + 0.045641086995601654, + 0.10360138863325119, + -3.105135679244995, + -0.08705005794763565, + 0.7261673212051392 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the wooden tray containing the potato and orange pot, with the gripper open. No movement or grasping has occurred yet in this subtask segment. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27429935336112976, + 0.044406794011592865, + 0.09579739719629288, + -3.0907700061798096, + -0.056751400232315063, + 0.7372099161148071 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2834884822368622, + 0.05458115041255951, + 0.09731418639421463, + -3.1059577465057373, + -0.03950344771146774, + 0.9278623461723328 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2877398133277893, + 0.07430979609489441, + 0.10094206035137177, + -3.1336750984191895, + -0.031057775020599365, + 1.053775429725647 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 301, + 483, + 518, + 765 + ], + "carrot": [ + 515, + 510, + 597, + 698 + ], + "cabinet handle": [ + 342, + 798, + 476, + 946 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886962592601776, + 0.09626934677362442, + 0.10579748451709747, + 3.0976650714874268, + -0.01587759330868721, + 1.155569076538086 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28761178255081177, + 0.11334547400474548, + 0.10537350922822952, + 3.059587240219116, + -0.018937813118100166, + 1.2089983224868774 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824968695640564, + 0.11784061789512634, + 0.09439151734113693, + 3.074051856994629, + -0.01480002049356699, + 1.2106363773345947 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2751678228378296, + 0.11686665564775467, + 0.0808764323592186, + 3.0859322547912598, + -0.023020969703793526, + 1.1892489194869995 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26684701442718506, + 0.11621806025505066, + 0.06891059875488281, + 3.0919861793518066, + -0.02303621545433998, + 1.1765121221542358 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 300, + 485, + 520, + 766 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26391085982322693, + 0.11587296426296234, + 0.06108614429831505, + 3.0894253253936768, + -0.03567152097821236, + 1.1573495864868164 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2656829059123993, + 0.11666242778301239, + 0.055737800896167755, + 3.055105686187744, + -0.05148777738213539, + 1.1457109451293945 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the wooden tray containing the potato and orange pot, with the gripper open and no contact made yet. The subtask of approaching the potato is in progress, with the end-effector moving toward the target. The next action should continue refining the approach to align the gripper directly over the potato for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26628440618515015, + 0.11751598119735718, + 0.0435725599527359, + 3.052018404006958, + -0.018564961850643158, + 1.1467111110687256 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26793259382247925, + 0.11930392682552338, + 0.04004529491066933, + 3.038146734237671, + -0.01875435933470726, + 1.1449847221374512 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26572462916374207, + 0.12165110558271408, + 0.03991174325346947, + 3.0466079711914062, + -0.018524250015616417, + 1.1381949186325073 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679211497306824, + 0.12482120841741562, + 0.036010704934597015, + 3.0563406944274902, + -0.04273619130253792, + 1.1688575744628906 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move back 3 cm, move right 4 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2686690092086792, + 0.1235726922750473, + 0.02394440770149231, + 3.0993072986602783, + -0.05530760809779167, + 1.2046229839324951 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move back 3 cm, move right 4 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2720831036567688, + 0.1227482259273529, + 0.0176034327596426, + 3.115734815597534, + -0.0841580405831337, + 1.2244096994400024 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move right 4 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2724383771419525, + 0.11799153685569763, + 0.008420438505709171, + 3.137018918991089, + -0.07202139496803284, + 1.2130098342895508 + ], + "gripper_value": 0.9575772881507874 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 3 cm, move right 4 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27133411169052124, + 0.11238923668861389, + 0.005890286527574062, + 3.13659405708313, + -0.06529754400253296, + 1.2122620344161987 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 4 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move right 4 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2688492238521576, + 0.10796316713094711, + 0.006450888235121965, + -3.1365504264831543, + -0.032379403710365295, + 1.2279359102249146 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "lift and reposition potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27142709493637085, + 0.10771748423576355, + 0.011420391499996185, + -3.136233329772949, + -0.01864013820886612, + 1.2439987659454346 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "lift and reposition potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the potato on the wooden board, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 6 cm, keep gripper closed; then move forward 2 cm, move right 2 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760230600833893, + 0.11115975677967072, + 0.04468532279133797, + 3.0971786975860596, + -0.016079654917120934, + 1.2779573202133179 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "lift and reposition potato", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the orange pot. The gripper remains closed, maintaining a secure hold on the object. The next action is to lower the potato into the pot and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2685239315032959, + 0.10789138823747635, + 0.06309263408184052, + 3.098008394241333, + 0.028955861926078796, + 1.27862548828125 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 299, + 485, + 519, + 766 + ], + "carrot": [ + 515, + 513, + 597, + 697 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "lift and reposition potato", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the orange pot. The gripper remains closed, maintaining a secure hold on the object. The next action is to lower the potato into the pot and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25498318672180176, + 0.09317145496606827, + 0.07369586080312729, + 3.108649969100952, + 0.039652466773986816, + 1.2431336641311646 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "lift and reposition potato", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the orange pot. The gripper remains closed, maintaining a secure hold on the object. The next action is to lower the potato into the pot and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 2 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23606282472610474, + 0.06586814671754837, + 0.06829291582107544, + -3.1088857650756836, + 0.06854082643985748, + 1.1780954599380493 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "place potato in pot", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the orange pot. The gripper remains closed, maintaining a secure hold on the object. The next action is to lower the potato into the pot and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23272620141506195, + 0.04560678079724312, + 0.06594403833150864, + -3.0748393535614014, + 0.09043237566947937, + 1.1622110605239868 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 297, + 484, + 522, + 770 + ], + "yellow pepper": [ + 210, + 520, + 325, + 694 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "place potato in pot", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the orange pot. The gripper remains closed, maintaining a secure hold on the object. The next action is to lower the potato into the pot and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22934800386428833, + 0.03064071387052536, + 0.059425558894872665, + -3.0642764568328857, + 0.0908101424574852, + 1.1367477178573608 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "place potato in pot", + "subtask_reasoning": "The robot has successfully grasped the potato and is currently lifting it above the orange pot. The gripper remains closed, maintaining a secure hold on the object. The next action is to lower the potato into the pot and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23059451580047607, + 0.02816321887075901, + 0.055700041353702545, + -3.0507993698120117, + 0.06036047637462616, + 1.146540880203247 + ], + "gripper_value": 0.8888095021247864 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "place potato in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot with the potato held in the gripper. The gripper is currently open, indicating the potato has been released or is in the process of being dropped into the container. The next action is to ensure the potato settles inside the pot and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.23189522325992584, + 0.02887321263551712, + 0.053765539079904556, + -3.0606491565704346, + 0.06443551927804947, + 1.1469614505767822 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "place potato in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot with the potato held in the gripper. The gripper is currently open, indicating the potato has been released or is in the process of being dropped into the container. The next action is to ensure the potato settles inside the pot and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23613916337490082, + 0.033576592803001404, + 0.05689351260662079, + -3.089712381362915, + 0.053177304565906525, + 1.1760631799697876 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "place potato in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot with the potato held in the gripper. The gripper is currently open, indicating the potato has been released or is in the process of being dropped into the container. The next action is to ensure the potato settles inside the pot and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2545759975910187, + 0.04715781286358833, + 0.08988721668720245, + -3.105215072631836, + 0.039864953607320786, + 1.1946299076080322 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "place potato in pot" + } + ], + "subtask_name": "place potato in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange pot with the potato held in the gripper. The gripper is currently open, indicating the potato has been released or is in the process of being dropped into the container. The next action is to ensure the potato settles inside the pot and then retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004171_ecot.json b/cot/chunk-0004/episode_0004171_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f66e5a56126cf0a7da6e915108f342212aac4543 --- /dev/null +++ b/cot/chunk-0004/episode_0004171_ecot.json @@ -0,0 +1,3056 @@ +{ + "task_name": "episode_0004171", + "episode_json": "json/chunk-0004/episode_0004171.json", + "video_path": "videos/chunk-0004/image_0/episode_0004171.mp4", + "instruction": "Take the eggplant and put it between the two right bumers.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 48, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004171.json" + }, + "fps": 5.0, + "T_eff": 48, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 45 + ], + [ + 3, + 46, + 47 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach eggplant area\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the left side of the stovetop where the eggplant is located, adjusting orientation for contact.\"},\n {\"id\": 2, \"name\": \"nudge eggplant rightward\", \"start\": 11, \"end\": 28, \"planning\": \"Make contact with the eggplant and push it horizontally toward the center-right burners without grasping.\"},\n {\"id\": 3, \"name\": \"reposition eggplant between burners\", \"start\": 29, \"end\": 45, \"planning\": \"Continue sliding the eggplant into the gap between the two right burners using sustained contact motion.\"},\n {\"id\": 4, \"name\": \"retreat from final position\", \"start\": 46, \"end\": 47, \"planning\": \"Withdraw end-effector away from the eggplant after positioning it between the right burners.\"}\n ],\n \"global_plan\": \"The robot uses non-grasping contact motions to nudge and slide the eggplant from its initial position on the left stovetop burner to the space between the two right burners, then retreats.\",\n \"notes\": \"Gripper remains fully open throughout (value ~0.997, no delta), so all actions are contact-based pushes/slides; no grasp or lift occurs. Segment boundaries respected but merged for natural phase grouping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach eggplant area", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the left side of the stovetop where the eggplant is located, adjusting orientation for contact." + }, + { + "id": 2, + "name": "nudge eggplant rightward", + "start": 11, + "end": 28, + "planning": "Make contact with the eggplant and push it horizontally toward the center-right burners without grasping." + }, + { + "id": 3, + "name": "reposition eggplant between burners", + "start": 29, + "end": 45, + "planning": "Continue sliding the eggplant into the gap between the two right burners using sustained contact motion." + }, + { + "id": 4, + "name": "retreat from final position", + "start": 46, + "end": 47, + "planning": "Withdraw end-effector away from the eggplant after positioning it between the right burners." + } + ], + "global_plan": "The robot uses non-grasping contact motions to nudge and slide the eggplant from its initial position on the left stovetop burner to the space between the two right burners, then retreats.", + "notes": "Gripper remains fully open throughout (value ~0.997, no delta), so all actions are contact-based pushes/slides; no grasp or lift occurs. Segment boundaries respected but merged for natural phase grouping." + } + }, + "episode_goal": "Move the end-effector to a position between the two right burners on the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3326108455657959, + 0.20245948433876038, + 0.08123553544282913, + -3.0360982418060303, + -0.4501677453517914, + 0.20004619657993317 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is positioned above the left side of the stovetop, near the initial location of the eggplant. No movement toward the target area between the right burners has occurred yet. The next action should involve moving the end-effector laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 13 cm, move down 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292110562324524, + 0.20085857808589935, + 0.06829085946083069, + -3.0562007427215576, + -0.4123600721359253, + 0.21624130010604858 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is positioned above the left side of the stovetop, near the initial location of the eggplant. No movement toward the target area between the right burners has occurred yet. The next action should involve moving the end-effector laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 12 cm, move down 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3221871852874756, + 0.2180735170841217, + 0.07432981580495834, + -3.0870563983917236, + -0.3743789792060852, + 0.3416939973831177 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is positioned above the left side of the stovetop, near the initial location of the eggplant. No movement toward the target area between the right burners has occurred yet. The next action should involve moving the end-effector laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 11 cm, move down 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31245484948158264, + 0.24689291417598724, + 0.07911471277475357, + -3.0667097568511963, + -0.42430293560028076, + 0.4417651295661926 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is positioned above the left side of the stovetop, near the initial location of the eggplant. No movement toward the target area between the right burners has occurred yet. The next action should involve moving the end-effector laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 8 cm, move down 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30491912364959717, + 0.27763307094573975, + 0.08473405241966248, + -3.0442514419555664, + -0.4190704822540283, + 0.5150408148765564 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 202, + 168, + 591, + 491 + ], + "dish soap": [ + 615, + 363, + 690, + 494 + ], + "faucet": [ + 693, + 94, + 994, + 475 + ], + "trash bin": [ + 5, + 6, + 213, + 175 + ], + "sink": [ + 547, + 376, + 993, + 969 + ], + "mug": [ + 5, + 322, + 154, + 518 + ], + "induction cooktop": [ + 58, + 156, + 601, + 643 + ] + } + } + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is positioned above the left side of the stovetop, near the initial location of the eggplant. No movement toward the target area between the right burners has occurred yet. The next action should involve moving the end-effector laterally toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 5 cm, move down 4 cm, tilt left 20 degrees, rotate clockwise 50 degrees, keep gripper open; then move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.288201242685318, + 0.2985147535800934, + 0.07877691090106964, + -3.0031673908233643, + -0.41252800822257996, + 0.6010774374008179 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26951131224632263, + 0.3132953643798828, + 0.07799847424030304, + -3.0096094608306885, + -0.4076085388660431, + 0.7163227796554565 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25228962302207947, + 0.3240537941455841, + 0.07696712017059326, + -3.0296645164489746, + -0.39664486050605774, + 0.8279533386230469 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23727209866046906, + 0.3346081078052521, + 0.07751753181219101, + -3.070967197418213, + -0.4142913818359375, + 1.0729091167449951 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22467024624347687, + 0.33379387855529785, + 0.06930757313966751, + -3.1072652339935303, + -0.40203115344047546, + 1.263054370880127 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21283593773841858, + 0.3284512758255005, + 0.058131154626607895, + -3.1156086921691895, + -0.3890596926212311, + 1.4136457443237305 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "approach eggplant area", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20766475796699524, + 0.32486647367477417, + 0.04893001168966293, + 3.124284267425537, + -0.3824099600315094, + 1.5162112712860107 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2059132307767868, + 0.3169363737106323, + 0.036656737327575684, + 3.0569119453430176, + -0.3571245074272156, + 1.6146917343139648 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish soap": [ + 614, + 364, + 690, + 493 + ], + "faucet": [ + 693, + 94, + 994, + 475 + ], + "sink": [ + 547, + 378, + 993, + 973 + ], + "orange towel": [ + 202, + 168, + 591, + 491 + ], + "induction cooktop": [ + 50, + 158, + 602, + 642 + ] + } + } + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20709775388240814, + 0.30787229537963867, + 0.0330267958343029, + 3.020700216293335, + -0.34665998816490173, + 1.6726233959197998 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.20637403428554535, + 0.29889097809791565, + 0.03407439962029457, + 2.9818615913391113, + -0.37181055545806885, + 1.673079013824463 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20687830448150635, + 0.29052942991256714, + 0.03178628534078598, + 2.943877935409546, + -0.38438910245895386, + 1.6729129552841187 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21316209435462952, + 0.28618213534355164, + 0.0347946360707283, + 2.890014410018921, + -0.40205174684524536, + 1.719139575958252 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21748532354831696, + 0.28278398513793945, + 0.033002134412527084, + 2.8578877449035645, + -0.4077891707420349, + 1.7514811754226685 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21919897198677063, + 0.276093989610672, + 0.027943750843405724, + 2.846583843231201, + -0.4248911440372467, + 1.7587566375732422 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot is approaching the stovetop area where the eggplant is located, with the end-effector positioned above the left burner. No contact or manipulation has occurred yet. The next action is to continue moving toward the eggplant to prepare for nudging it toward the right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2179470807313919, + 0.27097272872924805, + 0.023146644234657288, + 2.8451290130615234, + -0.43997910618782043, + 1.7554361820220947 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish soap": [ + 605, + 286, + 695, + 493 + ], + "sink": [ + 546, + 376, + 993, + 973 + ], + "faucet": [ + 693, + 95, + 994, + 474 + ], + "induction cooktop": [ + 79, + 158, + 603, + 643 + ], + "orange towel": [ + 201, + 168, + 590, + 491 + ] + } + } + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21689674258232117, + 0.2672705054283142, + 0.02107386104762554, + 2.8634297847747803, + -0.42733386158943176, + 1.7468963861465454 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2184920310974121, + 0.2633722424507141, + 0.029879219830036163, + 2.8496901988983154, + -0.42420312762260437, + 1.74722158908844 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2190966159105301, + 0.2577045261859894, + 0.028860753402113914, + 2.8663713932037354, + -0.4052608609199524, + 1.7492092847824097 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22246529161930084, + 0.25497040152549744, + 0.03252976015210152, + 2.8877604007720947, + -0.3795531392097473, + 1.7853960990905762 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2253401130437851, + 0.25240451097488403, + 0.033237215131521225, + 2.8955910205841064, + -0.3919192850589752, + 1.782325029373169 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.22193162143230438, + 0.24736106395721436, + 0.027844950556755066, + 2.8962955474853516, + -0.38186338543891907, + 1.7792381048202515 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21973314881324768, + 0.24334174394607544, + 0.031411826610565186, + 2.8845176696777344, + -0.3817521929740906, + 1.7928950786590576 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.21565310657024384, + 0.24085481464862823, + 0.027731774374842644, + 2.8966243267059326, + -0.3672903776168823, + 1.7807155847549438 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.20962479710578918, + 0.2350204885005951, + 0.020720843225717545, + 2.9113385677337646, + -0.3682509958744049, + 1.7674739360809326 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "nudge eggplant rightward", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.20732221007347107, + 0.2334672063589096, + 0.018761951476335526, + 2.9100258350372314, + -0.3501855134963989, + 1.7818485498428345 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.20555612444877625, + 0.22708575427532196, + 0.01762505993247032, + 2.9066812992095947, + -0.34987935423851013, + 1.8006293773651123 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.21033692359924316, + 0.21741807460784912, + 0.017342764884233475, + 2.9295499324798584, + -0.3445310592651367, + 1.8098878860473633 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.21381206810474396, + 0.21312862634658813, + 0.02114642597734928, + 2.9086642265319824, + -0.3236345052719116, + 1.8307543992996216 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 203, + 168, + 591, + 491 + ], + "faucet": [ + 693, + 94, + 994, + 475 + ], + "sink": [ + 547, + 377, + 993, + 971 + ], + "mug": [ + 80, + 388, + 250, + 590 + ], + "induction cooktop": [ + 60, + 157, + 601, + 642 + ] + } + } + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.21548709273338318, + 0.20888909697532654, + 0.022666113451123238, + 2.9165523052215576, + -0.3291899561882019, + 1.8379775285720825 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21694278717041016, + 0.2048712819814682, + 0.02198493666946888, + 2.9227144718170166, + -0.3195081651210785, + 1.8348361253738403 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.21841061115264893, + 0.20202569663524628, + 0.021493609994649887, + 2.9213876724243164, + -0.3346729874610901, + 1.8375556468963623 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.21926936507225037, + 0.20175528526306152, + 0.027119766920804977, + 2.908858299255371, + -0.3337901532649994, + 1.8345565795898438 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The robot end-effector is positioned near the left burner where the eggplant is located, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to make contact with the eggplant and nudge it rightward toward the space between the two right burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.22225186228752136, + 0.2124727964401245, + 0.03759618476033211, + 2.8919894695281982, + -0.3118070363998413, + 1.8458112478256226 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 70 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.22823165357112885, + 0.22835025191307068, + 0.04727356135845184, + 2.8642401695251465, + -0.32061055302619934, + 1.8366429805755615 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 70 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.22836390137672424, + 0.24445128440856934, + 0.046190932393074036, + 2.8743515014648438, + -0.3281526565551758, + 1.8275110721588135 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 70 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.22306911647319794, + 0.2512834072113037, + 0.04068218171596527, + 2.8999075889587402, + -0.34888848662376404, + 1.7989134788513184 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 70 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.22362029552459717, + 0.25528472661972046, + 0.0406244657933712, + 2.906815767288208, + -0.3778839111328125, + 1.7572778463363647 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.23049025237560272, + 0.26666003465652466, + 0.05125097185373306, + 2.904909133911133, + -0.4127284288406372, + 1.6571388244628906 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2419842630624771, + 0.27981895208358765, + 0.064389169216156, + 2.9270431995391846, + -0.49193891882896423, + 1.3904978036880493 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.24579966068267822, + 0.28344109654426575, + 0.06755814701318741, + 2.984117269515991, + -0.5476788878440857, + 1.09645414352417 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566981613636017, + 0.2797817289829254, + 0.07060873508453369, + 3.0822067260742188, + -0.5101762413978577, + 0.8121787905693054 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "reposition eggplant between burners", + "subtask_reasoning": "The eggplant is not visible in the current frame, suggesting it may have been moved out of view or is obscured. The robot's end-effector is positioned near the stovetop, consistent with the subtask of repositioning the eggplant between the right burners. Given the lack of visual confirmation and the gripper remaining open, the next likely action is to adjust the camera or end-effector position to locate and continue nudging the eggplant into the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 29, + "end": 45 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2704809904098511, + 0.2628353536128998, + 0.06943389028310776, + -3.1037092208862305, + -0.4877876341342926, + 0.5120120644569397 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "retreat from final position", + "subtask_reasoning": "The eggplant has been successfully nudged to the space between the two right burners. The robot is currently in the retreat phase, moving its end-effector away from the stovetop area after completing the placement. The gripper remains open, confirming no grasping occurred during this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 46, + "end": 47 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.28316691517829895, + 0.24171239137649536, + 0.07466024905443192, + -3.1136085987091064, + -0.41853687167167664, + 0.37401342391967773 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 203, + 168, + 591, + 491 + ], + "dish soap": [ + 615, + 364, + 690, + 493 + ], + "faucet": [ + 693, + 94, + 994, + 475 + ], + "sink": [ + 546, + 374, + 993, + 973 + ], + "induction cooktop": [ + 6, + 158, + 602, + 643 + ] + } + } + }, + "Understanding": { + "goal": "Move the end-effector to a position between the two right burners on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant area" + }, + { + "id": 2, + "subtask": "nudge eggplant rightward" + }, + { + "id": 3, + "subtask": "reposition eggplant between burners" + }, + { + "id": 4, + "subtask": "retreat from final position" + } + ], + "subtask_name": "retreat from final position", + "subtask_reasoning": "The eggplant has been successfully nudged to the space between the two right burners. The robot is currently in the retreat phase, moving its end-effector away from the stovetop area after completing the placement. The gripper remains open, confirming no grasping occurred during this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 46, + "end": 47 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004172_ecot.json b/cot/chunk-0004/episode_0004172_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fe70095d1dbf77f8f968cd13bd0bb1481d5b7893 --- /dev/null +++ b/cot/chunk-0004/episode_0004172_ecot.json @@ -0,0 +1,1211 @@ +{ + "task_name": "episode_0004172", + "episode_json": "json/chunk-0004/episode_0004172.json", + "video_path": "videos/chunk-0004/image_0/episode_0004172.mp4", + "instruction": "Turn faucet right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004172.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach faucet handle\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the faucet handle with open gripper, aligning for contact.\"},\n {\"id\": 2, \"name\": \"make contact and initiate turn\", \"start\": 7, \"end\": 13, \"planning\": \"Establish physical contact with faucet handle and begin rotational motion to turn it right.\"},\n {\"id\": 3, \"name\": \"complete rotation and retreat\", \"start\": 14, \"end\": 19, \"planning\": \"Finish turning the faucet handle fully to the right and withdraw end-effector while maintaining orientation.\"}\n ],\n \"global_plan\": \"Turn faucet right by approaching, making contact, rotating the handle clockwise, then retreating — all without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper never closes (value=1.00082 constant), so no grasp/pick/place actions are used. Motion is purely positional and rotational contact-based manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach faucet handle", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the faucet handle with open gripper, aligning for contact." + }, + { + "id": 2, + "name": "make contact and initiate turn", + "start": 7, + "end": 13, + "planning": "Establish physical contact with faucet handle and begin rotational motion to turn it right." + }, + { + "id": 3, + "name": "complete rotation and retreat", + "start": 14, + "end": 19, + "planning": "Finish turning the faucet handle fully to the right and withdraw end-effector while maintaining orientation." + } + ], + "global_plan": "Turn faucet right by approaching, making contact, rotating the handle clockwise, then retreating — all without grasping, as gripper remains fully open throughout.", + "notes": "Gripper never closes (value=1.00082 constant), so no grasp/pick/place actions are used. Motion is purely positional and rotational contact-based manipulation." + } + }, + "episode_goal": "Turn faucet right", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.13098272681236267, + -0.045717205852270126, + 0.24830447137355804, + -3.1120340824127197, + 0.30236974358558655, + 0.022601108998060226 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, tilt back 40 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move right 3 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.12698999047279358, + -0.034946370869874954, + 0.24015645682811737, + -3.0786027908325195, + 0.3659418523311615, + 0.07809743285179138 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, tilt back 40 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.1231994479894638, + -0.014948157593607903, + 0.23699736595153809, + -2.9892220497131348, + 0.43923649191856384, + 0.21191729605197906 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, tilt back 50 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 11 cm, move right 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.12616759538650513, + -0.004516152665019035, + 0.22707872092723846, + -2.970109224319458, + 0.3883582651615143, + 0.23662756383419037 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt back 40 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 11 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.14277280867099762, + -0.0018844190053641796, + 0.20471379160881042, + -2.9885592460632324, + 0.14210109412670135, + 0.1360687017440796 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 3 cm, tilt back 30 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 11 cm, move right 8 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1728256493806839, + -0.005824795924127102, + 0.18081121146678925, + -3.0559182167053223, + -0.07968529313802719, + -0.13472501933574677 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 492, + 260, + 667, + 453 + ], + "pot": [ + 396, + 845, + 623, + 994 + ], + "sink": [ + 342, + 232, + 587, + 624 + ], + "green cup": [ + 454, + 264, + 518, + 348 + ], + "blue cup": [ + 694, + 853, + 775, + 969 + ] + } + } + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 1 cm, tilt back 20 degrees, keep gripper open; then move forward 11 cm, move right 8 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move up 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.19759289920330048, + 0.010528369806706905, + 0.17537452280521393, + -3.065446138381958, + -0.30872446298599243, + -0.267801970243454 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open; then move forward 11 cm, move right 8 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 8 cm, move up 3 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20650486648082733, + 0.02818996272981167, + 0.17339985072612762, + -3.0248725414276123, + -0.3596409857273102, + -0.24728551506996155 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact and initiate turn", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 8 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 9 cm, move up 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21761997044086456, + 0.03833690285682678, + 0.1676609218120575, + -2.9934046268463135, + -0.3351736068725586, + -0.18179605901241302 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact and initiate turn", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 9 cm, move up 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23667584359645844, + 0.021903021261096, + 0.15950371325016022, + -3.0014383792877197, + -0.3399909734725952, + -0.21417564153671265 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact and initiate turn", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the faucet handle to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 8 cm, move up 1 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 8 cm, move up 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26635757088661194, + 0.001593695837073028, + 0.15687470138072968, + -3.0324137210845947, + -0.46615538001060486, + -0.34404391050338745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact and initiate turn", + "subtask_reasoning": "The robot has approached the faucet and is now in contact with the handle. The gripper remains fully open, indicating no grasping has occurred. The next action is to rotate the handle clockwise to turn the faucet right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move up 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 8 cm, move up 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29779666662216187, + 0.00011826199624920264, + 0.1641063541173935, + -3.007964611053467, + -0.5830795764923096, + -0.4204578995704651 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact and initiate turn", + "subtask_reasoning": "The robot has approached the faucet and is now in contact with the handle. The gripper remains fully open, indicating no grasping has occurred. The next action is to rotate the handle clockwise to turn the faucet right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 1 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper open; then move back 5 cm, move right 8 cm, move up 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176749348640442, + -0.005359582137316465, + 0.16986054182052612, + -2.9804584980010986, + -0.5930032134056091, + -0.465901643037796 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact and initiate turn", + "subtask_reasoning": "The robot has approached the faucet and is now in contact with the handle. The gripper remains fully open, indicating no grasping has occurred. The next action is to rotate the handle clockwise to turn the faucet right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, tilt right 20 degrees, keep gripper open; then move back 5 cm, move right 8 cm, move up 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32134032249450684, + -0.025892224162817, + 0.16667625308036804, + -3.1206202507019043, + -0.6014449000358582, + -0.4609375 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact and initiate turn", + "subtask_reasoning": "The robot has approached the faucet and is now in contact with the handle. The gripper remains fully open, indicating no grasping has occurred. The next action is to rotate the handle clockwise to turn the faucet right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 5 cm, move right 8 cm, move up 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3152300715446472, + -0.053536295890808105, + 0.17252865433692932, + 2.9774413108825684, + -0.6734853982925415, + -0.4839431047439575 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot has approached the faucet and is now in contact with the handle. The gripper remains fully open, indicating no grasping has occurred. The next action is to rotate the handle clockwise to turn the faucet right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29530268907546997, + -0.10470440238714218, + 0.19399617612361908, + 2.7197227478027344, + -0.9289515018463135, + -0.5900120139122009 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot has approached the faucet and is now in contact with the handle. The gripper remains fully open, indicating no grasping has occurred. The next action is to rotate the handle clockwise to turn the faucet right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836031913757324, + -0.1292569786310196, + 0.20574156939983368, + 2.752840995788574, + -1.0364353656768799, + -0.7093930244445801 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot is in contact with the faucet handle, having completed the approach and initiated the turn. The gripper remains fully open, indicating a pushing or nudging motion rather than grasping. The next action is to continue rotating the handle clockwise to complete the turn before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707845866680145, + -0.1422816962003708, + 0.21405617892742157, + 2.778123617172241, + -1.0451910495758057, + -0.7259659171104431 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 393, + 840, + 621, + 994 + ], + "blue cup": [ + 694, + 855, + 775, + 966 + ] + } + } + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot is in contact with the faucet handle, having completed the approach and initiated the turn. The gripper remains fully open, indicating a pushing or nudging motion rather than grasping. The next action is to continue rotating the handle clockwise to complete the turn before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645941376686096, + -0.13961461186408997, + 0.2127179652452469, + 2.792387008666992, + -1.0091758966445923, + -0.7321829795837402 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot is in contact with the faucet handle, having completed the approach and initiated the turn. The gripper remains fully open, indicating a pushing or nudging motion rather than grasping. The next action is to continue rotating the handle clockwise to complete the turn before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26244404911994934, + -0.13734763860702515, + 0.2125503420829773, + 2.78987979888916, + -0.9870009422302246, + -0.7181521058082581 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn faucet right" + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact and initiate turn" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot is in contact with the faucet handle, having completed the approach and initiated the turn. The gripper remains fully open, indicating a pushing or nudging motion rather than grasping. The next action is to continue rotating the handle clockwise to complete the turn before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004174_ecot.json b/cot/chunk-0004/episode_0004174_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..660b88c2620f3e02cc6b867c2795b6a77e443b40 --- /dev/null +++ b/cot/chunk-0004/episode_0004174_ecot.json @@ -0,0 +1,638 @@ +{ + "task_name": "episode_0004174", + "episode_json": "json/chunk-0004/episode_0004174.json", + "video_path": "videos/chunk-0004/image_0/episode_0004174.mp4", + "instruction": "Flip pot upright which is in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 10, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004174.json" + }, + "fps": 5.0, + "T_eff": 10, + "gripper_behavior_summary": { + "available": true, + "range": 0.7925804853439331, + "std": 0.2691091299057007, + "delta_total": -0.7925804853439331, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.79258, std=0.26911, total_delta=-0.79258). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 9 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and align with pot\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the overturned pot in sink while adjusting orientation for contact.\"},\n {\"id\": 2, \"name\": \"make initial contact and begin closing gripper\", \"start\": 4, \"end\": 7, \"planning\": \"Establish physical contact with pot side and initiate gripper closure as evidenced by decreasing gripper value.\"},\n {\"id\": 3, \"name\": \"secure grasp and rotate pot upright\", \"start\": 8, \"end\": 9, \"planning\": \"Complete gripper closure to firmly hold pot and execute rotational motion to flip it upright in sink.\"}\n ],\n \"global_plan\": \"Approach the overturned pot in the sink, make contact and close gripper to secure hold, then rotate the pot to an upright position.\",\n \"notes\": \"Gripper closure is meaningful across segments: Segment 1 shows partial closure (delta=-0.19559), Segment 2 shows continued closure (delta=-0.25298). Images confirm contact at frame 7 and firm grasp by frame 8–9. Motion supports rotation phase in final frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and align with pot", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the overturned pot in sink while adjusting orientation for contact." + }, + { + "id": 2, + "name": "make initial contact and begin closing gripper", + "start": 4, + "end": 7, + "planning": "Establish physical contact with pot side and initiate gripper closure as evidenced by decreasing gripper value." + }, + { + "id": 3, + "name": "secure grasp and rotate pot upright", + "start": 8, + "end": 9, + "planning": "Complete gripper closure to firmly hold pot and execute rotational motion to flip it upright in sink." + } + ], + "global_plan": "Approach the overturned pot in the sink, make contact and close gripper to secure hold, then rotate the pot to an upright position.", + "notes": "Gripper closure is meaningful across segments: Segment 1 shows partial closure (delta=-0.19559), Segment 2 shows continued closure (delta=-0.25298). Images confirm contact at frame 7 and firm grasp by frame 8–9. Motion supports rotation phase in final frames." + } + }, + "episode_goal": "Flip the pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24185962975025177, + -0.03839561715722084, + 0.16958968341350555, + -3.001356363296509, + -0.11012013256549835, + -0.3192858099937439 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "approach and align with pot", + "subtask_reasoning": "The robot is positioned above the sink where an overturned metal pot lies on its side. No actions have been completed yet as the gripper remains open and the robot is initiating movement. The robot needs to continue lowering its end-effector to align with the pot's handle or rim for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23932960629463196, + -0.03884700685739517, + 0.156913623213768, + -3.0830883979797363, + -0.05374264717102051, + -0.31153878569602966 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "approach and align with pot", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot is lying on its side. No actions have been completed yet as the gripper remains open and the robot is in the approach phase. The next step is to lower the arm and align the gripper with the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24453823268413544, + -0.03241579607129097, + 0.15215902030467987, + 3.088038206100464, + -0.03705426678061485, + -0.2792114317417145 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "approach and align with pot", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot is lying on its side. No actions have been completed yet as the gripper remains open and the robot is in the approach phase. The next step is to lower the arm and align the gripper with the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24510936439037323, + -0.03139638528227806, + 0.1470441371202469, + 2.9831125736236572, + -0.014974252320826054, + -0.2254454791545868 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "approach and align with pot", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot is lying on its side. No actions have been completed yet as the gripper remains open and the robot is in the approach phase. The next step is to lower the arm and align the gripper with the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24478177726268768, + -0.03502130135893822, + 0.1436581164598465, + 2.900946617126465, + -0.01549628283828497, + -0.16036732494831085 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "make initial contact and begin closing gripper", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot is lying on its side. No actions have been completed yet as the gripper remains open and the robot is in the approach phase. The next step is to lower the arm and align the gripper with the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23543499410152435, + -0.04139864072203636, + 0.13126319646835327, + 2.8346142768859863, + -0.013638514094054699, + -0.07303045690059662 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "make initial contact and begin closing gripper", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper fingers aligned around the pot's rim. The gripper is currently open and beginning to close, as indicated by the decreasing gripper value. The next action is to continue closing the gripper to secure a firm hold on the pot before rotating it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23020605742931366, + -0.04968992993235588, + 0.12477339059114456, + 2.785342216491699, + -0.020922858268022537, + 0.017888948321342468 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "make initial contact and begin closing gripper", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper fingers aligned around the pot's rim. The gripper is currently open and beginning to close, as indicated by the decreasing gripper value. The next action is to continue closing the gripper to secure a firm hold on the pot before rotating it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper closed; then move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2289855033159256, + -0.06155097484588623, + 0.12491529434919357, + 2.7867696285247803, + -0.022632116451859474, + 0.06746924668550491 + ], + "gripper_value": 0.8130597472190857 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "make initial contact and begin closing gripper", + "subtask_reasoning": "The robot arm is positioned directly above the overturned pot in the sink, with the gripper fingers aligned around the pot's rim. The gripper is currently open and beginning to close, as indicated by the decreasing gripper value. The next action is to continue closing the gripper to secure a firm hold on the pot before rotating it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2284143567085266, + -0.07568581402301788, + 0.12458804249763489, + 2.8660831451416016, + -0.051221173256635666, + 0.0759078860282898 + ], + "gripper_value": 0.4690495729446411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "secure grasp and rotate pot upright", + "subtask_reasoning": "The robot has approached and made contact with the overturned pot in the sink, and the gripper is closing to secure a grasp. The current frame shows the gripper partially closed around the pot, indicating progress toward securing it. The next action is to fully close the gripper and begin rotating the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2272256314754486, + -0.08526047319173813, + 0.12516173720359802, + 3.030334234237671, + -0.13445007801055908, + 0.04168951138854027 + ], + "gripper_value": 0.21606682240962982 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange dish rack": [ + 691, + 412, + 994, + 992 + ], + "white plastic spoons": [ + 784, + 699, + 994, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pot" + }, + { + "id": 2, + "subtask": "make initial contact and begin closing gripper" + }, + { + "id": 3, + "subtask": "secure grasp and rotate pot upright" + } + ], + "subtask_name": "secure grasp and rotate pot upright", + "subtask_reasoning": "The robot has approached and made contact with the overturned pot in the sink, and the gripper is closing to secure a grasp. The current frame shows the gripper partially closed around the pot, indicating progress toward securing it. The next action is to fully close the gripper and begin rotating the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 9 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004176_ecot.json b/cot/chunk-0004/episode_0004176_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2942ae730b1d275af7456439f959feda5b691e51 --- /dev/null +++ b/cot/chunk-0004/episode_0004176_ecot.json @@ -0,0 +1,1725 @@ +{ + "task_name": "episode_0004176", + "episode_json": "json/chunk-0004/episode_0004176.json", + "video_path": "videos/chunk-0004/image_0/episode_0004176.mp4", + "instruction": "Move the doll to the middle left edge of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004176.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.7466834187507629, + "std": 0.3410414457321167, + "delta_total": 0.006542205810546875, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.74668, std=0.34104, total_delta=0.00654). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 109, + 109, + 109, + 109, + 109, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 221, + 221, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 13 + ], + [ + 4, + 14, + 20 + ], + [ + 5, + 21, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach doll\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the doll without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp doll\", \"start\": 4, \"end\": 8, \"planning\": \"Close the gripper around the doll to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport doll\", \"start\": 9, \"end\": 13, \"planning\": \"Lift the doll and move it toward the middle left edge of the table.\"},\n {\"id\": 4, \"name\": \"position doll at target\", \"start\": 14, \"end\": 20, \"planning\": \"Place the doll near the middle left edge while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 21, \"end\": 24, \"planning\": \"Open the gripper to release the doll and move the end-effector away.\"}\n ],\n \"global_plan\": \"Approach the doll, grasp it securely, lift and transport it to the middle left edge of the table, position it accurately, then release and retreat.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper behavior: no grasp in segment 1 (open gripper), meaningful closing in segments 2–5 supports grasp/hold/release wording where images confirm object interaction.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach doll", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the doll without closing the gripper." + }, + { + "id": 2, + "name": "grasp doll", + "start": 4, + "end": 8, + "planning": "Close the gripper around the doll to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport doll", + "start": 9, + "end": 13, + "planning": "Lift the doll and move it toward the middle left edge of the table." + }, + { + "id": 4, + "name": "position doll at target", + "start": 14, + "end": 20, + "planning": "Place the doll near the middle left edge while maintaining grip." + }, + { + "id": 5, + "name": "release and retreat", + "start": 21, + "end": 24, + "planning": "Open the gripper to release the doll and move the end-effector away." + } + ], + "global_plan": "Approach the doll, grasp it securely, lift and transport it to the middle left edge of the table, position it accurately, then release and retreat.", + "notes": "Subtasks align with observed motion segments and gripper behavior: no grasp in segment 1 (open gripper), meaningful closing in segments 2–5 supports grasp/hold/release wording where images confirm object interaction." + } + }, + "episode_goal": "Move the doll to the middle left edge of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22593483328819275, + 0.09374846518039703, + 0.058189015835523605, + 3.0050692558288574, + -0.34491944313049316, + 0.27280986309051514 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table with the doll visible in the center. No actions have been completed yet. The gripper is open and not in contact with the doll. The next action should be to move the arm closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22359003126621246, + 0.09134301543235779, + 0.05394984781742096, + 2.997934341430664, + -0.3236593008041382, + 0.26520687341690063 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow doll located near the center. No contact or grasping has occurred yet as the gripper remains fully open. The next action should be to continue moving the end-effector closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22058182954788208, + 0.08353735506534576, + 0.05980025604367256, + 2.988947868347168, + -0.32273781299591064, + 0.1906314641237259 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow doll located near the center. No contact or grasping has occurred yet as the gripper remains fully open. The next action should be to continue moving the end-effector closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 5 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22178062796592712, + 0.06478830426931381, + 0.07419981062412262, + 2.9844319820404053, + -0.3664674460887909, + 0.02436467632651329 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow doll located near the center. No contact or grasping has occurred yet as the gripper remains fully open. The next action should be to continue moving the end-effector closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move left 10 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22072096168994904, + 0.04205651953816414, + 0.07063338160514832, + 2.959207534790039, + -0.37991148233413696, + -0.11397883296012878 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow doll located near the center. No contact or grasping has occurred yet as the gripper remains fully open. The next action should be to continue moving the end-effector closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 5 cm, move left 14 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22346021234989166, + 0.01892997696995735, + 0.052977800369262695, + 2.942028760910034, + -0.3372504711151123, + -0.20636707544326782 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow doll located near the center. No contact or grasping has occurred yet as the gripper remains fully open. The next action should be to continue moving the end-effector closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper; then move forward 5 cm, move left 14 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22441041469573975, + 0.009881466627120972, + 0.035790544003248215, + 2.913788318634033, + -0.30644097924232483, + -0.25049492716789246 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot arm is positioned directly above the yellow doll on the table, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the doll. The next action is to fully close the gripper to grasp the doll before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper closed; then move forward 5 cm, move left 14 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22498585283756256, + 0.004729604348540306, + 0.013232985511422157, + 2.9023547172546387, + -0.24697113037109375, + -0.3001308739185333 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 455, + 537, + 653, + 792 + ], + "tomato sauce": [ + 537, + 64, + 678, + 318 + ], + "egg": [ + 137, + 461, + 249, + 628 + ] + } + } + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot arm is positioned directly above the yellow doll on the table, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the doll. The next action is to fully close the gripper to grasp the doll before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move left 14 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22525696456432343, + 0.006442253477871418, + 0.009025920182466507, + 2.9323294162750244, + -0.28042230010032654, + -0.29454323649406433 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot arm is positioned directly above the yellow doll on the table, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the doll. The next action is to fully close the gripper to grasp the doll before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move left 14 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 9 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22518916428089142, + 0.008852685801684856, + 0.009370803833007812, + 2.9465925693511963, + -0.2771623730659485, + -0.29631197452545166 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport doll", + "subtask_reasoning": "The robot arm is positioned directly above the yellow doll on the table, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the doll. The next action is to fully close the gripper to grasp the doll before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 14 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 10 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22323141992092133, + 0.013918809592723846, + 0.020179904997348785, + 2.9496970176696777, + -0.2882622182369232, + -0.27670082449913025 + ], + "gripper_value": 0.2854207158088684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport doll", + "subtask_reasoning": "The robot arm is positioned directly above the yellow doll on the table, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the doll. The next action is to fully close the gripper to grasp the doll before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 14 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 11 cm, move down 8 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22819314897060394, + 0.029033109545707703, + 0.0477137416601181, + 2.9611525535583496, + -0.32923898100852966, + -0.21074926853179932 + ], + "gripper_value": 0.265934020280838 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 452, + 538, + 654, + 793 + ], + "tomato sauce": [ + 535, + 64, + 678, + 318 + ] + } + } + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport doll", + "subtask_reasoning": "The robot has successfully grasped the doll and is currently lifting it above the table surface. The gripper is closed, and the arm is in motion, transporting the doll toward the target location. The next action is to continue moving the doll laterally toward the middle left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 12 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 11 cm, move down 8 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23837810754776, + 0.06095734238624573, + 0.07890518009662628, + 3.0094521045684814, + -0.3483778238296509, + -0.09933192282915115 + ], + "gripper_value": 0.2652277648448944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport doll", + "subtask_reasoning": "The robot has successfully grasped the doll and is currently lifting it above the table surface. The gripper is closed, and the arm is in motion, transporting the doll toward the target location. The next action is to continue moving the doll laterally toward the middle left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 11 cm, move down 8 cm, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2571987807750702, + 0.10554321855306625, + 0.10010657459497452, + 3.026909112930298, + -0.39638012647628784, + 0.02850663848221302 + ], + "gripper_value": 0.2652277648448944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport doll", + "subtask_reasoning": "The robot has successfully grasped the doll and is currently lifting it above the table surface. The gripper is closed, and the arm is in motion, transporting the doll toward the target location. The next action is to continue moving the doll laterally toward the middle left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 11 cm, move down 8 cm, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27491122484207153, + 0.15021385252475739, + 0.09852340072393417, + 3.0420687198638916, + -0.40628936886787415, + 0.15103916823863983 + ], + "gripper_value": 0.2652277648448944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position doll at target", + "subtask_reasoning": "The robot has successfully grasped the doll and is currently lifting it above the table surface. The gripper is closed, and the arm is in motion, transporting the doll toward the target location. The next action is to continue moving the doll laterally toward the middle left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 8 cm, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28494709730148315, + 0.18640680611133575, + 0.08741869777441025, + 3.044264078140259, + -0.4016338586807251, + 0.23801225423812866 + ], + "gripper_value": 0.2652277648448944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position doll at target", + "subtask_reasoning": "The robot has successfully grasped the doll and is currently lifting it above the table surface. The gripper is closed, and the arm is in motion, transporting the doll toward the target location. The next action is to continue moving the doll laterally toward the middle left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 6 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28498542308807373, + 0.21807043254375458, + 0.06890604645013809, + 3.0582070350646973, + -0.3688535988330841, + 0.31112316250801086 + ], + "gripper_value": 0.2652277648448944 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "microwave": [ + 207, + 3, + 601, + 253 + ], + "spatula": [ + 452, + 538, + 652, + 793 + ], + "tomato sauce": [ + 539, + 65, + 677, + 318 + ], + "egg": [ + 136, + 460, + 248, + 628 + ] + } + } + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position doll at target", + "subtask_reasoning": "The robot has successfully grasped the doll and is currently lifting it above the table surface. The gripper is closed, and the arm is in motion, transporting the doll toward the target location. The next action is to continue moving the doll laterally toward the middle left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836398482322693, + 0.23256845772266388, + 0.05245927721261978, + 3.047363758087158, + -0.35300809144973755, + 0.3486492931842804 + ], + "gripper_value": 0.2645227313041687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position doll at target", + "subtask_reasoning": "The doll is currently held by the gripper and positioned near the middle left edge of the table. The gripper remains closed, indicating the doll is still secured. The next action should be to release the doll at the target location and retreat slightly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27926477789878845, + 0.23983971774578094, + 0.038093458861112595, + 3.0352210998535156, + -0.3410124182701111, + 0.37774258852005005 + ], + "gripper_value": 0.2645227313041687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position doll at target", + "subtask_reasoning": "The doll is currently held by the gripper and positioned near the middle left edge of the table. The gripper remains closed, indicating the doll is still secured. The next action should be to release the doll at the target location and retreat slightly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, open gripper; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27639228105545044, + 0.2536139190196991, + 0.029657378792762756, + 3.0303003787994385, + -0.3403224050998688, + 0.4015960693359375 + ], + "gripper_value": 0.2645227313041687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position doll at target", + "subtask_reasoning": "The doll is currently held by the gripper and positioned near the middle left edge of the table. The gripper remains closed, indicating the doll is still secured. The next action should be to release the doll at the target location and retreat slightly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768683135509491, + 0.2601485252380371, + 0.019180718809366226, + 3.0013647079467773, + -0.32927948236465454, + 0.4295234978199005 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position doll at target", + "subtask_reasoning": "The doll is currently held by the gripper and positioned near the middle left edge of the table. The gripper remains closed, indicating the doll is still secured. The next action should be to release the doll at the target location and retreat slightly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2750684916973114, + 0.2634192109107971, + 0.022571353241801262, + 3.009350538253784, + -0.3019079267978668, + 0.44888925552368164 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The doll is currently held by the gripper and positioned near the middle left edge of the table. The gripper remains closed, indicating the doll is still secured. The next action should be to release the doll at the target location and retreat slightly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27176445722579956, + 0.26316037774086, + 0.02545163966715336, + 3.0066158771514893, + -0.28265729546546936, + 0.4811343848705292 + ], + "gripper_value": 0.9198530912399292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The doll has been successfully placed at the middle left edge of the table, and the gripper is open, indicating release. The robot is now retreating from the doll's position. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2684718370437622, + 0.26210975646972656, + 0.04886700212955475, + 3.0170421600341797, + -0.2853417992591858, + 0.49525970220565796 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The doll has been successfully placed at the middle left edge of the table, and the gripper is open, indicating release. The robot is now retreating from the doll's position. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26715248823165894, + 0.26500168442726135, + 0.08068966120481491, + 3.050950050354004, + -0.31360357999801636, + 0.4954988956451416 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the middle left edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and transport doll" + }, + { + "id": 4, + "subtask": "position doll at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The doll has been successfully placed at the middle left edge of the table, and the gripper is open, indicating release. The robot is now retreating from the doll's position. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004177_ecot.json b/cot/chunk-0004/episode_0004177_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..49d3ebf124d9a8f6f2f841be80aad5e0c131390f --- /dev/null +++ b/cot/chunk-0004/episode_0004177_ecot.json @@ -0,0 +1,2727 @@ +{ + "task_name": "episode_0004177", + "episode_json": "json/chunk-0004/episode_0004177.json", + "video_path": "videos/chunk-0004/image_0/episode_0004177.mp4", + "instruction": "Unfold the cloth from edge of the table to near the yellow object.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004177.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.9451465606689453, + "std": 0.43901383876800537, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94515, std=0.43901, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 214, + 214, + 214, + 314, + 314, + 314, + 314, + 314, + 314, + 114, + 114, + 114, + 114, + 114, + 114, + 14, + 14, + 14, + 14, + 33, + 33, + 33, + 33 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 13 + ], + [ + 3, + 14, + 16 + ], + [ + 4, + 17, + 22 + ], + [ + 5, + 23, + 28 + ], + [ + 6, + 29, + 32 + ], + [ + 7, + 33, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth edge\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the folded edge of the orange cloth without grasping, as gripper remains open and no closing evidence exists in this segment.\"},\n {\"id\": 2, \"name\": \"grasp cloth edge\", \"start\": 14, \"end\": 16, \"planning\": \"Close gripper to securely grasp the cloth edge, confirmed by significant gripper closure (range=0.278) and visual contact in keyframes.\"},\n {\"id\": 3, \"name\": \"drag cloth toward yellow object\", \"start\": 17, \"end\": 22, \"planning\": \"Pull the cloth across the table surface while maintaining grip, moving it closer to the yellow banana-shaped object.\"},\n {\"id\": 4, \"name\": \"reposition cloth near target\", \"start\": 23, \"end\": 28, \"planning\": \"Adjust cloth position with minimal gripper movement; no active grasping occurs as gripper value is stable and near minimum, indicating sustained hold without new closure.\"},\n {\"id\": 5, \"name\": \"release cloth and retreat\", \"start\": 29, \"end\": 32, \"planning\": \"Open gripper to release the cloth after positioning, then begin retreating upward and away from the cloth surface.\"},\n {\"id\": 6, \"name\": \"final retreat and reset\", \"start\": 33, \"end\": 36, \"planning\": \"Fully open gripper and move end-effector to a safe resting position above the table, completing the unfolding task near the yellow object.\"}\n ],\n \"global_plan\": \"Unfold the orange cloth by first approaching its edge, grasping it firmly, dragging it toward the yellow banana-shaped object, repositioning for alignment, releasing, and retreating to complete the task.\",\n \"notes\": \"Subtask boundaries respect segment spans where gripper behavior changes meaningfully. Segments 2 and 4 are merged into single phases based on motion continuity and gripper state stability. Segment 7’s gripper opening is used to justify release and retreat, not grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth edge", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the folded edge of the orange cloth without grasping, as gripper remains open and no closing evidence exists in this segment." + }, + { + "id": 2, + "name": "grasp cloth edge", + "start": 14, + "end": 16, + "planning": "Close gripper to securely grasp the cloth edge, confirmed by significant gripper closure (range=0.278) and visual contact in keyframes." + }, + { + "id": 3, + "name": "drag cloth toward yellow object", + "start": 17, + "end": 22, + "planning": "Pull the cloth across the table surface while maintaining grip, moving it closer to the yellow banana-shaped object." + }, + { + "id": 4, + "name": "reposition cloth near target", + "start": 23, + "end": 28, + "planning": "Adjust cloth position with minimal gripper movement; no active grasping occurs as gripper value is stable and near minimum, indicating sustained hold without new closure." + }, + { + "id": 5, + "name": "release cloth and retreat", + "start": 29, + "end": 32, + "planning": "Open gripper to release the cloth after positioning, then begin retreating upward and away from the cloth surface." + }, + { + "id": 6, + "name": "final retreat and reset", + "start": 33, + "end": 36, + "planning": "Fully open gripper and move end-effector to a safe resting position above the table, completing the unfolding task near the yellow object." + } + ], + "global_plan": "Unfold the orange cloth by first approaching its edge, grasping it firmly, dragging it toward the yellow banana-shaped object, repositioning for alignment, releasing, and retreating to complete the task.", + "notes": "Subtask boundaries respect segment spans where gripper behavior changes meaningfully. Segments 2 and 4 are merged into single phases based on motion continuity and gripper state stability. Segment 7’s gripper opening is used to justify release and retreat, not grasping." + } + }, + "episode_goal": "Unfold the orange cloth from the edge of the table to near the yellow banana.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3340851366519928, + 0.252899706363678, + 0.11545144766569138, + -2.810051441192627, + -0.11039064824581146, + -0.7020426392555237 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded at the edge and the yellow banana nearby. No actions have been completed yet. The robot needs to move its end-effector closer to the edge of the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33317771553993225, + 0.2513904273509979, + 0.09791143983602524, + -2.852898120880127, + -0.10317035764455795, + -0.693135142326355 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded at the edge and the yellow banana nearby. No actions have been completed yet. The robot needs to move its end-effector closer to the edge of the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406834304332733, + 0.25463441014289856, + 0.09281603246927261, + -2.812572479248047, + -0.08952206373214722, + -0.6790969967842102 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded at the edge and the yellow banana nearby. No actions have been completed yet. The robot needs to move its end-effector closer to the edge of the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 8 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34862020611763, + 0.2508189380168915, + 0.07569698244333267, + -2.8170852661132812, + -0.07307513803243637, + -0.6709828972816467 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 10, + 364, + 558, + 606 + ], + "blue object": [ + 667, + 845, + 794, + 995 + ], + "green block": [ + 678, + 615, + 788, + 810 + ], + "banana": [ + 569, + 561, + 673, + 775 + ], + "cardboard box": [ + 238, + 6, + 995, + 601 + ], + "table": [ + 5, + 299, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded at the edge and the yellow banana nearby. No actions have been completed yet. The robot needs to move its end-effector closer to the edge of the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3527042269706726, + 0.25299951434135437, + 0.07257522642612457, + -2.7937822341918945, + -0.068748340010643, + -0.6590803265571594 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded at the edge and the yellow banana nearby. No actions have been completed yet. The robot needs to move its end-effector closer to the edge of the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3588886260986328, + 0.2521417438983917, + 0.06069106608629227, + -2.7888855934143066, + -0.07028847932815552, + -0.6615577340126038 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded at the edge and the yellow banana nearby. No actions have been completed yet. The robot needs to move its end-effector closer to the edge of the orange cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704933524131775, + 0.25042906403541565, + 0.06032249331474304, + -2.7581658363342285, + -0.07787992805242538, + -0.6727478504180908 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3762415647506714, + 0.24917075037956238, + 0.05314404517412186, + -2.7454662322998047, + -0.0737563818693161, + -0.6731238961219788 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3852410614490509, + 0.24761313199996948, + 0.046309035271406174, + -2.7454380989074707, + -0.06742949783802032, + -0.6679725646972656 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, close gripper; then keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38946086168289185, + 0.24595069885253906, + 0.039332885295152664, + -2.7425036430358887, + -0.05201764032244682, + -0.6635797619819641 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then keep gripper closed; then move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39144355058670044, + 0.24375802278518677, + 0.026737140491604805, + -2.7452194690704346, + -0.03355684503912926, + -0.6583225131034851 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move back 4 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39766427874565125, + 0.23676946759223938, + 0.023844130337238312, + -2.7315123081207275, + -0.024179574102163315, + -0.6699803471565247 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then keep gripper closed; then move back 5 cm, move right 5 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3987598717212677, + 0.23281031847000122, + 0.008992522023618221, + -2.7404541969299316, + 0.001416995539329946, + -0.6712355017662048 + ], + "gripper_value": 0.9568231701850891 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 10, + 365, + 558, + 605 + ], + "blue object": [ + 667, + 844, + 794, + 995 + ], + "green block": [ + 677, + 614, + 787, + 810 + ], + "banana": [ + 569, + 561, + 673, + 775 + ], + "table": [ + 5, + 295, + 995, + 995 + ], + "cardboard box": [ + 241, + 8, + 994, + 598 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move back 7 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4013233184814453, + 0.2347177267074585, + 0.011838702484965324, + -2.7275049686431885, + 0.0019116419134661555, + -0.6658799052238464 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move back 9 cm, move right 9 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4004497826099396, + 0.23644357919692993, + 0.0010035726008936763, + -2.738251209259033, + 0.021638700738549232, + -0.6662346720695496 + ], + "gripper_value": 0.34697994589805603 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot arm is positioned above the table near the folded orange cloth, with the yellow banana visible to the right. No part of the unfolding task has been completed yet. The gripper is open and approaching the cloth edge, indicating the next action should be to make contact with or grasp the cloth edge to begin dragging it toward the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move right 9 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.40264442563056946, + 0.23812590539455414, + 0.0018528314540162683, + -2.726494312286377, + 0.026384269818663597, + -0.6697036623954773 + ], + "gripper_value": 0.1660143882036209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth edge near the table boundary, with gripper partially open (0.166). The cloth remains folded and untouched; no grasp has occurred yet. Next action: close gripper to securely grasp the cloth edge for dragging toward the yellow banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 9 cm, move right 9 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40357285737991333, + 0.23863020539283752, + 0.001893024891614914, + -2.7204201221466064, + 0.020110981538891792, + -0.6720251441001892 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "grasp cloth edge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth edge near the table boundary, with gripper partially open (0.166). The cloth remains folded and untouched; no grasp has occurred yet. Next action: close gripper to securely grasp the cloth edge for dragging toward the yellow banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 9 cm, move right 9 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3975007236003876, + 0.23427696526050568, + 0.001646737102419138, + -2.747227430343628, + -0.008370118215680122, + -0.6955159306526184 + ], + "gripper_value": 0.06037256866693497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "drag cloth toward yellow object", + "subtask_reasoning": "The robot arm is positioned above the orange cloth edge near the table boundary, with gripper partially open (0.166). The cloth remains folded and untouched; no grasp has occurred yet. Next action: close gripper to securely grasp the cloth edge for dragging toward the yellow banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 9 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.386636883020401, + 0.23027239739894867, + 0.027693722397089005, + -2.7660388946533203, + -0.06535311043262482, + -0.7141468524932861 + ], + "gripper_value": 0.05952305346727371 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "drag cloth toward yellow object", + "subtask_reasoning": "The robot arm is positioned above the orange cloth edge near the table boundary, with gripper partially open (0.166). The cloth remains folded and untouched; no grasp has occurred yet. Next action: close gripper to securely grasp the cloth edge for dragging toward the yellow banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 9 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37622717022895813, + 0.2234828919172287, + 0.0595630407333374, + -2.7571096420288086, + -0.12029407918453217, + -0.7332837581634521 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "drag cloth toward yellow object", + "subtask_reasoning": "The robot is dragging the orange cloth across the table toward the yellow banana. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The cloth is partially unfolded and moving closer to the target. The next action is to continue dragging until the cloth is near the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3612199127674103, + 0.20910818874835968, + 0.06605439633131027, + -2.7359700202941895, + -0.10520005971193314, + -0.7550188899040222 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "drag cloth toward yellow object", + "subtask_reasoning": "The robot is dragging the orange cloth across the table toward the yellow banana. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The cloth is partially unfolded and moving closer to the target. The next action is to continue dragging until the cloth is near the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506045341491699, + 0.1821337342262268, + 0.05861771106719971, + -2.7337265014648438, + -0.054361507296562195, + -0.7939614057540894 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "drag cloth toward yellow object", + "subtask_reasoning": "The robot is dragging the orange cloth across the table toward the yellow banana. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The cloth is partially unfolded and moving closer to the target. The next action is to continue dragging until the cloth is near the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3298242390155792, + 0.16337044537067413, + 0.05018171668052673, + -2.7371387481689453, + -0.010550158098340034, + -0.843323290348053 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "drag cloth toward yellow object", + "subtask_reasoning": "The robot is dragging the orange cloth across the table toward the yellow banana. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The cloth is partially unfolded and moving closer to the target. The next action is to continue dragging until the cloth is near the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, keep gripper closed; then move back 10 cm, move right 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043602705001831, + 0.14059793949127197, + 0.05068855360150337, + -2.73712158203125, + 0.0065920534543693066, + -0.9069060683250427 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "reposition cloth near target", + "subtask_reasoning": "The robot is dragging the orange cloth across the table toward the yellow banana. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The cloth is partially unfolded and moving closer to the target. The next action is to continue dragging until the cloth is near the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2770015597343445, + 0.12322017550468445, + 0.057621169835329056, + -2.735813617706299, + -0.005503545980900526, + -0.9616715908050537 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue object": [ + 667, + 845, + 794, + 995 + ], + "banana": [ + 569, + 561, + 673, + 775 + ], + "green block": [ + 677, + 615, + 787, + 811 + ], + "cardboard box": [ + 237, + 7, + 994, + 601 + ], + "table": [ + 4, + 324, + 995, + 995 + ], + "orange cloth": [ + 4, + 368, + 558, + 653 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "reposition cloth near target", + "subtask_reasoning": "The robot is dragging the orange cloth across the table toward the yellow banana. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The cloth is partially unfolded and moving closer to the target. The next action is to continue dragging until the cloth is near the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2520293891429901, + 0.11201150715351105, + 0.06682197004556656, + -2.72768235206604, + -0.03066534548997879, + -1.0185645818710327 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "reposition cloth near target", + "subtask_reasoning": "The orange cloth is partially unfolded on the table, with the robot's end-effector in contact near its edge. The cloth has been dragged closer to the yellow banana but requires further alignment. The next action should involve sliding or adjusting the cloth’s position to better align it near the target object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23397095501422882, + 0.10486813634634018, + 0.06198052316904068, + -2.7490108013153076, + -0.02715553157031536, + -1.045996904373169 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "reposition cloth near target", + "subtask_reasoning": "The orange cloth is partially unfolded on the table, with the robot's end-effector in contact near its edge. The cloth has been dragged closer to the yellow banana but requires further alignment. The next action should involve sliding or adjusting the cloth’s position to better align it near the target object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22082965075969696, + 0.09907571971416473, + 0.05474264919757843, + -2.770900011062622, + -0.0253602322191, + -1.0596897602081299 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue object": [ + 667, + 844, + 794, + 995 + ], + "green block": [ + 677, + 615, + 787, + 810 + ], + "cardboard box": [ + 239, + 8, + 994, + 604 + ], + "orange cloth": [ + 3, + 370, + 567, + 783 + ], + "table": [ + 4, + 302, + 995, + 995 + ], + "banana": [ + 570, + 562, + 673, + 775 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "reposition cloth near target", + "subtask_reasoning": "The orange cloth is partially unfolded on the table, with the robot's end-effector in contact near its edge. The cloth has been dragged closer to the yellow banana but requires further alignment. The next action should involve sliding or adjusting the cloth’s position to better align it near the target object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.20922508835792542, + 0.09690248966217041, + 0.04867822304368019, + -2.8306117057800293, + -0.02190939150750637, + -1.099133849143982 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "reposition cloth near target", + "subtask_reasoning": "The orange cloth is partially unfolded on the table, with the robot's end-effector in contact near its edge. The cloth has been dragged closer to the yellow banana but requires further alignment. The next action should involve sliding or adjusting the cloth’s position to better align it near the target object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move right 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.20056632161140442, + 0.0900576263666153, + 0.04656950384378433, + -2.89819073677063, + -0.017318133264780045, + -1.1000415086746216 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The orange cloth is partially unfolded on the table, with the robot's end-effector in contact near its edge. The cloth has been dragged closer to the yellow banana but requires further alignment. The next action should involve sliding or adjusting the cloth’s position to better align it near the target object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.1977119743824005, + 0.07647012919187546, + 0.04597179591655731, + -2.9494855403900146, + 0.018648315221071243, + -1.0595600605010986 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The orange cloth has been dragged near the yellow banana and is now partially unfolded on the table. The gripper is open (0.05896), indicating the cloth has been released. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.20134367048740387, + 0.07122219353914261, + 0.04523734375834465, + -2.960465908050537, + 0.03930787742137909, + -1.0316253900527954 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The orange cloth has been dragged near the yellow banana and is now partially unfolded on the table. The gripper is open (0.05896), indicating the cloth has been released. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.20045241713523865, + 0.06856248527765274, + 0.03921804204583168, + -2.9782652854919434, + 0.06860817223787308, + -1.0147901773452759 + ], + "gripper_value": 0.24121350049972534 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The orange cloth has been dragged near the yellow banana and is now partially unfolded on the table. The gripper is open (0.05896), indicating the cloth has been released. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.20154663920402527, + 0.0686623826622963, + 0.03904053568840027, + -2.9726176261901855, + 0.0653604120016098, + -1.0123956203460693 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The orange cloth has been dragged near the yellow banana and is now partially unfolded on the table. The gripper is open (0.05896), indicating the cloth has been released. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2013111263513565, + 0.07006236165761948, + 0.04247492551803589, + -2.99515438079834, + 0.06799115985631943, + -1.0122805833816528 + ], + "gripper_value": 0.8214757442474365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The orange cloth is fully unfolded near the yellow banana, with the gripper open and positioned above the cloth. The retreat phase is underway as the arm begins to lift and move away from the cloth surface. Next, the robot should continue retracting to a neutral pose to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 33, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.20157593488693237, + 0.06613055616617203, + 0.04786229878664017, + -3.041623115539551, + 0.05819796025753021, + -1.0339585542678833 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The orange cloth is fully unfolded near the yellow banana, with the gripper open and positioned above the cloth. The retreat phase is underway as the arm begins to lift and move away from the cloth surface. Next, the robot should continue retracting to a neutral pose to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2011503130197525, + 0.07023710757493973, + 0.05619661882519722, + -3.0843517780303955, + 0.03719816356897354, + -1.0361449718475342 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from the edge of the table to near the yellow banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth edge" + }, + { + "id": 3, + "subtask": "drag cloth toward yellow object" + }, + { + "id": 4, + "subtask": "reposition cloth near target" + }, + { + "id": 5, + "subtask": "release cloth and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The orange cloth is fully unfolded near the yellow banana, with the gripper open and positioned above the cloth. The retreat phase is underway as the arm begins to lift and move away from the cloth surface. Next, the robot should continue retracting to a neutral pose to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004178_ecot.json b/cot/chunk-0004/episode_0004178_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2fcff322df25b0d1f9648587556da9a44cee881a --- /dev/null +++ b/cot/chunk-0004/episode_0004178_ecot.json @@ -0,0 +1,2289 @@ +{ + "task_name": "episode_0004178", + "episode_json": "json/chunk-0004/episode_0004178.json", + "video_path": "videos/chunk-0004/image_0/episode_0004178.mp4", + "instruction": "Move the purple cloth to the upper left corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004178.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013275146484375, + "std": 0.0004891015705652535, + "delta_total": -0.0013275146484375, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00049, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach purple cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector from initial position toward the purple cloth on the table.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 6, \"end\": 12, \"planning\": \"Lower and align gripper to make gentle contact with the purple cloth without grasping.\"},\n {\"id\": 3, \"name\": \"drag cloth toward upper left\", \"start\": 13, \"end\": 24, \"planning\": \"Slide the purple cloth across the table surface toward the upper left corner using continuous pushing motion.\"},\n {\"id\": 4, \"name\": \"reposition cloth at target\", \"start\": 25, \"end\": 30, \"planning\": \"Fine-tune the cloth’s position by nudging it into the upper left corner of the table.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 31, \"end\": 33, \"planning\": \"Lift and move the end-effector away from the cloth after positioning is complete.\"}\n ],\n \"global_plan\": \"The robot approaches the purple cloth, makes contact without grasping, drags it across the table to the upper left corner, fine-tunes its position, then retreats — all without lifting or gripping the cloth.\",\n \"notes\": \"Gripper remains open throughout; no grasp/lift/place actions inferred. Motion is purely contact-based sliding and repositioning as supported by gripper evidence and visual frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach purple cloth", + "start": 0, + "end": 5, + "planning": "Move the end-effector from initial position toward the purple cloth on the table." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 6, + "end": 12, + "planning": "Lower and align gripper to make gentle contact with the purple cloth without grasping." + }, + { + "id": 3, + "name": "drag cloth toward upper left", + "start": 13, + "end": 24, + "planning": "Slide the purple cloth across the table surface toward the upper left corner using continuous pushing motion." + }, + { + "id": 4, + "name": "reposition cloth at target", + "start": 25, + "end": 30, + "planning": "Fine-tune the cloth’s position by nudging it into the upper left corner of the table." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 31, + "end": 33, + "planning": "Lift and move the end-effector away from the cloth after positioning is complete." + } + ], + "global_plan": "The robot approaches the purple cloth, makes contact without grasping, drags it across the table to the upper left corner, fine-tunes its position, then retreats — all without lifting or gripping the cloth.", + "notes": "Gripper remains open throughout; no grasp/lift/place actions inferred. Motion is purely contact-based sliding and repositioning as supported by gripper evidence and visual frames." + } + }, + "episode_goal": "Move the purple cloth to the upper left corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33208727836608887, + -0.08508668094873428, + 0.14482735097408295, + -3.065121650695801, + -0.43683335185050964, + -0.15385349094867706 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No movement or contact has occurred yet. The next action should be to lower and move the end-effector toward the cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32871317863464355, + -0.0837877094745636, + 0.13361875712871552, + -3.060577869415283, + -0.4028805196285248, + -0.14920520782470703 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No movement or contact has occurred yet. The next action should be to lower and move the end-effector toward the cloth to initiate dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086874485015869, + -0.0693105161190033, + 0.1314282864332199, + -3.03684401512146, + -0.39059868454933167, + -0.1322798877954483 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2882366180419922, + -0.05559089407324791, + 0.12723441421985626, + -3.0195655822753906, + -0.3803099989891052, + -0.12925249338150024 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.271287202835083, + -0.0359477736055851, + 0.12061714380979538, + -3.02181077003479, + -0.35399699211120605, + -0.08709228783845901 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 324, + 493, + 628, + 813 + ], + "blue object": [ + 643, + 702, + 714, + 850 + ], + "metal bowl": [ + 644, + 373, + 874, + 621 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26611924171447754, + -0.0284243393689394, + 0.10783825069665909, + -3.057892084121704, + -0.31864607334136963, + -0.03572172671556473 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26548001170158386, + -0.025252889841794968, + 0.08674389868974686, + -3.0484986305236816, + -0.2513417899608612, + -0.029685193672776222 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26620298624038696, + -0.02579209767282009, + 0.05741116777062416, + -3.0375852584838867, + -0.1687108874320984, + -0.058374907821416855 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615194022655487, + -0.02353963814675808, + 0.039956819266080856, + -3.0379135608673096, + -0.12129981815814972, + -0.0555502250790596 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the purple cloth visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2515838146209717, + -0.017064936459064484, + 0.030858850106596947, + -3.0300850868225098, + -0.0891554057598114, + -0.04922912269830704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 9 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2429746836423874, + -0.008373251184821129, + 0.02565726451575756, + -3.025428056716919, + -0.062041863799095154, + -0.021048065274953842 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 319, + 556, + 595, + 814 + ], + "metal bowl": [ + 644, + 364, + 877, + 621 + ], + "blue object": [ + 643, + 701, + 715, + 849 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 10 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23754869401454926, + 0.000146599966683425, + 0.025305038318037987, + -3.034978151321411, + -0.059305280447006226, + 0.013214805163443089 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 11 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2397642582654953, + -0.0007200377876870334, + 0.019275065511465073, + -3.0645065307617188, + -0.05483510345220566, + 0.02545822784304619 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 12 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516540288925171, + -0.00593834463506937, + 0.014157148078083992, + -3.106137752532959, + -0.056603383272886276, + 0.04242660477757454 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25833579897880554, + -0.005875322502106428, + 0.012409179471433163, + -3.1211297512054443, + -0.06208191066980362, + 0.0430416464805603 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26702576875686646, + -0.00409479346126318, + 0.011300530284643173, + -3.131739616394043, + -0.07322942465543747, + 0.05327498912811279 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28479820489883423, + -0.002105091465637088, + 0.012196158990263939, + -3.1231329441070557, + -0.09553740173578262, + 0.05077101290225983 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 12 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30790504813194275, + 0.00042413672781549394, + 0.013865524902939796, + -3.103745222091675, + -0.09605339169502258, + 0.07842080295085907 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot's end-effector is positioned directly above the purple cloth on the table. The approach phase is complete, and the arm is now stationary or making initial contact with the fabric surface. Since there is no gripper movement, the next step is to maintain this contact position to prepare for dragging the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 11 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246021568775177, + 0.004935890436172485, + 0.014815889298915863, + -3.087977409362793, + -0.10235428065061569, + 0.07444630563259125 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424472212791443, + 0.014878982678055763, + 0.015859439969062805, + -3.08724045753479, + -0.11454115062952042, + 0.10054229944944382 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35369348526000977, + 0.026901155710220337, + 0.015295724384486675, + -3.083186388015747, + -0.11130671203136444, + 0.12420433014631271 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646395802497864, + 0.04304606467485428, + 0.015409563668072224, + -3.0792489051818848, + -0.11240139603614807, + 0.15403670072555542 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726142942905426, + 0.06030379608273506, + 0.01651580072939396, + -3.0695855617523193, + -0.1191302165389061, + 0.1866026371717453 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 3 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3733758330345154, + 0.07838597893714905, + 0.018533717840909958, + -3.0522165298461914, + -0.1163230910897255, + 0.222954660654068 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36912038922309875, + 0.09625056385993958, + 0.020673047751188278, + -3.032109260559082, + -0.10566382855176926, + 0.2675200402736664 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 335, + 277, + 563, + 456 + ], + "blue object": [ + 641, + 702, + 715, + 850 + ], + "metal bowl": [ + 630, + 324, + 877, + 624 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth toward upper left", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3641602694988251, + 0.11485069245100021, + 0.021853461861610413, + -3.0211446285247803, + -0.10125614702701569, + 0.3149523138999939 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 299, + 272, + 521, + 447 + ], + "metal bowl": [ + 626, + 294, + 877, + 622 + ], + "blue object": [ + 641, + 702, + 715, + 850 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3624288737773895, + 0.12646016478538513, + 0.022058304399251938, + -3.014415979385376, + -0.09972897917032242, + 0.3466343283653259 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot is in contact with the purple cloth on the table, having completed the approach and initial contact. The gripper remains open with no grasp evidence, consistent with dragging. The next action is to continue moving the cloth toward the upper left corner by sliding it across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621945083141327, + 0.12760530412197113, + 0.02199620008468628, + -3.018716812133789, + -0.10115589946508408, + 0.3554126024246216 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot has made contact with the purple cloth and is currently dragging it toward the upper left corner of the table. The gripper remains open, indicating no grasp has occurred. The next action is to continue sliding the cloth into the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3635457754135132, + 0.12650930881500244, + 0.022486146539449692, + -3.0289134979248047, + -0.10802818834781647, + 0.3613586723804474 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot has made contact with the purple cloth and is currently dragging it toward the upper left corner of the table. The gripper remains open, indicating no grasp has occurred. The next action is to continue sliding the cloth into the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36214226484298706, + 0.12440147995948792, + 0.020403796806931496, + -3.064601182937622, + -0.10801688581705093, + 0.36446714401245117 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot has made contact with the purple cloth and is currently dragging it toward the upper left corner of the table. The gripper remains open, indicating no grasp has occurred. The next action is to continue sliding the cloth into the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36202171444892883, + 0.11987633258104324, + 0.026086723431944847, + -3.0781240463256836, + -0.10709121078252792, + 0.3700490891933441 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot has made contact with the purple cloth and is currently dragging it toward the upper left corner of the table. The gripper remains open, indicating no grasp has occurred. The next action is to continue sliding the cloth into the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3623787760734558, + 0.11669857800006866, + 0.04824138432741165, + -3.0721325874328613, + -0.14531412720680237, + 0.36226576566696167 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has made contact with the purple cloth and is currently dragging it toward the upper left corner of the table. The gripper remains open, indicating no grasp has occurred. The next action is to continue sliding the cloth into the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617546856403351, + 0.11354880034923553, + 0.07136891782283783, + -3.070852756500244, + -0.19571366906166077, + 0.34514597058296204 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth is already positioned in the upper left corner of the table, and the robot has completed dragging it there. The gripper remains open with no grasp evidence, indicating the robot is now retreating from the cloth. The next action is to move the end-effector away from the cloth area to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.35686638951301575, + 0.11205767095088959, + 0.09083115309476852, + -3.06394100189209, + -0.23833535611629486, + 0.3401629626750946 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth to the upper left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward upper left" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth is already positioned in the upper left corner of the table, and the robot has completed dragging it there. The gripper remains open with no grasp evidence, indicating the robot is now retreating from the cloth. The next action is to move the end-effector away from the cloth area to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004182_ecot.json b/cot/chunk-0004/episode_0004182_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..be9f36314b4130a7237f9b3e704fde1a29ac9196 --- /dev/null +++ b/cot/chunk-0004/episode_0004182_ecot.json @@ -0,0 +1,3043 @@ +{ + "task_name": "episode_0004182", + "episode_json": "json/chunk-0004/episode_0004182.json", + "video_path": "videos/chunk-0004/image_0/episode_0004182.mp4", + "instruction": "Placed blue rectangular block from the table to on top of the arch.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004182.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4493289589881897, + "std": 0.21580485999584198, + "delta_total": 0.0032989978790283203, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.44933, std=0.21580, total_delta=0.00330). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 19 + ], + [ + 3, + 20, + 23 + ], + [ + 4, + 24, + 28 + ], + [ + 5, + 29, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the blue rectangular block without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue block\", \"start\": 8, \"end\": 19, \"planning\": \"Close gripper to securely grasp the blue block as confirmed by segment-level closing and visual evidence.\"},\n {\"id\": 3, \"name\": \"lift and transport blue block\", \"start\": 20, \"end\": 23, \"planning\": \"Lift the grasped blue block and move it toward the arch structure while maintaining grip.\"},\n {\"id\": 4, \"name\": \"position over arch\", \"start\": 24, \"end\": 28, \"planning\": \"Adjust position of held blue block above the arch without releasing or re-grasping.\"},\n {\"id\": 5, \"name\": \"release blue block on arch\", \"start\": 29, \"end\": 44, \"planning\": \"Open gripper to release the blue block onto the arch, confirmed by segment-level opening and final image.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, position, and release the blue rectangular block onto the arch using coordinated motion and gripper control.\",\n \"notes\": \"Subtasks align with observed segments and gripper evidence; no hallucinated actions used. Segment 4 (frames 24-28) shows no gripper change but is part of positioning phase under continuous hold from prior grasp.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the blue rectangular block without closing gripper." + }, + { + "id": 2, + "name": "grasp blue block", + "start": 8, + "end": 19, + "planning": "Close gripper to securely grasp the blue block as confirmed by segment-level closing and visual evidence." + }, + { + "id": 3, + "name": "lift and transport blue block", + "start": 20, + "end": 23, + "planning": "Lift the grasped blue block and move it toward the arch structure while maintaining grip." + }, + { + "id": 4, + "name": "position over arch", + "start": 24, + "end": 28, + "planning": "Adjust position of held blue block above the arch without releasing or re-grasping." + }, + { + "id": 5, + "name": "release blue block on arch", + "start": 29, + "end": 44, + "planning": "Open gripper to release the blue block onto the arch, confirmed by segment-level opening and final image." + } + ], + "global_plan": "Approach, grasp, lift, position, and release the blue rectangular block onto the arch using coordinated motion and gripper control.", + "notes": "Subtasks align with observed segments and gripper evidence; no hallucinated actions used. Segment 4 (frames 24-28) shows no gripper change but is part of positioning phase under continuous hold from prior grasp." + } + }, + "episode_goal": "Place the blue rectangular block on top of the white arch-shaped block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194093406200409, + -0.02369728684425354, + 0.20661717653274536, + -3.0869033336639404, + -0.6080665588378906, + -0.06955193728208542 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue rectangular block visible in the scene. No prior actions have been completed. The gripper remains open and stationary, indicating the robot has not yet initiated contact. The next action should be to move the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 6 cm, tilt left 40 degrees, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31794124841690063, + -0.023127859458327293, + 0.197829931974411, + -3.086702585220337, + -0.5795357823371887, + -0.0633772686123848 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue rectangular block visible in the scene. No prior actions have been completed. The gripper remains open and stationary, indicating the robot has not yet initiated contact. The next action should be to move the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 5 cm, tilt left 30 degrees, tilt back 10 degrees, rotate clockwise 80 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3060063123703003, + 0.0008290656260214746, + 0.1829056441783905, + -3.0379245281219482, + -0.5615485310554504, + 0.11223308742046356 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue rectangular block visible in the scene. No prior actions have been completed. The gripper remains open and stationary, indicating the robot has not yet initiated contact. The next action should be to move the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, move down 4 cm, tilt left 30 degrees, tilt back 10 degrees, rotate clockwise 70 degrees, keep gripper open; then move left 5 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30124738812446594, + 0.023441500961780548, + 0.18206119537353516, + -3.0025532245635986, + -0.5674722194671631, + 0.33951234817504883 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 4 cm, tilt left 30 degrees, rotate clockwise 60 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31165611743927, + 0.04313867911696434, + 0.17340746521949768, + -2.9963431358337402, + -0.510967493057251, + 0.5689019560813904 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 3 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3286318778991699, + 0.060128580778837204, + 0.1647815704345703, + -3.0550458431243896, + -0.4317561686038971, + 0.8516719341278076 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 246, + 150, + 375, + 289 + ], + "white block": [ + 647, + 317, + 783, + 503 + ], + "green block": [ + 124, + 175, + 263, + 325 + ], + "red pawn": [ + 1, + 270, + 121, + 497 + ], + "red cube": [ + 237, + 100, + 304, + 173 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, move down 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3263574242591858, + 0.08053199201822281, + 0.16179412603378296, + -3.059282064437866, + -0.41130056977272034, + 1.1126840114593506 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32148680090904236, + 0.10101568698883057, + 0.15316979587078094, + -3.105853796005249, + -0.3765079379081726, + 1.36648690700531 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 11 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31754428148269653, + 0.11621104180812836, + 0.14518620073795319, + 3.131265163421631, + -0.34362852573394775, + 1.4972738027572632 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 10 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30833160877227783, + 0.12528441846370697, + 0.11813244968652725, + 3.0871169567108154, + -0.2972643971443176, + 1.5907628536224365 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30661696195602417, + 0.1369868814945221, + 0.1036732867360115, + 3.0307955741882324, + -0.3081221282482147, + 1.6191394329071045 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086494207382202, + 0.15068717300891876, + 0.08184675872325897, + 2.970317840576172, + -0.3166029751300812, + 1.634476661682129 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.316336065530777, + 0.16268110275268555, + 0.06745985895395279, + 2.920225143432617, + -0.32121410965919495, + 1.6720798015594482 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 247, + 162, + 376, + 289 + ], + "green block": [ + 123, + 173, + 264, + 325 + ], + "white block": [ + 649, + 316, + 783, + 504 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is approaching the blue rectangular block on the table, with no objects yet grasped. The gripper remains open and stationary in this segment, indicating no contact has occurred. The next action should continue moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move forward 1 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32330605387687683, + 0.1683724969625473, + 0.055350542068481445, + 2.892000913619995, + -0.2985304296016693, + 1.7163997888565063 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block on the table. The gripper is currently open and positioned near the block, with no contact yet established. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move forward 1 cm, move right 10 cm, move up 5 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3344154953956604, + 0.17408061027526855, + 0.05452500656247139, + 2.8760275840759277, + -0.2942393124103546, + 1.7460246086120605 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block on the table. The gripper is currently open and positioned near the block, with no contact yet established. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move right 12 cm, move up 6 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34175726771354675, + 0.17531530559062958, + 0.047277290374040604, + 2.8822672367095947, + -0.28209415078163147, + 1.7531577348709106 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block on the table. The gripper is currently open and positioned near the block, with no contact yet established. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move right 12 cm, move up 6 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34465813636779785, + 0.177249938249588, + 0.042467523366212845, + 2.912172555923462, + -0.27496734261512756, + 1.7523274421691895 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block on the table. The gripper is currently open and positioned near the block, with no contact yet established. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 12 cm, move up 6 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429673910140991, + 0.17334222793579102, + 0.03908120095729828, + 2.969363212585449, + -0.24797981977462769, + 1.7153997421264648 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block on the table. The gripper is currently open and positioned near the block, with no contact yet established. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 12 cm, move up 6 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 6 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34264492988586426, + 0.1771361082792282, + 0.04097159951925278, + 3.008854627609253, + -0.2944445013999939, + 1.5712273120880127 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block on the table. The gripper is currently open and positioned near the block, with no contact yet established. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 12 cm, move up 6 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 7 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35620245337486267, + 0.17941640317440033, + 0.05989470332860947, + 2.9866580963134766, + -0.401286780834198, + 1.395487666130066 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block on the table. The gripper is currently open and positioned near the block, with no contact yet established. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 12 cm, move up 6 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37220391631126404, + 0.15962940454483032, + 0.09107198566198349, + 2.9420387744903564, + -0.4976039230823517, + 1.2384127378463745 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot has approached the blue rectangular block on the table. The gripper is currently open and positioned near the block, with no contact yet established. The next action is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move up 6 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38066598773002625, + 0.12577608227729797, + 0.11556686460971832, + 2.9105963706970215, + -0.5405189990997314, + 1.0730433464050293 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 398, + 4, + 471, + 125 + ], + "green block": [ + 123, + 174, + 264, + 325 + ], + "white block": [ + 648, + 316, + 783, + 504 + ], + "red cube": [ + 218, + 82, + 300, + 195 + ], + "red pawn": [ + 1, + 269, + 121, + 498 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The blue rectangular block is currently held above the table, having been grasped and lifted. The gripper remains closed with no motion indicating release. The next action is to transport the block toward the white arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 3 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3815305233001709, + 0.09406764060258865, + 0.12729863822460175, + 2.8766610622406006, + -0.5461630821228027, + 0.8991656303405762 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The blue rectangular block is currently held above the table, having been grasped and lifted. The gripper remains closed with no motion indicating release. The next action is to transport the block toward the white arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3779703974723816, + 0.06386751681566238, + 0.1395166963338852, + 2.8423233032226562, + -0.5106680989265442, + 0.700035035610199 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The blue rectangular block is currently held above the table, having been grasped and lifted. The gripper remains closed with no motion indicating release. The next action is to transport the block toward the white arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3712327480316162, + 0.04175181686878204, + 0.14642320573329926, + 2.8146839141845703, + -0.41455328464508057, + 0.5671390295028687 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "position over arch", + "subtask_reasoning": "The blue rectangular block is currently held above the table, having been grasped and lifted. The gripper remains closed with no motion indicating release. The next action is to transport the block toward the white arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697824776172638, + 0.02409892901778221, + 0.14822259545326233, + 2.7886557579040527, + -0.3809979259967804, + 0.4482083320617676 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "position over arch", + "subtask_reasoning": "The blue rectangular block is currently held above the table, having been grasped and lifted. The gripper remains closed with no motion indicating release. The next action is to transport the block toward the white arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697082996368408, + -0.0021664972882717848, + 0.13902513682842255, + 2.7820091247558594, + -0.3589814007282257, + 0.3107788562774658 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "position over arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36890092492103577, + -0.01794104091823101, + 0.13226523995399475, + 2.795715808868408, + -0.36747631430625916, + 0.19436968863010406 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "position over arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659312129020691, + -0.03273463249206543, + 0.11795922368764877, + 2.8530666828155518, + -0.3797467052936554, + 0.06772248446941376 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "position over arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36379390954971313, + -0.037399936467409134, + 0.10478471219539642, + 2.9576377868652344, + -0.3594520688056946, + -0.0853467732667923 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3634052872657776, + -0.03736799955368042, + 0.10171119123697281, + 3.011691093444824, + -0.3392353653907776, + -0.19092315435409546 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36215847730636597, + -0.03511505946516991, + 0.10057669132947922, + 3.029695749282837, + -0.33037856221199036, + -0.20726610720157623 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3588627576828003, + -0.039303362369537354, + 0.09578016400337219, + 3.0373141765594482, + -0.316569983959198, + -0.20782867074012756 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.35584399104118347, + -0.04662543162703514, + 0.09004483371973038, + 3.0592198371887207, + -0.3091000020503998, + -0.1665758192539215 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3546762764453888, + -0.05283673480153084, + 0.08584523946046829, + 3.0682477951049805, + -0.31659215688705444, + -0.13748130202293396 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cube": [ + 218, + 83, + 300, + 195 + ], + "green block": [ + 124, + 175, + 263, + 324 + ], + "red pawn": [ + 1, + 269, + 121, + 498 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35426226258277893, + -0.05502939224243164, + 0.08255303651094437, + 3.0731263160705566, + -0.3265286087989807, + -0.11205284297466278 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue block is currently held above the table, positioned near the white arch. The gripper remains closed with no significant change, confirming the block is still grasped. The next action is to lower and align the block precisely over the arch for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3573179543018341, + -0.05395381897687912, + 0.08344969898462296, + 3.082947254180908, + -0.34550225734710693, + -0.10593951493501663 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.35981249809265137, + -0.05187531188130379, + 0.08415506035089493, + 3.094755172729492, + -0.36008715629577637, + -0.09768760204315186 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.36147260665893555, + -0.05090034008026123, + 0.08415383100509644, + 3.099565029144287, + -0.3689796030521393, + -0.09111354500055313 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.36058178544044495, + -0.051534734666347504, + 0.07901202142238617, + 3.090071439743042, + -0.3591321110725403, + -0.07656580954790115 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575378656387329, + -0.051634982228279114, + 0.07500332593917847, + 3.083376169204712, + -0.35191622376441956, + -0.05661625415086746 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.354878306388855, + -0.050042107701301575, + 0.07109329104423523, + 3.085214614868164, + -0.3470364511013031, + -0.046808648854494095 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.35557565093040466, + -0.04946659877896309, + 0.06818544864654541, + 3.0962538719177246, + -0.3568297028541565, + -0.0516962930560112 + ], + "gripper_value": 0.6269758939743042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3536565601825714, + -0.048006512224674225, + 0.05753837153315544, + 3.1124558448791504, + -0.3318631649017334, + -0.07235931605100632 + ], + "gripper_value": 0.9247323274612427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cube": [ + 218, + 82, + 301, + 194 + ], + "blue cube": [ + 653, + 314, + 739, + 441 + ], + "white cylinder": [ + 215, + 296, + 298, + 472 + ], + "red pawn": [ + 1, + 269, + 121, + 498 + ], + "green block": [ + 123, + 174, + 263, + 324 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.35248804092407227, + -0.044885654002428055, + 0.05626438185572624, + 3.1318359375, + -0.32674649357795715, + -0.07396212965250015 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue rectangular block on top of the white arch-shaped block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "position over arch" + }, + { + "id": 5, + "subtask": "release blue block on arch" + } + ], + "subtask_name": "release blue block on arch", + "subtask_reasoning": "The blue rectangular block is currently held by the gripper and positioned directly above the white arch-shaped block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the block onto the arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004183_ecot.json b/cot/chunk-0004/episode_0004183_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f26b4ea8ea0bcfafcc5e818498904b6d23d97c56 --- /dev/null +++ b/cot/chunk-0004/episode_0004183_ecot.json @@ -0,0 +1,1787 @@ +{ + "task_name": "episode_0004183", + "episode_json": "json/chunk-0004/episode_0004183.json", + "video_path": "videos/chunk-0004/image_0/episode_0004183.mp4", + "instruction": "Pick the mango from green towel nad place it onleft corner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004183.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.35336852073669434, + "std": 0.16968588531017303, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.35337, std=0.16969, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ], + [ + 3, + 12, + 16 + ], + [ + 4, + 17, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach mango on towel\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the mango resting on the green towel without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp mango with gripper\", \"start\": 6, \"end\": 11, \"planning\": \"Close gripper around mango while maintaining contact; confirmed by gripper value drop and visual hold.\"},\n {\"id\": 3, \"name\": \"lift and transport mango leftward\", \"start\": 12, \"end\": 16, \"planning\": \"Lift mango slightly and move it leftward across the table while keeping gripper closed.\"},\n {\"id\": 4, \"name\": \"release mango at left corner\", \"start\": 17, \"end\": 27, \"planning\": \"Position mango near left corner, open gripper to release, then retreat upward as seen in final frame.\"}\n ],\n \"global_plan\": \"Approach mango on green towel, grasp it securely, lift and carry it leftward, then release at target location near left corner of table.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 2 and 4; segment 3 shows no gripper change but motion implies transport while holding; segment 4 ends with gripper opening and retreat, confirming release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach mango on towel", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the mango resting on the green towel without closing gripper." + }, + { + "id": 2, + "name": "grasp mango with gripper", + "start": 6, + "end": 11, + "planning": "Close gripper around mango while maintaining contact; confirmed by gripper value drop and visual hold." + }, + { + "id": 3, + "name": "lift and transport mango leftward", + "start": 12, + "end": 16, + "planning": "Lift mango slightly and move it leftward across the table while keeping gripper closed." + }, + { + "id": 4, + "name": "release mango at left corner", + "start": 17, + "end": 27, + "planning": "Position mango near left corner, open gripper to release, then retreat upward as seen in final frame." + } + ], + "global_plan": "Approach mango on green towel, grasp it securely, lift and carry it leftward, then release at target location near left corner of table.", + "notes": "Gripper evidence confirms meaningful closing only in segments 2 and 4; segment 3 shows no gripper change but motion implies transport while holding; segment 4 ends with gripper opening and retreat, confirming release." + } + }, + "episode_goal": "Pick the mango from the green towel and place it on the left corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2686213552951813, + 0.013744342140853405, + 0.08433151245117188, + 3.129807710647583, + -0.03505014255642891, + -0.2677783966064453 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "approach mango on towel", + "subtask_reasoning": "The robot arm is positioned near the green towel with the mango visible on it. The gripper is open and no grasping has occurred yet. The next action should be to move the gripper closer to the mango to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 9 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667679786682129, + 0.013199426233768463, + 0.07667273283004761, + 3.1172420978546143, + -0.006805309560149908, + -0.26145362854003906 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "approach mango on towel", + "subtask_reasoning": "The robot arm is positioned near the green towel with the mango visible on it. The gripper is open and no grasping has occurred yet. The next action should be to move the gripper closer to the mango to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 9 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28561800718307495, + -0.007958682253956795, + 0.07553698867559433, + 3.0877268314361572, + -0.024440767243504524, + -0.2742586135864258 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "approach mango on towel", + "subtask_reasoning": "The robot is positioned above the table with the mango visible on the green towel to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the mango to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131404519081116, + -0.031210102140903473, + 0.07427950948476791, + 3.0811262130737305, + -0.04562995210289955, + -0.2961331009864807 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 283, + 233, + 470, + 430 + ], + "cloth": [ + 575, + 328, + 843, + 608 + ], + "knife": [ + 447, + 348, + 579, + 553 + ], + "corn": [ + 710, + 368, + 797, + 497 + ] + } + } + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "approach mango on towel", + "subtask_reasoning": "The robot is positioned above the table with the mango visible on the green towel to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the mango to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34268635511398315, + -0.05577061325311661, + 0.07199661433696747, + 3.093780040740967, + -0.07972757518291473, + -0.30999231338500977 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "approach mango on towel", + "subtask_reasoning": "The robot is positioned above the table with the mango visible on the green towel to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the mango to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 3 cm, move left 6 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36302679777145386, + -0.0701657310128212, + 0.06640584766864777, + 3.121652841567993, + -0.11411876231431961, + -0.3002541959285736 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "approach mango on towel", + "subtask_reasoning": "The robot is positioned above the table with the mango visible on the green towel to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the mango to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 6 cm, move left 11 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37229055166244507, + -0.07702620327472687, + 0.05698476359248161, + -3.1298277378082275, + -0.12677855789661407, + -0.29680508375167847 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "grasp mango with gripper", + "subtask_reasoning": "The robot is positioned above the table with the mango visible on the green towel to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the mango to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 9 cm, move left 16 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3807368278503418, + -0.0771714299917221, + 0.04942135140299797, + -3.0812032222747803, + -0.16233690083026886, + -0.29812464118003845 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "grasp mango with gripper", + "subtask_reasoning": "The robot is positioned above the table with the mango visible on the green towel to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the mango to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, close gripper; then move back 13 cm, move left 21 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38854098320007324, + -0.07967052608728409, + 0.03604959696531296, + -3.07995343208313, + -0.20105816423892975, + -0.295188307762146 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "grasp mango with gripper", + "subtask_reasoning": "The robot has approached the mango on the green towel and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mango securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, close gripper; then move back 13 cm, move left 21 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39457184076309204, + -0.08381545543670654, + 0.032040324062108994, + -3.07069993019104, + -0.23251929879188538, + -0.2922671437263489 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "grasp mango with gripper", + "subtask_reasoning": "The robot has approached the mango on the green towel and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mango securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 13 cm, move left 21 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4009472727775574, + -0.09183954447507858, + 0.023007137700915337, + -3.1046926975250244, + -0.23961418867111206, + -0.28587234020233154 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "grasp mango with gripper", + "subtask_reasoning": "The robot has approached the mango on the green towel and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mango securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 13 cm, move left 21 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40036505460739136, + -0.09515397250652313, + 0.02301197126507759, + -3.1204473972320557, + -0.2416062206029892, + -0.29311272501945496 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "grasp mango with gripper", + "subtask_reasoning": "The robot has approached the mango on the green towel and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mango securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 13 cm, move left 21 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39186954498291016, + -0.09724591672420502, + 0.024632802233099937, + 3.1320574283599854, + -0.23622062802314758, + -0.3022417724132538 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "lift and transport mango leftward", + "subtask_reasoning": "The robot has approached the mango on the green towel and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mango securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 21 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 6 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38242536783218384, + -0.07696142047643661, + 0.06137879192829132, + 3.072526693344116, + -0.3141993582248688, + -0.27035126090049744 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "lift and transport mango leftward", + "subtask_reasoning": "The robot has approached the mango on the green towel and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the mango securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 19 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 6 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36448612809181213, + -0.032412827014923096, + 0.07644841074943542, + 3.0514883995056152, + -0.29746732115745544, + -0.19643288850784302 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "lift and transport mango leftward", + "subtask_reasoning": "The mango is currently held above the green towel, having been successfully grasped in the previous step. The gripper signal is stable, indicating the object is secured while the arm moves. The next action is to continue transporting the mango leftward toward the target corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 14 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 5 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3302847146987915, + 0.015981268137693405, + 0.07471973448991776, + 3.0864417552948, + -0.18469521403312683, + -0.1469409465789795 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "lift and transport mango leftward", + "subtask_reasoning": "The mango is currently held above the green towel, having been successfully grasped in the previous step. The gripper signal is stable, indicating the object is secured while the arm moves. The next action is to continue transporting the mango leftward toward the target corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 9 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 5 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29930147528648376, + 0.060984741896390915, + 0.07245079427957535, + 3.1153693199157715, + -0.138163223862648, + -0.10357680916786194 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 445, + 338, + 589, + 552 + ], + "cloth": [ + 576, + 338, + 856, + 632 + ] + } + } + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "lift and transport mango leftward", + "subtask_reasoning": "The mango is currently held above the green towel, having been successfully grasped in the previous step. The gripper signal is stable, indicating the object is secured while the arm moves. The next action is to continue transporting the mango leftward toward the target corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, keep gripper closed; then move back 3 cm, move left 5 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26514527201652527, + 0.10974884033203125, + 0.06848189979791641, + -3.122938394546509, + -0.12682443857192993, + -0.1095556914806366 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango is currently held above the green towel, having been successfully grasped in the previous step. The gripper signal is stable, indicating the object is secured while the arm moves. The next action is to continue transporting the mango leftward toward the target corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2539370656013489, + 0.13229118287563324, + 0.0637785941362381, + -3.09213924407959, + -0.13614089787006378, + -0.1367829144001007 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 445, + 336, + 589, + 552 + ], + "bowl": [ + 285, + 226, + 471, + 423 + ], + "cloth": [ + 576, + 338, + 855, + 631 + ] + } + } + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango is currently held above the green towel, having been successfully grasped in the previous step. The gripper signal is stable, indicating the object is secured while the arm moves. The next action is to continue transporting the mango leftward toward the target corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25414493680000305, + 0.14457373321056366, + 0.06213533505797386, + -3.0704896450042725, + -0.16128875315189362, + -0.11920204758644104 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango is currently held above the green towel, having been successfully grasped in the previous step. The gripper signal is stable, indicating the object is secured while the arm moves. The next action is to continue transporting the mango leftward toward the target corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25198063254356384, + 0.1561841517686844, + 0.04970725253224373, + -3.0671136379241943, + -0.16700835525989532, + -0.0871557742357254 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango is currently held above the green towel, having been successfully grasped in the previous step. The gripper signal is stable, indicating the object is secured while the arm moves. The next action is to continue transporting the mango leftward toward the target corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24826432764530182, + 0.1592104434967041, + 0.03227400407195091, + -3.077875852584839, + -0.14390507340431213, + -0.07206863909959793 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango is currently held above the green towel, having been successfully grasped in the previous step. The gripper signal is stable, indicating the object is secured while the arm moves. The next action is to continue transporting the mango leftward toward the target corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24207845330238342, + 0.1653931885957718, + 0.022417427971959114, + -3.077221155166626, + -0.10980340093374252, + -0.0632973313331604 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango has been successfully placed on the left corner of the table, and the gripper is open and no longer in contact with it. The subtask of releasing the mango is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24066172540187836, + 0.16736643016338348, + 0.021537072956562042, + -3.0746283531188965, + -0.10577753186225891, + -0.06158193573355675 + ], + "gripper_value": 0.7111459374427795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango has been successfully placed on the left corner of the table, and the gripper is open and no longer in contact with it. The subtask of releasing the mango is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23733468353748322, + 0.16440007090568542, + 0.020391466096043587, + -3.0868327617645264, + -0.09414570778608322, + -0.06959638744592667 + ], + "gripper_value": 0.9766865372657776 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango has been successfully placed on the left corner of the table, and the gripper is open and no longer in contact with it. The subtask of releasing the mango is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23766686022281647, + 0.1624946892261505, + 0.045211244374513626, + -3.08589243888855, + -0.14402855932712555, + -0.05865349620580673 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango has been successfully placed on the left corner of the table, and the gripper is open and no longer in contact with it. The subtask of releasing the mango is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23305803537368774, + 0.15792225301265717, + 0.08319660276174545, + -3.1006834506988525, + -0.19358573853969574, + -0.049036625772714615 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango has been successfully placed on the left corner of the table, and the gripper is open and no longer in contact with it. The subtask of releasing the mango is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23100705444812775, + 0.15263450145721436, + 0.10033003240823746, + -3.134434700012207, + -0.19515681266784668, + -0.043418195098638535 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick the mango from the green towel and place it on the left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mango on towel" + }, + { + "id": 2, + "subtask": "grasp mango with gripper" + }, + { + "id": 3, + "subtask": "lift and transport mango leftward" + }, + { + "id": 4, + "subtask": "release mango at left corner" + } + ], + "subtask_name": "release mango at left corner", + "subtask_reasoning": "The mango has been successfully placed on the left corner of the table, and the gripper is open and no longer in contact with it. The subtask of releasing the mango is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004184_ecot.json b/cot/chunk-0004/episode_0004184_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..445a4b2a5f48d46b1bdab5979e8600f58f3116da --- /dev/null +++ b/cot/chunk-0004/episode_0004184_ecot.json @@ -0,0 +1,2982 @@ +{ + "task_name": "episode_0004184", + "episode_json": "json/chunk-0004/episode_0004184.json", + "video_path": "videos/chunk-0004/image_0/episode_0004184.mp4", + "instruction": "Move the silver pot to the bottom left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004184.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9467273950576782, + "std": 0.37654149532318115, + "delta_total": 0.015101134777069092, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94673, std=0.37654, total_delta=0.01510). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 231, + 231, + 231, + 31, + 31, + 31, + 31, + 31, + 31, + 31, + 31, + 42, + 42, + 42 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 21 + ], + [ + 3, + 22, + 30 + ], + [ + 4, + 31, + 33 + ], + [ + 5, + 34, + 41 + ], + [ + 6, + 42, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 21, \"planning\": \"Move the end-effector from initial position toward the silver pot on the stove.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 22, \"end\": 30, \"planning\": \"Close gripper around the pot handle while maintaining contact and alignment.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 31, \"end\": 33, \"planning\": \"Lift the pot slightly and begin moving it toward the bottom left burner.\"},\n {\"id\": 4, \"name\": \"place pot on target burner\", \"start\": 34, \"end\": 41, \"planning\": \"Lower the pot onto the bottom left burner and release grip to complete placement.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 42, \"end\": 44, \"planning\": \"Open gripper fully and move end-effector away from the placed pot.\"}\n ],\n \"global_plan\": \"Approach the silver pot, grasp it securely, lift and reposition it over the bottom left burner, place it down gently, then retreat with open gripper.\",\n \"notes\": \"Segment 1 (frame 0) is static approach; Segment 3 shows meaningful gripper closing consistent with grasping; Segment 4 continues grasp refinement and initial lift; Segment 5 (not shown but inferred from motion continuity) covers transport and placement; Segment 6 confirms gripper opening and retreat. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 21, + "planning": "Move the end-effector from initial position toward the silver pot on the stove." + }, + { + "id": 2, + "name": "grasp pot", + "start": 22, + "end": 30, + "planning": "Close gripper around the pot handle while maintaining contact and alignment." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 31, + "end": 33, + "planning": "Lift the pot slightly and begin moving it toward the bottom left burner." + }, + { + "id": 4, + "name": "place pot on target burner", + "start": 34, + "end": 41, + "planning": "Lower the pot onto the bottom left burner and release grip to complete placement." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 42, + "end": 44, + "planning": "Open gripper fully and move end-effector away from the placed pot." + } + ], + "global_plan": "Approach the silver pot, grasp it securely, lift and reposition it over the bottom left burner, place it down gently, then retreat with open gripper.", + "notes": "Segment 1 (frame 0) is static approach; Segment 3 shows meaningful gripper closing consistent with grasping; Segment 4 continues grasp refinement and initial lift; Segment 5 (not shown but inferred from motion continuity) covers transport and placement; Segment 6 confirms gripper opening and retreat. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the silver pot to the bottom left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3442724943161011, + 0.0376867912709713, + 0.06907708197832108, + -3.087057590484619, + -0.08898761868476868, + 0.04147814214229584 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move down 11 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3407314717769623, + 0.03632694110274315, + 0.056206539273262024, + -3.0888304710388184, + -0.04914332553744316, + 0.038532551378011703 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34023144841194153, + 0.02164379507303238, + 0.0417863205075264, + -3.0865871906280518, + -0.013124539516866207, + -0.019499171525239944 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 10 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457762897014618, + -0.007245156913995743, + 0.04092675819993019, + -3.0806548595428467, + -0.04171224683523178, + -0.11372025310993195 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3479657769203186, + -0.041849054396152496, + 0.030498865991830826, + -3.09600830078125, + -0.05780544877052307, + -0.1668679267168045 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35108596086502075, + -0.07447836548089981, + 0.012343654409050941, + -3.1288363933563232, + -0.06300153583288193, + -0.21177063882350922 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621090352535248, + -0.08579426258802414, + -0.015989404171705246, + -3.1061904430389404, + -0.058545857667922974, + -0.21680912375450134 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "burner grate": [ + 248, + 267, + 430, + 434 + ], + "red utensil": [ + 475, + 308, + 601, + 493 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3782156705856323, + -0.0845734179019928, + -0.022495517507195473, + -3.076131582260132, + -0.07960020005702972, + -0.19354161620140076 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3897148370742798, + -0.08124703913927078, + -0.025632111355662346, + -3.0807290077209473, + -0.07789785414934158, + -0.16982777416706085 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3928721845149994, + -0.083409383893013, + -0.039367884397506714, + -3.099619150161743, + -0.05414237827062607, + -0.1665351241827011 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the silver pot visible on the right side near the sink. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3947533965110779, + -0.08196821808815002, + -0.04519457370042801, + -3.0949339866638184, + -0.04344852268695831, + -0.17083348333835602 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39630258083343506, + -0.07953955978155136, + -0.04539493843913078, + -3.0896964073181152, + -0.05137050151824951, + -0.17173239588737488 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39591479301452637, + -0.07379930466413498, + -0.04779835790395737, + -3.093606472015381, + -0.05375075712800026, + -0.16332009434700012 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39456430077552795, + -0.06885981559753418, + -0.04906168952584267, + -3.0952463150024414, + -0.04564046859741211, + -0.15659783780574799 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39681142568588257, + -0.06334288418292999, + -0.04720539599657059, + -3.085137128829956, + -0.04436020180583, + -0.15501445531845093 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.40543076395988464, + -0.04915151000022888, + -0.040139757096767426, + -3.053417682647705, + -0.05121331661939621, + -0.15043339133262634 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4068533778190613, + -0.019479312002658844, + -0.039667654782533646, + -3.01955509185791, + -0.03858537599444389, + -0.10470301657915115 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4074653387069702, + 0.00959818996489048, + -0.03828760236501694, + -2.9974231719970703, + -0.03740806132555008, + -0.04317488148808479 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red utensil": [ + 476, + 310, + 600, + 494 + ], + "burner grate": [ + 248, + 268, + 429, + 433 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move back 7 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40614330768585205, + 0.02099626138806343, + -0.038772232830524445, + -3.004711866378784, + -0.034631598740816116, + -0.0049844891764223576 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red utensil": [ + 476, + 368, + 562, + 495 + ], + "burner grate": [ + 248, + 268, + 430, + 433 + ], + "silver pot": [ + 551, + 340, + 742, + 533 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move right 3 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4020640552043915, + 0.018986592069268227, + -0.04161829873919487, + -3.021432638168335, + -0.02028418891131878, + -0.006742550991475582 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move back 5 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4095742106437683, + 0.008674890734255314, + -0.02325032278895378, + -3.042128801345825, + -0.07629483193159103, + -0.030234472826123238 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move back 6 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4280521869659424, + 0.002438223920762539, + 0.003937674220651388, + -3.0346477031707764, + -0.1752312332391739, + -0.05758656933903694 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4390079975128174, + -0.005316807888448238, + 0.02943701669573784, + -3.017972469329834, + -0.2505079209804535, + -0.08683709800243378 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.42864054441452026, + -0.011786694638431072, + 0.03415805473923683, + -3.035546064376831, + -0.2615892291069031, + -0.08761655539274216 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 8 cm, tilt forward 20 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.40359067916870117, + -0.025013776496052742, + 0.01265561394393444, + -3.058799982070923, + -0.17703057825565338, + -0.10461702197790146 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38460803031921387, + -0.0340975858271122, + -0.0012381462147459388, + -3.071476697921753, + -0.11479552835226059, + -0.1296972930431366 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned near the silver pot on the stovetop, with the gripper open and no contact made yet. The subtask of approaching the pot is in progress, as the arm has moved into proximity but has not initiated grasping. The next action should be to align the gripper precisely over the pot handle to prepare for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37656402587890625, + -0.03549349680542946, + -0.005470953416079283, + -3.075369119644165, + -0.082178995013237, + -0.1368553340435028 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove. The gripper is currently open and positioned near the pot handle, with no significant motion or closure detected in the local window. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 8 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3715054988861084, + -0.03753307834267616, + -0.021069815382361412, + -3.0855062007904053, + -0.029415687546133995, + -0.14348509907722473 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove. The gripper is currently open and positioned near the pot handle, with no significant motion or closure detected in the local window. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37887561321258545, + -0.0367305763065815, + -0.0316963829100132, + -3.0896918773651123, + -0.012014919891953468, + -0.14478248357772827 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove. The gripper is currently open and positioned near the pot handle, with no significant motion or closure detected in the local window. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.38460448384284973, + -0.033093832433223724, + -0.03985593840479851, + -3.092970132827759, + 0.0038103205151855946, + -0.14098240435123444 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove. The gripper is currently open and positioned near the pot handle, with no significant motion or closure detected in the local window. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 2 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 14 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.38372790813446045, + -0.029404832050204277, + -0.04402228072285652, + -3.0968806743621826, + 0.014627872966229916, + -0.13187004625797272 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove. The gripper is currently open and positioned near the pot handle, with no significant motion or closure detected in the local window. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 14 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 22, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.38349488377571106, + -0.025829877704381943, + -0.04431294649839401, + -3.096987009048462, + 0.01629769615828991, + -0.12573233246803284 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove. The gripper is currently open and positioned near the pot handle, with no significant motion or closure detected in the local window. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 14 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38410547375679016, + -0.02431936375796795, + -0.04400496557354927, + -3.094666004180908, + 0.01514903549104929, + -0.13072647154331207 + ], + "gripper_value": 0.15769577026367188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the stove. The gripper is closed around the pot handle, and the arm is in motion to reposition the pot. The next action is to move the pot directly over the bottom left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 14 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.38642096519470215, + -0.016280464828014374, + -0.0315362811088562, + -3.0909059047698975, + 0.0020177620463073254, + -0.12250784784555435 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the stove. The gripper is closed around the pot handle, and the arm is in motion to reposition the pot. The next action is to move the pot directly over the bottom left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 3 cm, keep gripper closed; then move back 2 cm, move left 14 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 31, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3990428149700165, + 0.011951354332268238, + 0.0007550549344159663, + -3.0636022090911865, + -0.07730714976787567, + -0.07849128544330597 + ], + "gripper_value": 0.06413581967353821 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red utensil": [ + 475, + 402, + 541, + 496 + ], + "silver pot": [ + 481, + 264, + 654, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the stove. The gripper is closed around the pot handle, and the arm is in motion to reposition the pot. The next action is to move the pot directly over the bottom left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3999013304710388, + 0.04988231137394905, + 0.02386036328971386, + -3.0183918476104736, + -0.1276467889547348, + 0.0013813382247462869 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the stove. The gripper is closed around the pot handle, and the arm is in motion to reposition the pot. The next action is to move the pot directly over the bottom left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.39238038659095764, + 0.09104198217391968, + 0.024209924042224884, + -3.010498523712158, + -0.14002811908721924, + 0.10135842859745026 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 351, + 156, + 549, + 351 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot and is currently lifting it above the stove. The gripper is closed around the pot handle, and the arm is in motion to reposition the pot. The next action is to move the pot directly over the bottom left burner in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.38632121682167053, + 0.11613883823156357, + 0.012705730274319649, + -3.0085461139678955, + -0.11980683356523514, + 0.16100959479808807 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3860240578651428, + 0.13716159760951996, + -0.007057537324726582, + -2.9886093139648438, + -0.07566752284765244, + 0.19260184466838837 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.37691688537597656, + 0.1515476256608963, + -0.021681267768144608, + -2.9804840087890625, + -0.020963862538337708, + 0.23155155777931213 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.37643781304359436, + 0.15168173611164093, + -0.03148043900728226, + -2.992713212966919, + 0.0011565655004233122, + 0.24407076835632324 + ], + "gripper_value": 0.08747956901788712 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3762037456035614, + 0.1510881632566452, + -0.03591449186205864, + -3.0127391815185547, + 0.014366213232278824, + 0.2581339478492737 + ], + "gripper_value": 0.24590691924095154 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3765415847301483, + 0.14814352989196777, + -0.036394163966178894, + -3.0391886234283447, + 0.016095951199531555, + 0.2613624632358551 + ], + "gripper_value": 0.5188266634941101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.379413366317749, + 0.14040900766849518, + -0.022387070581316948, + -3.0738072395324707, + -0.010171761736273766, + 0.25138890743255615 + ], + "gripper_value": 0.8390268683433533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is now positioned on the bottom left burner, and the gripper has released it. The robot arm is retreating from the pot, moving away to complete the task. The next action is to ensure the gripper is fully open and the arm is clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3822333514690399, + 0.12799136340618134, + 0.005582309793680906, + -3.0773086547851562, + -0.07373424619436264, + 0.20693406462669373 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The silver pot is now positioned on the bottom left burner, and the gripper has released it. The robot arm is retreating from the pot, moving away to complete the task. The next action is to ensure the gripper is fully open and the arm is clear of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004185_ecot.json b/cot/chunk-0004/episode_0004185_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..02e7e409df7d3be1fe340e1821de5e90fd316da9 --- /dev/null +++ b/cot/chunk-0004/episode_0004185_ecot.json @@ -0,0 +1,1572 @@ +{ + "task_name": "episode_0004185", + "episode_json": "json/chunk-0004/episode_0004185.json", + "video_path": "videos/chunk-0004/image_0/episode_0004185.mp4", + "instruction": "Pick up sponge and wipe plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004185.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.7701526880264282, + "std": 0.35158875584602356, + "delta_total": -0.7450969219207764, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.77015, std=0.35159, total_delta=-0.74510). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 15 + ], + [ + 3, + 16, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sponge\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the yellow sponge on the counter without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp sponge\", \"start\": 9, \"end\": 12, \"planning\": \"Close gripper around sponge as evidenced by significant gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and position over plate\", \"start\": 13, \"end\": 15, \"planning\": \"Lift sponge and move it above the gray plate, maintaining grip with stable low gripper value.\"},\n {\"id\": 4, \"name\": \"wipe plate surface\", \"start\": 16, \"end\": 24, \"planning\": \"Drag sponge across plate surface in controlled motion while holding grip constant; no further closing observed.\"}\n ],\n \"global_plan\": \"Approach sponge, grasp it securely, lift and position over plate, then wipe plate surface with sustained contact.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 1 (late) and 2; segment 3 shows no meaningful closing, so 'wipe' is described as dragging/sliding contact, not releasing or re-grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sponge", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the yellow sponge on the counter without closing gripper." + }, + { + "id": 2, + "name": "grasp sponge", + "start": 9, + "end": 12, + "planning": "Close gripper around sponge as evidenced by significant gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift and position over plate", + "start": 13, + "end": 15, + "planning": "Lift sponge and move it above the gray plate, maintaining grip with stable low gripper value." + }, + { + "id": 4, + "name": "wipe plate surface", + "start": 16, + "end": 24, + "planning": "Drag sponge across plate surface in controlled motion while holding grip constant; no further closing observed." + } + ], + "global_plan": "Approach sponge, grasp it securely, lift and position over plate, then wipe plate surface with sustained contact.", + "notes": "Gripper evidence supports grasp only in segments 1 (late) and 2; segment 3 shows no meaningful closing, so 'wipe' is described as dragging/sliding contact, not releasing or re-grasping." + } + }, + "episode_goal": "Pick up the yellow sponge and wipe the gray plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233593702316284, + 0.16471728682518005, + 0.12612856924533844, + -3.0858559608459473, + -0.07662859559059143, + -0.011050185188651085 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned above the counter with the yellow sponge visible to the left and the gray plate in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the sponge to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 7 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3220948874950409, + 0.16528302431106567, + 0.11251363903284073, + -3.1112029552459717, + -0.04302097484469414, + -0.006005261093378067 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned above the counter with the yellow sponge visible to the left and the gray plate in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the sponge to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 5 cm, close gripper; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194296061992645, + 0.1812921017408371, + 0.12077564746141434, + -3.1208133697509766, + -0.053561627864837646, + -0.004270769655704498 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned above the counter with the yellow sponge visible to the left and the gray plate in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the sponge to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 6 cm, close gripper; then move forward 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131026327610016, + 0.20478323101997375, + 0.13250255584716797, + -3.108351469039917, + -0.04977189749479294, + -0.03425143286585808 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned above the counter with the yellow sponge visible to the left and the gray plate in the center. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector towards the sponge to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 7 cm, close gripper; then move forward 3 cm, move right 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3100501596927643, + 0.22744853794574738, + 0.13655687868595123, + -3.1114423274993896, + -0.04069710895419121, + -0.03410472720861435 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned near the yellow sponge and gray plate on the countertop. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is currently moving toward the sponge without attempting to grasp it. The next action should continue approaching the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 8 cm, close gripper; then move forward 3 cm, move right 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29963114857673645, + 0.2419319450855255, + 0.13389691710472107, + -3.1044719219207764, + -0.036769043654203415, + -0.05491518974304199 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned near the yellow sponge and gray plate on the countertop. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is currently moving toward the sponge without attempting to grasp it. The next action should continue approaching the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 7 cm, close gripper; then move forward 3 cm, move right 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28610336780548096, + 0.2462007850408554, + 0.10937870293855667, + -3.1086652278900146, + -0.017337776720523834, + -0.05877329409122467 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 4, + 129, + 216, + 436 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned near the yellow sponge and gray plate on the countertop. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is currently moving toward the sponge without attempting to grasp it. The next action should continue approaching the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, close gripper; then move forward 3 cm, move right 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 12 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27655866742134094, + 0.23785120248794556, + 0.08050595223903656, + -3.1166155338287354, + 0.004844084847718477, + -0.0682927817106247 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned near the yellow sponge and gray plate on the countertop. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is currently moving toward the sponge without attempting to grasp it. The next action should continue approaching the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move forward 3 cm, move right 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 12 cm, move down 2 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.278078556060791, + 0.23279571533203125, + 0.06549596786499023, + -3.0941827297210693, + -0.012250788509845734, + -0.07611136883497238 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "approach sponge", + "subtask_reasoning": "The robot is positioned near the yellow sponge and gray plate on the countertop. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is currently moving toward the sponge without attempting to grasp it. The next action should continue approaching the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 3 cm, move right 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 12 cm, move down 2 cm, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2795855700969696, + 0.23174165189266205, + 0.06013417989015579, + -3.0815958976745605, + -0.028713833540678024, + -0.05457039549946785 + ], + "gripper_value": 0.8965065479278564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot is positioned near the yellow sponge and gray plate on the countertop. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating the robot is currently moving toward the sponge without attempting to grasp it. The next action should continue approaching the sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 12 cm, move down 2 cm, keep gripper closed; then move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28749707341194153, + 0.2343377321958542, + 0.0727771669626236, + -3.075334072113037, + -0.04067559912800789, + -0.02704479731619358 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now in contact with it. The gripper is closing around the sponge, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 12 cm, move down 2 cm, keep gripper closed; then move right 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930496335029602, + 0.2270938605070114, + 0.07927007973194122, + -3.1054775714874268, + -0.04188099876046181, + -0.0035039845388382673 + ], + "gripper_value": 0.40327540040016174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now in contact with it. The gripper is closing around the sponge, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 4 cm, keep gripper closed; then move right 12 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3026929199695587, + 0.1991650015115738, + 0.0896647647023201, + -3.12760329246521, + -0.0345318540930748, + 0.046470049768686295 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "grasp sponge", + "subtask_reasoning": "The robot has approached the yellow sponge and is now in contact with it. The gripper is closing around the sponge, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 3 cm, keep gripper closed; then move right 12 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move right 6 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31386226415634155, + 0.14849287271499634, + 0.1155603677034378, + -3.140326976776123, + -0.08392015099525452, + 0.07502583414316177 + ], + "gripper_value": 0.24658186733722687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "lift and position over plate", + "subtask_reasoning": "The robot has approached the yellow sponge and is now in contact with it. The gripper is closing around the sponge, as indicated by the decreasing gripper value. The next action is to complete the grasp by fully closing the gripper to secure the sponge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move right 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31958767771720886, + 0.1004490926861763, + 0.12033223360776901, + 3.1246132850646973, + -0.05515526607632637, + 0.11995472759008408 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 218, + 69, + 439, + 376 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "lift and position over plate", + "subtask_reasoning": "The robot has successfully grasped the yellow sponge and lifted it above the gray plate. The current position places the sponge directly over the target surface, ready for contact. The next action is to lower the sponge to make contact with the plate and begin the wiping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move right 9 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32124921679496765, + 0.054665833711624146, + 0.11873818933963776, + 3.129335403442383, + -0.04014533758163452, + 0.15652209520339966 + ], + "gripper_value": 0.25684019923210144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "lift and position over plate", + "subtask_reasoning": "The robot has successfully grasped the yellow sponge and lifted it above the gray plate. The current position places the sponge directly over the target surface, ready for contact. The next action is to lower the sponge to make contact with the plate and begin the wiping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move right 9 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156401813030243, + 0.027344271540641785, + 0.09731779992580414, + -3.1251964569091797, + -0.0442773662507534, + 0.14580366015434265 + ], + "gripper_value": 0.25961822271347046 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 405, + 181, + 582, + 515 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot has successfully grasped the yellow sponge and lifted it above the gray plate. The current position places the sponge directly over the target surface, ready for contact. The next action is to lower the sponge to make contact with the plate and begin the wiping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31407299637794495, + 0.02703515812754631, + 0.08265992254018784, + -3.0948269367218018, + -0.08996976166963577, + 0.1504812240600586 + ], + "gripper_value": 0.25961822271347046 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot has successfully grasped the yellow sponge and lifted it above the gray plate. The current position places the sponge directly over the target surface, ready for contact. The next action is to lower the sponge to make contact with the plate and begin the wiping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31637489795684814, + 0.01816830039024353, + 0.08128722757101059, + -3.087902784347534, + -0.10790279507637024, + 0.13880808651447296 + ], + "gripper_value": 0.25961822271347046 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot has successfully grasped the yellow sponge and lifted it above the gray plate. The current position places the sponge directly over the target surface, ready for contact. The next action is to lower the sponge to make contact with the plate and begin the wiping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31610387563705444, + 0.0015976616414263844, + 0.08044165372848511, + -3.0764658451080322, + -0.1118786558508873, + 0.1377362757921219 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot has successfully grasped the yellow sponge and lifted it above the gray plate. The current position places the sponge directly over the target surface, ready for contact. The next action is to lower the sponge to make contact with the plate and begin the wiping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122427761554718, + -0.014195824041962624, + 0.07941775768995285, + -3.06911301612854, + -0.11181145906448364, + 0.12529787421226501 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot is currently holding the yellow sponge in contact with the gray plate surface. The gripper has remained stable throughout this segment, confirming the sponge is already grasped and being used for wiping. The next action should involve continuing lateral motion across the plate to complete the cleaning task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30372852087020874, + -0.02739677019417286, + 0.08024479448795319, + -3.082350015640259, + -0.11630633473396301, + 0.12063147127628326 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot is currently holding the yellow sponge in contact with the gray plate surface. The gripper has remained stable throughout this segment, confirming the sponge is already grasped and being used for wiping. The next action should involve continuing lateral motion across the plate to complete the cleaning task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29166990518569946, + -0.03735972195863724, + 0.08259217441082001, + -3.1104063987731934, + -0.11432585120201111, + 0.10183752328157425 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot is currently holding the yellow sponge in contact with the gray plate surface. The gripper has remained stable throughout this segment, confirming the sponge is already grasped and being used for wiping. The next action should involve continuing lateral motion across the plate to complete the cleaning task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2790207266807556, + -0.04808489605784416, + 0.08845864236354828, + -3.1345996856689453, + -0.13303980231285095, + 0.04298664256930351 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot is currently holding the yellow sponge in contact with the gray plate surface. The gripper has remained stable throughout this segment, confirming the sponge is already grasped and being used for wiping. The next action should involve continuing lateral motion across the plate to complete the cleaning task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2759757339954376, + -0.06043192744255066, + 0.08769870549440384, + -3.1264922618865967, + -0.13152341544628143, + 0.013000734150409698 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow sponge and wipe the gray plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sponge" + }, + { + "id": 2, + "subtask": "grasp sponge" + }, + { + "id": 3, + "subtask": "lift and position over plate" + }, + { + "id": 4, + "subtask": "wipe plate surface" + } + ], + "subtask_name": "wipe plate surface", + "subtask_reasoning": "The robot is currently holding the yellow sponge in contact with the gray plate surface. The gripper has remained stable throughout this segment, confirming the sponge is already grasped and being used for wiping. The next action should involve continuing lateral motion across the plate to complete the cleaning task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004188_ecot.json b/cot/chunk-0004/episode_0004188_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a65bff61e492bb3e8261991312c309f18473807b --- /dev/null +++ b/cot/chunk-0004/episode_0004188_ecot.json @@ -0,0 +1,1298 @@ +{ + "task_name": "episode_0004188", + "episode_json": "json/chunk-0004/episode_0004188.json", + "video_path": "videos/chunk-0004/image_0/episode_0004188.mp4", + "instruction": "Put eggplant in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004188.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.2716802954673767, + "std": 0.1304532289505005, + "delta_total": -0.27099841833114624, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.27168, std=0.13045, total_delta=-0.27100). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach eggplant\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the eggplant on the counter while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp eggplant\", \"start\": 5, \"end\": 10, \"planning\": \"Close the gripper around the eggplant to secure it for lifting, confirmed by gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport eggplant\", \"start\": 11, \"end\": 15, \"planning\": \"Lift the grasped eggplant and move it toward the pot or pan location without releasing grip.\"},\n {\"id\": 4, \"name\": \"position over target\", \"start\": 16, \"end\": 19, \"planning\": \"Align the held eggplant directly above the pot or pan in preparation for release.\"}\n ],\n \"global_plan\": \"Approach the eggplant, grasp it securely, lift and carry it to the cooking vessel, then position it for placement.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.271) consistent with grasping; Segment 2 has no gripper change, so actions are purely positional transport and alignment without release yet observed.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach eggplant", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the eggplant on the counter while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp eggplant", + "start": 5, + "end": 10, + "planning": "Close the gripper around the eggplant to secure it for lifting, confirmed by gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift and transport eggplant", + "start": 11, + "end": 15, + "planning": "Lift the grasped eggplant and move it toward the pot or pan location without releasing grip." + }, + { + "id": 4, + "name": "position over target", + "start": 16, + "end": 19, + "planning": "Align the held eggplant directly above the pot or pan in preparation for release." + } + ], + "global_plan": "Approach the eggplant, grasp it securely, lift and carry it to the cooking vessel, then position it for placement.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.271) consistent with grasping; Segment 2 has no gripper change, so actions are purely positional transport and alignment without release yet observed." + } + }, + "episode_goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28389161825180054, + 0.1421712189912796, + 0.061004217714071274, + -2.9841604232788086, + -0.34471842646598816, + 0.09088261425495148 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the countertop with the purple eggplant visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826903164386749, + 0.14017066359519958, + 0.050941165536642075, + -3.0028584003448486, + -0.3181908130645752, + 0.09340615570545197 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the countertop with the purple eggplant visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.287674218416214, + 0.13944798707962036, + 0.042841799557209015, + -3.01676607131958, + -0.32427847385406494, + 0.07806511223316193 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the countertop with the purple eggplant visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move down 1 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.293308287858963, + 0.1442471742630005, + 0.03557142987847328, + -3.014970064163208, + -0.3568412959575653, + 0.0791204497218132 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the countertop with the purple eggplant visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move down 1 cm, close gripper; then move forward 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29687267541885376, + 0.14666184782981873, + 0.0246617179363966, + -3.0052435398101807, + -0.3749752938747406, + 0.06760434806346893 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the countertop with the purple eggplant visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 1 cm, close gripper; then move forward 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990158796310425, + 0.15025268495082855, + 0.017291801050305367, + -2.992769956588745, + -0.3883087635040283, + 0.06614293158054352 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is positioned above the countertop with the purple eggplant visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29646217823028564, + 0.1495421826839447, + 0.007880818098783493, + -3.004539728164673, + -0.3998873233795166, + 0.08597702533006668 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is positioned above the countertop with the purple eggplant visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move forward 5 cm, move right 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992819547653198, + 0.14960940182209015, + 0.0014504840364679694, + -3.02675724029541, + -0.42645570635795593, + 0.09568487852811813 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 363, + 105, + 604, + 369 + ], + "orange bell pepper": [ + 743, + 326, + 885, + 457 + ], + "corn cob": [ + 303, + 505, + 390, + 631 + ], + "green sponge": [ + 305, + 41, + 500, + 132 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, with the gripper currently open and positioned near the object. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to complete the grasp by closing the gripper around the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069557547569275, + 0.15115509927272797, + -0.0009116303990595043, + -3.041814088821411, + -0.4532618224620819, + 0.0987362191081047 + ], + "gripper_value": 0.8335172533988953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, with the gripper currently open and positioned near the object. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to complete the grasp by closing the gripper around the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30916327238082886, + 0.15225562453269958, + -0.0005652910913340747, + -3.046780586242676, + -0.4291115701198578, + 0.09522819519042969 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, with the gripper currently open and positioned near the object. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to complete the grasp by closing the gripper around the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30498450994491577, + 0.15312491357326508, + 0.0019095157040283084, + -3.023408889770508, + -0.37890881299972534, + 0.07965778559446335 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, with the gripper currently open and positioned near the object. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to complete the grasp by closing the gripper around the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 5 cm, move right 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998630106449127, + 0.15008877217769623, + 0.00936914887279272, + -2.982800245285034, + -0.31810733675956726, + 0.04972250014543533 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, with the gripper currently open and positioned near the object. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to complete the grasp by closing the gripper around the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30740973353385925, + 0.15724191069602966, + 0.044403672218322754, + -2.885528802871704, + -0.3807998299598694, + 0.019343214109539986 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bell pepper": [ + 743, + 326, + 889, + 457 + ], + "silver pot": [ + 364, + 105, + 605, + 369 + ], + "corn cob": [ + 304, + 506, + 389, + 630 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, with the gripper currently open and positioned near the object. The gripper signal indicates a closing motion is underway or imminent within this segment. The next action is to complete the grasp by closing the gripper around the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31323739886283875, + 0.15412281453609467, + 0.06359902024269104, + -2.8385987281799316, + -0.4287124574184418, + -0.011405306868255138 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant from the countertop. The gripper is currently maintaining a steady hold while lifting the object slightly above the surface. The next action is to transport the eggplant toward the silver pot on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31937333941459656, + 0.1546105593442917, + 0.07662530243396759, + -2.828524589538574, + -0.46116942167282104, + -0.011164044961333275 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant from the countertop. The gripper is currently maintaining a steady hold while lifting the object slightly above the surface. The next action is to transport the eggplant toward the silver pot on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3345843553543091, + 0.14467225968837738, + 0.09603674709796906, + -2.7963924407958984, + -0.5148008465766907, + -0.059437576681375504 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "lift and transport eggplant", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant from the countertop. The gripper is currently maintaining a steady hold while lifting the object slightly above the surface. The next action is to transport the eggplant toward the silver pot on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3527977466583252, + 0.13060113787651062, + 0.11087487637996674, + -2.7713375091552734, + -0.5667603611946106, + -0.08991250395774841 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant from the countertop. The gripper is currently maintaining a steady hold while lifting the object slightly above the surface. The next action is to transport the eggplant toward the silver pot on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3674229383468628, + 0.11616602540016174, + 0.12200585007667542, + -2.754868745803833, + -0.6047136187553406, + -0.12427389621734619 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot is holding the purple eggplant and has moved it above the silver pot on the stove. The gripper remains closed with no motion indicating release, so the eggplant is still secured. The next action is to lower the eggplant into the pot to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3792192041873932, + 0.09912733733654022, + 0.1260545402765274, + -2.748427391052246, + -0.619020402431488, + -0.16478486359119415 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot is holding the purple eggplant and has moved it above the silver pot on the stove. The gripper remains closed with no motion indicating release, so the eggplant is still secured. The next action is to lower the eggplant into the pot to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38270682096481323, + 0.09518193453550339, + 0.12769529223442078, + -2.740360975265503, + -0.6413847208023071, + -0.18129520118236542 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the purple eggplant from the countertop and place it inside the silver pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and transport eggplant" + }, + { + "id": 4, + "subtask": "position over target" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot is holding the purple eggplant and has moved it above the silver pot on the stove. The gripper remains closed with no motion indicating release, so the eggplant is still secured. The next action is to lower the eggplant into the pot to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004190_ecot.json b/cot/chunk-0004/episode_0004190_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ef8a6ae3772a26ab0b4475a40310a778633c5864 --- /dev/null +++ b/cot/chunk-0004/episode_0004190_ecot.json @@ -0,0 +1,1320 @@ +{ + "task_name": "episode_0004190", + "episode_json": "json/chunk-0004/episode_0004190.json", + "video_path": "videos/chunk-0004/image_0/episode_0004190.mp4", + "instruction": "Put knife in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004190.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.5908945202827454, + "std": 0.25960853695869446, + "delta_total": -0.5908945202827454, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59089, std=0.25961, total_delta=-0.59089). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 215, + 215, + 215, + 215, + 215 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the knife lying in the sink basin without closing gripper.\"},\n {\"id\": 2, \"name\": \"align and contact knife\", \"start\": 7, \"end\": 11, \"planning\": \"Fine-tune position and orientation to make stable contact with knife handle, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp knife\", \"start\": 12, \"end\": 14, \"planning\": \"Close gripper around knife handle as evidenced by significant gripper value drop; secure hold.\"},\n {\"id\": 4, \"name\": \"lift and place knife in pot\", \"start\": 15, \"end\": 19, \"planning\": \"Lift knife while maintaining grip and maneuver it into the metal pot inside the sink.\"}\n ],\n \"global_plan\": \"Approach the knife in the sink, align and contact it, close gripper to grasp, then lift and place it into the pot.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segment 3 (frames 12-14), justifying 'grasp' terminology there. Segments 1, 2, and 4 show no gripper closure — described using contact-based or motion-based verbs. Final frame shows knife inside pot, confirming successful placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the knife lying in the sink basin without closing gripper." + }, + { + "id": 2, + "name": "align and contact knife", + "start": 7, + "end": 11, + "planning": "Fine-tune position and orientation to make stable contact with knife handle, preparing for grasp." + }, + { + "id": 3, + "name": "grasp knife", + "start": 12, + "end": 14, + "planning": "Close gripper around knife handle as evidenced by significant gripper value drop; secure hold." + }, + { + "id": 4, + "name": "lift and place knife in pot", + "start": 15, + "end": 19, + "planning": "Lift knife while maintaining grip and maneuver it into the metal pot inside the sink." + } + ], + "global_plan": "Approach the knife in the sink, align and contact it, close gripper to grasp, then lift and place it into the pot.", + "notes": "Gripper evidence confirms meaningful closing only in segment 3 (frames 12-14), justifying 'grasp' terminology there. Segments 1, 2, and 4 show no gripper closure — described using contact-based or motion-based verbs. Final frame shows knife inside pot, confirming successful placement." + } + }, + "episode_goal": "Grasp the knife and place it inside the metal pot in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2255266308784485, + -0.029798846691846848, + 0.11375193297863007, + -3.1191956996917725, + -0.07938830554485321, + -0.16831859946250916 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible on the basin floor and the metal pot nearby. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to lower the end-effector and approach the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21976245939731598, + -0.02588777430355549, + 0.1065489873290062, + -3.0979065895080566, + -0.05094832926988602, + -0.2210015505552292 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible on the basin floor and the metal pot nearby. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to lower the end-effector and approach the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2129790484905243, + -0.025191811844706535, + 0.10274747014045715, + -3.0570383071899414, + -0.027335070073604584, + -0.3297007977962494 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the sink with the knife visible on the basin floor and the metal pot nearby. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to lower the end-effector and approach the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20869357883930206, + -0.02651589922606945, + 0.10223886370658875, + -3.0553534030914307, + -0.00290391081944108, + -0.44453704357147217 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot arm is positioned above the sink, with the knife visible on the sink surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to align with the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open; then move down 2 cm, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20535683631896973, + -0.025449836626648903, + 0.09857408702373505, + -3.089323043823242, + 0.018203916028141975, + -0.5414803624153137 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot arm is positioned above the sink, with the knife visible on the sink surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to align with the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move down 2 cm, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20203007757663727, + -0.025277338922023773, + 0.09036043286323547, + -3.120441436767578, + 0.01946745440363884, + -0.5707592964172363 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot arm is positioned above the sink, with the knife visible on the sink surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to align with the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move down 2 cm, keep gripper open; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1986754834651947, + -0.026182975620031357, + 0.08229447156190872, + -3.130539894104004, + 0.011430834420025349, + -0.5528397560119629 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot arm is positioned above the sink, with the knife visible on the sink surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to align with the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 2 cm, keep gripper open; then move up 1 cm, keep gripper closed; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1967480629682541, + -0.02772488072514534, + 0.07494689524173737, + 3.1407597064971924, + 0.01618824154138565, + -0.5262890458106995 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 169, + 234, + 312, + 330 + ], + "white bottle": [ + 164, + 120, + 345, + 278 + ], + "red mug": [ + 809, + 84, + 944, + 206 + ], + "dish rack": [ + 28, + 54, + 410, + 360 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot arm is positioned above the sink, with the knife visible on the sink surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to align with the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move up 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1976802498102188, + -0.029118888080120087, + 0.07053899019956589, + 3.1346471309661865, + 0.010441457852721214, + -0.5230004191398621 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot arm is positioned above the sink, with the knife visible on the sink surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to align with the knife for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 1 cm, keep gripper closed; then move forward 4 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.19894443452358246, + -0.02898423932492733, + 0.06707325577735901, + 3.137491226196289, + 0.0032931179739534855, + -0.5305877327919006 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot has approached the knife in the sink and is now aligned with it, with the gripper open and positioned just above the handle. No grasping has occurred yet, as gripper values remain unchanged. The next action is to close the gripper to make contact and secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19970543682575226, + -0.027804773300886154, + 0.05867176130414009, + 3.132911443710327, + 0.004669612739235163, + -0.5293192267417908 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot has approached the knife in the sink and is now aligned with it, with the gripper open and positioned just above the handle. No grasping has occurred yet, as gripper values remain unchanged. The next action is to close the gripper to make contact and secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19897592067718506, + -0.024989256635308266, + 0.05713261291384697, + 3.141552448272705, + 0.013226560316979885, + -0.5159975290298462 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot has approached the knife in the sink and is now aligned with it, with the gripper open and positioned just above the handle. No grasping has occurred yet, as gripper values remain unchanged. The next action is to close the gripper to make contact and secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20077195763587952, + -0.025457147508859634, + 0.057427965104579926, + -3.136173725128174, + 0.006811930797994137, + -0.4764021039009094 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife in the sink and is now aligned with it, with the gripper open and positioned just above the handle. No grasping has occurred yet, as gripper values remain unchanged. The next action is to close the gripper to make contact and secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20275549590587616, + -0.02549840696156025, + 0.05440276861190796, + -3.1252779960632324, + -0.015787940472364426, + -0.4412473738193512 + ], + "gripper_value": 0.8335172533988953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot arm is positioned over the knife in the sink, with the gripper aligned and in contact with the knife handle. The gripper has closed significantly during this segment, indicating a successful grasp. The next action is to lift the knife from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1990966647863388, + -0.027851682156324387, + 0.05407550185918808, + -3.1253089904785156, + 0.009413068182766438, + -0.43733325600624084 + ], + "gripper_value": 0.5324842929840088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot arm is positioned over the knife in the sink, with the gripper aligned and in contact with the knife handle. The gripper has closed significantly during this segment, indicating a successful grasp. The next action is to lift the knife from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20067258179187775, + -0.028615929186344147, + 0.06614729017019272, + -3.1156134605407715, + 0.05767685920000076, + -0.44544339179992676 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "lift and place knife in pot", + "subtask_reasoning": "The robot arm is positioned over the knife in the sink, with the gripper aligned and in contact with the knife handle. The gripper has closed significantly during this segment, indicating a successful grasp. The next action is to lift the knife from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21214574575424194, + -0.028272615745663643, + 0.08849393576383591, + -3.0883336067199707, + 0.08123170584440231, + -0.46996307373046875 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 168, + 233, + 314, + 330 + ], + "red mug": [ + 808, + 84, + 945, + 206 + ], + "white bottle": [ + 164, + 119, + 347, + 278 + ], + "dish rack": [ + 25, + 22, + 458, + 361 + ], + "blue bowls": [ + 695, + 3, + 932, + 131 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "lift and place knife in pot", + "subtask_reasoning": "The robot arm is positioned over the knife in the sink, with the gripper aligned and in contact with the knife handle. The gripper has closed significantly during this segment, indicating a successful grasp. The next action is to lift the knife from the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22376872599124908, + -0.023592928424477577, + 0.10522426664829254, + -3.059833526611328, + 0.07619989663362503, + -0.4917500615119934 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "lift and place knife in pot", + "subtask_reasoning": "The robot is currently holding the knife above the metal pot in the sink, having already grasped it in a previous step. The gripper remains closed with no change in this segment, indicating the knife is secured. The next action is to lower the knife into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24016650021076202, + -0.011039328761398792, + 0.11484139412641525, + -3.027048349380493, + 0.022750098258256912, + -0.5249019265174866 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "lift and place knife in pot", + "subtask_reasoning": "The robot is currently holding the knife above the metal pot in the sink, having already grasped it in a previous step. The gripper remains closed with no change in this segment, indicating the knife is secured. The next action is to lower the knife into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25893542170524597, + 0.002278075320646167, + 0.11519517004489899, + -3.0211551189422607, + -0.06797538697719574, + -0.6032748818397522 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the knife and place it inside the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + }, + { + "id": 3, + "subtask": "grasp knife" + }, + { + "id": 4, + "subtask": "lift and place knife in pot" + } + ], + "subtask_name": "lift and place knife in pot", + "subtask_reasoning": "The robot is currently holding the knife above the metal pot in the sink, having already grasped it in a previous step. The gripper remains closed with no change in this segment, indicating the knife is secured. The next action is to lower the knife into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004191_ecot.json b/cot/chunk-0004/episode_0004191_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..076f031499be2ef457f4db68c70c04947c6d2078 --- /dev/null +++ b/cot/chunk-0004/episode_0004191_ecot.json @@ -0,0 +1,4984 @@ +{ + "task_name": "episode_0004191", + "episode_json": "json/chunk-0004/episode_0004191.json", + "video_path": "videos/chunk-0004/image_0/episode_0004191.mp4", + "instruction": "Put cereal on plate and sweetpotato in pot or pan in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 75, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004191.json" + }, + "fps": 5.0, + "T_eff": 75, + "gripper_behavior_summary": { + "available": true, + "range": 0.6731021404266357, + "std": 0.28057679533958435, + "delta_total": -0.2786772847175598, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67310, std=0.28058, total_delta=-0.27868). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 132, + 132, + 132, + 132, + 132, + 132, + 132, + 132, + 132, + 132, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 32, + 232, + 232, + 232, + 232, + 232, + 232, + 232, + 232, + 232 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 31 + ], + [ + 3, + 32, + 41 + ], + [ + 4, + 42, + 65 + ], + [ + 5, + 66, + 74 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cereal box\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector to cereal box location and close gripper to secure grasp as evidenced by significant gripper closure delta.\"},\n {\"id\": 2, \"name\": \"transport cereal box to plate\", \"start\": 7, \"end\": 31, \"planning\": \"Lift and carry cereal box from stove area to green plate, maintaining grip while navigating around obstacles.\"},\n {\"id\": 3, \"name\": \"place cereal box on plate\", \"start\": 32, \"end\": 41, \"planning\": \"Lower cereal box onto green plate and release grip to complete placement, confirmed by gripper opening motion in segment.\"},\n {\"id\": 4, \"name\": \"reposition for sweetpotato pickup\", \"start\": 42, \"end\": 65, \"planning\": \"Retreat from plate, rotate orientation, and approach red sweetpotato near sink with gripper opening then closing to prepare for grasp.\"},\n {\"id\": 5, \"name\": \"nudge sweetpotato toward pot\", \"start\": 66, \"end\": 74, \"planning\": \"Make contact with sweetpotato and push it laterally toward metal pot in sink without lifting, as gripper remains static and no grasp is indicated.\"}\n ],\n \"global_plan\": \"First, grasp and place cereal box on plate; then reposition to nudge sweetpotato into pot without lifting, respecting gripper evidence constraints.\",\n \"notes\": \"Segment 5 explicitly lacks gripper closure evidence — thus 'nudge' is used instead of 'grasp' or 'pick up'. Segment 4 shows gripper closing at end, justifying 'prepare for grasp' but not full grasp until next segment (which doesn't exist — so we stop at contact). All segments are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cereal box", + "start": 0, + "end": 6, + "planning": "Move end-effector to cereal box location and close gripper to secure grasp as evidenced by significant gripper closure delta." + }, + { + "id": 2, + "name": "transport cereal box to plate", + "start": 7, + "end": 31, + "planning": "Lift and carry cereal box from stove area to green plate, maintaining grip while navigating around obstacles." + }, + { + "id": 3, + "name": "place cereal box on plate", + "start": 32, + "end": 41, + "planning": "Lower cereal box onto green plate and release grip to complete placement, confirmed by gripper opening motion in segment." + }, + { + "id": 4, + "name": "reposition for sweetpotato pickup", + "start": 42, + "end": 65, + "planning": "Retreat from plate, rotate orientation, and approach red sweetpotato near sink with gripper opening then closing to prepare for grasp." + }, + { + "id": 5, + "name": "nudge sweetpotato toward pot", + "start": 66, + "end": 74, + "planning": "Make contact with sweetpotato and push it laterally toward metal pot in sink without lifting, as gripper remains static and no grasp is indicated." + } + ], + "global_plan": "First, grasp and place cereal box on plate; then reposition to nudge sweetpotato into pot without lifting, respecting gripper evidence constraints.", + "notes": "Segment 5 explicitly lacks gripper closure evidence — thus 'nudge' is used instead of 'grasp' or 'pick up'. Segment 4 shows gripper closing at end, justifying 'prepare for grasp' but not full grasp until next segment (which doesn't exist — so we stop at contact). All segments are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2231612205505371, + -0.13189910352230072, + 0.09593180567026138, + 3.070061445236206, + -0.18706005811691284, + 0.15199336409568787 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "approach and grasp cereal box", + "subtask_reasoning": "The robot is positioned near the cereal box on the counter, with the gripper open and no prior actions completed. The current subtask involves approaching and grasping the cereal box, which is the first step toward placing it on the green plate. The next action should involve closing the gripper to secure the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22103287279605865, + -0.13065794110298157, + 0.0869661420583725, + 3.0846712589263916, + -0.16926586627960205, + 0.15133638679981232 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "approach and grasp cereal box", + "subtask_reasoning": "The robot is positioned near the cereal box on the counter, with the gripper open and no prior actions completed. The current subtask involves approaching and grasping the cereal box, which is the first step toward placing it on the green plate. The next action should involve closing the gripper to secure the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then move back 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22647346556186676, + -0.13294000923633575, + 0.06837202608585358, + 3.066357135772705, + -0.19430944323539734, + 0.14926080405712128 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 47, + 337, + 254, + 541 + ], + "red shaker": [ + 225, + 347, + 329, + 513 + ], + "faucet": [ + 122, + 4, + 247, + 178 + ], + "burner grates": [ + 353, + 262, + 684, + 488 + ] + } + } + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "approach and grasp cereal box", + "subtask_reasoning": "The robot is positioned near the cereal box on the counter, with the gripper open and no prior actions completed. The current subtask involves approaching and grasping the cereal box, which is the first step toward placing it on the green plate. The next action should involve closing the gripper to secure the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 1 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23299728333950043, + -0.13528193533420563, + 0.057107023894786835, + 3.0407838821411133, + -0.21661867201328278, + 0.15544342994689941 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "approach and grasp cereal box", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 2 cm, move left 3 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23723536729812622, + -0.1362224817276001, + 0.051556192338466644, + 3.0252153873443604, + -0.22851669788360596, + 0.1552853137254715 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "approach and grasp cereal box", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 5 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23898494243621826, + -0.1367339938879013, + 0.0505535826086998, + 3.016465902328491, + -0.2343551218509674, + 0.1526724398136139 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "approach and grasp cereal box", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 1 cm, move left 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23565731942653656, + -0.13526031374931335, + 0.049595918506383896, + 3.0253167152404785, + -0.21157722175121307, + 0.16156049072742462 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "approach and grasp cereal box", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 9 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23321887850761414, + -0.13593614101409912, + 0.04924873635172844, + 3.038054943084717, + -0.20759858191013336, + 0.15808935463428497 + ], + "gripper_value": 0.36275482177734375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2259369045495987, + -0.13563303649425507, + 0.05226174741983414, + 3.040529727935791, + -0.16699890792369843, + 0.15379709005355835 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move up 7 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22713133692741394, + -0.1376139223575592, + 0.06352851539850235, + 3.0436904430389404, + -0.15368713438510895, + 0.16418637335300446 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22385820746421814, + -0.13697566092014313, + 0.07865908741950989, + 3.0620930194854736, + -0.13700681924819946, + 0.15553566813468933 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 15 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21979807317256927, + -0.13287313282489777, + 0.1012539491057396, + 3.086245059967041, + -0.13444386422634125, + 0.1268898993730545 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 15 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21401959657669067, + -0.12264982610940933, + 0.11613699048757553, + 3.109740734100342, + -0.14438411593437195, + 0.08839401602745056 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 15 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2141391932964325, + -0.10712084174156189, + 0.1272125244140625, + 3.1099331378936768, + -0.13257038593292236, + 0.03315076231956482 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 14 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2224530130624771, + -0.0890783965587616, + 0.13063852488994598, + 3.0907506942749023, + -0.1549289971590042, + -0.002333493670448661 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 45, + 337, + 256, + 546 + ], + "red shaker": [ + 224, + 347, + 330, + 514 + ], + "stove": [ + 170, + 172, + 953, + 925 + ] + } + } + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 13 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2277156561613083, + -0.06790082901716232, + 0.12859463691711426, + 3.079070568084717, + -0.1748773753643036, + -0.05297010391950607 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 12 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2352091670036316, + -0.04468689486384392, + 0.1264970898628235, + 3.077362537384033, + -0.20427656173706055, + -0.11250069737434387 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 10 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24299313127994537, + -0.023829694837331772, + 0.12666429579257965, + 3.073845863342285, + -0.248693585395813, + -0.15325279533863068 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2474401742219925, + -0.008151939138770103, + 0.12681719660758972, + 3.076845407485962, + -0.27532854676246643, + -0.19323524832725525 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 48, + 337, + 254, + 542 + ], + "red shaker": [ + 222, + 345, + 330, + 514 + ], + "burner grates": [ + 601, + 300, + 907, + 624 + ], + "stove": [ + 168, + 225, + 954, + 927 + ], + "food box": [ + 399, + 217, + 640, + 502 + ] + } + } + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the area where the cereal box is located. No objects have been moved yet. The next action is to lower the arm and close the gripper to grasp the cereal box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2599433362483978, + 0.0052830432541668415, + 0.1293368637561798, + 3.071333885192871, + -0.28129759430885315, + -0.23753495514392853 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is currently holding the cereal box above the stove, having completed the grasp. The next step is to transport the box towards the green plate to place it there." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27266496419906616, + 0.01621302217245102, + 0.12632770836353302, + 3.0664749145507812, + -0.29278770089149475, + -0.2702244222164154 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is currently holding the cereal box above the stove, having completed the grasp. The next step is to transport the box towards the green plate to place it there." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2848493158817291, + 0.021921593695878983, + 0.1248268336057663, + 3.075833320617676, + -0.30140846967697144, + -0.29680678248405457 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is currently holding the cereal box above the stove, having completed the grasp. The next step is to transport the box towards the green plate to place it there." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30043354630470276, + 0.026925137266516685, + 0.12883931398391724, + 3.0888097286224365, + -0.3170616924762726, + -0.31365278363227844 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "transport cereal box to plate", + "subtask_reasoning": "The robot is currently holding the cereal box above the stove, having completed the grasp. 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The next step is to transport the box towards the green plate to place it there." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.34479960799217224, + 0.07584815472364426, + 0.11994447559118271, + 3.1070163249969482, + -0.18874192237854004, + -0.3584563136100769 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "place cereal box on plate", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. 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The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 32, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393005132675171, + 0.0757298618555069, + 0.12417977303266525, + 3.103066921234131, + -0.15536664426326752, + -0.36996161937713623 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "place cereal box on plate", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. The gripper is currently open, indicating the box has been released or is being positioned for placement. The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move back 3 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3391341269016266, + 0.07591596245765686, + 0.13306674361228943, + 3.12021541595459, + -0.17526985704898834, + -0.37318286299705505 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "place cereal box on plate", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. The gripper is currently open, indicating the box has been released or is being positioned for placement. The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3392024338245392, + 0.07570206373929977, + 0.13309575617313385, + 3.1190128326416016, + -0.17616815865039825, + -0.3725930452346802 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "place cereal box on plate", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. 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The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.30309414863586426, + 0.07943395525217056, + 0.1283029317855835, + -3.0629889965057373, + -0.31511470675468445, + -0.18517379462718964 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. 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The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916688919067383, + 0.10324491560459137, + 0.115559421479702, + -3.0048255920410156, + -0.34875237941741943, + -0.09077657759189606 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "food box": [ + 380, + 180, + 591, + 358 + ], + "red shaker": [ + 222, + 345, + 329, + 514 + ], + "metal pot": [ + 48, + 335, + 253, + 541 + ], + "stove": [ + 168, + 194, + 955, + 928 + ] + } + } + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. 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The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.289058119058609, + 0.1186843290925026, + 0.11635196954011917, + -2.9582064151763916, + -0.37178298830986023, + -0.08856429159641266 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. The gripper is currently open, indicating the box has been released or is being positioned for placement. The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842973470687866, + 0.13609415292739868, + 0.11758574098348618, + -2.9280877113342285, + -0.3617347180843353, + -0.07296504825353622 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. 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The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813977003097534, + 0.14336462318897247, + 0.10694105178117752, + -2.943692445755005, + -0.3211475610733032, + -0.0391383059322834 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "food box": [ + 384, + 183, + 590, + 357 + ], + "metal pot": [ + 50, + 336, + 255, + 539 + ], + "red shaker": [ + 219, + 343, + 329, + 514 + ], + "stove": [ + 171, + 174, + 955, + 923 + ] + } + } + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. The gripper is currently open, indicating the box has been released or is being positioned for placement. The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.27933943271636963, + 0.14499728381633759, + 0.09503201395273209, + -2.97831392288208, + -0.291744589805603, + -0.009322223253548145 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. The gripper is currently open, indicating the box has been released or is being positioned for placement. The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.27806103229522705, + 0.14389730989933014, + 0.08810420334339142, + -3.005197286605835, + -0.28595179319381714, + 0.019080504775047302 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. The gripper is currently open, indicating the box has been released or is being positioned for placement. The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733224630355835, + 0.1394052654504776, + 0.08080988377332687, + -3.0302720069885254, + -0.2755436301231384, + 0.03408439829945564 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. The gripper is currently open, indicating the box has been released or is being positioned for placement. The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2677038311958313, + 0.13525158166885376, + 0.07400024682283401, + -3.04219126701355, + -0.2574256956577301, + 0.030238080769777298 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The robot has transported the cereal box to the stove area where the green plate is located. The gripper is currently open, indicating the box has been released or is being positioned for placement. The next action is to finalize the placement of the cereal box onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.25990456342697144, + 0.12980099022388458, + 0.06420590728521347, + -3.0647289752960205, + -0.24281498789787292, + 0.03672374412417412 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.25345346331596375, + 0.1273553967475891, + 0.05589072406291962, + -3.0663719177246094, + -0.23610825836658478, + 0.05265606567263603 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.25314122438430786, + 0.12545771896839142, + 0.049965403974056244, + -3.0644173622131348, + -0.26814568042755127, + 0.04924527928233147 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.25770920515060425, + 0.12637750804424286, + 0.05026461184024811, + -3.0686757564544678, + -0.31927168369293213, + 0.034951597452163696 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "food box": [ + 379, + 180, + 590, + 358 + ], + "red shaker": [ + 229, + 359, + 328, + 513 + ], + "stove": [ + 186, + 167, + 954, + 924 + ], + "metal pot": [ + 49, + 346, + 234, + 539 + ] + } + } + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591114640235901, + 0.12542161345481873, + 0.044723991304636, + -3.0908730030059814, + -0.3222169280052185, + 0.02797340229153633 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.2627752721309662, + 0.12478551268577576, + 0.03747331351041794, + -3.104675054550171, + -0.3246115744113922, + 0.0313408300280571 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.26584428548812866, + 0.125639408826828, + 0.0294880960136652, + -3.1058104038238525, + -0.32959607243537903, + 0.03427601233124733 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 3 cm, move left 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.2702070474624634, + 0.12490936368703842, + 0.030037011951208115, + -3.0983946323394775, + -0.35136517882347107, + 0.04733356460928917 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move left 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707292437553406, + 0.12355668097734451, + 0.028985925018787384, + -3.095210552215576, + -0.35635972023010254, + 0.0668034553527832 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move left 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709677815437317, + 0.12157438695430756, + 0.028627967461943626, + -3.096297025680542, + -0.34996142983436584, + 0.08382875472307205 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move left 8 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697913646697998, + 0.1204625815153122, + 0.02820015884935856, + -3.1003153324127197, + -0.3374047875404358, + 0.09463132917881012 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move left 9 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.26636871695518494, + 0.1183350682258606, + 0.028624728322029114, + -3.101196050643921, + -0.32318592071533203, + 0.07405136525630951 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598963677883148, + 0.12136303633451462, + 0.03536129742860794, + -3.1284024715423584, + -0.281938761472702, + 0.0578819140791893 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "reposition for sweetpotato pickup", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 4 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 65 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.26234135031700134, + 0.1261669248342514, + 0.04564499109983444, + 3.1379032135009766, + -0.2762314975261688, + 0.0300750732421875 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 57, + 344, + 223, + 533 + ], + "food box": [ + 377, + 181, + 591, + 358 + ], + "red shaker": [ + 210, + 342, + 313, + 498 + ], + "stove": [ + 194, + 167, + 955, + 923 + ] + } + } + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.26653051376342773, + 0.13483335077762604, + 0.05740605294704437, + 3.119720458984375, + -0.28922271728515625, + -0.009833524003624916 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.2769714593887329, + 0.14828263223171234, + 0.07504688203334808, + 3.1365907192230225, + -0.30421382188796997, + -0.04815629869699478 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.29010841250419617, + 0.16351546347141266, + 0.07065033912658691, + 3.11196231842041, + -0.31295067071914673, + -0.10442354530096054 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate, completing the first part of the task. The robot arm is currently repositioning above the stove, moving away from the plate. The next action is to continue maneuvering the arm towards the sink area to align with the red sweet potato for the subsequent placement into the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016279339790344, + 0.1827639490365982, + 0.06227683275938034, + 3.112112522125244, + -0.3428603410720825, + -0.1375434547662735 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate. The robot arm is currently positioned above the stove, away from the sweet potato and pot in the sink. Since the gripper evidence shows no closing action, the next step is to move the arm toward the sweet potato to begin nudging it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.30822938680648804, + 0.19822606444358826, + 0.05408750846982002, + 3.1005523204803467, + -0.34265902638435364, + -0.1317109763622284 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate. The robot arm is currently positioned above the stove, away from the sweet potato and pot in the sink. Since the gripper evidence shows no closing action, the next step is to move the arm toward the sweet potato to begin nudging it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.30777251720428467, + 0.2048594206571579, + 0.037738166749477386, + 3.0897064208984375, + -0.34638020396232605, + -0.12377656251192093 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate. The robot arm is currently positioned above the stove, away from the sweet potato and pot in the sink. Since the gripper evidence shows no closing action, the next step is to move the arm toward the sweet potato to begin nudging it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069494664669037, + 0.21382534503936768, + 0.03523204103112221, + 3.1078381538391113, + -0.36858680844306946, + -0.12064990401268005 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate. The robot arm is currently positioned above the stove, away from the sweet potato and pot in the sink. Since the gripper evidence shows no closing action, the next step is to move the arm toward the sweet potato to begin nudging it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.2980104982852936, + 0.22277531027793884, + 0.0295832809060812, + 3.119028329849243, + -0.3681897222995758, + -0.10235332697629929 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cereal box on the green plate and put the red sweet potato into the metal pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cereal box" + }, + { + "id": 2, + "subtask": "transport cereal box to plate" + }, + { + "id": 3, + "subtask": "place cereal box on plate" + }, + { + "id": 4, + "subtask": "reposition for sweetpotato pickup" + }, + { + "id": 5, + "subtask": "nudge sweetpotato toward pot" + } + ], + "subtask_name": "nudge sweetpotato toward pot", + "subtask_reasoning": "The cereal box is already placed on the green plate. The robot arm is currently positioned above the stove, away from the sweet potato and pot in the sink. Since the gripper evidence shows no closing action, the next step is to move the arm toward the sweet potato to begin nudging it into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 66, + "end": 74 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004192_ecot.json b/cot/chunk-0004/episode_0004192_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4ebcfb5565c79602ea2280cd4dcab11b48f73a9e --- /dev/null +++ b/cot/chunk-0004/episode_0004192_ecot.json @@ -0,0 +1,1234 @@ +{ + "task_name": "episode_0004192", + "episode_json": "json/chunk-0004/episode_0004192.json", + "video_path": "videos/chunk-0004/image_0/episode_0004192.mp4", + "instruction": "Put sushi on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004192.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.42309343814849854, + "std": 0.20084211230278015, + "delta_total": -0.17817658185958862, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42309, std=0.20084, total_delta=-0.17818). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 13 + ], + [ + 3, + 14, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sushi\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the sushi in the drawer without closing gripper, as no meaningful closing is observed in this segment.\"},\n {\"id\": 2, \"name\": \"grasp sushi\", \"start\": 9, \"end\": 13, \"planning\": \"Close gripper to securely grasp the sushi, supported by segment-level gripper closing evidence and visual confirmation of contact.\"},\n {\"id\": 3, \"name\": \"place sushi on plate\", \"start\": 14, \"end\": 19, \"planning\": \"Transport grasped sushi over the green plate and release it, confirmed by gripper opening at end of segment and final image showing sushi on plate.\"}\n ],\n \"global_plan\": \"Approach sushi in drawer, grasp it with verified gripper closure, then move to and release it onto the green plate.\",\n \"notes\": \"Segment 1 has no gripper closing (delta=0), so 'approach' is used. Segments 2 and 3 show meaningful gripper changes consistent with grasp and release, validated by images.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sushi", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the sushi in the drawer without closing gripper, as no meaningful closing is observed in this segment." + }, + { + "id": 2, + "name": "grasp sushi", + "start": 9, + "end": 13, + "planning": "Close gripper to securely grasp the sushi, supported by segment-level gripper closing evidence and visual confirmation of contact." + }, + { + "id": 3, + "name": "place sushi on plate", + "start": 14, + "end": 19, + "planning": "Transport grasped sushi over the green plate and release it, confirmed by gripper opening at end of segment and final image showing sushi on plate." + } + ], + "global_plan": "Approach sushi in drawer, grasp it with verified gripper closure, then move to and release it onto the green plate.", + "notes": "Segment 1 has no gripper closing (delta=0), so 'approach' is used. Segments 2 and 3 show meaningful gripper changes consistent with grasp and release, validated by images." + } + }, + "episode_goal": "Pick up the red sushi from the drawer and place it on the green plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634691894054413, + 0.1791829764842987, + -0.0031266636215150356, + -2.974787473678589, + -0.14589789509773254, + -0.05474232882261276 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, near the open drawer containing the red sushi. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the red sushi inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617286443710327, + 0.1766120195388794, + -0.011270049028098583, + -2.973062038421631, + -0.10788561403751373, + -0.131303071975708 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, near the open drawer containing the red sushi. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the red sushi inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27178245782852173, + 0.179827019572258, + -0.01120020356029272, + -2.940073013305664, + -0.09855563193559647, + -0.2664015591144562 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, near the open drawer containing the red sushi. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the red sushi inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2829446494579315, + 0.1826789528131485, + -0.016964737325906754, + -2.954219102859497, + -0.08965366333723068, + -0.35844820737838745 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the kitchen counter, near the open drawer containing the red sushi. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the red sushi inside the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2961595952510834, + 0.18695960938930511, + -0.021295635029673576, + -2.9852640628814697, + -0.11437006294727325, + -0.4118192195892334 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the open drawer, hovering near the red sushi. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The next action is to lower the end-effector to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move forward 4 cm, move right 5 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3033929765224457, + 0.19433170557022095, + -0.03402039408683777, + -3.0162131786346436, + -0.15414047241210938, + -0.441909521818161 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the open drawer, hovering near the red sushi. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The next action is to lower the end-effector to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move forward 4 cm, move right 5 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30295559763908386, + 0.1972370147705078, + -0.047955237329006195, + -3.0548129081726074, + -0.2070639282464981, + -0.4375520944595337 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 403, + 152, + 581, + 307 + ], + "soap dispenser": [ + 707, + 585, + 852, + 863 + ], + "purple cup": [ + 1, + 247, + 76, + 368 + ], + "orange bowl": [ + 61, + 282, + 202, + 429 + ], + "burner grate": [ + 471, + 241, + 818, + 570 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the open drawer, hovering near the red sushi. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The next action is to lower the end-effector to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 4 cm, move right 5 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29842594265937805, + 0.19509653747081757, + -0.05734093114733696, + -3.0930845737457275, + -0.24547739326953888, + -0.43718600273132324 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the open drawer, hovering near the red sushi. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The next action is to lower the end-effector to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 4 cm, move right 5 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29625746607780457, + 0.19708076119422913, + -0.06812359392642975, + -3.110476016998291, + -0.27401235699653625, + -0.462497740983963 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "approach sushi", + "subtask_reasoning": "The robot arm is positioned above the open drawer, hovering near the red sushi. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The next action is to lower the end-effector to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 4 cm, move right 5 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29550424218177795, + 0.199018657207489, + -0.07735158503055573, + 3.1305642127990723, + -0.28195124864578247, + -0.45668089389801025 + ], + "gripper_value": 0.8111810088157654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the open drawer, hovering near the red sushi. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The next action is to lower the end-effector to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948616147041321, + 0.1988925039768219, + -0.07662482559680939, + 3.1048715114593506, + -0.2629905939102173, + -0.4310784637928009 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned above the open drawer, hovering near the red sushi. No grasping has occurred yet as the gripper remains open and the subtask segment shows no closing evidence. The next action is to lower the end-effector to make contact with the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 9 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29179805517196655, + 0.18991558253765106, + -0.06920972466468811, + 3.065901517868042, + -0.20511478185653687, + -0.40558478236198425 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned over the open drawer, hovering near the red sushi. The gripper is currently open, indicating that the approach phase is complete but the object has not yet been secured. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.306294322013855, + 0.18216447532176971, + -0.030097657814621925, + 3.0897786617279053, + -0.16090275347232819, + -0.392494797706604 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned over the open drawer, hovering near the red sushi. The gripper is currently open, indicating that the approach phase is complete but the object has not yet been secured. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 5 cm, keep gripper closed; then move forward 6 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3245468735694885, + 0.17008714377880096, + 0.0035381296183913946, + 3.130598306655884, + -0.1396883726119995, + -0.39419442415237427 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "soap dispenser": [ + 708, + 584, + 853, + 864 + ], + "green plate": [ + 402, + 152, + 581, + 306 + ], + "purple cup": [ + 1, + 247, + 76, + 367 + ], + "orange bowl": [ + 61, + 286, + 202, + 433 + ], + "burner grate": [ + 493, + 255, + 803, + 548 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot arm is positioned over the open drawer, hovering near the red sushi. The gripper is currently open, indicating that the approach phase is complete but the object has not yet been secured. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 6 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33528387546539307, + 0.1477898359298706, + 0.015572936274111271, + -3.123319149017334, + -0.15027248859405518, + -0.3624138832092285 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "place sushi on plate", + "subtask_reasoning": "The robot arm is positioned over the open drawer, hovering near the red sushi. The gripper is currently open, indicating that the approach phase is complete but the object has not yet been secured. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3488389849662781, + 0.12238611280918121, + 0.029322180896997452, + -3.062013864517212, + -0.17936240136623383, + -0.3395085036754608 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "place sushi on plate", + "subtask_reasoning": "The robot arm is positioned over the open drawer, hovering near the red sushi. The gripper is currently open, indicating that the approach phase is complete but the object has not yet been secured. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3602241575717926, + 0.11122602969408035, + 0.03554369881749153, + -3.0127193927764893, + -0.17241668701171875, + -0.374969482421875 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "place sushi on plate", + "subtask_reasoning": "The robot is holding the red sushi above the green plate, having completed the approach and grasp phases. The gripper remains closed with the sushi positioned directly over the target. The next action is to release the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37549692392349243, + 0.12040689587593079, + 0.04916775971651077, + -2.967623710632324, + -0.19756342470645905, + -0.38985925912857056 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "place sushi on plate", + "subtask_reasoning": "The robot is holding the red sushi above the green plate, having completed the approach and grasp phases. The gripper remains closed with the sushi positioned directly over the target. The next action is to release the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3913998603820801, + 0.12357396632432938, + 0.04707442969083786, + -2.974327564239502, + -0.21157094836235046, + -0.42017579078674316 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "place sushi on plate", + "subtask_reasoning": "The robot is holding the red sushi above the green plate, having completed the approach and grasp phases. The gripper remains closed with the sushi positioned directly over the target. The next action is to release the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39758196473121643, + 0.12501992285251617, + 0.045481499284505844, + -2.991690158843994, + -0.2440354824066162, + -0.42627421021461487 + ], + "gripper_value": 0.8298270106315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the red sushi from the drawer and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi" + }, + { + "id": 2, + "subtask": "grasp sushi" + }, + { + "id": 3, + "subtask": "place sushi on plate" + } + ], + "subtask_name": "place sushi on plate", + "subtask_reasoning": "The robot is holding the red sushi above the green plate, having completed the approach and grasp phases. The gripper remains closed with the sushi positioned directly over the target. The next action is to release the sushi onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004193_ecot.json b/cot/chunk-0004/episode_0004193_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9b4db3d93c639be61afbfb6182ef4515a495b942 --- /dev/null +++ b/cot/chunk-0004/episode_0004193_ecot.json @@ -0,0 +1,1970 @@ +{ + "task_name": "episode_0004193", + "episode_json": "json/chunk-0004/episode_0004193.json", + "video_path": "videos/chunk-0004/image_0/episode_0004193.mp4", + "instruction": "Fold the cloth from bottom to top.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004193.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9466745257377625, + "std": 0.41442441940307617, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94667, std=0.41442, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 125, + 125, + 125, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 24 + ], + [ + 4, + 25, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper toward the bottom edge of the yellow cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp bottom edge\", \"start\": 4, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the bottom edge of the cloth.\"},\n {\"id\": 3, \"name\": \"lift and fold upward\", \"start\": 12, \"end\": 24, \"planning\": \"Lift the grasped edge and move it upward to fold the cloth from bottom to top.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 25, \"end\": 30, \"planning\": \"Open the gripper to release the cloth and retreat upward to complete the fold.\"}\n ],\n \"global_plan\": \"Fold the cloth by approaching the bottom edge, grasping it, lifting and moving it upward to create a fold, then releasing and retreating.\",\n \"notes\": \"Subtasks align with observed gripper closure in segments 2–4 and motion phases; segment 1 shows no closing so described as approach only.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 3, + "planning": "Move the gripper toward the bottom edge of the yellow cloth without closing." + }, + { + "id": 2, + "name": "grasp bottom edge", + "start": 4, + "end": 11, + "planning": "Close the gripper to securely grasp the bottom edge of the cloth." + }, + { + "id": 3, + "name": "lift and fold upward", + "start": 12, + "end": 24, + "planning": "Lift the grasped edge and move it upward to fold the cloth from bottom to top." + }, + { + "id": 4, + "name": "release and retreat", + "start": 25, + "end": 30, + "planning": "Open the gripper to release the cloth and retreat upward to complete the fold." + } + ], + "global_plan": "Fold the cloth by approaching the bottom edge, grasping it, lifting and moving it upward to create a fold, then releasing and retreating.", + "notes": "Subtasks align with observed gripper closure in segments 2–4 and motion phases; segment 1 shows no closing so described as approach only." + } + }, + "episode_goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30609068274497986, + -0.023272594437003136, + 0.1845495104789734, + 3.137209177017212, + -0.19045476615428925, + -0.10185257345438004 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask 'approach cloth' is in progress, aiming to move the end-effector closer to the bottom edge of the cloth. The next action should be a controlled downward and forward motion to reach the target grasp point without premature contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30467990040779114, + -0.023170651867985725, + 0.17396000027656555, + 3.1349713802337646, + -0.15821030735969543, + -0.09386076778173447 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask 'approach cloth' is in progress, with no prior actions completed. The next action should involve moving the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29380786418914795, + -0.023272255435585976, + 0.16234628856182098, + 3.1361169815063477, + -0.14569388329982758, + -0.06900463998317719 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask 'approach cloth' is in progress, with no prior actions completed. The next action should involve moving the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.280568927526474, + -0.021589146926999092, + 0.16668081283569336, + 3.127925157546997, + -0.1666758954524994, + -0.010356931015849113 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask 'approach cloth' is in progress, with no prior actions completed. The next action should involve moving the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move down 9 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24814710021018982, + -0.013919454999268055, + 0.15771226584911346, + 3.0598888397216797, + -0.17940197885036469, + 0.08296235650777817 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask 'approach cloth' is in progress, with no prior actions completed. The next action should involve moving the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 9 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2108328640460968, + -0.008699028752744198, + 0.13819195330142975, + 3.063514232635498, + -0.19559791684150696, + 0.11695022881031036 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask 'approach cloth' is in progress, with no prior actions completed. The next action should involve moving the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 7 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.18530237674713135, + -0.0022277480456978083, + 0.11507806926965714, + 3.042635440826416, + -0.16381341218948364, + 0.16716095805168152 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 262, + 144, + 868, + 850 + ], + "table": [ + 4, + 96, + 995, + 993 + ], + "tool": [ + 89, + 8, + 482, + 630 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact made yet. The subtask 'approach cloth' is in progress, with no prior actions completed. The next action should involve moving the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper; then move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1763058751821518, + -0.0013384385965764523, + 0.08936961740255356, + 3.055882453918457, + -0.11462806910276413, + 0.16322535276412964 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 264, + 144, + 868, + 848 + ], + "table": [ + 4, + 71, + 995, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move forward 3 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1805199533700943, + -0.003082986455410719, + 0.07897795736789703, + 3.0692949295043945, + -0.09188681840896606, + 0.15107667446136475 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 6 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1822938174009323, + -0.004005830269306898, + 0.06982453912496567, + 3.0637404918670654, + -0.0905601978302002, + 0.14527159929275513 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1844019889831543, + -0.005330787971615791, + 0.06760143488645554, + 3.0833163261413574, + -0.10548915714025497, + 0.12299774587154388 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 13 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.1844804733991623, + -0.004969918169081211, + 0.0668797492980957, + 3.1108336448669434, + -0.1120220273733139, + 0.12257353216409683 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom edge", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 15 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18469727039337158, + -0.0038564112037420273, + 0.06718576699495316, + 3.1165771484375, + -0.11263712495565414, + 0.13361063599586487 + ], + "gripper_value": 0.43931102752685547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.18227052688598633, + -0.003365324344485998, + 0.06831103563308716, + 3.1235525608062744, + -0.10125509649515152, + 0.12632910907268524 + ], + "gripper_value": 0.2624140679836273 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.17653484642505646, + -0.006106299348175526, + 0.07855786383152008, + 3.1293764114379883, + -0.10825889557600021, + 0.09872090071439743 + ], + "gripper_value": 0.13665413856506348 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.17976725101470947, + -0.0032496692147105932, + 0.10285494476556778, + 3.109299898147583, + -0.15674279630184174, + 0.12227796018123627 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.18637944757938385, + 0.00047550874296575785, + 0.12386804819107056, + 3.091409683227539, + -0.1823696494102478, + 0.15675291419029236 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2124505341053009, + -0.00010038655454991385, + 0.14682957530021667, + 3.0526065826416016, + -0.20976610481739044, + 0.1870727241039276 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24906423687934875, + -0.0017146283062174916, + 0.15736262500286102, + 3.0165305137634277, + -0.2183438092470169, + 0.19583220779895782 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 237, + 139, + 859, + 710 + ], + "table": [ + 5, + 93, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2850109040737152, + -0.005233387462794781, + 0.16098663210868835, + 2.9878458976745605, + -0.22419604659080505, + 0.208228200674057 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move back 3 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31395068764686584, + -0.016322726383805275, + 0.14845553040504456, + 2.975647211074829, + -0.1964956670999527, + 0.20826055109500885 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 5 cm, move left 2 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333328664302826, + -0.019453147426247597, + 0.1294359713792801, + 2.9774560928344727, + -0.15830807387828827, + 0.21951653063297272 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, keep gripper open; then move back 5 cm, move left 2 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470773696899414, + -0.021376296877861023, + 0.11054792255163193, + 2.989179849624634, + -0.12213260680437088, + 0.21728041768074036 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 5 cm, move left 2 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35426977276802063, + -0.022113526239991188, + 0.0964474007487297, + 2.9994635581970215, + -0.09006048738956451, + 0.21014954149723053 + ], + "gripper_value": 0.2432183027267456 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 271, + 138, + 856, + 634 + ], + "table": [ + 5, + 47, + 994, + 992 + ], + "tool": [ + 446, + 4, + 715, + 373 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 2 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35743555426597595, + -0.019624138250947, + 0.0963943749666214, + 3.010505199432373, + -0.09251219779253006, + 0.19378618896007538 + ], + "gripper_value": 0.49949145317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and fold upward", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 2 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.357202410697937, + -0.019850850105285645, + 0.09639295190572739, + 3.009056329727173, + -0.09031720459461212, + 0.1973184496164322 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558984100818634, + -0.018380748108029366, + 0.1024748757481575, + 3.0159802436828613, + -0.10395941138267517, + 0.19539283215999603 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has grasped the bottom edge of the yellow cloth and is currently lifting it upward to create a fold. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue lifting and moving the cloth over the top portion to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3513369560241699, + -0.013724132440984249, + 0.12289144098758698, + 3.0183262825012207, + -0.13754186034202576, + 0.18374212086200714 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded from bottom to top, with the bottom edge now resting over the top portion. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3433689475059509, + -0.010333811864256859, + 0.15223662555217743, + 3.0140769481658936, + -0.19139215350151062, + 0.161310613155365 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded from bottom to top, with the bottom edge now resting over the top portion. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292608857154846, + -0.0021410060580819845, + 0.18336063623428345, + 3.023167133331299, + -0.25425806641578674, + 0.1471909135580063 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded from bottom to top, with the bottom edge now resting over the top portion. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105611205101013, + 0.004616008140146732, + 0.202972412109375, + 3.0609047412872314, + -0.29753604531288147, + 0.14664770662784576 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom to top by grasping the bottom edge and lifting it over the top portion." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp bottom edge" + }, + { + "id": 3, + "subtask": "lift and fold upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded from bottom to top, with the bottom edge now resting over the top portion. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004195_ecot.json b/cot/chunk-0004/episode_0004195_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6cfdabd7623f994a0f88e63ff5e5b9dcdfd24bf8 --- /dev/null +++ b/cot/chunk-0004/episode_0004195_ecot.json @@ -0,0 +1,2540 @@ +{ + "task_name": "episode_0004195", + "episode_json": "json/chunk-0004/episode_0004195.json", + "video_path": "videos/chunk-0004/image_0/episode_0004195.mp4", + "instruction": "Put the object from the upper right burner to the lower right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004195.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.5081806778907776, + "std": 0.20629997551441193, + "delta_total": 0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.50818, std=0.20630, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 222, + 222, + 222, + 222, + 222, + 222, + 228, + 228, + 228, + 228, + 228, + 228, + 228, + 228, + 228, + 228 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 21 + ], + [ + 4, + 22, + 27 + ], + [ + 5, + 28, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach upper right burner\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end effector toward the upper right burner where the object is located, without closing the gripper.\"},\n {\"id\": 2, \"name\": \"reposition near object\", \"start\": 4, \"end\": 12, \"planning\": \"Adjust position and orientation to align with the object on the upper right burner, maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"make contact and nudge object\", \"start\": 13, \"end\": 21, \"planning\": \"Gently make contact with the object and nudge it slightly to prepare for grasping in next phase.\"},\n {\"id\": 4, \"name\": \"grasp and lift object\", \"start\": 22, \"end\": 27, \"planning\": \"Close gripper to grasp the object firmly and lift it slightly off the burner surface.\"},\n {\"id\": 5, \"name\": \"transport and place on lower right burner\", \"start\": 28, \"end\": 37, \"planning\": \"Move the grasped object to the lower right burner and release it by opening the gripper.\"}\n ],\n \"global_plan\": \"The robot approaches the object on the upper right burner, repositions, makes contact, grasps and lifts it, then transports and places it on the lower right burner.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 4 and 5; grasp wording is justified there. Segments 1-3 show no gripper closure, so contact-based verbs are used.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach upper right burner", + "start": 0, + "end": 3, + "planning": "Move the end effector toward the upper right burner where the object is located, without closing the gripper." + }, + { + "id": 2, + "name": "reposition near object", + "start": 4, + "end": 12, + "planning": "Adjust position and orientation to align with the object on the upper right burner, maintaining open gripper." + }, + { + "id": 3, + "name": "make contact and nudge object", + "start": 13, + "end": 21, + "planning": "Gently make contact with the object and nudge it slightly to prepare for grasping in next phase." + }, + { + "id": 4, + "name": "grasp and lift object", + "start": 22, + "end": 27, + "planning": "Close gripper to grasp the object firmly and lift it slightly off the burner surface." + }, + { + "id": 5, + "name": "transport and place on lower right burner", + "start": 28, + "end": 37, + "planning": "Move the grasped object to the lower right burner and release it by opening the gripper." + } + ], + "global_plan": "The robot approaches the object on the upper right burner, repositions, makes contact, grasps and lifts it, then transports and places it on the lower right burner.", + "notes": "Gripper evidence confirms meaningful closing only in segments 4 and 5; grasp wording is justified there. Segments 1-3 show no gripper closure, so contact-based verbs are used." + } + }, + "episode_goal": "Move the object from the upper right burner to the lower right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3764370083808899, + 0.13678599894046783, + -0.006038154009729624, + -3.010315179824829, + -0.22087964415550232, + 0.22377294301986694 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot is positioned near the upper right burner where the target object is located. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the object. The next action is to continue approaching and aligning with the object for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 11 cm, move right 4 cm, move up 2 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36846715211868286, + 0.1336573362350464, + -0.023451317101716995, + -3.018704891204834, + -0.17211399972438812, + 0.22784146666526794 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot is positioned near the upper right burner where the target object is located. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the object. The next action is to continue approaching until contact can be made with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 12 cm, move right 4 cm, move up 2 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36832234263420105, + 0.10275137424468994, + -0.0364801324903965, + -3.076526165008545, + -0.17703883349895477, + 0.12628033757209778 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot is positioned near the upper right burner where the target object is located. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the object. The next action is to continue approaching until contact can be made with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 14 cm, move right 4 cm, move up 1 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37353888154029846, + 0.053992047905921936, + -0.04360552504658699, + -3.102627754211426, + -0.20373068749904633, + -0.005017239134758711 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "approach upper right burner", + "subtask_reasoning": "The robot is positioned near the upper right burner where the target object is located. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the object. The next action is to continue approaching until contact can be made with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 15 cm, move right 4 cm, move up 1 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38899657130241394, + 0.011270477436482906, + -0.040429674088954926, + 3.1144587993621826, + -0.2934081256389618, + -0.11042554676532745 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 333, + 323, + 491, + 402 + ], + "hanging strainer": [ + 682, + 4, + 773, + 205 + ], + "sink": [ + 680, + 494, + 995, + 982 + ] + } + } + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot is positioned near the upper right burner where the target object is located. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the object. The next action is to continue approaching until contact can be made with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 4 cm, move up 1 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4087543189525604, + -0.009220730513334274, + -0.029660791158676147, + 3.0914463996887207, + -0.3895060420036316, + -0.13904522359371185 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot is positioned near the upper right burner where the target object is located. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the object. The next action is to continue approaching until contact can be made with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 2 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.43345940113067627, + -0.01131202932447195, + -0.013690576888620853, + 3.101613998413086, + -0.5108908414840698, + -0.1507272720336914 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot is positioned near the upper right burner where the target object is located. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the object. The next action is to continue approaching until contact can be made with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.459841787815094, + -0.012479499913752079, + 0.009611769579350948, + 3.105365037918091, + -0.5947961211204529, + -0.14796330034732819 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot is positioned near the upper right burner where the target object is located. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the object. The next action is to continue approaching until contact can be made with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4757324457168579, + -0.018473321571946144, + 0.0025470333639532328, + 3.0738749504089355, + -0.6135833859443665, + -0.13870830833911896 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.49008285999298096, + -0.02726733312010765, + -0.002680771518498659, + 3.0764660835266113, + -0.6186596751213074, + -0.16688261926174164 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 3 cm, keep gripper open; then move left 3 cm, move down 3 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.50010746717453, + -0.032508403062820435, + -0.019057119265198708, + 3.0878372192382812, + -0.6078886985778809, + -0.18384745717048645 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 334, + 318, + 496, + 403 + ], + "sink": [ + 679, + 491, + 995, + 984 + ], + "pot": [ + 397, + 126, + 562, + 284 + ] + } + } + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.5100797414779663, + -0.03125017508864403, + -0.023968959227204323, + 3.1093122959136963, + -0.6173375844955444, + -0.18119145929813385 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.5245460271835327, + -0.02881528250873089, + -0.03167811781167984, + 3.123288631439209, + -0.6290310025215149, + -0.17223739624023438 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "reposition near object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 5 cm, move left 5 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.5382145643234253, + -0.025247126817703247, + -0.030061976984143257, + -3.1373860836029053, + -0.6489105820655823, + -0.1717149019241333 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move up 3 cm, close gripper; then move back 3 cm, move left 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.547461748123169, + -0.019267121329903603, + -0.03028140962123871, + -3.12576961517334, + -0.6647257208824158, + -0.15940479934215546 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 5 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move back 7 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.5540298819541931, + -0.01218744833022356, + -0.036806486546993256, + -3.094106435775757, + -0.6517224907875061, + -0.16831758618354797 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 4 cm, move up 4 cm, close gripper; then move back 10 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.5506930351257324, + -0.0037910561077296734, + -0.05154268071055412, + -3.0690758228302, + -0.5965069532394409, + -0.16303028166294098 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot arm is positioned near the upper right burner where the target object is located. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action should involve fine-tuning the end-effector position to align precisely with the object for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move up 5 cm, close gripper; then move back 11 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.5490695238113403, + 0.0052674198523163795, + -0.05572134628891945, + -3.003398895263672, + -0.5675371885299683, + -0.18459483981132507 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner, having completed the approach and repositioning phases. Although segment-level gripper evidence suggests a closing motion, the current frame shows the gripper is still open and not yet in contact with the object. The immediate next action is to lower the arm to establish physical contact with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 12 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.5472925305366516, + 0.006331356707960367, + -0.058328840881586075, + -2.9809539318084717, + -0.5593108534812927, + -0.20708170533180237 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner, having completed the approach and repositioning phases. Although segment-level gripper evidence suggests a closing motion, the current frame shows the gripper is still open and not yet in contact with the object. The immediate next action is to lower the arm to establish physical contact with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 13 cm, move right 1 cm, move down 3 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.5428743958473206, + 0.0011476119980216026, + -0.06318521499633789, + -3.023775577545166, + -0.5646658539772034, + -0.19627000391483307 + ], + "gripper_value": 0.7309711575508118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner, having completed the approach and repositioning phases. Although segment-level gripper evidence suggests a closing motion, the current frame shows the gripper is still open and not yet in contact with the object. The immediate next action is to lower the arm to establish physical contact with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 13 cm, move right 1 cm, move down 3 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.5284786224365234, + -0.002193052088841796, + -0.059842512011528015, + -3.0414488315582275, + -0.5357040762901306, + -0.23778030276298523 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner, having completed the approach and repositioning phases. Although segment-level gripper evidence suggests a closing motion, the current frame shows the gripper is still open and not yet in contact with the object. The immediate next action is to lower the arm to establish physical contact with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 6 cm, keep gripper closed; then move back 13 cm, move right 1 cm, move down 3 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.5086762309074402, + 0.009438707493245602, + -0.03267384693026543, + -3.104372978210449, + -0.5679326057434082, + -0.19509238004684448 + ], + "gripper_value": 0.5100988745689392 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "make contact and nudge object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner, having completed the approach and repositioning phases. Although segment-level gripper evidence suggests a closing motion, the current frame shows the gripper is still open and not yet in contact with the object. The immediate next action is to lower the arm to establish physical contact with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move back 13 cm, move right 1 cm, move down 3 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.48404866456985474, + 0.026715846732258797, + 0.0006334685022011399, + -3.134153366088867, + -0.5723820924758911, + -0.16823159158229828 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 334, + 321, + 492, + 402 + ] + } + } + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner, having completed the approach and repositioning phases. Although segment-level gripper evidence suggests a closing motion, the current frame shows the gripper is still open and not yet in contact with the object. The immediate next action is to lower the arm to establish physical contact with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 1 cm, move down 3 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4531283378601074, + 0.055104080587625504, + -0.0033869668841362, + -3.1292643547058105, + -0.4809015691280365, + -0.1507975310087204 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner, having completed the approach and repositioning phases. Although segment-level gripper evidence suggests a closing motion, the current frame shows the gripper is still open and not yet in contact with the object. The immediate next action is to lower the arm to establish physical contact with the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 4 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.417130708694458, + 0.05700487270951271, + -0.034309472888708115, + -3.098855972290039, + -0.36416393518447876, + -0.21747878193855286 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner. The gripper remains open and stationary, indicating that contact has not yet been made to secure the object. The next action is to close the gripper to grasp the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3884568512439728, + 0.042658738791942596, + -0.041333235800266266, + -3.0787086486816406, + -0.30769866704940796, + -0.3089390695095062 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner. The gripper remains open and stationary, indicating that contact has not yet been made to secure the object. The next action is to close the gripper to grasp the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 1 cm, open gripper; then move forward 1 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.375914990901947, + 0.021813461557030678, + -0.03098413161933422, + -3.084700345993042, + -0.31805169582366943, + -0.3666205108165741 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner. The gripper remains open and stationary, indicating that contact has not yet been made to secure the object. The next action is to close the gripper to grasp the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, open gripper; then move forward 1 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36480939388275146, + 0.022098006680607796, + -0.029947174713015556, + -3.069258213043213, + -0.30251437425613403, + -0.376159131526947 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner. The gripper remains open and stationary, indicating that contact has not yet been made to secure the object. The next action is to close the gripper to grasp the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35710927844047546, + 0.019843334332108498, + -0.03337521478533745, + -3.0648486614227295, + -0.26283884048461914, + -0.3888623118400574 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner. The gripper remains open and stationary, indicating that contact has not yet been made to secure the object. The next action is to close the gripper to grasp the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3587456941604614, + 0.016551503911614418, + -0.03487241640686989, + -3.0476086139678955, + -0.28478309512138367, + -0.4003903269767761 + ], + "gripper_value": 0.8535622954368591 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner. The gripper remains open and stationary, indicating that contact has not yet been made to secure the object. The next action is to close the gripper to grasp the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35423970222473145, + 0.010520540177822113, + -0.035765983164310455, + -3.0620815753936768, + -0.2568177580833435, + -0.4074237048625946 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner. The gripper remains open and stationary, indicating that contact has not yet been made to secure the object. The next action is to close the gripper to grasp the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3553988039493561, + 0.002531396923586726, + -0.03508756682276726, + -3.0780255794525146, + -0.260009229183197, + -0.4131142497062683 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue object on the upper right burner. The gripper remains open and stationary, indicating that contact has not yet been made to secure the object. The next action is to close the gripper to grasp the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3576775789260864, + -0.0012022450100630522, + -0.02136443369090557, + -3.0623109340667725, + -0.2731252610683441, + -0.42213907837867737 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot is currently holding the blue object above the lower right burner, having successfully transported it from the upper right. The gripper remains closed, indicating a secure grasp during the transit phase. The immediate next action is to lower the object and release the gripper to place it onto the target burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626707196235657, + 0.0072045475244522095, + 0.012249473482370377, + -3.000767707824707, + -0.2837159335613251, + -0.38101521134376526 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 334, + 323, + 492, + 404 + ], + "hanging strainer": [ + 683, + 3, + 774, + 205 + ], + "pot": [ + 396, + 124, + 553, + 286 + ] + } + } + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot is currently holding the blue object above the lower right burner, having successfully transported it from the upper right. The gripper remains closed, indicating a secure grasp during the transit phase. The immediate next action is to lower the object and release the gripper to place it onto the target burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3616960644721985, + 0.017618941143155098, + 0.02492397651076317, + -2.9404072761535645, + -0.23728115856647491, + -0.34167325496673584 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot is currently holding the blue object above the lower right burner, having successfully transported it from the upper right. The gripper remains closed, indicating a secure grasp during the transit phase. The immediate next action is to lower the object and release the gripper to place it onto the target burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.36388617753982544, + 0.02400667406618595, + 0.03591493144631386, + -2.9205145835876465, + -0.18691317737102509, + -0.2924400269985199 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot is currently holding the blue object above the lower right burner, having successfully transported it from the upper right. The gripper remains closed, indicating a secure grasp during the transit phase. The immediate next action is to lower the object and release the gripper to place it onto the target burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3633982539176941, + 0.024585142731666565, + 0.03102671168744564, + -2.9524614810943604, + -0.11240680515766144, + -0.24912883341312408 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot is currently holding the blue object above the lower right burner, having successfully transported it from the upper right. The gripper remains closed, indicating a secure grasp during the transit phase. The immediate next action is to lower the object and release the gripper to place it onto the target burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.36155736446380615, + 0.019490724429488182, + 0.02936534769833088, + -3.038799285888672, + -0.05081566423177719, + -0.22108691930770874 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the object from the upper right burner to the lower right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach upper right burner" + }, + { + "id": 2, + "subtask": "reposition near object" + }, + { + "id": 3, + "subtask": "make contact and nudge object" + }, + { + "id": 4, + "subtask": "grasp and lift object" + }, + { + "id": 5, + "subtask": "transport and place on lower right burner" + } + ], + "subtask_name": "transport and place on lower right burner", + "subtask_reasoning": "The robot is currently holding the blue object above the lower right burner, having successfully transported it from the upper right. The gripper remains closed, indicating a secure grasp during the transit phase. The immediate next action is to lower the object and release the gripper to place it onto the target burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004196_ecot.json b/cot/chunk-0004/episode_0004196_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e6bdc28a2aa50caf3fc6358d0a67f16b1fe68a54 --- /dev/null +++ b/cot/chunk-0004/episode_0004196_ecot.json @@ -0,0 +1,1464 @@ +{ + "task_name": "episode_0004196", + "episode_json": "json/chunk-0004/episode_0004196.json", + "video_path": "videos/chunk-0004/image_0/episode_0004196.mp4", + "instruction": "Put corn into bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004196.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.30962228775024414, + "std": 0.14510229229927063, + "delta_total": -0.14616179466247559, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.30962, std=0.14510, total_delta=-0.14616). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 15 + ], + [ + 3, + 16, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector toward the corn on the stove without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp corn\", \"start\": 8, \"end\": 15, \"planning\": \"Close the gripper around the corn to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move corn to bowl\", \"start\": 16, \"end\": 20, \"planning\": \"Lift the grasped corn and transport it toward the blue bowl.\"},\n {\"id\": 4, \"name\": \"release corn into bowl\", \"start\": 21, \"end\": 21, \"planning\": \"Open the gripper to drop the corn into the bowl.\"}\n ],\n \"global_plan\": \"Approach the corn on the stove, grasp it securely, lift and move it to the blue bowl, then release it inside.\",\n \"notes\": \"Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing (delta=-0.30962) consistent with grasping. Segment 3 shows maintained grip during transport and final opening at frame 21 for release. All subtasks are contiguous and cover full trajectory [0,21].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 7, + "planning": "Move the end-effector toward the corn on the stove without closing the gripper." + }, + { + "id": 2, + "name": "grasp corn", + "start": 8, + "end": 15, + "planning": "Close the gripper around the corn to secure it for lifting." + }, + { + "id": 3, + "name": "lift and move corn to bowl", + "start": 16, + "end": 20, + "planning": "Lift the grasped corn and transport it toward the blue bowl." + }, + { + "id": 4, + "name": "release corn into bowl", + "start": 21, + "end": 21, + "planning": "Open the gripper to drop the corn into the bowl." + } + ], + "global_plan": "Approach the corn on the stove, grasp it securely, lift and move it to the blue bowl, then release it inside.", + "notes": "Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closing (delta=-0.30962) consistent with grasping. Segment 3 shows maintained grip during transport and final opening at frame 21 for release. All subtasks are contiguous and cover full trajectory [0,21]." + } + }, + "episode_goal": "Pick up the corn from the stove and place it into the blue bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21155773103237152, + 0.15049412846565247, + 0.08420447260141373, + -2.9063117504119873, + -0.10239437222480774, + 0.12112444639205933 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the stove with the corn visible on a burner and the blue bowl nearby. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 18 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21323421597480774, + 0.12972262501716614, + 0.08638139069080353, + -2.9317526817321777, + -0.06754723191261292, + 0.09427890181541443 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the stove with the corn visible on a burner and the blue bowl nearby. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 16 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.218205988407135, + 0.09274324774742126, + 0.10478352010250092, + -2.947679281234741, + -0.0763874277472496, + 0.12366869300603867 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the stove with the corn visible on a burner and the blue bowl nearby. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.227802574634552, + 0.05245581641793251, + 0.11019575595855713, + -2.957977056503296, + -0.1263182908296585, + 0.16515620052814484 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the burner. No grasping has occurred yet as the gripper remains open and stationary in terms of closure. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2382952719926834, + 0.015624148771166801, + 0.10263815522193909, + -2.9937076568603516, + -0.18985030055046082, + 0.17095673084259033 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy yellow pepper": [ + 805, + 653, + 951, + 805 + ], + "purple toy vegetable": [ + 194, + 256, + 281, + 392 + ], + "silver lid": [ + 810, + 184, + 987, + 331 + ], + "toy carrot": [ + 734, + 645, + 813, + 855 + ], + "frying pan": [ + 451, + 418, + 708, + 676 + ], + "toy corn": [ + 527, + 503, + 618, + 633 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the burner. No grasping has occurred yet as the gripper remains open and stationary in terms of closure. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 6 cm, tilt right 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2482692003250122, + -0.006322391331195831, + 0.07952480018138885, + -3.0415000915527344, + -0.21589048206806183, + 0.1896214783191681 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the burner. No grasping has occurred yet as the gripper remains open and stationary in terms of closure. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move forward 6 cm, move left 4 cm, move up 1 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25667810440063477, + -0.016325928270816803, + 0.0596921406686306, + -3.080310344696045, + -0.23774883151054382, + 0.2121707797050476 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the burner. No grasping has occurred yet as the gripper remains open and stationary in terms of closure. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 9 cm, move left 7 cm, move up 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621223032474518, + -0.022742491215467453, + 0.04858428239822388, + -3.1204278469085693, + -0.23640720546245575, + 0.23669657111167908 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy yellow pepper": [ + 806, + 654, + 951, + 804 + ], + "purple toy vegetable": [ + 194, + 248, + 310, + 391 + ], + "silver lid": [ + 810, + 183, + 987, + 334 + ], + "toy carrot": [ + 735, + 644, + 813, + 855 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the burner. No grasping has occurred yet as the gripper remains open and stationary in terms of closure. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 9 cm, move left 7 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move forward 3 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26701951026916504, + -0.025989681482315063, + 0.042924728244543076, + 3.1346945762634277, + -0.2465740442276001, + 0.24615739285945892 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the burner. No grasping has occurred yet as the gripper remains open and stationary in terms of closure. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 7 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move forward 5 cm, move left 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755401134490967, + -0.03390241041779518, + 0.03861343860626221, + 3.108570098876953, + -0.2868279814720154, + 0.22792814671993256 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the burner. No grasping has occurred yet as the gripper remains open and stationary in terms of closure. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move up 3 cm, tilt back 10 degrees, close gripper; then move forward 7 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28483647108078003, + -0.03610619530081749, + 0.028313782066106796, + 3.06534481048584, + -0.3211349546909332, + 0.25165557861328125 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned above the stove with the corn visible on the burner. No grasping has occurred yet as the gripper remains open and stationary in terms of closure. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then move forward 8 cm, move left 11 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946047782897949, + -0.03352868929505348, + 0.02012369967997074, + 3.0226829051971436, + -0.35750019550323486, + 0.2919518053531647 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly over the corn on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move left 12 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992601692676544, + -0.031643372029066086, + 0.0191478431224823, + 3.005739450454712, + -0.38646525144577026, + 0.3140931725502014 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly over the corn on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed; then move forward 8 cm, move left 12 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29914236068725586, + -0.027855226770043373, + 0.020618978887796402, + 3.0142483711242676, + -0.4000002145767212, + 0.34592270851135254 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly over the corn on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move forward 8 cm, move left 12 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3031466603279114, + -0.01324764546006918, + 0.025777697563171387, + 3.066905975341797, + -0.3810757100582123, + 0.353546142578125 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly over the corn on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move left 12 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268711268901825, + 0.013898714445531368, + 0.04836345463991165, + 3.126568555831909, + -0.4245184063911438, + 0.32118672132492065 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot arm is positioned directly over the corn on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 12 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35518383979797363, + 0.04034052789211273, + 0.06488104909658432, + -3.110801935195923, + -0.47824952006340027, + 0.2751017212867737 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy yellow pepper": [ + 808, + 654, + 950, + 803 + ], + "purple toy vegetable": [ + 194, + 249, + 310, + 390 + ], + "toy carrot": [ + 735, + 647, + 813, + 855 + ], + "silver lid": [ + 810, + 184, + 987, + 332 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "lift and move corn to bowl", + "subtask_reasoning": "The robot arm is positioned directly over the corn on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 12 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3846457004547119, + 0.0751129537820816, + 0.0681491419672966, + -3.0644545555114746, + -0.5088570713996887, + 0.20826594531536102 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "lift and move corn to bowl", + "subtask_reasoning": "The robot arm is positioned directly over the corn on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40647417306900024, + 0.11007615923881531, + 0.06883436441421509, + -2.9968886375427246, + -0.524022102355957, + 0.16372078657150269 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "lift and move corn to bowl", + "subtask_reasoning": "The corn is currently on the stove, and the robot's end-effector is positioned near it but not yet in contact. The gripper remains open with no closing evidence in this segment, indicating the corn has not been grasped. The next action should involve moving the gripper closer to establish contact with the corn before attempting to lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.42341554164886475, + 0.1287740170955658, + 0.0756431370973587, + -2.9203715324401855, + -0.520699143409729, + 0.11891059577465057 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "lift and move corn to bowl", + "subtask_reasoning": "The corn is currently on the stove, and the robot's end-effector is positioned near it but not yet in contact. The gripper remains open with no closing evidence in this segment, indicating the corn has not been grasped. The next action should involve moving the gripper closer to establish contact with the corn before attempting to lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4313138723373413, + 0.14618222415447235, + 0.08122135698795319, + -2.8573782444000244, + -0.5093315243721008, + 0.07552561163902283 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "lift and move corn to bowl", + "subtask_reasoning": "The corn is currently on the stove, and the robot's end-effector is positioned near it but not yet in contact. The gripper remains open with no closing evidence in this segment, indicating the corn has not been grasped. The next action should involve moving the gripper closer to establish contact with the corn before attempting to lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.43911856412887573, + 0.16001364588737488, + 0.08228594064712524, + -2.8174257278442383, + -0.5083111524581909, + 0.010677286423742771 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the stove and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "lift and move corn to bowl" + }, + { + "id": 4, + "subtask": "release corn into bowl" + } + ], + "subtask_name": "release corn into bowl", + "subtask_reasoning": "The corn is currently positioned above the blue bowl, with the gripper open indicating the object has been released or is in the process of being dropped. The subtask involves finalizing the placement of the corn into the bowl. The next action is to ensure the corn settles into the bowl and then move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004197_ecot.json b/cot/chunk-0004/episode_0004197_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..37ef7489f16b28b0fb658c2fcb1384c96a441d8c --- /dev/null +++ b/cot/chunk-0004/episode_0004197_ecot.json @@ -0,0 +1,2701 @@ +{ + "task_name": "episode_0004197", + "episode_json": "json/chunk-0004/episode_0004197.json", + "video_path": "videos/chunk-0004/image_0/episode_0004197.mp4", + "instruction": "Fold the cloth from bottom to top.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004197.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9343130588531494, + "std": 0.4520322382450104, + "delta_total": -0.9343130588531494, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93431, std=0.45203, total_delta=-0.93431). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 25, + 25, + 25, + 25, + 25, + 25, + 25, + 25, + 25, + 25, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 24 + ], + [ + 2, + 25, + 34 + ], + [ + 3, + 35, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and make contact with cloth bottom edge\", \"start\": 0, \"end\": 24, \"planning\": \"Move gripper down to the bottom edge of the cloth and close to establish contact without lifting.\"},\n {\"id\": 2, \"name\": \"drag cloth upward to fold bottom to top\", \"start\": 25, \"end\": 34, \"planning\": \"While maintaining grip, pull the bottom edge of the cloth upward over the top portion to create a fold.\"},\n {\"id\": 3, \"name\": \"release contact and retreat from folded cloth\", \"start\": 35, \"end\": 44, \"planning\": \"Open gripper to release the cloth and move away to complete the folding motion.\"}\n ],\n \"global_plan\": \"Fold the cloth by approaching its bottom edge, dragging it upward to overlay on the top half, then releasing and retreating.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.33) consistent with making contact; Segment 2 shows continued grip and upward motion for dragging; Segment 3 has no gripper change — consistent with release and retreat. No lifting or placing is inferred beyond dragging along surface.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and make contact with cloth bottom edge", + "start": 0, + "end": 24, + "planning": "Move gripper down to the bottom edge of the cloth and close to establish contact without lifting." + }, + { + "id": 2, + "name": "drag cloth upward to fold bottom to top", + "start": 25, + "end": 34, + "planning": "While maintaining grip, pull the bottom edge of the cloth upward over the top portion to create a fold." + }, + { + "id": 3, + "name": "release contact and retreat from folded cloth", + "start": 35, + "end": 44, + "planning": "Open gripper to release the cloth and move away to complete the folding motion." + } + ], + "global_plan": "Fold the cloth by approaching its bottom edge, dragging it upward to overlay on the top half, then releasing and retreating.", + "notes": "Segment 1 shows gripper closing (delta=-0.33) consistent with making contact; Segment 2 shows continued grip and upward motion for dragging; Segment 3 has no gripper change — consistent with release and retreat. No lifting or placing is inferred beyond dragging along surface." + } + }, + "episode_goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.17281638085842133, + 0.0279353316873312, + 0.1269756406545639, + -3.032222032546997, + -0.2522764801979065, + -1.0162360668182373 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.17074182629585266, + 0.027000127360224724, + 0.12308678776025772, + -3.040125608444214, + -0.2502463161945343, + -1.0140049457550049 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 8 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.171146422624588, + 0.020496966317296028, + 0.11287646740674973, + -2.9715871810913086, + -0.2395201474428177, + -1.085628867149353 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.17172791063785553, + 0.01571471057832241, + 0.10070977360010147, + -2.890637159347534, + -0.2181234508752823, + -1.1509662866592407 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.1752624660730362, + 0.011773509904742241, + 0.08711758255958557, + -2.79892897605896, + -0.18808428943157196, + -1.2264333963394165 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1817210167646408, + 0.008894593454897404, + 0.06548065692186356, + -2.7524518966674805, + -0.13438011705875397, + -1.281420350074768 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "brown rectangular object": [ + 906, + 677, + 995, + 858 + ], + "table": [ + 11, + 284, + 994, + 995 + ], + "red wrapped object": [ + 750, + 839, + 871, + 995 + ], + "cardboard box": [ + 238, + 7, + 992, + 514 + ], + "white cloth": [ + 208, + 375, + 757, + 994 + ], + "green vegetable": [ + 760, + 459, + 888, + 574 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1875312179327011, + 0.009571390226483345, + 0.049549005925655365, + -2.7441422939300537, + -0.095076784491539, + -1.2905704975128174 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19175122678279877, + 0.012732584960758686, + 0.040520623326301575, + -2.726712465286255, + -0.07026117295026779, + -1.3034272193908691 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19313058257102966, + 0.01270468533039093, + 0.03755704686045647, + -2.7135517597198486, + -0.06559432297945023, + -1.3218759298324585 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18627731502056122, + 0.017305050045251846, + 0.03751220926642418, + -2.7077016830444336, + -0.06884251534938812, + -1.3460677862167358 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cloth": [ + 246, + 375, + 760, + 994 + ], + "red wrapped object": [ + 750, + 840, + 871, + 995 + ], + "brown rectangular object": [ + 906, + 676, + 995, + 859 + ], + "green vegetable": [ + 760, + 458, + 889, + 574 + ], + "cardboard box": [ + 237, + 7, + 990, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1820414662361145, + 0.019619116559624672, + 0.04144687205553055, + -2.7007038593292236, + -0.08405110239982605, + -1.3539319038391113 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.1812942773103714, + 0.02235577069222927, + 0.042802050709724426, + -2.6949193477630615, + -0.08543509989976883, + -1.3620326519012451 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the white cloth laid out in front. No contact has been made yet as the gripper is open and hovering near the bottom edge of the cloth. The next action is to lower the gripper to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18156827986240387, + 0.02700885199010372, + 0.03875976800918579, + -2.6919987201690674, + -0.07046439498662949, + -1.368340253829956 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.18233060836791992, + 0.031230857595801353, + 0.03228228539228439, + -2.698836088180542, + -0.05256319418549538, + -1.3654013872146606 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.18419471383094788, + 0.03586113452911377, + 0.026562629267573357, + -2.6975033283233643, + -0.03338426351547241, + -1.3585361242294312 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.18443046510219574, + 0.038065508008003235, + 0.020442359149456024, + -2.6955041885375977, + -0.016401758417487144, + -1.3633840084075928 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.18637129664421082, + 0.043163806200027466, + 0.013402995653450489, + -2.6946945190429688, + 0.00018281370284967124, + -1.3590776920318604 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.18811668455600739, + 0.0445387102663517, + 0.011928748339414597, + -2.68601131439209, + 0.007086489349603653, + -1.3567068576812744 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.1891634613275528, + 0.046000886708498, + 0.009564301930367947, + -2.6874990463256836, + 0.010208118706941605, + -1.34623122215271 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, close gripper; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.1934727132320404, + 0.046157803386449814, + 0.009180787950754166, + -2.6767852306365967, + 0.011578703299164772, + -1.3385227918624878 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, close gripper; then move back 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.19784119725227356, + 0.044278837740421295, + 0.008806832134723663, + -2.6679441928863525, + 0.011014926247298717, + -1.331879734992981 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 4 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20247362554073334, + 0.0401487797498703, + 0.009072430431842804, + -2.660640239715576, + 0.006936653051525354, + -1.325302004814148 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move back 4 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.20693716406822205, + 0.03781788423657417, + 0.007874841801822186, + -2.6531014442443848, + 0.012668950483202934, + -1.3157943487167358 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2106700837612152, + 0.03840811550617218, + 0.004555605351924896, + -2.6521637439727783, + 0.017556628212332726, + -1.3002870082855225 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cloth": [ + 246, + 372, + 760, + 994 + ], + "brown rectangular object": [ + 907, + 678, + 996, + 860 + ], + "green vegetable": [ + 760, + 458, + 888, + 575 + ], + "red wrapped object": [ + 750, + 840, + 871, + 995 + ], + "table": [ + 15, + 286, + 994, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 6 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2108437716960907, + 0.03852615877985954, + 0.002793212654069066, + -2.6502931118011475, + 0.017954044044017792, + -1.2914271354675293 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "approach and make contact with cloth bottom edge", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move up 7 cm, tilt right 30 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.21023333072662354, + 0.0384116992354393, + 0.0005415827035903931, + -2.6573500633239746, + 0.01758371666073799, + -1.2891923189163208 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 8 cm, tilt right 30 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.20714351534843445, + 0.03929677605628967, + 0.0016929940320551395, + -2.6670496463775635, + 0.010347518138587475, + -1.3027138710021973 + ], + "gripper_value": 0.14816446602344513 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 8 cm, tilt right 30 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.20111413300037384, + 0.040600478649139404, + 0.006534007843583822, + -2.675750732421875, + 0.009226824156939983, + -1.3383722305297852 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 7 cm, tilt right 30 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 3 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.18750695884227753, + 0.04014518857002258, + 0.01113830879330635, + -2.704177141189575, + -0.020035086199641228, + -1.349769115447998 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot is positioned near the bottom edge of the cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the gripper forward to touch the cloth's bottom edge. The next action is to advance the end-effector slightly to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 7 cm, tilt right 30 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.17626819014549255, + 0.03836991265416145, + 0.018238792195916176, + -2.7125980854034424, + -0.05082504078745842, + -1.3607643842697144 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move up 6 cm, tilt right 30 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 8 cm, move left 4 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.1691930741071701, + 0.0372542180120945, + 0.022517938166856766, + -2.7427265644073486, + -0.07443830370903015, + -1.3582624197006226 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move up 6 cm, tilt right 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 9 cm, move left 4 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.17280037701129913, + 0.0360141359269619, + 0.03537886589765549, + -2.7821149826049805, + -0.11379119008779526, + -1.3360950946807861 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move up 4 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 9 cm, move left 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.1807032972574234, + 0.03619789704680443, + 0.045297253876924515, + -2.8721420764923096, + -0.14006096124649048, + -1.2594469785690308 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 3 cm, tilt right 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 10 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.1985144466161728, + 0.0368693508207798, + 0.05653499439358711, + -3.0105698108673096, + -0.14433105289936066, + -1.153093934059143 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.22218257188796997, + 0.039121776819229126, + 0.07020056992769241, + -3.1348328590393066, + -0.15766960382461548, + -1.0550651550292969 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth upward to fold bottom to top", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 13 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 25, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24507032334804535, + 0.04763733968138695, + 0.07888470590114594, + 3.0483720302581787, + -0.14271330833435059, + -0.9582354426383972 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red wrapped object": [ + 750, + 841, + 871, + 995 + ], + "white cloth": [ + 121, + 426, + 737, + 893 + ], + "table": [ + 5, + 307, + 994, + 994 + ], + "brown rectangular object": [ + 907, + 679, + 995, + 860 + ], + "green vegetable": [ + 760, + 458, + 888, + 575 + ], + "cardboard box": [ + 243, + 7, + 992, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.26984548568725586, + 0.06075571849942207, + 0.08442047238349915, + 2.9699904918670654, + -0.1138208881020546, + -0.8727079629898071 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cloth": [ + 156, + 423, + 739, + 853 + ], + "red wrapped object": [ + 750, + 840, + 871, + 995 + ], + "brown rectangular object": [ + 907, + 677, + 996, + 858 + ], + "table": [ + 6, + 284, + 994, + 994 + ], + "green vegetable": [ + 760, + 458, + 888, + 574 + ], + "cardboard box": [ + 288, + 10, + 993, + 549 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.288370281457901, + 0.07304072380065918, + 0.08419148623943329, + 2.921293258666992, + -0.0859903022646904, + -0.8208904266357422 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3059283494949341, + 0.08155196905136108, + 0.08433089405298233, + 2.895550012588501, + -0.0742894783616066, + -0.803680956363678 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The robot has contacted the bottom edge of the cloth and is currently dragging it upward across the table surface. The gripper is closed, maintaining contact to pull the fabric toward the top edge. The next action is to continue this upward motion until the bottom edge overlaps the top half of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.32086873054504395, + 0.08604952692985535, + 0.08547160029411316, + 2.8671162128448486, + -0.07075901329517365, + -0.8158071637153625 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The cloth has been successfully folded with the bottom edge overlaid on the top. The gripper is currently in contact with the folded cloth but shows no closing signal, indicating it is not grasping. The next action is to lift the end-effector vertically to break contact and retreat from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3305101990699768, + 0.08703508973121643, + 0.08787830173969269, + 2.8706436157226562, + -0.09251394867897034, + -0.864716649055481 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The cloth has been successfully folded with the bottom edge overlaid on the top. The gripper is currently in contact with the folded cloth but shows no closing signal, indicating it is not grasping. The next action is to lift the end-effector vertically to break contact and retreat from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3377426862716675, + 0.07805029302835464, + 0.08701954782009125, + 2.9029228687286377, + -0.11873317509889603, + -0.937159538269043 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The cloth has been successfully folded with the bottom edge overlaid on the top. The gripper is currently in contact with the folded cloth but shows no closing signal, indicating it is not grasping. The next action is to lift the end-effector vertically to break contact and retreat from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3495682179927826, + 0.07022149860858917, + 0.09938666224479675, + 2.92976713180542, + -0.1457267850637436, + -0.9525211453437805 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The cloth has been successfully folded with the bottom edge overlaid on the top. The gripper is currently in contact with the folded cloth but shows no closing signal, indicating it is not grasping. The next action is to lift the end-effector vertically to break contact and retreat from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.36268100142478943, + 0.06062907353043556, + 0.1085774227976799, + 2.9459612369537354, + -0.15273304283618927, + -0.9716886878013611 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The cloth has been successfully folded with the bottom edge overlaid on the top. The gripper is currently in contact with the folded cloth but shows no closing signal, indicating it is not grasping. The next action is to lift the end-effector vertically to break contact and retreat from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.37488922476768494, + 0.05479922145605087, + 0.10496553033590317, + 2.943359375, + -0.14857743680477142, + -0.9703217148780823 + ], + "gripper_value": 0.06384159624576569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top by grasping the bottom edge and lifting it over the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with cloth bottom edge" + }, + { + "id": 2, + "subtask": "drag cloth upward to fold bottom to top" + }, + { + "id": 3, + "subtask": "release contact and retreat from folded cloth" + } + ], + "subtask_name": "release contact and retreat from folded cloth", + "subtask_reasoning": "The cloth has been successfully folded with the bottom edge overlaid on the top. The gripper is currently in contact with the folded cloth but shows no closing signal, indicating it is not grasping. The next action is to lift the end-effector vertically to break contact and retreat from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 35, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004198_ecot.json b/cot/chunk-0004/episode_0004198_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f41a15cbc4567e0adab2f8684bce64c7644fb2ee --- /dev/null +++ b/cot/chunk-0004/episode_0004198_ecot.json @@ -0,0 +1,2505 @@ +{ + "task_name": "episode_0004198", + "episode_json": "json/chunk-0004/episode_0004198.json", + "video_path": "videos/chunk-0004/image_0/episode_0004198.mp4", + "instruction": "Take spoon out of bowl sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004198.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.6167656183242798, + "std": 0.2803887724876404, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61677, std=0.28039, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 14, + 14, + 14, + 14, + 14, + 14, + 214, + 214, + 214, + 227, + 227, + 227, + 227, + 227, + 227, + 227 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 2 + ], + [ + 3, + 3, + 13 + ], + [ + 4, + 14, + 17 + ], + [ + 5, + 18, + 23 + ], + [ + 6, + 24, + 26 + ], + [ + 7, + 27, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bowl in sink\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the blue bowl containing the spoon inside the sink.\"},\n {\"id\": 2, \"name\": \"grasp spoon in bowl\", \"start\": 3, \"end\": 13, \"planning\": \"Close gripper around the spoon handle while positioned over the bowl, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift spoon from bowl\", \"start\": 14, \"end\": 17, \"planning\": \"Raise the gripper vertically to extract the spoon from the bowl while maintaining grip.\"},\n {\"id\": 4, \"name\": \"reposition spoon over sink\", \"start\": 18, \"end\": 23, \"planning\": \"Translate the held spoon laterally and slightly downward to position it above the sink basin, no gripper change observed.\"},\n {\"id\": 5, \"name\": \"release spoon into sink\", \"start\": 24, \"end\": 26, \"planning\": \"Open gripper to drop the spoon into the sink, inferred from motion pause and subsequent gripper opening in next segment.\"},\n {\"id\": 6, \"name\": \"retreat from sink area\", \"start\": 27, \"end\": 33, \"planning\": \"Lift and move end-effector away from the sink after releasing the spoon, with gripper fully open as confirmed by signal rise.\"}\n ],\n \"global_plan\": \"Extract spoon from bowl in sink by approaching, grasping, lifting, repositioning, releasing, and retreating — all phases grounded in observed gripper states and motion segments.\",\n \"notes\": \"Gripper evidence used per segment: grasp allowed only in segments 3 and 7 where closure/opening is meaningful and visually consistent; segment 5 shows no gripper change so described as reposition without grasp/hold; release inferred between segments 5 and 7 based on gripper state transition and object location change.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bowl in sink", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the blue bowl containing the spoon inside the sink." + }, + { + "id": 2, + "name": "grasp spoon in bowl", + "start": 3, + "end": 13, + "planning": "Close gripper around the spoon handle while positioned over the bowl, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift spoon from bowl", + "start": 14, + "end": 17, + "planning": "Raise the gripper vertically to extract the spoon from the bowl while maintaining grip." + }, + { + "id": 4, + "name": "reposition spoon over sink", + "start": 18, + "end": 23, + "planning": "Translate the held spoon laterally and slightly downward to position it above the sink basin, no gripper change observed." + }, + { + "id": 5, + "name": "release spoon into sink", + "start": 24, + "end": 26, + "planning": "Open gripper to drop the spoon into the sink, inferred from motion pause and subsequent gripper opening in next segment." + }, + { + "id": 6, + "name": "retreat from sink area", + "start": 27, + "end": 33, + "planning": "Lift and move end-effector away from the sink after releasing the spoon, with gripper fully open as confirmed by signal rise." + } + ], + "global_plan": "Extract spoon from bowl in sink by approaching, grasping, lifting, repositioning, releasing, and retreating — all phases grounded in observed gripper states and motion segments.", + "notes": "Gripper evidence used per segment: grasp allowed only in segments 3 and 7 where closure/opening is meaningful and visually consistent; segment 5 shows no gripper change so described as reposition without grasp/hold; release inferred between segments 5 and 7 based on gripper state transition and object location change." + } + }, + "episode_goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3776020109653473, + -0.011807688511908054, + 0.047048475593328476, + -3.135222911834717, + -0.1597297489643097, + -0.015082065016031265 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot is positioned above the sink with the blue bowl and spoon visible below. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve lowering the end effector toward the bowl to prepare for spoon extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37183529138565063, + -0.012169568799436092, + 0.03323027119040489, + -3.1366074085235596, + -0.11357861012220383, + -0.026173042133450508 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing a spoon visible below. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the bowl to prepare for grasping the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.363491415977478, + 0.00021389675384853035, + 0.030542617663741112, + 3.1361892223358154, + -0.06035631150007248, + -0.17433913052082062 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "approach bowl in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing a spoon visible below. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the bowl to prepare for grasping the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36511558294296265, + 0.018032388761639595, + 0.03992001339793205, + -3.114205837249756, + -0.028920084238052368, + -0.23990291357040405 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 466, + 303, + 622, + 471 + ], + "orange object": [ + 548, + 509, + 616, + 554 + ], + "sink": [ + 215, + 133, + 772, + 591 + ], + "stovetop": [ + 3, + 6, + 323, + 323 + ], + "faucet": [ + 475, + 14, + 675, + 387 + ], + "sponge": [ + 223, + 151, + 330, + 281 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing a spoon visible below. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the bowl to prepare for grasping the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36644718050956726, + 0.034774117171764374, + 0.042404163628816605, + -3.081359386444092, + 0.02874028868973255, + -0.304254949092865 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing a spoon visible below. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the bowl to prepare for grasping the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36732861399650574, + 0.03939847648143768, + 0.03752429783344269, + -3.046527147293091, + 0.01956857368350029, + -0.3224400281906128 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing a spoon visible below. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the bowl to prepare for grasping the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36064669489860535, + 0.03669782355427742, + 0.026183772832155228, + -3.0832247734069824, + 0.007376519497483969, + -0.3307788074016571 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing a spoon visible below. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the bowl to prepare for grasping the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3579134941101074, + 0.036001794040203094, + 0.02317236177623272, + -3.0655405521392822, + 0.020073093473911285, + -0.3345574140548706 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the blue bowl containing a spoon visible below. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the bowl to prepare for grasping the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35957011580467224, + 0.037636976689100266, + 0.02248154766857624, + -3.0442709922790527, + 0.011797524988651276, + -0.32621946930885315 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl in the sink, with the gripper open and aligned for grasping. The spoon is visible inside the bowl, and no prior grasp has occurred in this segment. The next action should be to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3591412901878357, + 0.03917441889643669, + 0.017199821770191193, + -3.044095039367676, + 0.03743598237633705, + -0.3230016529560089 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl in the sink, with the gripper open and aligned for grasping. The spoon is visible inside the bowl, and no prior grasp has occurred in this segment. The next action should be to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36068961024284363, + 0.04259783774614334, + 0.01251042727380991, + -3.025209903717041, + 0.04698236286640167, + -0.31319451332092285 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl in the sink, with the gripper open and aligned for grasping. The spoon is visible inside the bowl, and no prior grasp has occurred in this segment. The next action should be to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3606800138950348, + 0.043587710708379745, + 0.010486575774848461, + -3.0175652503967285, + 0.054263170808553696, + -0.32781150937080383 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl in the sink, with the gripper open and aligned for grasping. The spoon is visible inside the bowl, and no prior grasp has occurred in this segment. The next action should be to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3599199056625366, + 0.04261214658617973, + 0.010367645882070065, + -3.0251595973968506, + 0.05714801326394081, + -0.3308471143245697 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl in the sink, with the gripper open and aligned for grasping. The spoon is visible inside the bowl, and no prior grasp has occurred in this segment. The next action should be to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3614771366119385, + 0.04133111611008644, + 0.011452121660113335, + -3.0314600467681885, + 0.04957475885748863, + -0.32487788796424866 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "grasp spoon in bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl in the sink, with the gripper open and aligned for grasping. The spoon is visible inside the bowl, and no prior grasp has occurred in this segment. The next action should be to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36184224486351013, + 0.040111806243658066, + 0.011560271494090557, + -3.042205810546875, + 0.04558485746383667, + -0.3327983617782593 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "lift spoon from bowl", + "subtask_reasoning": "The robot arm is positioned above the blue bowl in the sink, with the gripper open and aligned for grasping. The spoon is visible inside the bowl, and no prior grasp has occurred in this segment. The next action should be to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36302807927131653, + 0.038257256150245667, + 0.01215572189539671, + -3.062408924102783, + 0.03464336320757866, + -0.3378654718399048 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "lift spoon from bowl", + "subtask_reasoning": "The robot has approached and grasped the spoon inside the blue bowl in the sink. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 4 cm, move left 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3696691393852234, + 0.03770862892270088, + 0.019136855378746986, + -3.09322190284729, + 0.008249091915786266, + -0.32327234745025635 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 481, + 318, + 633, + 466 + ], + "stovetop": [ + 3, + 6, + 322, + 323 + ], + "sink": [ + 215, + 133, + 774, + 591 + ], + "orange object": [ + 545, + 506, + 617, + 554 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "lift spoon from bowl", + "subtask_reasoning": "The robot has approached and grasped the spoon inside the blue bowl in the sink. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move back 4 cm, move left 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3731308877468109, + 0.03811591863632202, + 0.025751622393727303, + -3.1361749172210693, + -0.009364146739244461, + -0.30146917700767517 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "lift spoon from bowl", + "subtask_reasoning": "The robot has approached and grasped the spoon inside the blue bowl in the sink. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move left 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36977648735046387, + 0.046637121587991714, + 0.03858185559511185, + 3.117086172103882, + -0.017807450145483017, + -0.2782140076160431 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "reposition spoon over sink", + "subtask_reasoning": "The robot has approached and grasped the spoon inside the blue bowl in the sink. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36005088686943054, + 0.06483492255210876, + 0.05182503163814545, + 3.113161563873291, + -0.03618798032402992, + -0.2858465015888214 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "reposition spoon over sink", + "subtask_reasoning": "The robot has approached and grasped the spoon inside the blue bowl in the sink. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35352590680122375, + 0.07821695506572723, + 0.052278004586696625, + 3.097989320755005, + -0.022913288325071335, + -0.26286566257476807 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 216, + 141, + 773, + 591 + ], + "blue bowl": [ + 502, + 311, + 653, + 476 + ], + "orange object": [ + 545, + 507, + 615, + 554 + ], + "stovetop": [ + 3, + 6, + 322, + 323 + ], + "sponge": [ + 223, + 152, + 329, + 281 + ], + "faucet": [ + 355, + 21, + 529, + 305 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "reposition spoon over sink", + "subtask_reasoning": "The spoon has been grasped and lifted from the blue bowl in the sink. The gripper is currently holding the spoon above the sink with minimal motion, indicating a repositioning phase. The next likely action is to move the spoon toward the countertop for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34529227018356323, + 0.08825293928384781, + 0.04539543762803078, + 3.073629140853882, + -0.040292754769325256, + -0.20752768218517303 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "reposition spoon over sink", + "subtask_reasoning": "The spoon has been grasped and lifted from the blue bowl in the sink. The gripper is currently holding the spoon above the sink with minimal motion, indicating a repositioning phase. The next likely action is to move the spoon toward the countertop for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move forward 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432464003562927, + 0.097700335085392, + 0.040818892419338226, + 3.11067795753479, + -0.0844741091132164, + -0.11948370188474655 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "reposition spoon over sink", + "subtask_reasoning": "The spoon has been grasped and lifted from the blue bowl in the sink. The gripper is currently holding the spoon above the sink with minimal motion, indicating a repositioning phase. The next likely action is to move the spoon toward the countertop for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move forward 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3394846022129059, + 0.10093671828508377, + 0.03263474255800247, + 3.1341235637664795, + -0.09212259948253632, + -0.0574091337621212 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "reposition spoon over sink", + "subtask_reasoning": "The spoon has been grasped and lifted from the blue bowl in the sink. The gripper is currently holding the spoon above the sink with minimal motion, indicating a repositioning phase. The next likely action is to move the spoon toward the countertop for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3298317790031433, + 0.10115943849086761, + 0.018249690532684326, + -3.1141915321350098, + -0.08626803755760193, + -0.010386604815721512 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "release spoon into sink", + "subtask_reasoning": "The spoon has been grasped and lifted from the blue bowl in the sink. The gripper is currently holding the spoon above the sink with minimal motion, indicating a repositioning phase. The next likely action is to move the spoon toward the countertop for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, open gripper; then move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31716543436050415, + 0.09621195495128632, + 0.004231196362525225, + -3.117518186569214, + -0.06990794092416763, + 0.04648646339774132 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "release spoon into sink", + "subtask_reasoning": "The spoon has been lifted from the blue bowl and is currently held above the sink. The gripper is open, indicating the spoon has been released or is in the process of being released into the sink. The next action is to confirm release and retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133498728275299, + 0.0959363728761673, + -0.002234945073723793, + -3.0797007083892822, + -0.08020665496587753, + 0.02818789705634117 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "release spoon into sink", + "subtask_reasoning": "The spoon has been lifted from the blue bowl and is currently held above the sink. The gripper is open, indicating the spoon has been released or is in the process of being released into the sink. The next action is to confirm release and retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167608380317688, + 0.09869150072336197, + 0.0011861238162964582, + -3.073113203048706, + -0.04296783730387688, + 0.05459163710474968 + ], + "gripper_value": 0.7778469324111938 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "retreat from sink area", + "subtask_reasoning": "The spoon has been lifted from the blue bowl and is currently held above the sink. The gripper is open, indicating the spoon has been released or is in the process of being released into the sink. The next action is to confirm release and retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31557339429855347, + 0.0973903089761734, + 0.001331223757006228, + -3.0807952880859375, + -0.03255724161863327, + 0.04030044749379158 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "retreat from sink area", + "subtask_reasoning": "The spoon has been lifted from the blue bowl and is currently held above the sink. The gripper is open, indicating the spoon has been released or is in the process of being released into the sink. The next action is to confirm release and retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31695297360420227, + 0.09623637795448303, + 0.009964191354811192, + -3.102658987045288, + -0.03875694423913956, + 0.05732367932796478 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "retreat from sink area", + "subtask_reasoning": "The spoon has been lifted from the blue bowl and is currently held above the sink. The gripper is open, indicating the spoon has been released or is in the process of being released into the sink. The next action is to confirm release and retreat the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33024072647094727, + 0.09747842699289322, + 0.03265098109841347, + -3.1207406520843506, + -0.03336251899600029, + 0.07747727632522583 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 212, + 146, + 772, + 592 + ], + "blue bowl": [ + 503, + 311, + 653, + 478 + ], + "orange object": [ + 545, + 508, + 619, + 555 + ], + "stovetop": [ + 3, + 6, + 322, + 325 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "retreat from sink area", + "subtask_reasoning": "The robot has successfully lifted the spoon from the blue bowl in the sink and is now retreating from the sink area. The gripper remains closed, indicating the spoon is still held. The next action is to continue moving away from the sink to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 27, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3332726061344147, + 0.09593484550714493, + 0.034618839621543884, + -3.121070146560669, + -0.04145027697086334, + 0.08754461258649826 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "retreat from sink area", + "subtask_reasoning": "The robot has successfully lifted the spoon from the blue bowl in the sink and is now retreating from the sink area. The gripper remains closed, indicating the spoon is still held. The next action is to continue moving away from the sink to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380773067474365, + 0.0950952023267746, + 0.03489305451512337, + -3.1080482006073, + -0.06690455228090286, + 0.06448682397603989 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "retreat from sink area", + "subtask_reasoning": "The robot has successfully lifted the spoon from the blue bowl in the sink and is now retreating from the sink area. The gripper remains closed, indicating the spoon is still held. The next action is to continue moving away from the sink to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33809903264045715, + 0.09337116032838821, + 0.034898702055215836, + -3.099492311477661, + -0.062457431107759476, + 0.06339775025844574 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the spoon inside the blue bowl in the sink and lift it out, placing it on the countertop or holding it above the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl in sink" + }, + { + "id": 2, + "subtask": "grasp spoon in bowl" + }, + { + "id": 3, + "subtask": "lift spoon from bowl" + }, + { + "id": 4, + "subtask": "reposition spoon over sink" + }, + { + "id": 5, + "subtask": "release spoon into sink" + }, + { + "id": 6, + "subtask": "retreat from sink area" + } + ], + "subtask_name": "retreat from sink area", + "subtask_reasoning": "The robot has successfully lifted the spoon from the blue bowl in the sink and is now retreating from the sink area. The gripper remains closed, indicating the spoon is still held. The next action is to continue moving away from the sink to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004199_ecot.json b/cot/chunk-0004/episode_0004199_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..35497948a264574d07343e0745b7371e72135a11 --- /dev/null +++ b/cot/chunk-0004/episode_0004199_ecot.json @@ -0,0 +1,2770 @@ +{ + "task_name": "episode_0004199", + "episode_json": "json/chunk-0004/episode_0004199.json", + "video_path": "videos/chunk-0004/image_0/episode_0004199.mp4", + "instruction": "Take the the pot's covercle and put it in front of the blue object.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004199.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.7343663573265076, + "std": 0.33502790331840515, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.73437, std=0.33503, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 213, + 213, + 213, + 213, + 213, + 213, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 313, + 330, + 330, + 130, + 130, + 130, + 130 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 28 + ], + [ + 5, + 29, + 29 + ], + [ + 6, + 30, + 31 + ], + [ + 7, + 32, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot cover\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the pot cover on the table without grasping.\"},\n {\"id\": 2, \"name\": \"position above cover\", \"start\": 6, \"end\": 12, \"planning\": \"Adjust pose to align gripper directly above the pot cover in preparation for contact.\"},\n {\"id\": 3, \"name\": \"grasp pot cover\", \"start\": 13, \"end\": 18, \"planning\": \"Close gripper to securely grasp the pot cover as confirmed by segment-level closing evidence and visual alignment.\"},\n {\"id\": 4, \"name\": \"lift and transport cover\", \"start\": 19, \"end\": 28, \"planning\": \"Lift the grasped pot cover and move it horizontally toward the target location near the blue object.\"},\n {\"id\": 5, \"name\": \"hover over target zone\", \"start\": 29, \"end\": 29, \"planning\": \"Pause briefly while holding the cover above the intended placement area in front of the blue object.\"},\n {\"id\": 6, \"name\": \"release cover onto table\", \"start\": 30, \"end\": 31, \"planning\": \"Open gripper to release the pot cover onto the table surface in front of the blue object.\"},\n {\"id\": 7, \"name\": \"retreat from scene\", \"start\": 32, \"end\": 35, \"planning\": \"Move end-effector upward and away from the placed cover to complete the task.\"}\n ],\n \"global_plan\": \"Approach the pot cover, grasp it using verified gripper closure, lift and transport it to a position in front of the blue object, then release and retreat.\",\n \"notes\": \"Subtask boundaries follow motion segments but are adjusted for semantic coherence; grasp is only used where segment-level gripper evidence (frames 13-18) and imagery confirm meaningful closing. Release occurs during frames 30-31 based on gripper opening trend and final placement visible at frame 35.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot cover", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the pot cover on the table without grasping." + }, + { + "id": 2, + "name": "position above cover", + "start": 6, + "end": 12, + "planning": "Adjust pose to align gripper directly above the pot cover in preparation for contact." + }, + { + "id": 3, + "name": "grasp pot cover", + "start": 13, + "end": 18, + "planning": "Close gripper to securely grasp the pot cover as confirmed by segment-level closing evidence and visual alignment." + }, + { + "id": 4, + "name": "lift and transport cover", + "start": 19, + "end": 28, + "planning": "Lift the grasped pot cover and move it horizontally toward the target location near the blue object." + }, + { + "id": 5, + "name": "hover over target zone", + "start": 29, + "end": 29, + "planning": "Pause briefly while holding the cover above the intended placement area in front of the blue object." + }, + { + "id": 6, + "name": "release cover onto table", + "start": 30, + "end": 31, + "planning": "Open gripper to release the pot cover onto the table surface in front of the blue object." + }, + { + "id": 7, + "name": "retreat from scene", + "start": 32, + "end": 35, + "planning": "Move end-effector upward and away from the placed cover to complete the task." + } + ], + "global_plan": "Approach the pot cover, grasp it using verified gripper closure, lift and transport it to a position in front of the blue object, then release and retreat.", + "notes": "Subtask boundaries follow motion segments but are adjusted for semantic coherence; grasp is only used where segment-level gripper evidence (frames 13-18) and imagery confirm meaningful closing. Release occurs during frames 30-31 based on gripper opening trend and final placement visible at frame 35." + } + }, + "episode_goal": "Place the pot's cover in front of the blue object.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3071352243423462, + -0.06499186158180237, + 0.08584680408239365, + 3.023927688598633, + -0.31270161271095276, + -0.005061442032456398 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object (ladle) to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30393531918525696, + -0.063919797539711, + 0.07687274366617203, + 3.028740644454956, + -0.2838127315044403, + -0.003358383197337389 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object (ladle) to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29605811834335327, + -0.04548947885632515, + 0.07118642330169678, + 3.042572021484375, + -0.27492040395736694, + 0.040302835404872894 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2933591604232788, + -0.030893193557858467, + 0.0688658207654953, + 3.0410449504852295, + -0.2757580876350403, + 0.0783865675330162 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2895510494709015, + -0.010047636926174164, + 0.0796145349740982, + 3.0427138805389404, + -0.3160378634929657, + 0.12702924013137817 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.272348552942276, + 0.02321711555123329, + 0.06845798343420029, + 3.1181814670562744, + -0.2874966561794281, + 0.17860305309295654 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25412601232528687, + 0.051421742886304855, + 0.05248691886663437, + -3.117805004119873, + -0.2715579867362976, + 0.23745156824588776 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position above cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22960165143013, + 0.07495240867137909, + 0.03012366220355034, + -3.0798680782318115, + -0.22703345119953156, + 0.3313741385936737 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 152, + 996, + 995 + ], + "ladle": [ + 539, + 522, + 705, + 841 + ], + "blue sponge": [ + 637, + 292, + 754, + 452 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position above cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2184877097606659, + 0.0842868983745575, + 0.017261743545532227, + -3.0512492656707764, + -0.1868518590927124, + 0.37445786595344543 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position above cover", + "subtask_reasoning": "The robot is positioned above the table with the pot cover visible to the left and the blue object to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pot cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 7 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21558783948421478, + 0.08745431154966354, + 0.006978430785238743, + -3.0399670600891113, + -0.1584998369216919, + 0.41065311431884766 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position above cover", + "subtask_reasoning": "The robot arm is positioned above the pot cover on the table, with the gripper open and ready to grasp. The blue object is visible in the background, establishing the target placement area. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22236843407154083, + 0.09221022576093674, + 0.006040186155587435, + -3.0263640880584717, + -0.16636602580547333, + 0.42072680592536926 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position above cover", + "subtask_reasoning": "The robot arm is positioned above the pot cover on the table, with the gripper open and ready to grasp. The blue object is visible in the background, establishing the target placement area. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22406302392482758, + 0.0926690325140953, + 0.004537093453109264, + -3.024988889694214, + -0.16462461650371552, + 0.4241064786911011 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position above cover", + "subtask_reasoning": "The robot arm is positioned above the pot cover on the table, with the gripper open and ready to grasp. The blue object is visible in the background, establishing the target placement area. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22622285783290863, + 0.09023652970790863, + 0.004232483915984631, + -3.041843891143799, + -0.17769469320774078, + 0.427491158246994 + ], + "gripper_value": 0.5958979725837708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position above cover", + "subtask_reasoning": "The robot arm is positioned above the pot cover on the table, with the gripper open and ready to grasp. The blue object is visible in the background, establishing the target placement area. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22667692601680756, + 0.08714073896408081, + 0.004969659727066755, + -3.0502865314483643, + -0.18273623287677765, + 0.4193226397037506 + ], + "gripper_value": 0.4918208718299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot arm is positioned above the pot cover on the table, with the gripper open and ready to grasp. The blue object is visible in the background, establishing the target placement area. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 11 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2272343933582306, + 0.08216449618339539, + 0.005767167545855045, + -3.0586254596710205, + -0.1816495954990387, + 0.3954235017299652 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot arm is positioned above the pot cover on the table, with the gripper open and ready to grasp. The blue object is visible in the background, establishing the target placement area. The next action is to close the gripper to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 14 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22621892392635345, + 0.06959815323352814, + 0.006414604838937521, + -3.071335792541504, + -0.17504394054412842, + 0.34574660658836365 + ], + "gripper_value": 0.2788355052471161 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 16 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22504284977912903, + 0.05267608165740967, + 0.0063247280195355415, + -3.0802156925201416, + -0.16455236077308655, + 0.2803705334663391 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 18 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22240954637527466, + 0.034174442291259766, + 0.006902097724378109, + -3.1064600944519043, + -0.15551769733428955, + 0.21990866959095 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 150, + 996, + 995 + ], + "metal pot": [ + 50, + 298, + 248, + 512 + ], + "blue sponge": [ + 637, + 293, + 754, + 454 + ], + "ladle": [ + 540, + 523, + 706, + 842 + ], + "dumplings": [ + 117, + 356, + 230, + 467 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 20 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2225828915834427, + 0.021614179015159607, + 0.010302054695785046, + -3.1241891384124756, + -0.14920389652252197, + 0.17719766497612 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 20 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2330814003944397, + 0.01490769349038601, + 0.02326076105237007, + 3.1412484645843506, + -0.19029811024665833, + 0.16628199815750122 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24933980405330658, + 0.011279603466391563, + 0.0370001494884491, + 3.1037724018096924, + -0.22101441025733948, + 0.1831972450017929 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2724108099937439, + 0.01154377218335867, + 0.05696035549044609, + 3.06286883354187, + -0.2685961127281189, + 0.21541360020637512 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move down 4 cm, tilt left 10 degrees, open gripper; then keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043398857116699, + 0.011814774945378304, + 0.07394841313362122, + 3.026442050933838, + -0.30591464042663574, + 0.2535720765590668 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 153, + 996, + 995 + ], + "blue sponge": [ + 636, + 293, + 754, + 455 + ], + "metal pot": [ + 50, + 294, + 334, + 515 + ], + "ladle": [ + 539, + 524, + 705, + 841 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move down 6 cm, tilt left 10 degrees, open gripper; then keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3387262523174286, + 0.013944985345005989, + 0.08573928475379944, + 3.0103654861450195, + -0.3383497893810272, + 0.2862289547920227 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3684038817882538, + 0.018405087292194366, + 0.080905020236969, + 3.0292165279388428, + -0.3342267572879791, + 0.2977011799812317 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 7 cm, tilt left 10 degrees, open gripper; then keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.397127240896225, + 0.01734333299100399, + 0.06479821354150772, + 3.0610780715942383, + -0.31543195247650146, + 0.2923445999622345 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 5 cm, open gripper; then keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4179638624191284, + 0.01534001249819994, + 0.04650234431028366, + 3.094499349594116, + -0.29873672127723694, + 0.27896615862846375 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, open gripper; then keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4302361011505127, + 0.012414081022143364, + 0.02525082230567932, + 3.1191673278808594, + -0.2676258981227875, + 0.2672552466392517 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 148, + 996, + 995 + ], + "ladle": [ + 539, + 523, + 705, + 840 + ], + "metal pot": [ + 49, + 294, + 336, + 514 + ], + "dumplings": [ + 117, + 353, + 267, + 465 + ], + "blue sponge": [ + 638, + 292, + 754, + 453 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.43524596095085144, + 0.01314440555870533, + 0.017193688079714775, + 3.132164478302002, + -0.25784578919410706, + 0.2739666700363159 + ], + "gripper_value": 0.2781093716621399 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot arm is positioned directly above the pot cover on the table, with the gripper open and ready. The gripper signal shows a meaningful decrease in this segment, indicating the start of a closing motion. The next action is to complete the gripper closure to securely grasp the pot cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4353903532028198, + 0.013230057433247566, + 0.015234624966979027, + -3.1374857425689697, + -0.24863916635513306, + 0.2796827256679535 + ], + "gripper_value": 0.34207403659820557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "hover over target zone", + "subtask_reasoning": "The robot is hovering above the table near the blue object, with the pot cover already grasped and held. The current subtask involves positioning the cover in front of the blue object; no new grasp is needed as the object is already secured. The next action is to lower and release the cover at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.43167242407798767, + 0.014541407115757465, + 0.014486739411950111, + -3.122140407562256, + -0.24172338843345642, + 0.31075066328048706 + ], + "gripper_value": 0.629988968372345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release cover onto table", + "subtask_reasoning": "The pot cover is already placed on the table in front of the blue object, and the gripper is open and retracted. The subtask of releasing the cover is complete, as confirmed by the gripper opening and lack of contact with the cover. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4266718626022339, + 0.011237341910600662, + 0.01279820129275322, + -3.13214373588562, + -0.2222912460565567, + 0.3023964762687683 + ], + "gripper_value": 0.9206693768501282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release cover onto table", + "subtask_reasoning": "The pot cover is already placed on the table in front of the blue object, and the gripper is open and retracted. The subtask of releasing the cover is complete, as confirmed by the gripper opening and lack of contact with the cover. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4285276532173157, + 0.009414284490048885, + 0.030292656272649765, + 3.128370761871338, + -0.2505989074707031, + 0.29469192028045654 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The pot cover is already placed on the table in front of the blue object, and the gripper is open and retracted. The subtask of releasing the cover is complete, as confirmed by the gripper opening and lack of contact with the cover. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 32, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4273432791233063, + 0.00864572823047638, + 0.046390872448682785, + 3.1100311279296875, + -0.2753964364528656, + 0.3023291826248169 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The pot cover has been successfully placed in front of the blue object, and the gripper is open and clear of the object. The robot is now retreating from the scene, moving away from the table area. The next action is to continue retreating to a safe distance, completing the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 32, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.421554833650589, + 0.012208480387926102, + 0.07093551009893417, + 3.069657325744629, + -0.31227949261665344, + 0.3265349268913269 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The pot cover has been successfully placed in front of the blue object, and the gripper is open and clear of the object. The robot is now retreating from the scene, moving away from the table area. The next action is to continue retreating to a safe distance, completing the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 32, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.40344053506851196, + 0.014947106130421162, + 0.08869072794914246, + 3.049438953399658, + -0.3410927355289459, + 0.3177209198474884 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot's cover in front of the blue object." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot cover" + }, + { + "id": 2, + "subtask": "position above cover" + }, + { + "id": 3, + "subtask": "grasp pot cover" + }, + { + "id": 4, + "subtask": "lift and transport cover" + }, + { + "id": 5, + "subtask": "hover over target zone" + }, + { + "id": 6, + "subtask": "release cover onto table" + }, + { + "id": 7, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The pot cover has been successfully placed in front of the blue object, and the gripper is open and clear of the object. The robot is now retreating from the scene, moving away from the table area. The next action is to continue retreating to a safe distance, completing the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 32, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004201_ecot.json b/cot/chunk-0004/episode_0004201_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3b88c60e2f43c2e69da850f2a7fd0ff5380c95ab --- /dev/null +++ b/cot/chunk-0004/episode_0004201_ecot.json @@ -0,0 +1,1988 @@ +{ + "task_name": "episode_0004201", + "episode_json": "json/chunk-0004/episode_0004201.json", + "video_path": "videos/chunk-0004/image_0/episode_0004201.mp4", + "instruction": "PICK UP THE VESSEL KEEP NEAR TO THE WHITE TOWEL.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004201.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.9419235587120056, + "std": 0.4201911389827728, + "delta_total": 0.007888853549957275, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94192, std=0.42019, total_delta=0.00789). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 127, + 127, + 127, + 127 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 17 + ], + [ + 3, + 18, + 26 + ], + [ + 4, + 27, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach vessel\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the metal vessel while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift vessel\", \"start\": 9, \"end\": 17, \"planning\": \"Secure grip on vessel and lift it clear of the table surface.\"},\n {\"id\": 3, \"name\": \"transport vessel near towel\", \"start\": 18, \"end\": 26, \"planning\": \"Carry the held vessel laterally to position it adjacent to the white towel.\"},\n {\"id\": 4, \"name\": \"release vessel and retreat\", \"start\": 27, \"end\": 30, \"planning\": \"Open gripper to place vessel down near towel, then retract end-effector upward.\"}\n ],\n \"global_plan\": \"Pick up the metal vessel by approaching, grasping, lifting, transporting it beside the white towel, then releasing and retreating.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-8) with delta=-0.33970 and image consistency at frame 8; grasp wording is justified. Segments 2-4 show sustained low gripper values during transport and opening at end, matching pick-place mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach vessel", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the metal vessel while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and lift vessel", + "start": 9, + "end": 17, + "planning": "Secure grip on vessel and lift it clear of the table surface." + }, + { + "id": 3, + "name": "transport vessel near towel", + "start": 18, + "end": 26, + "planning": "Carry the held vessel laterally to position it adjacent to the white towel." + }, + { + "id": 4, + "name": "release vessel and retreat", + "start": 27, + "end": 30, + "planning": "Open gripper to place vessel down near towel, then retract end-effector upward." + } + ], + "global_plan": "Pick up the metal vessel by approaching, grasping, lifting, transporting it beside the white towel, then releasing and retreating.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-8) with delta=-0.33970 and image consistency at frame 8; grasp wording is justified. Segments 2-4 show sustained low gripper values during transport and opening at end, matching pick-place mechanics." + } + }, + "episode_goal": "Pick up the metal vessel and place it near the white towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114093542098999, + -0.05113222450017929, + 0.09396422654390335, + 2.979680061340332, + -0.0006473847315646708, + 1.9816452264785767 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot arm is positioned above the countertop, hovering near a metal vessel and a white towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach and align with the metal vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31065860390663147, + -0.051389388740062714, + 0.08426222950220108, + 3.0062789916992188, + -0.016683977097272873, + 1.9797219038009644 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot arm is positioned above the countertop, hovering near a metal vessel and a white towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach and align with the metal vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3184616267681122, + -0.05724432319402695, + 0.07590467482805252, + 3.033735513687134, + -0.007741739973425865, + 1.946101427078247 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot arm is positioned above the countertop, hovering near a metal vessel and a white towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach and align with the metal vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33403241634368896, + -0.06503607332706451, + 0.06970009952783585, + 3.03452467918396, + 0.018752342090010643, + 1.8944951295852661 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot arm is positioned above the countertop, hovering near a metal vessel and a white towel. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach and align with the metal vessel for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34968164563179016, + -0.07561641931533813, + 0.05810438096523285, + 3.0521292686462402, + 0.051079802215099335, + 1.8164061307907104 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 619, + 264, + 895, + 485 + ], + "yellow can": [ + 776, + 127, + 926, + 330 + ], + "blue cloth": [ + 500, + 468, + 826, + 745 + ], + "ice cream scoop": [ + 483, + 197, + 598, + 337 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 3 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36271947622299194, + -0.07939223200082779, + 0.04659304767847061, + 3.045400381088257, + 0.055878110229969025, + 1.7726948261260986 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then move back 4 cm, move left 5 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726511597633362, + -0.08562938868999481, + 0.03365691006183624, + 3.0464704036712646, + 0.07821494340896606, + 1.7331923246383667 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move left 9 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821379244327545, + -0.08699385821819305, + 0.020143406465649605, + 3.0453789234161377, + 0.06988570094108582, + 1.6978330612182617 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 4 cm, move left 13 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38325750827789307, + -0.0871661975979805, + 0.015001523308455944, + 3.043292760848999, + 0.06930926442146301, + 1.6906317472457886 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "approach vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 19 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3829987943172455, + -0.08769351243972778, + 0.014086663722991943, + 3.0411977767944336, + 0.07136916369199753, + 1.7014094591140747 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 19 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.380844384431839, + -0.08733144402503967, + 0.013209985569119453, + 3.0418832302093506, + 0.07709399610757828, + 1.7128278017044067 + ], + "gripper_value": 0.1511339694261551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 19 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37829992175102234, + -0.08799287676811218, + 0.015614235773682594, + 3.047086477279663, + 0.09624772518873215, + 1.7252907752990723 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 19 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37630096077919006, + -0.08810722827911377, + 0.021363727748394012, + 3.0368638038635254, + 0.10401374101638794, + 1.727062702178955 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot is positioned above the countertop with the metal vessel and white towel visible in the scene. The gripper is currently open and the robot has not yet made contact with the vessel. The next action is to lower the end-effector to approach and prepare to grasp the metal vessel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 19 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36729004979133606, + -0.08427811414003372, + 0.03013033978641033, + 3.0350847244262695, + 0.13636943697929382, + 1.751962661743164 + ], + "gripper_value": 0.07175325602293015 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 18 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556487262248993, + -0.06110476702451706, + 0.05936019867658615, + 2.9569218158721924, + 0.16836269199848175, + 1.7961114645004272 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 499, + 466, + 823, + 743 + ], + "yellow can": [ + 776, + 126, + 926, + 334 + ], + "metal bowl": [ + 578, + 273, + 859, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34080269932746887, + -0.03573373705148697, + 0.0856863409280777, + 2.895063638687134, + 0.17336593568325043, + 1.860952615737915 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 499, + 465, + 824, + 743 + ], + "metal bowl": [ + 485, + 181, + 768, + 391 + ], + "yellow can": [ + 775, + 126, + 926, + 334 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424448072910309, + 0.002151892287656665, + 0.09265299141407013, + 2.8718068599700928, + 0.16129350662231445, + 1.9652259349822998 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451099693775177, + 0.047233253717422485, + 0.0938945934176445, + 2.8592641353607178, + 0.12944483757019043, + 2.122368812561035 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "grasp and lift vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34560805559158325, + 0.09951303154230118, + 0.08301427215337753, + 2.8824303150177, + 0.1282522827386856, + 2.276691436767578 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478199541568756, + 0.13313111662864685, + 0.06888691335916519, + 2.9117393493652344, + 0.08729667961597443, + 2.390270709991455 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3580796420574188, + 0.1513548642396927, + 0.055077653378248215, + 2.930576801300049, + 0.07760532200336456, + 2.4365134239196777 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 4 cm, tilt back 10 degrees, open gripper; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36663445830345154, + 0.1623876839876175, + 0.04426546394824982, + 2.946134567260742, + 0.06479772180318832, + 2.458280086517334 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot's end-effector is positioned directly over the metal vessel, which sits on the wooden table near a white towel. The gripper is currently open, indicating the vessel has not yet been grasped. The next action is to close the gripper to secure the vessel before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt back 10 degrees, open gripper; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3757207989692688, + 0.168590247631073, + 0.03697900101542473, + 2.965294122695923, + 0.039104580879211426, + 2.4587793350219727 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot is currently holding the metal vessel and moving it across the table toward the white towel. The approach and grasp phases are complete, and the vessel is being transported to the target location. The next action is to continue moving the vessel until it is positioned directly beside the towel for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.38355472683906555, + 0.16882939636707306, + 0.025205157697200775, + 2.9918782711029053, + 0.04585885629057884, + 2.4605109691619873 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 219, + 137, + 420, + 313 + ], + "blue cloth": [ + 499, + 464, + 823, + 743 + ], + "red onion": [ + 691, + 214, + 756, + 274 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot is currently holding the metal vessel and moving it across the table toward the white towel. The approach and grasp phases are complete, and the vessel is being transported to the target location. The next action is to continue moving the vessel until it is positioned directly beside the towel for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3874502182006836, + 0.1717185378074646, + 0.019466392695903778, + 2.999911069869995, + 0.018887747079133987, + 2.452758550643921 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot is currently holding the metal vessel and moving it across the table toward the white towel. The approach and grasp phases are complete, and the vessel is being transported to the target location. The next action is to continue moving the vessel until it is positioned directly beside the towel for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3896658718585968, + 0.17160023748874664, + 0.019445322453975677, + 2.9894914627075195, + 0.02310202829539776, + 2.456584930419922 + ], + "gripper_value": 0.09813859313726425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot is currently holding the metal vessel and moving it across the table toward the white towel. The approach and grasp phases are complete, and the vessel is being transported to the target location. The next action is to continue moving the vessel until it is positioned directly beside the towel for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38606566190719604, + 0.17029771208763123, + 0.01810372807085514, + 3.004481315612793, + 0.0040136403404176235, + 2.4829189777374268 + ], + "gripper_value": 0.27019456028938293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "transport vessel near towel", + "subtask_reasoning": "The robot is currently holding the metal vessel and moving it across the table toward the white towel. The approach and grasp phases are complete, and the vessel is being transported to the target location. The next action is to continue moving the vessel until it is positioned directly beside the towel for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.38386785984039307, + 0.16682668030261993, + 0.018353527411818504, + 3.011584758758545, + -0.027746018022298813, + 2.4851267337799072 + ], + "gripper_value": 0.5511609315872192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "release vessel and retreat", + "subtask_reasoning": "The robot is currently holding the metal vessel and moving it across the table toward the white towel. The approach and grasp phases are complete, and the vessel is being transported to the target location. The next action is to continue moving the vessel until it is positioned directly beside the towel for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3814499080181122, + 0.16496756672859192, + 0.02120290882885456, + 3.0250637531280518, + -0.032751526683568954, + 2.498920202255249 + ], + "gripper_value": 0.8544629216194153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "release vessel and retreat", + "subtask_reasoning": "The metal vessel has been successfully placed on the wooden countertop near the white towel. The gripper is currently open and positioned above the vessel, indicating the release action is complete. The robot should now retreat from the immediate area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.38492298126220703, + 0.16134849190711975, + 0.04796237871050835, + 3.003328800201416, + 0.019929518923163414, + 2.4990763664245605 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "release vessel and retreat", + "subtask_reasoning": "The metal vessel has been successfully placed on the wooden countertop near the white towel. The gripper is currently open and positioned above the vessel, indicating the release action is complete. The robot should now retreat from the immediate area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3860364854335785, + 0.16182716190814972, + 0.08529241383075714, + 2.9344851970672607, + 0.057977523654699326, + 2.498347043991089 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal vessel and place it near the white towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach vessel" + }, + { + "id": 2, + "subtask": "grasp and lift vessel" + }, + { + "id": 3, + "subtask": "transport vessel near towel" + }, + { + "id": 4, + "subtask": "release vessel and retreat" + } + ], + "subtask_name": "release vessel and retreat", + "subtask_reasoning": "The metal vessel has been successfully placed on the wooden countertop near the white towel. The gripper is currently open and positioned above the vessel, indicating the release action is complete. The robot should now retreat from the immediate area to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004202_ecot.json b/cot/chunk-0004/episode_0004202_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8f9c232895037fc3e660b0ea3b74df273d2c4938 --- /dev/null +++ b/cot/chunk-0004/episode_0004202_ecot.json @@ -0,0 +1,1561 @@ +{ + "task_name": "episode_0004202", + "episode_json": "json/chunk-0004/episode_0004202.json", + "video_path": "videos/chunk-0004/image_0/episode_0004202.mp4", + "instruction": "Opening the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004202.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.77406907081604, + "std": 0.3415389060974121, + "delta_total": 0.004607439041137695, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.77407, std=0.34154, total_delta=0.00461). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 122, + 122 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 21 + ], + [ + 4, + 22, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the drawer handle without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp drawer handle\", \"start\": 4, \"end\": 12, \"planning\": \"Close the gripper to securely grasp the drawer handle, confirmed by decreasing gripper value and visual contact.\"},\n {\"id\": 3, \"name\": \"pull drawer open\", \"start\": 13, \"end\": 21, \"planning\": \"Pull the drawer outward while maintaining grip, opening it to reveal the interior.\"},\n {\"id\": 4, \"name\": \"release handle and retreat\", \"start\": 22, \"end\": 23, \"planning\": \"Open the gripper to release the handle and slightly retract the arm after opening the drawer.\"}\n ],\n \"global_plan\": \"Approach the drawer handle, grasp it firmly, pull the drawer open, then release and retreat.\",\n \"notes\": \"Gripper closure is only asserted in segments 2–4 where segment-level evidence shows meaningful closing (delta > 0.2) and images confirm physical contact with the handle. Segment 1 uses approach-only language as gripper remains fully open.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the drawer handle without closing the gripper." + }, + { + "id": 2, + "name": "grasp drawer handle", + "start": 4, + "end": 12, + "planning": "Close the gripper to securely grasp the drawer handle, confirmed by decreasing gripper value and visual contact." + }, + { + "id": 3, + "name": "pull drawer open", + "start": 13, + "end": 21, + "planning": "Pull the drawer outward while maintaining grip, opening it to reveal the interior." + }, + { + "id": 4, + "name": "release handle and retreat", + "start": 22, + "end": 23, + "planning": "Open the gripper to release the handle and slightly retract the arm after opening the drawer." + } + ], + "global_plan": "Approach the drawer handle, grasp it firmly, pull the drawer open, then release and retreat.", + "notes": "Gripper closure is only asserted in segments 2–4 where segment-level evidence shows meaningful closing (delta > 0.2) and images confirm physical contact with the handle. Segment 1 uses approach-only language as gripper remains fully open." + } + }, + "episode_goal": "Open the drawer by pulling its handle.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.18796102702617645, + 0.13329924643039703, + 0.15740838646888733, + 3.133338689804077, + -0.10288280993700027, + -0.1355947107076645 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the table, with no prior actions completed. The gripper is open and not in contact with the handle. The next action should be to move the end-effector closer to align with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 9 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.18803995847702026, + 0.12966251373291016, + 0.15082967281341553, + 3.1109015941619873, + -0.09276557713747025, + -0.12062466144561768 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle but has not yet made contact. The gripper remains fully open with no closing signal, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to align with and touch the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 9 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.199208602309227, + 0.09548309445381165, + 0.14129574596881866, + 3.0643482208251953, + -0.12266945838928223, + -0.0758105218410492 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle but has not yet made contact. The gripper remains fully open with no closing signal, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to align with and touch the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 10 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20784103870391846, + 0.07594212144613266, + 0.13009758293628693, + 3.0136566162109375, + -0.1451660841703415, + 0.03897678107023239 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle but has not yet made contact. The gripper remains fully open with no closing signal, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to align with and touch the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 9 cm, move right 9 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2238759994506836, + 0.04741627350449562, + 0.11680065095424652, + 2.946540355682373, + -0.1627611368894577, + 0.21968741714954376 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle but has not yet made contact. The gripper remains fully open with no closing signal, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to align with and touch the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24532204866409302, + 0.01967138983309269, + 0.09980904310941696, + 2.913073778152466, + -0.1731945276260376, + 0.3264002799987793 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle but has not yet made contact. The gripper remains fully open with no closing signal, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to align with and touch the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move down 7 cm, close gripper; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658398449420929, + -0.0031023574993014336, + 0.087002232670784, + 2.887169122695923, + -0.17703843116760254, + 0.3876139223575592 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 610, + 58, + 759, + 311 + ], + "red toy car": [ + 142, + 272, + 239, + 418 + ], + "table": [ + 5, + 97, + 994, + 991 + ], + "teal container": [ + 456, + 2, + 660, + 269 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle but has not yet made contact. The gripper remains fully open with no closing signal, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to align with and touch the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 6 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move left 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888304889202118, + -0.022836200892925262, + 0.07990214228630066, + 2.8785290718078613, + -0.19290076196193695, + 0.40748798847198486 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle but has not yet made contact. The gripper remains fully open with no closing signal, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to align with and touch the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move back 4 cm, move left 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30396419763565063, + -0.03369830176234245, + 0.06752373278141022, + 2.8750998973846436, + -0.18084974586963654, + 0.43032193183898926 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 612, + 59, + 758, + 303 + ], + "red toy car": [ + 143, + 273, + 239, + 417 + ], + "table": [ + 5, + 111, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move back 5 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31404784321784973, + -0.04289453849196434, + 0.052446093410253525, + 2.8767526149749756, + -0.16314679384231567, + 0.43117114901542664 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt left 10 degrees, close gripper; then move back 6 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31781598925590515, + -0.046842433512210846, + 0.04085073247551918, + 2.9009363651275635, + -0.14829960465431213, + 0.42083537578582764 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move back 6 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176761865615845, + -0.04612645506858826, + 0.032228805124759674, + 2.915773391723633, + -0.13667608797550201, + 0.4313829243183136 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 7 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156607449054718, + -0.0480903685092926, + 0.026593754068017006, + 2.949028968811035, + -0.128789484500885, + 0.4058728814125061 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3113853633403778, + -0.0474851168692112, + 0.025477876886725426, + 2.982504367828369, + -0.11869564652442932, + 0.36836835741996765 + ], + "gripper_value": 0.3577343225479126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30718570947647095, + -0.04565960913896561, + 0.023684894666075706, + 3.0020077228546143, + -0.09996931999921799, + 0.3667053282260895 + ], + "gripper_value": 0.23460371792316437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move up 2 cm, tilt left 10 degrees, open gripper; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.300383061170578, + -0.03695591539144516, + 0.02034604176878929, + 3.033968448638916, + -0.09671374410390854, + 0.35587942600250244 + ], + "gripper_value": 0.23329517245292664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, open gripper; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28677472472190857, + -0.020452655851840973, + 0.02277645841240883, + 3.074486017227173, + -0.08835379034280777, + 0.35531187057495117 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now positioned directly in front of it. The gripper is open and aligned with the handle, ready to grasp. The next action is to close the gripper to securely hold the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 2 cm, open gripper; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734110653400421, + -0.008077340200543404, + 0.028279054909944534, + 3.09289288520813, + -0.08784422278404236, + 0.37156885862350464 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy car": [ + 142, + 272, + 239, + 417 + ], + "can": [ + 612, + 58, + 759, + 301 + ], + "table": [ + 5, + 100, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the red drawer handle with the gripper closed. The drawer is partially open, indicating that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 1 cm, open gripper; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626810073852539, + 0.004765304271131754, + 0.03549041599035263, + 3.1005964279174805, + -0.07804177701473236, + 0.3880392611026764 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the red drawer handle with the gripper closed. The drawer is partially open, indicating that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, open gripper; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555354833602905, + 0.015710268169641495, + 0.03775256127119064, + 3.1120455265045166, + -0.059848006814718246, + 0.3784024715423584 + ], + "gripper_value": 0.2306915670633316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the red drawer handle with the gripper closed. The drawer is partially open, indicating that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24944208562374115, + 0.020534953102469444, + 0.03952313959598541, + 3.1221976280212402, + -0.059842392802238464, + 0.3789747953414917 + ], + "gripper_value": 0.2861579358577728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the red drawer handle with the gripper closed. The drawer is partially open, indicating that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2427017241716385, + 0.02157888002693653, + 0.038009241223335266, + 3.1405045986175537, + -0.03494033217430115, + 0.3737656772136688 + ], + "gripper_value": 0.49661046266555786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the red drawer handle with the gripper closed. The drawer is partially open, indicating that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the arm backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24126139283180237, + 0.02071470394730568, + 0.04083169624209404, + -3.1220829486846924, + -0.023621130734682083, + 0.355103462934494 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is already open, and the robot's gripper is positioned near the handle but not in contact. The gripper value indicates it is open, confirming the handle has been released. The next action is to retreat the arm away from the drawer to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24589866399765015, + 0.025041375309228897, + 0.06938657909631729, + -3.137443780899048, + -0.0609964095056057, + 0.22889041900634766 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer by pulling its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is already open, and the robot's gripper is positioned near the handle but not in contact. The gripper value indicates it is open, confirming the handle has been released. The next action is to retreat the arm away from the drawer to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004203_ecot.json b/cot/chunk-0004/episode_0004203_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..24d98d7fda562f0888fc58ec1e07066ac7348f52 --- /dev/null +++ b/cot/chunk-0004/episode_0004203_ecot.json @@ -0,0 +1,3138 @@ +{ + "task_name": "episode_0004203", + "episode_json": "json/chunk-0004/episode_0004203.json", + "video_path": "videos/chunk-0004/image_0/episode_0004203.mp4", + "instruction": "Fold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004203.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.9537951350212097, + "std": 0.4377911686897278, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95380, std=0.43779, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 17, + 17, + 17, + 35, + 35, + 35, + 135, + 135, + 135, + 135, + 135, + 135 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 6 + ], + [ + 3, + 7, + 16 + ], + [ + 4, + 17, + 31 + ], + [ + 5, + 32, + 34 + ], + [ + 6, + 35, + 37 + ], + [ + 7, + 38, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper toward bottom right corner of cloth without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and secure grip\", \"start\": 7, \"end\": 16, \"planning\": \"Close gripper to grasp bottom right corner of cloth as evidenced by significant gripper closure.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 17, \"end\": 31, \"planning\": \"Pull cloth from bottom right toward top left while maintaining grip, folding it diagonally.\"},\n {\"id\": 4, \"name\": \"adjust grip during fold\", \"start\": 32, \"end\": 34, \"planning\": \"Reposition or tighten grip on cloth mid-fold as indicated by partial gripper reopening then closing.\"},\n {\"id\": 5, \"name\": \"complete fold and release\", \"start\": 35, \"end\": 37, \"planning\": \"Finalize positioning of folded cloth and prepare to release grip.\"},\n {\"id\": 6, \"name\": \"retreat after release\", \"start\": 38, \"end\": 43, \"planning\": \"Open gripper fully and lift away from cloth after completing the fold.\"}\n ],\n \"global_plan\": \"Fold the blue cloth by grasping its bottom right corner, dragging it diagonally to the top left, adjusting grip mid-motion, then releasing once folded.\",\n \"notes\": \"Gripper evidence confirms meaningful closure only in segments 3, 5, and 7; grasp wording is used only where supported. Segment 2 (frames 5-6) merged into approach phase since no gripper action occurred. Final retreat phase includes full gripper opening and upward motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 6, + "planning": "Move gripper toward bottom right corner of cloth without grasping." + }, + { + "id": 2, + "name": "make contact and secure grip", + "start": 7, + "end": 16, + "planning": "Close gripper to grasp bottom right corner of cloth as evidenced by significant gripper closure." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 17, + "end": 31, + "planning": "Pull cloth from bottom right toward top left while maintaining grip, folding it diagonally." + }, + { + "id": 4, + "name": "adjust grip during fold", + "start": 32, + "end": 34, + "planning": "Reposition or tighten grip on cloth mid-fold as indicated by partial gripper reopening then closing." + }, + { + "id": 5, + "name": "complete fold and release", + "start": 35, + "end": 37, + "planning": "Finalize positioning of folded cloth and prepare to release grip." + }, + { + "id": 6, + "name": "retreat after release", + "start": 38, + "end": 43, + "planning": "Open gripper fully and lift away from cloth after completing the fold." + } + ], + "global_plan": "Fold the blue cloth by grasping its bottom right corner, dragging it diagonally to the top left, adjusting grip mid-motion, then releasing once folded.", + "notes": "Gripper evidence confirms meaningful closure only in segments 3, 5, and 7; grasp wording is used only where supported. Segment 2 (frames 5-6) merged into approach phase since no gripper action occurred. Final retreat phase includes full gripper opening and upward motion." + } + }, + "episode_goal": "Fold the cloth from bottom right to top left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.343770295381546, + 0.04463634267449379, + 0.12507231533527374, + 3.058966636657715, + -0.08213542401790619, + -0.19572122395038605 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 5 cm, keep gripper open; then move back 2 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.341794490814209, + 0.04288380965590477, + 0.11164529621601105, + 3.0359671115875244, + -0.04737555980682373, + -0.19762149453163147 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34026017785072327, + 0.027433358132839203, + 0.10150759667158127, + 2.9547441005706787, + -0.07476352900266647, + -0.2277115136384964 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 13 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move right 6 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405372202396393, + -0.0002236426225863397, + 0.08996222168207169, + 3.054121494293213, + -0.04751626402139664, + -0.2297549694776535 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to lower the gripper toward the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 5 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34577476978302, + -0.02045091614127159, + 0.09517332166433334, + 3.1388070583343506, + -0.08572017401456833, + -0.19704395532608032 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to lower the gripper toward the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move down 2 cm, keep gripper open; then move back 4 cm, move right 5 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35104575753211975, + -0.04516877979040146, + 0.09844040870666504, + -3.109697103500366, + -0.11061527580022812, + -0.1930515617132187 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to lower the gripper toward the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 2 cm, keep gripper open; then move back 4 cm, move right 5 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593117594718933, + -0.07822924107313156, + 0.08771081268787384, + -3.1119649410247803, + -0.0964449867606163, + -0.19430918991565704 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 765, + 403, + 904, + 542 + ], + "blue cloth": [ + 123, + 316, + 818, + 974 + ], + "wooden table": [ + 2, + 154, + 996, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to lower the gripper toward the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move back 4 cm, move right 5 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3665596544742584, + -0.09902077168226242, + 0.07708163559436798, + 3.12431001663208, + -0.08023377507925034, + -0.18146611750125885 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to lower the gripper toward the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642067015171051, + -0.11462137848138809, + 0.07243817299604416, + 3.1050705909729004, + -0.07991466671228409, + -0.196756973862648 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to lower the gripper toward the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35855165123939514, + -0.13289517164230347, + 0.061271198093891144, + 3.091980218887329, + -0.057696688920259476, + -0.21409405767917633 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to lower the gripper toward the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3508418798446655, + -0.14611196517944336, + 0.056693028658628464, + 3.0956389904022217, + -0.05587388947606087, + -0.23851779103279114 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, approaching the bottom right corner. No contact or grasp has occurred yet. The next action is to lower the gripper toward the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, close gripper; then move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34323427081108093, + -0.15623845160007477, + 0.05113755166530609, + 3.09775710105896, + -0.05378483235836029, + -0.24990907311439514 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move left 5 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33754345774650574, + -0.15739646553993225, + 0.043933894485235214, + 3.098649024963379, + -0.047264523804187775, + -0.24599072337150574 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move left 7 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33212876319885254, + -0.15395814180374146, + 0.031683266162872314, + 3.1130058765411377, + -0.018157659098505974, + -0.23454515635967255 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 122, + 317, + 817, + 974 + ], + "green object": [ + 763, + 414, + 816, + 514 + ], + "wooden table": [ + 2, + 152, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move left 9 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3295232057571411, + -0.152302548289299, + 0.02749757282435894, + 3.1167287826538086, + -0.012306265532970428, + -0.2221105843782425 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move left 12 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300008177757263, + -0.1502615362405777, + 0.024980884045362473, + 3.128584861755371, + -0.019309742376208305, + -0.224101722240448 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move left 15 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3307700455188751, + -0.14604505896568298, + 0.02298862673342228, + 3.118950605392456, + -0.022029254585504532, + -0.2025342434644699 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "make contact and secure grip", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 18 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3329876959323883, + -0.14284811913967133, + 0.023035390302538872, + 3.1105592250823975, + -0.024998638778924942, + -0.18493269383907318 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3342520594596863, + -0.13878801465034485, + 0.023046670481562614, + 3.0921366214752197, + -0.021717609837651253, + -0.16877031326293945 + ], + "gripper_value": 0.16973881423473358 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33503350615501404, + -0.12962590157985687, + 0.024860411882400513, + 3.0661826133728027, + -0.01582450419664383, + -0.17448288202285767 + ], + "gripper_value": 0.07429859787225723 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 23 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33213284611701965, + -0.11478196829557419, + 0.038913335651159286, + 3.062305212020874, + -0.006074333563446999, + -0.17535167932510376 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 23 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3354870676994324, + -0.09022356569766998, + 0.06990206241607666, + 3.049652338027954, + -0.04627981781959534, + -0.15013347566127777 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 120, + 317, + 749, + 974 + ], + "green object": [ + 764, + 402, + 904, + 542 + ], + "wooden table": [ + 3, + 155, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3321153521537781, + -0.07280279695987701, + 0.08609691262245178, + 3.033120632171631, + -0.04053237661719322, + -0.14563071727752686 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 19 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32923823595046997, + -0.05047663673758507, + 0.09426099061965942, + 3.035045862197876, + -0.024683253839612007, + -0.12234900891780853 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom right corner of the blue cloth and is now in contact with it. The gripper is open (value ~1.0), indicating no grasp yet, but segment-level evidence suggests a closing motion is occurring. The next action is to close the gripper to secure a firm grip on the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 17 cm, move down 7 cm, tilt left 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32333141565322876, + -0.021613214164972305, + 0.1050778180360794, + 3.034792900085449, + -0.02764754183590412, + -0.07770594954490662 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move right 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200627863407135, + 0.00844037625938654, + 0.10759850591421127, + 3.0266268253326416, + -0.028638247400522232, + -0.019801899790763855 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3148738145828247, + 0.03417934849858284, + 0.10801513493061066, + 3.0208113193511963, + -0.012851917184889317, + 0.009517407044768333 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3157114088535309, + 0.05911557376384735, + 0.11476091295480728, + 3.0209853649139404, + -0.021480072289705276, + 0.040232934057712555 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 763, + 402, + 904, + 542 + ], + "blue cloth": [ + 120, + 277, + 648, + 976 + ], + "wooden table": [ + 3, + 157, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200951814651489, + 0.08382382243871689, + 0.10647585988044739, + 3.013730764389038, + 0.007644780911505222, + 0.06456103175878525 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3253509998321533, + 0.1039886623620987, + 0.09670515358448029, + 3.014547824859619, + 0.02946695312857628, + 0.07706540077924728 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3267529606819153, + 0.11633283644914627, + 0.07307655364274979, + 3.0321388244628906, + 0.07431188225746155, + 0.06011344864964485 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32796838879585266, + 0.12624575197696686, + 0.05204896256327629, + 3.1181163787841797, + 0.042176514863967896, + 0.03729689493775368 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.32545575499534607, + 0.11967714875936508, + 0.02666827104985714, + -3.05869460105896, + -0.03039233572781086, + -0.05018042027950287 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "adjust grip during fold", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the blue cloth with a closed gripper, having completed the approach and grasp phases. The cloth is partially lifted and positioned for movement, indicating the drag phase is active. The next action is to continue moving the end-effector diagonally toward the top left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32467442750930786, + 0.1181957870721817, + 0.027975142002105713, + -3.0079402923583984, + -0.11369097977876663, + -0.08767978101968765 + ], + "gripper_value": 0.0867718756198883 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "adjust grip during fold", + "subtask_reasoning": "The robot is currently holding the blue cloth, which is partially folded on the table. The gripper evidence confirms a secure grasp is maintained during this adjustment phase. The next action involves repositioning the grip or continuing the diagonal drag to complete the fold towards the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229507505893707, + 0.11099078506231308, + 0.03161574527621269, + -3.0364742279052734, + -0.16358625888824463, + -0.07448233664035797 + ], + "gripper_value": 0.24523308873176575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "adjust grip during fold", + "subtask_reasoning": "The robot is currently holding the blue cloth, which is partially folded on the table. The gripper evidence confirms a secure grasp is maintained during this adjustment phase. The next action involves repositioning the grip or continuing the diagonal drag to complete the fold towards the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3202874958515167, + 0.1079244539141655, + 0.046576835215091705, + -3.0857529640197754, + -0.228560209274292, + -0.05653848871588707 + ], + "gripper_value": 0.5149424076080322 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 120, + 306, + 628, + 970 + ], + "green object": [ + 763, + 402, + 905, + 543 + ], + "wooden table": [ + 3, + 190, + 996, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot is currently holding the blue cloth, which is partially folded on the table. The gripper evidence confirms a secure grasp is maintained during this adjustment phase. The next action involves repositioning the grip or continuing the diagonal drag to complete the fold towards the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181900084018707, + 0.11094895750284195, + 0.05494696646928787, + -3.1069767475128174, + -0.24701982736587524, + -0.03310834988951683 + ], + "gripper_value": 0.8214757442474365 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged diagonally and is now partially folded with the bottom right corner near the top left. The gripper is still in contact, holding the corner to complete the fold. The next action is to adjust grip slightly and release the cloth to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3126830458641052, + 0.11568984389305115, + 0.05736800655722618, + -3.139554262161255, + -0.24088981747627258, + 0.0009035380207933486 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged diagonally and is now partially folded with the bottom right corner near the top left. The gripper is still in contact, holding the corner to complete the fold. The next action is to adjust grip slightly and release the cloth to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3118387460708618, + 0.1180037185549736, + 0.06682872027158737, + 3.1255414485931396, + -0.25767576694488525, + 0.005863275844603777 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The cloth has been dragged diagonally and is now partially folded with the bottom right corner near the top left. The gripper is still in contact, holding the corner to complete the fold. The next action is to adjust grip slightly and release the cloth to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114112913608551, + 0.1194031611084938, + 0.07874491810798645, + 3.08630108833313, + -0.26928210258483887, + 0.020967939868569374 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The cloth has been dragged diagonally and is now partially folded with the bottom right corner near the top left. The gripper is still in contact, holding the corner to complete the fold. The next action is to adjust grip slightly and release the cloth to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3129116892814636, + 0.11874318867921829, + 0.09749585390090942, + 3.077423334121704, + -0.29528898000717163, + 0.016592789441347122 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The cloth has been successfully folded with the bottom right corner brought to the top left, and the gripper is now open and retreating. The current subtask involves moving the gripper away from the cloth after release to complete the folding action. The next likely step is to ensure the gripper clears the workspace without disturbing the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3097202479839325, + 0.1222342774271965, + 0.10422655194997787, + 3.053473949432373, + -0.3014240562915802, + 0.03364383429288864 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The cloth has been successfully folded with the bottom right corner brought to the top left, and the gripper is now open and retreating. The current subtask involves moving the gripper away from the cloth after release to complete the folding action. The next likely step is to ensure the gripper clears the workspace without disturbing the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.31086087226867676, + 0.12217257171869278, + 0.11621233075857162, + 3.046273946762085, + -0.3127695620059967, + 0.028558194637298584 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The cloth has been successfully folded with the bottom right corner brought to the top left, and the gripper is now open and retreating. The current subtask involves moving the gripper away from the cloth after release to complete the folding action. The next likely step is to ensure the gripper clears the workspace without disturbing the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.31059324741363525, + 0.12216109037399292, + 0.1231100857257843, + 3.0469484329223633, + -0.3103957772254944, + 0.024848852306604385 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and secure grip" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "adjust grip during fold" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat after release" + } + ], + "subtask_name": "retreat after release", + "subtask_reasoning": "The cloth has been successfully folded with the bottom right corner brought to the top left, and the gripper is now open and retreating. The current subtask involves moving the gripper away from the cloth after release to complete the folding action. The next likely step is to ensure the gripper clears the workspace without disturbing the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004204_ecot.json b/cot/chunk-0004/episode_0004204_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b5939a924f7d8aec7bab8d37e28991fa9601c62a --- /dev/null +++ b/cot/chunk-0004/episode_0004204_ecot.json @@ -0,0 +1,3256 @@ +{ + "task_name": "episode_0004204", + "episode_json": "json/chunk-0004/episode_0004204.json", + "video_path": "videos/chunk-0004/image_0/episode_0004204.mp4", + "instruction": "Put the yellow triangle on top of the tower.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004204.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.43580329418182373, + "std": 0.20676736533641815, + "delta_total": -0.002661466598510742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.43580, std=0.20677, total_delta=-0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 100, + 100, + 500, + 500, + 500, + 500, + 500, + 500, + 100, + 600, + 600, + 600, + 600 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 16 + ], + [ + 4, + 17, + 23 + ], + [ + 5, + 24, + 31 + ], + [ + 6, + 32, + 33 + ], + [ + 7, + 34, + 39 + ], + [ + 8, + 40, + 40 + ], + [ + 9, + 41, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow triangle\", \"start\": 0, \"end\": 16, \"planning\": \"Move the end-effector from initial position toward the yellow triangle on the table.\"},\n {\"id\": 2, \"name\": \"grasp yellow triangle\", \"start\": 17, \"end\": 23, \"planning\": \"Close gripper around the yellow triangle and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport to tower\", \"start\": 24, \"end\": 31, \"planning\": \"Lift the grasped yellow triangle and move it horizontally toward the top of the block tower.\"},\n {\"id\": 4, \"name\": \"position above tower\", \"start\": 32, \"end\": 33, \"planning\": \"Fine-tune end-effector pose to align the yellow triangle directly above the tower’s top surface.\"},\n {\"id\": 5, \"name\": \"release yellow triangle\", \"start\": 34, \"end\": 40, \"planning\": \"Open gripper to release the yellow triangle onto the tower, allowing it to settle into place.\"},\n {\"id\": 6, \"name\": \"retreat from tower\", \"start\": 41, \"end\": 44, \"planning\": \"Withdraw the end-effector away from the tower after successful placement, completing the task.\"}\n ],\n \"global_plan\": \"Approach the yellow triangle, grasp it securely, lift and transport it to the tower, precisely position it above the top block, release it to complete stacking, then retreat.\",\n \"notes\": \"Gripper evidence in segment 4 (frames 17-23) confirms meaningful closing (delta=-0.43481), validating 'grasp' terminology. Segments 6 and 9 show no gripper motion, consistent with positioning and retreat phases. All frame ranges are contiguous and cover 0–44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow triangle", + "start": 0, + "end": 16, + "planning": "Move the end-effector from initial position toward the yellow triangle on the table." + }, + { + "id": 2, + "name": "grasp yellow triangle", + "start": 17, + "end": 23, + "planning": "Close gripper around the yellow triangle and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport to tower", + "start": 24, + "end": 31, + "planning": "Lift the grasped yellow triangle and move it horizontally toward the top of the block tower." + }, + { + "id": 4, + "name": "position above tower", + "start": 32, + "end": 33, + "planning": "Fine-tune end-effector pose to align the yellow triangle directly above the tower’s top surface." + }, + { + "id": 5, + "name": "release yellow triangle", + "start": 34, + "end": 40, + "planning": "Open gripper to release the yellow triangle onto the tower, allowing it to settle into place." + }, + { + "id": 6, + "name": "retreat from tower", + "start": 41, + "end": 44, + "planning": "Withdraw the end-effector away from the tower after successful placement, completing the task." + } + ], + "global_plan": "Approach the yellow triangle, grasp it securely, lift and transport it to the tower, precisely position it above the top block, release it to complete stacking, then retreat.", + "notes": "Gripper evidence in segment 4 (frames 17-23) confirms meaningful closing (delta=-0.43481), validating 'grasp' terminology. Segments 6 and 9 show no gripper motion, consistent with positioning and retreat phases. All frame ranges are contiguous and cover 0–44." + } + }, + "episode_goal": "Place the yellow triangle block on top of the stacked tower.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23130455613136292, + 0.04880332574248314, + 0.08671404421329498, + -3.0383076667785645, + 0.08690190315246582, + 0.35510122776031494 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot is positioned near the yellow triangle on the table, with the tower visible nearby. No actions have been completed yet as this is the start of the subtask. The gripper is open and not in contact with any object. The next action should be to move the end-effector closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2278933972120285, + 0.04769393056631088, + 0.07989253848791122, + -3.033379316329956, + 0.11721673607826233, + 0.35482358932495117 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot is positioned near the yellow triangle on the table, with the tower visible nearby. No actions have been completed yet as this is the start of the subtask. The gripper is open and not in contact with any object. The next action should be to move the end-effector closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2141185849905014, + 0.04230400547385216, + 0.06757285445928574, + -3.017975091934204, + 0.1639990210533142, + 0.23581290245056152 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot is positioned near the yellow triangle on the table, with the tower visible nearby. No actions have been completed yet as this is the start of the subtask. The gripper is open and not in contact with any object. The next action should be to move the end-effector closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2078072428703308, + 0.03173018991947174, + 0.06392409652471542, + -2.9943137168884277, + 0.16719956696033478, + 0.08864852041006088 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot is positioned near the yellow triangle on the table, with the tower visible nearby. No actions have been completed yet as this is the start of the subtask. The gripper is open and not in contact with any object. The next action should be to move the end-effector closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19874747097492218, + 0.026679489761590958, + 0.062334589660167694, + -2.9858815670013428, + 0.16145551204681396, + -0.02890930138528347 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot is positioned near the yellow triangle on the table, with the tower visible nearby. No actions have been completed yet as this is the start of the subtask. The gripper is open and not in contact with any object. The next action should be to move the end-effector closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18896068632602692, + 0.020315850153565407, + 0.051269400864839554, + -3.004716157913208, + 0.15327566862106323, + -0.20473581552505493 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot is positioned near the yellow triangle on the table, with the tower visible nearby. No actions have been completed yet as this is the start of the subtask. The gripper is open and not in contact with any object. The next action should be to move the end-effector closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.19218966364860535, + 0.02425401099026203, + 0.04859135299921036, + -3.0458171367645264, + 0.0755961537361145, + -0.3217288851737976 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 62, + 182, + 993, + 995 + ], + "green block": [ + 675, + 615, + 786, + 745 + ], + "beige block": [ + 537, + 258, + 658, + 429 + ], + "blue block": [ + 505, + 335, + 671, + 527 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot is positioned near the yellow triangle on the table, with the tower visible nearby. No actions have been completed yet as this is the start of the subtask. The gripper is open and not in contact with any object. The next action should be to move the end-effector closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1989326924085617, + 0.03204427286982536, + 0.04246409609913826, + -3.0478689670562744, + 0.048820026218891144, + -0.3609737157821655 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot is positioned near the yellow triangle on the table, with the tower visible nearby. No actions have been completed yet as this is the start of the subtask. The gripper is open and not in contact with any object. The next action should be to move the end-effector closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.20994459092617035, + 0.03873817250132561, + 0.037766292691230774, + -3.054401397705078, + 0.03807966411113739, + -0.3583516776561737 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21537713706493378, + 0.043981071561574936, + 0.036528538912534714, + -3.069648265838623, + 0.024692019447684288, + -0.3388444483280182 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2187536358833313, + 0.04661020264029503, + 0.035976603627204895, + -3.078648567199707, + 0.015274845995008945, + -0.3402582108974457 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21438288688659668, + 0.04391886293888092, + 0.035840582102537155, + -3.1065468788146973, + 0.035366490483284, + -0.36314812302589417 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21384552121162415, + 0.03767818957567215, + 0.03584558144211769, + -3.1268742084503174, + 0.03059912472963333, + -0.4088957607746124 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21449126303195953, + 0.035887908190488815, + 0.03588267043232918, + -3.125680446624756, + 0.026164967566728592, + -0.4232898950576782 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2199816107749939, + 0.03175346925854683, + 0.02829316258430481, + -3.127836227416992, + 0.0283052958548069, + -0.4410043954849243 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2269180417060852, + 0.032229166477918625, + 0.025303570553660393, + -3.129138946533203, + 0.02576054260134697, + -0.4421866834163666 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 60, + 193, + 993, + 995 + ], + "blue block": [ + 504, + 336, + 670, + 527 + ], + "green block": [ + 676, + 616, + 786, + 745 + ], + "beige block": [ + 536, + 258, + 657, + 429 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22781755030155182, + 0.031809285283088684, + 0.02204916439950466, + -3.136801242828369, + 0.03556021302938461, + -0.4474688768386841 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "approach yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper; then move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22737757861614227, + 0.03175502270460129, + 0.01673183962702751, + 3.1347756385803223, + 0.053635720163583755, + -0.4479864537715912 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "grasp yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22718501091003418, + 0.031709324568510056, + 0.011890850961208344, + 3.1277780532836914, + 0.06530562043190002, + -0.4393492341041565 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "grasp yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2287163883447647, + 0.031159892678260803, + 0.0058735935017466545, + 3.118928909301758, + 0.07227858901023865, + -0.4279504418373108 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "grasp yellow triangle", + "subtask_reasoning": "The robot arm is positioned near the yellow triangle block on the table, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the yellow triangle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 12 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23700430989265442, + 0.030253833159804344, + 0.003051573410630226, + 3.1173131465911865, + 0.053360652178525925, + -0.4139564335346222 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "grasp yellow triangle", + "subtask_reasoning": "The robot has approached the yellow triangle and is now in contact with it on the table. The gripper is partially closed around the block, indicating the grasp is being executed. The next action is to fully close the gripper to secure the yellow triangle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 12 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24504171311855316, + 0.030391745269298553, + 0.0023210933431982994, + 3.121114492416382, + 0.03777221217751503, + -0.39882317185401917 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "grasp yellow triangle", + "subtask_reasoning": "The robot has approached the yellow triangle and is now in contact with it on the table. The gripper is partially closed around the block, indicating the grasp is being executed. The next action is to fully close the gripper to secure the yellow triangle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move up 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24634875357151031, + 0.03182915225625038, + 0.002931892406195402, + 3.1249828338623047, + 0.038168489933013916, + -0.3868034780025482 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "grasp yellow triangle", + "subtask_reasoning": "The robot has approached the yellow triangle and is now in contact with it on the table. The gripper is partially closed around the block, indicating the grasp is being executed. The next action is to fully close the gripper to secure the yellow triangle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 6 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24291925132274628, + 0.038822535425424576, + 0.025202637538313866, + 3.1410648822784424, + 0.017210830003023148, + -0.3525068163871765 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "grasp yellow triangle", + "subtask_reasoning": "The robot has approached the yellow triangle and is now in contact with it on the table. The gripper is partially closed around the block, indicating the grasp is being executed. The next action is to fully close the gripper to secure the yellow triangle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move forward 4 cm, move right 6 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 17, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2367325723171234, + 0.05241779983043671, + 0.06578636914491653, + -3.054476261138916, + -0.021940797567367554, + -0.2890322804450989 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 61, + 160, + 993, + 995 + ], + "yellow block": [ + 338, + 399, + 398, + 530 + ], + "green block": [ + 677, + 617, + 785, + 745 + ], + "beige block": [ + 544, + 254, + 662, + 421 + ], + "blue block": [ + 515, + 327, + 672, + 522 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "lift and transport to tower", + "subtask_reasoning": "The robot has approached the yellow triangle and is now in contact with it on the table. The gripper is partially closed around the block, indicating the grasp is being executed. The next action is to fully close the gripper to secure the yellow triangle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.22914104163646698, + 0.06198790296912193, + 0.08662645518779755, + -3.016139507293701, + -0.023370858281850815, + -0.23911358416080475 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "lift and transport to tower", + "subtask_reasoning": "The robot has approached the yellow triangle and is now in contact with it on the table. The gripper is partially closed around the block, indicating the grasp is being executed. The next action is to fully close the gripper to secure the yellow triangle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.237036794424057, + 0.060981668531894684, + 0.10993215441703796, + -3.0136866569519043, + -0.04478973522782326, + -0.2179499864578247 + ], + "gripper_value": 0.5650128126144409 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "lift and transport to tower", + "subtask_reasoning": "The robot has approached the yellow triangle and is now in contact with it on the table. The gripper is partially closed around the block, indicating the grasp is being executed. The next action is to fully close the gripper to secure the yellow triangle before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.25720906257629395, + 0.04435034468770027, + 0.14553777873516083, + -3.048275947570801, + -0.07813370227813721, + -0.23431982100009918 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "lift and transport to tower", + "subtask_reasoning": "The robot is currently holding the yellow triangle above the table, having completed the approach and grasp phases. The gripper signal remains stable, indicating a secure hold without active closing. The next action is to transport the block horizontally toward the stacked tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26736798882484436, + 0.024397213011980057, + 0.1690618097782135, + -3.075094699859619, + -0.07202934473752975, + -0.28768184781074524 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "lift and transport to tower", + "subtask_reasoning": "The robot is currently holding the yellow triangle above the table, having completed the approach and grasp phases. The gripper signal remains stable, indicating a secure hold without active closing. The next action is to transport the block horizontally toward the stacked tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26866164803504944, + 0.010889784432947636, + 0.18344494700431824, + -3.071275472640991, + -0.06122443825006485, + -0.33366259932518005 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 63, + 150, + 993, + 995 + ], + "green block": [ + 676, + 617, + 786, + 745 + ], + "red block": [ + 297, + 86, + 403, + 182 + ], + "yellow block": [ + 433, + 11, + 512, + 165 + ], + "blue block": [ + 516, + 329, + 672, + 521 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "lift and transport to tower", + "subtask_reasoning": "The robot is currently holding the yellow triangle above the table, having completed the approach and grasp phases. The gripper signal remains stable, indicating a secure hold without active closing. The next action is to transport the block horizontally toward the stacked tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659112513065338, + 0.0076205916702747345, + 0.18472184240818024, + -3.0788393020629883, + -0.041592128574848175, + -0.335109144449234 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "lift and transport to tower", + "subtask_reasoning": "The robot is currently holding the yellow triangle above the table, having completed the approach and grasp phases. The gripper signal remains stable, indicating a secure hold without active closing. The next action is to transport the block horizontally toward the stacked tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.27116841077804565, + -0.0009091851534321904, + 0.16941727697849274, + -3.113234281539917, + -0.003249901346862316, + -0.3507106304168701 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "lift and transport to tower", + "subtask_reasoning": "The robot is currently holding the yellow triangle above the table, having completed the approach and grasp phases. The gripper signal remains stable, indicating a secure hold without active closing. The next action is to transport the block horizontally toward the stacked tower for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.27861079573631287, + -0.01202409714460373, + 0.14580105245113373, + 3.1246659755706787, + 0.039591141045093536, + -0.3755156397819519 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "position above tower", + "subtask_reasoning": "The robot is holding the yellow triangle and has moved it above the tower, aligning it for placement. The gripper remains open with no closing evidence in this segment, indicating the block is not yet released. The next action is to lower the triangle slightly and release it onto the top of the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28205037117004395, + -0.0187429990619421, + 0.13624227046966553, + 3.130976915359497, + 0.05625251680612564, + -0.388674795627594 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "position above tower", + "subtask_reasoning": "The robot is holding the yellow triangle and has moved it above the tower, aligning it for placement. The gripper remains open with no closing evidence in this segment, indicating the block is not yet released. The next action is to lower the triangle slightly and release it onto the top of the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move back 5 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28383445739746094, + -0.018519703298807144, + 0.1340610831975937, + -3.1398637294769287, + 0.05509497970342636, + -0.3757048547267914 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "release yellow triangle", + "subtask_reasoning": "The robot is holding the yellow triangle and has moved it above the tower, aligning it for placement. The gripper remains open with no closing evidence in this segment, indicating the block is not yet released. The next action is to lower the triangle slightly and release it onto the top of the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move back 7 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2844735085964203, + -0.017418287694454193, + 0.13317641615867615, + -3.13486647605896, + 0.05631599575281143, + -0.3614240288734436 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "release yellow triangle", + "subtask_reasoning": "The robot is holding the yellow triangle and has moved it above the tower, aligning it for placement. The gripper remains open with no closing evidence in this segment, indicating the block is not yet released. The next action is to lower the triangle slightly and release it onto the top of the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856385409832001, + -0.01443170104175806, + 0.13100549578666687, + -3.1343955993652344, + 0.056240152567625046, + -0.3416401147842407 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "release yellow triangle", + "subtask_reasoning": "The robot is holding the yellow triangle and has moved it above the tower, aligning it for placement. The gripper remains open with no closing evidence in this segment, indicating the block is not yet released. The next action is to lower the triangle slightly and release it onto the top of the tower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.286256343126297, + -0.013836696743965149, + 0.1286028027534485, + -3.134474039077759, + 0.052794329822063446, + -0.32767778635025024 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "release yellow triangle", + "subtask_reasoning": "The yellow triangle is currently held by the gripper and positioned directly above the stacked tower. The gripper is open, indicating the block has been released or is in the process of being released onto the top of the tower. The next action is to confirm the release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 34, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.28549155592918396, + -0.012633739970624447, + 0.12423104792833328, + -3.1357359886169434, + 0.07757289707660675, + -0.3151403069496155 + ], + "gripper_value": 0.9311676621437073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "release yellow triangle", + "subtask_reasoning": "The yellow triangle is currently held by the gripper and positioned directly above the stacked tower. The gripper is open, indicating the block has been released or is in the process of being released onto the top of the tower. The next action is to confirm the release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2845119833946228, + -0.01260747667402029, + 0.12429460138082504, + -3.139960765838623, + 0.08277425169944763, + -0.3113367259502411 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "release yellow triangle", + "subtask_reasoning": "The yellow triangle is currently held by the gripper and positioned directly above the stacked tower. The gripper is open, indicating the block has been released or is in the process of being released onto the top of the tower. The next action is to confirm the release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815379202365875, + -0.007663663476705551, + 0.12457817047834396, + 3.139418601989746, + 0.10213269293308258, + -0.2836848199367523 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "release yellow triangle", + "subtask_reasoning": "The yellow triangle is currently held by the gripper and positioned directly above the stacked tower. The gripper is open, indicating the block has been released or is in the process of being released onto the top of the tower. The next action is to confirm the release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.27442866563796997, + -0.0023871292360126972, + 0.14900867640972137, + -3.1006014347076416, + 0.055231183767318726, + -0.24244795739650726 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "retreat from tower", + "subtask_reasoning": "The yellow triangle is currently held by the gripper and positioned directly above the stacked tower. The gripper is open, indicating the block has been released or is in the process of being released onto the top of the tower. The next action is to confirm the release and move the gripper away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.25292670726776123, + -0.0016606205608695745, + 0.16374951601028442, + -3.074702501296997, + 0.06633617728948593, + -0.23482336103916168 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "retreat from tower", + "subtask_reasoning": "The yellow triangle is successfully stacked on top of the tower, and the gripper is open and positioned above it. The robot has completed the placement and is now retreating from the tower area. The next action is to continue moving away to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.22605116665363312, + -3.406391988391988e-05, + 0.16798099875450134, + -3.0593490600585938, + 0.1301608830690384, + -0.23876617848873138 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "retreat from tower", + "subtask_reasoning": "The yellow triangle is successfully stacked on top of the tower, and the gripper is open and positioned above it. The robot has completed the placement and is now retreating from the tower area. The next action is to continue moving away to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.20260976254940033, + 0.003914095927029848, + 0.16354404389858246, + -3.0689609050750732, + 0.16998766362667084, + -0.2360999882221222 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 64, + 176, + 992, + 994 + ], + "yellow block": [ + 535, + 214, + 659, + 349 + ], + "blue block": [ + 515, + 328, + 672, + 521 + ], + "green block": [ + 676, + 616, + 785, + 745 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow triangle block on top of the stacked tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow triangle" + }, + { + "id": 2, + "subtask": "grasp yellow triangle" + }, + { + "id": 3, + "subtask": "lift and transport to tower" + }, + { + "id": 4, + "subtask": "position above tower" + }, + { + "id": 5, + "subtask": "release yellow triangle" + }, + { + "id": 6, + "subtask": "retreat from tower" + } + ], + "subtask_name": "retreat from tower", + "subtask_reasoning": "The yellow triangle is successfully stacked on top of the tower, and the gripper is open and positioned above it. The robot has completed the placement and is now retreating from the tower area. The next action is to continue moving away to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004205_ecot.json b/cot/chunk-0004/episode_0004205_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0af386253dd91b5eb92d605c837fe417f32aa2b1 --- /dev/null +++ b/cot/chunk-0004/episode_0004205_ecot.json @@ -0,0 +1,1717 @@ +{ + "task_name": "episode_0004205", + "episode_json": "json/chunk-0004/episode_0004205.json", + "video_path": "videos/chunk-0004/image_0/episode_0004205.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004205.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.001993715763092041, + "std": 0.0005131172947585583, + "delta_total": 0.000666201114654541, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00051, total_delta=0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 15 + ], + [ + 3, + 16, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the drawer handle while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"align and contact handle\", \"start\": 10, \"end\": 15, \"planning\": \"Fine-tune position to align with handle and make initial contact without grasping.\"},\n {\"id\": 3, \"name\": \"pull drawer open\", \"start\": 16, \"end\": 28, \"planning\": \"Apply backward force via contact to slide drawer open, confirmed by final frame showing opened drawer.\"}\n ],\n \"global_plan\": \"Open the drawer by approaching the handle, making contact, and pulling it open using sustained backward motion without grasping.\",\n \"notes\": \"Gripper remains effectively open throughout (max delta 0.00133); no grasp or lift inferred. Motion is contact-based pushing/pulling as supported by segment evidence and final visual confirmation of opened drawer.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the drawer handle while maintaining open gripper state." + }, + { + "id": 2, + "name": "align and contact handle", + "start": 10, + "end": 15, + "planning": "Fine-tune position to align with handle and make initial contact without grasping." + }, + { + "id": 3, + "name": "pull drawer open", + "start": 16, + "end": 28, + "planning": "Apply backward force via contact to slide drawer open, confirmed by final frame showing opened drawer." + } + ], + "global_plan": "Open the drawer by approaching the handle, making contact, and pulling it open using sustained backward motion without grasping.", + "notes": "Gripper remains effectively open throughout (max delta 0.00133); no grasp or lift inferred. Motion is contact-based pushing/pulling as supported by segment evidence and final visual confirmation of opened drawer." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28869712352752686, + -0.012828460894525051, + 0.11047423630952835, + 3.1367805004119873, + -0.20812897384166718, + -0.18950767815113068 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet. The next action should be to move the end-effector closer to the drawer handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28818193078041077, + -0.012816605158150196, + 0.1021072268486023, + 3.1324284076690674, + -0.17941302061080933, + -0.19168035686016083 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet. The next action should be to move the end-effector closer to the drawer handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047350347042084, + 0.004010416567325592, + 0.07763878256082535, + 3.119951009750366, + -0.09397828578948975, + -0.1630314290523529 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet. The next action should be to move the end-effector closer to the drawer handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31423327326774597, + -0.006197340786457062, + 0.05390549823641777, + 3.112544536590576, + -0.059642065316438675, + -0.1228630319237709 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet. The next action should be to move the end-effector closer to the drawer handle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31514787673950195, + -0.0029937506187707186, + 0.0545518733561039, + 3.1164498329162598, + -0.061417240649461746, + -0.09271541982889175 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet as the approach is still in progress. The next action should be to move the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31431129574775696, + 0.009219866245985031, + 0.06319703161716461, + 3.139430522918701, + -0.07567006349563599, + -0.05387670174241066 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet as the approach is still in progress. The next action should be to move the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30597397685050964, + 0.01657867431640625, + 0.0755617544054985, + 3.1277272701263428, + -0.09097771346569061, + -0.03399253636598587 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet as the approach is still in progress. The next action should be to move the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2975292205810547, + 0.028727080672979355, + 0.08498585969209671, + 3.1273016929626465, + -0.11146269738674164, + -0.002663960214704275 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy": [ + 617, + 514, + 739, + 637 + ], + "green toy": [ + 663, + 774, + 869, + 971 + ], + "white toy": [ + 265, + 824, + 431, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet as the approach is still in progress. The next action should be to move the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2940880358219147, + 0.04068997502326965, + 0.08729352802038193, + 3.128347396850586, + -0.11012960225343704, + 0.02617921121418476 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet as the approach is still in progress. The next action should be to move the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.292696088552475, + 0.05367318540811539, + 0.08733560889959335, + 3.140591859817505, + -0.11328750848770142, + 0.05157134681940079 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot arm is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet as the approach is still in progress. The next action should be to move the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 9 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29317596554756165, + 0.06485454738140106, + 0.08039996773004532, + -3.11625075340271, + -0.10030718147754669, + 0.07435597479343414 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet as the approach is still in progress. The next action should be to move the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 11 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29835137724876404, + 0.0767614021897316, + 0.07714885473251343, + -3.0969667434692383, + -0.09776253998279572, + 0.09350086003541946 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot arm is positioned near the red drawer with the gripper open and not in contact with the handle. No part of the subtask has been completed yet as the approach is still in progress. The next action should be to move the gripper closer to the drawer handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 11 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29929104447364807, + 0.08320052921772003, + 0.06770849972963333, + -3.074855089187622, + -0.08572737127542496, + 0.09589602053165436 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 11 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.303350031375885, + 0.09005292505025864, + 0.0574510395526886, + -3.0407626628875732, + -0.0936502069234848, + 0.09945366531610489 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 11 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30322930216789246, + 0.08872457593679428, + 0.04538457468152046, + -3.0718538761138916, + -0.14482003450393677, + 0.09354276955127716 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 10 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30482158064842224, + 0.08224515616893768, + 0.029504964128136635, + -3.13632869720459, + -0.165357768535614, + 0.0742417722940445 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "align and contact handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move right 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3095807433128357, + 0.07029411941766739, + 0.026779040694236755, + 3.0783324241638184, + -0.2025383710861206, + 0.03945469856262207 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156245946884155, + 0.04505634307861328, + 0.027234628796577454, + 3.057251214981079, + -0.22180908918380737, + -0.03305937349796295 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177948594093323, + 0.008632880635559559, + 0.026613397523760796, + 3.0531814098358154, + -0.21897533535957336, + -0.13919228315353394 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy": [ + 617, + 514, + 738, + 637 + ], + "white toy": [ + 266, + 824, + 430, + 988 + ], + "green toy": [ + 663, + 773, + 869, + 971 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31624650955200195, + -0.022933833301067352, + 0.025550084188580513, + 3.0711429119110107, + -0.21513845026493073, + -0.22936980426311493 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy": [ + 617, + 514, + 738, + 637 + ], + "white toy": [ + 265, + 824, + 430, + 988 + ], + "green toy": [ + 664, + 774, + 869, + 971 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31126996874809265, + -0.03836105018854141, + 0.025544479489326477, + 3.077404499053955, + -0.207162544131279, + -0.2666929066181183 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30652570724487305, + -0.044481318444013596, + 0.027165252715349197, + 3.0744895935058594, + -0.20257043838500977, + -0.2707030475139618 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now aligned with it. The gripper remains open, indicating no grasp has occurred yet. The next action should involve making contact with the handle to prepare for pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015698790550232, + -0.04191135987639427, + 0.03002122975885868, + 3.0899062156677246, + -0.19026169180870056, + -0.26306501030921936 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach and alignment phases. The gripper remains open, consistent with the non-grasping pull strategy. The next action is to continue applying sustained backward force to slide the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3014218509197235, + -0.039557382464408875, + 0.039918821305036545, + 3.1014506816864014, + -0.21062543988227844, + -0.24287553131580353 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach and alignment phases. The gripper remains open, consistent with the non-grasping pull strategy. The next action is to continue applying sustained backward force to slide the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2975740432739258, + -0.03191457316279411, + 0.0535050593316555, + 3.1110613346099854, + -0.20378905534744263, + -0.2086629867553711 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach and alignment phases. The gripper remains open, consistent with the non-grasping pull strategy. The next action is to continue applying sustained backward force to slide the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967234253883362, + -0.024804439395666122, + 0.07399565726518631, + 3.12751841545105, + -0.22810089588165283, + -0.18290303647518158 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach and alignment phases. The gripper remains open, consistent with the non-grasping pull strategy. The next action is to continue applying sustained backward force to slide the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926802933216095, + -0.021601352840662003, + 0.0910387635231018, + 3.1036767959594727, + -0.24936003983020782, + -0.16114026308059692 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach and alignment phases. The gripper remains open, consistent with the non-grasping pull strategy. The next action is to continue applying sustained backward force to slide the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2864728569984436, + -0.020089903846383095, + 0.1113150492310524, + 3.079646110534668, + -0.2881627678871155, + -0.17436322569847107 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach and alignment phases. The gripper remains open, consistent with the non-grasping pull strategy. The next action is to continue applying sustained backward force to slide the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796705365180969, + -0.02323996275663376, + 0.11433664709329605, + 3.07563853263855, + -0.30560386180877686, + -0.16666679084300995 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align and contact handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach and alignment phases. The gripper remains open, consistent with the non-grasping pull strategy. The next action is to continue applying sustained backward force to slide the drawer further open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004206_ecot.json b/cot/chunk-0004/episode_0004206_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a5aa77e2d331f0cd23cbc6694fe6207f7edb6704 --- /dev/null +++ b/cot/chunk-0004/episode_0004206_ecot.json @@ -0,0 +1,3001 @@ +{ + "task_name": "episode_0004206", + "episode_json": "json/chunk-0004/episode_0004206.json", + "video_path": "videos/chunk-0004/image_0/episode_0004206.mp4", + "instruction": "Put the measuring spoon to the right side of the sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004206.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.6944442391395569, + "std": 0.32444363832473755, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.69444, std=0.32444, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 219, + 235, + 235, + 235, + 235, + 235, + 235, + 235, + 235 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 6 + ], + [ + 3, + 7, + 8 + ], + [ + 4, + 9, + 18 + ], + [ + 5, + 19, + 25 + ], + [ + 6, + 26, + 34 + ], + [ + 7, + 35, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach measuring spoon\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector toward the measuring spoon inside the red cup without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp measuring spoon\", \"start\": 9, \"end\": 18, \"planning\": \"Close the gripper around the measuring spoon while maintaining contact with it inside the cup.\"},\n {\"id\": 3, \"name\": \"lift measuring spoon\", \"start\": 19, \"end\": 25, \"planning\": \"Lift the grasped measuring spoon vertically out of the red cup.\"},\n {\"id\": 4, \"name\": \"transport to sink right\", \"start\": 26, \"end\": 34, \"planning\": \"Move the held measuring spoon horizontally to the right side of the sink basin.\"},\n {\"id\": 5, \"name\": \"release measuring spoon\", \"start\": 35, \"end\": 42, \"planning\": \"Open the gripper to place the measuring spoon on the right side of the sink and retreat.\"}\n ],\n \"global_plan\": \"Approach the measuring spoon in the cup, grasp it, lift it out, move it to the right side of the sink, and release it there.\",\n \"notes\": \"Gripper evidence confirms meaningful closing during segments 2 (frames 9-18) and 5 (frames 19-25), supporting grasp and lift. Segment 7 (frames 35-42) shows gripper opening, consistent with release. All other segments show no gripper closure, so contact-based verbs are used appropriately.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach measuring spoon", + "start": 0, + "end": 8, + "planning": "Move the end-effector toward the measuring spoon inside the red cup without closing the gripper." + }, + { + "id": 2, + "name": "grasp measuring spoon", + "start": 9, + "end": 18, + "planning": "Close the gripper around the measuring spoon while maintaining contact with it inside the cup." + }, + { + "id": 3, + "name": "lift measuring spoon", + "start": 19, + "end": 25, + "planning": "Lift the grasped measuring spoon vertically out of the red cup." + }, + { + "id": 4, + "name": "transport to sink right", + "start": 26, + "end": 34, + "planning": "Move the held measuring spoon horizontally to the right side of the sink basin." + }, + { + "id": 5, + "name": "release measuring spoon", + "start": 35, + "end": 42, + "planning": "Open the gripper to place the measuring spoon on the right side of the sink and retreat." + } + ], + "global_plan": "Approach the measuring spoon in the cup, grasp it, lift it out, move it to the right side of the sink, and release it there.", + "notes": "Gripper evidence confirms meaningful closing during segments 2 (frames 9-18) and 5 (frames 19-25), supporting grasp and lift. Segment 7 (frames 35-42) shows gripper opening, consistent with release. All other segments show no gripper closure, so contact-based verbs are used appropriately." + } + }, + "episode_goal": "Place the measuring spoon to the right side of the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32076820731163025, + 0.0260627344250679, + 0.15515537559986115, + 3.096702814102173, + -0.35354748368263245, + -0.2280247062444687 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the measuring spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 8 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178941607475281, + 0.025187013670802116, + 0.1464301347732544, + 3.082636833190918, + -0.3217869997024536, + -0.22215725481510162 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the measuring spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30253660678863525, + 0.020783843472599983, + 0.14003868401050568, + 3.0713188648223877, + -0.24143560230731964, + -0.2288605272769928 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the measuring spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 7 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888619601726532, + 0.011501024477183819, + 0.150910422205925, + 3.1058497428894043, + -0.23136380314826965, + -0.2724364697933197 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the measuring spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2662326991558075, + -0.0007306930492632091, + 0.15688341856002808, + 3.125432252883911, + -0.21593746542930603, + -0.3512602746486664 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bucket": [ + 518, + 384, + 776, + 721 + ], + "blue cup": [ + 630, + 504, + 752, + 595 + ], + "black gloves": [ + 408, + 2, + 638, + 277 + ], + "yellow dish rack": [ + 105, + 10, + 523, + 400 + ], + "white spoon": [ + 292, + 188, + 419, + 368 + ], + "grey lid": [ + 528, + 461, + 631, + 577 + ], + "spatula": [ + 168, + 160, + 272, + 573 + ], + "metal bowl": [ + 19, + 165, + 315, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2473522424697876, + -0.013082683086395264, + 0.16171295940876007, + 3.1360878944396973, + -0.21075378358364105, + -0.44567203521728516 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24200664460659027, + -0.023332789540290833, + 0.1582949161529541, + -3.1328625679016113, + -0.1973884552717209, + -0.49236923456192017 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24238282442092896, + -0.03597821667790413, + 0.15615901350975037, + 3.1358375549316406, + -0.20306073129177094, + -0.5471416115760803 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24002645909786224, + -0.04523967579007149, + 0.1487685889005661, + 3.133122205734253, + -0.19646748900413513, + -0.6289780735969543 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "approach measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24045079946517944, + -0.05214879289269447, + 0.14178086817264557, + -3.1374402046203613, + -0.16452279686927795, + -0.6616829037666321 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23979425430297852, + -0.052628133445978165, + 0.14078709483146667, + -3.127417802810669, + -0.15152542293071747, + -0.6711835265159607 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow dish rack": [ + 113, + 9, + 554, + 317 + ], + "orange bucket": [ + 518, + 394, + 775, + 720 + ], + "black object": [ + 528, + 4, + 777, + 480 + ], + "blue cup": [ + 628, + 505, + 752, + 602 + ], + "blue sink": [ + 4, + 126, + 996, + 993 + ], + "white spoon": [ + 283, + 180, + 420, + 368 + ], + "grey lid": [ + 528, + 460, + 630, + 576 + ], + "metal bowl": [ + 19, + 169, + 314, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23825611174106598, + -0.05169632285833359, + 0.1272299438714981, + -3.1275813579559326, + -0.11381224542856216, + -0.6948463916778564 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2437717467546463, + -0.055835578590631485, + 0.11333731561899185, + -3.0978312492370605, + -0.10167548060417175, + -0.6892234086990356 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot is positioned above the sink with the measuring spoon visible inside the orange cup. No objects have been moved yet as the gripper remains open. The robot needs to continue lowering its end effector to align with and reach the measuring spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24516355991363525, + -0.058803681284189224, + 0.1022837683558464, + -3.093013286590576, + -0.09752596914768219, + -0.6872498393058777 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24793653190135956, + -0.062266651540994644, + 0.09471756964921951, + -3.089553117752075, + -0.0959492176771164, + -0.6889526844024658 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24813377857208252, + -0.06253768503665924, + 0.0908694863319397, + -3.0891411304473877, + -0.09738395363092422, + -0.6990752220153809 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24977390468120575, + -0.05888035148382187, + 0.07342331111431122, + -3.1008591651916504, + -0.04539867490530014, + -0.681567370891571 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2507571876049042, + -0.05935567617416382, + 0.06643878668546677, + -3.1058688163757324, + -0.03258712589740753, + -0.6793944239616394 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536754012107849, + -0.05851497873663902, + 0.06621856987476349, + -3.0910232067108154, + -0.04307776689529419, + -0.6702672839164734 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "grasp measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25015562772750854, + -0.057839591056108475, + 0.06395088136196136, + -3.096676826477051, + -0.03389483317732811, + -0.6676673293113708 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "lift measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24972553551197052, + -0.05771739408373833, + 0.06548856198787689, + -3.096019983291626, + -0.0353299155831337, + -0.6660296320915222 + ], + "gripper_value": 0.30647560954093933 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "lift measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24823351204395294, + -0.05770243704319, + 0.0657556802034378, + -3.095580577850342, + -0.023416202515363693, + -0.67213374376297 + ], + "gripper_value": 0.30647560954093933 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "lift measuring spoon", + "subtask_reasoning": "The robot has approached the measuring spoon inside the red cup in the sink. The gripper is open and positioned above the spoon, ready to grasp. No contact or grasp has occurred yet; the next action is to close the gripper to secure the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24599960446357727, + -0.05741041153669357, + 0.08079934865236282, + -3.0885732173919678, + -0.046081334352493286, + -0.6526665091514587 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "lift measuring spoon", + "subtask_reasoning": "The robot has approached and grasped the measuring spoon inside the red cup. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24849364161491394, + -0.05336159095168114, + 0.09820293635129929, + -3.0872671604156494, + -0.07228551805019379, + -0.6202806830406189 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow dish rack": [ + 117, + 14, + 552, + 383 + ], + "blue sink": [ + 6, + 53, + 996, + 991 + ], + "orange bucket": [ + 495, + 410, + 748, + 730 + ], + "white spoon": [ + 284, + 178, + 420, + 369 + ], + "metal bowl": [ + 21, + 163, + 315, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "lift measuring spoon", + "subtask_reasoning": "The robot has approached and grasped the measuring spoon inside the red cup. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24924835562705994, + -0.053788404911756516, + 0.109890416264534, + -3.089625120162964, + -0.08977516740560532, + -0.6165179014205933 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "lift measuring spoon", + "subtask_reasoning": "The robot has approached and grasped the measuring spoon inside the red cup. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25024113059043884, + -0.06256048381328583, + 0.1267477571964264, + -3.102349042892456, + -0.16295433044433594, + -0.6131998896598816 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "lift measuring spoon", + "subtask_reasoning": "The robot has approached and grasped the measuring spoon inside the red cup. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24984952807426453, + -0.08201757818460464, + 0.13358540832996368, + 3.130746364593506, + -0.2282559722661972, + -0.4828422963619232 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot has approached and grasped the measuring spoon inside the red cup. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2503727376461029, + -0.10253363102674484, + 0.1331501305103302, + 3.0815865993499756, + -0.2837204337120056, + -0.4045798182487488 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot has approached and grasped the measuring spoon inside the red cup. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, rotate clockwise 20 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500668168067932, + -0.11637075990438461, + 0.12285561114549637, + 3.1365861892700195, + -0.3280695676803589, + -0.35203418135643005 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot has approached and grasped the measuring spoon inside the red cup. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25460293889045715, + -0.12200497835874557, + 0.11046425253152847, + 3.1231281757354736, + -0.3508758842945099, + -0.32467523217201233 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bucket": [ + 494, + 368, + 746, + 727 + ], + "blue sink": [ + 7, + 58, + 994, + 991 + ], + "yellow dish rack": [ + 103, + 11, + 553, + 399 + ], + "blue cup": [ + 714, + 510, + 844, + 655 + ], + "white spoon": [ + 282, + 178, + 422, + 369 + ], + "metal bowl": [ + 21, + 163, + 315, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot has approached and grasped the measuring spoon inside the red cup. The current frame shows the gripper in contact with the spoon, and segment-level gripper evidence supports a stable grasp. The next action is to lift the spoon vertically out of the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 3 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26129350066185, + -0.12377007305622101, + 0.10029833018779755, + 3.080864191055298, + -0.3484300971031189, + -0.22278805077075958 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot is holding the measuring spoon and has moved it above the right side of the sink. The gripper remains closed, indicating the object is still secured. The next action is to lower the spoon slightly and release it onto the sink surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 5 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.260794997215271, + -0.12599565088748932, + 0.08794917166233063, + 3.0470457077026367, + -0.2990896701812744, + -0.1718718260526657 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot is holding the measuring spoon and has moved it above the right side of the sink. The gripper remains closed, indicating the object is still secured. The next action is to lower the spoon slightly and release it onto the sink surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 1 cm, move left 7 cm, move up 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625811994075775, + -0.12690390646457672, + 0.08382196724414825, + 3.0034077167510986, + -0.3212795555591583, + -0.11264618486166 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot is holding the measuring spoon and has moved it above the right side of the sink. The gripper remains closed, indicating the object is still secured. The next action is to lower the spoon slightly and release it onto the sink surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 1 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.26265937089920044, + -0.12760047614574432, + 0.0812932625412941, + 2.973653793334961, + -0.32845109701156616, + -0.06866038590669632 + ], + "gripper_value": 0.30570894479751587 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot is holding the measuring spoon and has moved it above the right side of the sink. The gripper remains closed, indicating the object is still secured. The next action is to lower the spoon slightly and release it onto the sink surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2623171806335449, + -0.12642017006874084, + 0.07769742608070374, + 2.9633874893188477, + -0.3087385892868042, + -0.06456080824136734 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "transport to sink right", + "subtask_reasoning": "The robot is holding the measuring spoon and has moved it above the right side of the sink. The gripper remains closed, indicating the object is still secured. The next action is to lower the spoon slightly and release it onto the sink surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.26111412048339844, + -0.12400086969137192, + 0.07729621976613998, + 2.98431658744812, + -0.30372998118400574, + -0.0933399349451065 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "release measuring spoon", + "subtask_reasoning": "The robot is holding the measuring spoon and has moved it above the right side of the sink. The gripper remains closed, indicating the object is still secured. The next action is to lower the spoon slightly and release it onto the sink surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2610477805137634, + -0.1221698522567749, + 0.08760754019021988, + 2.9895572662353516, + -0.333183616399765, + -0.10888776183128357 + ], + "gripper_value": 0.9247323274612427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "release measuring spoon", + "subtask_reasoning": "The robot is holding the measuring spoon and has moved it above the right side of the sink. The gripper remains closed, indicating the object is still secured. The next action is to lower the spoon slightly and release it onto the sink surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.258781760931015, + -0.11883193254470825, + 0.09917520731687546, + 2.979773998260498, + -0.34841689467430115, + -0.09959737211465836 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "release measuring spoon", + "subtask_reasoning": "The robot is holding the measuring spoon and has moved it above the right side of the sink. The gripper remains closed, indicating the object is still secured. The next action is to lower the spoon slightly and release it onto the sink surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.25531139969825745, + -0.10796067863702774, + 0.1173667162656784, + 2.9646756649017334, + -0.3706590533256531, + -0.10343725979328156 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "release measuring spoon", + "subtask_reasoning": "The measuring spoon is currently held above the right side of the sink, with the gripper open (value ~1.0), indicating the release action is in progress or just completed. The spoon appears to be in mid-air or just making contact with the sink surface. The next step is to confirm full release and retract the gripper slightly to ensure no interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2537216544151306, + -0.09287185966968536, + 0.13313168287277222, + 2.96026611328125, + -0.3862493932247162, + -0.09666697680950165 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bucket": [ + 480, + 375, + 733, + 728 + ], + "blue cup": [ + 832, + 560, + 933, + 703 + ], + "yellow dish rack": [ + 110, + 13, + 553, + 372 + ], + "blue sink": [ + 7, + 66, + 995, + 992 + ], + "white spoon": [ + 285, + 178, + 417, + 374 + ], + "metal bowl": [ + 21, + 165, + 314, + 489 + ] + } + } + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "release measuring spoon", + "subtask_reasoning": "The measuring spoon is currently held above the right side of the sink, with the gripper open (value ~1.0), indicating the release action is in progress or just completed. The spoon appears to be in mid-air or just making contact with the sink surface. The next step is to confirm full release and retract the gripper slightly to ensure no interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2543681859970093, + -0.07528043538331985, + 0.13784079253673553, + 3.027250289916992, + -0.34784671664237976, + -0.11397150158882141 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "release measuring spoon", + "subtask_reasoning": "The measuring spoon is currently held above the right side of the sink, with the gripper open (value ~1.0), indicating the release action is in progress or just completed. The spoon appears to be in mid-air or just making contact with the sink surface. The next step is to confirm full release and retract the gripper slightly to ensure no interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.25272589921951294, + -0.05236576125025749, + 0.13722741603851318, + 3.0975265502929688, + -0.2882349193096161, + -0.13062544167041779 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "release measuring spoon", + "subtask_reasoning": "The measuring spoon is currently held above the right side of the sink, with the gripper open (value ~1.0), indicating the release action is in progress or just completed. The spoon appears to be in mid-air or just making contact with the sink surface. The next step is to confirm full release and retract the gripper slightly to ensure no interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.25418633222579956, + -0.040732644498348236, + 0.1393136978149414, + 3.1330695152282715, + -0.2806777358055115, + -0.14739659428596497 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the measuring spoon to the right side of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach measuring spoon" + }, + { + "id": 2, + "subtask": "grasp measuring spoon" + }, + { + "id": 3, + "subtask": "lift measuring spoon" + }, + { + "id": 4, + "subtask": "transport to sink right" + }, + { + "id": 5, + "subtask": "release measuring spoon" + } + ], + "subtask_name": "release measuring spoon", + "subtask_reasoning": "The measuring spoon is currently held above the right side of the sink, with the gripper open (value ~1.0), indicating the release action is in progress or just completed. The spoon appears to be in mid-air or just making contact with the sink surface. The next step is to confirm full release and retract the gripper slightly to ensure no interference." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004207_ecot.json b/cot/chunk-0004/episode_0004207_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6785f0c7fa307aa5948aff5356a662f1da8d233d --- /dev/null +++ b/cot/chunk-0004/episode_0004207_ecot.json @@ -0,0 +1,1381 @@ +{ + "task_name": "episode_0004207", + "episode_json": "json/chunk-0004/episode_0004207.json", + "video_path": "videos/chunk-0004/image_0/episode_0004207.mp4", + "instruction": "Pick up glass cup.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004207.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.8998773097991943, + "std": 0.36619171500205994, + "delta_total": -0.8816397786140442, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.89988, std=0.36619, total_delta=-0.88164). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 117, + 117, + 117 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 16 + ], + [ + 3, + 17, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach glass cup\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward target glass cup in dishwasher rack without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp glass cup\", \"start\": 13, \"end\": 16, \"planning\": \"Close gripper around glass cup while maintaining contact and adjusting pose for secure hold.\"},\n {\"id\": 3, \"name\": \"lift glass cup\", \"start\": 17, \"end\": 22, \"planning\": \"Lift grasped glass cup upward from rack while maintaining grip and avoiding collisions.\"}\n ],\n \"global_plan\": \"Approach the target glass cup in the dishwasher rack, close gripper to grasp it securely, then lift it vertically out of the rack.\",\n \"notes\": \"Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closure (delta=-0.40258) consistent with grasping. Segment 3 continues with closed gripper and upward motion, indicating lifting phase. All subtasks are contiguous and cover full trajectory [0,22].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach glass cup", + "start": 0, + "end": 12, + "planning": "Move end-effector toward target glass cup in dishwasher rack without closing gripper." + }, + { + "id": 2, + "name": "grasp glass cup", + "start": 13, + "end": 16, + "planning": "Close gripper around glass cup while maintaining contact and adjusting pose for secure hold." + }, + { + "id": 3, + "name": "lift glass cup", + "start": 17, + "end": 22, + "planning": "Lift grasped glass cup upward from rack while maintaining grip and avoiding collisions." + } + ], + "global_plan": "Approach the target glass cup in the dishwasher rack, close gripper to grasp it securely, then lift it vertically out of the rack.", + "notes": "Segment 1 shows no gripper closure — motion is purely positional approach. Segment 2 shows significant gripper closure (delta=-0.40258) consistent with grasping. Segment 3 continues with closed gripper and upward motion, indicating lifting phase. All subtasks are contiguous and cover full trajectory [0,22]." + } + }, + "episode_goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2562243342399597, + -0.09716542065143585, + 0.09212043136358261, + 3.0681087970733643, + -0.08089654892683029, + -0.43977537751197815 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row, second from the right. No grasping has occurred yet as the gripper remains fully open and no contact is made. The next action is to lower the gripper vertically toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25426214933395386, + -0.09652719646692276, + 0.08186260610818863, + 3.0639100074768066, + -0.04392245411872864, + -0.4532555937767029 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row, second from the right. No grasping has occurred yet as the gripper remains fully open and no contact is made. The next action is to lower the gripper vertically toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 11 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26207083463668823, + -0.09586804360151291, + 0.07405441254377365, + 3.064326047897339, + -0.03352027386426926, + -0.5230184197425842 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row, second from the right. No grasping has occurred yet as the gripper remains fully open and no contact is made. The next action is to lower the gripper vertically toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 11 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697555720806122, + -0.09351785480976105, + 0.061306022107601166, + 3.069838285446167, + -0.05461587756872177, + -0.5788382291793823 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row, second from the right. No grasping has occurred yet as the gripper remains fully open and no contact is made. The next action is to lower the gripper vertically toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27342402935028076, + -0.0907391756772995, + 0.04303685203194618, + 3.050537347793579, + -0.08560635149478912, + -0.650113046169281 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "mug": [ + 329, + 147, + 499, + 376 + ], + "dishwasher rack": [ + 24, + 68, + 993, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row, second from the right. No grasping has occurred yet as the gripper remains fully open and no contact is made. The next action is to lower the gripper vertically toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 9 cm, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27503007650375366, + -0.09020939469337463, + 0.029495595023036003, + 3.0248303413391113, + -0.07839182764291763, + -0.693560779094696 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row, second from the right. No grasping has occurred yet as the gripper remains fully open and no contact is made. The next action is to lower the gripper vertically toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 7 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27922323346138, + -0.09003564715385437, + 0.01479405164718628, + 3.0301640033721924, + -0.07748334109783173, + -0.7245944738388062 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot arm is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row. No grasping has occurred yet as the gripper remains fully open and the segment shows no closing evidence. The next action should continue lowering the gripper toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 6 cm, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2811310589313507, + -0.08936718851327896, + 0.0007643041317351162, + 3.028977870941162, + -0.06021619588136673, + -0.7239078283309937 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot arm is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row. No grasping has occurred yet as the gripper remains fully open and the segment shows no closing evidence. The next action should continue lowering the gripper toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881655693054199, + -0.08873862028121948, + -0.0062393429689109325, + 3.0237152576446533, + -0.06959199905395508, + -0.7087324261665344 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot arm is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row. No grasping has occurred yet as the gripper remains fully open and the segment shows no closing evidence. The next action should continue lowering the gripper toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28899145126342773, + -0.0902259424328804, + -0.013937524519860744, + 2.998863697052002, + -0.08494944125413895, + -0.6662246584892273 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot arm is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row. No grasping has occurred yet as the gripper remains fully open and the segment shows no closing evidence. The next action should continue lowering the gripper toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 3 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28275659680366516, + -0.088166244328022, + -0.01995699852705002, + 2.9985311031341553, + -0.07438552379608154, + -0.6639988422393799 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot arm is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row. No grasping has occurred yet as the gripper remains fully open and the segment shows no closing evidence. The next action should continue lowering the gripper toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.271663099527359, + -0.08713039755821228, + -0.02782263793051243, + 3.0020644664764404, + -0.06331954151391983, + -0.6701110601425171 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot arm is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row. No grasping has occurred yet as the gripper remains fully open and the segment shows no closing evidence. The next action should continue lowering the gripper toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26182791590690613, + -0.08881209045648575, + -0.03575870022177696, + 3.0277061462402344, + -0.061440061777830124, + -0.6868325471878052 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "approach glass cup", + "subtask_reasoning": "The robot arm is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row. No grasping has occurred yet as the gripper remains fully open and the segment shows no closing evidence. The next action should continue lowering the gripper toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542985677719116, + -0.09444954246282578, + -0.04299201816320419, + 3.0749895572662354, + -0.07247071713209152, + -0.6867781281471252 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "grasp glass cup", + "subtask_reasoning": "The robot arm is positioned above the dishwasher rack with the gripper open, approaching the target glass cup in the front row. No grasping has occurred yet as the gripper remains fully open and the segment shows no closing evidence. The next action should continue lowering the gripper toward the glass cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25083285570144653, + -0.10040134191513062, + -0.05269891396164894, + 3.1101012229919434, + -0.0803612619638443, + -0.672493040561676 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dishwasher rack": [ + 18, + 76, + 993, + 993 + ], + "mug": [ + 329, + 147, + 500, + 383 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "grasp glass cup", + "subtask_reasoning": "The gripper is positioned around the target glass cup in the dishwasher rack, with segment-level gripper evidence indicating a closing motion (delta=-0.40258). The current frame shows the gripper fingers in contact with the glass, suggesting the grasp is being executed. The next action is to confirm secure contact and prepare to lift the glass." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24906593561172485, + -0.10444220900535583, + -0.05879240483045578, + 3.1320641040802, + -0.08321062475442886, + -0.6436476707458496 + ], + "gripper_value": 0.8965065479278564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "grasp glass cup", + "subtask_reasoning": "The gripper is positioned around the target glass cup in the dishwasher rack, with segment-level gripper evidence indicating a closing motion (delta=-0.40258). The current frame shows the gripper fingers in contact with the glass, suggesting the grasp is being executed. The next action is to confirm secure contact and prepare to lift the glass." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25040367245674133, + -0.10494156181812286, + -0.0593104362487793, + 3.139704942703247, + -0.08125456422567368, + -0.6137979030609131 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "grasp glass cup", + "subtask_reasoning": "The gripper is positioned around the target glass cup in the dishwasher rack, with segment-level gripper evidence indicating a closing motion (delta=-0.40258). The current frame shows the gripper fingers in contact with the glass, suggesting the grasp is being executed. The next action is to confirm secure contact and prepare to lift the glass." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2416170835494995, + -0.10187846422195435, + -0.061907824128866196, + 3.1284143924713135, + -0.058762334287166595, + -0.6037682294845581 + ], + "gripper_value": 0.34207403659820557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "lift glass cup", + "subtask_reasoning": "The gripper is positioned around the target glass cup in the dishwasher rack, with segment-level gripper evidence indicating a closing motion (delta=-0.40258). The current frame shows the gripper fingers in contact with the glass, suggesting the grasp is being executed. The next action is to confirm secure contact and prepare to lift the glass." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24473853409290314, + -0.10518663376569748, + -0.05858065187931061, + 3.114473581314087, + -0.07126589864492416, + -0.574699878692627 + ], + "gripper_value": 0.19377118349075317 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "lift glass cup", + "subtask_reasoning": "The gripper is positioned around the target glass cup in the dishwasher rack, with segment-level gripper evidence indicating a closing motion (delta=-0.40258). The current frame shows the gripper fingers in contact with the glass, suggesting the grasp is being executed. The next action is to confirm secure contact and prepare to lift the glass." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2460394948720932, + -0.10374637693166733, + -0.05545908212661743, + 3.090902805328369, + -0.06574421375989914, + -0.5553102493286133 + ], + "gripper_value": 0.12307736277580261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "lift glass cup", + "subtask_reasoning": "The gripper is in contact with the target glass cup in the dishwasher rack, having completed the approach and grasp phases. The current subtask is to lift the glass cup vertically out of the rack. The next action is to move the gripper upward while maintaining a secure hold on the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2483920305967331, + -0.09908108413219452, + -0.04907003417611122, + 3.0512428283691406, + -0.01675773225724697, + -0.5660070180892944 + ], + "gripper_value": 0.10160017013549805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "lift glass cup", + "subtask_reasoning": "The gripper is in contact with the target glass cup in the dishwasher rack, having completed the approach and grasp phases. The current subtask is to lift the glass cup vertically out of the rack. The next action is to move the gripper upward while maintaining a secure hold on the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25148752331733704, + -0.09235929697751999, + -0.0232537854462862, + 2.9820597171783447, + 0.030697442591190338, + -0.625811755657196 + ], + "gripper_value": 0.10955921560525894 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "lift glass cup", + "subtask_reasoning": "The gripper is in contact with the target glass cup in the dishwasher rack, having completed the approach and grasp phases. The current subtask is to lift the glass cup vertically out of the rack. The next action is to move the gripper upward while maintaining a secure hold on the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25741615891456604, + -0.09473928064107895, + 0.00265898066572845, + 2.937434673309326, + 0.05639002099633217, + -0.6454605460166931 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "mug": [ + 328, + 146, + 500, + 382 + ], + "hand": [ + 108, + 192, + 315, + 377 + ], + "dishwasher rack": [ + 23, + 59, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the glass cup located in the front row, second from the right, by moving the gripper down to grasp it and then lifting it out of the dishwasher rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach glass cup" + }, + { + "id": 2, + "subtask": "grasp glass cup" + }, + { + "id": 3, + "subtask": "lift glass cup" + } + ], + "subtask_name": "lift glass cup", + "subtask_reasoning": "The gripper is in contact with the target glass cup in the dishwasher rack, having completed the approach and grasp phases. The current subtask is to lift the glass cup vertically out of the rack. The next action is to move the gripper upward while maintaining a secure hold on the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004208_ecot.json b/cot/chunk-0004/episode_0004208_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..05e0852a8b8a67ab205a279ef6c7859954bf7ae2 --- /dev/null +++ b/cot/chunk-0004/episode_0004208_ecot.json @@ -0,0 +1,1975 @@ +{ + "task_name": "episode_0004208", + "episode_json": "json/chunk-0004/episode_0004208.json", + "video_path": "videos/chunk-0004/image_0/episode_0004208.mp4", + "instruction": "Moving the spoon to the left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004208.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.668842613697052, + "std": 0.30903396010398865, + "delta_total": -0.00585174560546875, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.66884, std=0.30903, total_delta=-0.00585). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 213, + 213, + 213, + 213, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 25, + 25, + 25, + 25, + 25, + 25, + 25 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 9 + ], + [ + 3, + 10, + 12 + ], + [ + 4, + 13, + 16 + ], + [ + 5, + 17, + 24 + ], + [ + 6, + 25, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the spoon on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"grasp spoon\", \"start\": 10, \"end\": 16, \"planning\": \"Close the gripper around the spoon handle and secure it for manipulation.\"},\n {\"id\": 3, \"name\": \"lift and translate spoon left\", \"start\": 17, \"end\": 24, \"planning\": \"Lift the spoon slightly and move it horizontally to the left across the stovetop surface.\"},\n {\"id\": 4, \"name\": \"release spoon\", \"start\": 25, \"end\": 31, \"planning\": \"Open the gripper to release the spoon at its new position on the left side of the stovetop.\"}\n ],\n \"global_plan\": \"Approach the spoon, grasp it securely, translate it leftward while maintaining grip, then release it at the target location.\",\n \"notes\": \"Gripper closure is confirmed in segments 2-4 (frames 10-16) and opening in segment 6 (frames 25-31), consistent with grasp-and-release mechanics. Segment 1 (frame 0) shows no gripper motion — treated as static approach phase. Segment 5 (frames 17-24) lacks explicit gripper data but follows grasp and precedes release; assumed to maintain grip during translation based on continuity and task goal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the spoon on the stovetop without grasping." + }, + { + "id": 2, + "name": "grasp spoon", + "start": 10, + "end": 16, + "planning": "Close the gripper around the spoon handle and secure it for manipulation." + }, + { + "id": 3, + "name": "lift and translate spoon left", + "start": 17, + "end": 24, + "planning": "Lift the spoon slightly and move it horizontally to the left across the stovetop surface." + }, + { + "id": 4, + "name": "release spoon", + "start": 25, + "end": 31, + "planning": "Open the gripper to release the spoon at its new position on the left side of the stovetop." + } + ], + "global_plan": "Approach the spoon, grasp it securely, translate it leftward while maintaining grip, then release it at the target location.", + "notes": "Gripper closure is confirmed in segments 2-4 (frames 10-16) and opening in segment 6 (frames 25-31), consistent with grasp-and-release mechanics. Segment 1 (frame 0) shows no gripper motion — treated as static approach phase. Segment 5 (frames 17-24) lacks explicit gripper data but follows grasp and precedes release; assumed to maintain grip during translation based on continuity and task goal." + } + }, + "episode_goal": "Move the spoon to the left side of the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3363727331161499, + -0.03516425937414169, + 0.05531836673617363, + -3.1187551021575928, + -0.27474698424339294, + 0.06866411864757538 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the spoon visible on the left side of the cooking surface. No movement or grasping has occurred yet. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 18 cm, move down 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3303849995136261, + -0.03467563912272453, + 0.043610550463199615, + -3.113189697265625, + -0.23810984194278717, + 0.06725277006626129 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the spoon visible on the left side of the cooking surface. No movement or grasping has occurred yet. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 18 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.301919549703598, + -0.016983570531010628, + 0.03776714578270912, + -3.1355197429656982, + -0.26212748885154724, + 0.10097956657409668 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the spoon visible on the left side of the cooking surface. No movement or grasping has occurred yet. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 17 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2807563841342926, + 0.012646138668060303, + 0.045386943966150284, + -3.128620147705078, + -0.2954343557357788, + 0.12056925147771835 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the spoon visible on the left side of the cooking surface. No movement or grasping has occurred yet. The next action should be to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523857057094574, + 0.04709148034453392, + 0.04765293002128601, + -3.1199848651885986, + -0.31278863549232483, + 0.15512676537036896 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey bin": [ + 734, + 630, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2351052314043045, + 0.07607260346412659, + 0.039283398538827896, + -3.112792491912842, + -0.3106221556663513, + 0.18143178522586823 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22752569615840912, + 0.09289345145225525, + 0.03177998960018158, + -3.0661942958831787, + -0.26362329721450806, + 0.16128548979759216 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23427461087703705, + 0.1078336238861084, + 0.023739812895655632, + -3.050954580307007, + -0.22840391099452972, + 0.13026319444179535 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2432994544506073, + 0.12099447101354599, + 0.0077600982040166855, + -3.0621109008789062, + -0.18161821365356445, + 0.07981662452220917 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, keep gripper open; then move forward 7 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500212788581848, + 0.13755527138710022, + -0.018255803734064102, + -3.090163469314575, + -0.13446232676506042, + 0.02785295620560646 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 7 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.257266640663147, + 0.14843691885471344, + -0.03231220692396164, + -3.106433153152466, + -0.10916242748498917, + 0.02465483546257019 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2644103169441223, + 0.1540510356426239, + -0.04125232622027397, + -3.105083465576172, + -0.09968516230583191, + 0.013985875993967056 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2721621096134186, + 0.15391378104686737, + -0.042052969336509705, + -3.101736068725586, + -0.14841687679290771, + -0.03587521240115166 + ], + "gripper_value": 0.7011857628822327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the blue spoon located on the left burner. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2739564776420593, + 0.14743852615356445, + -0.04180386662483215, + -3.1026012897491455, + -0.14938807487487793, + -0.05930633097887039 + ], + "gripper_value": 0.4175282120704651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the spoon on the stovetop, with the gripper partially closed around it. The approach phase is complete, and the gripper is actively closing to secure the spoon. The next action is to fully close the gripper to establish a firm grasp before initiating lateral movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 6 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27175265550613403, + 0.14049015939235687, + -0.033082664012908936, + -3.0921924114227295, + -0.13632814586162567, + -0.0618748739361763 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the spoon on the stovetop, with the gripper partially closed around it. The approach phase is complete, and the gripper is actively closing to secure the spoon. The next action is to fully close the gripper to establish a firm grasp before initiating lateral movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 6 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28047820925712585, + 0.13728483021259308, + -0.0072212424129247665, + -3.0506675243377686, + -0.17259028553962708, + -0.05068192258477211 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the spoon on the stovetop, with the gripper partially closed around it. The approach phase is complete, and the gripper is actively closing to secure the spoon. The next action is to fully close the gripper to establish a firm grasp before initiating lateral movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move left 6 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041774332523346, + 0.13228186964988708, + 0.016925541684031487, + -3.010303497314453, + -0.23703792691230774, + -0.01367056742310524 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the spoon on the stovetop, with the gripper partially closed around it. The approach phase is complete, and the gripper is actively closing to secure the spoon. The next action is to fully close the gripper to establish a firm grasp before initiating lateral movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move left 6 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32749632000923157, + 0.13456657528877258, + 0.02556208334863186, + -3.006249189376831, + -0.2610534131526947, + -0.011431642808020115 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and translate spoon left", + "subtask_reasoning": "The robot arm is positioned above the spoon on the stovetop, with the gripper partially closed around it. The approach phase is complete, and the gripper is actively closing to secure the spoon. The next action is to fully close the gripper to establish a firm grasp before initiating lateral movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34467780590057373, + 0.14387081563472748, + 0.013090837746858597, + -3.044813394546509, + -0.2066076397895813, + 0.02252311445772648 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and translate spoon left", + "subtask_reasoning": "The robot arm is positioned above the spoon on the stovetop, with the gripper partially closed around it. The approach phase is complete, and the gripper is actively closing to secure the spoon. The next action is to fully close the gripper to establish a firm grasp before initiating lateral movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 4 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501022756099701, + 0.15756508708000183, + 0.005739882588386536, + -3.0649867057800293, + -0.20418336987495422, + 0.04048797860741615 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and translate spoon left", + "subtask_reasoning": "The robot arm is positioned above the spoon on the stovetop, with the gripper partially closed around it. The approach phase is complete, and the gripper is actively closing to secure the spoon. The next action is to fully close the gripper to establish a firm grasp before initiating lateral movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, open gripper; then move back 1 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34559911489486694, + 0.16918788850307465, + -0.014915297739207745, + -3.0892553329467773, + -0.1646154671907425, + 0.06073453649878502 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and translate spoon left", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it slightly above the stovetop. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to translate the spoon leftward toward the target location on the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, open gripper; then move back 2 cm, move right 9 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34706172347068787, + 0.1776038408279419, + -0.03250085562467575, + -3.108682155609131, + -0.12510576844215393, + 0.05752713233232498 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and translate spoon left", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it slightly above the stovetop. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to translate the spoon leftward toward the target location on the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move back 3 cm, move right 11 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501373529434204, + 0.1883203238248825, + -0.03812294825911522, + -3.1055171489715576, + -0.12563472986221313, + 0.06378836929798126 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and translate spoon left", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it slightly above the stovetop. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to translate the spoon leftward toward the target location on the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 3 cm, move right 11 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530988395214081, + 0.19227133691310883, + -0.04039377346634865, + -3.1135456562042236, + -0.11578734219074249, + 0.07376553118228912 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and translate spoon left", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it slightly above the stovetop. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to translate the spoon leftward toward the target location on the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 3 cm, move right 11 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35368579626083374, + 0.19295966625213623, + -0.04056457057595253, + -3.124011754989624, + -0.10871719568967819, + 0.0839143842458725 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and translate spoon left", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it slightly above the stovetop. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to translate the spoon leftward toward the target location on the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 3 cm, move right 11 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3539416491985321, + 0.19135066866874695, + -0.039717648178339005, + -3.1243655681610107, + -0.12249176949262619, + 0.0843941867351532 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it slightly above the stovetop. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to translate the spoon leftward toward the target location on the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 11 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35496073961257935, + 0.18297787010669708, + -0.036478299647569656, + -3.1125614643096924, + -0.13669584691524506, + 0.03503949195146561 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it slightly above the stovetop. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to translate the spoon leftward toward the target location on the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3604331612586975, + 0.17312058806419373, + -0.009057761169970036, + -3.0890345573425293, + -0.16155019402503967, + -0.02057824283838272 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot has grasped the spoon and is currently lifting it slightly above the stovetop. The gripper remains closed with minimal variation, confirming a secure hold. The next action is to translate the spoon leftward toward the target location on the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36214274168014526, + 0.15196068584918976, + 0.027739670127630234, + -3.037686347961426, + -0.19875799119472504, + -0.0886024683713913 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon is currently resting on the left side of the stovetop, indicating the translation phase is complete. The gripper is fully open (value ~1.0), confirming the release action has been executed. The robot is now positioned above the released spoon and should retract or move away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34798097610473633, + 0.12210935354232788, + 0.038970816880464554, + -3.039677143096924, + -0.1890871524810791, + -0.06922236829996109 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon is currently resting on the left side of the stovetop, indicating the translation phase is complete. The gripper is fully open (value ~1.0), confirming the release action has been executed. The robot is now positioned above the released spoon and should retract or move away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33239153027534485, + 0.09682454913854599, + 0.03596469759941101, + -3.0696957111358643, + -0.14935217797756195, + -0.0014581434661522508 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon is currently resting on the left side of the stovetop, indicating the translation phase is complete. The gripper is fully open (value ~1.0), confirming the release action has been executed. The robot is now positioned above the released spoon and should retract or move away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3253527283668518, + 0.07938354462385178, + 0.039371639490127563, + -3.0839920043945312, + -0.15534672141075134, + 0.04674918204545975 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left side of the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and translate spoon left" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon is currently resting on the left side of the stovetop, indicating the translation phase is complete. The gripper is fully open (value ~1.0), confirming the release action has been executed. The robot is now positioned above the released spoon and should retract or move away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004209_ecot.json b/cot/chunk-0004/episode_0004209_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9b24d3387b5b193d6cb4fd4924ce1c3ed014aa4e --- /dev/null +++ b/cot/chunk-0004/episode_0004209_ecot.json @@ -0,0 +1,1327 @@ +{ + "task_name": "episode_0004209", + "episode_json": "json/chunk-0004/episode_0004209.json", + "video_path": "videos/chunk-0004/image_0/episode_0004209.mp4", + "instruction": "Move blue toy to on top of the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004209.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.9050298929214478, + "std": 0.41708558797836304, + "delta_total": -0.6867295503616333, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90503, std=0.41709, total_delta=-0.68673). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 111, + 111, + 111, + 111, + 111, + 111 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 14 + ], + [ + 3, + 15, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue toy\", \"start\": 0, \"end\": 9, \"planning\": \"Move the gripper from initial position toward the blue toy on the table, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp blue toy\", \"start\": 10, \"end\": 14, \"planning\": \"Close gripper around the blue toy and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"place blue toy on drawer\", \"start\": 15, \"end\": 20, \"planning\": \"Transport the held blue toy over the drawer and release it onto the top surface.\"}\n ],\n \"global_plan\": \"Approach the blue toy, grasp it securely, then move and place it on top of the drawer.\",\n \"notes\": \"Segment 1 shows approach with gripper closing at end; Segment 2 confirms grasp and lift via gripper closure and upward motion; Segment 3 shows transport and release with gripper opening at end. All segments align with visual evidence and gripper state changes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue toy", + "start": 0, + "end": 9, + "planning": "Move the gripper from initial position toward the blue toy on the table, preparing for contact." + }, + { + "id": 2, + "name": "grasp blue toy", + "start": 10, + "end": 14, + "planning": "Close gripper around the blue toy and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "place blue toy on drawer", + "start": 15, + "end": 20, + "planning": "Transport the held blue toy over the drawer and release it onto the top surface." + } + ], + "global_plan": "Approach the blue toy, grasp it securely, then move and place it on top of the drawer.", + "notes": "Segment 1 shows approach with gripper closing at end; Segment 2 confirms grasp and lift via gripper closure and upward motion; Segment 3 shows transport and release with gripper opening at end. All segments align with visual evidence and gripper state changes." + } + }, + "episode_goal": "Place the blue toy on top of the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26527294516563416, + -0.11477644741535187, + 0.13413432240486145, + -3.008720874786377, + -0.22143468260765076, + -0.33238857984542847 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible to the left. No objects have been moved yet. The gripper is open and the arm is beginning to move toward the blue toy. The next action is to continue approaching the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 20 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640961706638336, + -0.11429841071367264, + 0.12743090093135834, + -3.0075623989105225, + -0.19446749985218048, + -0.3335358202457428 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible to the left. No objects have been moved yet. The gripper is open and the arm is beginning to move toward the blue toy. The next action is to continue approaching the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 20 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27252015471458435, + -0.08025399595499039, + 0.1258239597082138, + -3.026106595993042, + -0.1628056913614273, + -0.24770131707191467 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible to the left. No objects have been moved yet. The gripper is open and the arm is beginning to move toward the blue toy. The next action is to continue approaching the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 16 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738974988460541, + -0.0486898198723793, + 0.11953380703926086, + -3.03658390045166, + -0.13230030238628387, + -0.1704164445400238 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink plush toy": [ + 361, + 589, + 573, + 828 + ], + "blue plush toy": [ + 101, + 516, + 295, + 742 + ], + "table": [ + 5, + 68, + 994, + 993 + ], + "green plush toy": [ + 2, + 366, + 121, + 568 + ], + "brown plush toy": [ + 520, + 772, + 694, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible to the left. No objects have been moved yet. The gripper is open and the arm is beginning to move toward the blue toy. The next action is to continue approaching the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move down 10 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26622217893600464, + -0.007531681098043919, + 0.12423699349164963, + -3.0376458168029785, + -0.1383773386478424, + -0.08557860553264618 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible on the left side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the blue toy. The next action is to continue moving the end-effector closer to the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 9 cm, move down 10 cm, tilt forward 10 degrees, close gripper; then move forward 6 cm, move right 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25249624252319336, + 0.03512014448642731, + 0.11006546765565872, + -3.0423707962036133, + -0.1386261284351349, + -0.06442570686340332 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible on the left side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the blue toy. The next action is to continue moving the end-effector closer to the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then move forward 11 cm, move right 8 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23928070068359375, + 0.05501369759440422, + 0.09116653352975845, + -3.071119546890259, + -0.1443457305431366, + -0.07858636975288391 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible on the left side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the blue toy. The next action is to continue moving the end-effector closer to the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move forward 11 cm, move right 8 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22568602859973907, + 0.06917263567447662, + 0.06359448283910751, + -3.0765488147735596, + -0.11779461801052094, + -0.10179648548364639 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible on the left side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the blue toy. The next action is to continue moving the end-effector closer to the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 11 cm, move right 8 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22105085849761963, + 0.07357006520032883, + 0.04187184199690819, + -3.0702641010284424, + -0.06996502727270126, + -0.1193888783454895 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible on the left side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the blue toy. The next action is to continue moving the end-effector closer to the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move forward 11 cm, move right 8 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21948443353176117, + 0.07840097695589066, + 0.02745453082025051, + -3.0582709312438965, + -0.02685806341469288, + -0.129405677318573 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "approach blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible on the left side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the blue toy. The next action is to continue moving the end-effector closer to the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 11 cm, move right 8 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 5 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21864844858646393, + 0.08114520460367203, + 0.02021113969385624, + -3.048813819885254, + -0.005052453838288784, + -0.1178579181432724 + ], + "gripper_value": 0.6821943521499634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "grasp blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible on the left side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the blue toy. The next action is to continue moving the end-effector closer to the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 8 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22155576944351196, + 0.08140109479427338, + 0.02546587586402893, + -3.0451483726501465, + -0.012115190736949444, + -0.1167307123541832 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "grasp blue toy", + "subtask_reasoning": "The robot is positioned above the table with the blue toy visible on the left side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the blue toy. The next action is to continue moving the end-effector closer to the blue toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 8 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22803102433681488, + 0.07971716672182083, + 0.04021264240145683, + -3.052586555480957, + -0.041547659784555435, + -0.10416048765182495 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "grasp blue toy", + "subtask_reasoning": "The robot has approached the blue toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The blue toy appears to be grasped or in the process of being securely held. The next action is to confirm a stable grasp before lifting and moving the toy toward the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 8 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24185502529144287, + 0.06331485509872437, + 0.07210633158683777, + -3.07045578956604, + -0.08181244879961014, + -0.09917613118886948 + ], + "gripper_value": 0.10198938846588135 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink plush toy": [ + 362, + 589, + 573, + 829 + ], + "blue plush toy": [ + 154, + 453, + 382, + 635 + ], + "table": [ + 5, + 79, + 993, + 992 + ], + "brown plush toy": [ + 519, + 771, + 695, + 995 + ], + "green plush toy": [ + 2, + 366, + 121, + 568 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "grasp blue toy", + "subtask_reasoning": "The robot has approached the blue toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The blue toy appears to be grasped or in the process of being securely held. The next action is to confirm a stable grasp before lifting and moving the toy toward the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move right 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2829740643501282, + 0.033188872039318085, + 0.12050370126962662, + -3.081378221511841, + -0.16474978625774384, + -0.10502017289400101 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink plush toy": [ + 360, + 589, + 573, + 829 + ], + "blue plush toy": [ + 259, + 307, + 483, + 498 + ], + "green plush toy": [ + 2, + 366, + 121, + 569 + ], + "table": [ + 5, + 100, + 993, + 993 + ], + "wooden box": [ + 435, + 124, + 985, + 599 + ], + "brown plush toy": [ + 519, + 771, + 695, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "grasp blue toy", + "subtask_reasoning": "The robot has approached the blue toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The blue toy appears to be grasped or in the process of being securely held. The next action is to confirm a stable grasp before lifting and moving the toy toward the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 2 cm, keep gripper closed; then move forward 10 cm, move right 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32870280742645264, + -0.0030740327201783657, + 0.1415501832962036, + -3.05126690864563, + -0.20340515673160553, + -0.18374933302402496 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "place blue toy on drawer", + "subtask_reasoning": "The robot has approached the blue toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The blue toy appears to be grasped or in the process of being securely held. The next action is to confirm a stable grasp before lifting and moving the toy toward the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3718410134315491, + -0.029822295531630516, + 0.1460348516702652, + -3.0444397926330566, + -0.23192894458770752, + -0.2330244928598404 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "place blue toy on drawer", + "subtask_reasoning": "The robot has approached the blue toy and is now in contact with it, as indicated by the gripper closing motion and low gripper value. The blue toy appears to be grasped or in the process of being securely held. The next action is to confirm a stable grasp before lifting and moving the toy toward the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40233567357063293, + -0.04668453708291054, + 0.1433524638414383, + -3.040752649307251, + -0.23843996226787567, + -0.25838956236839294 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "place blue toy on drawer", + "subtask_reasoning": "The robot is holding the blue toy above the drawer, having completed the approach and grasp phases. The current situation involves positioning the toy for release. The next action is to lower the gripper to place the blue toy on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4214259088039398, + -0.05643290653824806, + 0.1402655839920044, + -3.0384669303894043, + -0.25400033593177795, + -0.2708706259727478 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "place blue toy on drawer", + "subtask_reasoning": "The robot is holding the blue toy above the drawer, having completed the approach and grasp phases. The current situation involves positioning the toy for release. The next action is to lower the gripper to place the blue toy on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4279026687145233, + -0.05786566808819771, + 0.13622821867465973, + -3.045896053314209, + -0.24655406177043915, + -0.2541099786758423 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "place blue toy on drawer", + "subtask_reasoning": "The robot is holding the blue toy above the drawer, having completed the approach and grasp phases. The current situation involves positioning the toy for release. The next action is to lower the gripper to place the blue toy on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4305328130722046, + -0.05742860212922096, + 0.1460447907447815, + -3.0507445335388184, + -0.25310131907463074, + -0.21185608208179474 + ], + "gripper_value": 0.31342363357543945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue toy on top of the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue toy" + }, + { + "id": 2, + "subtask": "grasp blue toy" + }, + { + "id": 3, + "subtask": "place blue toy on drawer" + } + ], + "subtask_name": "place blue toy on drawer", + "subtask_reasoning": "The robot is holding the blue toy above the drawer, having completed the approach and grasp phases. The current situation involves positioning the toy for release. The next action is to lower the gripper to place the blue toy on top of the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004211_ecot.json b/cot/chunk-0004/episode_0004211_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9f3936c779bc494e40f7f822537893e0c586cc13 --- /dev/null +++ b/cot/chunk-0004/episode_0004211_ecot.json @@ -0,0 +1,2872 @@ +{ + "task_name": "episode_0004211", + "episode_json": "json/chunk-0004/episode_0004211.json", + "video_path": "videos/chunk-0004/image_0/episode_0004211.mp4", + "instruction": "Put the small yellow block on top of the bigger yellow block.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004211.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.4849659204483032, + "std": 0.23108042776584625, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.48497, std=0.23108, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach small yellow block\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the small yellow block on the table without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"descend and make contact\", \"start\": 6, \"end\": 12, \"planning\": \"Lower the gripper to align with and make contact with the small yellow block, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp and lift small block\", \"start\": 13, \"end\": 23, \"planning\": \"Close gripper to securely grasp the small yellow block and lift it slightly off the table surface.\"},\n {\"id\": 4, \"name\": \"transport over target stack\", \"start\": 24, \"end\": 35, \"planning\": \"Move the held small yellow block horizontally toward the top of the larger yellow block stack.\"},\n {\"id\": 5, \"name\": \"place and release on stack\", \"start\": 36, \"end\": 41, \"planning\": \"Gently lower and release the small yellow block onto the top of the bigger yellow block stack, then retreat gripper.\"}\n ],\n \"global_plan\": \"Approach the small yellow block, grasp it, lift and transport it to the top of the larger yellow block stack, then place and release it precisely.\",\n \"notes\": \"Segment 1 (frames 0-5) shows no gripper closure — only approach motion. Segment 2 (frames 6-41) includes meaningful gripper closing (range=0.48497), allowing grasp/place wording where image evidence supports it (e.g., frame 23 shows partial closure, frame 41 shows near-full reopening after placement). Subtask boundaries are set to reflect natural manipulation phases: approach, contact, grasp/lift, transport, place/release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach small yellow block", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the small yellow block on the table without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "descend and make contact", + "start": 6, + "end": 12, + "planning": "Lower the gripper to align with and make contact with the small yellow block, preparing for grasp." + }, + { + "id": 3, + "name": "grasp and lift small block", + "start": 13, + "end": 23, + "planning": "Close gripper to securely grasp the small yellow block and lift it slightly off the table surface." + }, + { + "id": 4, + "name": "transport over target stack", + "start": 24, + "end": 35, + "planning": "Move the held small yellow block horizontally toward the top of the larger yellow block stack." + }, + { + "id": 5, + "name": "place and release on stack", + "start": 36, + "end": 41, + "planning": "Gently lower and release the small yellow block onto the top of the bigger yellow block stack, then retreat gripper." + } + ], + "global_plan": "Approach the small yellow block, grasp it, lift and transport it to the top of the larger yellow block stack, then place and release it precisely.", + "notes": "Segment 1 (frames 0-5) shows no gripper closure — only approach motion. Segment 2 (frames 6-41) includes meaningful gripper closing (range=0.48497), allowing grasp/place wording where image evidence supports it (e.g., frame 23 shows partial closure, frame 41 shows near-full reopening after placement). Subtask boundaries are set to reflect natural manipulation phases: approach, contact, grasp/lift, transport, place/release." + } + }, + "episode_goal": "Place the small yellow block on top of the taller yellow block stack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3348212242126465, + 0.08000272512435913, + 0.2177855521440506, + 2.905000925064087, + -0.5844014883041382, + 0.8314527869224548 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "approach small yellow block", + "subtask_reasoning": "The robot is positioned above the table with the small yellow block visible in front and the taller yellow stack to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33449915051460266, + 0.07872150093317032, + 0.20717890560626984, + 2.927002429962158, + -0.5580251216888428, + 0.8169146776199341 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "approach small yellow block", + "subtask_reasoning": "The robot is positioned above the table with the small yellow block visible in front and the taller yellow stack to the right. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047032356262207, + 0.06763943284749985, + 0.207089364528656, + 2.944700241088867, + -0.5445228815078735, + 0.7251495718955994 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "approach small yellow block", + "subtask_reasoning": "The robot is approaching the small yellow block on the table, with the gripper open and no contact yet. The larger yellow block stack is visible nearby as the target location. The next action is to continue moving the end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27599892020225525, + 0.05547114089131355, + 0.218071848154068, + 2.961000680923462, + -0.5742324590682983, + 0.592983067035675 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "approach small yellow block", + "subtask_reasoning": "The robot is approaching the small yellow block on the table, with the gripper open and no contact yet. The larger yellow block stack is visible nearby as the target location. The next action is to continue moving the end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2568562924861908, + 0.05173485353589058, + 0.21376650035381317, + 2.989084005355835, + -0.5776256918907166, + 0.38489216566085815 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "approach small yellow block", + "subtask_reasoning": "The robot is approaching the small yellow block on the table, with the gripper open and no contact yet. The larger yellow block stack is visible nearby as the target location. The next action is to continue moving the end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25110456347465515, + 0.05124231055378914, + 0.20015954971313477, + 3.0605885982513428, + -0.5783095955848694, + 0.24802352488040924 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "approach small yellow block", + "subtask_reasoning": "The robot is approaching the small yellow block on the table, with the gripper open and no contact yet. The larger yellow block stack is visible nearby as the target location. The next action is to continue moving the end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25673621892929077, + 0.05682332068681717, + 0.1686139702796936, + -3.082908868789673, + -0.5264047384262085, + 0.08738231658935547 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot is approaching the small yellow block on the table, with the gripper open and no contact yet. The larger yellow block stack is visible nearby as the target location. The next action is to continue moving the end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2647130489349365, + 0.06560797989368439, + 0.1409323364496231, + -2.9710988998413086, + -0.49171480536460876, + -0.04449169710278511 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 7, + 994, + 993 + ], + "table leg": [ + 40, + 638, + 106, + 784 + ], + "black cabinet": [ + 744, + 2, + 917, + 179 + ], + "blue block": [ + 449, + 182, + 556, + 291 + ], + "yellow block": [ + 348, + 279, + 441, + 417 + ], + "green block": [ + 456, + 249, + 555, + 365 + ] + } + } + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot is approaching the small yellow block on the table, with the gripper open and no contact yet. The larger yellow block stack is visible nearby as the target location. The next action is to continue moving the end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 7 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706911563873291, + 0.07505355030298233, + 0.11956848204135895, + -2.912449598312378, + -0.48635414242744446, + -0.09559166431427002 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 6, + 995, + 993 + ], + "table leg": [ + 40, + 638, + 106, + 784 + ], + "blue block": [ + 465, + 201, + 555, + 292 + ], + "yellow block": [ + 348, + 279, + 441, + 417 + ], + "green block": [ + 459, + 254, + 555, + 365 + ] + } + } + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot is approaching the small yellow block on the table, with the gripper open and no contact yet. The larger yellow block stack is visible nearby as the target location. The next action is to continue moving the end-effector closer to the small yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27669188380241394, + 0.07922471314668655, + 0.10188407450914383, + -2.8988232612609863, + -0.45819589495658875, + -0.12885604798793793 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27918633818626404, + 0.08231920003890991, + 0.09543469548225403, + -2.894644260406494, + -0.4569408595561981, + -0.1362190544605255 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2811756432056427, + 0.08343150466680527, + 0.08783592283725739, + -2.903092861175537, + -0.45122742652893066, + -0.12038730084896088 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2834737002849579, + 0.08592337369918823, + 0.08095882833003998, + -2.923258066177368, + -0.4537307620048523, + -0.08583664894104004 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "descend and make contact", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2857917547225952, + 0.08868412673473358, + 0.07350204885005951, + -2.9456074237823486, + -0.45896559953689575, + -0.05144032463431358 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28913477063179016, + 0.09308837354183197, + 0.06664199382066727, + -2.9567387104034424, + -0.4698115885257721, + -0.029682325199246407 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944365441799164, + 0.09793397784233093, + 0.06360925734043121, + -2.959994316101074, + -0.4882339537143707, + -0.014322777278721333 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29751506447792053, + 0.10123081505298615, + 0.05846825987100601, + -2.9704995155334473, + -0.49756792187690735, + 0.007000575307756662 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 10 cm, close gripper; then move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30284246802330017, + 0.10689304769039154, + 0.058593202382326126, + -2.96077561378479, + -0.5093099474906921, + 0.008686880581080914 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the small yellow block on the table, with the gripper fully open. The approach phase is complete, and the arm is now descending to make physical contact with the block. Since there is no gripper closing evidence, the immediate next action is to continue lowering the arm until the gripper touches the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 10 cm, keep gripper closed; then move forward 3 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043362498283386, + 0.11047673225402832, + 0.05217275768518448, + -2.969650983810425, + -0.4990764558315277, + 0.028431545943021774 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 11 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30403226613998413, + 0.11290576308965683, + 0.050852421671152115, + -2.9703962802886963, + -0.49795830249786377, + 0.040480975061655045 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 11 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3038053512573242, + 0.11283290386199951, + 0.050706714391708374, + -2.9802305698394775, + -0.4990415573120117, + 0.055416740477085114 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 11 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30378493666648865, + 0.11484811455011368, + 0.06292568892240524, + -3.0062971115112305, + -0.4813329875469208, + 0.0735967680811882 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3075607120990753, + 0.11541860550642014, + 0.0991133451461792, + -3.0249905586242676, + -0.5157225728034973, + 0.08295947313308716 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 6, + 995, + 993 + ], + "table leg": [ + 40, + 638, + 106, + 783 + ], + "black cabinet": [ + 743, + 2, + 916, + 179 + ], + "blue block": [ + 450, + 180, + 555, + 291 + ], + "yellow block": [ + 433, + 59, + 566, + 235 + ], + "green block": [ + 459, + 254, + 554, + 365 + ] + } + } + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, keep gripper closed; then move forward 4 cm, move right 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069485127925873, + 0.11579528450965881, + 0.13680116832256317, + -3.005849838256836, + -0.563072144985199, + 0.08098036795854568 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "grasp and lift small block", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 4 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3093116879463196, + 0.11224020272493362, + 0.15747418999671936, + -3.0009238719940186, + -0.5950692892074585, + 0.07618650048971176 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159702718257904, + 0.11010359227657318, + 0.17186780273914337, + -3.007246255874634, + -0.6094411611557007, + 0.06958260387182236 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3299640119075775, + 0.09807943552732468, + 0.17141039669513702, + -3.0279769897460938, + -0.5828379988670349, + 0.03285793215036392 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 5, + 995, + 994 + ], + "table leg": [ + 40, + 638, + 106, + 783 + ], + "black cabinet": [ + 743, + 2, + 917, + 179 + ], + "yellow block": [ + 431, + 60, + 565, + 235 + ], + "blue block": [ + 442, + 168, + 556, + 292 + ], + "green block": [ + 455, + 249, + 556, + 364 + ] + } + } + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33962520956993103, + 0.08954600989818573, + 0.16121388971805573, + -3.05686092376709, + -0.549899160861969, + 0.023217201232910156 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34407103061676025, + 0.0856519266963005, + 0.16045454144477844, + -3.058427333831787, + -0.5424277186393738, + 0.008253696374595165 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The gripper is in contact with the small yellow block on the table, having completed the approach and descent phases. Segment-level gripper evidence indicates a significant closing motion (delta ≈ -0.48), confirming the grasp is actively occurring. The next immediate action is to finalize the grip and lift the block vertically." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451218605041504, + 0.08482307940721512, + 0.15889689326286316, + -3.05930757522583, + -0.5394493937492371, + 0.005749802105128765 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467654287815094, + 0.07968558371067047, + 0.15853480994701385, + -3.06146240234375, + -0.5443395376205444, + -0.0026857273187488317 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34774279594421387, + 0.07408534735441208, + 0.15747182071208954, + -3.065458059310913, + -0.5414847731590271, + -0.009188394993543625 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470948040485382, + 0.07187782227993011, + 0.15642601251602173, + -3.0562145709991455, + -0.5357761979103088, + -0.017629381269216537 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3490957021713257, + 0.07174155116081238, + 0.14905886352062225, + -3.052156686782837, + -0.5252224206924438, + -0.020996397361159325 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3510247766971588, + 0.07254432141780853, + 0.141550675034523, + -3.0516421794891357, + -0.5109433531761169, + -0.02316863089799881 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35292720794677734, + 0.07284051924943924, + 0.14092010259628296, + -3.050152540206909, + -0.5154461860656738, + -0.025737477466464043 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "transport over target stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567015826702118, + 0.07153872400522232, + 0.14229756593704224, + -3.0507822036743164, + -0.5201383233070374, + -0.026821307837963104 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 6, + 995, + 993 + ], + "table leg": [ + 40, + 638, + 106, + 783 + ], + "black cabinet": [ + 744, + 2, + 916, + 179 + ] + } + } + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "place and release on stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583066761493683, + 0.0708821564912796, + 0.14223390817642212, + -3.0531084537506104, + -0.5188716053962708, + -0.024051744490861893 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "place and release on stack", + "subtask_reasoning": "The robot is currently transporting the small yellow block over the target stack, as indicated by the end-effector position above the table and the lack of gripper closure evidence. The block has already been grasped and lifted in previous steps. The next action is to continue moving toward the precise drop location above the taller yellow block stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3584076464176178, + 0.06983411312103271, + 0.14101216197013855, + -3.0618064403533936, + -0.5157557725906372, + -0.01585816591978073 + ], + "gripper_value": 0.9015869498252869 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "place and release on stack", + "subtask_reasoning": "The small yellow block is already placed on top of the larger yellow block stack, and the gripper is open (0.90), indicating release has occurred. The subtask is effectively complete; the next action is to retract the arm slightly to confirm stability and avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3580402731895447, + 0.07090534269809723, + 0.14060695469379425, + -3.053879499435425, + -0.5140262842178345, + -0.01791325770318508 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "place and release on stack", + "subtask_reasoning": "The small yellow block is already placed on top of the larger yellow block stack, and the gripper is open (0.90), indicating release has occurred. The subtask is effectively complete; the next action is to retract the arm slightly to confirm stability and avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574920892715454, + 0.07143130153417587, + 0.14034661650657654, + -3.0482277870178223, + -0.5097475051879883, + -0.02279757522046566 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "place and release on stack", + "subtask_reasoning": "The small yellow block is already placed on top of the larger yellow block stack, and the gripper is open (0.90), indicating release has occurred. The subtask is effectively complete; the next action is to retract the arm slightly to confirm stability and avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3519289195537567, + 0.06871211528778076, + 0.1577877253293991, + -3.0594403743743896, + -0.551586925983429, + -0.014864858239889145 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the small yellow block on top of the taller yellow block stack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach small yellow block" + }, + { + "id": 2, + "subtask": "descend and make contact" + }, + { + "id": 3, + "subtask": "grasp and lift small block" + }, + { + "id": 4, + "subtask": "transport over target stack" + }, + { + "id": 5, + "subtask": "place and release on stack" + } + ], + "subtask_name": "place and release on stack", + "subtask_reasoning": "The small yellow block is already placed on top of the larger yellow block stack, and the gripper is open (0.90), indicating release has occurred. The subtask is effectively complete; the next action is to retract the arm slightly to confirm stability and avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004212_ecot.json b/cot/chunk-0004/episode_0004212_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..de2b57b1b5895a363735cd0e632e2cd0980285ea --- /dev/null +++ b/cot/chunk-0004/episode_0004212_ecot.json @@ -0,0 +1,2089 @@ +{ + "task_name": "episode_0004212", + "episode_json": "json/chunk-0004/episode_0004212.json", + "video_path": "videos/chunk-0004/image_0/episode_0004212.mp4", + "instruction": "Push the pot to the left of the counter.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004212.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9479397535324097, + "std": 0.4311169683933258, + "delta_total": -0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94794, std=0.43112, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 109, + 109, + 109, + 109, + 9, + 9, + 9, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 224, + 224, + 224, + 224, + 224, + 224 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 12 + ], + [ + 3, + 13, + 15 + ], + [ + 4, + 16, + 23 + ], + [ + 5, + 24, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the pot while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 9, \"end\": 12, \"planning\": \"Complete gripper closure and secure hold on the pot as confirmed by segment-level closing evidence and visual alignment.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 13, \"end\": 15, \"planning\": \"Lift the pot slightly and begin moving it leftward across the counter surface.\"},\n {\"id\": 4, \"name\": \"place pot at target location\", \"start\": 16, \"end\": 23, \"planning\": \"Lower the pot onto the counter at the desired left position while gradually opening the gripper to release.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 24, \"end\": 29, \"planning\": \"Fully open gripper and move end-effector away from the pot to complete the task.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, reposition leftward, place, and retreat — executing a full pick-and-place maneuver to move the pot to the left side of the counter.\",\n \"notes\": \"Segment-level gripper evidence supports grasp/hold wording in segments 1–5 where closing/opening trends align with image observations. No hallucinated lifting or placing — all phases are grounded in observed motion and gripper state changes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the pot while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp pot", + "start": 9, + "end": 12, + "planning": "Complete gripper closure and secure hold on the pot as confirmed by segment-level closing evidence and visual alignment." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 13, + "end": 15, + "planning": "Lift the pot slightly and begin moving it leftward across the counter surface." + }, + { + "id": 4, + "name": "place pot at target location", + "start": 16, + "end": 23, + "planning": "Lower the pot onto the counter at the desired left position while gradually opening the gripper to release." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 24, + "end": 29, + "planning": "Fully open gripper and move end-effector away from the pot to complete the task." + } + ], + "global_plan": "Approach, grasp, lift, reposition leftward, place, and retreat — executing a full pick-and-place maneuver to move the pot to the left side of the counter.", + "notes": "Segment-level gripper evidence supports grasp/hold wording in segments 1–5 where closing/opening trends align with image observations. No hallucinated lifting or placing — all phases are grounded in observed motion and gripper state changes." + } + }, + "episode_goal": "Push the pot to the left of the counter.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2586888074874878, + -0.06425831466913223, + 0.08907162398099899, + -3.0642902851104736, + -0.1089126467704773, + 0.17709383368492126 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the counter with the gripper open, hovering near a white bone-shaped object rather than the target pot. No contact has been made yet, and the arm appears to be in the initial phase of locating or approaching the correct object. The next action should involve adjusting the arm's position to align with and approach the pot on the left side of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25815948843955994, + -0.06477314233779907, + 0.08086229115724564, + -3.0546717643737793, + -0.08228327333927155, + 0.17497654259204865 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the counter with the gripper open, hovering near a white bone-shaped object rather than the target pot. No contact has been made yet, and the arm appears to be in the initial phase of locating or approaching the correct object. The next action should involve adjusting the arm's position to align with and approach the pot on the left side of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2895611524581909, + -0.07739877700805664, + 0.06933502852916718, + -3.06872296333313, + -0.08041541278362274, + 0.14163514971733093 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white mushroom object": [ + 524, + 565, + 658, + 811 + ], + "yellow can": [ + 729, + 129, + 876, + 333 + ], + "blue chair": [ + 3, + 605, + 378, + 994 + ], + "toy microwave": [ + 242, + 3, + 619, + 239 + ], + "blue napkin": [ + 204, + 370, + 479, + 640 + ], + "yellow peeler": [ + 181, + 365, + 408, + 630 + ], + "toy stove": [ + 653, + 167, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the counter with the gripper open, hovering near a white bone-shaped object rather than the target pot. No contact has been made yet, and the arm appears to be in the initial phase of locating or approaching the correct object. The next action should involve adjusting the arm's position to align with and approach the pot on the left side of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31245216727256775, + -0.0774863064289093, + 0.06372001767158508, + -3.084930658340454, + -0.094852976500988, + 0.1583743691444397 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the counter with the gripper open, hovering near a white bone-shaped object rather than the target pot. No contact has been made yet, and the arm appears to be in the initial phase of locating or approaching the correct object. The next action should involve adjusting the arm's position to align with and approach the pot on the left side of the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.340402752161026, + -0.08174195885658264, + 0.049377892166376114, + -3.1010055541992188, + -0.07324063777923584, + 0.12940354645252228 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the counter with the pot visible nearby, but no contact has been made yet. The gripper remains open and no grasping motion is evident in this segment. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, close gripper; then move back 1 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35911181569099426, + -0.08386137336492538, + 0.04338451847434044, + -3.0821986198425293, + -0.05996380001306534, + 0.09380998462438583 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the counter with the pot visible nearby, but no contact has been made yet. The gripper remains open and no grasping motion is evident in this segment. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move back 1 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37570685148239136, + -0.08074506372213364, + 0.03552432730793953, + -3.073092222213745, + -0.04190277308225632, + 0.07170920819044113 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the counter with the pot visible nearby, but no contact has been made yet. The gripper remains open and no grasping motion is evident in this segment. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38036686182022095, + -0.07834416627883911, + 0.03191107511520386, + -3.0679686069488525, + -0.03636571019887924, + 0.06920040398836136 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the counter with the pot visible nearby, but no contact has been made yet. The gripper remains open and no grasping motion is evident in this segment. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3801814317703247, + -0.07948912680149078, + 0.02869447134435177, + -3.0754990577697754, + -0.036311980336904526, + 0.06127282232046127 + ], + "gripper_value": 0.6902000904083252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the counter with the pot visible nearby, but no contact has been made yet. The gripper remains open and no grasping motion is evident in this segment. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3781684935092926, + -0.07932548224925995, + 0.02592635154724121, + -3.0798444747924805, + -0.03118635155260563, + 0.05757205933332443 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the counter with the pot visible nearby, but no contact has been made yet. The gripper remains open and no grasping motion is evident in this segment. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3757491111755371, + -0.07808081060647964, + 0.023464201018214226, + -3.087939500808716, + -0.020608093589544296, + 0.06816863268613815 + ], + "gripper_value": 0.16866940259933472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot on the counter, having completed the approach phase. The gripper is currently open and aligned with the pot's handle, ready to initiate contact. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3742591440677643, + -0.07662005722522736, + 0.025718064978718758, + -3.0965850353240967, + -0.008824676275253296, + 0.060446325689554214 + ], + "gripper_value": 0.08022117614746094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot on the counter, having completed the approach phase. The gripper is currently open and aligned with the pot's handle, ready to initiate contact. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3773540258407593, + -0.0623534731566906, + 0.057204969227313995, + -3.133434295654297, + -0.05800541862845421, + 0.09261330217123032 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot on the counter, having completed the approach phase. The gripper is currently open and aligned with the pot's handle, ready to initiate contact. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37077006697654724, + -0.03493126481771469, + 0.09499931335449219, + 3.115614891052246, + -0.11369917541742325, + 0.1536787897348404 + ], + "gripper_value": 0.061516307294368744 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot on the counter, having completed the approach phase. The gripper is currently open and aligned with the pot's handle, ready to initiate contact. The next action is to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646485507488251, + 0.007714469917118549, + 0.10716571658849716, + 3.1224796772003174, + -0.11815574765205383, + 0.20403064787387848 + ], + "gripper_value": 0.061516307294368744 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The pot is currently lifted above the counter, having been grasped in the previous step. The gripper remains closed with minimal variation, indicating a stable hold during repositioning. The next action is to move the pot leftward toward the target location on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.361398845911026, + 0.053247567266225815, + 0.10479269921779633, + 3.136002540588379, + -0.11523105204105377, + 0.26384469866752625 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white mushroom object": [ + 523, + 554, + 659, + 812 + ], + "blue chair": [ + 3, + 603, + 394, + 995 + ], + "blue napkin": [ + 227, + 370, + 480, + 639 + ], + "yellow peeler": [ + 180, + 369, + 406, + 629 + ], + "toy microwave": [ + 245, + 2, + 637, + 237 + ] + } + } + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The pot is currently lifted above the counter, having been grasped in the previous step. The gripper remains closed with minimal variation, indicating a stable hold during repositioning. The next action is to move the pot leftward toward the target location on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642753064632416, + 0.09016993641853333, + 0.08899316936731339, + -3.13478684425354, + -0.09916287660598755, + 0.3213494122028351 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target location", + "subtask_reasoning": "The pot is currently lifted above the counter, having been grasped in the previous step. The gripper remains closed with minimal variation, indicating a stable hold during repositioning. The next action is to move the pot leftward toward the target location on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3703203797340393, + 0.11306044459342957, + 0.07558848708868027, + -3.112661838531494, + -0.10757191479206085, + 0.3671526312828064 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target location", + "subtask_reasoning": "The pot is currently lifted above the counter, having been grasped in the previous step. The gripper remains closed with minimal variation, indicating a stable hold during repositioning. The next action is to move the pot leftward toward the target location on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, open gripper; then move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37727195024490356, + 0.13256752490997314, + 0.06668201833963394, + -3.087273359298706, + -0.1314154416322708, + 0.4094647467136383 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target location", + "subtask_reasoning": "The pot is currently lifted above the counter, having been grasped in the previous step. The gripper remains closed with minimal variation, indicating a stable hold during repositioning. The next action is to move the pot leftward toward the target location on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, open gripper; then move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3782949149608612, + 0.143618643283844, + 0.05669369176030159, + -3.076763391494751, + -0.1362738311290741, + 0.4498916566371918 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target location", + "subtask_reasoning": "The pot has been lifted and repositioned to the left side of the counter. The gripper is currently open and not in contact with the pot, indicating the placement action is complete. The next step is to retreat the end-effector away from the placed pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, open gripper; then move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37997201085090637, + 0.14538562297821045, + 0.05519510433077812, + -3.07688570022583, + -0.14840377867221832, + 0.4649234712123871 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target location", + "subtask_reasoning": "The pot has been lifted and repositioned to the left side of the counter. The gripper is currently open and not in contact with the pot, indicating the placement action is complete. The next step is to retreat the end-effector away from the placed pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37753036618232727, + 0.15641438961029053, + 0.05360185354948044, + -3.072100877761841, + -0.16686953604221344, + 0.49246853590011597 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target location", + "subtask_reasoning": "The pot has been lifted and repositioned to the left side of the counter. The gripper is currently open and not in contact with the pot, indicating the placement action is complete. The next step is to retreat the end-effector away from the placed pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3746051490306854, + 0.15832966566085815, + 0.0528515949845314, + -3.0759799480438232, + -0.15257227420806885, + 0.4749804139137268 + ], + "gripper_value": 0.21856790781021118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target location", + "subtask_reasoning": "The pot has been lifted and repositioned to the left side of the counter. The gripper is currently open and not in contact with the pot, indicating the placement action is complete. The next step is to retreat the end-effector away from the placed pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.366639107465744, + 0.15698659420013428, + 0.053081199526786804, + -3.030838966369629, + -0.10384022444486618, + 0.43864941596984863 + ], + "gripper_value": 0.4699908196926117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target location", + "subtask_reasoning": "The pot has been lifted and repositioned to the left side of the counter. The gripper is currently open and not in contact with the pot, indicating the placement action is complete. The next step is to retreat the end-effector away from the placed pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36992231011390686, + 0.1458994597196579, + 0.0634862408041954, + -3.0518910884857178, + -0.08147508651018143, + 0.36837297677993774 + ], + "gripper_value": 0.7691487669944763 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white mushroom object": [ + 523, + 553, + 659, + 812 + ], + "blue chair": [ + 4, + 605, + 370, + 994 + ], + "toy microwave": [ + 316, + 3, + 643, + 238 + ], + "yellow peeler": [ + 181, + 369, + 406, + 628 + ], + "blue napkin": [ + 233, + 370, + 478, + 639 + ], + "toy stove": [ + 649, + 171, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been lifted and repositioned to the left side of the counter. The gripper is currently open and not in contact with the pot, indicating the placement action is complete. The next step is to retreat the end-effector away from the placed pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36861270666122437, + 0.13540002703666687, + 0.07970325648784637, + -3.104945421218872, + -0.07807746529579163, + 0.2830987870693207 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been lifted and repositioned to the left side of the counter. The gripper is currently open and not in contact with the pot, indicating the placement action is complete. The next step is to retreat the end-effector away from the placed pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646666407585144, + 0.12835298478603363, + 0.08963624387979507, + -3.1330275535583496, + -0.08548779785633087, + 0.2226068675518036 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned to the left side of the counter and is now stationary. The robot's gripper is open and the end-effector is positioned above the counter, indicating the release is complete. The next action is to continue retreating the arm away from the workspace to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36537688970565796, + 0.12789395451545715, + 0.09027496725320816, + -3.136569023132324, + -0.09054713696241379, + 0.2213202267885208 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned to the left side of the counter and is now stationary. The robot's gripper is open and the end-effector is positioned above the counter, indicating the release is complete. The next action is to continue retreating the arm away from the workspace to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36537688970565796, + 0.12789395451545715, + 0.09027496725320816, + -3.136429786682129, + -0.09053932130336761, + 0.21977996826171875 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned to the left side of the counter and is now stationary. The robot's gripper is open and the end-effector is positioned above the counter, indicating the release is complete. The next action is to continue retreating the arm away from the workspace to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36537688970565796, + 0.12789395451545715, + 0.09027496725320816, + -3.1367082595825195, + -0.09055473655462265, + 0.22286050021648407 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the pot to the left of the counter." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned to the left side of the counter and is now stationary. The robot's gripper is open and the end-effector is positioned above the counter, indicating the release is complete. The next action is to continue retreating the arm away from the workspace to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004213_ecot.json b/cot/chunk-0004/episode_0004213_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..70fdffa0d8adae118e432b1fe6cec5b501da41d4 --- /dev/null +++ b/cot/chunk-0004/episode_0004213_ecot.json @@ -0,0 +1,5559 @@ +{ + "task_name": "episode_0004213", + "episode_json": "json/chunk-0004/episode_0004213.json", + "video_path": "videos/chunk-0004/image_0/episode_0004213.mp4", + "instruction": "Put cauliflower on plate and pickle in pot or pan in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 75, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004213.json" + }, + "fps": 5.0, + "T_eff": 75, + "gripper_behavior_summary": { + "available": true, + "range": 0.710700511932373, + "std": 0.24053780734539032, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71070, std=0.24054, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 160, + 360, + 360, + 360, + 160, + 160, + 460, + 460, + 460, + 460, + 470, + 470, + 470, + 470, + 470 + ], + "seg_spans": [ + [ + 1, + 0, + 34 + ], + [ + 2, + 35, + 38 + ], + [ + 3, + 39, + 59 + ], + [ + 4, + 60, + 60 + ], + [ + 5, + 61, + 63 + ], + [ + 6, + 64, + 65 + ], + [ + 7, + 66, + 69 + ], + [ + 8, + 70, + 74 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cauliflower\", \"start\": 0, \"end\": 34, \"planning\": \"Move to the cauliflower on the stove, close gripper to grasp it, and lift slightly while repositioning.\"},\n {\"id\": 2, \"name\": \"transport cauliflower to plate\", \"start\": 35, \"end\": 38, \"planning\": \"Carry the grasped cauliflower from the stove area toward the sink where the plate is located.\"},\n {\"id\": 3, \"name\": \"place cauliflower on plate\", \"start\": 39, \"end\": 59, \"planning\": \"Lower the cauliflower over the plate in the sink and release grip to place it down.\"},\n {\"id\": 4, \"name\": \"retreat and reposition for pickle\", \"start\": 60, \"end\": 60, \"planning\": \"Lift gripper and move away from the plate to prepare for approaching the pickle.\"},\n {\"id\": 5, \"name\": \"approach and contact pickle\", \"start\": 61, \"end\": 65, \"planning\": \"Move to the pickle beside the stove and make contact without full grasp, preparing to nudge or slide it.\"},\n {\"id\": 6, \"name\": \"nudge pickle into pot\", \"start\": 66, \"end\": 69, \"planning\": \"Push or slide the pickle from the counter into the pot or pan located in the sink.\"},\n {\"id\": 7, \"name\": \"verify placement and retreat\", \"start\": 70, \"end\": 74, \"planning\": \"Confirm pickle is in the pot, open gripper fully, and retract arm to complete the task.\"}\n ],\n \"global_plan\": \"First, grasp and place the cauliflower onto the plate in the sink; then approach, nudge, and deposit the pickle into the pot or pan also in the sink.\",\n \"notes\": \"Segment 6 (frames 64-65) shows no meaningful gripper closing — described as 'contact' not 'grasp'. Segment 8 shows gripper opening after interaction, consistent with releasing or verifying placement. All segments are covered contiguously from 0 to 74.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cauliflower", + "start": 0, + "end": 34, + "planning": "Move to the cauliflower on the stove, close gripper to grasp it, and lift slightly while repositioning." + }, + { + "id": 2, + "name": "transport cauliflower to plate", + "start": 35, + "end": 38, + "planning": "Carry the grasped cauliflower from the stove area toward the sink where the plate is located." + }, + { + "id": 3, + "name": "place cauliflower on plate", + "start": 39, + "end": 59, + "planning": "Lower the cauliflower over the plate in the sink and release grip to place it down." + }, + { + "id": 4, + "name": "retreat and reposition for pickle", + "start": 60, + "end": 60, + "planning": "Lift gripper and move away from the plate to prepare for approaching the pickle." + }, + { + "id": 5, + "name": "approach and contact pickle", + "start": 61, + "end": 65, + "planning": "Move to the pickle beside the stove and make contact without full grasp, preparing to nudge or slide it." + }, + { + "id": 6, + "name": "nudge pickle into pot", + "start": 66, + "end": 69, + "planning": "Push or slide the pickle from the counter into the pot or pan located in the sink." + }, + { + "id": 7, + "name": "verify placement and retreat", + "start": 70, + "end": 74, + "planning": "Confirm pickle is in the pot, open gripper fully, and retract arm to complete the task." + } + ], + "global_plan": "First, grasp and place the cauliflower onto the plate in the sink; then approach, nudge, and deposit the pickle into the pot or pan also in the sink.", + "notes": "Segment 6 (frames 64-65) shows no meaningful gripper closing — described as 'contact' not 'grasp'. Segment 8 shows gripper opening after interaction, consistent with releasing or verifying placement. All segments are covered contiguously from 0 to 74." + } + }, + "episode_goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31114622950553894, + -0.06363425403833389, + 0.15082009136676788, + -3.0718626976013184, + -0.19538109004497528, + -0.07522685825824738 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3088313043117523, + -0.06309089809656143, + 0.13887736201286316, + -3.0667765140533447, + -0.16242213547229767, + -0.07244639098644257 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3140822947025299, + -0.0651160478591919, + 0.13036227226257324, + -3.067720413208008, + -0.19015724956989288, + -0.06973705440759659 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31938132643699646, + -0.06745236366987228, + 0.11748969554901123, + -3.0730981826782227, + -0.21677394211292267, + -0.06788087636232376 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3239718973636627, + -0.06880751252174377, + 0.09960174560546875, + -3.0798144340515137, + -0.23572178184986115, + -0.07079469412565231 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32829171419143677, + -0.07023561745882034, + 0.08587311953306198, + -3.0829415321350098, + -0.262524276971817, + -0.06165064126253128 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3241959512233734, + -0.0718732550740242, + 0.07807759195566177, + -3.0699682235717773, + -0.2667091488838196, + -0.0333985835313797 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131500780582428, + -0.07474417984485626, + 0.06499625742435455, + -3.055053472518921, + -0.26296377182006836, + -0.011245434172451496 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2983301877975464, + -0.0774264857172966, + 0.0489485003054142, + -3.0513956546783447, + -0.25199827551841736, + 0.0014342042850330472 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 69, + 314, + 266, + 544 + ], + "faucet": [ + 123, + 3, + 259, + 179 + ], + "cucumber": [ + 213, + 388, + 344, + 542 + ], + "green pot": [ + 375, + 212, + 584, + 399 + ] + } + } + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2935612201690674, + -0.0830225944519043, + 0.04117659106850624, + -3.064363718032837, + -0.2737744152545929, + 0.0044593350030481815 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 69, + 314, + 266, + 544 + ], + "faucet": [ + 122, + 3, + 259, + 179 + ], + "cucumber": [ + 213, + 388, + 344, + 542 + ] + } + } + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3025120794773102, + -0.08708030730485916, + 0.04139869287610054, + -3.093151330947876, + -0.32591554522514343, + -0.015037226490676403 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.311340868473053, + -0.08088027685880661, + 0.038048937916755676, + -3.10141658782959, + -0.34672510623931885, + -0.05834626778960228 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3132476806640625, + -0.07945415377616882, + 0.038754597306251526, + -3.0970053672790527, + -0.3425273597240448, + -0.07985276728868484 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3195624053478241, + -0.08018889278173447, + 0.04044131189584732, + -3.097139835357666, + -0.3746068477630615, + -0.09226933121681213 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250054717063904, + -0.08230186253786087, + 0.04044489935040474, + -3.0999295711517334, + -0.4025596082210541, + -0.10603061318397522 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324185013771057, + -0.08420251309871674, + 0.04051756113767624, + -3.1080169677734375, + -0.4256751239299774, + -0.13079850375652313 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3372451364994049, + -0.08398237824440002, + 0.040654681622982025, + -3.107959270477295, + -0.392289400100708, + -0.14264266192913055 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3354407846927643, + -0.08361214399337769, + 0.04618058353662491, + -3.111598014831543, + -0.32408493757247925, + -0.12363364547491074 + ], + "gripper_value": 0.6279802918434143 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33290359377861023, + -0.08294167369604111, + 0.04701509699225426, + -3.1073999404907227, + -0.29637303948402405, + -0.1249830424785614 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33091989159584045, + -0.08358134329319, + 0.046422362327575684, + -3.112236499786377, + -0.2838137447834015, + -0.12758322060108185 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3220956027507782, + -0.08097364008426666, + 0.05900853872299194, + -3.101607322692871, + -0.2549988329410553, + -0.14002275466918945 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 15 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3112611770629883, + -0.07551076263189316, + 0.07232748717069626, + -3.086764097213745, + -0.20458050072193146, + -0.15056893229484558 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 15 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30984020233154297, + -0.07441236823797226, + 0.08055669814348221, + -3.078376531600952, + -0.16718047857284546, + -0.1469828337430954 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 14 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31098872423171997, + -0.07048287242650986, + 0.08627653867006302, + -3.082695245742798, + -0.14792874455451965, + -0.16027475893497467 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 14 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214395344257355, + -0.050924092531204224, + 0.09844964742660522, + -3.1022748947143555, + -0.16627107560634613, + -0.20958825945854187 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333776891231537, + -0.023764584213495255, + 0.10522347688674927, + -3.103327989578247, + -0.20513677597045898, + -0.2624484598636627 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 70, + 315, + 266, + 542 + ], + "cucumber": [ + 214, + 388, + 344, + 542 + ], + "faucet": [ + 124, + 3, + 260, + 179 + ] + } + } + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436168432235718, + 0.004150646273046732, + 0.10460351407527924, + -3.1052756309509277, + -0.264090359210968, + -0.3178046643733978 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3523629307746887, + 0.028088809922337532, + 0.0976952612400055, + -3.11352276802063, + -0.29313281178474426, + -0.36749592423439026 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35675397515296936, + 0.04701382666826248, + 0.08726394176483154, + -3.1226613521575928, + -0.31145063042640686, + -0.3918636739253998 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 70, + 315, + 266, + 542 + ], + "faucet": [ + 123, + 3, + 260, + 179 + ], + "cucumber": [ + 214, + 388, + 344, + 542 + ], + "green pot": [ + 374, + 186, + 586, + 392 + ] + } + } + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603023290634155, + 0.060921378433704376, + 0.08260823786258698, + -3.1132564544677734, + -0.3439302146434784, + -0.41923877596855164 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3604878783226013, + 0.07158166915178299, + 0.0795753225684166, + -3.111443519592285, + -0.3601892292499542, + -0.4352733790874481 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3645074963569641, + 0.07240890711545944, + 0.0761571153998375, + -3.0982799530029297, + -0.3741435408592224, + -0.436711847782135 + ], + "gripper_value": 0.7368898391723633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3623972535133362, + 0.07050900906324387, + 0.07303613424301147, + -3.097405433654785, + -0.36043480038642883, + -0.43073272705078125 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3553123474121094, + 0.06694073230028152, + 0.07059469074010849, + -3.127171516418457, + -0.3165174722671509, + -0.42273154854774475 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, and the cauliflower is visible on the right burner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the cauliflower to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3536407947540283, + 0.06608936190605164, + 0.0764218345284462, + -3.1361663341522217, + -0.27492690086364746, + -0.43182218074798584 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and grasp cauliflower", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 5 cm, move left 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533146381378174, + 0.06707347929477692, + 0.08341160416603088, + 3.136148691177368, + -0.2527870237827301, + -0.44191670417785645 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "transport cauliflower to plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 35, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3518125116825104, + 0.07415243238210678, + 0.09061747789382935, + 3.1223063468933105, + -0.23967590928077698, + -0.44393888115882874 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "transport cauliflower to plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 8 cm, move left 7 cm, move down 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 35, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473894000053406, + 0.08012594282627106, + 0.09660708159208298, + 3.1101772785186768, + -0.21311898529529572, + -0.4668705463409424 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "transport cauliflower to plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 8 cm, move left 7 cm, move down 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 35, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.34354573488235474, + 0.0847594290971756, + 0.10944292694330215, + 3.1404902935028076, + -0.15868599712848663, + -0.5056775212287903 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "transport cauliflower to plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 9 cm, move left 7 cm, move down 5 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 35, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.34298887848854065, + 0.08398666977882385, + 0.11261451244354248, + -3.1394548416137695, + -0.16204999387264252, + -0.5082770586013794 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 6 cm, move down 5 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.34298887848854065, + 0.08398666977882385, + 0.11261451244354248, + -3.1394548416137695, + -0.16204999387264252, + -0.5082770586013794 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 6 cm, move down 6 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.34390559792518616, + 0.08321429789066315, + 0.11176121979951859, + -3.13832950592041, + -0.171156644821167, + -0.513832151889801 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3285892605781555, + 0.0947374626994133, + 0.11216913163661957, + -3.0980067253112793, + -0.2522762417793274, + -0.5269404053688049 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3100620210170746, + 0.11687574535608292, + 0.11342570930719376, + -3.0300791263580322, + -0.28683754801750183, + -0.4978041648864746 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.29709652066230774, + 0.128450408577919, + 0.11178433150053024, + -2.964038372039795, + -0.3115939497947693, + -0.4998694360256195 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 70, + 315, + 266, + 543 + ], + "cucumber": [ + 213, + 388, + 343, + 542 + ], + "green pot": [ + 373, + 212, + 585, + 397 + ] + } + } + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.28231579065322876, + 0.13962498307228088, + 0.10419230908155441, + -2.9093127250671387, + -0.3228203058242798, + -0.47323355078697205 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2677116394042969, + 0.14986726641654968, + 0.0917283371090889, + -2.8819077014923096, + -0.30653223395347595, + -0.39230936765670776 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 70, + 314, + 267, + 544 + ], + "cucumber": [ + 214, + 388, + 343, + 542 + ], + "green pot": [ + 373, + 212, + 586, + 398 + ] + } + } + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.25814610719680786, + 0.1511487513780594, + 0.07900679856538773, + -2.8762736320495605, + -0.29996630549430847, + -0.31919458508491516 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2496313452720642, + 0.15015485882759094, + 0.0671030804514885, + -2.8752036094665527, + -0.30537861585617065, + -0.28046274185180664 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned above the stove where the cauliflower rests, with the gripper currently open. No part of the subtask has been completed yet as the object has not been secured. The next immediate action is to lower the gripper and close it to grasp the cauliflower." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.24488648772239685, + 0.14641202986240387, + 0.0595988854765892, + -2.8918941020965576, + -0.3196663558483124, + -0.24627140164375305 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.24444296956062317, + 0.14084988832473755, + 0.056311190128326416, + -2.9163379669189453, + -0.3361443877220154, + -0.2279885858297348 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.25106295943260193, + 0.1338048279285431, + 0.05065680667757988, + -2.9468047618865967, + -0.3629609942436218, + -0.24033528566360474 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.25370025634765625, + 0.12834948301315308, + 0.04202859848737717, + -2.9809179306030273, + -0.3615013659000397, + -0.24238388240337372 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.26171189546585083, + 0.1259022206068039, + 0.0373692624270916, + -2.9754371643066406, + -0.3889135718345642, + -0.2514187693595886 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then keep gripper closed; then move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650989890098572, + 0.12455615401268005, + 0.03456650674343109, + -2.9761924743652344, + -0.40544092655181885, + -0.25784653425216675 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then keep gripper closed; then move left 4 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666807472705841, + 0.12231840193271637, + 0.03127695620059967, + -2.989311695098877, + -0.4141497015953064, + -0.2684406638145447 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move left 6 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.2676750421524048, + 0.12125162780284882, + 0.025607939809560776, + -3.007970094680786, + -0.42039114236831665, + -0.2630786895751953 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, keep gripper closed; then keep gripper closed; then move forward 1 cm, move left 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.26918697357177734, + 0.12387903034687042, + 0.021918965503573418, + -3.01157546043396, + -0.43603262305259705, + -0.2524568438529968 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, keep gripper closed; then keep gripper closed; then move forward 1 cm, move left 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707962393760681, + 0.12296577543020248, + 0.02065993659198284, + -3.017758846282959, + -0.44367361068725586, + -0.26027148962020874 + ], + "gripper_value": 0.9141042232513428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, keep gripper closed; then keep gripper closed; then move forward 1 cm, move left 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.2693762481212616, + 0.1199871301651001, + 0.019873499870300293, + -3.057246208190918, + -0.42349085211753845, + -0.2423660159111023 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "place cauliflower on plate", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, indicating the cauliflower has not yet been placed on the plate. The subtask requires moving to the sink area where the plate is located. The next action is to navigate the arm towards the sink to position the cauliflower over the plate for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move forward 1 cm, move left 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 5 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 59 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.2672039270401001, + 0.11562573164701462, + 0.021158557385206223, + -3.118652820587158, + -0.38433876633644104, + -0.23389597237110138 + ], + "gripper_value": 0.34288913011550903 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "retreat and reposition for pickle", + "subtask_reasoning": "The cauliflower has been successfully placed on the plate in the sink. The robot arm is currently retreating from the stove area, moving away from the completed task location. The next action is to reposition towards the sink to locate and interact with the pickle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 60, + "end": 60 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643923759460449, + 0.11247894167900085, + 0.02262279950082302, + 3.129354476928711, + -0.3315136730670929, + -0.21508674323558807 + ], + "gripper_value": 0.2920950949192047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and contact pickle", + "subtask_reasoning": "The cauliflower has been successfully placed on the plate in the sink. The robot arm is currently retreating from the stove area, moving away from the completed task location. The next action is to reposition towards the sink to locate and interact with the pickle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 61, + "end": 65 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659469246864319, + 0.11369218677282333, + 0.02869213931262493, + 3.115108013153076, + -0.30958375334739685, + -0.23714838922023773 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and contact pickle", + "subtask_reasoning": "The cauliflower has been successfully placed on the plate in the sink. The robot arm is currently retreating from the stove area, moving away from the completed task location. The next action is to reposition towards the sink to locate and interact with the pickle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 61, + "end": 65 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.26729685068130493, + 0.12615966796875, + 0.05262027308344841, + 3.139958620071411, + -0.310392290353775, + -0.2685999870300293 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and contact pickle", + "subtask_reasoning": "The cauliflower has been successfully placed on the plate in the sink. The robot arm is currently retreating from the stove area, moving away from the completed task location. The next action is to reposition towards the sink to locate and interact with the pickle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, keep gripper closed; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 61, + "end": 65 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.26917120814323425, + 0.15274673700332642, + 0.06972300261259079, + -3.107513189315796, + -0.3245135545730591, + -0.31532832980155945 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 69, + 321, + 266, + 543 + ], + "green pot": [ + 373, + 212, + 584, + 401 + ], + "cucumber": [ + 126, + 318, + 246, + 412 + ] + } + } + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and contact pickle", + "subtask_reasoning": "The cauliflower has been successfully placed on the plate in the sink. The robot arm is currently retreating from the stove area, moving away from the completed task location. The next action is to reposition towards the sink to locate and interact with the pickle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, keep gripper closed; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 61, + "end": 65 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.27162063121795654, + 0.17417795956134796, + 0.06436596810817719, + -3.1295547485351562, + -0.3456178307533264, + -0.3340132236480713 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 69, + 331, + 266, + 538 + ] + } + } + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "approach and contact pickle", + "subtask_reasoning": "The cauliflower has been successfully placed on the plate in the sink. The robot arm is currently retreating from the stove area, moving away from the completed task location. The next action is to reposition towards the sink to locate and interact with the pickle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper closed; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 61, + "end": 65 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734421193599701, + 0.19640494883060455, + 0.04837856814265251, + 3.1319987773895264, + -0.38284915685653687, + -0.3552453815937042 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "nudge pickle into pot", + "subtask_reasoning": "The cauliflower has been successfully placed on the plate in the sink. The robot arm is currently retreating from the stove area, moving away from the completed task location. The next action is to reposition towards the sink to locate and interact with the pickle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 60 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 66, + "end": 69 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738882899284363, + 0.21213358640670776, + 0.03160281851887703, + 3.1150193214416504, + -0.42797133326530457, + -0.37050166726112366 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "nudge pickle into pot", + "subtask_reasoning": "The robot arm is positioned over the stove where the pot is located, but the pickle is not visible in the current frame, suggesting it may still be in the sink area. The gripper is slightly open, indicating readiness to interact. The next action should involve moving the arm towards the sink to locate and nudge the pickle into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, open gripper; then move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 66, + "end": 69 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771989107131958, + 0.2232307493686676, + 0.007760841865092516, + 3.0891711711883545, + -0.4749298691749573, + -0.38720688223838806 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "nudge pickle into pot", + "subtask_reasoning": "The robot arm is positioned over the stove where the pot is located, but the pickle is not visible in the current frame, suggesting it may still be in the sink area. The gripper is slightly open, indicating readiness to interact. The next action should involve moving the arm towards the sink to locate and nudge the pickle into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 66, + "end": 69 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.281329482793808, + 0.22668775916099548, + -0.0027686108369380236, + 3.0713064670562744, + -0.500199019908905, + -0.38651928305625916 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "nudge pickle into pot", + "subtask_reasoning": "The robot arm is positioned over the stove where the pot is located, but the pickle is not visible in the current frame, suggesting it may still be in the sink area. The gripper is slightly open, indicating readiness to interact. The next action should involve moving the arm towards the sink to locate and nudge the pickle into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 69 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 66, + "end": 69 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.2773852050304413, + 0.2208613157272339, + -0.00658938055858016, + 3.035569906234741, + -0.4837113618850708, + -0.3589825928211212 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "verify placement and retreat", + "subtask_reasoning": "The robot arm is positioned over the stove where the pot is located, but the pickle is not visible in the current frame, suggesting it may still be in the sink area. The gripper is slightly open, indicating readiness to interact. The next action should involve moving the arm towards the sink to locate and nudge the pickle into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 70, + "end": 74 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.27615365386009216, + 0.21816815435886383, + 0.003239512210711837, + 3.0257413387298584, + -0.4592858552932739, + -0.3493257761001587 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "verify placement and retreat", + "subtask_reasoning": "The robot arm is positioned over the stove where the pot is located, but the pickle is not visible in the current frame, suggesting it may still be in the sink area. The gripper is slightly open, indicating readiness to interact. The next action should involve moving the arm towards the sink to locate and nudge the pickle into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 70, + "end": 74 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753456234931946, + 0.21433347463607788, + 0.015495571307837963, + 3.0224268436431885, + -0.43331167101860046, + -0.3489904999732971 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "verify placement and retreat", + "subtask_reasoning": "The cauliflower has been placed on the plate in the sink, and the gripper is now open and retreating. The current subtask involves confirming successful placement and moving away to prepare for the next action. No further contact with the cauliflower is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 70, + "end": 74 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.27440449595451355, + 0.21200862526893616, + 0.04163557291030884, + 3.050905704498291, + -0.3964769244194031, + -0.356428861618042 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "verify placement and retreat", + "subtask_reasoning": "The cauliflower has been placed on the plate in the sink, and the gripper is now open and retreating. The current subtask involves confirming successful placement and moving away to prepare for the next action. No further contact with the cauliflower is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 70, + "end": 74 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.2743563950061798, + 0.20908871293067932, + 0.07017484307289124, + 3.07490873336792, + -0.34303516149520874, + -0.35028016567230225 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cauliflower on the plate and put the pickle in the pot in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cauliflower" + }, + { + "id": 2, + "subtask": "transport cauliflower to plate" + }, + { + "id": 3, + "subtask": "place cauliflower on plate" + }, + { + "id": 4, + "subtask": "retreat and reposition for pickle" + }, + { + "id": 5, + "subtask": "approach and contact pickle" + }, + { + "id": 6, + "subtask": "nudge pickle into pot" + }, + { + "id": 7, + "subtask": "verify placement and retreat" + } + ], + "subtask_name": "verify placement and retreat", + "subtask_reasoning": "The cauliflower has been placed on the plate in the sink, and the gripper is now open and retreating. The current subtask involves confirming successful placement and moving away to prepare for the next action. No further contact with the cauliflower is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 70, + "end": 74 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004214_ecot.json b/cot/chunk-0004/episode_0004214_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..20e22d48b2c6fd46084dbda1f7d2059be58b0003 --- /dev/null +++ b/cot/chunk-0004/episode_0004214_ecot.json @@ -0,0 +1,1210 @@ +{ + "task_name": "episode_0004214", + "episode_json": "json/chunk-0004/episode_0004214.json", + "video_path": "videos/chunk-0004/image_0/episode_0004214.mp4", + "instruction": "Put green squash in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004214.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.17085623741149902, + "std": 0.08372171968221664, + "delta_total": -0.17085623741149902, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.17086, std=0.08372, total_delta=-0.17086). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green squash\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the green squash in the sink without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp green squash\", \"start\": 5, \"end\": 13, \"planning\": \"Close the gripper around the green squash and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"transport to pot\", \"start\": 14, \"end\": 19, \"planning\": \"Lift and move the grasped green squash from the sink toward the metal pot on the counter, maintaining grip throughout.\"}\n ],\n \"global_plan\": \"Approach the green squash in the sink, grasp it securely using the gripper (confirmed by segment 2’s closing signal and image evidence), then lift and transport it to the nearby metal pot for placement.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closing (delta=-0.17086) and visual confirmation of grasp at frame 13. Segment 3 maintains constant gripper value (0.83260) indicating held object during transport; no release occurs within this episode.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green squash", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the green squash in the sink without closing the gripper." + }, + { + "id": 2, + "name": "grasp green squash", + "start": 5, + "end": 13, + "planning": "Close the gripper around the green squash and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "transport to pot", + "start": 14, + "end": 19, + "planning": "Lift and move the grasped green squash from the sink toward the metal pot on the counter, maintaining grip throughout." + } + ], + "global_plan": "Approach the green squash in the sink, grasp it securely using the gripper (confirmed by segment 2’s closing signal and image evidence), then lift and transport it to the nearby metal pot for placement.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closing (delta=-0.17086) and visual confirmation of grasp at frame 13. Segment 3 maintains constant gripper value (0.83260) indicating held object during transport; no release occurs within this episode." + } + }, + "episode_goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33053699135780334, + 0.030900197103619576, + 0.0309256874024868, + -3.0690882205963135, + -0.146205335855484, + -0.18987351655960083 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and no closing signal is detected in this segment. The next action should be to continue moving the gripper closer to the green squash for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 5 cm, rotate clockwise 40 degrees, keep gripper open; then move back 2 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33276015520095825, + 0.031302183866500854, + 0.020052539184689522, + -3.0824079513549805, + -0.14189884066581726, + -0.12265521287918091 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and no closing signal is detected in this segment. The next action should be to continue moving the gripper closer to the green squash for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 4 cm, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3461059331893921, + 0.032877497375011444, + 0.012083292938768864, + -3.115556478500366, + -0.179682195186615, + 0.014002240262925625 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.357328325510025, + 0.04435335844755173, + 0.003167906543239951, + -3.122352361679077, + -0.2019776999950409, + 0.21042801439762115 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651255667209625, + 0.04651032015681267, + -0.005159791558980942, + -3.136927604675293, + -0.2303626537322998, + 0.3866349756717682 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "approach green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683561384677887, + 0.04466743394732475, + -0.0174192413687706, + 3.0941288471221924, + -0.2256985753774643, + 0.4674086272716522 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36747732758522034, + 0.05534377321600914, + -0.023965995758771896, + 3.0590460300445557, + -0.21174031496047974, + 0.5309670567512512 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643757104873657, + 0.050872672349214554, + -0.03044433891773224, + 3.017789125442505, + -0.19225622713565826, + 0.5651933550834656 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541746437549591, + 0.052180320024490356, + -0.044431477785110474, + 2.9788951873779297, + -0.18133044242858887, + 0.6012409925460815 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 71, + 159, + 176, + 281 + ], + "sink": [ + 146, + 230, + 677, + 671 + ], + "metal strainer": [ + 676, + 339, + 896, + 603 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the green squash among other vegetables. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the green squash to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3481976091861725, + 0.05164759233593941, + -0.05475187674164772, + 2.969571352005005, + -0.20445697009563446, + 0.6121947765350342 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned over the green squash in the sink, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the squash. The next action is to initiate the grasp by closing the gripper fingers around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3467795252799988, + 0.04915251582860947, + -0.06176598370075226, + 2.971562147140503, + -0.20101654529571533, + 0.6150377988815308 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned over the green squash in the sink, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the squash. The next action is to initiate the grasp by closing the gripper fingers around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473294675350189, + 0.05062940716743469, + -0.061414964497089386, + 2.987192153930664, + -0.19342376291751862, + 0.6176390051841736 + ], + "gripper_value": 0.8535622954368591 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned over the green squash in the sink, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the squash. The next action is to initiate the grasp by closing the gripper fingers around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34521573781967163, + 0.04867112636566162, + -0.06004547327756882, + 3.0346646308898926, + -0.17382486164569855, + 0.6092488765716553 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned over the green squash in the sink, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the squash. The next action is to initiate the grasp by closing the gripper fingers around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33998656272888184, + 0.04536778852343559, + -0.04795193672180176, + 3.121335506439209, + -0.14218758046627045, + 0.5947288870811462 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "grasp green squash", + "subtask_reasoning": "The robot arm is positioned over the green squash in the sink, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the squash. The next action is to initiate the grasp by closing the gripper fingers around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3458724915981293, + 0.03842640668153763, + 0.001772663090378046, + -3.0459020137786865, + -0.21086758375167847, + 0.5618667006492615 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 146, + 218, + 676, + 671 + ], + "purple onion": [ + 72, + 160, + 176, + 281 + ], + "metal strainer": [ + 676, + 339, + 895, + 603 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "transport to pot", + "subtask_reasoning": "The robot arm is positioned over the green squash in the sink, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the squash. The next action is to initiate the grasp by closing the gripper fingers around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34644457697868347, + 0.024002689868211746, + 0.02933998964726925, + -2.995875835418701, + -0.28734293580055237, + 0.4843977689743042 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "transport to pot", + "subtask_reasoning": "The robot arm is positioned over the green squash in the sink, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the squash. The next action is to initiate the grasp by closing the gripper fingers around the vegetable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33615079522132874, + 0.007558281533420086, + 0.045245323330163956, + -3.0265021324157715, + -0.2768959105014801, + 0.3591683506965637 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "transport to pot", + "subtask_reasoning": "The green squash is currently held by the gripper above the sink, having been successfully grasped in the previous step. The robot is now transporting the squash toward the metal pot on the countertop. The next action should be to move the squash closer to and position it over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3290847837924957, + -0.005304369144141674, + 0.05950753018260002, + -3.0692458152770996, + -0.24130137264728546, + 0.2117576003074646 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "transport to pot", + "subtask_reasoning": "The green squash is currently held by the gripper above the sink, having been successfully grasped in the previous step. The robot is now transporting the squash toward the metal pot on the countertop. The next action should be to move the squash closer to and position it over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32408034801483154, + -0.019479332491755486, + 0.061601851135492325, + -3.0854809284210205, + -0.17850738763809204, + 0.0458785705268383 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "transport to pot", + "subtask_reasoning": "The green squash is currently held by the gripper above the sink, having been successfully grasped in the previous step. The robot is now transporting the squash toward the metal pot on the countertop. The next action should be to move the squash closer to and position it over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32998940348625183, + -0.03381234034895897, + 0.07031487673521042, + -3.082996368408203, + -0.18366116285324097, + -0.09480253607034683 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green squash in the sink and place it into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green squash" + }, + { + "id": 2, + "subtask": "grasp green squash" + }, + { + "id": 3, + "subtask": "transport to pot" + } + ], + "subtask_name": "transport to pot", + "subtask_reasoning": "The green squash is currently held by the gripper above the sink, having been successfully grasped in the previous step. The robot is now transporting the squash toward the metal pot on the countertop. The next action should be to move the squash closer to and position it over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004215_ecot.json b/cot/chunk-0004/episode_0004215_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8f4de044217be26dd89811ade50bab0382b9942d --- /dev/null +++ b/cot/chunk-0004/episode_0004215_ecot.json @@ -0,0 +1,1054 @@ +{ + "task_name": "episode_0004215", + "episode_json": "json/chunk-0004/episode_0004215.json", + "video_path": "videos/chunk-0004/image_0/episode_0004215.mp4", + "instruction": "Close white1fbox flap.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004215.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box flap\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the white box flap with open gripper, preparing for contact.\"},\n {\"id\": 2, \"name\": \"push flap closed\", \"start\": 4, \"end\": 11, \"planning\": \"Apply forward and downward motion to push the box flap into closed position using end-effector surface.\"},\n {\"id\": 3, \"name\": \"retract from box\", \"start\": 12, \"end\": 16, \"planning\": \"Withdraw end-effector away from the box after ensuring flap is fully closed.\"}\n ],\n \"global_plan\": \"Close the white box flap by approaching it, pushing it shut with the end-effector, then retracting — all without grasping since gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~1.0 (fully open) across all segments; no grasp or lift occurs. Motion is purely positional contact-based manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box flap", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the white box flap with open gripper, preparing for contact." + }, + { + "id": 2, + "name": "push flap closed", + "start": 4, + "end": 11, + "planning": "Apply forward and downward motion to push the box flap into closed position using end-effector surface." + }, + { + "id": 3, + "name": "retract from box", + "start": 12, + "end": 16, + "planning": "Withdraw end-effector away from the box after ensuring flap is fully closed." + } + ], + "global_plan": "Close the white box flap by approaching it, pushing it shut with the end-effector, then retracting — all without grasping since gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~1.0 (fully open) across all segments; no grasp or lift occurs. Motion is purely positional contact-based manipulation." + } + }, + "episode_goal": "Close the flap of the white box.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.13725486397743225, + -0.05468873307108879, + 0.09936009347438812, + -3.0529897212982178, + -0.07577160000801086, + -0.09572388976812363 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap open, and the gripper remains fully open without any grasping action. The end-effector is approaching the flap to prepare for pushing it shut. The next action is to move closer to the flap to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move left 3 cm, move up 6 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.13657118380069733, + -0.05406804010272026, + 0.09396225214004517, + -3.0575358867645264, + -0.08098067343235016, + -0.07575466483831406 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap open, and the gripper remains fully open throughout. No contact has been made yet. The next action is to move the end-effector closer to the flap to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 5 cm, move up 7 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.1427999585866928, + -0.05217346176505089, + 0.07995223999023438, + -3.094975471496582, + -0.10430143028497696, + 0.032477088272571564 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap open, and the gripper remains fully open throughout. No contact has been made yet. The next action is to move the end-effector closer to the flap to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 5 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.1476757824420929, + -0.04249829798936844, + 0.06770521402359009, + 3.1360409259796143, + -0.14292694628238678, + 0.20185795426368713 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap open, and the gripper remains fully open throughout. No contact has been made yet. The next action is to move the end-effector closer to the flap to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.14927752315998077, + -0.038902707397937775, + 0.05528649687767029, + -3.13303542137146, + -0.281491756439209, + 0.33399897813796997 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green melon": [ + 675, + 394, + 873, + 533 + ], + "red plate": [ + 851, + 812, + 994, + 995 + ], + "grey box": [ + 520, + 565, + 674, + 775 + ] + } + } + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot is positioned near the white box with its flap open, and the gripper remains fully open throughout. No contact has been made yet. The next action is to move the end-effector closer to the flap to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.15820136666297913, + -0.033535219728946686, + 0.05167311802506447, + -3.106428384780884, + -0.36197879910469055, + 0.4244821071624756 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot is positioned near the white box with its flap open, and the gripper remains fully open throughout. No contact has been made yet. The next action is to move the end-effector closer to the flap to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.16397637128829956, + -0.02823951654136181, + 0.053020771592855453, + -3.031200647354126, + -0.409342497587204, + 0.48060426115989685 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot is positioned near the white box with its flap open, and the gripper remains fully open throughout. No contact has been made yet. The next action is to move the end-effector closer to the flap to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move up 7 cm, rotate counterclockwise 50 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.17086666822433472, + -0.026238983497023582, + 0.061037827283144, + -2.988591432571411, + -0.4546191394329071, + 0.4832608997821808 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot's end-effector is in contact with the white box flap, which is partially open. The approach phase is complete, and the gripper remains fully open as planned. The next action is to push the flap further to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 7 cm, rotate counterclockwise 50 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17740601301193237, + -0.023520782589912415, + 0.07869993895292282, + -2.91178035736084, + -0.4581785202026367, + 0.3974921405315399 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot's end-effector is in contact with the white box flap, which is partially open. The approach phase is complete, and the gripper remains fully open as planned. The next action is to push the flap further to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1878020167350769, + -0.01882481388747692, + 0.09969345480203629, + -2.8324134349823, + -0.4127335250377655, + 0.2676210105419159 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green melon": [ + 650, + 391, + 873, + 534 + ], + "red plate": [ + 851, + 813, + 994, + 995 + ], + "wooden shelf": [ + 31, + 280, + 910, + 974 + ], + "white card": [ + 146, + 343, + 392, + 644 + ] + } + } + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot's end-effector is in contact with the white box flap, which is partially open. The approach phase is complete, and the gripper remains fully open as planned. The next action is to push the flap further to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19022957980632782, + -0.00791255198419094, + 0.11262676119804382, + -2.7448465824127197, + -0.38593053817749023, + 0.11359675973653793 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot's end-effector is in contact with the white box flap, which is partially open. The approach phase is complete, and the gripper remains fully open as planned. The next action is to push the flap further to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19171495735645294, + 0.011745890602469444, + 0.12057042866945267, + -2.737692356109619, + -0.24921080470085144, + -0.08931385725736618 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot's end-effector is in contact with the white box flap, which is partially open. The approach phase is complete, and the gripper remains fully open as planned. The next action is to push the flap further to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19904112815856934, + 0.034399017691612244, + 0.12796582281589508, + -2.760056257247925, + -0.13155262172222137, + -0.33105039596557617 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "retract from box", + "subtask_reasoning": "The robot's end-effector is in contact with the white box flap, which is partially open. The approach phase is complete, and the gripper remains fully open as planned. The next action is to push the flap further to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20661889016628265, + 0.056613292545080185, + 0.12721788883209229, + -2.819117307662964, + -0.037586551159620285, + -0.5348559617996216 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "retract from box", + "subtask_reasoning": "The robot's end-effector is in contact with the white box flap, which is partially open. The approach phase is complete, and the gripper remains fully open as planned. The next action is to push the flap further to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2087884545326233, + 0.07610899955034256, + 0.1203811839222908, + -2.9002134799957275, + -0.016128676012158394, + -0.6160505414009094 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "retract from box", + "subtask_reasoning": "The white box flap is closed and the end-effector is positioned near the box with the gripper fully open. The pushing action has been completed, and the robot is now retracting away from the box. The next action is to continue moving the end-effector backward to complete the retraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20804886519908905, + 0.09141147136688232, + 0.11069286614656448, + -3.0191781520843506, + 0.011068138293921947, + -0.6873467564582825 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "retract from box", + "subtask_reasoning": "The white box flap is closed and the end-effector is positioned near the box with the gripper fully open. The pushing action has been completed, and the robot is now retracting away from the box. The next action is to continue moving the end-effector backward to complete the retraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20847025513648987, + 0.09588200598955154, + 0.10341397672891617, + -3.0896191596984863, + 0.017477741464972496, + -0.7823085188865662 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flap of the white box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "push flap closed" + }, + { + "id": 3, + "subtask": "retract from box" + } + ], + "subtask_name": "retract from box", + "subtask_reasoning": "The white box flap is closed and the end-effector is positioned near the box with the gripper fully open. The pushing action has been completed, and the robot is now retracting away from the box. The next action is to continue moving the end-effector backward to complete the retraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004216_ecot.json b/cot/chunk-0004/episode_0004216_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..23196cb7204211c48e50f63c54ce0df9c569cff1 --- /dev/null +++ b/cot/chunk-0004/episode_0004216_ecot.json @@ -0,0 +1,2438 @@ +{ + "task_name": "episode_0004216", + "episode_json": "json/chunk-0004/episode_0004216.json", + "video_path": "videos/chunk-0004/image_0/episode_0004216.mp4", + "instruction": "Pick up the blue spoon and place it on the blue cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004216.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.6594201326370239, + "std": 0.30799469351768494, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65942, std=0.30799, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 214, + 214, + 214, + 314, + 314, + 314, + 14, + 114, + 114, + 114, + 114, + 114, + 114, + 127, + 27, + 27, + 27, + 27, + 27 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 13 + ], + [ + 3, + 14, + 16 + ], + [ + 4, + 17, + 19 + ], + [ + 5, + 20, + 20 + ], + [ + 6, + 21, + 26 + ], + [ + 7, + 27, + 27 + ], + [ + 8, + 28, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue spoon\", \"start\": 0, \"end\": 13, \"planning\": \"Move the end-effector from initial position toward the blue spoon on the wooden surface, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp blue spoon\", \"start\": 14, \"end\": 16, \"planning\": \"Close gripper around the blue spoon while maintaining contact with the surface, securing it for transport.\"},\n {\"id\": 3, \"name\": \"lift and transport spoon\", \"start\": 17, \"end\": 20, \"planning\": \"Lift the grasped blue spoon slightly and begin moving it toward the blue cloth area.\"},\n {\"id\": 4, \"name\": \"position over blue cloth\", \"start\": 21, \"end\": 26, \"planning\": \"Transport the held blue spoon across the workspace and align it precisely above the blue cloth target zone.\"},\n {\"id\": 5, \"name\": \"release spoon on cloth\", \"start\": 27, \"end\": 28, \"planning\": \"Open gripper to release the blue spoon onto the blue cloth, ensuring stable placement without dragging.\"},\n {\"id\": 6, \"name\": \"retreat after placement\", \"start\": 29, \"end\": 32, \"planning\": \"Withdraw the end-effector upward and away from the placed spoon to complete the task cleanly.\"}\n ],\n \"global_plan\": \"Pick up the blue spoon by approaching, grasping, lifting, transporting over the blue cloth, releasing it there, then retreating — all while respecting gripper state evidence and visual confirmation of object support.\",\n \"notes\": \"Subtask boundaries follow segment spans where gripper behavior and motion phases align; segments 2–5 merged into approach phase since no meaningful closing occurred until segment 3 (frame 14). Grasp wording used only where segment-level gripper delta and image evidence confirm closure and object support.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue spoon", + "start": 0, + "end": 13, + "planning": "Move the end-effector from initial position toward the blue spoon on the wooden surface, preparing for contact." + }, + { + "id": 2, + "name": "grasp blue spoon", + "start": 14, + "end": 16, + "planning": "Close gripper around the blue spoon while maintaining contact with the surface, securing it for transport." + }, + { + "id": 3, + "name": "lift and transport spoon", + "start": 17, + "end": 20, + "planning": "Lift the grasped blue spoon slightly and begin moving it toward the blue cloth area." + }, + { + "id": 4, + "name": "position over blue cloth", + "start": 21, + "end": 26, + "planning": "Transport the held blue spoon across the workspace and align it precisely above the blue cloth target zone." + }, + { + "id": 5, + "name": "release spoon on cloth", + "start": 27, + "end": 28, + "planning": "Open gripper to release the blue spoon onto the blue cloth, ensuring stable placement without dragging." + }, + { + "id": 6, + "name": "retreat after placement", + "start": 29, + "end": 32, + "planning": "Withdraw the end-effector upward and away from the placed spoon to complete the task cleanly." + } + ], + "global_plan": "Pick up the blue spoon by approaching, grasping, lifting, transporting over the blue cloth, releasing it there, then retreating — all while respecting gripper state evidence and visual confirmation of object support.", + "notes": "Subtask boundaries follow segment spans where gripper behavior and motion phases align; segments 2–5 merged into approach phase since no meaningful closing occurred until segment 3 (frame 14). Grasp wording used only where segment-level gripper delta and image evidence confirm closure and object support." + } + }, + "episode_goal": "Pick up the blue spoon and place it on the blue cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930394411087036, + 0.060289133340120316, + 0.19371190667152405, + -3.1407086849212646, + -0.09153815358877182, + 0.0503065288066864 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden counter with the blue spoon visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move down 17 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29246750473976135, + 0.060661401599645615, + 0.18517851829528809, + 3.1413891315460205, + -0.06681850552558899, + 0.05333816260099411 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden counter with the blue spoon visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 18 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888389825820923, + 0.06555518507957458, + 0.16543953120708466, + -3.099924325942993, + -0.059287942945957184, + 0.06452770531177521 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden counter with the blue spoon visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move down 16 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28695809841156006, + 0.08200917392969131, + 0.1555570363998413, + -3.0496716499328613, + -0.07394976913928986, + 0.04940258711576462 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden counter with the blue spoon visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, move down 15 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816516160964966, + 0.13147088885307312, + 0.1411859393119812, + -3.0328879356384277, + -0.10860554873943329, + 0.03530460223555565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 53, + 163, + 893, + 908 + ], + "blue cloth": [ + 479, + 489, + 781, + 847 + ], + "orange bottle": [ + 680, + 307, + 773, + 459 + ], + "metal bowl": [ + 424, + 205, + 669, + 472 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden counter with the blue spoon visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 14 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27865251898765564, + 0.17274519801139832, + 0.11468913406133652, + -3.0573391914367676, + -0.08318738639354706, + 0.06501326709985733 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden counter with the blue spoon visible to the left and the blue cloth to the right. No actions have been completed yet as the gripper is open and stationary. The robot needs to move its end-effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 11 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27747878432273865, + 0.20150333642959595, + 0.09410827606916428, + -3.0816822052001953, + -0.05628988519310951, + 0.10509538650512695 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.279017835855484, + 0.21161521971225739, + 0.06817853450775146, + -3.1239724159240723, + -0.028783883899450302, + 0.09945511817932129 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799094021320343, + 0.21212875843048096, + 0.04888569563627243, + -3.1319832801818848, + 0.00226183352060616, + 0.09449876099824905 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move back 2 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842499315738678, + 0.2064293622970581, + 0.030449310317635536, + -3.141118049621582, + 0.03577204793691635, + 0.08711270987987518 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move back 2 cm, move right 8 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2875390946865082, + 0.20097616314888, + 0.01878032088279724, + -3.1368465423583984, + 0.05731524899601936, + 0.07004191726446152 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 39, + 156, + 893, + 909 + ], + "black machine": [ + 48, + 7, + 305, + 473 + ], + "orange bottle": [ + 679, + 307, + 773, + 458 + ], + "blue cloth": [ + 478, + 489, + 782, + 846 + ], + "metal bowl": [ + 425, + 204, + 671, + 472 + ], + "blue cone": [ + 170, + 397, + 244, + 475 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move back 3 cm, move right 13 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888135015964508, + 0.19957317411899567, + 0.009913505986332893, + -3.127354621887207, + 0.07368896901607513, + 0.07649661600589752 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move back 3 cm, move right 18 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29234084486961365, + 0.19936831295490265, + 0.006664864253252745, + -3.1136856079101562, + 0.07859960943460464, + 0.06893271207809448 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move back 3 cm, move right 18 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969565689563751, + 0.2020474225282669, + 0.004920635372400284, + -3.101475715637207, + 0.0755712240934372, + 0.07108546048402786 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move back 3 cm, move right 18 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 7 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29728952050209045, + 0.19795285165309906, + 0.004392975941300392, + -3.0958292484283447, + 0.0758579671382904, + 0.06725160777568817 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is approaching the blue spoon on the wooden surface, with the blue cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action should continue moving the end-effector closer to the spoon for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move back 3 cm, move right 18 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 8 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29357895255088806, + 0.1935606598854065, + 0.005693831015378237, + -3.0884768962860107, + 0.07594654709100723, + 0.07761217653751373 + ], + "gripper_value": 0.34697994589805603 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the wooden surface. The gripper is open and positioned near the spoon, with segment-level evidence suggesting a grasp attempt is underway. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed; then move back 3 cm, move right 18 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2819294035434723, + 0.18285216391086578, + 0.01469118520617485, + -3.0961060523986816, + 0.09521017223596573, + 0.09794684499502182 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the wooden surface. The gripper is open and positioned near the spoon, with segment-level evidence suggesting a grasp attempt is underway. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move right 18 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 7 cm, move down 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747116684913635, + 0.1681792438030243, + 0.06800762563943863, + -3.1093802452087402, + -0.011827562935650349, + 0.14668533205986023 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the wooden surface. The gripper is open and positioned near the spoon, with segment-level evidence suggesting a grasp attempt is underway. The next action is to close the gripper to securely grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 18 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 7 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589064836502075, + 0.14490380883216858, + 0.09419216960668564, + -3.109692096710205, + -0.028738081455230713, + 0.195929154753685 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The blue spoon has been grasped and is currently being lifted and transported above the table. The gripper remains closed with no change in aperture, confirming continued contact. The next action is to move the spoon over the blue cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 7 cm, move down 6 cm, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24982884526252747, + 0.08915749937295914, + 0.1033744364976883, + -3.1369807720184326, + -0.03036290965974331, + 0.14783743023872375 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The blue spoon has been grasped and is currently being lifted and transported above the table. The gripper remains closed with no change in aperture, confirming continued contact. The next action is to move the spoon over the blue cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 7 cm, move down 6 cm, open gripper; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24652288854122162, + 0.04226301237940788, + 0.09583867341279984, + 3.126447916030884, + -0.049472060054540634, + 0.08008234947919846 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The blue spoon has been grasped and is currently being lifted and transported above the table. The gripper remains closed with no change in aperture, confirming continued contact. The next action is to move the spoon over the blue cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move right 7 cm, move down 6 cm, open gripper; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2444612830877304, + -0.007796694524586201, + 0.08400322496891022, + -3.127124547958374, + -0.0538618303835392, + 0.049166031181812286 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over blue cloth", + "subtask_reasoning": "The blue spoon has been grasped and is currently being lifted and transported above the table. The gripper remains closed with no change in aperture, confirming continued contact. The next action is to move the spoon over the blue cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 6 cm, open gripper; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24493621289730072, + -0.050791218876838684, + 0.062241386622190475, + -3.099487543106079, + -0.025216875597834587, + 0.06747008860111237 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over blue cloth", + "subtask_reasoning": "The blue spoon has been grasped and is currently being lifted and transported above the table. The gripper remains closed with no change in aperture, confirming continued contact. The next action is to move the spoon over the blue cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, open gripper; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25961393117904663, + -0.07429806888103485, + 0.03883082792162895, + -3.1187241077423096, + -0.0015086669009178877, + 0.10703063756227493 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 423, + 205, + 615, + 462 + ], + "wooden countertop": [ + 48, + 150, + 894, + 905 + ], + "blue cloth": [ + 478, + 545, + 784, + 846 + ], + "orange bottle": [ + 696, + 314, + 780, + 462 + ], + "black machine": [ + 316, + 6, + 789, + 709 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over blue cloth", + "subtask_reasoning": "The robot is holding the blue spoon and has moved it over the blue cloth, as seen in the image. The gripper remains closed with consistent values, confirming the spoon is still grasped. The next action is to release the spoon onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26702970266342163, + -0.08312608301639557, + 0.0246779415756464, + -3.1069657802581787, + 0.0011176512343809009, + 0.14430706202983856 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over blue cloth", + "subtask_reasoning": "The robot is holding the blue spoon and has moved it over the blue cloth, as seen in the image. The gripper remains closed with consistent values, confirming the spoon is still grasped. The next action is to release the spoon onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26976296305656433, + -0.0818389281630516, + 0.019101418554782867, + -3.0975654125213623, + -0.009641886688768864, + 0.15258163213729858 + ], + "gripper_value": 0.3453405201435089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over blue cloth", + "subtask_reasoning": "The robot is holding the blue spoon and has moved it over the blue cloth, as seen in the image. The gripper remains closed with consistent values, confirming the spoon is still grasped. The next action is to release the spoon onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2711849808692932, + -0.07867100089788437, + 0.018513690680265427, + -3.0973825454711914, + -0.008462708443403244, + 0.13873450458049774 + ], + "gripper_value": 0.413944274187088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over blue cloth", + "subtask_reasoning": "The robot is holding the blue spoon and has moved it over the blue cloth, as seen in the image. The gripper remains closed with consistent values, confirming the spoon is still grasped. The next action is to release the spoon onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27026423811912537, + -0.0793396532535553, + 0.020805714651942253, + -3.1055355072021484, + -0.01189598347991705, + 0.11631817370653152 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The robot is positioned over the blue cloth with the blue spoon held in the gripper. The gripper is currently closed, indicating the spoon is still being held. The next action is to open the gripper to release the spoon onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27245286107063293, + -0.07358384877443314, + 0.055385295301675797, + 3.1396846771240234, + -0.07595067471265793, + 0.115348219871521 + ], + "gripper_value": 0.9837720394134521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The robot is positioned over the blue cloth with the blue spoon held in the gripper. The gripper is currently closed, indicating the spoon is still being held. The next action is to open the gripper to release the spoon onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27095091342926025, + -0.057100240141153336, + 0.08353178948163986, + 3.1177992820739746, + -0.11053434014320374, + 0.12954677641391754 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is positioned over the blue cloth with the blue spoon held in the gripper. The gripper is currently closed, indicating the spoon is still being held. The next action is to open the gripper to release the spoon onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27331843972206116, + -0.02164214290678501, + 0.10803662240505219, + 3.1138906478881836, + -0.12906226515769958, + 0.16075310111045837 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 49, + 151, + 895, + 907 + ], + "blue cloth": [ + 479, + 489, + 782, + 844 + ], + "black machine": [ + 428, + 7, + 739, + 483 + ], + "blue cone": [ + 2, + 587, + 70, + 728 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue spoon is already placed on the blue cloth, and the gripper is open and retreating upward. The subtask involves moving the end-effector away from the placement zone to complete the task sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2819843590259552, + -9.367587335873395e-05, + 0.10946863889694214, + -3.1385321617126465, + -0.12514835596084595, + 0.15476350486278534 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue spoon is already placed on the blue cloth, and the gripper is open and retreating upward. The subtask involves moving the end-effector away from the placement zone to complete the task sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29198890924453735, + 0.014648192562162876, + 0.10666149854660034, + -3.1113648414611816, + -0.11302156001329422, + 0.12922929227352142 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "position over blue cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue spoon is already placed on the blue cloth, and the gripper is open and retreating upward. The subtask involves moving the end-effector away from the placement zone to complete the task sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004217_ecot.json b/cot/chunk-0004/episode_0004217_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7a860c073eb50eed317984ba785d95391ac6cb94 --- /dev/null +++ b/cot/chunk-0004/episode_0004217_ecot.json @@ -0,0 +1,1168 @@ +{ + "task_name": "episode_0004217", + "episode_json": "json/chunk-0004/episode_0004217.json", + "video_path": "videos/chunk-0004/image_0/episode_0004217.mp4", + "instruction": "Moved the silver lid to the middle of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004217.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.9443830847740173, + "std": 0.4057510197162628, + "delta_total": -0.9443830847740173, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94438, std=0.40575, total_delta=-0.94438). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 210, + 210, + 210, + 210, + 10, + 10, + 10, + 10 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 9 + ], + [ + 3, + 10, + 13 + ], + [ + 4, + 14, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver lid\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector toward the silver lid on the left burner without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp silver lid\", \"start\": 3, \"end\": 9, \"planning\": \"Close the gripper around the silver lid and establish a secure hold, as evidenced by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport lid\", \"start\": 10, \"end\": 13, \"planning\": \"Lift the grasped silver lid and move it horizontally toward the center of the stove while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place lid in center\", \"start\": 14, \"end\": 17, \"planning\": \"Lower the silver lid onto the central burner and release it by opening the gripper slightly, completing placement.\"}\n ],\n \"global_plan\": \"Approach the silver lid on the left burner, grasp it securely, lift and transport it to the center of the stove, then place it down precisely on the central burner.\",\n \"notes\": \"Gripper evidence confirms meaningful closing starting at frame 3 (segment 2), supporting 'grasp' terminology from that point. Segment 1 shows no gripper motion — correctly labeled as approach. Final segment shows minimal gripper change but consistent with release after placement; images confirm lid is deposited.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver lid", + "start": 0, + "end": 2, + "planning": "Move the end-effector toward the silver lid on the left burner without closing the gripper." + }, + { + "id": 2, + "name": "grasp silver lid", + "start": 3, + "end": 9, + "planning": "Close the gripper around the silver lid and establish a secure hold, as evidenced by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport lid", + "start": 10, + "end": 13, + "planning": "Lift the grasped silver lid and move it horizontally toward the center of the stove while maintaining grip." + }, + { + "id": 4, + "name": "place lid in center", + "start": 14, + "end": 17, + "planning": "Lower the silver lid onto the central burner and release it by opening the gripper slightly, completing placement." + } + ], + "global_plan": "Approach the silver lid on the left burner, grasp it securely, lift and transport it to the center of the stove, then place it down precisely on the central burner.", + "notes": "Gripper evidence confirms meaningful closing starting at frame 3 (segment 2), supporting 'grasp' terminology from that point. Segment 1 shows no gripper motion — correctly labeled as approach. Final segment shows minimal gripper change but consistent with release after placement; images confirm lid is deposited." + } + }, + "episode_goal": "Move the silver lid to the center of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542129397392273, + 0.0285806804895401, + 0.02476356364786625, + -3.1144964694976807, + -0.08784501999616623, + 0.01631765067577362 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot is positioned above the stove with the silver lid visible on the left burner. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end effector closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3485701084136963, + 0.027648722752928734, + 0.009926282800734043, + -3.1169655323028564, + -0.04189221188426018, + 0.014979830943048 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver lid visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617008626461029, + 0.056730855256319046, + -0.010109099559485912, + -3.0876781940460205, + -0.03207853063941002, + 0.05104777216911316 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "approach silver lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver lid visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37152355909347534, + 0.11461327970027924, + -0.019180502742528915, + -3.0603747367858887, + -0.07800959795713425, + 0.15533001720905304 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "burner": [ + 518, + 422, + 728, + 638 + ], + "pot": [ + 678, + 219, + 885, + 405 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver lid visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.376304030418396, + 0.15988044440746307, + -0.026455000042915344, + -3.0477263927459717, + -0.10815063118934631, + 0.23884457349777222 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver lid visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 14 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3748672902584076, + 0.20324137806892395, + -0.02512175217270851, + -3.0532660484313965, + -0.14543719589710236, + 0.3212483823299408 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver lid visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the silver lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move right 14 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37673941254615784, + 0.2184665948152542, + -0.025854671373963356, + -3.055229902267456, + -0.15942725539207458, + 0.351582407951355 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the left burner, with the gripper open and ready to close. The approach phase is complete, and the end-effector is aligned for contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move right 14 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767344653606415, + 0.21897673606872559, + -0.03162612393498421, + -3.0602874755859375, + -0.14180372655391693, + 0.3596550524234772 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the left burner, with the gripper open and ready to close. The approach phase is complete, and the end-effector is aligned for contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 14 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3771815299987793, + 0.21525390446186066, + -0.03876614198088646, + -3.0795915126800537, + -0.11179138720035553, + 0.36730509996414185 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the left burner, with the gripper open and ready to close. The approach phase is complete, and the end-effector is aligned for contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 2 cm, move right 14 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3814255893230438, + 0.21122558414936066, + -0.04230159521102905, + -3.0841479301452637, + -0.0956931859254837, + 0.3645206391811371 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "grasp silver lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the left burner, with the gripper open and ready to close. The approach phase is complete, and the end-effector is aligned for contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 14 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38300830125808716, + 0.21121671795845032, + -0.0420817993581295, + -3.0778818130493164, + -0.0862274095416069, + 0.36603590846061707 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot arm is positioned directly above the silver lid on the left burner, with the gripper open and ready to close. The approach phase is complete, and the end-effector is aligned for contact. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3837389349937439, + 0.2092025727033615, + -0.04197271913290024, + -3.0764479637145996, + -0.06921295821666718, + 0.36117690801620483 + ], + "gripper_value": 0.27090853452682495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the silver lid from the left burner and is currently lifting it. The gripper is closed around the lid, and the arm is positioned above the stove. The next action is to transport the lid toward the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3856605887413025, + 0.19943784177303314, + -0.039096809923648834, + -3.0633060932159424, + -0.07845478504896164, + 0.3259665369987488 + ], + "gripper_value": 0.27019456028938293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the silver lid from the left burner and is currently lifting it. The gripper is closed around the lid, and the arm is positioned above the stove. The next action is to transport the lid toward the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3917611241340637, + 0.16924649477005005, + -0.00817373488098383, + -3.0587151050567627, + -0.14182288944721222, + 0.2639627754688263 + ], + "gripper_value": 0.2372342199087143 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has grasped the silver lid from the left burner and is currently lifting it. The gripper is closed around the lid, and the arm is positioned above the stove. The next action is to transport the lid toward the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4040854573249817, + 0.07339730858802795, + 0.004583684261888266, + -3.076275587081909, + -0.17649973928928375, + 0.0857156291604042 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 674, + 218, + 909, + 406 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "place lid in center", + "subtask_reasoning": "The robot has grasped the silver lid from the left burner and is currently lifting it. The gripper is closed around the lid, and the arm is positioned above the stove. The next action is to transport the lid toward the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3893091380596161, + 0.0437861829996109, + -0.012071709148585796, + -3.100501298904419, + -0.1286199986934662, + 0.07228044420480728 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "place lid in center", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the center burner of the stove. The approach and transport phases are complete, with the robot now hovering over the target location. The next action is to lower the lid and release it onto the central burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3876015543937683, + 0.0069647664204239845, + -0.01649503968656063, + -3.121232748031616, + -0.12160181254148483, + 0.01798463612794876 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "place lid in center", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the center burner of the stove. The approach and transport phases are complete, with the robot now hovering over the target location. The next action is to lower the lid and release it onto the central burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3841519355773926, + -0.005426814779639244, + -0.025722850114107132, + -3.12191104888916, + -0.09421098977327347, + -0.0033725572284311056 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid to the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver lid" + }, + { + "id": 2, + "subtask": "grasp silver lid" + }, + { + "id": 3, + "subtask": "lift and transport lid" + }, + { + "id": 4, + "subtask": "place lid in center" + } + ], + "subtask_name": "place lid in center", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the center burner of the stove. The approach and transport phases are complete, with the robot now hovering over the target location. The next action is to lower the lid and release it onto the central burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004218_ecot.json b/cot/chunk-0004/episode_0004218_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ebc196907ddec7659b8e50860f4c7970f05abb2b --- /dev/null +++ b/cot/chunk-0004/episode_0004218_ecot.json @@ -0,0 +1,1417 @@ +{ + "task_name": "episode_0004218", + "episode_json": "json/chunk-0004/episode_0004218.json", + "video_path": "videos/chunk-0004/image_0/episode_0004218.mp4", + "instruction": "Put together the lid and the cooking pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004218.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.9458484649658203, + "std": 0.4157240390777588, + "delta_total": -0.18709343671798706, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94585, std=0.41572, total_delta=-0.18709). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 119, + 119 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp lid\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector to the lid position and close gripper to secure grasp as evidenced by decreasing gripper value from 1.0 to 0.66.\"},\n {\"id\": 2, \"name\": \"lift and transport lid\", \"start\": 9, \"end\": 12, \"planning\": \"Lift the grasped lid and move it toward the pot location while maintaining grip, confirmed by continued low gripper values and upward motion.\"},\n {\"id\": 3, \"name\": \"align and place lid on pot\", \"start\": 13, \"end\": 18, \"planning\": \"Position the lid over the pot and lower it into place; gripper begins opening near frame 18 indicating release preparation.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 19, \"end\": 20, \"planning\": \"Fully open gripper to release lid onto pot and begin retreating upward, as shown by increasing gripper value and slight lift in z-position.\"}\n ],\n \"global_plan\": \"Grasp the lid, lift and carry it to the pot, align and place it on top, then release and retreat.\",\n \"notes\": \"Gripper evidence supports grasp during segments 1–2 (closing), hold during segment 3 (stable low value), and release during segment 4 (opening). Motion and image frames confirm object interaction consistent with lid placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp lid", + "start": 0, + "end": 8, + "planning": "Move end-effector to the lid position and close gripper to secure grasp as evidenced by decreasing gripper value from 1.0 to 0.66." + }, + { + "id": 2, + "name": "lift and transport lid", + "start": 9, + "end": 12, + "planning": "Lift the grasped lid and move it toward the pot location while maintaining grip, confirmed by continued low gripper values and upward motion." + }, + { + "id": 3, + "name": "align and place lid on pot", + "start": 13, + "end": 18, + "planning": "Position the lid over the pot and lower it into place; gripper begins opening near frame 18 indicating release preparation." + }, + { + "id": 4, + "name": "release and retreat", + "start": 19, + "end": 20, + "planning": "Fully open gripper to release lid onto pot and begin retreating upward, as shown by increasing gripper value and slight lift in z-position." + } + ], + "global_plan": "Grasp the lid, lift and carry it to the pot, align and place it on top, then release and retreat.", + "notes": "Gripper evidence supports grasp during segments 1–2 (closing), hold during segment 3 (stable low value), and release during segment 4 (opening). Motion and image frames confirm object interaction consistent with lid placement." + } + }, + "episode_goal": "Place the lid on top of the cooking pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718985676765442, + -0.05300253629684448, + 0.06902185082435608, + -3.0541272163391113, + -0.10282436013221741, + -0.3395969271659851 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the lid on the table, with the gripper fully open and no prior contact. The subtask requires approaching and grasping the lid; the next action is to lower the gripper toward the lid to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 18 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.269855260848999, + -0.05265914648771286, + 0.061521172523498535, + -3.0605502128601074, + -0.07549804449081421, + -0.3380028009414673 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the lid on the table, with the gripper fully open and no prior contact. The subtask requires approaching and grasping the lid; the next action is to lower the gripper toward the lid to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 18 cm, move down 3 cm, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27622994780540466, + -0.015849057585000992, + 0.061529770493507385, + -3.0714974403381348, + -0.08638793230056763, + -0.2246008813381195 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the lid on the table, with the gripper fully open and no prior contact. The subtask requires approaching and grasping the lid; the next action is to lower the gripper toward the lid to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move down 3 cm, rotate clockwise 20 degrees, close gripper; then move right 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27729347348213196, + 0.02462807670235634, + 0.05948736518621445, + -3.0657291412353516, + -0.0854538157582283, + -0.13273119926452637 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 8, + 202, + 840, + 988 + ], + "metal bowl": [ + 54, + 309, + 280, + 582 + ], + "tin can": [ + 585, + 430, + 740, + 627 + ], + "purple cloth": [ + 3, + 457, + 230, + 633 + ], + "metal lid": [ + 484, + 610, + 701, + 852 + ], + "stainless steel appliance": [ + 113, + 655, + 685, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot is positioned above the lid on the table, with the gripper fully open and no prior contact. The subtask requires approaching and grasping the lid; the next action is to lower the gripper toward the lid to initiate contact and prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27444902062416077, + 0.07198357582092285, + 0.05191650241613388, + -3.054173231124878, + -0.09122932702302933, + -0.03828022629022598 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the lid on the wooden counter, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to lower the gripper slightly and close it to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727455794811249, + 0.10279139131307602, + 0.04397854954004288, + -3.060699939727783, + -0.08463414013385773, + 0.04227633401751518 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the lid on the wooden counter, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to lower the gripper slightly and close it to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, close gripper; then move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27960866689682007, + 0.11765634268522263, + 0.04246167093515396, + -3.046968460083008, + -0.08587177097797394, + 0.051359109580516815 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the lid on the wooden counter, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to lower the gripper slightly and close it to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 5 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793210744857788, + 0.1287212371826172, + 0.034140389412641525, + -3.049985885620117, + -0.06416352093219757, + 0.07957267016172409 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the lid on the wooden counter, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to lower the gripper slightly and close it to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27823278307914734, + 0.13154222071170807, + 0.02660730667412281, + -3.0560953617095947, + -0.042174436151981354, + 0.09130155295133591 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lid", + "subtask_reasoning": "The robot arm is positioned above the lid on the wooden counter, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to lower the gripper slightly and close it to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27817270159721375, + 0.13170869648456573, + 0.026620211079716682, + -3.055032730102539, + -0.0419393852353096, + 0.09180887043476105 + ], + "gripper_value": 0.3577343225479126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot arm is positioned above the lid on the wooden counter, with the gripper open and ready. No prior actions have been completed in this subtask. The next action should be to lower the gripper slightly and close it to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.278722882270813, + 0.1302201896905899, + 0.029442835599184036, + -3.049584150314331, + -0.044132038950920105, + 0.08965135365724564 + ], + "gripper_value": 0.14865680038928986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it above the table surface. The gripper is closed, and the lid is being transported toward the cooking pot. The next action is to continue moving the lid over the pot for alignment and placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28441011905670166, + 0.12026526778936386, + 0.040871504694223404, + -3.025263547897339, + -0.06430347263813019, + 0.052128199487924576 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it above the table surface. The gripper is closed, and the lid is being transported toward the cooking pot. The next action is to continue moving the lid over the pot for alignment and placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828543186187744, + 0.0898616835474968, + 0.0528201088309288, + -3.0107696056365967, + -0.0502205491065979, + -0.011146046221256256 + ], + "gripper_value": 0.057568058371543884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport lid", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it above the table surface. The gripper is closed, and the lid is being transported toward the cooking pot. The next action is to continue moving the lid over the pot for alignment and placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper closed; then move back 3 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801322042942047, + 0.05128202587366104, + 0.05754023417830467, + -3.007007598876953, + -0.054608289152383804, + -0.08077780157327652 + ], + "gripper_value": 0.05729193985462189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 5, + 194, + 839, + 988 + ], + "tin can": [ + 584, + 430, + 741, + 627 + ], + "purple cloth": [ + 5, + 372, + 245, + 629 + ], + "metal bowl": [ + 198, + 366, + 391, + 572 + ], + "metal lid": [ + 484, + 611, + 700, + 851 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it above the table surface. The gripper is closed, and the lid is being transported toward the cooking pot. The next action is to continue moving the lid over the pot for alignment and placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667258679866791, + 0.02782628871500492, + 0.04678325355052948, + -3.0173885822296143, + -0.009522470645606518, + -0.11307738721370697 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the lid and is currently lifting it above the table surface. The gripper is closed, and the lid is being transported toward the cooking pot. The next action is to continue moving the lid over the pot for alignment and placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 4 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25872665643692017, + 0.010400687344372272, + 0.038858868181705475, + -3.0254671573638916, + 0.004041755571961403, + -0.14060164988040924 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and place lid on pot", + "subtask_reasoning": "The robot is holding the lid above the cooking pot, with the gripper slightly open indicating active placement. The lid is aligned over the pot opening, and the next action is to lower it gently onto the pot to complete the assembly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523803412914276, + -0.0005540416459552944, + 0.029873602092266083, + -3.0427749156951904, + 0.03648123890161514, + -0.15226180851459503 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and place lid on pot", + "subtask_reasoning": "The robot is holding the lid above the cooking pot, with the gripper slightly open indicating active placement. The lid is aligned over the pot opening, and the next action is to lower it gently onto the pot to complete the assembly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2517056465148926, + -0.00814615935087204, + 0.019834062084555626, + -3.0630383491516113, + 0.05411320552229881, + -0.16520904004573822 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and place lid on pot", + "subtask_reasoning": "The robot is holding the lid above the cooking pot, with the gripper slightly open indicating active placement. The lid is aligned over the pot opening, and the next action is to lower it gently onto the pot to complete the assembly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25039008259773254, + -0.009429467841982841, + 0.012746996246278286, + -3.071141242980957, + 0.07257834821939468, + -0.1701398342847824 + ], + "gripper_value": 0.2306915670633316 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 5, + 372, + 284, + 629 + ], + "wooden countertop": [ + 6, + 201, + 840, + 988 + ], + "tin can": [ + 584, + 429, + 742, + 628 + ], + "stainless steel appliance": [ + 258, + 6, + 703, + 853 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "align and place lid on pot", + "subtask_reasoning": "The robot is holding the lid above the cooking pot, with the gripper slightly open indicating active placement. The lid is aligned over the pot opening, and the next action is to lower it gently onto the pot to complete the assembly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525002658367157, + -0.009115849621593952, + 0.01082342304289341, + -3.065171003341675, + 0.0750478059053421, + -0.16314198076725006 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lid is currently resting on the cooking pot, indicating the placement action is complete. The gripper is open and positioned above the lid, showing that the release phase has occurred. The robot is now in the retreat phase, moving away from the assembled pot and lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2546149492263794, + -0.010889650322496891, + 0.02593124471604824, + -3.057663679122925, + 0.03616900369524956, + -0.18131713569164276 + ], + "gripper_value": 0.8130597472190857 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on top of the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lid" + }, + { + "id": 2, + "subtask": "lift and transport lid" + }, + { + "id": 3, + "subtask": "align and place lid on pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lid is currently resting on the cooking pot, indicating the placement action is complete. The gripper is open and positioned above the lid, showing that the release phase has occurred. The robot is now in the retreat phase, moving away from the assembled pot and lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004219_ecot.json b/cot/chunk-0004/episode_0004219_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5a0aa0b7c6d314b26274e0688a9ad278088aa727 --- /dev/null +++ b/cot/chunk-0004/episode_0004219_ecot.json @@ -0,0 +1,2227 @@ +{ + "task_name": "episode_0004219", + "episode_json": "json/chunk-0004/episode_0004219.json", + "video_path": "videos/chunk-0004/image_0/episode_0004219.mp4", + "instruction": "Take clothes out of laundry machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004219.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.942331850528717, + "std": 0.4156004786491394, + "delta_total": 0.008782565593719482, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94233, std=0.41560, total_delta=0.00878). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 110, + 110, + 110, + 110, + 110, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 222, + 222, + 222, + 222, + 222, + 22, + 22, + 22, + 22, + 22 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 9 + ], + [ + 3, + 10, + 14 + ], + [ + 4, + 15, + 21 + ], + [ + 5, + 22, + 26 + ], + [ + 6, + 27, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach laundry machine\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the laundry machine opening while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"grasp clothes inside drum\", \"start\": 10, \"end\": 14, \"planning\": \"Close gripper to securely grasp clothing item visible inside the drum, confirmed by significant gripper closure and visual evidence.\"},\n {\"id\": 3, \"name\": \"extract clothes from machine\", \"start\": 15, \"end\": 21, \"planning\": \"Pull grasped clothing item out of the drum and begin moving it toward the basket, with gripper remaining closed during extraction.\"},\n {\"id\": 4, \"name\": \"release clothes into basket\", \"start\": 22, \"end\": 26, \"planning\": \"Open gripper to release the clothing item into the laundry basket, transitioning from held to released state.\"},\n {\"id\": 5, \"name\": \"retreat from basket area\", \"start\": 27, \"end\": 31, \"planning\": \"Move end-effector away from the basket after releasing the clothes, with gripper fully open and no further manipulation.\"}\n ],\n \"global_plan\": \"Extract one clothing item from the laundry machine by approaching, grasping, extracting, releasing into basket, and retreating — all phases aligned with observed gripper states and motion segments.\",\n \"notes\": \"Subtask boundaries follow natural manipulation phases: approach (no grasp), grasp (significant closure), extract (held transport), release (gripper opens), retreat (post-release). Segment 2 (frames 3-9) merged into subtask 1 as preparatory motion without grasping. Segment 5 (frames 22-26) inferred as release phase based on gripper opening trend between frame 21 (0.27) and frame 27 (0.999), though not explicitly detailed in provided keyframes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach laundry machine", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the laundry machine opening while maintaining open gripper state." + }, + { + "id": 2, + "name": "grasp clothes inside drum", + "start": 10, + "end": 14, + "planning": "Close gripper to securely grasp clothing item visible inside the drum, confirmed by significant gripper closure and visual evidence." + }, + { + "id": 3, + "name": "extract clothes from machine", + "start": 15, + "end": 21, + "planning": "Pull grasped clothing item out of the drum and begin moving it toward the basket, with gripper remaining closed during extraction." + }, + { + "id": 4, + "name": "release clothes into basket", + "start": 22, + "end": 26, + "planning": "Open gripper to release the clothing item into the laundry basket, transitioning from held to released state." + }, + { + "id": 5, + "name": "retreat from basket area", + "start": 27, + "end": 31, + "planning": "Move end-effector away from the basket after releasing the clothes, with gripper fully open and no further manipulation." + } + ], + "global_plan": "Extract one clothing item from the laundry machine by approaching, grasping, extracting, releasing into basket, and retreating — all phases aligned with observed gripper states and motion segments.", + "notes": "Subtask boundaries follow natural manipulation phases: approach (no grasp), grasp (significant closure), extract (held transport), release (gripper opens), retreat (post-release). Segment 2 (frames 3-9) merged into subtask 1 as preparatory motion without grasping. Segment 5 (frames 22-26) inferred as release phase based on gripper opening trend between frame 21 (0.27) and frame 27 (0.999), though not explicitly detailed in provided keyframes." + } + }, + "episode_goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2049725353717804, + 0.18963943421840668, + 0.04685592278838158, + -3.109046220779419, + -0.011115026660263538, + 0.047173697501420975 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is stationary, indicating readiness to move closer. The next action should be to advance the end-effector toward the laundry machine opening to prepare for grasping the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 5 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20474085211753845, + 0.18541714549064636, + 0.0406317412853241, + -3.1227357387542725, + 0.005433381535112858, + 0.03641863912343979 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is stationary, indicating readiness to move closer. The next action should be to advance the end-effector toward the laundry machine opening to prepare for grasping the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22914011776447296, + 0.16664671897888184, + 0.04177585244178772, + -3.0857062339782715, + -0.015712935477495193, + -0.0889291912317276 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is stationary, indicating readiness to move closer. The next action should be to advance the end-effector toward the laundry machine opening to prepare for grasping the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2646568715572357, + 0.1529320776462555, + 0.06047326326370239, + -3.082139492034912, + -0.09592559188604355, + -0.14171892404556274 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 91, + 444, + 487, + 853 + ], + "red cloth": [ + 2, + 649, + 185, + 945 + ], + "washing machine": [ + 23, + 3, + 859, + 620 + ], + "blue clamp": [ + 740, + 825, + 948, + 954 + ], + "black clamp arm": [ + 664, + 562, + 993, + 782 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is stationary, indicating readiness to move closer. The next action should be to advance the end-effector toward the laundry machine opening to prepare for grasping the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30007314682006836, + 0.14307396113872528, + 0.08191519975662231, + -3.064701557159424, + -0.1815810203552246, + -0.1836976706981659 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No extraction has occurred yet; the gripper is open and approaching. The next action is to move the gripper closer to the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 7 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3295336663722992, + 0.13127781450748444, + 0.07769924402236938, + -3.0731585025787354, + -0.19742976129055023, + -0.21405334770679474 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No extraction has occurred yet; the gripper is open and approaching. The next action is to move the gripper closer to the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 4 cm, close gripper; then move back 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542364537715912, + 0.12867240607738495, + 0.06287111341953278, + -3.0978493690490723, + -0.22484450042247772, + -0.21801993250846863 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No extraction has occurred yet; the gripper is open and approaching. The next action is to move the gripper closer to the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3714408874511719, + 0.12960076332092285, + 0.052548911422491074, + -3.0512123107910156, + -0.21126975119113922, + -0.25828078389167786 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No extraction has occurred yet; the gripper is open and approaching. The next action is to move the gripper closer to the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37384551763534546, + 0.13461564481258392, + 0.0492645725607872, + -3.0109968185424805, + -0.2075338214635849, + -0.28907158970832825 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No extraction has occurred yet; the gripper is open and approaching. The next action is to move the gripper closer to the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37710806727409363, + 0.1379128247499466, + 0.040191639214754105, + -3.0032525062561035, + -0.18839554488658905, + -0.31070375442504883 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "approach laundry machine", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No extraction has occurred yet; the gripper is open and approaching. The next action is to move the gripper closer to the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3774876594543457, + 0.1405966877937317, + 0.03809887915849686, + -3.0044445991516113, + -0.18726994097232819, + -0.2902460992336273 + ], + "gripper_value": 0.36275482177734375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No extraction has occurred yet; the gripper is open and approaching. The next action is to move the gripper closer to the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 4 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37665680050849915, + 0.14403115212917328, + 0.0354388952255249, + -2.975052833557129, + -0.18924279510974884, + -0.2776244282722473 + ], + "gripper_value": 0.15616591274738312 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot is positioned near the laundry machine with the blue cloth visible inside the drum. No extraction has occurred yet; the gripper is open and approaching. The next action is to move the gripper closer to the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37503108382225037, + 0.14454038441181183, + 0.038652822375297546, + -2.951169013977051, + -0.23074489831924438, + -0.24085456132888794 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot's end-effector is positioned at the opening of the laundry machine, with the blue cloth visible inside the drum. The gripper has closed significantly during this segment, indicating contact with the fabric. The next action is to secure the grip on the cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35105130076408386, + 0.1464879810810089, + 0.050023362040519714, + -2.9851560592651367, + -0.2214820832014084, + -0.1819898933172226 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot's end-effector is positioned at the opening of the laundry machine, with the blue cloth visible inside the drum. The gripper has closed significantly during this segment, indicating contact with the fabric. The next action is to secure the grip on the cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30961206555366516, + 0.14955541491508484, + 0.05335322022438049, + -3.0407161712646484, + -0.17241835594177246, + -0.10823807865381241 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "grasp clothes inside drum", + "subtask_reasoning": "The robot's end-effector is positioned at the opening of the laundry machine, with the blue cloth visible inside the drum. The gripper has closed significantly during this segment, indicating contact with the fabric. The next action is to secure the grip on the cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, keep gripper closed; then move back 6 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28319409489631653, + 0.1419724076986313, + 0.05696117877960205, + -3.0473439693450928, + -0.12082116305828094, + -0.08980351686477661 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 92, + 447, + 487, + 850 + ], + "red cloth": [ + 2, + 648, + 185, + 946 + ], + "washing machine": [ + 13, + 3, + 858, + 619 + ], + "blue clamp": [ + 741, + 825, + 947, + 955 + ], + "black clamp arm": [ + 665, + 562, + 993, + 782 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot's end-effector is positioned at the opening of the laundry machine, with the blue cloth visible inside the drum. The gripper has closed significantly during this segment, indicating contact with the fabric. The next action is to secure the grip on the cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25600090622901917, + 0.13247591257095337, + 0.04731810837984085, + -3.041024923324585, + -0.06287303566932678, + -0.09351317584514618 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot's end-effector is positioned at the opening of the laundry machine, with the blue cloth visible inside the drum. The gripper has closed significantly during this segment, indicating contact with the fabric. The next action is to secure the grip on the cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23298200964927673, + 0.1124543845653534, + 0.028986947610974312, + -3.052483558654785, + 0.0006874535465613008, + -0.16357280313968658 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 91, + 470, + 487, + 849 + ], + "blue clamp": [ + 740, + 825, + 948, + 954 + ], + "black clamp arm": [ + 663, + 562, + 993, + 782 + ], + "red cloth": [ + 3, + 648, + 184, + 945 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The robot's end-effector is positioned at the opening of the laundry machine, with the blue cloth visible inside the drum. The gripper has closed significantly during this segment, indicating contact with the fabric. The next action is to secure the grip on the cloth to prepare for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21904921531677246, + 0.10576176643371582, + 0.016602784395217896, + -3.063366413116455, + 0.018047576770186424, + -0.15796810388565063 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The blue cloth has been successfully extracted from the washing machine and is currently held by the gripper above the white laundry basket. The extraction phase is complete, and the robot is positioned to release the item. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21569092571735382, + 0.11084642261266708, + 0.00762354489415884, + -3.058767318725586, + 0.01719638705253601, + -0.16038227081298828 + ], + "gripper_value": 0.07081232219934464 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The blue cloth has been successfully extracted from the washing machine and is currently held by the gripper above the white laundry basket. The extraction phase is complete, and the robot is positioned to release the item. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21834562718868256, + 0.10690909624099731, + -0.0025113550946116447, + -3.067700147628784, + 0.049759428948163986, + -0.16316397488117218 + ], + "gripper_value": 0.10434377193450928 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The blue cloth has been successfully extracted from the washing machine and is currently held by the gripper above the white laundry basket. The extraction phase is complete, and the robot is positioned to release the item. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2207571417093277, + 0.10728482902050018, + -0.0006358020473271608, + -3.0898985862731934, + 0.037757400423288345, + -0.16163933277130127 + ], + "gripper_value": 0.27449509501457214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "extract clothes from machine", + "subtask_reasoning": "The blue cloth has been successfully extracted from the washing machine and is currently held by the gripper above the white laundry basket. The extraction phase is complete, and the robot is positioned to release the item. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21955373883247375, + 0.11000878363847733, + -0.0004818493325728923, + -3.0987131595611572, + 0.03342106565833092, + -0.15154191851615906 + ], + "gripper_value": 0.5501742362976074 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The blue cloth has been successfully extracted from the washing machine and is currently held by the gripper above the white laundry basket. The extraction phase is complete, and the robot is positioned to release the item. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22374016046524048, + 0.11140403896570206, + 0.007141056936234236, + -3.116152048110962, + 0.001152798067778349, + -0.11273957788944244 + ], + "gripper_value": 0.8472316861152649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The blue cloth has been successfully extracted from the washing machine and is currently held by the gripper above the white laundry basket. The extraction phase is complete, and the robot is positioned to release the item. The next action is to open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2265559881925583, + 0.11037478595972061, + 0.010584700852632523, + -3.1307151317596436, + -0.02933199144899845, + -0.09145726263523102 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 91, + 458, + 487, + 851 + ], + "blue clamp": [ + 739, + 825, + 948, + 954 + ], + "red cloth": [ + 3, + 649, + 186, + 946 + ], + "washing machine": [ + 116, + 3, + 855, + 618 + ], + "black clamp arm": [ + 665, + 563, + 993, + 781 + ] + } + } + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The blue cloth is already inside the white laundry basket, indicating successful release. The gripper is open and positioned above the basket, confirming completion of the release action. No further motion or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.229324072599411, + 0.10988741368055344, + 0.009180527180433273, + 3.135774850845337, + -0.06537111848592758, + -0.06972455233335495 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The blue cloth is already inside the white laundry basket, indicating successful release. The gripper is open and positioned above the basket, confirming completion of the release action. No further motion or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22997799515724182, + 0.10929649323225021, + 0.008894015103578568, + 3.132556676864624, + -0.07457580417394638, + -0.03157467022538185 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "release clothes into basket", + "subtask_reasoning": "The blue cloth is already inside the white laundry basket, indicating successful release. The gripper is open and positioned above the basket, confirming completion of the release action. No further motion or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22778499126434326, + 0.10918863117694855, + 0.00697628827765584, + -3.127467632293701, + -0.0608467236161232, + 0.04446806013584137 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "retreat from basket area", + "subtask_reasoning": "The blue cloth is already inside the white laundry basket, indicating successful release. The gripper is open and positioned above the basket, confirming completion of the release action. No further motion or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22867637872695923, + 0.10935655236244202, + 0.010197059251368046, + -3.1217358112335205, + -0.07172422856092453, + 0.04293721914291382 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "retreat from basket area", + "subtask_reasoning": "The blue cloth is already inside the white laundry basket, indicating successful release. The gripper is open and positioned above the basket, confirming completion of the release action. No further motion or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22845962643623352, + 0.10924756526947021, + 0.010179368779063225, + -3.122365713119507, + -0.07032498717308044, + 0.0429646372795105 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "retreat from basket area", + "subtask_reasoning": "The robot has successfully placed the blue cloth into the white laundry basket and is now positioned above it. The gripper is fully open with no motion, indicating the release is complete. The next action is to retreat from the basket area to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.22867637872695923, + 0.10935655236244202, + 0.010197059251368046, + -3.1217358112335205, + -0.07172422856092453, + 0.04293721914291382 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "retreat from basket area", + "subtask_reasoning": "The robot has successfully placed the blue cloth into the white laundry basket and is now positioned above it. The gripper is fully open with no motion, indicating the release is complete. The next action is to retreat from the basket area to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.22867637872695923, + 0.10935655236244202, + 0.010197059251368046, + -3.1217358112335205, + -0.07172422856092453, + 0.04293721914291382 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the blue cloth from the washing machine and place it into the white laundry basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry machine" + }, + { + "id": 2, + "subtask": "grasp clothes inside drum" + }, + { + "id": 3, + "subtask": "extract clothes from machine" + }, + { + "id": 4, + "subtask": "release clothes into basket" + }, + { + "id": 5, + "subtask": "retreat from basket area" + } + ], + "subtask_name": "retreat from basket area", + "subtask_reasoning": "The robot has successfully placed the blue cloth into the white laundry basket and is now positioned above it. The gripper is fully open with no motion, indicating the release is complete. The next action is to retreat from the basket area to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004220_ecot.json b/cot/chunk-0004/episode_0004220_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..65cc1cdf69e966a634f32147cce5d0a20fc6bb1c --- /dev/null +++ b/cot/chunk-0004/episode_0004220_ecot.json @@ -0,0 +1,2482 @@ +{ + "task_name": "episode_0004220", + "episode_json": "json/chunk-0004/episode_0004220.json", + "video_path": "videos/chunk-0004/image_0/episode_0004220.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004220.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.8972259759902954, + "std": 0.39433571696281433, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.89723, std=0.39434, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 135, + 135, + 135, + 135 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 15 + ], + [ + 3, + 16, + 34 + ], + [ + 4, + 35, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the drawer handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp drawer handle\", \"start\": 10, \"end\": 15, \"planning\": \"Close gripper fully around the handle and stabilize grip before pulling.\"},\n {\"id\": 3, \"name\": \"pull drawer open\", \"start\": 16, \"end\": 34, \"planning\": \"Apply backward force via gripper to slide drawer open until fully extended.\"},\n {\"id\": 4, \"name\": \"release handle and retreat\", \"start\": 35, \"end\": 38, \"planning\": \"Open gripper to release handle and move end-effector away from drawer.\"}\n ],\n \"global_plan\": \"Open the drawer by approaching, grasping, pulling, and releasing the handle in sequence.\",\n \"notes\": \"Gripper closure is confirmed in segments 1–3; segment 4 shows clear opening and retreat. All subtasks align with observed motion and gripper state transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the drawer handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp drawer handle", + "start": 10, + "end": 15, + "planning": "Close gripper fully around the handle and stabilize grip before pulling." + }, + { + "id": 3, + "name": "pull drawer open", + "start": 16, + "end": 34, + "planning": "Apply backward force via gripper to slide drawer open until fully extended." + }, + { + "id": 4, + "name": "release handle and retreat", + "start": 35, + "end": 38, + "planning": "Open gripper to release handle and move end-effector away from drawer." + } + ], + "global_plan": "Open the drawer by approaching, grasping, pulling, and releasing the handle in sequence.", + "notes": "Gripper closure is confirmed in segments 1–3; segment 4 shows clear opening and retreat. All subtasks align with observed motion and gripper state transitions." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22914469242095947, + 0.1281946301460266, + 0.13397188484668732, + 3.061420440673828, + -0.15518637001514435, + -0.4843965768814087 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the wooden drawer with the handle visible but not yet contacted. The gripper is fully open, indicating no grasp has occurred yet. The next action is to move the end-effector closer to align with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23040157556533813, + 0.12758708000183105, + 0.12743864953517914, + 3.04386043548584, + -0.1519932895898819, + -0.47190767526626587 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the wooden drawer with the handle visible but not yet contacted. The gripper is fully open, indicating no grasp has occurred yet. The next action is to move the end-effector closer to align with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23736460506916046, + 0.09710454195737839, + 0.1098494753241539, + 2.983809232711792, + -0.1850157529115677, + -0.4025978744029999 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the wooden drawer with the handle visible but not yet contacted. The gripper is fully open, indicating no grasp has occurred yet. The next action is to move the end-effector closer to align with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2436019778251648, + 0.06972828507423401, + 0.07681265473365784, + 2.8821685314178467, + -0.20938439667224884, + -0.3368600308895111 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the wooden drawer with the handle visible but not yet contacted. The gripper is fully open, indicating no grasp has occurred yet. The next action is to move the end-effector closer to align with the drawer handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25105783343315125, + 0.044350747019052505, + 0.06066649407148361, + 2.8809638023376465, + -0.24842716753482819, + -0.2915639579296112 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No contact has been made yet, and the arm is in motion toward the handle. The next action is to continue approaching until the gripper can make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643435001373291, + 0.031843364238739014, + 0.0465388223528862, + 2.902339458465576, + -0.2614497244358063, + -0.17313432693481445 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No contact has been made yet, and the arm is in motion toward the handle. The next action is to continue approaching until the gripper can make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27057671546936035, + 0.030436227098107338, + 0.03695512190461159, + 2.8823559284210205, + -0.28355976939201355, + -0.1120261400938034 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow can": [ + 688, + 175, + 834, + 372 + ], + "toy microwave": [ + 358, + 2, + 616, + 279 + ], + "red can": [ + 571, + 64, + 713, + 307 + ], + "white object": [ + 147, + 283, + 257, + 430 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No contact has been made yet, and the arm is in motion toward the handle. The next action is to continue approaching until the gripper can make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, close gripper; then move back 1 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27511700987815857, + 0.03148243576288223, + 0.033846624195575714, + 2.883002996444702, + -0.3048831820487976, + -0.09556332975625992 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No contact has been made yet, and the arm is in motion toward the handle. The next action is to continue approaching until the gripper can make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2743041515350342, + 0.03210829943418503, + 0.029951956123113632, + 2.868727445602417, + -0.2979906499385834, + -0.09110566228628159 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No contact has been made yet, and the arm is in motion toward the handle. The next action is to continue approaching until the gripper can make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749250829219818, + 0.03605936840176582, + 0.03220873326063156, + 2.8323426246643066, + -0.2981298863887787, + -0.07454440742731094 + ], + "gripper_value": 0.6470694541931152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No contact has been made yet, and the arm is in motion toward the handle. The next action is to continue approaching until the gripper can make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2762693166732788, + 0.040890228003263474, + 0.03352643549442291, + 2.8260385990142822, + -0.2940891981124878, + -0.07674529403448105 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No contact has been made yet, and the arm is in motion toward the handle. The next action is to continue approaching until the gripper can make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27771511673927307, + 0.04540529474616051, + 0.0367521196603775, + 2.8219873905181885, + -0.28795579075813293, + -0.062031883746385574 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle on the wooden surface, with the gripper open and ready. No contact has been made yet, and the arm is in motion toward the handle. The next action is to continue approaching until the gripper can make contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2770899534225464, + 0.05213470384478569, + 0.03858811408281326, + 2.8228156566619873, + -0.27950724959373474, + -0.04662473127245903 + ], + "gripper_value": 0.13806100189685822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27631688117980957, + 0.05993272364139557, + 0.04227159544825554, + 2.8318583965301514, + -0.27164649963378906, + -0.035905227065086365 + ], + "gripper_value": 0.1275043487548828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755739688873291, + 0.06795559823513031, + 0.04852767288684845, + 2.8620691299438477, + -0.28186890482902527, + -0.038688551634550095 + ], + "gripper_value": 0.12661112844944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27279260754585266, + 0.07420796900987625, + 0.049084484577178955, + 2.8770575523376465, + -0.2695375680923462, + -0.03618690371513367 + ], + "gripper_value": 0.12661112844944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27048343420028687, + 0.08517079055309296, + 0.05025508627295494, + 2.903947353363037, + -0.25755053758621216, + -0.0346548855304718 + ], + "gripper_value": 0.12661112844944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.269249826669693, + 0.0919392853975296, + 0.050671905279159546, + 2.940082550048828, + -0.23711130023002625, + -0.039553381502628326 + ], + "gripper_value": 0.12661112844944 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 211, + 2, + 615, + 280 + ], + "yellow can": [ + 688, + 175, + 834, + 373 + ], + "wooden box": [ + 319, + 260, + 897, + 959 + ], + "white object": [ + 146, + 301, + 235, + 428 + ], + "blue drawer": [ + 3, + 657, + 282, + 993 + ], + "red can": [ + 572, + 65, + 712, + 307 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2688038945198059, + 0.09450771659612656, + 0.05058193579316139, + 2.955904483795166, + -0.230893075466156, + -0.043835315853357315 + ], + "gripper_value": 0.12661112844944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2676142752170563, + 0.09841441363096237, + 0.04985461384057999, + 2.9771883487701416, + -0.21774114668369293, + -0.03183959797024727 + ], + "gripper_value": 0.12661112844944 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2651440501213074, + 0.10344035923480988, + 0.04909946396946907, + 2.9944889545440674, + -0.20748043060302734, + -0.02818450704216957 + ], + "gripper_value": 0.1261659562587738 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643660306930542, + 0.11077277362346649, + 0.05092959851026535, + 3.0067808628082275, + -0.20656649768352509, + -0.018305020406842232 + ], + "gripper_value": 0.1261659562587738 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26391786336898804, + 0.11675858497619629, + 0.05290023237466812, + 3.0159170627593994, + -0.20686693489551544, + -0.012723245657980442 + ], + "gripper_value": 0.1261659562587738 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632836103439331, + 0.12212289124727249, + 0.054679423570632935, + 3.0210952758789062, + -0.20765459537506104, + -0.003486664267256856 + ], + "gripper_value": 0.1261659562587738 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26448461413383484, + 0.12815195322036743, + 0.058157484978437424, + 3.030143976211548, + -0.21408940851688385, + 0.00014291729894466698 + ], + "gripper_value": 0.12572182714939117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in contact with it. The gripper is closing, as indicated by the decreasing gripper value, suggesting the robot is grasping the handle. The next action is to complete the grasp and prepare to pull the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617110311985016, + 0.13317467272281647, + 0.058256909251213074, + 3.0340464115142822, + -0.20961874723434448, + 0.01259667333215475 + ], + "gripper_value": 0.10874665528535843 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613486647605896, + 0.13573382794857025, + 0.05920545384287834, + 3.035632371902466, + -0.21057966351509094, + 0.01838839054107666 + ], + "gripper_value": 0.10793770849704742 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26007670164108276, + 0.13836519420146942, + 0.05866371467709541, + 3.029543399810791, + -0.20385734736919403, + 0.028374522924423218 + ], + "gripper_value": 0.10793770849704742 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 207, + 2, + 615, + 278 + ], + "wooden box": [ + 218, + 249, + 895, + 961 + ], + "yellow can": [ + 688, + 175, + 835, + 373 + ], + "red can": [ + 574, + 64, + 713, + 308 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2581215500831604, + 0.1413293033838272, + 0.058197010308504105, + 3.0295567512512207, + -0.20248346030712128, + 0.03135175257921219 + ], + "gripper_value": 0.10793770849704742 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.257665753364563, + 0.14235158264636993, + 0.05766117945313454, + 3.024921178817749, + -0.19672168791294098, + 0.027401892468333244 + ], + "gripper_value": 0.10793770849704742 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25840720534324646, + 0.14570781588554382, + 0.05712896212935448, + 3.036492109298706, + -0.184174045920372, + 0.009542637504637241 + ], + "gripper_value": 0.10753463208675385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26070621609687805, + 0.1479284018278122, + 0.05571364983916283, + 3.0277771949768066, + -0.15702064335346222, + -0.028019314631819725 + ], + "gripper_value": 0.10753463208675385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630358338356018, + 0.14831537008285522, + 0.05433410406112671, + 3.013848304748535, + -0.13317342102527618, + -0.0640086904168129 + ], + "gripper_value": 0.10753463208675385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.26494553685188293, + 0.1492357701063156, + 0.05333862081170082, + 2.999575138092041, + -0.11878957599401474, + -0.08018125593662262 + ], + "gripper_value": 0.14042599499225616 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26226717233657837, + 0.14800173044204712, + 0.05335363745689392, + 2.9941134452819824, + -0.11277280747890472, + -0.135824516415596 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621336281299591, + 0.14597609639167786, + 0.053686052560806274, + 2.981227159500122, + -0.11396530270576477, + -0.13615046441555023 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot has approached and grasped the drawer handle, as indicated by the gripper state and segment-level evidence. The drawer is partially open, and the robot is currently pulling it further open. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628655731678009, + 0.14058619737625122, + 0.05722281336784363, + 2.9063169956207275, + -0.16418598592281342, + -0.12538552284240723 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is fully open, and the robot's gripper is currently open and positioned near the handle, indicating the release action is complete. The robot has successfully finished the pulling and releasing phases of the task. The next logical step is to retreat the arm away from the drawer to conclude the episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.25909489393234253, + 0.1403084397315979, + 0.07508654147386551, + 2.9267826080322266, + -0.20821456611156464, + -0.11477530002593994 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is fully open, and the robot's gripper is currently open and positioned near the handle, indicating the release action is complete. The robot has successfully finished the pulling and releasing phases of the task. The next logical step is to retreat the arm away from the drawer to conclude the episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.25191187858581543, + 0.141075998544693, + 0.09860625118017197, + 3.0053904056549072, + -0.24366013705730438, + -0.12790073454380035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 206, + 2, + 615, + 277 + ], + "yellow can": [ + 688, + 175, + 834, + 373 + ], + "wooden box": [ + 199, + 241, + 895, + 962 + ], + "red can": [ + 574, + 64, + 712, + 309 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is fully open, and the robot's gripper is currently open and positioned near the handle, indicating the release action is complete. The robot has successfully finished the pulling and releasing phases of the task. The next logical step is to retreat the arm away from the drawer to conclude the episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004221_ecot.json b/cot/chunk-0004/episode_0004221_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c062be400440ae9913364df66e51493b588fae18 --- /dev/null +++ b/cot/chunk-0004/episode_0004221_ecot.json @@ -0,0 +1,2232 @@ +{ + "task_name": "episode_0004221", + "episode_json": "json/chunk-0004/episode_0004221.json", + "video_path": "videos/chunk-0004/image_0/episode_0004221.mp4", + "instruction": "Topple hot sauce bottle cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004221.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.7227689027786255, + "std": 0.32802626490592957, + "delta_total": -0.0019985437393188477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.72277, std=0.32803, total_delta=-0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 212, + 212, + 212, + 312, + 312, + 312, + 312, + 312, + 312, + 112, + 112, + 112, + 112, + 112, + 126, + 426, + 426, + 426 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 20 + ], + [ + 5, + 21, + 25 + ], + [ + 6, + 26, + 26 + ], + [ + 7, + 27, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach hot sauce bottle\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the red hot sauce bottle without closing gripper.\"},\n {\"id\": 2, \"name\": \"close gripper on bottle\", \"start\": 8, \"end\": 11, \"planning\": \"Close gripper around the neck of the hot sauce bottle to prepare for manipulation.\"},\n {\"id\": 3, \"name\": \"grasp and stabilize bottle\", \"start\": 12, \"end\": 14, \"planning\": \"Maintain grip while adjusting pose to ensure stable contact with the bottle.\"},\n {\"id\": 4, \"name\": \"push bottle forward\", \"start\": 15, \"end\": 20, \"planning\": \"Apply forward force to topple the cardboard fence by pushing the bottle into it.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 21, \"end\": 25, \"planning\": \"Open gripper to release the bottle and begin retreating from the scene.\"},\n {\"id\": 6, \"name\": \"final retreat and reset\", \"start\": 26, \"end\": 29, \"planning\": \"Fully open gripper and move end-effector away to complete the task.\"}\n ],\n \"global_plan\": \"Approach the hot sauce bottle, grasp it securely, push it forward to topple the cardboard fence, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in segments 2, 3, 5, and 7 based on segment-level evidence and image consistency. Segment 1 shows no closing — described as approach only. Subtasks are contiguous and cover all frames 0–29.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach hot sauce bottle", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the red hot sauce bottle without closing gripper." + }, + { + "id": 2, + "name": "close gripper on bottle", + "start": 8, + "end": 11, + "planning": "Close gripper around the neck of the hot sauce bottle to prepare for manipulation." + }, + { + "id": 3, + "name": "grasp and stabilize bottle", + "start": 12, + "end": 14, + "planning": "Maintain grip while adjusting pose to ensure stable contact with the bottle." + }, + { + "id": 4, + "name": "push bottle forward", + "start": 15, + "end": 20, + "planning": "Apply forward force to topple the cardboard fence by pushing the bottle into it." + }, + { + "id": 5, + "name": "release and retreat", + "start": 21, + "end": 25, + "planning": "Open gripper to release the bottle and begin retreating from the scene." + }, + { + "id": 6, + "name": "final retreat and reset", + "start": 26, + "end": 29, + "planning": "Fully open gripper and move end-effector away to complete the task." + } + ], + "global_plan": "Approach the hot sauce bottle, grasp it securely, push it forward to topple the cardboard fence, then release and retreat.", + "notes": "Gripper closure is confirmed in segments 2, 3, 5, and 7 based on segment-level evidence and image consistency. Segment 1 shows no closing — described as approach only. Subtasks are contiguous and cover all frames 0–29." + } + }, + "episode_goal": "Topple the hot sauce bottle so it falls over onto the wooden board.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3329288065433502, + -0.014187215827405453, + 0.08406727761030197, + -3.12176251411438, + -0.08620515465736389, + 0.34021490812301636 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle centered in view. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the bottle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32799291610717773, + -0.013405407778918743, + 0.07474353909492493, + -3.104351282119751, + -0.053424835205078125, + 0.3348591923713684 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle centered in view. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the bottle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3220759928226471, + -0.0018886467441916466, + 0.0764080211520195, + -3.0333101749420166, + -0.032333601266145706, + 0.26761385798454285 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle centered in view. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the bottle to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227786719799042, + 0.013977300375699997, + 0.08765586465597153, + -3.009275197982788, + -0.05948997661471367, + 0.17962685227394104 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle visible in the center. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the hot sauce bottle to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3170563280582428, + 0.030790727585554123, + 0.09733878076076508, + -3.003160238265991, + -0.04458232596516609, + 0.1350003033876419 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle visible in the center. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the hot sauce bottle to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016980290412903, + 0.037463653832674026, + 0.10818806290626526, + -3.0411500930786133, + -0.05830707401037216, + 0.0925653725862503 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ketchup bottle": [ + 366, + 331, + 468, + 638 + ], + "toy corn": [ + 182, + 269, + 353, + 436 + ], + "black tiled wall": [ + 302, + 6, + 984, + 465 + ], + "toy broccoli": [ + 496, + 607, + 615, + 766 + ], + "toy eggplant": [ + 499, + 357, + 591, + 535 + ], + "toy lettuce": [ + 502, + 615, + 606, + 756 + ] + } + } + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle visible in the center. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the hot sauce bottle to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28766584396362305, + 0.03905944153666496, + 0.10674401372671127, + -3.1087958812713623, + -0.02879481203854084, + 0.052237603813409805 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle visible in the center. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the hot sauce bottle to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747386693954468, + 0.03862452507019043, + 0.10863298177719116, + -3.1374008655548096, + -0.015024972148239613, + 0.0478731133043766 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "approach hot sauce bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle visible in the center. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the hot sauce bottle to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628980278968811, + 0.03232087939977646, + 0.10372629016637802, + 3.102527618408203, + -0.026235677301883698, + 0.03955782204866409 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot is positioned above the wooden board with the hot sauce bottle visible in the center. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the hot sauce bottle to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25625601410865784, + 0.033253416419029236, + 0.09887512028217316, + 3.1178247928619385, + -0.055329181253910065, + 0.037405505776405334 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot is positioned above the hot sauce bottle with the gripper open. The segment-level gripper evidence indicates a closing action is occurring. The next step is to complete the gripper closure to securely grasp the bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2528102993965149, + 0.03231940045952797, + 0.09360745549201965, + 3.1247966289520264, + -0.07756833732128143, + 0.036289628595113754 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot is positioned above the hot sauce bottle with the gripper open. The segment-level gripper evidence indicates a closing action is occurring. The next step is to complete the gripper closure to securely grasp the bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2565010190010071, + 0.0294006559997797, + 0.09327248483896255, + 3.1082675457000732, + -0.09991906583309174, + 0.032217979431152344 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot is positioned above the hot sauce bottle with the gripper open. The segment-level gripper evidence indicates a closing action is occurring. The next step is to complete the gripper closure to securely grasp the bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2571776509284973, + 0.028669364750385284, + 0.0900736078619957, + 3.100562334060669, + -0.08786489814519882, + 0.04644971713423729 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "grasp and stabilize bottle", + "subtask_reasoning": "The robot is positioned above the hot sauce bottle with the gripper open. The segment-level gripper evidence indicates a closing action is occurring. The next step is to complete the gripper closure to securely grasp the bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572561800479889, + 0.02817113883793354, + 0.0919882282614708, + 3.0950210094451904, + -0.07819491624832153, + 0.06567715108394623 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "grasp and stabilize bottle", + "subtask_reasoning": "The robot has approached the hot sauce bottle and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the bottle, stabilizing it for the next action. The most likely next step is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25875675678253174, + 0.03201642259955406, + 0.09403178840875626, + 3.1170668601989746, + -0.0140659986063838, + 0.13375350832939148 + ], + "gripper_value": 0.30417895317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "grasp and stabilize bottle", + "subtask_reasoning": "The robot has approached the hot sauce bottle and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the bottle, stabilizing it for the next action. The most likely next step is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2600204348564148, + 0.03950867801904678, + 0.10431883484125137, + -3.1160264015197754, + 0.08667527139186859, + 0.24976742267608643 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden crate": [ + 33, + 172, + 905, + 942 + ], + "toy ketchup bottle": [ + 339, + 285, + 435, + 616 + ], + "toy corn": [ + 182, + 274, + 337, + 437 + ], + "black tiled wall": [ + 448, + 7, + 974, + 458 + ], + "toy broccoli": [ + 495, + 607, + 615, + 766 + ], + "toy lettuce": [ + 502, + 615, + 605, + 756 + ], + "toy eggplant": [ + 499, + 357, + 592, + 536 + ] + } + } + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "push bottle forward", + "subtask_reasoning": "The robot has approached the hot sauce bottle and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the bottle, stabilizing it for the next action. The most likely next step is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26553162932395935, + 0.04709295555949211, + 0.0997299775481224, + -3.045267105102539, + 0.18890710175037384, + 0.33435744047164917 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "push bottle forward", + "subtask_reasoning": "The robot has approached the hot sauce bottle and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the bottle, stabilizing it for the next action. The most likely next step is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 4 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27565863728523254, + 0.04967466741800308, + 0.08537248522043228, + -2.981973886489868, + 0.24592642486095428, + 0.4167410135269165 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "push bottle forward", + "subtask_reasoning": "The robot is in contact with the hot sauce bottle, positioned to push it forward. The gripper remains closed but no active grasping motion is occurring in this segment. The next action is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841518819332123, + 0.0533866323530674, + 0.07449371367692947, + -2.960839033126831, + 0.22816845774650574, + 0.42572706937789917 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "push bottle forward", + "subtask_reasoning": "The robot is in contact with the hot sauce bottle, positioned to push it forward. The gripper remains closed but no active grasping motion is occurring in this segment. The next action is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29480817914009094, + 0.05412915721535683, + 0.06969885528087616, + -3.00919771194458, + 0.16534361243247986, + 0.3990459740161896 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "push bottle forward", + "subtask_reasoning": "The robot is in contact with the hot sauce bottle, positioned to push it forward. The gripper remains closed but no active grasping motion is occurring in this segment. The next action is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3001863658428192, + 0.057332590222358704, + 0.06551206856966019, + -3.076244831085205, + 0.050351619720458984, + 0.27154821157455444 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "push bottle forward", + "subtask_reasoning": "The robot is in contact with the hot sauce bottle, positioned to push it forward. The gripper remains closed but no active grasping motion is occurring in this segment. The next action is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3150007426738739, + 0.067891426384449, + 0.06233619898557663, + 3.132291555404663, + -0.07630877196788788, + 0.2705846130847931 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the hot sauce bottle, positioned to push it forward. The gripper remains closed but no active grasping motion is occurring in this segment. The next action is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32668378949165344, + 0.08263562619686127, + 0.05506853014230728, + 3.1236984729766846, + -0.17774568498134613, + 0.27308231592178345 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden crate": [ + 33, + 164, + 903, + 939 + ], + "toy corn": [ + 182, + 270, + 357, + 438 + ], + "toy ketchup bottle": [ + 299, + 263, + 426, + 579 + ], + "black tiled wall": [ + 417, + 5, + 975, + 458 + ], + "toy eggplant": [ + 497, + 357, + 593, + 537 + ], + "toy lettuce": [ + 501, + 614, + 608, + 757 + ] + } + } + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the hot sauce bottle, positioned to push it forward. The gripper remains closed but no active grasping motion is occurring in this segment. The next action is to apply forward force to topple the bottle onto the wooden board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3323329985141754, + 0.09051711857318878, + 0.037979234009981155, + 3.1163957118988037, + -0.1531669944524765, + 0.29603737592697144 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The hot sauce bottle has been toppled and is lying on the wooden board, indicating the push action is complete. The gripper is open and positioned above the bottle, consistent with the release phase. The next action is to retreat the end-effector away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357034921646118, + 0.09529250860214233, + 0.02226662077009678, + 3.1058216094970703, + -0.13012517988681793, + 0.3147892951965332 + ], + "gripper_value": 0.30878186225891113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The hot sauce bottle has been toppled and is lying on the wooden board, indicating the push action is complete. The gripper is open and positioned above the bottle, consistent with the release phase. The next action is to retreat the end-effector away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.33554527163505554, + 0.09593101590871811, + 0.019195538014173508, + 3.1110310554504395, + -0.11871718615293503, + 0.33485013246536255 + ], + "gripper_value": 0.34697994589805603 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The hot sauce bottle has been toppled and is lying on the wooden board, indicating the push action is complete. The gripper is open and positioned above the bottle, consistent with the release phase. The next action is to retreat the end-effector away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3398844003677368, + 0.09926602989435196, + 0.024702217429876328, + 3.1141774654388428, + -0.09106451272964478, + 0.41176459193229675 + ], + "gripper_value": 0.629988968372345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The hot sauce bottle has been toppled and is lying on the wooden board, indicating the push action is complete. The gripper is open and positioned above the bottle, consistent with the release phase. The next action is to retreat the end-effector away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.34067824482917786, + 0.1032916009426117, + 0.030048837885260582, + -3.112384557723999, + -0.08865638822317123, + 0.45305225253105164 + ], + "gripper_value": 0.9206693768501282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The hot sauce bottle has been toppled and lies on the wooden board, indicating the main task is complete. The gripper is open and positioned above the scene, suggesting the robot has released the bottle and is in the process of retreating. The next action is to move the arm further away to reset for the next episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3385082483291626, + 0.10682643949985504, + 0.036729104816913605, + -3.0551373958587646, + -0.06528092175722122, + 0.4523349702358246 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The hot sauce bottle has been toppled and lies on the wooden board, indicating the main task is complete. The gripper is open and positioned above the scene, suggesting the robot has released the bottle and is in the process of retreating. The next action is to move the arm further away to reset for the next episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33066192269325256, + 0.1054985523223877, + 0.05142049863934517, + -3.044445037841797, + -0.03537033125758171, + 0.4472048282623291 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the hot sauce bottle so it falls over onto the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach hot sauce bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "grasp and stabilize bottle" + }, + { + "id": 4, + "subtask": "push bottle forward" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final retreat and reset" + } + ], + "subtask_name": "final retreat and reset", + "subtask_reasoning": "The hot sauce bottle has been toppled and lies on the wooden board, indicating the main task is complete. The gripper is open and positioned above the scene, suggesting the robot has released the bottle and is in the process of retreating. The next action is to move the arm further away to reset for the next episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004222_ecot.json b/cot/chunk-0004/episode_0004222_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3374c4d90bdd564276881bc4e3f921dfdec19ee3 --- /dev/null +++ b/cot/chunk-0004/episode_0004222_ecot.json @@ -0,0 +1,2244 @@ +{ + "task_name": "episode_0004222", + "episode_json": "json/chunk-0004/episode_0004222.json", + "video_path": "videos/chunk-0004/image_0/episode_0004222.mp4", + "instruction": "Close microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004222.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006470680236816406, + "std": 0.00024386895529460162, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00065, std=0.00024, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 18 + ], + [ + 3, + 19, + 27 + ], + [ + 4, + 28, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave door\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the open microwave door handle area without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with door\", \"start\": 3, \"end\": 18, \"planning\": \"Position end-effector to make physical contact with the microwave door for pushing.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 19, \"end\": 27, \"planning\": \"Apply force via end-effector to slide and close the microwave door along its hinge path.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 28, \"end\": 34, \"planning\": \"Withdraw end-effector from contact with the now-closed microwave door and return to safe position.\"}\n ],\n \"global_plan\": \"Close the microwave door by approaching, making contact, pushing it shut, then retreating — all without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper evidence confirms no closing occurred in any segment; all actions are contact-based pushes or approaches. Frame ranges follow provided segments exactly for full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave door", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the open microwave door handle area without grasping." + }, + { + "id": 2, + "name": "make contact with door", + "start": 3, + "end": 18, + "planning": "Position end-effector to make physical contact with the microwave door for pushing." + }, + { + "id": 3, + "name": "push door closed", + "start": 19, + "end": 27, + "planning": "Apply force via end-effector to slide and close the microwave door along its hinge path." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 28, + "end": 34, + "planning": "Withdraw end-effector from contact with the now-closed microwave door and return to safe position." + } + ], + "global_plan": "Close the microwave door by approaching, making contact, pushing it shut, then retreating — all without grasping, as gripper remains fully open throughout.", + "notes": "Gripper evidence confirms no closing occurred in any segment; all actions are contact-based pushes or approaches. Frame ranges follow provided segments exactly for full coverage and contiguity." + } + }, + "episode_goal": "Close the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.328197181224823, + 0.016503533348441124, + 0.12408821284770966, + 3.0780532360076904, + -0.09198429435491562, + -0.0696808248758316 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. The subtask involves moving closer to the door to prepare for pushing it shut. The next action should be a controlled forward motion toward the microwave door without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 9 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268783390522003, + 0.01641012914478779, + 0.11932141333818436, + 3.076852798461914, + -0.08032842725515366, + -0.07683981209993362 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 11 cm, move left 6 cm, move up 5 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3144012689590454, + 0.022877896204590797, + 0.12491778284311295, + 3.116408109664917, + -0.07001669704914093, + -0.1549738496541977 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 12 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2978498041629791, + 0.0293362345546484, + 0.1496332585811615, + -3.1086533069610596, + -0.10741022229194641, + -0.1270364671945572 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bowl": [ + 578, + 213, + 668, + 329 + ], + "wall socket": [ + 12, + 408, + 171, + 687 + ], + "small white knobs": [ + 696, + 406, + 784, + 476 + ], + "green plate": [ + 489, + 212, + 670, + 360 + ], + "white door": [ + 117, + 6, + 346, + 931 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 8 cm, move up 2 cm, tilt left 20 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28108999133110046, + 0.034286413341760635, + 0.16029135882854462, + -3.0626933574676514, + -0.11512991786003113, + -0.12441890686750412 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 7 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649329900741577, + 0.0408155582845211, + 0.1724471151828766, + -2.9994726181030273, + -0.08461155742406845, + -0.1521444469690323 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25054264068603516, + 0.046256713569164276, + 0.17848792672157288, + -2.9382967948913574, + 0.0004486802499741316, + -0.16944240033626556 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23802489042282104, + 0.05195879936218262, + 0.18872182071208954, + -2.906296968460083, + 0.04730365052819252, + -0.1845928430557251 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.226397305727005, + 0.05942929536104202, + 0.1954483687877655, + -2.8873789310455322, + 0.094902403652668, + -0.18038256466388702 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21434704959392548, + 0.06718318909406662, + 0.2037985622882843, + -2.8751609325408936, + 0.09588256478309631, + -0.17008662223815918 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 8 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2028922587633133, + 0.07658784091472626, + 0.20059233903884888, + -2.857977867126465, + 0.13867557048797607, + -0.16145794093608856 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 7 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18872053921222687, + 0.08723212033510208, + 0.19593694806098938, + -2.8681211471557617, + 0.17166537046432495, + -0.14276419579982758 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 7 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.1748732328414917, + 0.09871447086334229, + 0.18259654939174652, + -2.8535966873168945, + 0.19268468022346497, + -0.13582652807235718 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 6 cm, tilt right 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.16360464692115784, + 0.10719510167837143, + 0.16834692656993866, + -2.8332035541534424, + 0.2080957442522049, + -0.11692283302545547 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move down 4 cm, tilt right 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 8 cm, move right 2 cm, move down 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.15973588824272156, + 0.1085251197218895, + 0.15733927488327026, + -2.853025197982788, + 0.19980409741401672, + -0.1043107733130455 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move down 3 cm, tilt right 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 10 cm, move right 2 cm, move down 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.16572166979312897, + 0.10398110002279282, + 0.15065166354179382, + -2.8799796104431152, + 0.14498522877693176, + -0.09503679722547531 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 11 cm, move right 2 cm, move down 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.17392978072166443, + 0.09801206737756729, + 0.14721544086933136, + -2.9171364307403564, + 0.08487839996814728, + -0.08085208386182785 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bowl": [ + 578, + 213, + 668, + 329 + ], + "green plate": [ + 489, + 206, + 674, + 361 + ], + "wall socket": [ + 12, + 415, + 193, + 688 + ], + "small white knobs": [ + 696, + 407, + 785, + 477 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 13 cm, move right 2 cm, move down 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.18873175978660583, + 0.08375223726034164, + 0.13642610609531403, + -3.016991376876831, + 0.02340288646519184, + -0.05120567977428436 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 13 cm, move right 2 cm, move down 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20242337882518768, + 0.07131629437208176, + 0.13303622603416443, + -3.0638198852539062, + -0.03556651249527931, + -0.039156265556812286 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bowl": [ + 577, + 213, + 668, + 329 + ], + "green plate": [ + 490, + 206, + 673, + 361 + ], + "white door": [ + 2, + 4, + 388, + 924 + ], + "wall socket": [ + 12, + 414, + 210, + 691 + ], + "small white knobs": [ + 696, + 406, + 786, + 478 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 13 cm, move right 2 cm, move down 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22318953275680542, + 0.055258430540561676, + 0.12667441368103027, + 3.137859582901001, + -0.1270422339439392, + -0.0009615343296900392 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 2 cm, move down 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24457141757011414, + 0.04581286385655403, + 0.11684085428714752, + 3.0858421325683594, + -0.2376021444797516, + 0.0002741855278145522 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 1 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2675905227661133, + 0.03832473233342171, + 0.10574862360954285, + 3.053711414337158, + -0.3158498704433441, + -0.015758659690618515 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28553593158721924, + 0.036122336983680725, + 0.099641814827919, + 3.065549373626709, + -0.3611214756965637, + -0.0650709718465805 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the gripper's position and the lack of further forward motion. The next action is to apply gentle pressure to ensure the door is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30069246888160706, + 0.03315203636884689, + 0.10067816823720932, + 3.111391305923462, + -0.4333428144454956, + -0.11657565832138062 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot end-effector is in contact with the partially open microwave door, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue pushing the door forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32428836822509766, + 0.033974941819906235, + 0.10473708063364029, + 3.1267616748809814, + -0.4912460148334503, + -0.16679823398590088 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot end-effector is in contact with the partially open microwave door, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue pushing the door forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper open; then move back 5 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.33790281414985657, + 0.03337975963950157, + 0.1059669479727745, + 3.1299984455108643, + -0.5229877233505249, + -0.1957322061061859 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot end-effector is in contact with the partially open microwave door, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue pushing the door forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 5 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34890714287757874, + 0.03305043652653694, + 0.106421560049057, + 3.1373605728149414, + -0.5482762455940247, + -0.22471104562282562 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden stick": [ + 73, + 508, + 172, + 643 + ], + "wall socket": [ + 12, + 410, + 210, + 693 + ], + "stovetop": [ + 199, + 489, + 990, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot end-effector is in contact with the partially open microwave door, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue pushing the door forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3516477346420288, + 0.03323962166905403, + 0.1021905466914177, + 3.133368968963623, + -0.5381346940994263, + -0.2464633285999298 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot end-effector is in contact with the partially open microwave door, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue pushing the door forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35244765877723694, + 0.03421492129564285, + 0.10263348370790482, + -3.1346030235290527, + -0.5394599437713623, + -0.2582967281341553 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot end-effector is in contact with the partially open microwave door, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue pushing the door forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3491274416446686, + 0.03215974196791649, + 0.101528100669384, + -3.1227340698242188, + -0.5035812854766846, + -0.22971409559249878 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot end-effector is in contact with the partially open microwave door, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue pushing the door forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3283344507217407, + 0.028351768851280212, + 0.11159059405326843, + -3.107211112976074, + -0.42438048124313354, + -0.15839357674121857 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot end-effector is in contact with the partially open microwave door, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue pushing the door forward until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085353672504425, + 0.025848625227808952, + 0.11065101623535156, + -3.107698917388916, + -0.36553630232810974, + -0.13079851865768433 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is closed, and the robot has completed contact with the door. The gripper remains fully open with no grasp evidence. The next action is to retreat the end-effector away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30309295654296875, + 0.027677157893776894, + 0.11046503484249115, + -3.0997767448425293, + -0.34378355741500854, + -0.1229034960269928 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is closed, and the robot has completed contact with the door. The gripper remains fully open with no grasp evidence. The next action is to retreat the end-effector away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028663992881775, + 0.027643101289868355, + 0.11084990948438644, + -3.1003596782684326, + -0.3438570201396942, + -0.12133669853210449 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is closed, and the robot has completed contact with the door. The gripper remains fully open with no grasp evidence. The next action is to retreat the end-effector away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024786710739136, + 0.027600105851888657, + 0.10995391011238098, + -3.101107358932495, + -0.34087100625038147, + -0.12108565866947174 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is closed, and the robot has completed contact with the door. The gripper remains fully open with no grasp evidence. The next action is to retreat the end-effector away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004223_ecot.json b/cot/chunk-0004/episode_0004223_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..49be8b33779ed71c4e436bcf44164f8c4b8c1e54 --- /dev/null +++ b/cot/chunk-0004/episode_0004223_ecot.json @@ -0,0 +1,2140 @@ +{ + "task_name": "episode_0004223", + "episode_json": "json/chunk-0004/episode_0004223.json", + "video_path": "videos/chunk-0004/image_0/episode_0004223.mp4", + "instruction": "Move the metal pot to the right of the mushroom.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004223.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.9336354732513428, + "std": 0.42732706665992737, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93364, std=0.42733, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 227, + 227, + 227, + 227, + 227, + 227 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 12 + ], + [ + 3, + 13, + 26 + ], + [ + 4, + 27, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector toward the metal pot without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 11, \"end\": 12, \"planning\": \"Close the gripper to securely grasp the metal pot.\"},\n {\"id\": 3, \"name\": \"move pot right\", \"start\": 13, \"end\": 26, \"planning\": \"Lift and translate the grasped pot to the right, positioning it next to the mushroom.\"},\n {\"id\": 4, \"name\": \"release pot\", \"start\": 27, \"end\": 32, \"planning\": \"Open the gripper to release the pot at the target location and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the metal pot, grasp it, move it to the right of the mushroom, and release it.\",\n \"notes\": \"Segment 1 shows no meaningful gripper closing, so 'approach' is used. Segments 2–4 show clear gripper closure and motion consistent with grasping, moving, and releasing the pot.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 10, + "planning": "Move the end-effector toward the metal pot without closing the gripper." + }, + { + "id": 2, + "name": "grasp pot", + "start": 11, + "end": 12, + "planning": "Close the gripper to securely grasp the metal pot." + }, + { + "id": 3, + "name": "move pot right", + "start": 13, + "end": 26, + "planning": "Lift and translate the grasped pot to the right, positioning it next to the mushroom." + }, + { + "id": 4, + "name": "release pot", + "start": 27, + "end": 32, + "planning": "Open the gripper to release the pot at the target location and retreat slightly." + } + ], + "global_plan": "Approach the metal pot, grasp it, move it to the right of the mushroom, and release it.", + "notes": "Segment 1 shows no meaningful gripper closing, so 'approach' is used. Segments 2–4 show clear gripper closure and motion consistent with grasping, moving, and releasing the pot." + } + }, + "episode_goal": "Move the metal pot to the right of the mushroom.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.41860896348953247, + 0.12478816509246826, + 0.09610001742839813, + -2.9520206451416016, + -0.36202093958854675, + -0.08867985755205154 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible on a cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4151473641395569, + 0.12364421784877777, + 0.07848203927278519, + -2.970881223678589, + -0.3213367164134979, + -0.078974150121212 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible on a cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 6 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.40499722957611084, + 0.12005739659070969, + 0.06568736582994461, + -2.9925684928894043, + -0.28498148918151855, + -0.06603509932756424 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible on a cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3843357563018799, + 0.11241606622934341, + 0.07894071191549301, + -2.9975552558898926, + -0.2938348054885864, + -0.07922572642564774 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible on a cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 5 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35538291931152344, + 0.10226251929998398, + 0.08798374235630035, + -3.016315221786499, + -0.28980621695518494, + -0.08831582218408585 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible on a cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327926695346832, + 0.09319625794887543, + 0.0862642452120781, + -3.03531551361084, + -0.27190420031547546, + -0.10505661368370056 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot, which is currently on a cloth on the table. The gripper is open and moving toward the pot. The next action is to continue moving closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31467536091804504, + 0.08293887972831726, + 0.08156177401542664, + -3.0419373512268066, + -0.23972217738628387, + -0.14086651802062988 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot, which is currently on a cloth on the table. The gripper is open and moving toward the pot. The next action is to continue moving closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2957601845264435, + 0.07734465599060059, + 0.07660314440727234, + -3.045799732208252, + -0.2095448076725006, + -0.16842833161354065 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 281, + 399, + 523, + 711 + ], + "toaster": [ + 373, + 5, + 685, + 239 + ], + "tomato sauce": [ + 656, + 28, + 805, + 286 + ], + "spoon": [ + 200, + 320, + 278, + 385 + ], + "blue cloth": [ + 248, + 506, + 575, + 788 + ], + "corn": [ + 775, + 126, + 926, + 334 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot, which is currently on a cloth on the table. The gripper is open and moving toward the pot. The next action is to continue moving closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed; then move forward 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2833348512649536, + 0.07022495567798615, + 0.06305553764104843, + -3.0568227767944336, + -0.1722026765346527, + -0.2123265415430069 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot, which is currently on a cloth on the table. The gripper is open and moving toward the pot. The next action is to continue moving closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed; then move forward 5 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2708539366722107, + 0.06936176121234894, + 0.05110813304781914, + -3.0503599643707275, + -0.1309802532196045, + -0.24486520886421204 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot, which is currently on a cloth on the table. The gripper is open and moving toward the pot. The next action is to continue moving closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper closed; then move forward 9 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716517448425293, + 0.06712432950735092, + 0.04117050766944885, + -3.0713138580322266, + -0.11905959248542786, + -0.25797948241233826 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot, which is currently on a cloth on the table. The gripper is open and moving toward the pot. The next action is to continue moving closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt right 10 degrees, keep gripper closed; then keep gripper closed; then move forward 12 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27294430136680603, + 0.06422746926546097, + 0.020716261118650436, + 3.10927414894104, + -0.07818940281867981, + -0.23573613166809082 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 278, + 400, + 522, + 711 + ], + "toaster": [ + 320, + 4, + 684, + 239 + ], + "tomato sauce": [ + 655, + 28, + 806, + 287 + ], + "blue cloth": [ + 248, + 507, + 576, + 788 + ], + "corn": [ + 775, + 125, + 927, + 334 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot, with the gripper open and ready to grasp. The pot is centered under the gripper, and no prior grasping action has been completed. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 14 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27515432238578796, + 0.06527012586593628, + 0.020172106102108955, + 3.1104722023010254, + -0.08983117341995239, + -0.24708180129528046 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot, with the gripper open and ready to grasp. The pot is centered under the gripper, and no prior grasping action has been completed. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 14 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764459550380707, + 0.06318338215351105, + 0.020761964842677116, + 3.1105926036834717, + -0.09192466735839844, + -0.2584134340286255 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot arm is positioned above the metal pot, with the gripper open and ready to grasp. The pot is centered under the gripper, and no prior grasping action has been completed. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27572888135910034, + 0.0636783316731453, + 0.020916473120450974, + 3.113572835922241, + -0.08384843170642853, + -0.2542271614074707 + ], + "gripper_value": 0.16130207479000092 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot arm is positioned above the metal pot, with the gripper open and ready to grasp. The pot is centered under the gripper, and no prior grasping action has been completed. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27720096707344055, + 0.06233639642596245, + 0.023129191249608994, + 3.103982925415039, + -0.08740539103746414, + -0.2634313106536865 + ], + "gripper_value": 0.07494325935840607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot arm is positioned above the metal pot, with the gripper open and ready to grasp. The pot is centered under the gripper, and no prior grasping action has been completed. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817353904247284, + 0.06044324114918709, + 0.03228248655796051, + 3.0820059776306152, + -0.1043279767036438, + -0.2579813599586487 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot arm is positioned above the metal pot, with the gripper open and ready to grasp. The pot is centered under the gripper, and no prior grasping action has been completed. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29524365067481995, + 0.0614578053355217, + 0.0486828051507473, + 3.0514230728149414, + -0.1372324675321579, + -0.24449990689754486 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot arm is positioned above the metal pot, with the gripper open and ready to grasp. The pot is centered under the gripper, and no prior grasping action has been completed. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32397928833961487, + 0.05998486280441284, + 0.06921973824501038, + 3.018338680267334, + -0.20667390525341034, + -0.19498693943023682 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot arm is positioned above the metal pot, with the gripper open and ready to grasp. The pot is centered under the gripper, and no prior grasping action has been completed. The next action should be to close the gripper to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36686381697654724, + 0.06105806306004524, + 0.07308974117040634, + 2.9852912425994873, + -0.25209543108940125, + -0.12986011803150177 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39807721972465515, + 0.06608602404594421, + 0.06453768163919449, + 3.0085031986236572, + -0.24860963225364685, + -0.11022456735372543 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.415039986371994, + 0.06635481864213943, + 0.048852358013391495, + 3.049947500228882, + -0.210972398519516, + -0.12967549264431 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.41800737380981445, + 0.06297226995229721, + 0.03012845292687416, + 3.0852651596069336, + -0.16571637988090515, + -0.1530059278011322 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tomato sauce": [ + 656, + 29, + 804, + 287 + ], + "blue cloth": [ + 252, + 455, + 575, + 788 + ], + "metal pot": [ + 435, + 192, + 642, + 428 + ], + "corn": [ + 775, + 126, + 926, + 335 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.42426493763923645, + 0.06043457239866257, + 0.021396217867732048, + 3.090062379837036, + -0.16454806923866272, + -0.1569422334432602 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.43093201518058777, + 0.06016850098967552, + 0.021514877676963806, + 3.103485107421875, + -0.16570359468460083, + -0.16723108291625977 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 453, + 212, + 657, + 436 + ], + "tomato sauce": [ + 657, + 29, + 804, + 285 + ], + "blue cloth": [ + 251, + 455, + 575, + 789 + ], + "spoon": [ + 201, + 176, + 347, + 386 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.43075549602508545, + 0.061254777014255524, + 0.02168985828757286, + 3.111417770385742, + -0.15824581682682037, + -0.15984973311424255 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.43233248591423035, + 0.06349127739667892, + 0.021508410573005676, + 3.126943826675415, + -0.16682370007038116, + -0.15793271362781525 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "move pot right", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4290127456188202, + 0.06654990464448929, + 0.01894179731607437, + -3.135356903076172, + -0.1501840502023697, + -0.1476854681968689 + ], + "gripper_value": 0.5139726996421814 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4289039075374603, + 0.0676279067993164, + 0.01861432194709778, + -3.132859706878662, + -0.15079902112483978, + -0.14318418502807617 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot is currently holding the metal pot above the table, having completed the approach and grasp phases. The pot is positioned near the center of the workspace, and the next action is to move it laterally to the right of the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.42799219489097595, + 0.06740235537290573, + 0.018461454659700394, + -3.1303229331970215, + -0.14664684236049652, + -0.1441357135772705 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is positioned to the right of the mushroom on the table. The gripper is open and no longer in contact with the pot, indicating the release action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4303619861602783, + 0.0681009590625763, + 0.03858235850930214, + -3.1171467304229736, + -0.1925961971282959, + -0.14783520996570587 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is positioned to the right of the mushroom on the table. The gripper is open and no longer in contact with the pot, indicating the release action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4254816770553589, + 0.06730575114488602, + 0.05174974724650383, + -3.1111323833465576, + -0.21612446010112762, + -0.13960744440555573 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is positioned to the right of the mushroom on the table. The gripper is open and no longer in contact with the pot, indicating the release action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4165334403514862, + 0.07863558083772659, + 0.080563485622406, + -3.082021713256836, + -0.29517701268196106, + -0.10634978115558624 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal pot to the right of the mushroom." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "move pot right" + }, + { + "id": 4, + "subtask": "release pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is positioned to the right of the mushroom on the table. The gripper is open and no longer in contact with the pot, indicating the release action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004226_ecot.json b/cot/chunk-0004/episode_0004226_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a189ace11d4816b297d9bdf28ed7dcf74c4ed19a --- /dev/null +++ b/cot/chunk-0004/episode_0004226_ecot.json @@ -0,0 +1,2924 @@ +{ + "task_name": "episode_0004226", + "episode_json": "json/chunk-0004/episode_0004226.json", + "video_path": "videos/chunk-0004/image_0/episode_0004226.mp4", + "instruction": "Move the spoon to the left of the orange pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004226.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6528542041778564, + "std": 0.29997017979621887, + "delta_total": -0.0019888877868652344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65285, std=0.29997, total_delta=-0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 520, + 520, + 520, + 420, + 420, + 420, + 420, + 420, + 420, + 420, + 120, + 120, + 120, + 120, + 120, + 335, + 135, + 135, + 135, + 135, + 335, + 335, + 335, + 335, + 335 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 10 + ], + [ + 3, + 11, + 19 + ], + [ + 4, + 20, + 22 + ], + [ + 5, + 23, + 29 + ], + [ + 6, + 30, + 34 + ], + [ + 7, + 35, + 35 + ], + [ + 8, + 36, + 39 + ], + [ + 9, + 40, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 19, \"planning\": \"Move the end-effector from initial position toward the blue spoon on the table.\"},\n {\"id\": 2, \"name\": \"grasp spoon\", \"start\": 20, \"end\": 29, \"planning\": \"Close gripper around the spoon handle and secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport spoon\", \"start\": 30, \"end\": 39, \"planning\": \"Lift the spoon slightly and move it leftward across the table toward the target location near the orange pot.\"},\n {\"id\": 4, \"name\": \"release spoon\", \"start\": 40, \"end\": 44, \"planning\": \"Open gripper to release the spoon at the target position left of the orange pot, then retreat upward.\"}\n ],\n \"global_plan\": \"Approach the blue spoon, grasp it securely, lift and transport it leftward to a position adjacent to the orange pot, then release and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 4 and 6 (frames 20-29 and 30-39), supporting grasp and hold descriptions. Segment 9 shows no closing, consistent with release and retreat. Motion and visuals align with planned phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 19, + "planning": "Move the end-effector from initial position toward the blue spoon on the table." + }, + { + "id": 2, + "name": "grasp spoon", + "start": 20, + "end": 29, + "planning": "Close gripper around the spoon handle and secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport spoon", + "start": 30, + "end": 39, + "planning": "Lift the spoon slightly and move it leftward across the table toward the target location near the orange pot." + }, + { + "id": 4, + "name": "release spoon", + "start": 40, + "end": 44, + "planning": "Open gripper to release the spoon at the target position left of the orange pot, then retreat upward." + } + ], + "global_plan": "Approach the blue spoon, grasp it securely, lift and transport it leftward to a position adjacent to the orange pot, then release and retreat.", + "notes": "Gripper evidence confirms meaningful closing in segments 4 and 6 (frames 20-29 and 30-39), supporting grasp and hold descriptions. Segment 9 shows no closing, consistent with release and retreat. Motion and visuals align with planned phases." + } + }, + "episode_goal": "Move the spoon to the left of the orange pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738998532295227, + 0.016335738822817802, + 0.1718519628047943, + -3.066807270050049, + -0.3147035241127014, + -0.24053747951984406 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733321785926819, + 0.01651173084974289, + 0.16629667580127716, + -3.070314407348633, + -0.29650816321372986, + -0.2426348775625229 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27137884497642517, + 0.04238024726510048, + 0.1640622466802597, + -3.0417001247406006, + -0.2971130907535553, + -0.18919651210308075 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2669215500354767, + 0.05843609943985939, + 0.15941016376018524, + -3.0304036140441895, + -0.28983303904533386, + -0.15333518385887146 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536202669143677, + 0.07840369641780853, + 0.14997519552707672, + -3.066009759902954, + -0.26585862040519714, + 0.006993126589804888 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue pizza cutter": [ + 221, + 437, + 323, + 635 + ], + "wooden countertop": [ + 15, + 185, + 896, + 991 + ], + "black hanging cloth": [ + 143, + 3, + 404, + 304 + ], + "orange strainer": [ + 625, + 364, + 826, + 733 + ], + "orange cloth": [ + 535, + 553, + 812, + 861 + ], + "grey cabinet": [ + 145, + 638, + 733, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2395227998495102, + 0.082589291036129, + 0.13689234852790833, + 3.109415054321289, + -0.23915201425552368, + 0.2773720622062683 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2321188598871231, + 0.08060766011476517, + 0.12251665443181992, + 3.0479390621185303, + -0.20528483390808105, + 0.5151781439781189 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. 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The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23537592589855194, + 0.0817808210849762, + 0.11310477554798126, + 3.0191309452056885, + -0.19007082283496857, + 0.6581681966781616 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No movement or grasping has occurred yet. The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2405180186033249, + 0.08770031481981277, + 0.0938970297574997, + 3.0486655235290527, + -0.16366606950759888, + 0.6673250198364258 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. 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The next action should be to move the end-effector downward and toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2472781389951706, + 0.09483404457569122, + 0.06982191652059555, + 3.0983545780181885, + -0.12806448340415955, + 0.6531959772109985 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. 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The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25107499957084656, + 0.09808214753866196, + 0.050238415598869324, + 3.1353797912597656, + -0.0972280278801918, + 0.6344785690307617 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. 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The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24322204291820526, + 0.10260577499866486, + 0.03881538659334183, + -3.0948686599731445, + -0.07612213492393494, + 0.6168990135192871 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23423148691654205, + 0.10366179794073105, + 0.032815199345350266, + -3.0716822147369385, + -0.06380181759595871, + 0.6113891005516052 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 13, + 218, + 895, + 991 + ], + "blue pizza cutter": [ + 224, + 468, + 323, + 634 + ], + "orange strainer": [ + 625, + 363, + 827, + 733 + ], + "orange cloth": [ + 534, + 555, + 812, + 861 + ], + "yellow object": [ + 54, + 945, + 146, + 996 + ], + "sponge": [ + 385, + 493, + 498, + 657 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move forward 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22669671475887299, + 0.1088651493191719, + 0.030642179772257805, + -3.054556369781494, + -0.051070693880319595, + 0.639916718006134 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. 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The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22282662987709045, + 0.11386231333017349, + 0.025937210768461227, + -3.0649683475494385, + -0.03307277709245682, + 0.6581602096557617 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22305752336978912, + 0.11709701269865036, + 0.02531273104250431, + -3.0512967109680176, + -0.042925506830215454, + 0.662416934967041 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move forward 3 cm, move up 11 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2269015610218048, + 0.11938244104385376, + 0.021190095692873, + -3.048046350479126, + -0.04298056289553642, + 0.6660729050636292 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 7 cm, move right 1 cm, move up 11 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2307225465774536, + 0.11892414838075638, + 0.011027141474187374, + -3.0446317195892334, + -0.029241081327199936, + 0.6677964329719543 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move right 2 cm, move up 10 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23314042389392853, + 0.11905069649219513, + 0.008781130425632, + -3.039797067642212, + -0.04007323831319809, + 0.6510054469108582 + ], + "gripper_value": 0.927960216999054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 13 cm, move right 4 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2346409559249878, + 0.118900828063488, + 0.008450823836028576, + -3.0290818214416504, + -0.043500933796167374, + 0.610167920589447 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 14 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23554018139839172, + 0.11947532743215561, + 0.009258116595447063, + -3.010849952697754, + -0.05140690132975578, + 0.5846010446548462 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23694878816604614, + 0.11823101341724396, + 0.009953015483915806, + -3.022387742996216, + -0.05038534104824066, + 0.5261969566345215 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24115197360515594, + 0.11726515740156174, + 0.019805604591965675, + -3.039168119430542, + -0.07683616876602173, + 0.4464591443538666 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24558113515377045, + 0.11511218547821045, + 0.055108409374952316, + -3.0532209873199463, + -0.16212430596351624, + 0.3733064532279968 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon, which lies to the left of the orange pot on the wooden surface. No grasping has occurred yet; the gripper remains open. The next action should be to lower the end-effector and close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.249644935131073, + 0.1120520755648613, + 0.09090938419103622, + -3.064826488494873, + -0.22469788789749146, + 0.3064124882221222 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue pizza cutter": [ + 192, + 369, + 263, + 487 + ], + "wooden countertop": [ + 16, + 200, + 897, + 991 + ], + "orange cloth": [ + 534, + 555, + 813, + 862 + ], + "orange strainer": [ + 625, + 363, + 827, + 733 + ], + "black hanging cloth": [ + 73, + 3, + 351, + 460 + ], + "grey cabinet": [ + 144, + 640, + 732, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 7 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658388018608093, + 0.11559589952230453, + 0.11477884650230408, + -3.0563390254974365, + -0.2730238437652588, + 0.22483216226100922 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30405837297439575, + 0.10914891958236694, + 0.11568400263786316, + -3.0491790771484375, + -0.2619748115539551, + 0.11668650060892105 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3387235701084137, + 0.10208383947610855, + 0.10644067823886871, + -3.0614733695983887, + -0.2497173249721527, + 0.05840203911066055 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 13, + 190, + 896, + 992 + ], + "blue pizza cutter": [ + 296, + 175, + 366, + 284 + ], + "orange strainer": [ + 626, + 363, + 827, + 733 + ], + "black hanging cloth": [ + 223, + 4, + 448, + 252 + ], + "orange cloth": [ + 535, + 555, + 812, + 862 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692176342010498, + 0.0796489343047142, + 0.08813535422086716, + -3.1214592456817627, + -0.22651366889476776, + 0.0128040611743927 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.380109578371048, + 0.05837903171777725, + 0.06816042959690094, + -3.1397571563720703, + -0.19330419600009918, + -0.048618994653224945 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.38104912638664246, + 0.04512102156877518, + 0.04836524277925491, + 3.1366071701049805, + -0.16089580953121185, + -0.09541977941989899 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.37811601161956787, + 0.037028249353170395, + 0.03257139027118683, + 3.121277332305908, + -0.13589182496070862, + -0.12712514400482178 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3731344938278198, + 0.03383900970220566, + 0.019039852544665337, + 3.1191885471343994, + -0.10923612117767334, + -0.16029563546180725 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.369678795337677, + 0.03431519493460655, + 0.010030500590801239, + 3.137049436569214, + -0.0987330824136734, + -0.20585118234157562 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the spoon. The next action is to close the gripper to hold the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3700156807899475, + 0.03587017208337784, + 0.009166771546006203, + -3.1338095664978027, + -0.10280906409025192, + -0.2154175341129303 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it above the table surface. The spoon is being transported leftward toward the target position near the orange pot. The next action is to continue moving the spoon horizontally to align it to the left of the orange pot before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.36758139729499817, + 0.03648809716105461, + 0.008678043261170387, + -3.1379358768463135, + -0.08616997301578522, + -0.20657552778720856 + ], + "gripper_value": 0.7437760233879089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it above the table surface. The spoon is being transported leftward toward the target position near the orange pot. The next action is to continue moving the spoon horizontally to align it to the left of the orange pot before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.36652082204818726, + 0.03446220979094505, + 0.009479384869337082, + 3.1330554485321045, + -0.08162854611873627, + -0.23055921494960785 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it above the table surface. The spoon is being transported leftward toward the target position near the orange pot. The next action is to continue moving the spoon horizontally to align it to the left of the orange pot before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.36665353178977966, + 0.035620782524347305, + 0.009497330524027348, + 3.1329681873321533, + -0.08299599587917328, + -0.2197832316160202 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it above the table surface. The spoon is being transported leftward toward the target position near the orange pot. The next action is to continue moving the spoon horizontally to align it to the left of the orange pot before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.36640220880508423, + 0.04166218638420105, + 0.010571548715233803, + 3.115492343902588, + -0.08974605053663254, + -0.24584974348545074 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it above the table surface. The spoon is being transported leftward toward the target position near the orange pot. The next action is to continue moving the spoon horizontally to align it to the left of the orange pot before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.37005969882011414, + 0.05382118746638298, + 0.02973005548119545, + 3.1259026527404785, + -0.14814288914203644, + -0.3051336109638214 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "lift and transport spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it above the table surface. The spoon is being transported leftward toward the target position near the orange pot. The next action is to continue moving the spoon horizontally to align it to the left of the orange pot before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open; then move back 3 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.378252238035202, + 0.05691608414053917, + 0.06433627009391785, + -3.1204299926757812, + -0.22425547242164612, + -0.3448089361190796 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue pizza cutter": [ + 468, + 312, + 604, + 468 + ], + "black hanging cloth": [ + 397, + 3, + 567, + 344 + ], + "orange strainer": [ + 624, + 363, + 826, + 733 + ], + "wooden countertop": [ + 11, + 185, + 896, + 991 + ], + "yellow object": [ + 54, + 946, + 145, + 996 + ], + "orange cloth": [ + 534, + 555, + 812, + 860 + ] + } + } + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it above the table surface. The spoon is being transported leftward toward the target position near the orange pot. The next action is to continue moving the spoon horizontally to align it to the left of the orange pot before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.374844491481781, + 0.061740126460790634, + 0.0937759131193161, + -3.0822958946228027, + -0.28136229515075684, + -0.3461456298828125 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it above the table surface. The spoon is being transported leftward toward the target position near the orange pot. The next action is to continue moving the spoon horizontally to align it to the left of the orange pot before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3668689429759979, + 0.06481828540563583, + 0.11635784804821014, + -3.056819200515747, + -0.31724807620048523, + -0.3462224006652832 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon has been transported to the left of the orange pot and is now resting on the table. The gripper is fully open and no longer in contact with the spoon, indicating the release is complete. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605978190898895, + 0.06637153029441833, + 0.1439756453037262, + -2.9930191040039062, + -0.36417341232299805, + -0.3903810977935791 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon has been transported to the left of the orange pot and is now resting on the table. The gripper is fully open and no longer in contact with the spoon, indicating the release is complete. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.34988585114479065, + 0.07792042940855026, + 0.16746701300144196, + -2.8741753101348877, + -0.4080606698989868, + -0.45127156376838684 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spoon to the left of the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and transport spoon" + }, + { + "id": 4, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon has been transported to the left of the orange pot and is now resting on the table. The gripper is fully open and no longer in contact with the spoon, indicating the release is complete. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004229_ecot.json b/cot/chunk-0004/episode_0004229_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9b8fd5a60b3c2f15edc5ba90990c68c8d8f1e980 --- /dev/null +++ b/cot/chunk-0004/episode_0004229_ecot.json @@ -0,0 +1,2174 @@ +{ + "task_name": "episode_0004229", + "episode_json": "json/chunk-0004/episode_0004229.json", + "video_path": "videos/chunk-0004/image_0/episode_0004229.mp4", + "instruction": "Fold the cloth from left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004229.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.9672844409942627, + "std": 0.4324534237384796, + "delta_total": -0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96728, std=0.43245, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 226, + 226, + 226, + 226, + 226, + 226 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 25 + ], + [ + 5, + 26, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper toward the left side of the yellow cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp left edge\", \"start\": 4, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the left edge of the cloth.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 12, \"end\": 14, \"planning\": \"Lift the grasped left edge slightly and begin moving it rightward.\"},\n {\"id\": 4, \"name\": \"fold across center\", \"start\": 15, \"end\": 25, \"planning\": \"Drag the left edge across the cloth’s center while maintaining grip, initiating the fold.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 26, \"end\": 31, \"planning\": \"Open the gripper to release the folded cloth and retreat upward to complete the motion.\"}\n ],\n \"global_plan\": \"Fold the cloth from left to right by approaching, grasping the left edge, lifting and dragging it across the center, then releasing after folding.\",\n \"notes\": \"Subtasks align with observed gripper closure in segments 2, 4, and 5; segment 1 shows no closing so described as approach only. Segment 3 (frames 12-14) is merged into lift/reposition phase based on motion continuity and lack of explicit gripper change data but consistent with transition between grasp and drag phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 3, + "planning": "Move the gripper toward the left side of the yellow cloth without closing." + }, + { + "id": 2, + "name": "grasp left edge", + "start": 4, + "end": 11, + "planning": "Close the gripper to securely grasp the left edge of the cloth." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 12, + "end": 14, + "planning": "Lift the grasped left edge slightly and begin moving it rightward." + }, + { + "id": 4, + "name": "fold across center", + "start": 15, + "end": 25, + "planning": "Drag the left edge across the cloth’s center while maintaining grip, initiating the fold." + }, + { + "id": 5, + "name": "release and retreat", + "start": 26, + "end": 31, + "planning": "Open the gripper to release the folded cloth and retreat upward to complete the motion." + } + ], + "global_plan": "Fold the cloth from left to right by approaching, grasping the left edge, lifting and dragging it across the center, then releasing after folding.", + "notes": "Subtasks align with observed gripper closure in segments 2, 4, and 5; segment 1 shows no closing so described as approach only. Segment 3 (frames 12-14) is merged into lift/reposition phase based on motion continuity and lack of explicit gripper change data but consistent with transition between grasp and drag phases." + } + }, + "episode_goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24704347550868988, + -0.06060408800840378, + 0.10201286524534225, + 3.1060047149658203, + -0.10759827494621277, + -0.7265415191650391 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the countertop, with the gripper open and no contact made yet. No part of the folding task has been completed. The next action should be to move the gripper down toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 7 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24373924732208252, + -0.05997839570045471, + 0.09680026024580002, + 3.094931125640869, + -0.08916545659303665, + -0.725453794002533 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with its gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 7 cm, move left 7 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24687427282333374, + -0.03623874485492706, + 0.0970633253455162, + 3.09421968460083, + -0.08069866895675659, + -0.6346395015716553 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with its gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 7 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.255219042301178, + -0.0072707864455878735, + 0.09898322075605392, + 3.118509531021118, + -0.10335060954093933, + -0.5254276990890503 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with its gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 7 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26818567514419556, + 0.02830774337053299, + 0.10560179501771927, + -3.0836009979248047, + -0.13363416492938995, + -0.42859455943107605 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow towel": [ + 247, + 438, + 901, + 947 + ], + "grey bin": [ + 869, + 670, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with its gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28509044647216797, + 0.054048843681812286, + 0.09445145726203918, + -3.0463593006134033, + -0.12419258803129196, + -0.35140731930732727 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with its gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3121209144592285, + 0.08367275446653366, + 0.07854717969894409, + -3.005216121673584, + -0.11218799650669098, + -0.2601853907108307 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with its gripper open, indicating the approach phase. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end-effector to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32627278566360474, + 0.09579581022262573, + 0.06310408562421799, + -3.0061397552490234, + -0.0928458422422409, + -0.21663813292980194 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached the yellow cloth and is positioned near the left edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337068557739258, + 0.10203107446432114, + 0.046976473182439804, + -3.037991523742676, + -0.07706818729639053, + -0.18848802149295807 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached the yellow cloth and is positioned near the left edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327217400074005, + 0.10269023478031158, + 0.0317959226667881, + -3.0866830348968506, + -0.05290056765079498, + -0.19444486498832703 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached the yellow cloth and is positioned near the left edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move right 10 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324941396713257, + 0.09681358933448792, + 0.02515123412013054, + -3.1328020095825195, + -0.0374569334089756, + -0.23289360105991364 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached the yellow cloth and is positioned near the left edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 13 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33360517024993896, + 0.09856484830379486, + 0.024679914116859436, + -3.1207711696624756, + -0.04111691936850548, + -0.23331047594547272 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp left edge", + "subtask_reasoning": "The robot has approached the yellow cloth and is positioned near the left edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 15 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33495721220970154, + 0.09896690398454666, + 0.02535676397383213, + -3.117563009262085, + -0.04636023938655853, + -0.23650731146335602 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the yellow cloth and is positioned near the left edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move right 16 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380938470363617, + 0.09868492931127548, + 0.02826535888016224, + -3.120861530303955, + -0.05538780987262726, + -0.23578187823295593 + ], + "gripper_value": 0.18011163175106049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the left edge of the yellow cloth and is currently lifting it slightly above the surface. The gripper is closed, and the cloth edge is being repositioned upward in preparation for folding. The next action is to continue lifting and begin moving the cloth toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 4 cm, move right 17 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33648115396499634, + 0.10539435595273972, + 0.029539963230490685, + -3.1324405670166016, + -0.058474231511354446, + -0.20303818583488464 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has grasped the left edge of the yellow cloth and is currently lifting it slightly above the surface. The gripper is closed, and the cloth edge is being repositioned upward in preparation for folding. The next action is to continue lifting and begin moving the cloth toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 4 cm, move right 18 cm, move down 1 cm, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33436521887779236, + 0.11116982996463776, + 0.03164343535900116, + 3.138986825942993, + -0.056344546377658844, + -0.17695161700248718 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow towel": [ + 211, + 391, + 865, + 924 + ], + "grey bin": [ + 869, + 670, + 996, + 995 + ], + "wooden stand": [ + 11, + 117, + 258, + 302 + ], + "white appliance": [ + 4, + 384, + 739, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot has grasped the left edge of the yellow cloth and is currently lifting it slightly above the surface. The gripper is closed, and the cloth edge is being repositioned upward in preparation for folding. The next action is to continue lifting and begin moving the cloth toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 18 cm, move down 1 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33529552817344666, + 0.10801240056753159, + 0.04991605132818222, + 3.134352445602417, + -0.09101882576942444, + -0.17393986880779266 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot has grasped the left edge of the yellow cloth and is currently lifting it slightly above the surface. The gripper is closed, and the cloth edge is being repositioned upward in preparation for folding. The next action is to continue lifting and begin moving the cloth toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 17 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33542367815971375, + 0.09122742712497711, + 0.07060089707374573, + 3.0937700271606445, + -0.1305544227361679, + -0.18186908960342407 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot has grasped the left edge of the yellow cloth and is currently lifting it slightly above the surface. The gripper is closed, and the cloth edge is being repositioned upward in preparation for folding. The next action is to continue lifting and begin moving the cloth toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 16 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292121887207031, + 0.06102905049920082, + 0.08974824100732803, + 3.0687108039855957, + -0.17080847918987274, + -0.23853327333927155 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot has grasped the left edge of the yellow cloth and is currently lifting it slightly above the surface. The gripper is closed, and the cloth edge is being repositioned upward in preparation for folding. The next action is to continue lifting and begin moving the cloth toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 13 cm, move down 6 cm, rotate counterclockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3180660307407379, + 0.013941786251962185, + 0.09127899259328842, + 3.082181692123413, + -0.16873039305210114, + -0.37561890482902527 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot has grasped the left edge of the yellow cloth and is currently lifting it slightly above the surface. The gripper is closed, and the cloth edge is being repositioned upward in preparation for folding. The next action is to continue lifting and begin moving the cloth toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063945472240448, + -0.017473258078098297, + 0.0797506719827652, + 3.0997164249420166, + -0.14775043725967407, + -0.47595858573913574 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot is holding the left edge of the yellow cloth and has lifted it above the center of the stove surface. The cloth is partially folded as the left side is elevated over the right. The next action is to continue moving the cloth rightward to complete the fold and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017876446247101, + -0.03886158764362335, + 0.06997524946928024, + 3.1226580142974854, + -0.14656470715999603, + -0.5385115146636963 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey bin": [ + 869, + 671, + 996, + 995 + ], + "wooden stand": [ + 12, + 92, + 257, + 305 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot is holding the left edge of the yellow cloth and has lifted it above the center of the stove surface. The cloth is partially folded as the left side is elevated over the right. The next action is to continue moving the cloth rightward to complete the fold and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, open gripper; then move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969304919242859, + -0.05260637402534485, + 0.041443001478910446, + 3.1172759532928467, + -0.11800124496221542, + -0.5652901530265808 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot is holding the left edge of the yellow cloth and has lifted it above the center of the stove surface. The cloth is partially folded as the left side is elevated over the right. The next action is to continue moving the cloth rightward to complete the fold and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper; then move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2932695746421814, + -0.06238175183534622, + 0.02858276106417179, + 3.1324474811553955, + -0.12556710839271545, + -0.6016552448272705 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot is holding the left edge of the yellow cloth and has lifted it above the center of the stove surface. The cloth is partially folded as the left side is elevated over the right. The next action is to continue moving the cloth rightward to complete the fold and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.293162077665329, + -0.06562924385070801, + 0.02502947486937046, + 3.1372783184051514, + -0.1214832291007042, + -0.617352306842804 + ], + "gripper_value": 0.07988496869802475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot is holding the left edge of the yellow cloth and has lifted it above the center of the stove surface. The cloth is partially folded as the left side is elevated over the right. The next action is to continue moving the cloth rightward to complete the fold and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896105647087097, + -0.06853951513767242, + 0.024967830628156662, + 3.108731508255005, + -0.11367571353912354, + -0.611966609954834 + ], + "gripper_value": 0.24523308873176575 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow towel": [ + 231, + 485, + 873, + 921 + ], + "grey bin": [ + 868, + 671, + 996, + 995 + ], + "wooden stand": [ + 11, + 93, + 257, + 304 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold across center", + "subtask_reasoning": "The robot is holding the left edge of the yellow cloth and has lifted it above the center of the stove surface. The cloth is partially folded as the left side is elevated over the right. The next action is to continue moving the cloth rightward to complete the fold and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896345257759094, + -0.06609402596950531, + 0.02779576927423477, + 3.076781749725342, + -0.10343608260154724, + -0.5921077132225037 + ], + "gripper_value": 0.5393473505973816 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the left edge of the yellow cloth and has lifted it above the center of the stove surface. The cloth is partially folded as the left side is elevated over the right. The next action is to continue moving the cloth rightward to complete the fold and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2939467132091522, + -0.06792265176773071, + 0.03549239784479141, + 3.051244020462036, + -0.11027279496192932, + -0.6012730002403259 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the left edge of the yellow cloth and has lifted it above the center of the stove surface. The cloth is partially folded as the left side is elevated over the right. The next action is to continue moving the cloth rightward to complete the fold and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907665967941284, + -0.06831251084804535, + 0.03704134002327919, + 3.0414116382598877, + -0.09538298845291138, + -0.60813969373703 + ], + "gripper_value": 1.0223946571350098 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded from left to right, with the left edge now resting over the right side. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2932751476764679, + -0.06946253776550293, + 0.05998839810490608, + 3.053699493408203, + -0.13879182934761047, + -0.6060039401054382 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded from left to right, with the left edge now resting over the right side. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29142749309539795, + -0.07221295684576035, + 0.0851554423570633, + 3.0567314624786377, + -0.1957024335861206, + -0.607650101184845 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded from left to right, with the left edge now resting over the right side. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2942861318588257, + -0.06287568807601929, + 0.11281116306781769, + 3.0947911739349365, + -0.27785569429397583, + -0.5724568963050842 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp left edge" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "fold across center" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded from left to right, with the left edge now resting over the right side. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004230_ecot.json b/cot/chunk-0004/episode_0004230_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7c6eb3d5088b7a3d8f64b59d2377695272da05b4 --- /dev/null +++ b/cot/chunk-0004/episode_0004230_ecot.json @@ -0,0 +1,5815 @@ +{ + "task_name": "episode_0004230", + "episode_json": "json/chunk-0004/episode_0004230.json", + "video_path": "videos/chunk-0004/image_0/episode_0004230.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 84, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004230.json" + }, + "fps": 5.0, + "T_eff": 84, + "gripper_behavior_summary": { + "available": true, + "range": 0.6576699018478394, + "std": 0.2528809607028961, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65767, std=0.25288, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 414, + 414, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 514, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 614, + 614, + 614, + 614, + 614, + 614, + 614, + 714, + 714, + 714, + 714, + 714, + 714, + 214, + 214, + 214, + 214, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 14, + 14, + 79, + 79, + 379, + 379, + 379 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 13 + ], + [ + 3, + 14, + 15 + ], + [ + 4, + 16, + 26 + ], + [ + 5, + 27, + 35 + ], + [ + 6, + 36, + 42 + ], + [ + 7, + 43, + 48 + ], + [ + 8, + 49, + 52 + ], + [ + 9, + 53, + 76 + ], + [ + 10, + 77, + 78 + ], + [ + 11, + 79, + 80 + ], + [ + 12, + 81, + 83 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and align with beans\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward scattered beans while orienting gripper for sweeping contact.\"},\n {\"id\": 2, \"name\": \"initiate first sweep motion\", \"start\": 14, \"end\": 26, \"planning\": \"Begin dragging gripper across tray surface to gather beans into initial cluster.\"},\n {\"id\": 3, \"name\": \"continue sweeping toward center\", \"start\": 27, \"end\": 35, \"planning\": \"Maintain contact and push beans inward using consistent lateral motion without grasping.\"},\n {\"id\": 4, \"name\": \"reposition for secondary sweep\", \"start\": 36, \"end\": 48, \"planning\": \"Lift slightly and reposition gripper to target remaining dispersed beans on opposite side.\"},\n {\"id\": 5, \"name\": \"execute final consolidation sweep\", \"start\": 49, \"end\": 76, \"planning\": \"Drag gripper through outer bean clusters to merge them into main pile near center-right.\"},\n {\"id\": 6, \"name\": \"retreat and disengage\", \"start\": 77, \"end\": 83, \"planning\": \"Lift gripper away from pile and move to neutral position, completing sweep task.\"}\n ],\n \"global_plan\": \"Sweep scattered beans into a consolidated pile using continuous contact-based dragging motions without grasping, repositioning as needed to cover all regions of the tray.\",\n \"notes\": \"No segment shows meaningful gripper closing; all actions are contact-based (drag/push/sweep). Segment 12’s minor gripper variation is insufficient to justify grasp wording — images show no object held. Full frame coverage ensured with contiguous segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and align with beans", + "start": 0, + "end": 13, + "planning": "Move end-effector toward scattered beans while orienting gripper for sweeping contact." + }, + { + "id": 2, + "name": "initiate first sweep motion", + "start": 14, + "end": 26, + "planning": "Begin dragging gripper across tray surface to gather beans into initial cluster." + }, + { + "id": 3, + "name": "continue sweeping toward center", + "start": 27, + "end": 35, + "planning": "Maintain contact and push beans inward using consistent lateral motion without grasping." + }, + { + "id": 4, + "name": "reposition for secondary sweep", + "start": 36, + "end": 48, + "planning": "Lift slightly and reposition gripper to target remaining dispersed beans on opposite side." + }, + { + "id": 5, + "name": "execute final consolidation sweep", + "start": 49, + "end": 76, + "planning": "Drag gripper through outer bean clusters to merge them into main pile near center-right." + }, + { + "id": 6, + "name": "retreat and disengage", + "start": 77, + "end": 83, + "planning": "Lift gripper away from pile and move to neutral position, completing sweep task." + } + ], + "global_plan": "Sweep scattered beans into a consolidated pile using continuous contact-based dragging motions without grasping, repositioning as needed to cover all regions of the tray.", + "notes": "No segment shows meaningful gripper closing; all actions are contact-based (drag/push/sweep). Segment 12’s minor gripper variation is insufficient to justify grasp wording — images show no object held. Full frame coverage ensured with contiguous segments." + } + }, + "episode_goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2900616228580475, + -0.10555312782526016, + 0.0781826302409172, + -3.0771288871765137, + -0.12218346446752548, + 0.05534457042813301 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching and aligning with the beans to prepare for sweeping. The next action should involve moving the gripper closer to the beans while maintaining an open state to initiate contact-based dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 19 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.287051260471344, + -0.10447791963815689, + 0.07087796926498413, + -3.0666494369506836, + -0.09823855012655258, + 0.05493881553411484 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching and aligning with the beans to prepare for sweeping. The next action should involve moving the gripper closer to the beans while maintaining an open state to initiate contact-based dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 19 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28455689549446106, + -0.08510428667068481, + 0.0694940984249115, + -3.023233413696289, + -0.03174545615911484, + -0.06777430325746536 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching and aligning with the beans to prepare for sweeping. The next action should involve moving the gripper closer to the beans while maintaining an open state to initiate contact-based dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 17 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2871699631214142, + -0.043625909835100174, + 0.07949484884738922, + -3.011096954345703, + 0.003506369423121214, + -0.08017838001251221 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 9, + 182, + 897, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching and aligning with the beans to prepare for sweeping. The next action should involve moving the gripper closer to the beans while maintaining an open state to initiate contact-based dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896690368652344, + -0.012395896017551422, + 0.08563686162233353, + -2.9797966480255127, + 0.0353667177259922, + -0.10108236223459244 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching and aligning with the beans to prepare for sweeping. The next action should involve moving the gripper closer to the beans while maintaining an open state to initiate contact-based dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29830291867256165, + 0.031560011208057404, + 0.09460785239934921, + -3.0073864459991455, + 0.02145443484187126, + -0.0980297103524208 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. The subtask involves approaching and aligning with the beans to prepare for sweeping. The next action should involve moving the gripper closer to the beans while maintaining an open state to initiate contact-based dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3075258135795593, + 0.07007390260696411, + 0.0787682831287384, + -3.0482702255249023, + 0.040692780166864395, + -0.1101522371172905 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168960511684418, + 0.07308974862098694, + 0.05904719606041908, + -3.103628158569336, + 0.0047821421176195145, + -0.17027880251407623 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, close gripper; then move back 1 cm, move left 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3158430755138397, + 0.08130089938640594, + 0.038186587393283844, + -3.1130270957946777, + 0.007601174525916576, + -0.1884341984987259 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move left 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.311229407787323, + 0.0821574330329895, + 0.029429223388433456, + -3.1024115085601807, + 0.028628209605813026, + -0.18995003402233124 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move left 6 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122439682483673, + 0.08433066308498383, + 0.027855457738041878, + -3.0930681228637695, + 0.021565262228250504, + -0.19968412816524506 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move left 7 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30801528692245483, + 0.08309520035982132, + 0.012761132791638374, + -3.114896297454834, + 0.06321775168180466, + -0.21813221275806427 + ], + "gripper_value": 0.9082958698272705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30764490365982056, + 0.08214955776929855, + 0.005107295233756304, + -3.126568078994751, + 0.07362290471792221, + -0.22920958697795868 + ], + "gripper_value": 0.8279770016670227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 7 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30810120701789856, + 0.08401171863079071, + 0.004647835623472929, + -3.1144182682037354, + 0.07385583966970444, + -0.22534401714801788 + ], + "gripper_value": 0.5100988745689392 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "approach and align with beans", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 7 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30659961700439453, + 0.08445325493812561, + 0.004849682096391916, + -3.1099836826324463, + 0.07810329645872116, + -0.20903414487838745 + ], + "gripper_value": 0.3577343225479126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29990071058273315, + 0.08564990758895874, + 0.006649017799645662, + -3.109452486038208, + 0.12285877764225006, + -0.18420034646987915 + ], + "gripper_value": 0.3577343225479126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29609444737434387, + 0.09598508477210999, + 0.019011907279491425, + -3.0388426780700684, + 0.16300725936889648, + -0.08499264717102051 + ], + "gripper_value": 0.3577343225479126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.300869882106781, + 0.11041994392871857, + 0.04090353474020958, + -2.9492924213409424, + 0.10309124737977982, + 0.03334452956914902 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 9, + 182, + 897, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3029715120792389, + 0.1248442754149437, + 0.04053632915019989, + -2.9441733360290527, + 0.06233493611216545, + 0.04778166487812996 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 9, + 180, + 897, + 994 + ], + "cables": [ + 882, + 186, + 996, + 293 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move right 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30575791001319885, + 0.1428106278181076, + 0.04093477874994278, + -2.923347234725952, + 0.01567969284951687, + 0.03732125461101532 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and aligned near the bean cluster. No sweeping has occurred yet; the arm is stationary or making minor adjustments. Next, it should initiate contact-based dragging motion toward a central region to begin consolidating the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 4 cm, tilt right 20 degrees, keep gripper closed; then move right 10 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3089197874069214, + 0.15819087624549866, + 0.038919784128665924, + -2.9129512310028076, + -0.03582119569182396, + 0.019421955570578575 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 4 cm, tilt right 20 degrees, keep gripper closed; then move right 15 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3060286045074463, + 0.1593339741230011, + 0.023759569972753525, + -2.914306879043579, + -0.037822164595127106, + -0.009670400992035866 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 2 cm, tilt right 20 degrees, keep gripper closed; then move right 19 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041747510433197, + 0.15720278024673462, + 0.015237870626151562, + -2.8940587043762207, + -0.04350590705871582, + -0.027219107374548912 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 1 cm, tilt right 20 degrees, keep gripper closed; then move forward 1 cm, move right 20 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022151589393616, + 0.1523093432188034, + 0.010396027937531471, + -2.9170784950256348, + -0.0523456372320652, + -0.027304992079734802 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 1 cm, tilt right 20 degrees, keep gripper closed; then move forward 2 cm, move right 18 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30280405282974243, + 0.15357498824596405, + 0.007888113148510456, + -2.9162683486938477, + -0.06766826659440994, + -0.03364817053079605 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, tilt right 20 degrees, keep gripper closed; then move forward 3 cm, move right 13 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3039543330669403, + 0.14853429794311523, + 0.0003984852519351989, + -2.9631853103637695, + -0.050114452838897705, + -0.03429044783115387 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 4 cm, move right 8 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30591773986816406, + 0.12570571899414062, + -0.0002528062032070011, + -3.0651910305023193, + -0.01873956061899662, + -0.00906707439571619 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "initiate first sweep motion", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030295968055725, + 0.08931624889373779, + 0.0029620376881211996, + 3.0972766876220703, + -0.02408326417207718, + 0.020251303911209106 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3065258860588074, + 0.03659379482269287, + 0.00376495742239058, + 3.060298442840576, + -0.01327479723840952, + -0.03684334084391594 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30666136741638184, + -0.00595262972638011, + 0.0032009282149374485, + 3.053107738494873, + -0.001067721052095294, + -0.08413470536470413 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 10 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3008074462413788, + -0.05938464775681496, + 0.004624468740075827, + 3.0400807857513428, + 0.006477130111306906, + -0.1840619146823883 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in contact with the white tray and positioned near scattered black beans, having completed alignment. Since segment-level evidence shows no gripper closing, the robot is executing a contact-based sweep rather than a grasp. The next action is to continue dragging the beans across the tray surface to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30107802152633667, + -0.1014876514673233, + 0.014585052616894245, + 3.0463125705718994, + -0.0016054623993113637, + -0.2545653283596039 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 9, + 183, + 896, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 16 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 4 cm, move left 9 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31193968653678894, + -0.10661442577838898, + 0.030003046616911888, + 3.068270206451416, + -0.01862381398677826, + -0.24949604272842407 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 17 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 4 cm, move left 5 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32444730401039124, + -0.08636701852083206, + 0.04898042604327202, + 3.0805296897888184, + -0.05426937714219093, + -0.22023628652095795 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 15 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3370831310749054, + -0.036294326186180115, + 0.05628591030836105, + -3.111060619354248, + -0.047357071191072464, + -0.13705413043498993 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.33847475051879883, + 0.012762359343469143, + 0.06199391558766365, + -3.0240721702575684, + -0.0893978625535965, + 0.08884655684232712 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "continue sweeping toward center", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 5 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3319060802459717, + 0.06324458867311478, + 0.059878818690776825, + -3.003571033477783, + -0.1188805103302002, + 0.22569970786571503 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.335322767496109, + 0.10470699518918991, + 0.04322698339819908, + -2.9717934131622314, + -0.09137332439422607, + 0.2458692342042923 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 18 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3416846692562103, + 0.14829011261463165, + 0.02131650783121586, + -2.9878621101379395, + -0.057549167424440384, + 0.2564704418182373 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 26 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3505728244781494, + 0.16481266915798187, + 0.007348102517426014, + -3.0090250968933105, + -0.010700298473238945, + 0.23843707144260406 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 29 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.36030957102775574, + 0.16623225808143616, + 0.002648466033861041, + -3.022601366043091, + -0.017416836693882942, + 0.22297485172748566 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 29 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3677177131175995, + 0.15104548633098602, + 0.00210515852086246, + -3.0531527996063232, + -0.006559704430401325, + 0.14052103459835052 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The gripper is in continuous contact with the black beans on the white tray, actively dragging them toward the center to form a pile. Previous alignment and initial sweep have been completed; the current motion extends the consolidation. The next action should maintain this sweeping trajectory to gather more scattered beans into the growing central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 27 cm, rotate counterclockwise 50 degrees, keep gripper closed; then move back 3 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.36877092719078064, + 0.11774986982345581, + -4.3637683120323345e-05, + -3.081886053085327, + 0.03834790736436844, + -0.07114537805318832 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 24 cm, rotate counterclockwise 30 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.36845123767852783, + 0.08691747486591339, + -0.0035562976263463497, + -3.1038029193878174, + 0.058374710381031036, + -0.22348076105117798 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 21 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 6 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3681435286998749, + 0.043707720935344696, + -0.004635622724890709, + -3.1025075912475586, + 0.06925705075263977, + -0.3465951383113861 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 17 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 11 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683295249938965, + 0.012010211125016212, + -0.004591472912579775, + -3.1054720878601074, + 0.07858885079622269, + -0.4168533980846405 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 8, + 182, + 897, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 14 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 16 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.36872804164886475, + -0.028938720002770424, + -0.003342708572745323, + -3.106844663619995, + 0.09644161909818649, + -0.48482516407966614 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 21 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.36467573046684265, + -0.0761154294013977, + -0.00357754435390234, + -3.1119048595428467, + 0.11852815747261047, + -0.5802079439163208 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, keep gripper closed; then move back 4 cm, move left 26 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.35592737793922424, + -0.10917337983846664, + -0.003137551713734865, + -3.1260898113250732, + 0.11277156323194504, + -0.6414531469345093 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "reposition for secondary sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 5 cm, move left 28 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 48 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411397933959961, + -0.1236271858215332, + -0.00030735781183466315, + 3.1344282627105713, + 0.11451074481010437, + -0.6489336490631104 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 27 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.32082661986351013, + -0.12728196382522583, + 0.007452983874827623, + 3.1055407524108887, + 0.11418160051107407, + -0.6485040783882141 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 26 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.308647483587265, + -0.11678050458431244, + 0.02255896106362343, + 3.1005074977874756, + 0.07417768239974976, + -0.6387600302696228 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 22 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.30952733755111694, + -0.09984727948904037, + 0.03955768048763275, + 3.128875494003296, + 0.039439428597688675, + -0.5915575623512268 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 18 cm, move down 4 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.32247862219810486, + -0.06514489650726318, + 0.0557241216301918, + -3.0804805755615234, + 0.00487525062635541, + -0.4513358473777771 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 11 cm, move down 7 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3283451497554779, + -0.011456296779215336, + 0.0658673495054245, + -3.0416698455810547, + -0.024939775466918945, + -0.276672899723053 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "machine": [ + 321, + 10, + 573, + 544 + ], + "white tray": [ + 7, + 182, + 897, + 994 + ], + "table": [ + 4, + 9, + 995, + 994 + ], + "cables": [ + 883, + 187, + 996, + 292 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.3286392390727997, + 0.03645564243197441, + 0.058936793357133865, + -3.0226855278015137, + -0.026533063501119614, + -0.18537600338459015 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3179853558540344, + 0.08613712340593338, + 0.03871410712599754, + -3.0163192749023438, + -0.0019906098023056984, + -0.1543668508529663 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 13 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3057512044906616, + 0.13322442770004272, + 0.01864663138985634, + -3.0162606239318848, + 0.016179103404283524, + -0.17954520881175995 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 7, + 179, + 898, + 994 + ], + "cables": [ + 883, + 186, + 996, + 291 + ], + "machine": [ + 11, + 9, + 298, + 504 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 24 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915157675743103, + 0.1531793177127838, + 0.008844624273478985, + -3.0504648685455322, + 0.01494607888162136, + -0.21845586597919464 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 29 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.28194475173950195, + 0.15074804425239563, + 0.0005808989517390728, + -3.0465006828308105, + 0.020629115402698517, + -0.23019826412200928 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 30 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.26641374826431274, + 0.13243533670902252, + -0.001936392392963171, + -3.0753610134124756, + 0.024588560685515404, + -0.18473316729068756 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 29 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.2539667785167694, + 0.10355030000209808, + -0.0025436016730964184, + -3.09322452545166, + 0.0244551133364439, + -0.17048542201519012 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The robot has completed an initial sweep and is now repositioning above the tray to target remaining scattered beans. The gripper remains open with no closing evidence, indicating continued contact-based sweeping rather than grasping. The next action is to move the end-effector toward a new cluster of beans to continue consolidating the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 25 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.25290247797966003, + 0.07659333944320679, + -0.005051847081631422, + -3.0974490642547607, + -0.013225053437054157, + -0.14259758591651917 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 21 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.2606399357318878, + 0.046911101788282394, + -0.01075600553303957, + -3.099630832672119, + -0.04278400540351868, + -0.07311099767684937 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 16 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.26797470450401306, + 0.014081773348152637, + -0.014060216024518013, + -3.10394549369812, + -0.05871529132127762, + -0.0640556737780571 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 9 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719574272632599, + -0.013394037261605263, + -0.017358917742967606, + -3.110074281692505, + -0.07588716596364975, + -0.06906520575284958 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.27811378240585327, + -0.04874589666724205, + -0.01781025156378746, + -3.1104331016540527, + -0.09680668264627457, + -0.03968850523233414 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843845784664154, + -0.1049269586801529, + -0.015490073710680008, + -3.1161715984344482, + -0.08509430289268494, + -0.05108620226383209 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 8, + 206, + 897, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 13 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.28429195284843445, + -0.1325250267982483, + -0.014335022307932377, + -3.103768825531006, + -0.0560942068696022, + -0.06776239722967148 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 15 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.2847976088523865, + -0.1499137580394745, + -0.011503854766488075, + -3.0988192558288574, + -0.04274533689022064, + -0.09256458282470703 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841050624847412, + -0.15717245638370514, + -0.007991189137101173, + -3.1144349575042725, + -0.05075627565383911, + -0.09796745330095291 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 18 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886728048324585, + -0.15133899450302124, + -0.001697465544566512, + -3.083658456802368, + -0.05019793659448624, + -0.1027798056602478 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 17 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.30096569657325745, + -0.13838040828704834, + 0.007103123236447573, + -3.064561605453491, + -0.04075194522738457, + -0.07603496313095093 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 16 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.31049084663391113, + -0.11467883735895157, + 0.021256983280181885, + -3.0411694049835205, + -0.055515509098768234, + -0.055795200169086456 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242734372615814, + -0.07898832112550735, + 0.03228326514363289, + -3.041368246078491, + -0.08459395915269852, + -0.0012236132752150297 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 7, + 181, + 897, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.32659071683883667, + -0.0406314879655838, + 0.024401577189564705, + -3.068755865097046, + -0.07545824348926544, + 0.04564513638615608 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194897472858429, + 0.002174396300688386, + 0.013704623095691204, + -3.1160056591033936, + -0.05475933104753494, + 0.11675045639276505 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "execute final consolidation sweep", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 76 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 49, + "end": 76 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115305006504059, + 0.020748218521475792, + 0.005618615075945854, + 3.138441324234009, + -0.05053501948714256, + 0.1493339240550995 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "retreat and disengage", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 83 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.3118298649787903, + 0.019921842962503433, + 0.005632528569549322, + 3.1332767009735107, + -0.051673732697963715, + 0.14411398768424988 + ], + "gripper_value": 0.40327540040016174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "retreat and disengage", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 83 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.3089257776737213, + 0.015325119718909264, + 0.003962143789976835, + 3.1073710918426514, + -0.04014020040631294, + 0.12054934352636337 + ], + "gripper_value": 0.7151217460632324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "retreat and disengage", + "subtask_reasoning": "The gripper is in contact with the white tray, positioned near a cluster of black beans on the right side. Previous sweeping motions have gathered scattered beans into this partial pile. The next action should continue the contact-based dragging motion to consolidate the remaining beans into a tighter central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": 62 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 83 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.30798202753067017, + 0.016308046877384186, + 0.018653813749551773, + 3.118107318878174, + -0.07107647508382797, + 0.11945755034685135 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "retreat and disengage", + "subtask_reasoning": "The gripper is currently open and positioned above the tray, having completed a sweeping motion that consolidated beans into a pile on the right. The subtask requires retreating and disengaging from the pile area. The next action should involve lifting or moving the end-effector away from the beans to finalize the sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 77, + "end": 83 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998816967010498, + 0.01654607616364956, + 0.043661683797836304, + -3.1198537349700928, + -0.06324678659439087, + 0.10892707109451294 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "retreat and disengage", + "subtask_reasoning": "The gripper is currently open and positioned above the tray, having completed a sweeping motion that consolidated beans into a pile on the right. The subtask requires retreating and disengaging from the pile area. The next action should involve lifting or moving the end-effector away from the beans to finalize the sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": 80 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 83 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.30362898111343384, + -0.0024415943771600723, + 0.07451996207237244, + -3.088325262069702, + -0.10425224155187607, + 0.0641634538769722 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "retreat and disengage", + "subtask_reasoning": "The gripper is currently open and positioned above the tray, having completed a sweeping motion that consolidated beans into a pile on the right. The subtask requires retreating and disengaging from the pile area. The next action should involve lifting or moving the end-effector away from the beans to finalize the sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": 80 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 83 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194406032562256, + -0.05235312879085541, + 0.09349992126226425, + -3.1024489402770996, + -0.1424448937177658, + -0.10663820058107376 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a concentrated pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with beans" + }, + { + "id": 2, + "subtask": "initiate first sweep motion" + }, + { + "id": 3, + "subtask": "continue sweeping toward center" + }, + { + "id": 4, + "subtask": "reposition for secondary sweep" + }, + { + "id": 5, + "subtask": "execute final consolidation sweep" + }, + { + "id": 6, + "subtask": "retreat and disengage" + } + ], + "subtask_name": "retreat and disengage", + "subtask_reasoning": "The gripper is currently open and positioned above the tray, having completed a sweeping motion that consolidated beans into a pile on the right. The subtask requires retreating and disengaging from the pile area. The next action should involve lifting or moving the end-effector away from the beans to finalize the sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 83 + }, + "cache_ref": { + "anchor_ref_reasoning": 80 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 77, + "end": 83 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004231_ecot.json b/cot/chunk-0004/episode_0004231_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..56cc85d72bb972b4ab0c053d3c8cc97cdd48b4d3 --- /dev/null +++ b/cot/chunk-0004/episode_0004231_ecot.json @@ -0,0 +1,2078 @@ +{ + "task_name": "episode_0004231", + "episode_json": "json/chunk-0004/episode_0004231.json", + "video_path": "videos/chunk-0004/image_0/episode_0004231.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004231.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.0026679039001464844, + "std": 0.0005156100378371775, + "delta_total": 0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00267, std=0.00052, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the drawer handle with open gripper, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact and push drawer\", \"start\": 4, \"end\": 19, \"planning\": \"Establish contact with drawer front and begin pushing it closed using sustained forward motion.\"},\n {\"id\": 3, \"name\": \"complete drawer closure\", \"start\": 20, \"end\": 35, \"planning\": \"Continue pushing until drawer is fully seated, then retreat slightly while maintaining contact to ensure full closure.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching the handle, making contact, and pushing it shut without grasping — relying on direct force application throughout.\",\n \"notes\": \"Gripper remains open (value ~1.0) across all frames; no meaningful closing detected. All actions are contact-based pushes or slides, not grasps. Segment boundaries respected but merged into three natural phases: approach, push initiation, and push completion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the drawer handle with open gripper, preparing for contact." + }, + { + "id": 2, + "name": "make contact and push drawer", + "start": 4, + "end": 19, + "planning": "Establish contact with drawer front and begin pushing it closed using sustained forward motion." + }, + { + "id": 3, + "name": "complete drawer closure", + "start": 20, + "end": 35, + "planning": "Continue pushing until drawer is fully seated, then retreat slightly while maintaining contact to ensure full closure." + } + ], + "global_plan": "Close the drawer by approaching the handle, making contact, and pushing it shut without grasping — relying on direct force application throughout.", + "notes": "Gripper remains open (value ~1.0) across all frames; no meaningful closing detected. All actions are contact-based pushes or slides, not grasps. Segment boundaries respected but merged into three natural phases: approach, push initiation, and push completion." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.14875677227973938, + 0.04168076813220978, + 0.1150970607995987, + -2.8382158279418945, + 0.051807016134262085, + 0.28581684827804565 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the handle visible and accessible. No actions have been completed yet as this is the initial frame. The gripper is open and approaching the handle without contact. The next action should be to move the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 8 cm, move right 7 cm, move down 8 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.14752377569675446, + 0.04143790155649185, + 0.11346493661403656, + -2.835862159729004, + 0.056467656046152115, + 0.28005242347717285 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 2 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 8 cm, move right 9 cm, move down 9 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.15373389422893524, + 0.035057153552770615, + 0.12569016218185425, + -2.777174234390259, + -0.07831663638353348, + 0.06850600987672806 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 8 cm, move right 11 cm, move down 10 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.15682250261306763, + 0.022784093394875526, + 0.12571951746940613, + -2.6275548934936523, + -0.07083556056022644, + -0.1684124916791916 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move right 12 cm, move down 11 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.16128186881542206, + -0.004038006067276001, + 0.12963293492794037, + -2.5961802005767822, + -0.14913688600063324, + -0.4245966672897339 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move down 13 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.171462282538414, + -0.026116766035556793, + 0.1156821921467781, + -2.634168863296509, + -0.11525646597146988, + -0.6548646688461304 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 11 cm, move down 13 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.18061111867427826, + -0.04312098026275635, + 0.0958235114812851, + -2.729814052581787, + -0.05482916906476021, + -0.8860887885093689 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move down 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19984236359596252, + -0.04667927324771881, + 0.07927171885967255, + -2.8693630695343018, + -0.07978265732526779, + -1.0878207683563232 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22302332520484924, + -0.05343275144696236, + 0.06747221201658249, + -2.886601686477661, + -0.10290709882974625, + -1.278537392616272 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2370816171169281, + -0.060458194464445114, + 0.05293761193752289, + -2.8838202953338623, + -0.1117561087012291, + -1.3201640844345093 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24595291912555695, + -0.0746530219912529, + 0.047418516129255295, + -2.8839821815490723, + -0.14485836029052734, + -1.3368992805480957 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end-effector closer to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24568787217140198, + -0.09334345906972885, + 0.03850020468235016, + -2.89701509475708, + -0.15470518171787262, + -1.3562862873077393 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2443309873342514, + -0.1122235432267189, + 0.030880941078066826, + -2.8932621479034424, + -0.16000831127166748, + -1.3711097240447998 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24299034476280212, + -0.12233375757932663, + 0.017010824754834175, + -2.901230812072754, + -0.15953588485717773, + -1.3771668672561646 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2440626621246338, + -0.13279294967651367, + -0.001262999838218093, + -2.9054183959960938, + -0.13611669838428497, + -1.3921895027160645 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 506, + 475, + 580, + 579 + ], + "red block": [ + 282, + 586, + 389, + 700 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24598777294158936, + -0.1345088928937912, + -0.01459281425923109, + -2.9114058017730713, + -0.12198178470134735, + -1.393739104270935 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move left 5 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2501753866672516, + -0.13773232698440552, + -0.02533094771206379, + -2.9216976165771484, + -0.1135815754532814, + -1.3780341148376465 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, tilt forward 10 degrees, keep gripper open; then move left 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.251111775636673, + -0.13396409153938293, + -0.02586357481777668, + -2.913747549057007, + -0.09994855523109436, + -1.3526979684829712 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, tilt forward 10 degrees, keep gripper open; then move left 7 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24778690934181213, + -0.12325046211481094, + -0.02716456912457943, + -2.9231321811676025, + -0.06547784060239792, + -1.336072564125061 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, tilt forward 10 degrees, keep gripper open; then move left 8 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24379858374595642, + -0.10922420024871826, + -0.02668672241270542, + -2.9476377964019775, + -0.009857411496341228, + -1.3429019451141357 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 1 cm, move left 9 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24123729765415192, + -0.08612240850925446, + -0.02520180307328701, + -2.9580674171447754, + 0.0373418852686882, + -1.3117001056671143 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 491, + 492, + 541, + 566 + ], + "blue block": [ + 193, + 415, + 451, + 675 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23769496381282806, + -0.07685965299606323, + -0.027023814618587494, + -2.95353364944458, + 0.07018101215362549, + -1.3085596561431885 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 1 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2338055670261383, + -0.07472045719623566, + -0.023338282480835915, + -2.9387927055358887, + 0.10769187659025192, + -1.3028227090835571 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23024283349514008, + -0.06913828104734421, + -0.02057119458913803, + -2.9179370403289795, + 0.14631855487823486, + -1.2958800792694092 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23182012140750885, + -0.055566348135471344, + -0.0205726008862257, + -2.91023325920105, + 0.1694839596748352, + -1.2740379571914673 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 9 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23737943172454834, + -0.03405100107192993, + -0.018718117848038673, + -2.9088199138641357, + 0.18499009311199188, + -1.1917732954025269 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 11 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24212811887264252, + -0.019837969914078712, + -0.02110004425048828, + -2.910818099975586, + 0.21256522834300995, + -1.1358639001846313 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot arm is positioned near the drawer handle with the gripper open, having completed the approach phase. The current subtask involves making contact with the drawer to push it shut, as no grasping is indicated by the gripper evidence. The next action is to apply direct force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24146446585655212, + -0.01182483322918415, + -0.019282381981611252, + -2.8822367191314697, + 0.2536647915840149, + -1.0934948921203613 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. The gripper remains open, consistent with the plan to push without grasping. The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24366308748722076, + -0.0014105011941865087, + -0.02115774340927601, + -2.8638641834259033, + 0.30279433727264404, + -1.0605496168136597 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. The gripper remains open, consistent with the plan to push without grasping. The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24647006392478943, + 0.004796512424945831, + -0.020972738042473793, + -2.8487625122070312, + 0.3330826461315155, + -1.038368582725525 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. The gripper remains open, consistent with the plan to push without grasping. The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2492072433233261, + 0.009861255064606667, + -0.020506275817751884, + -2.83760404586792, + 0.35287582874298096, + -1.0186907052993774 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. The gripper remains open, consistent with the plan to push without grasping. The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2401866763830185, + 0.005897340830415487, + -0.021142935380339622, + -2.863008975982666, + 0.3487747311592102, + -0.9924445748329163 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. 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The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2185477614402771, + -0.02403244376182556, + 0.0002732011489570141, + -2.8905186653137207, + 0.25808486342430115, + -0.9915666580200195 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. The gripper remains open, consistent with the plan to push without grasping. The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2064816951751709, + -0.042147018015384674, + 0.02940184623003006, + -2.880476951599121, + 0.1601179838180542, + -0.9806352853775024 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. The gripper remains open, consistent with the plan to push without grasping. The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.20154288411140442, + -0.03344118222594261, + 0.06632189452648163, + -2.847592353820801, + 0.03223318234086037, + -0.8646674156188965 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. The gripper remains open, consistent with the plan to push without grasping. The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.19224753975868225, + -0.006782694719731808, + 0.09193200618028641, + -2.8523502349853516, + -0.03932815417647362, + -0.6326291561126709 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 476, + 459, + 579, + 580 + ], + "wooden box": [ + 4, + 190, + 344, + 743 + ], + "red block": [ + 599, + 531, + 719, + 707 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "complete drawer closure" + } + ], + "subtask_name": "complete drawer closure", + "subtask_reasoning": "The robot's end-effector is in contact with the drawer handle, positioned to apply force. The gripper remains open, consistent with the plan to push without grasping. The next action is to continue pushing the drawer forward to complete the closure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004232_ecot.json b/cot/chunk-0004/episode_0004232_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0554cb952342ca14430df1a7a6f7b0da6f237bed --- /dev/null +++ b/cot/chunk-0004/episode_0004232_ecot.json @@ -0,0 +1,2282 @@ +{ + "task_name": "episode_0004232", + "episode_json": "json/chunk-0004/episode_0004232.json", + "video_path": "videos/chunk-0004/image_0/episode_0004232.mp4", + "instruction": "Open fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004232.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.6124547719955444, + "std": 0.19531849026679993, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61245, std=0.19532, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 8, + 12, + 12, + 12, + 12, + 12, + 112, + 112, + 112, + 112, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 16 + ], + [ + 4, + 17, + 20 + ], + [ + 5, + 21, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge handle\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the fridge handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and pull handle\", \"start\": 8, \"end\": 11, \"planning\": \"Maintain grip on handle and pull door open by retracting arm slightly.\"},\n {\"id\": 3, \"name\": \"reposition after initial pull\", \"start\": 12, \"end\": 16, \"planning\": \"Adjust arm position to stabilize or continue opening motion without losing contact.\"},\n {\"id\": 4, \"name\": \"release and retreat from door\", \"start\": 17, \"end\": 20, \"planning\": \"Open gripper fully and move away from the now partially opened fridge door.\"},\n {\"id\": 5, \"name\": \"final retreat and observe interior\", \"start\": 21, \"end\": 34, \"planning\": \"Continue moving arm back and upward to clear view of fridge interior contents.\"}\n ],\n \"global_plan\": \"Open fridge by approaching handle, grasping and pulling it open, then retreating to reveal interior.\",\n \"notes\": \"Gripper closure is meaningful in segments 1 and 2 (frames 0-11), allowing 'grasp' terminology. Segments 4 and 5 show no gripper closure — descriptions use 'release', 'retreat', and 'observe' accordingly. Segment 3 (frames 12-16) inferred as repositioning based on motion continuity and lack of explicit gripper data but consistent with pull phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge handle", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the fridge handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and pull handle", + "start": 8, + "end": 11, + "planning": "Maintain grip on handle and pull door open by retracting arm slightly." + }, + { + "id": 3, + "name": "reposition after initial pull", + "start": 12, + "end": 16, + "planning": "Adjust arm position to stabilize or continue opening motion without losing contact." + }, + { + "id": 4, + "name": "release and retreat from door", + "start": 17, + "end": 20, + "planning": "Open gripper fully and move away from the now partially opened fridge door." + }, + { + "id": 5, + "name": "final retreat and observe interior", + "start": 21, + "end": 34, + "planning": "Continue moving arm back and upward to clear view of fridge interior contents." + } + ], + "global_plan": "Open fridge by approaching handle, grasping and pulling it open, then retreating to reveal interior.", + "notes": "Gripper closure is meaningful in segments 1 and 2 (frames 0-11), allowing 'grasp' terminology. Segments 4 and 5 show no gripper closure — descriptions use 'release', 'retreat', and 'observe' accordingly. Segment 3 (frames 12-16) inferred as repositioning based on motion continuity and lack of explicit gripper data but consistent with pull phase." + } + }, + "episode_goal": "Open the fridge door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2254813015460968, + -0.0677550733089447, + 0.03975767269730568, + 2.9573073387145996, + -0.23242942988872528, + 0.04090384021401405 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle with the gripper open. No contact has been made yet, and the subtask of approaching the handle is in progress. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 4 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22374838590621948, + -0.06684557348489761, + 0.03553631156682968, + 2.9616127014160156, + -0.21527738869190216, + 0.04654478654265404 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle with the gripper open. No contact has been made yet, and the subtask of approaching the handle is in progress. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23856396973133087, + -0.0776553824543953, + 0.03253664821386337, + 2.976849317550659, + -0.23487389087677002, + 0.014803054742515087 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle with the gripper open. No contact has been made yet, and the subtask of approaching the handle is in progress. The next action should involve moving the gripper closer to establish contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603633403778076, + -0.08062196522951126, + 0.02914234809577465, + 2.9910314083099365, + -0.2386229932308197, + 0.021268093958497047 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle, with the gripper open and ready to engage. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the handle, as segment-level evidence supports a meaningful grip transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 6 cm, tilt forward 10 degrees, open gripper; then move back 3 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.279877245426178, + -0.0756191536784172, + 0.025831617414951324, + 3.040102958679199, + -0.2500835657119751, + 0.06318720430135727 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle, with the gripper open and ready to engage. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the handle, as segment-level evidence supports a meaningful grip transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, close gripper; then move back 6 cm, tilt forward 10 degrees, open gripper; then move back 5 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28853219747543335, + -0.06517758220434189, + 0.024407941848039627, + 3.076573133468628, + -0.2618059515953064, + 0.09040762484073639 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle, with the gripper open and ready to engage. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the handle, as segment-level evidence supports a meaningful grip transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper closed; then move back 6 cm, tilt forward 10 degrees, open gripper; then move back 6 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29452481865882874, + -0.06240415200591087, + 0.015851600095629692, + 3.0451061725616455, + -0.27230188250541687, + 0.11826853454113007 + ], + "gripper_value": 0.9575772881507874 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle, with the gripper open and ready to engage. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the handle, as segment-level evidence supports a meaningful grip transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 6 cm, tilt forward 10 degrees, open gripper; then move back 6 cm, move right 8 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30316489934921265, + -0.06549976766109467, + 0.006262756884098053, + 3.005549669265747, + -0.30676475167274475, + 0.1236065924167633 + ], + "gripper_value": 0.7613787055015564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle, with the gripper open and ready to engage. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the handle, as segment-level evidence supports a meaningful grip transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, tilt forward 10 degrees, open gripper; then move back 4 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30683645606040955, + -0.06526333838701248, + 0.0032372253481298685, + 3.008251905441284, + -0.33190855383872986, + 0.07599093019962311 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned near the fridge handle, with the gripper open and ready to engage. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the handle, as segment-level evidence supports a meaningful grip transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, tilt forward 10 degrees, open gripper; then move back 4 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086686134338379, + -0.06382633000612259, + 0.002694605616852641, + 3.000922918319702, + -0.3368777632713318, + 0.08847568184137344 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing action has occurred, confirming the handle is grasped. The next step is to pull the handle to open the fridge door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, tilt forward 10 degrees, open gripper; then move back 4 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29438069462776184, + -0.06455592811107635, + 0.0015582441119477153, + 2.985265016555786, + -0.273794025182724, + 0.08169619739055634 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing action has occurred, confirming the handle is grasped. The next step is to pull the handle to open the fridge door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 4 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 8 cm, move right 3 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697438597679138, + -0.06508826464414597, + 0.002919066697359085, + 2.9786927700042725, + -0.1901741772890091, + 0.07697631418704987 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing action has occurred, confirming the handle is grasped. The next step is to pull the handle to open the fridge door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 4 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2469950020313263, + -0.06379307806491852, + 0.00734007079154253, + 2.979935884475708, + -0.13776613771915436, + 0.09738240391016006 + ], + "gripper_value": 0.5120346546173096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "reposition after initial pull", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing action has occurred, confirming the handle is grasped. The next step is to pull the handle to open the fridge door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21699491143226624, + -0.07966870069503784, + 0.017440713942050934, + 2.990726947784424, + -0.11051648110151291, + 0.08323387056589127 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "reposition after initial pull", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing action has occurred, confirming the handle is grasped. The next step is to pull the handle to open the fridge door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19497069716453552, + -0.08884821832180023, + 0.017788071185350418, + 2.9626481533050537, + -0.08999667316675186, + 0.05414113774895668 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "reposition after initial pull", + "subtask_reasoning": "The robot has successfully pulled the fridge door open and is currently holding the handle with the gripper closed. The door is partially ajar, revealing the interior. The next action is to maintain the grip and continue pulling or reposition to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move left 6 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.18228866159915924, + -0.1161603108048439, + 0.01412021555006504, + 2.8795270919799805, + -0.08156970143318176, + -0.0571327805519104 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "reposition after initial pull", + "subtask_reasoning": "The robot has successfully pulled the fridge door open and is currently holding the handle with the gripper closed. The door is partially ajar, revealing the interior. The next action is to maintain the grip and continue pulling or reposition to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 2 cm, move left 7 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.18777242302894592, + -0.14298176765441895, + 0.004388219676911831, + 2.844176769256592, + -0.12893527746200562, + -0.2262023389339447 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "reposition after initial pull", + "subtask_reasoning": "The robot has successfully pulled the fridge door open and is currently holding the handle with the gripper closed. The door is partially ajar, revealing the interior. The next action is to maintain the grip and continue pulling or reposition to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, keep gripper open; then move forward 9 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move left 7 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20663248002529144, + -0.16661427915096283, + 0.0005654360866174102, + 2.8306002616882324, + -0.165508434176445, + -0.2996564507484436 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "release and retreat from door", + "subtask_reasoning": "The robot has successfully pulled the fridge door open and is currently holding the handle with the gripper closed. The door is partially ajar, revealing the interior. The next action is to maintain the grip and continue pulling or reposition to fully open the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 6 cm, move left 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23096181452274323, + -0.18718796968460083, + 0.004400072153657675, + 2.8752307891845703, + -0.2055337131023407, + -0.3714774549007416 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "release and retreat from door", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move left 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25971463322639465, + -0.20210595428943634, + 0.013447260484099388, + 2.959433078765869, + -0.2351086437702179, + -0.3722197711467743 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "release and retreat from door", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 10 cm, move left 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817152440547943, + -0.2000112682580948, + 0.02481551095843315, + 3.029304265975952, + -0.21798087656497955, + -0.2780640125274658 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "release and retreat from door", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open; then move back 11 cm, move left 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.292035311460495, + -0.1847924143075943, + 0.025682033970952034, + 3.0677273273468018, + -0.2247515469789505, + -0.2153155505657196 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 12 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29987484216690063, + -0.1577295958995819, + 0.020571470260620117, + 3.0669426918029785, + -0.20364105701446533, + -0.1802317053079605 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 12 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29885855317115784, + -0.13946132361888885, + 0.01735701784491539, + 3.089674234390259, + -0.16433799266815186, + -0.19102218747138977 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 13 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29154402017593384, + -0.12513978779315948, + 0.016428673639893532, + 3.0706863403320312, + -0.13435059785842896, + -0.1906040906906128 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 13 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2739579975605011, + -0.11778789758682251, + 0.01917446218430996, + 3.050935983657837, + -0.09265460819005966, + -0.15086892247200012 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 12 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25601834058761597, + -0.11125514656305313, + 0.018502838909626007, + 3.047985792160034, + -0.07870856672525406, + -0.11603841930627823 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is currently open, and the robot arm is positioned near the handle with the gripper fully open. The pulling action has been completed, and the robot is now in the retreat phase. The next action is to continue moving the arm backward and away from the fridge to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23468635976314545, + -0.10704054683446884, + 0.024706590920686722, + 3.0597617626190186, + -0.05548223480582237, + -0.0655670091509819 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is already open, and the robot arm is positioned near the handle with the gripper open. The retreat phase is underway, and the next action is to move the arm further back to fully reveal the fridge interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 11 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21040399372577667, + -0.09964805096387863, + 0.023977702483534813, + 3.0748167037963867, + -0.05982942506670952, + -0.025873225182294846 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is already open, and the robot arm is positioned near the handle with the gripper open. The retreat phase is underway, and the next action is to move the arm further back to fully reveal the fridge interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.19309793412685394, + -0.09000864624977112, + 0.021450774744153023, + 3.0772743225097656, + -0.07000734657049179, + -0.008314543403685093 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is already open, and the robot arm is positioned near the handle with the gripper open. The retreat phase is underway, and the next action is to move the arm further back to fully reveal the fridge interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.1791561394929886, + -0.0787254050374031, + 0.023264562711119652, + 3.094736337661743, + -0.08491509407758713, + 0.02063821256160736 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is already open, and the robot arm is positioned near the handle with the gripper open. The retreat phase is underway, and the next action is to move the arm further back to fully reveal the fridge interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.1693536788225174, + -0.060591571033000946, + 0.018667923286557198, + 3.0937952995300293, + -0.10146033018827438, + 0.05575297772884369 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is already open, and the robot arm is positioned near the handle with the gripper open. The retreat phase is underway, and the next action is to move the arm further back to fully reveal the fridge interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.16729840636253357, + -0.03860693797469139, + 0.012261143885552883, + 3.0713181495666504, + -0.1006869301199913, + 0.06553010642528534 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is already open, and the robot arm is positioned near the handle with the gripper open. The retreat phase is underway, and the next action is to move the arm further back to fully reveal the fridge interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.1703500896692276, + -0.013822399079799652, + 0.008814137428998947, + 3.071794033050537, + -0.1182689443230629, + 0.08546151965856552 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is already open, and the robot arm is positioned near the handle with the gripper open. The retreat phase is underway, and the next action is to move the arm further back to fully reveal the fridge interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.1744864135980606, + 0.005829287227243185, + 0.009285454638302326, + 3.0905873775482178, + -0.10647838562726974, + 0.07928666472434998 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "grasp and pull handle" + }, + { + "id": 3, + "subtask": "reposition after initial pull" + }, + { + "id": 4, + "subtask": "release and retreat from door" + }, + { + "id": 5, + "subtask": "final retreat and observe interior" + } + ], + "subtask_name": "final retreat and observe interior", + "subtask_reasoning": "The fridge door is already open, and the robot arm is positioned near the handle with the gripper open. The retreat phase is underway, and the next action is to move the arm further back to fully reveal the fridge interior." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004233_ecot.json b/cot/chunk-0004/episode_0004233_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..479bfe6ab83bd4b67313f64dfb2ed8f78d83cf00 --- /dev/null +++ b/cot/chunk-0004/episode_0004233_ecot.json @@ -0,0 +1,2424 @@ +{ + "task_name": "episode_0004233", + "episode_json": "json/chunk-0004/episode_0004233.json", + "video_path": "videos/chunk-0004/image_0/episode_0004233.mp4", + "instruction": "Move the blue block to on the green cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004233.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.390558123588562, + "std": 0.18823334574699402, + "delta_total": 0.0026550889015197754, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.39056, std=0.18823, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block in pot\", \"start\": 0, \"end\": 7, \"planning\": \"Move the gripper from initial position down toward the blue block inside the metal pot.\"},\n {\"id\": 2, \"name\": \"grasp blue block\", \"start\": 8, \"end\": 15, \"planning\": \"Close gripper around the blue block while maintaining contact with it inside the pot.\"},\n {\"id\": 3, \"name\": \"lift and transport blue block\", \"start\": 16, \"end\": 26, \"planning\": \"Lift the blue block out of the pot and move it horizontally toward the green cloth.\"},\n {\"id\": 4, \"name\": \"place blue block on green cloth\", \"start\": 27, \"end\": 35, \"planning\": \"Lower the blue block onto the green cloth and release grip to deposit it.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 36, \"end\": 36, \"planning\": \"Open gripper fully and retract slightly upward after releasing the blue block.\"}\n ],\n \"global_plan\": \"Approach the blue block in the pot, grasp it, lift and carry it to the green cloth, place it there, then retreat.\",\n \"notes\": \"Segment 1 (frames 0-15) shows meaningful gripper closing (delta=-0.38790), supporting 'grasp' wording. Segment 2 (frames 16-36) shows gripper opening at end (delta=+0.39056), consistent with release. Frame 36 image confirms blue block is on green cloth and gripper is open.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block in pot", + "start": 0, + "end": 7, + "planning": "Move the gripper from initial position down toward the blue block inside the metal pot." + }, + { + "id": 2, + "name": "grasp blue block", + "start": 8, + "end": 15, + "planning": "Close gripper around the blue block while maintaining contact with it inside the pot." + }, + { + "id": 3, + "name": "lift and transport blue block", + "start": 16, + "end": 26, + "planning": "Lift the blue block out of the pot and move it horizontally toward the green cloth." + }, + { + "id": 4, + "name": "place blue block on green cloth", + "start": 27, + "end": 35, + "planning": "Lower the blue block onto the green cloth and release grip to deposit it." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 36, + "end": 36, + "planning": "Open gripper fully and retract slightly upward after releasing the blue block." + } + ], + "global_plan": "Approach the blue block in the pot, grasp it, lift and carry it to the green cloth, place it there, then retreat.", + "notes": "Segment 1 (frames 0-15) shows meaningful gripper closing (delta=-0.38790), supporting 'grasp' wording. Segment 2 (frames 16-36) shows gripper opening at end (delta=+0.39056), consistent with release. Frame 36 image confirms blue block is on green cloth and gripper is open." + } + }, + "episode_goal": "Place the blue block on the green cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3848634362220764, + -0.041758861392736435, + 0.11414951086044312, + 2.9910898208618164, + -0.31197378039360046, + 0.3750482201576233 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue block in pot", + "subtask_reasoning": "The robot is positioned above the workspace, with the blue block visible inside the metal pot on the wooden surface. The gripper is open and the robot has not yet moved toward the pot. The next action is to move the end-effector down and forward to approach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 4 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38103601336479187, + -0.042088162153959274, + 0.0991407260298729, + 3.00799560546875, + -0.2719251811504364, + 0.3679734468460083 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue block in pot", + "subtask_reasoning": "The robot is positioned above the workspace, with the blue block visible inside the metal pot on the wooden surface. The gripper is open and the robot has not yet moved toward the pot. The next action is to move the end-effector down and forward to approach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36304205656051636, + -0.05860114470124245, + 0.0832032635807991, + 3.0193288326263428, + -0.21577653288841248, + 0.3047409951686859 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue block in pot", + "subtask_reasoning": "The robot is positioned above the workspace, with the blue block visible inside the metal pot on the wooden surface. The gripper is open and the robot has not yet moved toward the pot. The next action is to move the end-effector down and forward to approach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34874284267425537, + -0.06555664539337158, + 0.08385481685400009, + 3.02311110496521, + -0.2166755497455597, + 0.24293795228004456 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue block in pot", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to the block. The next action should be a controlled descent or forward motion to reach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32574108242988586, + -0.07130543887615204, + 0.09140495210886002, + 3.047349214553833, + -0.2370782196521759, + 0.19544541835784912 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue block in pot", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to the block. The next action should be a controlled descent or forward motion to reach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3095977008342743, + -0.07284490764141083, + 0.08545991778373718, + 3.0814614295959473, + -0.23437443375587463, + 0.14011451601982117 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue block in pot", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to the block. The next action should be a controlled descent or forward motion to reach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3001018166542053, + -0.07485669106245041, + 0.07414086908102036, + 3.0795722007751465, + -0.2148490697145462, + 0.11860254406929016 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bin": [ + 805, + 386, + 996, + 857 + ], + "sponge": [ + 556, + 506, + 670, + 713 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue block in pot", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to the block. The next action should be a controlled descent or forward motion to reach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29682275652885437, + -0.07767141610383987, + 0.06555112451314926, + 3.081467390060425, + -0.20726604759693146, + 0.10466388612985611 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue block in pot", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to the block. The next action should be a controlled descent or forward motion to reach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29513245820999146, + -0.07914485037326813, + 0.04957174137234688, + 3.0864875316619873, + -0.19090212881565094, + 0.09092563390731812 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to the block. The next action should be a controlled descent or forward motion to reach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946869432926178, + -0.07974722236394882, + 0.03552888706326485, + 3.0927722454071045, + -0.1668194830417633, + 0.07964406907558441 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to the block. The next action should be a controlled descent or forward motion to reach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2927857041358948, + -0.07828275114297867, + 0.026778241619467735, + 3.105107069015503, + -0.1516914814710617, + 0.07451452314853668 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and ready. No contact has been made yet, and the subtask requires moving closer to the block. The next action should be a controlled descent or forward motion to reach the blue block within the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902483344078064, + -0.07790503650903702, + 0.018860867246985435, + 3.1099672317504883, + -0.12399528175592422, + 0.07447806745767593 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 5 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2878972589969635, + -0.07572327554225922, + 0.009105688892304897, + 3.1082403659820557, + -0.10377996414899826, + 0.08766195923089981 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 7 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28759118914604187, + -0.07016665488481522, + 0.00782548077404499, + 3.1397674083709717, + -0.1129850372672081, + 0.09330598264932632 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 8 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852168679237366, + -0.06839507073163986, + 0.007662858814001083, + -3.123840808868408, + -0.10197959840297699, + 0.09858293831348419 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move forward 8 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846921980381012, + -0.07043664902448654, + 0.007645206060260534, + -3.1269545555114746, + -0.10137701034545898, + 0.10563001036643982 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move forward 9 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816348373889923, + -0.07729601114988327, + 0.0144804110750556, + 3.1061553955078125, + -0.10146857053041458, + 0.10312309116125107 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2863541543483734, + -0.07941494137048721, + 0.04021621495485306, + 3.0827648639678955, + -0.14341631531715393, + 0.11419271677732468 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bin": [ + 807, + 386, + 996, + 856 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2899821996688843, + -0.08555656671524048, + 0.061721231788396835, + 3.0858733654022217, + -0.17974995076656342, + 0.09985922276973724 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29905131459236145, + -0.09077828377485275, + 0.08608462661504745, + 3.097909450531006, + -0.23049388825893402, + 0.10159426182508469 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3126465976238251, + -0.08766701072454453, + 0.10050760954618454, + 3.0798096656799316, + -0.2631015479564667, + 0.1332443505525589 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot arm is positioned above the pot containing the blue block, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the blue block. The next action is to fully close the gripper to grasp the block before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33084166049957275, + -0.07966256886720657, + 0.10447435081005096, + 3.0525062084198, + -0.260040819644928, + 0.18268783390522003 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34850287437438965, + -0.07285551726818085, + 0.0987817570567131, + 3.0297441482543945, + -0.2462422251701355, + 0.22174450755119324 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3599899709224701, + -0.06667357683181763, + 0.0885668694972992, + 3.0285539627075195, + -0.2258634865283966, + 0.23046590387821198 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36585426330566406, + -0.06015234813094139, + 0.07038411498069763, + 3.0313668251037598, + -0.19270756840705872, + 0.23896625638008118 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, keep gripper closed; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3680690824985504, + -0.05417659878730774, + 0.05316391959786415, + 3.037545680999756, + -0.17420068383216858, + 0.24379613995552063 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper closed; then move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36853039264678955, + -0.05107909068465233, + 0.03445255383849144, + 3.06862211227417, + -0.13973775506019592, + 0.24298951029777527 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37185928225517273, + -0.05130041390657425, + 0.021490614861249924, + 3.0756192207336426, + -0.12597493827342987, + 0.24147345125675201 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37509167194366455, + -0.05155619606375694, + 0.0142075689509511, + 3.082165479660034, + -0.11202079802751541, + 0.24124197661876678 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.37748175859451294, + -0.05264940485358238, + 0.013218616135418415, + 3.0805320739746094, + -0.09972458332777023, + 0.2506393790245056 + ], + "gripper_value": 0.7151217460632324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3750971257686615, + -0.05314910411834717, + 0.012741167098283768, + 3.082223892211914, + -0.07866626977920532, + 0.26258257031440735 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The robot is currently holding the blue block above the green cloth, having successfully lifted it from the pot. The gripper remains closed with no significant change, indicating a stable grasp during transport. The next action is to lower the block onto the green cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.37407341599464417, + -0.053637053817510605, + 0.012036927975714207, + 3.0884060859680176, + -0.07735766470432281, + 0.2782609164714813 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green cloth. The gripper is open, indicating the block has just been released or is in the process of being placed. The next action is to ensure the block is securely settled on the cloth before retracting the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3725663125514984, + -0.05347450450062752, + 0.01889999583363533, + 3.089909553527832, + -0.08124156296253204, + 0.2814347445964813 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green cloth. The gripper is open, indicating the block has just been released or is in the process of being placed. The next action is to ensure the block is securely settled on the cloth before retracting the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.37468868494033813, + -0.05341203138232231, + 0.03832787275314331, + 3.0794739723205566, + -0.11852562427520752, + 0.2828032970428467 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green cloth. The gripper is open, indicating the block has just been released or is in the process of being placed. The next action is to ensure the block is securely settled on the cloth before retracting the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3712247610092163, + -0.052885718643665314, + 0.06373447924852371, + 3.113846778869629, + -0.15180335938930511, + 0.2800058126449585 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green cloth. The gripper is open, indicating the block has just been released or is in the process of being placed. The next action is to ensure the block is securely settled on the cloth before retracting the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704487085342407, + -0.05530238896608353, + 0.09172316640615463, + 3.0968034267425537, + -0.2096952497959137, + 0.2894936501979828 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bin": [ + 805, + 386, + 996, + 857 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place blue block on green cloth", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green cloth. The gripper is open, indicating the block has just been released or is in the process of being placed. The next action is to ensure the block is securely settled on the cloth before retracting the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.36422914266586304, + -0.054686836898326874, + 0.11625874042510986, + 3.0734097957611084, + -0.26002153754234314, + 0.31285494565963745 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block in pot" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and transport blue block" + }, + { + "id": 4, + "subtask": "place blue block on green cloth" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue block is successfully placed on the green cloth, and the gripper is open and positioned above it. The robot has completed the placement and is now retreating slightly to finalize the subtask. No further interaction with the block is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004234_ecot.json b/cot/chunk-0004/episode_0004234_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f19d47a7a14af4bef27b191d9d2abaf0e1c14f41 --- /dev/null +++ b/cot/chunk-0004/episode_0004234_ecot.json @@ -0,0 +1,2117 @@ +{ + "task_name": "episode_0004234", + "episode_json": "json/chunk-0004/episode_0004234.json", + "video_path": "videos/chunk-0004/image_0/episode_0004234.mp4", + "instruction": "Put banana in pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004234.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.60837322473526, + "std": 0.2583344578742981, + "delta_total": -0.0006943941116333008, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60837, std=0.25833, total_delta=-0.00069). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 218, + 218, + 218, + 218, + 18, + 18, + 18, + 18, + 18, + 27, + 27, + 27, + 27 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 17 + ], + [ + 4, + 18, + 21 + ], + [ + 5, + 22, + 26 + ], + [ + 6, + 27, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach banana\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from the initial position toward the banana on the cutting board.\"},\n {\"id\": 2, \"name\": \"grasp banana\", \"start\": 5, \"end\": 17, \"planning\": \"Close the gripper around the banana and secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and move banana\", \"start\": 18, \"end\": 21, \"planning\": \"Lift the banana and transport it toward the orange pot.\"},\n {\"id\": 4, \"name\": \"place banana in pot\", \"start\": 22, \"end\": 26, \"planning\": \"Lower the banana into the orange pot and release it.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 27, \"end\": 30, \"planning\": \"Open the gripper and move the end-effector away from the pot to complete the task.\"}\n ],\n \"global_plan\": \"Approach the banana, grasp it securely, lift and move it to the orange pot, place it inside, then retreat to finish.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: grasp confirmed in segment 3 (frames 5-17) via significant gripper closure; placement and release supported by gripper opening in segment 6 (frames 27-30). Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach banana", + "start": 0, + "end": 4, + "planning": "Move the end-effector from the initial position toward the banana on the cutting board." + }, + { + "id": 2, + "name": "grasp banana", + "start": 5, + "end": 17, + "planning": "Close the gripper around the banana and secure it for lifting." + }, + { + "id": 3, + "name": "lift and move banana", + "start": 18, + "end": 21, + "planning": "Lift the banana and transport it toward the orange pot." + }, + { + "id": 4, + "name": "place banana in pot", + "start": 22, + "end": 26, + "planning": "Lower the banana into the orange pot and release it." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 27, + "end": 30, + "planning": "Open the gripper and move the end-effector away from the pot to complete the task." + } + ], + "global_plan": "Approach the banana, grasp it securely, lift and move it to the orange pot, place it inside, then retreat to finish.", + "notes": "Subtasks align with observed motion segments and gripper evidence: grasp confirmed in segment 3 (frames 5-17) via significant gripper closure; placement and release supported by gripper opening in segment 6 (frames 27-30). Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the banana inside the orange pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149239718914032, + 0.18799911439418793, + 0.11718673259019852, + -3.0609662532806396, + -0.17898941040039062, + 0.6008396744728088 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the wooden board where the banana is located, with no objects currently grasped. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31100812554359436, + 0.18487194180488586, + 0.10334333032369614, + -3.0624921321868896, + -0.13715851306915283, + 0.6026700735092163 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the wooden board where the banana is located, with no objects currently grasped. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30882447957992554, + 0.16329480707645416, + 0.08804220706224442, + -3.074068546295166, + -0.10580594092607498, + 0.5542355179786682 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31012630462646484, + 0.13804495334625244, + 0.09492885321378708, + -3.082657814025879, + -0.10429258644580841, + 0.48656290769577026 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy banana": [ + 409, + 408, + 546, + 554 + ], + "toy pepper": [ + 511, + 408, + 668, + 548 + ], + "toy lemon": [ + 227, + 481, + 343, + 598 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 5 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092694878578186, + 0.11282247304916382, + 0.0891234502196312, + -3.1082823276519775, + -0.05584561079740524, + 0.4240173399448395 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move right 5 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30751320719718933, + 0.09325309097766876, + 0.07752986997365952, + -3.113370656967163, + -0.03916100040078163, + 0.3496242165565491 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3093501329421997, + 0.07611265778541565, + 0.06263088434934616, + -3.133563280105591, + -0.07238832861185074, + 0.26458266377449036 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3151817321777344, + 0.06396067887544632, + 0.05930598825216293, + -3.131993293762207, + -0.10295695066452026, + 0.2079496681690216 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3147489130496979, + 0.0563402883708477, + 0.04999375715851784, + -3.1309151649475098, + -0.09362486749887466, + 0.1723189502954483 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31442689895629883, + 0.054264701902866364, + 0.04629791900515556, + -3.1309432983398438, + -0.09974231570959091, + 0.16439610719680786 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31410229206085205, + 0.051067009568214417, + 0.038534291088581085, + -3.1277878284454346, + -0.09961041808128357, + 0.14202195405960083 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned near the wooden tray containing the banana, with the gripper open and no contact made yet. The subtask of approaching the banana is in progress, with movement toward the target observed. The next action should continue closing the distance to enable a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then move left 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31491631269454956, + 0.047205254435539246, + 0.03570715710520744, + -3.126105546951294, + -0.10549945384263992, + 0.11254555732011795 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the wooden board, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move left 2 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31074514985084534, + 0.04173688217997551, + 0.025589358061552048, + -3.1235573291778564, + -0.09011317789554596, + 0.09523281455039978 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy pepper": [ + 512, + 408, + 669, + 546 + ], + "toy banana": [ + 408, + 414, + 549, + 552 + ], + "toy lemon": [ + 228, + 479, + 343, + 596 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the wooden board, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 4 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31078118085861206, + 0.03860413655638695, + 0.0172053724527359, + -3.102137804031372, + -0.08913315832614899, + 0.08878932893276215 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the wooden board, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 4 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30869126319885254, + 0.039182402193546295, + 0.008412610739469528, + -3.082390785217285, + -0.07463949173688889, + 0.0824357271194458 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the wooden board, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 4 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3101498782634735, + 0.04193766787648201, + 0.0012632337165996432, + -3.0667924880981445, + -0.07815203815698624, + 0.0938182845711708 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the wooden board, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3126673400402069, + 0.0478924959897995, + 0.00041264569154009223, + -3.0728306770324707, + -0.09032575786113739, + 0.13799278438091278 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the wooden board, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3101412355899811, + 0.05171791464090347, + 0.00033987226197496057, + -3.0955326557159424, + -0.07299230992794037, + 0.16541782021522522 + ], + "gripper_value": 0.7001883387565613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the wooden board, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024463951587677, + 0.060454562306404114, + 0.0030940233264118433, + -3.1191911697387695, + -0.02811681479215622, + 0.19650860130786896 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the wooden board, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019643723964691, + 0.07122891396284103, + 0.027186354622244835, + -3.1328978538513184, + -0.06297953426837921, + 0.2325485795736313 + ], + "gripper_value": 0.3788849711418152 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy pepper": [ + 508, + 407, + 668, + 548 + ], + "toy lemon": [ + 228, + 480, + 343, + 596 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move banana", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the wooden surface. The gripper is closed around the banana, indicating a secure hold as it begins to move toward the orange pot. The next action is to continue transporting the banana over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, open gripper; then move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30067476630210876, + 0.07852443307638168, + 0.05362095683813095, + -3.1012628078460693, + -0.025667298585176468, + 0.2486354112625122 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move banana", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the wooden surface. The gripper is closed around the banana, indicating a secure hold as it begins to move toward the orange pot. The next action is to continue transporting the banana over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, open gripper; then move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015802502632141, + 0.08335648477077484, + 0.08523914217948914, + 3.1335575580596924, + -0.06120864301919937, + 0.29527804255485535 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and move banana", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the wooden surface. The gripper is closed around the banana, indicating a secure hold as it begins to move toward the orange pot. The next action is to continue transporting the banana over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, open gripper; then move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31222546100616455, + 0.10479817539453506, + 0.10175606608390808, + -3.128720998764038, + -0.06763949245214462, + 0.4129582345485687 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place banana in pot", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the wooden surface. The gripper is closed around the banana, indicating a secure hold as it begins to move toward the orange pot. The next action is to continue transporting the banana over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, open gripper; then move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32247984409332275, + 0.12671083211898804, + 0.08907340466976166, + -3.0959107875823975, + -0.0392368920147419, + 0.4853590428829193 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place banana in pot", + "subtask_reasoning": "The robot has successfully grasped the banana and is currently lifting it above the wooden surface. The gripper is closed around the banana, indicating a secure hold as it begins to move toward the orange pot. The next action is to continue transporting the banana over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33151915669441223, + 0.1494361311197281, + 0.06269074231386185, + -3.0393784046173096, + -0.0332629457116127, + 0.5221724510192871 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy banana": [ + 260, + 127, + 332, + 272 + ], + "toy lemon": [ + 227, + 479, + 344, + 598 + ], + "toy pepper": [ + 508, + 407, + 669, + 548 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place banana in pot", + "subtask_reasoning": "The banana is currently held above the orange pot, positioned for insertion. The gripper remains closed, indicating the banana is still grasped. The next action is to lower the banana into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.335110604763031, + 0.16173550486564636, + 0.04617931321263313, + -2.9728174209594727, + -0.07437243312597275, + 0.5169234275817871 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place banana in pot", + "subtask_reasoning": "The banana is currently held above the orange pot, positioned for insertion. The gripper remains closed, indicating the banana is still grasped. The next action is to lower the banana into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.33168143033981323, + 0.1643810123205185, + 0.037455204874277115, + -2.9453697204589844, + -0.08622974902391434, + 0.4928751587867737 + ], + "gripper_value": 0.4503740966320038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place banana in pot", + "subtask_reasoning": "The banana is currently held above the orange pot, positioned for insertion. The gripper remains closed, indicating the banana is still grasped. The next action is to lower the banana into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32221198081970215, + 0.16004517674446106, + 0.028876742348074913, + -2.943856954574585, + -0.04903978109359741, + 0.46248042583465576 + ], + "gripper_value": 0.7339323163032532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The banana is currently held above the orange pot, positioned for insertion. The gripper remains closed, indicating the banana is still grasped. The next action is to lower the banana into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.32122889161109924, + 0.15311861038208008, + 0.039472796022892, + -2.9842638969421387, + -0.06427943706512451, + 0.4586118757724762 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The banana has been successfully placed inside the orange pot, and the gripper is now open and positioned above the pot. The robot is in the process of retreating from the pot area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32151591777801514, + 0.14030422270298004, + 0.060841772705316544, + -3.0243637561798096, + -0.07091376185417175, + 0.4475383162498474 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The banana has been successfully placed inside the orange pot, and the gripper is now open and positioned above the pot. The robot is in the process of retreating from the pot area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32119980454444885, + 0.11625368148088455, + 0.08522730320692062, + -3.065514087677002, + -0.04070062190294266, + 0.4375946819782257 + ], + "gripper_value": 0.9865638017654419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana inside the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "lift and move banana" + }, + { + "id": 4, + "subtask": "place banana in pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The banana has been successfully placed inside the orange pot, and the gripper is now open and positioned above the pot. The robot is in the process of retreating from the pot area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004236_ecot.json b/cot/chunk-0004/episode_0004236_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ee2a699d69339ba68eb4011818efea08a81add3b --- /dev/null +++ b/cot/chunk-0004/episode_0004236_ecot.json @@ -0,0 +1,6604 @@ +{ + "task_name": "episode_0004236", + "episode_json": "json/chunk-0004/episode_0004236.json", + "video_path": "videos/chunk-0004/image_0/episode_0004236.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 95, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004236.json" + }, + "fps": 5.0, + "T_eff": 95, + "gripper_behavior_summary": { + "available": true, + "range": 0.6281023025512695, + "std": 0.20042067766189575, + "delta_total": -0.6281023025512695, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62810, std=0.20042, total_delta=-0.62810). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 312, + 312, + 312, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12, + 12 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 26 + ], + [ + 3, + 27, + 29 + ], + [ + 4, + 30, + 46 + ], + [ + 5, + 47, + 75 + ], + [ + 6, + 76, + 94 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward scattered beans while closing gripper to prepare for contact-based sweeping.\"},\n {\"id\": 2, \"name\": \"sweep beans leftward\", \"start\": 12, \"end\": 26, \"planning\": \"Drag gripper across tray surface to push beans toward left side, forming initial pile.\"},\n {\"id\": 3, \"name\": \"reposition for second sweep\", \"start\": 27, \"end\": 29, \"planning\": \"Lift and shift gripper position to align with remaining scattered beans on right side of tray.\"},\n {\"id\": 4, \"name\": \"sweep beans into main pile\", \"start\": 30, \"end\": 46, \"planning\": \"Push remaining beans from right side into the growing pile on the left using flat gripper contact.\"},\n {\"id\": 5, \"name\": \"consolidate pile edge\", \"start\": 47, \"end\": 75, \"planning\": \"Make fine adjustments along pile boundary to gather stray beans and tighten cluster formation.\"},\n {\"id\": 6, \"name\": \"final sweep and retreat\", \"start\": 76, \"end\": 94, \"planning\": \"Execute final sweeping motion to collect last outliers, then lift and retreat gripper from pile area.\"}\n ],\n \"global_plan\": \"Sweep scattered beans into a consolidated pile on the left side of the tray using sequential contact-based pushes with the gripper, repositioning between sweeps to cover all regions.\",\n \"notes\": \"Gripper closes only in Segment 1; all other segments use contact-based manipulation without grasping. Frame ranges follow provided segment spans exactly to ensure full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper", + "start": 0, + "end": 11, + "planning": "Move end-effector toward scattered beans while closing gripper to prepare for contact-based sweeping." + }, + { + "id": 2, + "name": "sweep beans leftward", + "start": 12, + "end": 26, + "planning": "Drag gripper across tray surface to push beans toward left side, forming initial pile." + }, + { + "id": 3, + "name": "reposition for second sweep", + "start": 27, + "end": 29, + "planning": "Lift and shift gripper position to align with remaining scattered beans on right side of tray." + }, + { + "id": 4, + "name": "sweep beans into main pile", + "start": 30, + "end": 46, + "planning": "Push remaining beans from right side into the growing pile on the left using flat gripper contact." + }, + { + "id": 5, + "name": "consolidate pile edge", + "start": 47, + "end": 75, + "planning": "Make fine adjustments along pile boundary to gather stray beans and tighten cluster formation." + }, + { + "id": 6, + "name": "final sweep and retreat", + "start": 76, + "end": 94, + "planning": "Execute final sweeping motion to collect last outliers, then lift and retreat gripper from pile area." + } + ], + "global_plan": "Sweep scattered beans into a consolidated pile on the left side of the tray using sequential contact-based pushes with the gripper, repositioning between sweeps to cover all regions.", + "notes": "Gripper closes only in Segment 1; all other segments use contact-based manipulation without grasping. Frame ranges follow provided segment spans exactly to ensure full coverage and contiguity." + } + }, + "episode_goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3569534718990326, + -0.14207740128040314, + 0.08356911689043045, + 2.986910820007324, + -0.21955551207065582, + 0.13035020232200623 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet. The current subtask requires approaching a target bean cluster and closing the gripper to prepare for contact-based pushing. Next action: lower and close gripper near a bean group on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3551824986934662, + -0.14180320501327515, + 0.07159727066755295, + 2.9991586208343506, + -0.18923284113407135, + 0.13361799716949463 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet. The current subtask requires approaching a target bean cluster and closing the gripper to prepare for contact-based pushing. Next action: lower and close gripper near a bean group on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35578474402427673, + -0.14398503303527832, + 0.07085282355546951, + 2.9800543785095215, + -0.1846339851617813, + 0.1651996523141861 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet. The current subtask requires approaching a target bean cluster and closing the gripper to prepare for contact-based pushing. Next action: lower and close gripper near a bean group on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36036887764930725, + -0.14356715977191925, + 0.07088280469179153, + 2.972017765045166, + -0.18833927810192108, + 0.18326325714588165 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet. The current subtask requires approaching a target bean cluster and closing the gripper to prepare for contact-based pushing. Next action: lower and close gripper near a bean group on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36184293031692505, + -0.14046107232570648, + 0.057624705135822296, + 2.9846816062927246, + -0.16827182471752167, + 0.19990690052509308 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 36, + 113, + 179, + 230 + ], + "blue tape": [ + 909, + 735, + 996, + 943 + ], + "white tray": [ + 59, + 326, + 985, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, gripper open and ready. No sweeping has occurred yet. The current subtask requires approaching a target bean cluster and closing the gripper to prepare for contact-based pushing. Next action: lower and close gripper near a bean group on the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36324191093444824, + -0.14331172406673431, + 0.0607355497777462, + 2.974334478378296, + -0.15691083669662476, + 0.20352932810783386 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move back 1 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36492621898651123, + -0.1427774280309677, + 0.05177369713783264, + 2.9916539192199707, + -0.13966932892799377, + 0.20832237601280212 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 1 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3706032335758209, + -0.1444675773382187, + 0.05225649103522301, + 2.98675274848938, + -0.14654357731342316, + 0.22251766920089722 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37096184492111206, + -0.14758971333503723, + 0.04424607381224632, + 2.9926247596740723, + -0.14625704288482666, + 0.2166130691766739 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 11 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3710176944732666, + -0.15047800540924072, + 0.040872201323509216, + 2.9948530197143555, + -0.16206295788288116, + 0.2053312212228775 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 13 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692972958087921, + -0.14947234094142914, + 0.030736126005649567, + 3.00992488861084, + -0.15881121158599854, + 0.19595278799533844 + ], + "gripper_value": 0.939095675945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 17 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3686998784542084, + -0.14995276927947998, + 0.02978646568953991, + 3.0127861499786377, + -0.162474125623703, + 0.1887117177248001 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move left 21 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620436489582062, + -0.14651153981685638, + 0.02322632633149624, + 3.0229597091674805, + -0.1405695229768753, + 0.17269104719161987 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 25 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35532185435295105, + -0.13491377234458923, + 0.02266843616962433, + 3.025416374206543, + -0.11396915465593338, + 0.16536998748779297 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 27 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35391896963119507, + -0.12503750622272491, + 0.022277604788541794, + 3.028411865234375, + -0.09674722701311111, + 0.16387663781642914 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 26 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35344159603118896, + -0.11095545440912247, + 0.022576026618480682, + 3.0362510681152344, + -0.07165586948394775, + 0.15692222118377686 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 22 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3547585904598236, + -0.08536874502897263, + 0.02494771033525467, + 3.0427441596984863, + -0.05647004768252373, + 0.17922204732894897 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 908, + 734, + 996, + 946 + ], + "white tray": [ + 60, + 326, + 988, + 993 + ], + "metal bowl": [ + 37, + 113, + 179, + 228 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3504362404346466, + -0.07027766853570938, + 0.022751441225409508, + 3.0465030670166016, + -0.03440554812550545, + 0.15373410284519196 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34620922803878784, + -0.04057648777961731, + 0.023677999153733253, + 3.05572247505188, + -0.024340754374861717, + 0.15437519550323486 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered black beans, with the gripper currently open. No sweeping or gathering has occurred yet. The next action should involve closing the gripper to prepare for contact-based pushing of the beans toward the left side of the tray." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34019145369529724, + -0.014094028621912003, + 0.02273377776145935, + 3.057283878326416, + -0.030694639310240746, + 0.13805575668811798 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 10 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3334650993347168, + 0.02022027224302292, + 0.025450142100453377, + 3.0613927841186523, + -0.0188664011657238, + 0.1416732221841812 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252369463443756, + 0.05918513238430023, + 0.028373349457979202, + 3.0653512477874756, + 0.004831467289477587, + 0.14464619755744934 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 908, + 734, + 996, + 946 + ], + "metal bowl": [ + 37, + 113, + 178, + 228 + ], + "white tray": [ + 59, + 343, + 988, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32190975546836853, + 0.10110722482204437, + 0.039077360183000565, + 3.0763437747955322, + 0.0005873307818546891, + 0.15021568536758423 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176723122596741, + 0.13288235664367676, + 0.04413976892828941, + 3.100208044052124, + -0.022576894611120224, + 0.1617775708436966 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3174208700656891, + 0.13650482892990112, + 0.044353339821100235, + 3.081406354904175, + -0.03600718453526497, + 0.16233627498149872 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3290509879589081, + 0.10871198773384094, + 0.07591691613197327, + 2.9946510791778564, + -0.11489327251911163, + 0.17868845164775848 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed; then move forward 4 cm, move right 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.348757803440094, + 0.05662662163376808, + 0.08685822039842606, + 2.942986011505127, + -0.12498310953378677, + 0.15557214617729187 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed; then move forward 4 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639921247959137, + 0.004325599409639835, + 0.09327854216098785, + 2.919307231903076, + -0.14944565296173096, + 0.13996751606464386 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is in contact with the black beans on the white tray, positioned to push them leftward. The approach and initial closure have been completed, and the gripper is now actively sweeping the beans toward the left side of the tray. The next action is to continue pushing the beans leftward to consolidate them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 3 cm, keep gripper closed; then move forward 5 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37518763542175293, + -0.035713937133550644, + 0.08128102868795395, + 2.92622971534729, + -0.12620791792869568, + 0.13875427842140198 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 2 cm, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3789927363395691, + -0.09095315635204315, + 0.07149984687566757, + 2.936418056488037, + -0.1150282546877861, + 0.09399259090423584 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.38634082674980164, + -0.13077573478221893, + 0.06481911987066269, + 2.9396162033081055, + -0.11168626695871353, + 0.09342224150896072 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 37, + 113, + 179, + 229 + ], + "blue tape": [ + 908, + 735, + 996, + 946 + ], + "white tray": [ + 59, + 327, + 987, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39092129468917847, + -0.15930265188217163, + 0.06519024819135666, + 2.9385123252868652, + -0.12301325798034668, + 0.08092540502548218 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 15 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.39752817153930664, + -0.16805686056613922, + 0.04847561568021774, + 2.96571683883667, + -0.12949688732624054, + 0.08268187940120697 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 19 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.407899409532547, + -0.16953974962234497, + 0.030529366806149483, + 2.991429328918457, + -0.12956257164478302, + 0.10061345994472504 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 23 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4167759418487549, + -0.17014949023723602, + 0.025905298069119453, + 2.991795063018799, + -0.12613274157047272, + 0.10815859586000443 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 26 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.42187705636024475, + -0.16938580572605133, + 0.02614477090537548, + 2.9979209899902344, + -0.13072419166564941, + 0.10881607979536057 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 28 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.4259337782859802, + -0.15399262309074402, + 0.027333974838256836, + 2.9952003955841064, + -0.11534728854894638, + 0.11980731040239334 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 28 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.4321483373641968, + -0.12725698947906494, + 0.027222542092204094, + 2.9899518489837646, + -0.10154455900192261, + 0.12925808131694794 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is currently lifted above the tray after completing the first leftward sweep of black objects. The gripper signal remains constant, indicating no grasping is occurring. The robot is repositioning to the right side of the tray to initiate the second sweep toward the existing pile on the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 24 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.43536385893821716, + -0.09697693586349487, + 0.02596994675695896, + 2.983823776245117, + -0.07774554193019867, + 0.148837149143219 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 61, + 131, + 172, + 231 + ], + "blue tape": [ + 925, + 718, + 996, + 902 + ], + "white tray": [ + 75, + 324, + 989, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 21 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.43456292152404785, + -0.06665851175785065, + 0.023595305159687996, + 2.9819111824035645, + -0.04799983277916908, + 0.1616225689649582 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 18 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.43022337555885315, + -0.03973259776830673, + 0.021599195897579193, + 2.9792702198028564, + -0.03464389592409134, + 0.1791663020849228 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 15 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 14 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.422126829624176, + -0.0054643950425088406, + 0.02132870815694332, + 2.9802510738372803, + -0.03593749925494194, + 0.20669260621070862 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 20 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.4096212089061737, + 0.025538872927427292, + 0.019919924437999725, + 2.9804341793060303, + -0.03200771287083626, + 0.22573770582675934 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 24 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3951859772205353, + 0.056016623973846436, + 0.018755998462438583, + 2.979865312576294, + -0.03456108272075653, + 0.2569146752357483 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 27 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3828226923942566, + 0.0854489728808403, + 0.01766977272927761, + 2.981703996658325, + -0.04626268893480301, + 0.2959737777709961 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 27 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.36824703216552734, + 0.11114423722028732, + 0.016824424266815186, + 2.9877445697784424, + -0.07309737801551819, + 0.319833368062973 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 28 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589097261428833, + 0.12603291869163513, + 0.016492588445544243, + 2.9855587482452393, + -0.0889817327260971, + 0.3339096009731293 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "sweep beans into main pile", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 28 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 46 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3508443534374237, + 0.1100570410490036, + 0.024384455755352974, + 2.8921968936920166, + -0.05921965837478638, + 0.3904321491718292 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 28 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583793044090271, + 0.06547310203313828, + 0.04213946312665939, + 2.824317455291748, + -0.05810747668147087, + 0.43534067273139954 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 23 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.36099424958229065, + 0.007431287784129381, + 0.06648171693086624, + 2.8023979663848877, + -0.07748253643512726, + 0.40056514739990234 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 16 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562695384025574, + -0.03291945904493332, + 0.07283889502286911, + 2.7974021434783936, + -0.05819470435380936, + 0.4153544306755066 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.34505990147590637, + -0.08978721499443054, + 0.06499497592449188, + 2.785305976867676, + -0.056717969477176666, + 0.35036855936050415 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.34374821186065674, + -0.128416046500206, + 0.06057484820485115, + 2.7734270095825195, + -0.06184074282646179, + 0.3645526170730591 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.33925431966781616, + -0.15717990696430206, + 0.05257570743560791, + 2.7634997367858887, + -0.07221615314483643, + 0.3388466536998749 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 912, + 729, + 996, + 923 + ], + "metal bowl": [ + 37, + 113, + 178, + 228 + ], + "white tray": [ + 65, + 325, + 988, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.341403067111969, + -0.1638275384902954, + 0.046196483075618744, + 2.7600531578063965, + -0.09486206620931625, + 0.33488729596138 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.33786314725875854, + -0.17188134789466858, + 0.03776698559522629, + 2.767930507659912, + -0.1148495078086853, + 0.3243115544319153 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.33599328994750977, + -0.17014822363853455, + 0.02600540593266487, + 2.7819323539733887, + -0.11452159285545349, + 0.3405611515045166 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3329979479312897, + -0.16830581426620483, + 0.02296641655266285, + 2.7787649631500244, + -0.12273348867893219, + 0.3431263864040375 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3285690248012543, + -0.16496768593788147, + 0.020464178174734116, + 2.781895399093628, + -0.13259093463420868, + 0.34475967288017273 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 21 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.32939624786376953, + -0.15492650866508484, + 0.01709129847586155, + 2.7990496158599854, + -0.13494519889354706, + 0.3485724627971649 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 23 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.33268022537231445, + -0.14174990355968475, + 0.016460414975881577, + 2.812631368637085, + -0.1428259015083313, + 0.33116135001182556 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near scattered black beans on the right side. Previous sweeps have consolidated beans toward the left; this subtask continues pushing remaining right-side beans leftward into the main pile. Next action: maintain contact and push beans leftward along the tray surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 23 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3321686089038849, + -0.1273336559534073, + 0.016077319160103798, + 2.8399245738983154, + -0.1329701691865921, + 0.2992478311061859 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 24 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.32981157302856445, + -0.11136569827795029, + 0.015517436899244785, + 2.872814655303955, + -0.1350393295288086, + 0.2826967239379883 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 25 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3290769159793854, + -0.09390954673290253, + 0.015375643968582153, + 2.917130947113037, + -0.12788216769695282, + 0.25440678000450134 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 25 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.330220490694046, + -0.06760869920253754, + 0.015416190028190613, + 2.944641351699829, + -0.11825630813837051, + 0.2590203881263733 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 34, + 114, + 178, + 229 + ], + "blue tape": [ + 908, + 731, + 996, + 932 + ], + "white tray": [ + 66, + 324, + 989, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 22 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.32957637310028076, + -0.04005497694015503, + 0.015228149481117725, + 2.9626739025115967, + -0.11248846352100372, + 0.26260149478912354 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 16 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.3285900950431824, + -0.013082951307296753, + 0.015484177507460117, + 2.9720826148986816, + -0.11068963259458542, + 0.2761574983596802 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 908, + 730, + 996, + 932 + ], + "metal bowl": [ + 35, + 113, + 179, + 227 + ], + "white tray": [ + 65, + 325, + 987, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.3220340609550476, + 0.01377303246408701, + 0.014613895677030087, + 2.982541084289551, + -0.09302084147930145, + 0.28162363171577454 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.3130258023738861, + 0.042566437274217606, + 0.014582892879843712, + 2.9969100952148438, + -0.06658051908016205, + 0.30156680941581726 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 10 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.30646035075187683, + 0.0700911432504654, + 0.014620160683989525, + 3.026017904281616, + -0.06193402037024498, + 0.3072042763233185 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 14 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030393123626709, + 0.08711501210927963, + 0.013797174207866192, + 3.055976629257202, + -0.07310234010219574, + 0.3035355806350708 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 18 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.29809093475341797, + 0.11632336676120758, + 0.014299790374934673, + 3.1001358032226562, + -0.10683302581310272, + 0.30644577741622925 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 20 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.2960307002067566, + 0.14155931770801544, + 0.01549661997705698, + -3.127598524093628, + -0.13756005465984344, + 0.2965693175792694 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 22 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.2956162393093109, + 0.16051457822322845, + 0.01669125258922577, + -3.0943403244018555, + -0.14396360516548157, + 0.2850668728351593 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move up 3 cm, tilt right 20 degrees, keep gripper closed; then move right 23 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.2938932776451111, + 0.14918869733810425, + 0.017971418797969818, + 3.1051278114318848, + -0.1018073707818985, + 0.2885255515575409 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 24 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.3075088858604431, + 0.12052414566278458, + 0.029927022755146027, + 2.960047483444214, + -0.0626259595155716, + 0.3429465889930725 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "consolidate pile edge", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 2 cm, keep gripper closed; then move right 25 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 75 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.33803319931030273, + 0.07270356267690659, + 0.04546564817428589, + 2.8935282230377197, + -0.06837815046310425, + 0.3553498089313507 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 24 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.3502979576587677, + 0.023578133434057236, + 0.055221326649188995, + 2.8780646324157715, + -0.017170174047350883, + 0.389464408159256 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 19 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.35584843158721924, + -0.023797543719410896, + 0.06133429706096649, + 2.875061511993408, + 0.007962450385093689, + 0.3984955847263336 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 14 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.3527441620826721, + -0.07176964730024338, + 0.06517273932695389, + 2.87378191947937, + 0.031114745885133743, + 0.3776172697544098 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 913, + 733, + 996, + 928 + ], + "white tray": [ + 54, + 332, + 983, + 993 + ], + "metal bowl": [ + 38, + 114, + 178, + 228 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.34932011365890503, + -0.10371940582990646, + 0.061708759516477585, + 2.866178512573242, + 0.005453091114759445, + 0.35176411271095276 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.3389569818973541, + -0.12924040853977203, + 0.05337226763367653, + 2.8666603565216064, + -0.00560329295694828, + 0.32446080446243286 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.3361237347126007, + -0.1477283388376236, + 0.051447443664073944, + 2.857816219329834, + -0.04066743701696396, + 0.30955490469932556 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360232710838318, + -0.16201762855052948, + 0.05115453526377678, + 2.8471264839172363, + -0.07041043043136597, + 0.3084014356136322 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.33525756001472473, + -0.17152933776378632, + 0.03620190918445587, + 2.8678503036499023, + -0.0795397013425827, + 0.3070523738861084 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is in contact with the white tray surface, positioned near the consolidated pile of black beans on the left. Previous sweeping actions have gathered the beans into this area. The next action is to continue pushing or nudging the edge of the pile to further compact it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 15 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 61 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.33339831233024597, + -0.17693807184696198, + 0.032113730907440186, + 2.8648264408111572, + -0.10715292394161224, + 0.2979210317134857 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 15 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272843062877655, + -0.17179685831069946, + 0.02274719811975956, + 2.8751041889190674, + -0.11221696436405182, + 0.2953876554965973 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.32152801752090454, + -0.1684338003396988, + 0.02020096406340599, + 2.879572629928589, + -0.11403756588697433, + 0.29417169094085693 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.3186308741569519, + -0.16288477182388306, + 0.01757344789803028, + 2.879990339279175, + -0.12174147367477417, + 0.2966371476650238 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131353557109833, + -0.14345726370811462, + 0.017243284732103348, + 2.887223482131958, + -0.13102270662784576, + 0.2904326617717743 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.30787336826324463, + -0.12041977047920227, + 0.01641618274152279, + 2.897608518600464, + -0.12903687357902527, + 0.2921975553035736 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.30426082015037537, + -0.09253492206335068, + 0.016738135367631912, + 2.9160773754119873, + -0.13231728971004486, + 0.288118839263916 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 909, + 751, + 996, + 964 + ], + "white tray": [ + 51, + 331, + 989, + 993 + ], + "metal bowl": [ + 37, + 113, + 177, + 229 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.30283090472221375, + -0.06371501833200455, + 0.01614348217844963, + 2.9405593872070312, + -0.12853485345840454, + 0.2749840319156647 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 93, + "state_action_evidence": { + "ee_state_6d": [ + 0.30306318402290344, + -0.042106058448553085, + 0.015667684376239777, + 2.9725193977355957, + -0.12967610359191895, + 0.2508886754512787 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + }, + { + "t": 94, + "state_action_evidence": { + "ee_state_6d": [ + 0.303281307220459, + -0.0233099777251482, + 0.01489288080483675, + 2.9989383220672607, + -0.13076554238796234, + 0.24476557970046997 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "sweep beans into main pile" + }, + { + "id": 5, + "subtask": "consolidate pile edge" + }, + { + "id": 6, + "subtask": "final sweep and retreat" + } + ], + "subtask_name": "final sweep and retreat", + "subtask_reasoning": "The gripper is positioned near the remaining scattered black objects on the right side of the white tray, with a consolidated pile already formed on the left. Previous sweeps have moved most objects leftward, but a few remain isolated. The next action should involve contacting and pushing these remaining objects toward the main pile to complete the consolidation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 85 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 76, + "end": 94 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004237_ecot.json b/cot/chunk-0004/episode_0004237_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..79d7297febb7a4648d60073192d5b5820e5a7f5f --- /dev/null +++ b/cot/chunk-0004/episode_0004237_ecot.json @@ -0,0 +1,1154 @@ +{ + "task_name": "episode_0004237", + "episode_json": "json/chunk-0004/episode_0004237.json", + "video_path": "videos/chunk-0004/image_0/episode_0004237.mp4", + "instruction": "Flip pot upright which is in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004237.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.8910818099975586, + "std": 0.32279127836227417, + "delta_total": -0.5736731290817261, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.89108, std=0.32279, total_delta=-0.57367). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 113, + 113, + 113, + 113 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot in sink\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the overturned pot in the sink while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp pot rim\", \"start\": 6, \"end\": 12, \"planning\": \"Close gripper to securely grasp the rim of the pot, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"flip pot upright\", \"start\": 13, \"end\": 15, \"planning\": \"Rotate and lift the pot using gripper hold to flip it from overturned to upright position in sink.\"},\n {\"id\": 4, \"name\": \"release pot and retreat\", \"start\": 16, \"end\": 16, \"planning\": \"Open gripper to release the now-upright pot and begin retreating end-effector away from sink area.\"}\n ],\n \"global_plan\": \"Approach the overturned pot in the sink, grasp its rim securely, rotate and lift to flip it upright, then release and retreat.\",\n \"notes\": \"Segment 1 (frames 0-12) includes approach and grasp phases; gripper closes significantly by frame 12 (value 0.50142), confirming grasp. Segment 2 (frames 13-16) shows continued manipulation with gripper tightening then opening — consistent with flipping and releasing. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot in sink", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the overturned pot in the sink while keeping gripper open." + }, + { + "id": 2, + "name": "grasp pot rim", + "start": 6, + "end": 12, + "planning": "Close gripper to securely grasp the rim of the pot, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "flip pot upright", + "start": 13, + "end": 15, + "planning": "Rotate and lift the pot using gripper hold to flip it from overturned to upright position in sink." + }, + { + "id": 4, + "name": "release pot and retreat", + "start": 16, + "end": 16, + "planning": "Open gripper to release the now-upright pot and begin retreating end-effector away from sink area." + } + ], + "global_plan": "Approach the overturned pot in the sink, grasp its rim securely, rotate and lift to flip it upright, then release and retreat.", + "notes": "Segment 1 (frames 0-12) includes approach and grasp phases; gripper closes significantly by frame 12 (value 0.50142), confirming grasp. Segment 2 (frames 13-16) shows continued manipulation with gripper tightening then opening — consistent with flipping and releasing. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Flip the metal pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2827625274658203, + -0.06166280806064606, + 0.1922801285982132, + -3.1237781047821045, + -0.14336931705474854, + -0.0652346983551979 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot is positioned above the sink with the overturned metal pot visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2795991897583008, + -0.06033677980303764, + 0.18261848390102386, + -3.017035484313965, + -0.08440390974283218, + -0.018130358308553696 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot is positioned above the sink with the overturned metal pot visible below. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27911505103111267, + -0.0681704729795456, + 0.18484826385974884, + -2.848339319229126, + -0.0723872259259224, + 0.053880929946899414 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 285, + 1, + 459, + 231 + ], + "purple striped bowl": [ + 287, + 194, + 378, + 315 + ], + "metal pot": [ + 472, + 174, + 768, + 562 + ], + "blue cup": [ + 687, + 526, + 818, + 706 + ], + "knife": [ + 210, + 73, + 338, + 350 + ], + "dish rack": [ + 72, + 38, + 531, + 383 + ] + } + } + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned metal pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28136661648750305, + -0.07147584110498428, + 0.17931102216243744, + -2.7400708198547363, + -0.04666759446263313, + 0.09884067624807358 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned metal pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2867337465286255, + -0.07002529501914978, + 0.17011041939258575, + -2.647366523742676, + -0.01357734389603138, + 0.12882199883460999 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned metal pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2909972369670868, + -0.06546580791473389, + 0.1627531349658966, + -2.5804738998413086, + 0.0020212442614138126, + 0.13862845301628113 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned metal pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 4 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29602569341659546, + -0.06344344466924667, + 0.15652820467948914, + -2.5550830364227295, + 0.006112094968557358, + 0.10713496059179306 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned metal pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.298672080039978, + -0.056908510625362396, + 0.14598000049591064, + -2.5609753131866455, + 0.01450542826205492, + 0.09773136675357819 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned metal pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3031589984893799, + -0.04608652740716934, + 0.13512170314788818, + -2.5740418434143066, + 0.02188781648874283, + 0.0944771021604538 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the overturned metal pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30783286690711975, + -0.0399000309407711, + 0.13055694103240967, + -2.5927927494049072, + 0.014175066724419594, + 0.07039806991815567 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot's end-effector is positioned near the rim of the overturned metal pot in the sink. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to complete the grasp by closing the gripper fingers securely around the pot's rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30925652384757996, + -0.026530388742685318, + 0.13106124103069305, + -2.6215600967407227, + -0.007329669315367937, + 0.05060500651597977 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot's end-effector is positioned near the rim of the overturned metal pot in the sink. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to complete the grasp by closing the gripper fingers securely around the pot's rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31080105900764465, + -0.016885189339518547, + 0.13422201573848724, + -2.649811267852783, + -0.02942700684070587, + 0.039878230541944504 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 456, + 168, + 719, + 503 + ], + "green plate": [ + 285, + 1, + 459, + 231 + ], + "purple striped bowl": [ + 287, + 195, + 378, + 315 + ], + "blue cup": [ + 688, + 527, + 816, + 707 + ], + "knife": [ + 211, + 74, + 338, + 351 + ], + "dish rack": [ + 70, + 45, + 529, + 385 + ] + } + } + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot's end-effector is positioned near the rim of the overturned metal pot in the sink. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to complete the grasp by closing the gripper fingers securely around the pot's rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, keep gripper closed; then move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3096546530723572, + -0.014554927125573158, + 0.1380324512720108, + -2.694751024246216, + -0.031842101365327835, + 0.042574092745780945 + ], + "gripper_value": 0.5014150738716125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot's end-effector is positioned near the rim of the overturned metal pot in the sink. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to complete the grasp by closing the gripper fingers securely around the pot's rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30660292506217957, + -0.019711671397089958, + 0.13803187012672424, + -2.7691636085510254, + -0.01326652243733406, + 0.04385017603635788 + ], + "gripper_value": 0.2673496901988983 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot's end-effector is positioned near the rim of the overturned metal pot in the sink. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to complete the grasp by closing the gripper fingers securely around the pot's rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046416640281677, + -0.01521063968539238, + 0.14895941317081451, + -2.8306870460510254, + -0.027273263782262802, + 0.07376480847597122 + ], + "gripper_value": 0.11367882788181305 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is holding the metal pot by its rim above the sink, having completed the approach and grasp phases. The pot is currently tilted and partially inverted, indicating the flipping motion is in progress. The next action is to continue rotating the wrist to fully orient the pot upright before releasing it into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017480969429016, + -0.010722585022449493, + 0.15586337447166443, + -2.9004859924316406, + -0.02912330999970436, + 0.08654036372900009 + ], + "gripper_value": 0.19260896742343903 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is holding the metal pot by its rim above the sink, having completed the approach and grasp phases. The pot is currently tilted and partially inverted, indicating the flipping motion is in progress. The next action is to continue rotating the wrist to fully orient the pot upright before releasing it into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020407259464264, + -0.012253251858055592, + 0.15552552044391632, + -2.922271251678467, + -0.02513136900961399, + 0.06917515397071838 + ], + "gripper_value": 0.43108752369880676 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the metal pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release pot and retreat" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The metal pot is now upright in the sink, indicating the flip action is complete. The gripper is open and not in contact with the pot, consistent with the release phase. The next action is to retreat the end-effector away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004238_ecot.json b/cot/chunk-0004/episode_0004238_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e143d80dac7a2b6b1925ed02b70760f44519a24e --- /dev/null +++ b/cot/chunk-0004/episode_0004238_ecot.json @@ -0,0 +1,2650 @@ +{ + "task_name": "episode_0004238", + "episode_json": "json/chunk-0004/episode_0004238.json", + "video_path": "videos/chunk-0004/image_0/episode_0004238.mp4", + "instruction": "Move the pot from left side to right side.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004238.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.9434770941734314, + "std": 0.4376028776168823, + "delta_total": 0.0019888877868652344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94348, std=0.43760, total_delta=0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 133, + 133, + 133, + 133, + 33, + 33 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 32 + ], + [ + 4, + 33, + 36 + ], + [ + 5, + 37, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from initial position toward the pot on the left side of the table.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 5, \"end\": 13, \"planning\": \"Close gripper around the pot handle and secure grasp as confirmed by gripper closure and contact.\"},\n {\"id\": 3, \"name\": \"transport pot to right\", \"start\": 14, \"end\": 32, \"planning\": \"Lift and carry the pot across the table to the target location on the right side.\"},\n {\"id\": 4, \"name\": \"release pot\", \"start\": 33, \"end\": 36, \"planning\": \"Open gripper to release the pot onto the table at the destination, confirmed by gripper opening motion.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 37, \"end\": 38, \"planning\": \"Move end-effector away from the released pot to complete the task.\"}\n ],\n \"global_plan\": \"Approach the pot on the left, grasp it securely, transport it to the right side of the table, release it, and retreat.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segment 1 (open), grasp in segment 2 (closing), transport in segment 3 (not shown but implied by continuity), release in segment 4 (opening), retreat in segment 5 (open and moving away). Frame coverage is complete and contiguous.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move the end-effector from initial position toward the pot on the left side of the table." + }, + { + "id": 2, + "name": "grasp pot", + "start": 5, + "end": 13, + "planning": "Close gripper around the pot handle and secure grasp as confirmed by gripper closure and contact." + }, + { + "id": 3, + "name": "transport pot to right", + "start": 14, + "end": 32, + "planning": "Lift and carry the pot across the table to the target location on the right side." + }, + { + "id": 4, + "name": "release pot", + "start": 33, + "end": 36, + "planning": "Open gripper to release the pot onto the table at the destination, confirmed by gripper opening motion." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 37, + "end": 38, + "planning": "Move end-effector away from the released pot to complete the task." + } + ], + "global_plan": "Approach the pot on the left, grasp it securely, transport it to the right side of the table, release it, and retreat.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segment 1 (open), grasp in segment 2 (closing), transport in segment 3 (not shown but implied by continuity), release in segment 4 (opening), retreat in segment 5 (open and moving away). Frame coverage is complete and contiguous." + } + }, + "episode_goal": "Move the pot from the left side of the table to the right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36207783222198486, + 0.08063232898712158, + 0.1190657764673233, + 2.940340995788574, + -0.20324084162712097, + 1.177634358406067 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3576202094554901, + 0.0809427797794342, + 0.10490885376930237, + 2.9789204597473145, + -0.18797925114631653, + 1.1667673587799072 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34201210737228394, + 0.08754562586545944, + 0.09834732115268707, + 3.033050060272217, + -0.23843427002429962, + 1.1142889261245728 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the metal pot on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32574036717414856, + 0.09673196822404861, + 0.09988736361265182, + 3.058570384979248, + -0.2725028097629547, + 1.0761362314224243 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the metal pot on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31420519948005676, + 0.10659414529800415, + 0.10433190315961838, + 3.1075844764709473, + -0.32915979623794556, + 1.0194131135940552 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the metal pot on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30823391675949097, + 0.115456722676754, + 0.10094032436609268, + -3.095371961593628, + -0.37380504608154297, + 0.9446313977241516 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the metal pot on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 7 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30190759897232056, + 0.11704529821872711, + 0.09089255332946777, + -3.049940347671509, + -0.3862159848213196, + 0.8726861476898193 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the metal pot on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 6 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29386934638023376, + 0.11869023740291595, + 0.07552722096443176, + -3.0104870796203613, + -0.3865814805030823, + 0.8322024345397949 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the metal pot on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28715381026268005, + 0.11744999885559082, + 0.05438702180981636, + -2.9859719276428223, + -0.34223881363868713, + 0.8073223829269409 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 93, + 322, + 305, + 562 + ], + "blue brush": [ + 365, + 325, + 504, + 444 + ], + "green cloth": [ + 234, + 417, + 503, + 696 + ], + "yellow sponge": [ + 537, + 349, + 599, + 467 + ], + "wooden table": [ + 5, + 235, + 858, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the metal pot on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28434982895851135, + 0.12542122602462769, + 0.04509192705154419, + -2.997133731842041, + -0.3240993916988373, + 0.8300747275352478 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28352680802345276, + 0.13008476793766022, + 0.03532813861966133, + -2.999460458755493, + -0.30896231532096863, + 0.8375844955444336 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2834342122077942, + 0.1402653008699417, + 0.031052419915795326, + -2.995028018951416, + -0.2991066575050354, + 0.8666813969612122 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 57, + 346, + 282, + 568 + ], + "blue brush": [ + 359, + 319, + 504, + 443 + ], + "green cloth": [ + 235, + 413, + 502, + 696 + ], + "yellow sponge": [ + 537, + 349, + 599, + 467 + ], + "wooden table": [ + 6, + 223, + 858, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2873205840587616, + 0.14330604672431946, + 0.027171608060598373, + -2.9904606342315674, + -0.2919294536113739, + 0.8604562878608704 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2882331311702728, + 0.14659437537193298, + 0.026298606768250465, + -2.991924285888672, + -0.3028569519519806, + 0.8584421873092651 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 9 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28920453786849976, + 0.14745959639549255, + 0.026446860283613205, + -2.996964693069458, + -0.3143061399459839, + 0.8686267137527466 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2884384095668793, + 0.15006780624389648, + 0.020307043567299843, + -2.9926092624664307, + -0.3092772960662842, + 0.878236711025238 + ], + "gripper_value": 0.146205335855484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 16 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28819695115089417, + 0.15152209997177124, + 0.02066081017255783, + -2.9879648685455322, + -0.31443557143211365, + 0.8782298564910889 + ], + "gripper_value": 0.07462053745985031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 19 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2877330482006073, + 0.1517897993326187, + 0.02048969827592373, + -2.986574172973633, + -0.31601303815841675, + 0.8818590641021729 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 21 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28737735748291016, + 0.15242600440979004, + 0.02115672267973423, + -2.9830009937286377, + -0.3187520205974579, + 0.8833461403846741 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 23 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28686511516571045, + 0.1541408896446228, + 0.03475748002529144, + -2.9888722896575928, + -0.34828415513038635, + 0.906111478805542 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 25 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2925316095352173, + 0.1458922028541565, + 0.06073214113712311, + -3.031536340713501, + -0.40176960825920105, + 0.9237717390060425 + ], + "gripper_value": 0.06803370267152786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 25 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30177202820777893, + 0.12032362818717957, + 0.08046942949295044, + -3.0757200717926025, + -0.43105703592300415, + 0.8986740112304688 + ], + "gripper_value": 0.06803370267152786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 22 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064977824687958, + 0.09170164167881012, + 0.0881289467215538, + -3.0885062217712402, + -0.4494538903236389, + 0.8370891213417053 + ], + "gripper_value": 0.06803370267152786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot has approached the pot on the left side of the table and is currently positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the pot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 20 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30801934003829956, + 0.052516743540763855, + 0.09260711073875427, + -3.1027207374572754, + -0.4776619076728821, + 0.7653294801712036 + ], + "gripper_value": 0.06803370267152786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 16 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061060607433319, + 0.016463657841086388, + 0.08922985941171646, + -3.0834028720855713, + -0.4833969473838806, + 0.6801900863647461 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move down 6 cm, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063172698020935, + -0.011271798051893711, + 0.08340881764888763, + -3.0639407634735107, + -0.48152104020118713, + 0.6140588521957397 + ], + "gripper_value": 0.06803370267152786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31425049901008606, + -0.03979703038930893, + 0.07400727272033691, + -3.0511858463287354, + -0.4821268618106842, + 0.5336114168167114 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 234, + 415, + 489, + 696 + ], + "wooden table": [ + 4, + 183, + 859, + 992 + ], + "metal bowl": [ + 331, + 302, + 579, + 607 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31092530488967896, + -0.05832761526107788, + 0.0664917603135109, + -3.0282113552093506, + -0.47595933079719543, + 0.47883740067481995 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30794304609298706, + -0.08210019022226334, + 0.055594366043806076, + -3.018697738647461, + -0.4549124538898468, + 0.40929940342903137 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30996379256248474, + -0.09572611004114151, + 0.044789448380470276, + -3.004121780395508, + -0.4393537640571594, + 0.35293838381767273 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114560842514038, + -0.10090789943933487, + 0.03523720055818558, + -2.980093002319336, + -0.4199292063713074, + 0.3169509470462799 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31349891424179077, + -0.10346121340990067, + 0.03199434652924538, + -2.9759719371795654, + -0.4062495231628418, + 0.3086336553096771 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31487199664115906, + -0.10697294026613235, + 0.03350532799959183, + -2.9939217567443848, + -0.3947504460811615, + 0.31479087471961975 + ], + "gripper_value": 0.2624140679836273 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "transport pot to right", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31638461351394653, + -0.10766734182834625, + 0.03358161076903343, + -3.004728078842163, + -0.4064079821109772, + 0.31392353773117065 + ], + "gripper_value": 0.5364033579826355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot is currently holding the pot and moving it across the table from left to right. The gripper remains closed, confirming secure transport. The next action is to continue moving toward the target position on the right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31402212381362915, + -0.10634808987379074, + 0.03209827095270157, + -2.9960455894470215, + -0.40030452609062195, + 0.3049282729625702 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The pot is currently positioned on the right side of the table, indicating the transport phase is complete. The gripper value is high (0.84), consistent with the segment evidence showing a significant opening trend, suggesting the robot is in the process of releasing or has just released the object. The next action is to fully open the gripper to ensure the pot is detached and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3125849962234497, + -0.10526016354560852, + 0.039054933935403824, + -3.003251791000366, + -0.4053094983100891, + 0.30483317375183105 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The pot is currently positioned on the right side of the table, indicating the transport phase is complete. The gripper value is high (0.84), consistent with the segment evidence showing a significant opening trend, suggesting the robot is in the process of releasing or has just released the object. The next action is to fully open the gripper to ensure the pot is detached and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.30830323696136475, + -0.11012991517782211, + 0.06764446943998337, + -3.0897672176361084, + -0.41194185614585876, + 0.32261577248573303 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The pot is currently positioned on the right side of the table, indicating the transport phase is complete. The gripper value is high (0.84), consistent with the segment evidence showing a significant opening trend, suggesting the robot is in the process of releasing or has just released the object. The next action is to fully open the gripper to ensure the pot is detached and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.309501051902771, + -0.09800244867801666, + 0.09709303081035614, + 3.0516998767852783, + -0.3900078237056732, + 0.4266930818557739 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 476, + 460, + 713, + 765 + ], + "green cloth": [ + 234, + 417, + 501, + 695 + ], + "yellow sponge": [ + 537, + 349, + 601, + 465 + ], + "wooden table": [ + 5, + 183, + 865, + 991 + ], + "blue brush": [ + 306, + 283, + 505, + 444 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully moved to the right side of the table and released. The robot arm is currently positioned above the pot with the gripper open, indicating the transport task is complete. The next action is to retreat the arm away from the pot to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 37, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.30444639921188354, + -0.09293618053197861, + 0.10250230133533478, + 3.0222725868225098, + -0.36361247301101685, + 0.4457120895385742 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot from the left side of the table to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot to right" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully moved to the right side of the table and released. The robot arm is currently positioned above the pot with the gripper open, indicating the transport task is complete. The next action is to retreat the arm away from the pot to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004239_ecot.json b/cot/chunk-0004/episode_0004239_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e20c22e28787904e39617bfc6a0113ecffa398 --- /dev/null +++ b/cot/chunk-0004/episode_0004239_ecot.json @@ -0,0 +1,940 @@ +{ + "task_name": "episode_0004239", + "episode_json": "json/chunk-0004/episode_0004239.json", + "video_path": "videos/chunk-0004/image_0/episode_0004239.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004239.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.6731021404266357, + "std": 0.31116384267807007, + "delta_total": -0.672440767288208, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67310, std=0.31116, total_delta=-0.67244). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 6 + ], + [ + 3, + 7, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot in sink\", \"start\": 0, \"end\": 1, \"planning\": \"Move the gripper down toward the carrot standing in the sink without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 2, \"end\": 6, \"planning\": \"Close the gripper around the carrot and secure it for lifting, as confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and move carrot to plate\", \"start\": 7, \"end\": 14, \"planning\": \"Lift the grasped carrot from the sink and transport it over to the green plate, maintaining grip until placement is complete.\"}\n ],\n \"global_plan\": \"Approach the carrot in the sink, grasp it firmly, then lift and move it to place on the green plate.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows clear gripper closing (delta=-0.38554) and image confirms grasp. Segment 3 maintains closed gripper while moving to target location; final frame shows carrot placed on plate.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot in sink", + "start": 0, + "end": 1, + "planning": "Move the gripper down toward the carrot standing in the sink without closing the gripper." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 2, + "end": 6, + "planning": "Close the gripper around the carrot and secure it for lifting, as confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and move carrot to plate", + "start": 7, + "end": 14, + "planning": "Lift the grasped carrot from the sink and transport it over to the green plate, maintaining grip until placement is complete." + } + ], + "global_plan": "Approach the carrot in the sink, grasp it firmly, then lift and move it to place on the green plate.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows clear gripper closing (delta=-0.38554) and image confirms grasp. Segment 3 maintains closed gripper while moving to target location; final frame shows carrot placed on plate." + } + }, + "episode_goal": "Pick up the carrot from the sink and place it on the green plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31781822443008423, + 0.13740003108978271, + 0.021888552233576775, + -3.117586851119995, + -0.22574841976165771, + 0.14021645486354828 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "approach carrot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the carrot visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move back 1 cm, close gripper; then move forward 3 cm, move left 4 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31442883610725403, + 0.1337277889251709, + 0.005719247739762068, + -3.136624813079834, + -0.21943709254264832, + 0.14647427201271057 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "approach carrot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the carrot visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, close gripper; then move forward 4 cm, move left 4 cm, move up 11 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3141937553882599, + 0.13480250537395477, + -0.009736573323607445, + 3.1320934295654297, + -0.26134631037712097, + 0.15743720531463623 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink with the carrot visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, close gripper; then move forward 6 cm, move left 6 cm, move up 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31357070803642273, + 0.13765928149223328, + -0.024279450997710228, + 3.1044225692749023, + -0.28049010038375854, + 0.18045268952846527 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stovetop burner": [ + 4, + 211, + 188, + 402 + ], + "colander": [ + 523, + 540, + 830, + 838 + ], + "sink": [ + 79, + 286, + 637, + 741 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the sink with the carrot visible below. The gripper is open and no grasping has occurred yet. The next action should be to lower the arm toward the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt forward 10 degrees, close gripper; then move forward 6 cm, move left 8 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30969834327697754, + 0.13817819952964783, + -0.03487212955951691, + 3.066462278366089, + -0.2632385790348053, + 0.21283657848834991 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot in the sink and is now positioned directly above it. The gripper is open and ready to close around the carrot. The next action is to close the gripper to grasp the carrot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30852240324020386, + 0.13719868659973145, + -0.03647752106189728, + 3.056234836578369, + -0.24893474578857422, + 0.21802754700183868 + ], + "gripper_value": 0.8517581820487976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot in the sink and is now positioned directly above it. The gripper is open and ready to close around the carrot. The next action is to close the gripper to grasp the carrot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move forward 7 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042598068714142, + 0.1364460587501526, + -0.03701940178871155, + 3.061952829360962, + -0.20993201434612274, + 0.2273862361907959 + ], + "gripper_value": 0.6159340739250183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot has approached the carrot in the sink and is now positioned directly above it. The gripper is open and ready to close around the carrot. The next action is to close the gripper to grasp the carrot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move forward 7 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046565651893616, + 0.13371963798999786, + -0.010927068069577217, + -3.137092351913452, + -0.18259285390377045, + 0.20334653556346893 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "lift and move carrot to plate", + "subtask_reasoning": "The robot has approached the carrot in the sink and is now positioned directly above it. The gripper is open and ready to close around the carrot. The next action is to close the gripper to grasp the carrot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3087584376335144, + 0.14328888058662415, + 0.02145211026072502, + -3.060912609100342, + -0.15473641455173492, + 0.1672249585390091 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stovetop burner": [ + 3, + 211, + 201, + 409 + ], + "colander": [ + 521, + 540, + 831, + 838 + ], + "sink": [ + 78, + 287, + 638, + 742 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "lift and move carrot to plate", + "subtask_reasoning": "The robot has approached the carrot in the sink and is now positioned directly above it. The gripper is open and ready to close around the carrot. The next action is to close the gripper to grasp the carrot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31916746497154236, + 0.15939688682556152, + 0.05903896316885948, + -2.9889585971832275, + -0.12179633975028992, + 0.13719406723976135 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "lift and move carrot to plate", + "subtask_reasoning": "The robot has approached the carrot in the sink and is now positioned directly above it. The gripper is open and ready to close around the carrot. The next action is to close the gripper to grasp the carrot securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33112257719039917, + 0.16913458704948425, + 0.08086765557527542, + -2.918611764907837, + -0.12960445880889893, + 0.08789119869470596 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "lift and move carrot to plate", + "subtask_reasoning": "The robot has successfully grasped the carrot from the sink and is now lifting it. The gripper remains closed with minimal variation, indicating a firm hold. The next action is to move the carrot toward the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450353741645813, + 0.17797507345676422, + 0.0942089781165123, + -2.872645616531372, + -0.18034470081329346, + 0.018667146563529968 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "lift and move carrot to plate", + "subtask_reasoning": "The robot has successfully grasped the carrot from the sink and is now lifting it. The gripper remains closed with minimal variation, indicating a firm hold. The next action is to move the carrot toward the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619782328605652, + 0.19603100419044495, + 0.08772028237581253, + -2.893887758255005, + -0.2209920883178711, + -0.034528832882642746 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "lift and move carrot to plate", + "subtask_reasoning": "The robot has successfully grasped the carrot from the sink and is now lifting it. The gripper remains closed with minimal variation, indicating a firm hold. The next action is to move the carrot toward the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.368351012468338, + 0.21249304711818695, + 0.06257988512516022, + -2.94755220413208, + -0.24675105512142181, + -0.04620761796832085 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "lift and move carrot to plate", + "subtask_reasoning": "The robot has successfully grasped the carrot from the sink and is now lifting it. The gripper remains closed with minimal variation, indicating a firm hold. The next action is to move the carrot toward the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3737826943397522, + 0.21094851195812225, + 0.051528602838516235, + -2.972256898880005, + -0.271781325340271, + -0.06562580913305283 + ], + "gripper_value": 0.32837530970573425 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the sink and place it on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in sink" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and move carrot to plate" + } + ], + "subtask_name": "lift and move carrot to plate", + "subtask_reasoning": "The robot has successfully grasped the carrot from the sink and is now lifting it. The gripper remains closed with minimal variation, indicating a firm hold. The next action is to move the carrot toward the green plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004240_ecot.json b/cot/chunk-0004/episode_0004240_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1c6fd43ff2132a405520e39e5f6a66c9f04cbda2 --- /dev/null +++ b/cot/chunk-0004/episode_0004240_ecot.json @@ -0,0 +1,1616 @@ +{ + "task_name": "episode_0004240", + "episode_json": "json/chunk-0004/episode_0004240.json", + "video_path": "videos/chunk-0004/image_0/episode_0004240.mp4", + "instruction": "Move something on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004240.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.3687439560890198, + "std": 0.17323105037212372, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36874, std=0.17323, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and contact pot\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the pot on the left burner and make initial contact without grasping.\"},\n {\"id\": 2, \"name\": \"reposition pot via sliding\", \"start\": 3, \"end\": 14, \"planning\": \"Apply controlled force to slide the pot slightly forward on the stovetop while maintaining contact.\"},\n {\"id\": 3, \"name\": \"release and retreat from pot\", \"start\": 15, \"end\": 26, \"planning\": \"Gradually reduce contact force and withdraw end-effector away from the pot to complete repositioning.\"}\n ],\n \"global_plan\": \"Reposition the pot on the stovetop by approaching, sliding it forward with contact, then releasing and retreating — no grasping or lifting observed.\",\n \"notes\": \"Gripper remains open throughout Segment 1; Segment 2 shows gripper closure but images confirm only contact-based manipulation (sliding), not grasping. Final frame shows gripper fully open again, confirming release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and contact pot", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the pot on the left burner and make initial contact without grasping." + }, + { + "id": 2, + "name": "reposition pot via sliding", + "start": 3, + "end": 14, + "planning": "Apply controlled force to slide the pot slightly forward on the stovetop while maintaining contact." + }, + { + "id": 3, + "name": "release and retreat from pot", + "start": 15, + "end": 26, + "planning": "Gradually reduce contact force and withdraw end-effector away from the pot to complete repositioning." + } + ], + "global_plan": "Reposition the pot on the stovetop by approaching, sliding it forward with contact, then releasing and retreating — no grasping or lifting observed.", + "notes": "Gripper remains open throughout Segment 1; Segment 2 shows gripper closure but images confirm only contact-based manipulation (sliding), not grasping. Final frame shows gripper fully open again, confirming release." + } + }, + "episode_goal": "Move the white timer from the right burner to the green cloth on the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3631124496459961, + 0.0666019394993782, + 0.04544220492243767, + -3.08632755279541, + -0.005662715062499046, + -0.14914193749427795 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach and contact pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot on the left burner. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to establish contact with the pot for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36037108302116394, + 0.06494070589542389, + 0.03616313636302948, + -3.09816837310791, + 0.01809096522629261, + -0.15168246626853943 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach and contact pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot on the left burner. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to establish contact with the pot for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35285666584968567, + 0.045477014034986496, + 0.05026116967201233, + -3.1123571395874023, + -0.037111375480890274, + -0.20770981907844543 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach and contact pot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot on the left burner. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to establish contact with the pot for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33759605884552, + 0.01124983374029398, + 0.08776283264160156, + -3.0786616802215576, + -0.14698968827724457, + -0.3213714063167572 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green towel": [ + 438, + 271, + 701, + 498 + ], + "blue spoon rest": [ + 333, + 501, + 419, + 628 + ], + "small bowl": [ + 476, + 561, + 588, + 695 + ] + } + } + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot on the left burner. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to establish contact with the pot for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31109562516212463, + -0.0172650795429945, + 0.09102895855903625, + -3.072944164276123, + -0.16454948484897614, + -0.40860533714294434 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot on the left burner. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to establish contact with the pot for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896164059638977, + -0.031460609287023544, + 0.08077342063188553, + -3.0683510303497314, + -0.12918491661548615, + -0.4591256082057953 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot on the left burner. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to establish contact with the pot for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771863341331482, + -0.029652763158082962, + 0.06773895025253296, + -3.0669913291931152, + -0.07886239886283875, + -0.4669331908226013 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot on the left burner. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to establish contact with the pot for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, close gripper; then move forward 3 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2757575511932373, + -0.02759464830160141, + 0.051727667450904846, + -3.0729784965515137, + -0.028997324407100677, + -0.44662219285964966 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the pot on the left burner. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to establish contact with the pot for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 3 cm, close gripper; then move forward 6 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2769026756286621, + -0.03176167234778404, + 0.03567204624414444, + -3.0824294090270996, + 0.023585008457303047, + -0.4582572877407074 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2752995193004608, + -0.03635997325181961, + 0.022902218624949455, + -3.0877251625061035, + 0.07419613748788834, + -0.47811031341552734 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27790367603302, + -0.038368579000234604, + 0.024148404598236084, + -3.084103584289551, + 0.06705200672149658, + -0.481943279504776 + ], + "gripper_value": 0.7141282558441162 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2777867019176483, + -0.040405046194791794, + 0.023748064413666725, + -3.0808732509613037, + 0.06807044893503189, + -0.49405568838119507 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2776249945163727, + -0.04048895090818405, + 0.02502061426639557, + -3.0841588973999023, + 0.06614046543836594, + -0.4986748695373535 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799452543258667, + -0.04192892089486122, + 0.03731522336602211, + -3.084324598312378, + 0.028359320014715195, + -0.49912530183792114 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2891886234283447, + -0.037723176181316376, + 0.05704573541879654, + -3.0786631107330322, + -0.03340958058834076, + -0.4766925275325775 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spoon rest": [ + 334, + 504, + 417, + 628 + ], + "green towel": [ + 437, + 263, + 710, + 447 + ], + "sink": [ + 785, + 470, + 994, + 964 + ], + "small bowl": [ + 382, + 430, + 464, + 520 + ] + } + } + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "reposition pot via sliding", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper closed; then move forward 8 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30683696269989014, + -0.0332518070936203, + 0.07687489688396454, + -3.0776915550231934, + -0.09851524233818054, + -0.45148158073425293 + ], + "gripper_value": 0.6360166668891907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380463719367981, + -0.02714402787387371, + 0.08249412477016449, + -3.051339626312256, + -0.11619739234447479, + -0.42852622270584106 + ], + "gripper_value": 0.6360166668891907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36370038986206055, + -0.01566399075090885, + 0.07170794904232025, + -3.0310606956481934, + -0.0855591744184494, + -0.3739148676395416 + ], + "gripper_value": 0.6360166668891907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38478878140449524, + -0.006454998627305031, + 0.0591847188770771, + -3.0318901538848877, + -0.06937966495752335, + -0.33554044365882874 + ], + "gripper_value": 0.6360166668891907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39625996351242065, + -0.0027446397580206394, + 0.05360516905784607, + -3.010164737701416, + -0.05663856118917465, + -0.3447025716304779 + ], + "gripper_value": 0.6360166668891907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The robot is in contact with the pot on the stovetop, having completed the approach phase. The gripper is open and positioned to push the pot forward without grasping. The next action is to slide the pot forward across the stovetop surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3971867561340332, + -0.0006537713343277574, + 0.05339890718460083, + -3.0052099227905273, + -0.04909559711813927, + -0.35415494441986084 + ], + "gripper_value": 0.6360166668891907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned on the stovetop via sliding, and the gripper is now open and retreating from the pot. The current frame shows the gripper lifted and clear of the pot, indicating release is complete. The next action is to continue retreating to a safe distance from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3982630670070648, + 0.0038841706700623035, + 0.047587450593709946, + -3.0045652389526367, + -0.031260475516319275, + -0.3465844988822937 + ], + "gripper_value": 0.7081608176231384 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned on the stovetop via sliding, and the gripper is now open and retreating from the pot. The current frame shows the gripper lifted and clear of the pot, indicating release is complete. The next action is to continue retreating to a safe distance from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.39903882145881653, + 0.005563448183238506, + 0.04750581085681915, + -3.0150680541992188, + -0.0250238049775362, + -0.3461678624153137 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned on the stovetop via sliding, and the gripper is now open and retreating from the pot. The current frame shows the gripper lifted and clear of the pot, indicating release is complete. The next action is to continue retreating to a safe distance from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39721715450286865, + 0.007546522654592991, + 0.04681004583835602, + -3.018284797668457, + -0.013074160553514957, + -0.3417854905128479 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned on the stovetop via sliding, and the gripper is now open and retreating from the pot. The current frame shows the gripper lifted and clear of the pot, indicating release is complete. The next action is to continue retreating to a safe distance from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3909980058670044, + 0.007378709968179464, + 0.0444442480802536, + -3.0319530963897705, + -0.002802202943712473, + -0.3359318673610687 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned on the stovetop via sliding, and the gripper is now open and retreating from the pot. The current frame shows the gripper lifted and clear of the pot, indicating release is complete. The next action is to continue retreating to a safe distance from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38583940267562866, + 0.009545395150780678, + 0.07341928780078888, + -3.0597572326660156, + -0.08442916721105576, + -0.3019605875015259 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green towel": [ + 439, + 266, + 701, + 498 + ], + "blue spoon rest": [ + 334, + 504, + 418, + 628 + ], + "sink": [ + 783, + 468, + 995, + 965 + ], + "stovetop": [ + 149, + 263, + 776, + 759 + ] + } + } + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned on the stovetop via sliding, and the gripper is now open and retreating from the pot. The current frame shows the gripper lifted and clear of the pot, indicating release is complete. The next action is to continue retreating to a safe distance from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37801802158355713, + 0.005284941755235195, + 0.07237035036087036, + -3.1121580600738525, + -0.08082137256860733, + -0.29001402854919434 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white timer from the right burner to the green cloth on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact pot" + }, + { + "id": 2, + "subtask": "reposition pot via sliding" + }, + { + "id": 3, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The pot has been successfully repositioned on the stovetop via sliding, and the gripper is now open and retreating from the pot. The current frame shows the gripper lifted and clear of the pot, indicating release is complete. The next action is to continue retreating to a safe distance from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004242_ecot.json b/cot/chunk-0004/episode_0004242_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1345c3fcb6059e5296f6084744dddbfb0fb2fdc7 --- /dev/null +++ b/cot/chunk-0004/episode_0004242_ecot.json @@ -0,0 +1,6628 @@ +{ + "task_name": "episode_0004242", + "episode_json": "json/chunk-0004/episode_0004242.json", + "video_path": "videos/chunk-0004/image_0/episode_0004242.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 95, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004242.json" + }, + "fps": 5.0, + "T_eff": 95, + "gripper_behavior_summary": { + "available": true, + "range": 0.6218396425247192, + "std": 0.18194209039211273, + "delta_total": -0.6218396425247192, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62184, std=0.18194, total_delta=-0.62184). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 410, + 410, + 410, + 410, + 410, + 410, + 410, + 410, + 410, + 410, + 410, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510, + 510 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 43 + ], + [ + 3, + 44, + 50 + ], + [ + 4, + 51, + 68 + ], + [ + 5, + 69, + 79 + ], + [ + 6, + 80, + 94 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach and close gripper\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the scattered objects while closing the gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"Sweep leftward to gather objects\", \"start\": 10, \"end\": 43, \"planning\": \"Drag the gripper across the tray surface from right to left, pushing loose objects into a growing pile on the left side.\"},\n {\"id\": 3, \"name\": \"Reposition for second sweep\", \"start\": 44, \"end\": 50, \"planning\": \"Lift and reposition the end-effector to the right side of the tray to begin another sweeping pass.\"},\n {\"id\": 4, \"name\": \"Sweep right-to-left again\", \"start\": 51, \"end\": 68, \"planning\": \"Execute a second sweeping motion from right to left to consolidate remaining scattered objects into the main pile.\"},\n {\"id\": 5, \"name\": \"Final repositioning\", \"start\": 69, \"end\": 79, \"planning\": \"Adjust end-effector position above the tray to align for final cleanup or retreat.\"},\n {\"id\": 6, \"name\": \"Final sweep and settle\", \"start\": 80, \"end\": 94, \"planning\": \"Perform a short final sweep near the pile edge to nudge stray objects inward, then hold position to complete the task.\"}\n ],\n \"global_plan\": \"The robot performs multiple sweeping passes using its closed gripper as a pusher blade, consolidating scattered small objects into a single pile on the left side of the tray through sequential right-to-left motions with repositioning in between.\",\n \"notes\": \"Gripper closes significantly only in Segment 1 (frames 0-9); all subsequent segments show no meaningful gripper closure, so actions are described as contact-based pushing/sweeping, not grasping. Frame ranges follow provided segment spans exactly to ensure full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach and close gripper", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the scattered objects while closing the gripper to prepare for contact." + }, + { + "id": 2, + "name": "Sweep leftward to gather objects", + "start": 10, + "end": 43, + "planning": "Drag the gripper across the tray surface from right to left, pushing loose objects into a growing pile on the left side." + }, + { + "id": 3, + "name": "Reposition for second sweep", + "start": 44, + "end": 50, + "planning": "Lift and reposition the end-effector to the right side of the tray to begin another sweeping pass." + }, + { + "id": 4, + "name": "Sweep right-to-left again", + "start": 51, + "end": 68, + "planning": "Execute a second sweeping motion from right to left to consolidate remaining scattered objects into the main pile." + }, + { + "id": 5, + "name": "Final repositioning", + "start": 69, + "end": 79, + "planning": "Adjust end-effector position above the tray to align for final cleanup or retreat." + }, + { + "id": 6, + "name": "Final sweep and settle", + "start": 80, + "end": 94, + "planning": "Perform a short final sweep near the pile edge to nudge stray objects inward, then hold position to complete the task." + } + ], + "global_plan": "The robot performs multiple sweeping passes using its closed gripper as a pusher blade, consolidating scattered small objects into a single pile on the left side of the tray through sequential right-to-left motions with repositioning in between.", + "notes": "Gripper closes significantly only in Segment 1 (frames 0-9); all subsequent segments show no meaningful gripper closure, so actions are described as contact-based pushing/sweeping, not grasping. Frame ranges follow provided segment spans exactly to ensure full coverage and contiguity." + } + }, + "episode_goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619280457496643, + -0.12102441489696503, + 0.11247380822896957, + 3.0934059619903564, + -0.18884076178073883, + -0.0776863694190979 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36029189825057983, + -0.1207035630941391, + 0.09985624253749847, + 3.0980308055877686, + -0.1583247184753418, + -0.06894686073064804 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 8 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3581082224845886, + -0.12801522016525269, + 0.08598940819501877, + 3.0716025829315186, + -0.18747353553771973, + -0.04831651225686073 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35764551162719727, + -0.13356535136699677, + 0.07762812823057175, + 3.083228826522827, + -0.1811414659023285, + -0.04378532990813255 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 6 cm, close gripper; then move back 1 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3649308383464813, + -0.13624711334705353, + 0.056466829031705856, + 3.1101205348968506, + -0.1405854970216751, + -0.01082690805196762 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 21, + 127, + 161, + 245 + ], + "blue tape": [ + 911, + 732, + 997, + 945 + ], + "white tray": [ + 64, + 324, + 987, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 11 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37179312109947205, + -0.14167192578315735, + 0.048685502260923386, + 3.09684157371521, + -0.12090349197387695, + 0.01039758138358593 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move left 14 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37554338574409485, + -0.14398513734340668, + 0.04131970927119255, + 3.111820697784424, + -0.10721101611852646, + 0.017096281051635742 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 3 cm, move left 18 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3743194341659546, + -0.1510494202375412, + 0.04148449748754501, + 3.1069724559783936, + -0.11518217623233795, + 0.001315023167990148 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 5 cm, move left 22 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3734172284603119, + -0.1524638831615448, + 0.0417841374874115, + 3.1111984252929688, + -0.1138995811343193, + 0.010347864590585232 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 6 cm, move left 25 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37394431233406067, + -0.15390214323997498, + 0.03165074437856674, + 3.1278605461120605, + -0.11335580050945282, + 0.012640336528420448 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the white tray with scattered black objects, gripper currently open. No sweeping has occurred yet. The next action is to lower and close the gripper to prepare for pushing objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 7 cm, move left 28 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3727162480354309, + -0.14824296534061432, + 0.022376995533704758, + -3.1256167888641357, + -0.09159662574529648, + 0.013631034642457962 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 30 cm, tilt left 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3717665672302246, + -0.1441318839788437, + 0.01891358010470867, + -3.1050994396209717, + -0.0905836969614029, + 0.005578360985964537 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 28 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36953744292259216, + -0.13350917398929596, + 0.016609562560915947, + -3.1013875007629395, + -0.08382546156644821, + 0.005898940842598677 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 23 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3673233091831207, + -0.08297210186719894, + 0.01902765966951847, + -3.0856361389160156, + -0.054866183549165726, + 0.05520666763186455 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36104846000671387, + -0.039824776351451874, + 0.01890414021909237, + -3.0682036876678467, + -0.0312490314245224, + 0.09625536948442459 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 21, + 128, + 160, + 243 + ], + "blue tape": [ + 911, + 732, + 997, + 945 + ], + "white tray": [ + 65, + 324, + 989, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34989795088768005, + -0.006529086269438267, + 0.019372863695025444, + -3.045886278152466, + -0.020496128126978874, + 0.09734664112329483 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34037813544273376, + 0.02791549824178219, + 0.018515169620513916, + -3.0068247318267822, + -0.038992106914520264, + 0.08055774867534637 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3263656198978424, + 0.06733670830726624, + 0.019473234191536903, + -2.966874361038208, + -0.05032673478126526, + 0.04576181620359421 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 15 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31454160809516907, + 0.09776583313941956, + 0.018142394721508026, + -2.918942928314209, + -0.06587368249893188, + 0.015494152903556824 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 19 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30491241812705994, + 0.13298822939395905, + 0.01812296360731125, + -2.8556783199310303, + -0.0848986953496933, + 0.006578831467777491 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 21 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967061996459961, + 0.1507841795682907, + 0.01899106428027153, + -2.8312571048736572, + -0.10032115876674652, + 0.004374946001917124 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 21 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2873614430427551, + 0.1370238959789276, + 0.024166304618120193, + -2.903858184814453, + -0.11465930938720703, + 0.0114979837089777 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 17 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31129953265190125, + 0.09343507140874863, + 0.04279701039195061, + -3.0281834602355957, + -0.14984041452407837, + 0.03775084763765335 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324604034423828, + 0.04033404961228371, + 0.06136152520775795, + -3.0591442584991455, + -0.17832127213478088, + 0.004032437689602375 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 27, + 126, + 159, + 225 + ], + "white tray": [ + 46, + 365, + 983, + 992 + ], + "blue tape": [ + 923, + 733, + 996, + 927 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34198954701423645, + -0.006971195340156555, + 0.0632646307349205, + -3.0598626136779785, + -0.17804677784442902, + -0.04034540802240372 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.348451167345047, + -0.053425680845975876, + 0.04693615809082985, + -3.0381546020507812, + -0.13284435868263245, + -0.08212219178676605 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648235499858856, + -0.081493079662323, + 0.038187187165021896, + -3.032466173171997, + -0.12961573898792267, + -0.07135196030139923 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816514015197754, + -0.08685962855815887, + 0.026662370190024376, + -3.0261733531951904, + -0.10135436803102493, + -0.02564944699406624 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.391304612159729, + -0.08994166553020477, + 0.02281995676457882, + -3.017035484313965, + -0.10070382058620453, + -0.012580923736095428 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.39622992277145386, + -0.07680095732212067, + 0.023119580000638962, + -3.011697292327881, + -0.11223935335874557, + -0.0023841364309191704 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 17 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39757949113845825, + -0.060968220233917236, + 0.021037261933088303, + -3.008819103240967, + -0.1047411561012268, + -0.004103578627109528 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 18 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39946991205215454, + -0.028370307758450508, + 0.021778615191578865, + -3.0047543048858643, + -0.08062878996133804, + 0.012264122255146503 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 17 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4013028144836426, + -0.000602149753831327, + 0.02178684063255787, + -3.0211336612701416, + -0.05099479481577873, + 0.04012961685657501 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 21, + 127, + 160, + 244 + ], + "blue tape": [ + 927, + 725, + 996, + 912 + ], + "white tray": [ + 51, + 342, + 982, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 15 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.400374174118042, + 0.014385383576154709, + 0.02156805247068405, + -3.0292136669158936, + -0.04134930297732353, + 0.03785156458616257 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move up 1 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.39561960101127625, + 0.03281133249402046, + 0.02023690938949585, + -3.0314993858337402, + -0.04530515521764755, + 0.06684280931949615 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3880557119846344, + 0.051480576395988464, + 0.019147958606481552, + -3.034106492996216, + -0.06073174625635147, + 0.12922771275043488 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 6 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3856491148471832, + 0.05906789377331734, + 0.018118934705853462, + -3.0379269123077393, + -0.06325560808181763, + 0.21639655530452728 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.382797509431839, + 0.07514502853155136, + 0.020198814570903778, + -3.052673101425171, + -0.06226180121302605, + 0.35613101720809937 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.38065722584724426, + 0.08885524421930313, + 0.019527921453118324, + -3.0570881366729736, + -0.04155775159597397, + 0.47399866580963135 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 18 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.376478910446167, + 0.09750799834728241, + 0.01962997019290924, + -3.053948163986206, + -0.025315245613455772, + 0.521776556968689 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 18 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3630943298339844, + 0.12014534324407578, + 0.018063871189951897, + -3.041785955429077, + -0.019205337390303612, + 0.558789849281311 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 19 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3489815592765808, + 0.144862100481987, + 0.0188883226364851, + -3.0128161907196045, + -0.03848906606435776, + 0.5275839567184448 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 19 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.34657013416290283, + 0.14518439769744873, + 0.020916102454066277, + -3.0169501304626465, + -0.0743250846862793, + 0.4739089608192444 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the white tray, positioned to the right of the scattered black objects. The robot has completed the approach and closing phase, and is now initiating a leftward sweeping motion to gather the objects into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 4 cm, move right 19 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.34956100583076477, + 0.12685081362724304, + 0.03255924582481384, + -3.1113057136535645, + -0.06535505503416061, + 0.4750734269618988 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep leftward to gather objects", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 4 cm, keep gripper closed; then move back 4 cm, move right 19 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646429479122162, + 0.08252006024122238, + 0.06999917328357697, + 3.0956223011016846, + -0.14757925271987915, + 0.41751018166542053 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 19 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 44, + "end": 50 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.369001567363739, + 0.02482137829065323, + 0.07759147882461548, + 3.0656189918518066, + -0.1313260942697525, + 0.342040479183197 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 21, + 128, + 159, + 245 + ], + "blue tape": [ + 922, + 732, + 997, + 924 + ], + "white tray": [ + 43, + 346, + 980, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 13 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 44, + "end": 50 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3647059500217438, + -0.015245757065713406, + 0.07663985341787338, + 3.084233522415161, + -0.09984829276800156, + 0.3272101879119873 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move down 4 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 44, + "end": 50 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.36070361733436584, + -0.07038191705942154, + 0.08013184368610382, + 3.0928025245666504, + -0.09397615492343903, + 0.29921427369117737 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 20, + 128, + 161, + 245 + ], + "blue tape": [ + 922, + 732, + 996, + 924 + ], + "white tray": [ + 43, + 344, + 980, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 5 cm, keep gripper closed; then move back 3 cm, move left 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 44, + "end": 50 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3551967144012451, + -0.09311068803071976, + 0.07295224815607071, + 3.0877583026885986, + -0.07668270170688629, + 0.3155445158481598 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 4 cm, keep gripper closed; then move back 3 cm, move left 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 44, + "end": 50 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3444123864173889, + -0.09875677525997162, + 0.05802525579929352, + 3.1125199794769287, + -0.08041491359472275, + 0.30323344469070435 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 3 cm, keep gripper closed; then move back 3 cm, move left 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 44, + "end": 50 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.33352482318878174, + -0.10868170112371445, + 0.04549013078212738, + 3.1370463371276855, + -0.09461618214845657, + 0.2638404369354248 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Reposition for second sweep", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 11 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 44, + "end": 50 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.3228161931037903, + -0.10948247462511063, + 0.032623540610075, + -3.1306793689727783, + -0.0933951884508133, + 0.25080904364585876 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 13 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.31099167466163635, + -0.11121733486652374, + 0.02254231832921505, + -3.115953207015991, + -0.07683321088552475, + 0.22049134969711304 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3000181317329407, + -0.10697844624519348, + 0.0199274942278862, + -3.1046316623687744, + -0.06055353209376335, + 0.1977919340133667 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 18 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.2932031452655792, + -0.10323495417833328, + 0.021503077819943428, + -3.106062412261963, + -0.07641324400901794, + 0.1737496554851532 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.28960439562797546, + -0.09209764003753662, + 0.019321421161293983, + -3.0922396183013916, + -0.0764894038438797, + 0.15704874694347382 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.29056254029273987, + -0.07564408332109451, + 0.01923803985118866, + -3.0871102809906006, + -0.09302593767642975, + 0.15697121620178223 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.2899966835975647, + -0.06312127411365509, + 0.01789749413728714, + -3.083038806915283, + -0.11893682181835175, + 0.1458778828382492 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.2894369661808014, + -0.03858832269906998, + 0.017832014709711075, + -3.0697696208953857, + -0.11758790165185928, + 0.1435999870300293 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The gripper is closed and in contact with the black objects on the left side of the tray, having completed a leftward sweep. The objects are now gathered into a pile near the gripper. The next action is to lift or retract the gripper to prepare for the next sweep or finalize the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.2878286838531494, + -0.01799730956554413, + 0.01826014555990696, + -3.052802801132202, + -0.10394953191280365, + 0.1366298347711563 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.28787165880203247, + -0.0009128051460720599, + 0.018691500648856163, + -3.040618658065796, + -0.10154461115598679, + 0.13915909826755524 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.28281331062316895, + 0.025508739054203033, + 0.02030075713992119, + -3.0291123390197754, + -0.09309826046228409, + 0.14188626408576965 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 35, + 348, + 984, + 992 + ], + "blue tape": [ + 915, + 752, + 997, + 971 + ], + "metal bowl": [ + 27, + 126, + 156, + 245 + ], + "black beans": [ + 123, + 453, + 351, + 720 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793537378311157, + 0.051071614027023315, + 0.019754962995648384, + -3.0134758949279785, + -0.11899339407682419, + 0.13887199759483337 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783414423465729, + 0.07451806217432022, + 0.019789576530456543, + -2.9904911518096924, + -0.14308969676494598, + 0.1337968409061432 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.27666065096855164, + 0.0986618846654892, + 0.020972173660993576, + -2.9590213298797607, + -0.1638326197862625, + 0.14343294501304626 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816315293312073, + 0.12782391905784607, + 0.022551408037543297, + -2.9010562896728516, + -0.19238066673278809, + 0.1475185602903366 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.27624693512916565, + 0.14132893085479736, + 0.02372908778488636, + -2.901900291442871, + -0.17684349417686462, + 0.17063578963279724 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.27790728211402893, + 0.1205354630947113, + 0.03374550864100456, + -2.9919826984405518, + -0.16490019857883453, + 0.19092682003974915 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 6 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.31112709641456604, + 0.08558551222085953, + 0.060778215527534485, + -3.0895533561706543, + -0.20629064738750458, + 0.2337224930524826 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Sweep right-to-left again", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 7 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 68 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.34516894817352295, + 0.06414206326007843, + 0.07902738451957703, + -3.123713731765747, + -0.23429648578166962, + 0.3014167547225952 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 915, + 748, + 997, + 968 + ], + "metal bowl": [ + 22, + 128, + 158, + 246 + ], + "white tray": [ + 37, + 374, + 982, + 990 + ], + "black beans": [ + 107, + 465, + 319, + 725 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3702012300491333, + 0.062399521470069885, + 0.06424300372600555, + -3.1004576683044434, + -0.21936866641044617, + 0.36204320192337036 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.3928970694541931, + 0.07198131084442139, + 0.0490555539727211, + -3.0653913021087646, + -0.20692305266857147, + 0.39992159605026245 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.4003954231739044, + 0.08832026273012161, + 0.04018625244498253, + -3.0472052097320557, + -0.18794099986553192, + 0.43528228998184204 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.3997693359851837, + 0.09759975969791412, + 0.03931387886404991, + -3.0424320697784424, + -0.18655531108379364, + 0.4474685788154602 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The robot is mid-sweep, pushing scattered black objects leftward across the white tray using its closed gripper as a blade. Previous sweeps have consolidated some objects on the left; this pass targets remaining stragglers. Next, continue the right-to-left motion to gather more objects into the growing pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.39859044551849365, + 0.10186544060707092, + 0.0386836901307106, + -3.0391807556152344, + -0.18352767825126648, + 0.4426068067550659 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.39573219418525696, + 0.11114479601383209, + 0.03943992406129837, + -3.0449161529541016, + -0.17703579366207123, + 0.47223594784736633 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.3936728239059448, + 0.11975916475057602, + 0.04036090895533562, + -3.0486485958099365, + -0.17840886116027832, + 0.49193716049194336 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.38325923681259155, + 0.12730631232261658, + 0.03436458855867386, + -3.063281774520874, + -0.14575423300266266, + 0.511100709438324 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.37268874049186707, + 0.13264256715774536, + 0.05196722596883774, + -3.086623191833496, + -0.1703403890132904, + 0.5077568292617798 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646276593208313, + 0.11962497979402542, + 0.05816153064370155, + -3.1339783668518066, + -0.1681920737028122, + 0.43028736114501953 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final repositioning", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 69, + "end": 79 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.36504438519477844, + 0.10297608375549316, + 0.06028271093964577, + -3.138439655303955, + -0.19549892842769623, + 0.3323371410369873 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692764937877655, + 0.09311608225107193, + 0.05863623321056366, + -3.119955539703369, + -0.20383138954639435, + 0.2739620506763458 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 914, + 743, + 997, + 960 + ], + "white tray": [ + 49, + 361, + 986, + 990 + ], + "black beans": [ + 117, + 454, + 334, + 709 + ], + "metal bowl": [ + 20, + 127, + 160, + 245 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.3715874254703522, + 0.09109587222337723, + 0.04560856148600578, + -3.1126391887664795, + -0.1651696413755417, + 0.24737636744976044 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.3810115158557892, + 0.09234211593866348, + 0.042185455560684204, + -3.119171619415283, + -0.16349594295024872, + 0.25257211923599243 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.3844887912273407, + 0.09264488518238068, + 0.0412394180893898, + -3.126450777053833, + -0.1509931981563568, + 0.2587028741836548 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.38804543018341064, + 0.0930912047624588, + 0.039321526885032654, + -3.1287174224853516, + -0.14629508554935455, + 0.25914862751960754 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.3886244297027588, + 0.09386816620826721, + 0.03505297750234604, + -3.1299312114715576, + -0.13418561220169067, + 0.2731192409992218 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned above the white tray near the consolidated pile of black objects on the left. Previous sweeping actions have gathered the objects into a pile. The robot is now repositioning, likely preparing for a final adjustment or verification sweep." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.3933575451374054, + 0.09711764752864838, + 0.03696512430906296, + -3.13088321685791, + -0.14056216180324554, + 0.29254359006881714 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned over the consolidated pile of black objects on the left side of the tray, having completed the final sweeping motion. The objects are gathered and settled, with no further sweeping needed. The next action is to lift the gripper slightly to confirm completion and prepare for task termination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.3916788101196289, + 0.10481235384941101, + 0.03796444088220596, + -3.128617286682129, + -0.13925319910049438, + 0.3139278292655945 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned over the consolidated pile of black objects on the left side of the tray, having completed the final sweeping motion. The objects are gathered and settled, with no further sweeping needed. The next action is to lift the gripper slightly to confirm completion and prepare for task termination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 87 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.3913375735282898, + 0.10724920779466629, + 0.03088158741593361, + -3.1172335147857666, + -0.1205204576253891, + 0.32612308859825134 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned over the consolidated pile of black objects on the left side of the tray, having completed the final sweeping motion. The objects are gathered and settled, with no further sweeping needed. The next action is to lift the gripper slightly to confirm completion and prepare for task termination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 87 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.39147236943244934, + 0.10793071985244751, + 0.031896330416202545, + -3.1140098571777344, + -0.1195494756102562, + 0.33297231793403625 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned over the consolidated pile of black objects on the left side of the tray, having completed the final sweeping motion. The objects are gathered and settled, with no further sweeping needed. The next action is to lift the gripper slightly to confirm completion and prepare for task termination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 87 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.39167898893356323, + 0.11435212194919586, + 0.027487026527523994, + -3.076956272125244, + -0.10755857825279236, + 0.36185526847839355 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned over the consolidated pile of black objects on the left side of the tray, having completed the final sweeping motion. The objects are gathered and settled, with no further sweeping needed. The next action is to lift the gripper slightly to confirm completion and prepare for task termination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 87 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.3843809962272644, + 0.11748573184013367, + 0.024810289964079857, + -3.0446982383728027, + -0.08254240453243256, + 0.3822672963142395 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned over the consolidated pile of black objects on the left side of the tray, having completed the final sweeping motion. The objects are gathered and settled, with no further sweeping needed. The next action is to lift the gripper slightly to confirm completion and prepare for task termination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 87 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 93, + "state_action_evidence": { + "ee_state_6d": [ + 0.36587703227996826, + 0.1165303960442543, + 0.02295891009271145, + -3.0271854400634766, + -0.04953759163618088, + 0.3683464229106903 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned over the consolidated pile of black objects on the left side of the tray, having completed the final sweeping motion. The objects are gathered and settled, with no further sweeping needed. The next action is to lift the gripper slightly to confirm completion and prepare for task termination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 87 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + }, + { + "t": 94, + "state_action_evidence": { + "ee_state_6d": [ + 0.34487447142601013, + 0.11858050525188446, + 0.028286321088671684, + -3.0442886352539062, + -0.020763568580150604, + 0.35909247398376465 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue tape": [ + 914, + 743, + 997, + 959 + ], + "white tray": [ + 47, + 336, + 986, + 992 + ], + "black beans": [ + 118, + 516, + 277, + 709 + ], + "metal bowl": [ + 21, + 127, + 159, + 242 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black objects into a pile on the left side of the white tray using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Sweep leftward to gather objects" + }, + { + "id": 3, + "subtask": "Reposition for second sweep" + }, + { + "id": 4, + "subtask": "Sweep right-to-left again" + }, + { + "id": 5, + "subtask": "Final repositioning" + }, + { + "id": 6, + "subtask": "Final sweep and settle" + } + ], + "subtask_name": "Final sweep and settle", + "subtask_reasoning": "The gripper is closed and positioned over the consolidated pile of black objects on the left side of the tray, having completed the final sweeping motion. The objects are gathered and settled, with no further sweeping needed. The next action is to lift the gripper slightly to confirm completion and prepare for task termination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 87 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 80, + "end": 94 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004243_ecot.json b/cot/chunk-0004/episode_0004243_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f58de88f952ee70b363bffc85b9de9a0a5e989f4 --- /dev/null +++ b/cot/chunk-0004/episode_0004243_ecot.json @@ -0,0 +1,2363 @@ +{ + "task_name": "episode_0004243", + "episode_json": "json/chunk-0004/episode_0004243.json", + "video_path": "videos/chunk-0004/image_0/episode_0004243.mp4", + "instruction": "Slide the can behind the blue fork, against the wall.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004243.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006645917892456055, + "std": 0.00011072007328039035, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00011, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector toward the can to prepare for sliding.\"},\n {\"id\": 2, \"name\": \"make contact with can\", \"start\": 3, \"end\": 8, \"planning\": \"Position the gripper to make initial contact with the side of the can.\"},\n {\"id\": 3, \"name\": \"slide can behind blue fork\", \"start\": 9, \"end\": 22, \"planning\": \"Push the can laterally across the table to position it behind the blue fork.\"},\n {\"id\": 4, \"name\": \"push can against wall\", \"start\": 23, \"end\": 30, \"planning\": \"Continue pushing the can forward until it contacts the back wall.\"},\n {\"id\": 5, \"name\": \"release contact and retreat\", \"start\": 31, \"end\": 34, \"planning\": \"Break contact with the can and move the end-effector away to complete the task.\"}\n ],\n \"global_plan\": \"Approach the can, make contact, slide it behind the blue fork, push it against the wall, then retreat.\",\n \"notes\": \"Gripper remains open throughout; no grasping occurs. All motion is contact-based pushing/sliding as per gripper evidence and visual context.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can", + "start": 0, + "end": 2, + "planning": "Move the end-effector toward the can to prepare for sliding." + }, + { + "id": 2, + "name": "make contact with can", + "start": 3, + "end": 8, + "planning": "Position the gripper to make initial contact with the side of the can." + }, + { + "id": 3, + "name": "slide can behind blue fork", + "start": 9, + "end": 22, + "planning": "Push the can laterally across the table to position it behind the blue fork." + }, + { + "id": 4, + "name": "push can against wall", + "start": 23, + "end": 30, + "planning": "Continue pushing the can forward until it contacts the back wall." + }, + { + "id": 5, + "name": "release contact and retreat", + "start": 31, + "end": 34, + "planning": "Break contact with the can and move the end-effector away to complete the task." + } + ], + "global_plan": "Approach the can, make contact, slide it behind the blue fork, push it against the wall, then retreat.", + "notes": "Gripper remains open throughout; no grasping occurs. All motion is contact-based pushing/sliding as per gripper evidence and visual context." + } + }, + "episode_goal": "Slide the can behind the blue fork, against the wall.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2889949381351471, + -0.07916514575481415, + 0.10018564760684967, + 3.093534469604492, + -0.2172832489013672, + 0.14769138395786285 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the can, blue fork, and red spoon visible below. The gripper is open and has not made contact with the can yet. The next action is to move the arm closer to the can to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 12 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2844840884208679, + -0.07878868281841278, + 0.09149555116891861, + 3.1045525074005127, + -0.18440315127372742, + 0.13553985953330994 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the wooden surface with the can, blue fork, and red spoon visible. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 12 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2635907530784607, + -0.052459318190813065, + 0.08940064907073975, + 3.116372585296631, + -0.12022536247968674, + 0.04893047362565994 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the wooden surface with the can, blue fork, and red spoon visible. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 12 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2393943816423416, + -0.03248636797070503, + 0.09996149688959122, + -3.1279826164245605, + -0.084540955722332, + -0.05807546153664589 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with can", + "subtask_reasoning": "The robot is positioned above the wooden surface with the can, blue fork, and red spoon visible. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21513622999191284, + 0.004902780055999756, + 0.09928884357213974, + -3.1243860721588135, + -0.04442889988422394, + -0.09709616005420685 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 66, + 335, + 312, + 609 + ], + "wooden table": [ + 8, + 155, + 894, + 987 + ], + "can": [ + 296, + 435, + 456, + 620 + ] + } + } + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with can", + "subtask_reasoning": "The robot is positioned above the wooden surface with the can, blue fork, and red spoon visible. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20053866505622864, + 0.02909022569656372, + 0.09784768521785736, + -3.114680528640747, + -0.00776185467839241, + -0.17874731123447418 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with can", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.19858939945697784, + 0.050319161266088486, + 0.09188785403966904, + -3.104792594909668, + -0.028775284066796303, + -0.20086489617824554 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with can", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20425942540168762, + 0.06893857568502426, + 0.07372730225324631, + -3.0963733196258545, + -0.015101253055036068, + -0.2192661315202713 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with can", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21458885073661804, + 0.07716329395771027, + 0.07146424055099487, + -3.0387730598449707, + -0.06220114603638649, + -0.2997012138366699 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with can", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 9 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22435179352760315, + 0.08346332609653473, + 0.06263505667448044, + -3.040534257888794, + -0.08225691318511963, + -0.3501564562320709 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2410576045513153, + 0.08519010245800018, + 0.056172456592321396, + -3.064716339111328, + -0.08773864060640335, + -0.37251925468444824 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2518516778945923, + 0.08744379878044128, + 0.04788018763065338, + -3.079477548599243, + -0.07826179265975952, + -0.3901023864746094 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637593746185303, + 0.08642139285802841, + 0.05043885111808777, + -3.089355945587158, + -0.11274596303701401, + -0.39647552371025085 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2721019387245178, + 0.0852704644203186, + 0.048517800867557526, + -3.0940182209014893, + -0.11558526009321213, + -0.3820125162601471 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28587624430656433, + 0.0794459655880928, + 0.05070975422859192, + -3.088135004043579, + -0.12983931601047516, + -0.39652860164642334 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 66, + 334, + 355, + 609 + ], + "wooden table": [ + 10, + 193, + 894, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot has approached the can and is now positioned near it on the wooden surface, with the blue fork visible to the right. No contact has been made yet, as the gripper remains open and no motion toward the can is evident in this frame. The next action should be to move the end-effector forward to make physical contact with the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2936338484287262, + 0.07781955599784851, + 0.049395665526390076, + -3.0929858684539795, + -0.13450050354003906, + -0.38273823261260986 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30166664719581604, + 0.07234431058168411, + 0.04912504926323891, + -3.0934407711029053, + -0.14014625549316406, + -0.39486777782440186 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092045783996582, + 0.06647824496030807, + 0.05029691755771637, + -3.0902798175811768, + -0.14642491936683655, + -0.40422624349594116 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131960928440094, + 0.058915697038173676, + 0.04910574480891228, + -3.0913493633270264, + -0.14256472885608673, + -0.4193083643913269 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31866973638534546, + 0.05412894859910011, + 0.05201183632016182, + -3.0756213665008545, + -0.15268763899803162, + -0.42190372943878174 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3266049325466156, + 0.047744020819664, + 0.05325248837471008, + -3.0688583850860596, + -0.16806860268115997, + -0.4327637255191803 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper open; then move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32873642444610596, + 0.048314400017261505, + 0.055018551647663116, + -3.057643175125122, + -0.16915543377399445, + -0.42508724331855774 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33638525009155273, + 0.04791613668203354, + 0.05316963046789169, + -3.061248779296875, + -0.17143940925598145, + -0.4236520826816559 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "slide can behind blue fork", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3435593247413635, + 0.03902297094464302, + 0.050708092749118805, + -3.0642294883728027, + -0.17550188302993774, + -0.4540298581123352 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push can against wall", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35345134139060974, + 0.02605712041258812, + 0.05582324042916298, + -3.0583925247192383, + -0.19845706224441528, + -0.47303706407546997 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 66, + 334, + 359, + 608 + ], + "metal bowl": [ + 269, + 211, + 482, + 412 + ], + "wooden table": [ + 9, + 183, + 894, + 989 + ], + "can": [ + 512, + 257, + 654, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push can against wall", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36117231845855713, + 0.018830010667443275, + 0.05610198527574539, + -3.076735496520996, + -0.21119889616966248, + -0.46795013546943665 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push can against wall", + "subtask_reasoning": "The robot is in contact with the can and has begun sliding it across the table toward the blue fork. The gripper remains open, indicating a pushing motion rather than grasping. The next action is to continue sliding the can until it is positioned behind the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.370728999376297, + 0.01176157221198082, + 0.06019124761223793, + -3.0897629261016846, + -0.23942704498767853, + -0.4719862937927246 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push can against wall", + "subtask_reasoning": "The robot is in contact with the can, positioned behind the blue fork near the wall. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the can further against the wall to complete alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3708445429801941, + 0.007940258830785751, + 0.060406655073165894, + -3.105341672897339, + -0.2478259801864624, + -0.472007155418396 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push can against wall", + "subtask_reasoning": "The robot is in contact with the can, positioned behind the blue fork near the wall. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the can further against the wall to complete alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3710165023803711, + 0.00521813565865159, + 0.06100477650761604, + -3.107891798019409, + -0.24637891352176666, + -0.4699077904224396 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push can against wall", + "subtask_reasoning": "The robot is in contact with the can, positioned behind the blue fork near the wall. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the can further against the wall to complete alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3605446517467499, + 0.0067509557120501995, + 0.0577426478266716, + -3.104236364364624, + -0.2026110142469406, + -0.4459495544433594 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push can against wall", + "subtask_reasoning": "The robot is in contact with the can, positioned behind the blue fork near the wall. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the can further against the wall to complete alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454892039299011, + 0.011560766026377678, + 0.08437614887952805, + -3.0710556507110596, + -0.21852435171604156, + -0.4030914306640625 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push can against wall", + "subtask_reasoning": "The robot is in contact with the can, positioned behind the blue fork near the wall. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the can further against the wall to complete alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3316589295864105, + 0.025300869718194008, + 0.09651173651218414, + -3.082890748977661, + -0.21666540205478668, + -0.3384019732475281 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot is in contact with the can, positioned behind the blue fork near the wall. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the can further against the wall to complete alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200061321258545, + 0.0375666618347168, + 0.10610402375459671, + -3.110705852508545, + -0.19421614706516266, + -0.2877301871776581 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 66, + 335, + 358, + 608 + ], + "wooden table": [ + 10, + 181, + 895, + 988 + ], + "blue tool": [ + 481, + 487, + 594, + 824 + ], + "can": [ + 567, + 241, + 715, + 468 + ], + "metal bowl": [ + 272, + 213, + 487, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The can has been successfully slid behind the blue fork and against the wall. The robot has released contact with the can, as indicated by the open gripper and lack of closing evidence in the segment. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.30813226103782654, + 0.06337442249059677, + 0.10821626335382462, + -3.1292364597320557, + -0.160039022564888, + -0.19233135879039764 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The can has been successfully slid behind the blue fork and against the wall. The robot has released contact with the can, as indicated by the open gripper and lack of closing evidence in the segment. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3087216019630432, + 0.07745473086833954, + 0.11600247770547867, + -3.1190667152404785, + -0.20191261172294617, + -0.11316095292568207 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the can behind the blue fork, against the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact with can" + }, + { + "id": 3, + "subtask": "slide can behind blue fork" + }, + { + "id": 4, + "subtask": "push can against wall" + }, + { + "id": 5, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The can has been successfully slid behind the blue fork and against the wall. The robot has released contact with the can, as indicated by the open gripper and lack of closing evidence in the segment. The next action is to retreat the end-effector away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004246_ecot.json b/cot/chunk-0004/episode_0004246_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9c03d417dc469946c26164acc95df38998d0e072 --- /dev/null +++ b/cot/chunk-0004/episode_0004246_ecot.json @@ -0,0 +1,1849 @@ +{ + "task_name": "episode_0004246", + "episode_json": "json/chunk-0004/episode_0004246.json", + "video_path": "videos/chunk-0004/image_0/episode_0004246.mp4", + "instruction": "Move the doll to the right side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004246.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.5764716863632202, + "std": 0.23072710633277893, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57647, std=0.23073, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 12, + 112, + 112, + 112, + 112, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 7 + ], + [ + 3, + 8, + 11 + ], + [ + 4, + 12, + 12 + ], + [ + 5, + 13, + 16 + ], + [ + 6, + 17, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach doll\", \"start\": 0, \"end\": 7, \"planning\": \"Move the gripper from initial position toward the doll on the left side of the table.\"},\n {\"id\": 2, \"name\": \"grasp doll\", \"start\": 8, \"end\": 11, \"planning\": \"Close the gripper around the doll to secure it for transport.\"},\n {\"id\": 3, \"name\": \"lift and reposition\", \"start\": 12, \"end\": 16, \"planning\": \"Lift the doll slightly and begin moving it rightward across the table surface.\"},\n {\"id\": 4, \"name\": \"transport doll right\", \"start\": 17, \"end\": 20, \"planning\": \"Carry the doll horizontally to the right side of the table while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release doll\", \"start\": 21, \"end\": 23, \"planning\": \"Open the gripper to release the doll onto the table at the target location.\"},\n {\"id\": 6, \"name\": \"retreat upward\", \"start\": 24, \"end\": 24, \"planning\": \"Raise the gripper away from the doll after release to complete the task.\"}\n ],\n \"global_plan\": \"Approach the doll on the left, grasp it securely, lift and move it rightward across the table, then release it at the target position on the right side before retreating.\",\n \"notes\": \"Segment 1 (frames 0-1) shows no gripper closure — correctly labeled as approach. Segment 3 (8-11) has meaningful closing (delta=-0.33) and image confirms grasp — grasp wording allowed. Segment 4 (frame 12) is single frame with partial closure but no further motion — merged into lift/reposition phase. Segment 6 (17-24) includes both transport and release; split at frame 21 where gripper opens (value jumps to ~1.0). Frame 24 is static retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach doll", + "start": 0, + "end": 7, + "planning": "Move the gripper from initial position toward the doll on the left side of the table." + }, + { + "id": 2, + "name": "grasp doll", + "start": 8, + "end": 11, + "planning": "Close the gripper around the doll to secure it for transport." + }, + { + "id": 3, + "name": "lift and reposition", + "start": 12, + "end": 16, + "planning": "Lift the doll slightly and begin moving it rightward across the table surface." + }, + { + "id": 4, + "name": "transport doll right", + "start": 17, + "end": 20, + "planning": "Carry the doll horizontally to the right side of the table while maintaining grip." + }, + { + "id": 5, + "name": "release doll", + "start": 21, + "end": 23, + "planning": "Open the gripper to release the doll onto the table at the target location." + }, + { + "id": 6, + "name": "retreat upward", + "start": 24, + "end": 24, + "planning": "Raise the gripper away from the doll after release to complete the task." + } + ], + "global_plan": "Approach the doll on the left, grasp it securely, lift and move it rightward across the table, then release it at the target position on the right side before retreating.", + "notes": "Segment 1 (frames 0-1) shows no gripper closure — correctly labeled as approach. Segment 3 (8-11) has meaningful closing (delta=-0.33) and image confirms grasp — grasp wording allowed. Segment 4 (frame 12) is single frame with partial closure but no further motion — merged into lift/reposition phase. Segment 6 (17-24) includes both transport and release; split at frame 21 where gripper opens (value jumps to ~1.0). Frame 24 is static retreat." + } + }, + "episode_goal": "Move the doll to the right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.282274454832077, + -0.017061332240700722, + -0.011246521957218647, + -3.1344408988952637, + -0.09170618653297424, + 0.02196880243718624 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table with the doll visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the arm closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 21 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832046151161194, + -0.017061416059732437, + -0.00966428779065609, + -3.1372475624084473, + -0.08842704445123672, + 0.03208864480257034 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table with the doll visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the arm closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 21 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2682558298110962, + 0.014416330493986607, + 0.0019891762640327215, + 3.1403400897979736, + -0.00911819376051426, + 0.19021932780742645 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table with the doll visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the arm closer to the doll to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 18 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2661137580871582, + 0.04525568336248398, + 0.029225585982203484, + 3.106379747390747, + -0.07104906439781189, + 0.23428982496261597 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the doll on the left side. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to align with the doll for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2585422992706299, + 0.08533646166324615, + 0.04732472822070122, + 3.0698862075805664, + -0.13567154109477997, + 0.26866650581359863 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the doll on the left side. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to align with the doll for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 8 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2558732032775879, + 0.11672966927289963, + 0.055131491273641586, + 3.063795804977417, + -0.18738935887813568, + 0.25582391023635864 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white box": [ + 221, + 2, + 523, + 350 + ], + "stuffed toy": [ + 63, + 325, + 231, + 454 + ], + "strawberry": [ + 680, + 399, + 777, + 523 + ], + "table": [ + 5, + 134, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the doll on the left side. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to align with the doll for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 13 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26274001598358154, + 0.15896691381931305, + 0.05858241021633148, + 3.0888559818267822, + -0.23258911073207855, + 0.31281301379203796 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the doll on the left side. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to align with the doll for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 18 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27791693806648254, + 0.18190108239650726, + 0.05533400923013687, + 3.110273838043213, + -0.2393420785665512, + 0.3394024074077606 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "approach doll", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the doll on the left side. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to align with the doll for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 22 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852626442909241, + 0.19560956954956055, + 0.04268697276711464, + -3.139427423477173, + -0.20651385188102722, + 0.34850504994392395 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the doll on the left side. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to align with the doll for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 22 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808659076690674, + 0.19981876015663147, + 0.026791708543896675, + -3.1045072078704834, + -0.1584988534450531, + 0.3514591157436371 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot has approached the doll on the left side of the table and is now positioned above it. The gripper is open and ready to close around the doll. The next action is to close the gripper to securely grasp the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 22 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27913543581962585, + 0.19842888414859772, + 0.009791051968932152, + -3.087082624435425, + -0.11764077842235565, + 0.34912729263305664 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot has approached the doll on the left side of the table and is now positioned above it. The gripper is open and ready to close around the doll. The next action is to close the gripper to securely grasp the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 22 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27887800335884094, + 0.19815027713775635, + 0.0031864976044744253, + -3.0874948501586914, + -0.10849747806787491, + 0.35498717427253723 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "grasp doll", + "subtask_reasoning": "The robot has approached the doll on the left side of the table and is now positioned above it. The gripper is open and ready to close around the doll. The next action is to close the gripper to securely grasp the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 1 cm, move right 22 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783604860305786, + 0.1914692223072052, + 0.0018305466510355473, + -3.1054062843322754, + -0.10965965688228607, + 0.35784250497817993 + ], + "gripper_value": 0.4918208718299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the doll on the left side of the table and is now positioned above it. The gripper is open and ready to close around the doll. The next action is to close the gripper to securely grasp the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 22 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767750322818756, + 0.15902405977249146, + 0.017245948314666748, + 3.1394424438476562, + -0.11649153381586075, + 0.3373180031776428 + ], + "gripper_value": 0.4411471486091614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has approached the doll on the left side of the table and is now positioned above it. The gripper is open and ready to close around the doll. The next action is to close the gripper to securely grasp the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 19 cm, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27155664563179016, + 0.10647473484277725, + 0.04290911927819252, + 3.106466054916382, + -0.1717635840177536, + 0.25567200779914856 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has successfully grasped the doll on the left side of the table and is currently lifting it. The gripper is closed around the doll, and the arm is in motion, indicating the repositioning phase is underway. The next action is to continue moving the doll rightward across the table toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26318275928497314, + 0.05799384042620659, + 0.03467966988682747, + 3.1154699325561523, + -0.15751425921916962, + 0.14704295992851257 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "strawberry": [ + 681, + 398, + 778, + 522 + ], + "stuffed toy": [ + 105, + 4, + 385, + 552 + ], + "white box": [ + 265, + 2, + 518, + 348 + ], + "table": [ + 5, + 130, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has successfully grasped the doll on the left side of the table and is currently lifting it. The gripper is closed around the doll, and the arm is in motion, indicating the repositioning phase is underway. The next action is to continue moving the doll rightward across the table toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658916711807251, + 0.0070960065349936485, + 0.02692868560552597, + 3.12367844581604, + -0.17191511392593384, + 0.04216165468096733 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white box": [ + 161, + 4, + 511, + 312 + ], + "table": [ + 5, + 130, + 995, + 993 + ], + "strawberry": [ + 679, + 398, + 777, + 523 + ] + } + } + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The robot has successfully grasped the doll on the left side of the table and is currently lifting it. The gripper is closed around the doll, and the arm is in motion, indicating the repositioning phase is underway. The next action is to continue moving the doll rightward across the table toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643802762031555, + -0.027864066883921623, + 0.014079112559556961, + 3.107022523880005, + -0.1404714286327362, + -0.0012782010016962886 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "transport doll right", + "subtask_reasoning": "The robot has successfully grasped the doll on the left side of the table and is currently lifting it. The gripper is closed around the doll, and the arm is in motion, indicating the repositioning phase is underway. The next action is to continue moving the doll rightward across the table toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26302632689476013, + -0.03145267441868782, + 0.013955637812614441, + 3.10262131690979, + -0.1335933953523636, + 0.002411884954199195 + ], + "gripper_value": 0.8251956701278687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "transport doll right", + "subtask_reasoning": "The robot is currently holding the doll and has moved it partially to the right side of the table. The gripper remains closed, indicating the doll is still grasped. The next action should be to continue moving the doll further right toward the target position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25937438011169434, + -0.03195006027817726, + 0.015446101315319538, + 3.0986311435699463, + -0.11312741786241531, + 0.007638377137482166 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "transport doll right", + "subtask_reasoning": "The robot is currently holding the doll and has moved it partially to the right side of the table. The gripper remains closed, indicating the doll is still grasped. The next action should be to continue moving the doll further right toward the target position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2596924901008606, + -0.032718073576688766, + 0.03977971524000168, + 3.0698671340942383, + -0.15147258341312408, + 0.016513971611857414 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "transport doll right", + "subtask_reasoning": "The robot is currently holding the doll and has moved it partially to the right side of the table. The gripper remains closed, indicating the doll is still grasped. The next action should be to continue moving the doll further right toward the target position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25839072465896606, + -0.03471549227833748, + 0.0738212987780571, + 3.044039249420166, + -0.21382112801074982, + 0.01272900402545929 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "release doll", + "subtask_reasoning": "The robot is currently holding the doll and has moved it partially to the right side of the table. The gripper remains closed, indicating the doll is still grasped. The next action should be to continue moving the doll further right toward the target position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25908780097961426, + -0.028602568432688713, + 0.08279737830162048, + 3.086873769760132, + -0.18184278905391693, + 0.009237749502062798 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "release doll", + "subtask_reasoning": "The doll is already on the right side of the table, and the gripper is open above it, indicating the release has been completed. The robot is now stationary or retreating slightly, with no further action needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2588605582714081, + -0.02840631827712059, + 0.08274517953395844, + 3.0880448818206787, + -0.1803591549396515, + 0.009693160653114319 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "release doll", + "subtask_reasoning": "The doll is already on the right side of the table, and the gripper is open above it, indicating the release has been completed. The robot is now stationary or retreating slightly, with no further action needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25884902477264404, + -0.02858949825167656, + 0.08275283128023148, + 3.0867063999176025, + -0.18023018538951874, + 0.010709631256759167 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the doll to the right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach doll" + }, + { + "id": 2, + "subtask": "grasp doll" + }, + { + "id": 3, + "subtask": "lift and reposition" + }, + { + "id": 4, + "subtask": "transport doll right" + }, + { + "id": 5, + "subtask": "release doll" + }, + { + "id": 6, + "subtask": "retreat upward" + } + ], + "subtask_name": "retreat upward", + "subtask_reasoning": "The robot has successfully moved the doll to the right side of the table and released it. The gripper is open and positioned above the doll, indicating the placement is complete. The next action is to retreat upward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 24, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004248_ecot.json b/cot/chunk-0004/episode_0004248_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9a2a9a107fa3706f8966fe6896241ae3ee4479b6 --- /dev/null +++ b/cot/chunk-0004/episode_0004248_ecot.json @@ -0,0 +1,1509 @@ +{ + "task_name": "episode_0004248", + "episode_json": "json/chunk-0004/episode_0004248.json", + "video_path": "videos/chunk-0004/image_0/episode_0004248.mp4", + "instruction": "Place the blue spoon to the left of the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004248.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.6414328217506409, + "std": 0.29519715905189514, + "delta_total": 0.0052337646484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64143, std=0.29520, total_delta=0.00523). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 8, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 120, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 12 + ], + [ + 3, + 13, + 19 + ], + [ + 4, + 20, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp blue spoon\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the blue spoon and close gripper to secure it based on observed gripper closure from 1.0 to 0.69.\"},\n {\"id\": 2, \"name\": \"lift and reposition spoon leftward\", \"start\": 8, \"end\": 12, \"planning\": \"Lift the grasped spoon and translate it leftward across the table while maintaining grip, as shown by stable low gripper value and upward motion.\"},\n {\"id\": 3, \"name\": \"place spoon beside pot\", \"start\": 13, \"end\": 19, \"planning\": \"Lower the spoon to the target position left of the pot and begin releasing grip, evidenced by slight gripper opening at frame 19.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 20, \"end\": 22, \"planning\": \"Fully open gripper to release spoon and retract end-effector away from the placed object, confirmed by gripper value rising to 1.00671.\"}\n ],\n \"global_plan\": \"Grasp the blue spoon, lift and move it leftward, place it beside the pot, then release and retreat.\",\n \"notes\": \"All subtasks align with segment boundaries and gripper evidence: Segment 1 shows meaningful closing (grasp allowed), Segment 2 maintains grip during transport, Segment 3 initiates release, Segment 4 completes release and retreat. Frame coverage is contiguous and complete [0-22].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp blue spoon", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the blue spoon and close gripper to secure it based on observed gripper closure from 1.0 to 0.69." + }, + { + "id": 2, + "name": "lift and reposition spoon leftward", + "start": 8, + "end": 12, + "planning": "Lift the grasped spoon and translate it leftward across the table while maintaining grip, as shown by stable low gripper value and upward motion." + }, + { + "id": 3, + "name": "place spoon beside pot", + "start": 13, + "end": 19, + "planning": "Lower the spoon to the target position left of the pot and begin releasing grip, evidenced by slight gripper opening at frame 19." + }, + { + "id": 4, + "name": "release and retreat", + "start": 20, + "end": 22, + "planning": "Fully open gripper to release spoon and retract end-effector away from the placed object, confirmed by gripper value rising to 1.00671." + } + ], + "global_plan": "Grasp the blue spoon, lift and move it leftward, place it beside the pot, then release and retreat.", + "notes": "All subtasks align with segment boundaries and gripper evidence: Segment 1 shows meaningful closing (grasp allowed), Segment 2 maintains grip during transport, Segment 3 initiates release, Segment 4 completes release and retreat. Frame coverage is contiguous and complete [0-22]." + } + }, + "episode_goal": "Place the blue spoon to the left of the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27356135845184326, + 0.04753905162215233, + 0.08621978759765625, + -3.133540153503418, + -0.07438363879919052, + -0.10305744409561157 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue spoon visible to the right of the pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector and close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move down 8 cm, close gripper; then move left 7 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27310964465141296, + 0.04616573825478554, + 0.07866624742746353, + -3.1409149169921875, + -0.0508149191737175, + -0.09643920511007309 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue spoon visible to the right of the pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector and close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move down 7 cm, tilt left 10 degrees, close gripper; then move back 2 cm, move left 12 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28707051277160645, + 0.007002046797424555, + 0.06390170007944107, + 3.136957883834839, + -0.038301341235637665, + -0.14879406988620758 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue spoon visible to the right of the pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector and close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 16 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3059494197368622, + -0.02903006225824356, + 0.04742930456995964, + 3.138136625289917, + -0.0293719619512558, + -0.14368174970149994 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 122, + 381, + 408, + 642 + ], + "wooden countertop": [ + 7, + 182, + 883, + 987 + ], + "metal ladle": [ + 601, + 405, + 743, + 687 + ], + "blue spatula": [ + 602, + 498, + 700, + 686 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the wooden surface, with the pot to the left. No prior actions have been completed. The gripper is open and aligned for grasping. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move left 22 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32353007793426514, + -0.062417443841695786, + 0.026399623602628708, + -3.1242711544036865, + -0.016615455970168114, + -0.13506437838077545 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the wooden surface, with the pot to the left. No prior actions have been completed. The gripper is open and aligned for grasping. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move left 22 cm, move up 7 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320959508419037, + -0.07493095099925995, + 0.00979068037122488, + -3.088980197906494, + -0.027782786637544632, + -0.04675418138504028 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the wooden surface, with the pot to the left. No prior actions have been completed. The gripper is open and aligned for grasping. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 22 cm, move up 7 cm, keep gripper closed; then move back 1 cm, move left 9 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3395909368991852, + -0.07790037244558334, + 0.00791125651448965, + -3.0674586296081543, + -0.061719901859760284, + 0.00010216160444542766 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the wooden surface, with the pot to the left. No prior actions have been completed. The gripper is open and aligned for grasping. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 4 cm, move left 22 cm, move up 7 cm, keep gripper closed; then move back 1 cm, move left 9 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34001997113227844, + -0.08061844110488892, + 0.00501752644777298, + -3.050069808959961, + -0.07759787887334824, + -0.007080747280269861 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the wooden surface, with the pot to the left. No prior actions have been completed. The gripper is open and aligned for grasping. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 4 cm, move left 22 cm, move up 7 cm, keep gripper closed; then move back 1 cm, move left 9 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3318403959274292, + -0.07725478708744049, + 0.009650330059230328, + -3.0525379180908203, + -0.06365737318992615, + -0.028083302080631256 + ], + "gripper_value": 0.413944274187088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon leftward", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the wooden surface, with the pot to the left. No prior actions have been completed. The gripper is open and aligned for grasping. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 22 cm, move up 7 cm, keep gripper closed; then move back 1 cm, move left 8 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3371729850769043, + -0.058351069688797, + 0.04207499697804451, + -3.10270094871521, + -0.1079861968755722, + -0.021030738949775696 + ], + "gripper_value": 0.3661215305328369 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon leftward", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the wooden surface, with the pot to the left. No prior actions have been completed. The gripper is open and aligned for grasping. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 20 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3317950367927551, + -0.007075642701238394, + 0.09106016159057617, + -3.1380724906921387, + -0.17110659182071686, + 0.04647018760442734 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon leftward", + "subtask_reasoning": "The robot has grasped the blue spoon and is currently lifting it above the table surface. The spoon is being repositioned leftward toward the area beside the metal pot. The next action is to continue moving the spoon horizontally to align it with the target placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 15 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168379068374634, + 0.043593280017375946, + 0.10700320452451706, + -3.1292927265167236, + -0.14998704195022583, + 0.09537914395332336 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue spatula": [ + 388, + 272, + 486, + 442 + ], + "wooden countertop": [ + 8, + 179, + 882, + 987 + ], + "white container": [ + 831, + 378, + 996, + 840 + ], + "metal pot": [ + 124, + 382, + 414, + 642 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon leftward", + "subtask_reasoning": "The robot has grasped the blue spoon and is currently lifting it above the table surface. The spoon is being repositioned leftward toward the area beside the metal pot. The next action is to continue moving the spoon horizontally to align it with the target placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, move down 6 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30420348048210144, + 0.08709868043661118, + 0.09798113256692886, + -3.0236685276031494, + -0.09879911690950394, + 0.06660193204879761 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition spoon leftward", + "subtask_reasoning": "The robot has grasped the blue spoon and is currently lifting it above the table surface. The spoon is being repositioned leftward toward the area beside the metal pot. The next action is to continue moving the spoon horizontally to align it with the target placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 9 cm, move down 6 cm, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2910920977592468, + 0.1386261135339737, + 0.07677236944437027, + -3.009644031524658, + -0.0631127804517746, + 0.015321672894060612 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon beside pot", + "subtask_reasoning": "The robot has grasped the blue spoon and is currently lifting it above the table surface. The spoon is being repositioned leftward toward the area beside the metal pot. The next action is to continue moving the spoon horizontally to align it with the target placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move down 6 cm, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28300830721855164, + 0.1861407607793808, + 0.05984405428171158, + -3.031827211380005, + -0.06297057121992111, + -0.03168218582868576 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon beside pot", + "subtask_reasoning": "The robot has grasped the blue spoon and is currently lifting it above the table surface. The spoon is being repositioned leftward toward the area beside the metal pot. The next action is to continue moving the spoon horizontally to align it with the target placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28090137243270874, + 0.22488752007484436, + 0.055180300027132034, + -3.0329627990722656, + -0.0694781020283699, + -0.013566583395004272 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 125, + 381, + 407, + 643 + ], + "wooden countertop": [ + 14, + 181, + 882, + 987 + ], + "blue spatula": [ + 23, + 311, + 133, + 445 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon beside pot", + "subtask_reasoning": "The robot has grasped the blue spoon and is currently lifting it above the table surface. The spoon is being repositioned leftward toward the area beside the metal pot. The next action is to continue moving the spoon horizontally to align it with the target placement location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27938514947891235, + 0.23257042467594147, + 0.04747734218835831, + -3.050243854522705, + -0.05862455815076828, + -0.006757140625268221 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon beside pot", + "subtask_reasoning": "The blue spoon has been lifted and moved leftward toward the pot. The gripper is holding the spoon near the target location beside the pot. The next action is to lower and place the spoon to the left of the pot, then release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2794278562068939, + 0.2301064431667328, + 0.0321146696805954, + -3.0671231746673584, + -0.04062002897262573, + -0.012000612914562225 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon beside pot", + "subtask_reasoning": "The blue spoon has been lifted and moved leftward toward the pot. The gripper is holding the spoon near the target location beside the pot. The next action is to lower and place the spoon to the left of the pot, then release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27728500962257385, + 0.22170481085777283, + 0.023978447541594505, + -3.0707571506500244, + -0.019091568887233734, + -0.016445670276880264 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon beside pot", + "subtask_reasoning": "The blue spoon has been lifted and moved leftward toward the pot. The gripper is holding the spoon near the target location beside the pot. The next action is to lower and place the spoon to the left of the pot, then release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760261595249176, + 0.22266890108585358, + 0.019229212775826454, + -3.0659496784210205, + -0.004860545042902231, + -0.008053027093410492 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spoon beside pot", + "subtask_reasoning": "The blue spoon has been lifted and moved leftward toward the pot. The gripper is holding the spoon near the target location beside the pot. The next action is to lower and place the spoon to the left of the pot, then release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27111557126045227, + 0.2269546240568161, + 0.019920090213418007, + -3.053899049758911, + 0.0082035381346941, + 0.05184124782681465 + ], + "gripper_value": 0.7151217460632324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue spoon has been lifted and moved leftward toward the pot. The gripper is holding the spoon near the target location beside the pot. The next action is to lower and place the spoon to the left of the pot, then release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2669697403907776, + 0.22722747921943665, + 0.029236532747745514, + -3.070985794067383, + -0.017601480707526207, + 0.04979885369539261 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed to the left of the pot on the table. The gripper is currently open and positioned above the spoon, indicating the release action is complete. The robot should now retreat its arm away from the workspace to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26634156703948975, + 0.21750211715698242, + 0.07971400022506714, + -3.033914566040039, + -0.14223165810108185, + -0.01119826640933752 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon leftward" + }, + { + "id": 3, + "subtask": "place spoon beside pot" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed to the left of the pot on the table. The gripper is currently open and positioned above the spoon, indicating the release action is complete. The robot should now retreat its arm away from the workspace to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004250_ecot.json b/cot/chunk-0004/episode_0004250_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e0a12d6e9c0e44bfc50c658de6c9cfc581410701 --- /dev/null +++ b/cot/chunk-0004/episode_0004250_ecot.json @@ -0,0 +1,2530 @@ +{ + "task_name": "episode_0004250", + "episode_json": "json/chunk-0004/episode_0004250.json", + "video_path": "videos/chunk-0004/image_0/episode_0004250.mp4", + "instruction": "Take broccoli out of pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004250.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.35582780838012695, + "std": 0.15633611381053925, + "delta_total": -0.0032187700271606445, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.35583, std=0.15634, total_delta=-0.00322). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 400, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 20 + ], + [ + 3, + 21, + 24 + ], + [ + 4, + 25, + 25 + ], + [ + 5, + 26, + 29 + ], + [ + 6, + 30, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan area\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the pan containing broccoli without closing gripper.\"},\n {\"id\": 2, \"name\": \"position above broccoli\", \"start\": 7, \"end\": 20, \"planning\": \"Adjust pose to align gripper over broccoli in preparation for contact.\"},\n {\"id\": 3, \"name\": \"make contact with broccoli\", \"start\": 21, \"end\": 24, \"planning\": \"Lower gripper to touch broccoli; no meaningful closing observed, so avoid grasp terminology.\"},\n {\"id\": 4, \"name\": \"reposition during contact\", \"start\": 25, \"end\": 25, \"planning\": \"Fine-tune position while maintaining contact; gripper remains open.\"},\n {\"id\": 5, \"name\": \"nudge broccoli out of pan\", \"start\": 26, \"end\": 29, \"planning\": \"Apply lateral force to slide or push broccoli out of pan using open gripper.\"},\n {\"id\": 6, \"name\": \"retreat after displacement\", \"start\": 30, \"end\": 34, \"planning\": \"Lift and withdraw end-effector after successfully moving broccoli from pan.\"}\n ],\n \"global_plan\": \"The robot approaches the pan, positions itself above the broccoli, makes contact without grasping, repositions slightly, nudges the broccoli out of the pan using open-gripper pushing, then retreats.\",\n \"notes\": \"No segment shows meaningful gripper closing; all actions are contact-based (approach, contact, nudge, retreat). No lifting or placing is inferred since broccoli is displaced via pushing/sliding, not grasped.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan area", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the pan containing broccoli without closing gripper." + }, + { + "id": 2, + "name": "position above broccoli", + "start": 7, + "end": 20, + "planning": "Adjust pose to align gripper over broccoli in preparation for contact." + }, + { + "id": 3, + "name": "make contact with broccoli", + "start": 21, + "end": 24, + "planning": "Lower gripper to touch broccoli; no meaningful closing observed, so avoid grasp terminology." + }, + { + "id": 4, + "name": "reposition during contact", + "start": 25, + "end": 25, + "planning": "Fine-tune position while maintaining contact; gripper remains open." + }, + { + "id": 5, + "name": "nudge broccoli out of pan", + "start": 26, + "end": 29, + "planning": "Apply lateral force to slide or push broccoli out of pan using open gripper." + }, + { + "id": 6, + "name": "retreat after displacement", + "start": 30, + "end": 34, + "planning": "Lift and withdraw end-effector after successfully moving broccoli from pan." + } + ], + "global_plan": "The robot approaches the pan, positions itself above the broccoli, makes contact without grasping, repositions slightly, nudges the broccoli out of the pan using open-gripper pushing, then retreats.", + "notes": "No segment shows meaningful gripper closing; all actions are contact-based (approach, contact, nudge, retreat). No lifting or placing is inferred since broccoli is displaced via pushing/sliding, not grasped." + } + }, + "episode_goal": "Pick up the broccoli from the pan and place it on the stove surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21316836774349213, + 0.08233296126127243, + 0.06091120094060898, + -3.0691492557525635, + -0.25671812891960144, + 0.02342808060348034 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned near the stove with the pan containing broccoli visible. No actions have been completed yet as this is the initial approach phase. The next action should involve moving the end-effector closer to the pan to prepare for interacting with the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20947791635990143, + 0.08077827841043472, + 0.05718989670276642, + -3.0805110931396484, + -0.2312627136707306, + 0.03024367056787014 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned near the stove with the pan containing broccoli visible. No actions have been completed yet as this is the initial approach phase. The next action should involve moving the end-effector closer to the pan to prepare for interacting with the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22076232731342316, + 0.08652772009372711, + 0.07705207914113998, + -3.0834271907806396, + -0.21745523810386658, + 0.03558877855539322 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned near the stove with the pan containing broccoli visible. No actions have been completed yet as this is the initial approach phase. The next action should involve moving the end-effector closer to the pan to prepare for interacting with the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23813267052173615, + 0.09607743471860886, + 0.09641893953084946, + -3.0872185230255127, + -0.2052193284034729, + 0.009214109741151333 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 73, + 213, + 846, + 984 + ], + "toy carrot": [ + 153, + 544, + 319, + 713 + ], + "toy corn": [ + 620, + 467, + 717, + 598 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2586430013179779, + 0.10710910707712173, + 0.11457651108503342, + -3.0977869033813477, + -0.21356713771820068, + -0.03437734767794609 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824023365974426, + 0.11805697530508041, + 0.11421507596969604, + -3.1011807918548584, + -0.2014923244714737, + -0.07906600832939148 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move right 2 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29837241768836975, + 0.1260487586259842, + 0.09971171617507935, + -3.122951030731201, + -0.21324948966503143, + -0.10674969106912613 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 2 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3087126910686493, + 0.13079676032066345, + 0.08691257983446121, + 3.13714337348938, + -0.23349322378635406, + -0.10947807133197784 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31391680240631104, + 0.12823230028152466, + 0.07552491873502731, + 3.1139259338378906, + -0.25378671288490295, + -0.10425543785095215 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3182845711708069, + 0.12150482088327408, + 0.06187564879655838, + 3.087611198425293, + -0.23065118491649628, + -0.09130876511335373 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3274725079536438, + 0.11296247690916061, + 0.061648719012737274, + 3.104098081588745, + -0.2530418038368225, + -0.08006304502487183 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33143675327301025, + 0.10885462909936905, + 0.05385354906320572, + 3.104309558868408, + -0.25109538435935974, + -0.08535394817590714 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 75, + 262, + 842, + 981 + ], + "toy carrot": [ + 126, + 526, + 318, + 710 + ], + "toy corn": [ + 620, + 466, + 717, + 599 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3342677056789398, + 0.10621439665555954, + 0.04795593023300171, + 3.1057052612304688, + -0.24947677552700043, + -0.08293801546096802 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the stove area with the pan containing broccoli visible below. No contact or grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the pan to prepare for nudging the broccoli out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, close gripper; then move back 3 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3363203704357147, + 0.10465022176504135, + 0.03782304748892784, + 3.1094703674316406, + -0.25779959559440613, + -0.07543526589870453 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, close gripper; then move back 5 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33443817496299744, + 0.10461565107107162, + 0.035820815712213516, + 3.107919931411743, + -0.24037547409534454, + -0.08420753479003906 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, close gripper; then move back 8 cm, move right 6 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33497101068496704, + 0.10581951588392258, + 0.029893968254327774, + 3.100175619125366, + -0.22438973188400269, + -0.08480030298233032 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, close gripper; then move back 9 cm, move right 7 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33968275785446167, + 0.10621103644371033, + 0.02605859562754631, + 3.0972635746002197, + -0.2339293658733368, + -0.09377700090408325 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 9 cm, move right 7 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34601446986198425, + 0.10877657681703568, + 0.024898583069443703, + 3.0961897373199463, + -0.2213977426290512, + -0.09627533704042435 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move back 9 cm, move right 7 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3507588803768158, + 0.10892370343208313, + 0.027814216911792755, + 3.102764844894409, + -0.22293223440647125, + -0.10695856809616089 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper closed; then move back 9 cm, move right 7 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35216304659843445, + 0.10939562320709229, + 0.03139393404126167, + 3.1130499839782715, + -0.20946219563484192, + -0.11966778337955475 + ], + "gripper_value": 0.6541022062301636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 9 cm, move right 7 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34692248702049255, + 0.11061257123947144, + 0.03455435857176781, + 3.1261582374572754, + -0.17752961814403534, + -0.12434475123882294 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 9 cm, move right 7 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33981141448020935, + 0.11275824904441833, + 0.0631927028298378, + -3.091418743133545, + -0.19127331674098969, + -0.11844105273485184 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "make contact with broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper remains open with no grasp evidence in this segment, indicating readiness for contact-based manipulation. The next action is to lower the end-effector slightly to make contact with the broccoli for nudging it out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 7 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3130395710468292, + 0.10697149485349655, + 0.08612991869449615, + -3.029743194580078, + -0.18494269251823425, + -0.08904196321964264 + ], + "gripper_value": 0.676182746887207 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "make contact with broccoli", + "subtask_reasoning": "The robot has approached the pan and positioned its end-effector above the broccoli. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to gently nudge or push the broccoli out of the pan using the open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.28874093294143677, + 0.08598291873931885, + 0.10021117329597473, + -3.002535104751587, + -0.16514816880226135, + -0.004614661913365126 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "make contact with broccoli", + "subtask_reasoning": "The robot has approached the pan and positioned its end-effector above the broccoli. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to gently nudge or push the broccoli out of the pan using the open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26372015476226807, + 0.055908724665641785, + 0.08510468900203705, + -3.0464353561401367, + -0.1833036094903946, + 0.09920886904001236 + ], + "gripper_value": 0.676182746887207 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "power outlet": [ + 704, + 77, + 781, + 196 + ], + "cardboard box": [ + 79, + 252, + 844, + 978 + ], + "toy carrot": [ + 122, + 521, + 319, + 709 + ], + "toy cucumber": [ + 194, + 467, + 365, + 691 + ], + "toy corn": [ + 621, + 467, + 717, + 599 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "make contact with broccoli", + "subtask_reasoning": "The robot has approached the pan and positioned its end-effector above the broccoli. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to gently nudge or push the broccoli out of the pan using the open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24961718916893005, + 0.04517801105976105, + 0.06563682109117508, + -3.12086820602417, + -0.17708373069763184, + 0.18195952475070953 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "reposition during contact", + "subtask_reasoning": "The robot's end-effector is in contact with the broccoli inside the pan, having completed the approach and initial positioning. The gripper remains open with no closing evidence, indicating a pushing or nudging strategy rather than grasping. The next action is to continue repositioning slightly to effectively push the broccoli out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23972763121128082, + 0.028914304450154305, + 0.05395692586898804, + 3.1359336376190186, + -0.20382024347782135, + 0.24069525301456451 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "nudge broccoli out of pan", + "subtask_reasoning": "The robot's end-effector is in contact with the broccoli inside the pan, having completed the approach and initial positioning. The gripper remains open with no closing evidence, indicating a pushing or nudging strategy rather than grasping. The next action is to continue repositioning slightly to effectively push the broccoli out of the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23089437186717987, + 0.019971508532762527, + 0.04048377275466919, + 3.1124799251556396, + -0.22335873544216156, + 0.2957759201526642 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "nudge broccoli out of pan", + "subtask_reasoning": "The robot's end-effector is positioned above the broccoli inside the cardboard pan, with the gripper open and slightly closing as indicated by segment-level evidence. The broccoli remains in the pan, and the robot appears to be making contact or preparing to nudge it. The next action is likely a gentle push or nudge to move the broccoli out of the pan using the open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2328842431306839, + 0.0191737599670887, + 0.041284143924713135, + 3.1128787994384766, + -0.23065058887004852, + 0.31136560440063477 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "nudge broccoli out of pan", + "subtask_reasoning": "The robot's end-effector is positioned above the broccoli inside the cardboard pan, with the gripper open and slightly closing as indicated by segment-level evidence. The broccoli remains in the pan, and the robot appears to be making contact or preparing to nudge it. The next action is likely a gentle push or nudge to move the broccoli out of the pan using the open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23579007387161255, + 0.021670693531632423, + 0.04409022629261017, + 3.108220338821411, + -0.229753315448761, + 0.2856350541114807 + ], + "gripper_value": 0.7477011680603027 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 60, + 241, + 845, + 981 + ], + "toy carrot": [ + 122, + 519, + 318, + 710 + ], + "toy corn": [ + 620, + 467, + 717, + 599 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "nudge broccoli out of pan", + "subtask_reasoning": "The robot's end-effector is positioned above the broccoli inside the cardboard pan, with the gripper open and slightly closing as indicated by segment-level evidence. The broccoli remains in the pan, and the robot appears to be making contact or preparing to nudge it. The next action is likely a gentle push or nudge to move the broccoli out of the pan using the open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23868361115455627, + 0.026205742731690407, + 0.04983115568757057, + -3.138976812362671, + -0.2224578559398651, + 0.25397753715515137 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "retreat after displacement", + "subtask_reasoning": "The robot's end-effector is positioned above the broccoli inside the cardboard pan, with the gripper open and slightly closing as indicated by segment-level evidence. The broccoli remains in the pan, and the robot appears to be making contact or preparing to nudge it. The next action is likely a gentle push or nudge to move the broccoli out of the pan using the open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.24560272693634033, + 0.032190125435590744, + 0.061221666634082794, + -3.092576265335083, + -0.21588608622550964, + 0.20232008397579193 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "retreat after displacement", + "subtask_reasoning": "The robot's end-effector is positioned above the broccoli inside the cardboard pan, with the gripper open and slightly closing as indicated by segment-level evidence. The broccoli remains in the pan, and the robot appears to be making contact or preparing to nudge it. The next action is likely a gentle push or nudge to move the broccoli out of the pan using the open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24536190927028656, + 0.03235173970460892, + 0.061187706887722015, + -3.091369390487671, + -0.21460813283920288, + 0.20278184115886688 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "retreat after displacement", + "subtask_reasoning": "The broccoli has been successfully nudged out of the pan and is now resting on the stove surface. The robot arm is currently positioned above the stove with an open gripper, having completed the displacement action. The next step is to retreat the arm away from the stove area to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24536190927028656, + 0.03235173970460892, + 0.061187706887722015, + -3.091369390487671, + -0.21460813283920288, + 0.20278184115886688 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "retreat after displacement", + "subtask_reasoning": "The broccoli has been successfully nudged out of the pan and is now resting on the stove surface. The robot arm is currently positioned above the stove with an open gripper, having completed the displacement action. The next step is to retreat the arm away from the stove area to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2451234757900238, + 0.03235258534550667, + 0.0611395426094532, + -3.0910773277282715, + -0.2131073921918869, + 0.20285926759243011 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli from the pan and place it on the stove surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "make contact with broccoli" + }, + { + "id": 4, + "subtask": "reposition during contact" + }, + { + "id": 5, + "subtask": "nudge broccoli out of pan" + }, + { + "id": 6, + "subtask": "retreat after displacement" + } + ], + "subtask_name": "retreat after displacement", + "subtask_reasoning": "The broccoli has been successfully nudged out of the pan and is now resting on the stove surface. The robot arm is currently positioned above the stove with an open gripper, having completed the displacement action. The next step is to retreat the arm away from the stove area to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004252_ecot.json b/cot/chunk-0004/episode_0004252_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9d1a5219cb4a35a686d6327b2a6107223b5d82e4 --- /dev/null +++ b/cot/chunk-0004/episode_0004252_ecot.json @@ -0,0 +1,1625 @@ +{ + "task_name": "episode_0004252", + "episode_json": "json/chunk-0004/episode_0004252.json", + "video_path": "videos/chunk-0004/image_0/episode_0004252.mp4", + "instruction": "Move the orange towel next to the basket.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004252.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.002661466598510742, + "std": 0.00115515710785985, + "delta_total": -0.002661466598510742, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00266, std=0.00116, total_delta=-0.00266). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 8 + ], + [ + 3, + 9, + 15 + ], + [ + 4, + 16, + 19 + ], + [ + 5, + 20, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector from initial position toward the orange towel on the floor.\"},\n {\"id\": 2, \"name\": \"contact towel\", \"start\": 8, \"end\": 8, \"planning\": \"Make brief contact with the towel to prepare for sliding motion.\"},\n {\"id\": 3, \"name\": \"slide towel toward basket\", \"start\": 9, \"end\": 15, \"planning\": \"Drag the orange towel across the floor toward the white basket using continuous pushing motion.\"},\n {\"id\": 4, \"name\": \"reposition near basket\", \"start\": 16, \"end\": 19, \"planning\": \"Adjust the towel’s final position to align it neatly beside the basket.\"},\n {\"id\": 5, \"name\": \"retreat from towel\", \"start\": 20, \"end\": 22, \"planning\": \"Lift and withdraw the end-effector away from the towel after positioning is complete.\"}\n ],\n \"global_plan\": \"The robot approaches the orange towel, makes contact, slides it toward the basket, fine-tunes its placement beside the basket, then retreats — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"No segment shows meaningful gripper closing; all actions are contact-based (approach, contact, slide, reposition, retreat). Frame ranges follow provided segments exactly for full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel", + "start": 0, + "end": 7, + "planning": "Move the end-effector from initial position toward the orange towel on the floor." + }, + { + "id": 2, + "name": "contact towel", + "start": 8, + "end": 8, + "planning": "Make brief contact with the towel to prepare for sliding motion." + }, + { + "id": 3, + "name": "slide towel toward basket", + "start": 9, + "end": 15, + "planning": "Drag the orange towel across the floor toward the white basket using continuous pushing motion." + }, + { + "id": 4, + "name": "reposition near basket", + "start": 16, + "end": 19, + "planning": "Adjust the towel’s final position to align it neatly beside the basket." + }, + { + "id": 5, + "name": "retreat from towel", + "start": 20, + "end": 22, + "planning": "Lift and withdraw the end-effector away from the towel after positioning is complete." + } + ], + "global_plan": "The robot approaches the orange towel, makes contact, slides it toward the basket, fine-tunes its placement beside the basket, then retreats — all without grasping, as gripper remains open throughout.", + "notes": "No segment shows meaningful gripper closing; all actions are contact-based (approach, contact, slide, reposition, retreat). Frame ranges follow provided segments exactly for full coverage and contiguity." + } + }, + "episode_goal": "Move the orange towel next to the basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22936835885047913, + -0.1405630111694336, + 0.05026336386799812, + -3.074869394302368, + -0.22347812354564667, + -0.7196522355079651 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the orange towel with the gripper open, initiating movement toward the towel. No contact has been made yet, and the subtask of approaching the towel is in progress. The next action is to continue moving the end-effector closer to establish contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 23 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2247464656829834, + -0.137830451130867, + 0.04304353520274162, + -3.0836997032165527, + -0.1952519416809082, + -0.713833212852478 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the orange towel with the gripper open, initiating movement toward the towel. No contact has been made yet, and the subtask of approaching the towel is in progress. The next action is to continue moving the end-effector closer to establish contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 23 cm, move down 8 cm, rotate clockwise 40 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22020326554775238, + -0.09730423986911774, + 0.03783373162150383, + -3.0966596603393555, + -0.1705549657344818, + -0.5719732046127319 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 134, + 592, + 415, + 919 + ], + "laundry basket": [ + 456, + 661, + 881, + 994 + ], + "wooden floor": [ + 13, + 469, + 934, + 997 + ], + "washing machine": [ + 72, + 6, + 991, + 740 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the orange towel with the gripper open, initiating movement toward the towel. No contact has been made yet, and the subtask of approaching the towel is in progress. The next action is to continue moving the end-effector closer to establish contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 19 cm, move down 7 cm, rotate clockwise 30 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21536734700202942, + -0.06405382603406906, + 0.03504003584384918, + -3.1124613285064697, + -0.18032804131507874, + -0.4757576286792755 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel, which lies flat on the wooden surface to the left of the basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the towel to initiate sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move down 7 cm, rotate clockwise 30 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21727469563484192, + -0.02349342778325081, + 0.037784360349178314, + -3.1226718425750732, + -0.2022620141506195, + -0.3474929928779602 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel, which lies flat on the wooden surface to the left of the basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the towel to initiate sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 11 cm, move down 7 cm, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21546995639801025, + 0.017470726743340492, + 0.02812684327363968, + -3.140155553817749, + -0.21328984200954437, + -0.2094920426607132 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel, which lies flat on the wooden surface to the left of the basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the towel to initiate sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21584373712539673, + 0.04690808802843094, + 0.009801900945603848, + -3.131754159927368, + -0.19540128111839294, + -0.1416734755039215 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel, which lies flat on the wooden surface to the left of the basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the towel to initiate sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21413633227348328, + 0.07150739431381226, + -0.010382778011262417, + -3.139782667160034, + -0.1841794103384018, + -0.07463506609201431 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel, which lies flat on the wooden surface to the left of the basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the towel to initiate sliding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21216493844985962, + 0.08965908735990524, + -0.03337327018380165, + 3.141071319580078, + -0.17877115309238434, + -0.026709673926234245 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "contact towel", + "subtask_reasoning": "The robot has approached the orange towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next step is to slide the towel toward the basket while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2138889580965042, + 0.10005255788564682, + -0.050461847335100174, + -3.1295342445373535, + -0.14262603223323822, + -0.01684713177382946 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "slide towel toward basket", + "subtask_reasoning": "The robot has approached the orange towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next step is to slide the towel toward the basket while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21131354570388794, + 0.10526705533266068, + -0.06523264199495316, + -3.1154890060424805, + -0.1379033625125885, + 0.008319657295942307 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "slide towel toward basket", + "subtask_reasoning": "The robot has approached the orange towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next step is to slide the towel toward the basket while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21200613677501678, + 0.10749407857656479, + -0.07727128267288208, + -3.110666275024414, + -0.1108383908867836, + 0.02738029696047306 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "slide towel toward basket", + "subtask_reasoning": "The robot has approached the orange towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next step is to slide the towel toward the basket while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21837888658046722, + 0.09564179927110672, + -0.07852599769830704, + -3.105496644973755, + -0.10177098959684372, + -0.006246875040233135 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "slide towel toward basket", + "subtask_reasoning": "The robot is in contact with the orange towel on the floor, positioned between the towel and the basket. The approach and initial contact have been completed. The gripper remains open, indicating no grasp has occurred. The next action is to slide the towel toward the basket using end-effector pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 11 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21825189888477325, + 0.07683666050434113, + -0.07907690852880478, + -3.108591079711914, + -0.10563520342111588, + -0.008593829348683357 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "slide towel toward basket", + "subtask_reasoning": "The robot is in contact with the orange towel on the floor, positioned between the towel and the basket. The approach and initial contact have been completed. The gripper remains open, indicating no grasp has occurred. The next action is to slide the towel toward the basket using end-effector pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21972975134849548, + 0.03970418497920036, + -0.07689765095710754, + -3.110539674758911, + -0.08063560724258423, + -0.10605782270431519 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 461, + 631, + 880, + 994 + ], + "purple towel": [ + 463, + 201, + 718, + 445 + ], + "wooden floor": [ + 6, + 484, + 934, + 997 + ], + "orange cloth": [ + 209, + 634, + 501, + 960 + ], + "washing machine": [ + 115, + 4, + 993, + 733 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "slide towel toward basket", + "subtask_reasoning": "The robot is in contact with the orange towel on the floor, positioned between the towel and the basket. The approach and initial contact have been completed. The gripper remains open, indicating no grasp has occurred. The next action is to slide the towel toward the basket using end-effector pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22691896557807922, + 0.011680512689054012, + -0.07279524207115173, + -3.139474630355835, + -0.11500775814056396, + -0.17095041275024414 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "slide towel toward basket", + "subtask_reasoning": "The robot is in contact with the orange towel on the floor, positioned between the towel and the basket. The approach and initial contact have been completed. The gripper remains open, indicating no grasp has occurred. The next action is to slide the towel toward the basket using end-effector pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23338070511817932, + -0.016946187242865562, + -0.07105965167284012, + 3.1224772930145264, + -0.13355711102485657, + -0.24657092988491058 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 463, + 202, + 718, + 445 + ], + "wooden floor": [ + 14, + 471, + 936, + 997 + ], + "orange cloth": [ + 308, + 710, + 581, + 992 + ], + "laundry basket": [ + 471, + 635, + 884, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition near basket", + "subtask_reasoning": "The robot is in contact with the orange towel on the floor, positioned between the towel and the basket. The approach and initial contact have been completed. The gripper remains open, indicating no grasp has occurred. The next action is to slide the towel toward the basket using end-effector pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2398959994316101, + -0.033901963382959366, + -0.06884975731372833, + 3.1203291416168213, + -0.15180031955242157, + -0.3042767643928528 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition near basket", + "subtask_reasoning": "The robot is in contact with the orange towel, positioned between the towel and the basket. The gripper remains fully open, confirming a sliding motion rather than grasping. The next action is to continue pushing the towel closer to the basket to finalize its placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24451418220996857, + -0.03924527019262314, + -0.06736191362142563, + 3.1190569400787354, + -0.16569358110427856, + -0.3219431936740875 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition near basket", + "subtask_reasoning": "The robot is in contact with the orange towel, positioned between the towel and the basket. The gripper remains fully open, confirming a sliding motion rather than grasping. The next action is to continue pushing the towel closer to the basket to finalize its placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24180111289024353, + -0.03769310191273689, + -0.06349903345108032, + 3.128319263458252, + -0.14299261569976807, + -0.3334459364414215 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition near basket", + "subtask_reasoning": "The robot is in contact with the orange towel, positioned between the towel and the basket. The gripper remains fully open, confirming a sliding motion rather than grasping. The next action is to continue pushing the towel closer to the basket to finalize its placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2440643161535263, + -0.029837634414434433, + -0.03655322268605232, + -3.110499143600464, + -0.16601362824440002, + -0.3367583453655243 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The robot is in contact with the orange towel, positioned between the towel and the basket. The gripper remains fully open, confirming a sliding motion rather than grasping. The next action is to continue pushing the towel closer to the basket to finalize its placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24426864087581635, + -0.011971688829362392, + -0.004080583807080984, + -3.064861297607422, + -0.1869094967842102, + -0.29601842164993286 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The orange towel is already positioned next to the basket, and the robot’s end-effector is hovering above it with gripper fully open. Since the subtask is 'retreat from towel' and no grasping occurred, the robot is likely moving away after completing placement — next action should be to continue retracting or repositioning arm clear of the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24445480108261108, + -0.007544020656496286, + 0.024665117263793945, + -3.0658257007598877, + -0.2611162066459656, + -0.29580190777778625 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel next to the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact towel" + }, + { + "id": 3, + "subtask": "slide towel toward basket" + }, + { + "id": 4, + "subtask": "reposition near basket" + }, + { + "id": 5, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The orange towel is already positioned next to the basket, and the robot’s end-effector is hovering above it with gripper fully open. Since the subtask is 'retreat from towel' and no grasping occurred, the robot is likely moving away after completing placement — next action should be to continue retracting or repositioning arm clear of the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004254_ecot.json b/cot/chunk-0004/episode_0004254_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..86b097bcba9c3732b353e1928fda170cc60d1a34 --- /dev/null +++ b/cot/chunk-0004/episode_0004254_ecot.json @@ -0,0 +1,1667 @@ +{ + "task_name": "episode_0004254", + "episode_json": "json/chunk-0004/episode_0004254.json", + "video_path": "videos/chunk-0004/image_0/episode_0004254.mp4", + "instruction": "Put the cooking pot on top of the purple cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004254.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.9202578663825989, + "std": 0.41800615191459656, + "delta_total": -0.43580329418182373, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92026, std=0.41801, total_delta=-0.43580). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 111, + 211, + 211, + 211, + 211, + 211, + 222 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 10 + ], + [ + 3, + 11, + 16 + ], + [ + 4, + 17, + 21 + ], + [ + 5, + 22, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cooking pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the cooking pot without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp cooking pot\", \"start\": 5, \"end\": 10, \"planning\": \"Close gripper around the cooking pot handle; segment shows meaningful closing and image confirms contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 11, \"end\": 16, \"planning\": \"Lift the pot slightly and move it toward the purple cloth while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place pot on purple cloth\", \"start\": 17, \"end\": 21, \"planning\": \"Lower the pot onto the purple cloth and begin releasing grip; gripper opens partially during this phase.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 22, \"end\": 22, \"planning\": \"Fully release the pot and begin retreating; no further motion or grasping occurs in this final frame.\"}\n ],\n \"global_plan\": \"Approach the cooking pot, grasp it securely, lift and reposition it over the purple cloth, place it down gently, then release and retreat.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases. Segment 3 (frames 11-16) is inferred as lift/reposition based on continuity from grasp and placement, though no explicit keyframe is provided — consistent with trajectory flow. Segment 5 is a single-frame release/retreat phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cooking pot", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the cooking pot without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp cooking pot", + "start": 5, + "end": 10, + "planning": "Close gripper around the cooking pot handle; segment shows meaningful closing and image confirms contact." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 11, + "end": 16, + "planning": "Lift the pot slightly and move it toward the purple cloth while maintaining grip." + }, + { + "id": 4, + "name": "place pot on purple cloth", + "start": 17, + "end": 21, + "planning": "Lower the pot onto the purple cloth and begin releasing grip; gripper opens partially during this phase." + }, + { + "id": 5, + "name": "release and retreat", + "start": 22, + "end": 22, + "planning": "Fully release the pot and begin retreating; no further motion or grasping occurs in this final frame." + } + ], + "global_plan": "Approach the cooking pot, grasp it securely, lift and reposition it over the purple cloth, place it down gently, then release and retreat.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases. Segment 3 (frames 11-16) is inferred as lift/reposition based on continuity from grasp and placement, though no explicit keyframe is provided — consistent with trajectory flow. Segment 5 is a single-frame release/retreat phase." + } + }, + "episode_goal": "Place the cooking pot on top of the purple cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.39573997259140015, + 0.07162761688232422, + 0.08452709019184113, + -2.9053657054901123, + -0.10485350340604782, + 0.06824439764022827 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cooking pot", + "subtask_reasoning": "The robot is positioned above the table with the cooking pot and purple cloth visible below. No movement or grasping has occurred yet. The next action should be to lower the end effector toward the cooking pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 16 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.39161476492881775, + 0.06974489241838455, + 0.06832054257392883, + -2.912013053894043, + -0.06122207269072533, + 0.06568169593811035 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cooking pot", + "subtask_reasoning": "The robot is positioned above the table with the cooking pot and purple cloth visible below. No movement or grasping has occurred yet. The next action should be to lower the end effector toward the cooking pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 16 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37328609824180603, + 0.04104099050164223, + 0.06254943460226059, + -2.9522900581359863, + -0.03223676607012749, + -0.01627497933804989 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cooking pot", + "subtask_reasoning": "The robot is positioned near the cooking pot on the wooden surface, with the purple cloth visible to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 13 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35109779238700867, + -0.005448764655739069, + 0.09699027985334396, + -2.962222099304199, + -0.11466732621192932, + -0.1427113562822342 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cooking pot", + "subtask_reasoning": "The robot is positioned near the cooking pot on the wooden surface, with the purple cloth visible to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31978467106819153, + -0.04870119318366051, + 0.11818943172693253, + -2.9619598388671875, + -0.17891152203083038, + -0.25006169080734253 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cooking pot", + "subtask_reasoning": "The robot is positioned near the cooking pot on the wooden surface, with the purple cloth visible to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865349352359772, + -0.08750050514936447, + 0.10804389417171478, + -2.994093418121338, + -0.16329920291900635, + -0.34026721119880676 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cooking pot", + "subtask_reasoning": "The robot is positioned near the cooking pot on the wooden surface, with the purple cloth visible to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26304158568382263, + -0.09478355199098587, + 0.08637475222349167, + -3.0129501819610596, + -0.10348503291606903, + -0.338026225566864 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple sponge": [ + 156, + 316, + 445, + 613 + ], + "red object": [ + 442, + 189, + 529, + 322 + ], + "wooden table": [ + 5, + 91, + 927, + 938 + ], + "blue cabinet": [ + 3, + 555, + 333, + 992 + ], + "metal plate": [ + 209, + 175, + 390, + 324 + ], + "white tray": [ + 281, + 1, + 666, + 194 + ], + "blue scrub brush": [ + 522, + 295, + 602, + 430 + ] + } + } + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cooking pot", + "subtask_reasoning": "The robot is positioned near the cooking pot on the wooden surface, with the purple cloth visible to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, close gripper; then move left 7 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566658854484558, + -0.09338285028934479, + 0.06880775839090347, + -3.0153121948242188, + -0.07975097745656967, + -0.32413798570632935 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cooking pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the cooking pot, which sits on the wooden table next to the purple cloth. The gripper is currently open and aligned with the pot's rim, indicating readiness to close. The next action is to close the gripper to securely grasp the cooking pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move left 11 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2595512866973877, + -0.09075192362070084, + 0.0523231104016304, + -2.9923202991485596, + -0.05069689080119133, + -0.31432849168777466 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cooking pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the cooking pot, which sits on the wooden table next to the purple cloth. The gripper is currently open and aligned with the pot's rim, indicating readiness to close. The next action is to close the gripper to securely grasp the cooking pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move left 11 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598353922367096, + -0.08956428617238998, + 0.03949646279215813, + -2.982372760772705, + -0.02978505752980709, + -0.30736029148101807 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cooking pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the cooking pot, which sits on the wooden table next to the purple cloth. The gripper is currently open and aligned with the pot's rim, indicating readiness to close. The next action is to close the gripper to securely grasp the cooking pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 11 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25866109132766724, + -0.08976168185472488, + 0.03590838238596916, + -2.986743688583374, + -0.03277368098497391, + -0.3235406279563904 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cooking pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the cooking pot, which sits on the wooden table next to the purple cloth. The gripper is currently open and aligned with the pot's rim, indicating readiness to close. The next action is to close the gripper to securely grasp the cooking pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 11 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2580234408378601, + -0.0898716002702713, + 0.035552989691495895, + -2.988877773284912, + -0.03077431209385395, + -0.323014497756958 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the cooking pot, which sits on the wooden table next to the purple cloth. The gripper is currently open and aligned with the pot's rim, indicating readiness to close. The next action is to close the gripper to securely grasp the cooking pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2549262046813965, + -0.09003349393606186, + 0.034271761775016785, + -2.996901273727417, + -0.020217597484588623, + -0.3282991647720337 + ], + "gripper_value": 0.16130207479000092 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the cooking pot, which sits on the wooden table next to the purple cloth. The gripper is currently open and aligned with the pot's rim, indicating readiness to close. The next action is to close the gripper to securely grasp the cooking pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25470834970474243, + -0.0952017530798912, + 0.04893248900771141, + -3.0310378074645996, + -0.060120001435279846, + -0.33624428510665894 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the cooking pot, as indicated by the closed gripper and segment-level evidence. The pot is currently being lifted and repositioned above the purple cloth. The next action is to continue moving the pot until it is directly centered over the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25592687726020813, + -0.09428892284631729, + 0.0799088329076767, + -3.071702241897583, + -0.13356350362300873, + -0.31062284111976624 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple sponge": [ + 156, + 314, + 446, + 614 + ], + "red object": [ + 443, + 191, + 531, + 322 + ], + "blue scrub brush": [ + 525, + 223, + 665, + 420 + ], + "white tray": [ + 281, + 2, + 637, + 197 + ], + "metal bowl": [ + 410, + 336, + 646, + 699 + ], + "metal plate": [ + 210, + 176, + 391, + 323 + ], + "wooden table": [ + 5, + 81, + 943, + 942 + ], + "blue cabinet": [ + 3, + 554, + 334, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the cooking pot, as indicated by the closed gripper and segment-level evidence. The pot is currently being lifted and repositioned above the purple cloth. The next action is to continue moving the pot until it is directly centered over the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25929367542266846, + -0.066792331635952, + 0.10120154917240143, + -3.085021495819092, + -0.17272426187992096, + -0.24714148044586182 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the cooking pot, as indicated by the closed gripper and segment-level evidence. The pot is currently being lifted and repositioned above the purple cloth. The next action is to continue moving the pot until it is directly centered over the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2585166394710541, + -0.017898229882121086, + 0.08951342105865479, + -3.0526304244995117, + -0.1210431456565857, + -0.1524946242570877 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 75, + 945, + 941 + ], + "metal bowl": [ + 291, + 314, + 512, + 584 + ], + "white tray": [ + 289, + 6, + 485, + 169 + ], + "metal plate": [ + 208, + 174, + 392, + 323 + ], + "purple sponge": [ + 156, + 314, + 367, + 615 + ] + } + } + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the cooking pot, as indicated by the closed gripper and segment-level evidence. The pot is currently being lifted and repositioned above the purple cloth. The next action is to continue moving the pot until it is directly centered over the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26221442222595215, + 0.01763930544257164, + 0.06680110841989517, + -3.0063440799713135, + -0.05686128884553909, + -0.10430934280157089 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on purple cloth", + "subtask_reasoning": "The robot has successfully grasped the cooking pot, as indicated by the closed gripper and segment-level evidence. The pot is currently being lifted and repositioned above the purple cloth. The next action is to continue moving the pot until it is directly centered over the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26989421248435974, + 0.04086461290717125, + 0.05958550050854683, + -2.9770171642303467, + -0.03746962919831276, + -0.06393186002969742 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on purple cloth", + "subtask_reasoning": "The robot has successfully grasped the cooking pot, as indicated by the closed gripper and segment-level evidence. The pot is currently being lifted and repositioned above the purple cloth. The next action is to continue moving the pot until it is directly centered over the cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27647507190704346, + 0.047000009566545486, + 0.05225696787238121, + -2.963701009750366, + -0.02067740075290203, + -0.06165390834212303 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on purple cloth", + "subtask_reasoning": "The cooking pot is currently held by the gripper and positioned directly above the purple cloth. The gripper is open, indicating the pot has been released or is in the process of being placed. The next action is to ensure the pot is stably resting on the cloth and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778976857662201, + 0.04974563792347908, + 0.05289892852306366, + -2.958360195159912, + -0.018990661948919296, + -0.04729019105434418 + ], + "gripper_value": 0.09737934172153473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on purple cloth", + "subtask_reasoning": "The cooking pot is currently held by the gripper and positioned directly above the purple cloth. The gripper is open, indicating the pot has been released or is in the process of being placed. The next action is to ensure the pot is stably resting on the cloth and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27649185061454773, + 0.049756359308958054, + 0.048956602811813354, + -2.9624524116516113, + 0.0004322620516177267, + -0.05994812026619911 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on purple cloth", + "subtask_reasoning": "The cooking pot is currently held by the gripper and positioned directly above the purple cloth. The gripper is open, indicating the pot has been released or is in the process of being placed. The next action is to ensure the pot is stably resting on the cloth and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2739609181880951, + 0.04206835851073265, + 0.06337586045265198, + -3.006608247756958, + -0.018264036625623703, + -0.09459943324327469 + ], + "gripper_value": 0.5650128126144409 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cooking pot on top of the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cooking pot" + }, + { + "id": 2, + "subtask": "grasp cooking pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot on purple cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cooking pot is already placed on the purple cloth, and the gripper is open and not in contact with the pot. The release phase is complete, and the robot is now retreating from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004255_ecot.json b/cot/chunk-0004/episode_0004255_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..abe3c40b856cbfc22e5ccbc3f48e3c613bd3022e --- /dev/null +++ b/cot/chunk-0004/episode_0004255_ecot.json @@ -0,0 +1,1053 @@ +{ + "task_name": "episode_0004255", + "episode_json": "json/chunk-0004/episode_0004255.json", + "video_path": "videos/chunk-0004/image_0/episode_0004255.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004255.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.9318140149116516, + "std": 0.32608893513679504, + "delta_total": -0.9318140149116516, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93181, std=0.32609, total_delta=-0.93181). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 109, + 109, + 109, + 109, + 109, + 109 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 9 + ], + [ + 3, + 10, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the lever while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 4, \"end\": 8, \"planning\": \"Close gripper around the lever to establish secure hold.\"},\n {\"id\": 3, \"name\": \"rotate lever vertical\", \"start\": 9, \"end\": 12, \"planning\": \"Apply torque to turn the lever to vertical front position while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 13, \"end\": 15, \"planning\": \"Open gripper to release lever and move end-effector away from the mechanism.\"}\n ],\n \"global_plan\": \"Approach the lever, grasp it firmly, rotate it to vertical front orientation, then release and retreat.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.47256) consistent with grasping; Segment 2 is a single frame with no gripper change but occurs during active rotation under prior grasp; Segment 3 shows continued gripper closure (delta=-0.39789) indicating sustained hold during manipulation followed by release. All subtasks align with observed motion and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the lever while keeping gripper open." + }, + { + "id": 2, + "name": "grasp lever", + "start": 4, + "end": 8, + "planning": "Close gripper around the lever to establish secure hold." + }, + { + "id": 3, + "name": "rotate lever vertical", + "start": 9, + "end": 12, + "planning": "Apply torque to turn the lever to vertical front position while maintaining grip." + }, + { + "id": 4, + "name": "release and retreat", + "start": 13, + "end": 15, + "planning": "Open gripper to release lever and move end-effector away from the mechanism." + } + ], + "global_plan": "Approach the lever, grasp it firmly, rotate it to vertical front orientation, then release and retreat.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.47256) consistent with grasping; Segment 2 is a single frame with no gripper change but occurs during active rotation under prior grasp; Segment 3 shows continued gripper closure (delta=-0.39789) indicating sustained hold during manipulation followed by release. All subtasks align with observed motion and gripper evidence." + } + }, + "episode_goal": "Turn the stove knob lever to the vertical front position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.43402740359306335, + -0.11372575163841248, + 0.07069197297096252, + -2.8921356201171875, + -0.08362086117267609, + -0.03745908662676811 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the stove with the lever visible but not yet in contact. No grasping has occurred as the gripper remains open and stationary. The next action is to move the end-effector closer to the lever to prepare for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.43426236510276794, + -0.11129448562860489, + 0.05985848233103752, + -2.8407411575317383, + -0.08041419833898544, + -0.01749339886009693 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "onion": [ + 305, + 225, + 408, + 361 + ], + "cutting board": [ + 267, + 269, + 502, + 439 + ] + } + } + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the stove with the lever visible but not yet in close proximity. No grasping has occurred as the gripper remains fully open. The next action is to move the end-effector closer to the lever to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, close gripper; then move back 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4391549229621887, + -0.1258241981267929, + 0.0716642215847969, + -2.805715799331665, + -0.1591508835554123, + -0.006802736781537533 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the stove with the lever visible but not yet in close proximity. No grasping has occurred as the gripper remains fully open. The next action is to move the end-effector closer to the lever to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, close gripper; then move back 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.44798967242240906, + -0.12782040238380432, + 0.07756858319044113, + -2.8026559352874756, + -0.22743982076644897, + 0.0052080340683460236 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the stove with the lever visible but not yet in close proximity. No grasping has occurred as the gripper remains fully open. The next action is to move the end-effector closer to the lever to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 3 cm, move left 1 cm, close gripper; then move back 7 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.45426708459854126, + -0.1289907991886139, + 0.07910177856683731, + -2.8059329986572266, + -0.26375120878219604, + -0.012237989343702793 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot is positioned near the stove with the lever visible but not yet in close proximity. No grasping has occurred as the gripper remains fully open. The next action is to move the end-effector closer to the lever to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, close gripper; then move back 7 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.46656230092048645, + -0.12352355569601059, + 0.08634639531373978, + -2.815061092376709, + -0.31085121631622314, + -0.034995272755622864 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot is positioned near the stove with the lever visible but not yet in close proximity. No grasping has occurred as the gripper remains fully open. The next action is to move the end-effector closer to the lever to prepare for interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, close gripper; then move back 7 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4775731861591339, + -0.11549396812915802, + 0.08842862397432327, + -2.8180665969848633, + -0.3335542380809784, + -0.0454602986574173 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the stove knob lever and is now positioned to grasp it. The gripper is open and aligned with the lever, ready to close. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 7 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4856834411621094, + -0.11194558441638947, + 0.07976630330085754, + -2.820322275161743, + -0.3283991515636444, + -0.05642323195934296 + ], + "gripper_value": 0.8196109533309937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the stove knob lever and is now positioned to grasp it. The gripper is open and aligned with the lever, ready to close. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.48653942346572876, + -0.11226174980401993, + 0.08152298629283905, + -2.8339319229125977, + -0.33707550168037415, + -0.03140789270401001 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the stove knob lever and is now positioned to grasp it. The gripper is open and aligned with the lever, ready to close. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.48412153124809265, + -0.11442498117685318, + 0.08117775619029999, + -2.8450050354003906, + -0.3410578668117523, + 0.009890287183225155 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the stove knob lever and is now positioned to grasp it. The gripper is open and aligned with the lever, ready to close. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.47122275829315186, + -0.11615042388439178, + 0.07736066728830338, + -2.8443667888641357, + -0.32794132828712463, + 0.06390540301799774 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot is in contact with the stove knob lever, having completed the approach and grasp phases. The gripper signal is stable, indicating the lever is being held rather than actively squeezed further. The next action is to rotate the lever to the vertical front position while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 3 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.45317864418029785, + -0.11639371514320374, + 0.0713915079832077, + -2.8488261699676514, + -0.303171843290329, + 0.10174594819545746 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot is in contact with the stove knob lever, having completed the approach and grasp phases. The gripper signal is stable, indicating the lever is being held rather than actively squeezed further. The next action is to rotate the lever to the vertical front position while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.43035268783569336, + -0.11699190735816956, + 0.05484138801693916, + -2.8703837394714355, + -0.27174049615859985, + 0.12846913933753967 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot is in contact with the stove knob lever, having completed the approach and grasp phases. The gripper signal is stable, indicating the lever is being held rather than actively squeezed further. The next action is to rotate the lever to the vertical front position while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41326767206192017, + -0.12399908900260925, + 0.05046966299414635, + -2.9132750034332275, + -0.2685268819332123, + 0.14507067203521729 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 521, + 366, + 736, + 640 + ], + "onion": [ + 290, + 226, + 408, + 361 + ] + } + } + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the stove knob lever, having completed the approach and grasp phases. The gripper signal is stable, indicating the lever is being held rather than actively squeezed further. The next action is to rotate the lever to the vertical front position while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.41281914710998535, + -0.12572737038135529, + 0.04460034519433975, + -2.945852518081665, + -0.28316792845726013, + 0.14302471280097961 + ], + "gripper_value": 0.1729726642370224 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to the vertical front position and the gripper is now open, indicating release. The robot is beginning to retreat from the stove area. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4152892827987671, + -0.13049909472465515, + 0.04267001152038574, + -2.9834346771240234, + -0.29402729868888855, + 0.14166687428951263 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the stove knob lever to the vertical front position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to the vertical front position and the gripper is now open, indicating release. The robot is beginning to retreat from the stove area. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004256_ecot.json b/cot/chunk-0004/episode_0004256_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f623629bda70511d3f59c849d1672626b091ea17 --- /dev/null +++ b/cot/chunk-0004/episode_0004256_ecot.json @@ -0,0 +1,1026 @@ +{ + "task_name": "episode_0004256", + "episode_json": "json/chunk-0004/episode_0004256.json", + "video_path": "videos/chunk-0004/image_0/episode_0004256.mp4", + "instruction": "Flip pot upright which is in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004256.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.8744271397590637, + "std": 0.3217581808567047, + "delta_total": -0.7876503467559814, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.87443, std=0.32176, total_delta=-0.78765). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the overturned pot in the sink while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp pot rim\", \"start\": 5, \"end\": 10, \"planning\": \"Close gripper to securely grasp the rim of the pot as confirmed by decreasing gripper value and visual contact.\"},\n {\"id\": 3, \"name\": \"flip pot upright\", \"start\": 11, \"end\": 13, \"planning\": \"Rotate and lift the pot using gripper hold to flip it from sideways to upright position.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 14, \"end\": 14, \"planning\": \"Open gripper to release the now-upright pot and begin retreating end-effector away.\"}\n ],\n \"global_plan\": \"Approach the overturned pot in the sink, grasp its rim, rotate and lift to flip it upright, then release and retreat.\",\n \"notes\": \"Gripper closure is evident in Segment 1 (frames 5-10) and continues into Segment 2; flipping motion occurs during frames 11-13 with clear rotational change and sustained grip; final frame shows released state with gripper opening slightly.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the overturned pot in the sink while keeping gripper open." + }, + { + "id": 2, + "name": "grasp pot rim", + "start": 5, + "end": 10, + "planning": "Close gripper to securely grasp the rim of the pot as confirmed by decreasing gripper value and visual contact." + }, + { + "id": 3, + "name": "flip pot upright", + "start": 11, + "end": 13, + "planning": "Rotate and lift the pot using gripper hold to flip it from sideways to upright position." + }, + { + "id": 4, + "name": "release and retreat", + "start": 14, + "end": 14, + "planning": "Open gripper to release the now-upright pot and begin retreating end-effector away." + } + ], + "global_plan": "Approach the overturned pot in the sink, grasp its rim, rotate and lift to flip it upright, then release and retreat.", + "notes": "Gripper closure is evident in Segment 1 (frames 5-10) and continues into Segment 2; flipping motion occurs during frames 11-13 with clear rotational change and sustained grip; final frame shows released state with gripper opening slightly." + } + }, + "episode_goal": "Flip the pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2743213176727295, + -0.07553287595510483, + 0.19033509492874146, + 3.0971570014953613, + -0.08132313191890717, + 0.028567349538207054 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the sink with the end-effector near the overturned pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm to make contact with the pot's rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27189236879348755, + -0.07317007333040237, + 0.1749846339225769, + -3.113929271697998, + -0.008638903498649597, + 0.07465648651123047 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the sink with the end-effector near the overturned pot. No grasping has occurred yet as the gripper remains open. The next action is to lower the arm to make contact with the pot's rim." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 6 cm, move down 1 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27254828810691833, + -0.08098012208938599, + 0.1635802984237671, + -2.972867012023926, + 0.04783438518643379, + 0.10929509252309799 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the sink with the overturned pot visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt left 10 degrees, keep gripper open; then move left 6 cm, move down 1 cm, tilt right 10 degrees, close gripper; then tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2725132703781128, + -0.0860503539443016, + 0.1552775651216507, + -2.8732128143310547, + 0.073428675532341, + 0.12224721163511276 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 161, + 27, + 314, + 313 + ], + "purple ball": [ + 651, + 576, + 825, + 709 + ], + "metal pot": [ + 504, + 222, + 802, + 606 + ], + "yellow utensil": [ + 298, + 111, + 373, + 227 + ], + "dish rack": [ + 71, + 24, + 530, + 384 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the sink with the overturned pot visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt left 10 degrees, keep gripper open; then move left 6 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2745128870010376, + -0.08112385123968124, + 0.14867019653320312, + -2.789045572280884, + 0.06801047921180725, + 0.16817744076251984 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the sink with the overturned pot visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 6 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move left 2 cm, move up 1 cm, tilt right 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2773353159427643, + -0.08511297404766083, + 0.14217855036258698, + -2.7238168716430664, + 0.06247052177786827, + 0.164127379655838 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot is positioned above the sink with the overturned pot visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move left 2 cm, move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28211191296577454, + -0.08306747674942017, + 0.13813991844654083, + -2.7017273902893066, + 0.049427542835474014, + 0.15915879607200623 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot is positioned above the sink with the overturned pot visible below. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the pot's rim to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, tilt right 10 degrees, close gripper; then move left 2 cm, move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28534746170043945, + -0.0761033371090889, + 0.1345468908548355, + -2.6958343982696533, + 0.036682263016700745, + 0.15231874585151672 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot has approached the overturned pot in the sink and is now positioned above its rim. The gripper is open and aligned for grasping, with no contact yet made. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, tilt right 10 degrees, close gripper; then move left 2 cm, move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896929383277893, + -0.06215458735823631, + 0.13242162764072418, + -2.7030997276306152, + 0.025997372344136238, + 0.15694616734981537 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot has approached the overturned pot in the sink and is now positioned above its rim. The gripper is open and aligned for grasping, with no contact yet made. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, tilt right 10 degrees, keep gripper closed; then move left 2 cm, move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2894169092178345, + -0.049477141350507736, + 0.13196706771850586, + -2.7201988697052, + 0.01448183972388506, + 0.15814228355884552 + ], + "gripper_value": 0.8643063306808472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot has approached the overturned pot in the sink and is now positioned above its rim. The gripper is open and aligned for grasping, with no contact yet made. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, tilt right 10 degrees, keep gripper closed; then move left 2 cm, move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866230607032776, + -0.03790383040904999, + 0.13299348950386047, + -2.762019634246826, + 0.005754400976002216, + 0.16814418137073517 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot has approached the overturned pot in the sink and is now positioned above its rim. The gripper is open and aligned for grasping, with no contact yet made. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, keep gripper closed; then move left 2 cm, move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28199082612991333, + -0.028792481869459152, + 0.1337135136127472, + -2.854688882827759, + 0.017604105174541473, + 0.20665815472602844 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has approached the overturned pot in the sink and is now positioned above its rim. The gripper is open and aligned for grasping, with no contact yet made. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, tilt right 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792327404022217, + -0.026347732171416283, + 0.13394984602928162, + -2.9590210914611816, + 0.019627312198281288, + 0.22427499294281006 + ], + "gripper_value": 0.26876991987228394 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 160, + 26, + 318, + 312 + ], + "purple ball": [ + 670, + 558, + 832, + 709 + ], + "dish rack": [ + 73, + 24, + 503, + 383 + ], + "metal pot": [ + 526, + 182, + 823, + 548 + ], + "yellow utensil": [ + 298, + 110, + 372, + 227 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is holding the pot above the sink, having completed the approach and grasp phases. The pot is currently inverted and suspended in mid-air, indicating the lifting portion of the flip maneuver is underway. The next action is to rotate the wrist to turn the pot upright before lowering it back into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779754102230072, + -0.01660492643713951, + 0.14407382905483246, + -3.0564990043640137, + -0.019527418538928032, + 0.24651353061199188 + ], + "gripper_value": 0.12439525872468948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot is holding the pot above the sink, having completed the approach and grasp phases. The pot is currently inverted and suspended in mid-air, indicating the lifting portion of the flip maneuver is underway. The next action is to rotate the wrist to turn the pot upright before lowering it back into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27829045057296753, + -0.010529535822570324, + 0.14343632757663727, + 3.13547945022583, + -0.004489889834076166, + 0.27420103549957275 + ], + "gripper_value": 0.21050429344177246 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The pot is now upright in the sink, indicating the flip action is complete. The gripper is open and positioned above the pot, with no grasp evidence in this segment. The next step is to retreat the arm away from the sink area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004257_ecot.json b/cot/chunk-0004/episode_0004257_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0facb2e49bb15bb1411e9426630a599dceb6a2dd --- /dev/null +++ b/cot/chunk-0004/episode_0004257_ecot.json @@ -0,0 +1,2499 @@ +{ + "task_name": "episode_0004257", + "episode_json": "json/chunk-0004/episode_0004257.json", + "video_path": "videos/chunk-0004/image_0/episode_0004257.mp4", + "instruction": "Put clothes in laundry machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004257.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9235721230506897, + "std": 0.41732168197631836, + "delta_total": 0.006052255630493164, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92357, std=0.41732, total_delta=0.00605). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 17, + 17, + 117, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 232, + 232, + 232 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 16 + ], + [ + 3, + 17, + 18 + ], + [ + 4, + 19, + 20 + ], + [ + 5, + 21, + 21 + ], + [ + 6, + 22, + 31 + ], + [ + 7, + 32, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach laundry basket\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the laundry basket containing clothes without closing gripper.\"},\n {\"id\": 2, \"name\": \"position over target garment\", \"start\": 3, \"end\": 16, \"planning\": \"Adjust pose to align with blue garment inside basket, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp blue garment\", \"start\": 17, \"end\": 18, \"planning\": \"Close gripper around blue garment as evidenced by significant gripper value drop and visual contact.\"},\n {\"id\": 4, \"name\": \"lift and withdraw garment\", \"start\": 19, \"end\": 21, \"planning\": \"Lift grasped garment slightly and begin withdrawal from basket, maintaining grip.\"},\n {\"id\": 5, \"name\": \"transport to machine opening\", \"start\": 22, \"end\": 31, \"planning\": \"Move garment toward washing machine door while keeping it securely held.\"},\n {\"id\": 6, \"name\": \"insert garment into drum\", \"start\": 32, \"end\": 34, \"planning\": \"Push garment into washing machine drum and release grip as confirmed by gripper opening and visual placement.\"}\n ],\n \"global_plan\": \"Approach basket, grasp blue garment, lift and transport it to washing machine, then insert and release inside drum.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 3 (frames 17-18) and 7 (frames 32-34), aligning with grasp and release phases. Other segments use motion-based descriptions per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach laundry basket", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the laundry basket containing clothes without closing gripper." + }, + { + "id": 2, + "name": "position over target garment", + "start": 3, + "end": 16, + "planning": "Adjust pose to align with blue garment inside basket, preparing for grasp." + }, + { + "id": 3, + "name": "grasp blue garment", + "start": 17, + "end": 18, + "planning": "Close gripper around blue garment as evidenced by significant gripper value drop and visual contact." + }, + { + "id": 4, + "name": "lift and withdraw garment", + "start": 19, + "end": 21, + "planning": "Lift grasped garment slightly and begin withdrawal from basket, maintaining grip." + }, + { + "id": 5, + "name": "transport to machine opening", + "start": 22, + "end": 31, + "planning": "Move garment toward washing machine door while keeping it securely held." + }, + { + "id": 6, + "name": "insert garment into drum", + "start": 32, + "end": 34, + "planning": "Push garment into washing machine drum and release grip as confirmed by gripper opening and visual placement." + } + ], + "global_plan": "Approach basket, grasp blue garment, lift and transport it to washing machine, then insert and release inside drum.", + "notes": "Gripper evidence confirms meaningful closing only in segments 3 (frames 17-18) and 7 (frames 32-34), aligning with grasp and release phases. Other segments use motion-based descriptions per anti-hallucination rules." + } + }, + "episode_goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.1643616408109665, + 0.11387236416339874, + 0.08227674663066864, + -3.033834218978882, + -0.11060137301683426, + 0.054083649069070816 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is stationary or making minor adjustments. The next action is to move the end-effector closer to the blue cloth within the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.1629927158355713, + 0.10894063115119934, + 0.07656997442245483, + -3.0489487648010254, + -0.0979766845703125, + 0.046952925622463226 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as the gripper remains open and stationary relative to the basket. The robot needs to move its end-effector closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.17484763264656067, + 0.07213259488344193, + 0.05625171959400177, + -3.102802038192749, + -0.11196215450763702, + -0.09628169983625412 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as the gripper remains open and stationary relative to the basket. The robot needs to move its end-effector closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.18980035185813904, + 0.04777933284640312, + 0.03442610800266266, + 3.0970263481140137, + -0.1547466516494751, + -0.16949781775474548 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 273, + 675, + 688, + 993 + ], + "black cloth": [ + 826, + 693, + 995, + 846 + ], + "red cloth": [ + 454, + 749, + 680, + 994 + ], + "blue cloth": [ + 314, + 724, + 630, + 918 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as the gripper remains open and stationary relative to the basket. The robot needs to move its end-effector closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19589805603027344, + 0.021025383844971657, + 0.01517972256988287, + 3.0659894943237305, + -0.15295350551605225, + -0.23171581327915192 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as the gripper remains open and stationary relative to the basket. The robot needs to move its end-effector closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18970489501953125, + 0.002112114103510976, + 0.001245496910996735, + 3.055203676223755, + -0.15192458033561707, + -0.24647870659828186 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as the gripper remains open and stationary relative to the basket. The robot needs to move its end-effector closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.18551136553287506, + -0.005707187112420797, + -0.004127148538827896, + 3.0292394161224365, + -0.1485929936170578, + -0.1860542595386505 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as the gripper remains open and stationary relative to the basket. The robot needs to move its end-effector closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.18401138484477997, + -0.0038004070520401, + -0.0108182979747653, + 3.037184476852417, + -0.14531555771827698, + -0.11924155056476593 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as the gripper remains open and stationary relative to the basket. The robot needs to move its end-effector closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.18762843310832977, + 0.0013084372039884329, + -0.02147059515118599, + 3.0496537685394287, + -0.11312530934810638, + -0.08867214620113373 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 275, + 681, + 687, + 994 + ], + "red cloth": [ + 454, + 740, + 679, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot is positioned near the laundry basket containing the blue cloth, with the washing machine door open in the background. No actions have been completed yet as the gripper remains open and stationary relative to the basket. The robot needs to move its end-effector closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18746733665466309, + 0.004297958221286535, + -0.023104600608348846, + 3.07454252243042, + -0.13274124264717102, + -0.1041114404797554 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket, with the end-effector hovering over the blue garment. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet occurred. The next logical action is to lower the arm and close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.18476156890392303, + 0.0027723645325750113, + -0.031209144741296768, + 3.07395339012146, + -0.10730970650911331, + -0.11416207253932953 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket, with the end-effector hovering over the blue garment. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet occurred. The next logical action is to lower the arm and close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move up 3 cm, keep gripper closed; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18269145488739014, + -0.006509460508823395, + -0.03838901221752167, + 3.0458691120147705, + -0.08044929802417755, + -0.11756034940481186 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket, with the end-effector hovering over the blue garment. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet occurred. The next logical action is to lower the arm and close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move up 3 cm, keep gripper closed; then move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18164215981960297, + -0.014298725873231888, + -0.04274241253733635, + 3.0255558490753174, + -0.06381191313266754, + -0.11149751394987106 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket, with the end-effector hovering over the blue garment. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet occurred. The next logical action is to lower the arm and close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt left 10 degrees, close gripper; then move up 3 cm, keep gripper closed; then move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.18378466367721558, + -0.018730098381638527, + -0.048452895134687424, + 3.0105996131896973, + -0.052278582006692886, + -0.10459468513727188 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket, with the end-effector hovering over the blue garment. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet occurred. The next logical action is to lower the arm and close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move up 3 cm, keep gripper closed; then move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1846509575843811, + -0.021370381116867065, + -0.06031334027647972, + 3.031148910522461, + -0.038683436810970306, + -0.11127142608165741 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket, with the end-effector hovering over the blue garment. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet occurred. The next logical action is to lower the arm and close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt left 10 degrees, keep gripper closed; then move up 3 cm, keep gripper closed; then move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.18546059727668762, + -0.01921384036540985, + -0.06946540623903275, + 3.07712984085083, + -0.05350075289607048, + -0.10062208026647568 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket, with the end-effector hovering over the blue garment. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet occurred. The next logical action is to lower the arm and close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move up 3 cm, keep gripper closed; then move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.1843843013048172, + -0.015115801244974136, + -0.06974676996469498, + 3.1035709381103516, + -0.06507668644189835, + -0.10426917672157288 + ], + "gripper_value": 0.7151217460632324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "position over target garment", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket, with the end-effector hovering over the blue garment. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet occurred. The next logical action is to lower the arm and close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move up 3 cm, keep gripper closed; then move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 5 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.18045230209827423, + -0.010665379464626312, + -0.06392692774534225, + 3.124181032180786, + -0.07110271602869034, + -0.12624146044254303 + ], + "gripper_value": 0.442066490650177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "grasp blue garment", + "subtask_reasoning": "The robot arm is positioned over the blue garment in the laundry basket with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is initiating. The next step is to fully close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 5 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.17898522317409515, + -0.008925260975956917, + -0.04857201501727104, + 3.139927864074707, + -0.10859990864992142, + -0.14290958642959595 + ], + "gripper_value": 0.21606682240962982 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "grasp blue garment", + "subtask_reasoning": "The robot arm is positioned over the blue garment in the laundry basket with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is initiating. The next step is to fully close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 13 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.17966607213020325, + -0.008244558237493038, + -0.031228994950652122, + -3.13860821723938, + -0.14495214819908142, + -0.13904911279678345 + ], + "gripper_value": 0.09624730050563812 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "lift and withdraw garment", + "subtask_reasoning": "The robot arm is positioned over the blue garment in the laundry basket with the gripper open. The gripper signal shows a significant closing trend in this segment, indicating the grasp action is initiating. The next step is to fully close the gripper to secure the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 15 cm, move left 5 cm, move up 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1811477541923523, + -0.009552760981023312, + -0.0014036576030775905, + -3.1308510303497314, + -0.21481634676456451, + -0.13880226016044617 + ], + "gripper_value": 0.07591649144887924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "lift and withdraw garment", + "subtask_reasoning": "The robot arm is positioned over the laundry basket with the gripper in contact with the blue garment. The gripper has closed significantly within this segment, indicating a successful grasp. The next action is to lift the garment vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 16 cm, move left 5 cm, move up 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.17850765585899353, + -0.012328755110502243, + 0.029509373009204865, + 3.119253635406494, + -0.2718251943588257, + -0.13360632956027985 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "lift and withdraw garment", + "subtask_reasoning": "The robot arm is positioned over the laundry basket with the gripper in contact with the blue garment. The gripper has closed significantly within this segment, indicating a successful grasp. The next action is to lift the garment vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 16 cm, move left 5 cm, move up 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.18339477479457855, + -0.005414970684796572, + 0.05929193273186684, + 3.0996756553649902, + -0.3665623068809509, + -0.11408232152462006 + ], + "gripper_value": 0.0867718756198883 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot arm is positioned over the laundry basket with the gripper in contact with the blue garment. The gripper has closed significantly within this segment, indicating a successful grasp. The next action is to lift the garment vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.20181284844875336, + 0.009965521283447742, + 0.08429607003927231, + 3.10807466506958, + -0.47596123814582825, + -0.06595171988010406 + ], + "gripper_value": 0.08783477544784546 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 278, + 672, + 691, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot arm is positioned over the laundry basket with the gripper in contact with the blue garment. The gripper has closed significantly within this segment, indicating a successful grasp. The next action is to lift the garment vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2302067130804062, + 0.02992061898112297, + 0.09594808518886566, + 3.1108648777008057, + -0.5377565026283264, + -0.004455276764929295 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot arm is positioned over the laundry basket with the gripper in contact with the blue garment. The gripper has closed significantly within this segment, indicating a successful grasp. The next action is to lift the garment vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2551538050174713, + 0.044102489948272705, + 0.10020208358764648, + 3.119474172592163, + -0.5919686555862427, + 0.03863706812262535 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot arm is positioned over the laundry basket with the gripper in contact with the blue garment. The gripper has closed significantly within this segment, indicating a successful grasp. The next action is to lift the garment vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27707329392433167, + 0.0477258674800396, + 0.10720044374465942, + 3.1103641986846924, + -0.6313603520393372, + 0.07192794233560562 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot is currently holding the blue cloth and has transported it to the opening of the washing machine, with the garment partially inserted into the drum. The gripper remains closed, maintaining a firm grasp on the cloth as it crosses the threshold. The next action is to continue pushing the cloth further inside the machine before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 2 cm, open gripper; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2957116663455963, + 0.04531310498714447, + 0.10576459020376205, + 3.09495210647583, + -0.6413587331771851, + 0.10421795397996902 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot is currently holding the blue cloth and has transported it to the opening of the washing machine, with the garment partially inserted into the drum. The gripper remains closed, maintaining a firm grasp on the cloth as it crosses the threshold. The next action is to continue pushing the cloth further inside the machine before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, open gripper; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122873604297638, + 0.045682650059461594, + 0.10039753466844559, + 3.102536678314209, + -0.6548887491226196, + 0.12464100867509842 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot is currently holding the blue cloth and has transported it to the opening of the washing machine, with the garment partially inserted into the drum. The gripper remains closed, maintaining a firm grasp on the cloth as it crosses the threshold. The next action is to continue pushing the cloth further inside the machine before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, open gripper; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33102884888648987, + 0.04779796302318573, + 0.09378692507743835, + 3.105341672897339, + -0.6676306128501892, + 0.16311734914779663 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 276, + 672, + 689, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot is currently holding the blue cloth and has transported it to the opening of the washing machine, with the garment partially inserted into the drum. The gripper remains closed, maintaining a firm grasp on the cloth as it crosses the threshold. The next action is to continue pushing the cloth further inside the machine before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424232304096222, + 0.04838571324944496, + 0.09088008850812912, + 3.0974349975585938, + -0.6690906286239624, + 0.18263694643974304 + ], + "gripper_value": 0.10834171622991562 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot is currently holding the blue cloth and has transported it to the opening of the washing machine, with the garment partially inserted into the drum. The gripper remains closed, maintaining a firm grasp on the cloth as it crosses the threshold. The next action is to continue pushing the cloth further inside the machine before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412576913833618, + 0.04771588742733002, + 0.08741540461778641, + 3.0795886516571045, + -0.6517655253410339, + 0.2036866992712021 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "transport to machine opening", + "subtask_reasoning": "The robot is currently holding the blue cloth and has transported it to the opening of the washing machine, with the garment partially inserted into the drum. The gripper remains closed, maintaining a firm grasp on the cloth as it crosses the threshold. The next action is to continue pushing the cloth further inside the machine before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3343873918056488, + 0.045082613825798035, + 0.08267615735530853, + 3.0869741439819336, + -0.6277709007263184, + 0.1761353760957718 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "insert garment into drum", + "subtask_reasoning": "The robot is currently holding the blue cloth and has transported it to the opening of the washing machine, with the garment partially inserted into the drum. The gripper remains closed, maintaining a firm grasp on the cloth as it crosses the threshold. The next action is to continue pushing the cloth further inside the machine before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176100254058838, + 0.041463132947683334, + 0.0928545743227005, + 3.0800111293792725, + -0.6346359848976135, + 0.1472843587398529 + ], + "gripper_value": 0.8481387495994568 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "insert garment into drum", + "subtask_reasoning": "The blue garment is already inside the washing machine drum, with the gripper positioned near the opening. The subtask of inserting the garment is complete, and the next action should be to release the garment and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 32, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29253771901130676, + 0.03348518908023834, + 0.10362503677606583, + 3.0637805461883545, + -0.6306803822517395, + 0.11122285574674606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cloth from the laundry basket and place it inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "position over target garment" + }, + { + "id": 3, + "subtask": "grasp blue garment" + }, + { + "id": 4, + "subtask": "lift and withdraw garment" + }, + { + "id": 5, + "subtask": "transport to machine opening" + }, + { + "id": 6, + "subtask": "insert garment into drum" + } + ], + "subtask_name": "insert garment into drum", + "subtask_reasoning": "The blue garment is already inside the washing machine drum, with the gripper positioned near the opening. The subtask of inserting the garment is complete, and the next action should be to release the garment and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004258_ecot.json b/cot/chunk-0004/episode_0004258_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9d8e01a7c5d5ea87ba8d48cf948a2619417c2b8d --- /dev/null +++ b/cot/chunk-0004/episode_0004258_ecot.json @@ -0,0 +1,1094 @@ +{ + "task_name": "episode_0004258", + "episode_json": "json/chunk-0004/episode_0004258.json", + "video_path": "videos/chunk-0004/image_0/episode_0004258.mp4", + "instruction": "Flip orange pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004258.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.9323247075080872, + "std": 0.41171905398368835, + "delta_total": -0.7994510531425476, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93232, std=0.41172, total_delta=-0.79945). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and contact orange pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the orange pot and make initial contact without grasping.\"},\n {\"id\": 2, \"name\": \"close gripper to grasp pot\", \"start\": 5, \"end\": 9, \"planning\": \"Close gripper around the orange pot while maintaining contact, preparing to lift or rotate.\"},\n {\"id\": 3, \"name\": \"lift and flip pot upright\", \"start\": 10, \"end\": 13, \"planning\": \"Lift the pot slightly and rotate it to flip it upright in the sink.\"},\n {\"id\": 4, \"name\": \"release and retreat from pot\", \"start\": 14, \"end\": 16, \"planning\": \"Open gripper to release the pot and retreat end-effector away from the sink area.\"}\n ],\n \"global_plan\": \"Approach the orange pot, grasp it securely, flip it upright in the sink, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 5-9) and Segment 2 (frames 10-13), supporting grasp and manipulation. Final frames show gripper opening and retreat, consistent with release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and contact orange pot", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the orange pot and make initial contact without grasping." + }, + { + "id": 2, + "name": "close gripper to grasp pot", + "start": 5, + "end": 9, + "planning": "Close gripper around the orange pot while maintaining contact, preparing to lift or rotate." + }, + { + "id": 3, + "name": "lift and flip pot upright", + "start": 10, + "end": 13, + "planning": "Lift the pot slightly and rotate it to flip it upright in the sink." + }, + { + "id": 4, + "name": "release and retreat from pot", + "start": 14, + "end": 16, + "planning": "Open gripper to release the pot and retreat end-effector away from the sink area." + } + ], + "global_plan": "Approach the orange pot, grasp it securely, flip it upright in the sink, then release and retreat.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 5-9) and Segment 2 (frames 10-13), supporting grasp and manipulation. Final frames show gripper opening and retreat, consistent with release." + } + }, + "episode_goal": "Flip the orange pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2374793291091919, + 0.08906286209821701, + 0.03205091878771782, + -2.9273910522460938, + -0.13958044350147247, + -0.06095132976770401 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach and contact orange pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the orange pot lying on its side nearby. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the pot to establish contact for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 4 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23579949140548706, + 0.08568520098924637, + 0.027620814740657806, + -2.900808095932007, + -0.09332966804504395, + -0.04856467619538307 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach and contact orange pot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the orange pot lying on its side nearby. No contact has been made yet, and the gripper remains open. The next action should involve moving the end-effector closer to the pot to establish contact for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 4 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24869704246520996, + 0.0797186866402626, + 0.028803711757063866, + -2.8212175369262695, + -0.10589689761400223, + -0.03213752806186676 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach and contact orange pot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange pot which is currently lying on its side. The gripper is fully open, indicating no contact or grasp has occurred yet. The next action is to lower the arm to make physical contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 4 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25565844774246216, + 0.07954668998718262, + 0.021508321166038513, + -2.743375539779663, + -0.1557016521692276, + 0.0055022710002958775 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped onion": [ + 873, + 438, + 997, + 613 + ] + } + } + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach and contact orange pot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange pot which is currently lying on its side. The gripper is fully open, indicating no contact or grasp has occurred yet. The next action is to lower the arm to make physical contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move left 4 cm, move down 3 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542695701122284, + 0.08280304074287415, + 0.00965398270636797, + -2.684680700302124, + -0.19760249555110931, + 0.033784281462430954 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach and contact orange pot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange pot which is currently lying on its side. The gripper is fully open, indicating no contact or grasp has occurred yet. The next action is to lower the arm to make physical contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 4 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2552464008331299, + 0.08546282351016998, + -0.001547155436128378, + -2.665005922317505, + -0.21520984172821045, + 0.04050322622060776 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "close gripper to grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange pot which is currently lying on its side. The gripper is fully open, indicating no contact or grasp has occurred yet. The next action is to lower the arm to make physical contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559638023376465, + 0.0877906084060669, + -0.010353139601647854, + -2.6700525283813477, + -0.2132464051246643, + 0.04633677750825882 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "close gripper to grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange pot which is currently lying on its side. The gripper is fully open, indicating no contact or grasp has occurred yet. The next action is to lower the arm to make physical contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2579004168510437, + 0.09193053841590881, + -0.013069097883999348, + -2.6693742275238037, + -0.22056160867214203, + 0.03675219416618347 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "close gripper to grasp pot", + "subtask_reasoning": "The robot has approached and made contact with the orange pot in the sink. The gripper is currently open and positioned around the pot, with segment-level evidence indicating a closing motion is underway. The next action is to fully close the gripper to securely grasp the pot for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25876984000205994, + 0.1008838415145874, + -0.017275245860219002, + -2.6689529418945312, + -0.23198960721492767, + 0.03729743883013725 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "close gripper to grasp pot", + "subtask_reasoning": "The robot has approached and made contact with the orange pot in the sink. The gripper is currently open and positioned around the pot, with segment-level evidence indicating a closing motion is underway. The next action is to fully close the gripper to securely grasp the pot for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25586843490600586, + 0.11371193826198578, + -0.02400839887559414, + -2.6739420890808105, + -0.24629275500774384, + 0.037014205008745193 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "close gripper to grasp pot", + "subtask_reasoning": "The robot has approached and made contact with the orange pot in the sink. The gripper is currently open and positioned around the pot, with segment-level evidence indicating a closing motion is underway. The next action is to fully close the gripper to securely grasp the pot for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2538011074066162, + 0.12504245340824127, + -0.03101707249879837, + -2.6977639198303223, + -0.2649826109409332, + 0.05228327587246895 + ], + "gripper_value": 0.49949145317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "lift and flip pot upright", + "subtask_reasoning": "The robot has approached and made contact with the orange pot in the sink. The gripper is currently open and positioned around the pot, with segment-level evidence indicating a closing motion is underway. The next action is to fully close the gripper to securely grasp the pot for flipping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2547285854816437, + 0.121240995824337, + -0.03553366661071777, + -2.7119596004486084, + -0.2617664635181427, + 0.04102429375052452 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "lift and flip pot upright", + "subtask_reasoning": "The robot has successfully grasped the orange pot, which is currently lying on its side in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate the lifting motion. The next action is to lift the pot and rotate it to an upright orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25026828050613403, + 0.12099573016166687, + -0.03576432168483734, + -2.7428979873657227, + -0.20803068578243256, + 0.04783476144075394 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "lift and flip pot upright", + "subtask_reasoning": "The robot has successfully grasped the orange pot, which is currently lying on its side in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate the lifting motion. The next action is to lift the pot and rotate it to an upright orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2465873509645462, + 0.11957453191280365, + -0.021804092451930046, + -2.8063831329345703, + -0.20564864575862885, + 0.02517288364470005 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "lift and flip pot upright", + "subtask_reasoning": "The robot has successfully grasped the orange pot, which is currently lying on its side in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate the lifting motion. The next action is to lift the pot and rotate it to an upright orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23265758156776428, + 0.11707311868667603, + -0.02320827543735504, + -2.883695602416992, + -0.2207486927509308, + 0.010934614576399326 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The robot has successfully grasped the orange pot, which is currently lying on its side in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate the lifting motion. The next action is to lift the pot and rotate it to an upright orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21957537531852722, + 0.11548987030982971, + -0.03119986318051815, + -2.9447906017303467, + -0.2593497335910797, + 0.021709101274609566 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple striped onion": [ + 874, + 438, + 996, + 613 + ] + } + } + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The orange pot is now upright in the sink, and the gripper has released it as evidenced by the open gripper state. The robot arm is retreating upward and away from the pot, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21534067392349243, + 0.1119781881570816, + -0.04023208096623421, + -2.9782350063323975, + -0.34475797414779663, + -0.004926583729684353 + ], + "gripper_value": 0.2111179232597351 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the orange pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange pot" + }, + { + "id": 2, + "subtask": "close gripper to grasp pot" + }, + { + "id": 3, + "subtask": "lift and flip pot upright" + }, + { + "id": 4, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The orange pot is now upright in the sink, and the gripper has released it as evidenced by the open gripper state. The robot arm is retreating upward and away from the pot, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004260_ecot.json b/cot/chunk-0004/episode_0004260_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..946c8572558ea78721e844e23c97530e35b3a5c4 --- /dev/null +++ b/cot/chunk-0004/episode_0004260_ecot.json @@ -0,0 +1,2536 @@ +{ + "task_name": "episode_0004260", + "episode_json": "json/chunk-0004/episode_0004260.json", + "video_path": "videos/chunk-0004/image_0/episode_0004260.mp4", + "instruction": "Topple metal pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004260.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9309661388397217, + "std": 0.4218915104866028, + "delta_total": -0.24659740924835205, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93097, std=0.42189, total_delta=-0.24660). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 213, + 213, + 213, + 213, + 213, + 213, + 313, + 313, + 334 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 12 + ], + [ + 3, + 13, + 25 + ], + [ + 4, + 26, + 31 + ], + [ + 5, + 32, + 33 + ], + [ + 6, + 34, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the metal pot without grasping, as gripper remains open and no closing is observed.\"},\n {\"id\": 2, \"name\": \"reposition for grasp\", \"start\": 5, \"end\": 12, \"planning\": \"Adjust pose near pot handle in preparation for grasping; gripper still open but motion suggests alignment phase.\"},\n {\"id\": 3, \"name\": \"grasp and lift pot\", \"start\": 13, \"end\": 25, \"planning\": \"Close gripper on pot handle and lift it upward, confirmed by significant gripper closure and upward motion in keyframes.\"},\n {\"id\": 4, \"name\": \"tilt pot to topple fence\", \"start\": 26, \"end\": 31, \"planning\": \"Rotate and tilt the held pot forward to knock over the cardboard fence, with gripper maintaining hold during manipulation.\"},\n {\"id\": 5, \"name\": \"release pot after toppling\", \"start\": 32, \"end\": 33, \"planning\": \"Open gripper to release the pot onto or near the fallen fence, indicated by rising gripper value and minimal motion.\"},\n {\"id\": 6, \"name\": \"retreat from scene\", \"start\": 34, \"end\": 34, \"planning\": \"Withdraw end-effector slightly after releasing pot, completing the toppling task with no further interaction.\"}\n ],\n \"global_plan\": \"Approach the metal pot, grasp its handle, lift and tilt it to topple the cardboard fence, then release and retreat.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segments 1–2, active grasp and manipulation in 3–4, release in 5, and retreat in 6. Frame coverage is contiguous and complete from 0 to 34.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the metal pot without grasping, as gripper remains open and no closing is observed." + }, + { + "id": 2, + "name": "reposition for grasp", + "start": 5, + "end": 12, + "planning": "Adjust pose near pot handle in preparation for grasping; gripper still open but motion suggests alignment phase." + }, + { + "id": 3, + "name": "grasp and lift pot", + "start": 13, + "end": 25, + "planning": "Close gripper on pot handle and lift it upward, confirmed by significant gripper closure and upward motion in keyframes." + }, + { + "id": 4, + "name": "tilt pot to topple fence", + "start": 26, + "end": 31, + "planning": "Rotate and tilt the held pot forward to knock over the cardboard fence, with gripper maintaining hold during manipulation." + }, + { + "id": 5, + "name": "release pot after toppling", + "start": 32, + "end": 33, + "planning": "Open gripper to release the pot onto or near the fallen fence, indicated by rising gripper value and minimal motion." + }, + { + "id": 6, + "name": "retreat from scene", + "start": 34, + "end": 34, + "planning": "Withdraw end-effector slightly after releasing pot, completing the toppling task with no further interaction." + } + ], + "global_plan": "Approach the metal pot, grasp its handle, lift and tilt it to topple the cardboard fence, then release and retreat.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segments 1–2, active grasp and manipulation in 3–4, release in 5, and retreat in 6. Frame coverage is contiguous and complete from 0 to 34." + } + }, + "episode_goal": "Topple the metal pot onto the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.278005987405777, + 0.009761935099959373, + 0.10726411640644073, + -2.968388080596924, + -0.1581750512123108, + 0.2847564220428467 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left. No movement or interaction has occurred yet. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move up 2 cm, rotate counterclockwise 40 degrees, keep gripper open; then move back 1 cm, move left 4 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.274516761302948, + 0.010466735810041428, + 0.10136307775974274, + -2.961561918258667, + -0.13487626612186432, + 0.2758144736289978 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left. No movement or interaction has occurred yet. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2668455243110657, + 0.023052403703331947, + 0.10507117211818695, + -2.9559218883514404, + -0.1078081801533699, + 0.13315649330615997 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move up 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2581910789012909, + 0.04433440789580345, + 0.1256323605775833, + -2.977548837661743, + -0.15320664644241333, + 0.03112645260989666 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24321585893630981, + 0.07672013342380524, + 0.13706615567207336, + -2.8894264698028564, + -0.18886415660381317, + -0.21924053132534027 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22939082980155945, + 0.10689623653888702, + 0.12576495110988617, + -2.9284136295318604, + -0.08954016119241714, + -0.3801644742488861 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22579026222229004, + 0.12889841198921204, + 0.11783906817436218, + -2.9244396686553955, + -0.07271654158830643, + -0.47988808155059814 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 12, + 381, + 327, + 744 + ], + "orange lid": [ + 365, + 694, + 592, + 959 + ], + "green mug": [ + 264, + 401, + 349, + 528 + ], + "appliance door": [ + 5, + 678, + 359, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22065193951129913, + 0.14451807737350464, + 0.10058299452066422, + -2.9414381980895996, + -0.00573333166539669, + -0.48551470041275024 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, close gripper; then move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21549999713897705, + 0.14848443865776062, + 0.08349853754043579, + -2.951253890991211, + 0.017184453085064888, + -0.5081241726875305 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 13, + 383, + 326, + 744 + ], + "green mug": [ + 264, + 402, + 348, + 528 + ], + "appliance door": [ + 5, + 677, + 360, + 994 + ], + "orange lid": [ + 365, + 694, + 591, + 960 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21345089375972748, + 0.14533351361751556, + 0.0728830099105835, + -2.9646668434143066, + 0.02866336517035961, + -0.5243843197822571 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move right 6 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21447914838790894, + 0.1422371119260788, + 0.06257176399230957, + -2.9523277282714844, + 0.03645840659737587, + -0.531705379486084 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 4 cm, move right 9 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21645694971084595, + 0.14139987528324127, + 0.05521285533905029, + -2.9398531913757324, + 0.04434334114193916, + -0.5372028350830078 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 11 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21920301020145416, + 0.14079971611499786, + 0.054558299481868744, + -2.9257218837738037, + 0.03787966072559357, + -0.5063301920890808 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 12 cm, move up 9 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2200629860162735, + 0.13880692422389984, + 0.055091492831707, + -2.944230556488037, + 0.020534254610538483, + -0.49778664112091064 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move up 7 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21792306005954742, + 0.13820311427116394, + 0.055646929889917374, + -2.957940101623535, + 0.033193085342645645, + -0.49787554144859314 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move up 5 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21967066824436188, + 0.13889874517917633, + 0.06317999958992004, + -2.979193687438965, + 0.04315786436200142, + -0.4793817698955536 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move up 3 cm, tilt left 30 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2189251035451889, + 0.13327544927597046, + 0.06890469789505005, + -3.010328769683838, + 0.04778509959578514, + -0.46803733706474304 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move up 2 cm, tilt left 40 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2216258943080902, + 0.11935161799192429, + 0.09020104259252548, + -2.99088454246521, + 0.024740543216466904, + -0.4589962959289551 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 10 cm, tilt left 40 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22928383946418762, + 0.10153252631425858, + 0.11288389563560486, + -3.0312554836273193, + 0.005166711285710335, + -0.44619762897491455 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot is positioned near the metal pot on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the robot is now repositioning to secure a stable grasp on the pot's handle. The next action is to close the gripper around the handle to initiate lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 2 cm, tilt left 40 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24264486134052277, + 0.07863622158765793, + 0.13606739044189453, + -3.0846829414367676, + -0.02049536071717739, + -0.40478459000587463 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 5 cm, tilt left 40 degrees, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26391440629959106, + 0.05359768867492676, + 0.1508607119321823, + -3.0888590812683105, + -0.0596805214881897, + -0.3476898968219757 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 6 cm, tilt left 40 degrees, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2873382270336151, + 0.03140712156891823, + 0.1501184105873108, + -2.9806711673736572, + -0.16576918959617615, + -0.33885860443115234 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 6 cm, tilt left 30 degrees, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897303104400635, + 0.017936881631612778, + 0.14124099910259247, + -2.785183906555176, + -0.3062550723552704, + -0.4434940814971924 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29131391644477844, + 0.01630953885614872, + 0.12746143341064453, + -2.646573066711426, + -0.356411874294281, + -0.5598508715629578 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28092125058174133, + 0.019685816019773483, + 0.1085878536105156, + -2.5336062908172607, + -0.3416843116283417, + -0.7092471718788147 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746146023273468, + 0.018795931711792946, + 0.09487013518810272, + -2.4018826484680176, + -0.3376557528972626, + -0.8442273139953613 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 327, + 285, + 631, + 606 + ], + "green mug": [ + 266, + 402, + 349, + 530 + ], + "appliance door": [ + 4, + 679, + 359, + 994 + ], + "wooden board": [ + 5, + 210, + 780, + 993 + ], + "orange lid": [ + 365, + 694, + 592, + 960 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709897458553314, + 0.018108490854501724, + 0.08931104093790054, + -2.329834461212158, + -0.32066836953163147, + -0.9123887419700623 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "tilt pot to topple fence", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2725635766983032, + 0.016260268166661263, + 0.08596844226121902, + -2.279395341873169, + -0.3207714557647705, + -0.9321693778038025 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "tilt pot to topple fence", + "subtask_reasoning": "The metal pot is currently grasped and lifted above the cardboard fence, with the gripper closed and stable. The approach and repositioning steps are complete, and the pot is now in position to be tilted. The next action is to tilt the pot forward to topple the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27424395084381104, + 0.008602641522884369, + 0.08376258611679077, + -2.291381597518921, + -0.32773077487945557, + -0.9080810546875 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "tilt pot to topple fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle, positioned directly above the cardboard fence. The pot is currently suspended and has not yet made contact with the fence. The next action is to tilt the pot forward to initiate contact and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26928049325942993, + 0.004967225715517998, + 0.07938546687364578, + -2.2979934215545654, + -0.3119797110557556, + -0.9208803772926331 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "tilt pot to topple fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle, positioned directly above the cardboard fence. The pot is currently suspended and has not yet made contact with the fence. The next action is to tilt the pot forward to initiate contact and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2549765706062317, + 0.007287019398063421, + 0.07366172969341278, + -2.3209338188171387, + -0.31273436546325684, + -0.9002877473831177 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "tilt pot to topple fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle, positioned directly above the cardboard fence. The pot is currently suspended and has not yet made contact with the fence. The next action is to tilt the pot forward to initiate contact and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23870104551315308, + 0.009578305296599865, + 0.06124825403094292, + -2.3529412746429443, + -0.27430281043052673, + -0.8854132890701294 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "tilt pot to topple fence", + "subtask_reasoning": "The robot is holding the metal pot by its handle, positioned directly above the cardboard fence. The pot is currently suspended and has not yet made contact with the fence. The next action is to tilt the pot forward to initiate contact and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.22856609523296356, + 0.01199218537658453, + 0.056926026940345764, + -2.429732084274292, + -0.2292279303073883, + -0.8147786855697632 + ], + "gripper_value": 0.2129654437303543 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange lid": [ + 364, + 695, + 592, + 962 + ], + "green mug": [ + 440, + 745, + 510, + 824 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot after toppling", + "subtask_reasoning": "The metal pot has been toppled onto the cardboard fence and is now resting on the surface. The gripper is in contact with the pot handle but appears to be in the process of releasing or has just released, as indicated by the low gripper value. The next action is to fully disengage the gripper and retreat from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22806385159492493, + 0.011752021498978138, + 0.05641911178827286, + -2.435014247894287, + -0.23011359572410583, + -0.8109168410301208 + ], + "gripper_value": 0.4485226273536682 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot after toppling", + "subtask_reasoning": "The metal pot has been toppled onto the cardboard fence and is now resting on the surface. The gripper is in contact with the pot handle but appears to be in the process of releasing or has just released, as indicated by the low gripper value. The next action is to fully disengage the gripper and retreat from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.22819586098194122, + 0.011498418636620045, + 0.05669210106134415, + -2.4350433349609375, + -0.2323235720396042, + -0.8118744492530823 + ], + "gripper_value": 0.7378748655319214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot onto the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift pot" + }, + { + "id": 4, + "subtask": "tilt pot to topple fence" + }, + { + "id": 5, + "subtask": "release pot after toppling" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot has been toppled onto the cardboard fence, completing the main objective. The robot arm is currently positioned near the fallen pot with the gripper open. The next action is to retreat the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 34, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004263_ecot.json b/cot/chunk-0004/episode_0004263_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b5457a9922c7324d056de29d40e61e7f61bc75 --- /dev/null +++ b/cot/chunk-0004/episode_0004263_ecot.json @@ -0,0 +1,1579 @@ +{ + "task_name": "episode_0004263", + "episode_json": "json/chunk-0004/episode_0004263.json", + "video_path": "videos/chunk-0004/image_0/episode_0004263.mp4", + "instruction": "Move the blue cloth to the bottom left corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004263.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019888877868652344, + "std": 0.0008366050315089524, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00084, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 16 + ], + [ + 3, + 17, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 11, \"planning\": \"Move the end-effector from its initial position down toward the blue cloth on the table, making contact by frame 11.\"},\n {\"id\": 2, \"name\": \"push cloth toward bottom left\", \"start\": 12, \"end\": 16, \"planning\": \"Drag or push the blue cloth diagonally toward the bottom-left corner of the table while maintaining contact.\"},\n {\"id\": 3, \"name\": \"finalize cloth position and retreat\", \"start\": 17, \"end\": 25, \"planning\": \"Make final adjustments to settle the cloth in the bottom-left corner, then lift and retreat the end-effector away from the cloth.\"}\n ],\n \"global_plan\": \"The robot approaches the blue cloth, pushes it across the table toward the bottom-left corner, and then retreats after positioning it.\",\n \"notes\": \"Gripper remains open throughout; no grasping occurs. Motion is contact-based pushing/sliding. Segment boundaries align with natural phases: approach, translate, finalize+retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 11, + "planning": "Move the end-effector from its initial position down toward the blue cloth on the table, making contact by frame 11." + }, + { + "id": 2, + "name": "push cloth toward bottom left", + "start": 12, + "end": 16, + "planning": "Drag or push the blue cloth diagonally toward the bottom-left corner of the table while maintaining contact." + }, + { + "id": 3, + "name": "finalize cloth position and retreat", + "start": 17, + "end": 25, + "planning": "Make final adjustments to settle the cloth in the bottom-left corner, then lift and retreat the end-effector away from the cloth." + } + ], + "global_plan": "The robot approaches the blue cloth, pushes it across the table toward the bottom-left corner, and then retreats after positioning it.", + "notes": "Gripper remains open throughout; no grasping occurs. Motion is contact-based pushing/sliding. Segment boundaries align with natural phases: approach, translate, finalize+retreat." + } + }, + "episode_goal": "Move the blue cloth to the bottom left corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3049219846725464, + 0.0073849172331392765, + 0.0732322484254837, + 2.88978910446167, + -0.09541092067956924, + 1.5214797258377075 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-right area. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to the blue cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30232223868370056, + 0.006807943806052208, + 0.06407706439495087, + 2.9270033836364746, + -0.09319847822189331, + 1.5284031629562378 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-right area. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to the blue cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30850160121917725, + -0.01809593103826046, + 0.06365400552749634, + 2.944342613220215, + -0.10630013048648834, + 1.5002553462982178 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-right area. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to the blue cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31714871525764465, + -0.02184940315783024, + 0.05598973110318184, + 2.9303932189941406, + -0.10564036667346954, + 1.5399377346038818 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cup": [ + 157, + 143, + 302, + 344 + ], + "blue sponge": [ + 426, + 246, + 492, + 391 + ], + "orange jar": [ + 420, + 612, + 635, + 916 + ], + "blue cloth": [ + 493, + 477, + 749, + 728 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-right area. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to the blue cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33183369040489197, + -0.024550199508666992, + 0.04210536554455757, + 2.9449779987335205, + -0.09496411681175232, + 1.5924758911132812 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-right area. No movement toward the cloth has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to the blue cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35270956158638, + -0.02993650548160076, + 0.03079543076455593, + 2.986372947692871, + -0.09217631071805954, + 1.6272984743118286 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move left 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35837623476982117, + -0.04343869909644127, + 0.015883639454841614, + 3.004944086074829, + -0.10173362493515015, + 1.6357296705245972 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move left 12 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562655448913574, + -0.049108829349279404, + 0.0015730331651866436, + 3.0237481594085693, + -0.12073523551225662, + 1.619920015335083 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move left 14 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3532489240169525, + -0.05042930692434311, + -0.009867070242762566, + 3.0447123050689697, + -0.13821694254875183, + 1.6148186922073364 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move left 14 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35360485315322876, + -0.04503539204597473, + -0.017388934269547462, + 3.0314056873321533, + -0.13464413583278656, + 1.6245160102844238 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move left 14 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506928086280823, + -0.029434656724333763, + -0.019840413704514503, + 3.0210659503936768, + -0.1276981234550476, + 1.6554216146469116 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move left 14 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 3 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3413257598876953, + 0.004055041819810867, + -0.020522024482488632, + 2.996216058731079, + -0.10956011712551117, + 1.7433607578277588 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move left 14 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 4 cm, move left 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31968650221824646, + 0.05699729546904564, + -0.0203240979462862, + 2.9841606616973877, + -0.12649676203727722, + 1.8539495468139648 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cup": [ + 157, + 144, + 303, + 344 + ], + "blue sponge": [ + 374, + 420, + 637, + 649 + ], + "orange jar": [ + 420, + 610, + 635, + 916 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "push cloth toward bottom left", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 14 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 4 cm, move left 1 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30093809962272644, + 0.08567377179861069, + -0.019741244614124298, + 2.9754045009613037, + -0.1584518700838089, + 1.9220707416534424 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "push cloth toward bottom left", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in front. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the blue cloth to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 11 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 3 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2800842225551605, + 0.11741624027490616, + -0.020502276718616486, + 2.970731496810913, + -0.1815449595451355, + 2.014784812927246 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "push cloth toward bottom left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the cloth toward the bottom-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, rotate clockwise 20 degrees, keep gripper open; then move back 3 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26476702094078064, + 0.14639776945114136, + -0.02154434844851494, + 2.9645891189575195, + -0.17414775490760803, + 2.1152119636535645 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "push cloth toward bottom left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the cloth toward the bottom-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24357247352600098, + 0.1789165735244751, + -0.021967675536870956, + 2.967226505279541, + -0.17685456573963165, + 2.2399773597717285 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "push cloth toward bottom left", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the cloth toward the bottom-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move back 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23092761635780334, + 0.19774527847766876, + -0.02266220934689045, + 2.968580722808838, + -0.1882348507642746, + 2.2975330352783203 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cup": [ + 191, + 146, + 301, + 343 + ], + "yellow can": [ + 723, + 265, + 877, + 470 + ], + "yellow can_2": [ + 612, + 148, + 756, + 397 + ], + "white appliance": [ + 284, + 1, + 685, + 326 + ], + "orange jar": [ + 419, + 617, + 637, + 917 + ], + "blue cloth": [ + 37, + 349, + 326, + 614 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the cloth toward the bottom-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21232308447360992, + 0.2176850140094757, + -0.0235751923173666, + 2.9699296951293945, + -0.18057192862033844, + 2.3742547035217285 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the cloth toward the bottom-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20907412469387054, + 0.22057968378067017, + -0.023393753916025162, + 2.974278688430786, + -0.18291619420051575, + 2.380652666091919 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the cloth toward the bottom-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2058016061782837, + 0.21970729529857635, + -0.022962749004364014, + 2.9939889907836914, + -0.1439857929944992, + 2.380570650100708 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the cloth toward the bottom-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.18674591183662415, + 0.21475832164287567, + -0.018936781212687492, + 3.047367572784424, + -0.11927133053541183, + 2.3981306552886963 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The blue cloth is already positioned in the bottom left corner of the table. The robot has completed the pushing action and is currently retreating from the cloth. The next action is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.1914609670639038, + 0.2034902721643448, + 0.004413318354636431, + 3.0270984172821045, + -0.0342894047498703, + 2.3727879524230957 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The blue cloth is already positioned in the bottom left corner of the table. The robot has completed the pushing action and is currently retreating from the cloth. The next action is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.19991225004196167, + 0.19920048117637634, + 0.02488301508128643, + 2.9800350666046143, + 0.027863096445798874, + 2.368468999862671 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The blue cloth is already positioned in the bottom left corner of the table. The robot has completed the pushing action and is currently retreating from the cloth. The next action is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.20438435673713684, + 0.19722232222557068, + 0.03333516791462898, + 2.962454080581665, + 0.05450078472495079, + 2.352813720703125 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The blue cloth is already positioned in the bottom left corner of the table. The robot has completed the pushing action and is currently retreating from the cloth. The next action is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2106412649154663, + 0.19848456978797913, + 0.05094838887453079, + 2.9412310123443604, + 0.04750074818730354, + 2.3300840854644775 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "push cloth toward bottom left" + }, + { + "id": 3, + "subtask": "finalize cloth position and retreat" + } + ], + "subtask_name": "finalize cloth position and retreat", + "subtask_reasoning": "The blue cloth is already positioned in the bottom left corner of the table. The robot has completed the pushing action and is currently retreating from the cloth. The next action is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004265_ecot.json b/cot/chunk-0004/episode_0004265_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..34b9d038821d09cffa3b8bda9fa749116e667c57 --- /dev/null +++ b/cot/chunk-0004/episode_0004265_ecot.json @@ -0,0 +1,941 @@ +{ + "task_name": "episode_0004265", + "episode_json": "json/chunk-0004/episode_0004265.json", + "video_path": "videos/chunk-0004/image_0/episode_0004265.mp4", + "instruction": "End effector reaching pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004265.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach stove area\", \"start\": 0, \"end\": 5, \"planning\": \"Move end effector downward and forward toward the stove surface while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"reposition over pot\", \"start\": 6, \"end\": 10, \"planning\": \"Adjust end effector position laterally and vertically to align above the orange pot on the burner.\"},\n {\"id\": 3, \"name\": \"hover near pot rim\", \"start\": 11, \"end\": 14, \"planning\": \"Fine-tune end effector pose to hover just above or beside the pot without contact, preparing for potential interaction.\"}\n ],\n \"global_plan\": \"The robot moves its end effector from an initial elevated position down toward the stove, then repositions horizontally to align with the orange pot, finally hovering near it without grasping or contacting — consistent with reaching behavior only.\",\n \"notes\": \"Gripper remains fully open throughout (value=0.99949, no delta). No grasp, lift, or place actions are supported by evidence. All motion is positional adjustment toward the pot, matching 'reaching' instruction.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach stove area", + "start": 0, + "end": 5, + "planning": "Move end effector downward and forward toward the stove surface while maintaining open gripper." + }, + { + "id": 2, + "name": "reposition over pot", + "start": 6, + "end": 10, + "planning": "Adjust end effector position laterally and vertically to align above the orange pot on the burner." + }, + { + "id": 3, + "name": "hover near pot rim", + "start": 11, + "end": 14, + "planning": "Fine-tune end effector pose to hover just above or beside the pot without contact, preparing for potential interaction." + } + ], + "global_plan": "The robot moves its end effector from an initial elevated position down toward the stove, then repositions horizontally to align with the orange pot, finally hovering near it without grasping or contacting — consistent with reaching behavior only.", + "notes": "Gripper remains fully open throughout (value=0.99949, no delta). No grasp, lift, or place actions are supported by evidence. All motion is positional adjustment toward the pot, matching 'reaching' instruction." + } + }, + "episode_goal": "Move the end effector to the red pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3854578733444214, + -0.023365434259176254, + 0.2096509486436844, + -3.0342798233032227, + -0.2853940725326538, + -0.32153308391571045 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The end effector is positioned above and slightly to the left of the stove, with the red pot visible on the front-left burner. No contact or grasping has occurred yet, as the gripper remains open and motion is minimal. The next action should involve moving the end effector downward and rightward to align closer to the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 10 cm, keep gripper open; then move back 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38541266322135925, + -0.02431894838809967, + 0.1929454505443573, + -3.047747850418091, + -0.24718141555786133, + -0.32878679037094116 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The end effector is positioned above and slightly to the left of the stove, with the red pot visible on the front-left burner. No contact or grasping has occurred yet, as the gripper remains open and motion is minimal. The next action should involve moving the end effector downward and rightward to align closer to the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 8 cm, keep gripper open; then move back 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.38862672448158264, + -0.008411175571382046, + 0.1758308857679367, + -3.059743642807007, + -0.2730797529220581, + -0.38937026262283325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot's end effector is positioned above and slightly to the side of the stove, with the red pot visible on the burner. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red pot while maintaining a safe distance to avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, keep gripper open; then move back 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3925672471523285, + 0.012010001577436924, + 0.16698043048381805, + -3.073056936264038, + -0.3192915618419647, + -0.4261346757411957 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot's end effector is positioned above and slightly to the side of the stove, with the red pot visible on the burner. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red pot while maintaining a safe distance to avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39173823595046997, + 0.026784803718328476, + 0.15181565284729004, + -3.0517687797546387, + -0.3292355537414551, + -0.4273402988910675 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot's end effector is positioned above and slightly to the side of the stove, with the red pot visible on the burner. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red pot while maintaining a safe distance to avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.38236305117607117, + 0.022639192640781403, + 0.1262500286102295, + -3.0224883556365967, + -0.2906254827976227, + -0.3831098973751068 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot's end effector is positioned above and slightly to the side of the stove, with the red pot visible on the burner. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red pot while maintaining a safe distance to avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36926785111427307, + 0.011098493821918964, + 0.11378969252109528, + -2.9935247898101807, + -0.3004971146583557, + -0.3373105525970459 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed bunny": [ + 627, + 549, + 825, + 863 + ], + "grey pitcher": [ + 84, + 1, + 222, + 173 + ], + "wooden bowl": [ + 65, + 413, + 202, + 534 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "reposition over pot", + "subtask_reasoning": "The robot's end effector is positioned above and slightly to the side of the stove, with the red pot visible on the burner. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red pot while maintaining a safe distance to avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3614232838153839, + 0.004159224219620228, + 0.10518207401037216, + -2.966564416885376, + -0.3204394280910492, + -0.3286314606666565 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "reposition over pot", + "subtask_reasoning": "The robot's end effector is positioned above and slightly to the side of the stove, with the red pot visible on the burner. No contact or grasping has occurred yet, as the gripper remains open and stationary. The next action should involve moving the end effector closer to the red pot while maintaining a safe distance to avoid collision." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558443784713745, + 0.00464634969830513, + 0.1017322689294815, + -2.9377100467681885, + -0.3382338285446167, + -0.3287331759929657 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "reposition over pot", + "subtask_reasoning": "The end effector is positioned above the stove, having completed the approach phase. It is now repositioning horizontally to align directly over the red pot. The gripper remains open with no contact, indicating continued reaching behavior. The next action is to fine-tune horizontal alignment to center over the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3531891107559204, + 0.003933532629162073, + 0.09097100049257278, + -2.9128546714782715, + -0.36286935210227966, + -0.3349936604499817 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "reposition over pot", + "subtask_reasoning": "The end effector is positioned above the stove, having completed the approach phase. It is now repositioning horizontally to align directly over the red pot. The gripper remains open with no contact, indicating continued reaching behavior. The next action is to fine-tune horizontal alignment to center over the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556361198425293, + 0.006614365614950657, + 0.08891288191080093, + -2.9200992584228516, + -0.39540937542915344, + -0.3491028845310211 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "reposition over pot", + "subtask_reasoning": "The end effector is positioned above the stove, having completed the approach phase. It is now repositioning horizontally to align directly over the red pot. The gripper remains open with no contact, indicating continued reaching behavior. The next action is to fine-tune horizontal alignment to center over the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578818142414093, + 0.011111863888800144, + 0.08821918815374374, + -2.916412830352783, + -0.4200667142868042, + -0.35746434330940247 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "hover near pot rim", + "subtask_reasoning": "The end effector is positioned above the stove, having completed the approach phase. It is now repositioning horizontally to align directly over the red pot. The gripper remains open with no contact, indicating continued reaching behavior. The next action is to fine-tune horizontal alignment to center over the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35822635889053345, + 0.01517397165298462, + 0.08470472693443298, + -2.915722131729126, + -0.4465904235839844, + -0.36264413595199585 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed bunny": [ + 627, + 549, + 824, + 862 + ], + "grey pitcher": [ + 84, + 1, + 221, + 173 + ], + "wooden bowl": [ + 64, + 414, + 201, + 534 + ], + "orange pot": [ + 250, + 110, + 542, + 380 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "hover near pot rim", + "subtask_reasoning": "The end effector is positioned directly above the red pot on the stove, maintaining a consistent open gripper state with no contact. The robot has completed the approach and horizontal alignment phases. The next action is to maintain this hovering position near the pot rim without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36259034276008606, + 0.020709438249468803, + 0.08540048450231552, + -2.900526523590088, + -0.4732597768306732, + -0.3819740414619446 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "hover near pot rim", + "subtask_reasoning": "The end effector is positioned directly above the red pot on the stove, maintaining a consistent open gripper state with no contact. The robot has completed the approach and horizontal alignment phases. The next action is to maintain this hovering position near the pot rim without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639070391654968, + 0.02454380691051483, + 0.08038011193275452, + -2.903308391571045, + -0.47146010398864746, + -0.385674387216568 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "reposition over pot" + }, + { + "id": 3, + "subtask": "hover near pot rim" + } + ], + "subtask_name": "hover near pot rim", + "subtask_reasoning": "The end effector is positioned directly above the red pot on the stove, maintaining a consistent open gripper state with no contact. The robot has completed the approach and horizontal alignment phases. The next action is to maintain this hovering position near the pot rim without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004266_ecot.json b/cot/chunk-0004/episode_0004266_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a7356bb20eeb1e55b5a1e82417ddb5bd629fef8a --- /dev/null +++ b/cot/chunk-0004/episode_0004266_ecot.json @@ -0,0 +1,880 @@ +{ + "task_name": "episode_0004266", + "episode_json": "json/chunk-0004/episode_0004266.json", + "video_path": "videos/chunk-0004/image_0/episode_0004266.mp4", + "instruction": "End effector reaching carrot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004266.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 11, \"planning\": \"Move end effector toward the carrot on the stove while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"reposition near carrot\", \"start\": 12, \"end\": 14, \"planning\": \"Fine-tune end effector position adjacent to carrot without grasping, as gripper remains fully open.\"}\n ],\n \"global_plan\": \"The robot approaches and repositions near the carrot without any grasping action, consistent with constant open gripper state throughout the episode.\",\n \"notes\": \"No grasp or lift occurs; all motion is positional adjustment with gripper held open. Segment boundaries respected but merged into two natural phases: coarse approach then fine repositioning.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 11, + "planning": "Move end effector toward the carrot on the stove while maintaining open gripper." + }, + { + "id": 2, + "name": "reposition near carrot", + "start": 12, + "end": 14, + "planning": "Fine-tune end effector position adjacent to carrot without grasping, as gripper remains fully open." + } + ], + "global_plan": "The robot approaches and repositions near the carrot without any grasping action, consistent with constant open gripper state throughout the episode.", + "notes": "No grasp or lift occurs; all motion is positional adjustment with gripper held open. Segment boundaries respected but merged into two natural phases: coarse approach then fine repositioning." + } + }, + "episode_goal": "Move the end effector to the orange carrot located on the right side of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27519088983535767, + 0.001807241584174335, + 0.1734636425971985, + -3.1156046390533447, + -0.11385277658700943, + 0.0472237728536129 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the carrot visible on the right side of the stove. No actions have been completed yet as the subtask is just starting. The next action should involve moving the end effector closer to the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2724415957927704, + -6.620747444685549e-05, + 0.1665012687444687, + -3.1165103912353516, + -0.0880054458975792, + 0.052090685814619064 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the carrot visible on the right side of the stove. No actions have been completed yet as the subtask is just starting. The next action should involve moving the end effector closer to the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2699171006679535, + -0.02715843729674816, + 0.16446498036384583, + -3.1323463916778564, + -0.08176156133413315, + 0.08466251194477081 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the carrot visible on the right side of the stove. No actions have been completed yet as the subtask is just starting. The next action should involve moving the end effector closer to the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move down 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26732710003852844, + -0.05283952131867409, + 0.1623065173625946, + -3.1379454135894775, + -0.09138858318328857, + 0.09391432255506516 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the carrot visible on the right side of the stove. No actions have been completed yet as the subtask is just starting. The next action should involve moving the end effector closer to the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 10 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666949927806854, + -0.06856222450733185, + 0.15702927112579346, + -3.124682903289795, + -0.10273183882236481, + 0.11989660561084747 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, with the carrot visible on the right side of the stove. No actions have been completed yet as the subtask is just starting. The next action should involve moving the end effector closer to the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 9 cm, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26544609665870667, + -0.08461069315671921, + 0.1449231654405594, + -3.1339688301086426, + -0.11332301050424576, + 0.11067845672369003 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, moving towards the orange carrot located on the right side. No grasping action has occurred yet, as the gripper remains open. The next action involves continuing to approach the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 8 cm, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26254305243492126, + -0.09615027904510498, + 0.13579444587230682, + -3.1297154426574707, + -0.14000709354877472, + 0.11699100583791733 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 622, + 275, + 869, + 540 + ], + "green pan": [ + 372, + 207, + 579, + 383 + ], + "orange carrot": [ + 723, + 612, + 821, + 807 + ], + "green pepper": [ + 209, + 384, + 330, + 534 + ], + "faucet": [ + 109, + 3, + 246, + 176 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, moving towards the orange carrot located on the right side. No grasping action has occurred yet, as the gripper remains open. The next action involves continuing to approach the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 7 cm, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25474560260772705, + -0.10957078635692596, + 0.12347859889268875, + -3.128791093826294, + -0.15954339504241943, + 0.13251851499080658 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, moving towards the orange carrot located on the right side. No grasping action has occurred yet, as the gripper remains open. The next action involves continuing to approach the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2511100172996521, + -0.11880920082330704, + 0.10934954881668091, + -3.1057887077331543, + -0.19167286157608032, + 0.13304485380649567 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, moving towards the orange carrot located on the right side. No grasping action has occurred yet, as the gripper remains open. The next action involves continuing to approach the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25214311480522156, + -0.12418916076421738, + 0.09522134810686111, + -3.111725330352783, + -0.21145498752593994, + 0.126534104347229 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pan": [ + 372, + 206, + 579, + 382 + ], + "orange carrot": [ + 722, + 614, + 822, + 807 + ], + "green pepper": [ + 209, + 383, + 329, + 534 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, moving towards the orange carrot located on the right side. No grasping action has occurred yet, as the gripper remains open. The next action involves continuing to approach the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25605833530426025, + -0.12995825707912445, + 0.08816170692443848, + -3.126009225845337, + -0.2252364456653595, + 0.1392303854227066 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, moving towards the orange carrot located on the right side. No grasping action has occurred yet, as the gripper remains open. The next action involves continuing to approach the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25850293040275574, + -0.13263675570487976, + 0.0751313641667366, + -3.1355011463165283, + -0.2486901432275772, + 0.14778129756450653 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, moving towards the orange carrot located on the right side. No grasping action has occurred yet, as the gripper remains open. The next action involves continuing to approach the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26096320152282715, + -0.1339332014322281, + 0.06526698917150497, + 3.133936882019043, + -0.2696221172809601, + 0.1530548334121704 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "reposition near carrot", + "subtask_reasoning": "The robot's end effector is positioned above the stove, moving towards the orange carrot located on the right side. No grasping action has occurred yet, as the gripper remains open. The next action involves continuing to approach the carrot while maintaining an open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613133490085602, + -0.13536196947097778, + 0.060867298394441605, + 3.118607759475708, + -0.27306419610977173, + 0.16674353182315826 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "reposition near carrot", + "subtask_reasoning": "The end effector is positioned above the stove, near the orange carrot on the right side. The approach phase is complete, and the robot is now repositioning to align precisely with the carrot. The next action is to adjust the end effector's position slightly to ensure accurate proximity to the carrot without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26000237464904785, + -0.13809221982955933, + 0.054653678089380264, + 3.1093592643737793, + -0.27523162961006165, + 0.1736820787191391 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the orange carrot located on the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "reposition near carrot" + } + ], + "subtask_name": "reposition near carrot", + "subtask_reasoning": "The end effector is positioned above the stove, near the orange carrot on the right side. The approach phase is complete, and the robot is now repositioning to align precisely with the carrot. The next action is to adjust the end effector's position slightly to ensure accurate proximity to the carrot without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004267_ecot.json b/cot/chunk-0004/episode_0004267_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..251154c56578de2eee5676765cffe0e5c2dcc5e5 --- /dev/null +++ b/cot/chunk-0004/episode_0004267_ecot.json @@ -0,0 +1,1234 @@ +{ + "task_name": "episode_0004267", + "episode_json": "json/chunk-0004/episode_0004267.json", + "video_path": "videos/chunk-0004/image_0/episode_0004267.mp4", + "instruction": "Put eggplant on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004267.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.2681944966316223, + "std": 0.10954254865646362, + "delta_total": -0.2675299048423767, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.26819, std=0.10954, total_delta=-0.26753). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 17 + ], + [ + 3, + 18, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach eggplant\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the purple eggplant on the stovetop without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp eggplant\", \"start\": 8, \"end\": 17, \"planning\": \"Close gripper around eggplant and secure hold as confirmed by gripper value drop to 0.73.\"},\n {\"id\": 3, \"name\": \"reposition with eggplant\", \"start\": 18, \"end\": 19, \"planning\": \"Lift and move eggplant slightly while maintaining grip, preparing for placement.\"}\n ],\n \"global_plan\": \"Approach the eggplant on the stovetop, grasp it securely using gripper closure evidenced in segment 2, then reposition it slightly while holding — consistent with intent to place on plate though final placement not yet executed in this clip.\",\n \"notes\": \"Segment 1 shows no gripper closure — purely approach motion. Segment 2 has clear gripper closing (delta=-0.26753) and image consistency supports grasp. Segment 3 maintains grip but does not show release or placement; thus described as repositioning, not placing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach eggplant", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the purple eggplant on the stovetop without closing gripper." + }, + { + "id": 2, + "name": "grasp eggplant", + "start": 8, + "end": 17, + "planning": "Close gripper around eggplant and secure hold as confirmed by gripper value drop to 0.73." + }, + { + "id": 3, + "name": "reposition with eggplant", + "start": 18, + "end": 19, + "planning": "Lift and move eggplant slightly while maintaining grip, preparing for placement." + } + ], + "global_plan": "Approach the eggplant on the stovetop, grasp it securely using gripper closure evidenced in segment 2, then reposition it slightly while holding — consistent with intent to place on plate though final placement not yet executed in this clip.", + "notes": "Segment 1 shows no gripper closure — purely approach motion. Segment 2 has clear gripper closing (delta=-0.26753) and image consistency supports grasp. Segment 3 maintains grip but does not show release or placement; thus described as repositioning, not placing." + } + }, + "episode_goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38224127888679504, + 0.1570151299238205, + 0.0942939817905426, + -3.0065298080444336, + -0.44473928213119507, + 0.062216196209192276 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the purple eggplant on the back-left burner. No grasping has occurred yet as the gripper remains fully open and no closure evidence exists in this segment. The next action should be to move the gripper closer to the eggplant to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808436989784241, + 0.15454202890396118, + 0.07634268701076508, + -3.027878999710083, + -0.3965666890144348, + 0.05848319083452225 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the purple eggplant on the back-left burner. No grasping has occurred yet as the gripper remains fully open and no closure evidence exists in this segment. The next action should be to move the gripper closer to the eggplant to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3920672833919525, + 0.1474609524011612, + 0.06695405393838882, + -3.040699005126953, + -0.3892442286014557, + 0.015099769458174706 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned above the stovetop with the gripper open, approaching the purple eggplant on the back-left burner. No grasping has occurred yet as the gripper remains fully open and no closure evidence exists in this segment. The next action should be to move the gripper closer to the eggplant to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4003758728504181, + 0.14166471362113953, + 0.05290815606713295, + -3.075211524963379, + -0.38388651609420776, + -0.006905134301632643 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.40490448474884033, + 0.13889597356319427, + 0.042686108499765396, + -3.1008875370025635, + -0.3902096152305603, + -0.017651410773396492 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4096023440361023, + 0.13562420010566711, + 0.03262078016996384, + -3.1062088012695312, + -0.40271586179733276, + -0.034331534057855606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41394609212875366, + 0.13155288994312286, + 0.024436380714178085, + -3.103231430053711, + -0.4063533544540405, + -0.06048445403575897 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4219205677509308, + 0.13133613765239716, + 0.017016222700476646, + -3.1220946311950684, + -0.40876054763793945, + -0.07158821076154709 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.42779114842414856, + 0.13204015791416168, + 0.00898395199328661, + 3.1374032497406006, + -0.40131697058677673, + -0.07513704150915146 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 816, + 259, + 916, + 327 + ], + "yellow spatula": [ + 174, + 225, + 245, + 404 + ], + "toy kitchen stove": [ + 26, + 90, + 988, + 981 + ], + "green plate": [ + 452, + 244, + 629, + 403 + ], + "red pepper": [ + 228, + 196, + 374, + 274 + ], + "silver pot": [ + 770, + 174, + 983, + 457 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.43062064051628113, + 0.13627411425113678, + 0.009046054445207119, + 3.1281960010528564, + -0.39948418736457825, + -0.07645658403635025 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.43368542194366455, + 0.13608841598033905, + 0.010832035914063454, + 3.120701551437378, + -0.4099929928779602, + -0.07937048375606537 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4304903745651245, + 0.136357843875885, + 0.008089659735560417, + 3.115112781524658, + -0.40304994583129883, + -0.0692722499370575 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is approaching the purple eggplant on the back-left burner of the stove. The gripper remains open and no grasping has occurred yet. The next action should be to continue moving closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4246600568294525, + 0.13474074006080627, + 0.002950787078589201, + 3.1031494140625, + -0.387950599193573, + -0.054221317172050476 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the back-left burner. The gripper is currently open and positioned near the eggplant, with no contact yet established. The next action should be to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41821205615997314, + 0.13529770076274872, + 0.002631430048495531, + 3.104658603668213, + -0.37919729948043823, + -0.04737957566976547 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the back-left burner. The gripper is currently open and positioned near the eggplant, with no contact yet established. The next action should be to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.41540050506591797, + 0.13562338054180145, + 0.0017793338047340512, + 3.103849411010742, + -0.37808334827423096, + -0.043196987360715866 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the back-left burner. The gripper is currently open and positioned near the eggplant, with no contact yet established. The next action should be to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41352126002311707, + 0.13792011141777039, + 0.001613891450688243, + 3.1185190677642822, + -0.38573890924453735, + -0.031725674867630005 + ], + "gripper_value": 0.8233373761177063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the back-left burner. The gripper is currently open and positioned near the eggplant, with no contact yet established. The next action should be to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41326653957366943, + 0.13813157379627228, + 0.0029840064235031605, + 3.1210546493530273, + -0.38463884592056274, + -0.02335377037525177 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the back-left burner. The gripper is currently open and positioned near the eggplant, with no contact yet established. The next action should be to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4110509157180786, + 0.1381935179233551, + 0.004590245429426432, + 3.1180641651153564, + -0.3526516854763031, + 0.0013508209958672523 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the back-left burner. The gripper is currently open and positioned near the eggplant, with no contact yet established. The next action should be to close the gripper to grasp the eggplant securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4064091444015503, + 0.13094665110111237, + 0.020092442631721497, + -3.113698959350586, + -0.2995619773864746, + 0.019588325172662735 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "reposition with eggplant", + "subtask_reasoning": "The robot is currently holding the purple eggplant above the stovetop, having already grasped it from the back-left burner. Since the gripper signal is stable and not closing further, the arm is repositioning the object toward the center plate. The next action is to continue moving the eggplant over the light green plate to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.41704806685447693, + 0.11223157495260239, + 0.06270553171634674, + -3.0666584968566895, + -0.3342749774456024, + 0.06382143497467041 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 461, + 249, + 642, + 401 + ], + "toy kitchen stove": [ + 20, + 90, + 988, + 981 + ], + "yellow spatula": [ + 174, + 225, + 245, + 404 + ], + "silver pot": [ + 770, + 175, + 985, + 456 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple eggplant located on the back-left burner of the stove and place it onto the light green plate in the center of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "reposition with eggplant" + } + ], + "subtask_name": "reposition with eggplant", + "subtask_reasoning": "The robot is currently holding the purple eggplant above the stovetop, having already grasped it from the back-left burner. Since the gripper signal is stable and not closing further, the arm is repositioning the object toward the center plate. The next action is to continue moving the eggplant over the light green plate to prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004268_ecot.json b/cot/chunk-0004/episode_0004268_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..929a50804488c11c33926c2b732fe943c6722359 --- /dev/null +++ b/cot/chunk-0004/episode_0004268_ecot.json @@ -0,0 +1,2795 @@ +{ + "task_name": "episode_0004268", + "episode_json": "json/chunk-0004/episode_0004268.json", + "video_path": "videos/chunk-0004/image_0/episode_0004268.mp4", + "instruction": "Fold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004268.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.9520424008369446, + "std": 0.4224616587162018, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95204, std=0.42246, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 414, + 414, + 414, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 230, + 230, + 230, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 13 + ], + [ + 3, + 14, + 18 + ], + [ + 4, + 19, + 21 + ], + [ + 5, + 22, + 29 + ], + [ + 6, + 30, + 32 + ], + [ + 7, + 33, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottom right corner\", \"start\": 0, \"end\": 7, \"planning\": \"Move gripper toward the bottom right corner of the cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"reposition for fold initiation\", \"start\": 8, \"end\": 13, \"planning\": \"Adjust gripper position and orientation to prepare for contacting the cloth edge; no grasp yet based on segment evidence.\"},\n {\"id\": 3, \"name\": \"grasp and lift bottom right corner\", \"start\": 14, \"end\": 18, \"planning\": \"Close gripper to securely grasp the bottom right corner of the cloth, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 4, \"name\": \"drag cloth toward top left\", \"start\": 19, \"end\": 29, \"planning\": \"Pull the grasped corner diagonally toward top left while maintaining grip, folding the cloth over itself during motion.\"},\n {\"id\": 5, \"name\": \"release and retreat from folded cloth\", \"start\": 30, \"end\": 41, \"planning\": \"Open gripper to release the cloth after folding, then retreat slightly to complete the task without further manipulation.\"}\n ],\n \"global_plan\": \"Fold the green cloth by grasping its bottom right corner, dragging it diagonally to the top left to create a fold, then releasing and retreating.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segments 1,2,7; grasp only where gripper closes significantly (segments 3,5). Motion phases merged for natural manipulation flow.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottom right corner", + "start": 0, + "end": 7, + "planning": "Move gripper toward the bottom right corner of the cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "reposition for fold initiation", + "start": 8, + "end": 13, + "planning": "Adjust gripper position and orientation to prepare for contacting the cloth edge; no grasp yet based on segment evidence." + }, + { + "id": 3, + "name": "grasp and lift bottom right corner", + "start": 14, + "end": 18, + "planning": "Close gripper to securely grasp the bottom right corner of the cloth, confirmed by significant gripper closure and visual contact." + }, + { + "id": 4, + "name": "drag cloth toward top left", + "start": 19, + "end": 29, + "planning": "Pull the grasped corner diagonally toward top left while maintaining grip, folding the cloth over itself during motion." + }, + { + "id": 5, + "name": "release and retreat from folded cloth", + "start": 30, + "end": 41, + "planning": "Open gripper to release the cloth after folding, then retreat slightly to complete the task without further manipulation." + } + ], + "global_plan": "Fold the green cloth by grasping its bottom right corner, dragging it diagonally to the top left to create a fold, then releasing and retreating.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segments 1,2,7; grasp only where gripper closes significantly (segments 3,5). Motion phases merged for natural manipulation flow." + } + }, + "episode_goal": "Fold the cloth from bottom right to top left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22553162276744843, + 0.1804252713918686, + 0.04614392668008804, + -3.0054121017456055, + -0.1694953888654709, + 0.34448227286338806 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned near the green cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with the arm moving toward the target corner. The next action is to continue approaching until the gripper is aligned and close enough to make contact with the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 16 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22262419760227203, + 0.17777031660079956, + 0.039701733738183975, + -3.0134949684143066, + -0.1469181627035141, + 0.35173049569129944 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned near the green cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with the arm moving toward the target corner. The next action is to continue approaching until the gripper is aligned and close enough to make contact with the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 15 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20774558186531067, + 0.15086793899536133, + 0.03842371702194214, + -3.0075490474700928, + -0.1356210857629776, + 0.3694685697555542 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned near the green cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with the arm moving toward the target corner. The next action is to continue approaching until the gripper is aligned and close enough to make contact with the bottom right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19847966730594635, + 0.1340368539094925, + 0.048292409628629684, + -2.990131139755249, + -0.138588085770607, + 0.3926829695701599 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the green cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom right corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom right corner of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.18623264133930206, + 0.10547643899917603, + 0.05527554079890251, + -3.003737688064575, + -0.14131096005439758, + 0.41931793093681335 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the green cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom right corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom right corner of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1657714694738388, + 0.07230832427740097, + 0.04419083893299103, + -3.0450189113616943, + -0.09010745584964752, + 0.46350133419036865 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the green cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom right corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom right corner of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.15481916069984436, + 0.04711427912116051, + 0.03777530416846275, + -3.072496175765991, + -0.08516385406255722, + 0.4905864894390106 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 4, + 224, + 634, + 915 + ], + "table": [ + 4, + 3, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the green cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom right corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom right corner of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.15224413573741913, + 0.03191163390874863, + 0.030964326113462448, + -3.1092658042907715, + -0.07845664024353027, + 0.49026229977607727 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the green cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom right corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom right corner of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.15547092258930206, + 0.02376602217555046, + 0.025448380038142204, + 3.135753870010376, + -0.07322286069393158, + 0.4819890558719635 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "reposition for fold initiation", + "subtask_reasoning": "The robot is positioned above the green cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom right corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom right corner of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.16010363399982452, + 0.01731286384165287, + 0.019607095047831535, + 3.1099116802215576, + -0.06524033844470978, + 0.4645787179470062 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "reposition for fold initiation", + "subtask_reasoning": "The robot is positioned above the green cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom right corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom right corner of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1715819239616394, + 0.01471134927123785, + 0.0041421083733439445, + 3.066044807434082, + -0.03682324290275574, + 0.42944976687431335 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 4, + 996, + 994 + ], + "green cloth": [ + 3, + 224, + 635, + 912 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "reposition for fold initiation", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to close the gripper to grasp the corner in preparation for the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.17416375875473022, + 0.015274767763912678, + 0.0009821667335927486, + 3.018709897994995, + -0.03825921192765236, + 0.4554455280303955 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "reposition for fold initiation", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to close the gripper to grasp the corner in preparation for the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.1719716489315033, + 0.014485104009509087, + -0.0028500722255557775, + 3.010420799255371, + -0.06328734010457993, + 0.4762782156467438 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "reposition for fold initiation", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to close the gripper to grasp the corner in preparation for the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.17077673971652985, + 0.014543312601745129, + -0.00561201386153698, + 3.003422260284424, + -0.08844136446714401, + 0.4975132346153259 + ], + "gripper_value": 0.7190925478935242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "reposition for fold initiation", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to close the gripper to grasp the corner in preparation for the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 7 cm, move left 7 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1736980527639389, + 0.015277504920959473, + -0.004779967945069075, + 3.003037214279175, + -0.09477020800113678, + 0.49492913484573364 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "grasp and lift bottom right corner", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to close the gripper to grasp the corner in preparation for the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 11 cm, move left 10 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.18020620942115784, + 0.018151218071579933, + -0.005379184149205685, + 3.0136659145355225, + -0.09999654442071915, + 0.4741109609603882 + ], + "gripper_value": 0.27090853452682495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "grasp and lift bottom right corner", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, having completed the approach phase. The gripper is currently open and hovering just above the fabric surface. The next action is to close the gripper to grasp the corner in preparation for the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 13 cm, move left 12 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.18659386038780212, + 0.01866338774561882, + -0.004942838102579117, + 3.0251553058624268, + -0.10983040928840637, + 0.4368005394935608 + ], + "gripper_value": 0.11535319685935974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "grasp and lift bottom right corner", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, with the gripper open and ready to grasp. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to securely grasp the corner to prepare for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 14 cm, move left 14 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.18880638480186462, + 0.018564553931355476, + -0.004663934465497732, + 3.027523994445801, + -0.1136440634727478, + 0.42674049735069275 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "grasp and lift bottom right corner", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, with the gripper open and ready to grasp. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to securely grasp the corner to prepare for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 14 cm, move left 14 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.18562458455562592, + 0.013551527634263039, + -0.0026201915461570024, + 3.053872585296631, + -0.056045643985271454, + 0.42709359526634216 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "grasp and lift bottom right corner", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, with the gripper open and ready to grasp. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to securely grasp the corner to prepare for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 14 cm, move left 14 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.17059476673603058, + -0.002669709734618664, + 0.01992514543235302, + -3.139115333557129, + 0.07406586408615112, + 0.4895044267177582 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 4, + 261, + 655, + 974 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, with the gripper open and ready to grasp. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to securely grasp the corner to prepare for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 14 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.17344994843006134, + 0.001129993936046958, + 0.04938865453004837, + -3.099353313446045, + 0.06949873268604279, + 0.5699626803398132 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, with the gripper open and ready to grasp. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to securely grasp the corner to prepare for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 13 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.18565896153450012, + 0.01465406734496355, + 0.05585252493619919, + -3.122868537902832, + 0.05609948933124542, + 0.5829142332077026 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, with the gripper open and ready to grasp. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to securely grasp the corner to prepare for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2085098922252655, + 0.037842027842998505, + 0.05283010005950928, + 3.128065586090088, + 0.044382739812135696, + 0.5700172781944275 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, with the gripper open and ready to grasp. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to securely grasp the corner to prepare for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 9 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24113619327545166, + 0.06671571731567383, + 0.04914528876543045, + 3.1089346408843994, + 0.04163096845149994, + 0.5248345136642456 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot arm is positioned over the bottom right corner of the green cloth, with the gripper open and ready to grasp. The segment-level gripper evidence indicates a closing action is occurring or imminent. The next step is to securely grasp the corner to prepare for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2781243920326233, + 0.09577087312936783, + 0.04965171962976456, + 3.0969531536102295, + 0.03323470056056976, + 0.4615219235420227 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 4 cm, open gripper; then move back 2 cm, move right 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037625849246979, + 0.1206686720252037, + 0.049662817269563675, + 3.0841915607452393, + 0.0247747004032135, + 0.4539104104042053 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, open gripper; then move back 2 cm, move right 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3136720359325409, + 0.13287754356861115, + 0.0364672988653183, + 3.047961711883545, + 0.04773294925689697, + 0.47362032532691956 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128974139690399, + 0.13680031895637512, + 0.02391091175377369, + 3.008713960647583, + 0.061995282769203186, + 0.48379603028297424 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30794474482536316, + 0.13665013015270233, + 0.012220719829201698, + 2.9788601398468018, + 0.060044996440410614, + 0.49273431301116943 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30224668979644775, + 0.13316868245601654, + 0.007382164243608713, + 2.9701571464538574, + 0.07435155659914017, + 0.49715283513069153 + ], + "gripper_value": 0.475652277469635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "drag cloth toward top left", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move right 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897232174873352, + 0.13256968557834625, + 0.012438474223017693, + 3.015995979309082, + 0.08618458360433578, + 0.5135748386383057 + ], + "gripper_value": 0.775918185710907 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 3, + 302, + 624, + 724 + ], + "table": [ + 4, + 4, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28827279806137085, + 0.1265736222267151, + 0.03209453821182251, + 3.0565707683563232, + 0.032998114824295044, + 0.4958225190639496 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843145728111267, + 0.11876267939805984, + 0.055165063589811325, + 3.115809917449951, + -0.03261779993772507, + 0.46139609813690186 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27610188722610474, + 0.10414737462997437, + 0.06718246638774872, + -3.1173226833343506, + -0.13392333686351776, + 0.40039849281311035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2704947292804718, + 0.09472976624965668, + 0.06266025453805923, + -3.1101574897766113, + -0.16611512005329132, + 0.35409075021743774 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The robot gripper is currently in contact with the green cloth, having successfully grasped the bottom right corner. The arm is positioned to initiate the diagonal movement required to fold the cloth toward the top left. The next action is to drag the cloth across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733345925807953, + 0.09000200778245926, + 0.061871014535427094, + -3.103621244430542, + -0.17385686933994293, + 0.2931872010231018 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The cloth has been folded from bottom right to top left, and the gripper is currently in contact with the folded cloth. The gripper value indicates it is open, suggesting the release phase is underway. The next action is to retreat the gripper away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754615247249603, + 0.09039127826690674, + 0.06225450336933136, + -3.094555377960205, + -0.18528525531291962, + 0.23605822026729584 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The cloth has been folded from bottom right to top left, and the gripper is currently in contact with the folded cloth. The gripper value indicates it is open, suggesting the release phase is underway. The next action is to retreat the gripper away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778690457344055, + 0.09172573685646057, + 0.06294450908899307, + -3.08333158493042, + -0.17980214953422546, + 0.19265849888324738 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The cloth has been folded from bottom right to top left, and the gripper is currently in contact with the folded cloth. The gripper value indicates it is open, suggesting the release phase is underway. The next action is to retreat the gripper away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.28359460830688477, + 0.09700535237789154, + 0.07693759351968765, + -3.0447142124176025, + -0.16464783251285553, + 0.19137154519557953 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The cloth has been folded from bottom right to top left, and the gripper is currently in contact with the folded cloth. The gripper value indicates it is open, suggesting the release phase is underway. The next action is to retreat the gripper away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28639116883277893, + 0.09828413277864456, + 0.0850907638669014, + -3.0439929962158203, + -0.15602794289588928, + 0.21541543304920197 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The cloth has been folded from bottom right to top left, and the gripper is currently in contact with the folded cloth. The gripper value indicates it is open, suggesting the release phase is underway. The next action is to retreat the gripper away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881007492542267, + 0.09874842315912247, + 0.08847815543413162, + -3.048698663711548, + -0.15863019227981567, + 0.24397125840187073 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 3, + 297, + 631, + 739 + ], + "table": [ + 4, + 4, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The cloth has been folded from bottom right to top left, and the gripper is currently in contact with the folded cloth. The gripper value indicates it is open, suggesting the release phase is underway. The next action is to retreat the gripper away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.28886768221855164, + 0.09860411286354065, + 0.08898916840553284, + -3.0504045486450195, + -0.1629095822572708, + 0.22554878890514374 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "reposition for fold initiation" + }, + { + "id": 3, + "subtask": "grasp and lift bottom right corner" + }, + { + "id": 4, + "subtask": "drag cloth toward top left" + }, + { + "id": 5, + "subtask": "release and retreat from folded cloth" + } + ], + "subtask_name": "release and retreat from folded cloth", + "subtask_reasoning": "The cloth has been folded from bottom right to top left, and the gripper is currently in contact with the folded cloth. The gripper value indicates it is open, suggesting the release phase is underway. The next action is to retreat the gripper away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004269_ecot.json b/cot/chunk-0004/episode_0004269_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..de1e0e5005fa5435e746ec8fc4117f6777617edb --- /dev/null +++ b/cot/chunk-0004/episode_0004269_ecot.json @@ -0,0 +1,1338 @@ +{ + "task_name": "episode_0004269", + "episode_json": "json/chunk-0004/episode_0004269.json", + "video_path": "videos/chunk-0004/image_0/episode_0004269.mp4", + "instruction": "Take the object from the top of the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004269.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9306269884109497, + "std": 0.4141973853111267, + "delta_total": -0.48393261432647705, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93063, std=0.41420, total_delta=-0.48393). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 110, + 119 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 14 + ], + [ + 3, + 15, + 18 + ], + [ + 4, + 19, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach object on drawer\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the toy duck on the drawer while closing gripper in preparation for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift object\", \"start\": 10, \"end\": 14, \"planning\": \"Complete gripper closure around the toy duck and lift it clear of the drawer surface.\"},\n {\"id\": 3, \"name\": \"reposition object over table\", \"start\": 15, \"end\": 18, \"planning\": \"Translate the held toy duck from above the drawer to a position over the main table surface.\"},\n {\"id\": 4, \"name\": \"release object on table\", \"start\": 19, \"end\": 19, \"planning\": \"Open gripper to release the toy duck onto the table, completing the transfer task.\"}\n ],\n \"global_plan\": \"Approach the toy duck on the drawer, grasp and lift it, move it over the table, then release it to complete the transfer.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.37) consistent with pre-grasp; Segment 2 confirms full grasp and lift via low gripper value and upward motion; Segment 3 maintains grip while translating; Segment 4 is single-frame release with gripper opening — all aligned with visual evidence and anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach object on drawer", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the toy duck on the drawer while closing gripper in preparation for grasp." + }, + { + "id": 2, + "name": "grasp and lift object", + "start": 10, + "end": 14, + "planning": "Complete gripper closure around the toy duck and lift it clear of the drawer surface." + }, + { + "id": 3, + "name": "reposition object over table", + "start": 15, + "end": 18, + "planning": "Translate the held toy duck from above the drawer to a position over the main table surface." + }, + { + "id": 4, + "name": "release object on table", + "start": 19, + "end": 19, + "planning": "Open gripper to release the toy duck onto the table, completing the transfer task." + } + ], + "global_plan": "Approach the toy duck on the drawer, grasp and lift it, move it over the table, then release it to complete the transfer.", + "notes": "Segment 1 shows gripper closing (delta=-0.37) consistent with pre-grasp; Segment 2 confirms full grasp and lift via low gripper value and upward motion; Segment 3 maintains grip while translating; Segment 4 is single-frame release with gripper opening — all aligned with visual evidence and anti-hallucination rules." + } + }, + "episode_goal": "Pick up the toy duck from the top of the wooden box.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432586193084717, + 0.004806125070899725, + 0.10109914094209671, + 3.113243341445923, + -0.13099774718284607, + 0.0666508823633194 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden drawer with the toy duck visible on its surface. No prior actions have been completed in this subtask. The gripper is open and approaching the duck, indicating the next action should be to move closer and prepare to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3421749174594879, + 0.004254466854035854, + 0.09244430065155029, + 3.113701581954956, + -0.10477396100759506, + 0.07115445286035538 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden drawer with the toy duck visible on its surface. No prior actions have been completed in this subtask. The gripper is open and approaching the duck, indicating the next action should be to move closer and prepare to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 2 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33858752250671387, + -0.015614544041454792, + 0.10993481427431107, + 3.108888626098633, + -0.13469935953617096, + 0.0357537679374218 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden drawer with the toy duck visible on its surface. No prior actions have been completed in this subtask. The gripper is open and approaching the duck, indicating the next action should be to move closer and prepare to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34158578515052795, + -0.041284721344709396, + 0.1295906901359558, + 3.1195576190948486, + -0.1935863047838211, + -0.012628987431526184 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden drawer with the toy duck visible on its surface. No prior actions have been completed in this subtask. The gripper is open and approaching the duck, indicating the next action should be to move closer and prepare to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34620049595832825, + -0.06336220353841782, + 0.13967116177082062, + 3.0949606895446777, + -0.22585830092430115, + -0.029147041961550713 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden box with the gripper open, approaching the toy duck. No contact or grasp has occurred yet. The next action is to lower the gripper toward the duck to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 5 cm, move left 12 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3521580994129181, + -0.08805287629365921, + 0.1404740810394287, + 3.0622622966766357, + -0.21884392201900482, + -0.08359647542238235 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden box with the gripper open, approaching the toy duck. No contact or grasp has occurred yet. The next action is to lower the gripper toward the duck to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move back 6 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35239437222480774, + -0.11442489922046661, + 0.12430407106876373, + 3.058486223220825, + -0.16603681445121765, + -0.1514897495508194 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden box with the gripper open, approaching the toy duck. No contact or grasp has occurred yet. The next action is to lower the gripper toward the duck to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 2 cm, close gripper; then move back 6 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3478994071483612, + -0.12520286440849304, + 0.1138809472322464, + 3.067462205886841, + -0.13260240852832794, + -0.17802095413208008 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 569, + 268, + 996, + 886 + ], + "yellow bottle": [ + 382, + 117, + 478, + 285 + ], + "white toy": [ + 665, + 330, + 789, + 544 + ], + "grey tape": [ + 605, + 647, + 783, + 927 + ], + "wooden table": [ + 3, + 56, + 990, + 994 + ], + "black handle": [ + 481, + 372, + 633, + 581 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden box with the gripper open, approaching the toy duck. No contact or grasp has occurred yet. The next action is to lower the gripper toward the duck to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move back 6 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33620789647102356, + -0.11996180564165115, + 0.10138370096683502, + 3.090792417526245, + -0.09667198359966278, + -0.17857865989208221 + ], + "gripper_value": 0.9198530912399292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden box with the gripper open, approaching the toy duck. No contact or grasp has occurred yet. The next action is to lower the gripper toward the duck to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3261646628379822, + -0.11491663008928299, + 0.10245553404092789, + 3.093348741531372, + -0.10333999991416931, + -0.17909255623817444 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "approach object on drawer", + "subtask_reasoning": "The robot is positioned above the wooden box with the gripper open, approaching the toy duck. No contact or grasp has occurred yet. The next action is to lower the gripper toward the duck to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 6 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31493693590164185, + -0.09558037668466568, + 0.10806449502706528, + 3.083139419555664, + -0.11420634388923645, + -0.1568998247385025 + ], + "gripper_value": 0.325195848941803 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 569, + 315, + 995, + 890 + ], + "yellow bottle": [ + 381, + 117, + 478, + 285 + ], + "white toy": [ + 624, + 383, + 751, + 602 + ], + "wooden table": [ + 3, + 57, + 994, + 994 + ], + "grey tape": [ + 605, + 649, + 781, + 927 + ], + "black handle": [ + 481, + 372, + 631, + 581 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot is positioned above the wooden box with the gripper open, approaching the toy duck. No contact or grasp has occurred yet. The next action is to lower the gripper toward the duck to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3044184446334839, + -0.07302513718605042, + 0.11254067718982697, + 3.068382740020752, + -0.11923208087682724, + -0.13547787070274353 + ], + "gripper_value": 0.13900397717952728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot is positioned above the wooden box with the gripper open, approaching the toy duck. No contact or grasp has occurred yet. The next action is to lower the gripper toward the duck to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29114869236946106, + -0.04323720186948776, + 0.10491625964641571, + 3.065451145172119, + -0.08742304146289825, + -0.08745458722114563 + ], + "gripper_value": 0.07591649144887924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot has approached the toy duck on the wooden box and is now in contact with it. The gripper is closing around the duck, indicating the grasp phase is underway. The next action is to fully secure the grip and lift the duck off the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27448225021362305, + -0.006588316522538662, + 0.08660617470741272, + 3.0801682472229004, + -0.033013395965099335, + -0.032041218131780624 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot has approached the toy duck on the wooden box and is now in contact with it. The gripper is closing around the duck, indicating the grasp phase is underway. The next action is to fully secure the grip and lift the duck off the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26476335525512695, + 0.023248447105288506, + 0.07122552394866943, + 3.0885791778564453, + -0.03571037948131561, + 0.020414918661117554 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot has approached the toy duck on the wooden box and is now in contact with it. The gripper is closing around the duck, indicating the grasp phase is underway. The next action is to fully secure the grip and lift the duck off the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move left 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25611627101898193, + 0.054617490619421005, + 0.04838879778981209, + -3.1192498207092285, + -0.039225492626428604, + 0.08334140479564667 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "reposition object over table", + "subtask_reasoning": "The robot has approached the toy duck on the wooden box and is now in contact with it. The gripper is closing around the duck, indicating the grasp phase is underway. The next action is to fully secure the grip and lift the duck off the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25882959365844727, + 0.06404899805784225, + 0.03634679317474365, + -3.081338882446289, + -0.07185358554124832, + 0.1010693684220314 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "reposition object over table", + "subtask_reasoning": "The robot is holding the toy duck above the table, having successfully lifted it from the drawer. The gripper remains closed, and the arm is positioned to place the object. The next action is to lower the duck onto the table surface and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25782737135887146, + 0.06938144564628601, + 0.02792186848819256, + -3.0492451190948486, + -0.05265813693404198, + 0.105512835085392 + ], + "gripper_value": 0.0853668823838234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "reposition object over table", + "subtask_reasoning": "The robot is holding the toy duck above the table, having successfully lifted it from the drawer. The gripper remains closed, and the arm is positioned to place the object. The next action is to lower the duck onto the table surface and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2561759650707245, + 0.07052445411682129, + 0.029472757130861282, + -3.0418944358825684, + -0.02977851592004299, + 0.0942927747964859 + ], + "gripper_value": 0.24658186733722687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "reposition object over table", + "subtask_reasoning": "The robot is holding the toy duck above the table, having successfully lifted it from the drawer. The gripper remains closed, and the arm is positioned to place the object. The next action is to lower the duck onto the table surface and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2584606409072876, + 0.07381703704595566, + 0.04191390052437782, + -3.0737524032592773, + 0.0101272938773036, + 0.06268904358148575 + ], + "gripper_value": 0.5168834924697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the toy duck from the top of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object on drawer" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "reposition object over table" + }, + { + "id": 4, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The robot arm is positioned above the table with the toy duck held in its gripper, having completed the approach and lift phases. The current subtask involves releasing the object onto the table surface. The next action is to open the gripper to drop the toy duck onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004270_ecot.json b/cot/chunk-0004/episode_0004270_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..918ee7c3cd66d904a8bd05b5e31ec992992140c7 --- /dev/null +++ b/cot/chunk-0004/episode_0004270_ecot.json @@ -0,0 +1,2301 @@ +{ + "task_name": "episode_0004270", + "episode_json": "json/chunk-0004/episode_0004270.json", + "video_path": "videos/chunk-0004/image_0/episode_0004270.mp4", + "instruction": "Pick up the blue spoon and place it on the far right corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004270.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.5769050121307373, + "std": 0.27353525161743164, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57691, std=0.27354, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 311, + 311, + 311, + 311, + 311, + 311, + 311, + 311, + 311, + 311, + 111, + 111, + 111, + 111, + 125, + 125, + 125, + 125, + 125, + 225, + 225, + 225 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 10 + ], + [ + 3, + 11, + 20 + ], + [ + 4, + 21, + 24 + ], + [ + 5, + 25, + 29 + ], + [ + 6, + 30, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue spoon\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the blue spoon on the left side of the table without grasping.\"},\n {\"id\": 2, \"name\": \"grasp blue spoon\", \"start\": 11, \"end\": 20, \"planning\": \"Close gripper to securely grasp the blue spoon and lift it from the table surface.\"},\n {\"id\": 3, \"name\": \"transport spoon right\", \"start\": 21, \"end\": 24, \"planning\": \"Carry the grasped blue spoon across the table toward the far right corner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place spoon at target\", \"start\": 25, \"end\": 29, \"planning\": \"Lower the spoon and release grip to place it precisely at the far right corner of the table.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 30, \"end\": 32, \"planning\": \"Lift and retract end-effector away from the placed spoon to complete the task.\"}\n ],\n \"global_plan\": \"Approach the blue spoon on the left, grasp it, transport it to the far right corner of the table, place it down, and retreat.\",\n \"notes\": \"Segment 1 (frames 0-3) shows no gripper closing — correctly labeled as approach. Segment 3 (11-20) has meaningful gripper closure and image confirmation of grasp — labeled as grasp. Segment 4 (21-24) maintains grip during transport — labeled as transport. Segment 5 (25-29) inferred as placement based on motion trajectory and gripper opening trend (not shown but implied by context). Segment 6 (30-32) shows retreat with open gripper — labeled as retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue spoon", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the blue spoon on the left side of the table without grasping." + }, + { + "id": 2, + "name": "grasp blue spoon", + "start": 11, + "end": 20, + "planning": "Close gripper to securely grasp the blue spoon and lift it from the table surface." + }, + { + "id": 3, + "name": "transport spoon right", + "start": 21, + "end": 24, + "planning": "Carry the grasped blue spoon across the table toward the far right corner while maintaining grip." + }, + { + "id": 4, + "name": "place spoon at target", + "start": 25, + "end": 29, + "planning": "Lower the spoon and release grip to place it precisely at the far right corner of the table." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 30, + "end": 32, + "planning": "Lift and retract end-effector away from the placed spoon to complete the task." + } + ], + "global_plan": "Approach the blue spoon on the left, grasp it, transport it to the far right corner of the table, place it down, and retreat.", + "notes": "Segment 1 (frames 0-3) shows no gripper closing — correctly labeled as approach. Segment 3 (11-20) has meaningful gripper closure and image confirmation of grasp — labeled as grasp. Segment 4 (21-24) maintains grip during transport — labeled as transport. Segment 5 (25-29) inferred as placement based on motion trajectory and gripper opening trend (not shown but implied by context). Segment 6 (30-32) shows retreat with open gripper — labeled as retreat." + } + }, + "episode_goal": "Pick up the blue spoon and place it on the far right corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944946587085724, + 0.10180447995662689, + 0.14942382276058197, + 3.138158082962036, + -0.1852867305278778, + -0.15059944987297058 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and the arm is beginning to move toward the spoon. The next action is to continue approaching the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move down 14 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946224510669708, + 0.1018558219075203, + 0.14144596457481384, + 3.124993085861206, + -0.16283050179481506, + -0.1498301923274994 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and the arm is beginning to move toward the spoon. The next action is to continue approaching the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move down 14 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28495100140571594, + 0.12718714773654938, + 0.13917452096939087, + 3.122281074523926, + -0.16106268763542175, + -0.10385174304246902 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and the arm is beginning to move toward the spoon. The next action is to continue approaching the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753104567527771, + 0.1552879363298416, + 0.12752588093280792, + 3.108423948287964, + -0.1534024327993393, + -0.086118184030056 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and the arm is beginning to move toward the spoon. The next action is to continue approaching the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583199739456177, + 0.18848219513893127, + 0.11769222468137741, + -3.1087684631347656, + -0.17085343599319458, + -0.10141630470752716 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 184, + 858, + 992 + ], + "lemon": [ + 331, + 270, + 417, + 410 + ], + "orange cloth": [ + 250, + 335, + 508, + 521 + ], + "metal bowl": [ + 239, + 205, + 485, + 475 + ], + "blue knife": [ + 58, + 362, + 176, + 522 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and the arm is beginning to move toward the spoon. The next action is to continue approaching the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2433721274137497, + 0.20472614467144012, + 0.08263127505779266, + -3.0663962364196777, + -0.14029912650585175, + -0.08780702948570251 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 9 cm, move up 14 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24131901562213898, + 0.20614738762378693, + 0.05411270633339882, + -3.0233118534088135, + -0.09977415949106216, + -0.058021433651447296 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 14 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24551589787006378, + 0.20951753854751587, + 0.03926894813776016, + -3.0002875328063965, + -0.09713933616876602, + -0.018782027065753937 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move forward 4 cm, move right 19 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24915876984596252, + 0.20770491659641266, + 0.02330697700381279, + -3.024493932723999, + -0.07094636559486389, + -0.004042293876409531 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move forward 5 cm, move right 24 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534846365451813, + 0.20176808536052704, + 0.009363096207380295, + -3.033613443374634, + -0.03532274067401886, + -0.020106136798858643 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 5 cm, move right 28 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2601707875728607, + 0.20695097744464874, + 0.006805618293583393, + -3.0231716632843018, + -0.03290560096502304, + -0.015244169160723686 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 31 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25978222489356995, + 0.20738615095615387, + 0.006028322968631983, + -3.0279102325439453, + -0.017303090542554855, + -0.0017800568602979183 + ], + "gripper_value": 0.4550158977508545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 32 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25443804264068604, + 0.20079199969768524, + 0.010323107242584229, + -3.076756477355957, + 0.020455047488212585, + 0.00584068987518549 + ], + "gripper_value": 0.42745357751846313 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 31 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2541430592536926, + 0.19315849244594574, + 0.06356289982795715, + -3.0737290382385254, + -0.06032847613096237, + 0.057150572538375854 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 30 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25416281819343567, + 0.16803571581840515, + 0.11641711741685867, + -3.058493137359619, + -0.17067265510559082, + 0.04086196422576904 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible on the left side. The gripper is open and approaching the spoon, indicating the initial phase of the approach subtask. The next action should be to continue moving the gripper closer to the blue spoon for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 28 cm, move down 8 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27091100811958313, + 0.11490407586097717, + 0.1494094878435135, + -3.086284637451172, + -0.20403440296649933, + -0.06607769429683685 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 183, + 859, + 992 + ], + "blue knife": [ + 79, + 175, + 171, + 306 + ], + "orange cloth": [ + 249, + 335, + 511, + 521 + ], + "lemon": [ + 330, + 270, + 417, + 409 + ], + "metal bowl": [ + 238, + 203, + 485, + 475 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned near the blue spoon inside the metal bowl on the table. The approach phase is complete, and the gripper is currently open. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 23 cm, move down 12 cm, tilt forward 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.291564404964447, + 0.0629909560084343, + 0.1366792917251587, + -3.105989933013916, + -0.17887812852859497, + -0.17751559615135193 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned near the blue spoon inside the metal bowl on the table. The approach phase is complete, and the gripper is currently open. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 17 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022218942642212, + 0.01624170131981373, + 0.1191989928483963, + -3.107042074203491, + -0.15263403952121735, + -0.16984610259532928 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned near the blue spoon inside the metal bowl on the table. The approach phase is complete, and the gripper is currently open. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper; then move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30663198232650757, + -0.03250967711210251, + 0.09764298051595688, + -3.090235471725464, + -0.1126173883676529, + -0.1086111068725586 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned near the blue spoon inside the metal bowl on the table. The approach phase is complete, and the gripper is currently open. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper; then move forward 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3095368444919586, + -0.07679691910743713, + 0.07990988343954086, + -3.0792737007141113, + -0.11941421777009964, + 0.0028974302113056183 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 249, + 335, + 510, + 521 + ], + "metal bowl": [ + 237, + 205, + 485, + 475 + ], + "blue knife": [ + 566, + 371, + 655, + 536 + ], + "lemon": [ + 329, + 271, + 418, + 409 + ], + "wooden table": [ + 4, + 183, + 859, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned near the blue spoon inside the metal bowl on the table. The approach phase is complete, and the gripper is currently open. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 5 cm, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper; then move left 4 cm, move up 14 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.315167099237442, + -0.09991929680109024, + 0.05786341056227684, + -3.115682601928711, + -0.11921406537294388, + 0.056840527802705765 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp blue spoon", + "subtask_reasoning": "The robot end-effector is positioned near the blue spoon inside the metal bowl on the table. The approach phase is complete, and the gripper is currently open. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move left 2 cm, move down 2 cm, open gripper; then move back 1 cm, move left 7 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32168737053871155, + -0.11028702557086945, + 0.03291042521595955, + 3.127284288406372, + -0.09979183971881866, + 0.022573810070753098 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon right", + "subtask_reasoning": "The robot end-effector is positioned near the blue spoon inside the metal bowl on the table. The approach phase is complete, and the gripper is currently open. The next action is to close the gripper to grasp the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, open gripper; then move back 1 cm, move left 7 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251796066761017, + -0.1133546456694603, + 0.023473573848605156, + 3.103454351425171, + -0.11669308692216873, + -0.03564777597784996 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon right", + "subtask_reasoning": "The robot is currently holding the blue spoon and moving it across the table toward the far right corner. The gripper remains closed with no change in value, confirming the spoon is securely held. The next action is to continue transporting the spoon to the target location before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, open gripper; then move back 1 cm, move left 7 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3313708007335663, + -0.0994720458984375, + 0.012235398404300213, + 3.0789780616760254, + -0.10936467349529266, + -0.05365423485636711 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon right", + "subtask_reasoning": "The robot is currently holding the blue spoon and moving it across the table toward the far right corner. The gripper remains closed with no change in value, confirming the spoon is securely held. The next action is to continue transporting the spoon to the target location before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, open gripper; then move back 1 cm, move left 7 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3301709294319153, + -0.09361764788627625, + 0.010223514400422573, + 3.099959373474121, + -0.10551536828279495, + -0.04238788038492203 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "transport spoon right", + "subtask_reasoning": "The robot is currently holding the blue spoon and moving it across the table toward the far right corner. The gripper remains closed with no change in value, confirming the spoon is securely held. The next action is to continue transporting the spoon to the target location before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 7 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3262564241886139, + -0.09083057940006256, + 0.008255976252257824, + 3.073681592941284, + -0.08217369019985199, + -0.004187515936791897 + ], + "gripper_value": 0.5130034685134888 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is currently holding the blue spoon and moving it across the table toward the far right corner. The gripper remains closed with no change in value, confirming the spoon is securely held. The next action is to continue transporting the spoon to the target location before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3190593421459198, + -0.08897591382265091, + 0.010742811486124992, + 3.0236997604370117, + -0.01915763132274151, + -0.05610785633325577 + ], + "gripper_value": 0.8074146509170532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is currently holding the blue spoon and moving it across the table toward the far right corner. The gripper remains closed with no change in value, confirming the spoon is securely held. The next action is to continue transporting the spoon to the target location before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33078426122665405, + -0.09225916117429733, + 0.05248069390654564, + 3.0112762451171875, + -0.11129223555326462, + -0.16142220795154572 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has transported the blue spoon to the far right corner of the table and is currently holding it above the surface. The gripper is closed, indicating the spoon is still secured. The next action is to open the gripper to release the spoon onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3323984742164612, + -0.07873696088790894, + 0.10622280836105347, + 3.0305824279785156, + -0.23143967986106873, + -0.2619498670101166 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 184, + 859, + 990 + ], + "metal bowl": [ + 238, + 205, + 486, + 476 + ], + "orange cloth": [ + 249, + 335, + 511, + 521 + ], + "lemon": [ + 329, + 271, + 417, + 410 + ], + "spoon": [ + 626, + 423, + 774, + 710 + ], + "blue knife": [ + 627, + 516, + 730, + 706 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has transported the blue spoon to the far right corner of the table and is currently holding it above the surface. The gripper is closed, indicating the spoon is still secured. The next action is to open the gripper to release the spoon onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32281628251075745, + -0.049547601491212845, + 0.14949440956115723, + 3.0953757762908936, + -0.26417332887649536, + -0.31119486689567566 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has transported the blue spoon to the far right corner of the table and is currently holding it above the surface. The gripper is closed, indicating the spoon is still secured. The next action is to open the gripper to release the spoon onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31415805220603943, + -0.02066083811223507, + 0.14236490428447723, + -3.1275510787963867, + -0.2233179360628128, + -0.2985122799873352 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot has transported the blue spoon to the far right corner of the table and is currently holding it above the surface. The gripper is closed, indicating the spoon is still secured. The next action is to open the gripper to release the spoon onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3031667172908783, + 0.013364743441343307, + 0.12451456487178802, + -3.1131751537323, + -0.17863592505455017, + -0.2225002497434616 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue spoon has been successfully placed on the far right corner of the table. The gripper is open and the arm is positioned above the spoon, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3008958697319031, + 0.025899814441800117, + 0.12336484342813492, + -3.1391870975494385, + -0.1785905361175537, + -0.16974370181560516 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spoon and place it on the far right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp blue spoon" + }, + { + "id": 3, + "subtask": "transport spoon right" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The blue spoon has been successfully placed on the far right corner of the table. The gripper is open and the arm is positioned above the spoon, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004271_ecot.json b/cot/chunk-0004/episode_0004271_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..464a99578d367233f594d367b5ed7c13010c0fcb --- /dev/null +++ b/cot/chunk-0004/episode_0004271_ecot.json @@ -0,0 +1,1936 @@ +{ + "task_name": "episode_0004271", + "episode_json": "json/chunk-0004/episode_0004271.json", + "video_path": "videos/chunk-0004/image_0/episode_0004271.mp4", + "instruction": "Take carrot out of pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004271.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.3721829652786255, + "std": 0.15688610076904297, + "delta_total": -0.00744861364364624, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.37218, std=0.15689, total_delta=-0.00745). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 21 + ], + [ + 3, + 22, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot in bowl\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the bowl containing the carrot without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp carrot from bowl\", \"start\": 6, \"end\": 21, \"planning\": \"Close gripper around carrot and lift it slightly out of the bowl, confirmed by gripper closure and motion.\"},\n {\"id\": 3, \"name\": \"reposition and release carrot\", \"start\": 22, \"end\": 32, \"planning\": \"Move carrot away from bowl and open gripper to place it on the wooden surface, as shown by gripper opening and final position.\"}\n ],\n \"global_plan\": \"Approach the bowl, grasp the carrot inside it, then move and release the carrot onto the wooden surface outside the bowl.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach. Segment 2 shows meaningful gripper closure consistent with grasping. Segment 3 shows gripper opening and repositioning, indicating release. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot in bowl", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the bowl containing the carrot without closing gripper." + }, + { + "id": 2, + "name": "grasp carrot from bowl", + "start": 6, + "end": 21, + "planning": "Close gripper around carrot and lift it slightly out of the bowl, confirmed by gripper closure and motion." + }, + { + "id": 3, + "name": "reposition and release carrot", + "start": 22, + "end": 32, + "planning": "Move carrot away from bowl and open gripper to place it on the wooden surface, as shown by gripper opening and final position." + } + ], + "global_plan": "Approach the bowl, grasp the carrot inside it, then move and release the carrot onto the wooden surface outside the bowl.", + "notes": "Segment 1 shows no gripper closure — only approach. Segment 2 shows meaningful gripper closure consistent with grasping. Segment 3 shows gripper opening and repositioning, indicating release. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Pick up the carrot from the wooden box.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2037825584411621, + 0.10099585354328156, + 0.09490706026554108, + -2.842395782470703, + -0.2166237235069275, + 0.17041923105716705 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is positioned above a wooden box containing a bowl with a carrot inside. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, move down 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20188020169734955, + 0.09953153133392334, + 0.09111220389604568, + -2.8460640907287598, + -0.19826512038707733, + 0.169134721159935 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is positioned above a wooden box containing a bowl with a carrot inside. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, move down 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20963670313358307, + 0.08214294165372849, + 0.08938398212194443, + -2.8450868129730225, + -0.159868985414505, + 0.059395577758550644 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21919064223766327, + 0.0540057010948658, + 0.091267429292202, + -2.8781986236572266, + -0.14293277263641357, + -0.1019340232014656 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 476, + 592, + 719, + 915 + ], + "banana": [ + 283, + 656, + 442, + 823 + ], + "wooden box": [ + 10, + 298, + 879, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22899329662322998, + 0.019969237968325615, + 0.09690594673156738, + -2.9171125888824463, + -0.1285601556301117, + -0.25260940194129944 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2331872582435608, + -0.01593908481299877, + 0.09527724981307983, + -3.003446340560913, + -0.09855671972036362, + -0.4065064787864685 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2339157909154892, + -0.04229944199323654, + 0.08563824743032455, + -3.0652353763580322, + -0.07613258808851242, + -0.5255216360092163 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23454667627811432, + -0.05789821594953537, + 0.07718431949615479, + -3.0816783905029297, + -0.07606734335422516, + -0.5807498097419739 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23318080604076385, + -0.0741000846028328, + 0.06796058267354965, + -3.0845694541931152, + -0.09529965370893478, + -0.6191271543502808 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 475, + 596, + 720, + 921 + ], + "banana": [ + 284, + 655, + 441, + 822 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2269117683172226, + -0.08725228160619736, + 0.060996152460575104, + -3.086829423904419, + -0.09335077553987503, + -0.6591300964355469 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22174502909183502, + -0.09506993740797043, + 0.05201949551701546, + -3.0882959365844727, + -0.07542222738265991, + -0.681298017501831 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2191859483718872, + -0.09825635701417923, + 0.04284494370222092, + -3.0789108276367188, + -0.05853339657187462, + -0.6905905604362488 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21771343052387238, + -0.09544841945171356, + 0.03471072018146515, + -3.0659399032592773, + -0.051480721682310104, + -0.6933146119117737 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot is positioned above the wooden box, with the orange bowl containing the carrot visible below. No objects have been grasped yet, as the gripper remains open. The robot needs to continue lowering its end-effector to reach the carrot inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2141602337360382, + -0.09360027313232422, + 0.028073035180568695, + -3.058440685272217, + -0.040888458490371704, + -0.7009395956993103 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 2 cm, move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21443554759025574, + -0.09306003153324127, + 0.02259930968284607, + -3.0569403171539307, + -0.03176143765449524, + -0.696931004524231 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 3 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21145868301391602, + -0.09337569028139114, + 0.009818315505981445, + -3.069319248199463, + 0.00503834243863821, + -0.7034351825714111 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21064218878746033, + -0.09301082044839859, + 0.007720401044934988, + -3.0694150924682617, + 0.013679545372724533, + -0.6965898275375366 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20955300331115723, + -0.0944138616323471, + 0.007623561192303896, + -3.0785131454467773, + 0.013974780216813087, + -0.699863851070404 + ], + "gripper_value": 0.6991904973983765 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20729056000709534, + -0.09349925071001053, + 0.010293422266840935, + -3.0971715450286865, + 0.0202646441757679, + -0.6902831792831421 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21084186434745789, + -0.08980724215507507, + 0.03298591822385788, + -3.094782829284668, + -0.029047830030322075, + -0.6635586619377136 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22114405035972595, + -0.07628361880779266, + 0.06551730632781982, + -3.0567398071289062, + -0.11744769662618637, + -0.6193046569824219 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24456055462360382, + -0.039651110768318176, + 0.08888951689004898, + -3.021371841430664, + -0.19711172580718994, + -0.48444342613220215 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "grasp carrot from bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 8 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2698047459125519, + 0.00933409109711647, + 0.0798146203160286, + -2.9817957878112793, + -0.18179138004779816, + -0.32884588837623596 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 485, + 589, + 732, + 926 + ], + "banana": [ + 284, + 655, + 441, + 822 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852386236190796, + 0.035688117146492004, + 0.05878831818699837, + -2.934098482131958, + -0.1451236456632614, + -0.2941311299800873 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29915934801101685, + 0.05581595376133919, + 0.03618042543530464, + -2.8958325386047363, + -0.10140573978424072, + -0.2529720962047577 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 486, + 592, + 731, + 923 + ], + "banana": [ + 283, + 655, + 442, + 821 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3083120882511139, + 0.07036682963371277, + 0.02291005477309227, + -2.869110107421875, + -0.07687611877918243, + -0.22650361061096191 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3136727213859558, + 0.0775350034236908, + 0.014909177087247372, + -2.860626459121704, + -0.06119329854846001, + -0.2083011418581009 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the carrot inside the orange bowl, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this window. The next immediate action is to close the gripper to grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31402587890625, + 0.08227649331092834, + 0.008423065766692162, + -2.8698768615722656, + -0.0323735848069191, + -0.18740986287593842 + ], + "gripper_value": 0.7061693072319031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot is holding the carrot above the wooden box, having successfully lifted it from the bowl. The gripper is closed around the carrot, and the arm is positioned to place the object down. The next action is to lower the carrot and release it onto the wooden surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31408849358558655, + 0.08194226026535034, + 0.009681318886578083, + -2.8849921226501465, + -0.016678839921951294, + -0.17737987637519836 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot is holding the carrot above the wooden box, having successfully lifted it from the bowl. The gripper is closed around the carrot, and the arm is positioned to place the object down. The next action is to lower the carrot and release it onto the wooden surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.312572717666626, + 0.08378782123327255, + 0.007055460475385189, + -2.8905742168426514, + 0.003424480790272355, + -0.17797937989234924 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot is holding the carrot above the wooden box, having successfully lifted it from the bowl. The gripper is closed around the carrot, and the arm is positioned to place the object down. The next action is to lower the carrot and release it onto the wooden surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31286099553108215, + 0.08416726440191269, + 0.006648877635598183, + -2.886718273162842, + -0.0004109742003493011, + -0.18112137913703918 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot is holding the carrot above the wooden box, having successfully lifted it from the bowl. The gripper is closed around the carrot, and the arm is positioned to place the object down. The next action is to lower the carrot and release it onto the wooden surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30880314111709595, + 0.08570010960102081, + 0.009509483352303505, + -2.8730721473693848, + 0.0017453377367928624, + -0.1795826405286789 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot is holding the carrot above the wooden box, having successfully lifted it from the bowl. The gripper is closed around the carrot, and the arm is positioned to place the object down. The next action is to lower the carrot and release it onto the wooden surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30939194560050964, + 0.08493941277265549, + 0.04634570702910423, + -2.8639070987701416, + -0.07847312092781067, + -0.14547447860240936 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot from bowl" + }, + { + "id": 3, + "subtask": "reposition and release carrot" + } + ], + "subtask_name": "reposition and release carrot", + "subtask_reasoning": "The robot is holding the carrot above the wooden box, having successfully lifted it from the bowl. The gripper is closed around the carrot, and the arm is positioned to place the object down. The next action is to lower the carrot and release it onto the wooden surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004272_ecot.json b/cot/chunk-0004/episode_0004272_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ece7fb644a6bdac185946b386f8fcc81b83f014d --- /dev/null +++ b/cot/chunk-0004/episode_0004272_ecot.json @@ -0,0 +1,2173 @@ +{ + "task_name": "episode_0004272", + "episode_json": "json/chunk-0004/episode_0004272.json", + "video_path": "videos/chunk-0004/image_0/episode_0004272.mp4", + "instruction": "Put clothes in laundry machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004272.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.8992531299591064, + "std": 0.404876708984375, + "delta_total": 0.004729151725769043, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.89925, std=0.40488, total_delta=0.00473). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 128, + 128, + 128, + 128 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 8 + ], + [ + 3, + 9, + 11 + ], + [ + 4, + 12, + 15 + ], + [ + 5, + 16, + 27 + ], + [ + 6, + 28, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach laundry basket\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the laundry basket containing clothes, positioning above it without grasping.\"},\n {\"id\": 2, \"name\": \"grasp clothes in basket\", \"start\": 7, \"end\": 11, \"planning\": \"Close gripper to securely grasp the red and blue clothes inside the basket, confirmed by decreasing gripper value.\"},\n {\"id\": 3, \"name\": \"lift clothes from basket\", \"start\": 12, \"end\": 15, \"planning\": \"Lift the grasped clothes upward out of the basket while maintaining grip, as shown by rising z-coordinate and continued low gripper value.\"},\n {\"id\": 4, \"name\": \"transport clothes to machine\", \"start\": 16, \"end\": 27, \"planning\": \"Move the held clothes horizontally and vertically toward the open laundry machine door, preparing for insertion.\"},\n {\"id\": 5, \"name\": \"insert clothes into machine\", \"start\": 28, \"end\": 31, \"planning\": \"Release the clothes inside the laundry machine drum, confirmed by increasing gripper value indicating release and visual confirmation of clothes inside.\"}\n ],\n \"global_plan\": \"Approach the laundry basket, grasp the clothes, lift them out, transport to the machine, and insert them into the drum.\",\n \"notes\": \"Gripper evidence supports grasp during segments 2-4 (frames 7-15) and release during segment 6 (frames 28-31). Segment 1 shows no gripper motion — purely approach. Segment 5 is inferred as transport based on continuity and task logic, though not explicitly detailed in provided keyframes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach laundry basket", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the laundry basket containing clothes, positioning above it without grasping." + }, + { + "id": 2, + "name": "grasp clothes in basket", + "start": 7, + "end": 11, + "planning": "Close gripper to securely grasp the red and blue clothes inside the basket, confirmed by decreasing gripper value." + }, + { + "id": 3, + "name": "lift clothes from basket", + "start": 12, + "end": 15, + "planning": "Lift the grasped clothes upward out of the basket while maintaining grip, as shown by rising z-coordinate and continued low gripper value." + }, + { + "id": 4, + "name": "transport clothes to machine", + "start": 16, + "end": 27, + "planning": "Move the held clothes horizontally and vertically toward the open laundry machine door, preparing for insertion." + }, + { + "id": 5, + "name": "insert clothes into machine", + "start": 28, + "end": 31, + "planning": "Release the clothes inside the laundry machine drum, confirmed by increasing gripper value indicating release and visual confirmation of clothes inside." + } + ], + "global_plan": "Approach the laundry basket, grasp the clothes, lift them out, transport to the machine, and insert them into the drum.", + "notes": "Gripper evidence supports grasp during segments 2-4 (frames 7-15) and release during segment 6 (frames 28-31). Segment 1 shows no gripper motion — purely approach. Segment 5 is inferred as transport based on continuity and task logic, though not explicitly detailed in provided keyframes." + } + }, + "episode_goal": "Place the red and blue clothes from the basket into the washing machine.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2483578473329544, + 0.0498090460896492, + 0.08361383527517319, + -3.068732500076294, + -0.20122180879116058, + 0.23251929879188538 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the washing machine with the laundry basket containing red and blue clothes visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm down towards the basket to begin the grasping process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24346601963043213, + 0.04976431280374527, + 0.07482454925775528, + -3.0673069953918457, + -0.17383229732513428, + 0.2373795360326767 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the washing machine with the laundry basket containing red and blue clothes visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm down towards the basket to begin the grasping process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 10 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2360544502735138, + 0.07455703616142273, + 0.05218623951077461, + -3.0483593940734863, + -0.1739198863506317, + 0.32935696840286255 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the washing machine with the laundry basket containing red and blue clothes visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm down towards the basket to begin the grasping process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 7 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23324033617973328, + 0.09924659132957458, + 0.03643946722149849, + -3.0292160511016846, + -0.19661271572113037, + 0.382758766412735 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 95, + 432, + 473, + 760 + ], + "green glove": [ + 152, + 735, + 285, + 949 + ] + } + } + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing red and blue clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is stationary, indicating it is preparing to move closer or adjust its position relative to the basket. The next likely action is to move the end effector closer to the clothes in the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23206472396850586, + 0.11564222723245621, + 0.02136007510125637, + -3.024179220199585, + -0.19838674366474152, + 0.40904951095581055 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing red and blue clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is stationary, indicating it is preparing to move closer or adjust its position relative to the basket. The next likely action is to move the end effector closer to the clothes in the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22935765981674194, + 0.12353744357824326, + 0.0035745836794376373, + -3.0407638549804688, + -0.1880103349685669, + 0.44617927074432373 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing red and blue clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is stationary, indicating it is preparing to move closer or adjust its position relative to the basket. The next likely action is to move the end effector closer to the clothes in the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22800800204277039, + 0.12043566256761551, + -0.006829331163316965, + -3.110598564147949, + -0.15459761023521423, + 0.3850252330303192 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing red and blue clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is stationary, indicating it is preparing to move closer or adjust its position relative to the basket. The next likely action is to move the end effector closer to the clothes in the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23083868622779846, + 0.12008015066385269, + -0.020365945994853973, + 3.1203761100769043, + -0.15831686556339264, + 0.3923141658306122 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "grasp clothes in basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing red and blue clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is stationary, indicating it is preparing to move closer or adjust its position relative to the basket. The next likely action is to move the end effector closer to the clothes in the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23184734582901, + 0.11923559755086899, + -0.033899687230587006, + 3.1222097873687744, + -0.15350717306137085, + 0.4166800081729889 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "grasp clothes in basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing red and blue clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is stationary, indicating it is preparing to move closer or adjust its position relative to the basket. The next likely action is to move the end effector closer to the clothes in the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23172147572040558, + 0.12056423723697662, + -0.04700249060988426, + -3.1220154762268066, + -0.13928529620170593, + 0.43467408418655396 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "grasp clothes in basket", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket containing red and blue clothes. The gripper is currently open and hovering over the items, indicating the approach phase is complete but contact has not yet been made. The next action is to lower the end-effector and close the gripper to grasp a piece of clothing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.234520822763443, + 0.12390514463186264, + -0.0551149882376194, + -3.1076083183288574, + -0.1379745751619339, + 0.4591718316078186 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "grasp clothes in basket", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket containing red and blue clothes. The gripper is currently open and hovering over the items, indicating the approach phase is complete but contact has not yet been made. The next action is to lower the end-effector and close the gripper to grasp a piece of clothing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2349618375301361, + 0.12531669437885284, + -0.059570685029029846, + -3.092625617980957, + -0.14415304362773895, + 0.4674956798553467 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "grasp clothes in basket", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket containing red and blue clothes. The gripper is currently open and hovering over the items, indicating the approach phase is complete but contact has not yet been made. The next action is to lower the end-effector and close the gripper to grasp a piece of clothing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23378370702266693, + 0.1261119842529297, + -0.05945400893688202, + -3.082982301712036, + -0.1433716118335724, + 0.45466285943984985 + ], + "gripper_value": 0.4513009488582611 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "lift clothes from basket", + "subtask_reasoning": "The robot arm is positioned directly above the laundry basket containing red and blue clothes. The gripper is currently open and hovering over the items, indicating the approach phase is complete but contact has not yet been made. The next action is to lower the end-effector and close the gripper to grasp a piece of clothing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move right 10 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23364800214767456, + 0.1259421706199646, + -0.04233431816101074, + -3.0817062854766846, + -0.16974395513534546, + 0.44456228613853455 + ], + "gripper_value": 0.24658186733722687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "lift clothes from basket", + "subtask_reasoning": "The robot has approached the laundry basket and grasped the clothes inside. The gripper is currently closed around the items, indicating a successful grasp. The next action is to lift the clothes vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed; then move forward 11 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23509390652179718, + 0.12773321568965912, + -0.013585816137492657, + -3.1048028469085693, + -0.22307319939136505, + 0.4580571949481964 + ], + "gripper_value": 0.12930262088775635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "lift clothes from basket", + "subtask_reasoning": "The robot has approached the laundry basket and grasped the clothes inside. The gripper is currently closed around the items, indicating a successful grasp. The next action is to lift the clothes vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, keep gripper closed; then move forward 13 cm, move right 9 cm, move up 5 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23670795559883118, + 0.12460734695196152, + 0.020159777253866196, + -3.134550094604492, + -0.2638201117515564, + 0.473347008228302 + ], + "gripper_value": 0.09890149533748627 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 168, + 467, + 472, + 759 + ], + "washing machine": [ + 160, + 4, + 994, + 760 + ], + "green glove": [ + 152, + 734, + 284, + 949 + ] + } + } + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "lift clothes from basket", + "subtask_reasoning": "The robot has approached the laundry basket and grasped the clothes inside. The gripper is currently closed around the items, indicating a successful grasp. The next action is to lift the clothes vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 15 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, tilt back 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23333072662353516, + 0.11162721365690231, + 0.050846945494413376, + 3.103388547897339, + -0.25096625089645386, + 0.4710085093975067 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot has approached the laundry basket and grasped the clothes inside. The gripper is currently closed around the items, indicating a successful grasp. The next action is to lift the clothes vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23422516882419586, + 0.09330790489912033, + 0.07727447897195816, + 3.0654821395874023, + -0.2877616882324219, + 0.4221402108669281 + ], + "gripper_value": 0.11661893874406815 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot has approached the laundry basket and grasped the clothes inside. The gripper is currently closed around the items, indicating a successful grasp. The next action is to lift the clothes vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24493461847305298, + 0.07353045791387558, + 0.10089152306318283, + 3.022287607192993, + -0.38496580719947815, + 0.3770619034767151 + ], + "gripper_value": 0.11832001805305481 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 114, + 460, + 469, + 762 + ], + "green glove": [ + 152, + 734, + 284, + 950 + ] + } + } + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot has approached the laundry basket and grasped the clothes inside. The gripper is currently closed around the items, indicating a successful grasp. The next action is to lift the clothes vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 1 cm, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25743693113327026, + 0.05098064988851547, + 0.11006630212068558, + 2.9782462120056152, + -0.42610275745391846, + 0.3606383800506592 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot has approached the laundry basket and grasped the clothes inside. The gripper is currently closed around the items, indicating a successful grasp. The next action is to lift the clothes vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, open gripper; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746526300907135, + 0.0299370139837265, + 0.12048022449016571, + 2.9326014518737793, + -0.494453489780426, + 0.3661542534828186 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot has approached the laundry basket and grasped the clothes inside. The gripper is currently closed around the items, indicating a successful grasp. The next action is to lift the clothes vertically out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, open gripper; then move back 5 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.296835333108902, + 0.013748756609857082, + 0.12156667560338974, + 2.912949562072754, + -0.5382607579231262, + 0.3800114095211029 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot is holding red and blue clothes near the washing machine drum opening. The clothes have been lifted from the basket and transported to the machine. The next action is to insert the clothes into the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 3 cm, tilt back 10 degrees, open gripper; then move back 7 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181889057159424, + 0.007788233924657106, + 0.11184943467378616, + 2.931530237197876, + -0.5924981832504272, + 0.3815460205078125 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot is holding red and blue clothes near the washing machine drum opening. The clothes have been lifted from the basket and transported to the machine. The next action is to insert the clothes into the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 2 cm, open gripper; then move back 7 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34093695878982544, + 0.01438902597874403, + 0.10411562025547028, + 2.9406063556671143, + -0.6593194603919983, + 0.38351520895957947 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot is holding red and blue clothes near the washing machine drum opening. The clothes have been lifted from the basket and transported to the machine. The next action is to insert the clothes into the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, open gripper; then move back 7 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3648656904697418, + 0.023190854117274284, + 0.0964270532131195, + 2.936950206756592, + -0.7017854452133179, + 0.41391652822494507 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot is holding red and blue clothes near the washing machine drum opening. The clothes have been lifted from the basket and transported to the machine. The next action is to insert the clothes into the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, open gripper; then move back 7 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3787621557712555, + 0.028526101261377335, + 0.08954314887523651, + 2.9229304790496826, + -0.6936598420143127, + 0.44191938638687134 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot is holding red and blue clothes near the washing machine drum opening. The clothes have been lifted from the basket and transported to the machine. The next action is to insert the clothes into the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3778564929962158, + 0.03293998911976814, + 0.08857022970914841, + 2.9033877849578857, + -0.6793157458305359, + 0.46669894456863403 + ], + "gripper_value": 0.1506364643573761 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot is holding red and blue clothes near the washing machine drum opening. The clothes have been lifted from the basket and transported to the machine. The next action is to insert the clothes into the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36973220109939575, + 0.03864731267094612, + 0.08552556484937668, + 2.930359125137329, + -0.6493046879768372, + 0.44871795177459717 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "transport clothes to machine", + "subtask_reasoning": "The robot is holding red and blue clothes near the washing machine drum opening. The clothes have been lifted from the basket and transported to the machine. The next action is to insert the clothes into the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35132896900177, + 0.0434175506234169, + 0.0922628790140152, + 2.918466329574585, + -0.6541746258735657, + 0.4223042130470276 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The robot is holding red and blue clothes near the washing machine drum opening. The clothes have been lifted from the basket and transported to the machine. The next action is to insert the clothes into the drum." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3275469243526459, + 0.04841059818863869, + 0.09649761766195297, + 2.923661947250366, + -0.6782705187797546, + 0.3686380684375763 + ], + "gripper_value": 0.9149291515350342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The red and blue clothes are already inside the washing machine drum, indicating the insertion action is complete. The gripper is open and positioned near the machine opening, suggesting the robot has just released the items. The next logical step is to retract the arm or proceed to close the machine door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.30374646186828613, + 0.05234641581773758, + 0.11087752133607864, + 2.9041709899902344, + -0.6824413537979126, + 0.3479595184326172 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 116, + 395, + 471, + 762 + ], + "green glove": [ + 152, + 734, + 284, + 949 + ], + "white cloth": [ + 217, + 431, + 451, + 709 + ] + } + } + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The red and blue clothes are already inside the washing machine drum, indicating the insertion action is complete. The gripper is open and positioned near the machine opening, suggesting the robot has just released the items. The next logical step is to retract the arm or proceed to close the machine door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28302401304244995, + 0.05460767820477486, + 0.1234394982457161, + 2.887256383895874, + -0.6224066615104675, + 0.32871711254119873 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red and blue clothes from the basket into the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "grasp clothes in basket" + }, + { + "id": 3, + "subtask": "lift clothes from basket" + }, + { + "id": 4, + "subtask": "transport clothes to machine" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The red and blue clothes are already inside the washing machine drum, indicating the insertion action is complete. The gripper is open and positioned near the machine opening, suggesting the robot has just released the items. The next logical step is to retract the arm or proceed to close the machine door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004274_ecot.json b/cot/chunk-0004/episode_0004274_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..523af766faabb4ba8a1c71c7d6b7d52b3be038a3 --- /dev/null +++ b/cot/chunk-0004/episode_0004274_ecot.json @@ -0,0 +1,1316 @@ +{ + "task_name": "episode_0004274", + "episode_json": "json/chunk-0004/episode_0004274.json", + "video_path": "videos/chunk-0004/image_0/episode_0004274.mp4", + "instruction": "Close small4fbox flaps.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004274.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box flap\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the small4fbox flap with open gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact and nudge flap\", \"start\": 6, \"end\": 11, \"planning\": \"Gently make contact with the box flap and nudge it inward using the gripper body without closing.\"},\n {\"id\": 3, \"name\": \"reposition for second flap\", \"start\": 12, \"end\": 15, \"planning\": \"Retreat slightly and reposition end-effector to align with the next flap on the small4fbox.\"},\n {\"id\": 4, \"name\": \"nudge second flap closed\", \"start\": 16, \"end\": 19, \"planning\": \"Apply gentle pressure with the gripper body to slide the second flap into closed position without grasping.\"}\n ],\n \"global_plan\": \"Close both flaps of the small4fbox by approaching, making contact, and nudging each flap inward using the gripper body while keeping the gripper open throughout, as no meaningful closing is observed in any segment.\",\n \"notes\": \"Gripper remains fully open (value ~0.97) across all frames; no grasp or lift occurs. All manipulation is achieved via contact-based pushing/nudging. Segment boundaries respected but split into 4 phases for natural motion grouping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box flap", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the small4fbox flap with open gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact and nudge flap", + "start": 6, + "end": 11, + "planning": "Gently make contact with the box flap and nudge it inward using the gripper body without closing." + }, + { + "id": 3, + "name": "reposition for second flap", + "start": 12, + "end": 15, + "planning": "Retreat slightly and reposition end-effector to align with the next flap on the small4fbox." + }, + { + "id": 4, + "name": "nudge second flap closed", + "start": 16, + "end": 19, + "planning": "Apply gentle pressure with the gripper body to slide the second flap into closed position without grasping." + } + ], + "global_plan": "Close both flaps of the small4fbox by approaching, making contact, and nudging each flap inward using the gripper body while keeping the gripper open throughout, as no meaningful closing is observed in any segment.", + "notes": "Gripper remains fully open (value ~0.97) across all frames; no grasp or lift occurs. All manipulation is achieved via contact-based pushing/nudging. Segment boundaries respected but split into 4 phases for natural motion grouping." + } + }, + "episode_goal": "Close the flaps of the small4fbox.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820698857307434, + -0.05223262310028076, + 0.08914650976657867, + -2.9730875492095947, + -0.1935451775789261, + 0.009087109006941319 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned above the open small4fbox with flaps extended outward. No actions have been completed yet. The gripper remains open and stationary, indicating readiness to approach. The next action is to move the gripper closer to one of the box flaps to initiate contact for closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3799220025539398, + -0.053013429045677185, + 0.07113266736268997, + -2.971879243850708, + -0.14734213054180145, + -0.012233853340148926 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned above the open small4fbox with flaps extended outward. No actions have been completed yet. The gripper remains open and stationary, indicating readiness to approach. The next action is to move the gripper closer to one of the box flaps to initiate contact for closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3861764669418335, + -0.05051916465163231, + 0.06856418401002884, + -2.9762487411499023, + -0.16194461286067963, + -0.09132303297519684 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned above the open small4fbox with its gripper open and no contact made yet. No flap-closing action has been completed. The next step is to move the gripper closer to one of the box flaps to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3951748311519623, + -0.04932141304016113, + 0.0697561725974083, + -2.9507758617401123, + -0.18634895980358124, + -0.1434403657913208 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned above the open small4fbox with its gripper open and no contact made yet. No flap-closing action has been completed. The next step is to move the gripper closer to one of the box flaps to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.40475475788116455, + -0.04441624879837036, + 0.07800769805908203, + -2.9603898525238037, + -0.20621603727340698, + -0.19807781279087067 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned above the open small4fbox with its gripper open and no contact made yet. No flap-closing action has been completed. The next step is to move the gripper closer to one of the box flaps to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.41027069091796875, + -0.03810516372323036, + 0.07606641948223114, + -2.9666409492492676, + -0.20406699180603027, + -0.23203355073928833 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned above the open small4fbox with its gripper open and no contact made yet. No flap-closing action has been completed. The next step is to move the gripper closer to one of the box flaps to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4177245497703552, + -0.03585170581936836, + 0.07361078262329102, + -2.9798593521118164, + -0.22928757965564728, + -0.25022801756858826 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "make contact and nudge flap", + "subtask_reasoning": "The robot is positioned above the open small4fbox with its gripper open and no contact made yet. No flap-closing action has been completed. The next step is to move the gripper closer to one of the box flaps to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4232478141784668, + -0.032158683985471725, + 0.05919676274061203, + -3.032560348510742, + -0.24359670281410217, + -0.2514229118824005 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "make contact and nudge flap", + "subtask_reasoning": "The robot is positioned above the open small4fbox with its gripper open and no contact made yet. No flap-closing action has been completed. The next step is to move the gripper closer to one of the box flaps to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.42537692189216614, + -0.02927388995885849, + 0.05627432465553284, + -3.0602927207946777, + -0.2546943724155426, + -0.25121745467185974 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "make contact and nudge flap", + "subtask_reasoning": "The robot is positioned near the open flap of the small4fbox with the gripper open, having completed the approach phase. The current situation involves aligning the gripper body to make physical contact with the flap. The next action is to move forward slightly to nudge the flap inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4226696193218231, + -0.02779582142829895, + 0.04574505612254143, + -3.0901265144348145, + -0.23109593987464905, + -0.23598091304302216 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy vegetable": [ + 764, + 504, + 995, + 702 + ], + "white ball": [ + 52, + 118, + 137, + 223 + ], + "cardboard box": [ + 196, + 236, + 676, + 719 + ], + "glass jar": [ + 124, + 17, + 237, + 187 + ], + "black appliance": [ + 513, + 3, + 830, + 301 + ] + } + } + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "make contact and nudge flap", + "subtask_reasoning": "The robot is positioned near the open flap of the small4fbox with the gripper open, having completed the approach phase. The current situation involves aligning the gripper body to make physical contact with the flap. The next action is to move forward slightly to nudge the flap inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4174661934375763, + -0.02511453628540039, + 0.04610844701528549, + -3.102233648300171, + -0.19257521629333496, + -0.22790378332138062 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "make contact and nudge flap", + "subtask_reasoning": "The robot is positioned near the open flap of the small4fbox with the gripper open, having completed the approach phase. The current situation involves aligning the gripper body to make physical contact with the flap. The next action is to move forward slightly to nudge the flap inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4109066128730774, + -0.02100614458322525, + 0.04661395773291588, + -3.0849227905273438, + -0.1407245397567749, + -0.21741549670696259 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "make contact and nudge flap", + "subtask_reasoning": "The robot is positioned near the open flap of the small4fbox with the gripper open, having completed the approach phase. The current situation involves aligning the gripper body to make physical contact with the flap. The next action is to move forward slightly to nudge the flap inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40144822001457214, + -0.018714522942900658, + 0.04747609421610832, + -3.0600292682647705, + -0.0721038430929184, + -0.1935180425643921 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "reposition for second flap", + "subtask_reasoning": "The robot is positioned near the open flap of the small4fbox with the gripper open, having completed the approach phase. The current situation involves aligning the gripper body to make physical contact with the flap. The next action is to move forward slightly to nudge the flap inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3917621672153473, + -0.016700992360711098, + 0.04777008295059204, + -3.026571750640869, + -0.0429275743663311, + -0.1707388460636139 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "reposition for second flap", + "subtask_reasoning": "The robot has completed nudging the first flap and is now repositioning toward the second flap of the small4fbox. The gripper remains open with no grasp evidence, and the arm is moving laterally to align with the next target flap. The next action is to approach and make contact with the second flap for inward nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open; then move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820374011993408, + -0.014840311370790005, + 0.052120279520750046, + -3.021390676498413, + -0.04258386045694351, + -0.1475706696510315 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "reposition for second flap", + "subtask_reasoning": "The robot has completed nudging the first flap and is now repositioning toward the second flap of the small4fbox. The gripper remains open with no grasp evidence, and the arm is moving laterally to align with the next target flap. The next action is to approach and make contact with the second flap for inward nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3742740750312805, + -0.013181915506720543, + 0.05502164363861084, + -3.0090653896331787, + -0.05312352627515793, + -0.1199273094534874 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "reposition for second flap", + "subtask_reasoning": "The robot has completed nudging the first flap and is now repositioning toward the second flap of the small4fbox. The gripper remains open with no grasp evidence, and the arm is moving laterally to align with the next target flap. The next action is to approach and make contact with the second flap for inward nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3690471053123474, + -0.012209574691951275, + 0.05788739398121834, + -3.0004732608795166, + -0.0706510841846466, + -0.0915447250008583 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "nudge second flap closed", + "subtask_reasoning": "The robot has completed nudging the first flap and is now repositioning toward the second flap of the small4fbox. The gripper remains open with no grasp evidence, and the arm is moving laterally to align with the next target flap. The next action is to approach and make contact with the second flap for inward nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589678704738617, + -0.012049023993313313, + 0.058766841888427734, + -3.007657527923584, + -0.1029767245054245, + -0.07037581503391266 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "nudge second flap closed", + "subtask_reasoning": "The robot is positioned near the second flap of the small4fbox, with the gripper open and in contact with the flap. The flap has been partially nudged inward, but not fully closed. The next action should continue applying gentle pressure to fully close the flap without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34984543919563293, + -0.0105610191822052, + 0.05918512120842934, + -3.0128514766693115, + -0.09704532474279404, + -0.040025364607572556 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy vegetable": [ + 764, + 503, + 994, + 702 + ], + "white ball": [ + 52, + 118, + 137, + 223 + ], + "cardboard box": [ + 194, + 235, + 675, + 722 + ], + "orange toy pumpkin": [ + 833, + 193, + 995, + 443 + ], + "glass jar": [ + 124, + 18, + 236, + 187 + ] + } + } + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "nudge second flap closed", + "subtask_reasoning": "The robot is positioned near the second flap of the small4fbox, with the gripper open and in contact with the flap. The flap has been partially nudged inward, but not fully closed. The next action should continue applying gentle pressure to fully close the flap without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34057101607322693, + -0.009357772767543793, + 0.06347057968378067, + -3.007888078689575, + -0.11059724539518356, + -0.010540471412241459 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the small4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact and nudge flap" + }, + { + "id": 3, + "subtask": "reposition for second flap" + }, + { + "id": 4, + "subtask": "nudge second flap closed" + } + ], + "subtask_name": "nudge second flap closed", + "subtask_reasoning": "The robot is positioned near the second flap of the small4fbox, with the gripper open and in contact with the flap. The flap has been partially nudged inward, but not fully closed. The next action should continue applying gentle pressure to fully close the flap without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004275_ecot.json b/cot/chunk-0004/episode_0004275_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4abdb394e82c8fd82473a945d45997896ca12861 --- /dev/null +++ b/cot/chunk-0004/episode_0004275_ecot.json @@ -0,0 +1,2239 @@ +{ + "task_name": "episode_0004275", + "episode_json": "json/chunk-0004/episode_0004275.json", + "video_path": "videos/chunk-0004/image_0/episode_0004275.mp4", + "instruction": "Put pear in bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004275.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.2985913157463074, + "std": 0.12755179405212402, + "delta_total": 0.005373477935791016, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.29859, std=0.12755, total_delta=0.00537). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 6 + ], + [ + 3, + 7, + 10 + ], + [ + 4, + 11, + 17 + ], + [ + 5, + 18, + 21 + ], + [ + 6, + 22, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the green pear on the tray without grasping.\"},\n {\"id\": 2, \"name\": \"position above pear\", \"start\": 7, \"end\": 10, \"planning\": \"Adjust end-effector pose to align directly above the pear for potential grasp.\"},\n {\"id\": 3, \"name\": \"grasp pear\", \"start\": 11, \"end\": 17, \"planning\": \"Close gripper around the pear and confirm secure hold based on gripper signal drop.\"},\n {\"id\": 4, \"name\": \"lift and transport pear\", \"start\": 18, \"end\": 21, \"planning\": \"Lift the grasped pear and move it toward the blue bowl location.\"},\n {\"id\": 5, \"name\": \"release pear in bowl\", \"start\": 22, \"end\": 31, \"planning\": \"Open gripper to release the pear into the blue bowl and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the green pear on the tray, grasp it securely, lift and transport it to the blue bowl, then release it inside the bowl.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 4 and 6; grasp/release wording is applied accordingly. Segments 1-3 show no gripper closure, so motion is described as approach/positioning. Full frame coverage from 0 to 31 is maintained with contiguous subtasks.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the green pear on the tray without grasping." + }, + { + "id": 2, + "name": "position above pear", + "start": 7, + "end": 10, + "planning": "Adjust end-effector pose to align directly above the pear for potential grasp." + }, + { + "id": 3, + "name": "grasp pear", + "start": 11, + "end": 17, + "planning": "Close gripper around the pear and confirm secure hold based on gripper signal drop." + }, + { + "id": 4, + "name": "lift and transport pear", + "start": 18, + "end": 21, + "planning": "Lift the grasped pear and move it toward the blue bowl location." + }, + { + "id": 5, + "name": "release pear in bowl", + "start": 22, + "end": 31, + "planning": "Open gripper to release the pear into the blue bowl and retreat slightly." + } + ], + "global_plan": "Approach the green pear on the tray, grasp it securely, lift and transport it to the blue bowl, then release it inside the bowl.", + "notes": "Gripper evidence confirms meaningful closing only in segments 4 and 6; grasp/release wording is applied accordingly. Segments 1-3 show no gripper closure, so motion is described as approach/positioning. Full frame coverage from 0 to 31 is maintained with contiguous subtasks." + } + }, + "episode_goal": "Place the green pear into the blue bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645054757595062, + 0.06881313025951385, + 0.144166499376297, + 3.1370248794555664, + -0.14991100132465363, + 0.3972020745277405 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the tray with the green pear visible nearby, and the gripper is open. No movement or grasping has occurred yet in this subtask. The next action should be to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634836733341217, + 0.06832341104745865, + 0.13600857555866241, + 3.140885353088379, + -0.12392404675483704, + 0.3863701820373535 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the tray with the green pear visible nearby, and the gripper is open. No movement or grasping has occurred yet in this subtask. The next action should be to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 10 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27879589796066284, + 0.09012384712696075, + 0.1363704800605774, + -3.1287152767181396, + -0.19472378492355347, + 0.29622653126716614 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the tray with the green pear visible nearby, and the gripper is open. No movement or grasping has occurred yet in this subtask. The next action should be to move the end-effector closer to the green pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 7 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 6 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035500645637512, + 0.11356350034475327, + 0.14038757979869843, + -3.1370139122009277, + -0.2041490375995636, + 0.29888594150543213 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 573, + 293, + 733, + 471 + ], + "white dishwasher": [ + 91, + 454, + 622, + 995 + ], + "wooden cutting board": [ + 126, + 131, + 792, + 747 + ], + "red bell pepper": [ + 737, + 616, + 832, + 757 + ], + "orange glass lid": [ + 308, + 420, + 496, + 596 + ], + "orange glass bowl": [ + 397, + 195, + 571, + 409 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the wooden tray where a green pear and a blue bowl are visible. The gripper is currently open and the robot is in the process of moving towards the green pear. The next action is to continue approaching the pear to align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 6 cm, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.326576828956604, + 0.13480748236179352, + 0.1363709717988968, + -3.1008663177490234, + -0.21122992038726807, + 0.24598683416843414 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the wooden tray where a green pear and a blue bowl are visible. The gripper is currently open and the robot is in the process of moving towards the green pear. The next action is to continue approaching the pear to align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 6 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34757766127586365, + 0.15065927803516388, + 0.13171160221099854, + -3.0986595153808594, + -0.21541909873485565, + 0.2509526014328003 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the wooden tray where a green pear and a blue bowl are visible. The gripper is currently open and the robot is in the process of moving towards the green pear. The next action is to continue approaching the pear to align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 6 cm, keep gripper open; then move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3602757751941681, + 0.16243687272071838, + 0.1220085471868515, + -3.119011402130127, + -0.22005455195903778, + 0.27482032775878906 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the wooden tray where a green pear and a blue bowl are visible. The gripper is currently open and the robot is in the process of moving towards the green pear. The next action is to continue approaching the pear to align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move down 6 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36707890033721924, + 0.16491352021694183, + 0.09710776805877686, + 3.140178680419922, + -0.1897747814655304, + 0.24223144352436066 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "position above pear", + "subtask_reasoning": "The robot is positioned above the wooden tray where a green pear and a blue bowl are visible. The gripper is currently open and the robot is in the process of moving towards the green pear. The next action is to continue approaching the pear to align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 6 cm, keep gripper open; then move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37309160828590393, + 0.1641847938299179, + 0.07693073898553848, + 3.1256656646728516, + -0.1831495463848114, + 0.22183245420455933 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "position above pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper fully open. The approach phase is complete, and the arm is now stationary in the pre-grasp position. The next action is to close the gripper to grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37581637501716614, + 0.1600414216518402, + 0.05576271563768387, + 3.128204584121704, + -0.15123078227043152, + 0.20236366987228394 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "position above pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper fully open. The approach phase is complete, and the arm is now stationary in the pre-grasp position. The next action is to close the gripper to grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3815649747848511, + 0.15118418633937836, + 0.0467635914683342, + 3.1331658363342285, + -0.14728033542633057, + 0.2008921056985855 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "position above pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper fully open. The approach phase is complete, and the arm is now stationary in the pre-grasp position. The next action is to close the gripper to grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 1 cm, move right 6 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3873814344406128, + 0.14767864346504211, + 0.03897777199745178, + -3.123671054840088, + -0.1555846631526947, + 0.211118683218956 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper fully open. The approach phase is complete, and the arm is now stationary in the pre-grasp position. The next action is to close the gripper to grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 3 cm, move right 9 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3891526460647583, + 0.14647798240184784, + 0.03124619461596012, + -3.126917600631714, + -0.12957125902175903, + 0.23758594691753387 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 573, + 293, + 733, + 471 + ], + "orange glass bowl": [ + 407, + 206, + 592, + 416 + ], + "orange glass lid": [ + 308, + 420, + 497, + 596 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper fully open. The approach phase is complete, and the arm is now stationary in the pre-grasp position. The next action is to close the gripper to grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3915644586086273, + 0.1499854475259781, + 0.023423023521900177, + -3.113273859024048, + -0.1156085729598999, + 0.23836562037467957 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper fully open. The approach phase is complete, and the arm is now stationary in the pre-grasp position. The next action is to close the gripper to grasp the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3915385901927948, + 0.15169110894203186, + 0.021640541031956673, + -3.1036462783813477, + -0.11624080687761307, + 0.24374957382678986 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the initiation of the grasp. The next immediate action is to close the gripper fingers to securely hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39232438802719116, + 0.15528807044029236, + 0.013445963151752949, + -3.097205638885498, + -0.11584501713514328, + 0.25497081875801086 + ], + "gripper_value": 0.7061693072319031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the initiation of the grasp. The next immediate action is to close the gripper fingers to securely hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39327749609947205, + 0.15645749866962433, + 0.01362515613436699, + -3.0983123779296875, + -0.13693976402282715, + 0.2854262888431549 + ], + "gripper_value": 0.7171077728271484 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the initiation of the grasp. The next immediate action is to close the gripper fingers to securely hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3915639817714691, + 0.15940342843532562, + 0.028324192389845848, + -3.0781219005584717, + -0.14564098417758942, + 0.40375083684921265 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the initiation of the grasp. The next immediate action is to close the gripper fingers to securely hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.39969855546951294, + 0.1656547486782074, + 0.0607307031750679, + -3.0595178604125977, + -0.1585938036441803, + 0.5364092588424683 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green pear on the wooden tray, with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the initiation of the grasp. The next immediate action is to close the gripper fingers to securely hold the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3991733491420746, + 0.1453980952501297, + 0.08099570125341415, + -3.0566036701202393, + -0.1386619359254837, + 0.5700587034225464 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot is positioned above the tray with the pear visible in the sink below, but the gripper remains open and no contact has been made yet. The current subtask of lifting and transporting cannot proceed until the pear is first grasped. The next action should be to move the gripper down to make contact with the pear in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 10 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3884456753730774, + 0.11054615676403046, + 0.0996108129620552, + -3.0399415493011475, + -0.1785392463207245, + 0.5332157015800476 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot is positioned above the tray with the pear visible in the sink below, but the gripper remains open and no contact has been made yet. The current subtask of lifting and transporting cannot proceed until the pear is first grasped. The next action should be to move the gripper down to make contact with the pear in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3716686964035034, + 0.07326073199510574, + 0.1099776029586792, + -3.108362913131714, + -0.10240031033754349, + 0.4674493074417114 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "lift and transport pear", + "subtask_reasoning": "The robot is positioned above the tray with the pear visible in the sink below, but the gripper remains open and no contact has been made yet. The current subtask of lifting and transporting cannot proceed until the pear is first grasped. The next action should be to move the gripper down to make contact with the pear in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, keep gripper closed; then move right 6 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.35561710596084595, + 0.04648716375231743, + 0.11384059488773346, + 3.1272518634796143, + -0.03584035113453865, + 0.39888402819633484 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot is positioned above the tray with the pear visible in the sink below, but the gripper remains open and no contact has been made yet. The current subtask of lifting and transporting cannot proceed until the pear is first grasped. The next action should be to move the gripper down to make contact with the pear in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3539096415042877, + 0.019917549565434456, + 0.10282426327466965, + 3.1199281215667725, + -0.03369506821036339, + 0.34193155169487 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 573, + 293, + 732, + 471 + ], + "green pear": [ + 492, + 93, + 585, + 238 + ], + "wooden cutting board": [ + 128, + 133, + 800, + 748 + ], + "orange glass bowl": [ + 408, + 205, + 590, + 416 + ], + "red bell pepper": [ + 737, + 615, + 833, + 758 + ], + "orange glass lid": [ + 309, + 421, + 497, + 594 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot is positioned above the tray with the pear visible in the sink below, but the gripper remains open and no contact has been made yet. The current subtask of lifting and transporting cannot proceed until the pear is first grasped. The next action should be to move the gripper down to make contact with the pear in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35965651273727417, + 0.005437851883471012, + 0.09505845606327057, + 3.0841002464294434, + -0.0458969920873642, + 0.31891417503356934 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 574, + 293, + 732, + 470 + ], + "wooden cutting board": [ + 130, + 141, + 794, + 750 + ], + "orange glass bowl": [ + 407, + 205, + 582, + 416 + ], + "red bell pepper": [ + 737, + 616, + 834, + 757 + ], + "orange glass lid": [ + 309, + 420, + 496, + 595 + ], + "white dishwasher": [ + 91, + 454, + 623, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot is positioned above the tray with the pear visible in the sink below, but the gripper remains open and no contact has been made yet. The current subtask of lifting and transporting cannot proceed until the pear is first grasped. The next action should be to move the gripper down to make contact with the pear in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35994240641593933, + -0.007025145925581455, + 0.06906922161579132, + 3.104424476623535, + 0.01841919869184494, + 0.2813136875629425 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot is positioned above the tray with the pear visible in the sink below, but the gripper remains open and no contact has been made yet. The current subtask of lifting and transporting cannot proceed until the pear is first grasped. The next action should be to move the gripper down to make contact with the pear in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3650076389312744, + -0.018919581547379494, + 0.054524656385183334, + 3.122640371322632, + 0.04278251901268959, + 0.26817429065704346 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl with the green pear held in the gripper. The gripper is currently open, indicating the pear has been released or is in the process of being dropped into the bowl. The next action is to ensure the pear settles in the bowl and then move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3652346134185791, + -0.02440778724849224, + 0.044339120388031006, + 3.104295492172241, + 0.07158304005861282, + 0.2250044047832489 + ], + "gripper_value": 0.8111810088157654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl with the green pear held in the gripper. The gripper is currently open, indicating the pear has been released or is in the process of being dropped into the bowl. The next action is to ensure the pear settles in the bowl and then move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36540594696998596, + -0.02686774730682373, + 0.04561188444495201, + 3.0830800533294678, + 0.0680592730641365, + 0.1485704928636551 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl with the green pear held in the gripper. The gripper is currently open, indicating the pear has been released or is in the process of being dropped into the bowl. The next action is to ensure the pear settles in the bowl and then move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621217906475067, + -0.026185056194663048, + 0.05216338858008385, + 3.0552141666412354, + 0.08872181922197342, + 0.12106244266033173 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl with the green pear held in the gripper. The gripper is currently open, indicating the pear has been released or is in the process of being dropped into the bowl. The next action is to ensure the pear settles in the bowl and then move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36384323239326477, + -0.016805537045001984, + 0.06369517743587494, + 3.0245721340179443, + 0.10950976610183716, + 0.11008549481630325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl with the green pear held in the gripper. The gripper is currently open, indicating the pear has been released or is in the process of being dropped into the bowl. The next action is to ensure the pear settles in the bowl and then move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.359122633934021, + -0.011273794807493687, + 0.0906173586845398, + 3.0330066680908203, + 0.05040957033634186, + 0.11676181107759476 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "position above pear" + }, + { + "id": 3, + "subtask": "grasp pear" + }, + { + "id": 4, + "subtask": "lift and transport pear" + }, + { + "id": 5, + "subtask": "release pear in bowl" + } + ], + "subtask_name": "release pear in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl with the green pear held in the gripper. The gripper is currently open, indicating the pear has been released or is in the process of being dropped into the bowl. The next action is to ensure the pear settles in the bowl and then move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004276_ecot.json b/cot/chunk-0004/episode_0004276_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c91c8dc45a8f1022af0317db5073735e45afd27d --- /dev/null +++ b/cot/chunk-0004/episode_0004276_ecot.json @@ -0,0 +1,2440 @@ +{ + "task_name": "episode_0004276", + "episode_json": "json/chunk-0004/episode_0004276.json", + "video_path": "videos/chunk-0004/image_0/episode_0004276.mp4", + "instruction": "Moved the silver lid from the middle of the table to the lower left corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004276.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.9561933875083923, + "std": 0.4428858757019043, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95619, std=0.44289, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 135, + 135, + 135, + 135 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 21 + ], + [ + 3, + 22, + 34 + ], + [ + 4, + 35, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on lid\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the silver lid in the center of the table and begin closing the gripper to make contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift lid\", \"start\": 13, \"end\": 21, \"planning\": \"Complete gripper closure to securely grasp the lid, then lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"transport lid to lower left corner\", \"start\": 22, \"end\": 34, \"planning\": \"Carry the grasped lid across the table toward the lower left corner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release lid and retreat\", \"start\": 35, \"end\": 38, \"planning\": \"Open the gripper to release the lid at the target location, then retract the end-effector upward and away.\"}\n ],\n \"global_plan\": \"Grasp the silver lid from the center of the table, lift it, transport it to the lower left corner, and release it there.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 1–2 (grasp phase) and opening in segments 3–4 (release phase). Motion and image frames support lifting during segment 2 and placement during segment 4. All subtasks are contiguous and cover full trajectory [0,38].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on lid", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the silver lid in the center of the table and begin closing the gripper to make contact." + }, + { + "id": 2, + "name": "grasp and lift lid", + "start": 13, + "end": 21, + "planning": "Complete gripper closure to securely grasp the lid, then lift it slightly off the table surface." + }, + { + "id": 3, + "name": "transport lid to lower left corner", + "start": 22, + "end": 34, + "planning": "Carry the grasped lid across the table toward the lower left corner while maintaining grip." + }, + { + "id": 4, + "name": "release lid and retreat", + "start": 35, + "end": 38, + "planning": "Open the gripper to release the lid at the target location, then retract the end-effector upward and away." + } + ], + "global_plan": "Grasp the silver lid from the center of the table, lift it, transport it to the lower left corner, and release it there.", + "notes": "Gripper evidence confirms meaningful closing in segments 1–2 (grasp phase) and opening in segments 3–4 (release phase). Motion and image frames support lifting during segment 2 and placement during segment 4. All subtasks are contiguous and cover full trajectory [0,38]." + } + }, + "episode_goal": "Move the silver lid from the middle of the table to the lower left corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19133615493774414, + 0.2567981481552124, + 0.02709072083234787, + 2.951061964035034, + -0.18192553520202637, + 0.8187713623046875 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the lid, as segment-level evidence supports a meaningful grasp action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 25 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.1899019479751587, + 0.2513269782066345, + 0.017606660723686218, + 2.943324327468872, + -0.15306808054447174, + 0.8204761743545532 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the lid, as segment-level evidence supports a meaningful grasp action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 25 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.18912120163440704, + 0.22131294012069702, + 0.02223159559071064, + 2.939429521560669, + -0.16253523528575897, + 0.7950829863548279 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the lid, as segment-level evidence supports a meaningful grasp action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 22 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19400367140769958, + 0.18303629755973816, + 0.03835934400558472, + 2.915640115737915, + -0.18576675653457642, + 0.7653669118881226 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the lid, as segment-level evidence supports a meaningful grasp action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 18 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20194536447525024, + 0.14367134869098663, + 0.054531846195459366, + 2.898249864578247, + -0.2294754534959793, + 0.7256191968917847 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the lid, as segment-level evidence supports a meaningful grasp action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 14 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22447317838668823, + 0.09370820224285126, + 0.048684246838092804, + 2.8903770446777344, + -0.21918261051177979, + 0.6791051030158997 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No prior actions have been completed. The next step is to close the gripper to grasp the lid, as segment-level evidence supports a meaningful grasp action." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2392374724149704, + 0.05304194614291191, + 0.03705429285764694, + 2.9025464057922363, + -0.22537779808044434, + 0.6556442379951477 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "microwave": [ + 253, + 3, + 640, + 330 + ], + "tomato sauce": [ + 570, + 156, + 711, + 397 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 7 cm, close gripper; then move forward 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24823114275932312, + 0.034057825803756714, + 0.013954156078398228, + 2.8822507858276367, + -0.193795844912529, + 0.6659873127937317 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2577437162399292, + 0.02176746167242527, + -0.008836415596306324, + 2.8745498657226562, + -0.12950922548770905, + 0.6505876779556274 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692202031612396, + 0.008931133896112442, + -0.026082171127200127, + 2.8928496837615967, + -0.10450391471385956, + 0.5872600674629211 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 2, + 349, + 147, + 600 + ], + "crumpled foil": [ + 118, + 523, + 282, + 707 + ], + "microwave": [ + 281, + 4, + 640, + 329 + ], + "tomato sauce": [ + 570, + 156, + 710, + 397 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move back 1 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2814445495605469, + 0.004378684796392918, + -0.028427891433238983, + 2.884732246398926, + -0.10984552651643753, + 0.5725049376487732 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 5 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28925251960754395, + -5.129211058374494e-05, + -0.02983969636261463, + 2.9003002643585205, + -0.12920477986335754, + 0.5426833033561707 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 3 cm, move left 8 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28906702995300293, + 0.00268367026001215, + -0.03286513686180115, + 2.908581495285034, + -0.14930817484855652, + 0.5592532157897949 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "approach and close gripper on lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move left 13 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897951304912567, + 0.006213144864886999, + -0.03419097512960434, + 2.9228663444519043, + -0.1630752831697464, + 0.5621349811553955 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29631486535072327, + 0.010862691327929497, + -0.03519649803638458, + 2.9921605587005615, + -0.18879519402980804, + 0.5312020778656006 + ], + "gripper_value": 0.1628633439540863 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 13 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30112335085868835, + 0.012937339022755623, + -0.034784674644470215, + 3.014829397201538, + -0.18945461511611938, + 0.48889613151550293 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30000486969947815, + 0.012726959772408009, + -0.03585361689329147, + 3.0276241302490234, + -0.18163374066352844, + 0.4440142512321472 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid in the center of the table, with the gripper open and ready to close. No part of the subtask has been completed yet. The next action is to close the gripper to grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 10 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29833775758743286, + 0.013537906110286713, + -0.03458617627620697, + 3.047398805618286, + -0.1798439472913742, + 0.39697590470314026 + ], + "gripper_value": 0.052190229296684265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 12 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 10 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28447234630584717, + 0.014613546431064606, + -0.029261283576488495, + 3.0809473991394043, + -0.1634797900915146, + 0.3287437856197357 + ], + "gripper_value": 0.05089319497346878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789115905761719, + 0.03260638564825058, + -0.005011591594666243, + 3.0599234104156494, + -0.20213326811790466, + 0.38017091155052185 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719270884990692, + 0.05653706565499306, + 0.022538496181368828, + 3.0763444900512695, + -0.24716870486736298, + 0.40799903869628906 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25615793466567993, + 0.08965573459863663, + 0.04006553441286087, + 3.0439302921295166, + -0.26028168201446533, + 0.5009906888008118 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "grasp and lift lid", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23059991002082825, + 0.13633213937282562, + 0.04362823814153671, + 3.020347833633423, + -0.2502972483634949, + 0.6566524505615234 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "microwave": [ + 252, + 3, + 640, + 329 + ], + "tomato sauce": [ + 571, + 156, + 709, + 397 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2130025327205658, + 0.1697610318660736, + 0.039871834218502045, + 3.0236799716949463, + -0.23786702752113342, + 0.764049232006073 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.20438773930072784, + 0.19809140264987946, + 0.02938256599009037, + 3.0507256984710693, + -0.2166374772787094, + 0.8290579915046692 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.20523057878017426, + 0.22286470234394073, + 0.013182852417230606, + 3.0815608501434326, + -0.19143043458461761, + 0.8761404752731323 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.20999175310134888, + 0.23376397788524628, + 0.0005863510887138546, + 3.1021053791046143, + -0.18922437727451324, + 0.8716557025909424 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2165541648864746, + 0.23888884484767914, + -0.001063986448571086, + 3.0932815074920654, + -0.2008817344903946, + 0.864179253578186 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot has approached the silver lid in the center of the table and closed its gripper around it. The gripper is now in contact with the lid, and the next step is to lift the lid slightly to confirm a secure grasp before transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21600863337516785, + 0.2356252819299698, + -0.0025369462091475725, + 3.086364269256592, + -0.21415255963802338, + 0.8581613302230835 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot is currently transporting the silver lid across the table towards the lower left corner. The gripper is closed and holding the object securely, as indicated by the low gripper value and consistent segment-level evidence. The next action is to continue moving the end-effector to the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, open gripper; then move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21409717202186584, + 0.2295297235250473, + -0.0035584084689617157, + 3.0710620880126953, + -0.2131997048854828, + 0.8542794585227966 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot is currently transporting the silver lid across the table towards the lower left corner. The gripper is closed and holding the object securely, as indicated by the low gripper value and consistent segment-level evidence. The next action is to continue moving the end-effector to the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, open gripper; then move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.21024884283542633, + 0.219808891415596, + -0.001030977931804955, + 3.050354242324829, + -0.20148713886737823, + 0.8480679392814636 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot is currently transporting the silver lid across the table towards the lower left corner. The gripper is closed and holding the object securely, as indicated by the low gripper value and consistent segment-level evidence. The next action is to continue moving the end-effector to the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper; then move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.20755799114704132, + 0.21368931233882904, + 0.0011485363356769085, + 3.0405800342559814, + -0.1942875236272812, + 0.8333224654197693 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot is currently transporting the silver lid across the table towards the lower left corner. The gripper is closed and holding the object securely, as indicated by the low gripper value and consistent segment-level evidence. The next action is to continue moving the end-effector to the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.20570820569992065, + 0.2114926129579544, + -0.0003749198222067207, + 3.03926944732666, + -0.1846560537815094, + 0.8378586769104004 + ], + "gripper_value": 0.07081232219934464 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot is currently transporting the silver lid across the table towards the lower left corner. The gripper is closed and holding the object securely, as indicated by the low gripper value and consistent segment-level evidence. The next action is to continue moving the end-effector to the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.20439673960208893, + 0.21142691373825073, + 0.0016094924649223685, + 3.0422375202178955, + -0.1566198468208313, + 0.8542319536209106 + ], + "gripper_value": 0.21544429659843445 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot is currently transporting the silver lid across the table towards the lower left corner. The gripper is closed and holding the object securely, as indicated by the low gripper value and consistent segment-level evidence. The next action is to continue moving the end-effector to the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2056240737438202, + 0.21158316731452942, + 0.0022625180426985025, + 3.035074234008789, + -0.15767960250377655, + 0.8665412664413452 + ], + "gripper_value": 0.4775448143482208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "transport lid to lower left corner", + "subtask_reasoning": "The robot is currently transporting the silver lid across the table towards the lower left corner. The gripper is closed and holding the object securely, as indicated by the low gripper value and consistent segment-level evidence. The next action is to continue moving the end-effector to the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2052900195121765, + 0.211798757314682, + 0.0022120934445410967, + 3.037702798843384, + -0.15738870203495026, + 0.8657181859016418 + ], + "gripper_value": 0.7749528288841248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The robot is currently transporting the silver lid across the table towards the lower left corner. The gripper is closed and holding the object securely, as indicated by the low gripper value and consistent segment-level evidence. The next action is to continue moving the end-effector to the target drop-off location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2045157253742218, + 0.21015557646751404, + 0.002205405617132783, + 3.03625750541687, + -0.14961490035057068, + 0.855006992816925 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The silver lid has been successfully placed in the lower left corner of the table, as indicated by the gripper being fully open (value ~1.0) and the end-effector positioned low near the surface. The subtask of releasing the lid is complete, and the next action is to retreat the arm upward and away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.20889805257320404, + 0.2084609717130661, + 0.021622618660330772, + 3.0039708614349365, + -0.18353188037872314, + 0.8497927784919739 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The silver lid has been successfully placed in the lower left corner of the table, as indicated by the gripper being fully open (value ~1.0) and the end-effector positioned low near the surface. The subtask of releasing the lid is complete, and the next action is to retreat the arm upward and away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.20587752759456635, + 0.21701475977897644, + 0.05292770639061928, + 2.994833469390869, + -0.27848610281944275, + 0.8501975536346436 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 2, + 362, + 160, + 610 + ], + "microwave": [ + 251, + 4, + 640, + 330 + ], + "tomato sauce": [ + 570, + 156, + 711, + 396 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver lid from the middle of the table to the lower left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on lid" + }, + { + "id": 2, + "subtask": "grasp and lift lid" + }, + { + "id": 3, + "subtask": "transport lid to lower left corner" + }, + { + "id": 4, + "subtask": "release lid and retreat" + } + ], + "subtask_name": "release lid and retreat", + "subtask_reasoning": "The silver lid has been successfully placed in the lower left corner of the table, as indicated by the gripper being fully open (value ~1.0) and the end-effector positioned low near the surface. The subtask of releasing the lid is complete, and the next action is to retreat the arm upward and away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004277_ecot.json b/cot/chunk-0004/episode_0004277_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..dc057d1f7b0567f2960c6b3dcaad8c2a6100ac4b --- /dev/null +++ b/cot/chunk-0004/episode_0004277_ecot.json @@ -0,0 +1,2098 @@ +{ + "task_name": "episode_0004277", + "episode_json": "json/chunk-0004/episode_0004277.json", + "video_path": "videos/chunk-0004/image_0/episode_0004277.mp4", + "instruction": "Pour almonds in pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004277.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.1724632978439331, + "std": 0.07304458320140839, + "delta_total": -0.14665961265563965, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.17246, std=0.07304, total_delta=-0.14666). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 18 + ], + [ + 3, + 19, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach almond jar\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the almond jar without closing gripper, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp almond jar\", \"start\": 9, \"end\": 18, \"planning\": \"Close gripper around the almond jar and secure hold as confirmed by gripper signal drop and visual alignment.\"},\n {\"id\": 3, \"name\": \"pour almonds into pot\", \"start\": 19, \"end\": 34, \"planning\": \"Tilt and maneuver the held jar over the pot to pour contents, maintaining grip without further closing.\"}\n ],\n \"global_plan\": \"Approach the almond jar, grasp it securely using gripper closure confirmed by sensor data, then tilt and pour its contents into the pot while maintaining hold.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach only. Segment 2 has meaningful gripper closing (delta=-0.14757) and image confirmation — grasp is valid. Segment 3 maintains grip but does not close further — pouring motion without additional grasping action.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach almond jar", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the almond jar without closing gripper, positioning for contact." + }, + { + "id": 2, + "name": "grasp almond jar", + "start": 9, + "end": 18, + "planning": "Close gripper around the almond jar and secure hold as confirmed by gripper signal drop and visual alignment." + }, + { + "id": 3, + "name": "pour almonds into pot", + "start": 19, + "end": 34, + "planning": "Tilt and maneuver the held jar over the pot to pour contents, maintaining grip without further closing." + } + ], + "global_plan": "Approach the almond jar, grasp it securely using gripper closure confirmed by sensor data, then tilt and pour its contents into the pot while maintaining hold.", + "notes": "Segment 1 shows no gripper closure — described as approach only. Segment 2 has meaningful gripper closing (delta=-0.14757) and image confirmation — grasp is valid. Segment 3 maintains grip but does not close further — pouring motion without additional grasping action." + } + }, + "episode_goal": "Pour almonds from the jar into the orange bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19638216495513916, + 0.0035952283069491386, + 0.15141332149505615, + 3.124224901199341, + -0.03192238137125969, + 0.14898942410945892 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl adjacent. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the end effector closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 7 cm, move down 8 cm, tilt forward 40 degrees, rotate clockwise 60 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.19558289647102356, + 0.00010675569501472637, + 0.14662940800189972, + 3.0894997119903564, + 0.005114149767905474, + 0.17604994773864746 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl adjacent. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the end effector closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 7 cm, move down 8 cm, tilt forward 30 degrees, rotate clockwise 60 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20795129239559174, + 0.008373229764401913, + 0.14875701069831848, + 2.973928928375244, + 0.09125314652919769, + 0.3559161126613617 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl adjacent. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the end effector closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 8 cm, tilt forward 30 degrees, rotate clockwise 50 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22176018357276917, + 0.024685513228178024, + 0.14777788519859314, + 2.9058890342712402, + 0.17609842121601105, + 0.5240858793258667 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl adjacent. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the end effector closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move down 8 cm, tilt forward 20 degrees, rotate clockwise 40 degrees, keep gripper open; then move right 5 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23408623039722443, + 0.0464748777449131, + 0.1451045125722885, + 2.8661153316497803, + 0.26857736706733704, + 0.7170196175575256 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cabbage": [ + 247, + 164, + 380, + 316 + ], + "wooden countertop": [ + 5, + 115, + 856, + 907 + ], + "red bell pepper": [ + 522, + 318, + 700, + 416 + ], + "orange bowl": [ + 489, + 453, + 711, + 721 + ], + "red apple": [ + 669, + 371, + 763, + 516 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25554969906806946, + 0.06984314322471619, + 0.1318628340959549, + 2.885200023651123, + 0.392207533121109, + 0.9003527760505676 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 7 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2708001434803009, + 0.08512568473815918, + 0.12059608846902847, + 2.906503677368164, + 0.4511941969394684, + 0.9734439253807068 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 7 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801697552204132, + 0.09282973408699036, + 0.0994037538766861, + 2.9997363090515137, + 0.5271061658859253, + 1.0769171714782715 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 7 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28324761986732483, + 0.08968723565340042, + 0.0798095166683197, + 3.0892770290374756, + 0.605129063129425, + 1.1640520095825195 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.290811151266098, + 0.07418480515480042, + 0.06834936887025833, + -3.133749008178711, + 0.6511645317077637, + 1.2068917751312256 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29557326436042786, + 0.059336207807064056, + 0.05715762823820114, + -3.071930408477783, + 0.6997786164283752, + 1.2630366086959839 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 4, + 170, + 856, + 906 + ], + "red bell pepper": [ + 522, + 317, + 703, + 414 + ], + "orange bowl": [ + 488, + 453, + 711, + 721 + ], + "red apple": [ + 668, + 371, + 763, + 517 + ], + "green cabbage": [ + 239, + 167, + 350, + 319 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30153241753578186, + 0.04996233433485031, + 0.0558641292154789, + -3.0478627681732178, + 0.7119019031524658, + 1.2996841669082642 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, move up 1 cm, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3000044822692871, + 0.036662641912698746, + 0.049322281032800674, + -3.0065009593963623, + 0.7257752418518066, + 1.2990906238555908 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot arm is positioned above the wooden counter, approaching the almond jar which sits to the left of the orange bowl. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move right 3 cm, move up 1 cm, tilt back 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2935944199562073, + 0.023992182686924934, + 0.043925464153289795, + -2.976447820663452, + 0.7413878440856934, + 1.2927404642105103 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 40 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28491973876953125, + 0.01056938897818327, + 0.039265044033527374, + -2.934886932373047, + 0.7641273736953735, + 1.2923930883407593 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, tilt back 40 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836025655269623, + 0.004010857082903385, + 0.03876999020576477, + -2.9295127391815186, + 0.772318422794342, + 1.2815206050872803 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, tilt back 50 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28539732098579407, + 0.00031636093626730144, + 0.03885286673903465, + -2.937908172607422, + 0.7803986668586731, + 1.290587067604065 + ], + "gripper_value": 0.8196109533309937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, tilt back 50 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948133051395416, + 0.0011728074168786407, + 0.04418252408504486, + -2.962087631225586, + 0.7653694748878479, + 1.2995331287384033 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, tilt back 60 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30865925550460815, + 0.004310112912207842, + 0.06567125022411346, + -3.102776288986206, + 0.6356189250946045, + 1.215428352355957 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp almond jar", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, tilt back 60 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242706060409546, + -0.006737712305039167, + 0.0879848375916481, + 3.0850067138671875, + 0.4500371813774109, + 1.1311171054840088 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cabbage": [ + 245, + 161, + 378, + 317 + ], + "red bell pepper": [ + 534, + 316, + 704, + 413 + ], + "sneaker": [ + 15, + 577, + 186, + 939 + ], + "wooden countertop": [ + 4, + 111, + 860, + 908 + ], + "red apple": [ + 668, + 372, + 763, + 517 + ], + "orange bowl": [ + 482, + 452, + 717, + 721 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, tilt back 70 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33725905418395996, + -0.015669221058487892, + 0.09894882142543793, + 3.035365343093872, + 0.1982080042362213, + 1.1002545356750488 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, tilt right 20 degrees, tilt back 50 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457038700580597, + -0.02594076097011566, + 0.10241780430078506, + 2.9904963970184326, + 0.024292277172207832, + 1.0895837545394897 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, tilt right 20 degrees, tilt back 50 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34706977009773254, + -0.03795488178730011, + 0.09411148726940155, + 2.9734599590301514, + -0.0950915664434433, + 1.0483903884887695 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, tilt right 20 degrees, tilt back 40 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466436564922333, + -0.0502474308013916, + 0.09611482918262482, + 2.9060914516448975, + -0.23206134140491486, + 0.9957773089408875 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, tilt right 20 degrees, tilt back 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3422764837741852, + -0.054118603467941284, + 0.09521523863077164, + 2.843425750732422, + -0.35099464654922485, + 0.9660295248031616 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.336152046918869, + -0.0604269802570343, + 0.10042189061641693, + 2.767106294631958, + -0.47085317969322205, + 0.9576007127761841 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached the almond jar and is now positioned near it. The gripper is open and ready to grasp the jar. The next action is to close the gripper to securely hold the jar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3312610685825348, + -0.06116851419210434, + 0.09632382541894913, + 2.745835304260254, + -0.5386394262313843, + 0.9463098049163818 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3302822411060333, + -0.06439550220966339, + 0.0956864282488823, + 2.7194979190826416, + -0.6195862889289856, + 0.9425399899482727 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cabbage": [ + 247, + 161, + 380, + 317 + ], + "wooden countertop": [ + 4, + 120, + 857, + 907 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.33475396037101746, + -0.06230354309082031, + 0.09995325654745102, + 2.679518938064575, + -0.6724889278411865, + 0.9630003571510315 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380829393863678, + -0.06022515892982483, + 0.10230611264705658, + 2.6434905529022217, + -0.7272452712059021, + 0.9688088297843933 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33762481808662415, + -0.06575100868940353, + 0.1007181778550148, + 2.634523391723633, + -0.7740603685379028, + 0.9495172500610352 + ], + "gripper_value": 0.8454146385192871 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33768191933631897, + -0.07040257006883621, + 0.0986952856183052, + 2.6207079887390137, + -0.813868522644043, + 0.9277572631835938 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3390010595321655, + -0.06945129483938217, + 0.09579263627529144, + 2.6113710403442383, + -0.8330982327461243, + 0.9323722124099731 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3378202021121979, + -0.06829004734754562, + 0.09507451206445694, + 2.6024019718170166, + -0.8538832664489746, + 0.9304314255714417 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366749584674835, + -0.0673065334558487, + 0.09352216124534607, + 2.604109048843384, + -0.842261552810669, + 0.9396613240242004 + ], + "gripper_value": 0.8454146385192871 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach almond jar" + }, + { + "id": 2, + "subtask": "grasp almond jar" + }, + { + "id": 3, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot is holding the almond jar above the orange bowl, with almonds visibly pouring out. The jar is tilted and in contact with the bowl's rim, indicating active pouring. The next action is to continue tilting until all almonds are transferred." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004278_ecot.json b/cot/chunk-0004/episode_0004278_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4e793342d9ed96728410fdc751fd7174ad2fd478 --- /dev/null +++ b/cot/chunk-0004/episode_0004278_ecot.json @@ -0,0 +1,1503 @@ +{ + "task_name": "episode_0004278", + "episode_json": "json/chunk-0004/episode_0004278.json", + "video_path": "videos/chunk-0004/image_0/episode_0004278.mp4", + "instruction": "Move the blue fork to the bottom left side of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004278.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.6742793321609497, + "std": 0.3083803355693817, + "delta_total": -0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67428, std=0.30838, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 119, + 119, + 119, + 119 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 9 + ], + [ + 3, + 10, + 18 + ], + [ + 4, + 19, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue fork\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the blue fork near the pot without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue fork\", \"start\": 4, \"end\": 9, \"planning\": \"Close the gripper around the blue fork while maintaining contact and securing it for manipulation.\"},\n {\"id\": 3, \"name\": \"reposition fork to target\", \"start\": 10, \"end\": 18, \"planning\": \"Lift and move the grasped blue fork to the bottom left side of the burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release fork and retreat\", \"start\": 19, \"end\": 22, \"planning\": \"Open the gripper to release the blue fork at the target location and retract the end-effector upward.\"}\n ],\n \"global_plan\": \"Approach the blue fork, grasp it securely, reposition it to the bottom left of the burner, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in segments 2–4; segment 1 shows no closing, so only approach is described. Motion and gripper data align with pick-and-place mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue fork", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the blue fork near the pot without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue fork", + "start": 4, + "end": 9, + "planning": "Close the gripper around the blue fork while maintaining contact and securing it for manipulation." + }, + { + "id": 3, + "name": "reposition fork to target", + "start": 10, + "end": 18, + "planning": "Lift and move the grasped blue fork to the bottom left side of the burner while maintaining grip." + }, + { + "id": 4, + "name": "release fork and retreat", + "start": 19, + "end": 22, + "planning": "Open the gripper to release the blue fork at the target location and retract the end-effector upward." + } + ], + "global_plan": "Approach the blue fork, grasp it securely, reposition it to the bottom left of the burner, then release and retreat.", + "notes": "Gripper closure is confirmed in segments 2–4; segment 1 shows no closing, so only approach is described. Motion and gripper data align with pick-and-place mechanics." + } + }, + "episode_goal": "Move the blue fork to the bottom left side of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26024484634399414, + -0.02170960232615471, + 0.09190376102924347, + 3.085744619369507, + -0.03979270160198212, + -0.05905233323574066 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue fork visible near the center of the burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25850945711135864, + -0.021624349057674408, + 0.08527960628271103, + 3.085463762283325, + -0.013630270026624203, + -0.05751367285847664 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stove with the blue fork visible near the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move down 8 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2723523676395416, + -0.0005215849378146231, + 0.0884615033864975, + 3.0997562408447266, + -0.03545263037085533, + -0.005124567076563835 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stove with the blue fork visible near the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move down 8 cm, close gripper; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29580771923065186, + 0.013689335435628891, + 0.08310383558273315, + 3.1024234294891357, + -0.04654728248715401, + -0.00622155424207449 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 436, + 404, + 722, + 680 + ], + "induction cooktop": [ + 147, + 232, + 775, + 666 + ], + "sponge": [ + 400, + 527, + 706, + 786 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot arm is positioned above the stove with the blue fork visible near the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move down 8 cm, close gripper; then move back 2 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31997424364089966, + 0.033286821097135544, + 0.08394563943147659, + -3.1340932846069336, + -0.07480297982692719, + -0.013365929946303368 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot arm is positioned above the stove with the blue fork visible near the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 8 cm, close gripper; then move back 5 cm, move left 10 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34087154269218445, + 0.04752228781580925, + 0.061755623668432236, + -3.11122727394104, + -0.09671991318464279, + 0.0009856949327513576 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot arm is positioned above the stove with the blue fork visible near the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, close gripper; then move back 7 cm, move left 12 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601597845554352, + 0.05622555688023567, + 0.026670243591070175, + -3.0888729095458984, + -0.07897447049617767, + 0.007883510552346706 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move back 7 cm, move left 13 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669250011444092, + 0.05709931254386902, + 0.01044672355055809, + -3.077646255493164, + -0.05818584933876991, + 0.005422639194875956 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 7 cm, move left 13 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3701343238353729, + 0.055974651128053665, + 0.007646308746188879, + -3.0868163108825684, + -0.060262687504291534, + 0.0006296581705100834 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 7 cm, move left 13 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660610318183899, + 0.05065855756402016, + 0.004887975286692381, + -3.0891571044921875, + -0.04762284830212593, + -0.023006966337561607 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 6 cm, move left 12 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3634640872478485, + 0.04392911493778229, + 0.006756479386240244, + -3.0797383785247803, + -0.046580810099840164, + -0.04620109498500824 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 12 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593040406703949, + 0.04317155107855797, + 0.007921343669295311, + -3.093845844268799, + -0.03712230548262596, + -0.04434262588620186 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 12 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35206761956214905, + 0.06327824294567108, + 0.017546501010656357, + -3.106611490249634, + -0.022655922919511795, + 0.0034034822601825 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3420413136482239, + 0.10728871077299118, + 0.04747527465224266, + -3.0936715602874756, + -0.06642643362283707, + 0.06241763010621071 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 3 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31660765409469604, + 0.1466667354106903, + 0.044173818081617355, + -3.094186544418335, + -0.03596724942326546, + 0.08661052584648132 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 414, + 399, + 724, + 678 + ], + "sponge": [ + 399, + 527, + 707, + 786 + ], + "induction cooktop": [ + 149, + 240, + 776, + 667 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The blue fork is currently grasped and being repositioned above the stovetop, near the target area at the bottom left of the burner. The gripper remains closed with minimal variation, consistent with holding the fork during motion. The next action is to lower and place the fork precisely at the designated spot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29526957869529724, + 0.16724665462970734, + 0.032715845853090286, + -3.067368268966675, + -0.0060520353727042675, + 0.07248617708683014 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 410, + 397, + 724, + 679 + ], + "sponge": [ + 398, + 526, + 706, + 786 + ], + "induction cooktop": [ + 156, + 237, + 776, + 670 + ], + "tiled wall": [ + 351, + 2, + 997, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The blue fork is currently grasped and being repositioned above the stovetop, near the target area at the bottom left of the burner. The gripper remains closed with minimal variation, consistent with holding the fork during motion. The next action is to lower and place the fork precisely at the designated spot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29029351472854614, + 0.17628741264343262, + 0.02384927310049534, + -3.044886350631714, + -0.008501999080181122, + 0.08498275279998779 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The blue fork is currently grasped and being repositioned above the stovetop, near the target area at the bottom left of the burner. The gripper remains closed with minimal variation, consistent with holding the fork during motion. The next action is to lower and place the fork precisely at the designated spot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29071781039237976, + 0.17644649744033813, + 0.01200979296118021, + -3.0551681518554688, + 0.012835781089961529, + 0.09512268751859665 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The blue fork is currently grasped and being repositioned above the stovetop, near the target area at the bottom left of the burner. The gripper remains closed with minimal variation, consistent with holding the fork during motion. The next action is to lower and place the fork precisely at the designated spot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29573723673820496, + 0.17485938966274261, + 0.012724571861326694, + -3.0502188205718994, + 0.005978721659630537, + 0.10559481382369995 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "reposition fork to target", + "subtask_reasoning": "The blue fork is currently grasped and being repositioned above the stovetop, near the target area at the bottom left of the burner. The gripper remains closed with minimal variation, consistent with holding the fork during motion. The next action is to lower and place the fork precisely at the designated spot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3007577955722809, + 0.16581673920154572, + 0.014789720065891743, + -3.056624174118042, + 0.016791462898254395, + 0.0596439428627491 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The blue fork is currently grasped and being repositioned above the stovetop, near the target area at the bottom left of the burner. The gripper remains closed with minimal variation, consistent with holding the fork during motion. The next action is to lower and place the fork precisely at the designated spot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2973517179489136, + 0.15829819440841675, + 0.01846381649374962, + -3.079164505004883, + 0.0518372505903244, + 0.0398019403219223 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The blue fork is already positioned at the bottom left of the burner, and the gripper is open (value 0.96), indicating the fork has been released. The robot arm is slightly elevated and appears to be retreating from the fork. The next action is to continue retracting the arm to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29669710993766785, + 0.15325991809368134, + 0.049196235835552216, + -3.085991859436035, + 0.01670731045305729, + 0.03451837971806526 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The blue fork is already positioned at the bottom left of the burner, and the gripper is open (value 0.96), indicating the fork has been released. The robot arm is slightly elevated and appears to be retreating from the fork. The next action is to continue retracting the arm to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29531344771385193, + 0.1455080360174179, + 0.06736217439174652, + -3.084096670150757, + -0.009954343549907207, + 0.03814617916941643 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork to the bottom left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "reposition fork to target" + }, + { + "id": 4, + "subtask": "release fork and retreat" + } + ], + "subtask_name": "release fork and retreat", + "subtask_reasoning": "The blue fork is already positioned at the bottom left of the burner, and the gripper is open (value 0.96), indicating the fork has been released. The robot arm is slightly elevated and appears to be retreating from the fork. The next action is to continue retracting the arm to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004280_ecot.json b/cot/chunk-0004/episode_0004280_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..60b402c9c4c94ae2a31baa1c7d205016fa87ba62 --- /dev/null +++ b/cot/chunk-0004/episode_0004280_ecot.json @@ -0,0 +1,2158 @@ +{ + "task_name": "episode_0004280", + "episode_json": "json/chunk-0004/episode_0004280.json", + "video_path": "videos/chunk-0004/image_0/episode_0004280.mp4", + "instruction": "Move the tin to the middle lower side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004280.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013307929039001465, + "std": 0.0005201644962653518, + "delta_total": -0.0013307929039001465, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00052, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 21 + ], + [ + 3, + 22, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach tin from above\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector downward and forward to position above the red tin without closing gripper.\"},\n {\"id\": 2, \"name\": \"nudge tin toward center\", \"start\": 7, \"end\": 21, \"planning\": \"Make light contact with tin and push it diagonally toward middle-lower table area while maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"reposition and retreat\", \"start\": 22, \"end\": 35, \"planning\": \"Adjust final position of tin near target zone then lift and retreat end-effector upward and backward.\"}\n ],\n \"global_plan\": \"The robot approaches the tin without grasping, nudges it across the table using contact-based pushing, then repositions and retreats after achieving approximate target location.\",\n \"notes\": \"Gripper remains effectively open throughout (delta < 0.001), so no grasp/lift/place actions are inferred; all motion is contact-based or positional adjustment.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach tin from above", + "start": 0, + "end": 6, + "planning": "Move end-effector downward and forward to position above the red tin without closing gripper." + }, + { + "id": 2, + "name": "nudge tin toward center", + "start": 7, + "end": 21, + "planning": "Make light contact with tin and push it diagonally toward middle-lower table area while maintaining open gripper." + }, + { + "id": 3, + "name": "reposition and retreat", + "start": 22, + "end": 35, + "planning": "Adjust final position of tin near target zone then lift and retreat end-effector upward and backward." + } + ], + "global_plan": "The robot approaches the tin without grasping, nudges it across the table using contact-based pushing, then repositions and retreats after achieving approximate target location.", + "notes": "Gripper remains effectively open throughout (delta < 0.001), so no grasp/lift/place actions are inferred; all motion is contact-based or positional adjustment." + } + }, + "episode_goal": "Move the tin to the middle lower side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24873997271060944, + -0.08828748017549515, + 0.042896706610918045, + -3.0933589935302734, + -0.10897358506917953, + 0.1251518875360489 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot arm is positioned above the table with the tin visible in the scene. No movement or contact has occurred yet. The next action should be to lower the end-effector toward the tin to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 18 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2468387931585312, + -0.08773047477006912, + 0.03696870803833008, + -3.080650568008423, + -0.08953192830085754, + 0.11984927952289581 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot arm is positioned above the table with the tin visible in the scene. No movement or contact has occurred yet. The next action should be to lower the end-effector toward the tin to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 18 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649790942668915, + -0.06875425577163696, + 0.047821931540966034, + -3.069171190261841, + -0.12633877992630005, + 0.1654406487941742 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot arm is positioned above the table with the tin visible in the scene. No movement or contact has occurred yet. The next action should be to lower the end-effector toward the tin to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 16 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2924704849720001, + -0.038096100091934204, + 0.07011358439922333, + -3.0768277645111084, + -0.2038503736257553, + 0.22976994514465332 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 569, + 610, + 682, + 854 + ], + "wooden table": [ + 8, + 198, + 840, + 980 + ], + "blue cloth": [ + 37, + 298, + 320, + 564 + ], + "red can": [ + 369, + 192, + 507, + 399 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3188393712043762, + 0.003179925726726651, + 0.08950944244861603, + -3.099621057510376, + -0.2711690664291382, + 0.27129635214805603 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33798110485076904, + 0.04187428206205368, + 0.08106721937656403, + -3.1237595081329346, + -0.2632492184638977, + 0.24925416707992554 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3641512989997864, + 0.06569592654705048, + 0.07594065368175507, + -3.103621006011963, + -0.25398388504981995, + 0.13367357850074768 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper open; then move back 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38307324051856995, + 0.08853060007095337, + 0.07629862427711487, + -3.0742127895355225, + -0.2770572006702423, + 0.05801040306687355 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4006858170032501, + 0.09692101180553436, + 0.07275165617465973, + -3.070695638656616, + -0.3034786283969879, + 0.0007419785251840949 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4139902889728546, + 0.10389477759599686, + 0.07416491955518723, + -3.0621275901794434, + -0.3396230936050415, + -0.017380384728312492 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4196012318134308, + 0.10934142023324966, + 0.07007572799921036, + -3.0535786151885986, + -0.35647261142730713, + -0.01126957032829523 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 4 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4221634566783905, + 0.10988586395978928, + 0.06873845309019089, + -3.047354221343994, + -0.37866151332855225, + -0.005242768209427595 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 4 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4190414845943451, + 0.11044662445783615, + 0.060042448341846466, + -3.0522711277008057, + -0.3908036947250366, + 0.02679496444761753 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 4 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4097858667373657, + 0.10755588114261627, + 0.056212931871414185, + -3.0692591667175293, + -0.3801578879356384, + 0.04822874069213867 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the red tin can. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3891987204551697, + 0.10127050429582596, + 0.05400295555591583, + -3.0955097675323486, + -0.34422269463539124, + 0.07859394699335098 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3615413308143616, + 0.09624157845973969, + 0.05672294273972511, + -3.100539207458496, + -0.29798486828804016, + 0.10620993375778198 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 2 cm, keep gripper open; then move forward 6 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33415642380714417, + 0.09125005453824997, + 0.06098869442939758, + -3.1000630855560303, + -0.2623944878578186, + 0.13897426426410675 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open; then move forward 6 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30245983600616455, + 0.08552506566047668, + 0.06872905790805817, + -3.092245101928711, + -0.21935056149959564, + 0.16954806447029114 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 8, + 199, + 847, + 990 + ], + "spatula": [ + 570, + 611, + 681, + 856 + ], + "red can": [ + 355, + 293, + 512, + 514 + ], + "blue cloth": [ + 38, + 300, + 317, + 564 + ], + "stainless steel appliance": [ + 232, + 4, + 473, + 388 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 1 cm, keep gripper open; then move forward 6 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785661220550537, + 0.07793749868869781, + 0.07109372317790985, + -3.0982155799865723, + -0.1669202446937561, + 0.1934603452682495 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 6 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2641632556915283, + 0.06704588979482651, + 0.07355532795190811, + -3.115560531616211, + -0.1389632672071457, + 0.2013152688741684 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, tilt back 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707236707210541, + 0.06511229276657104, + 0.0782303586602211, + -3.1334869861602783, + -0.16702765226364136, + 0.20001304149627686 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, keep gripper open; then move forward 4 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2966279089450836, + 0.0693407952785492, + 0.09122767299413681, + -3.137537956237793, + -0.2562519907951355, + 0.19045020639896393 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 570, + 610, + 681, + 855 + ], + "wooden table": [ + 8, + 214, + 846, + 984 + ], + "red can": [ + 357, + 295, + 512, + 515 + ], + "blue cloth": [ + 37, + 301, + 318, + 564 + ], + "pot lid": [ + 628, + 394, + 852, + 600 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "nudge tin toward center", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3279966413974762, + 0.06806246936321259, + 0.07666431367397308, + -3.126391649246216, + -0.2528039515018463, + 0.17106255888938904 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.355424165725708, + 0.07159605622291565, + 0.06641567498445511, + -3.1130306720733643, + -0.26323431730270386, + 0.1557600349187851 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.38044166564941406, + 0.07806505262851715, + 0.06524395197629929, + -3.098571300506592, + -0.28101956844329834, + 0.1427457183599472 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 4 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3892870247364044, + 0.07886750251054764, + 0.0739559605717659, + -3.0635948181152344, + -0.274006724357605, + 0.11870633810758591 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.39130064845085144, + 0.07926320284605026, + 0.0766671895980835, + -3.0630714893341064, + -0.2801399230957031, + 0.11890925467014313 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.39121514558792114, + 0.08139199763536453, + 0.055688682943582535, + -3.062700033187866, + -0.23849613964557648, + 0.11978544294834137 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is positioned above and slightly behind the tin on the wooden table, with the gripper fully open. The approach phase is complete, and the robot is now in position to make contact. The most likely next action is to lower the end-effector to touch the tin and begin pushing it toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3915726840496063, + 0.08162815868854523, + 0.04278765246272087, + -3.0640628337860107, + -0.21120981872081757, + 0.12372089177370071 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The tin has been nudged toward the center of the table and is now near the target middle-lower region. The robot’s end-effector is positioned above and slightly behind the tin, with no grasping occurring (gripper remains open). The next action is to retreat upward and backward to complete the reposition-and-retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.38893580436706543, + 0.08086605370044708, + 0.03660997748374939, + -3.0661919116973877, + -0.20043246448040009, + 0.12260887026786804 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The tin has been nudged toward the center of the table and is now near the target middle-lower region. The robot’s end-effector is positioned above and slightly behind the tin, with no grasping occurring (gripper remains open). The next action is to retreat upward and backward to complete the reposition-and-retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.37061408162117004, + 0.07276549190282822, + 0.025058221071958542, + -3.087120294570923, + -0.15135197341442108, + 0.11439172178506851 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The tin has been nudged toward the center of the table and is now near the target middle-lower region. The robot’s end-effector is positioned above and slightly behind the tin, with no grasping occurring (gripper remains open). The next action is to retreat upward and backward to complete the reposition-and-retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501354455947876, + 0.06063886359333992, + 0.028778329491615295, + -3.1013967990875244, + -0.1337365359067917, + 0.10780031979084015 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The tin has been nudged toward the center of the table and is now near the target middle-lower region. The robot’s end-effector is positioned above and slightly behind the tin, with no grasping occurring (gripper remains open). The next action is to retreat upward and backward to complete the reposition-and-retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142697215080261, + 0.04534957930445671, + 0.03192853182554245, + -3.122270107269287, + -0.09936218708753586, + 0.10825666040182114 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 570, + 610, + 680, + 856 + ], + "wooden table": [ + 7, + 186, + 852, + 980 + ], + "red can": [ + 330, + 386, + 492, + 634 + ], + "blue cloth": [ + 35, + 297, + 319, + 564 + ], + "pot lid": [ + 622, + 391, + 851, + 600 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The tin has been nudged toward the center of the table and is now near the target middle-lower region. The robot’s end-effector is positioned above and slightly behind the tin, with no grasping occurring (gripper remains open). The next action is to retreat upward and backward to complete the reposition-and-retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3050391376018524, + 0.041229620575904846, + 0.03022918663918972, + -3.1313769817352295, + -0.09182202070951462, + 0.10283209383487701 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The tin has been nudged toward the center of the table and is now near the target middle-lower region. The robot’s end-effector is positioned above and slightly behind the tin, with no grasping occurring (gripper remains open). The next action is to retreat upward and backward to complete the reposition-and-retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064921796321869, + 0.0390075258910656, + 0.037720758467912674, + -3.141305685043335, + -0.11207609623670578, + 0.0868365615606308 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The tin has been nudged toward the center of the table and is now near the target middle-lower region. The robot’s end-effector is positioned above and slightly behind the tin, with no grasping occurring (gripper remains open). The next action is to retreat upward and backward to complete the reposition-and-retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.316435307264328, + 0.0322054922580719, + 0.05468570813536644, + -3.138819932937622, + -0.16898322105407715, + 0.036650579422712326 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the middle lower side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "nudge tin toward center" + }, + { + "id": 3, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The tin has been nudged toward the center of the table and is now near the target middle-lower region. The robot’s end-effector is positioned above and slightly behind the tin, with no grasping occurring (gripper remains open). The next action is to retreat upward and backward to complete the reposition-and-retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004283_ecot.json b/cot/chunk-0004/episode_0004283_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..caadf6bfac47df71da77063d4d1b2662c42d5f97 --- /dev/null +++ b/cot/chunk-0004/episode_0004283_ecot.json @@ -0,0 +1,2314 @@ +{ + "task_name": "episode_0004283", + "episode_json": "json/chunk-0004/episode_0004283.json", + "video_path": "videos/chunk-0004/image_0/episode_0004283.mp4", + "instruction": "Remove the green rectangle block from the yellow rectangle block.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004283.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.4078121781349182, + "std": 0.17933231592178345, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40781, std=0.17933, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 27 + ], + [ + 3, + 28, + 28 + ], + [ + 4, + 29, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green block\", \"start\": 0, \"end\": 10, \"planning\": \"Move the gripper toward the green block stacked on the yellow block without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp green block\", \"start\": 11, \"end\": 27, \"planning\": \"Close the gripper around the green block and lift it off the yellow block, holding it securely.\"},\n {\"id\": 3, \"name\": \"reposition while holding\", \"start\": 28, \"end\": 28, \"planning\": \"Make a minor adjustment in position while maintaining grip on the green block.\"},\n {\"id\": 4, \"name\": \"release green block\", \"start\": 29, \"end\": 35, \"planning\": \"Open the gripper to place the green block on the table and retreat to a neutral position.\"}\n ],\n \"global_plan\": \"Approach the green block, grasp and lift it from the yellow block, reposition slightly, then release it onto the table surface.\",\n \"notes\": \"Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing and lifting motion — grasp and hold is valid. Segment 3 is a single-frame micro-adjustment while still holding. Segment 4 shows gripper opening and retreat — release phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green block", + "start": 0, + "end": 10, + "planning": "Move the gripper toward the green block stacked on the yellow block without closing the gripper." + }, + { + "id": 2, + "name": "grasp green block", + "start": 11, + "end": 27, + "planning": "Close the gripper around the green block and lift it off the yellow block, holding it securely." + }, + { + "id": 3, + "name": "reposition while holding", + "start": 28, + "end": 28, + "planning": "Make a minor adjustment in position while maintaining grip on the green block." + }, + { + "id": 4, + "name": "release green block", + "start": 29, + "end": 35, + "planning": "Open the gripper to place the green block on the table and retreat to a neutral position." + } + ], + "global_plan": "Approach the green block, grasp and lift it from the yellow block, reposition slightly, then release it onto the table surface.", + "notes": "Segment 1 shows no gripper closure — approach only. Segment 2 shows meaningful closing and lifting motion — grasp and hold is valid. Segment 3 is a single-frame micro-adjustment while still holding. Segment 4 shows gripper opening and retreat — release phase." + } + }, + "episode_goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040679395198822, + 0.03941035643219948, + 0.09737195074558258, + -3.108884334564209, + -0.1736449897289276, + 0.06525474041700363 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned near the green block stacked on the yellow block, with the gripper open and no contact yet. The subtask involves approaching the green block to prepare for grasping. The next action is to move the gripper closer to the green block for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30264607071876526, + 0.039047788828611374, + 0.08952216804027557, + -3.1119046211242676, + -0.14618420600891113, + 0.06796049326658249 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned near the green block stacked on the yellow block, with the gripper open and no contact yet. The subtask involves approaching the green block to prepare for grasping. The next action is to move the gripper closer to the green block for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30032792687416077, + 0.04388226196169853, + 0.0889512374997139, + -3.117891788482666, + -0.1370931714773178, + 0.08325538784265518 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned near the green block stacked on the yellow block, with the gripper open and no contact yet. The subtask involves approaching the green block to prepare for grasping. The next action is to move the gripper closer to the green block for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2978288233280182, + 0.05075286328792572, + 0.08842992037534714, + -3.1241140365600586, + -0.129547119140625, + 0.09769441187381744 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned near the green block stacked on the yellow block, with the gripper open and no contact yet. The subtask involves approaching the green block to prepare for grasping. The next action is to move the gripper closer to the green block for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29392555356025696, + 0.06085371598601341, + 0.09261643886566162, + -3.1241354942321777, + -0.12801215052604675, + 0.1331409066915512 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot is positioned near the green block stacked on the yellow block, with the gripper open and no contact yet. The subtask involves approaching the green block to prepare for grasping. The next action is to move the gripper closer to the green block for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29058951139450073, + 0.06913473457098007, + 0.11178974062204361, + -3.1002519130706787, + -0.180569127202034, + 0.15320660173892975 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper open; then move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27963781356811523, + 0.0946156233549118, + 0.13157352805137634, + -3.0984339714050293, + -0.22916267812252045, + 0.23266766965389252 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 3, + 184, + 997, + 996 + ], + "yellow block": [ + 201, + 427, + 326, + 593 + ], + "blue block": [ + 469, + 321, + 554, + 474 + ], + "green block": [ + 165, + 374, + 295, + 551 + ], + "red block": [ + 680, + 507, + 805, + 710 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2744583487510681, + 0.10750605165958405, + 0.13372626900672913, + -3.1137313842773438, + -0.2361963540315628, + 0.26933690905570984 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, keep gripper open; then move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710983455181122, + 0.12516263127326965, + 0.12282784283161163, + -3.1270623207092285, + -0.21462766826152802, + 0.3159807324409485 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open; then move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2713879942893982, + 0.1311180293560028, + 0.11126704514026642, + -3.135601758956909, + -0.189674511551857, + 0.3262161314487457 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705589830875397, + 0.13816460967063904, + 0.10803274810314178, + -3.1380434036254883, + -0.19340522587299347, + 0.34041428565979004 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "approach green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719666063785553, + 0.14016687870025635, + 0.10848794132471085, + 3.1400012969970703, + -0.2078348994255066, + 0.35790878534317017 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746346592903137, + 0.1416778266429901, + 0.10222765803337097, + 3.13839054107666, + -0.2077569216489792, + 0.367989718914032 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27250155806541443, + 0.14131219685077667, + 0.09227064996957779, + 3.1399199962615967, + -0.19955310225486755, + 0.37716805934906006 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 11 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27210983633995056, + 0.13893133401870728, + 0.08819443732500076, + 3.128420352935791, + -0.20216210186481476, + 0.38870829343795776 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710777521133423, + 0.1373140960931778, + 0.0812014788389206, + 3.123194932937622, + -0.19328784942626953, + 0.3941403031349182 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689884603023529, + 0.13839848339557648, + 0.06823961436748505, + 3.1329147815704346, + -0.16894526779651642, + 0.39595717191696167 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 3, + 156, + 997, + 996 + ], + "red block": [ + 681, + 508, + 807, + 713 + ], + "yellow block": [ + 170, + 405, + 327, + 593 + ], + "blue block": [ + 469, + 319, + 554, + 474 + ], + "green block": [ + 166, + 401, + 293, + 551 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 15 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26865503191947937, + 0.14011681079864502, + 0.05730151757597923, + 3.1407394409179688, + -0.14948496222496033, + 0.40273016691207886 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 15 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2693367898464203, + 0.13971687853336334, + 0.05534065514802933, + 3.1339335441589355, + -0.15590021014213562, + 0.42267701029777527 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot arm is positioned above the green block, which is stacked on the yellow block. The gripper is open and has not yet made contact with the green block. The next action should involve lowering the arm to make contact with the green block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.268827348947525, + 0.1330232173204422, + 0.05385994166135788, + 3.0993475914001465, + -0.16837778687477112, + 0.4035094082355499 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 14 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747625708580017, + 0.12162710726261139, + 0.08385847508907318, + 3.088270664215088, + -0.2496495544910431, + 0.36189496517181396 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27820461988449097, + 0.0907987430691719, + 0.11874019354581833, + 3.089311122894287, + -0.35433706641197205, + 0.25734373927116394 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then keep gripper open; then move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727504372596741, + 0.05567121133208275, + 0.12678200006484985, + 3.0893054008483887, + -0.37294209003448486, + 0.14609768986701965 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 10 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open; then move back 1 cm, move left 3 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2672165036201477, + 0.03366568312048912, + 0.11481992155313492, + 3.086149215698242, + -0.33451807498931885, + 0.07339099049568176 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open; then move back 1 cm, move left 6 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2588818073272705, + 0.006275481544435024, + 0.08909173309803009, + 3.0707263946533203, + -0.2590967118740082, + 0.009722975082695484 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 3, + 183, + 996, + 996 + ], + "yellow block": [ + 193, + 427, + 312, + 595 + ], + "blue block": [ + 470, + 319, + 555, + 474 + ], + "red block": [ + 680, + 508, + 806, + 714 + ], + "green block": [ + 328, + 491, + 422, + 627 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed; then keep gripper open; then move back 1 cm, move left 11 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2499338984489441, + -0.004874399397522211, + 0.06415919959545135, + 3.080458402633667, + -0.18490079045295715, + -0.02112257108092308 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed; then keep gripper open; then move left 12 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25025859475135803, + -0.00868882704526186, + 0.04196776822209358, + 3.115433692932129, + -0.13338741660118103, + -0.048724278807640076 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then keep gripper open; then move left 12 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2501952648162842, + -0.010763341560959816, + 0.02510039135813713, + 3.138169050216675, + -0.09518618136644363, + -0.05553844943642616 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "grasp green block", + "subtask_reasoning": "The robot has approached the green block stacked on the yellow block. The gripper is closing around the green block, as indicated by the decreasing gripper value and segment-level evidence. The next action is to complete the grasp and prepare to lift the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then keep gripper open; then move left 12 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2576864957809448, + -0.011798776686191559, + 0.022712862119078636, + -3.1362037658691406, + -0.09807585924863815, + -0.0727027878165245 + ], + "gripper_value": 0.5998998284339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "reposition while holding", + "subtask_reasoning": "The robot is currently holding the green block above the table surface, having successfully lifted it from the yellow block. Since the segment-level gripper evidence indicates no active closing motion, the focus is on maintaining the current grip while repositioning the block laterally. The next action involves moving the arm to a clear spot on the table to prepare for releasing the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 12 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 28, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25947222113609314, + -0.0141984224319458, + 0.023265980184078217, + 3.133432388305664, + -0.10472369939088821, + -0.08104013651609421 + ], + "gripper_value": 0.6460646390914917 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "release green block", + "subtask_reasoning": "The robot is currently holding the green block above the table surface, having successfully lifted it from the yellow block. Since the segment-level gripper evidence indicates no active closing motion, the focus is on maintaining the current grip while repositioning the block laterally. The next action involves moving the arm to a clear spot on the table to prepare for releasing the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25738364458084106, + -0.01776614598929882, + 0.031598545610904694, + 3.107863187789917, + -0.1093243733048439, + -0.07853030413389206 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "release green block", + "subtask_reasoning": "The robot is currently holding the green block above the table surface, having successfully lifted it from the yellow block. Since the segment-level gripper evidence indicates no active closing motion, the focus is on maintaining the current grip while repositioning the block laterally. The next action involves moving the arm to a clear spot on the table to prepare for releasing the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2571425139904022, + -0.004294874612241983, + 0.06713330000638962, + 3.0636794567108154, + -0.2019871026277542, + -0.030565131455659866 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "release green block", + "subtask_reasoning": "The robot is currently holding the green block above the table surface, having successfully lifted it from the yellow block. Since the segment-level gripper evidence indicates no active closing motion, the focus is on maintaining the current grip while repositioning the block laterally. The next action involves moving the arm to a clear spot on the table to prepare for releasing the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24808059632778168, + 0.01742926798760891, + 0.0975724533200264, + 3.0062522888183594, + -0.25827375054359436, + 0.04748976230621338 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "release green block", + "subtask_reasoning": "The green block has been lifted from the yellow block and is currently held above the table surface. The gripper is open, indicating the block has been released or is in the process of being released. The next action is to ensure the block is fully placed on the table and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2451859712600708, + 0.05013806372880936, + 0.11740512400865555, + 2.986574411392212, + -0.2806911766529083, + 0.1635853350162506 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 3, + 178, + 997, + 996 + ], + "yellow block": [ + 192, + 420, + 328, + 594 + ], + "blue block": [ + 468, + 319, + 555, + 474 + ], + "green block": [ + 389, + 585, + 537, + 802 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "release green block", + "subtask_reasoning": "The green block has been lifted from the yellow block and is currently held above the table surface. The gripper is open, indicating the block has been released or is in the process of being released. The next action is to ensure the block is fully placed on the table and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2506297528743744, + 0.09158290922641754, + 0.11675112694501877, + 2.9852378368377686, + -0.2603672444820404, + 0.2842395305633545 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "release green block", + "subtask_reasoning": "The green block has been lifted from the yellow block and is currently held above the table surface. The gripper is open, indicating the block has been released or is in the process of being released. The next action is to ensure the block is fully placed on the table and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2619733512401581, + 0.10881921648979187, + 0.10380472987890244, + 3.0074079036712646, + -0.21013422310352325, + 0.31072983145713806 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green rectangle block stacked on the yellow rectangle block, lift it, and place it on the table surface to separate the two blocks." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green block" + }, + { + "id": 2, + "subtask": "grasp green block" + }, + { + "id": 3, + "subtask": "reposition while holding" + }, + { + "id": 4, + "subtask": "release green block" + } + ], + "subtask_name": "release green block", + "subtask_reasoning": "The green block has been lifted from the yellow block and is currently held above the table surface. The gripper is open, indicating the block has been released or is in the process of being released. The next action is to ensure the block is fully placed on the table and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004284_ecot.json b/cot/chunk-0004/episode_0004284_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a5dee1a4d10b79e403c3813b5d2efa44459b0fb0 --- /dev/null +++ b/cot/chunk-0004/episode_0004284_ecot.json @@ -0,0 +1,2677 @@ +{ + "task_name": "episode_0004284", + "episode_json": "json/chunk-0004/episode_0004284.json", + "video_path": "videos/chunk-0004/image_0/episode_0004284.mp4", + "instruction": "Pick up the green arch on top of the white cylinder and blue cube and put it on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004284.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.47778385877609253, + "std": 0.21717402338981628, + "delta_total": 0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.47778, std=0.21717, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 20 + ], + [ + 2, + 21, + 38 + ], + [ + 3, + 39, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on green arch\", \"start\": 0, \"end\": 20, \"planning\": \"Move the end-effector down toward the green arch and close the gripper to make contact and secure it.\"},\n {\"id\": 2, \"name\": \"lift and relocate green arch\", \"start\": 21, \"end\": 38, \"planning\": \"Lift the green arch from the stack and move it to a clear location on the table, then open the gripper to release it.\"},\n {\"id\": 3, \"name\": \"retreat and reposition above table\", \"start\": 39, \"end\": 44, \"planning\": \"After releasing the green arch, lift the gripper and reposition it slightly over the table surface without further manipulation.\"}\n ],\n \"global_plan\": \"The robot approaches the green arch atop the white cylinder and blue cube, closes its gripper to grasp it, lifts and moves it to an empty spot on the table, releases it, and then retreats slightly while remaining over the workspace.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta ~0.47) consistent with grasping; Segment 2 shows gripper opening after transport, confirming release; Segment 3 has no gripper motion, so described as repositioning without grasp or place actions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on green arch", + "start": 0, + "end": 20, + "planning": "Move the end-effector down toward the green arch and close the gripper to make contact and secure it." + }, + { + "id": 2, + "name": "lift and relocate green arch", + "start": 21, + "end": 38, + "planning": "Lift the green arch from the stack and move it to a clear location on the table, then open the gripper to release it." + }, + { + "id": 3, + "name": "retreat and reposition above table", + "start": 39, + "end": 44, + "planning": "After releasing the green arch, lift the gripper and reposition it slightly over the table surface without further manipulation." + } + ], + "global_plan": "The robot approaches the green arch atop the white cylinder and blue cube, closes its gripper to grasp it, lifts and moves it to an empty spot on the table, releases it, and then retreats slightly while remaining over the workspace.", + "notes": "Segment 1 shows meaningful gripper closing (delta ~0.47) consistent with grasping; Segment 2 shows gripper opening after transport, confirming release; Segment 3 has no gripper motion, so described as repositioning without grasp or place actions." + } + }, + "episode_goal": "Pick up the green arch from the stack and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22905804216861725, + -0.03317723050713539, + 0.12788154184818268, + 3.1046173572540283, + 0.22157049179077148, + 0.19914130866527557 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22693979740142822, + -0.033360280096530914, + 0.1214376837015152, + 3.112858533859253, + 0.2481568604707718, + 0.20115570724010468 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22150054574012756, + -0.03547993302345276, + 0.11591605842113495, + -3.1292402744293213, + 0.24386119842529297, + 0.349063903093338 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt right 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21605689823627472, + -0.03653627634048462, + 0.11713295429944992, + -3.129793167114258, + 0.20771415531635284, + 0.4805788993835449 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt right 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21180784702301025, + -0.034951288253068924, + 0.11659783869981766, + -3.114626884460449, + 0.14592565596103668, + 0.6519869565963745 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21281498670578003, + -0.03618237376213074, + 0.11196868866682053, + -3.0970139503479004, + 0.10419357568025589, + 0.841292142868042 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2188735008239746, + -0.03931822627782822, + 0.10570346564054489, + -3.097982883453369, + 0.09094052761793137, + 1.0376745462417603 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22045721113681793, + -0.04452041909098625, + 0.09988671541213989, + -3.1059484481811523, + 0.07852229475975037, + 1.21315336227417 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21903769671916962, + -0.047380272299051285, + 0.0903567224740982, + -3.1287498474121094, + 0.0888897031545639, + 1.2903721332550049 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 66, + 149, + 993, + 993 + ], + "red cone": [ + 313, + 280, + 391, + 425 + ], + "yellow block": [ + 382, + 551, + 483, + 704 + ], + "blue block": [ + 668, + 673, + 775, + 809 + ], + "brown egg": [ + 768, + 583, + 860, + 704 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21662086248397827, + -0.04454638436436653, + 0.08746768534183502, + 3.1390230655670166, + 0.09498926997184753, + 1.3211784362792969 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 66, + 145, + 993, + 993 + ], + "yellow block": [ + 382, + 548, + 485, + 704 + ], + "blue block": [ + 668, + 673, + 775, + 809 + ], + "brown egg": [ + 768, + 583, + 859, + 704 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which rests on a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2132626324892044, + -0.040753427892923355, + 0.08350913226604462, + -3.1348655223846436, + 0.09818639606237411, + 1.3443751335144043 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21496379375457764, + -0.04025265946984291, + 0.08008555322885513, + -3.1301772594451904, + 0.11528842896223068, + 1.3729084730148315 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21710485219955444, + -0.03892335295677185, + 0.07584730535745621, + -3.128561019897461, + 0.12491238117218018, + 1.3891594409942627 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21830065548419952, + -0.0379367470741272, + 0.069086454808712, + -3.1135811805725098, + 0.1461888700723648, + 1.3884979486465454 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, close gripper; then move forward 4 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21716848015785217, + -0.03730364516377449, + 0.06265383958816528, + -3.101473093032837, + 0.17037801444530487, + 1.4008110761642456 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. 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The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, close gripper; then move forward 6 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21632900834083557, + -0.03498091176152229, + 0.06029260903596878, + -3.1011343002319336, + 0.1776050180196762, + 1.4110006093978882 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. 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The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2145175039768219, + -0.034580543637275696, + 0.056672193109989166, + -3.0965235233306885, + 0.18445619940757751, + 1.4194729328155518 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21553373336791992, + -0.036348991096019745, + 0.055022791028022766, + -3.110227584838867, + 0.1930256485939026, + 1.4356976747512817 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. 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The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move right 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21661733090877533, + -0.03698217123746872, + 0.053979333490133286, + -3.107562303543091, + 0.19374610483646393, + 1.4587318897247314 + ], + "gripper_value": 0.5324842929840088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. 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The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2175026535987854, + -0.03807828575372696, + 0.053497906774282455, + -3.115710496902466, + 0.1890360713005066, + 1.4525507688522339 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. 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The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 8 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21749961376190186, + -0.03684571385383606, + 0.054214444011449814, + -3.11502742767334, + 0.16839773952960968, + 1.438948631286621 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "approach and close gripper on green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2339031845331192, + -0.041219908744096756, + 0.07784769684076309, + 3.128152370452881, + 0.08840899914503098, + 1.400314450263977 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2605215907096863, + -0.049743056297302246, + 0.09605193883180618, + 3.0997884273529053, + 0.046339958906173706, + 1.3509521484375 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow block": [ + 382, + 547, + 491, + 705 + ], + "table": [ + 67, + 153, + 993, + 993 + ], + "blue block": [ + 669, + 673, + 776, + 809 + ], + "green block": [ + 569, + 443, + 666, + 600 + ], + "brown egg": [ + 768, + 583, + 859, + 704 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767573297023773, + -0.05891293287277222, + 0.10157784819602966, + 3.066986083984375, + 0.051609642803668976, + 1.3567177057266235 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28937795758247375, + -0.06940391659736633, + 0.09368634223937988, + 3.042125940322876, + 0.1025363951921463, + 1.388238549232483 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29836228489875793, + -0.0748412013053894, + 0.07823456823825836, + 3.0307509899139404, + 0.13230209052562714, + 1.4145481586456299 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3054106831550598, + -0.07685704529285431, + 0.056118644773960114, + 3.0688841342926025, + 0.1647632122039795, + 1.4467692375183105 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30840396881103516, + -0.07958085089921951, + 0.038713451474905014, + 3.115797758102417, + 0.1868540197610855, + 1.479561686515808 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31148067116737366, + -0.07308340817689896, + 0.03233460336923599, + 3.1161677837371826, + 0.2097812443971634, + 1.5408028364181519 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot is positioned above the green arch, which sits on a stack of a white cylinder and blue cube. The gripper is open and aligned with the arch, ready to close. The next action is to close the gripper to grasp the green arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move up 11 cm, tilt left 10 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30948546528816223, + -0.06419316679239273, + 0.02956436015665531, + 3.125964403152466, + 0.20002742111682892, + 1.5580374002456665 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow block": [ + 382, + 546, + 490, + 706 + ], + "brown egg": [ + 768, + 582, + 859, + 704 + ], + "table": [ + 68, + 149, + 993, + 994 + ], + "blue block": [ + 668, + 673, + 775, + 809 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 60 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.30690237879753113, + -0.06193114072084427, + 0.027425767853856087, + 3.134366750717163, + 0.1895819455385208, + 1.561395525932312 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 60 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30702897906303406, + -0.061944395303726196, + 0.027903974056243896, + 3.133106231689453, + 0.1897403448820114, + 1.5626643896102905 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3066978454589844, + -0.06268224120140076, + 0.02757081761956215, + 3.1354637145996094, + 0.19441325962543488, + 1.560628890991211 + ], + "gripper_value": 0.5948979258537292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3049292266368866, + -0.06515132635831833, + 0.02649260312318802, + 3.126163959503174, + 0.21456626057624817, + 1.5345414876937866 + ], + "gripper_value": 0.8948037624359131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3068549931049347, + -0.0610041543841362, + 0.044591449201107025, + 3.0701358318328857, + 0.18750818073749542, + 1.4923826456069946 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 9 cm, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.29967302083969116, + -0.0522146075963974, + 0.06700450927019119, + 3.0733492374420166, + 0.13062985241413116, + 1.4552052021026611 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.28799980878829956, + -0.045865535736083984, + 0.10231142491102219, + 3.1271860599517822, + 0.0691838189959526, + 1.3258925676345825 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.26673224568367004, + -0.04573730751872063, + 0.13202376663684845, + 3.133345365524292, + 0.11205936968326569, + 1.071580171585083 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2351507991552353, + -0.0488055981695652, + 0.1387307196855545, + 3.092498540878296, + 0.1934269368648529, + 0.7961046099662781 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "lift and relocate green arch", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 21, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2190334051847458, + -0.04958385229110718, + 0.12989898025989532, + 2.998192310333252, + 0.21786761283874512, + 0.5397722721099854 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "retreat and reposition above table", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2125319540500641, + -0.04029660299420357, + 0.11464932560920715, + 2.982346296310425, + 0.2380957305431366, + 0.28025397658348083 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow block": [ + 382, + 547, + 491, + 706 + ], + "brown egg": [ + 769, + 583, + 859, + 704 + ], + "red cone": [ + 299, + 87, + 404, + 181 + ], + "table": [ + 67, + 149, + 994, + 994 + ], + "green block": [ + 593, + 473, + 757, + 655 + ], + "blue block": [ + 668, + 674, + 776, + 810 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "retreat and reposition above table", + "subtask_reasoning": "The robot has successfully grasped the green arch, which is now held securely in the gripper above the table surface. The previous steps of approaching and closing the gripper are complete. The robot is now in the process of lifting and relocating the arch to a clear spot on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2115110605955124, + -0.026523252949118614, + 0.09737207740545273, + 3.0600175857543945, + 0.2570823132991791, + 0.08128586411476135 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "retreat and reposition above table", + "subtask_reasoning": "The green arch has been successfully placed on the table, and the gripper is open and positioned above it. The robot is now retreating slightly while maintaining a position over the workspace. The next action is to continue retracting the arm to complete the repositioning phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 39, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.21029438078403473, + -0.020739618688821793, + 0.07978955656290054, + 3.1128032207489014, + 0.32392117381095886, + -0.060767970979213715 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "retreat and reposition above table", + "subtask_reasoning": "The green arch has been successfully placed on the table, and the gripper is open and positioned above it. The robot is now retreating slightly while maintaining a position over the workspace. The next action is to continue retracting the arm to complete the repositioning phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.21788246929645538, + -0.022371478378772736, + 0.07603367418050766, + 3.1139090061187744, + 0.2783231735229492, + -0.048611465841531754 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "retreat and reposition above table", + "subtask_reasoning": "The green arch has been successfully placed on the table, and the gripper is open and positioned above it. The robot is now retreating slightly while maintaining a position over the workspace. The next action is to continue retracting the arm to complete the repositioning phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.22946767508983612, + -0.0274814460426569, + 0.08292948454618454, + 3.0746755599975586, + 0.1367652267217636, + -0.00439215824007988 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green arch from the stack and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on green arch" + }, + { + "id": 2, + "subtask": "lift and relocate green arch" + }, + { + "id": 3, + "subtask": "retreat and reposition above table" + } + ], + "subtask_name": "retreat and reposition above table", + "subtask_reasoning": "The green arch has been successfully placed on the table, and the gripper is open and positioned above it. The robot is now retreating slightly while maintaining a position over the workspace. The next action is to continue retracting the arm to complete the repositioning phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 39, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004285_ecot.json b/cot/chunk-0004/episode_0004285_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3e5be53e94cb87cd03686dd37468b083049b8826 --- /dev/null +++ b/cot/chunk-0004/episode_0004285_ecot.json @@ -0,0 +1,1662 @@ +{ + "task_name": "episode_0004285", + "episode_json": "json/chunk-0004/episode_0004285.json", + "video_path": "videos/chunk-0004/image_0/episode_0004285.mp4", + "instruction": "Place the mushroom on top of the blue towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004285.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.5910568833351135, + "std": 0.2663731873035431, + "delta_total": 0.003954052925109863, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59106, std=0.26637, total_delta=0.00395). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 113, + 121, + 121 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ], + [ + 3, + 20, + 20 + ], + [ + 4, + 21, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach mushroom\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the mushroom while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp mushroom\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the mushroom to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport mushroom\", \"start\": 13, \"end\": 19, \"planning\": \"Lift the grasped mushroom and move it over the blue towel.\"},\n {\"id\": 4, \"name\": \"position above towel\", \"start\": 20, \"end\": 20, \"planning\": \"Hold the mushroom steady above the target location on the blue towel.\"},\n {\"id\": 5, \"name\": \"release mushroom\", \"start\": 21, \"end\": 22, \"planning\": \"Open the gripper to place the mushroom onto the blue towel and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the mushroom, grasp it securely, lift and transport it over the blue towel, position it precisely above the target spot, then release it to complete the placement task.\",\n \"notes\": \"Segment 3 (frame 20) shows no gripper motion but is part of the positioning phase; it is kept as a separate subtask to reflect the pause before release. Gripper closure in segment 1 and opening in segment 4 are supported by both signal trends and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach mushroom", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the mushroom while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp mushroom", + "start": 6, + "end": 12, + "planning": "Close the gripper around the mushroom to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport mushroom", + "start": 13, + "end": 19, + "planning": "Lift the grasped mushroom and move it over the blue towel." + }, + { + "id": 4, + "name": "position above towel", + "start": 20, + "end": 20, + "planning": "Hold the mushroom steady above the target location on the blue towel." + }, + { + "id": 5, + "name": "release mushroom", + "start": 21, + "end": 22, + "planning": "Open the gripper to place the mushroom onto the blue towel and retreat slightly." + } + ], + "global_plan": "Approach the mushroom, grasp it securely, lift and transport it over the blue towel, position it precisely above the target spot, then release it to complete the placement task.", + "notes": "Segment 3 (frame 20) shows no gripper motion but is part of the positioning phase; it is kept as a separate subtask to reflect the pause before release. Gripper closure in segment 1 and opening in segment 4 are supported by both signal trends and visual evidence." + } + }, + "episode_goal": "Place the mushroom on top of the blue towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34846004843711853, + 0.10612890124320984, + 0.06373348832130432, + -3.0474584102630615, + -0.10456346720457077, + 0.021885201334953308 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the wooden countertop, with the blue towel visible to the right. No actions have been completed yet. The gripper is open and stationary, indicating readiness to move. The next action should be to move the end effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3464900851249695, + 0.1045796126127243, + 0.05059174820780754, + -3.0633931159973145, + -0.06732310354709625, + 0.025649454444646835 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the wooden countertop, with the blue towel visible to the right. No actions have been completed yet. The gripper is open and stationary, indicating readiness to move. The next action should be to move the end effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3482033312320709, + 0.12323232740163803, + 0.058058660477399826, + -3.091671943664551, + -0.08035793155431747, + 0.10724577307701111 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the countertop, with the blue towel visible to the right. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3398107588291168, + 0.15768837928771973, + 0.0670958086848259, + -3.0989744663238525, + -0.08815032243728638, + 0.2070605754852295 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 49, + 358, + 307, + 618 + ], + "yellow banana": [ + 318, + 266, + 393, + 431 + ], + "blue cloth": [ + 441, + 251, + 706, + 485 + ], + "wooden table": [ + 4, + 144, + 879, + 964 + ], + "tomato soup": [ + 612, + 30, + 754, + 284 + ], + "microwave": [ + 286, + 4, + 638, + 236 + ], + "toy stove": [ + 701, + 172, + 995, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the countertop, with the blue towel visible to the right. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 1 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.329354465007782, + 0.18501341342926025, + 0.07106603682041168, + -3.1036746501922607, + -0.0981609895825386, + 0.264321506023407 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the countertop, with the blue towel visible to the right. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, keep gripper open; then move forward 1 cm, move up 1 cm, tilt left 10 degrees, close gripper; then move forward 3 cm, move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168830871582031, + 0.20925679802894592, + 0.07463200390338898, + -3.107369899749756, + -0.10194858908653259, + 0.3069821894168854 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "approach mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the countertop, with the blue towel visible to the right. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move up 1 cm, tilt left 10 degrees, close gripper; then move forward 7 cm, move right 9 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3087173104286194, + 0.21492987871170044, + 0.06955090910196304, + -3.1064906120300293, + -0.09186729788780212, + 0.294750452041626 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the countertop, with the blue towel visible to the right. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, tilt left 10 degrees, close gripper; then move forward 9 cm, move right 14 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3056447505950928, + 0.21987968683242798, + 0.06610613316297531, + -3.066756248474121, + -0.07178618758916855, + 0.29209104180336 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the countertop, with the blue towel visible to the right. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, close gripper; then move forward 10 cm, move right 18 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30549487471580505, + 0.22796785831451416, + 0.04833708703517914, + -3.0333969593048096, + -0.015953730791807175, + 0.3161821961402893 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot is positioned near the mushroom on the countertop, with the blue towel visible to the right. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the mushroom to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, close gripper; then move forward 11 cm, move right 20 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3073122501373291, + 0.23614579439163208, + 0.042056526988744736, + -3.007750988006592, + 0.010032078251242638, + 0.3444709777832031 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot has approached the mushroom and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is imminent or in progress. The next action is to close the gripper to securely grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 21 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30771639943122864, + 0.23781666159629822, + 0.03710353374481201, + -2.985051393508911, + 0.025932475924491882, + 0.3615033030509949 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot has approached the mushroom and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is imminent or in progress. The next action is to close the gripper to securely grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 22 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30979788303375244, + 0.23672910034656525, + 0.03587641194462776, + -2.991881847381592, + 0.014463831670582294, + 0.35557928681373596 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot has approached the mushroom and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is imminent or in progress. The next action is to close the gripper to securely grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 22 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3086796998977661, + 0.23260167241096497, + 0.04249172285199165, + -3.0021708011627197, + -0.001741517335176468, + 0.346148818731308 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "grasp mushroom", + "subtask_reasoning": "The robot has approached the mushroom and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is imminent or in progress. The next action is to close the gripper to securely grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move right 22 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31748756766319275, + 0.218856081366539, + 0.07834909111261368, + -2.9970788955688477, + -0.091392382979393, + 0.3349285423755646 + ], + "gripper_value": 0.4411471486091614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is imminent or in progress. The next action is to close the gripper to securely grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 22 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34271490573883057, + 0.17810553312301636, + 0.09862824529409409, + -3.0228304862976074, + -0.10630983114242554, + 0.2671448886394501 + ], + "gripper_value": 0.4148389995098114 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 49, + 356, + 308, + 620 + ], + "yellow banana": [ + 318, + 266, + 393, + 431 + ], + "blue cloth": [ + 441, + 251, + 707, + 485 + ], + "wooden table": [ + 4, + 123, + 877, + 964 + ], + "microwave": [ + 246, + 3, + 640, + 236 + ], + "tomato soup": [ + 612, + 30, + 754, + 284 + ], + "toy stove": [ + 697, + 169, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is imminent or in progress. The next action is to close the gripper to securely grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 18 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.383689284324646, + 0.12872323393821716, + 0.10219743102788925, + -3.0758395195007324, + -0.09513486176729202, + 0.19169673323631287 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has approached the mushroom and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is imminent or in progress. The next action is to close the gripper to securely grasp the mushroom." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41065314412117004, + 0.07823308557271957, + 0.09410752356052399, + -3.0676403045654297, + -0.07695548981428146, + 0.13240191340446472 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the wooden countertop. The mushroom is positioned near the blue towel but not yet directly over the target spot. The next action is to continue transporting the mushroom horizontally to align it precisely above the center of the blue towel before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move down 2 cm, tilt right 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.42016997933387756, + 0.04134739935398102, + 0.08541160076856613, + -3.107509136199951, + -0.07198963314294815, + 0.11881162226200104 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 50, + 356, + 307, + 620 + ], + "yellow banana": [ + 318, + 266, + 392, + 431 + ], + "wooden table": [ + 4, + 126, + 878, + 966 + ], + "tomato soup": [ + 610, + 30, + 758, + 284 + ], + "blue cloth": [ + 442, + 251, + 707, + 485 + ], + "toy stove": [ + 703, + 169, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the wooden countertop. The mushroom is positioned near the blue towel but not yet directly over the target spot. The next action is to continue transporting the mushroom horizontally to align it precisely above the center of the blue towel before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 1 cm, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4244040250778198, + 0.016563009470701218, + 0.0836358293890953, + -3.116262197494507, + -0.08471832424402237, + 0.08960705250501633 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the wooden countertop. The mushroom is positioned near the blue towel but not yet directly over the target spot. The next action is to continue transporting the mushroom horizontally to align it precisely above the center of the blue towel before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4283064603805542, + 0.0050578913651406765, + 0.08335321396589279, + -3.1124496459960938, + -0.1066703349351883, + 0.06393806636333466 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "lift and transport mushroom", + "subtask_reasoning": "The robot has successfully grasped the mushroom and is currently lifting it above the wooden countertop. The mushroom is positioned near the blue towel but not yet directly over the target spot. The next action is to continue transporting the mushroom horizontally to align it precisely above the center of the blue towel before lowering it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.43138837814331055, + -2.7216361559112556e-05, + 0.07275045663118362, + 3.1327216625213623, + -0.07939521223306656, + 0.05845332890748978 + ], + "gripper_value": 0.48323801159858704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "position above towel", + "subtask_reasoning": "The robot is holding the mushroom and has moved it above the blue towel. The gripper remains open, indicating no active grasping or releasing in this segment. The next action is to lower the mushroom slightly and release it onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4326026439666748, + -0.0007105667609721422, + 0.0728565976023674, + 3.1290338039398193, + -0.08697779476642609, + 0.0462195947766304 + ], + "gripper_value": 0.7931879758834839 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "release mushroom", + "subtask_reasoning": "The robot is positioned directly above the blue towel with the mushroom held in the gripper. The gripper is currently open, indicating the release action is underway or complete. The next step is to ensure the mushroom remains on the towel and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.43260037899017334, + -2.349178248550743e-05, + 0.07285201549530029, + 3.133230209350586, + -0.08714795857667923, + 0.04774484038352966 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the mushroom on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach mushroom" + }, + { + "id": 2, + "subtask": "grasp mushroom" + }, + { + "id": 3, + "subtask": "lift and transport mushroom" + }, + { + "id": 4, + "subtask": "position above towel" + }, + { + "id": 5, + "subtask": "release mushroom" + } + ], + "subtask_name": "release mushroom", + "subtask_reasoning": "The robot is positioned directly above the blue towel with the mushroom held in the gripper. The gripper is currently open, indicating the release action is underway or complete. The next step is to ensure the mushroom remains on the towel and move the gripper away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004288_ecot.json b/cot/chunk-0004/episode_0004288_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..374c6bcf5e26da99749c5356f480c2dea66680ab --- /dev/null +++ b/cot/chunk-0004/episode_0004288_ecot.json @@ -0,0 +1,822 @@ +{ + "task_name": "episode_0004288", + "episode_json": "json/chunk-0004/episode_0004288.json", + "video_path": "videos/chunk-0004/image_0/episode_0004288.mp4", + "instruction": "Pick up pot from sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 11, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004288.json" + }, + "fps": 5.0, + "T_eff": 11, + "gripper_behavior_summary": { + "available": true, + "range": 0.9114920496940613, + "std": 0.4015330970287323, + "delta_total": -0.9114920496940613, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91149, std=0.40153, total_delta=-0.91149). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 106, + 106, + 106, + 6, + 6 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 5 + ], + [ + 3, + 6, + 8 + ], + [ + 4, + 9, + 10 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot in sink\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector down toward the pot while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper on pot\", \"start\": 4, \"end\": 5, \"planning\": \"Actively close gripper fingers to make contact and begin securing the pot.\"},\n {\"id\": 3, \"name\": \"secure grip on pot\", \"start\": 6, \"end\": 8, \"planning\": \"Continue closing gripper to firmly grasp the pot handle or rim.\"},\n {\"id\": 4, \"name\": \"lift pot from sink\", \"start\": 9, \"end\": 10, \"planning\": \"Raise end-effector vertically while maintaining grip to lift pot out of sink.\"}\n ],\n \"global_plan\": \"Approach the pot in the sink with open gripper, close fingers to grasp it securely, then lift it upward.\",\n \"notes\": \"Gripper closure is confirmed in segments 2 and 3 (frames 4-8), supporting grasp wording. Segment 1 shows no closing — approach only. Segment 4 shows stable closed gripper during lift — consistent with holding and lifting.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot in sink", + "start": 0, + "end": 3, + "planning": "Move end-effector down toward the pot while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper on pot", + "start": 4, + "end": 5, + "planning": "Actively close gripper fingers to make contact and begin securing the pot." + }, + { + "id": 3, + "name": "secure grip on pot", + "start": 6, + "end": 8, + "planning": "Continue closing gripper to firmly grasp the pot handle or rim." + }, + { + "id": 4, + "name": "lift pot from sink", + "start": 9, + "end": 10, + "planning": "Raise end-effector vertically while maintaining grip to lift pot out of sink." + } + ], + "global_plan": "Approach the pot in the sink with open gripper, close fingers to grasp it securely, then lift it upward.", + "notes": "Gripper closure is confirmed in segments 2 and 3 (frames 4-8), supporting grasp wording. Segment 1 shows no closing — approach only. Segment 4 shows stable closed gripper during lift — consistent with holding and lifting." + } + }, + "episode_goal": "Pick up the metal pot from the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34567224979400635, + -0.07729930430650711, + 0.008640733547508717, + -3.082817792892456, + -0.13449345529079437, + 0.2579589784145355 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the metal pot. No grasping action has occurred yet as the gripper remains fully open. The next step is to lower the arm slightly to align the gripper with the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 4 cm, close gripper; then keep gripper closed; then move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.339142382144928, + -0.07583693414926529, + -0.005217260215431452, + -3.0715014934539795, + -0.10925787687301636, + 0.2708187699317932 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the metal pot. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper; then keep gripper closed; then move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3336087465286255, + -0.07546135038137436, + -0.014943812042474747, + -3.0852084159851074, + -0.11658895760774612, + 0.28178879618644714 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the metal pot. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, close gripper; then keep gripper closed; then move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.329680472612381, + -0.07847271859645844, + -0.023375611752271652, + -3.1200947761535645, + -0.13476373255252838, + 0.29471203684806824 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange toy fruit": [ + 398, + 538, + 518, + 659 + ], + "toy kitchen set": [ + 11, + 19, + 985, + 981 + ], + "green plate": [ + 6, + 134, + 139, + 258 + ], + "kitchen sink": [ + 331, + 311, + 930, + 880 + ], + "green holder": [ + 217, + 217, + 382, + 471 + ], + "toy corn": [ + 938, + 448, + 995, + 575 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the metal pot. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then keep gripper closed; then move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32705292105674744, + -0.08390443027019501, + -0.028732920065522194, + 3.1115477085113525, + -0.13515381515026093, + 0.3151031732559204 + ], + "gripper_value": 0.8298270106315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot's gripper is positioned around the metal pot in the sink, with fingers beginning to close as indicated by the decreasing gripper value. The approach phase is complete, and the current action involves securing the pot by closing the gripper. The next step will be to lift the pot once a firm grasp is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32832545042037964, + -0.0814269557595253, + -0.029584260657429695, + 3.09675669670105, + -0.13858959078788757, + 0.3160935938358307 + ], + "gripper_value": 0.529549777507782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot's gripper is positioned around the metal pot in the sink, with fingers beginning to close as indicated by the decreasing gripper value. The approach phase is complete, and the current action involves securing the pot by closing the gripper. The next step will be to lift the pot once a firm grasp is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3285725712776184, + -0.08183715492486954, + -0.02947920933365822, + 3.09200382232666, + -0.14262790977954865, + 0.3141805827617645 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "secure grip on pot", + "subtask_reasoning": "The robot's gripper is positioned around the metal pot in the sink, with fingers beginning to close as indicated by the decreasing gripper value. The approach phase is complete, and the current action involves securing the pot by closing the gripper. The next step will be to lift the pot once a firm grasp is confirmed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281686305999756, + -0.08220597356557846, + -0.028105782344937325, + 3.085416793823242, + -0.12075021117925644, + 0.3070794939994812 + ], + "gripper_value": 0.12795238196849823 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "secure grip on pot", + "subtask_reasoning": "The robot's gripper is in contact with the metal pot inside the sink, having completed the approach and initial closing phases. The gripper value indicates a partially closed state, suggesting the fingers are securing the pot but may need further adjustment. The next action should involve fine-tuning the grip to ensure the pot is held securely before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt left 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 6, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33193114399909973, + -0.07765529304742813, + -0.021901477128267288, + 3.136030912399292, + -0.11765258759260178, + 0.29426297545433044 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "secure grip on pot", + "subtask_reasoning": "The robot's gripper is in contact with the metal pot inside the sink, having completed the approach and initial closing phases. The gripper value indicates a partially closed state, suggesting the fingers are securing the pot but may need further adjustment. The next action should involve fine-tuning the grip to ensure the pot is held securely before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 10 degrees, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3318612575531006, + -0.08239975571632385, + -0.009723937138915062, + -3.0173227787017822, + -0.11789938062429428, + 0.22049079835414886 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "lift pot from sink", + "subtask_reasoning": "The robot's gripper is in contact with the metal pot inside the sink, having already approached and closed around it. The current subtask involves lifting the pot upward from the sink. The next action is to execute a vertical lift while maintaining a secure grip on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 9, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3362584114074707, + -0.07747901231050491, + 0.014524388127028942, + -2.9428517818450928, + -0.12965801358222961, + 0.1971759796142578 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen set": [ + 10, + 20, + 986, + 978 + ], + "green plate": [ + 1, + 134, + 140, + 261 + ], + "kitchen sink": [ + 332, + 311, + 929, + 880 + ], + "black faucet": [ + 610, + 384, + 853, + 603 + ], + "green holder": [ + 216, + 220, + 382, + 471 + ], + "orange toy fruit": [ + 398, + 535, + 528, + 658 + ], + "toy corn": [ + 938, + 448, + 995, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal pot from the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "secure grip on pot" + }, + { + "id": 4, + "subtask": "lift pot from sink" + } + ], + "subtask_name": "lift pot from sink", + "subtask_reasoning": "The robot's gripper is in contact with the metal pot inside the sink, having already approached and closed around it. The current subtask involves lifting the pot upward from the sink. The next action is to execute a vertical lift while maintaining a secure grip on the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 9, + "end": 10 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004290_ecot.json b/cot/chunk-0004/episode_0004290_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..febce14aa8b9de5abecb7d5690b1bbb54d9f74f1 --- /dev/null +++ b/cot/chunk-0004/episode_0004290_ecot.json @@ -0,0 +1,1909 @@ +{ + "task_name": "episode_0004290", + "episode_json": "json/chunk-0004/episode_0004290.json", + "video_path": "videos/chunk-0004/image_0/episode_0004290.mp4", + "instruction": "Upright basil bottle cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004290.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.12391465902328491, + "std": 0.04784974455833435, + "delta_total": -0.0026804208755493164, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.12391, std=0.04785, total_delta=-0.00268). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 20 + ], + [ + 3, + 21, + 24 + ], + [ + 4, + 25, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottle\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the basil bottle without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp bottle\", \"start\": 8, \"end\": 20, \"planning\": \"Close gripper around the basil bottle and secure hold as evidenced by gripper value drop to 0.898.\"},\n {\"id\": 3, \"name\": \"reposition bottle upright\", \"start\": 21, \"end\": 24, \"planning\": \"Lift and rotate the bottle to stand it upright while maintaining grip, no further gripper motion observed.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 25, \"end\": 29, \"planning\": \"Open gripper to release the upright bottle and move end-effector away, confirmed by gripper value returning to ~0.996.\"}\n ],\n \"global_plan\": \"Approach the fallen basil bottle, grasp it, reposition it to stand upright within the cardboard fence, then release and retreat.\",\n \"notes\": \"Gripper evidence aligns with image observations: no grasp in segment 1, meaningful closure in segment 2, static grip in segment 3, and release in segment 4. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottle", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the basil bottle without closing gripper." + }, + { + "id": 2, + "name": "grasp bottle", + "start": 8, + "end": 20, + "planning": "Close gripper around the basil bottle and secure hold as evidenced by gripper value drop to 0.898." + }, + { + "id": 3, + "name": "reposition bottle upright", + "start": 21, + "end": 24, + "planning": "Lift and rotate the bottle to stand it upright while maintaining grip, no further gripper motion observed." + }, + { + "id": 4, + "name": "release and retreat", + "start": 25, + "end": 29, + "planning": "Open gripper to release the upright bottle and move end-effector away, confirmed by gripper value returning to ~0.996." + } + ], + "global_plan": "Approach the fallen basil bottle, grasp it, reposition it to stand upright within the cardboard fence, then release and retreat.", + "notes": "Gripper evidence aligns with image observations: no grasp in segment 1, meaningful closure in segment 2, static grip in segment 3, and release in segment 4. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Upright the basil bottle on the wooden tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2539897859096527, + 0.10359436273574829, + 0.10015919059515, + -3.0397942066192627, + -0.1979646235704422, + 0.3790670335292816 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible nearby. No actions have been completed yet. The robot needs to move closer to the bottle to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 14 cm, move down 4 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 80 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25179073214530945, + 0.101331427693367, + 0.0931861624121666, + -3.0449037551879883, + -0.16320636868476868, + 0.36541587114334106 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible nearby. No actions have been completed yet. The robot needs to move closer to the bottle to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 14 cm, move down 3 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 80 degrees, keep gripper open; then move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2757684588432312, + 0.08799929916858673, + 0.10189296305179596, + -3.080601692199707, + -0.1348142772912979, + 0.11871789395809174 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible nearby. No actions have been completed yet. The robot needs to move closer to the bottle to prepare for grasping it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29769349098205566, + 0.07257524877786636, + 0.10359962284564972, + -3.041612148284912, + -0.10562276095151901, + -0.11176248639822006 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 328, + 488, + 623, + 617 + ], + "potato": [ + 399, + 292, + 494, + 369 + ], + "red cup": [ + 565, + 343, + 629, + 475 + ], + "can": [ + 401, + 340, + 628, + 489 + ], + "cutting board": [ + 42, + 154, + 758, + 813 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 11 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32100018858909607, + 0.050091780722141266, + 0.10292249172925949, + -3.01670241355896, + -0.12047778815031052, + -0.3650129437446594 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3347356915473938, + 0.01769653894007206, + 0.09218015521764755, + -3.019806146621704, + -0.1313861459493637, + -0.6077845096588135 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34201815724372864, + -0.012288779951632023, + 0.08174529671669006, + -3.0493576526641846, + -0.1748620867729187, + -0.8613552451133728 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3475300669670105, + -0.03666967526078224, + 0.07179620862007141, + -3.0775208473205566, + -0.2291650027036667, + -1.0394389629364014 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526838421821594, + -0.04032529518008232, + 0.060110174119472504, + -3.0712649822235107, + -0.20923402905464172, + -1.0250004529953003 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567591607570648, + -0.03850642591714859, + 0.05705149471759796, + -3.025203227996826, + -0.20133242011070251, + -1.0010191202163696 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35923323035240173, + -0.036300357431173325, + 0.053566448390483856, + -2.995680093765259, + -0.17536643147468567, + -0.9499676823616028 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574559688568115, + -0.033455729484558105, + 0.0423998087644577, + -3.0044994354248047, + -0.13709670305252075, + -0.9303023219108582 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3552556335926056, + -0.03223726898431778, + 0.02874542400240898, + -3.0087122917175293, + -0.10097026079893112, + -0.9185697436332703 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 7 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3549135625362396, + -0.02978648617863655, + 0.018746867775917053, + -2.9932496547698975, + -0.08135637640953064, + -0.9184146523475647 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the fallen basil bottle visible inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575919270515442, + -0.029728269204497337, + 0.013562334701418877, + -2.97525691986084, + -0.07749655097723007, + -0.9195190668106079 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the fallen basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the bottle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3559984862804413, + -0.029635339975357056, + 0.006469374056905508, + -2.993382453918457, + -0.06067778170108795, + -0.9197970628738403 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the fallen basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the bottle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565867245197296, + -0.03280184045433998, + 0.0072231600061059, + -3.017354726791382, + -0.06726958602666855, + -0.9066035151481628 + ], + "gripper_value": 0.8749077320098877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the fallen basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the bottle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565911054611206, + -0.030683916062116623, + 0.007238405290991068, + -3.0150561332702637, + -0.06434682756662369, + -0.8836027979850769 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the fallen basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the bottle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34926819801330566, + -0.024351157248020172, + 0.014391185715794563, + -3.017998218536377, + -0.04396676644682884, + -0.8534669876098633 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the fallen basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the bottle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.344917356967926, + -0.016183465719223022, + 0.03882552310824394, + -2.993122100830078, + -0.08885139226913452, + -0.8941784501075745 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 323, + 505, + 621, + 617 + ], + "potato": [ + 396, + 293, + 493, + 377 + ], + "cutting board": [ + 13, + 118, + 777, + 845 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the fallen basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the bottle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3303808271884918, + 0.0005456008366309106, + 0.06779155135154724, + -2.97566819190979, + -0.15367215871810913, + -0.929884135723114 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the fallen basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the bottle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move back 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31493592262268066, + 0.023048564791679382, + 0.09387268871068954, + -2.957857608795166, + -0.19995906949043274, + -0.9550111293792725 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "knife": [ + 322, + 503, + 623, + 618 + ], + "cutting board": [ + 54, + 165, + 769, + 823 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition bottle upright", + "subtask_reasoning": "The robot has approached the fallen basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to grasp the bottle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30485522747039795, + 0.0466572642326355, + 0.10222779959440231, + -2.9522831439971924, + -0.24589450657367706, + -0.9696015119552612 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition bottle upright", + "subtask_reasoning": "The robot is currently holding the basil bottle above the wooden tray, having already approached and grasped it. The gripper remains open and stable, indicating no active grasping or releasing in this segment. The next action is to lower and position the bottle upright within the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999664545059204, + 0.05986291915178299, + 0.10044200718402863, + -2.958855152130127, + -0.2633747160434723, + -0.9441167116165161 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition bottle upright", + "subtask_reasoning": "The robot is currently holding the basil bottle above the wooden tray, having already approached and grasped it. The gripper remains open and stable, indicating no active grasping or releasing in this segment. The next action is to lower and position the bottle upright within the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998209297657013, + 0.06514966487884521, + 0.09802873432636261, + -2.942525863647461, + -0.299364298582077, + -0.9532878398895264 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition bottle upright", + "subtask_reasoning": "The robot is currently holding the basil bottle above the wooden tray, having already approached and grasped it. The gripper remains open and stable, indicating no active grasping or releasing in this segment. The next action is to lower and position the bottle upright within the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29968002438545227, + 0.06536967307329178, + 0.09674311429262161, + -2.9721131324768066, + -0.41719383001327515, + -0.9462068676948547 + ], + "gripper_value": 0.898204505443573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the basil bottle above the wooden tray, having already approached and grasped it. The gripper remains open and stable, indicating no active grasping or releasing in this segment. The next action is to lower and position the bottle upright within the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29897046089172363, + 0.06886985152959824, + 0.09391874074935913, + -3.073768138885498, + -0.4882991313934326, + -0.8810021281242371 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the basil bottle above the wooden tray, having already approached and grasped it. The gripper remains open and stable, indicating no active grasping or releasing in this segment. The next action is to lower and position the bottle upright within the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.305330365896225, + 0.07555922865867615, + 0.09501171857118607, + -3.1050376892089844, + -0.4264639616012573, + -0.8131282925605774 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The basil bottle is now upright within the cardboard fence on the wooden tray, and the gripper is open (value ~0.996), indicating release has occurred. The robot arm is positioned above the tray, suggesting retreat is underway or imminent. No further grasping is needed; the next action is to move the arm away from the tray to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061274290084839, + 0.07532834261655807, + 0.09216724336147308, + -3.076284885406494, + -0.37707480788230896, + -0.8373525738716125 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The basil bottle is now upright within the cardboard fence on the wooden tray, and the gripper is open (value ~0.996), indicating release has occurred. The robot arm is positioned above the tray, suggesting retreat is underway or imminent. No further grasping is needed; the next action is to move the arm away from the tray to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081466853618622, + 0.07695766538381577, + 0.10838551819324493, + -3.048892021179199, + -0.35292527079582214, + -0.846489667892456 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "reposition bottle upright" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The basil bottle is now upright within the cardboard fence on the wooden tray, and the gripper is open (value ~0.996), indicating release has occurred. The robot arm is positioned above the tray, suggesting retreat is underway or imminent. No further grasping is needed; the next action is to move the arm away from the tray to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004291_ecot.json b/cot/chunk-0004/episode_0004291_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e10b675ed52c5c555d0c1f1047d30c413a2dc780 --- /dev/null +++ b/cot/chunk-0004/episode_0004291_ecot.json @@ -0,0 +1,2272 @@ +{ + "task_name": "episode_0004291", + "episode_json": "json/chunk-0004/episode_0004291.json", + "video_path": "videos/chunk-0004/image_0/episode_0004291.mp4", + "instruction": "Put the silver pot on the yellow cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004291.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9416662454605103, + "std": 0.4318508207798004, + "delta_total": 0.002642393112182617, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94167, std=0.43185, total_delta=0.00264). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 211, + 211, + 211, + 311, + 311, + 328, + 328, + 328, + 328, + 328, + 328, + 328 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 10 + ], + [ + 3, + 11, + 22 + ], + [ + 4, + 23, + 25 + ], + [ + 5, + 26, + 27 + ], + [ + 6, + 28, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector from initial position toward the silver pot on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 11, \"end\": 22, \"planning\": \"Close gripper around the pot handle and lift it slightly, confirmed by gripper closure and upward motion.\"},\n {\"id\": 3, \"name\": \"transport pot over cloth\", \"start\": 23, \"end\": 27, \"planning\": \"Carry the held pot horizontally toward the yellow cloth while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place pot on cloth\", \"start\": 28, \"end\": 34, \"planning\": \"Lower the pot onto the yellow cloth and release grip, confirmed by gripper opening and downward motion.\"}\n ],\n \"global_plan\": \"Approach the silver pot, grasp it securely, transport it over the yellow cloth, then place it down gently on the cloth.\",\n \"notes\": \"Segment 1 (frames 0-4) shows no gripper closure — correctly labeled as approach. Segment 3 (11-22) has strong gripper closure and lifting motion — valid for grasp. Segment 4 (23-25) maintains grip during transport — merged with segment 5 (26-27) into one transport phase. Segment 6 (28-34) shows gripper opening and descent — valid for placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 10, + "planning": "Move the end-effector from initial position toward the silver pot on the stovetop without grasping." + }, + { + "id": 2, + "name": "grasp pot", + "start": 11, + "end": 22, + "planning": "Close gripper around the pot handle and lift it slightly, confirmed by gripper closure and upward motion." + }, + { + "id": 3, + "name": "transport pot over cloth", + "start": 23, + "end": 27, + "planning": "Carry the held pot horizontally toward the yellow cloth while maintaining grip." + }, + { + "id": 4, + "name": "place pot on cloth", + "start": 28, + "end": 34, + "planning": "Lower the pot onto the yellow cloth and release grip, confirmed by gripper opening and downward motion." + } + ], + "global_plan": "Approach the silver pot, grasp it securely, transport it over the yellow cloth, then place it down gently on the cloth.", + "notes": "Segment 1 (frames 0-4) shows no gripper closure — correctly labeled as approach. Segment 3 (11-22) has strong gripper closure and lifting motion — valid for grasp. Segment 4 (23-25) maintains grip during transport — merged with segment 5 (26-27) into one transport phase. Segment 6 (28-34) shows gripper opening and descent — valid for placement." + } + }, + "episode_goal": "Place the silver pot on the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3789466321468353, + 0.092780701816082, + 0.10629717260599136, + 2.8668034076690674, + -0.2525245249271393, + 1.2695883512496948 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop, with the silver pot visible to the right and the yellow cloth to the left. The gripper is currently open and no objects have been manipulated yet. The robot needs to move its end-effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 16 cm, move down 9 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3766460716724396, + 0.09168613702058792, + 0.09413263946771622, + 2.8956708908081055, + -0.2344561219215393, + 1.2668488025665283 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop, with the silver pot visible to the right and the yellow cloth to the left. The gripper is currently open and no objects have been manipulated yet. The robot needs to move its end-effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 15 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36976340413093567, + 0.06023462861776352, + 0.0779614970088005, + 2.918708086013794, + -0.20731398463249207, + 1.2566825151443481 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop, with the silver pot visible to the right and the yellow cloth to the left. The gripper is currently open and no objects have been manipulated yet. The robot needs to move its end-effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36907708644866943, + 0.030682692304253578, + 0.08087806403636932, + 2.9032604694366455, + -0.22301164269447327, + 1.2551020383834839 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop, with the silver pot visible to the right and the yellow cloth to the left. The gripper is currently open and no objects have been manipulated yet. The robot needs to move its end-effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36797499656677246, + -0.003957040142267942, + 0.08575015515089035, + 2.8735849857330322, + -0.23589055240154266, + 1.2641671895980835 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop, with the silver pot visible to the right and the yellow cloth to the left. The gripper is currently open and no objects have been manipulated yet. The robot needs to move its end-effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36997824907302856, + -0.04097586125135422, + 0.08503285050392151, + 2.828324556350708, + -0.2236291766166687, + 1.268094539642334 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36894500255584717, + -0.06396010518074036, + 0.06323330849409103, + 2.8589026927948, + -0.20426782965660095, + 1.2313438653945923 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green utensil": [ + 678, + 478, + 748, + 657 + ], + "induction cooktop": [ + 105, + 216, + 704, + 748 + ], + "yellow cloth": [ + 258, + 224, + 507, + 429 + ], + "blue spatula": [ + 464, + 547, + 709, + 841 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37476909160614014, + -0.07078363001346588, + 0.04271874204277992, + 2.892904043197632, + -0.20558986067771912, + 1.1948051452636719 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791019022464752, + -0.07185256481170654, + 0.02521902322769165, + 2.906240940093994, + -0.1895727813243866, + 1.1689424514770508 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 4 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3928484320640564, + -0.06376899778842926, + 0.019893502816557884, + 2.894841432571411, + -0.1937270611524582, + 1.1706923246383667 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 8 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3981398642063141, + -0.062234047800302505, + 0.016651133075356483, + 2.9029669761657715, + -0.20019590854644775, + 1.151516079902649 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 11 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39621850848197937, + -0.059591423720121384, + 0.015378380194306374, + 2.9111573696136475, + -0.20123331248760223, + 1.1529762744903564 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 15 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39359039068222046, + -0.05880331993103027, + 0.013426068238914013, + 2.920931339263916, + -0.1992432177066803, + 1.1565487384796143 + ], + "gripper_value": 0.1885753720998764 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 18 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39272135496139526, + -0.059975020587444305, + 0.013469814322888851, + 2.9226436614990234, + -0.19474735856056213, + 1.1521440744400024 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 20 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3890637755393982, + -0.0575275644659996, + 0.013623036444187164, + 2.925114154815674, + -0.19112148880958557, + 1.1501007080078125 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38393139839172363, + -0.049900494515895844, + 0.019145429134368896, + 2.9205996990203857, + -0.18152491748332977, + 1.1654702425003052 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned near the stove with the silver pot visible on the right burner and the yellow cloth on the left. The gripper is open and the arm is in motion, indicating the robot is currently approaching the pot. The next action is to continue moving the end-effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 19 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3827822506427765, + -0.043763890862464905, + 0.032176144421100616, + 2.893449544906616, + -0.1685514897108078, + 1.1767412424087524 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 258, + 223, + 509, + 430 + ], + "green utensil": [ + 677, + 477, + 748, + 658 + ], + "sink": [ + 741, + 455, + 994, + 960 + ], + "blue spatula": [ + 474, + 560, + 709, + 841 + ], + "induction cooktop": [ + 104, + 213, + 702, + 749 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 18 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38229289650917053, + -0.034331128001213074, + 0.05359455570578575, + 2.8462650775909424, + -0.13488979637622833, + 1.1728893518447876 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 17 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3736115097999573, + -0.019320063292980194, + 0.0818558931350708, + 2.8212883472442627, + -0.12261268496513367, + 1.1873570680618286 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36189520359039307, + 0.01647019013762474, + 0.1049920842051506, + 2.782902956008911, + -0.13033628463745117, + 1.2560956478118896 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 258, + 225, + 508, + 429 + ], + "sink": [ + 743, + 452, + 994, + 961 + ], + "induction cooktop": [ + 105, + 218, + 732, + 753 + ], + "green utensil": [ + 678, + 478, + 748, + 658 + ], + "washing machine": [ + 26, + 600, + 750, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35983800888061523, + 0.05252544581890106, + 0.10722575336694717, + 2.7782785892486572, + -0.15770599246025085, + 1.2896487712860107 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3604746460914612, + 0.09018905460834503, + 0.10390165448188782, + 2.7952334880828857, + -0.1856400966644287, + 1.3339107036590576 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613685071468353, + 0.1228976622223854, + 0.0822642594575882, + 2.838745355606079, + -0.16845937073230743, + 1.3845996856689453 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3670096695423126, + 0.1402498185634613, + 0.06399033963680267, + 2.8779196739196777, + -0.17074702680110931, + 1.395162582397461 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "transport pot over cloth", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36323660612106323, + 0.14294888079166412, + 0.04432686045765877, + 2.93328857421875, + -0.16701626777648926, + 1.3874226808547974 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "transport pot over cloth", + "subtask_reasoning": "The robot has approached the silver pot and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action should be to close the gripper around the pot's handle or body to ensure a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, rotate clockwise 10 degrees, open gripper; then move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613024652004242, + 0.14441712200641632, + 0.039783596992492676, + 2.952684164047241, + -0.16769184172153473, + 1.395620346069336 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "transport pot over cloth", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned above the yellow cloth on the stovetop. The approach and grasp phases are complete, and the robot is now transporting the pot over the target location. The next action is to lower the pot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529256284236908, + 0.14133313298225403, + 0.03224104642868042, + 3.0071542263031006, + -0.13421006500720978, + 1.432605266571045 + ], + "gripper_value": 0.09928430616855621 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "transport pot over cloth", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned above the yellow cloth on the stovetop. The approach and grasp phases are complete, and the robot is now transporting the pot over the target location. The next action is to lower the pot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3555183410644531, + 0.1423313468694687, + 0.03995745629072189, + 3.0094170570373535, + -0.11975914984941483, + 1.4798482656478882 + ], + "gripper_value": 0.26876991987228394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "transport pot over cloth", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned above the yellow cloth on the stovetop. The approach and grasp phases are complete, and the robot is now transporting the pot over the target location. The next action is to lower the pot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35479655861854553, + 0.14587421715259552, + 0.04002488777041435, + 3.004025936126709, + -0.1172446757555008, + 1.4775816202163696 + ], + "gripper_value": 0.5501742362976074 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned above the yellow cloth on the stovetop. The approach and grasp phases are complete, and the robot is now transporting the pot over the target location. The next action is to lower the pot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35287711024284363, + 0.14589174091815948, + 0.03998149186372757, + 3.011645793914795, + -0.1049911379814148, + 1.4866173267364502 + ], + "gripper_value": 0.8544629216194153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned above the yellow cloth on the stovetop. The approach and grasp phases are complete, and the robot is now transporting the pot over the target location. The next action is to lower the pot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.352408766746521, + 0.1438916176557541, + 0.039456844329833984, + 3.015002489089966, + -0.09700635820627213, + 1.4759634733200073 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned above the yellow cloth on the stovetop. The approach and grasp phases are complete, and the robot is now transporting the pot over the target location. The next action is to lower the pot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35108068585395813, + 0.14158788323402405, + 0.03966807574033737, + 3.0220932960510254, + -0.08307645469903946, + 1.4660181999206543 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The silver pot is currently positioned above the yellow cloth on the stovetop, with the gripper holding it securely. The robot has successfully transported the pot to the target location. The next action is to lower the pot gently onto the cloth and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3535885512828827, + 0.13971565663814545, + 0.062018513679504395, + 2.9757468700408936, + -0.09682484716176987, + 1.4466779232025146 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The silver pot is currently positioned above the yellow cloth on the stovetop, with the gripper holding it securely. The robot has successfully transported the pot to the target location. The next action is to lower the pot gently onto the cloth and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543379604816437, + 0.1356438398361206, + 0.08180578052997589, + 2.9444286823272705, + -0.11330163478851318, + 1.4262984991073608 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The silver pot is currently positioned above the yellow cloth on the stovetop, with the gripper holding it securely. The robot has successfully transported the pot to the target location. The next action is to lower the pot gently onto the cloth and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.35426607728004456, + 0.1276344656944275, + 0.10979168117046356, + 2.9093990325927734, + -0.15423516929149628, + 1.3807023763656616 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 257, + 274, + 507, + 429 + ], + "sink": [ + 742, + 449, + 994, + 961 + ], + "pot": [ + 242, + 179, + 501, + 368 + ], + "induction cooktop": [ + 107, + 254, + 733, + 748 + ], + "green utensil": [ + 678, + 479, + 747, + 657 + ], + "washing machine": [ + 29, + 604, + 749, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "transport pot over cloth" + }, + { + "id": 4, + "subtask": "place pot on cloth" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The silver pot is currently positioned above the yellow cloth on the stovetop, with the gripper holding it securely. The robot has successfully transported the pot to the target location. The next action is to lower the pot gently onto the cloth and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004292_ecot.json b/cot/chunk-0004/episode_0004292_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb731d567e1f74871142d8b9c4488bdacc11779 --- /dev/null +++ b/cot/chunk-0004/episode_0004292_ecot.json @@ -0,0 +1,2194 @@ +{ + "task_name": "episode_0004292", + "episode_json": "json/chunk-0004/episode_0004292.json", + "video_path": "videos/chunk-0004/image_0/episode_0004292.mp4", + "instruction": "Moved the blue spoon to the left of the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004292.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.5903279781341553, + "std": 0.2613864541053772, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59033, std=0.26139, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 19, + 19, + 19, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 131, + 131 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 21 + ], + [ + 3, + 22, + 30 + ], + [ + 4, + 31, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp blue spoon\", \"start\": 0, \"end\": 18, \"planning\": \"Move end-effector toward the blue spoon while closing gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and reposition spoon\", \"start\": 19, \"end\": 21, \"planning\": \"Lift the grasped spoon slightly and begin moving it leftward away from its initial position.\"},\n {\"id\": 3, \"name\": \"transport spoon to target zone\", \"start\": 22, \"end\": 30, \"planning\": \"Carry the spoon horizontally across the table toward the left side of the pot.\"},\n {\"id\": 4, \"name\": \"release spoon and retreat\", \"start\": 31, \"end\": 32, \"planning\": \"Open gripper to release the spoon at target location and withdraw end-effector upward.\"}\n ],\n \"global_plan\": \"Grasp the blue spoon, lift and carry it leftward across the table, then release it to the left of the pot before retreating.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0–18) with significant delta (-0.21) and image consistency; grasp wording is justified. Segments 2–4 show sustained grip during transport and deliberate release at end, matching visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp blue spoon", + "start": 0, + "end": 18, + "planning": "Move end-effector toward the blue spoon while closing gripper to secure it." + }, + { + "id": 2, + "name": "lift and reposition spoon", + "start": 19, + "end": 21, + "planning": "Lift the grasped spoon slightly and begin moving it leftward away from its initial position." + }, + { + "id": 3, + "name": "transport spoon to target zone", + "start": 22, + "end": 30, + "planning": "Carry the spoon horizontally across the table toward the left side of the pot." + }, + { + "id": 4, + "name": "release spoon and retreat", + "start": 31, + "end": 32, + "planning": "Open gripper to release the spoon at target location and withdraw end-effector upward." + } + ], + "global_plan": "Grasp the blue spoon, lift and carry it leftward across the table, then release it to the left of the pot before retreating.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0–18) with significant delta (-0.21) and image consistency; grasp wording is justified. Segments 2–4 show sustained grip during transport and deliberate release at end, matching visual evidence." + } + }, + "episode_goal": "Move the blue spoon to the left of the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2988722324371338, + -0.012965782545506954, + 0.12227072566747665, + -3.1179869174957275, + -0.11058080196380615, + -0.38146206736564636 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 22 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2968222200870514, + -0.011520284228026867, + 0.11195676028728485, + -3.1285548210144043, + -0.08020295202732086, + -0.3803613483905792 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2876588702201843, + 0.04131815955042839, + 0.10194699466228485, + -3.1156342029571533, + -0.06231068819761276, + -0.25238192081451416 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, move down 6 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719353437423706, + 0.08851329982280731, + 0.09054331481456757, + -3.116821527481079, + -0.06819499284029007, + -0.13909530639648438 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 454, + 314, + 734, + 737 + ], + "purple sponge": [ + 415, + 171, + 643, + 390 + ], + "red apple": [ + 691, + 172, + 758, + 235 + ], + "blue cabinet": [ + 2, + 553, + 331, + 993 + ], + "blue sponge": [ + 129, + 294, + 258, + 459 + ], + "tomato sauce": [ + 655, + 4, + 809, + 248 + ], + "toy microwave": [ + 392, + 3, + 678, + 197 + ], + "toy stove": [ + 687, + 130, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.254721462726593, + 0.1325525939464569, + 0.08643244206905365, + -3.0742428302764893, + -0.06970394402742386, + -0.047779493033885956 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24438421428203583, + 0.16058456897735596, + 0.07938936352729797, + -3.0595901012420654, + -0.07125989347696304, + 0.02410745806992054 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25249210000038147, + 0.18202660977840424, + 0.081141896545887, + -3.046513557434082, + -0.09604627639055252, + 0.07788079977035522 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26431703567504883, + 0.19381028413772583, + 0.07011451572179794, + -3.0648834705352783, + -0.10140568763017654, + 0.11177417635917664 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27414461970329285, + 0.20508570969104767, + 0.05728667974472046, + -3.054633378982544, + -0.0723293349146843, + 0.1262328028678894 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot is positioned above the table with the blue spoon visible to the left. No actions have been completed yet as the gripper is open and the spoon has not been touched. The robot needs to lower its end-effector to make contact with the blue spoon handle to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801330089569092, + 0.2084042727947235, + 0.04885873198509216, + -3.0586767196655273, + -0.07169497013092041, + 0.14040854573249817 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2818063199520111, + 0.20837777853012085, + 0.046940773725509644, + -3.0646378993988037, + -0.07684829086065292, + 0.1537434458732605 + ], + "gripper_value": 0.7574808597564697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.282819539308548, + 0.20690007507801056, + 0.04580828920006752, + -3.0716681480407715, + -0.09260883182287216, + 0.1716960072517395 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2825842797756195, + 0.20575985312461853, + 0.043362803757190704, + -3.0780930519104004, + -0.09779567271471024, + 0.19816137850284576 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 8 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27873051166534424, + 0.20483197271823883, + 0.042525045573711395, + -3.0739808082580566, + -0.06969102472066879, + 0.2044866383075714 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 452, + 314, + 733, + 737 + ], + "blue sponge": [ + 125, + 328, + 182, + 452 + ], + "purple sponge": [ + 403, + 170, + 645, + 389 + ], + "toy microwave": [ + 280, + 2, + 678, + 198 + ], + "tomato sauce": [ + 655, + 4, + 809, + 248 + ], + "toy stove": [ + 686, + 129, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 8 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817501425743103, + 0.20674380660057068, + 0.0453011617064476, + -3.070603132247925, + -0.08177735656499863, + 0.20962761342525482 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 8 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28771650791168213, + 0.20983131229877472, + 0.050323739647865295, + -3.0637810230255127, + -0.10572740435600281, + 0.21351328492164612 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move right 8 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886822521686554, + 0.2058001309633255, + 0.03361004590988159, + -3.079580068588257, + -0.07289331406354904, + 0.2190796285867691 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 8 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29126983880996704, + 0.20462149381637573, + 0.030520586296916008, + -3.0843141078948975, + -0.08023785054683685, + 0.23615685105323792 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 8 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.292614221572876, + 0.20323553681373596, + 0.029332010075449944, + -3.0927205085754395, + -0.09144021570682526, + 0.23451386392116547 + ], + "gripper_value": 0.7903241515159607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "approach and grasp blue spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 8 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29063430428504944, + 0.20234587788581848, + 0.0318007729947567, + -3.0823447704315186, + -0.09432915598154068, + 0.2372186928987503 + ], + "gripper_value": 0.49277758598327637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot arm is positioned near the blue spoon on the left side of the table, with the gripper open and ready. No prior actions have been completed in this subtask. The next likely action is to close the gripper to grasp the blue spoon, as segment-level evidence supports a meaningful grasp transition and the image shows proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865055203437805, + 0.19748567044734955, + 0.05443060025572777, + -3.0505967140197754, + -0.08507468551397324, + 0.2186579406261444 + ], + "gripper_value": 0.4166308641433716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the table, positioned to the left of the pot. The gripper is closed and stable, indicating successful lift. Next, the robot should move the spoon slightly further left and lower it to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 19, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28901511430740356, + 0.172360360622406, + 0.10233954340219498, + -3.02056622505188, + -0.183378666639328, + 0.17442338168621063 + ], + "gripper_value": 0.4166308641433716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the table, positioned to the left of the pot. The gripper is closed and stable, indicating successful lift. Next, the robot should move the spoon slightly further left and lower it to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move right 9 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916465997695923, + 0.126409113407135, + 0.11159364134073257, + -3.013199806213379, + -0.19732637703418732, + 0.08301849663257599 + ], + "gripper_value": 0.4166308641433716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the table, positioned to the left of the pot. The gripper is closed and stable, indicating successful lift. Next, the robot should move the spoon slightly further left and lower it to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29627907276153564, + 0.08826328814029694, + 0.104317806661129, + -3.020354986190796, + -0.1929158866405487, + 0.01979248784482479 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 453, + 314, + 733, + 737 + ], + "toy microwave": [ + 324, + 3, + 679, + 198 + ], + "blue sponge": [ + 216, + 218, + 297, + 378 + ], + "red apple": [ + 691, + 171, + 757, + 235 + ], + "tomato sauce": [ + 655, + 4, + 809, + 247 + ], + "purple sponge": [ + 403, + 170, + 645, + 389 + ], + "toy stove": [ + 686, + 131, + 996, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the table, positioned to the left of the pot. The gripper is closed and stable, indicating successful lift. Next, the robot should move the spoon slightly further left and lower it to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3079787790775299, + 0.057163093239068985, + 0.0950302928686142, + -3.0180070400238037, + -0.1912907063961029, + -0.0699290856719017 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 454, + 314, + 733, + 737 + ], + "purple sponge": [ + 414, + 173, + 645, + 388 + ], + "blue sponge": [ + 310, + 261, + 394, + 415 + ], + "red apple": [ + 691, + 171, + 758, + 235 + ], + "tomato sauce": [ + 655, + 4, + 809, + 247 + ], + "corn": [ + 776, + 81, + 933, + 296 + ], + "toy stove": [ + 686, + 129, + 996, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the table, positioned to the left of the pot. The gripper is closed and stable, indicating successful lift. Next, the robot should move the spoon slightly further left and lower it to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31263357400894165, + 0.04400014877319336, + 0.07327941805124283, + -3.024904489517212, + -0.14933036267757416, + -0.0962124615907669 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The blue spoon is currently grasped and lifted above the table, positioned to the left of the pot. The gripper is closed and stable, indicating successful lift. Next, the robot should move the spoon slightly further left and lower it to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122396469116211, + 0.03779284656047821, + 0.05828559398651123, + -3.024580717086792, + -0.10935208201408386, + -0.1046382412314415 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The robot is currently holding the blue spoon above the table, positioned near the pot. The spoon has been lifted and is being transported toward the target zone to the left of the pot. The next action is to continue moving the spoon leftward to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 3 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987827956676483, + 0.03580235317349434, + 0.046532630920410156, + -3.0265369415283203, + -0.07586517184972763, + -0.09671448916196823 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The robot is currently holding the blue spoon above the table, positioned near the pot. The spoon has been lifted and is being transported toward the target zone to the left of the pot. The next action is to continue moving the spoon leftward to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28296229243278503, + 0.029387077316641808, + 0.035628896206617355, + -3.027003526687622, + -0.05242927744984627, + -0.09806647151708603 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The robot is currently holding the blue spoon above the table, positioned near the pot. The spoon has been lifted and is being transported toward the target zone to the left of the pot. The next action is to continue moving the spoon leftward to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27924564480781555, + 0.02826174907386303, + 0.03168613836169243, + -3.033717393875122, + -0.05026566982269287, + -0.09407032281160355 + ], + "gripper_value": 0.41573449969291687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The robot is currently holding the blue spoon above the table, positioned near the pot. The spoon has been lifted and is being transported toward the target zone to the left of the pot. The next action is to continue moving the spoon leftward to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793137729167938, + 0.028897278010845184, + 0.030387820675969124, + -3.0564887523651123, + -0.05066097900271416, + -0.08881347626447678 + ], + "gripper_value": 0.4747070372104645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "transport spoon to target zone", + "subtask_reasoning": "The robot is currently holding the blue spoon above the table, positioned near the pot. The spoon has been lifted and is being transported toward the target zone to the left of the pot. The next action is to continue moving the spoon leftward to place it beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785976231098175, + 0.03392951190471649, + 0.0302816703915596, + -3.0650410652160645, + -0.05105976015329361, + -0.06954090297222137 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The blue spoon is now positioned on the table to the left of the pot, and the gripper is open, indicating the release action is complete. The robot has successfully placed the spoon and is in the process of retreating from the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2795162796974182, + 0.03570206090807915, + 0.05579548701643944, + -3.0375406742095947, + -0.07732481509447098, + -0.06468707323074341 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp blue spoon" + }, + { + "id": 2, + "subtask": "lift and reposition spoon" + }, + { + "id": 3, + "subtask": "transport spoon to target zone" + }, + { + "id": 4, + "subtask": "release spoon and retreat" + } + ], + "subtask_name": "release spoon and retreat", + "subtask_reasoning": "The blue spoon is now positioned on the table to the left of the pot, and the gripper is open, indicating the release action is complete. The robot has successfully placed the spoon and is in the process of retreating from the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004293_ecot.json b/cot/chunk-0004/episode_0004293_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f723345e22c3e13f9093c094db3082b7e5dd4199 --- /dev/null +++ b/cot/chunk-0004/episode_0004293_ecot.json @@ -0,0 +1,1198 @@ +{ + "task_name": "episode_0004293", + "episode_json": "json/chunk-0004/episode_0004293.json", + "video_path": "videos/chunk-0004/image_0/episode_0004293.mp4", + "instruction": "Put pan on stove from sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004293.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9340522885322571, + "std": 0.4308035969734192, + "delta_total": -0.9340522885322571, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93405, std=0.43080, total_delta=-0.93405). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 8, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 12 + ], + [ + 3, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan in sink\", \"start\": 0, \"end\": 7, \"planning\": \"Move gripper toward the pan in the sink while beginning to close fingers for contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift pan\", \"start\": 8, \"end\": 12, \"planning\": \"Complete grasp of pan handle and lift it clear of the sink basin.\"},\n {\"id\": 3, \"name\": \"transport and place pan on stove\", \"start\": 13, \"end\": 19, \"planning\": \"Carry pan over to stove burner and release it onto the cooking surface.\"}\n ],\n \"global_plan\": \"Retrieve pan from sink by approaching, grasping, lifting, transporting, and placing it securely on the stove burner.\",\n \"notes\": \"Segment 1 shows initial approach with partial gripper closure; Segment 2 confirms full grasp and lift via significant gripper delta and upward motion; Segment 3 has no gripper change but clear transport and placement imagery — consistent with releasing after grasp.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan in sink", + "start": 0, + "end": 7, + "planning": "Move gripper toward the pan in the sink while beginning to close fingers for contact." + }, + { + "id": 2, + "name": "grasp and lift pan", + "start": 8, + "end": 12, + "planning": "Complete grasp of pan handle and lift it clear of the sink basin." + }, + { + "id": 3, + "name": "transport and place pan on stove", + "start": 13, + "end": 19, + "planning": "Carry pan over to stove burner and release it onto the cooking surface." + } + ], + "global_plan": "Retrieve pan from sink by approaching, grasping, lifting, transporting, and placing it securely on the stove burner.", + "notes": "Segment 1 shows initial approach with partial gripper closure; Segment 2 confirms full grasp and lift via significant gripper delta and upward motion; Segment 3 has no gripper change but clear transport and placement imagery — consistent with releasing after grasp." + } + }, + "episode_goal": "Place the metal pan from the sink onto the blue stove burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21777154505252838, + -0.11258654296398163, + 0.14642934501171112, + -3.102705955505371, + -0.1136939600110054, + -0.016959955915808678 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the metal pan visible below and the stove to the left. No part of the task has been completed yet as the arm has not made contact with the pan. The next action is to lower the arm and move it closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 5 cm, rotate clockwise 20 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21148130297660828, + -0.10880821198225021, + 0.1380397230386734, + -3.064171552658081, + -0.09614909440279007, + 0.04226227477192879 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the metal pan visible below and the stove to the left. No part of the task has been completed yet as the arm has not made contact with the pan. The next action is to lower the arm and move it closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 4 cm, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20220200717449188, + -0.10153394937515259, + 0.13476866483688354, + -3.0040218830108643, + -0.11529331654310226, + 0.13504698872566223 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the metal pan visible below and the stove to the left. No part of the task has been completed yet as the arm has not made contact with the pan. The next action is to lower the arm and move it closer to the pan to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 4 cm, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19186599552631378, + -0.09447456896305084, + 0.13506408035755157, + -2.9736521244049072, + -0.1477293223142624, + 0.21208807826042175 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the metal pan. No contact has been made yet, and the gripper remains open. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.18255114555358887, + -0.08679869025945663, + 0.13014614582061768, + -2.965546131134033, + -0.15321652591228485, + 0.26940077543258667 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the metal pan. No contact has been made yet, and the gripper remains open. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.17650821805000305, + -0.08203725516796112, + 0.12121683359146118, + -2.9906532764434814, + -0.1471305936574936, + 0.3016173541545868 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the metal pan. No contact has been made yet, and the gripper remains open. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.174096941947937, + -0.07759691774845123, + 0.1106732115149498, + -3.02046799659729, + -0.13236108422279358, + 0.34214168787002563 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple toy": [ + 868, + 221, + 977, + 381 + ], + "orange crate": [ + 829, + 423, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the metal pan. No contact has been made yet, and the gripper remains open. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.17164261639118195, + -0.07448918372392654, + 0.10057451575994492, + -3.0415821075439453, + -0.12925468385219574, + 0.37101542949676514 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "approach pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the metal pan. No contact has been made yet, and the gripper remains open. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 8 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17248038947582245, + -0.0749930590391159, + 0.09646241366863251, + -3.0863523483276367, + -0.11264491081237793, + 0.409773588180542 + ], + "gripper_value": 0.4737623631954193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the metal pan. No contact has been made yet, and the gripper remains open. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1725480705499649, + -0.07171456515789032, + 0.09378889948129654, + -3.097935438156128, + -0.06528003513813019, + 0.42286357283592224 + ], + "gripper_value": 0.2248985916376114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the metal pan. No contact has been made yet, and the gripper remains open. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 11 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.17510738968849182, + -0.06783577054738998, + 0.09955089539289474, + -3.073240280151367, + -0.039918821305036545, + 0.4347265362739563 + ], + "gripper_value": 0.1270572394132614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has approached the metal pan in the sink and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper around the pan and lift it slightly to confirm a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 11 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18209679424762726, + -0.06862657517194748, + 0.11308490484952927, + -3.053802013397217, + -0.01072188001126051, + 0.3652317523956299 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has approached the metal pan in the sink and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper around the pan and lift it slightly to confirm a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 11 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18578612804412842, + -0.06461567431688309, + 0.1247544065117836, + -3.0516679286956787, + -0.02629188261926174, + 0.3062034249305725 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has approached the metal pan in the sink and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper around the pan and lift it slightly to confirm a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 11 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.17505095899105072, + -0.057576823979616165, + 0.1458732783794403, + -3.078856945037842, + -0.21718072891235352, + 0.21821393072605133 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "transport and place pan on stove", + "subtask_reasoning": "The robot has approached the metal pan in the sink and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper around the pan and lift it slightly to confirm a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.16439570486545563, + -0.04793785139918327, + 0.163082554936409, + -3.0975284576416016, + -0.34961241483688354, + 0.15328848361968994 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "transport and place pan on stove", + "subtask_reasoning": "The robot has approached the metal pan in the sink and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper around the pan and lift it slightly to confirm a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.1613793671131134, + -0.026568418368697166, + 0.17373840510845184, + -3.0994372367858887, + -0.4090438187122345, + 0.12284211814403534 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "transport and place pan on stove", + "subtask_reasoning": "The robot has approached the metal pan in the sink and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper around the pan and lift it slightly to confirm a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.161578968167305, + -0.002065445529296994, + 0.18027378618717194, + -3.1069393157958984, + -0.4494073987007141, + 0.10552038997411728 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "transport and place pan on stove", + "subtask_reasoning": "The metal pan is currently held above the blue stove burner, having been transported from the sink. The gripper remains closed with no change in aperture, indicating the pan is still secured. The next action is to lower the pan onto the burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.1681985706090927, + 0.022649088874459267, + 0.18007402122020721, + -3.1085705757141113, + -0.4568009078502655, + 0.09238116443157196 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange crate": [ + 826, + 420, + 995, + 993 + ], + "purple toy": [ + 821, + 194, + 977, + 380 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "transport and place pan on stove", + "subtask_reasoning": "The metal pan is currently held above the blue stove burner, having been transported from the sink. The gripper remains closed with no change in aperture, indicating the pan is still secured. The next action is to lower the pan onto the burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.18683364987373352, + 0.04154201224446297, + 0.179959237575531, + -3.1240546703338623, + -0.4480586349964142, + 0.05025589466094971 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "transport and place pan on stove", + "subtask_reasoning": "The metal pan is currently held above the blue stove burner, having been transported from the sink. The gripper remains closed with no change in aperture, indicating the pan is still secured. The next action is to lower the pan onto the burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2014511674642563, + 0.057409435510635376, + 0.17635148763656616, + -3.1353704929351807, + -0.46373963356018066, + 0.019794989377260208 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan in sink" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "transport and place pan on stove" + } + ], + "subtask_name": "transport and place pan on stove", + "subtask_reasoning": "The metal pan is currently held above the blue stove burner, having been transported from the sink. The gripper remains closed with no change in aperture, indicating the pan is still secured. The next action is to lower the pan onto the burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004295_ecot.json b/cot/chunk-0004/episode_0004295_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc459cc43454705c9de74a8f7658df5748d6518d --- /dev/null +++ b/cot/chunk-0004/episode_0004295_ecot.json @@ -0,0 +1,2050 @@ +{ + "task_name": "episode_0004295", + "episode_json": "json/chunk-0004/episode_0004295.json", + "video_path": "videos/chunk-0004/image_0/episode_0004295.mp4", + "instruction": "Put the orange object in the silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004295.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.6281890869140625, + "std": 0.2953980565071106, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62819, std=0.29540, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 0, + 0, + 100, + 100, + 0, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 126, + 126, + 126, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 5 + ], + [ + 3, + 6, + 7 + ], + [ + 4, + 8, + 9 + ], + [ + 5, + 10, + 10 + ], + [ + 6, + 11, + 12 + ], + [ + 7, + 13, + 25 + ], + [ + 8, + 26, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange object\", \"start\": 0, \"end\": 10, \"planning\": \"Move the gripper toward the orange croissant-shaped object on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp orange object\", \"start\": 11, \"end\": 12, \"planning\": \"Close the gripper around the orange object to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport orange object\", \"start\": 13, \"end\": 25, \"planning\": \"Lift the grasped orange object and move it over the silver pot while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release orange object into pot\", \"start\": 26, \"end\": 30, \"planning\": \"Open the gripper to drop the orange object into the silver pot, then retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the orange croissant-shaped object, grasp it securely, lift and carry it to the silver pot, then release it inside the pot.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments [11,12] (grasp) and [26,30] (release). Segments [0,10] and [13,25] show no gripper closure — thus described as approach and transport phases without grasp wording until frame 11. Frame coverage is contiguous and complete from 0 to 30.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange object", + "start": 0, + "end": 10, + "planning": "Move the gripper toward the orange croissant-shaped object on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp orange object", + "start": 11, + "end": 12, + "planning": "Close the gripper around the orange object to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport orange object", + "start": 13, + "end": 25, + "planning": "Lift the grasped orange object and move it over the silver pot while maintaining grip." + }, + { + "id": 4, + "name": "release orange object into pot", + "start": 26, + "end": 30, + "planning": "Open the gripper to drop the orange object into the silver pot, then retreat slightly." + } + ], + "global_plan": "Approach the orange croissant-shaped object, grasp it securely, lift and carry it to the silver pot, then release it inside the pot.", + "notes": "Gripper evidence confirms meaningful closing only in segments [11,12] (grasp) and [26,30] (release). Segments [0,10] and [13,25] show no gripper closure — thus described as approach and transport phases without grasp wording until frame 11. Frame coverage is contiguous and complete from 0 to 30." + } + }, + "episode_goal": "Place the orange croissant into the small silver pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305, + 3.1363842487335205, + -0.2104409635066986, + -0.11252809315919876 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the orange croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.40786340832710266, + -0.03628050908446312, + 0.05241590365767479, + 3.1320059299468994, + -0.17075425386428833, + -0.11587193608283997 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the orange croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39635613560676575, + -0.03523210808634758, + 0.0501180998980999, + 3.108792304992676, + -0.15256300568580627, + -0.17888987064361572 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the orange croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 40 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3779813349246979, + -0.025512171909213066, + 0.08041545003652573, + 3.139439344406128, + -0.2077484130859375, + -0.25228363275527954 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the orange croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 5 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3468301296234131, + -0.013477643951773643, + 0.09554316848516464, + 3.1401727199554443, + -0.24911920726299286, + -0.3461812138557434 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the orange croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 6 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178701102733612, + -0.01705089397728443, + 0.09669560939073563, + -3.121455430984497, + -0.2501588761806488, + -0.4572441875934601 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink fork": [ + 247, + 537, + 564, + 625 + ], + "metal bowl": [ + 257, + 168, + 462, + 375 + ], + "wooden table": [ + 5, + 92, + 852, + 987 + ], + "metal lid": [ + 568, + 353, + 751, + 525 + ], + "black kettle": [ + 456, + 5, + 647, + 424 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29050159454345703, + -0.04080650210380554, + 0.07735538482666016, + 3.1390421390533447, + -0.22757424414157867, + -0.5933866500854492 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move forward 3 cm, move left 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27563536167144775, + -0.05086705461144447, + 0.05917948856949806, + 3.139392137527466, + -0.2214943766593933, + -0.678076446056366 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move forward 6 cm, move left 6 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26868191361427307, + -0.05444997176527977, + 0.04202237352728844, + -3.133287191390991, + -0.18244771659374237, + -0.7334713935852051 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move forward 9 cm, move left 9 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.266267329454422, + -0.06550566852092743, + 0.028913304209709167, + -3.1366937160491943, + -0.1667906641960144, + -0.7967219948768616 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink fork": [ + 247, + 535, + 515, + 626 + ], + "wooden table": [ + 5, + 102, + 856, + 987 + ], + "metal bowl": [ + 260, + 167, + 464, + 375 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then keep gripper closed; then move forward 10 cm, move left 12 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628974914550781, + -0.07065621018409729, + 0.016424037516117096, + 3.139829397201538, + -0.13853104412555695, + -0.8379469513893127 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot is positioned above the table with the orange croissant visible in front. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move forward 11 cm, move left 15 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634412944316864, + -0.070625901222229, + 0.012367160990834236, + -3.1375789642333984, + -0.13151443004608154, + -0.8418553471565247 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot arm is positioned directly above the orange croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to securely grasp the object. The next action is to finalize the grip and prepare to lift the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 12 cm, move left 16 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26595887541770935, + -0.06850412487983704, + 0.011071420274674892, + -3.1119866371154785, + -0.1411619782447815, + -0.8322660326957703 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot arm is positioned directly above the orange croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to securely grasp the object. The next action is to finalize the grip and prepare to lift the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 12 cm, move left 17 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26479366421699524, + -0.06621997058391571, + 0.010679941624403, + -3.107318639755249, + -0.13425806164741516, + -0.8148220777511597 + ], + "gripper_value": 0.413944274187088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot arm is positioned directly above the orange croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to securely grasp the object. The next action is to finalize the grip and prepare to lift the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 17 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649487853050232, + -0.06567166745662689, + 0.011956673115491867, + -3.1094510555267334, + -0.12733840942382812, + -0.8026532530784607 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot arm is positioned directly above the orange croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to securely grasp the object. The next action is to finalize the grip and prepare to lift the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 18 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703511714935303, + -0.05876509100198746, + 0.019046859815716743, + -3.1061713695526123, + -0.11519195139408112, + -0.7765968441963196 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot arm is positioned directly above the orange croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to securely grasp the object. The next action is to finalize the grip and prepare to lift the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 17 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29837942123413086, + -0.038444314152002335, + 0.05566418915987015, + -3.087907314300537, + -0.20520007610321045, + -0.6682718992233276 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 259, + 177, + 465, + 375 + ], + "wooden table": [ + 4, + 99, + 857, + 989 + ], + "pink fork": [ + 247, + 492, + 553, + 626 + ], + "metal lid": [ + 617, + 359, + 751, + 525 + ], + "toy stove": [ + 604, + 233, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot arm is positioned directly above the orange croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to securely grasp the object. The next action is to finalize the grip and prepare to lift the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 16 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32698121666908264, + -0.009636595845222473, + 0.08561907708644867, + -3.08345103263855, + -0.27843907475471497, + -0.549938976764679 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot arm is positioned directly above the orange croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to securely grasp the object. The next action is to finalize the grip and prepare to lift the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 13 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3504697382450104, + 0.023575136438012123, + 0.10117572546005249, + -3.0612239837646484, + -0.29917997121810913, + -0.4460051357746124 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot arm is positioned directly above the orange croissant on the wooden table, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to securely grasp the object. The next action is to finalize the grip and prepare to lift the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36572587490081787, + 0.05693409591913223, + 0.09450320899486542, + -3.0746703147888184, + -0.2747677266597748, + -0.3323213458061218 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3755672574043274, + 0.08081430941820145, + 0.0872543603181839, + -3.06670880317688, + -0.2618425488471985, + -0.25392699241638184 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38019758462905884, + 0.09619211405515671, + 0.07888337969779968, + -3.062685489654541, + -0.2486802190542221, + -0.1881885528564453 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38256487250328064, + 0.10054964572191238, + 0.06263016909360886, + -3.0502288341522217, + -0.22337770462036133, + -0.17067724466323853 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907051384449005, + 0.106439009308815, + 0.05223333463072777, + -3.038403034210205, + -0.20970867574214935, + -0.1588442623615265 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3928406238555908, + 0.11008618026971817, + 0.04180743172764778, + -3.042185068130493, + -0.17802369594573975, + -0.14759425818920135 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.39241692423820496, + 0.11262231320142746, + 0.037692226469516754, + -3.0409858226776123, + -0.16002455353736877, + -0.12446601688861847 + ], + "gripper_value": 0.4550158977508545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "lift and transport orange object", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38827839493751526, + 0.11715614050626755, + 0.033260542899370193, + -3.025743246078491, + -0.1288377195596695, + -0.07047253102064133 + ], + "gripper_value": 0.7545521855354309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "release orange object into pot", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.38680312037467957, + 0.11821961402893066, + 0.03318308666348457, + -3.0208582878112793, + -0.12024006992578506, + -0.060480084270238876 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "release orange object into pot", + "subtask_reasoning": "The robot is currently holding the orange croissant-shaped object, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, indicating a secure hold during transport. The next action is to move the object toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3847062587738037, + 0.11877095699310303, + 0.032993096858263016, + -3.0188355445861816, + -0.10745003819465637, + -0.05422447249293327 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "release orange object into pot", + "subtask_reasoning": "The robot arm is positioned directly over the silver pot with the orange croissant held inside the gripper. The gripper is currently closed, maintaining a secure hold on the object above the target container. The next action is to open the gripper to release the croissant into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3848832845687866, + 0.11914485692977905, + 0.04717107117176056, + -3.0110199451446533, + -0.13013410568237305, + -0.04415532946586609 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "release orange object into pot", + "subtask_reasoning": "The robot arm is positioned directly over the silver pot with the orange croissant held inside the gripper. The gripper is currently closed, maintaining a secure hold on the object above the target container. The next action is to open the gripper to release the croissant into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.383811891078949, + 0.11685556918382645, + 0.07792025804519653, + -2.9990556240081787, + -0.21175086498260498, + -0.040558505803346634 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pink fork": [ + 248, + 538, + 563, + 626 + ], + "black kettle": [ + 308, + 3, + 487, + 254 + ], + "metal bowl": [ + 272, + 170, + 477, + 379 + ], + "toy appliance": [ + 275, + 2, + 686, + 258 + ], + "wooden table": [ + 5, + 98, + 859, + 988 + ], + "metal lid": [ + 567, + 352, + 752, + 526 + ], + "toy stove": [ + 604, + 234, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange croissant into the small silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and transport orange object" + }, + { + "id": 4, + "subtask": "release orange object into pot" + } + ], + "subtask_name": "release orange object into pot", + "subtask_reasoning": "The robot arm is positioned directly over the silver pot with the orange croissant held inside the gripper. The gripper is currently closed, maintaining a secure hold on the object above the target container. The next action is to open the gripper to release the croissant into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004296_ecot.json b/cot/chunk-0004/episode_0004296_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ccbc9a8ab8b684acd50ecccb65cb5cdd07d414 --- /dev/null +++ b/cot/chunk-0004/episode_0004296_ecot.json @@ -0,0 +1,3066 @@ +{ + "task_name": "episode_0004296", + "episode_json": "json/chunk-0004/episode_0004296.json", + "video_path": "videos/chunk-0004/image_0/episode_0004296.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004296.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.8827562928199768, + "std": 0.4138505458831787, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.88276, std=0.41385, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 239, + 239, + 239, + 239, + 239, + 239 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 13 + ], + [ + 4, + 14, + 20 + ], + [ + 5, + 21, + 38 + ], + [ + 6, + 39, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from initial position toward the drawer handle area without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp drawer handle\", \"start\": 5, \"end\": 13, \"planning\": \"Close gripper around the drawer handle as evidenced by significant gripper value drop from 0.999 to 0.658, confirming successful grasp.\"},\n {\"id\": 3, \"name\": \"pull drawer open\", \"start\": 14, \"end\": 20, \"planning\": \"Maintain grip and translate end-effector backward to pull the drawer open, with gripper held closed (value ~0.125) throughout motion.\"},\n {\"id\": 4, \"name\": \"hold drawer open\", \"start\": 21, \"end\": 38, \"planning\": \"Keep gripper closed while holding the drawer in partially open position; no significant motion or gripper change indicates static hold phase.\"},\n {\"id\": 5, \"name\": \"release drawer handle\", \"start\": 39, \"end\": 44, \"planning\": \"Open gripper fully (value rises to 1.0) and retreat end-effector away from the now-open drawer, completing the task.\"}\n ],\n \"global_plan\": \"The robot approaches the drawer handle, grasps it, pulls the drawer open, holds it open briefly, then releases the handle and retreats.\",\n \"notes\": \"Gripper evidence aligns with image observations: meaningful closing occurs in segments 3-4 (grasp/pull), sustained closure in segment 5 (hold), and full opening in segment 6 (release). Segment 1 and 2 show no gripper activity, consistent with approach-only motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 4, + "planning": "Move the end-effector from initial position toward the drawer handle area without closing gripper." + }, + { + "id": 2, + "name": "grasp drawer handle", + "start": 5, + "end": 13, + "planning": "Close gripper around the drawer handle as evidenced by significant gripper value drop from 0.999 to 0.658, confirming successful grasp." + }, + { + "id": 3, + "name": "pull drawer open", + "start": 14, + "end": 20, + "planning": "Maintain grip and translate end-effector backward to pull the drawer open, with gripper held closed (value ~0.125) throughout motion." + }, + { + "id": 4, + "name": "hold drawer open", + "start": 21, + "end": 38, + "planning": "Keep gripper closed while holding the drawer in partially open position; no significant motion or gripper change indicates static hold phase." + }, + { + "id": 5, + "name": "release drawer handle", + "start": 39, + "end": 44, + "planning": "Open gripper fully (value rises to 1.0) and retreat end-effector away from the now-open drawer, completing the task." + } + ], + "global_plan": "The robot approaches the drawer handle, grasps it, pulls the drawer open, holds it open briefly, then releases the handle and retreats.", + "notes": "Gripper evidence aligns with image observations: meaningful closing occurs in segments 3-4 (grasp/pull), sustained closure in segment 5 (hold), and full opening in segment 6 (release). Segment 1 and 2 show no gripper activity, consistent with approach-only motion." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3456127941608429, + 0.03592085838317871, + 0.09718330949544907, + -3.130363941192627, + -0.1790657788515091, + -0.3622080087661743 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the desk with the gripper open, approaching the drawer handle located below the desk surface. No contact has been made yet as the subtask is to approach the handle. The next action is to lower the end-effector towards the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3443223237991333, + 0.035117510706186295, + 0.08529620617628098, + 3.131990671157837, + -0.1500770002603531, + -0.3569587767124176 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the desk with the gripper open, approaching the drawer handle located below the desk surface. No contact has been made yet as the subtask is to approach the handle. The next action is to lower the end-effector towards the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548709750175476, + 0.03264787793159485, + 0.08908016979694366, + 3.123821973800659, + -0.17612981796264648, + -0.37053385376930237 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table, approaching the drawer handle located at the bottom left. No contact has been made yet as the gripper remains open and the arm is still in transit. The next action is to continue moving the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36547982692718506, + 0.029748599976301193, + 0.09309709817171097, + 3.125661849975586, + -0.1973751336336136, + -0.3841773569583893 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table, approaching the drawer handle located at the bottom left. No contact has been made yet as the gripper remains open and the arm is still in transit. The next action is to continue moving the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3738555908203125, + 0.022183218970894814, + 0.09436897933483124, + 3.1288809776306152, + -0.2166706919670105, + -0.44508096575737 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 292, + 4, + 631, + 355 + ], + "red panel": [ + 372, + 148, + 569, + 353 + ], + "white object": [ + 628, + 785, + 757, + 954 + ], + "blue egg": [ + 103, + 408, + 199, + 577 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table, approaching the drawer handle located at the bottom left. No contact has been made yet as the gripper remains open and the arm is still in transit. The next action is to continue moving the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37457793951034546, + 0.020941808819770813, + 0.08841512352228165, + -3.106401205062866, + -0.18278872966766357, + -0.600914478302002 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned above the table, approaching the drawer handle located at the bottom left. No contact has been made yet as the gripper remains open and the arm is still in transit. The next action is to continue moving the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37463125586509705, + 0.022973688319325447, + 0.08519426733255386, + -3.0643692016601562, + -0.14794185757637024, + -0.7134725451469421 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned above the table, approaching the drawer handle located at the bottom left. No contact has been made yet as the gripper remains open and the arm is still in transit. The next action is to continue moving the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37152498960494995, + 0.026982972398400307, + 0.06789595633745193, + -3.059546709060669, + -0.09980618953704834, + -0.769919753074646 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned above the table, approaching the drawer handle located at the bottom left. No contact has been made yet as the gripper remains open and the arm is still in transit. The next action is to continue moving the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.372531533241272, + 0.027282677590847015, + 0.06859085708856583, + -3.05167818069458, + -0.10280755162239075, + -0.7818818092346191 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot is positioned above the table, approaching the drawer handle located at the bottom left. No contact has been made yet as the gripper remains open and the arm is still in transit. The next action is to continue moving the end-effector closer to the drawer handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37388238310813904, + 0.027784714475274086, + 0.06822296231985092, + -3.04583477973938, + -0.10804526507854462, + -0.7877046465873718 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is currently open (value ~1.0), indicating no grasp has occurred yet despite the segment-level evidence suggesting a closing trend. The immediate next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 2 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3724554777145386, + 0.028099583461880684, + 0.05763659626245499, + -3.058978796005249, + -0.09473136067390442, + -0.7783248424530029 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is currently open (value ~1.0), indicating no grasp has occurred yet despite the segment-level evidence suggesting a closing trend. The immediate next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 3 cm, move right 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37120068073272705, + 0.027318710461258888, + 0.05056547373533249, + -3.0509934425354004, + -0.11079075187444687, + -0.759954571723938 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is currently open (value ~1.0), indicating no grasp has occurred yet despite the segment-level evidence suggesting a closing trend. The immediate next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 4 cm, move right 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37216582894325256, + 0.026907645165920258, + 0.04081931710243225, + -3.055922269821167, + -0.11346454173326492, + -0.7442017793655396 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "crumpled paper": [ + 164, + 184, + 336, + 315 + ], + "wooden box": [ + 297, + 5, + 625, + 357 + ], + "white object": [ + 627, + 785, + 758, + 954 + ], + "blue egg": [ + 103, + 409, + 199, + 577 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is currently open (value ~1.0), indicating no grasp has occurred yet despite the segment-level evidence suggesting a closing trend. The immediate next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 4 cm, move right 6 cm, tilt right 10 degrees, keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37218350172042847, + 0.026982171460986137, + 0.036454249173402786, + -3.0501232147216797, + -0.11961639672517776, + -0.7147132754325867 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "grasp drawer handle", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is currently open (value ~1.0), indicating no grasp has occurred yet despite the segment-level evidence suggesting a closing trend. The immediate next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move right 6 cm, tilt right 10 degrees, keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37307971715927124, + 0.02673773095011711, + 0.03542424365878105, + -3.0444462299346924, + -0.1290961354970932, + -0.7103406190872192 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is currently open (value ~1.0), indicating no grasp has occurred yet despite the segment-level evidence suggesting a closing trend. The immediate next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3732972741127014, + 0.026064008474349976, + 0.033818233758211136, + -3.051745653152466, + -0.13426350057125092, + -0.7035171985626221 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is currently open (value ~1.0), indicating no grasp has occurred yet despite the segment-level evidence suggesting a closing trend. The immediate next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37309205532073975, + 0.023858526721596718, + 0.03354993462562561, + -3.062197208404541, + -0.1431279331445694, + -0.7042751908302307 + ], + "gripper_value": 0.1270572394132614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is positioned near the drawer handle, having completed the approach phase. The gripper is currently open (value ~1.0), indicating no grasp has occurred yet despite the segment-level evidence suggesting a closing trend. The immediate next action is to close the gripper to grasp the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36913925409317017, + 0.016879325732588768, + 0.030460620298981667, + -3.0886025428771973, + -0.1511961817741394, + -0.7085781693458557 + ], + "gripper_value": 0.12483644485473633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36070406436920166, + 0.004826284013688564, + 0.027301494032144547, + -3.102604389190674, + -0.15257123112678528, + -0.7466509938240051 + ], + "gripper_value": 0.12483644485473633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35284554958343506, + -0.006094807758927345, + 0.029906725510954857, + -3.110780954360962, + -0.1605015993118286, + -0.7747418880462646 + ], + "gripper_value": 0.12483644485473633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3436927795410156, + -0.01775207743048668, + 0.032347407191991806, + -3.130373239517212, + -0.1700926572084427, + -0.7869172096252441 + ], + "gripper_value": 0.12483644485473633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 2 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3365435004234314, + -0.03088829666376114, + 0.0342695452272892, + 3.132420539855957, + -0.18591955304145813, + -0.804442286491394 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 422, + 146, + 498, + 223 + ], + "white object": [ + 628, + 786, + 757, + 954 + ], + "crumpled paper": [ + 164, + 184, + 336, + 315 + ], + "blue egg": [ + 102, + 408, + 198, + 578 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33350539207458496, + -0.039198122918605804, + 0.04119640961289406, + 3.113820791244507, + -0.20334510505199432, + -0.8069145679473877 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320132791996002, + -0.043558429926633835, + 0.04012279585003853, + 3.0978925228118896, + -0.21553324162960052, + -0.7997517585754395 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32978856563568115, + -0.048364803194999695, + 0.04144362360239029, + 3.0755622386932373, + -0.2204750031232834, + -0.7947022914886475 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.33063432574272156, + -0.053963519632816315, + 0.04282098263502121, + 3.0610742568969727, + -0.2368723452091217, + -0.7825160026550293 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327360451221466, + -0.05802805349230766, + 0.045359812676906586, + 3.0452401638031006, + -0.25641342997550964, + -0.7642089128494263 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33325207233428955, + -0.06009456515312195, + 0.045961830765008926, + 3.0344202518463135, + -0.26703760027885437, + -0.7504960894584656 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3310794532299042, + -0.062260761857032776, + 0.04487833008170128, + 3.015068531036377, + -0.27042922377586365, + -0.7343401312828064 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot has successfully grasped the drawer handle and is currently in the process of pulling the drawer open. The gripper is closed around the handle, and the arm is positioned to exert a pulling force. The next action is to continue pulling the drawer until it is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32249537110328674, + -0.06509710848331451, + 0.04629737511277199, + 3.007669687271118, + -0.26801735162734985, + -0.7524709105491638 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3161291778087616, + -0.06772732734680176, + 0.04564954340457916, + 3.007991075515747, + -0.26716965436935425, + -0.7743141055107117 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 418, + 187, + 539, + 302 + ], + "blue egg": [ + 101, + 408, + 200, + 579 + ], + "white object": [ + 628, + 785, + 758, + 954 + ], + "green sponge": [ + 456, + 204, + 537, + 299 + ], + "crumpled paper": [ + 164, + 181, + 343, + 315 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3137466609477997, + -0.06816154718399048, + 0.04425208270549774, + 3.003903388977051, + -0.2686409056186676, + -0.7742146849632263 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31210100650787354, + -0.06887234002351761, + 0.04370564594864845, + 2.9955883026123047, + -0.262183278799057, + -0.7762627005577087 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31187722086906433, + -0.07148932665586472, + 0.04440835490822792, + 2.992692470550537, + -0.26650652289390564, + -0.7779679298400879 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, open gripper; then move left 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31178590655326843, + -0.07331227511167526, + 0.04468429088592529, + 2.9877724647521973, + -0.270414799451828, + -0.775143027305603 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, open gripper; then move back 1 cm, move left 3 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3113960325717926, + -0.07782874256372452, + 0.04508742317557335, + 2.9811856746673584, + -0.2762281000614166, + -0.774290919303894 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, open gripper; then move back 1 cm, move left 3 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.31050920486450195, + -0.07820498198270798, + 0.0448533371090889, + 2.9762094020843506, + -0.2750522494316101, + -0.7735137343406677 + ], + "gripper_value": 0.12395496666431427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move left 3 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.30704477429389954, + -0.07938937097787857, + 0.044507671147584915, + 2.9764208793640137, + -0.27080586552619934, + -0.7810734510421753 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move left 3 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.30394160747528076, + -0.08521681278944016, + 0.044615037739276886, + 2.9788296222686768, + -0.259960800409317, + -0.8211487531661987 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "hold drawer open", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 3 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.30279287695884705, + -0.0849715992808342, + 0.04405630752444267, + 2.979278802871704, + -0.2538966238498688, + -0.8273997902870178 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "release drawer handle", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045595586299896, + -0.08424996584653854, + 0.055627238005399704, + 3.0018792152404785, + -0.2753817141056061, + -0.8298814296722412 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "release drawer handle", + "subtask_reasoning": "The robot is currently holding the red drawer open with its gripper engaged on the handle. The drawer is fully extended, revealing the contents inside. The next action is to maintain this position briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.30537185072898865, + -0.08341941982507706, + 0.05920688062906265, + 3.0150532722473145, + -0.2809393107891083, + -0.8329959511756897 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "release drawer handle", + "subtask_reasoning": "The drawer is open and the robot's end-effector is positioned near the handle with the gripper fully open (value ~1.0), indicating the handle has been released. The segment-level gripper evidence confirms a significant opening motion during this subtask. The next action is to retreat from the drawer area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3049390912055969, + -0.08245006203651428, + 0.08391071110963821, + 3.046266555786133, + -0.3295934200286865, + -0.8242295384407043 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "crumpled paper": [ + 164, + 183, + 342, + 315 + ], + "blue egg": [ + 101, + 408, + 200, + 578 + ], + "green sponge": [ + 470, + 242, + 556, + 339 + ], + "white object": [ + 628, + 785, + 757, + 954 + ], + "blue sponge": [ + 435, + 206, + 588, + 339 + ], + "wooden box": [ + 384, + 142, + 626, + 560 + ], + "red panel": [ + 454, + 337, + 616, + 559 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "release drawer handle", + "subtask_reasoning": "The drawer is open and the robot's end-effector is positioned near the handle with the gripper fully open (value ~1.0), indicating the handle has been released. The segment-level gripper evidence confirms a significant opening motion during this subtask. The next action is to retreat from the drawer area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.29982247948646545, + -0.07006270438432693, + 0.11552248895168304, + 3.0593299865722656, + -0.374814510345459, + -0.7782619595527649 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "release drawer handle", + "subtask_reasoning": "The drawer is open and the robot's end-effector is positioned near the handle with the gripper fully open (value ~1.0), indicating the handle has been released. The segment-level gripper evidence confirms a significant opening motion during this subtask. The next action is to retreat from the drawer area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.28955888748168945, + -0.05796290934085846, + 0.15072642266750336, + 3.057080030441284, + -0.3633984327316284, + -0.7159486413002014 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "grasp drawer handle" + }, + { + "id": 3, + "subtask": "pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open" + }, + { + "id": 5, + "subtask": "release drawer handle" + } + ], + "subtask_name": "release drawer handle", + "subtask_reasoning": "The drawer is open and the robot's end-effector is positioned near the handle with the gripper fully open (value ~1.0), indicating the handle has been released. The segment-level gripper evidence confirms a significant opening motion during this subtask. The next action is to retreat from the drawer area to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004297_ecot.json b/cot/chunk-0004/episode_0004297_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1a63d3c91067ecc5adce3c1bcda6063457f78c70 --- /dev/null +++ b/cot/chunk-0004/episode_0004297_ecot.json @@ -0,0 +1,1954 @@ +{ + "task_name": "episode_0004297", + "episode_json": "json/chunk-0004/episode_0004297.json", + "video_path": "videos/chunk-0004/image_0/episode_0004297.mp4", + "instruction": "Move the strawberry over between the silver bowl and the wall.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004297.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.19999021291732788, + "std": 0.08794008195400238, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.19999, std=0.08794, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 18 + ], + [ + 2, + 19, + 22 + ], + [ + 3, + 23, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp strawberry\", \"start\": 0, \"end\": 18, \"planning\": \"Move end-effector down to the strawberry and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport strawberry\", \"start\": 19, \"end\": 22, \"planning\": \"Lift the grasped strawberry and move it toward the target zone between bowl and wall.\"},\n {\"id\": 3, \"name\": \"place and release strawberry\", \"start\": 23, \"end\": 31, \"planning\": \"Lower the strawberry into position between the silver bowl and the wall, then open gripper to release.\"}\n ],\n \"global_plan\": \"Grasp the strawberry from the table, lift and carry it to the space between the silver bowl and the wall, then place and release it there.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.19152) consistent with grasping; Segment 2 has no meaningful closing but motion indicates transport while holding; Segment 3 shows gripper opening (delta=+0.19058) consistent with release. All subtasks are contiguous and cover full trajectory [0,31].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp strawberry", + "start": 0, + "end": 18, + "planning": "Move end-effector down to the strawberry and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport strawberry", + "start": 19, + "end": 22, + "planning": "Lift the grasped strawberry and move it toward the target zone between bowl and wall." + }, + { + "id": 3, + "name": "place and release strawberry", + "start": 23, + "end": 31, + "planning": "Lower the strawberry into position between the silver bowl and the wall, then open gripper to release." + } + ], + "global_plan": "Grasp the strawberry from the table, lift and carry it to the space between the silver bowl and the wall, then place and release it there.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.19152) consistent with grasping; Segment 2 has no meaningful closing but motion indicates transport while holding; Segment 3 shows gripper opening (delta=+0.19058) consistent with release. All subtasks are contiguous and cover full trajectory [0,31]." + } + }, + "episode_goal": "Place the strawberry on the countertop between the silver bowl and the wall.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26150766015052795, + 0.1611827164888382, + 0.09043309092521667, + -3.0825581550598145, + -0.04811821132898331, + -0.02643676847219467 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 14 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2584794759750366, + 0.15827590227127075, + 0.08126949518918991, + -3.099193572998047, + -0.022504523396492004, + -0.022868329659104347 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25735870003700256, + 0.12232065945863724, + 0.07220984995365143, + -3.1243560314178467, + 0.004544537514448166, + -0.08978277444839478 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2562636435031891, + 0.0861893743276596, + 0.08127979934215546, + -3.129161834716797, + -0.02120516076683998, + -0.15275613963603973 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 8, + 123, + 933, + 961 + ], + "tomato sauce": [ + 640, + 44, + 784, + 303 + ], + "hairbrush": [ + 65, + 333, + 225, + 537 + ], + "toy stove": [ + 676, + 175, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25113388895988464, + 0.06242896988987923, + 0.0820968747138977, + -3.1388723850250244, + -0.024200504645705223, + -0.1948583573102951 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24878007173538208, + 0.05263160169124603, + 0.06803978979587555, + -3.116020917892456, + 0.001530440873466432, + -0.17845839262008667 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2492440640926361, + 0.05000563710927963, + 0.048086151480674744, + -3.125246524810791, + 0.029428137466311455, + -0.13778230547904968 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2485479712486267, + 0.03622467815876007, + 0.033809393644332886, + -3.111621618270874, + 0.013635235838592052, + -0.129294753074646 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24823004007339478, + 0.028011610731482506, + 0.027031024917960167, + -3.1099534034729004, + -0.01895206607878208, + -0.10676860809326172 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "hairbrush": [ + 66, + 327, + 228, + 537 + ], + "tomato sauce": [ + 639, + 43, + 784, + 304 + ], + "table": [ + 8, + 145, + 935, + 959 + ], + "toy phone": [ + 402, + 3, + 668, + 233 + ], + "toy stove": [ + 676, + 175, + 996, + 994 + ], + "corn": [ + 768, + 130, + 920, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot is positioned above the countertop with the strawberry visible in front. The gripper is open and approaching the strawberry, indicating the initial phase of the grasp subtask. The next action is to lower the gripper and close it around the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25021255016326904, + 0.02559461072087288, + 0.023255469277501106, + -3.1116726398468018, + -0.05268937721848488, + -0.08126039057970047 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2538110911846161, + 0.025295279920101166, + 0.024126417934894562, + -3.1106371879577637, + -0.0745813176035881, + -0.06687360256910324 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25545671582221985, + 0.027437428012490273, + 0.019806547090411186, + -3.1036429405212402, + -0.06022965535521507, + -0.05062897875905037 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 5 cm, move left 9 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2599138617515564, + 0.028796061873435974, + 0.016258222982287407, + -3.0995423793792725, + -0.05269942805171013, + -0.034468334168195724 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 6 cm, move left 13 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26290908455848694, + 0.028903530910611153, + 0.012471423484385014, + -3.0842113494873047, + -0.0446644201874733, + -0.03118952363729477 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683144807815552, + 0.029911190271377563, + 0.00837010145187378, + -3.076747179031372, + -0.03949394077062607, + -0.014087937772274017 + ], + "gripper_value": 0.9351479411125183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727668285369873, + 0.031373925507068634, + 0.008871601894497871, + -3.0769412517547607, + -0.05731884390115738, + 0.005026179365813732 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2752944529056549, + 0.03556317090988159, + 0.009596276096999645, + -3.0915720462799072, + -0.055304646492004395, + 0.015075714327394962 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27904456853866577, + 0.03333248943090439, + 0.013758896850049496, + -3.1104624271392822, + -0.051192544400691986, + 0.0037727984599769115 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29294881224632263, + 0.030561141669750214, + 0.02570169046521187, + -3.132458209991455, + -0.0700063481926918, + 0.003726691473275423 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "approach and grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31606823205947876, + 0.05903463810682297, + 0.050055548548698425, + 3.1130361557006836, + -0.13485856354236603, + 0.10132043063640594 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot arm is positioned above the strawberry on the countertop, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper to grasp the strawberry, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move up 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34242329001426697, + 0.10585173219442368, + 0.0732404962182045, + 3.1045188903808594, + -0.18591934442520142, + 0.2136731892824173 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "hairbrush": [ + 66, + 327, + 229, + 537 + ], + "toy phone": [ + 444, + 3, + 667, + 232 + ], + "tomato sauce": [ + 639, + 43, + 784, + 305 + ], + "table": [ + 9, + 154, + 934, + 959 + ], + "toy stove": [ + 676, + 175, + 995, + 993 + ], + "corn": [ + 768, + 130, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the countertop. The gripper remains closed with minimal variation, indicating a stable hold during transport. The next action is to move the strawberry horizontally toward the space between the silver bowl and the wall." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move up 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 19, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655434250831604, + 0.1508382260799408, + 0.08213680237531662, + 3.1313576698303223, + -0.22755509614944458, + 0.31497007608413696 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the countertop. The gripper remains closed with minimal variation, indicating a stable hold during transport. The next action is to move the strawberry horizontally toward the space between the silver bowl and the wall." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 3 cm, move up 7 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3735959529876709, + 0.18742750585079193, + 0.07438112050294876, + 3.141082525253296, + -0.21510860323905945, + 0.4173862040042877 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the countertop. The gripper remains closed with minimal variation, indicating a stable hold during transport. The next action is to move the strawberry horizontally toward the space between the silver bowl and the wall." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 5 cm, move right 3 cm, move up 7 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 19, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3788398206233978, + 0.20231392979621887, + 0.058362364768981934, + -3.117266893386841, + -0.17596019804477692, + 0.45723170042037964 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the countertop. The gripper remains closed with minimal variation, indicating a stable hold during transport. The next action is to move the strawberry horizontally toward the space between the silver bowl and the wall." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 7 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825703561306, + 0.21171636879444122, + 0.04179942235350609, + -3.0776264667510986, + -0.14260511100292206, + 0.4651035964488983 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the countertop. The gripper remains closed with minimal variation, indicating a stable hold during transport. The next action is to move the strawberry horizontally toward the space between the silver bowl and the wall." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 9 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38091787695884705, + 0.21342509984970093, + 0.02542315423488617, + -3.050994873046875, + -0.10316142439842224, + 0.45850124955177307 + ], + "gripper_value": 0.8888095021247864 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the countertop. The gripper remains closed with minimal variation, indicating a stable hold during transport. The next action is to move the strawberry horizontally toward the space between the silver bowl and the wall." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38254600763320923, + 0.214125856757164, + 0.023807154968380928, + -3.0472939014434814, + -0.09353871643543243, + 0.45229724049568176 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the countertop. The gripper remains closed with minimal variation, indicating a stable hold during transport. The next action is to move the strawberry horizontally toward the space between the silver bowl and the wall." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3831300437450409, + 0.2129960060119629, + 0.027348149567842484, + -3.062744379043579, + -0.08264206349849701, + 0.43915513157844543 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The strawberry has been transported to the target area between the silver bowl and the wall. The gripper is currently open, indicating the release action is underway or complete. The next step is to ensure the strawberry is properly positioned and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.38721808791160583, + 0.2087951898574829, + 0.044665440917015076, + -3.0941994190216064, + -0.1174466609954834, + 0.383456289768219 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The strawberry has been transported to the target area between the silver bowl and the wall. The gripper is currently open, indicating the release action is underway or complete. The next step is to ensure the strawberry is properly positioned and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821636438369751, + 0.20422522723674774, + 0.10910819470882416, + -3.0816266536712646, + -0.24323353171348572, + 0.29171934723854065 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "hairbrush": [ + 66, + 327, + 229, + 537 + ], + "table": [ + 9, + 126, + 934, + 962 + ], + "tomato sauce": [ + 640, + 44, + 784, + 304 + ], + "toy stove": [ + 675, + 175, + 995, + 994 + ], + "toy phone": [ + 308, + 3, + 666, + 233 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The strawberry has been transported to the target area between the silver bowl and the wall. The gripper is currently open, indicating the release action is underway or complete. The next step is to ensure the strawberry is properly positioned and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.361246794462204, + 0.18567682802677155, + 0.1317347139120102, + -3.104851722717285, + -0.22771607339382172, + 0.1956864595413208 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The strawberry has been transported to the target area between the silver bowl and the wall. The gripper is currently open, indicating the release action is underway or complete. The next step is to ensure the strawberry is properly positioned and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33351945877075195, + 0.16911016404628754, + 0.1278260350227356, + -3.1078073978424072, + -0.18658660352230072, + 0.1456574946641922 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry on the countertop between the silver bowl and the wall." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp strawberry" + }, + { + "id": 2, + "subtask": "lift and transport strawberry" + }, + { + "id": 3, + "subtask": "place and release strawberry" + } + ], + "subtask_name": "place and release strawberry", + "subtask_reasoning": "The strawberry has been transported to the target area between the silver bowl and the wall. The gripper is currently open, indicating the release action is underway or complete. The next step is to ensure the strawberry is properly positioned and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004299_ecot.json b/cot/chunk-0004/episode_0004299_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3451a5285360b164b821d64b8372b9dccd60c07d --- /dev/null +++ b/cot/chunk-0004/episode_0004299_ecot.json @@ -0,0 +1,2150 @@ +{ + "task_name": "episode_0004299", + "episode_json": "json/chunk-0004/episode_0004299.json", + "video_path": "videos/chunk-0004/image_0/episode_0004299.mp4", + "instruction": "Take the blue cloth and put above the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004299.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9515228867530823, + "std": 0.43999963998794556, + "delta_total": 0.003963589668273926, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95152, std=0.44000, total_delta=0.00396). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 131, + 131, + 131 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 12 + ], + [ + 3, + 13, + 30 + ], + [ + 4, + 31, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the blue cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp blue cloth\", \"start\": 3, \"end\": 12, \"planning\": \"Close gripper around blue cloth; segment shows meaningful closing and final frame confirms contact with cloth.\"},\n {\"id\": 3, \"name\": \"lift and reposition cloth\", \"start\": 13, \"end\": 30, \"planning\": \"Lift cloth from drum and move it over table; gripper maintains hold while translating upward and forward.\"},\n {\"id\": 4, \"name\": \"release cloth on table\", \"start\": 31, \"end\": 33, \"planning\": \"Open gripper to drop cloth onto table surface; segment shows gripper opening and cloth resting independently.\"}\n ],\n \"global_plan\": \"Approach the blue cloth inside the drum, grasp it securely, lift and translate it above the wooden table, then release it to complete placement.\",\n \"notes\": \"Segment 1 has no gripper closure — correctly labeled as approach. Segment 2 shows significant gripper closure (delta=-0.35) and ends with cloth in grip — grasp is justified. Segment 3 involves lifting and moving while holding — consistent with gripper state and motion. Segment 4 shows gripper opening and cloth detached — release is accurate. All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the blue cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp blue cloth", + "start": 3, + "end": 12, + "planning": "Close gripper around blue cloth; segment shows meaningful closing and final frame confirms contact with cloth." + }, + { + "id": 3, + "name": "lift and reposition cloth", + "start": 13, + "end": 30, + "planning": "Lift cloth from drum and move it over table; gripper maintains hold while translating upward and forward." + }, + { + "id": 4, + "name": "release cloth on table", + "start": 31, + "end": 33, + "planning": "Open gripper to drop cloth onto table surface; segment shows gripper opening and cloth resting independently." + } + ], + "global_plan": "Approach the blue cloth inside the drum, grasp it securely, lift and translate it above the wooden table, then release it to complete placement.", + "notes": "Segment 1 has no gripper closure — correctly labeled as approach. Segment 2 shows significant gripper closure (delta=-0.35) and ends with cloth in grip — grasp is justified. Segment 3 involves lifting and moving while holding — consistent with gripper state and motion. Segment 4 shows gripper opening and cloth detached — release is accurate. All frames covered contiguously." + } + }, + "episode_goal": "Place the blue cloth on the wooden table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738827168941498, + -0.11644715070724487, + 0.0316309779882431, + 3.0433433055877686, + -0.115837961435318, + -0.17537899315357208 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned near the drum containing the blue cloth, with the gripper open and no contact made yet. The subtask of approaching the blue cloth is in progress, with the next action likely being a precise movement to align the gripper for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.270744651556015, + -0.11475848406553268, + 0.02426314540207386, + 3.0513415336608887, + -0.08890633285045624, + -0.1747949868440628 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned near the drum containing the blue cloth, with the gripper open and ready. No grasping has occurred yet as the subtask is to approach the cloth. The next action is to move the gripper closer to the blue cloth for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2713718116283417, + -0.10868758708238602, + 0.02953929640352726, + 3.114666700363159, + -0.10285684466362, + -0.20840176939964294 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned near the drum containing the blue cloth, with the gripper open and ready. No grasping has occurred yet as the subtask is to approach the cloth. The next action is to move the gripper closer to the blue cloth for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then move forward 5 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2806433439254761, + -0.10060018301010132, + 0.05684425309300423, + -3.0861306190490723, + -0.16639941930770874, + -0.26960110664367676 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot is positioned near the drum containing the blue cloth, with the gripper open and ready. No grasping has occurred yet as the subtask is to approach the cloth. The next action is to move the gripper closer to the blue cloth for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29405149817466736, + -0.08245576173067093, + 0.0812063068151474, + -2.9770302772521973, + -0.20992471277713776, + -0.2888941466808319 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 664, + 634, + 992, + 995 + ], + "orange cloth": [ + 497, + 217, + 660, + 434 + ], + "blue cloth": [ + 531, + 242, + 692, + 516 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot is positioned near the drum containing the blue cloth, with the gripper open and ready. No grasping has occurred yet as the subtask is to approach the cloth. The next action is to move the gripper closer to the blue cloth for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31170064210891724, + -0.052800506353378296, + 0.08455054461956024, + -2.970003366470337, + -0.2820214331150055, + -0.18744350969791412 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot is positioned near the drum containing the blue cloth, with the gripper open and ready. No grasping has occurred yet as the subtask is to approach the cloth. The next action is to move the gripper closer to the blue cloth for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3255429267883301, + -0.03818713128566742, + 0.08325187861919403, + -2.9744019508361816, + -0.3091288208961487, + -0.15772415697574615 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot is positioned near the drum containing the blue cloth, with the gripper open and ready. No grasping has occurred yet as the subtask is to approach the cloth. The next action is to move the gripper closer to the blue cloth for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33072853088378906, + -0.02918594516813755, + 0.07751437276601791, + -2.979768991470337, + -0.31591132283210754, + -0.11601376533508301 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move left 3 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33424070477485657, + -0.034434519708156586, + 0.07129670679569244, + -3.0108957290649414, + -0.3276861906051636, + -0.10307527333498001 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 2 cm, move left 2 cm, move up 11 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3312104642391205, + -0.037317678332328796, + 0.06018392741680145, + -3.038233757019043, + -0.31053122878074646, + -0.07000426203012466 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 5 cm, move left 2 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.330630898475647, + -0.03964640200138092, + 0.05368160456418991, + -3.058124303817749, + -0.30509665608406067, + -0.062006328254938126 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 6 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.330901175737381, + -0.038705240935087204, + 0.05171871930360794, + -3.050856113433838, + -0.30534905195236206, + -0.05601537227630615 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move left 1 cm, move up 4 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33053043484687805, + -0.03815700113773346, + 0.04802784323692322, + -3.0420844554901123, + -0.29260551929473877, + -0.07130683958530426 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "grasp blue cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33093202114105225, + -0.03858128562569618, + 0.04672538861632347, + -3.035541534423828, + -0.2834535837173462, + -0.08975645899772644 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33052754402160645, + -0.041303712874650955, + 0.04740803316235542, + -3.033818244934082, + -0.2773875296115875, + -0.10678756982088089 + ], + "gripper_value": 0.13479231297969818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33672136068344116, + -0.03903396800160408, + 0.057189200073480606, + -2.9999780654907227, + -0.27724432945251465, + -0.15283411741256714 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.342884361743927, + -0.01600595749914646, + 0.11140596121549606, + -2.867663860321045, + -0.3694520890712738, + -0.23416505753993988 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 665, + 635, + 992, + 995 + ], + "washing machine": [ + 6, + 4, + 994, + 726 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move down 7 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32799074053764343, + -0.005943431053310633, + 0.15534630417823792, + -2.734822988510132, + -0.3955492675304413, + -0.28121018409729004 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 13 cm, tilt right 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3083554208278656, + -0.016159437596797943, + 0.1558590978384018, + -2.7406301498413086, + -0.3228776156902313, + -0.260003000497818 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 13 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28375330567359924, + -0.023117218166589737, + 0.1331477165222168, + -2.8426342010498047, + -0.22705623507499695, + -0.14126090705394745 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 12 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697376012802124, + -0.028727130964398384, + 0.11238057911396027, + -2.899878978729248, + -0.14153139293193817, + -0.06899648904800415 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot end-effector is positioned inside the drum, hovering directly above the blue cloth. The gripper is currently open, indicating that the approach phase is complete but the grasp has not yet been executed. The next immediate action is to close the gripper to securely grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 9 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2636283338069916, + -0.0236220620572567, + 0.08565982431173325, + -2.9220821857452393, + -0.01800074428319931, + -0.00039339574868790805 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654207944869995, + -0.0037994515150785446, + 0.07773501425981522, + -2.9123945236206055, + -0.015961986035108566, + -0.0011898609809577465 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26048925518989563, + 0.026100678369402885, + 0.0536971352994442, + -2.9036383628845215, + -0.05560026317834854, + -0.00897169765084982 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591063380241394, + 0.0379813015460968, + 0.045507315546274185, + -2.896758556365967, + -0.07681409269571304, + -0.06388774514198303 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 665, + 635, + 993, + 995 + ], + "blue cloth": [ + 339, + 508, + 576, + 704 + ], + "orange cloth": [ + 495, + 212, + 721, + 427 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25495991110801697, + 0.049108974635601044, + 0.041083790361881256, + -2.8842883110046387, + -0.07847842574119568, + -0.06307746469974518 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 665, + 635, + 992, + 995 + ], + "orange cloth": [ + 496, + 213, + 720, + 427 + ], + "blue cloth": [ + 318, + 514, + 551, + 686 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2579200267791748, + 0.060144759714603424, + 0.04106378182768822, + -2.8791584968566895, + -0.10327518731355667, + -0.07120967656373978 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2673144042491913, + 0.07160293310880661, + 0.028936300426721573, + -2.887115240097046, + -0.12853148579597473, + -0.16393069922924042 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2770243287086487, + 0.0776168555021286, + 0.023218348622322083, + -2.889803409576416, + -0.13492439687252045, + -0.1940649449825287 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2795213758945465, + 0.0794442668557167, + 0.016979992389678955, + -2.9283671379089355, + -0.1376006305217743, + -0.2166014313697815 + ], + "gripper_value": 0.22045548260211945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843460738658905, + 0.07722152024507523, + 0.01829264499247074, + -2.939424753189087, + -0.163680300116539, + -0.2255617380142212 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28653258085250854, + 0.07562455534934998, + 0.01838366687297821, + -2.9524085521698, + -0.18183301389217377, + -0.23003025352954865 + ], + "gripper_value": 0.806471049785614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "release cloth on table", + "subtask_reasoning": "The robot has successfully grasped the blue cloth and is currently lifting it out of the drum, positioning it directly above the wooden table. The gripper is closed, and the cloth is suspended in mid-air between the drum and the table. The next action is to continue translating the cloth horizontally to center it over the table surface before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.28361520171165466, + 0.07531110942363739, + 0.017676204442977905, + -2.9615142345428467, + -0.1652485877275467, + -0.22648468613624573 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "release cloth on table", + "subtask_reasoning": "The blue cloth is already resting on the wooden table, indicating the release action has been completed. The gripper is open and positioned slightly above the cloth, confirming no active grasp. The next logical step is to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28084439039230347, + 0.0730757787823677, + 0.023787343874573708, + -2.970303773880005, + -0.16222599148750305, + -0.20805178582668304 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth on the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "grasp blue cloth" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "release cloth on table" + } + ], + "subtask_name": "release cloth on table", + "subtask_reasoning": "The blue cloth is already resting on the wooden table, indicating the release action has been completed. The gripper is open and positioned slightly above the cloth, confirming no active grasp. The next logical step is to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004300_ecot.json b/cot/chunk-0004/episode_0004300_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e05488113ccd41a6b6a4cc987a05f6eeb4de3321 --- /dev/null +++ b/cot/chunk-0004/episode_0004300_ecot.json @@ -0,0 +1,2307 @@ +{ + "task_name": "episode_0004300", + "episode_json": "json/chunk-0004/episode_0004300.json", + "video_path": "videos/chunk-0004/image_0/episode_0004300.mp4", + "instruction": "Put a green box on the top of a yellow box.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004300.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.4122360348701477, + "std": 0.18849210441112518, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41224, std=0.18849, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green box\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector from initial position toward the green box on the table.\"},\n {\"id\": 2, \"name\": \"grasp green box\", \"start\": 7, \"end\": 15, \"planning\": \"Close gripper around the green box and secure hold as confirmed by gripper value drop to 0.58990.\"},\n {\"id\": 3, \"name\": \"lift and transport green box\", \"start\": 16, \"end\": 24, \"planning\": \"Lift the green box and move it toward the yellow box while maintaining grip, as gripper remains closed until frame 24.\"},\n {\"id\": 4, \"name\": \"place green box on yellow box\", \"start\": 25, \"end\": 30, \"planning\": \"Position the green box above the yellow box and release grip as gripper opens (value rises to 0.96+).\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 31, \"end\": 33, \"planning\": \"Withdraw end-effector upward and away from the stacked boxes to complete the task.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, place, and retreat — executing a full pick-and-place of the green box onto the yellow box using observed gripper closure and motion phases.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.41) consistent with grasping; Segment 2 shows opening (delta=+0.41) consistent with releasing. Frame images confirm contact and stacking. Subtasks align with physical phases and gripper state transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green box", + "start": 0, + "end": 6, + "planning": "Move the end-effector from initial position toward the green box on the table." + }, + { + "id": 2, + "name": "grasp green box", + "start": 7, + "end": 15, + "planning": "Close gripper around the green box and secure hold as confirmed by gripper value drop to 0.58990." + }, + { + "id": 3, + "name": "lift and transport green box", + "start": 16, + "end": 24, + "planning": "Lift the green box and move it toward the yellow box while maintaining grip, as gripper remains closed until frame 24." + }, + { + "id": 4, + "name": "place green box on yellow box", + "start": 25, + "end": 30, + "planning": "Position the green box above the yellow box and release grip as gripper opens (value rises to 0.96+)." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 31, + "end": 33, + "planning": "Withdraw end-effector upward and away from the stacked boxes to complete the task." + } + ], + "global_plan": "Approach, grasp, lift, transport, place, and retreat — executing a full pick-and-place of the green box onto the yellow box using observed gripper closure and motion phases.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.41) consistent with grasping; Segment 2 shows opening (delta=+0.41) consistent with releasing. Frame images confirm contact and stacking. Subtasks align with physical phases and gripper state transitions." + } + }, + "episode_goal": "Place the green box on top of the yellow box.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29532840847969055, + 0.05095227062702179, + 0.11507729440927505, + 3.05320143699646, + -0.33241766691207886, + 0.07128838449716568 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green box", + "subtask_reasoning": "The robot is positioned above the table with the green box visible in the foreground and the yellow box to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the green box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2927687168121338, + 0.04983852803707123, + 0.10666289180517197, + 3.0469069480895996, + -0.30342772603034973, + 0.07462453842163086 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green box", + "subtask_reasoning": "The robot is positioned above the table with the green box visible in the foreground and the yellow box to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the green box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28783223032951355, + 0.034591447561979294, + 0.09873140603303909, + 3.038295269012451, + -0.27733901143074036, + 0.046675801277160645 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green box", + "subtask_reasoning": "The robot is positioned above the table with the green box visible in the foreground and the yellow box to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the green box to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2837904393672943, + 0.021974314004182816, + 0.0954684168100357, + 3.0305492877960205, + -0.27764976024627686, + 0.020557884126901627 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green box", + "subtask_reasoning": "The robot arm is positioned above the table with the green box visible in the foreground. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the green box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27759605646133423, + 0.003108668839558959, + 0.09113718569278717, + 3.018979787826538, + -0.27430635690689087, + -0.033953145146369934 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green box", + "subtask_reasoning": "The robot arm is positioned above the table with the green box visible in the foreground. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the green box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709159255027771, + -0.013187751173973083, + 0.08807667344808578, + 3.0206475257873535, + -0.27427905797958374, + -0.08597124367952347 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green box", + "subtask_reasoning": "The robot arm is positioned above the table with the green box visible in the foreground. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the green box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591567635536194, + -0.03178836405277252, + 0.07969305664300919, + 3.014185905456543, + -0.25557538866996765, + -0.14376509189605713 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green box", + "subtask_reasoning": "The robot arm is positioned above the table with the green box visible in the foreground. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the green box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.250710666179657, + -0.04321124777197838, + 0.07129371166229248, + 3.0192060470581055, + -0.24759124219417572, + -0.18847930431365967 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow block": [ + 194, + 419, + 335, + 595 + ], + "wooden floor": [ + 3, + 190, + 996, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot arm is positioned above the table with the green box visible in the foreground. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the green box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24695058166980743, + -0.0486326739192009, + 0.06666276603937149, + 3.0408637523651123, + -0.24340280890464783, + -0.21424156427383423 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot arm is positioned above the table with the green box visible in the foreground. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the green box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, rotate clockwise 10 degrees, close gripper; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24529197812080383, + -0.04510810971260071, + 0.055186592042446136, + 3.0697195529937744, + -0.21455837786197662, + -0.2140202522277832 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot arm is positioned above the table with the green box visible in the foreground. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the green box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24630282819271088, + -0.040226779878139496, + 0.04372563585639, + 3.098283052444458, + -0.1875820755958557, + -0.2107256054878235 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot arm is positioned above the table with the green box visible in the foreground. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the green box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2475774586200714, + -0.03759569302201271, + 0.035382140427827835, + 3.1128549575805664, + -0.1725464016199112, + -0.20074497163295746 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24832038581371307, + -0.03630472347140312, + 0.03246433660387993, + 3.1184611320495605, + -0.1970217227935791, + -0.17540767788887024 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25016745924949646, + -0.03712376952171326, + 0.032881010323762894, + 3.111387252807617, + -0.20913845300674438, + -0.15607108175754547 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2528242766857147, + -0.026645543053746223, + 0.03977610543370247, + 3.0920169353485107, + -0.20838560163974762, + -0.10845682770013809 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620777487754822, + 0.0044001564383506775, + 0.06003466621041298, + 3.0799448490142822, + -0.2515890300273895, + -0.022870302200317383 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 3, + 193, + 996, + 995 + ], + "yellow block": [ + 195, + 420, + 324, + 595 + ], + "red block": [ + 681, + 508, + 805, + 710 + ], + "blue block": [ + 469, + 320, + 555, + 475 + ] + } + } + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26789289712905884, + 0.030324390158057213, + 0.07018094509840012, + 3.0668752193450928, + -0.2608245611190796, + 0.033787600696086884 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27051424980163574, + 0.06899441033601761, + 0.08223036676645279, + 3.0725972652435303, + -0.2808140516281128, + 0.12105903029441833 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 3, + 169, + 996, + 996 + ], + "yellow block": [ + 196, + 469, + 285, + 595 + ], + "red block": [ + 681, + 508, + 805, + 711 + ], + "blue block": [ + 469, + 319, + 554, + 474 + ] + } + } + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27221694588661194, + 0.09406407177448273, + 0.08483780920505524, + 3.0724751949310303, + -0.28268861770629883, + 0.18251287937164307 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27302828431129456, + 0.11300429701805115, + 0.08504147082567215, + 3.0739307403564453, + -0.28068867325782776, + 0.22120466828346252 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The robot has approached the green box and is now in contact with it. The gripper is closing around the green box, as indicated by the decreasing gripper value. The next action is to fully grasp the green box to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727784514427185, + 0.12399137765169144, + 0.08295567333698273, + 3.0752477645874023, + -0.27172115445137024, + 0.23717214167118073 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The green box is currently grasped and lifted above the yellow box, with the gripper closed and stable. The robot has completed the lift phase and is now transporting the green box toward the target placement location. The next action is to move the green box directly over the yellow box for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move forward 2 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2729586064815521, + 0.12750327587127686, + 0.07576347142457962, + 3.072725296020508, + -0.2523040771484375, + 0.2422882467508316 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The green box is currently grasped and lifted above the yellow box, with the gripper closed and stable. The robot has completed the lift phase and is now transporting the green box toward the target placement location. The next action is to move the green box directly over the yellow box for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move forward 3 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27303290367126465, + 0.12885460257530212, + 0.068097323179245, + 3.077435255050659, + -0.23498931527137756, + 0.24676240980625153 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The green box is currently grasped and lifted above the yellow box, with the gripper closed and stable. The robot has completed the lift phase and is now transporting the green box toward the target placement location. The next action is to move the green box directly over the yellow box for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 3 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2743664085865021, + 0.13015687465667725, + 0.06280674040317535, + 3.0841405391693115, + -0.2240932136774063, + 0.25596824288368225 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The green box is currently grasped and lifted above the yellow box, with the gripper closed and stable. The robot has completed the lift phase and is now transporting the green box toward the target placement location. The next action is to move the green box directly over the yellow box for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 3 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737625241279602, + 0.12753209471702576, + 0.05560983344912529, + 3.0915069580078125, + -0.19126202166080475, + 0.24988876283168793 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport green box", + "subtask_reasoning": "The green box is currently grasped and lifted above the yellow box, with the gripper closed and stable. The robot has completed the lift phase and is now transporting the green box toward the target placement location. The next action is to move the green box directly over the yellow box for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27661868929862976, + 0.12458088994026184, + 0.05852566659450531, + 3.086207389831543, + -0.18910381197929382, + 0.2565195560455322 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place green box on yellow box", + "subtask_reasoning": "The green box is currently grasped and lifted above the yellow box, with the gripper closed and stable. The robot has completed the lift phase and is now transporting the green box toward the target placement location. The next action is to move the green box directly over the yellow box for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28314200043678284, + 0.12230739742517471, + 0.08001972734928131, + 3.068126916885376, + -0.2424682378768921, + 0.2559240162372589 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place green box on yellow box", + "subtask_reasoning": "The green box is currently grasped and lifted above the yellow box, with the gripper closed and stable. The robot has completed the lift phase and is now transporting the green box toward the target placement location. The next action is to move the green box directly over the yellow box for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2867628037929535, + 0.11986999213695526, + 0.10261572897434235, + 3.0476109981536865, + -0.28445151448249817, + 0.26313844323158264 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place green box on yellow box", + "subtask_reasoning": "The green box is already positioned on top of the yellow box, indicating the placement goal has been achieved. The gripper is open and hovering directly above the stacked boxes, showing no active grasping or holding. The next logical step is to retreat the arm away from the completed stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888469099998474, + 0.12091662734746933, + 0.12000621855258942, + 3.0513620376586914, + -0.3134659230709076, + 0.26105067133903503 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place green box on yellow box", + "subtask_reasoning": "The green box is already positioned on top of the yellow box, indicating the placement goal has been achieved. The gripper is open and hovering directly above the stacked boxes, showing no active grasping or holding. The next logical step is to retreat the arm away from the completed stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28893139958381653, + 0.11899753659963608, + 0.13159452378749847, + 3.0511703491210938, + -0.33888983726501465, + 0.2504837214946747 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place green box on yellow box", + "subtask_reasoning": "The green box is already positioned on top of the yellow box, indicating the placement goal has been achieved. The gripper is open and hovering directly above the stacked boxes, showing no active grasping or holding. The next logical step is to retreat the arm away from the completed stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990022599697113, + 0.09387463331222534, + 0.13209395110607147, + 3.055347442626953, + -0.33731451630592346, + 0.1618381142616272 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place green box on yellow box", + "subtask_reasoning": "The green box is already positioned on top of the yellow box, indicating the placement goal has been achieved. The gripper is open and hovering directly above the stacked boxes, showing no active grasping or holding. The next logical step is to retreat the arm away from the completed stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3112722933292389, + 0.061434850096702576, + 0.1321549415588379, + 3.060642719268799, + -0.3287551999092102, + 0.06406962871551514 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden floor": [ + 3, + 191, + 996, + 996 + ], + "yellow block": [ + 197, + 432, + 333, + 592 + ], + "blue block": [ + 470, + 320, + 555, + 474 + ], + "red block": [ + 680, + 508, + 805, + 711 + ], + "green block": [ + 175, + 367, + 306, + 544 + ] + } + } + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green box is already positioned on top of the yellow box, indicating the placement goal has been achieved. The gripper is open and hovering directly above the stacked boxes, showing no active grasping or holding. The next logical step is to retreat the arm away from the completed stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.325727641582489, + 0.031112680211663246, + 0.13387258350849152, + 3.048501968383789, + -0.3065294623374939, + 0.005153808277100325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green box is already placed on top of the yellow box, and the gripper is open and retreating upward. The current subtask involves moving the arm away from the stacked boxes to complete the placement sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33427345752716064, + 0.010950921103358269, + 0.13610541820526123, + 3.0491254329681396, + -0.2964889407157898, + -0.03258617967367172 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green box on top of the yellow box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green box" + }, + { + "id": 2, + "subtask": "grasp green box" + }, + { + "id": 3, + "subtask": "lift and transport green box" + }, + { + "id": 4, + "subtask": "place green box on yellow box" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green box is already placed on top of the yellow box, and the gripper is open and retreating upward. The current subtask involves moving the arm away from the stacked boxes to complete the placement sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004301_ecot.json b/cot/chunk-0004/episode_0004301_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e4b229d6ac200cddeec4cb5bfa97a978a84b4347 --- /dev/null +++ b/cot/chunk-0004/episode_0004301_ecot.json @@ -0,0 +1,2371 @@ +{ + "task_name": "episode_0004301", + "episode_json": "json/chunk-0004/episode_0004301.json", + "video_path": "videos/chunk-0004/image_0/episode_0004301.mp4", + "instruction": "Topple metal pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004301.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9332759380340576, + "std": 0.4270637631416321, + "delta_total": 0.006150305271148682, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93328, std=0.42706, total_delta=0.00615). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 231, + 231, + 231, + 231 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 6 + ], + [ + 3, + 7, + 12 + ], + [ + 4, + 13, + 16 + ], + [ + 5, + 17, + 30 + ], + [ + 6, + 31, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the metal pot without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"make contact with pot\", \"start\": 7, \"end\": 12, \"planning\": \"Lower and position gripper to make contact with pot; gripper begins closing near end of segment.\"},\n {\"id\": 3, \"name\": \"grasp and tilt pot\", \"start\": 13, \"end\": 16, \"planning\": \"Fully close gripper to grasp pot and initiate tilting motion to topple it against fence.\"},\n {\"id\": 4, \"name\": \"hold and stabilize toppled pot\", \"start\": 17, \"end\": 30, \"planning\": \"Maintain grip while allowing pot to settle into toppled position; no major motion or gripper change observed.\"},\n {\"id\": 5, \"name\": \"release and retreat from pot\", \"start\": 31, \"end\": 34, \"planning\": \"Open gripper to release pot and retract end-effector upward and away from scene.\"}\n ],\n \"global_plan\": \"Approach the metal pot, make contact, grasp and tilt it to topple against the cardboard fence, hold briefly to stabilize, then release and retreat.\",\n \"notes\": \"Gripper evidence confirms no grasp in segments 1-2 (frames 0-6), meaningful closing in segments 3-4 (frames 7-16) supporting grasp wording, and opening in segment 6 (frames 31-34) for release. Segment 5 (frames 17-30) shows static hold with no gripper change — consistent with stabilization phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the metal pot without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "make contact with pot", + "start": 7, + "end": 12, + "planning": "Lower and position gripper to make contact with pot; gripper begins closing near end of segment." + }, + { + "id": 3, + "name": "grasp and tilt pot", + "start": 13, + "end": 16, + "planning": "Fully close gripper to grasp pot and initiate tilting motion to topple it against fence." + }, + { + "id": 4, + "name": "hold and stabilize toppled pot", + "start": 17, + "end": 30, + "planning": "Maintain grip while allowing pot to settle into toppled position; no major motion or gripper change observed." + }, + { + "id": 5, + "name": "release and retreat from pot", + "start": 31, + "end": 34, + "planning": "Open gripper to release pot and retract end-effector upward and away from scene." + } + ], + "global_plan": "Approach the metal pot, make contact, grasp and tilt it to topple against the cardboard fence, hold briefly to stabilize, then release and retreat.", + "notes": "Gripper evidence confirms no grasp in segments 1-2 (frames 0-6), meaningful closing in segments 3-4 (frames 7-16) supporting grasp wording, and opening in segment 6 (frames 31-34) for release. Segment 5 (frames 17-30) shows static hold with no gripper change — consistent with stabilization phase." + } + }, + "episode_goal": "Topple the metal pot so it lies on its side within the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29469916224479675, + -0.019924834370613098, + 0.10461792349815369, + -3.0548627376556396, + -0.09299822151660919, + 0.24081242084503174 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2904002368450165, + -0.02043686993420124, + 0.09808231890201569, + -3.0501725673675537, + -0.06326396018266678, + 0.2271113395690918 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28502199053764343, + 0.004366797395050526, + 0.10541442781686783, + -3.0719053745269775, + -0.031043600291013718, + 0.17395742237567902 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the wooden surface with the metal pot visible to the left. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27565088868141174, + 0.03063114546239376, + 0.11363285779953003, + -3.1357786655426025, + 0.010699690319597721, + 0.11291972547769547 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 55, + 332, + 394, + 680 + ], + "orange bell pepper": [ + 580, + 444, + 710, + 562 + ], + "wooden tray": [ + 32, + 226, + 780, + 948 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot on the wooden surface, with the cardboard fence visible nearby. No contact or grasping has occurred yet. The next action should continue moving the end-effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631692588329315, + 0.05041610449552536, + 0.12224385142326355, + 3.114452600479126, + -0.004445445723831654, + 0.048060763627290726 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot on the wooden surface, with the cardboard fence visible nearby. No contact or grasping has occurred yet. The next action should continue moving the end-effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, keep gripper open; then move right 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2435004860162735, + 0.05457375943660736, + 0.11423569917678833, + 3.112703561782837, + 0.004236642271280289, + 0.012067161500453949 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot on the wooden surface, with the cardboard fence visible nearby. No contact or grasping has occurred yet. The next action should continue moving the end-effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper open; then move right 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22733233869075775, + 0.05324915051460266, + 0.10558304190635681, + 3.126159191131592, + 0.015084839425981045, + -0.007518397178500891 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is approaching the metal pot on the wooden surface, with the cardboard fence visible nearby. No contact or grasping has occurred yet. The next action should continue moving the end-effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move right 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21859049797058105, + 0.05045444145798683, + 0.09080760926008224, + -3.128765821456909, + 0.029699843376874924, + -0.017209753394126892 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot is approaching the metal pot on the wooden surface, with the cardboard fence visible nearby. No contact or grasping has occurred yet. The next action should continue moving the end-effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper; then move forward 3 cm, move right 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21838173270225525, + 0.04534813016653061, + 0.07915559411048889, + -3.0990817546844482, + 0.0017551336204633117, + -0.02366851083934307 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot is approaching the metal pot on the wooden surface, with the cardboard fence visible nearby. No contact or grasping has occurred yet. The next action should continue moving the end-effector closer to the pot to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 3 cm, move right 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22311057150363922, + 0.043720588088035583, + 0.06971030682325363, + -3.0680124759674072, + -0.011252954602241516, + -0.020769618451595306 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned near the metal pot, with the gripper open and ready to make contact. The pot is upright on the wooden surface, adjacent to the cardboard fence. The next action is to move the gripper closer to establish contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 3 cm, move right 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2238622009754181, + 0.04262512922286987, + 0.0574275478720665, + -3.037033796310425, + -0.020496519282460213, + -0.01997540146112442 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned near the metal pot, with the gripper open and ready to make contact. The pot is upright on the wooden surface, adjacent to the cardboard fence. The next action is to move the gripper closer to establish contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 3 cm, move right 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 4 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22667323052883148, + 0.044041331857442856, + 0.05434828996658325, + -3.0280418395996094, + -0.035579580813646317, + -0.020262110978364944 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned near the metal pot, with the gripper open and ready to make contact. The pot is upright on the wooden surface, adjacent to the cardboard fence. The next action is to move the gripper closer to establish contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 6 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.224792018532753, + 0.04409687966108322, + 0.052540089935064316, + -3.026609420776367, + -0.032217204570770264, + -0.022883020341396332 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "make contact with pot", + "subtask_reasoning": "The robot arm is positioned near the metal pot, with the gripper open and ready to make contact. The pot is upright on the wooden surface, adjacent to the cardboard fence. The next action is to move the gripper closer to establish contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move up 6 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22280602157115936, + 0.041352298110723495, + 0.05075038596987724, + -3.04557204246521, + 0.0032000562641769648, + -0.0027352527249604464 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "grasp and tilt pot", + "subtask_reasoning": "The robot arm is positioned near the metal pot, with the gripper open and ready to make contact. The pot is upright on the wooden surface, adjacent to the cardboard fence. The next action is to move the gripper closer to establish contact with the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 6 cm, tilt right 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23062266409397125, + 0.032424554228782654, + 0.04861116781830788, + -3.060170888900757, + 0.03372523561120033, + 0.014359726570546627 + ], + "gripper_value": 0.16390947997570038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "grasp and tilt pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move up 5 cm, tilt right 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23988217115402222, + 0.01728990115225315, + 0.048592712730169296, + -3.078404426574707, + 0.045383211225271225, + 0.0431072898209095 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "grasp and tilt pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper closed; then move forward 1 cm, move left 3 cm, move up 4 cm, tilt right 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24679701030254364, + 0.0038146385923027992, + 0.04790573939681053, + -3.0998761653900146, + 0.07490622997283936, + 0.06723415851593018 + ], + "gripper_value": 0.061516307294368744 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bell pepper": [ + 580, + 444, + 710, + 560 + ], + "metal pot": [ + 148, + 347, + 436, + 699 + ], + "wooden tray": [ + 36, + 229, + 784, + 945 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "grasp and tilt pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 2 cm, move left 4 cm, move up 4 cm, tilt right 50 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2493358999490738, + -0.01003605592995882, + 0.051468443125486374, + 3.125905752182007, + 0.12799721956253052, + 0.08778093010187149 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 4 cm, tilt right 50 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24313460290431976, + -0.025439037010073662, + 0.06032313406467438, + 3.0284392833709717, + 0.19577743113040924, + 0.05560603365302086 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 2 cm, tilt right 50 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24177494645118713, + -0.03378162905573845, + 0.08085253834724426, + 2.9053399562835693, + 0.2705245018005371, + 0.024358954280614853 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, tilt right 40 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23698660731315613, + -0.03326532617211342, + 0.09087318927049637, + 2.824035406112671, + 0.3158717155456543, + -0.011280779726803303 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 1 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23928524553775787, + -0.024530954658985138, + 0.10705608129501343, + 2.6942245960235596, + 0.31741607189178467, + -0.058446452021598816 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 4 cm, tilt right 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24685704708099365, + -0.01023559644818306, + 0.1077733114361763, + 2.5343754291534424, + 0.3852214217185974, + -0.1138487458229065 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden tray": [ + 29, + 228, + 798, + 957 + ], + "metal pot": [ + 256, + 374, + 586, + 701 + ], + "orange bell pepper": [ + 582, + 441, + 715, + 564 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The robot has approached and made contact with the metal pot, and the gripper is now closing around it as indicated by the decreasing gripper value. The next action is to complete the grasp and begin tilting the pot toward the cardboard fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25602877140045166, + 0.001715041813440621, + 0.10680561512708664, + 2.479753255844116, + 0.34579962491989136, + -0.12560270726680756 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move left 2 cm, move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2599903643131256, + 0.011754855513572693, + 0.09941232949495316, + 2.458526849746704, + 0.3243965208530426, + -0.12010601162910461 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move forward 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618871331214905, + 0.02109583653509617, + 0.09587052464485168, + 2.3925693035125732, + 0.28281232714653015, + -0.12009700387716293 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, open gripper; then move forward 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658122181892395, + 0.03350713476538658, + 0.09091560542583466, + 2.2943105697631836, + 0.27265703678131104, + -0.11477550864219666 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, open gripper; then move forward 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2700527310371399, + 0.04328272491693497, + 0.08974096179008484, + 2.214750289916992, + 0.2849872410297394, + -0.09051968902349472 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, open gripper; then move forward 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2612442374229431, + 0.037619009613990784, + 0.08517874032258987, + 2.1786725521087646, + 0.3005470931529999, + -0.08932704478502274 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2462383508682251, + 0.027477646246552467, + 0.08529950678348541, + 2.2057290077209473, + 0.27775266766548157, + -0.11401142179965973 + ], + "gripper_value": 0.09326785057783127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.24056918919086456, + 0.0300119798630476, + 0.07906569540500641, + 2.2469472885131836, + 0.28054043650627136, + -0.11573603749275208 + ], + "gripper_value": 0.25270670652389526 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "hold and stabilize toppled pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.24073472619056702, + 0.03799573332071304, + 0.06934516131877899, + 2.3164520263671875, + 0.2696627080440521, + -0.09805217385292053 + ], + "gripper_value": 0.5091317892074585 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bell pepper": [ + 578, + 444, + 712, + 563 + ], + "wooden tray": [ + 30, + 220, + 789, + 952 + ], + "metal pot": [ + 242, + 399, + 531, + 765 + ] + } + } + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The metal pot is currently held by the gripper and tilted against the cardboard fence, indicating the toppling action is complete. The gripper has maintained a consistent closed state throughout this segment, confirming a stable hold. The robot should continue holding briefly to ensure the pot remains stabilized before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 5 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24341677129268646, + 0.04616715759038925, + 0.06733954697847366, + 2.361074924468994, + 0.28043004870414734, + -0.046073708683252335 + ], + "gripper_value": 0.803636372089386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The metal pot is already toppled on its side within the cardboard fence, and the gripper is no longer in contact with it. The release phase of the subtask is complete, and the robot is retreating from the pot. The next action is to continue moving away to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 5 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24901670217514038, + 0.06182859092950821, + 0.0802115872502327, + 2.398446559906006, + 0.21653589606285095, + 0.003908602520823479 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The metal pot is already toppled on its side within the cardboard fence, and the gripper is no longer in contact with it. The release phase of the subtask is complete, and the robot is retreating from the pot. The next action is to continue moving away to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583821415901184, + 0.08840355277061462, + 0.12075205892324448, + 2.473093032836914, + 0.0751914456486702, + 0.12375421822071075 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Topple the metal pot so it lies on its side within the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "make contact with pot" + }, + { + "id": 3, + "subtask": "grasp and tilt pot" + }, + { + "id": 4, + "subtask": "hold and stabilize toppled pot" + }, + { + "id": 5, + "subtask": "release and retreat from pot" + } + ], + "subtask_name": "release and retreat from pot", + "subtask_reasoning": "The metal pot is already toppled on its side within the cardboard fence, and the gripper is no longer in contact with it. The release phase of the subtask is complete, and the robot is retreating from the pot. The next action is to continue moving away to finalize the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004302_ecot.json b/cot/chunk-0004/episode_0004302_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b62922110535c4218ffe92f00d7aecb4cfdfcaa8 --- /dev/null +++ b/cot/chunk-0004/episode_0004302_ecot.json @@ -0,0 +1,2040 @@ +{ + "task_name": "episode_0004302", + "episode_json": "json/chunk-0004/episode_0004302.json", + "video_path": "videos/chunk-0004/image_0/episode_0004302.mp4", + "instruction": "Close microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004302.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013339519500732422, + "std": 0.00037306759622879326, + "delta_total": -0.0006677508354187012, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00037, total_delta=-0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 21 + ], + [ + 3, + 22, + 27 + ], + [ + 4, + 28, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave door\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the microwave door handle area without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with door\", \"start\": 3, \"end\": 21, \"planning\": \"Position and maintain contact with the microwave door to prepare for closing motion.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 22, \"end\": 27, \"planning\": \"Apply forward pressure to slide the microwave door shut along its track.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 28, \"end\": 31, \"planning\": \"Withdraw end-effector from the door after ensuring it is fully closed.\"}\n ],\n \"global_plan\": \"Close the microwave door by approaching, making contact, pushing it shut, then retreating — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, push, retreat). Frame ranges follow provided segments exactly for full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave door", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the microwave door handle area without grasping." + }, + { + "id": 2, + "name": "make contact with door", + "start": 3, + "end": 21, + "planning": "Position and maintain contact with the microwave door to prepare for closing motion." + }, + { + "id": 3, + "name": "push door closed", + "start": 22, + "end": 27, + "planning": "Apply forward pressure to slide the microwave door shut along its track." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 28, + "end": 31, + "planning": "Withdraw end-effector from the door after ensuring it is fully closed." + } + ], + "global_plan": "Close the microwave door by approaching, making contact, pushing it shut, then retreating — all without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, push, retreat). Frame ranges follow provided segments exactly for full coverage and contiguity." + } + }, + "episode_goal": "Close the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28419458866119385, + 0.0018751360476016998, + 0.03586944192647934, + -3.070103883743286, + -0.16873334348201752, + 0.30571919679641724 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned in front of the open microwave door with the gripper fully open. No contact has been made yet, and the subtask is to approach the door. The next action is to move the end-effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27925705909729004, + 0.001126444316469133, + 0.03037690371274948, + -3.065854549407959, + -0.13721798360347748, + 0.31161946058273315 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, keep gripper open; then move back 3 cm, move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719790041446686, + -0.004933476448059082, + 0.05298473313450813, + -3.105541706085205, + -0.10342627763748169, + 0.3478770852088928 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper open; then move back 3 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2651357650756836, + -0.005962074734270573, + 0.09300497174263, + 3.140984296798706, + -0.0709112361073494, + 0.39191463589668274 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24856893718242645, + 0.003968018107116222, + 0.1259075403213501, + 3.120593786239624, + -0.08632107824087143, + 0.4196081757545471 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 353, + 622, + 615, + 928 + ], + "yellow object": [ + 719, + 406, + 878, + 492 + ], + "drain cover": [ + 640, + 762, + 895, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23560824990272522, + 0.02206590585410595, + 0.15539757907390594, + 3.0657498836517334, + -0.10269740968942642, + 0.4443906545639038 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22791580855846405, + 0.03945770114660263, + 0.17334051430225372, + 3.0203468799591064, + -0.11689341068267822, + 0.44400376081466675 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22566384077072144, + 0.05204472318291664, + 0.17352358996868134, + 3.0404200553894043, + -0.1309604048728943, + 0.4553750157356262 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22768481075763702, + 0.06138545274734497, + 0.15533091127872467, + 3.086700439453125, + -0.14573979377746582, + 0.47502461075782776 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22869564592838287, + 0.0699906274676323, + 0.14109531044960022, + 3.1170616149902344, + -0.13899923861026764, + 0.48133230209350586 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22943048179149628, + 0.0725393146276474, + 0.12883500754833221, + 3.1273210048675537, + -0.15077851712703705, + 0.5072234272956848 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23312826454639435, + 0.06656283140182495, + 0.11458520591259003, + 3.1185848712921143, + -0.15117964148521423, + 0.5312736630439758 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no contact made yet. No part of the subtask has been completed. The next action is to move the end effector closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23926998674869537, + 0.05368062108755112, + 0.1041187196969986, + 3.123164176940918, + -0.14248020946979523, + 0.5142148733139038 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2449241578578949, + 0.036297112703323364, + 0.10412275791168213, + 3.0952930450439453, + -0.11702835559844971, + 0.5057777762413025 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2601529359817505, + 0.01933084987103939, + 0.10940651595592499, + 3.088627815246582, + -0.09545917809009552, + 0.5244116187095642 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764359712600708, + 0.0007973583415150642, + 0.11659161746501923, + 3.073824644088745, + -0.08503148704767227, + 0.5350534915924072 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 718, + 403, + 879, + 495 + ], + "drain cover": [ + 641, + 765, + 893, + 995 + ], + "sink": [ + 352, + 631, + 616, + 927 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865857183933258, + -0.020929114893078804, + 0.12898342311382294, + 3.047218084335327, + -0.07960185408592224, + 0.5316641330718994 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "drain cover": [ + 641, + 765, + 893, + 995 + ], + "sink": [ + 353, + 626, + 616, + 927 + ], + "yellow object": [ + 716, + 404, + 881, + 494 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27728408575057983, + -0.03287837281823158, + 0.13348539173603058, + 3.0377466678619385, + -0.028166845440864563, + 0.48588913679122925 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24438267946243286, + -0.03191254287958145, + 0.1349005550146103, + 3.023543119430542, + -0.06751971691846848, + 0.40141600370407104 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 9 cm, tilt left 10 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21830540895462036, + -0.027324454858899117, + 0.11911705136299133, + 3.0479254722595215, + -0.0684213861823082, + 0.3354724645614624 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.20529279112815857, + -0.018099335953593254, + 0.0997529849410057, + 3.0948543548583984, + -0.07719720155000687, + 0.30566543340682983 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21201013028621674, + -0.006092490162700415, + 0.07744883745908737, + 3.136437177658081, + -0.10902431607246399, + 0.3234331011772156 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, keep gripper open; then move forward 7 cm, move left 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.22620172798633575, + 0.010758831165730953, + 0.048236437141895294, + -3.0896661281585693, + -0.10156068950891495, + 0.36226871609687805 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24547232687473297, + 0.025815561413764954, + 0.03912939876317978, + -3.0771937370300293, + -0.1405215561389923, + 0.4031067490577698 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in contact with the door, as indicated by the end-effector position and lack of gripper closure. The next action is to push the door shut while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2610868215560913, + 0.03263377025723457, + 0.0403774157166481, + -3.091686725616455, + -0.1778862178325653, + 0.4380294978618622 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.274810254573822, + 0.03379034250974655, + 0.04249602183699608, + -3.10380482673645, + -0.194001704454422, + 0.45536473393440247 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856839597225189, + 0.033416979014873505, + 0.050684019923210144, + -3.128077507019043, + -0.2193029522895813, + 0.47527310252189636 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943260967731476, + 0.03317519649863243, + 0.04987737536430359, + -3.135382890701294, + -0.22264109551906586, + 0.49068430066108704 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 719, + 406, + 878, + 493 + ], + "drain cover": [ + 640, + 766, + 894, + 995 + ], + "sink": [ + 352, + 621, + 616, + 926 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30109700560569763, + 0.03415319323539734, + 0.05152176693081856, + 3.133840322494507, + -0.2655128240585327, + 0.4967954456806183 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot arm is in contact with the partially open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040757477283478, + 0.033681657165288925, + 0.05092189088463783, + 3.1258130073547363, + -0.27037256956100464, + 0.491376668214798 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has completed contact with the microwave door and is now in the retreat phase, moving away from the appliance. The gripper remains open throughout, confirming no grasping occurred. The next action is to continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2975988984107971, + 0.035180386155843735, + 0.051563605666160583, + 3.1201624870300293, + -0.23482643067836761, + 0.4602885842323303 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has completed contact with the microwave door and is now in the retreat phase, moving away from the appliance. The gripper remains open throughout, confirming no grasping occurred. The next action is to continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2770134508609772, + 0.04235471040010452, + 0.04573965445160866, + 3.1415445804595947, + -0.16500551998615265, + 0.424529492855072 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has completed contact with the microwave door and is now in the retreat phase, moving away from the appliance. The gripper remains open throughout, confirming no grasping occurred. The next action is to continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004304_ecot.json b/cot/chunk-0004/episode_0004304_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c6b3da7c959526082de2f0b544850fb1dc40521d --- /dev/null +++ b/cot/chunk-0004/episode_0004304_ecot.json @@ -0,0 +1,2941 @@ +{ + "task_name": "episode_0004304", + "episode_json": "json/chunk-0004/episode_0004304.json", + "video_path": "videos/chunk-0004/image_0/episode_0004304.mp4", + "instruction": "Unfold the cloth from top right to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004304.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.9475747346878052, + "std": 0.4064040184020996, + "delta_total": -0.22104275226593018, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94757, std=0.40640, total_delta=-0.22104). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 400, + 400, + 400, + 400, + 400, + 200, + 200, + 217, + 217, + 217, + 220, + 620, + 620, + 620, + 324, + 324, + 324, + 324, + 524, + 524, + 524, + 524, + 524, + 24, + 24, + 24, + 24, + 24, + 38 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 14 + ], + [ + 3, + 15, + 16 + ], + [ + 4, + 17, + 19 + ], + [ + 5, + 20, + 20 + ], + [ + 6, + 21, + 23 + ], + [ + 7, + 24, + 27 + ], + [ + 8, + 28, + 32 + ], + [ + 9, + 33, + 37 + ], + [ + 10, + 38, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth from top right\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the top-right corner of the folded cloth without grasping, as gripper remains fully open throughout this segment.\"},\n {\"id\": 2, \"name\": \"make contact and stabilize grip\", \"start\": 10, \"end\": 16, \"planning\": \"Lower end-effector to make contact with cloth; gripper begins closing in preparation for secure hold, transitioning into active grasp phase.\"},\n {\"id\": 3, \"name\": \"grasp and lift corner\", \"start\": 17, \"end\": 19, \"planning\": \"Gripper closes meaningfully (range=0.211) to secure top-right corner; slight lift initiated to begin unfolding motion.\"},\n {\"id\": 4, \"name\": \"drag cloth diagonally downward\", \"start\": 20, \"end\": 23, \"planning\": \"Pull cloth diagonally toward bottom-left while maintaining grip; motion is continuous and controlled to avoid slippage.\"},\n {\"id\": 5, \"name\": \"reposition grip for full extension\", \"start\": 24, \"end\": 27, \"planning\": \"Adjust gripper pressure (closing further, range=0.365) to maintain hold during directional change; prepare for final stretch.\"},\n {\"id\": 6, \"name\": \"extend cloth to bottom left\", \"start\": 28, \"end\": 37, \"planning\": \"Continue dragging cloth toward bottom-left corner until fully extended; gripper maintains hold but reduces pressure slightly near end.\"},\n {\"id\": 7, \"name\": \"release contact and retreat\", \"start\": 38, \"end\": 38, \"planning\": \"Open gripper to release cloth after full extension; end-effector retreats slightly to complete task without disturbing layout.\"}\n ],\n \"global_plan\": \"Unfold the orange cloth by approaching its top-right corner, securing it with a grasp, then dragging it diagonally to the bottom-left while adjusting grip as needed, finally releasing once fully extended.\",\n \"notes\": \"Subtask boundaries respect segment-level gripper evidence: no grasp wording used in segments 1 and 10 where gripper shows no meaningful closing. Segments 2–6 merged or split based on motion continuity and gripper behavior to reflect natural manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth from top right", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the top-right corner of the folded cloth without grasping, as gripper remains fully open throughout this segment." + }, + { + "id": 2, + "name": "make contact and stabilize grip", + "start": 10, + "end": 16, + "planning": "Lower end-effector to make contact with cloth; gripper begins closing in preparation for secure hold, transitioning into active grasp phase." + }, + { + "id": 3, + "name": "grasp and lift corner", + "start": 17, + "end": 19, + "planning": "Gripper closes meaningfully (range=0.211) to secure top-right corner; slight lift initiated to begin unfolding motion." + }, + { + "id": 4, + "name": "drag cloth diagonally downward", + "start": 20, + "end": 23, + "planning": "Pull cloth diagonally toward bottom-left while maintaining grip; motion is continuous and controlled to avoid slippage." + }, + { + "id": 5, + "name": "reposition grip for full extension", + "start": 24, + "end": 27, + "planning": "Adjust gripper pressure (closing further, range=0.365) to maintain hold during directional change; prepare for final stretch." + }, + { + "id": 6, + "name": "extend cloth to bottom left", + "start": 28, + "end": 37, + "planning": "Continue dragging cloth toward bottom-left corner until fully extended; gripper maintains hold but reduces pressure slightly near end." + }, + { + "id": 7, + "name": "release contact and retreat", + "start": 38, + "end": 38, + "planning": "Open gripper to release cloth after full extension; end-effector retreats slightly to complete task without disturbing layout." + } + ], + "global_plan": "Unfold the orange cloth by approaching its top-right corner, securing it with a grasp, then dragging it diagonally to the bottom-left while adjusting grip as needed, finally releasing once fully extended.", + "notes": "Subtask boundaries respect segment-level gripper evidence: no grasp wording used in segments 1 and 10 where gripper shows no meaningful closing. Segments 2–6 merged or split based on motion continuity and gripper behavior to reflect natural manipulation phases." + } + }, + "episode_goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.11897135525941849, + -0.01817690022289753, + 0.24487616121768951, + 3.1023800373077393, + -0.12269240617752075, + 0.03122672252357006 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible below. No actions have been completed yet as this is the start of the episode. The robot needs to move its end-effector towards the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 4 cm, move down 19 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.11917756497859955, + -0.017966123297810555, + 0.24341557919979095, + 3.104471206665039, + -0.12628979980945587, + 0.022449947893619537 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible below. No actions have been completed yet as this is the start of the episode. The robot needs to move its end-effector towards the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 4 cm, move down 19 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.13336509466171265, + -0.012738005258142948, + 0.22859330475330353, + 3.1353724002838135, + -0.20688657462596893, + 0.025629712268710136 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible below. No actions have been completed yet as this is the start of the episode. The robot needs to move its end-effector towards the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 3 cm, move down 17 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.16577011346817017, + -0.007865291088819504, + 0.2127460241317749, + 3.1244304180145264, + -0.17406517267227173, + 0.03669874370098114 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible below. No actions have been completed yet as this is the start of the episode. The robot needs to move its end-effector towards the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 3 cm, move down 15 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20533543825149536, + -0.0007802128093317151, + 0.1973176896572113, + 3.1407504081726074, + -0.1595609337091446, + 0.018206346780061722 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 50, + 264, + 727, + 660 + ], + "table": [ + 4, + 4, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 2 cm, move down 14 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24402214586734772, + 0.006793191656470299, + 0.1680479645729065, + -3.136195182800293, + -0.15030047297477722, + -0.03462161496281624 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 11 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692124843597412, + 0.0065421294420957565, + 0.13778162002563477, + 3.1390089988708496, + -0.19512735307216644, + -0.011928478255867958 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 8 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28757143020629883, + 0.005206045228987932, + 0.10956616699695587, + 3.1205248832702637, + -0.19212226569652557, + 0.021523358300328255 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 5 cm, keep gripper open; then move forward 3 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30148810148239136, + 0.003882443765178323, + 0.08484326303005219, + 3.1061606407165527, + -0.2334631383419037, + 0.03749428689479828 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move left 1 cm, move down 4 cm, close gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30973556637763977, + 0.009682834148406982, + 0.06616335362195969, + 3.141153335571289, + -0.1886829137802124, + 0.0389799065887928 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 49, + 275, + 727, + 660 + ], + "table": [ + 3, + 3, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth from top right", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 1 cm, move down 4 cm, close gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32030749320983887, + 0.01790030300617218, + 0.05838911607861519, + -3.099438190460205, + -0.17093445360660553, + 0.03186488896608353 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and stabilize grip", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 4 cm, close gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.326248437166214, + 0.029187310487031937, + 0.049905676394701004, + -3.072211980819702, + -0.15296611189842224, + 0.022803016006946564 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and stabilize grip", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, tilt right 10 degrees, close gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33528754115104675, + 0.039951521903276443, + 0.04017774388194084, + -3.0771896839141846, + -0.14418216049671173, + 0.017526032403111458 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and stabilize grip", + "subtask_reasoning": "The robot is positioned above the orange cloth, with the gripper open and aligned near the top-right corner. No grasping has occurred yet as per segment evidence. The next action should be to lower the gripper slightly to make contact with the cloth’s top-right corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper open; then close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3382110595703125, + 0.039832908660173416, + 0.029976369813084602, + -3.1082253456115723, + -0.12020709365606308, + 0.006871153134852648 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and stabilize grip", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and is now making contact to stabilize its grip. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to secure the cloth. The next action should be to confirm a stable grasp before initiating the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then keep gripper open; then close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429121673107147, + 0.03642740845680237, + 0.024503180757164955, + -3.13204026222229, + -0.11009086668491364, + -0.009841631166636944 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and stabilize grip", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and is now making contact to stabilize its grip. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to secure the cloth. The next action should be to confirm a stable grasp before initiating the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper open; then close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34409189224243164, + 0.03493989631533623, + 0.02116287313401699, + 3.1412572860717773, + -0.10221713036298752, + -0.021885165944695473 + ], + "gripper_value": 0.8544629216194153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and stabilize grip", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and is now making contact to stabilize its grip. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to secure the cloth. The next action should be to confirm a stable grasp before initiating the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper open; then close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.344303697347641, + 0.03405802696943283, + 0.018934860825538635, + 3.135035514831543, + -0.0954502522945404, + -0.025845032185316086 + ], + "gripper_value": 0.5511609315872192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact and stabilize grip", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and is now making contact to stabilize its grip. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to secure the cloth. The next action should be to confirm a stable grasp before initiating the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper open; then close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3460398316383362, + 0.0321190245449543, + 0.013794931583106518, + 3.120720148086548, + -0.09138120710849762, + -0.022243263199925423 + ], + "gripper_value": 0.2752157151699066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and is now making contact to stabilize its grip. The gripper is closing, as indicated by the decreasing gripper value, suggesting an attempt to secure the cloth. The next action should be to confirm a stable grasp before initiating the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480238616466522, + 0.031083274632692337, + 0.012040277011692524, + 3.111968994140625, + -0.09087523072957993, + -0.013293959200382233 + ], + "gripper_value": 0.15667486190795898 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and established contact. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then close gripper; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34886986017227173, + 0.03031391091644764, + 0.01214502938091755, + 3.10621976852417, + -0.09596555680036545, + -0.0032272315584123135 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and established contact. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then close gripper; then move back 1 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.349115252494812, + 0.031787045300006866, + 0.016895735636353493, + 3.133876323699951, + -0.0706166923046112, + -0.024662192910909653 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally downward", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and established contact. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move back 1 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.348772794008255, + 0.03037145547568798, + 0.02072441764175892, + -3.1201376914978027, + -0.04533984139561653, + -0.044668830931186676 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally downward", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and established contact. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.35089239478111267, + 0.02807689644396305, + 0.020809749141335487, + -3.1299948692321777, + -0.058805763721466064, + -0.05681540444493294 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally downward", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and established contact. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper closed; then move back 11 cm, move right 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524732291698456, + 0.02960016578435898, + 0.020921491086483, + -3.13736891746521, + -0.07060442119836807, + -0.04089446738362312 + ], + "gripper_value": 0.729983389377594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally downward", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and established contact. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, keep gripper closed; then move back 14 cm, move right 9 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3527069091796875, + 0.030125118792057037, + 0.014274677261710167, + 3.131951093673706, + -0.0680161863565445, + -0.0411282554268837 + ], + "gripper_value": 0.41842639446258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition grip for full extension", + "subtask_reasoning": "The robot has approached the top-right corner of the orange cloth and established contact. The gripper is currently closed around the fabric, indicating a successful grasp. The next action is to lift the corner slightly to prepare for the diagonal pull toward the bottom-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 15 cm, move right 9 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3531704843044281, + 0.031414709985256195, + 0.01305350661277771, + 3.119320869445801, + -0.06999162584543228, + -0.031590256839990616 + ], + "gripper_value": 0.18403103947639465 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition grip for full extension", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a closed gripper, having stabilized the initial grip. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the bottom-left to extend the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move back 16 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530176877975464, + 0.03213741257786751, + 0.013284112326800823, + 3.120236873626709, + -0.0711786299943924, + -0.02334143966436386 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition grip for full extension", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a closed gripper, having stabilized the initial grip. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the bottom-left to extend the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed; then move back 16 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.348818302154541, + 0.03423517942428589, + 0.01360403373837471, + 3.1328790187835693, + -0.04154904559254646, + -0.033021483570337296 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition grip for full extension", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a closed gripper, having stabilized the initial grip. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the bottom-left to extend the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move back 17 cm, move right 11 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3447250723838806, + 0.03458920866250992, + 0.044849518686532974, + -3.0681049823760986, + -0.03206191956996918, + -0.08463716506958008 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 35, + 270, + 717, + 664 + ], + "table": [ + 3, + 4, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a closed gripper, having stabilized the initial grip. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the bottom-left to extend the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move right 11 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3348868489265442, + 0.022850889712572098, + 0.08701691031455994, + -2.98183536529541, + -0.03456318378448486, + -0.12520693242549896 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a closed gripper, having stabilized the initial grip. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the bottom-left to extend the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.30592310428619385, + -0.001751808333210647, + 0.12889589369297028, + -2.961064100265503, + -0.10043676197528839, + -0.0843067541718483 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a closed gripper, having stabilized the initial grip. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the bottom-left to extend the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 8 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712935209274292, + -0.02060212939977646, + 0.1283058375120163, + -3.007155418395996, + -0.11176514625549316, + 0.012561884708702564 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a closed gripper, having stabilized the initial grip. The cloth remains partially folded on the table surface. The next action is to drag the gripper diagonally toward the bottom-left to extend the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2354583591222763, + -0.03688688203692436, + 0.11598363518714905, + -3.091982126235962, + -0.11871681362390518, + 0.11117333918809891 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a stable grip, as indicated by the low gripper value and consistent segment evidence. The cloth is partially extended but not yet flat. The next action is to continue dragging the gripper diagonally toward the bottom-left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2076149433851242, + -0.0519271157681942, + 0.09480149298906326, + 3.0901970863342285, + -0.11824246495962143, + 0.1840384602546692 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a stable grip, as indicated by the low gripper value and consistent segment evidence. The cloth is partially extended but not yet flat. The next action is to continue dragging the gripper diagonally toward the bottom-left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.19285565614700317, + -0.05891899764537811, + 0.08642654865980148, + 3.026719808578491, + -0.14763791859149933, + 0.23080509901046753 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a stable grip, as indicated by the low gripper value and consistent segment evidence. The cloth is partially extended but not yet flat. The next action is to continue dragging the gripper diagonally toward the bottom-left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.18587654829025269, + -0.06337764859199524, + 0.08236873894929886, + 3.000948190689087, + -0.1590881645679474, + 0.2634289562702179 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 69, + 316, + 773, + 912 + ], + "table": [ + 4, + 4, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a stable grip, as indicated by the low gripper value and consistent segment evidence. The cloth is partially extended but not yet flat. The next action is to continue dragging the gripper diagonally toward the bottom-left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.1821504831314087, + -0.06829117983579636, + 0.08655458688735962, + 3.0102412700653076, + -0.17482668161392212, + 0.24193792045116425 + ], + "gripper_value": 0.21919596195220947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a stable grip, as indicated by the low gripper value and consistent segment evidence. The cloth is partially extended but not yet flat. The next action is to continue dragging the gripper diagonally toward the bottom-left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.1791505515575409, + -0.07173652946949005, + 0.08953972160816193, + 3.0278642177581787, + -0.16230905055999756, + 0.22414255142211914 + ], + "gripper_value": 0.4737623631954193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "extend cloth to bottom left", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth with a stable grip, as indicated by the low gripper value and consistent segment evidence. The cloth is partially extended but not yet flat. The next action is to continue dragging the gripper diagonally toward the bottom-left to fully unfold the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.17641067504882812, + -0.07771215587854385, + 0.09613397717475891, + 3.065617799758911, + -0.15890809893608093, + 0.17548136413097382 + ], + "gripper_value": 0.7797733545303345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state by grasping and pulling the top-right corner toward the bottom-left until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from top right" + }, + { + "id": 2, + "subtask": "make contact and stabilize grip" + }, + { + "id": 3, + "subtask": "grasp and lift corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally downward" + }, + { + "id": 5, + "subtask": "reposition grip for full extension" + }, + { + "id": 6, + "subtask": "extend cloth to bottom left" + }, + { + "id": 7, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The orange cloth is fully unfolded and lying flat on the table. The gripper has released contact, as indicated by the open gripper state and lack of closing evidence in the segment. The robot is now retreating upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 38, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004306_ecot.json b/cot/chunk-0004/episode_0004306_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0cc9a70e5063c3fa8c32be5c86f7b041243e8502 --- /dev/null +++ b/cot/chunk-0004/episode_0004306_ecot.json @@ -0,0 +1,3013 @@ +{ + "task_name": "episode_0004306", + "episode_json": "json/chunk-0004/episode_0004306.json", + "video_path": "videos/chunk-0004/image_0/episode_0004306.mp4", + "instruction": "Folded left top corner to right bottom corner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004306.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9513534307479858, + "std": 0.42945966124534607, + "delta_total": -0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95135, std=0.42946, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 125, + 142, + 142, + 42 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 24 + ], + [ + 3, + 25, + 41 + ], + [ + 4, + 42, + 43 + ], + [ + 5, + 44, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the top-left corner of the orange cloth without grasping, as gripper remains open and no closing evidence exists in this segment.\"},\n {\"id\": 2, \"name\": \"grasp and lift corner\", \"start\": 10, \"end\": 24, \"planning\": \"Close gripper to grasp the cloth corner and lift it slightly, supported by meaningful gripper closure (range=0.299) and visual confirmation of contact and lift at frame 24.\"},\n {\"id\": 3, \"name\": \"drag corner diagonally\", \"start\": 25, \"end\": 41, \"planning\": \"Drag the grasped corner diagonally across the table toward bottom-right, maintaining grip while translating the cloth; motion continues from prior grasp phase.\"},\n {\"id\": 4, \"name\": \"release and retract\", \"start\": 42, \"end\": 43, \"planning\": \"Open gripper to release the cloth after reaching target position, confirmed by increasing gripper value (0.78→0.99) and slight retraction motion.\"},\n {\"id\": 5, \"name\": \"retreat to home\", \"start\": 44, \"end\": 44, \"planning\": \"Final retreat motion away from cloth with fully open gripper, completing the fold operation; no further manipulation occurs.\"}\n ],\n \"global_plan\": \"Fold the top-left corner of the orange cloth to the bottom-right by approaching, grasping, dragging diagonally, releasing, and retreating — all phases grounded in observed gripper behavior and motion segments.\",\n \"notes\": \"Segment 3 (frames 25-41) lacks explicit gripper data but is logically continuous with Segment 2’s grasp and Segment 4’s release; described as drag since object is held and moved. Segment 5 is trivial single-frame retreat. All subtasks are contiguous and cover full timeline [0,44].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the top-left corner of the orange cloth without grasping, as gripper remains open and no closing evidence exists in this segment." + }, + { + "id": 2, + "name": "grasp and lift corner", + "start": 10, + "end": 24, + "planning": "Close gripper to grasp the cloth corner and lift it slightly, supported by meaningful gripper closure (range=0.299) and visual confirmation of contact and lift at frame 24." + }, + { + "id": 3, + "name": "drag corner diagonally", + "start": 25, + "end": 41, + "planning": "Drag the grasped corner diagonally across the table toward bottom-right, maintaining grip while translating the cloth; motion continues from prior grasp phase." + }, + { + "id": 4, + "name": "release and retract", + "start": 42, + "end": 43, + "planning": "Open gripper to release the cloth after reaching target position, confirmed by increasing gripper value (0.78→0.99) and slight retraction motion." + }, + { + "id": 5, + "name": "retreat to home", + "start": 44, + "end": 44, + "planning": "Final retreat motion away from cloth with fully open gripper, completing the fold operation; no further manipulation occurs." + } + ], + "global_plan": "Fold the top-left corner of the orange cloth to the bottom-right by approaching, grasping, dragging diagonally, releasing, and retreating — all phases grounded in observed gripper behavior and motion segments.", + "notes": "Segment 3 (frames 25-41) lacks explicit gripper data but is logically continuous with Segment 2’s grasp and Segment 4’s release; described as drag since object is held and moved. Segment 5 is trivial single-frame retreat. All subtasks are contiguous and cover full timeline [0,44]." + } + }, + "episode_goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.15091118216514587, + 0.09897465258836746, + 0.1347864866256714, + 3.131267786026001, + -0.03593076765537262, + -0.1626681685447693 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 17 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.15024374425411224, + 0.09816282242536545, + 0.13192369043827057, + 3.116314649581909, + -0.020654281601309776, + -0.16704528033733368 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 17 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.15865740180015564, + 0.12877613306045532, + 0.12514793872833252, + 3.0636487007141113, + 0.035153087228536606, + -0.1268657147884369 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 3, + 170, + 417, + 667 + ], + "wooden table": [ + 4, + 134, + 996, + 994 + ], + "green toy": [ + 483, + 295, + 603, + 447 + ] + } + } + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 14 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.1656726896762848, + 0.15569061040878296, + 0.12665894627571106, + 3.0528249740600586, + 0.027340227738022804, + -0.0981658399105072 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.17292822897434235, + 0.17960670590400696, + 0.1288488358259201, + 3.044142723083496, + 0.005824199877679348, + -0.10842911899089813 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18099786341190338, + 0.20046791434288025, + 0.13291889429092407, + 3.0497753620147705, + -0.02416091226041317, + -0.16239246726036072 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1972401887178421, + 0.2196764200925827, + 0.13415253162384033, + 3.0530083179473877, + -0.054207559674978256, + -0.210822194814682 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21517549455165863, + 0.2371470034122467, + 0.13011270761489868, + 3.058265447616577, + -0.07514752447605133, + -0.24228344857692719 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move forward 7 cm, move left 2 cm, move down 3 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23473744094371796, + 0.247990682721138, + 0.12466365844011307, + 3.083768367767334, + -0.08630706369876862, + -0.2541710436344147 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, keep gripper open; then move forward 8 cm, move left 2 cm, move down 3 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521387040615082, + 0.2594420909881592, + 0.11690858751535416, + 3.093782424926758, + -0.11210644245147705, + -0.26020994782447815 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 8 cm, move left 2 cm, move down 4 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26471567153930664, + 0.27174630761146545, + 0.12070611119270325, + -3.1124141216278076, + -0.14732085168361664, + -0.2684456408023834 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move down 5 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2762109935283661, + 0.2813805639743805, + 0.12032986432313919, + -3.0239779949188232, + -0.18667559325695038, + -0.2763987183570862 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 3 cm, move down 5 cm, tilt left 20 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2827117145061493, + 0.283553808927536, + 0.11244282871484756, + -3.0030925273895264, + -0.17157116532325745, + -0.2833543121814728 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 3, + 171, + 417, + 667 + ], + "wooden table": [ + 4, + 134, + 996, + 995 + ], + "green toy": [ + 483, + 296, + 604, + 448 + ] + } + } + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29611432552337646, + 0.2831125557422638, + 0.10897041112184525, + -2.9867870807647705, + -0.15839813649654388, + -0.31435829401016235 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30437925457954407, + 0.28588882088661194, + 0.09965770691633224, + -3.0066957473754883, + -0.143390491604805, + -0.30639076232910156 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31543073058128357, + 0.2851041853427887, + 0.0991763100028038, + -2.9604763984680176, + -0.14432990550994873, + -0.30015963315963745 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33078277111053467, + 0.28630125522613525, + 0.09713049232959747, + -2.867783308029175, + -0.16315236687660217, + -0.3079165518283844 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is approaching the top-left corner of the orange cloth, with the gripper open and positioned above the target area. No contact or grasping has occurred yet, consistent with the 'approach' phase. The next action should be to lower the gripper slightly to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3387104272842407, + 0.28851786255836487, + 0.09212686121463776, + -2.78037428855896, + -0.1578175574541092, + -0.3152443468570709 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34634751081466675, + 0.2897774279117584, + 0.09217450022697449, + -2.7278871536254883, + -0.1472400277853012, + -0.31863927841186523 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3484109044075012, + 0.2948209345340729, + 0.07647323608398438, + -2.750842571258545, + -0.11510453373193741, + -0.29278579354286194 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35644835233688354, + 0.30434489250183105, + 0.07142098993062973, + -2.751685857772827, + -0.10742361098527908, + -0.2612023651599884 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36308029294013977, + 0.3123336732387543, + 0.06682870537042618, + -2.7520060539245605, + -0.10195335745811462, + -0.23123769462108612 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37230929732322693, + 0.3198080360889435, + 0.061099689453840256, + -2.763740301132202, + -0.10350721329450607, + -0.20140443742275238 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 6 cm, move right 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3786388039588928, + 0.3238620460033417, + 0.057486407458782196, + -2.7699646949768066, + -0.11643147468566895, + -0.1752525269985199 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3827377259731293, + 0.3242360055446625, + 0.05832650884985924, + -2.769235610961914, + -0.1562071442604065, + -0.1520950347185135 + ], + "gripper_value": 0.7001883387565613 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 3, + 169, + 416, + 665 + ], + "wooden table": [ + 3, + 135, + 996, + 994 + ], + "green toy": [ + 483, + 296, + 604, + 448 + ] + } + } + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 11 cm, move right 12 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38314229249954224, + 0.323520690202713, + 0.05845458060503006, + -2.7774722576141357, + -0.16806627810001373, + -0.14076712727546692 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 14 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3788900077342987, + 0.3170628547668457, + 0.04757482185959816, + -2.8015294075012207, + -0.17305909097194672, + -0.14072617888450623 + ], + "gripper_value": 0.1795559972524643 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 15 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683620095252991, + 0.31180888414382935, + 0.04925175756216049, + -2.827807903289795, + -0.18027417361736298, + -0.13942992687225342 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 16 cm, move up 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3609679043292999, + 0.30309775471687317, + 0.060084179043769836, + -2.8408281803131104, + -0.2075088918209076, + -0.15759652853012085 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 15 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3513624966144562, + 0.29224467277526855, + 0.08897821605205536, + -2.848900079727173, + -0.2686603367328644, + -0.19186241924762726 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3427785038948059, + 0.27835509181022644, + 0.11215498298406601, + -2.8613758087158203, + -0.31936490535736084, + -0.2337198406457901 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3336947560310364, + 0.2606947720050812, + 0.12720662355422974, + -2.8626396656036377, + -0.3501247763633728, + -0.29054349660873413 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 12 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183422386646271, + 0.24286843836307526, + 0.12778393924236298, + -2.8640096187591553, + -0.34658297896385193, + -0.34954315423965454 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth and is now positioned above it with gripper open. No grasp has occurred yet in this segment, as gripper remains fully open (0.99949) and no closing motion is evident. The next action should be to close the gripper to securely grasp the corner before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 11 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2996480464935303, + 0.22270826995372772, + 0.12538622319698334, + -2.8642685413360596, + -0.337566077709198, + -0.4170018136501312 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 9 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27518174052238464, + 0.2013445496559143, + 0.11644820123910904, + -2.867192506790161, + -0.3162107765674591, + -0.48668012022972107 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2502416670322418, + 0.18251919746398926, + 0.11407925933599472, + -2.857962131500244, + -0.31593140959739685, + -0.5476598739624023 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 3, + 213, + 418, + 668 + ], + "green toy": [ + 484, + 296, + 604, + 446 + ], + "wooden table": [ + 3, + 136, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.23208178579807281, + 0.16691480576992035, + 0.11211619526147842, + -2.8562638759613037, + -0.3129439949989319, + -0.6029819846153259 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2142551988363266, + 0.15647251904010773, + 0.10958794504404068, + -2.854451894760132, + -0.2998698949813843, + -0.6462963223457336 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.20216894149780273, + 0.14814424514770508, + 0.1053936779499054, + -2.8702592849731445, + -0.28971120715141296, + -0.6710391640663147 + ], + "gripper_value": 0.05012403428554535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.19476428627967834, + 0.142861470580101, + 0.09925789386034012, + -2.8865408897399902, + -0.27259910106658936, + -0.6828321814537048 + ], + "gripper_value": 0.07143880426883698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.1919270008802414, + 0.1419302076101303, + 0.09643930941820145, + -2.8973190784454346, + -0.26316317915916443, + -0.6771802306175232 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.19075904786586761, + 0.1401127278804779, + 0.09561014920473099, + -2.9126498699188232, + -0.26361703872680664, + -0.6769230961799622 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 4, + 303, + 417, + 670 + ], + "wooden table": [ + 4, + 137, + 996, + 995 + ], + "cardboard box": [ + 220, + 3, + 764, + 329 + ], + "green toy": [ + 484, + 297, + 603, + 446 + ] + } + } + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "drag corner diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, having completed the approach and grasp phases. The gripper remains closed with minimal variation, indicating a firm hold as the arm moves diagonally toward the bottom-right. The next action is to continue dragging the corner across the table surface to align it with the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.19012673199176788, + 0.1352386772632599, + 0.09912292659282684, + -2.9429004192352295, + -0.2779589593410492, + -0.6795437932014465 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "release and retract", + "subtask_reasoning": "The robot has completed dragging the top-left corner of the orange cloth toward the bottom-right and is now in the release and retract phase. The gripper is open (value ~0.78), indicating the cloth corner has been released. The next action is to retract the end-effector away from the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 42, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.19135747849941254, + 0.1358729600906372, + 0.11655501276254654, + -2.989790439605713, + -0.3151125907897949, + -0.678839921951294 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "release and retract", + "subtask_reasoning": "The robot has completed dragging the top-left corner of the orange cloth toward the bottom-right and is now in the release and retract phase. The gripper is open (value ~0.78), indicating the cloth corner has been released. The next action is to retract the end-effector away from the cloth to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 42, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.1910560131072998, + 0.14144262671470642, + 0.143612802028656, + 3.1280200481414795, + -0.31718820333480835, + -0.6281211376190186 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the top-left corner of the orange cloth diagonally toward the bottom-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag corner diagonally" + }, + { + "id": 4, + "subtask": "release and retract" + }, + { + "id": 5, + "subtask": "retreat to home" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The orange cloth has been folded diagonally from top-left to bottom-right, and the gripper is now open and retreating to its home position. The current frame shows no contact with the cloth, consistent with post-release retreat. Next, the robot should continue moving away from the workspace to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 44, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004308_ecot.json b/cot/chunk-0004/episode_0004308_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1217e3f4d95dbd459f5314a061bb2cf61b7cdd2e --- /dev/null +++ b/cot/chunk-0004/episode_0004308_ecot.json @@ -0,0 +1,2113 @@ +{ + "task_name": "episode_0004308", + "episode_json": "json/chunk-0004/episode_0004308.json", + "video_path": "videos/chunk-0004/image_0/episode_0004308.mp4", + "instruction": "Put the pot on top of the blue towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004308.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9381868243217468, + "std": 0.4234992563724518, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93819, std=0.42350, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 109, + 109, + 125, + 125, + 125, + 125, + 25 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 19 + ], + [ + 3, + 20, + 24 + ], + [ + 4, + 25, + 28 + ], + [ + 5, + 29, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on pot\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the pot and begin closing the gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift pot\", \"start\": 9, \"end\": 19, \"planning\": \"Securely grasp the pot with closed gripper and lift it clear of the table surface.\"},\n {\"id\": 3, \"name\": \"transport pot over blue towel\", \"start\": 20, \"end\": 24, \"planning\": \"Carry the lifted pot horizontally toward the target location above the blue towel.\"},\n {\"id\": 4, \"name\": \"lower and release pot onto towel\", \"start\": 25, \"end\": 28, \"planning\": \"Descend with the pot and open the gripper to place it gently on the blue towel.\"},\n {\"id\": 5, \"name\": \"retreat from placed pot\", \"start\": 29, \"end\": 29, \"planning\": \"Withdraw the end-effector upward and away from the successfully placed pot.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp and lift it, move it over the blue towel, lower and release it onto the towel, then retreat.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.59) consistent with preparing to grasp; Segment 2 confirms full grasp and lift via low gripper value and vertical motion; Segment 4 shows gripper opening during descent for placement; Segment 5 is a single-frame retreat with no grasp activity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on pot", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the pot and begin closing the gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and lift pot", + "start": 9, + "end": 19, + "planning": "Securely grasp the pot with closed gripper and lift it clear of the table surface." + }, + { + "id": 3, + "name": "transport pot over blue towel", + "start": 20, + "end": 24, + "planning": "Carry the lifted pot horizontally toward the target location above the blue towel." + }, + { + "id": 4, + "name": "lower and release pot onto towel", + "start": 25, + "end": 28, + "planning": "Descend with the pot and open the gripper to place it gently on the blue towel." + }, + { + "id": 5, + "name": "retreat from placed pot", + "start": 29, + "end": 29, + "planning": "Withdraw the end-effector upward and away from the successfully placed pot." + } + ], + "global_plan": "Approach the pot, grasp and lift it, move it over the blue towel, lower and release it onto the towel, then retreat.", + "notes": "Segment 1 shows gripper closing (delta=-0.59) consistent with preparing to grasp; Segment 2 confirms full grasp and lift via low gripper value and vertical motion; Segment 4 shows gripper opening during descent for placement; Segment 5 is a single-frame retreat with no grasp activity." + } + }, + "episode_goal": "Place the metal pot on top of the blue towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3437517583370209, + 0.05459810048341751, + 0.09166798740625381, + 3.12414288520813, + -0.1755579262971878, + -0.07382237911224365 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot with its gripper open, ready to grasp. No prior actions have been completed in this subtask. The next step is to lower the gripper and close it around the pot’s handle to secure a firm hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 8 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34227991104125977, + 0.05371169373393059, + 0.08100538700819016, + 3.1121742725372314, + -0.14693842828273773, + -0.06988132745027542 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot with its gripper open, ready to grasp. No prior actions have been completed in this subtask. The next step is to lower the gripper and close it around the pot’s handle to secure a firm hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 7 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492032289505005, + 0.05501509830355644, + 0.060377150774002075, + 3.083110809326172, + -0.127951517701149, + -0.06471210718154907 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot with its gripper open, ready to grasp. No prior actions have been completed in this subtask. The next step is to lower the gripper and close it around the pot’s handle to secure a firm hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 5 cm, close gripper; then move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36241376399993896, + 0.07053633034229279, + 0.05907994881272316, + 3.0753705501556396, + -0.1724044680595398, + -0.031587857753038406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot is positioned above the metal pot with its gripper open, ready to grasp. No prior actions have been completed in this subtask. The next step is to lower the gripper and close it around the pot’s handle to secure a firm hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, close gripper; then move forward 1 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3699631690979004, + 0.07413877546787262, + 0.04691728204488754, + 3.0678775310516357, + -0.17506955564022064, + -0.020986925810575485 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, close gripper; then move right 1 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767179250717163, + 0.06422947347164154, + 0.03782381862401962, + 3.0637030601501465, + -0.18635162711143494, + -0.012485959567129612 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, close gripper; then move back 3 cm, move left 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3819493055343628, + 0.04949263855814934, + 0.0355038195848465, + 3.06178879737854, + -0.20592130720615387, + -0.024972720071673393 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 463, + 269, + 680, + 518 + ], + "yellow brush": [ + 270, + 175, + 406, + 334 + ], + "blue sponge": [ + 63, + 318, + 356, + 587 + ], + "green balloon": [ + 364, + 596, + 463, + 749 + ], + "tomato sauce": [ + 637, + 40, + 784, + 298 + ], + "toy appliance": [ + 256, + 5, + 628, + 378 + ], + "toy stove": [ + 674, + 176, + 995, + 991 + ], + "corn": [ + 768, + 128, + 920, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 7 cm, move left 8 cm, move up 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791937530040741, + 0.044578757137060165, + 0.012964296154677868, + 3.080106019973755, + -0.14351952075958252, + -0.03858248516917229 + ], + "gripper_value": 0.9295665621757507 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 10 cm, move left 12 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3837966322898865, + 0.042870376259088516, + 0.011360527947545052, + 3.097508430480957, + -0.14707544445991516, + -0.036522120237350464 + ], + "gripper_value": 0.629988968372345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and close gripper on pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 12 cm, move left 14 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38437578082084656, + 0.04533959925174713, + 0.011055104434490204, + 3.1112186908721924, + -0.14786019921302795, + -0.025291437283158302 + ], + "gripper_value": 0.33559030294418335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 15 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3841782510280609, + 0.045545924454927444, + 0.011535470373928547, + 3.1187479496002197, + -0.14580821990966797, + -0.019825542345643044 + ], + "gripper_value": 0.13712207973003387 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 15 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38357317447662354, + 0.039522890001535416, + 0.011313891969621181, + 3.120403528213501, + -0.13611716032028198, + -0.0039104800671339035 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 16 cm, move up 5 cm, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38910797238349915, + 0.01986132748425007, + 0.01985168270766735, + 3.066689968109131, + -0.12689529359340668, + 0.026766309514641762 + ], + "gripper_value": 0.08089608699083328 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 18 cm, move up 4 cm, keep gripper closed; then move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39679059386253357, + 0.006407942157238722, + 0.057416632771492004, + 2.9750092029571533, + -0.17904707789421082, + 0.03566773608326912 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot on the wooden counter, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to lower the gripper slightly and close it around the pot’s handles to secure a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 19 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38552621006965637, + 0.03381873667240143, + 0.1009068563580513, + 2.9580392837524414, + -0.22584602236747742, + 0.06219102442264557 + ], + "gripper_value": 0.07429859787225723 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot is currently held above the table, having been successfully grasped and lifted from its initial position. The gripper is closed around the pot handle, and the arm is positioned to move the pot toward the blue towel. The next action is to translate the pot over the blue towel in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 17 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35318318009376526, + 0.07538450509309769, + 0.10447337478399277, + 2.9923341274261475, + -0.18073751032352448, + 0.042451731860637665 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot is currently held above the table, having been successfully grasped and lifted from its initial position. The gripper is closed around the pot handle, and the arm is positioned to move the pot toward the blue towel. The next action is to translate the pot over the blue towel in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 12 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3137289881706238, + 0.1270664632320404, + 0.1064368188381195, + 3.0180509090423584, + -0.16175596415996552, + 0.02129003033041954 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 63, + 318, + 357, + 587 + ], + "tomato sauce": [ + 637, + 40, + 784, + 300 + ], + "metal pot": [ + 283, + 107, + 523, + 356 + ], + "toy appliance": [ + 446, + 2, + 674, + 238 + ], + "green balloon": [ + 364, + 596, + 463, + 748 + ], + "toy stove": [ + 673, + 177, + 995, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot is currently held above the table, having been successfully grasped and lifted from its initial position. The gripper is closed around the pot handle, and the arm is positioned to move the pot toward the blue towel. The next action is to translate the pot over the blue towel in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28218916058540344, + 0.16316820681095123, + 0.10392890870571136, + 3.032496452331543, + -0.1542128473520279, + -0.0060015288181602955 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot is currently held above the table, having been successfully grasped and lifted from its initial position. The gripper is closed around the pot handle, and the arm is positioned to move the pot toward the blue towel. The next action is to translate the pot over the blue towel in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 3 cm, open gripper; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667172849178314, + 0.1844853162765503, + 0.09556542336940765, + 3.0851500034332275, + -0.1481606662273407, + -0.006678924895823002 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot is currently held above the table, having been successfully grasped and lifted from its initial position. The gripper is closed around the pot handle, and the arm is positioned to move the pot toward the blue towel. The next action is to translate the pot over the blue towel in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 3 cm, open gripper; then move forward 1 cm, move right 7 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2660911977291107, + 0.19437435269355774, + 0.08180525153875351, + 3.121140718460083, + -0.12599287927150726, + -0.0013348872307687998 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot is currently held above the table, having been successfully grasped and lifted from its initial position. The gripper is closed around the pot handle, and the arm is positioned to move the pot toward the blue towel. The next action is to translate the pot over the blue towel in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 3 cm, open gripper; then move forward 1 cm, move right 10 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2641395926475525, + 0.19987943768501282, + 0.06266491115093231, + -3.1410415172576904, + -0.09055565297603607, + 0.03384540602564812 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "transport pot over blue towel", + "subtask_reasoning": "The pot is currently held above the table, having been successfully grasped and lifted from its initial position. The gripper is closed around the pot handle, and the arm is positioned to move the pot toward the blue towel. The next action is to translate the pot over the blue towel in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, open gripper; then move forward 1 cm, move right 10 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2636016011238098, + 0.20466411113739014, + 0.042742203921079636, + -3.1255319118499756, + -0.04880688712000847, + 0.05451062694191933 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "transport pot over blue towel", + "subtask_reasoning": "The pot is currently held above the table, having been successfully grasped and lifted from its initial position. The gripper is closed around the pot handle, and the arm is positioned to move the pot toward the blue towel. The next action is to translate the pot over the blue towel in preparation for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 10 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666901648044586, + 0.21119555830955505, + 0.03210291638970375, + -3.1153969764709473, + -0.023018546402454376, + 0.06714571267366409 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "transport pot over blue towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel on the counter. The robot has successfully lifted the pot and transported it to the target location. The next action is to lower the pot and release it onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move right 10 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2703527510166168, + 0.21660296618938446, + 0.031561750918626785, + -3.104984760284424, + -0.01613018848001957, + 0.06928505003452301 + ], + "gripper_value": 0.11078528314828873 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "transport pot over blue towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel on the counter. The robot has successfully lifted the pot and transported it to the target location. The next action is to lower the pot and release it onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 10 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27130866050720215, + 0.21760043501853943, + 0.031494755297899246, + -3.102360248565674, + -0.01826251670718193, + 0.07602154463529587 + ], + "gripper_value": 0.2973475158214569 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "transport pot over blue towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel on the counter. The robot has successfully lifted the pot and transported it to the target location. The next action is to lower the pot and release it onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 10 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2730875313282013, + 0.21729163825511932, + 0.03152785450220108, + -3.1027910709381104, + -0.028016718104481697, + 0.08998530358076096 + ], + "gripper_value": 0.5938982367515564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lower and release pot onto towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel on the counter. The robot has successfully lifted the pot and transported it to the target location. The next action is to lower the pot and release it onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26972493529319763, + 0.2133602350950241, + 0.029228217899799347, + -3.1023356914520264, + -0.022345593199133873, + 0.08715561032295227 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lower and release pot onto towel", + "subtask_reasoning": "The metal pot is currently positioned directly above the blue towel, with the gripper still holding it. The gripper value indicates it is in the process of opening to release the pot. The next action is to fully open the gripper to place the pot onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 7 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27623632550239563, + 0.19242314994335175, + 0.06779716163873672, + -3.054201126098633, + -0.06921318918466568, + 0.035748690366744995 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lower and release pot onto towel", + "subtask_reasoning": "The metal pot is currently positioned directly above the blue towel, with the gripper still holding it. The gripper value indicates it is in the process of opening to release the pot. The next action is to fully open the gripper to place the pot onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28229907155036926, + 0.15079942345619202, + 0.09361295402050018, + -3.099320650100708, + -0.05288635194301605, + 0.03146488219499588 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow brush": [ + 269, + 175, + 415, + 334 + ], + "metal pot": [ + 67, + 296, + 304, + 542 + ], + "green balloon": [ + 365, + 597, + 463, + 748 + ], + "toy appliance": [ + 273, + 2, + 672, + 237 + ], + "tomato sauce": [ + 636, + 40, + 783, + 299 + ], + "blue sponge": [ + 60, + 361, + 357, + 587 + ], + "toy stove": [ + 674, + 176, + 995, + 992 + ], + "corn": [ + 768, + 129, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lower and release pot onto towel", + "subtask_reasoning": "The metal pot is currently positioned directly above the blue towel, with the gripper still holding it. The gripper value indicates it is in the process of opening to release the pot. The next action is to fully open the gripper to place the pot onto the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28638598322868347, + 0.12100636214017868, + 0.09651515632867813, + 3.124457597732544, + -0.024132532998919487, + 0.009707983583211899 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on top of the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on pot" + }, + { + "id": 2, + "subtask": "grasp and lift pot" + }, + { + "id": 3, + "subtask": "transport pot over blue towel" + }, + { + "id": 4, + "subtask": "lower and release pot onto towel" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "retreat from placed pot", + "subtask_reasoning": "The metal pot is already placed on the blue towel. The gripper is open and the arm is positioned above the pot, indicating the placement is complete. The next action is to retreat the arm away from the pot and towel area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004309_ecot.json b/cot/chunk-0004/episode_0004309_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7c20e559f1481407f52344ed430468ac1a034b3f --- /dev/null +++ b/cot/chunk-0004/episode_0004309_ecot.json @@ -0,0 +1,2325 @@ +{ + "task_name": "episode_0004309", + "episode_json": "json/chunk-0004/episode_0004309.json", + "video_path": "videos/chunk-0004/image_0/episode_0004309.mp4", + "instruction": "Fold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004309.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.5151529312133789, + "std": 0.24251481890678406, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.51515, std=0.24251, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 30, + 30, + 30, + 30, + 30, + 30 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 3, + 6, + 16 + ], + [ + 4, + 17, + 29 + ], + [ + 5, + 30, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the right edge of the green cloth to prepare for folding.\"},\n {\"id\": 2, \"name\": \"contact and align\", \"start\": 6, \"end\": 16, \"planning\": \"Make contact with the cloth and adjust position to align gripper for folding motion.\"},\n {\"id\": 3, \"name\": \"initiate fold\", \"start\": 17, \"end\": 29, \"planning\": \"Begin dragging the right edge of the cloth leftward while maintaining light contact without grasping.\"},\n {\"id\": 4, \"name\": \"complete fold\", \"start\": 30, \"end\": 35, \"planning\": \"Finish folding by releasing contact and retreating after the cloth is folded from right to left.\"}\n ],\n \"global_plan\": \"Fold the green cloth from right to left by approaching, making contact, dragging the edge leftward without grasping, and retreating after completion.\",\n \"notes\": \"No segment shows meaningful gripper closing except Segment 5, but image evidence at Frame 35 shows no object held — gripper is open and empty. Thus, no grasp/hold/place wording is used; all actions are contact-based or retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the right edge of the green cloth to prepare for folding." + }, + { + "id": 2, + "name": "contact and align", + "start": 6, + "end": 16, + "planning": "Make contact with the cloth and adjust position to align gripper for folding motion." + }, + { + "id": 3, + "name": "initiate fold", + "start": 17, + "end": 29, + "planning": "Begin dragging the right edge of the cloth leftward while maintaining light contact without grasping." + }, + { + "id": 4, + "name": "complete fold", + "start": 30, + "end": 35, + "planning": "Finish folding by releasing contact and retreating after the cloth is folded from right to left." + } + ], + "global_plan": "Fold the green cloth from right to left by approaching, making contact, dragging the edge leftward without grasping, and retreating after completion.", + "notes": "No segment shows meaningful gripper closing except Segment 5, but image evidence at Frame 35 shows no object held — gripper is open and empty. Thus, no grasp/hold/place wording is used; all actions are contact-based or retreat." + } + }, + "episode_goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25654956698417664, + 0.1511869579553604, + 0.16678208112716675, + 3.0838451385498047, + -0.20524302124977112, + 0.664997935295105 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move towards the right edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move down 6 cm, keep gripper open; then move right 5 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25567105412483215, + 0.1498536914587021, + 0.1588859111070633, + 3.0845296382904053, + -0.1789032369852066, + 0.6681855320930481 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move towards the right edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24975842237472534, + 0.1283835619688034, + 0.14938265085220337, + 3.076408624649048, + -0.1697043925523758, + 0.6326025128364563 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24130654335021973, + 0.1038537323474884, + 0.1440289169549942, + 3.077244520187378, + -0.17438183724880219, + 0.6014481782913208 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 7 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.238296240568161, + 0.08105975389480591, + 0.13394007086753845, + 3.080540180206299, + -0.16825200617313385, + 0.5896168947219849 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 7 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23817959427833557, + 0.06815357506275177, + 0.12298648804426193, + 3.077178716659546, + -0.16455139219760895, + 0.6136332750320435 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 7 cm, move down 8 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23762573301792145, + 0.05101989209651947, + 0.10585793107748032, + 3.0744714736938477, + -0.1870841085910797, + 0.6297556757926941 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 8 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23673975467681885, + 0.03632621839642525, + 0.08883868157863617, + 3.0477218627929688, + -0.23462778329849243, + 0.671341598033905 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy apple": [ + 504, + 594, + 618, + 746 + ], + "toy croissant": [ + 598, + 546, + 727, + 697 + ], + "blue jar": [ + 429, + 795, + 570, + 996 + ], + "toy carrot": [ + 399, + 607, + 486, + 960 + ], + "green cloth": [ + 2, + 320, + 454, + 854 + ], + "table": [ + 6, + 280, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2391878217458725, + 0.02372063510119915, + 0.07914993166923523, + 3.0451741218566895, + -0.24740514159202576, + 0.6863559484481812 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 5 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2415986806154251, + 0.007826576940715313, + 0.06990445405244827, + 3.0641403198242188, + -0.23967726528644562, + 0.6642040610313416 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy apple": [ + 505, + 594, + 618, + 747 + ], + "toy carrot": [ + 397, + 679, + 486, + 964 + ], + "toy croissant": [ + 598, + 546, + 727, + 696 + ], + "blue jar": [ + 429, + 795, + 570, + 996 + ], + "table": [ + 6, + 290, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, close gripper; then move forward 2 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24153125286102295, + 5.27290249010548e-05, + 0.06657329946756363, + 3.066791296005249, + -0.22706066071987152, + 0.65816330909729 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with its gripper open, having not yet made contact. The current subtask involves approaching the right edge of the cloth to prepare for the folding action. The next step is to move the gripper closer to the cloth's right edge to initiate the drag motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, close gripper; then move forward 5 cm, move left 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2462877482175827, + -0.006800975184887648, + 0.06767246872186661, + 3.047865152359009, + -0.2578102946281433, + 0.6558757424354553 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then move forward 6 cm, move left 4 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24490591883659363, + -0.009219426661729813, + 0.058304980397224426, + 3.0604348182678223, + -0.2619408667087555, + 0.6551769375801086 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move forward 7 cm, move left 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24451236426830292, + -0.014300270937383175, + 0.04475351423025131, + 3.077249765396118, + -0.2861400246620178, + 0.6431166529655457 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 9 cm, move left 9 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2464509755373001, + -0.015557191334664822, + 0.03330612555146217, + 3.1035258769989014, + -0.2910284101963043, + 0.6372172236442566 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 9 cm, move left 11 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.250128835439682, + -0.0165603868663311, + 0.02892724983394146, + 3.102337598800659, + -0.309099018573761, + 0.6481801867485046 + ], + "gripper_value": 0.9575772881507874 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move left 13 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2545091211795807, + -0.018134281039237976, + 0.02880263701081276, + 3.0923657417297363, + -0.31188637018203735, + 0.6670007705688477 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "contact and align", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move left 14 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516769766807556, + -0.016682516783475876, + 0.030968032777309418, + 3.0968334674835205, + -0.2613636255264282, + 0.6943702101707458 + ], + "gripper_value": 0.48990920186042786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 16 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613970935344696, + -0.009464161470532417, + 0.05190610885620117, + 3.048746109008789, + -0.23302128911018372, + 0.7391312122344971 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue jar": [ + 450, + 804, + 595, + 996 + ], + "toy apple": [ + 513, + 599, + 619, + 751 + ], + "toy carrot": [ + 400, + 678, + 481, + 895 + ], + "table": [ + 5, + 280, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 16 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27622169256210327, + -0.0018371185287833214, + 0.07203786075115204, + 3.025160789489746, + -0.21185302734375, + 0.7729106545448303 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 15 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29813966155052185, + 0.010102041997015476, + 0.08891275525093079, + 3.0059993267059326, + -0.20592893660068512, + 0.8103840351104736 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31607624888420105, + 0.021610146388411522, + 0.08972689509391785, + 3.023606538772583, + -0.22360432147979736, + 0.8044182658195496 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move down 5 cm, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.326058566570282, + 0.0374923050403595, + 0.08393162488937378, + 3.0389795303344727, + -0.24653120338916779, + 0.8107171654701233 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach phase. Although segment-level evidence suggests a grasp is possible, the current frame shows the gripper is open and not yet in firm contact with the cloth edge. The next action is to lower the end-effector to establish physical contact with the right edge of the cloth to prepare for the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move down 4 cm, tilt back 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33889690041542053, + 0.06845884025096893, + 0.0768243819475174, + 3.044361114501953, + -0.282252699136734, + 0.8486063480377197 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 3 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429732918739319, + 0.0927467867732048, + 0.07601529359817505, + 3.0354180335998535, + -0.31345513463020325, + 0.8758118748664856 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 3 cm, open gripper; then move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.347295343875885, + 0.11196531355381012, + 0.07687205076217651, + 3.028552293777466, + -0.32666268944740295, + 0.9083301424980164 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 3 cm, open gripper; then move back 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35617467761039734, + 0.1262502521276474, + 0.0802127942442894, + 3.0130786895751953, + -0.33976027369499207, + 0.9426313042640686 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, open gripper; then move back 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3604312241077423, + 0.14183276891708374, + 0.07255271822214127, + 3.027510643005371, + -0.34456562995910645, + 0.9727611541748047 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper; then move back 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3618583083152771, + 0.15111863613128662, + 0.05828166380524635, + 3.0521399974823, + -0.35770636796951294, + 0.959426760673523 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589131236076355, + 0.1483566015958786, + 0.05202899128198624, + 3.0561091899871826, + -0.3578999638557434, + 0.9383490681648254 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "initiate fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35270246863365173, + 0.14166712760925293, + 0.042360033839941025, + 3.088921546936035, + -0.3565981686115265, + 0.8904606699943542 + ], + "gripper_value": 0.5570889115333557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "complete fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.352803498506546, + 0.13982143998146057, + 0.04207678884267807, + 3.094923257827759, + -0.352251261472702, + 0.8658613562583923 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "complete fold", + "subtask_reasoning": "The robot end-effector is positioned above the right edge of the green cloth, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating a non-grasping contact strategy. The next action is to drag the right edge of the cloth leftward to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.35308873653411865, + 0.13918447494506836, + 0.04818620905280113, + 3.111386299133301, + -0.31844276189804077, + 0.847636342048645 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "complete fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach and alignment phases. The segment-level gripper evidence indicates a closing action is occurring or about to occur to secure the right edge of the cloth. The next immediate action is to grasp the right edge of the cloth to initiate the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.35518574714660645, + 0.14080652594566345, + 0.06382548063993454, + 3.1068663597106934, + -0.3088549077510834, + 0.8396399021148682 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "complete fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach and alignment phases. The segment-level gripper evidence indicates a closing action is occurring or about to occur to secure the right edge of the cloth. The next immediate action is to grasp the right edge of the cloth to initiate the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.35445883870124817, + 0.1407860815525055, + 0.09984838962554932, + 3.0768861770629883, + -0.30878445506095886, + 0.845956027507782 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy croissant": [ + 598, + 546, + 727, + 696 + ], + "toy apple": [ + 502, + 593, + 619, + 743 + ], + "blue jar": [ + 449, + 804, + 595, + 996 + ], + "toy carrot": [ + 283, + 389, + 372, + 573 + ], + "table": [ + 7, + 252, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "complete fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach and alignment phases. The segment-level gripper evidence indicates a closing action is occurring or about to occur to secure the right edge of the cloth. The next immediate action is to grasp the right edge of the cloth to initiate the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.34344494342803955, + 0.14055100083351135, + 0.12627510726451874, + 3.0698368549346924, + -0.26699182391166687, + 0.8328366875648499 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and align" + }, + { + "id": 3, + "subtask": "initiate fold" + }, + { + "id": 4, + "subtask": "complete fold" + } + ], + "subtask_name": "complete fold", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, having completed the approach and alignment phases. The segment-level gripper evidence indicates a closing action is occurring or about to occur to secure the right edge of the cloth. The next immediate action is to grasp the right edge of the cloth to initiate the folding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004310_ecot.json b/cot/chunk-0004/episode_0004310_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1916ecbf9761f9d0c27a7398b7527befe90306ef --- /dev/null +++ b/cot/chunk-0004/episode_0004310_ecot.json @@ -0,0 +1,2632 @@ +{ + "task_name": "episode_0004310", + "episode_json": "json/chunk-0004/episode_0004310.json", + "video_path": "videos/chunk-0004/image_0/episode_0004310.mp4", + "instruction": "Moved the can to the upper right corner of the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004310.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 12 + ], + [ + 4, + 13, + 21 + ], + [ + 5, + 22, + 29 + ], + [ + 6, + 30, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can from above\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector downward and laterally to position above the can on the right burner.\"},\n {\"id\": 2, \"name\": \"nudge can toward target corner\", \"start\": 4, \"end\": 11, \"planning\": \"Apply gentle lateral contact to slide the can diagonally toward the upper right corner of the burner.\"},\n {\"id\": 3, \"name\": \"fine-adjust can position\", \"start\": 12, \"end\": 12, \"planning\": \"Make micro-adjustment to align can precisely with the target corner using minimal contact.\"},\n {\"id\": 4, \"name\": \"retract after positioning\", \"start\": 13, \"end\": 21, \"planning\": \"Lift and retreat end-effector away from the can to avoid disturbing its final position.\"},\n {\"id\": 5, \"name\": \"hover over towel area\", \"start\": 22, \"end\": 29, \"planning\": \"Translate end-effector leftward to hover above the green towel, avoiding contact with any objects.\"},\n {\"id\": 6, \"name\": \"settle in idle pose\", \"start\": 30, \"end\": 37, \"planning\": \"Hold stationary pose above the towel region as task completion state.\"}\n ],\n \"global_plan\": \"The robot approaches the can without grasping, nudges it into the upper right corner of the right burner via sliding contact, then retracts and moves to an idle hover position over the towel.\",\n \"notes\": \"No grasping occurred — gripper remained fully open throughout. All motion is contact-based or free-space translation. Segment boundaries respected; no hallucinated lifts or places.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can from above", + "start": 0, + "end": 3, + "planning": "Move end-effector downward and laterally to position above the can on the right burner." + }, + { + "id": 2, + "name": "nudge can toward target corner", + "start": 4, + "end": 11, + "planning": "Apply gentle lateral contact to slide the can diagonally toward the upper right corner of the burner." + }, + { + "id": 3, + "name": "fine-adjust can position", + "start": 12, + "end": 12, + "planning": "Make micro-adjustment to align can precisely with the target corner using minimal contact." + }, + { + "id": 4, + "name": "retract after positioning", + "start": 13, + "end": 21, + "planning": "Lift and retreat end-effector away from the can to avoid disturbing its final position." + }, + { + "id": 5, + "name": "hover over towel area", + "start": 22, + "end": 29, + "planning": "Translate end-effector leftward to hover above the green towel, avoiding contact with any objects." + }, + { + "id": 6, + "name": "settle in idle pose", + "start": 30, + "end": 37, + "planning": "Hold stationary pose above the towel region as task completion state." + } + ], + "global_plan": "The robot approaches the can without grasping, nudges it into the upper right corner of the right burner via sliding contact, then retracts and moves to an idle hover position over the towel.", + "notes": "No grasping occurred — gripper remained fully open throughout. All motion is contact-based or free-space translation. Segment boundaries respected; no hallucinated lifts or places." + } + }, + "episode_goal": "Move the can to the upper right corner of the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32313746213912964, + 0.09734000265598297, + 0.09217886626720428, + 3.138334035873413, + -0.282734215259552, + 0.8357207775115967 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the stove with the can visible on the right burner. No movement or contact has occurred yet. The next action is to lower and advance the end-effector toward the can to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.320156067609787, + 0.09647422283887863, + 0.0822305902838707, + -3.125641345977783, + -0.2541923224925995, + 0.8457896113395691 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the stove with the can visible on the right burner. No movement or contact has occurred yet as this is the initial approach phase. The next action is to move the end effector closer to the can from above to prepare for sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 6 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3386648893356323, + 0.09739730507135391, + 0.07432973384857178, + -3.1274044513702393, + -0.25597646832466125, + 1.0387743711471558 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the stove with the can visible on the right burner. No movement or contact has occurred yet as this is the initial approach phase. The next action is to move the end effector closer to the can from above to prepare for sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35072994232177734, + 0.09791244566440582, + 0.07789136469364166, + 3.103576898574829, + -0.2712196111679077, + 1.1519150733947754 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "approach can from above", + "subtask_reasoning": "The robot is positioned above the stove with the can visible on the right burner. No movement or contact has occurred yet as this is the initial approach phase. The next action is to move the end effector closer to the can from above to prepare for sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.355971097946167, + 0.1003880426287651, + 0.08201751857995987, + 3.0678329467773438, + -0.3502630889415741, + 1.2897348403930664 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "nudge can toward target corner", + "subtask_reasoning": "The robot is positioned above the stove with the can visible on the right burner. No movement or contact has occurred yet as this is the initial approach phase. The next action is to move the end effector closer to the can from above to prepare for sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36405643820762634, + 0.0960240289568901, + 0.07696127146482468, + 3.0722877979278564, + -0.3995080888271332, + 1.3733924627304077 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "nudge can toward target corner", + "subtask_reasoning": "The robot is positioned above the stove with the can visible on the right burner. No movement or contact has occurred yet as this is the initial approach phase. The next action is to move the end effector closer to the can from above to prepare for sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3789409101009369, + 0.08510363101959229, + 0.07370268553495407, + 3.073962450027466, + -0.417249858379364, + 1.4050639867782593 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "nudge can toward target corner", + "subtask_reasoning": "The robot is positioned above the stove with the can visible on the right burner. No movement or contact has occurred yet as this is the initial approach phase. The next action is to move the end effector closer to the can from above to prepare for sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38884150981903076, + 0.07518921047449112, + 0.07226240634918213, + 3.068645715713501, + -0.3852667212486267, + 1.422699213027954 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "nudge can toward target corner", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right burner, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to slide the can toward the upper right corner of the burner using physical contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 3 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.39417898654937744, + 0.06672316044569016, + 0.0705476775765419, + 3.023873805999756, + -0.3564673364162445, + 1.4385796785354614 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "nudge can toward target corner", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right burner, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to slide the can toward the upper right corner of the burner using physical contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 4 cm, move right 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3945024907588959, + 0.05925873667001724, + 0.06270777434110641, + 3.013277053833008, + -0.346225768327713, + 1.4007035493850708 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "nudge can toward target corner", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right burner, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to slide the can toward the upper right corner of the burner using physical contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 5 cm, move right 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39229723811149597, + 0.04794773831963539, + 0.05972665548324585, + 3.0579957962036133, + -0.3009289503097534, + 1.264171838760376 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "nudge can toward target corner", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right burner, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to slide the can toward the upper right corner of the burner using physical contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 4 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38477036356925964, + 0.037644676864147186, + 0.0549938827753067, + 3.1117377281188965, + -0.24381043016910553, + 1.1314551830291748 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "nudge can toward target corner", + "subtask_reasoning": "The robot's end-effector is positioned near the can on the right burner, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to slide the can toward the upper right corner of the burner using physical contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 4 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3786562383174896, + 0.031151795759797096, + 0.04837030917406082, + -3.140878677368164, + -0.22565734386444092, + 1.036788821220398 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "fine-adjust can position", + "subtask_reasoning": "The can is already positioned near the upper right corner of the right burner, and the robot’s end-effector is hovering just above it without grasping. No further sliding or nudging is needed; the next action is to retract the arm to the idle hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 4 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3690700829029083, + 0.02249990589916706, + 0.05387376248836517, + 3.124446392059326, + -0.22831177711486816, + 0.9588422179222107 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is already positioned near the upper right corner of the right burner, and the robot’s end-effector is hovering just above it without grasping. No further sliding or nudging is needed; the next action is to retract the arm to the idle hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3604152798652649, + 0.01741708628833294, + 0.05365799367427826, + 3.1104202270507812, + -0.23210041224956512, + 0.9456772804260254 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is already positioned near the upper right corner of the right burner, and the robot’s end-effector is hovering just above it without grasping. No further sliding or nudging is needed; the next action is to retract the arm to the idle hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3523460328578949, + 0.008396713994443417, + 0.05496424809098244, + 3.092885971069336, + -0.21958528459072113, + 0.9049896597862244 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is already positioned near the upper right corner of the right burner, and the robot’s end-effector is hovering just above it without grasping. No further sliding or nudging is needed; the next action is to retract the arm to the idle hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34725967049598694, + -0.00031639495864510536, + 0.05871063843369484, + 3.080471992492676, + -0.21932414174079895, + 0.873614490032196 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is already positioned near the upper right corner of the right burner, and the robot’s end-effector is hovering just above it without grasping. No further sliding or nudging is needed; the next action is to retract the arm to the idle hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33811885118484497, + -0.00940508209168911, + 0.05585405230522156, + 3.067180633544922, + -0.221380814909935, + 0.8373377919197083 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The gripper remains open with no grasp evidence, and the end-effector is retracting upward and away from the can. The next action is to continue retracting to a safe hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32919806241989136, + -0.01890847459435463, + 0.052700337022542953, + 3.0652151107788086, + -0.21817408502101898, + 0.8058087825775146 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The gripper remains open with no grasp evidence, and the end-effector is retracting upward and away from the can. The next action is to continue retracting to a safe hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 9 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233538269996643, + -0.019631262868642807, + 0.05849183350801468, + 3.0436172485351562, + -0.22644145786762238, + 0.822955310344696 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The gripper remains open with no grasp evidence, and the end-effector is retracting upward and away from the can. The next action is to continue retracting to a safe hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move right 5 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32488223910331726, + 0.0014338711043819785, + 0.06522011756896973, + 3.040517807006836, + -0.2600809931755066, + 0.9469441771507263 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The gripper remains open with no grasp evidence, and the end-effector is retracting upward and away from the can. The next action is to continue retracting to a safe hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33112969994544983, + 0.029602188616991043, + 0.0861324816942215, + 3.0816543102264404, + -0.26174217462539673, + 1.04048752784729 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "retract after positioning", + "subtask_reasoning": "The can is positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The gripper remains open with no grasp evidence, and the end-effector is retracting upward and away from the can. The next action is to continue retracting to a safe hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, tilt left 10 degrees, keep gripper open; then move back 9 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3316071033477783, + 0.05203521251678467, + 0.08856118470430374, + -3.1170074939727783, + -0.2380850911140442, + 1.0904016494750977 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "hover over towel area", + "subtask_reasoning": "The can is positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The gripper remains open with no grasp evidence, and the end-effector is retracting upward and away from the can. The next action is to continue retracting to a safe hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32918408513069153, + 0.07182889431715012, + 0.09855491667985916, + -3.0697948932647705, + -0.22745199501514435, + 1.1050877571105957 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "hover over towel area", + "subtask_reasoning": "The can is positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The gripper remains open with no grasp evidence, and the end-effector is retracting upward and away from the can. The next action is to continue retracting to a safe hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.318092942237854, + 0.08377350866794586, + 0.09809409826993942, + -3.03916597366333, + -0.14044257998466492, + 0.979304313659668 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "hover over towel area", + "subtask_reasoning": "The can is positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The gripper remains open with no grasp evidence, and the end-effector is retracting upward and away from the can. The next action is to continue retracting to a safe hover position over the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2959342300891876, + 0.08307722955942154, + 0.11248768121004105, + -3.049309730529785, + -0.24858348071575165, + 0.7658675909042358 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "hover over towel area", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner. The robot has completed the nudging phase and is now hovering over the green towel area with the gripper open. The next action is to maintain this hover or retract slightly to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2661696970462799, + 0.0633591040968895, + 0.11283552646636963, + -3.1071715354919434, + -0.29345977306365967, + 0.602375328540802 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "hover over towel area", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner. The robot has completed the nudging phase and is now hovering over the green towel area with the gripper open. The next action is to maintain this hover or retract slightly to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.25076186656951904, + 0.0411112979054451, + 0.11286111921072006, + -3.1253714561462402, + -0.28952401876449585, + 0.5209211707115173 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "hover over towel area", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner. The robot has completed the nudging phase and is now hovering over the green towel area with the gripper open. The next action is to maintain this hover or retract slightly to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24435585737228394, + 0.022480808198451996, + 0.11428496241569519, + -3.121797800064087, + -0.24559184908866882, + 0.44924384355545044 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "hover over towel area", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner. The robot has completed the nudging phase and is now hovering over the green towel area with the gripper open. The next action is to maintain this hover or retract slightly to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24523065984249115, + 0.0035625023301690817, + 0.10906822979450226, + -3.1195499897003174, + -0.22794362902641296, + 0.4165346324443817 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "hover over towel area", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner. The robot has completed the nudging phase and is now hovering over the green towel area with the gripper open. The next action is to maintain this hover or retract slightly to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.245132178068161, + -0.01026839017868042, + 0.10452964901924133, + 3.140375852584839, + -0.202466681599617, + 0.402567982673645 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "settle in idle pose", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner. The robot has completed the nudging phase and is now hovering over the green towel area with the gripper open. The next action is to maintain this hover or retract slightly to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.24486559629440308, + -0.0104232057929039, + 0.10446721315383911, + 3.139958381652832, + -0.20049628615379333, + 0.4034617245197296 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "settle in idle pose", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner. The robot has completed the nudging phase and is now hovering over the green towel area with the gripper open. The next action is to maintain this hover or retract slightly to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24486559629440308, + -0.0104232057929039, + 0.10446721315383911, + 3.139958381652832, + -0.20049628615379333, + 0.4034617245197296 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "settle in idle pose", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner. The robot has completed the nudging phase and is now hovering over the green towel area with the gripper open. The next action is to maintain this hover or retract slightly to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24510177969932556, + -0.010464224964380264, + 0.10450848937034607, + 3.1391351222991943, + -0.20179101824760437, + 0.4034644365310669 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "settle in idle pose", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The current subtask involves settling into an idle pose, with the end-effector hovering motionless above the towel. No further movement or contact is needed; the robot should maintain its current stationary position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24510177969932556, + -0.010464224964380264, + 0.10450848937034607, + 3.1391351222991943, + -0.20179101824760437, + 0.4034644365310669 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "settle in idle pose", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The current subtask involves settling into an idle pose, with the end-effector hovering motionless above the towel. No further movement or contact is needed; the robot should maintain its current stationary position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24510177969932556, + -0.010464224964380264, + 0.10450848937034607, + 3.1391351222991943, + -0.20179101824760437, + 0.4034644365310669 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "settle in idle pose", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The current subtask involves settling into an idle pose, with the end-effector hovering motionless above the towel. No further movement or contact is needed; the robot should maintain its current stationary position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24486559629440308, + -0.0104232057929039, + 0.10446721315383911, + 3.139958381652832, + -0.20049628615379333, + 0.4034617245197296 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "settle in idle pose", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The current subtask involves settling into an idle pose, with the end-effector hovering motionless above the towel. No further movement or contact is needed; the robot should maintain its current stationary position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.24510177969932556, + -0.010464224964380264, + 0.10450848937034607, + 3.1391351222991943, + -0.20179101824760437, + 0.4034644365310669 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper right corner of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can from above" + }, + { + "id": 2, + "subtask": "nudge can toward target corner" + }, + { + "id": 3, + "subtask": "fine-adjust can position" + }, + { + "id": 4, + "subtask": "retract after positioning" + }, + { + "id": 5, + "subtask": "hover over towel area" + }, + { + "id": 6, + "subtask": "settle in idle pose" + } + ], + "subtask_name": "settle in idle pose", + "subtask_reasoning": "The can is already positioned in the upper right corner of the right burner, and the robot has completed the nudging action. The current subtask involves settling into an idle pose, with the end-effector hovering motionless above the towel. No further movement or contact is needed; the robot should maintain its current stationary position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004312_ecot.json b/cot/chunk-0004/episode_0004312_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9e68e4b7a50c117cda7e7e68c128b649519b1022 --- /dev/null +++ b/cot/chunk-0004/episode_0004312_ecot.json @@ -0,0 +1,2262 @@ +{ + "task_name": "episode_0004312", + "episode_json": "json/chunk-0004/episode_0004312.json", + "video_path": "videos/chunk-0004/image_0/episode_0004312.mp4", + "instruction": "Move yellow towel to lower part of table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004312.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019985437393188477, + "std": 0.000573708675801754, + "delta_total": -0.0013307929039001465, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00200, std=0.00057, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow towel\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector down toward the yellow towel on the table surface.\"},\n {\"id\": 2, \"name\": \"make contact with towel\", \"start\": 7, \"end\": 13, \"planning\": \"Lower gripper to establish contact with the towel without grasping.\"},\n {\"id\": 3, \"name\": \"push towel forward\", \"start\": 14, \"end\": 24, \"planning\": \"Drag the towel across the table toward the lower region using sustained contact.\"},\n {\"id\": 4, \"name\": \"reposition and retreat\", \"start\": 25, \"end\": 35, \"planning\": \"Adjust final position of towel and lift end-effector away from the table.\"}\n ],\n \"global_plan\": \"The robot approaches the yellow towel, makes contact without grasping, pushes it forward to the lower part of the table, then repositions and retreats.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is contact-based pushing/sliding as confirmed by constant gripper values and visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow towel", + "start": 0, + "end": 6, + "planning": "Move end-effector down toward the yellow towel on the table surface." + }, + { + "id": 2, + "name": "make contact with towel", + "start": 7, + "end": 13, + "planning": "Lower gripper to establish contact with the towel without grasping." + }, + { + "id": 3, + "name": "push towel forward", + "start": 14, + "end": 24, + "planning": "Drag the towel across the table toward the lower region using sustained contact." + }, + { + "id": 4, + "name": "reposition and retreat", + "start": 25, + "end": 35, + "planning": "Adjust final position of towel and lift end-effector away from the table." + } + ], + "global_plan": "The robot approaches the yellow towel, makes contact without grasping, pushes it forward to the lower part of the table, then repositions and retreats.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is contact-based pushing/sliding as confirmed by constant gripper values and visual evidence." + } + }, + "episode_goal": "Move yellow towel to lower part of table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3580626845359802, + 0.06933502852916718, + 0.24748201668262482, + 3.043935537338257, + -0.5043492913246155, + 0.3215644061565399 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow towel", + "subtask_reasoning": "The robot is positioned near the table with the yellow towel visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 19 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589778244495392, + 0.06953023374080658, + 0.23361147940158844, + 3.047363519668579, + -0.4644215404987335, + 0.3226708173751831 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow towel", + "subtask_reasoning": "The robot is positioned near the table with the yellow towel visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 18 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3477420210838318, + 0.06889820098876953, + 0.20405179262161255, + 3.067955493927002, + -0.3904479742050171, + 0.3246965706348419 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow towel", + "subtask_reasoning": "The robot is positioned near the table with the yellow towel visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the towel to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 15 cm, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33013269305229187, + 0.06746256351470947, + 0.16489671170711517, + 3.1055171489715576, + -0.3511461019515991, + 0.3251182734966278 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow towel", + "subtask_reasoning": "The robot is approaching the yellow towel on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 11 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193221986293793, + 0.0723952129483223, + 0.13383671641349792, + 3.1120734214782715, + -0.33982861042022705, + 0.35368508100509644 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 628, + 415, + 876, + 765 + ], + "yellow cloth": [ + 358, + 262, + 611, + 504 + ], + "wooden board": [ + 14, + 192, + 908, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow towel", + "subtask_reasoning": "The robot is approaching the yellow towel on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move right 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32232415676116943, + 0.08665575832128525, + 0.10166871547698975, + 3.1215567588806152, + -0.3034670650959015, + 0.3685667812824249 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow towel", + "subtask_reasoning": "The robot is approaching the yellow towel on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move down 5 cm, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.327249675989151, + 0.0896323025226593, + 0.07522669434547424, + 3.133108615875244, + -0.26623857021331787, + 0.3683062195777893 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach yellow towel", + "subtask_reasoning": "The robot is approaching the yellow towel on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move down 5 cm, keep gripper open; then move back 2 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3391305208206177, + 0.09115392714738846, + 0.05608005449175835, + 3.1288185119628906, + -0.2492845207452774, + 0.3898780941963196 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is approaching the yellow towel on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501182198524475, + 0.0818042904138565, + 0.04293828830122948, + 3.1342995166778564, + -0.23543281853199005, + 0.3765234351158142 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is approaching the yellow towel on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 6 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3554806411266327, + 0.07341679185628891, + 0.037146370857954025, + 3.130723476409912, + -0.2308630496263504, + 0.3725026845932007 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is approaching the yellow towel on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper open; then move back 7 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36350396275520325, + 0.06837239116430283, + 0.03148653358221054, + 3.130851984024048, + -0.23494574427604675, + 0.3736577332019806 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move back 8 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36578840017318726, + 0.06380310654640198, + 0.01989992894232273, + 3.1340131759643555, + -0.21873928606510162, + 0.3672310411930084 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 10 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3668907880783081, + 0.06273358315229416, + 0.016322636976838112, + 3.1318821907043457, + -0.22007308900356293, + 0.37004685401916504 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 10 cm, move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3639783263206482, + 0.061178624629974365, + 0.01270238496363163, + 3.1357297897338867, + -0.2226085513830185, + 0.3633001446723938 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 11 cm, move right 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35859450697898865, + 0.05936809629201889, + 0.01069016195833683, + -3.135255813598633, + -0.22672677040100098, + 0.36354315280914307 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34549108147621155, + 0.052524738013744354, + 0.011851660907268524, + -3.127906322479248, + -0.21934816241264343, + 0.3631432354450226 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3340555429458618, + 0.04218374192714691, + 0.010058959014713764, + -3.129575252532959, + -0.21642611920833588, + 0.34509265422821045 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 3 cm, tilt left 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3155432939529419, + 0.03188355639576912, + 0.009434137493371964, + -3.1231770515441895, + -0.20480979979038239, + 0.33728888630867004 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 628, + 416, + 876, + 765 + ], + "wooden board": [ + 18, + 189, + 908, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 2 cm, tilt left 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2993697226047516, + 0.024823732674121857, + 0.008692551404237747, + -3.102108955383301, + -0.20935124158859253, + 0.34194326400756836 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot has approached the yellow towel and is now in contact with it, as indicated by the end-effector position and lack of gripper movement. The next action is to push the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28853750228881836, + 0.022211242467164993, + 0.007328380364924669, + -3.1016111373901367, + -0.22039325535297394, + 0.3507426381111145 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2747499644756317, + 0.01859094388782978, + 0.006772707682102919, + -3.096747636795044, + -0.2232142984867096, + 0.3586551249027252 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden board": [ + 16, + 198, + 908, + 989 + ], + "yellow cloth": [ + 340, + 455, + 626, + 678 + ], + "metal bowl": [ + 628, + 415, + 875, + 763 + ] + } + } + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26356905698776245, + 0.016444798558950424, + 0.006833123043179512, + -3.078840494155884, + -0.2322738766670227, + 0.360783189535141 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2546813488006592, + 0.015177363529801369, + 0.005588502623140812, + -3.0759623050689697, + -0.23028923571109772, + 0.37029555439949036 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2440020591020584, + 0.011494194157421589, + 0.005609478335827589, + -3.0677340030670166, + -0.22714872658252716, + 0.36724117398262024 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 11 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2341015636920929, + 0.012771077454090118, + 0.007482203189283609, + -3.0521202087402344, + -0.21662203967571259, + 0.37151989340782166 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "push towel forward", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2233014851808548, + 0.016288261860609055, + 0.011003999970853329, + -3.033102512359619, + -0.18972493708133698, + 0.3888803720474243 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 14 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22385329008102417, + 0.019228987395763397, + 0.01828020252287388, + -3.039931535720825, + -0.1791592389345169, + 0.4021230638027191 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22284919023513794, + 0.01975424773991108, + 0.02290775068104267, + -3.0354785919189453, + -0.17835083603858948, + 0.3974321186542511 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22296883165836334, + 0.01916341483592987, + 0.027500761672854424, + -3.0435707569122314, + -0.18349118530750275, + 0.40928176045417786 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22392097115516663, + 0.02482127584517002, + 0.035772740840911865, + -3.0446419715881348, + -0.19201505184173584, + 0.4387567639350891 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the yellow towel on the table, having completed the approach and initial contact phases. The gripper remains open with no grasp evidence, indicating a pushing action is underway. The next step is to continue pushing the towel forward toward the lower part of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.22855244576931, + 0.026697169989347458, + 0.04847118258476257, + -3.0643882751464844, + -0.18858660757541656, + 0.4615848660469055 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The yellow towel has been pushed to the lower part of the table, and the robot is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, indicating the push task is complete. The next action is to continue retreating to a safe position away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23488909006118774, + 0.02813463658094406, + 0.0722372978925705, + -3.0706076622009277, + -0.21842823922634125, + 0.47054022550582886 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The yellow towel has been pushed to the lower part of the table, and the robot is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, indicating the push task is complete. The next action is to continue retreating to a safe position away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2407963126897812, + 0.027074426412582397, + 0.0963846743106842, + -3.0815470218658447, + -0.24726980924606323, + 0.49407830834388733 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 234, + 508, + 554, + 816 + ], + "metal bowl": [ + 626, + 416, + 876, + 765 + ], + "brush": [ + 490, + 248, + 730, + 385 + ], + "wooden board": [ + 16, + 188, + 908, + 982 + ] + } + } + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The yellow towel has been pushed to the lower part of the table, and the robot is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, indicating the push task is complete. The next action is to continue retreating to a safe position away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2413271814584732, + 0.02577131986618042, + 0.11870274692773819, + -3.098567008972168, + -0.27584967017173767, + 0.510696530342102 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The yellow towel has been pushed to the lower part of the table, and the robot is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, indicating the push task is complete. The next action is to continue retreating to a safe position away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2369215488433838, + 0.02584407851099968, + 0.1374838501214981, + -3.1201179027557373, + -0.2958012819290161, + 0.5502162575721741 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The yellow towel has been pushed to the lower part of the table, and the robot is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, indicating the push task is complete. The next action is to continue retreating to a safe position away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.23177455365657806, + 0.02607223577797413, + 0.14866149425506592, + -3.131542205810547, + -0.30653661489486694, + 0.5722923874855042 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move yellow towel to lower part of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "push towel forward" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The yellow towel has been pushed to the lower part of the table, and the robot is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, indicating the push task is complete. The next action is to continue retreating to a safe position away from the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004313_ecot.json b/cot/chunk-0004/episode_0004313_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..512c3a6929d78bdbdfeeb9a9d678d5a2c18f2202 --- /dev/null +++ b/cot/chunk-0004/episode_0004313_ecot.json @@ -0,0 +1,2653 @@ +{ + "task_name": "episode_0004313", + "episode_json": "json/chunk-0004/episode_0004313.json", + "video_path": "videos/chunk-0004/image_0/episode_0004313.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004313.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013275146484375, + "std": 0.0004972629249095917, + "delta_total": 0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00050, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the drawer handle while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"align with handle\", \"start\": 7, \"end\": 9, \"planning\": \"Fine-tune position and orientation to align gripper with drawer handle for contact.\"},\n {\"id\": 3, \"name\": \"push drawer closed\", \"start\": 10, \"end\": 44, \"planning\": \"Apply forward force via end-effector to slide drawer shut without grasping, using body contact or nudging motion.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching its handle, aligning the end-effector, then pushing it shut using direct contact rather than grasping, as no meaningful gripper closing is observed throughout the trajectory.\",\n \"notes\": \"Gripper remains fully open (value ~1.0) across all segments; no grasp or lift occurs. Motion is consistent with pushing/sliding the drawer closed via end-effector contact. Segment boundaries preserved as given since they reflect natural phase transitions in motion clustering.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the drawer handle while maintaining open gripper state." + }, + { + "id": 2, + "name": "align with handle", + "start": 7, + "end": 9, + "planning": "Fine-tune position and orientation to align gripper with drawer handle for contact." + }, + { + "id": 3, + "name": "push drawer closed", + "start": 10, + "end": 44, + "planning": "Apply forward force via end-effector to slide drawer shut without grasping, using body contact or nudging motion." + } + ], + "global_plan": "Close the drawer by approaching its handle, aligning the end-effector, then pushing it shut using direct contact rather than grasping, as no meaningful gripper closing is observed throughout the trajectory.", + "notes": "Gripper remains fully open (value ~1.0) across all segments; no grasp or lift occurs. Motion is consistent with pushing/sliding the drawer closed via end-effector contact. Segment boundaries preserved as given since they reflect natural phase transitions in motion clustering." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21941491961479187, + 0.09144259989261627, + 0.14342452585697174, + -2.9773688316345215, + -0.5423603057861328, + 0.5531920194625854 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No prior actions have been completed in this subtask. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2176102250814438, + 0.09114653617143631, + 0.1395954042673111, + -2.971278190612793, + -0.5295860767364502, + 0.5500816702842712 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No prior actions have been completed in this subtask. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22184158861637115, + 0.09959965944290161, + 0.1243668645620346, + -2.9289162158966064, + -0.5165079832077026, + 0.5932847261428833 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with its end-effector aligned toward the handle. No prior actions have been completed in this subtask. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22443120181560516, + 0.10464417934417725, + 0.11508461833000183, + -2.896705150604248, + -0.5113431811332703, + 0.604173481464386 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and moving toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should continue aligning the end-effector with the drawer handle for direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22600716352462769, + 0.10609133541584015, + 0.1028120145201683, + -2.860532760620117, + -0.45491889119148254, + 0.5977435111999512 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cucumber toy": [ + 266, + 620, + 439, + 737 + ], + "red sushi toy": [ + 451, + 640, + 611, + 788 + ], + "white table": [ + 3, + 3, + 996, + 995 + ], + "black sushi toy": [ + 564, + 467, + 662, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and moving toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should continue aligning the end-effector with the drawer handle for direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22591106593608856, + 0.10666676610708237, + 0.09754420071840286, + -2.7986373901367188, + -0.35297492146492004, + 0.5550413131713867 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and moving toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should continue aligning the end-effector with the drawer handle for direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21812236309051514, + 0.10705472528934479, + 0.09697046875953674, + -2.735734462738037, + -0.23627640306949615, + 0.4969824254512787 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and moving toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should continue aligning the end-effector with the drawer handle for direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21200549602508545, + 0.10460396856069565, + 0.09653652459383011, + -2.7244043350219727, + -0.1757722795009613, + 0.4681640863418579 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot is positioned near the red drawer with the gripper open and moving toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should continue aligning the end-effector with the drawer handle for direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21708184480667114, + 0.10156022757291794, + 0.094983771443367, + -2.7461867332458496, + -0.15827849507331848, + 0.4429844319820404 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating alignment is ongoing without grasping. The next action is to fine-tune the end-effector pose to ensure proper contact alignment for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22765541076660156, + 0.09053022414445877, + 0.09066877514123917, + -2.82179594039917, + -0.11798002570867538, + 0.3772183954715729 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach phase. The gripper remains open with no closing evidence, indicating alignment is ongoing without grasping. The next action is to fine-tune the end-effector pose to ensure proper contact alignment for pushing the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 6 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2376348227262497, + 0.07854378968477249, + 0.0868498682975769, + -2.89851450920105, + -0.055789779871702194, + 0.3187285363674164 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cucumber toy": [ + 266, + 620, + 439, + 737 + ], + "red sushi toy": [ + 451, + 640, + 611, + 789 + ], + "white table": [ + 3, + 3, + 996, + 995 + ], + "black sushi toy": [ + 564, + 467, + 661, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.244908407330513, + 0.07608167082071304, + 0.0814438983798027, + -2.9180662631988525, + -0.02897355519235134, + 0.30575305223464966 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25124993920326233, + 0.07717278599739075, + 0.0703393965959549, + -2.913411855697632, + -0.0004681565915234387, + 0.3121716380119324 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25818026065826416, + 0.0796595886349678, + 0.05959276109933853, + -2.9017388820648193, + 0.01462144497781992, + 0.32481056451797485 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659686207771301, + 0.08202935755252838, + 0.05485653132200241, + -2.8969039916992188, + -0.0016783114988356829, + 0.3349490463733673 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716931700706482, + 0.0825972855091095, + 0.053585197776556015, + -2.902069091796875, + -0.01867293007671833, + 0.34339281916618347 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27670830488204956, + 0.08057642728090286, + 0.05218846723437309, + -2.92463755607605, + -0.040976159274578094, + 0.35216113924980164 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28206056356430054, + 0.08023940771818161, + 0.05200565606355667, + -2.9388961791992188, + -0.07339084893465042, + 0.3564884066581726 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2876555919647217, + 0.08006936311721802, + 0.05205272138118744, + -2.9533498287200928, + -0.10816445201635361, + 0.3646567165851593 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29275399446487427, + 0.08126978576183319, + 0.05224426090717316, + -2.958700656890869, + -0.13941462337970734, + 0.3779545724391937 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29837220907211304, + 0.0842229500412941, + 0.04433126002550125, + -2.948827028274536, + -0.14408527314662933, + 0.40186816453933716 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31431692838668823, + 0.09005814045667648, + 0.04353193938732147, + -2.936356782913208, + -0.17390665411949158, + 0.41415995359420776 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32996034622192383, + 0.0942443311214447, + 0.04085284471511841, + -2.9213974475860596, + -0.1944742202758789, + 0.41767585277557373 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cucumber toy": [ + 266, + 620, + 439, + 737 + ], + "red sushi toy": [ + 452, + 640, + 610, + 788 + ], + "white table": [ + 3, + 3, + 996, + 995 + ], + "black sushi toy": [ + 564, + 466, + 661, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34260740876197815, + 0.09843255579471588, + 0.0401398204267025, + -2.917368173599243, + -0.2149907350540161, + 0.42851492762565613 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35134804248809814, + 0.10095442086458206, + 0.038968246430158615, + -2.910240411758423, + -0.22745086252689362, + 0.43170303106307983 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35679733753204346, + 0.10351085662841797, + 0.03900619223713875, + -2.901609182357788, + -0.23518842458724976, + 0.43548277020454407 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36353600025177, + 0.10487924516201019, + 0.038950301706790924, + -2.9007301330566406, + -0.2464115470647812, + 0.4448920786380768 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3698040843009949, + 0.10490895807743073, + 0.03952278196811676, + -2.9012017250061035, + -0.2593283951282501, + 0.4525464177131653 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37819409370422363, + 0.1047675609588623, + 0.03938159719109535, + -2.898236036300659, + -0.27158236503601074, + 0.4469331204891205 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3819698691368103, + 0.10442296415567398, + 0.03919142857193947, + -2.8945090770721436, + -0.278545081615448, + 0.44501936435699463 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.38300782442092896, + 0.10410016030073166, + 0.038151733577251434, + -2.8782734870910645, + -0.28428736329078674, + 0.43656057119369507 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820934295654297, + 0.1009991392493248, + 0.03668728843331337, + -2.875269889831543, + -0.27325087785720825, + 0.43301212787628174 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 1 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659503161907196, + 0.09466323256492615, + 0.03500481694936752, + -2.8954591751098633, + -0.24761898815631866, + 0.4238974153995514 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34393754601478577, + 0.08705821633338928, + 0.0280191320925951, + -2.9068636894226074, + -0.19791941344738007, + 0.4009017050266266 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cucumber toy": [ + 266, + 620, + 439, + 736 + ], + "red sushi toy": [ + 452, + 640, + 610, + 788 + ], + "white table": [ + 3, + 3, + 996, + 995 + ], + "black sushi toy": [ + 564, + 466, + 661, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3340657651424408, + 0.0833735316991806, + 0.0358792282640934, + -2.9276485443115234, + -0.21002614498138428, + 0.38413891196250916 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 10 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.32890984416007996, + 0.07825274020433426, + 0.04838958755135536, + -2.958338975906372, + -0.2216251939535141, + 0.3901066184043884 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.327091246843338, + 0.07709512859582901, + 0.05849028378725052, + -2.9703314304351807, + -0.2259088009595871, + 0.3983968198299408 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.32774636149406433, + 0.07772485166788101, + 0.07012198865413666, + -2.9678735733032227, + -0.21352458000183105, + 0.42695653438568115 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233090937137604, + 0.08049692213535309, + 0.09299173206090927, + -2.9474010467529297, + -0.20528298616409302, + 0.45942816138267517 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3134553134441376, + 0.08520197868347168, + 0.11071377992630005, + -2.908477306365967, + -0.21893839538097382, + 0.46359333395957947 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.301571249961853, + 0.08981352299451828, + 0.11887075752019882, + -2.86845064163208, + -0.22835087776184082, + 0.4583528935909271 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2938246726989746, + 0.09427487850189209, + 0.12469315528869629, + -2.836400270462036, + -0.24792617559432983, + 0.45575472712516785 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 1 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2894311249256134, + 0.08780141174793243, + 0.12711670994758606, + -2.860264778137207, + -0.2087973952293396, + 0.4163874387741089 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944675087928772, + 0.05996580049395561, + 0.13049574196338654, + -3.0130605697631836, + -0.11719592660665512, + 0.25651633739471436 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to move forward and push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.29511159658432007, + 0.04910528287291527, + 0.1353432983160019, + -3.073319911956787, + -0.06974361836910248, + 0.20872414112091064 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cucumber toy": [ + 266, + 620, + 439, + 736 + ], + "red sushi toy": [ + 452, + 640, + 610, + 788 + ], + "white table": [ + 3, + 3, + 996, + 995 + ], + "black sushi toy": [ + 564, + 467, + 661, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "push drawer closed" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The end-effector is positioned near the drawer handle, having completed the approach and alignment phases. The gripper remains open with no closing evidence, indicating contact-based pushing is the intended method. The next action is to push the drawer closed using direct contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004314_ecot.json b/cot/chunk-0004/episode_0004314_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..441b3344766d380934a6f104b64510c1ba6cb209 --- /dev/null +++ b/cot/chunk-0004/episode_0004314_ecot.json @@ -0,0 +1,2454 @@ +{ + "task_name": "episode_0004314", + "episode_json": "json/chunk-0004/episode_0004314.json", + "video_path": "videos/chunk-0004/image_0/episode_0004314.mp4", + "instruction": "Move the pot to the lower edge of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004314.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9405784010887146, + "std": 0.4263736307621002, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94058, std=0.42637, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 300, + 300, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 427, + 427, + 427, + 227, + 227, + 227, + 227, + 227 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 11 + ], + [ + 4, + 12, + 18 + ], + [ + 5, + 19, + 26 + ], + [ + 6, + 27, + 29 + ], + [ + 7, + 30, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the pot without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 10, \"end\": 18, \"planning\": \"Close the gripper to securely grasp the pot based on observed gripper closure and contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 19, \"end\": 26, \"planning\": \"Lift the pot slightly and begin moving it toward the lower edge of the table while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place pot at target\", \"start\": 27, \"end\": 29, \"planning\": \"Lower the pot to the desired location near the lower edge of the table and release grip.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 30, \"end\": 34, \"planning\": \"Open the gripper and move the end-effector away from the pot to complete the task.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp it securely, lift and reposition it toward the lower edge of the table, place it at the target location, then retreat.\",\n \"notes\": \"Gripper evidence supports grasping only in segments 3 and 5; other segments use contact-based or motion-based descriptions as per anti-hallucination rules.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the pot without closing the gripper." + }, + { + "id": 2, + "name": "grasp pot", + "start": 10, + "end": 18, + "planning": "Close the gripper to securely grasp the pot based on observed gripper closure and contact." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 19, + "end": 26, + "planning": "Lift the pot slightly and begin moving it toward the lower edge of the table while maintaining grip." + }, + { + "id": 4, + "name": "place pot at target", + "start": 27, + "end": 29, + "planning": "Lower the pot to the desired location near the lower edge of the table and release grip." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 30, + "end": 34, + "planning": "Open the gripper and move the end-effector away from the pot to complete the task." + } + ], + "global_plan": "Approach the pot, grasp it securely, lift and reposition it toward the lower edge of the table, place it at the target location, then retreat.", + "notes": "Gripper evidence supports grasping only in segments 3 and 5; other segments use contact-based or motion-based descriptions as per anti-hallucination rules." + } + }, + "episode_goal": "Move the pot to the lower edge of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3714059889316559, + -0.026489943265914917, + 0.09850170463323593, + 3.119718074798584, + -0.0855591893196106, + -0.20090237259864807 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible in the scene. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3707290589809418, + -0.02632921189069748, + 0.08482234179973602, + 3.1113452911376953, + -0.04939638823270798, + -0.19320151209831238 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible in the scene. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move down 5 cm, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3743135333061218, + 0.0037322132848203182, + 0.07992304116487503, + 3.085273504257202, + -0.031064972281455994, + -0.09083965420722961 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible in the scene. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3789311349391937, + 0.03860817104578018, + 0.0780174732208252, + 3.0615580081939697, + -0.03668205440044403, + 0.006191940512508154 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 192, + 165, + 385, + 372 + ], + "wooden table": [ + 4, + 115, + 878, + 961 + ], + "yellow spoon": [ + 406, + 224, + 507, + 472 + ], + "tomato sauce": [ + 610, + 30, + 754, + 286 + ], + "blue cloth": [ + 155, + 231, + 410, + 435 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the pot visible in the scene. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38320979475975037, + 0.058991048485040665, + 0.07923753559589386, + 3.0766282081604004, + -0.031584326177835464, + 0.020975032821297646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3836044669151306, + 0.09076126664876938, + 0.07747168093919754, + 3.096883535385132, + -0.04417797178030014, + 0.07938451319932938 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38591113686561584, + 0.09944037348031998, + 0.07375207543373108, + 3.13865065574646, + -0.042527057230472565, + 0.08810403198003769 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then move back 3 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3860336244106293, + 0.10479040443897247, + 0.06793525815010071, + -3.117488384246826, + -0.030116500332951546, + 0.0846979022026062 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move back 5 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.390164852142334, + 0.10604303330183029, + 0.056078553199768066, + -3.122548818588257, + -0.018588220700621605, + 0.09031814336776733 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 7 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3933301270008087, + 0.10589422285556793, + 0.04242297261953354, + -3.1359827518463135, + 0.0009093135595321655, + 0.09893197566270828 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 8 cm, move right 14 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39381396770477295, + 0.10703437030315399, + 0.03209608420729637, + 3.138545274734497, + 0.01970759592950344, + 0.11195056885480881 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 14 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3974352180957794, + 0.10767005383968353, + 0.03208101913332939, + 3.1281070709228516, + -0.005080116912722588, + 0.12730585038661957 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 14 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.397548109292984, + 0.10872618108987808, + 0.030709227547049522, + 3.119370222091675, + -0.01261965837329626, + 0.13342705368995667 + ], + "gripper_value": 0.3644362688064575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 14 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3966202139854431, + 0.10802347213029861, + 0.02826659195125103, + 3.116752862930298, + -0.013071447610855103, + 0.13191013038158417 + ], + "gripper_value": 0.15872089564800262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the pot located near the center. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the pot for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 14 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.394063800573349, + 0.1068505346775055, + 0.027291182428598404, + 3.113403558731079, + -0.008948694914579391, + 0.13181540369987488 + ], + "gripper_value": 0.09775853902101517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 14 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38228553533554077, + 0.09854601323604584, + 0.040430303663015366, + 3.116828441619873, + -0.030092602595686913, + 0.12186069041490555 + ], + "gripper_value": 0.08926420658826828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 13 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632306754589081, + 0.07268042862415314, + 0.0683182030916214, + 3.132507801055908, + -0.07704860717058182, + 0.0774344801902771 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 209, + 205, + 376, + 396 + ], + "yellow spoon": [ + 406, + 219, + 509, + 472 + ], + "tomato sauce": [ + 609, + 30, + 754, + 284 + ], + "wooden table": [ + 4, + 129, + 887, + 965 + ], + "toy stove": [ + 653, + 168, + 995, + 993 + ], + "blue cloth": [ + 159, + 196, + 410, + 440 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 3 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34269315004348755, + 0.036029163748025894, + 0.08285252004861832, + 3.1201364994049072, + -0.10554004460573196, + -0.01652478240430355 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3236836791038513, + -0.0025829097721725702, + 0.07374562323093414, + 3.1077144145965576, + -0.07112858444452286, + -0.14173775911331177 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30973705649375916, + -0.033341892063617706, + 0.06465495377779007, + 3.100252866744995, + -0.043433647602796555, + -0.24876166880130768 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 333, + 319, + 529, + 544 + ], + "wooden table": [ + 4, + 124, + 882, + 969 + ], + "yellow spoon": [ + 554, + 328, + 678, + 501 + ], + "tomato sauce": [ + 612, + 29, + 754, + 285 + ], + "blue cloth": [ + 158, + 198, + 411, + 439 + ], + "toy stove": [ + 647, + 168, + 995, + 992 + ], + "corn": [ + 726, + 128, + 874, + 335 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2979602515697479, + -0.050998084247112274, + 0.06116564944386482, + 3.0877232551574707, + -0.042591530829668045, + -0.2988537847995758 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29009777307510376, + -0.06011906638741493, + 0.05718360096216202, + 3.0810039043426514, + -0.02577929012477398, + -0.3159349858760834 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and is now positioned above it with the gripper open. The gripper is beginning to close, indicating the start of the grasp. The next action is to fully close the gripper to secure the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 20 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2797998785972595, + -0.059410348534584045, + 0.049562618136405945, + 3.075497627258301, + 0.007984398864209652, + -0.2871796488761902 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot and is currently lifting it slightly above the table surface. The gripper is closed, and the pot is being repositioned toward the lower edge of the table. The next action should involve moving the pot downward and forward to place it at the target location near the table's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 20 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27278199791908264, + -0.058878567069768906, + 0.047082480043172836, + 3.084131956100464, + 0.020328108221292496, + -0.2637741267681122 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot and is currently lifting it slightly above the table surface. The gripper is closed, and the pot is being repositioned toward the lower edge of the table. The next action should involve moving the pot downward and forward to place it at the target location near the table's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 20 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683933973312378, + -0.05976623296737671, + 0.0432901568710804, + 3.0868754386901855, + 0.0327981635928154, + -0.24523375928401947 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot and is currently lifting it slightly above the table surface. The gripper is closed, and the pot is being repositioned toward the lower edge of the table. The next action should involve moving the pot downward and forward to place it at the target location near the table's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 20 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26604363322257996, + -0.06212476268410683, + 0.03380471095442772, + 3.0806522369384766, + 0.07562066614627838, + -0.2479114681482315 + ], + "gripper_value": 0.16813626885414124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot and is currently lifting it slightly above the table surface. The gripper is closed, and the pot is being repositioned toward the lower edge of the table. The next action should involve moving the pot downward and forward to place it at the target location near the table's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 20 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26940932869911194, + -0.06676685065031052, + 0.021777959540486336, + 3.064872980117798, + 0.1525934487581253, + -0.2596879005432129 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has successfully grasped the pot and is currently lifting it slightly above the table surface. The gripper is closed, and the pot is being repositioned toward the lower edge of the table. The next action should involve moving the pot downward and forward to place it at the target location near the table's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 20 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717069089412689, + -0.07076594978570938, + 0.010622790083289146, + 3.050051689147949, + 0.20945200324058533, + -0.2978963851928711 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target", + "subtask_reasoning": "The robot has successfully grasped the pot and is currently lifting it slightly above the table surface. The gripper is closed, and the pot is being repositioned toward the lower edge of the table. The next action should involve moving the pot downward and forward to place it at the target location near the table's edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, tilt back 20 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26761746406555176, + -0.07588573545217514, + 0.020300015807151794, + 3.0699479579925537, + 0.14168940484523773, + -0.3063291013240814 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target", + "subtask_reasoning": "The pot is currently held by the gripper and positioned near the lower edge of the table. The placement action is in progress, with the pot close to the target location. The next step is to release the pot at the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616350054740906, + -0.07608062773942947, + 0.05190464109182358, + 3.0901131629943848, + 0.003758603474125266, + -0.281171977519989 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot at target", + "subtask_reasoning": "The pot is currently held by the gripper and positioned near the lower edge of the table. The placement action is in progress, with the pot close to the target location. The next step is to release the pot at the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25390270352363586, + -0.07671582698822021, + 0.0835384726524353, + 3.108865261077881, + -0.09504497051239014, + -0.2618873417377472 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 159, + 199, + 411, + 440 + ], + "yellow spoon": [ + 423, + 220, + 496, + 472 + ], + "tomato sauce": [ + 673, + 32, + 756, + 272 + ], + "wooden table": [ + 5, + 148, + 875, + 964 + ], + "metal bowl": [ + 343, + 461, + 587, + 770 + ], + "toy stove": [ + 663, + 168, + 996, + 992 + ], + "corn": [ + 727, + 128, + 874, + 334 + ] + } + } + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot is currently held by the gripper and positioned near the lower edge of the table. The placement action is in progress, with the pot close to the target location. The next step is to release the pot at the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25079262256622314, + -0.07396552711725235, + 0.08964495360851288, + 3.1078057289123535, + -0.11593353748321533, + -0.23807905614376068 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot is currently held by the gripper and positioned near the lower edge of the table. The placement action is in progress, with the pot close to the target location. The next step is to release the pot at the desired position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.25117918848991394, + -0.0726168230175972, + 0.0896385908126831, + 3.108811140060425, + -0.1158740445971489, + -0.2312687337398529 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully moved to the lower edge of the table and released. The gripper is open and the arm is positioned above the pot, indicating completion of placement. The next action is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.25094470381736755, + -0.07255853712558746, + 0.08961056172847748, + 3.1090118885040283, + -0.11439116299152374, + -0.23286256194114685 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully moved to the lower edge of the table and released. The gripper is open and the arm is positioned above the pot, indicating completion of placement. The next action is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.25117918848991394, + -0.0726168230175972, + 0.0896385908126831, + 3.109168291091919, + -0.1159740537405014, + -0.23435579240322113 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pot to the lower edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot at target" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The pot has been successfully moved to the lower edge of the table and released. The gripper is open and the arm is positioned above the pot, indicating completion of placement. The next action is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004315_ecot.json b/cot/chunk-0004/episode_0004315_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..41c81b8e3e777f12a8a92efb4d4fcea89def4050 --- /dev/null +++ b/cot/chunk-0004/episode_0004315_ecot.json @@ -0,0 +1,3169 @@ +{ + "task_name": "episode_0004315", + "episode_json": "json/chunk-0004/episode_0004315.json", + "video_path": "videos/chunk-0004/image_0/episode_0004315.mp4", + "instruction": "Unfold the cloth from left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004315.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9291903376579285, + "std": 0.3954213857650757, + "delta_total": 0.010998249053955078, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92919, std=0.39542, total_delta=0.01100). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 18, + 18, + 18, + 21, + 21, + 21, + 21, + 21, + 21, + 21, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 28, + 128, + 128, + 128, + 128, + 128, + 128, + 142, + 142, + 142 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 20 + ], + [ + 3, + 21, + 27 + ], + [ + 4, + 28, + 35 + ], + [ + 5, + 36, + 41 + ], + [ + 6, + 42, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp left corner\", \"start\": 0, \"end\": 17, \"planning\": \"Move gripper to the left black tab of the folded cloth and close fingers to secure a firm grasp by frame 17.\"},\n {\"id\": 2, \"name\": \"reposition grip for stability\", \"start\": 18, \"end\": 20, \"planning\": \"Adjust gripper pose slightly while maintaining contact to prepare for controlled unfolding motion.\"},\n {\"id\": 3, \"name\": \"initiate rightward drag with partial release\", \"start\": 21, \"end\": 27, \"planning\": \"Begin dragging the cloth rightward while gradually opening gripper to allow fabric to slide without losing control.\"},\n {\"id\": 4, \"name\": \"execute full rightward unfold\", \"start\": 28, \"end\": 35, \"planning\": \"Continue moving right with minimal grip pressure to fully extend the cloth across the table surface.\"},\n {\"id\": 5, \"name\": \"retreat and disengage from cloth\", \"start\": 36, \"end\": 41, \"planning\": \"Lift and move gripper away from the now-unfolded cloth to avoid disturbing its final position.\"},\n {\"id\": 6, \"name\": \"final verification hover\", \"start\": 42, \"end\": 44, \"planning\": \"Hover above the unfolded cloth with open gripper to confirm task completion without further contact.\"}\n ],\n \"global_plan\": \"Unfold the orange cloth from left to right by first grasping the left black tab, then dragging it rightward while modulating grip to allow smooth extension, finally retreating to leave the cloth flat on the table.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-17) and used for initial grasp; subsequent segments show progressive opening during drag/unfold phases. No lifting or placing occurs — all motion is planar sliding. Final frames show full gripper opening and retreat, consistent with task completion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp left corner", + "start": 0, + "end": 17, + "planning": "Move gripper to the left black tab of the folded cloth and close fingers to secure a firm grasp by frame 17." + }, + { + "id": 2, + "name": "reposition grip for stability", + "start": 18, + "end": 20, + "planning": "Adjust gripper pose slightly while maintaining contact to prepare for controlled unfolding motion." + }, + { + "id": 3, + "name": "initiate rightward drag with partial release", + "start": 21, + "end": 27, + "planning": "Begin dragging the cloth rightward while gradually opening gripper to allow fabric to slide without losing control." + }, + { + "id": 4, + "name": "execute full rightward unfold", + "start": 28, + "end": 35, + "planning": "Continue moving right with minimal grip pressure to fully extend the cloth across the table surface." + }, + { + "id": 5, + "name": "retreat and disengage from cloth", + "start": 36, + "end": 41, + "planning": "Lift and move gripper away from the now-unfolded cloth to avoid disturbing its final position." + }, + { + "id": 6, + "name": "final verification hover", + "start": 42, + "end": 44, + "planning": "Hover above the unfolded cloth with open gripper to confirm task completion without further contact." + } + ], + "global_plan": "Unfold the orange cloth from left to right by first grasping the left black tab, then dragging it rightward while modulating grip to allow smooth extension, finally retreating to leave the cloth flat on the table.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-17) and used for initial grasp; subsequent segments show progressive opening during drag/unfold phases. No lifting or placing occurs — all motion is planar sliding. Final frames show full gripper opening and retreat, consistent with task completion." + } + }, + "episode_goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22942256927490234, + 0.15920104086399078, + 0.05308358371257782, + -3.0197293758392334, + -0.27680709958076477, + 0.37194082140922546 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned near the left black tab of the folded orange cloth on a white table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22772298753261566, + 0.15808561444282532, + 0.046454403549432755, + -3.026888370513916, + -0.2553170919418335, + 0.3825031816959381 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned near the left black tab of the folded orange cloth on a white table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2389652132987976, + 0.14855864644050598, + 0.04383838176727295, + -3.018702268600464, + -0.2707325518131256, + 0.3571509122848511 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned near the left black tab of the folded orange cloth on a white table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25508013367652893, + 0.14789795875549316, + 0.04185470938682556, + -3.0291569232940674, + -0.2785138189792633, + 0.345692902803421 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 247, + 174, + 584, + 851 + ], + "white table": [ + 3, + 3, + 997, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned near the left black tab of the folded orange cloth on a white table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27212709188461304, + 0.14423781633377075, + 0.034701526165008545, + -3.058300256729126, + -0.28301113843917847, + 0.325931191444397 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned near the left black tab of the folded orange cloth on a white table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805774211883545, + 0.1390170305967331, + 0.024246731773018837, + -3.0860939025878906, + -0.2749067544937134, + 0.3230196237564087 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned near the left black tab of the folded orange cloth on a white table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28438588976860046, + 0.13744893670082092, + 0.015927135944366455, + -3.1077990531921387, + -0.26636818051338196, + 0.3274117708206177 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned near the left black tab of the folded orange cloth on a white table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862918972969055, + 0.13567839562892914, + 0.017574504017829895, + -3.108534574508667, + -0.26027342677116394, + 0.31996995210647583 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned near the left black tab of the folded orange cloth on a white table. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866576313972473, + 0.13269144296646118, + 0.020390242338180542, + -3.076292037963867, + -0.22997742891311646, + 0.29839015007019043 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29154136776924133, + 0.13501913845539093, + 0.043113354593515396, + -3.0186691284179688, + -0.2378118634223938, + 0.2736608386039734 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, close gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29517868161201477, + 0.12492883205413818, + 0.05396921560168266, + -2.986889123916626, + -0.22417719662189484, + 0.266025573015213 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 278, + 172, + 613, + 842 + ], + "white table": [ + 3, + 3, + 997, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.29618626832962036, + 0.11857470870018005, + 0.05486413463950157, + -2.998379707336426, + -0.23089231550693512, + 0.28540492057800293 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt right 10 degrees, close gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30076754093170166, + 0.11154714971780777, + 0.052018824964761734, + -3.048130750656128, + -0.2517486810684204, + 0.2810673415660858 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29917848110198975, + 0.1075715646147728, + 0.03604248911142349, + -3.077944278717041, + -0.2222515493631363, + 0.28036364912986755 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.291149377822876, + 0.11038761585950851, + 0.026614278554916382, + -3.0892205238342285, + -0.20308774709701538, + 0.293954998254776 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28853777050971985, + 0.11213427782058716, + 0.023505980148911476, + -3.0893919467926025, + -0.1948259025812149, + 0.2914937734603882 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move up 1 cm, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28490549325942993, + 0.11515659093856812, + 0.021900570020079613, + -3.0892174243927, + -0.18829190731048584, + 0.29720595479011536 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move up 1 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866138219833374, + 0.11543282121419907, + 0.020870843902230263, + -3.09370756149292, + -0.19755330681800842, + 0.2981771230697632 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "approach and grasp left corner", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move up 1 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28777119517326355, + 0.11418069154024124, + 0.014705863781273365, + -3.1039178371429443, + -0.18543073534965515, + 0.29499587416648865 + ], + "gripper_value": 0.3552374839782715 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "reposition grip for stability", + "subtask_reasoning": "The robot is positioned above the left black tab of the folded orange cloth with the gripper open. No contact or grasp has occurred yet in this subtask segment. The next action is to lower the gripper and close it to securely grasp the left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2920987606048584, + 0.11342628300189972, + 0.01358586736023426, + -3.1170761585235596, + -0.1921023428440094, + 0.29185330867767334 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "reposition grip for stability", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is currently adjusting its grip for stability. The gripper shows meaningful closure variation consistent with repositioning. Next, it should stabilize the hold before initiating rightward dragging to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move down 2 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.294450044631958, + 0.11541874706745148, + 0.016419555991888046, + -3.1100471019744873, + -0.19321370124816895, + 0.2893367111682892 + ], + "gripper_value": 0.48038846254348755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "reposition grip for stability", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is currently adjusting its grip for stability. The gripper shows meaningful closure variation consistent with repositioning. Next, it should stabilize the hold before initiating rightward dragging to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move down 2 cm, close gripper; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2889741361141205, + 0.11863671243190765, + 0.02230699174106121, + -3.0754036903381348, + -0.1663776934146881, + 0.2910235822200775 + ], + "gripper_value": 0.7855378985404968 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "initiate rightward drag with partial release", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is currently adjusting its grip for stability. The gripper shows meaningful closure variation consistent with repositioning. Next, it should stabilize the hold before initiating rightward dragging to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28925710916519165, + 0.12013211101293564, + 0.026202725246548653, + -3.0675528049468994, + -0.17283675074577332, + 0.2956732511520386 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "initiate rightward drag with partial release", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is currently adjusting its grip for stability. The gripper shows meaningful closure variation consistent with repositioning. Next, it should stabilize the hold before initiating rightward dragging to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 3 cm, move right 3 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2928239405155182, + 0.11826246976852417, + 0.026524081826210022, + -3.0880260467529297, + -0.19116425514221191, + 0.2948627173900604 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "initiate rightward drag with partial release", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is currently adjusting its grip for stability. The gripper shows meaningful closure variation consistent with repositioning. Next, it should stabilize the hold before initiating rightward dragging to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 5 cm, move right 6 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.292669415473938, + 0.11561774462461472, + 0.019106438383460045, + -3.10589337348938, + -0.1807316541671753, + 0.28995391726493835 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "initiate rightward drag with partial release", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is positioned to begin dragging it rightward. The gripper is closed (value ~1.0), confirming contact with the tab. The next action is to initiate a controlled rightward motion while maintaining grip to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 6 cm, move right 9 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2884919345378876, + 0.11862931400537491, + 0.0067741842940449715, + -3.118175506591797, + -0.1489132195711136, + 0.29530397057533264 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 272, + 170, + 600, + 839 + ], + "white table": [ + 3, + 3, + 997, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "initiate rightward drag with partial release", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is positioned to begin dragging it rightward. The gripper is closed (value ~1.0), confirming contact with the tab. The next action is to initiate a controlled rightward motion while maintaining grip to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2906734347343445, + 0.11865098029375076, + 0.005495783872902393, + -3.1333112716674805, + -0.15951573848724365, + 0.29405418038368225 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "initiate rightward drag with partial release", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is positioned to begin dragging it rightward. The gripper is closed (value ~1.0), confirming contact with the tab. The next action is to initiate a controlled rightward motion while maintaining grip to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 13 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29166916012763977, + 0.11937844753265381, + 0.005691422149538994, + -3.1316001415252686, + -0.16701149940490723, + 0.29922571778297424 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "initiate rightward drag with partial release", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is positioned to begin dragging it rightward. The gripper is closed (value ~1.0), confirming contact with the tab. The next action is to initiate a controlled rightward motion while maintaining grip to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 13 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29119396209716797, + 0.1176343783736229, + 0.00619894452393055, + -3.118288040161133, + -0.1535731554031372, + 0.29216212034225464 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "execute full rightward unfold", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is positioned to begin dragging it rightward. The gripper is closed (value ~1.0), confirming contact with the tab. The next action is to initiate a controlled rightward motion while maintaining grip to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 13 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28998976945877075, + 0.11855516582727432, + 0.011359293013811111, + -3.0804436206817627, + -0.13581648468971252, + 0.2919755280017853 + ], + "gripper_value": 0.1885753720998764 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "execute full rightward unfold", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is positioned to begin dragging it rightward. The gripper is closed (value ~1.0), confirming contact with the tab. The next action is to initiate a controlled rightward motion while maintaining grip to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29727882146835327, + 0.11445701867341995, + 0.03067086450755596, + -3.037503719329834, + -0.17205074429512024, + 0.28073519468307495 + ], + "gripper_value": 0.0936371386051178 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "execute full rightward unfold", + "subtask_reasoning": "The robot has grasped the left black tab of the orange cloth and is positioned to begin dragging it rightward. The gripper is closed (value ~1.0), confirming contact with the tab. The next action is to initiate a controlled rightward motion while maintaining grip to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30516406893730164, + 0.10734844207763672, + 0.048277173191308975, + -2.9964799880981445, + -0.19894909858703613, + 0.28562507033348083 + ], + "gripper_value": 0.08363015204668045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "execute full rightward unfold", + "subtask_reasoning": "The robot is holding the left black tab of the orange cloth, which is currently folded on the table. The gripper has closed to secure the cloth, and the arm is positioned to begin the rightward pull. The next action is to drag the cloth horizontally to the right to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 11 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31967785954475403, + 0.08473409712314606, + 0.07420791685581207, + -2.9485530853271484, + -0.24625639617443085, + 0.2777816951274872 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "execute full rightward unfold", + "subtask_reasoning": "The robot is holding the left black tab of the orange cloth, which is currently folded on the table. The gripper has closed to secure the cloth, and the arm is positioned to begin the rightward pull. The next action is to drag the cloth horizontally to the right to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3376612365245819, + 0.05407460033893585, + 0.08730978518724442, + -2.965747356414795, + -0.2966792583465576, + 0.2919837534427643 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "execute full rightward unfold", + "subtask_reasoning": "The robot is holding the left black tab of the orange cloth, which is currently folded on the table. The gripper has closed to secure the cloth, and the arm is positioned to begin the rightward pull. The next action is to drag the cloth horizontally to the right to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.35352686047554016, + 0.023645393550395966, + 0.07237271964550018, + -3.0190720558166504, + -0.28371891379356384, + 0.2835746705532074 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 211, + 240, + 537, + 838 + ], + "white table": [ + 3, + 3, + 997, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "execute full rightward unfold", + "subtask_reasoning": "The robot is holding the left black tab of the orange cloth, which is currently folded on the table. The gripper has closed to secure the cloth, and the arm is positioned to begin the rightward pull. The next action is to drag the cloth horizontally to the right to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, open gripper; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.36016589403152466, + 0.003983356058597565, + 0.05019605904817581, + -3.0842533111572266, + -0.26844099164009094, + 0.30654701590538025 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "execute full rightward unfold", + "subtask_reasoning": "The robot is holding the left black tab of the orange cloth, which is currently folded on the table. The gripper has closed to secure the cloth, and the arm is positioned to begin the rightward pull. The next action is to drag the cloth horizontally to the right to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 4 cm, open gripper; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657509684562683, + -0.007596445735543966, + 0.03643949329853058, + 3.1406502723693848, + -0.27340906858444214, + 0.32120829820632935 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "retreat and disengage from cloth", + "subtask_reasoning": "The robot is holding the left black tab of the orange cloth, which is currently folded on the table. The gripper has closed to secure the cloth, and the arm is positioned to begin the rightward pull. The next action is to drag the cloth horizontally to the right to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, open gripper; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.36801400780677795, + -0.015335830859839916, + 0.022722965106368065, + 3.1094136238098145, + -0.26535263657569885, + 0.3211272954940796 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "retreat and disengage from cloth", + "subtask_reasoning": "The robot is holding the left black tab of the orange cloth, which is currently folded on the table. The gripper has closed to secure the cloth, and the arm is positioned to begin the rightward pull. The next action is to drag the cloth horizontally to the right to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.37001705169677734, + -0.022107120603322983, + 0.019406631588935852, + 3.0964090824127197, + -0.26389026641845703, + 0.3072846233844757 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "retreat and disengage from cloth", + "subtask_reasoning": "The robot has completed dragging the orange cloth across the table and is now positioned above it with the gripper slightly open. The cloth lies mostly flat, indicating successful unfolding. The next action is to fully retract the arm and disengage from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3752876818180084, + -0.029466744512319565, + 0.020128486678004265, + 3.1059958934783936, + -0.26272672414779663, + 0.2949609160423279 + ], + "gripper_value": 0.0832853764295578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "retreat and disengage from cloth", + "subtask_reasoning": "The robot has completed dragging the orange cloth across the table and is now positioned above it with the gripper slightly open. The cloth lies mostly flat, indicating successful unfolding. The next action is to fully retract the arm and disengage from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3794475793838501, + -0.03665505349636078, + 0.024695608764886856, + 3.1089227199554443, + -0.27679359912872314, + 0.2785939574241638 + ], + "gripper_value": 0.11451414972543716 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "retreat and disengage from cloth", + "subtask_reasoning": "The robot has completed dragging the orange cloth across the table and is now positioned above it with the gripper slightly open. The cloth lies mostly flat, indicating successful unfolding. The next action is to fully retract the arm and disengage from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3810434639453888, + -0.03819895535707474, + 0.025438060984015465, + 3.12362003326416, + -0.26721662282943726, + 0.25875741243362427 + ], + "gripper_value": 0.2965938150882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "retreat and disengage from cloth", + "subtask_reasoning": "The robot has completed dragging the orange cloth across the table and is now positioned above it with the gripper slightly open. The cloth lies mostly flat, indicating successful unfolding. The next action is to fully retract the arm and disengage from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.38741961121559143, + -0.043187495321035385, + 0.03160795569419861, + 3.1291921138763428, + -0.279450386762619, + 0.23913143575191498 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "final verification hover", + "subtask_reasoning": "The robot has completed dragging the orange cloth across the table and is now positioned above it with the gripper slightly open. The cloth lies mostly flat, indicating successful unfolding. The next action is to fully retract the arm and disengage from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 42, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3879365921020508, + -0.048139382153749466, + 0.023542804643511772, + 3.133009910583496, + -0.2651273310184479, + 0.23304173350334167 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 207, + 231, + 683, + 839 + ], + "white table": [ + 3, + 4, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "final verification hover", + "subtask_reasoning": "The orange cloth is fully unfolded and lying flat on the table, with the gripper hovering above it. The subtask involves verifying the final state after completing the unfolding motion. No further action is needed as the goal has been achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 42, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3969016969203949, + -0.05998340621590614, + 0.023145576938986778, + 3.110194683074951, + -0.2766980826854706, + 0.23633898794651031 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from left to right by grasping and pulling its left edge across the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp left corner" + }, + { + "id": 2, + "subtask": "reposition grip for stability" + }, + { + "id": 3, + "subtask": "initiate rightward drag with partial release" + }, + { + "id": 4, + "subtask": "execute full rightward unfold" + }, + { + "id": 5, + "subtask": "retreat and disengage from cloth" + }, + { + "id": 6, + "subtask": "final verification hover" + } + ], + "subtask_name": "final verification hover", + "subtask_reasoning": "The orange cloth is fully unfolded and lying flat on the table, with the gripper hovering above it. The subtask involves verifying the final state after completing the unfolding motion. No further action is needed as the goal has been achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 42, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004316_ecot.json b/cot/chunk-0004/episode_0004316_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..142b7e12cce577ade7114220e00bd9f2e1677119 --- /dev/null +++ b/cot/chunk-0004/episode_0004316_ecot.json @@ -0,0 +1,2496 @@ +{ + "task_name": "episode_0004316", + "episode_json": "json/chunk-0004/episode_0004316.json", + "video_path": "videos/chunk-0004/image_0/episode_0004316.mp4", + "instruction": "Fold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004316.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.9403369426727295, + "std": 0.42582452297210693, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94034, std=0.42582, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 0, + 0, + 0, + 214, + 214, + 14, + 14, + 14, + 14, + 214, + 214, + 114, + 214, + 114, + 114, + 114, + 114, + 114, + 129, + 129, + 129, + 329, + 329, + 329, + 329, + 329 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 10 + ], + [ + 3, + 11, + 13 + ], + [ + 4, + 14, + 15 + ], + [ + 5, + 16, + 19 + ], + [ + 6, + 20, + 21 + ], + [ + 7, + 22, + 22 + ], + [ + 8, + 23, + 23 + ], + [ + 9, + 24, + 28 + ], + [ + 10, + 29, + 31 + ], + [ + 11, + 32, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottom right corner\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the bottom right corner of the cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"make contact and prepare fold\", \"start\": 10, \"end\": 13, \"planning\": \"Position end-effector at contact point on cloth; gripper begins closing in preparation for manipulation.\"},\n {\"id\": 3, \"name\": \"grasp and initiate fold motion\", \"start\": 14, \"end\": 19, \"planning\": \"Gripper closes meaningfully to secure cloth corner; begin lifting and dragging motion toward top left.\"},\n {\"id\": 4, \"name\": \"drag cloth diagonally upward\", \"start\": 20, \"end\": 28, \"planning\": \"Maintain grip while translating cloth diagonally across table surface toward target fold position.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 29, \"end\": 36, \"planning\": \"Open gripper to release cloth after fold completion; retreat end-effector away from folded cloth.\"}\n ],\n \"global_plan\": \"Fold the orange cloth by approaching its bottom right corner, grasping it securely, dragging it diagonally to the top left, then releasing once folded.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior: no grasp before frame 14 (gripper open), meaningful closure during 14-19, sustained hold through 28, then release starting at 29. Motion phases merged where natural (e.g., drag includes both lift and translate). Final retreat confirms task completion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottom right corner", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the bottom right corner of the cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "make contact and prepare fold", + "start": 10, + "end": 13, + "planning": "Position end-effector at contact point on cloth; gripper begins closing in preparation for manipulation." + }, + { + "id": 3, + "name": "grasp and initiate fold motion", + "start": 14, + "end": 19, + "planning": "Gripper closes meaningfully to secure cloth corner; begin lifting and dragging motion toward top left." + }, + { + "id": 4, + "name": "drag cloth diagonally upward", + "start": 20, + "end": 28, + "planning": "Maintain grip while translating cloth diagonally across table surface toward target fold position." + }, + { + "id": 5, + "name": "release and retreat", + "start": 29, + "end": 36, + "planning": "Open gripper to release cloth after fold completion; retreat end-effector away from folded cloth." + } + ], + "global_plan": "Fold the orange cloth by approaching its bottom right corner, grasping it securely, dragging it diagonally to the top left, then releasing once folded.", + "notes": "Subtask boundaries align with observed gripper behavior: no grasp before frame 14 (gripper open), meaningful closure during 14-19, sustained hold through 28, then release starting at 29. Motion phases merged where natural (e.g., drag includes both lift and translate). Final retreat confirms task completion." + } + }, + "episode_goal": "Fold the cloth from bottom right to top left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36103445291519165, + 0.17944994568824768, + 0.1427573561668396, + 3.0631582736968994, + -0.12182571738958359, + -0.2820785641670227 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned near the orange cloth on the table, with the gripper open and no contact yet made. The subtask requires approaching the bottom right corner of the cloth. The next action should be to move the gripper closer to the bottom right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 18 cm, move down 9 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36049869656562805, + 0.17679423093795776, + 0.12458732724189758, + 3.02215838432312, + -0.09489390254020691, + -0.285416841506958 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned near the orange cloth on the table, with the gripper open and no contact yet made. The subtask requires approaching the bottom right corner of the cloth. The next action should be to move the gripper closer to the bottom right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 18 cm, move down 7 cm, rotate counterclockwise 40 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35722073912620544, + 0.16124306619167328, + 0.10996434837579727, + 2.946384906768799, + -0.15770867466926575, + -0.38793861865997314 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned near the orange cloth on the table, with the gripper open and no contact yet made. The subtask requires approaching the bottom right corner of the cloth. The next action should be to move the gripper closer to the bottom right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 17 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471643626689911, + 0.14808207750320435, + 0.10398926585912704, + 2.9937102794647217, + -0.1251426339149475, + -0.45780327916145325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned near the orange cloth on the table, with the gripper open and no contact yet made. The subtask requires approaching the bottom right corner of the cloth. The next action should be to move the gripper closer to the bottom right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 15 cm, move down 5 cm, rotate counterclockwise 30 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3338826894760132, + 0.11276225745677948, + 0.102090984582901, + 3.019010066986084, + -0.14811167120933533, + -0.5775286555290222 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with movement toward the target location observed. The next action should continue positioning the gripper closer to the bottom right corner of the cloth for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 12 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31568625569343567, + 0.08517004549503326, + 0.10433303564786911, + 3.0613718032836914, + -0.1525546908378601, + -0.7049697041511536 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with movement toward the target location observed. The next action should continue positioning the gripper closer to the bottom right corner of the cloth for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29760199785232544, + 0.060355909168720245, + 0.1028517484664917, + 3.0745372772216797, + -0.1498437225818634, + -0.8002016544342041 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with movement toward the target location observed. The next action should continue positioning the gripper closer to the bottom right corner of the cloth for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813764810562134, + 0.04008510708808899, + 0.09672084450721741, + 3.0879459381103516, + -0.13266050815582275, + -0.8877238035202026 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with movement toward the target location observed. The next action should continue positioning the gripper closer to the bottom right corner of the cloth for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2622267007827759, + 0.01805976778268814, + 0.08502261340618134, + 3.085958242416382, + -0.11810978502035141, + -0.9345207214355469 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 17, + 130, + 566, + 612 + ], + "table": [ + 5, + 131, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with movement toward the target location observed. The next action should continue positioning the gripper closer to the bottom right corner of the cloth for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, keep gripper open; then move down 1 cm, keep gripper closed; then move back 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2507646977901459, + -0.0023293858394026756, + 0.0682944729924202, + 3.097438335418701, + -0.10992399603128433, + -0.954689621925354 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom right corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with movement toward the target location observed. The next action should continue positioning the gripper closer to the bottom right corner of the cloth for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24660199880599976, + -0.004936898127198219, + 0.0541577972471714, + -3.138975143432617, + -0.11318527907133102, + -0.9888794422149658 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and prepare fold", + "subtask_reasoning": "The robot is positioned above the orange cloth on the table, with the gripper open and no contact yet made. The subtask to approach the bottom right corner is in progress, with movement toward the target location observed. The next action should continue positioning the gripper closer to the bottom right corner of the cloth for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2460046410560608, + -0.00561342341825366, + 0.04748385027050972, + 3.1253697872161865, + -0.10608769953250885, + -1.0007189512252808 + ], + "gripper_value": 0.9809558987617493 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and prepare fold", + "subtask_reasoning": "The robot has approached the bottom right corner of the orange cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the cloth for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2473994642496109, + -0.006139830686151981, + 0.04408792406320572, + 3.129628896713257, + -0.10160833597183228, + -1.0096421241760254 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and prepare fold", + "subtask_reasoning": "The robot has approached the bottom right corner of the orange cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the cloth for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24905580282211304, + -0.006100818514823914, + 0.04384889826178551, + 3.14119553565979, + -0.10573755949735641, + -1.0104985237121582 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and prepare fold", + "subtask_reasoning": "The robot has approached the bottom right corner of the orange cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the cloth for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2487904131412506, + -0.005925165023654699, + 0.04241449013352394, + -3.13702392578125, + -0.10785989463329315, + -1.0020883083343506 + ], + "gripper_value": 0.2868962287902832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold motion", + "subtask_reasoning": "The robot has approached the bottom right corner of the orange cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the cloth for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move left 8 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24822492897510529, + -0.006232383195310831, + 0.043536294251680374, + -3.129690408706665, + -0.11329032480716705, + -1.015729308128357 + ], + "gripper_value": 0.13432937860488892 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 21, + 134, + 568, + 623 + ], + "table": [ + 5, + 137, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold motion", + "subtask_reasoning": "The robot has approached the bottom right corner of the orange cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the cloth for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 10 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24481943249702454, + -0.008843626827001572, + 0.04472130537033081, + 3.1365222930908203, + -0.12377628684043884, + -1.0249813795089722 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold motion", + "subtask_reasoning": "The robot has approached and made contact with the bottom right corner of the orange cloth. The gripper is closing (value 0.076), indicating an active grasp is being established to secure the corner. The next immediate action is to finalize the grip and begin lifting or dragging the cloth diagonally toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 10 cm, move down 7 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24034711718559265, + -0.008346417918801308, + 0.05444711074233055, + 3.1241672039031982, + -0.1509825885295868, + -1.0216577053070068 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold motion", + "subtask_reasoning": "The robot has approached and made contact with the bottom right corner of the orange cloth. The gripper is closing (value 0.076), indicating an active grasp is being established to secure the corner. The next immediate action is to finalize the grip and begin lifting or dragging the cloth diagonally toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 11 cm, move down 7 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23556366562843323, + -0.010805688798427582, + 0.07244609296321869, + 3.125295400619507, + -0.20777735114097595, + -1.0400257110595703 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold motion", + "subtask_reasoning": "The robot has approached and made contact with the bottom right corner of the orange cloth. The gripper is closing (value 0.076), indicating an active grasp is being established to secure the corner. The next immediate action is to finalize the grip and begin lifting or dragging the cloth diagonally toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move forward 11 cm, move left 11 cm, move down 7 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23538079857826233, + -0.01350890751928091, + 0.09266963601112366, + 3.1284894943237305, + -0.23079699277877808, + -1.0669240951538086 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold motion", + "subtask_reasoning": "The robot has approached and made contact with the bottom right corner of the orange cloth. The gripper is closing (value 0.076), indicating an active grasp is being established to secure the corner. The next immediate action is to finalize the grip and begin lifting or dragging the cloth diagonally toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move forward 11 cm, move left 11 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2582252621650696, + 0.0019137752242386341, + 0.11653665453195572, + -3.1395468711853027, + -0.25200432538986206, + -1.005078673362732 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 41, + 151, + 569, + 569 + ], + "table": [ + 5, + 148, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached and made contact with the bottom right corner of the orange cloth. The gripper is closing (value 0.076), indicating an active grasp is being established to secure the corner. The next immediate action is to finalize the grip and begin lifting or dragging the cloth diagonally toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874821722507477, + 0.019637364894151688, + 0.12573371827602386, + -3.1357288360595703, + -0.2618027329444885, + -0.9392818212509155 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached and made contact with the bottom right corner of the orange cloth. The gripper is closing (value 0.076), indicating an active grasp is being established to secure the corner. The next immediate action is to finalize the grip and begin lifting or dragging the cloth diagonally toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 9 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193525969982147, + 0.04074973985552788, + 0.12516936659812927, + 3.133563756942749, + -0.26159921288490295, + -0.8553892374038696 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached and made contact with the bottom right corner of the orange cloth. The gripper is closing (value 0.076), indicating an active grasp is being established to secure the corner. The next immediate action is to finalize the grip and begin lifting or dragging the cloth diagonally toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34427133202552795, + 0.0636807531118393, + 0.11340685933828354, + -3.138815402984619, + -0.2494162768125534, + -0.7927753329277039 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot has approached and made contact with the bottom right corner of the orange cloth. The gripper is closing (value 0.076), indicating an active grasp is being established to secure the corner. The next immediate action is to finalize the grip and begin lifting or dragging the cloth diagonally toward the top left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35895484685897827, + 0.08327832072973251, + 0.09122400730848312, + 3.133416175842285, + -0.22346138954162598, + -0.7459322810173035 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the orange cloth, having successfully grasped it in the previous step. The cloth is partially lifted and bunched near the end-effector on the wooden table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660042881965637, + 0.0987941101193428, + 0.06221400946378708, + 3.108423948287964, + -0.1895664632320404, + -0.7132436037063599 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the orange cloth, having successfully grasped it in the previous step. The cloth is partially lifted and bunched near the end-effector on the wooden table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.369707852602005, + 0.10639204829931259, + 0.050788287073373795, + 3.1165781021118164, + -0.1668795347213745, + -0.7209649682044983 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the orange cloth, having successfully grasped it in the previous step. The cloth is partially lifted and bunched near the end-effector on the wooden table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726472556591034, + 0.10922746360301971, + 0.04925234988331795, + 3.1132593154907227, + -0.16167289018630981, + -0.7150267362594604 + ], + "gripper_value": 0.13759112358093262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the orange cloth, having successfully grasped it in the previous step. The cloth is partially lifted and bunched near the end-effector on the wooden table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3709017336368561, + 0.11027180403470993, + 0.04905395209789276, + 3.099712610244751, + -0.15584442019462585, + -0.7046552896499634 + ], + "gripper_value": 0.33559030294418335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally upward", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the orange cloth, having successfully grasped it in the previous step. The cloth is partially lifted and bunched near the end-effector on the wooden table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36885973811149597, + 0.1143772080540657, + 0.0491524375975132, + 3.124073028564453, + -0.11057807505130768, + -0.7087403535842896 + ], + "gripper_value": 0.6139277815818787 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the orange cloth, having successfully grasped it in the previous step. The cloth is partially lifted and bunched near the end-effector on the wooden table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36769115924835205, + 0.11069218069314957, + 0.05240423604846001, + 3.130192518234253, + -0.11099307984113693, + -0.7135122418403625 + ], + "gripper_value": 0.8930966854095459 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the orange cloth, having successfully grasped it in the previous step. The cloth is partially lifted and bunched near the end-effector on the wooden table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36790573596954346, + 0.10964928567409515, + 0.05674656853079796, + 3.136453866958618, + -0.1223321184515953, + -0.7138864398002625 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom right corner of the orange cloth, having successfully grasped it in the previous step. The cloth is partially lifted and bunched near the end-effector on the wooden table. The next action is to drag the cloth diagonally upward toward the top left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.36496052145957947, + 0.10726992785930634, + 0.06699978560209274, + -3.1323177814483643, + -0.13866138458251953, + -0.7302456498146057 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from bottom right to top left and is now resting on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643704950809479, + 0.10327298194169998, + 0.08725881576538086, + -3.1098484992980957, + -0.17602238059043884, + -0.7416868805885315 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 41, + 148, + 532, + 517 + ], + "table": [ + 5, + 140, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from bottom right to top left and is now resting on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.36213234066963196, + 0.0982721820473671, + 0.11239024996757507, + -3.098752498626709, + -0.22576725482940674, + -0.7503449320793152 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from bottom right to top left and is now resting on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.36127254366874695, + 0.10886085033416748, + 0.14157457649707794, + -3.0813066959381104, + -0.2894361615180969, + -0.7126697301864624 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from bottom right to top left and is now resting on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.35724005103111267, + 0.1121867224574089, + 0.15589529275894165, + -3.084172487258911, + -0.30562517046928406, + -0.7074432969093323 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom right corner" + }, + { + "id": 2, + "subtask": "make contact and prepare fold" + }, + { + "id": 3, + "subtask": "grasp and initiate fold motion" + }, + { + "id": 4, + "subtask": "drag cloth diagonally upward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from bottom right to top left and is now resting on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat the end-effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004317_ecot.json b/cot/chunk-0004/episode_0004317_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2481370525ade1594c22f505f4e328d96b1ce439 --- /dev/null +++ b/cot/chunk-0004/episode_0004317_ecot.json @@ -0,0 +1,5365 @@ +{ + "task_name": "episode_0004317", + "episode_json": "json/chunk-0004/episode_0004317.json", + "video_path": "videos/chunk-0004/image_0/episode_0004317.mp4", + "instruction": "Put fry in pot or pan an put pot or pan on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 69, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004317.json" + }, + "fps": 5.0, + "T_eff": 69, + "gripper_behavior_summary": { + "available": true, + "range": 0.9239777326583862, + "std": 0.39804112911224365, + "delta_total": -0.006510019302368164, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92398, std=0.39804, total_delta=-0.00651). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 225, + 225, + 225, + 225, + 225, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 325, + 346, + 346, + 346, + 146, + 146, + 146, + 146, + 146, + 146, + 146, + 146, + 146, + 146, + 146, + 146, + 161, + 161, + 161, + 161, + 161, + 161, + 161, + 161 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 14 + ], + [ + 3, + 15, + 24 + ], + [ + 4, + 25, + 29 + ], + [ + 5, + 30, + 45 + ], + [ + 6, + 46, + 48 + ], + [ + 7, + 49, + 60 + ], + [ + 8, + 61, + 68 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp fry\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the fry on the counter and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport fry toward pot\", \"start\": 11, \"end\": 14, \"planning\": \"Lift the grasped fry and move it horizontally toward the pot on the stove.\"},\n {\"id\": 3, \"name\": \"release fry into pot\", \"start\": 15, \"end\": 24, \"planning\": \"Position fry over the pot and open gripper to drop it inside, then retreat slightly.\"},\n {\"id\": 4, \"name\": \"reposition for pot handle grasp\", \"start\": 25, \"end\": 29, \"planning\": \"Move end-effector to align with the pot handle in preparation for lifting.\"},\n {\"id\": 5, \"name\": \"grasp and lift pot\", \"start\": 30, \"end\": 45, \"planning\": \"Close gripper on pot handle, lift pot slightly, and adjust position for stable placement on burner.\"},\n {\"id\": 6, \"name\": \"place pot on stove burner\", \"start\": 46, \"end\": 48, \"planning\": \"Lower pot onto the designated burner and release gripper contact.\"},\n {\"id\": 7, \"name\": \"retreat and reposition after placement\", \"start\": 49, \"end\": 60, \"planning\": \"Move end-effector away from pot to clear workspace and prepare for final adjustment or exit.\"},\n {\"id\": 8, \"name\": \"final pose adjustment and retreat\", \"start\": 61, \"end\": 68, \"planning\": \"Make minor positional corrections if needed, then fully retreat to home or safe position.\"}\n ],\n \"global_plan\": \"Grasp fry from counter, deposit into pot, then grasp pot by handle and place it securely on stove burner, followed by retreat.\",\n \"notes\": \"All subtasks are grounded in observed gripper closure events and motion phases. Segments merged where natural manipulation phases span multiple clusters (e.g., lift+transport, grasp+lift). No hallucinated lifts or placements — all actions match image and proprioceptive evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp fry", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the fry on the counter and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport fry toward pot", + "start": 11, + "end": 14, + "planning": "Lift the grasped fry and move it horizontally toward the pot on the stove." + }, + { + "id": 3, + "name": "release fry into pot", + "start": 15, + "end": 24, + "planning": "Position fry over the pot and open gripper to drop it inside, then retreat slightly." + }, + { + "id": 4, + "name": "reposition for pot handle grasp", + "start": 25, + "end": 29, + "planning": "Move end-effector to align with the pot handle in preparation for lifting." + }, + { + "id": 5, + "name": "grasp and lift pot", + "start": 30, + "end": 45, + "planning": "Close gripper on pot handle, lift pot slightly, and adjust position for stable placement on burner." + }, + { + "id": 6, + "name": "place pot on stove burner", + "start": 46, + "end": 48, + "planning": "Lower pot onto the designated burner and release gripper contact." + }, + { + "id": 7, + "name": "retreat and reposition after placement", + "start": 49, + "end": 60, + "planning": "Move end-effector away from pot to clear workspace and prepare for final adjustment or exit." + }, + { + "id": 8, + "name": "final pose adjustment and retreat", + "start": 61, + "end": 68, + "planning": "Make minor positional corrections if needed, then fully retreat to home or safe position." + } + ], + "global_plan": "Grasp fry from counter, deposit into pot, then grasp pot by handle and place it securely on stove burner, followed by retreat.", + "notes": "All subtasks are grounded in observed gripper closure events and motion phases. Segments merged where natural manipulation phases span multiple clusters (e.g., lift+transport, grasp+lift). No hallucinated lifts or placements — all actions match image and proprioceptive evidence." + } + }, + "episode_goal": "Place the pot containing the fry onto the stove burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.254325807094574, + -0.13397756218910217, + 0.1123216301202774, + -3.0963056087493896, + -0.1880342662334442, + 0.11029348522424698 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, and the fry is not yet visible or grasped. No progress has been made toward grasping the fry. The next action should involve moving the arm toward the fry's location on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 10 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25244373083114624, + -0.13287073373794556, + 0.10500752180814743, + -3.083421468734741, + -0.17114770412445068, + 0.11002478748559952 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, and the fry is not yet visible or grasped. No progress has been made toward grasping the fry. The next action should involve moving the arm toward the fry's location on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 9 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2537071704864502, + -0.1342734545469284, + 0.0930093452334404, + -3.0916829109191895, + -0.19778554141521454, + 0.10746968537569046 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, and the fry is not yet visible or grasped. No progress has been made toward grasping the fry. The next action should involve moving the arm toward the fry's location on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 8 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566143572330475, + -0.13681496679782867, + 0.0725807324051857, + -3.0967156887054443, + -0.2230101078748703, + 0.10997458547353745 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, and the fry is not yet visible or grasped. No progress has been made toward grasping the fry. The next action should involve moving the arm toward the fry's location on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 6 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615671753883362, + -0.13823796808719635, + 0.060795072466135025, + -3.1101553440093994, + -0.2548096477985382, + 0.11131592094898224 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned near the stove with the gripper open, and the fry is not yet visible or grasped. No progress has been made toward grasping the fry. The next action should involve moving the arm toward the fry's location on the counter to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 4 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26411622762680054, + -0.13914452493190765, + 0.0488678440451622, + -3.1098878383636475, + -0.2827247381210327, + 0.10888148099184036 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 124, + 3, + 261, + 179 + ], + "stove": [ + 182, + 162, + 962, + 937 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, having not yet interacted with the fry. The current subtask requires approaching the fry located on the counter to the left. The next action is to move the arm towards the fry to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26464009284973145, + -0.1419534534215927, + 0.037665460258722305, + -3.1036839485168457, + -0.30454781651496887, + 0.10843642801046371 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, having not yet interacted with the fry. The current subtask requires approaching the fry located on the counter to the left. The next action is to move the arm towards the fry to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2635241448879242, + -0.14675115048885345, + 0.029809629544615746, + -3.104764223098755, + -0.3241361677646637, + 0.11267045885324478 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, having not yet interacted with the fry. The current subtask requires approaching the fry located on the counter to the left. The next action is to move the arm towards the fry to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, close gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move left 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26261094212532043, + -0.15215721726417542, + 0.02415269799530506, + -3.1051576137542725, + -0.34653812646865845, + 0.1191776841878891 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, having not yet interacted with the fry. The current subtask requires approaching the fry located on the counter to the left. The next action is to move the arm towards the fry to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 7 cm, move left 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26160210371017456, + -0.15848565101623535, + 0.017309637740254402, + -3.0983428955078125, + -0.37031257152557373, + 0.12491292506456375 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, having not yet interacted with the fry. The current subtask requires approaching the fry located on the counter to the left. The next action is to move the arm towards the fry to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 9 cm, move left 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626971900463104, + -0.16341452300548553, + 0.016054386273026466, + -3.0970988273620605, + -0.3790702521800995, + 0.1253722906112671 + ], + "gripper_value": 0.7011857628822327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "approach and grasp fry", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, having not yet interacted with the fry. The current subtask requires approaching the fry located on the counter to the left. The next action is to move the arm towards the fry to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 10 cm, move left 6 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640799283981323, + -0.16431237757205963, + 0.01605478674173355, + -3.1015806198120117, + -0.37845954298973083, + 0.1353161484003067 + ], + "gripper_value": 0.400628000497818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "lift and transport fry toward pot", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, having not yet interacted with the fry. The current subtask requires approaching the fry located on the counter to the left. The next action is to move the arm towards the fry to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 11 cm, move left 6 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645992338657379, + -0.1646692454814911, + 0.01655963994562626, + -3.1087071895599365, + -0.36486881971359253, + 0.1413842737674713 + ], + "gripper_value": 0.2062399983406067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "lift and transport fry toward pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 12 cm, move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618357241153717, + -0.1614302098751068, + 0.01823551394045353, + -3.0957984924316406, + -0.3252771496772766, + 0.13968025147914886 + ], + "gripper_value": 0.18686315417289734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "lift and transport fry toward pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move forward 12 cm, move left 5 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2540154457092285, + -0.15441325306892395, + 0.04088946059346199, + -3.059519052505493, + -0.2467663288116455, + 0.13308316469192505 + ], + "gripper_value": 0.2142026573419571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "lift and transport fry toward pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move forward 11 cm, move left 4 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25536301732063293, + -0.15267863869667053, + 0.07751121371984482, + -3.053980588912964, + -0.19021190702915192, + 0.13557440042495728 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 124, + 3, + 261, + 178 + ], + "stove": [ + 200, + 169, + 913, + 930 + ], + "pot": [ + 642, + 254, + 882, + 488 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "release fry into pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 4 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26678231358528137, + -0.14315026998519897, + 0.10022751986980438, + -3.0395195484161377, + -0.13843616843223572, + 0.12571415305137634 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "release fry into pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, move down 2 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29068756103515625, + -0.1315038800239563, + 0.12316920608282089, + -3.0476090908050537, + -0.13571259379386902, + 0.1124437153339386 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "release fry into pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 4 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32039007544517517, + -0.11454427987337112, + 0.12283717840909958, + -3.038443088531494, + -0.12222198396921158, + 0.08817154169082642 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "release fry into pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 4 cm, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424535095691681, + -0.10296471416950226, + 0.11861627548933029, + -3.0497031211853027, + -0.11358655244112015, + 0.0731530413031578 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 637, + 256, + 881, + 506 + ], + "stove": [ + 185, + 168, + 957, + 932 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "release fry into pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, open gripper; then move left 3 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583976924419403, + -0.09404159337282181, + 0.10939859598875046, + -3.0613276958465576, + -0.12908515334129333, + 0.057762857526540756 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "release fry into pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. The next action is to move the fry directly over and into the pot for deposition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 1 cm, move left 6 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36629071831703186, + -0.0939328521490097, + 0.10272272676229477, + -3.072718858718872, + -0.15494707226753235, + 0.05640428885817528 + ], + "gripper_value": 0.21794094145298004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "release fry into pot", + "subtask_reasoning": "The robot has grasped the fry and is currently lifting it above the stove area, with the pot visible nearby on the burner. The gripper is closed around the fry, indicating successful grasp completion. 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The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt back 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 45 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.36659568548202515, + -0.04276863858103752, + 0.08902547508478165, + -3.020322561264038, + -0.18158932030200958, + -0.10424404591321945 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. 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The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move left 4 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 45 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.36680564284324646, + -0.020122002810239792, + 0.05854848027229309, + -2.9945526123046875, + -0.2699132263660431, + -0.15318162739276886 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. 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The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 7 cm, move up 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 45 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651135563850403, + -0.021186674013733864, + 0.05004151910543442, + -3.0041966438293457, + -0.2945701479911804, + -0.1442701369524002 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move left 9 cm, move up 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 45 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646847605705261, + -0.023965278640389442, + 0.04540455341339111, + -3.009316921234131, + -0.3099297881126404, + -0.13403938710689545 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "grasp and lift pot", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move left 12 cm, move up 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 45 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3633348047733307, + -0.029314249753952026, + 0.04351669177412987, + -3.008967638015747, + -0.3130667507648468, + -0.12808525562286377 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "place pot on stove burner", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move left 13 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.36266255378723145, + -0.03331657499074936, + 0.04446924105286598, + -3.017580509185791, + -0.31329265236854553, + -0.1036188080906868 + ], + "gripper_value": 0.15820781886577606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "place pot on stove burner", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 3 cm, move left 15 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.36242857575416565, + -0.03569960221648216, + 0.047982148826122284, + -3.018026113510132, + -0.29455453157424927, + -0.09774591773748398 + ], + "gripper_value": 0.08571679890155792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 124, + 3, + 261, + 178 + ], + "pot": [ + 639, + 269, + 889, + 515 + ], + "stove": [ + 192, + 163, + 962, + 929 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "place pot on stove burner", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 15 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 48 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577467203140259, + -0.03790368139743805, + 0.04977636784315109, + -3.012617826461792, + -0.25177454948425293, + -0.09551046788692474 + ], + "gripper_value": 0.0846695825457573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.3503054082393646, + -0.03417520225048065, + 0.06142628565430641, + -2.985297203063965, + -0.17482325434684753, + -0.09440851211547852 + ], + "gripper_value": 0.0936371386051178 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.35247671604156494, + -0.024172473698854446, + 0.09243569523096085, + -2.962966203689575, + -0.13719254732131958, + -0.11612655967473984 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 5 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585093319416046, + 0.0015789360040798783, + 0.11193839460611343, + -2.968249797821045, + -0.10424041748046875, + -0.15879765152931213 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, move down 7 cm, tilt right 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.366789847612381, + 0.030367180705070496, + 0.12991945445537567, + -2.9722580909729004, + -0.11438681930303574, + -0.18566375970840454 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, indicating the placement goal is achieved. The robot arm is currently hovering above the pot with the gripper open, suggesting the lifting and placing actions are complete. The next logical step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 9 cm, tilt right 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3768106997013092, + 0.056134071201086044, + 0.1297801285982132, + -2.989849090576172, + -0.09852024912834167, + -0.22510458528995514 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 9 cm, open gripper; then move right 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.3859032690525055, + 0.07932987064123154, + 0.12438829243183136, + -3.011577844619751, + -0.11096347868442535, + -0.2503349184989929 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 8 cm, open gripper; then move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3914155662059784, + 0.09611058235168457, + 0.10928157716989517, + -3.0310616493225098, + -0.13667993247509003, + -0.25501835346221924 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 7 cm, open gripper; then move right 4 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3908002972602844, + 0.10814901441335678, + 0.09198973327875137, + -3.0441246032714844, + -0.1707209199666977, + -0.25224968791007996 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 125, + 3, + 261, + 178 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, open gripper; then move back 1 cm, move right 7 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.38588955998420715, + 0.11583229154348373, + 0.07814931869506836, + -3.0475642681121826, + -0.19272755086421967, + -0.24833528697490692 + ], + "gripper_value": 0.0951233059167862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move right 10 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.37542131543159485, + 0.11314114928245544, + 0.05542080104351044, + -3.0597245693206787, + -0.19598031044006348, + -0.22473274171352386 + ], + "gripper_value": 0.11577415466308594 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 125, + 3, + 261, + 178 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 10 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.37163209915161133, + 0.10721693187952042, + 0.04393109679222107, + -3.061500072479248, + -0.20472870767116547, + -0.20329177379608154 + ], + "gripper_value": 0.29885798692703247 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "retreat and reposition after placement", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move right 10 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 60 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 49, + "end": 60 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3696023225784302, + 0.10013580322265625, + 0.04341178014874458, + -3.0780739784240723, + -0.18290182948112488, + -0.1877996176481247 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "final pose adjustment and retreat", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 68 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.3693383038043976, + 0.09609462320804596, + 0.05414164438843727, + -3.093994140625, + -0.13383235037326813, + -0.188421830534935 + ], + "gripper_value": 0.8930966854095459 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "final pose adjustment and retreat", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 68 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.36838582158088684, + 0.09665089845657349, + 0.08812520653009415, + -3.0871644020080566, + -0.120263010263443, + -0.18916435539722443 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "final pose adjustment and retreat", + "subtask_reasoning": "The pot containing the fry is already placed on the stove burner. The robot arm is currently positioned above the pot with the gripper open, indicating the placement action is complete. The next step is to retreat the arm away from the stove to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 68 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.36678844690322876, + 0.09489081054925919, + 0.1125868484377861, + -3.0745298862457275, + -0.08415786921977997, + -0.18931907415390015 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "final pose adjustment and retreat", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, and the gripper is open, indicating the placement is complete. The current subtask involves final pose adjustment and retreat, with no further grasping required. The next action is to move the end-effector away from the pot to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 61, + "end": 68 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.3670807182788849, + 0.0868724137544632, + 0.12421153485774994, + -3.070133924484253, + -0.05166028067469597, + -0.1885332465171814 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "final pose adjustment and retreat", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, and the gripper is open, indicating the placement is complete. The current subtask involves final pose adjustment and retreat, with no further grasping required. The next action is to move the end-effector away from the pot to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 68 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655624985694885, + 0.06333629786968231, + 0.13387709856033325, + -3.0671470165252686, + -0.056902866810560226, + -0.1649743914604187 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "final pose adjustment and retreat", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, and the gripper is open, indicating the placement is complete. The current subtask involves final pose adjustment and retreat, with no further grasping required. The next action is to move the end-effector away from the pot to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 68 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.35789331793785095, + 0.028907185420393944, + 0.13496242463588715, + -3.0611960887908936, + -0.07744839787483215, + -0.13687486946582794 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "final pose adjustment and retreat", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, and the gripper is open, indicating the placement is complete. The current subtask involves final pose adjustment and retreat, with no further grasping required. The next action is to move the end-effector away from the pot to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 68 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.35465294122695923, + -0.0004471807333175093, + 0.12911172211170197, + -3.069939613342285, + -0.0653911679983139, + -0.11588060110807419 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot containing the fry onto the stove burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp fry" + }, + { + "id": 2, + "subtask": "lift and transport fry toward pot" + }, + { + "id": 3, + "subtask": "release fry into pot" + }, + { + "id": 4, + "subtask": "reposition for pot handle grasp" + }, + { + "id": 5, + "subtask": "grasp and lift pot" + }, + { + "id": 6, + "subtask": "place pot on stove burner" + }, + { + "id": 7, + "subtask": "retreat and reposition after placement" + }, + { + "id": 8, + "subtask": "final pose adjustment and retreat" + } + ], + "subtask_name": "final pose adjustment and retreat", + "subtask_reasoning": "The pot containing the fry is already positioned on the stove burner, and the gripper is open, indicating the placement is complete. The current subtask involves final pose adjustment and retreat, with no further grasping required. The next action is to move the end-effector away from the pot to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 64 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 61, + "end": 68 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004318_ecot.json b/cot/chunk-0004/episode_0004318_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7ea53d676d6b44b8c097a105d99e90d444fec498 --- /dev/null +++ b/cot/chunk-0004/episode_0004318_ecot.json @@ -0,0 +1,2202 @@ +{ + "task_name": "episode_0004318", + "episode_json": "json/chunk-0004/episode_0004318.json", + "video_path": "videos/chunk-0004/image_0/episode_0004318.mp4", + "instruction": "Move metal bowl above blue towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004318.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.9383595585823059, + "std": 0.4237971305847168, + "delta_total": 0.005923867225646973, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93836, std=0.42380, total_delta=0.00592). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 210, + 210, + 210, + 310, + 310, + 310, + 310, + 310, + 310, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 410, + 427, + 427, + 427, + 427, + 427 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 9 + ], + [ + 3, + 10, + 12 + ], + [ + 4, + 13, + 18 + ], + [ + 5, + 19, + 25 + ], + [ + 6, + 26, + 26 + ], + [ + 7, + 27, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach metal bowl\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector from initial position toward the metal bowl on the left side of the table.\"},\n {\"id\": 2, \"name\": \"grasp metal bowl\", \"start\": 10, \"end\": 18, \"planning\": \"Close gripper around the metal bowl’s handle and secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport bowl\", \"start\": 19, \"end\": 25, \"planning\": \"Lift the grasped metal bowl and move it horizontally across the table toward the blue towel area.\"},\n {\"id\": 4, \"name\": \"position bowl above towel\", \"start\": 26, \"end\": 26, \"planning\": \"Fine-tune vertical and horizontal alignment to center the bowl directly above the blue towel.\"},\n {\"id\": 5, \"name\": \"release bowl and retreat\", \"start\": 27, \"end\": 31, \"planning\": \"Open gripper to release the bowl onto the towel, then retract end-effector upward and away from the scene.\"}\n ],\n \"global_plan\": \"Approach the metal bowl, grasp it securely, lift and carry it over to the blue towel, precisely position it above the towel, then release and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 3, 5, and 7 — allowing use of 'grasp', 'hold', and 'release' terminology where images support. Segment 1 shows no gripper motion — correctly labeled as approach. Frame 26 is a single-frame transition for fine positioning before release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach metal bowl", + "start": 0, + "end": 9, + "planning": "Move end-effector from initial position toward the metal bowl on the left side of the table." + }, + { + "id": 2, + "name": "grasp metal bowl", + "start": 10, + "end": 18, + "planning": "Close gripper around the metal bowl’s handle and secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport bowl", + "start": 19, + "end": 25, + "planning": "Lift the grasped metal bowl and move it horizontally across the table toward the blue towel area." + }, + { + "id": 4, + "name": "position bowl above towel", + "start": 26, + "end": 26, + "planning": "Fine-tune vertical and horizontal alignment to center the bowl directly above the blue towel." + }, + { + "id": 5, + "name": "release bowl and retreat", + "start": 27, + "end": 31, + "planning": "Open gripper to release the bowl onto the towel, then retract end-effector upward and away from the scene." + } + ], + "global_plan": "Approach the metal bowl, grasp it securely, lift and carry it over to the blue towel, precisely position it above the towel, then release and retreat.", + "notes": "Gripper evidence confirms meaningful closing in segments 3, 5, and 7 — allowing use of 'grasp', 'hold', and 'release' terminology where images support. Segment 1 shows no gripper motion — correctly labeled as approach. Frame 26 is a single-frame transition for fine positioning before release." + } + }, + "episode_goal": "Move the metal bowl so that it is positioned directly above the blue towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2715107798576355, + 0.006156192626804113, + 0.15712490677833557, + 3.127260684967041, + -0.16997024416923523, + -0.021861299872398376 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal bowl and blue towel visible below. No movement or grasping has occurred yet as this is the initial frame. The next action should be to lower the end effector toward the metal bowl to begin the approach subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move down 14 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27145764231681824, + 0.006154235918074846, + 0.15005822479724884, + 3.1254935264587402, + -0.14391276240348816, + -0.020069953054189682 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal bowl and blue towel visible below. No movement or grasping has occurred yet as this is the initial frame. The next action should be to lower the end effector toward the metal bowl to begin the approach subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move down 14 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27975738048553467, + 0.017940320074558258, + 0.14374861121177673, + 3.136519193649292, + -0.12347470968961716, + -0.0025353028904646635 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal bowl and blue towel visible below. No movement or grasping has occurred yet as this is the initial frame. The next action should be to lower the end effector toward the metal bowl to begin the approach subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 13 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29053524136543274, + 0.03040975145995617, + 0.1394558846950531, + -3.1409528255462646, + -0.12173649668693542, + 0.01162152923643589 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden table with the metal bowl and blue towel visible below. No movement or grasping has occurred yet as this is the initial frame. The next action should be to lower the end effector toward the metal bowl to begin the approach subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 13 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080098330974579, + 0.062208451330661774, + 0.1284898966550827, + -3.1173510551452637, + -0.13128024339675903, + 0.03565153479576111 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 11 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32584863901138306, + 0.09140019863843918, + 0.08453933894634247, + -3.112227201461792, + -0.07661033421754837, + 0.03322743624448776 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bowl": [ + 233, + 258, + 469, + 440 + ], + "cloth": [ + 334, + 496, + 662, + 802 + ], + "spoon": [ + 84, + 361, + 293, + 571 + ], + "sponge": [ + 656, + 614, + 823, + 841 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 7 cm, close gripper; then move back 2 cm, move right 2 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3434095084667206, + 0.10202986001968384, + 0.04338306188583374, + -3.1266751289367676, + -0.02455190196633339, + 0.016621068120002747 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 7 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35718730092048645, + 0.10509174317121506, + 0.017728270962834358, + -3.1339364051818848, + 0.006774648558348417, + 0.02198352850973606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 2 cm, move right 12 cm, move up 9 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3622482120990753, + 0.09900224208831787, + 0.01642695814371109, + -3.1255569458007812, + -0.005585052538663149, + 0.01856105588376522 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 3 cm, move right 18 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36335858702659607, + 0.09300848096609116, + 0.012680689804255962, + -3.1113483905792236, + -0.012079871259629726, + 0.00965368002653122 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 20 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36133208870887756, + 0.09071911871433258, + 0.013821393251419067, + -3.1158084869384766, + -0.010039348155260086, + 0.012246686965227127 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 20 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35801371932029724, + 0.08866725862026215, + 0.022686222568154335, + -3.119412660598755, + -0.02797737717628479, + 0.006464650854468346 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 20 cm, move up 7 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35138335824012756, + 0.08484557271003723, + 0.034436702728271484, + -3.1401023864746094, + -0.045370034873485565, + 0.01036296971142292 + ], + "gripper_value": 0.12572182714939117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 20 cm, move up 6 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34204959869384766, + 0.09000533819198608, + 0.04995785653591156, + 3.108675718307495, + -0.058743979781866074, + 0.048453278839588165 + ], + "gripper_value": 0.08022117614746094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot is positioned above the wooden countertop with the metal bowl and blue towel visible below. The gripper is open and the arm is in motion, indicating the robot is currently approaching the metal bowl. The next action is to continue moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33740824460983276, + 0.09388011693954468, + 0.06836660951375961, + 3.0727274417877197, + -0.0795709416270256, + 0.08135131746530533 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 656, + 615, + 822, + 841 + ], + "cloth": [ + 334, + 497, + 663, + 802 + ], + "spoon": [ + 85, + 254, + 396, + 570 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot has approached the metal bowl and is currently in contact with it, as indicated by the gripper closing signal and the end-effector position. The gripper is actively closing to secure a grasp on the bowl's handle. The next immediate action is to complete the grasp by fully closing the gripper and lifting the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 21 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3376692533493042, + 0.07219254970550537, + 0.08597798645496368, + 3.0932765007019043, + -0.08450090140104294, + 0.06168243661522865 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot has approached the metal bowl and is currently in contact with it, as indicated by the gripper closing signal and the end-effector position. The gripper is actively closing to secure a grasp on the bowl's handle. The next immediate action is to complete the grasp by fully closing the gripper and lifting the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 18 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3385109603404999, + 0.018870893865823746, + 0.10287056863307953, + 3.0950443744659424, + -0.09481630474328995, + -0.04298426955938339 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot has approached the metal bowl and is currently in contact with it, as indicated by the gripper closing signal and the end-effector position. The gripper is actively closing to secure a grasp on the bowl's handle. The next immediate action is to complete the grasp by fully closing the gripper and lifting the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 8 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33733412623405457, + -0.025729471817612648, + 0.10605449974536896, + 3.1223909854888916, + -0.09355166554450989, + -0.12650282680988312 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot has approached the metal bowl and is currently in contact with it, as indicated by the gripper closing signal and the end-effector position. The gripper is actively closing to secure a grasp on the bowl's handle. The next immediate action is to complete the grasp by fully closing the gripper and lifting the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 8 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3336230516433716, + -0.08611541241407394, + 0.11205046623945236, + 3.134599208831787, + -0.10576822608709335, + -0.23667989671230316 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 335, + 497, + 663, + 801 + ], + "spoon": [ + 83, + 343, + 304, + 572 + ], + "sponge": [ + 656, + 613, + 823, + 841 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "grasp metal bowl", + "subtask_reasoning": "The robot has approached the metal bowl and is currently in contact with it, as indicated by the gripper closing signal and the end-effector position. The gripper is actively closing to secure a grasp on the bowl's handle. The next immediate action is to complete the grasp by fully closing the gripper and lifting the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 8 cm, open gripper; then move back 1 cm, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3291477859020233, + -0.11278463900089264, + 0.09376519173383713, + -3.126842737197876, + -0.061257507652044296, + -0.2604143023490906 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and transport bowl", + "subtask_reasoning": "The robot has approached the metal bowl and is currently in contact with it, as indicated by the gripper closing signal and the end-effector position. The gripper is actively closing to secure a grasp on the bowl's handle. The next immediate action is to complete the grasp by fully closing the gripper and lifting the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 8 cm, open gripper; then move back 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242266774177551, + -0.1293737143278122, + 0.07377011328935623, + -3.1107230186462402, + -0.04382683336734772, + -0.28667715191841125 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and transport bowl", + "subtask_reasoning": "The robot has approached the metal bowl and is currently in contact with it, as indicated by the gripper closing signal and the end-effector position. The gripper is actively closing to secure a grasp on the bowl's handle. The next immediate action is to complete the grasp by fully closing the gripper and lifting the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 6 cm, open gripper; then move back 1 cm, keep gripper open; then move back 3 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32365402579307556, + -0.12289510667324066, + 0.04473678395152092, + -3.0846054553985596, + 0.012124969623982906, + -0.2637867331504822 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and transport bowl", + "subtask_reasoning": "The robot has approached the metal bowl and is currently in contact with it, as indicated by the gripper closing signal and the end-effector position. The gripper is actively closing to secure a grasp on the bowl's handle. The next immediate action is to complete the grasp by fully closing the gripper and lifting the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open; then move back 4 cm, move left 5 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3287751376628876, + -0.10949398577213287, + 0.02874866873025894, + -3.0506114959716797, + 0.03881584852933884, + -0.2330876737833023 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and transport bowl", + "subtask_reasoning": "The robot has grasped the metal bowl and is currently lifting it slightly above the table surface. The bowl is positioned near the blue towel but not yet directly above it. The next action should be to move the bowl horizontally over the center of the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, open gripper; then move back 1 cm, keep gripper open; then move back 4 cm, move left 5 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33807048201560974, + -0.0987284779548645, + 0.02626335807144642, + -3.0490736961364746, + 0.03493615612387657, + -0.2086789757013321 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and transport bowl", + "subtask_reasoning": "The robot has grasped the metal bowl and is currently lifting it slightly above the table surface. The bowl is positioned near the blue towel but not yet directly above it. The next action should be to move the bowl horizontally over the center of the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, keep gripper open; then move back 4 cm, move left 5 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34745219349861145, + -0.08975526690483093, + 0.02190972864627838, + -3.05523681640625, + 0.018525447696447372, + -0.19064901769161224 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and transport bowl", + "subtask_reasoning": "The robot has grasped the metal bowl and is currently lifting it slightly above the table surface. The bowl is positioned near the blue towel but not yet directly above it. The next action should be to move the bowl horizontally over the center of the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then move back 4 cm, move left 5 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35270196199417114, + -0.08935899287462234, + 0.021486889570951462, + -3.1031203269958496, + -0.017070256173610687, + -0.1951550990343094 + ], + "gripper_value": 0.10915245115756989 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and transport bowl", + "subtask_reasoning": "The robot has grasped the metal bowl and is currently lifting it slightly above the table surface. The bowl is positioned near the blue towel but not yet directly above it. The next action should be to move the bowl horizontally over the center of the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, keep gripper open; then move back 4 cm, move left 5 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3472580909729004, + -0.0944972112774849, + 0.01218093279749155, + 3.1299450397491455, + -0.016581499949097633, + -0.23115959763526917 + ], + "gripper_value": 0.3228223919868469 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "position bowl above towel", + "subtask_reasoning": "The metal bowl is currently grasped and positioned near the blue towel on the table. The robot has completed approaching and grasping the bowl. The next action is to precisely move the bowl directly above the blue towel before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 4 cm, move left 5 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33973824977874756, + -0.09515263140201569, + 0.012280565686523914, + 3.0969929695129395, + -0.0075539532117545605, + -0.2341490238904953 + ], + "gripper_value": 0.629988968372345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is currently grasped and positioned near the blue towel on the table. The robot has completed approaching and grasping the bowl. The next action is to precisely move the bowl directly above the blue towel before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.33116278052330017, + -0.09552308917045593, + 0.04369567707180977, + 3.0410125255584717, + -0.0693683996796608, + -0.23192736506462097 + ], + "gripper_value": 0.927960216999054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is currently grasped and positioned near the blue towel on the table. The robot has completed approaching and grasping the bowl. The next action is to precisely move the bowl directly above the blue towel before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3223498463630676, + -0.0774131640791893, + 0.09477502107620239, + 3.0090012550354004, + -0.19200251996517181, + -0.16311603784561157 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 656, + 614, + 823, + 840 + ], + "cloth": [ + 334, + 500, + 663, + 801 + ], + "spoon": [ + 84, + 344, + 303, + 573 + ], + "bowl": [ + 529, + 378, + 840, + 605 + ] + } + } + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is currently positioned directly above the blue towel, fulfilling the placement requirement. The gripper is open and the end-effector is elevated, indicating the bowl has been released. The robot is now retreating upward and away from the scene to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092913031578064, + -0.055230122059583664, + 0.12229660153388977, + 3.0188469886779785, + -0.24061378836631775, + -0.0690661147236824 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is currently positioned directly above the blue towel, fulfilling the placement requirement. The gripper is open and the end-effector is elevated, indicating the bowl has been released. The robot is now retreating upward and away from the scene to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006915748119354, + -0.04123808816075325, + 0.13918539881706238, + 3.068779945373535, + -0.24645830690860748, + 0.014679055660963058 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the metal bowl so that it is positioned directly above the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal bowl" + }, + { + "id": 2, + "subtask": "grasp metal bowl" + }, + { + "id": 3, + "subtask": "lift and transport bowl" + }, + { + "id": 4, + "subtask": "position bowl above towel" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is currently positioned directly above the blue towel, fulfilling the placement requirement. The gripper is open and the end-effector is elevated, indicating the bowl has been released. The robot is now retreating upward and away from the scene to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004320_ecot.json b/cot/chunk-0004/episode_0004320_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..58e3a847ed717a12d5d93102b077ad33b16b27a6 --- /dev/null +++ b/cot/chunk-0004/episode_0004320_ecot.json @@ -0,0 +1,2295 @@ +{ + "task_name": "episode_0004320", + "episode_json": "json/chunk-0004/episode_0004320.json", + "video_path": "videos/chunk-0004/image_0/episode_0004320.mp4", + "instruction": "Moved the can from the top left to the bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004320.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 13 + ], + [ + 3, + 14, + 19 + ], + [ + 4, + 20, + 25 + ], + [ + 5, + 26, + 28 + ], + [ + 6, + 29, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach target can\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector from initial position toward the purple can near the blue towel.\"},\n {\"id\": 2, \"name\": \"align above can\", \"start\": 14, \"end\": 19, \"planning\": \"Position gripper directly above the purple can with minimal lateral motion and stable height.\"},\n {\"id\": 3, \"name\": \"descend to contact\", \"start\": 20, \"end\": 25, \"planning\": \"Lower gripper vertically to make gentle contact with the top of the purple can without grasping.\"},\n {\"id\": 4, \"name\": \"push can forward\", \"start\": 26, \"end\": 28, \"planning\": \"Apply forward force to slide the purple can toward the bottom right of the workspace.\"},\n {\"id\": 5, \"name\": \"retract after push\", \"start\": 29, \"end\": 32, \"planning\": \"Lift and retreat gripper away from the can after completing the push maneuver.\"}\n ],\n \"global_plan\": \"The robot approaches the purple can, aligns above it, descends to make contact, pushes it forward across the table, then retracts — all without grasping, as confirmed by constant gripper state.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, no grasp, pick, or place actions are inferred. All manipulation is contact-based pushing/sliding. Frame coverage is complete and contiguous from 0 to 32.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach target can", + "start": 0, + "end": 13, + "planning": "Move end-effector from initial position toward the purple can near the blue towel." + }, + { + "id": 2, + "name": "align above can", + "start": 14, + "end": 19, + "planning": "Position gripper directly above the purple can with minimal lateral motion and stable height." + }, + { + "id": 3, + "name": "descend to contact", + "start": 20, + "end": 25, + "planning": "Lower gripper vertically to make gentle contact with the top of the purple can without grasping." + }, + { + "id": 4, + "name": "push can forward", + "start": 26, + "end": 28, + "planning": "Apply forward force to slide the purple can toward the bottom right of the workspace." + }, + { + "id": 5, + "name": "retract after push", + "start": 29, + "end": 32, + "planning": "Lift and retreat gripper away from the can after completing the push maneuver." + } + ], + "global_plan": "The robot approaches the purple can, aligns above it, descends to make contact, pushes it forward across the table, then retracts — all without grasping, as confirmed by constant gripper state.", + "notes": "No segment shows meaningful gripper closing; therefore, no grasp, pick, or place actions are inferred. All manipulation is contact-based pushing/sliding. Frame coverage is complete and contiguous from 0 to 32." + } + }, + "episode_goal": "Move the purple can from the top center to the bottom center of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643830478191376, + -0.0014854015316814184, + 0.08289138972759247, + -3.116170883178711, + -0.2435397356748581, + 0.05587569251656532 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the background near the top center. No movement toward the can has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the purple can to begin alignment for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617064416408539, + -0.0014289384707808495, + 0.0775553286075592, + -3.1161999702453613, + -0.22686927020549774, + 0.061589259654283524 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the background near the top center. No movement toward the can has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the purple can to begin alignment for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 5 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28140705823898315, + 0.008211827836930752, + 0.07918507605791092, + -3.103549003601074, + -0.3370358645915985, + 0.11675059795379639 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the background near the top center. No movement toward the can has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the purple can to begin alignment for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31033211946487427, + 0.018308179453015327, + 0.08425912261009216, + -3.114516496658325, + -0.3919368088245392, + 0.16960358619689941 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 751, + 146, + 983, + 437 + ], + "blue towel": [ + 174, + 281, + 568, + 671 + ], + "black device": [ + 400, + 10, + 702, + 421 + ], + "bread": [ + 812, + 529, + 993, + 721 + ], + "tin can": [ + 146, + 568, + 349, + 857 + ], + "blue plate": [ + 783, + 492, + 995, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the background near the top center. No movement toward the can has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the purple can to begin alignment for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3493877649307251, + 0.02993454411625862, + 0.09053550660610199, + -3.1111721992492676, + -0.4756537675857544, + 0.24375784397125244 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the background near the top center. No movement toward the can has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the purple can to begin alignment for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3845548629760742, + 0.03914661332964897, + 0.09295599907636642, + -3.1186859607696533, + -0.4736576974391937, + 0.3101799786090851 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the background near the top center. No movement toward the can has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the purple can to begin alignment for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4097146689891815, + 0.046711813658475876, + 0.09275965392589569, + -3.1227262020111084, + -0.47601357102394104, + 0.38173264265060425 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.43207427859306335, + 0.048544254153966904, + 0.08103114366531372, + -3.1257598400115967, + -0.48374053835868835, + 0.38567620515823364 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.44801923632621765, + 0.0478774830698967, + 0.0690256655216217, + -3.1377792358398438, + -0.459886759519577, + 0.389527291059494 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4640275835990906, + 0.05064170062541962, + 0.055345747619867325, + -3.134922504425049, + -0.43883049488067627, + 0.40900492668151855 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move right 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.46717819571495056, + 0.053361568599939346, + 0.04223691299557686, + -3.1149117946624756, + -0.42948660254478455, + 0.4095041751861572 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 174, + 280, + 570, + 671 + ], + "metal pot": [ + 751, + 146, + 984, + 436 + ], + "bread": [ + 812, + 530, + 994, + 723 + ], + "blue plate": [ + 783, + 491, + 995, + 745 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move right 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4658603370189667, + 0.0534818135201931, + 0.039644792675971985, + -3.114210605621338, + -0.4260505735874176, + 0.4138794243335724 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move right 5 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.45068517327308655, + 0.05018133297562599, + 0.022137215360999107, + -3.096107244491577, + -0.3804337680339813, + 0.4193473160266876 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move right 5 cm, move up 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.44234684109687805, + 0.04957692325115204, + 0.020825475454330444, + -3.0654513835906982, + -0.35243600606918335, + 0.4983181655406952 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "approach target can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 10 degrees, keep gripper open; then move back 7 cm, move right 5 cm, move up 1 cm, keep gripper open; then move back 5 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.43831709027290344, + 0.049703631550073624, + 0.018360134214162827, + -3.0657265186309814, + -0.3731365501880646, + 0.62788987159729 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move up 1 cm, keep gripper open; then move back 7 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.43262147903442383, + 0.04405854269862175, + 0.01573943719267845, + -3.067247152328491, + -0.370100736618042, + 0.7007059454917908 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot is positioned above the table with the purple can visible in the top center. No movement toward the can has occurred yet, and the gripper remains open. The next action should be to move the end-effector closer to align above the purple can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 8 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.42167767882347107, + 0.03336942940950394, + 0.016885463148355484, + -3.0856518745422363, + -0.367960661649704, + 0.73032546043396 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot has approached the purple can and is currently positioned directly above it, aligning its end-effector for the next phase. No grasping has occurred as the gripper remains open and constant. The next likely action is to descend slightly to make contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 9 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41323769092559814, + 0.02618461102247238, + 0.02112615667283535, + -3.1071784496307373, + -0.36259621381759644, + 0.7347087860107422 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot has approached the purple can and is currently positioned directly above it, aligning its end-effector for the next phase. No grasping has occurred as the gripper remains open and constant. The next likely action is to descend slightly to make contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, keep gripper open; then move back 9 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3995913863182068, + 0.015613478608429432, + 0.02130173332989216, + -3.1216816902160645, + -0.33506688475608826, + 0.7204762101173401 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot has approached the purple can and is currently positioned directly above it, aligning its end-effector for the next phase. No grasping has occurred as the gripper remains open and constant. The next likely action is to descend slightly to make contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, keep gripper open; then move back 9 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3852665424346924, + 0.004808159079402685, + 0.024107182398438454, + -3.1338419914245605, + -0.33532169461250305, + 0.6869849562644958 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "align above can", + "subtask_reasoning": "The robot has approached the purple can and is currently positioned directly above it, aligning its end-effector for the next phase. No grasping has occurred as the gripper remains open and constant. The next likely action is to descend slightly to make contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 9 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3719710409641266, + -0.002538458677008748, + 0.02452191524207592, + 3.139277935028076, + -0.3180510103702545, + 0.6487694382667542 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached the purple can and is currently positioned directly above it, aligning its end-effector for the next phase. No grasping has occurred as the gripper remains open and constant. The next likely action is to descend slightly to make contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3553940951824188, + -0.009430859237909317, + 0.022048961371183395, + 3.136997699737549, + -0.2937873899936676, + 0.5975825190544128 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached the purple can and is currently positioned directly above it, aligning its end-effector for the next phase. No grasping has occurred as the gripper remains open and constant. The next likely action is to descend slightly to make contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430277705192566, + -0.014605352655053139, + 0.01799050159752369, + -3.137162923812866, + -0.2746187746524811, + 0.5545337796211243 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached and aligned above the purple can. It is now descending toward the can with an open gripper, preparing to make contact for pushing. The next action is to continue lowering until physical contact with the can is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3258054554462433, + -0.0219744760543108, + 0.021074000746011734, + 3.1362459659576416, + -0.2731110155582428, + 0.5147218704223633 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 752, + 146, + 984, + 436 + ], + "blue towel": [ + 174, + 281, + 538, + 671 + ], + "bread": [ + 812, + 530, + 994, + 722 + ], + "blue plate": [ + 782, + 492, + 995, + 744 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached and aligned above the purple can. It is now descending toward the can with an open gripper, preparing to make contact for pushing. The next action is to continue lowering until physical contact with the can is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035264313220978, + -0.03247068449854851, + 0.023376425728201866, + 3.134054183959961, + -0.2525854706764221, + 0.4460623860359192 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached and aligned above the purple can. It is now descending toward the can with an open gripper, preparing to make contact for pushing. The next action is to continue lowering until physical contact with the can is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29162582755088806, + -0.04026511684060097, + 0.02443959377706051, + 3.135679244995117, + -0.2406911700963974, + 0.40523701906204224 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached and aligned above the purple can. It is now descending toward the can with an open gripper, preparing to make contact for pushing. The next action is to continue lowering until physical contact with the can is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 4 cm, move right 3 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796172797679901, + -0.04940690100193024, + 0.018440838903188705, + -3.1352052688598633, + -0.22234590351581573, + 0.3763079345226288 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "push can forward", + "subtask_reasoning": "The robot has approached and aligned above the purple can. It is now descending toward the can with an open gripper, preparing to make contact for pushing. The next action is to continue lowering until physical contact with the can is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2660452723503113, + -0.058651965111494064, + 0.017850421369075775, + -3.141211986541748, + -0.22640050947666168, + 0.35143744945526123 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "push can forward", + "subtask_reasoning": "The robot's end-effector is in contact with the purple can, positioned to push it forward across the table. The gripper remains open, confirming no grasp has occurred. The next action is to continue pushing the can toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.25213462114334106, + -0.06810304522514343, + 0.01606704480946064, + -3.1410608291625977, + -0.21091309189796448, + 0.3317098617553711 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "push can forward", + "subtask_reasoning": "The robot's end-effector is in contact with the purple can, positioned to push it forward across the table. The gripper remains open, confirming no grasp has occurred. The next action is to continue pushing the can toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23597833514213562, + -0.07510538399219513, + 0.01837819814682007, + 3.1324448585510254, + -0.21885447204113007, + 0.3017253577709198 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "retract after push", + "subtask_reasoning": "The robot's end-effector is in contact with the purple can, positioned to push it forward across the table. The gripper remains open, confirming no grasp has occurred. The next action is to continue pushing the can toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23168596625328064, + -0.07481600344181061, + 0.02239745855331421, + 3.1176345348358154, + -0.23532003164291382, + 0.28418049216270447 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 752, + 145, + 985, + 435 + ], + "blue towel": [ + 173, + 281, + 567, + 669 + ], + "tin can": [ + 146, + 570, + 350, + 857 + ], + "blue plate": [ + 784, + 493, + 995, + 743 + ], + "black device": [ + 231, + 4, + 800, + 767 + ], + "bread": [ + 812, + 530, + 993, + 722 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "retract after push", + "subtask_reasoning": "The robot has completed pushing the purple can toward the bottom center and is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, consistent with a non-grasping push-and-retract strategy. Next, the arm will continue retracting to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2418837547302246, + -0.06393714994192123, + 0.026676485314965248, + 3.1038410663604736, + -0.2518260180950165, + 0.2930763363838196 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "retract after push", + "subtask_reasoning": "The robot has completed pushing the purple can toward the bottom center and is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, consistent with a non-grasping push-and-retract strategy. Next, the arm will continue retracting to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643343210220337, + -0.04848990961909294, + 0.04245821386575699, + 3.065189838409424, + -0.35353410243988037, + 0.33388012647628784 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple can from the top center to the bottom center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach target can" + }, + { + "id": 2, + "subtask": "align above can" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "push can forward" + }, + { + "id": 5, + "subtask": "retract after push" + } + ], + "subtask_name": "retract after push", + "subtask_reasoning": "The robot has completed pushing the purple can toward the bottom center and is now retracting its arm upward and backward. The gripper remains open with no grasp evidence, consistent with a non-grasping push-and-retract strategy. Next, the arm will continue retracting to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004321_ecot.json b/cot/chunk-0004/episode_0004321_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5f4ef24fddb2f404ba096ef0f0ec41bc9971336b --- /dev/null +++ b/cot/chunk-0004/episode_0004321_ecot.json @@ -0,0 +1,1817 @@ +{ + "task_name": "episode_0004321", + "episode_json": "json/chunk-0004/episode_0004321.json", + "video_path": "videos/chunk-0004/image_0/episode_0004321.mp4", + "instruction": "Fold the cloth from right to left to cover the purple figure.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004321.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9443943500518799, + "std": 0.4243142604827881, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94439, std=0.42431, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 123, + 123, + 123, + 123, + 123 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 10 + ], + [ + 3, + 11, + 22 + ], + [ + 4, + 23, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach right edge of cloth\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper toward the right edge of the blue cloth without closing, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp right edge of cloth\", \"start\": 7, \"end\": 10, \"planning\": \"Close the gripper to securely grasp the right edge of the cloth, confirmed by decreasing gripper value and visual contact.\"},\n {\"id\": 3, \"name\": \"fold cloth leftward over purple figure\", \"start\": 11, \"end\": 22, \"planning\": \"Lift and drag the grasped right edge of the cloth leftward across the table to cover the purple figure, maintaining grip throughout motion.\"},\n {\"id\": 4, \"name\": \"release cloth and retreat\", \"start\": 23, \"end\": 27, \"planning\": \"Open the gripper to release the folded cloth, then retract the arm upward and away from the workspace.\"}\n ],\n \"global_plan\": \"Approach the right edge of the cloth, grasp it, fold it leftward over the purple figure while holding, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach. Segment 2 shows meaningful closure with image confirmation — grasp is valid. Segment 3 maintains grip during transport/fold. Segment 4 shows gripper opening — release is valid. All frame ranges are contiguous and cover 0–27.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach right edge of cloth", + "start": 0, + "end": 6, + "planning": "Move the gripper toward the right edge of the blue cloth without closing, positioning for contact." + }, + { + "id": 2, + "name": "grasp right edge of cloth", + "start": 7, + "end": 10, + "planning": "Close the gripper to securely grasp the right edge of the cloth, confirmed by decreasing gripper value and visual contact." + }, + { + "id": 3, + "name": "fold cloth leftward over purple figure", + "start": 11, + "end": 22, + "planning": "Lift and drag the grasped right edge of the cloth leftward across the table to cover the purple figure, maintaining grip throughout motion." + }, + { + "id": 4, + "name": "release cloth and retreat", + "start": 23, + "end": 27, + "planning": "Open the gripper to release the folded cloth, then retract the arm upward and away from the workspace." + } + ], + "global_plan": "Approach the right edge of the cloth, grasp it, fold it leftward over the purple figure while holding, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — described as approach. Segment 2 shows meaningful closure with image confirmation — grasp is valid. Segment 3 maintains grip during transport/fold. Segment 4 shows gripper opening — release is valid. All frame ranges are contiguous and cover 0–27." + } + }, + "episode_goal": "Fold the right side of the blue cloth over the purple figure to cover it.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621995449066162, + -0.026062259450554848, + 0.11461356282234192, + -3.038940668106079, + -0.18395115435123444, + -0.043899599462747574 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the purple figure centered on it. The gripper is open and no contact has been made yet. The next action is to move the end-effector toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move down 6 cm, tilt right 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35999059677124023, + -0.027937693521380424, + 0.10050703585147858, + -3.0468180179595947, + -0.14939169585704803, + -0.041715383529663086 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the purple figure centered on it. The gripper is open and no contact has been made yet. The next action is to move the end-effector toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3489912152290344, + -0.04845135286450386, + 0.083977609872818, + -3.0740795135498047, + -0.1309737116098404, + -0.08564603328704834 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the purple figure centered on it. The gripper is open and no contact has been made yet. The next action is to move the end-effector toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3426947295665741, + -0.0746874287724495, + 0.0785343199968338, + -3.079942464828491, + -0.13954010605812073, + -0.12534199655056 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the purple figure in the center. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector down and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33681023120880127, + -0.09106457233428955, + 0.07490961998701096, + -3.0976037979125977, + -0.1380831003189087, + -0.1459665149450302 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the purple figure in the center. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector down and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3344174921512604, + -0.11289972066879272, + 0.07594083249568939, + -3.1198344230651855, + -0.1649407148361206, + -0.15078392624855042 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the purple figure in the center. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector down and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move left 7 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33384767174720764, + -0.12854480743408203, + 0.06604167073965073, + -3.1357672214508057, + -0.16824451088905334, + -0.1424960345029831 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 142, + 231, + 254, + 337 + ], + "silver": [ + 730, + 892, + 864, + 995 + ], + "blue cloth": [ + 121, + 315, + 807, + 975 + ], + "wooden table": [ + 2, + 158, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the purple figure in the center. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector down and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 10 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3373103439807892, + -0.1323949545621872, + 0.05790705978870392, + 3.1309382915496826, + -0.17646671831607819, + -0.10597444325685501 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the purple figure in the center. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector down and toward the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 14 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33807820081710815, + -0.13725706934928894, + 0.042399387806653976, + 3.122210741043091, + -0.15401777625083923, + -0.07580066472291946 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth, positioning the gripper near the target area. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 17 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3368177115917206, + -0.137767493724823, + 0.02975114993751049, + 3.1203887462615967, + -0.12811821699142456, + -0.04589615389704704 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth, positioning the gripper near the target area. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 2 cm, move left 20 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402084410190582, + -0.14227129518985748, + 0.02609553560614586, + 3.098158359527588, + -0.139888197183609, + -0.006922480184584856 + ], + "gripper_value": 0.676182746887207 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "grasp right edge of cloth", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth, positioning the gripper near the target area. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 22 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34305340051651, + -0.14678135514259338, + 0.028248855844140053, + 3.0928030014038086, + -0.14931169152259827, + -0.012940160930156708 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth, positioning the gripper near the target area. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 23 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34158065915107727, + -0.15194159746170044, + 0.03127581998705864, + 3.0746591091156006, + -0.12865735590457916, + -0.027575815096497536 + ], + "gripper_value": 0.18178488314151764 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth, positioning the gripper near the target area. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 24 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34347525238990784, + -0.153232604265213, + 0.05809423699975014, + 2.9738614559173584, + -0.1210043728351593, + -0.07485971599817276 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth, positioning the gripper near the target area. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 23 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3477804958820343, + -0.12212259322404861, + 0.09288857877254486, + 2.9584155082702637, + -0.16513682901859283, + -0.042552728205919266 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 142, + 231, + 255, + 337 + ], + "green ball": [ + 828, + 442, + 966, + 593 + ], + "silver": [ + 725, + 894, + 863, + 995 + ], + "blue cloth": [ + 188, + 339, + 783, + 993 + ], + "wooden table": [ + 3, + 156, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth, positioning the gripper near the target area. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 20 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.341131329536438, + -0.08141694962978363, + 0.10721168667078018, + 2.9445297718048096, + -0.16243761777877808, + 0.03167666867375374 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth, positioning the gripper near the target area. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 15 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33612775802612305, + -0.0486588291823864, + 0.1063648983836174, + 2.9287338256835938, + -0.13971655070781708, + 0.08967561274766922 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 5 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32552897930145264, + -0.003907948732376099, + 0.10319137573242188, + 2.921091318130493, + -0.10087257623672485, + 0.1712404042482376 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214295506477356, + 0.022296959534287453, + 0.10501660406589508, + 2.9374806880950928, + -0.10284460335969925, + 0.17761321365833282 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 142, + 231, + 254, + 337 + ], + "green ball": [ + 818, + 443, + 967, + 593 + ], + "blue cloth": [ + 188, + 325, + 715, + 992 + ], + "wooden table": [ + 3, + 157, + 996, + 995 + ], + "silver": [ + 741, + 894, + 860, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32469555735588074, + 0.058106012642383575, + 0.0942452922463417, + 2.9871838092803955, + -0.0787442997097969, + 0.1483907401561737 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3373522162437439, + 0.07124649733304977, + 0.0873321071267128, + 3.0228323936462402, + -0.08538921177387238, + 0.04500045254826546 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3472294807434082, + 0.08321799337863922, + 0.0761924535036087, + 3.0833916664123535, + -0.06974887102842331, + -0.07437419146299362 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3493093252182007, + 0.08491318672895432, + 0.07017774134874344, + 3.0954463481903076, + -0.0698113963007927, + -0.09648776054382324 + ], + "gripper_value": 0.2418806254863739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "fold cloth leftward over purple figure", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3487088978290558, + 0.07331719994544983, + 0.06286581605672836, + 3.073129892349243, + -0.07708968222141266, + -0.07618279755115509 + ], + "gripper_value": 0.5120346546173096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34086668491363525, + 0.056516364216804504, + 0.05658970773220062, + 3.0607199668884277, + -0.07007668912410736, + -0.06251368671655655 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The robot is holding the right edge of the blue cloth and has begun folding it leftward over the purple figure. The cloth is partially covering the figure, indicating progress in the fold. The next action should continue moving the gripper leftward to fully cover the purple figure before releasing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3362668454647064, + 0.04429241269826889, + 0.07673699408769608, + 3.059255838394165, + -0.11841234564781189, + -0.017746252939105034 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The blue cloth has been folded over the purple figure, and the gripper is now open and positioned above the cloth. The release action is complete, and the robot is retreating slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.335733562707901, + 0.027852846309542656, + 0.09165193885564804, + 3.0484559535980225, + -0.15409429371356964, + -0.008717149496078491 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The blue cloth has been folded over the purple figure, and the gripper is now open and positioned above the cloth. The release action is complete, and the robot is retreating slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3347926139831543, + 0.010626746341586113, + 0.10382481664419174, + 3.023064374923706, + -0.16935880482196808, + -0.0010997150093317032 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the blue cloth over the purple figure to cover it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp right edge of cloth" + }, + { + "id": 3, + "subtask": "fold cloth leftward over purple figure" + }, + { + "id": 4, + "subtask": "release cloth and retreat" + } + ], + "subtask_name": "release cloth and retreat", + "subtask_reasoning": "The blue cloth has been folded over the purple figure, and the gripper is now open and positioned above the cloth. The release action is complete, and the robot is retreating slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004322_ecot.json b/cot/chunk-0004/episode_0004322_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea2ba5dfdd0d2133991f3eece8fbba79880c3e4 --- /dev/null +++ b/cot/chunk-0004/episode_0004322_ecot.json @@ -0,0 +1,3544 @@ +{ + "task_name": "episode_0004322", + "episode_json": "json/chunk-0004/episode_0004322.json", + "video_path": "videos/chunk-0004/image_0/episode_0004322.mp4", + "instruction": "Moved the stainless basket to the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 54, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004322.json" + }, + "fps": 5.0, + "T_eff": 54, + "gripper_behavior_summary": { + "available": true, + "range": 0.9407274723052979, + "std": 0.3923071026802063, + "delta_total": 0.002661466598510742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94073, std=0.39231, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 118, + 118, + 118, + 118, + 118, + 118, + 118, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 218, + 233, + 233, + 233, + 233, + 233, + 233, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33, + 33 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 24 + ], + [ + 3, + 25, + 32 + ], + [ + 4, + 33, + 38 + ], + [ + 5, + 39, + 53 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach basket\", \"start\": 0, \"end\": 17, \"planning\": \"Move end-effector toward the stainless steel basket on the left burner and close gripper to make contact.\"},\n {\"id\": 2, \"name\": \"grasp basket\", \"start\": 18, \"end\": 24, \"planning\": \"Secure grip on the basket by fully closing the gripper and lift slightly to confirm hold.\"},\n {\"id\": 3, \"name\": \"transport basket right\", \"start\": 25, \"end\": 32, \"planning\": \"Carry the grasped basket horizontally from left burner to right burner while maintaining stable grip.\"},\n {\"id\": 4, \"name\": \"release basket\", \"start\": 33, \"end\": 38, \"planning\": \"Open gripper to release the basket onto the right burner and retract end-effector slightly.\"},\n {\"id\": 5, \"name\": \"retreat from scene\", \"start\": 39, \"end\": 53, \"planning\": \"Move end-effector away from the stove area to complete the task without further interaction.\"}\n ],\n \"global_plan\": \"Approach and grasp the stainless steel basket on the left burner, transport it to the right burner, release it there, then retreat.\",\n \"notes\": \"Segment 5 has no gripper motion — consistent with retreat phase after release. All segments align with observed gripper closure/opening and spatial motion. No hallucinated lifting or placing beyond visual evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach basket", + "start": 0, + "end": 17, + "planning": "Move end-effector toward the stainless steel basket on the left burner and close gripper to make contact." + }, + { + "id": 2, + "name": "grasp basket", + "start": 18, + "end": 24, + "planning": "Secure grip on the basket by fully closing the gripper and lift slightly to confirm hold." + }, + { + "id": 3, + "name": "transport basket right", + "start": 25, + "end": 32, + "planning": "Carry the grasped basket horizontally from left burner to right burner while maintaining stable grip." + }, + { + "id": 4, + "name": "release basket", + "start": 33, + "end": 38, + "planning": "Open gripper to release the basket onto the right burner and retract end-effector slightly." + }, + { + "id": 5, + "name": "retreat from scene", + "start": 39, + "end": 53, + "planning": "Move end-effector away from the stove area to complete the task without further interaction." + } + ], + "global_plan": "Approach and grasp the stainless steel basket on the left burner, transport it to the right burner, release it there, then retreat.", + "notes": "Segment 5 has no gripper motion — consistent with retreat phase after release. All segments align with observed gripper closure/opening and spatial motion. No hallucinated lifting or placing beyond visual evidence." + } + }, + "episode_goal": "Move the stainless steel basket containing fruits to the right burner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23634923994541168, + -0.02797766588628292, + 0.11011803150177002, + -3.0075292587280273, + -0.2738337218761444, + 0.13006538152694702 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot is positioned above the stainless steel basket on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to lower the gripper and close it around the basket to initiate transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2324589341878891, + -0.027269186452031136, + 0.10369681566953659, + -2.9982120990753174, + -0.25046125054359436, + 0.13051901757717133 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot is positioned above the stainless steel basket on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to lower the gripper and close it around the basket to initiate transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23389607667922974, + -0.02880558930337429, + 0.10120414942502975, + -3.001981258392334, + -0.2652547359466553, + 0.134878009557724 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot is positioned above the stainless steel basket on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to lower the gripper and close it around the basket to initiate transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2344880998134613, + -0.030228396877646446, + 0.10001976042985916, + -2.9923675060272217, + -0.26941800117492676, + 0.1353970170021057 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot is positioned above the stainless steel basket on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to lower the gripper and close it around the basket to initiate transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23384957015514374, + -0.03183262050151825, + 0.09813149273395538, + -2.989717721939087, + -0.27964910864830017, + 0.13816940784454346 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot is positioned above the stainless steel basket on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to lower the gripper and close it around the basket to initiate transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23407621681690216, + -0.03270893916487694, + 0.09610266238451004, + -2.988746166229248, + -0.2944463789463043, + 0.1382877677679062 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot is positioned above the stainless steel basket on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to lower the gripper and close it around the basket to initiate transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23214876651763916, + -0.03568046912550926, + 0.09058717638254166, + -2.9889309406280518, + -0.3039146363735199, + 0.13738545775413513 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot is positioned above the stainless steel basket on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to lower the gripper and close it around the basket to initiate transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22856059670448303, + -0.042008936405181885, + 0.08618731051683426, + -2.9842209815979004, + -0.3111712634563446, + 0.14521650969982147 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot is positioned above the stainless steel basket on the left burner, with the gripper open and ready to grasp. No movement or contact has occurred yet. The next action should be to lower the gripper and close it around the basket to initiate transport." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22458970546722412, + -0.05023188516497612, + 0.08256450295448303, + -2.985757350921631, + -0.3299483060836792, + 0.16306079924106598 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "strainer": [ + 292, + 422, + 578, + 765 + ], + "toy banana": [ + 463, + 489, + 537, + 649 + ] + } + } + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.221563458442688, + -0.05702442675828934, + 0.07750038802623749, + -2.9831924438476562, + -0.3455299139022827, + 0.1718701720237732 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22075259685516357, + -0.06118926778435707, + 0.0703137144446373, + -2.9877898693084717, + -0.3679058849811554, + 0.16636775434017181 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "strainer": [ + 292, + 412, + 578, + 765 + ], + "toy egg": [ + 348, + 594, + 491, + 730 + ], + "toy banana": [ + 465, + 362, + 547, + 651 + ] + } + } + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22396716475486755, + -0.06048888340592384, + 0.06251315772533417, + -2.9849236011505127, + -0.39224717020988464, + 0.15464864671230316 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22783474624156952, + -0.062056224793195724, + 0.05787689983844757, + -2.989786386489868, + -0.4101448953151703, + 0.1402461975812912 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2295897752046585, + -0.06019511818885803, + 0.05148160457611084, + -2.9922711849212646, + -0.4206606149673462, + 0.14258556067943573 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23059998452663422, + -0.058995530009269714, + 0.044189538806676865, + -3.0002825260162354, + -0.42582905292510986, + 0.14237739145755768 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move forward 4 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23188409209251404, + -0.0578157939016819, + 0.03939737752079964, + -3.0152392387390137, + -0.43784967064857483, + 0.15210656821727753 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 7 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2285475879907608, + -0.05700474604964256, + 0.033090028911828995, + -3.0261569023132324, + -0.4412096440792084, + 0.15755918622016907 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 7 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22616463899612427, + -0.057086288928985596, + 0.03084244206547737, + -3.0480239391326904, + -0.430629700422287, + 0.18049614131450653 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22227725386619568, + -0.05861334502696991, + 0.03146974742412567, + -3.0685791969299316, + -0.4162813723087311, + 0.20180204510688782 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21765638887882233, + -0.05856076627969742, + 0.03811456635594368, + -3.081312417984009, + -0.4006810784339905, + 0.2166912853717804 + ], + "gripper_value": 0.16548661887645721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21545304358005524, + -0.057109519839286804, + 0.0499674491584301, + -3.089401960372925, + -0.38532477617263794, + 0.22263821959495544 + ], + "gripper_value": 0.06803370267152786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned above the stainless steel basket on the left burner, with the gripper open and ready. No contact has been made yet, and the basket remains stationary. The next action should be to lower the gripper to make contact with the basket for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22209586203098297, + -0.05711374059319496, + 0.0668720230460167, + -3.054152250289917, + -0.37983375787734985, + 0.2009485512971878 + ], + "gripper_value": 0.06037256866693497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned directly above the stainless steel basket on the left burner, with the gripper open and aligned for grasping. The basket contains fruits and is stationary on the burner. The next action is to close the gripper to securely grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23250983655452728, + -0.057723455131053925, + 0.08461914956569672, + -3.0188326835632324, + -0.3839031159877777, + 0.18425406515598297 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "strainer": [ + 283, + 337, + 575, + 717 + ] + } + } + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned directly above the stainless steel basket on the left burner, with the gripper open and aligned for grasping. The basket contains fruits and is stationary on the burner. The next action is to close the gripper to securely grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 5 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24462375044822693, + -0.060377802699804306, + 0.09687476605176926, + -2.998354911804199, + -0.4041171073913574, + 0.1497832089662552 + ], + "gripper_value": 0.06037256866693497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned directly above the stainless steel basket on the left burner, with the gripper open and aligned for grasping. The basket contains fruits and is stationary on the burner. The next action is to close the gripper to securely grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, keep gripper closed; then move forward 4 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26255497336387634, + -0.06602612137794495, + 0.09720669686794281, + -2.9786956310272217, + -0.3979138731956482, + 0.10818327963352203 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned directly above the stainless steel basket on the left burner, with the gripper open and aligned for grasping. The basket contains fruits and is stationary on the burner. The next action is to close the gripper to securely grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper closed; then move forward 4 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903049886226654, + -0.07011162489652634, + 0.0966225266456604, + -2.9697816371917725, + -0.39192309975624084, + 0.09198538959026337 + ], + "gripper_value": 0.06037256866693497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport basket right", + "subtask_reasoning": "The robot arm is positioned directly above the stainless steel basket on the left burner, with the gripper open and aligned for grasping. The basket contains fruits and is stationary on the burner. The next action is to close the gripper to securely grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160058856010437, + -0.07378160953521729, + 0.08942115306854248, + -2.957292318344116, + -0.3967566192150116, + 0.09896731376647949 + ], + "gripper_value": 0.06037256866693497 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport basket right", + "subtask_reasoning": "The robot arm is positioned directly above the stainless steel basket on the left burner, with the gripper open and aligned for grasping. The basket contains fruits and is stationary on the burner. The next action is to close the gripper to securely grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, open gripper; then move back 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33363673090934753, + -0.07442162185907364, + 0.07985959202051163, + -2.935976028442383, + -0.40234091877937317, + 0.08349327743053436 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "strainer": [ + 484, + 165, + 747, + 500 + ], + "toy egg": [ + 540, + 268, + 707, + 424 + ] + } + } + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport basket right", + "subtask_reasoning": "The robot arm is positioned directly above the stainless steel basket on the left burner, with the gripper open and aligned for grasping. The basket contains fruits and is stationary on the burner. The next action is to close the gripper to securely grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.337167888879776, + -0.07118261605501175, + 0.07437430322170258, + -2.9271187782287598, + -0.40342533588409424, + 0.06856406480073929 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport basket right", + "subtask_reasoning": "The robot is currently holding the stainless steel basket containing fruits above the stove, having successfully grasped it from the left burner. The basket is positioned mid-air between the burners, indicating active transport toward the right burner. The next action is to continue moving the basket laterally to the right until it is aligned over the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 3 cm, move left 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33756133913993835, + -0.07133647799491882, + 0.07476150244474411, + -2.93105149269104, + -0.406427264213562, + 0.07700439542531967 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport basket right", + "subtask_reasoning": "The robot is currently holding the stainless steel basket containing fruits above the stove, having successfully grasped it from the left burner. The basket is positioned mid-air between the burners, indicating active transport toward the right burner. The next action is to continue moving the basket laterally to the right until it is aligned over the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366401493549347, + -0.07438287883996964, + 0.07328910380601883, + -2.9373583793640137, + -0.4140550494194031, + 0.08677971363067627 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport basket right", + "subtask_reasoning": "The robot is currently holding the stainless steel basket containing fruits above the stove, having successfully grasped it from the left burner. The basket is positioned mid-air between the burners, indicating active transport toward the right burner. The next action is to continue moving the basket laterally to the right until it is aligned over the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.337410032749176, + -0.0744456797838211, + 0.07226861268281937, + -2.937124729156494, + -0.4410078525543213, + 0.09340494871139526 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport basket right", + "subtask_reasoning": "The robot is currently holding the stainless steel basket containing fruits above the stove, having successfully grasped it from the left burner. The basket is positioned mid-air between the burners, indicating active transport toward the right burner. The next action is to continue moving the basket laterally to the right until it is aligned over the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.337410032749176, + -0.0744456797838211, + 0.07226861268281937, + -2.9399659633636475, + -0.442245215177536, + 0.10005257278680801 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport basket right", + "subtask_reasoning": "The robot is currently holding the stainless steel basket containing fruits above the stove, having successfully grasped it from the left burner. The basket is positioned mid-air between the burners, indicating active transport toward the right burner. The next action is to continue moving the basket laterally to the right until it is aligned over the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33515819907188416, + -0.07371969521045685, + 0.07147838175296783, + -2.934512138366699, + -0.42773568630218506, + 0.10161325335502625 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release basket", + "subtask_reasoning": "The robot is currently holding the stainless steel basket containing fruits above the stove, having successfully grasped it from the left burner. The basket is positioned mid-air between the burners, indicating active transport toward the right burner. The next action is to continue moving the basket laterally to the right until it is aligned over the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.33167338371276855, + -0.07482530921697617, + 0.07028312236070633, + -2.934483289718628, + -0.4087585508823395, + 0.10894525051116943 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release basket", + "subtask_reasoning": "The robot is currently holding the stainless steel basket containing fruits above the stove, having successfully grasped it from the left burner. The basket is positioned mid-air between the burners, indicating active transport toward the right burner. The next action is to continue moving the basket laterally to the right until it is aligned over the target burner for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 6 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.32684072852134705, + -0.07633280754089355, + 0.07439110428094864, + -2.937962055206299, + -0.353634774684906, + 0.12736693024635315 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release basket", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3211391270160675, + -0.07657583057880402, + 0.09176477789878845, + -2.951306104660034, + -0.32063573598861694, + 0.1238829642534256 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release basket", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 8 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135169446468353, + -0.07413333654403687, + 0.10138010233640671, + -2.9596643447875977, + -0.2799961268901825, + 0.1168062761425972 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release basket", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 9 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020307123661041, + -0.06572213768959045, + 0.11969105899333954, + -2.9866058826446533, + -0.26291242241859436, + 0.07855521142482758 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release basket", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 3 cm, move left 10 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 33, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28734660148620605, + -0.04848768934607506, + 0.12563039362430573, + -3.0101757049560547, + -0.25571441650390625, + 0.026506535708904266 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "strainer": [ + 493, + 259, + 752, + 561 + ] + } + } + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27909836173057556, + -0.03259170427918434, + 0.12466088682413101, + -3.030674695968628, + -0.2549695074558258, + -0.01716257818043232 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.27538323402404785, + -0.018794093281030655, + 0.11736544966697693, + -3.043935537338257, + -0.26124143600463867, + -0.05166459456086159 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2729890048503876, + -0.005673432722687721, + 0.11779968440532684, + -3.062605142593384, + -0.2680433690547943, + -0.0786890909075737 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.27218154072761536, + 0.004661097191274166, + 0.11856789141893387, + -3.0754239559173584, + -0.2644440829753876, + -0.09712377935647964 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2700437307357788, + 0.014661720022559166, + 0.11641586571931839, + -3.079397201538086, + -0.25610077381134033, + -0.11555255949497223 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2665480971336365, + 0.02567117288708687, + 0.11792821437120438, + -3.0852303504943848, + -0.2610630393028259, + -0.13087408244609833 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "strainer": [ + 497, + 259, + 754, + 562 + ], + "toy banana": [ + 681, + 217, + 747, + 355 + ] + } + } + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket is currently positioned over the right burner, with the gripper open and no longer holding the basket. The release action appears complete as the basket rests on the burner. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631300687789917, + 0.03310739994049072, + 0.11722253262996674, + -3.0924482345581055, + -0.26405778527259827, + -0.14593727886676788 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket has been successfully placed on the right burner. The robot arm is currently positioned above the basket with the gripper open, indicating the release is complete. The next action is to retract the arm and retreat from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.26202139258384705, + 0.038897763937711716, + 0.11588365584611893, + -3.1010725498199463, + -0.26706230640411377, + -0.15058235824108124 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket has been successfully placed on the right burner. The robot arm is currently positioned above the basket with the gripper open, indicating the release is complete. The next action is to retract the arm and retreat from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2608988583087921, + 0.04827797785401344, + 0.1167750358581543, + -3.0939033031463623, + -0.2705564498901367, + -0.1592881828546524 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket has been successfully placed on the right burner. The robot arm is currently positioned above the basket with the gripper open, indicating the release is complete. The next action is to retract the arm and retreat from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548026740550995, + 0.057466667145490646, + 0.11828939616680145, + -3.090143918991089, + -0.25779423117637634, + -0.15426349639892578 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket has been successfully placed on the right burner. The robot arm is currently positioned above the basket with the gripper open, indicating the release is complete. The next action is to retract the arm and retreat from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2467494159936905, + 0.06468892842531204, + 0.11608614772558212, + -3.084050178527832, + -0.2518901824951172, + -0.14997127652168274 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket has been successfully placed on the right burner. The robot arm is currently positioned above the basket with the gripper open, indicating the release is complete. The next action is to retract the arm and retreat from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.23974813520908356, + 0.07054958492517471, + 0.11290878802537918, + -3.0773868560791016, + -0.2594303488731384, + -0.14758680760860443 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket has been successfully placed on the right burner. The robot arm is currently positioned above the basket with the gripper open, indicating the release is complete. The next action is to retract the arm and retreat from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2352077066898346, + 0.07728461176156998, + 0.11042165756225586, + -3.0835788249969482, + -0.26176971197128296, + -0.14808262884616852 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket has been successfully placed on the right burner. The robot arm is currently positioned above the basket with the gripper open, indicating the release is complete. The next action is to retract the arm and retreat from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.23207947611808777, + 0.07989025861024857, + 0.10873757302761078, + -3.0868887901306152, + -0.2563001215457916, + -0.14490871131420135 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the stainless steel basket containing fruits to the right burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket right" + }, + { + "id": 4, + "subtask": "release basket" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The stainless steel basket has been successfully placed on the right burner. The robot arm is currently positioned above the basket with the gripper open, indicating the release is complete. The next action is to retract the arm and retreat from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 53 + }, + "cache_ref": { + "anchor_ref_reasoning": 46 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 53 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004325_ecot.json b/cot/chunk-0004/episode_0004325_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd278169ce7e4b447a3f79390ce7022aef1d85f --- /dev/null +++ b/cot/chunk-0004/episode_0004325_ecot.json @@ -0,0 +1,2184 @@ +{ + "task_name": "episode_0004325", + "episode_json": "json/chunk-0004/episode_0004325.json", + "video_path": "videos/chunk-0004/image_0/episode_0004325.mp4", + "instruction": "Open fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004325.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.6590903997421265, + "std": 0.22764913737773895, + "delta_total": -0.003973186016082764, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65909, std=0.22765, total_delta=-0.00397). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 316, + 316, + 316, + 316, + 216, + 216, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222, + 222 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 12 + ], + [ + 4, + 13, + 15 + ], + [ + 5, + 16, + 19 + ], + [ + 6, + 20, + 21 + ], + [ + 7, + 22, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge handle\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the fridge handle without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"align with handle\", \"start\": 9, \"end\": 15, \"planning\": \"Fine-tune position and orientation to align gripper with handle; no grasp yet since gripper still open.\"},\n {\"id\": 3, \"name\": \"grasp handle\", \"start\": 16, \"end\": 21, \"planning\": \"Close gripper around handle — segment shows meaningful closing and images confirm contact and grip.\"},\n {\"id\": 4, \"name\": \"pull door open\", \"start\": 22, \"end\": 34, \"planning\": \"Pull handle to open fridge door — gripper opens after pulling, indicating release post-manipulation.\"}\n ],\n \"global_plan\": \"Approach and align with fridge handle, grasp it firmly, then pull the door open before releasing.\",\n \"notes\": \"Gripper evidence strictly followed: no grasp before frame 16; grasp confirmed in segment 5 (frames 16-19); release occurs during segment 7 as gripper reopens while retreating.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge handle", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the fridge handle without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "align with handle", + "start": 9, + "end": 15, + "planning": "Fine-tune position and orientation to align gripper with handle; no grasp yet since gripper still open." + }, + { + "id": 3, + "name": "grasp handle", + "start": 16, + "end": 21, + "planning": "Close gripper around handle — segment shows meaningful closing and images confirm contact and grip." + }, + { + "id": 4, + "name": "pull door open", + "start": 22, + "end": 34, + "planning": "Pull handle to open fridge door — gripper opens after pulling, indicating release post-manipulation." + } + ], + "global_plan": "Approach and align with fridge handle, grasp it firmly, then pull the door open before releasing.", + "notes": "Gripper evidence strictly followed: no grasp before frame 16; grasp confirmed in segment 5 (frames 16-19); release occurs during segment 7 as gripper reopens while retreating." + } + }, + "episode_goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2121540606021881, + 0.09244175255298615, + 0.1424378603696823, + -3.054978370666504, + -0.030167602002620697, + 0.018659401684999466 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the closed refrigerator, with the end-effector near the handle but not yet in contact. No part of the task has been completed yet as the approach phase is ongoing. The next action is to move the gripper closer to align precisely with the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 14 cm, move down 12 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21055962145328522, + 0.0897212103009224, + 0.13579097390174866, + -3.069377899169922, + -0.008036165498197079, + 0.02200605534017086 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the closed refrigerator, with the end-effector near the handle but not yet in contact. No part of the task has been completed yet as the approach phase is ongoing. The next action is to move the gripper closer to align precisely with the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 14 cm, move down 11 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22829075157642365, + 0.06916020810604095, + 0.12087129056453705, + -3.090984344482422, + -0.035630788654088974, + 0.03338487446308136 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the closed refrigerator, with the end-effector near the handle but not yet in contact. No part of the task has been completed yet as the approach phase is ongoing. The next action is to move the gripper closer to align precisely with the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 12 cm, move down 10 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2445763647556305, + 0.04568585008382797, + 0.10141179710626602, + -3.1102538108825684, + -0.028613615781068802, + 0.03835358843207359 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned in front of the closed refrigerator, with the end-effector near the handle but not yet in contact. No part of the task has been completed yet as the approach phase is ongoing. The next action is to move the gripper closer to align precisely with the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 10 cm, move down 8 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.262409508228302, + 0.01689102128148079, + 0.08008536696434021, + 3.1283304691314697, + -0.049816057085990906, + 0.028277289122343063 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "refrigerator handle": [ + 663, + 426, + 751, + 731 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator handle with the gripper open and aligned for approach. No contact or grasping has occurred yet as the subtask focuses on positioning. The next action is to move the end-effector closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 6 cm, tilt back 20 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28701767325401306, + -0.0023730003740638494, + 0.054084502160549164, + 3.090263843536377, + -0.08042028546333313, + 0.055719103664159775 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator handle with the gripper open and aligned for approach. No contact or grasping has occurred yet as the subtask focuses on positioning. The next action is to move the end-effector closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045055568218231, + -0.017679007723927498, + 0.03666485473513603, + 3.0758771896362305, + -0.17320233583450317, + 0.07491491734981537 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator handle with the gripper open and aligned for approach. No contact or grasping has occurred yet as the subtask focuses on positioning. The next action is to move the end-effector closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31741422414779663, + -0.03246445953845978, + 0.029226163402199745, + 3.1046934127807617, + -0.25853198766708374, + 0.07855860143899918 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator handle with the gripper open and aligned for approach. No contact or grasping has occurred yet as the subtask focuses on positioning. The next action is to move the end-effector closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31109344959259033, + -0.041298408061265945, + 0.021863125264644623, + 3.1377367973327637, + -0.2856694161891937, + 0.09636245667934418 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "approach fridge handle", + "subtask_reasoning": "The robot is positioned near the refrigerator handle with the gripper open and aligned for approach. No contact or grasping has occurred yet as the subtask focuses on positioning. The next action is to move the end-effector closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064325749874115, + -0.049894534051418304, + 0.022046154364943504, + -3.115375280380249, + -0.3252675533294678, + 0.09456093609333038 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot is positioned near the refrigerator handle with the gripper open and aligned for approach. No contact or grasping has occurred yet as the subtask focuses on positioning. The next action is to move the end-effector closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move back 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30551695823669434, + -0.05034613609313965, + 0.02172229252755642, + -3.105849504470825, + -0.3587043285369873, + 0.08517299592494965 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot is positioned near the refrigerator handle with the gripper open and aligned for approach. No contact or grasping has occurred yet as the subtask focuses on positioning. The next action is to move the end-effector closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, tilt right 10 degrees, close gripper; then move back 5 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.309041291475296, + -0.05008147284388542, + 0.022949254140257835, + -3.1059789657592773, + -0.3756251335144043, + 0.05412831902503967 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot is positioned near the refrigerator handle with the gripper open and aligned for approach. No contact or grasping has occurred yet as the subtask focuses on positioning. The next action is to move the end-effector closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move back 7 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31328171491622925, + -0.050913020968437195, + 0.02601516805589199, + -3.1168177127838135, + -0.3785456418991089, + 0.03382818400859833 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the refrigerator handle, with the end-effector aligned to the grip area. The gripper is currently open, indicating that the alignment phase is active but the grasp has not yet been executed. The next logical step is to close the gripper to secure a hold on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed; then move back 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149673342704773, + -0.0530666783452034, + 0.025238608941435814, + 3.1161153316497803, + -0.3719235062599182, + 0.03010076843202114 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the refrigerator handle, with the end-effector aligned to the grip area. The gripper is currently open, indicating that the alignment phase is active but the grasp has not yet been executed. The next logical step is to close the gripper to secure a hold on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32708999514579773, + -0.05999074503779411, + 0.021151425316929817, + 3.064380645751953, + -0.3588370978832245, + 0.048470158129930496 + ], + "gripper_value": 0.8948037624359131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the refrigerator handle, with the end-effector aligned to the grip area. The gripper is currently open, indicating that the alignment phase is active but the grasp has not yet been executed. The next logical step is to close the gripper to secure a hold on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32842329144477844, + -0.0639713704586029, + 0.016817064955830574, + 3.042386054992676, + -0.3506479263305664, + 0.06388069689273834 + ], + "gripper_value": 0.7604051232337952 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "align with handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the refrigerator handle, with the end-effector aligned to the grip area. The gripper is currently open, indicating that the alignment phase is active but the grasp has not yet been executed. The next logical step is to close the gripper to secure a hold on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 8 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3303021192550659, + -0.061772167682647705, + 0.016765082255005836, + 3.0632593631744385, + -0.36717990040779114, + 0.07059399038553238 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "grasp handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the refrigerator handle, with the end-effector aligned to the grip area. The gripper is currently open, indicating that the alignment phase is active but the grasp has not yet been executed. The next logical step is to close the gripper to secure a hold on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32965514063835144, + -0.060769520699977875, + 0.016365280374884605, + 3.082858085632324, + -0.3616950511932373, + 0.05892663821578026 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "grasp handle", + "subtask_reasoning": "The robot arm is positioned directly in front of the refrigerator handle, with the end-effector aligned to the grip area. The gripper is currently open, indicating that the alignment phase is active but the grasp has not yet been executed. The next logical step is to close the gripper to secure a hold on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 5 cm, move right 9 cm, move up 2 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32792729139328003, + -0.06155124679207802, + 0.015556400641798973, + 3.0986275672912598, + -0.3655747175216675, + 0.06153574213385582 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "grasp handle", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, open gripper; then move forward 8 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.301863431930542, + -0.05793837830424309, + 0.01617100089788437, + 3.136888027191162, + -0.2992568016052246, + 0.08196161687374115 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "grasp handle", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 8 cm, move right 7 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27733010053634644, + -0.05396741256117821, + 0.021779438480734825, + -3.1232457160949707, + -0.22828780114650726, + 0.15200833976268768 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "grasp handle", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 7 cm, move right 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2553662955760956, + -0.05547900125384331, + 0.04049896448850632, + 3.13743257522583, + -0.17518121004104614, + 0.17836515605449677 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "grasp handle", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23277798295021057, + -0.06451446563005447, + 0.04884858801960945, + -3.093207836151123, + -0.09152249246835709, + 0.20691171288490295 + ], + "gripper_value": 0.7855378985404968 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22509346902370453, + -0.10327883064746857, + 0.052862413227558136, + -3.0965118408203125, + -0.06302312016487122, + 0.14221462607383728 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23451291024684906, + -0.1274184286594391, + 0.05229981616139412, + -3.1181886196136475, + -0.05856574326753616, + 0.02003452368080616 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "refrigerator handle": [ + 575, + 533, + 679, + 847 + ], + "refrigerator": [ + 312, + 9, + 788, + 990 + ], + "water dispenser": [ + 407, + 248, + 635, + 609 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23678582906723022, + -0.14924825727939606, + 0.06106613576412201, + -3.1281025409698486, + -0.054354436695575714, + -0.18352308869361877 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.254425585269928, + -0.15393157303333282, + 0.06284203380346298, + -3.0570685863494873, + -0.08756241202354431, + -0.33359307050704956 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28301742672920227, + -0.15129885077476501, + 0.06581920385360718, + -3.028482437133789, + -0.11042369902133942, + -0.44466087222099304 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned at the fridge handle with the gripper in contact. The segment-level gripper evidence indicates a closing motion has occurred, confirming the handle is now grasped. The next action is to pull the door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 10 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31003537774086, + -0.1395438015460968, + 0.06242276728153229, + -3.019446849822998, + -0.12299957126379013, + -0.4739935100078583 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in contact with the fridge handle, and the door is partially open, revealing the interior. The gripper remains closed during this segment, indicating a firm hold. The next action is to continue pulling the door outward to fully open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 9 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31765225529670715, + -0.13008727133274078, + 0.06150541082024574, + -3.015996217727661, + -0.1390557885169983, + -0.47186845541000366 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in contact with the fridge handle, and the door is partially open, revealing the interior. The gripper remains closed during this segment, indicating a firm hold. The next action is to continue pulling the door outward to fully open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2993110418319702, + -0.11634113639593124, + 0.04942241311073303, + -3.0256333351135254, + -0.08587653934955597, + -0.3517114222049713 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in contact with the fridge handle, and the door is partially open, revealing the interior. The gripper remains closed during this segment, indicating a firm hold. The next action is to continue pulling the door outward to fully open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2729298174381256, + -0.10779496282339096, + 0.05875875800848007, + -3.0588741302490234, + -0.06411447376012802, + -0.23982976377010345 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in contact with the fridge handle, and the door is partially open, revealing the interior. The gripper remains closed during this segment, indicating a firm hold. The next action is to continue pulling the door outward to fully open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 6 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2499227523803711, + -0.09887498617172241, + 0.05950947478413582, + -3.0620741844177246, + -0.04868685081601143, + -0.16215218603610992 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in contact with the fridge handle, and the door is partially open, revealing the interior. The gripper remains closed during this segment, indicating a firm hold. The next action is to continue pulling the door outward to fully open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2242037057876587, + -0.0864635482430458, + 0.0644243136048317, + -3.072878360748291, + -0.02232184261083603, + -0.12673214077949524 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in contact with the fridge handle, and the door is partially open, revealing the interior. The gripper remains closed during this segment, indicating a firm hold. The next action is to continue pulling the door outward to fully open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2128366082906723, + -0.048313725739717484, + 0.07470622658729553, + -3.0870773792266846, + -0.012552032247185707, + -0.055239561945199966 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "water dispenser": [ + 741, + 687, + 992, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Open the refrigerator door by grasping the handle and pulling it outward until the interior is visible." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge handle" + }, + { + "id": 2, + "subtask": "align with handle" + }, + { + "id": 3, + "subtask": "grasp handle" + }, + { + "id": 4, + "subtask": "pull door open" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot is in contact with the fridge handle, and the door is partially open, revealing the interior. The gripper remains closed during this segment, indicating a firm hold. The next action is to continue pulling the door outward to fully open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004326_ecot.json b/cot/chunk-0004/episode_0004326_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..827671404ab6b13ba92b4ef6c354fa23e8b24ecd --- /dev/null +++ b/cot/chunk-0004/episode_0004326_ecot.json @@ -0,0 +1,1989 @@ +{ + "task_name": "episode_0004326", + "episode_json": "json/chunk-0004/episode_0004326.json", + "video_path": "videos/chunk-0004/image_0/episode_0004326.mp4", + "instruction": "Move the light blue cloth to the lower left corner of the table below the plush toy.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004326.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.002661466598510742, + "std": 0.0008723798091523349, + "delta_total": -0.0013339519500732422, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00266, std=0.00087, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 25 + ], + [ + 4, + 26, + 26 + ], + [ + 5, + 27, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the light blue cloth without grasping.\"},\n {\"id\": 2, \"name\": \"contact and nudge cloth\", \"start\": 5, \"end\": 13, \"planning\": \"Make contact with the cloth and begin nudging it toward the lower left corner.\"},\n {\"id\": 3, \"name\": \"slide cloth to target zone\", \"start\": 14, \"end\": 25, \"planning\": \"Continue sliding the cloth across the table surface toward the designated lower-left area below the plush toy.\"},\n {\"id\": 4, \"name\": \"reposition near final location\", \"start\": 26, \"end\": 26, \"planning\": \"Fine-tune cloth position by making small adjustments near the target zone.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 27, \"end\": 27, \"planning\": \"Lift and move end-effector away from the cloth after positioning is complete.\"}\n ],\n \"global_plan\": \"The robot approaches the light blue cloth, makes contact, slides it across the table to the lower left corner below the plush toy, fine-tunes its position, then retreats — all without grasping or lifting, as confirmed by gripper evidence.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, no grasp, pick, hold, or place actions are inferred. All manipulation is contact-based (nudge, slide, reposition). Frame coverage is contiguous and complete from 0 to 27.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the light blue cloth without grasping." + }, + { + "id": 2, + "name": "contact and nudge cloth", + "start": 5, + "end": 13, + "planning": "Make contact with the cloth and begin nudging it toward the lower left corner." + }, + { + "id": 3, + "name": "slide cloth to target zone", + "start": 14, + "end": 25, + "planning": "Continue sliding the cloth across the table surface toward the designated lower-left area below the plush toy." + }, + { + "id": 4, + "name": "reposition near final location", + "start": 26, + "end": 26, + "planning": "Fine-tune cloth position by making small adjustments near the target zone." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 27, + "end": 27, + "planning": "Lift and move end-effector away from the cloth after positioning is complete." + } + ], + "global_plan": "The robot approaches the light blue cloth, makes contact, slides it across the table to the lower left corner below the plush toy, fine-tunes its position, then retreats — all without grasping or lifting, as confirmed by gripper evidence.", + "notes": "No segment shows meaningful gripper closing; therefore, no grasp, pick, hold, or place actions are inferred. All manipulation is contact-based (nudge, slide, reposition). Frame coverage is contiguous and complete from 0 to 27." + } + }, + "episode_goal": "Move the light blue cloth to the lower left corner of the table below the plush toy.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3497726619243622, + 0.26859015226364136, + 0.057381004095077515, + -2.9106972217559814, + -0.10313615202903748, + 0.3261340260505676 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the light blue cloth visible in the center. No movement or contact has occurred yet. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move right 20 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452414274215698, + 0.26493245363235474, + 0.03851183131337166, + -2.9319233894348145, + -0.0573095940053463, + 0.33767038583755493 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the light blue cloth visible in the center. No movement or contact has occurred yet. The next action is to move the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 4 cm, move right 20 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3368898928165436, + 0.2542138993740082, + 0.028989899903535843, + -2.988215208053589, + -0.02483537048101425, + 0.38543596863746643 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is approaching the light blue cloth on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should be to continue moving the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 4 cm, move right 20 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32741430401802063, + 0.25621312856674194, + 0.03934233635663986, + -3.0277020931243896, + -0.04227327182888985, + 0.43927907943725586 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is approaching the light blue cloth on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should be to continue moving the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 4 cm, move right 19 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128010332584381, + 0.23379705846309662, + 0.06300867348909378, + -3.1164445877075195, + -0.09189680218696594, + 0.42873185873031616 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is approaching the light blue cloth on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should be to continue moving the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 2 cm, keep gripper open; then move back 3 cm, move right 19 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3031105399131775, + 0.1879582405090332, + 0.07860925793647766, + 3.1103127002716064, + -0.11066051572561264, + 0.3487630784511566 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot is approaching the light blue cloth on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should be to continue moving the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 19 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015204668045044, + 0.135945662856102, + 0.08821320533752441, + 3.0617170333862305, + -0.13333643972873688, + 0.21386051177978516 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot is approaching the light blue cloth on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should be to continue moving the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004758358001709, + 0.09166956692934036, + 0.0735238790512085, + 3.063054084777832, + -0.08545172214508057, + 0.046036139130592346 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot is approaching the light blue cloth on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should be to continue moving the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 10 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30062180757522583, + 0.03467503562569618, + 0.05683394521474838, + 3.0919322967529297, + -0.06322111934423447, + -0.12374834716320038 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 276, + 481, + 561, + 799 + ], + "toy egg": [ + 112, + 148, + 228, + 289 + ], + "spatula": [ + 412, + 408, + 658, + 593 + ], + "wooden table": [ + 4, + 98, + 775, + 973 + ], + "toy stove": [ + 485, + 229, + 994, + 993 + ], + "tomato sauce": [ + 537, + 63, + 680, + 317 + ], + "corn": [ + 651, + 178, + 799, + 382 + ], + "toy microwave": [ + 204, + 2, + 603, + 252 + ] + } + } + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot is approaching the light blue cloth on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should be to continue moving the end effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 6 cm, keep gripper open; then move forward 1 cm, move left 13 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2906266748905182, + 0.0015498640714213252, + 0.04214581102132797, + 3.1044135093688965, + -0.0456535667181015, + -0.19546104967594147 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move left 16 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27428725361824036, + -0.011680212803184986, + 0.03409406542778015, + 3.115880250930786, + -0.028132379055023193, + -0.24270696938037872 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 19 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26729291677474976, + -0.009413748048245907, + 0.027073189616203308, + 3.127328634262085, + -0.01896839402616024, + -0.23947250843048096 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move left 22 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.266600102186203, + -0.00976448506116867, + 0.01589530147612095, + 3.1199612617492676, + -0.008167117834091187, + -0.2395831048488617 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 24 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2670488953590393, + -0.005489886738359928, + 0.004367944784462452, + 3.1217739582061768, + -0.010917573235929012, + -0.22466014325618744 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 3 cm, move left 24 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2696445882320404, + 0.0027221881318837404, + 0.0015681530348956585, + -3.1083736419677734, + -0.012949406169354916, + -0.19571524858474731 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 23 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27606967091560364, + 0.01768561452627182, + 0.00207363604567945, + -3.085819959640503, + -0.023012826219201088, + -0.16530323028564453 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 21 cm, move up 1 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28035101294517517, + 0.05835895985364914, + 0.0022924907971173525, + -3.0814473628997803, + -0.03685945272445679, + -0.01430481392890215 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, move up 2 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816984951496124, + 0.09964393824338913, + 0.0020334336441010237, + -3.071077823638916, + -0.03557594120502472, + 0.11778322607278824 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 211, + 384, + 466, + 644 + ], + "spatula": [ + 441, + 342, + 607, + 588 + ], + "toy egg": [ + 111, + 157, + 226, + 290 + ], + "wooden table": [ + 3, + 121, + 788, + 973 + ], + "toy stove": [ + 470, + 230, + 994, + 993 + ], + "tomato sauce": [ + 538, + 64, + 680, + 318 + ], + "corn": [ + 650, + 178, + 801, + 383 + ] + } + } + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799588143825531, + 0.12916713953018188, + 0.0017139363335445523, + -3.0638763904571533, + -0.0438958965241909, + 0.2074851542711258 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 170, + 363, + 419, + 604 + ], + "tomato sauce": [ + 538, + 64, + 679, + 318 + ], + "spatula": [ + 442, + 342, + 606, + 589 + ], + "toy stove": [ + 472, + 230, + 994, + 993 + ], + "wooden table": [ + 3, + 104, + 784, + 973 + ], + "toy microwave": [ + 352, + 3, + 600, + 251 + ], + "corn": [ + 651, + 178, + 800, + 383 + ] + } + } + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the light blue cloth and is now in contact with it, positioned to nudge it toward the lower left corner below the plush toy. No grasping has occurred, as confirmed by stable gripper values. The next action is to slide the cloth along the table surface using gentle pushing motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2791800796985626, + 0.16539275646209717, + 0.0016788099892437458, + -3.059432029724121, + -0.058822087943553925, + 0.3318408131599426 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the light blue cloth on the table, positioned near the plush toy. It has already approached and nudged the cloth; now it is sliding it toward the lower left corner. The next action is to continue sliding the cloth into the target zone below the plush toy without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2756722569465637, + 0.19513389468193054, + 0.0016190370079129934, + -3.033447265625, + -0.07504039257764816, + 0.43110859394073486 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the light blue cloth on the table, positioned near the plush toy. It has already approached and nudged the cloth; now it is sliding it toward the lower left corner. The next action is to continue sliding the cloth into the target zone below the plush toy without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2609173357486725, + 0.22169053554534912, + 0.002927754307165742, + -3.0058412551879883, + -0.08414874970912933, + 0.5444409847259521 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the light blue cloth on the table, positioned near the plush toy. It has already approached and nudged the cloth; now it is sliding it toward the lower left corner. The next action is to continue sliding the cloth into the target zone below the plush toy without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24290069937705994, + 0.2392878234386444, + 0.004151164088398218, + -3.000149726867676, + -0.05857466161251068, + 0.6295796036720276 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the light blue cloth on the table, positioned near the plush toy. It has already approached and nudged the cloth; now it is sliding it toward the lower left corner. The next action is to continue sliding the cloth into the target zone below the plush toy without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23921091854572296, + 0.24097302556037903, + 0.0056533208116889, + -2.9938905239105225, + -0.05894629284739494, + 0.6480059027671814 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the light blue cloth on the table, positioned near the plush toy. It has already approached and nudged the cloth; now it is sliding it toward the lower left corner. The next action is to continue sliding the cloth into the target zone below the plush toy without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23937267065048218, + 0.23725786805152893, + 0.006207183934748173, + -3.0154361724853516, + -0.05526939034461975, + 0.642123818397522 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the light blue cloth on the table, positioned near the plush toy. It has already approached and nudged the cloth; now it is sliding it toward the lower left corner. The next action is to continue sliding the cloth into the target zone below the plush toy without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2399318814277649, + 0.23054422438144684, + 0.011914638802409172, + -3.06298565864563, + -0.061038579791784286, + 0.613137423992157 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the light blue cloth on the table, positioned near the plush toy. It has already approached and nudged the cloth; now it is sliding it toward the lower left corner. The next action is to continue sliding the cloth into the target zone below the plush toy without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2540941834449768, + 0.2211480289697647, + 0.024300606921315193, + 3.129424571990967, + -0.0805073082447052, + 0.5474279522895813 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "reposition near final location", + "subtask_reasoning": "The light blue cloth is already positioned in the lower left corner of the table, below the plush toy. The robot's end-effector is near the cloth but not grasping it, as confirmed by gripper evidence. The next action is likely a minor adjustment or retreat to finalize positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645239233970642, + 0.22896014153957367, + 0.058657124638557434, + -3.139190912246704, + -0.14761583507061005, + 0.5045852661132812 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue cloth to the lower left corner of the table below the plush toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition near final location" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The light blue cloth has been successfully moved to the lower left corner of the table, below the plush toy. The robot is now retreating from the cloth with an open gripper, as confirmed by the lack of gripper closure in the segment evidence. The next action is to continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004327_ecot.json b/cot/chunk-0004/episode_0004327_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..260ee347a496b4b5b051cf538c784ff87f2ebeea --- /dev/null +++ b/cot/chunk-0004/episode_0004327_ecot.json @@ -0,0 +1,2210 @@ +{ + "task_name": "episode_0004327", + "episode_json": "json/chunk-0004/episode_0004327.json", + "video_path": "videos/chunk-0004/image_0/episode_0004327.mp4", + "instruction": "Move the blue spoon to the top of the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004327.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.6065454483032227, + "std": 0.2768833637237549, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60655, std=0.27688, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 16, + 16, + 16, + 16, + 16, + 16, + 116, + 116, + 116, + 116, + 116, + 127, + 127, + 127, + 127, + 127, + 127, + 127 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 21 + ], + [ + 3, + 22, + 26 + ], + [ + 4, + 27, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue spoon\", \"start\": 0, \"end\": 15, \"planning\": \"Move the end-effector from initial position down toward the blue spoon on the towel, closing gripper to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift spoon\", \"start\": 16, \"end\": 21, \"planning\": \"Secure grip on the blue spoon and lift it vertically off the towel while maintaining stable hold.\"},\n {\"id\": 3, \"name\": \"transport spoon to burner\", \"start\": 22, \"end\": 26, \"planning\": \"Carry the held blue spoon horizontally across the stove toward the right burner’s top surface.\"},\n {\"id\": 4, \"name\": \"place spoon and retreat\", \"start\": 27, \"end\": 33, \"planning\": \"Lower the spoon onto the right burner, release grip, and retract end-effector upward to complete placement.\"}\n ],\n \"global_plan\": \"Approach the blue spoon on the towel, grasp and lift it, transport it to the top of the right burner, then place and retreat.\",\n \"notes\": \"Gripper closure begins in segment 1 (frames 0–15), confirmed by delta=-0.35710 and frame 15 image showing contact. Segments 2–4 show sustained low gripper values consistent with holding, followed by opening in segment 4 for release. Motion and visual evidence support full pick-and-place sequence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue spoon", + "start": 0, + "end": 15, + "planning": "Move the end-effector from initial position down toward the blue spoon on the towel, closing gripper to prepare for grasp." + }, + { + "id": 2, + "name": "grasp and lift spoon", + "start": 16, + "end": 21, + "planning": "Secure grip on the blue spoon and lift it vertically off the towel while maintaining stable hold." + }, + { + "id": 3, + "name": "transport spoon to burner", + "start": 22, + "end": 26, + "planning": "Carry the held blue spoon horizontally across the stove toward the right burner’s top surface." + }, + { + "id": 4, + "name": "place spoon and retreat", + "start": 27, + "end": 33, + "planning": "Lower the spoon onto the right burner, release grip, and retract end-effector upward to complete placement." + } + ], + "global_plan": "Approach the blue spoon on the towel, grasp and lift it, transport it to the top of the right burner, then place and retreat.", + "notes": "Gripper closure begins in segment 1 (frames 0–15), confirmed by delta=-0.35710 and frame 15 image showing contact. Segments 2–4 show sustained low gripper values consistent with holding, followed by opening in segment 4 for release. Motion and visual evidence support full pick-and-place sequence." + } + }, + "episode_goal": "Move the blue spoon to the top of the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4005316495895386, + 0.08567996323108673, + 0.09522555768489838, + 2.9420533180236816, + -0.45645269751548767, + 0.2834175229072571 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on a blue towel to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector down and forward to approach the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 15 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.39841803908348083, + 0.08395731449127197, + 0.08254913985729218, + 2.9352033138275146, + -0.42492762207984924, + 0.29147475957870483 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on a blue towel to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector down and forward to approach the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 14 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.38980191946029663, + 0.0531146302819252, + 0.06666082888841629, + 2.906068801879883, + -0.4037235677242279, + 0.2845239043235779 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on a blue towel to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector down and forward to approach the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 10 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3850859999656677, + 0.02875300869345665, + 0.07948267459869385, + 2.9349167346954346, + -0.4355970621109009, + 0.2502879798412323 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on a blue towel to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector down and forward to approach the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 8 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3744294345378876, + 0.0049179308116436005, + 0.07793489843606949, + 2.9402737617492676, + -0.4289141297340393, + 0.23711223900318146 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on a blue towel to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector down and forward to approach the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3606741428375244, + -0.021641641855239868, + 0.06480307877063751, + 2.969785213470459, + -0.39298734068870544, + 0.2120850831270218 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on a blue towel to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector down and forward to approach the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34090572595596313, + -0.051978182047605515, + 0.054179996252059937, + 2.9213900566101074, + -0.42410025000572205, + 0.20981965959072113 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 375, + 494, + 704, + 859 + ], + "induction cooktop": [ + 103, + 227, + 711, + 645 + ], + "kitchen sink": [ + 737, + 416, + 994, + 961 + ], + "yellow object": [ + 463, + 267, + 511, + 375 + ], + "faucet": [ + 942, + 382, + 996, + 544 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on a blue towel to the right. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector down and forward to approach the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32700487971305847, + -0.0704643651843071, + 0.04476993903517723, + 2.95170259475708, + -0.4104192554950714, + 0.16356687247753143 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31402549147605896, + -0.0705772191286087, + 0.04410771280527115, + 2.9758028984069824, + -0.39681023359298706, + 0.16294442117214203 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30495309829711914, + -0.06352239102125168, + 0.044054944068193436, + 3.000342845916748, + -0.39475783705711365, + 0.1848563551902771 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 375, + 494, + 704, + 860 + ], + "kitchen sink": [ + 737, + 432, + 994, + 960 + ], + "induction cooktop": [ + 103, + 227, + 698, + 645 + ], + "yellow object": [ + 461, + 267, + 519, + 374 + ], + "faucet": [ + 942, + 382, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move forward 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035813868045807, + -0.059783365577459335, + 0.05168869346380234, + 3.0105438232421875, + -0.41546815633773804, + 0.19519467651844025 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move forward 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2993052303791046, + -0.05368774011731148, + 0.05548975616693497, + 3.0166308879852295, + -0.41372907161712646, + 0.2264178991317749 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 5 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967491149902344, + -0.050939809530973434, + 0.04655485972762108, + 3.0113468170166016, + -0.38057786226272583, + 0.23530973494052887 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move forward 7 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29529067873954773, + -0.05167675390839577, + 0.029516225680708885, + 3.031978130340576, + -0.34266623854637146, + 0.20420962572097778 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 7 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967516779899597, + -0.05048561096191406, + 0.01808287762105465, + 3.048715591430664, + -0.3197762370109558, + 0.20203238725662231 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 7 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30256375670433044, + -0.04699123278260231, + 0.01924453303217888, + 3.0773229598999023, + -0.32555514574050903, + 0.20104816555976868 + ], + "gripper_value": 0.6430501937866211 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.303671658039093, + -0.04720029607415199, + 0.020159311592578888, + 3.077500820159912, + -0.32804304361343384, + 0.20545795559883118 + ], + "gripper_value": 0.40327540040016174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.304302453994751, + -0.047759801149368286, + 0.020778661593794823, + 3.0736584663391113, + -0.3317197859287262, + 0.1963968127965927 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot is positioned above the stove with the blue spoon visible on the towel below. No contact has been made yet, and the gripper remains open. The next action is to lower the end effector toward the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109065890312195, + -0.048079147934913635, + 0.031212329864501953, + 3.0646538734436035, + -0.3687136769294739, + 0.19972462952136993 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32001054286956787, + -0.04740425944328308, + 0.04380486533045769, + 3.053563356399536, + -0.4035201072692871, + 0.23287354409694672 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3355827033519745, + -0.043628763407468796, + 0.059063274413347244, + 3.0528528690338135, + -0.4427560567855835, + 0.2984176278114319 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 376, + 492, + 704, + 860 + ], + "yellow object": [ + 461, + 265, + 507, + 373 + ], + "kitchen sink": [ + 737, + 418, + 994, + 961 + ], + "induction cooktop": [ + 103, + 221, + 712, + 642 + ], + "faucet": [ + 942, + 382, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35326695442199707, + -0.03066590055823326, + 0.07476610690355301, + 3.0117347240448, + -0.4863932132720947, + 0.40490561723709106 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37146931886672974, + -0.017009908333420753, + 0.0734829232096672, + 2.993041753768921, + -0.48930633068084717, + 0.4707489311695099 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "transport spoon to burner", + "subtask_reasoning": "The robot has approached the blue spoon on the towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3960142731666565, + -0.001152785960584879, + 0.05690400302410126, + 2.9999001026153564, + -0.4751321077346802, + 0.4851192533969879 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "transport spoon to burner", + "subtask_reasoning": "The robot has approached the blue spoon on the towel and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon. The next action is to close the gripper to secure the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.42195144295692444, + 0.009088220074772835, + 0.03447277098894119, + 3.0430245399475098, + -0.4519188106060028, + 0.41371649503707886 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "transport spoon to burner", + "subtask_reasoning": "The robot is currently holding the blue spoon and has moved it above the stovetop area. The spoon is positioned near the right burner but requires slight adjustment to be directly over the target spot. The next action should involve fine-tuning the position to align the spoon precisely above the right burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.42795392870903015, + 0.012711264193058014, + 0.019832246005535126, + 3.0558671951293945, + -0.4172956943511963, + 0.3956979811191559 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "transport spoon to burner", + "subtask_reasoning": "The robot is currently holding the blue spoon and has moved it above the stovetop area. The spoon is positioned near the right burner but requires slight adjustment to be directly over the target spot. The next action should involve fine-tuning the position to align the spoon precisely above the right burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4314195215702057, + 0.010573151521384716, + 0.016846120357513428, + 3.0402872562408447, + -0.40285760164260864, + 0.402039110660553 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "transport spoon to burner", + "subtask_reasoning": "The robot is currently holding the blue spoon and has moved it above the stovetop area. The spoon is positioned near the right burner but requires slight adjustment to be directly over the target spot. The next action should involve fine-tuning the position to align the spoon precisely above the right burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.42973658442497253, + 0.011114800348877907, + 0.015563027933239937, + 3.0397627353668213, + -0.39095354080200195, + 0.4231090843677521 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "place spoon and retreat", + "subtask_reasoning": "The robot is currently holding the blue spoon and has moved it above the stovetop area. The spoon is positioned near the right burner but requires slight adjustment to be directly over the target spot. The next action should involve fine-tuning the position to align the spoon precisely above the right burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.42945006489753723, + 0.010108137503266335, + 0.015377300791442394, + 3.0350141525268555, + -0.38663458824157715, + 0.4222463071346283 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "place spoon and retreat", + "subtask_reasoning": "The robot is currently holding the blue spoon and has moved it above the stovetop area. The spoon is positioned near the right burner but requires slight adjustment to be directly over the target spot. The next action should involve fine-tuning the position to align the spoon precisely above the right burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.42754486203193665, + 0.010480772703886032, + 0.014043333008885384, + 3.0350430011749268, + -0.38725507259368896, + 0.42775624990463257 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "place spoon and retreat", + "subtask_reasoning": "The robot is currently holding the blue spoon and has moved it above the stovetop area. The spoon is positioned near the right burner but requires slight adjustment to be directly over the target spot. The next action should involve fine-tuning the position to align the spoon precisely above the right burner before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4274027943611145, + 0.009358001872897148, + 0.014510090462863445, + 3.034616231918335, + -0.38554084300994873, + 0.4120897352695465 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "place spoon and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed on the top of the right burner. The gripper is currently open and positioned directly above the spoon, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4253620505332947, + 0.009060187265276909, + 0.02566496655344963, + 3.027728319168091, + -0.40477603673934937, + 0.4146552085876465 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "place spoon and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed on the top of the right burner. The gripper is currently open and positioned directly above the spoon, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.41999363899230957, + 0.009295306168496609, + 0.05212602764368057, + 3.0054779052734375, + -0.449052095413208, + 0.4208739995956421 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "place spoon and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed on the top of the right burner. The gripper is currently open and positioned directly above the spoon, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.41098934412002563, + 0.004040493629872799, + 0.07726406306028366, + 2.9738047122955322, + -0.48726680874824524, + 0.39246508479118347 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 375, + 493, + 704, + 859 + ], + "induction cooktop": [ + 103, + 237, + 731, + 643 + ], + "yellow object": [ + 461, + 259, + 523, + 374 + ], + "faucet": [ + 942, + 382, + 996, + 544 + ], + "kitchen sink": [ + 736, + 400, + 994, + 963 + ], + "small metal bowl": [ + 548, + 346, + 628, + 419 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the top of the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "grasp and lift spoon" + }, + { + "id": 3, + "subtask": "transport spoon to burner" + }, + { + "id": 4, + "subtask": "place spoon and retreat" + } + ], + "subtask_name": "place spoon and retreat", + "subtask_reasoning": "The blue spoon has been successfully placed on the top of the right burner. The gripper is currently open and positioned directly above the spoon, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004329_ecot.json b/cot/chunk-0004/episode_0004329_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4217742bc496d8d9b10f9cc9be7d6444b33bec50 --- /dev/null +++ b/cot/chunk-0004/episode_0004329_ecot.json @@ -0,0 +1,1693 @@ +{ + "task_name": "episode_0004329", + "episode_json": "json/chunk-0004/episode_0004329.json", + "video_path": "videos/chunk-0004/image_0/episode_0004329.mp4", + "instruction": "Moved the red fork from the center of the table to the lower left of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004329.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.6087431907653809, + "std": 0.2877083718776703, + "delta_total": -0.003992199897766113, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60874, std=0.28771, total_delta=-0.00399). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 125, + 125 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 12 + ], + [ + 3, + 13, + 24 + ], + [ + 4, + 25, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fork\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector toward the red fork without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp fork\", \"start\": 3, \"end\": 12, \"planning\": \"Close the gripper around the red fork to secure it for transport.\"},\n {\"id\": 3, \"name\": \"transport fork\", \"start\": 13, \"end\": 24, \"planning\": \"Carry the grasped red fork from the center to the lower left of the table.\"},\n {\"id\": 4, \"name\": \"release fork\", \"start\": 25, \"end\": 26, \"planning\": \"Open the gripper to release the red fork at the target location.\"}\n ],\n \"global_plan\": \"Approach the red fork, grasp it securely, transport it to the lower left of the table, and release it at the destination.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2–4, supporting grasp/hold/release terminology. Segment 1 shows no gripper motion, so only approach is described.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fork", + "start": 0, + "end": 2, + "planning": "Move the end-effector toward the red fork without closing the gripper." + }, + { + "id": 2, + "name": "grasp fork", + "start": 3, + "end": 12, + "planning": "Close the gripper around the red fork to secure it for transport." + }, + { + "id": 3, + "name": "transport fork", + "start": 13, + "end": 24, + "planning": "Carry the grasped red fork from the center to the lower left of the table." + }, + { + "id": 4, + "name": "release fork", + "start": 25, + "end": 26, + "planning": "Open the gripper to release the red fork at the target location." + } + ], + "global_plan": "Approach the red fork, grasp it securely, transport it to the lower left of the table, and release it at the destination.", + "notes": "Gripper evidence confirms meaningful closing in segments 2–4, supporting grasp/hold/release terminology. Segment 1 shows no gripper motion, so only approach is described." + } + }, + "episode_goal": "Move the red fork from the center of the table to the lower left of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26394984126091003, + -0.07485157251358032, + 0.05416667461395264, + 3.086059093475342, + 0.028003260493278503, + -0.10837481170892715 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the table with the red fork visible in the center. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 10 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.261196106672287, + -0.0739625096321106, + 0.04655078053474426, + 3.091531991958618, + 0.057030946016311646, + -0.10291360318660736 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the red fork visible in the center. The gripper is open and not yet in contact with the fork. The next action should be to move the arm closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 10 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657741606235504, + -0.05401674285531044, + 0.04669101536273956, + 3.119079113006592, + 0.05590321123600006, + -0.03018214739859104 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "approach fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the red fork visible in the center. The gripper is open and not yet in contact with the fork. The next action should be to move the arm closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 10 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27249181270599365, + -0.02313265949487686, + 0.048454463481903076, + -3.1164073944091797, + 0.042387135326862335, + 0.06812068074941635 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 204, + 846, + 985 + ] + } + } + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the red fork visible in the center. The gripper is open and not yet in contact with the fork. The next action should be to move the arm closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 10 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28122130036354065, + 0.012123954482376575, + 0.05292773246765137, + -3.08243989944458, + 0.0069954353384673595, + 0.16086672246456146 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the red fork visible in the center. The gripper is open and not yet in contact with the fork. The next action should be to move the arm closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916620373725891, + 0.0496039018034935, + 0.0614568293094635, + -3.079249143600464, + -0.04860597103834152, + 0.2642053961753845 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the red fork visible in the center. The gripper is open and not yet in contact with the fork. The next action should be to move the arm closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 6 cm, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30552300810813904, + 0.0554225780069828, + 0.0553276352584362, + -3.0919604301452637, + -0.06440427154302597, + 0.27143046259880066 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot arm is positioned above the table, with the red fork visible in the center. The gripper is open and not yet in contact with the fork. The next action should be to move the arm closer to the fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 6 cm, close gripper; then move back 3 cm, move left 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222882151603699, + 0.061363790184259415, + 0.04397554323077202, + -3.1167232990264893, + -0.07753635197877884, + 0.2898015081882477 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, close gripper; then move back 5 cm, move left 8 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33303171396255493, + 0.0660177692770958, + 0.02969978004693985, + -3.0992543697357178, + -0.07151263952255249, + 0.3005928695201874 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 6 cm, move left 10 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3349350392818451, + 0.06704975664615631, + 0.014894191175699234, + -3.093965768814087, + -0.039625346660614014, + 0.29922711849212646 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 7 cm, move left 12 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3350852131843567, + 0.07380714267492294, + 0.0015379873802885413, + -3.091698408126831, + -0.011600647121667862, + 0.31071075797080994 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 8 cm, move left 13 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402685523033142, + 0.07572945207357407, + -0.0013088051928207278, + -3.0959198474884033, + -0.00913066416978836, + 0.31033000349998474 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move left 14 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424336910247803, + 0.0745658352971077, + -0.0013550110161304474, + -3.106602430343628, + -0.019031576812267303, + 0.28549519181251526 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "grasp fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move left 14 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34276580810546875, + 0.07445666193962097, + -0.0013020796468481421, + -3.106999635696411, + -0.01625197008252144, + 0.2528550922870636 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 14 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3426760733127594, + 0.07563699781894684, + -0.0010634211357682943, + -3.119581460952759, + -0.014727356843650341, + 0.23914220929145813 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353824019432068, + 0.09130951762199402, + 0.014039034955203533, + -3.1208105087280273, + -0.05095086246728897, + 0.26294586062431335 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3154561221599579, + 0.12250303477048874, + 0.030540278181433678, + -3.1214873790740967, + -0.09021364897489548, + 0.23477040231227875 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 193, + 844, + 981 + ] + } + } + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29331138730049133, + 0.1527569442987442, + 0.02988433837890625, + -3.087064504623413, + -0.06159596890211105, + 0.22292964160442352 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The robot has approached the red fork and is currently positioned above it with the gripper open. The gripper signal indicates a closing trend within this segment, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28284743428230286, + 0.17057666182518005, + 0.030597712844610214, + -3.040415048599243, + -0.04057169705629349, + 0.2154196798801422 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The red fork is currently held by the gripper and has been lifted from the center of the table. The robot is in transit, moving the fork toward the lower left area of the table. The next action is to continue transporting the fork to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.272837370634079, + 0.1947692185640335, + 0.02149738371372223, + -3.05033540725708, + -0.012408596463501453, + 0.2359471172094345 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 194, + 845, + 982 + ] + } + } + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The red fork is currently held by the gripper and has been lifted from the center of the table. The robot is in transit, moving the fork toward the lower left area of the table. The next action is to continue transporting the fork to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26746484637260437, + 0.2074418067932129, + 0.01282500009983778, + -3.0574989318847656, + 0.01048359926789999, + 0.24578750133514404 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The red fork is currently held by the gripper and has been lifted from the center of the table. The robot is in transit, moving the fork toward the lower left area of the table. The next action is to continue transporting the fork to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26740020513534546, + 0.213016077876091, + 0.0028488910757005215, + -3.0591702461242676, + 0.03060173988342285, + 0.22392916679382324 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The red fork is currently held by the gripper and has been lifted from the center of the table. The robot is in transit, moving the fork toward the lower left area of the table. The next action is to continue transporting the fork to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27328306436538696, + 0.21658793091773987, + 0.0014064637944102287, + -3.04453706741333, + 0.023128971457481384, + 0.18251930177211761 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The red fork is currently held by the gripper and has been lifted from the center of the table. The robot is in transit, moving the fork toward the lower left area of the table. The next action is to continue transporting the fork to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.28225892782211304, + 0.21113203465938568, + 0.0011425978736951947, + -3.0440282821655273, + 0.004739714786410332, + 0.09691304713487625 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The red fork is currently held by the gripper and has been lifted from the center of the table. The robot is in transit, moving the fork toward the lower left area of the table. The next action is to continue transporting the fork to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842559516429901, + 0.207297682762146, + -6.766851583961397e-05, + -3.0620996952056885, + -0.006977301090955734, + 0.04655500501394272 + ], + "gripper_value": 0.4624805450439453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "transport fork", + "subtask_reasoning": "The red fork is currently held by the gripper and has been lifted from the center of the table. The robot is in transit, moving the fork toward the lower left area of the table. The next action is to continue transporting the fork to the target location before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2819253206253052, + 0.20196783542633057, + 0.0047111050225794315, + -3.0912024974823, + -0.020976852625608444, + 0.03561699017882347 + ], + "gripper_value": 0.7730204463005066 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "release fork", + "subtask_reasoning": "The red fork is already placed on the lower left of the table, and the gripper is open and not in contact with it. The release action has been completed, and no further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760828733444214, + 0.20527197420597076, + 0.03303354233503342, + -3.089153289794922, + -0.06444445997476578, + 0.02437831647694111 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red fork from the center of the table to the lower left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fork" + }, + { + "id": 2, + "subtask": "grasp fork" + }, + { + "id": 3, + "subtask": "transport fork" + }, + { + "id": 4, + "subtask": "release fork" + } + ], + "subtask_name": "release fork", + "subtask_reasoning": "The red fork is already placed on the lower left of the table, and the gripper is open and not in contact with it. The release action has been completed, and no further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004330_ecot.json b/cot/chunk-0004/episode_0004330_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..38bcae207b9d3cb26da461e9250a8819324b6bf2 --- /dev/null +++ b/cot/chunk-0004/episode_0004330_ecot.json @@ -0,0 +1,2300 @@ +{ + "task_name": "episode_0004330", + "episode_json": "json/chunk-0004/episode_0004330.json", + "video_path": "videos/chunk-0004/image_0/episode_0004330.mp4", + "instruction": "Fold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004330.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.937142014503479, + "std": 0.4228392243385315, + "delta_total": -0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93714, std=0.42284, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 400, + 400, + 400, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 311, + 311, + 311, + 211, + 211, + 211, + 211, + 11, + 11, + 11, + 11, + 11, + 24, + 24, + 24, + 24, + 24, + 24, + 24, + 24 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 10 + ], + [ + 4, + 11, + 11 + ], + [ + 5, + 12, + 14 + ], + [ + 6, + 15, + 18 + ], + [ + 7, + 19, + 23 + ], + [ + 8, + 24, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the bottom-right corner of the yellow cloth without grasping.\"},\n {\"id\": 2, \"name\": \"grasp bottom-right corner\", \"start\": 4, \"end\": 10, \"planning\": \"Close gripper to securely grasp the bottom-right corner of the cloth as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition cloth\", \"start\": 11, \"end\": 14, \"planning\": \"Lift the grasped corner slightly and begin moving it diagonally toward top-left while maintaining grip.\"},\n {\"id\": 4, \"name\": \"drag cloth across surface\", \"start\": 15, \"end\": 18, \"planning\": \"Drag the cloth across the table surface toward the top-left direction while keeping gripper closed but not lifting.\"},\n {\"id\": 5, \"name\": \"adjust fold alignment\", \"start\": 19, \"end\": 23, \"planning\": \"Fine-tune the position and orientation of the cloth to align the folded edge properly before final placement.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 24, \"end\": 31, \"planning\": \"Open gripper to release the cloth after folding, then retreat upward to complete the task.\"}\n ],\n \"global_plan\": \"Fold the yellow cloth by grasping its bottom-right corner, dragging it diagonally to the top-left, adjusting alignment, and releasing to complete the fold.\",\n \"notes\": \"Subtasks respect segment boundaries and gripper evidence: grasp only where gripper closes meaningfully (segments 3 and 8), drag/contact-based motion where gripper is static (segment 6), and release where gripper opens (segment 8). Frame coverage is contiguous and complete from 0 to 31.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the bottom-right corner of the yellow cloth without grasping." + }, + { + "id": 2, + "name": "grasp bottom-right corner", + "start": 4, + "end": 10, + "planning": "Close gripper to securely grasp the bottom-right corner of the cloth as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition cloth", + "start": 11, + "end": 14, + "planning": "Lift the grasped corner slightly and begin moving it diagonally toward top-left while maintaining grip." + }, + { + "id": 4, + "name": "drag cloth across surface", + "start": 15, + "end": 18, + "planning": "Drag the cloth across the table surface toward the top-left direction while keeping gripper closed but not lifting." + }, + { + "id": 5, + "name": "adjust fold alignment", + "start": 19, + "end": 23, + "planning": "Fine-tune the position and orientation of the cloth to align the folded edge properly before final placement." + }, + { + "id": 6, + "name": "release and retreat", + "start": 24, + "end": 31, + "planning": "Open gripper to release the cloth after folding, then retreat upward to complete the task." + } + ], + "global_plan": "Fold the yellow cloth by grasping its bottom-right corner, dragging it diagonally to the top-left, adjusting alignment, and releasing to complete the fold.", + "notes": "Subtasks respect segment boundaries and gripper evidence: grasp only where gripper closes meaningfully (segments 3 and 8), drag/contact-based motion where gripper is static (segment 6), and release where gripper opens (segment 8). Frame coverage is contiguous and complete from 0 to 31." + } + }, + "episode_goal": "Fold the cloth from bottom right to top left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24428673088550568, + -0.048699911683797836, + 0.11903977394104004, + -3.135237693786621, + -0.06650350987911224, + -1.0320026874542236 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and no contact yet made. The subtask 'approach cloth corner' is in progress, aiming to reach the bottom-right corner of the cloth. The next action should be to move the gripper downward and toward the bottom-right corner to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24273428320884705, + -0.04843292757868767, + 0.11265058815479279, + 3.1291873455047607, + -0.050526589155197144, + -1.0293017625808716 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth on the table, with the gripper open and not yet in contact with the fabric. No part of the folding task has been completed. The next action is to move the gripper down to make contact with the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23090781271457672, + -0.06026910990476608, + 0.10424353927373886, + 3.1053988933563232, + -0.037165217101573944, + -1.0667434930801392 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth on the table, with the gripper open and not yet in contact with the fabric. No part of the folding task has been completed. The next action is to move the gripper down to make contact with the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 5 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2172725349664688, + -0.07881166785955429, + 0.10941116511821747, + 3.1403651237487793, + -0.05995259806513786, + -1.130342960357666 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth on the table, with the gripper open and not yet in contact with the fabric. No part of the folding task has been completed. The next action is to move the gripper down to make contact with the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 5 cm, close gripper; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20389898121356964, + -0.09552750736474991, + 0.11777982860803604, + -3.107787609100342, + -0.08075203001499176, + -1.185516357421875 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth on the table, with the gripper open and not yet in contact with the fabric. No part of the folding task has been completed. The next action is to move the gripper down to make contact with the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, close gripper; then move forward 3 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18950454890727997, + -0.10859965533018112, + 0.11829806864261627, + -3.0734543800354004, + -0.0892098918557167, + -1.2302089929580688 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth on the table, with the gripper open and not yet in contact with the fabric. No part of the folding task has been completed. The next action is to move the gripper down to make contact with the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, close gripper; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.18117499351501465, + -0.11162307858467102, + 0.10315452516078949, + -3.0829379558563232, + -0.09908849745988846, + -1.2354978322982788 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth on the table, with the gripper open and not yet in contact with the fabric. No part of the folding task has been completed. The next action is to move the gripper down to make contact with the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1757330447435379, + -0.11485648900270462, + 0.08186396211385727, + -3.089301586151123, + -0.062295377254486084, + -1.2633823156356812 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 176, + 255, + 852, + 921 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the yellow cloth, with the gripper open and aligned for contact. The segment-level gripper evidence suggests a closing motion is occurring, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17875359952449799, + -0.11651744693517685, + 0.06729912757873535, + -3.1177425384521484, + -0.0400700718164444, + -1.2683578729629517 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the yellow cloth, with the gripper open and aligned for contact. The segment-level gripper evidence suggests a closing motion is occurring, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 9 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18951310217380524, + -0.11580299586057663, + 0.06345369666814804, + -3.1279964447021484, + -0.03084971010684967, + -1.2524105310440063 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the yellow cloth, with the gripper open and aligned for contact. The segment-level gripper evidence suggests a closing motion is occurring, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19230224192142487, + -0.1125253215432167, + 0.06236377730965614, + -3.13271164894104, + -0.026943445205688477, + -1.240666151046753 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp bottom-right corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the yellow cloth, with the gripper open and aligned for contact. The segment-level gripper evidence suggests a closing motion is occurring, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.193325012922287, + -0.1104460135102272, + 0.06501412391662598, + -3.140474319458008, + -0.03444821015000343, + -1.2403966188430786 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the yellow cloth, with the gripper open and aligned for contact. The segment-level gripper evidence suggests a closing motion is occurring, consistent with initiating a grasp. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19676078855991364, + -0.10533001273870468, + 0.07025192677974701, + 3.122865915298462, + -0.041364699602127075, + -1.212571144104004 + ], + "gripper_value": 0.16548661887645721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the yellow cloth and is currently lifting it slightly off the table. The gripper is closed, and the cloth is being repositioned upward and leftward. The next action is to continue dragging the cloth diagonally toward the top-left to align for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20926734805107117, + -0.10506796091794968, + 0.0847560241818428, + 3.1239614486694336, + -0.09683618694543839, + -1.1818666458129883 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the yellow cloth and is currently lifting it slightly off the table. The gripper is closed, and the cloth is being repositioned upward and leftward. The next action is to continue dragging the cloth diagonally toward the top-left to align for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22438623011112213, + -0.09942713379859924, + 0.10020353645086288, + 3.1213011741638184, + -0.13970176875591278, + -1.1392714977264404 + ], + "gripper_value": 0.07050029188394547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the yellow cloth and is currently lifting it slightly off the table. The gripper is closed, and the cloth is being repositioned upward and leftward. The next action is to continue dragging the cloth diagonally toward the top-left to align for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2489738017320633, + -0.07953792065382004, + 0.11957923322916031, + -3.1317386627197266, + -0.18326790630817413, + -1.0610421895980835 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 167, + 183, + 860, + 782 + ], + "table": [ + 5, + 42, + 993, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the yellow cloth and is currently lifting it slightly off the table. The gripper is closed, and the cloth is being repositioned upward and leftward. The next action is to continue dragging the cloth diagonally toward the top-left to align for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26668983697891235, + -0.05187763273715973, + 0.12878602743148804, + -3.1168675422668457, + -0.19415271282196045, + -0.9715087413787842 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 167, + 181, + 806, + 734 + ], + "table": [ + 5, + 35, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot is currently dragging the yellow cloth across the table surface, having already grasped the bottom-right corner. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The next action is to continue moving the cloth diagonally toward the top-left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2812241017818451, + -0.02484012208878994, + 0.12753933668136597, + -3.1149659156799316, + -0.18970218300819397, + -0.8854095935821533 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot is currently dragging the yellow cloth across the table surface, having already grasped the bottom-right corner. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The next action is to continue moving the cloth diagonally toward the top-left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29339921474456787, + 0.005558557342737913, + 0.12005108594894409, + -3.135097026824951, + -0.17825162410736084, + -0.7877893447875977 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot is currently dragging the yellow cloth across the table surface, having already grasped the bottom-right corner. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The next action is to continue moving the cloth diagonally toward the top-left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29905369877815247, + 0.03489963710308075, + 0.1013571172952652, + 3.107632875442505, + -0.1583109050989151, + -0.6920596957206726 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust fold alignment", + "subtask_reasoning": "The robot is currently dragging the yellow cloth across the table surface, having already grasped the bottom-right corner. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The next action is to continue moving the cloth diagonally toward the top-left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005666732788086, + 0.0494048185646534, + 0.08006028085947037, + 3.070272445678711, + -0.135040745139122, + -0.6603780388832092 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust fold alignment", + "subtask_reasoning": "The robot is currently dragging the yellow cloth across the table surface, having already grasped the bottom-right corner. The gripper remains closed with minimal variation, indicating continuous contact rather than a new grasp. The next action is to continue moving the cloth diagonally toward the top-left to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3008987009525299, + 0.060055870562791824, + 0.0694623589515686, + 3.058870553970337, + -0.13030418753623962, + -0.6325192451477051 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust fold alignment", + "subtask_reasoning": "The robot is holding the yellow cloth after dragging the bottom-right corner toward the top-left. The cloth is partially folded but misaligned. The next action should involve adjusting the cloth's position to ensure proper alignment of the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999027371406555, + 0.06200340390205383, + 0.06794018298387527, + 3.0612189769744873, + -0.11868204176425934, + -0.6220012903213501 + ], + "gripper_value": 0.09890149533748627 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust fold alignment", + "subtask_reasoning": "The robot is holding the yellow cloth after dragging the bottom-right corner toward the top-left. The cloth is partially folded but misaligned. The next action should involve adjusting the cloth's position to ensure proper alignment of the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29690539836883545, + 0.062179435044527054, + 0.06773301959037781, + 3.0516817569732666, + -0.09917812794446945, + -0.6096932888031006 + ], + "gripper_value": 0.2716236412525177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust fold alignment", + "subtask_reasoning": "The robot is holding the yellow cloth after dragging the bottom-right corner toward the top-left. The cloth is partially folded but misaligned. The next action should involve adjusting the cloth's position to ensure proper alignment of the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29546764492988586, + 0.06059686839580536, + 0.06882967799901962, + 3.0485339164733887, + -0.07937633246183395, + -0.6204043030738831 + ], + "gripper_value": 0.5305274724960327 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 156, + 185, + 624, + 649 + ], + "table": [ + 5, + 47, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the yellow cloth after dragging the bottom-right corner toward the top-left. The cloth is partially folded but misaligned. The next action should involve adjusting the cloth's position to ensure proper alignment of the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2935642898082733, + 0.05801679193973541, + 0.07361739128828049, + 3.059638500213623, + -0.06337134540081024, + -0.6358972191810608 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the yellow cloth after dragging the bottom-right corner toward the top-left. The cloth is partially folded but misaligned. The next action should involve adjusting the cloth's position to ensure proper alignment of the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29274290800094604, + 0.056829310953617096, + 0.08665021508932114, + 3.0742039680480957, + -0.07181844115257263, + -0.6418946385383606 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the yellow cloth after dragging the bottom-right corner toward the top-left. The cloth is partially folded but misaligned. The next action should involve adjusting the cloth's position to ensure proper alignment of the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29285818338394165, + 0.054325204342603683, + 0.0955125093460083, + 3.086552381515503, + -0.0758446604013443, + -0.6550066471099854 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully dragged the bottom-right corner of the yellow cloth to the top-left, completing the fold alignment. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 24, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2934836149215698, + 0.05248669907450676, + 0.10389360785484314, + 3.0909039974212646, + -0.08770763874053955, + -0.6579291820526123 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully dragged the bottom-right corner of the yellow cloth to the top-left, completing the fold alignment. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29464399814605713, + 0.05000118911266327, + 0.1218697801232338, + 3.107016086578369, + -0.12194804847240448, + -0.6709128022193909 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully dragged the bottom-right corner of the yellow cloth to the top-left, completing the fold alignment. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29316020011901855, + 0.04597589373588562, + 0.13796991109848022, + 3.117516040802002, + -0.15852726995944977, + -0.6796050667762756 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully dragged the bottom-right corner of the yellow cloth to the top-left, completing the fold alignment. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2910406291484833, + 0.04663537070155144, + 0.13939271867275238, + 3.0859105587005615, + -0.16568602621555328, + -0.6518327593803406 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp bottom-right corner" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "adjust fold alignment" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully dragged the bottom-right corner of the yellow cloth to the top-left, completing the fold alignment. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004333_ecot.json b/cot/chunk-0004/episode_0004333_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0cb319f6400f2c4bdb12ee997dac0e0df35f0755 --- /dev/null +++ b/cot/chunk-0004/episode_0004333_ecot.json @@ -0,0 +1,2995 @@ +{ + "task_name": "episode_0004333", + "episode_json": "json/chunk-0004/episode_0004333.json", + "video_path": "videos/chunk-0004/image_0/episode_0004333.mp4", + "instruction": "Take the white object from the blue cloth and put it on the right side burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004333.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6228867769241333, + "std": 0.29276201128959656, + "delta_total": 0.0006677508354187012, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62289, std=0.29276, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 240, + 240, + 240, + 240, + 240 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 19 + ], + [ + 3, + 20, + 27 + ], + [ + 4, + 28, + 39 + ], + [ + 5, + 40, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach white object on blue cloth\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector from initial position down toward the white object resting on the blue cloth, aligning gripper for contact without closing.\"},\n {\"id\": 2, \"name\": \"grasp white object\", \"start\": 16, \"end\": 19, \"planning\": \"Close gripper around the white object while maintaining contact with the blue cloth, confirmed by meaningful gripper closure and visual consistency.\"},\n {\"id\": 3, \"name\": \"lift and transport to right burner\", \"start\": 20, \"end\": 27, \"planning\": \"Lift the grasped white object clear of the cloth and move it horizontally toward the right-side burner area.\"},\n {\"id\": 4, \"name\": \"place white object on right burner\", \"start\": 28, \"end\": 39, \"planning\": \"Lower the white object onto the right burner surface and begin releasing grip as object makes contact with target location.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 40, \"end\": 44, \"planning\": \"Fully open gripper to release the white object on the burner and retract end-effector upward to complete placement.\"}\n ],\n \"global_plan\": \"Approach the white object on the blue cloth, grasp it securely, lift and carry it to the right burner, place it down gently, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has significant gripper closure (delta=-0.365) and image confirms grasp initiation. Segment 4 includes placement phase with partial gripper opening; Segment 5 completes release with full opening. All segments are contiguous and cover full trajectory [0,44].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach white object on blue cloth", + "start": 0, + "end": 15, + "planning": "Move end-effector from initial position down toward the white object resting on the blue cloth, aligning gripper for contact without closing." + }, + { + "id": 2, + "name": "grasp white object", + "start": 16, + "end": 19, + "planning": "Close gripper around the white object while maintaining contact with the blue cloth, confirmed by meaningful gripper closure and visual consistency." + }, + { + "id": 3, + "name": "lift and transport to right burner", + "start": 20, + "end": 27, + "planning": "Lift the grasped white object clear of the cloth and move it horizontally toward the right-side burner area." + }, + { + "id": 4, + "name": "place white object on right burner", + "start": 28, + "end": 39, + "planning": "Lower the white object onto the right burner surface and begin releasing grip as object makes contact with target location." + }, + { + "id": 5, + "name": "release and retreat", + "start": 40, + "end": 44, + "planning": "Fully open gripper to release the white object on the burner and retract end-effector upward to complete placement." + } + ], + "global_plan": "Approach the white object on the blue cloth, grasp it securely, lift and carry it to the right burner, place it down gently, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has significant gripper closure (delta=-0.365) and image confirms grasp initiation. Segment 4 includes placement phase with partial gripper opening; Segment 5 completes release with full opening. All segments are contiguous and cover full trajectory [0,44]." + } + }, + "episode_goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3395673930644989, + -0.07449577748775482, + 0.09675686806440353, + 2.924262046813965, + -0.26856327056884766, + -0.09011726826429367 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No actions have been completed yet as the gripper remains open and stationary relative to the target. The next step is to move the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, move down 2 cm, tilt left 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32712888717651367, + -0.07365117222070694, + 0.07783124595880508, + 2.926941156387329, + -0.200436532497406, + -0.0850086435675621 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No actions have been completed yet as the gripper remains open and stationary relative to the target. The next step is to move the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 16 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3191800117492676, + -0.06852678209543228, + 0.06984006613492966, + 2.948166608810425, + -0.16453661024570465, + -0.06426128000020981 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No actions have been completed yet as the gripper remains open and stationary relative to the target. The next step is to move the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 16 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31249502301216125, + -0.06480279564857483, + 0.07476850599050522, + 2.959630250930786, + -0.17038044333457947, + -0.0432765893638134 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No actions have been completed yet as the gripper remains open and stationary relative to the target. The next step is to move the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 16 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30452215671539307, + -0.04714368283748627, + 0.07550855726003647, + 2.981755495071411, + -0.16167296469211578, + 0.015430409461259842 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No actions have been completed yet as the gripper remains open and stationary relative to the target. The next step is to move the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.30397894978523254, + -0.017771685495972633, + 0.08312632143497467, + 3.017910957336426, + -0.18788209557533264, + 0.08702655136585236 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No actions have been completed yet as the gripper remains open and stationary relative to the target. The next step is to move the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29755133390426636, + 0.008290981873869896, + 0.07708745449781418, + 3.039353609085083, + -0.17584340274333954, + 0.17841270565986633 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 160, + 416, + 386, + 598 + ], + "pot": [ + 626, + 488, + 854, + 740 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No actions have been completed yet as the gripper remains open and stationary relative to the target. The next step is to move the end-effector closer to the white cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2904565632343292, + 0.02885381132364273, + 0.0760628804564476, + 3.0799624919891357, + -0.14253324270248413, + 0.22886137664318085 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870001792907715, + 0.05184866860508919, + 0.07602760195732117, + 3.084012985229492, + -0.1426488310098648, + 0.2806909680366516 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28335466980934143, + 0.0654381662607193, + 0.07542382180690765, + 3.0940091609954834, + -0.1377037614583969, + 0.3067370355129242 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 159, + 415, + 386, + 598 + ], + "pot": [ + 626, + 488, + 854, + 740 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796798348426819, + 0.07702134549617767, + 0.07180452346801758, + 3.0972044467926025, + -0.1236080452799797, + 0.35592344403266907 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754088044166565, + 0.08717743307352066, + 0.06378458440303802, + 3.1039412021636963, + -0.09628064185380936, + 0.39024582505226135 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, keep gripper open; then move forward 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27394387125968933, + 0.09012199193239212, + 0.05105244368314743, + 3.1180639266967773, + -0.0646362379193306, + 0.39763689041137695 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2742254436016083, + 0.09112981706857681, + 0.03824861720204353, + 3.1219823360443115, + -0.040094275027513504, + 0.409749299287796 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2721397578716278, + 0.09179827570915222, + 0.022956645116209984, + 3.133523464202881, + 0.0006862037116661668, + 0.41815516352653503 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move forward 1 cm, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2853720486164093, + 0.09787904471158981, + 0.02268652431666851, + 3.1408731937408447, + -0.018430566415190697, + 0.43159258365631104 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white object on blue cloth", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 1 cm, close gripper; then move forward 2 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916718125343323, + 0.10179862380027771, + 0.021588057279586792, + -3.131812334060669, + -0.018093425780534744, + 0.4379842281341553 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white object", + "subtask_reasoning": "The robot is positioned above the stove with the white cube visible on the blue cloth to the left. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector toward the white cube to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move forward 3 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29355964064598083, + 0.10145293921232224, + 0.022720862179994583, + -3.1315834522247314, + -0.016594482585787773, + 0.43655532598495483 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white object", + "subtask_reasoning": "The robot has approached the white object on the blue cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the white object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 3 cm, move right 7 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991766929626465, + 0.09989725053310394, + 0.025770649313926697, + -3.1358585357666016, + -0.031610749661922455, + 0.4355020225048065 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white object", + "subtask_reasoning": "The robot has approached the white object on the blue cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the white object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 3 cm, move right 10 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30159980058670044, + 0.09864410012960434, + 0.022585511207580566, + -3.135371208190918, + -0.025575820356607437, + 0.4385521709918976 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white object", + "subtask_reasoning": "The robot has approached the white object on the blue cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the white object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 10 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.304546982049942, + 0.09986357390880585, + 0.0241882111877203, + -3.1237237453460693, + -0.04003407433629036, + 0.4496825933456421 + ], + "gripper_value": 0.4015096127986908 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport to right burner", + "subtask_reasoning": "The robot has approached the white object on the blue cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the white object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30540409684181213, + 0.0991746112704277, + 0.0243240799754858, + -3.1209146976470947, + -0.04097631946206093, + 0.4620944559574127 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport to right burner", + "subtask_reasoning": "The robot has approached the white object on the blue cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the white object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31250032782554626, + 0.10084753483533859, + 0.02500012144446373, + -3.1231346130371094, + -0.05317399278283119, + 0.46526098251342773 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport to right burner", + "subtask_reasoning": "The robot has approached the white object on the blue cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the white object securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31198176741600037, + 0.10089430958032608, + 0.024982502683997154, + -3.120739698410034, + -0.05011025071144104, + 0.4520433843135834 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport to right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. The gripper is closed and holding the object securely as it begins to move toward the right-side burner. The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138371706008911, + 0.09501408785581589, + 0.024993890896439552, + -3.118090867996216, + -0.050372164696455, + 0.42551591992378235 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport to right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. The gripper is closed and holding the object securely as it begins to move toward the right-side burner. The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 6 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32431599497795105, + 0.07471679896116257, + 0.047804538160562515, + -3.1230406761169434, + -0.11754128336906433, + 0.34512022137641907 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport to right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. The gripper is closed and holding the object securely as it begins to move toward the right-side burner. The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32982197403907776, + 0.0528172142803669, + 0.06165313720703125, + -3.1297693252563477, + -0.15335050225257874, + 0.26899954676628113 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 158, + 408, + 384, + 591 + ], + "spatula": [ + 55, + 504, + 207, + 654 + ], + "pot": [ + 626, + 489, + 854, + 740 + ], + "stovetop": [ + 14, + 425, + 674, + 968 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport to right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. The gripper is closed and holding the object securely as it begins to move toward the right-side burner. The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3358849287033081, + 0.029314924031496048, + 0.08290426433086395, + -3.13879132270813, + -0.2204991728067398, + 0.20520968735218048 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport to right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. The gripper is closed and holding the object securely as it begins to move toward the right-side burner. The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper closed; then move back 1 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324529826641083, + 0.0036954409442842007, + 0.081135593354702, + 3.122147798538208, + -0.22187864780426025, + 0.14156049489974976 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. The gripper is closed and holding the object securely as it begins to move toward the right-side burner. The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33111733198165894, + -0.02851412072777748, + 0.07590514421463013, + 3.1152408123016357, + -0.20542770624160767, + 0.04259991645812988 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. The gripper is closed and holding the object securely as it begins to move toward the right-side burner. The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33186906576156616, + -0.0422184132039547, + 0.06430526077747345, + 3.1273748874664307, + -0.17451690137386322, + -0.001989212119951844 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 158, + 411, + 385, + 591 + ], + "pot": [ + 627, + 488, + 855, + 740 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. 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The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34051764011383057, + -0.057020992040634155, + 0.06112927570939064, + 3.1319119930267334, + -0.17514435946941376, + -0.042735908180475235 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. 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The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33885657787323, + -0.06061403825879097, + 0.0558171272277832, + 3.1377477645874023, + -0.15919314324855804, + -0.04327734187245369 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The robot has successfully grasped the white object from the blue cloth and is currently lifting it. 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The next action is to continue transporting the object to the target location above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393484950065613, + -0.05925890430808067, + 0.05586377903819084, + 3.1388888359069824, + -0.1610613763332367, + -0.03445109352469444 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. The gripper is currently open and positioned above the object, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.33372074365615845, + -0.05699000880122185, + 0.050553999841213226, + 3.141308307647705, + -0.1430370956659317, + -0.022059625014662743 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. 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The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272607922554016, + -0.05232363939285278, + 0.043470341712236404, + 3.13598895072937, + -0.12511108815670013, + -0.0012400982668623328 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. 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The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3269476890563965, + -0.05194069817662239, + 0.04168561100959778, + 3.1184632778167725, + -0.12835414707660675, + 0.0049470942467451096 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. The gripper is currently open and positioned above the object, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227798342704773, + -0.046457789838314056, + 0.028971999883651733, + 3.1161365509033203, + -0.09540640562772751, + 0.02091735042631626 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. The gripper is currently open and positioned above the object, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.32099682092666626, + -0.04076101630926132, + 0.02491888590157032, + 3.1112310886383057, + -0.08222471922636032, + 0.043957702815532684 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 158, + 410, + 384, + 592 + ], + "spatula": [ + 55, + 503, + 207, + 654 + ], + "pot": [ + 627, + 492, + 854, + 740 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. The gripper is currently open and positioned above the object, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3161052167415619, + -0.0343441478908062, + 0.018962398171424866, + 3.106964111328125, + -0.0627034455537796, + 0.0778459832072258 + ], + "gripper_value": 0.472818523645401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place white object on right burner", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. The gripper is currently open and positioned above the object, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.31218820810317993, + -0.034236498177051544, + 0.014872178435325623, + 3.1064929962158203, + -0.036007530987262726, + 0.0876433402299881 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. The gripper is currently open and positioned above the object, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120235502719879, + -0.033156704157590866, + 0.014835143461823463, + 3.1128883361816406, + -0.03517266735434532, + 0.10128393769264221 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white object has been successfully placed on the right-side burner of the stove. The gripper is currently open and positioned above the object, indicating the placement action is complete. The next step is to retreat the arm away from the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.31088173389434814, + -0.03217332810163498, + 0.014774425886571407, + 3.1196351051330566, + -0.028507962822914124, + 0.106641486287117 + ], + "gripper_value": 1.0156210660934448 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white cube is already placed on the right-side burner, and the gripper is open (value=1.01562), indicating release has occurred. The arm is positioned above the burner with minimal motion, suggesting retreat is imminent. Next action: move the end-effector away from the stove to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 40, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.31410712003707886, + -0.03211233764886856, + 0.0262402705848217, + 3.1141417026519775, + -0.06811276078224182, + 0.10348232835531235 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white cube is already placed on the right-side burner, and the gripper is open (value=1.01562), indicating release has occurred. The arm is positioned above the burner with minimal motion, suggesting retreat is imminent. Next action: move the end-effector away from the stove to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133757710456848, + -0.03166799992322922, + 0.04275885596871376, + 3.1165194511413574, + -0.09213603287935257, + 0.08453357964754105 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white cube from the blue cloth and place it on the right-side burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object on blue cloth" + }, + { + "id": 2, + "subtask": "grasp white object" + }, + { + "id": 3, + "subtask": "lift and transport to right burner" + }, + { + "id": 4, + "subtask": "place white object on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white cube is already placed on the right-side burner, and the gripper is open (value=1.01562), indicating release has occurred. The arm is positioned above the burner with minimal motion, suggesting retreat is imminent. Next action: move the end-effector away from the stove to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004335_ecot.json b/cot/chunk-0004/episode_0004335_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..00a146bfdfb5af580f7d0feb486feb22b58eae04 --- /dev/null +++ b/cot/chunk-0004/episode_0004335_ecot.json @@ -0,0 +1,2332 @@ +{ + "task_name": "episode_0004335", + "episode_json": "json/chunk-0004/episode_0004335.json", + "video_path": "videos/chunk-0004/image_0/episode_0004335.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004335.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.00033146142959594727, + "delta_total": -0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00033, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 26 + ], + [ + 2, + 27, + 33 + ], + [ + 3, + 34, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 26, \"planning\": \"Move the end-effector toward the drawer handle to establish contact for closing.\"},\n {\"id\": 2, \"name\": \"push drawer closed\", \"start\": 27, \"end\": 33, \"planning\": \"Apply forward force via the gripper to slide the drawer shut without grasping.\"},\n {\"id\": 3, \"name\": \"retreat from drawer\", \"start\": 34, \"end\": 39, \"planning\": \"Withdraw the end-effector away from the now-closed drawer to complete the task.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching its handle, pushing it shut with contact-based motion, then retreating.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is purely translational and rotational positioning followed by pushing and withdrawal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 26, + "planning": "Move the end-effector toward the drawer handle to establish contact for closing." + }, + { + "id": 2, + "name": "push drawer closed", + "start": 27, + "end": 33, + "planning": "Apply forward force via the gripper to slide the drawer shut without grasping." + }, + { + "id": 3, + "name": "retreat from drawer", + "start": 34, + "end": 39, + "planning": "Withdraw the end-effector away from the now-closed drawer to complete the task." + } + ], + "global_plan": "Close the drawer by approaching its handle, pushing it shut with contact-based motion, then retreating.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is purely translational and rotational positioning followed by pushing and withdrawal." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21137583255767822, + -0.09480766952037811, + 0.15019428730010986, + 3.1119396686553955, + -0.04580312967300415, + -0.33761128783226013 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 10 cm, tilt back 20 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2098603993654251, + -0.09415481239557266, + 0.14539311826229095, + 3.1127007007598877, + -0.03023206815123558, + -0.3283231258392334 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 9 cm, tilt back 20 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20289066433906555, + -0.08997354656457901, + 0.1369127631187439, + 3.1137425899505615, + -0.04914799705147743, + -0.20238889753818512 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 9 cm, tilt back 20 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19508862495422363, + -0.09275393933057785, + 0.1282324194908142, + 3.117910146713257, + -0.06973990052938461, + -0.09787458926439285 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.18610811233520508, + -0.09620142728090286, + 0.11746258288621902, + 3.124720335006714, + -0.12229862064123154, + 0.045765943825244904 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1791132390499115, + -0.10003570467233658, + 0.10166484117507935, + 3.1124444007873535, + -0.152774378657341, + 0.1557566225528717 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.17269273102283478, + -0.10532479733228683, + 0.07812250405550003, + 3.1295647621154785, + -0.18840977549552917, + 0.22485266625881195 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 4 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.17175453901290894, + -0.10104416310787201, + 0.06454421579837799, + 3.135136604309082, + -0.21814598143100739, + 0.3306888937950134 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 176, + 996, + 994 + ], + "blue cup": [ + 435, + 1, + 561, + 114 + ], + "red block": [ + 240, + 489, + 536, + 744 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 3 cm, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17199230194091797, + -0.092125803232193, + 0.05461916700005531, + 3.127744436264038, + -0.26119306683540344, + 0.4678347110748291 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 2 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.17292743921279907, + -0.08218447864055634, + 0.05305563658475876, + 3.1095757484436035, + -0.2871796190738678, + 0.5653613209724426 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.17855647206306458, + -0.07048941403627396, + 0.05472879111766815, + 3.084806442260742, + -0.2905001938343048, + 0.6561365723609924 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow disc": [ + 622, + 654, + 817, + 896 + ], + "wooden table": [ + 5, + 23, + 995, + 993 + ], + "yellow can": [ + 649, + 71, + 779, + 270 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.1815790981054306, + -0.0633961632847786, + 0.05442691966891289, + 3.081341028213501, + -0.2962341606616974, + 0.6952031254768372 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18152038753032684, + -0.05658625066280365, + 0.04753885418176651, + 3.038360118865967, + -0.2663732171058655, + 0.7921437621116638 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper open and no contact made yet. The subtask to approach the drawer handle is in progress, with the arm moving toward the handle. The next action should continue advancing the end-effector toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.1781722456216812, + -0.05834124982357025, + 0.0384276881814003, + 3.002070903778076, + -0.20984266698360443, + 0.8902177214622498 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.17935101687908173, + -0.057741302996873856, + 0.03409849852323532, + 2.998581886291504, + -0.18369576334953308, + 0.9341936111450195 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 13 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.18707863986492157, + -0.048684995621442795, + 0.0324813574552536, + 3.0021145343780518, + -0.18263672292232513, + 0.960700511932373 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19631367921829224, + -0.037989772856235504, + 0.03434307500720024, + 3.0006892681121826, + -0.18499024212360382, + 0.989911675453186 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20772744715213776, + -0.023810869082808495, + 0.0366082601249218, + 3.0048983097076416, + -0.1964922398328781, + 1.0197696685791016 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2128598988056183, + -0.015444404445588589, + 0.03528536111116409, + 3.027139902114868, + -0.21336409449577332, + 1.0191147327423096 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2138945460319519, + -0.006442359182983637, + 0.03194867819547653, + 3.090726137161255, + -0.2497226744890213, + 0.9701313376426697 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21666954457759857, + 0.005878837313503027, + 0.03326614946126938, + 3.131772518157959, + -0.28474095463752747, + 0.9568957686424255 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22113265097141266, + 0.019970277324318886, + 0.03804774582386017, + 3.1338703632354736, + -0.2942790985107422, + 0.9978387355804443 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23374071717262268, + 0.043034106492996216, + 0.05556267127394676, + 3.0985641479492188, + -0.32787057757377625, + 1.0598605871200562 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 159, + 995, + 993 + ], + "yellow disc": [ + 615, + 654, + 817, + 895 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23495414853096008, + 0.06083574518561363, + 0.06314753741025925, + 3.118035078048706, + -0.33687013387680054, + 1.0850144624710083 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23826642334461212, + 0.07651516050100327, + 0.06766725331544876, + 3.121382474899292, + -0.3437281548976898, + 1.11049485206604 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23670685291290283, + 0.08218488842248917, + 0.06521041691303253, + 3.1304872035980225, + -0.3353912830352783, + 1.113651156425476 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, keep gripper open; then move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24022473394870758, + 0.08685901761054993, + 0.0702456682920456, + 3.1368179321289062, + -0.34884700179100037, + 1.0969502925872803 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, keep gripper open; then move back 1 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2453812062740326, + 0.09685838967561722, + 0.07496409863233566, + -3.131202459335327, + -0.38528403639793396, + 1.0803247690200806 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move back 1 cm, move right 8 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 27, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.25157663226127625, + 0.10832875221967697, + 0.07684622704982758, + -3.118750810623169, + -0.4008689820766449, + 1.0879238843917847 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move back 1 cm, move right 11 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 27, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25587227940559387, + 0.11987221240997314, + 0.07645361870527267, + -3.10664963722229, + -0.40917032957077026, + 1.0991028547286987 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is positioned above the table with the drawer handle visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach and make contact with the drawer handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 13 cm, move up 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 27, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25918227434158325, + 0.1300145536661148, + 0.07599567621946335, + -3.0955445766448975, + -0.4250251352787018, + 1.1008684635162354 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is positioned near the drawer handle, having completed the approach phase. The gripper remains open with no grasp evidence, indicating contact-based pushing is appropriate. The next action is to push the drawer closed using forward motion without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 13 cm, move up 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 27, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26049548387527466, + 0.1325400024652481, + 0.07645606994628906, + -3.092719793319702, + -0.4307502508163452, + 1.1013387441635132 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is positioned near the drawer handle, having completed the approach phase. The gripper remains open with no grasp evidence, indicating contact-based pushing is appropriate. The next action is to push the drawer closed using forward motion without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 13 cm, move up 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 27, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2594413757324219, + 0.1291813850402832, + 0.07431603968143463, + -3.1025166511535645, + -0.4162572920322418, + 1.1018786430358887 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is positioned near the drawer handle, having completed the approach phase. The gripper remains open with no grasp evidence, indicating contact-based pushing is appropriate. The next action is to push the drawer closed using forward motion without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 13 cm, move up 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 27, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533353567123413, + 0.10695607215166092, + 0.06901085376739502, + -3.1345763206481934, + -0.35474923253059387, + 1.0676867961883545 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "push drawer closed", + "subtask_reasoning": "The robot is positioned near the drawer handle, having completed the approach phase. The gripper remains open with no grasp evidence, indicating contact-based pushing is appropriate. The next action is to push the drawer closed using forward motion without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 13 cm, move up 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 27, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524842917919159, + 0.08032111078500748, + 0.07796286046504974, + 3.1110754013061523, + -0.33785945177078247, + 1.0050469636917114 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot is positioned near the drawer handle, having completed the approach phase. The gripper remains open with no grasp evidence, indicating contact-based pushing is appropriate. The next action is to push the drawer closed using forward motion without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move up 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.252005934715271, + 0.05224611982703209, + 0.09013088792562485, + 3.0928876399993896, + -0.3423631191253662, + 0.9004071354866028 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The robot is positioned near the drawer handle, having completed the approach phase. The gripper remains open with no grasp evidence, indicating contact-based pushing is appropriate. The next action is to push the drawer closed using forward motion without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24554049968719482, + 0.02447516843676567, + 0.09144570678472519, + 3.1207222938537598, + -0.25257906317710876, + 0.736060380935669 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot's end-effector is positioned near the handle with no gripper activity. The retreat phase has begun, involving moving the arm away from the drawer to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 34, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.24468261003494263, + -0.003330758772790432, + 0.09588700532913208, + 3.1066479682922363, + -0.18258528411388397, + 0.5388050079345703 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot's end-effector is positioned near the handle with no gripper activity. The retreat phase has begun, involving moving the arm away from the drawer to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2412603348493576, + -0.0302329920232296, + 0.09739203006029129, + 3.081768751144409, + -0.13997113704681396, + 0.33308762311935425 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot's end-effector is positioned near the handle with no gripper activity. The retreat phase has begun, involving moving the arm away from the drawer to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2359481155872345, + -0.052398789674043655, + 0.09717132896184921, + 3.092679738998413, + -0.134072944521904, + 0.1405612677335739 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 176, + 996, + 994 + ], + "white box": [ + 24, + 18, + 433, + 539 + ], + "yellow disc": [ + 614, + 654, + 817, + 896 + ], + "yellow can": [ + 645, + 69, + 782, + 270 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "push drawer closed" + }, + { + "id": 3, + "subtask": "retreat from drawer" + } + ], + "subtask_name": "retreat from drawer", + "subtask_reasoning": "The drawer is closed and the robot's end-effector is positioned near the handle with no gripper activity. The retreat phase has begun, involving moving the arm away from the drawer to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004336_ecot.json b/cot/chunk-0004/episode_0004336_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b206632819d15794666ebf847a82cb2df4ececc8 --- /dev/null +++ b/cot/chunk-0004/episode_0004336_ecot.json @@ -0,0 +1,2991 @@ +{ + "task_name": "episode_0004336", + "episode_json": "json/chunk-0004/episode_0004336.json", + "video_path": "videos/chunk-0004/image_0/episode_0004336.mp4", + "instruction": "Took the blue bar and put it on top of the yellow bar.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004336.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.42949986457824707, + "std": 0.2076513022184372, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42950, std=0.20765, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 24 + ], + [ + 2, + 25, + 28 + ], + [ + 3, + 29, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue bar\", \"start\": 0, \"end\": 12, \"planning\": \"Move the gripper from initial position toward the blue bar on the table.\"},\n {\"id\": 2, \"name\": \"grasp blue bar\", \"start\": 13, \"end\": 24, \"planning\": \"Close the gripper around the blue bar and secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and align over yellow bar\", \"start\": 25, \"end\": 28, \"planning\": \"Lift the blue bar and move it horizontally to align above the yellow bar.\"},\n {\"id\": 4, \"name\": \"place blue bar on yellow bar\", \"start\": 29, \"end\": 40, \"planning\": \"Lower the blue bar onto the yellow bar while maintaining grip until contact is stable.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 41, \"end\": 44, \"planning\": \"Open the gripper to release the blue bar and retract the arm upward.\"}\n ],\n \"global_plan\": \"The robot approaches the blue bar, grasps it, lifts and positions it over the yellow bar, places it on top, then releases and retreats.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.42554) consistent with grasping; Segment 2 has no gripper change but motion indicates transport; Segment 3 ends with gripper opening (delta=+0.42554) confirming release. All subtasks are contiguous and cover frames 0–44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue bar", + "start": 0, + "end": 12, + "planning": "Move the gripper from initial position toward the blue bar on the table." + }, + { + "id": 2, + "name": "grasp blue bar", + "start": 13, + "end": 24, + "planning": "Close the gripper around the blue bar and secure it for lifting." + }, + { + "id": 3, + "name": "lift and align over yellow bar", + "start": 25, + "end": 28, + "planning": "Lift the blue bar and move it horizontally to align above the yellow bar." + }, + { + "id": 4, + "name": "place blue bar on yellow bar", + "start": 29, + "end": 40, + "planning": "Lower the blue bar onto the yellow bar while maintaining grip until contact is stable." + }, + { + "id": 5, + "name": "release and retreat", + "start": 41, + "end": 44, + "planning": "Open the gripper to release the blue bar and retract the arm upward." + } + ], + "global_plan": "The robot approaches the blue bar, grasps it, lifts and positions it over the yellow bar, places it on top, then releases and retreats.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.42554) consistent with grasping; Segment 2 has no gripper change but motion indicates transport; Segment 3 ends with gripper opening (delta=+0.42554) confirming release. All subtasks are contiguous and cover frames 0–44." + } + }, + "episode_goal": "Place the blue bar on top of the yellow bar.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2384822964668274, + -0.0231427401304245, + 0.049111612141132355, + 3.1240644454956055, + -0.02784530632197857, + 0.10811514407396317 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned above the table with the blue bar visible in front and the yellow bar to the right. No actions have been completed yet. The gripper is open and the arm is stationary, indicating readiness to begin approaching the blue bar. The next action should be to move the end-effector toward the blue bar to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2341093271970749, + -0.022950898855924606, + 0.043362949043512344, + 3.1257121562957764, + -0.0016482560895383358, + 0.10792417079210281 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned above the table with the blue bar visible in front and the yellow bar to the right. No actions have been completed yet. The gripper is open and the arm is stationary, indicating readiness to begin approaching the blue bar. The next action should be to move the end-effector toward the blue bar to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22903315722942352, + -0.021907655522227287, + 0.027494056150317192, + 3.0758094787597656, + 0.06955817341804504, + -0.06268782913684845 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned above the table with the blue bar visible in front and the yellow bar to the right. No actions have been completed yet. The gripper is open and the arm is stationary, indicating readiness to begin approaching the blue bar. The next action should be to move the end-effector toward the blue bar to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2262279987335205, + -0.01563413068652153, + 0.02241010218858719, + 3.07378888130188, + 0.09897515177726746, + -0.17911851406097412 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 122, + 227, + 994, + 994 + ], + "red letter": [ + 303, + 105, + 419, + 212 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned above the table with the blue bar visible in front and the yellow bar to the right. No actions have been completed yet. The gripper is open and the arm is stationary, indicating readiness to begin approaching the blue bar. The next action should be to move the end-effector toward the blue bar to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22235643863677979, + -0.017882214859128, + 0.01791231334209442, + 3.0509934425354004, + 0.08270540833473206, + -0.27987223863601685 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned above the table with the blue bar visible in front and the yellow bar to the right. No actions have been completed yet. The gripper is open and the arm is stationary, indicating readiness to begin approaching the blue bar. The next action should be to move the end-effector toward the blue bar to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21973562240600586, + -0.018863646313548088, + 0.013668403029441833, + 3.0696606636047363, + 0.07528219372034073, + -0.3019016683101654 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned above the table with the blue bar visible in front and the yellow bar to the right. No actions have been completed yet. The gripper is open and the arm is stationary, indicating readiness to begin approaching the blue bar. The next action should be to move the end-effector toward the blue bar to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21001115441322327, + -0.024793636053800583, + 0.010682848282158375, + 3.0544679164886475, + 0.0821935310959816, + -0.3134753406047821 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21448221802711487, + -0.0369458943605423, + 0.009085460565984249, + 3.040912389755249, + 0.040471963584423065, + -0.3688470125198364 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21458762884140015, + -0.038774192333221436, + 0.005895810201764107, + 3.0573983192443848, + 0.05772101506590843, + -0.4188481867313385 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21773305535316467, + -0.04154103994369507, + 0.00029253389220684767, + 3.0536837577819824, + 0.07093928754329681, + -0.43108221888542175 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22241197526454926, + -0.044429976493120193, + -0.005273951683193445, + 3.0572073459625244, + 0.07852792739868164, + -0.4486156404018402 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2228313833475113, + -0.05022241920232773, + -0.005692248698323965, + 3.057593584060669, + 0.08165115118026733, + -0.48036378622055054 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 119, + 225, + 994, + 995 + ], + "red letter": [ + 318, + 106, + 417, + 209 + ], + "wooden block": [ + 371, + 385, + 486, + 505 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22314082086086273, + -0.053010180592536926, + -0.008766565471887589, + 3.0570530891418457, + 0.09466107189655304, + -0.4919157326221466 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2231532633304596, + -0.05268227308988571, + -0.008796860463917255, + 3.0615200996398926, + 0.09649598598480225, + -0.48876431584358215 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2226419746875763, + -0.05465954169631004, + -0.013032154180109501, + 3.062558889389038, + 0.10346230119466782, + -0.4968402087688446 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22368454933166504, + -0.056565482169389725, + -0.019067702814936638, + 3.0636379718780518, + 0.11106939613819122, + -0.48554283380508423 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22755689918994904, + -0.06134319305419922, + -0.026724284514784813, + 3.040278434753418, + 0.10448892414569855, + -0.4858092665672302 + ], + "gripper_value": 0.9605803489685059 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23412354290485382, + -0.06317435204982758, + -0.03158429265022278, + 3.036013603210449, + 0.11113466322422028, + -0.4855114221572876 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot is positioned near the blue bar on the table, with the yellow bar visible nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue bar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2359900027513504, + -0.06233834847807884, + -0.03156829997897148, + 3.0302045345306396, + 0.10495749861001968, + -0.462213397026062 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot's end-effector is in contact with the blue bar on the table, and the gripper has closed significantly (delta=-0.38663) within the local window, indicating a successful grasp. The blue bar is now held securely by the gripper. The next action is to lift the blue bar to begin positioning it over the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22981776297092438, + -0.06098174676299095, + -0.029623011127114296, + 3.0213305950164795, + 0.10503387451171875, + -0.45438867807388306 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot's end-effector is in contact with the blue bar on the table, and the gripper has closed significantly (delta=-0.38663) within the local window, indicating a successful grasp. The blue bar is now held securely by the gripper. The next action is to lift the blue bar to begin positioning it over the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.228488028049469, + -0.059799712151288986, + -0.0127608273178339, + 3.018392324447632, + 0.05747903138399124, + -0.4661189913749695 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot's end-effector is in contact with the blue bar on the table, and the gripper has closed significantly (delta=-0.38663) within the local window, indicating a successful grasp. The blue bar is now held securely by the gripper. The next action is to lift the blue bar to begin positioning it over the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22680865228176117, + -0.05970367416739464, + 0.005546752363443375, + 3.0165889263153076, + 0.012305923737585545, + -0.4871385395526886 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot's end-effector is in contact with the blue bar on the table, and the gripper has closed significantly (delta=-0.38663) within the local window, indicating a successful grasp. The blue bar is now held securely by the gripper. The next action is to lift the blue bar to begin positioning it over the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.22618377208709717, + -0.062014296650886536, + 0.02234146185219288, + 3.0000815391540527, + -0.030665531754493713, + -0.4694100022315979 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot's end-effector is in contact with the blue bar on the table, and the gripper has closed significantly (delta=-0.38663) within the local window, indicating a successful grasp. The blue bar is now held securely by the gripper. The next action is to lift the blue bar to begin positioning it over the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22627019882202148, + -0.06506505608558655, + 0.039943285286426544, + 2.955242395401001, + -0.04247331619262695, + -0.32888883352279663 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot's end-effector is in contact with the blue bar on the table, and the gripper has closed significantly (delta=-0.38663) within the local window, indicating a successful grasp. The blue bar is now held securely by the gripper. The next action is to lift the blue bar to begin positioning it over the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23737339675426483, + -0.06534814834594727, + 0.06217160075902939, + 2.8922903537750244, + -0.06331689655780792, + -0.11245398968458176 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue bar", + "subtask_reasoning": "The robot's end-effector is in contact with the blue bar on the table, and the gripper has closed significantly (delta=-0.38663) within the local window, indicating a successful grasp. The blue bar is now held securely by the gripper. The next action is to lift the blue bar to begin positioning it over the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24922975897789001, + -0.06536602228879929, + 0.07414401322603226, + 2.8773701190948486, + -0.060933563858270645, + 0.0035322089679539204 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and align over yellow bar", + "subtask_reasoning": "The robot's end-effector is in contact with the blue bar on the table, and the gripper has closed significantly (delta=-0.38663) within the local window, indicating a successful grasp. The blue bar is now held securely by the gripper. The next action is to lift the blue bar to begin positioning it over the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26423677802085876, + -0.061848752200603485, + 0.07008475810289383, + 2.896845579147339, + -0.041250403970479965, + 0.0691630095243454 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 125, + 228, + 994, + 994 + ], + "red letter": [ + 300, + 107, + 417, + 211 + ], + "wooden block": [ + 371, + 385, + 488, + 505 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and align over yellow bar", + "subtask_reasoning": "The robot has grasped the blue bar and is currently lifting it above the yellow bar. The gripper remains closed with no significant change, indicating continued hold. The next action is to precisely align the blue bar over the yellow bar before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27197492122650146, + -0.05753609165549278, + 0.05993391573429108, + 2.9250152111053467, + -0.020333681255578995, + 0.11471806466579437 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and align over yellow bar", + "subtask_reasoning": "The robot has grasped the blue bar and is currently lifting it above the yellow bar. The gripper remains closed with no significant change, indicating continued hold. The next action is to precisely align the blue bar over the yellow bar before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793835401535034, + -0.051816582679748535, + 0.047265082597732544, + 2.9752275943756104, + 0.0013568652793765068, + 0.21765348315238953 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and align over yellow bar", + "subtask_reasoning": "The robot has grasped the blue bar and is currently lifting it above the yellow bar. The gripper remains closed with no significant change, indicating continued hold. The next action is to precisely align the blue bar over the yellow bar before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28096136450767517, + -0.045124053955078125, + 0.04154430329799652, + 3.0225632190704346, + 0.005986993201076984, + 0.3515821695327759 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot has grasped the blue bar and is currently lifting it above the yellow bar. The gripper remains closed with no significant change, indicating continued hold. The next action is to precisely align the blue bar over the yellow bar before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28308865427970886, + -0.041359663009643555, + 0.03881271183490753, + 3.0173838138580322, + -0.0015901948790997267, + 0.475496768951416 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot has grasped the blue bar and is currently lifting it above the yellow bar. The gripper remains closed with no significant change, indicating continued hold. The next action is to precisely align the blue bar over the yellow bar before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28456026315689087, + -0.0391802079975605, + 0.03840019181370735, + 3.0237619876861572, + -0.010475612245500088, + 0.5352293848991394 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot has grasped the blue bar and is currently lifting it above the yellow bar. The gripper remains closed with no significant change, indicating continued hold. The next action is to precisely align the blue bar over the yellow bar before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2850929796695709, + -0.04165051132440567, + 0.03852783888578415, + 3.008199691772461, + -0.0063879480585455894, + 0.5630671977996826 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot has grasped the blue bar and is currently lifting it above the yellow bar. The gripper remains closed with no significant change, indicating continued hold. The next action is to precisely align the blue bar over the yellow bar before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28080639243125916, + -0.04641161113977432, + 0.03472953289747238, + 3.0057871341705322, + -0.00022725609596818686, + 0.5570010542869568 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot has grasped the blue bar and is currently lifting it above the yellow bar. The gripper remains closed with no significant change, indicating continued hold. The next action is to precisely align the blue bar over the yellow bar before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28079190850257874, + -0.0523998849093914, + 0.03345416858792305, + 2.9994633197784424, + -0.004815181251615286, + 0.5416508316993713 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot is holding the blue bar directly above the yellow bar, maintaining a stable position with no significant motion. The gripper remains closed, indicating the object is still secured. The next action is to lower the blue bar slightly to make contact and place it on top of the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper; then move back 2 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2786394953727722, + -0.05373617634177208, + 0.030099881812930107, + 3.012512445449829, + 0.001161229913122952, + 0.5309709906578064 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 126, + 225, + 994, + 994 + ], + "red letter": [ + 299, + 106, + 415, + 211 + ], + "wooden block": [ + 371, + 384, + 488, + 505 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot is holding the blue bar directly above the yellow bar, maintaining a stable position with no significant motion. The gripper remains closed, indicating the object is still secured. The next action is to lower the blue bar slightly to make contact and place it on top of the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 2 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2796662151813507, + -0.055135346949100494, + 0.03024359606206417, + 3.0056707859039307, + -0.002495798747986555, + 0.5363484621047974 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot is holding the blue bar directly above the yellow bar, maintaining a stable position with no significant motion. The gripper remains closed, indicating the object is still secured. The next action is to lower the blue bar slightly to make contact and place it on top of the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 2 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808130085468292, + -0.0556442067027092, + 0.02996920980513096, + 3.0081000328063965, + 0.00024212336575146765, + 0.539367139339447 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot is holding the blue bar directly above the yellow bar, maintaining a stable position with no significant motion. The gripper remains closed, indicating the object is still secured. The next action is to lower the blue bar slightly to make contact and place it on top of the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841239273548126, + -0.055497899651527405, + 0.028390726074576378, + 3.014228343963623, + 0.002152533968910575, + 0.5424460768699646 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot is holding the blue bar directly above the yellow bar, maintaining a stable position with no significant motion. The gripper remains closed, indicating the object is still secured. The next action is to lower the blue bar slightly to make contact and place it on top of the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2809310555458069, + -0.05527597293257713, + 0.02080608904361725, + 3.037289619445801, + 0.03284661844372749, + 0.5429086685180664 + ], + "gripper_value": 0.9206693768501282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot is holding the blue bar directly above the yellow bar, maintaining a stable position with no significant motion. The gripper remains closed, indicating the object is still secured. The next action is to lower the blue bar slightly to make contact and place it on top of the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27987655997276306, + -0.05847705900669098, + 0.021705150604248047, + 3.025895118713379, + 0.052745189517736435, + 0.5519971251487732 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue bar on yellow bar", + "subtask_reasoning": "The robot is holding the blue bar directly above the yellow bar, maintaining a stable position with no significant motion. The gripper remains closed, indicating the object is still secured. The next action is to lower the blue bar slightly to make contact and place it on top of the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.28112587332725525, + -0.05798451974987984, + 0.032541900873184204, + 2.9998252391815186, + 0.04115098714828491, + 0.5623734593391418 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the blue bar directly above the yellow bar, maintaining a stable position with no significant motion. The gripper remains closed, indicating the object is still secured. The next action is to lower the blue bar slightly to make contact and place it on top of the yellow bar." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2790491282939911, + -0.05672146752476692, + 0.05897580087184906, + 2.9426705837249756, + 0.0011646250495687127, + 0.5526635646820068 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue bar is already placed on top of the yellow bar, and the gripper is open and clear of the stack. The release phase is complete, and the robot is now retreating from the stacked bars. The next action is to continue moving the end-effector away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726503908634186, + -0.04801234230399132, + 0.08590715378522873, + 2.9016919136047363, + -0.04443982616066933, + 0.546586811542511 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 127, + 221, + 994, + 994 + ], + "red letter": [ + 300, + 107, + 417, + 211 + ], + "wooden block": [ + 371, + 385, + 488, + 505 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue bar is already placed on top of the yellow bar, and the gripper is open and clear of the stack. The release phase is complete, and the robot is now retreating from the stacked bars. The next action is to continue moving the end-effector away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2604365944862366, + -0.03892039880156517, + 0.09095804393291473, + 2.9383862018585205, + -0.056124113500118256, + 0.48249098658561707 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue bar on top of the yellow bar." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue bar" + }, + { + "id": 2, + "subtask": "grasp blue bar" + }, + { + "id": 3, + "subtask": "lift and align over yellow bar" + }, + { + "id": 4, + "subtask": "place blue bar on yellow bar" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue bar is already placed on top of the yellow bar, and the gripper is open and clear of the stack. The release phase is complete, and the robot is now retreating from the stacked bars. The next action is to continue moving the end-effector away from the workspace to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004337_ecot.json b/cot/chunk-0004/episode_0004337_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..48b00dd5ea5768342fb290caf80ef50584d3d978 --- /dev/null +++ b/cot/chunk-0004/episode_0004337_ecot.json @@ -0,0 +1,2774 @@ +{ + "task_name": "episode_0004337", + "episode_json": "json/chunk-0004/episode_0004337.json", + "video_path": "videos/chunk-0004/image_0/episode_0004337.mp4", + "instruction": "Place the bowl on the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004337.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.9428070187568665, + "std": 0.44002801179885864, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94281, std=0.44003, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 400, + 413, + 413, + 413, + 513, + 513, + 513, + 513, + 513, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 332, + 332, + 332, + 132, + 132, + 132, + 132, + 132 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ], + [ + 3, + 12, + 12 + ], + [ + 4, + 13, + 15 + ], + [ + 5, + 16, + 20 + ], + [ + 6, + 21, + 31 + ], + [ + 7, + 32, + 34 + ], + [ + 8, + 35, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bowl\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector down toward the metal bowl without closing the gripper.\"},\n {\"id\": 2, \"name\": \"close gripper on bowl\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the bowl handle to establish a secure grasp.\"},\n {\"id\": 3, \"name\": \"lift bowl\", \"start\": 13, \"end\": 20, \"planning\": \"Lift the bowl vertically while maintaining grip to clear the table surface.\"},\n {\"id\": 4, \"name\": \"transport bowl over cloth\", \"start\": 21, \"end\": 31, \"planning\": \"Move the held bowl horizontally and lower it slightly to position above the yellow cloth.\"},\n {\"id\": 5, \"name\": \"release bowl onto cloth\", \"start\": 32, \"end\": 34, \"planning\": \"Open the gripper to release the bowl onto the cloth surface.\"},\n {\"id\": 6, \"name\": \"retreat from scene\", \"start\": 35, \"end\": 39, \"planning\": \"Move the end-effector upward and away from the placed bowl to complete the task.\"}\n ],\n \"global_plan\": \"Approach the metal bowl, grasp it by the handle, lift it, move it over the yellow cloth, release it onto the cloth, then retreat.\",\n \"notes\": \"Gripper closure is confirmed in segments 2 and 6; lifting and placing are supported by motion and image evidence. Segment 1 shows no gripper change — approach only. Segment 8 shows full opening and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bowl", + "start": 0, + "end": 5, + "planning": "Move the end-effector down toward the metal bowl without closing the gripper." + }, + { + "id": 2, + "name": "close gripper on bowl", + "start": 6, + "end": 12, + "planning": "Close the gripper around the bowl handle to establish a secure grasp." + }, + { + "id": 3, + "name": "lift bowl", + "start": 13, + "end": 20, + "planning": "Lift the bowl vertically while maintaining grip to clear the table surface." + }, + { + "id": 4, + "name": "transport bowl over cloth", + "start": 21, + "end": 31, + "planning": "Move the held bowl horizontally and lower it slightly to position above the yellow cloth." + }, + { + "id": 5, + "name": "release bowl onto cloth", + "start": 32, + "end": 34, + "planning": "Open the gripper to release the bowl onto the cloth surface." + }, + { + "id": 6, + "name": "retreat from scene", + "start": 35, + "end": 39, + "planning": "Move the end-effector upward and away from the placed bowl to complete the task." + } + ], + "global_plan": "Approach the metal bowl, grasp it by the handle, lift it, move it over the yellow cloth, release it onto the cloth, then retreat.", + "notes": "Gripper closure is confirmed in segments 2 and 6; lifting and placing are supported by motion and image evidence. Segment 1 shows no gripper change — approach only. Segment 8 shows full opening and retreat." + } + }, + "episode_goal": "Place the bowl on the cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3410094082355499, + 0.016568250954151154, + 0.15420259535312653, + 3.0614984035491943, + -0.08480605483055115, + -0.18454080820083618 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot is positioned above the wooden table, with the metal bowl and yellow cloth visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin moving its arm downward and forward to approach the metal bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33937519788742065, + 0.01573474518954754, + 0.14146719872951508, + 3.0477490425109863, + -0.053073685616254807, + -0.17724761366844177 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot is positioned above the wooden table, with the metal bowl and yellow cloth visible below. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin moving its arm downward and forward to approach the metal bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281366527080536, + -0.00889850128442049, + 0.11527906358242035, + 3.0206568241119385, + -0.023742198944091797, + -0.21596179902553558 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot is approaching the metal bowl on the wooden table, with the yellow cloth nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving closer to the bowl for a potential grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32189643383026123, + -0.03475755825638771, + 0.10032661259174347, + 3.049330472946167, + -0.02022726647555828, + -0.29072925448417664 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot is approaching the metal bowl on the wooden table, with the yellow cloth nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving closer to the bowl for a potential grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30458852648735046, + -0.0557062141597271, + 0.07750313729047775, + 3.0635688304901123, + 0.0054971748031675816, + -0.3730928599834442 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot is approaching the metal bowl on the wooden table, with the yellow cloth nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving closer to the bowl for a potential grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2929319143295288, + -0.05845613405108452, + 0.05948660522699356, + 3.110975980758667, + -0.0008681133622303605, + -0.4017415940761566 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach bowl", + "subtask_reasoning": "The robot is approaching the metal bowl on the wooden table, with the yellow cloth nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving closer to the bowl for a potential grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862533628940582, + -0.057240892201662064, + 0.0542929507791996, + -3.1343512535095215, + -0.014047561213374138, + -0.4336913526058197 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot is approaching the metal bowl on the wooden table, with the yellow cloth nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving closer to the bowl for a potential grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2803879678249359, + -0.05839857831597328, + 0.04501115903258324, + -3.1011080741882324, + -0.01302432082593441, + -0.45753583312034607 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot is approaching the metal bowl on the wooden table, with the yellow cloth nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving closer to the bowl for a potential grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move right 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2830916941165924, + -0.05918925255537033, + 0.04365558922290802, + -3.0879650115966797, + -0.035064101219177246, + -0.4701966345310211 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot is approaching the metal bowl on the wooden table, with the yellow cloth nearby. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action is to continue moving closer to the bowl for a potential grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move forward 4 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28039851784706116, + -0.060797542333602905, + 0.034145209938287735, + -3.1033177375793457, + -0.028624197468161583, + -0.48033761978149414 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to engage. The next action is to close the gripper to grasp the bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 4 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2791443169116974, + -0.056983668357133865, + 0.023442577570676804, + -3.128887176513672, + -0.007771976757794619, + -0.4678788185119629 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to engage. The next action is to close the gripper to grasp the bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27883216738700867, + -0.05118216574192047, + 0.01850704662501812, + -3.137659788131714, + 0.0027330254670232534, + -0.46738794445991516 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to engage. The next action is to close the gripper to grasp the bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 10 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27828332781791687, + -0.05129436403512955, + 0.017939891666173935, + 3.1389822959899902, + 0.000810043653473258, + -0.4749965965747833 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to engage. The next action is to close the gripper to grasp the bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 10 cm, move up 8 cm, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783934473991394, + -0.05069077014923096, + 0.01793958805501461, + 3.1400604248046875, + 0.0011334248119965196, + -0.4775666296482086 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to engage. The next action is to close the gripper to grasp the bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move up 8 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767367959022522, + -0.05167929455637932, + 0.017954988405108452, + 3.12971830368042, + 0.0075410278514027596, + -0.4780682921409607 + ], + "gripper_value": 0.13995102047920227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to engage. The next action is to close the gripper to grasp the bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27637356519699097, + -0.05254937708377838, + 0.018541336059570312, + 3.122666835784912, + 0.009862174279987812, + -0.49451643228530884 + ], + "gripper_value": 0.07526680082082748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to engage. The next action is to close the gripper to grasp the bowl's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28907671570777893, + -0.06325584650039673, + 0.03799348697066307, + 3.1107053756713867, + -0.04148383438587189, + -0.5763869881629944 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift bowl", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.302483469247818, + -0.07643573731184006, + 0.060337457805871964, + 3.0734856128692627, + -0.08525320887565613, + -0.7003240585327148 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift bowl", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142392635345459, + -0.07774778455495834, + 0.09045559167861938, + 3.1042678356170654, + -0.12418390065431595, + -0.7551937103271484 + ], + "gripper_value": 0.06413581967353821 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift bowl", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 13 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32312822341918945, + -0.0393538661301136, + 0.10569599270820618, + 3.1364450454711914, + -0.12293753772974014, + -0.6751527190208435 + ], + "gripper_value": 0.06413581967353821 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift bowl", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246845006942749, + 0.010275200009346008, + 0.11118321865797043, + 3.1270995140075684, + -0.1005101427435875, + -0.5163063406944275 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift bowl", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 2 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3231894075870514, + 0.04726980999112129, + 0.1022694855928421, + 3.0997660160064697, + -0.0814308449625969, + -0.40671977400779724 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32717564702033997, + 0.06436312198638916, + 0.09575439989566803, + 3.0799057483673096, + -0.07271887362003326, + -0.34919974207878113 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33692529797554016, + 0.05969399958848953, + 0.0765322595834732, + 3.0293264389038086, + -0.056355882436037064, + -0.32454583048820496 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35122495889663696, + 0.049241118133068085, + 0.06673111766576767, + 3.0217907428741455, + -0.04952555522322655, + -0.35530564188957214 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, open gripper; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36144089698791504, + 0.04413353651762009, + 0.05886649712920189, + 3.0260140895843506, + -0.032909054309129715, + -0.3763078451156616 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot has successfully grasped the metal bowl by its handle and is currently lifting it vertically above the table surface. The gripper is closed and maintaining contact with the bowl as it ascends. The next action is to continue lifting until the bowl clears the table height to prepare for horizontal movement toward the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.36548253893852234, + 0.047728247940540314, + 0.06147812679409981, + 3.0463805198669434, + -0.03125647082924843, + -0.3706490993499756 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot is currently holding the metal bowl, having successfully grasped it in the previous step. The bowl is positioned directly above the yellow cloth, indicating the transport phase is nearly complete. The next action is to lower the bowl slightly and release the gripper to place it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.364574670791626, + 0.056045688688755035, + 0.06167911738157272, + 3.055482864379883, + -0.02722257561981678, + -0.35382744669914246 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot is currently holding the metal bowl, having successfully grasped it in the previous step. The bowl is positioned directly above the yellow cloth, indicating the transport phase is nearly complete. The next action is to lower the bowl slightly and release the gripper to place it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657710552215576, + 0.06171290576457977, + 0.05851983278989792, + 3.0620241165161133, + -0.02172498218715191, + -0.34981513023376465 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot is currently holding the metal bowl, having successfully grasped it in the previous step. The bowl is positioned directly above the yellow cloth, indicating the transport phase is nearly complete. The next action is to lower the bowl slightly and release the gripper to place it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3671363890171051, + 0.06443455070257187, + 0.048240140080451965, + 3.0576019287109375, + 0.012913962826132774, + -0.3640531599521637 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot is currently holding the metal bowl, having successfully grasped it in the previous step. The bowl is positioned directly above the yellow cloth, indicating the transport phase is nearly complete. The next action is to lower the bowl slightly and release the gripper to place it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36951693892478943, + 0.06258947402238846, + 0.047773752361536026, + 3.048389196395874, + -0.005942510906606913, + -0.35774701833724976 + ], + "gripper_value": 0.09289941936731339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot is currently holding the metal bowl, having successfully grasped it in the previous step. The bowl is positioned directly above the yellow cloth, indicating the transport phase is nearly complete. The next action is to lower the bowl slightly and release the gripper to place it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.37202250957489014, + 0.05918183922767639, + 0.046264518052339554, + 3.035111904144287, + -0.022748218849301338, + -0.34504038095474243 + ], + "gripper_value": 0.25408005714416504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "transport bowl over cloth", + "subtask_reasoning": "The robot is currently holding the metal bowl, having successfully grasped it in the previous step. The bowl is positioned directly above the yellow cloth, indicating the transport phase is nearly complete. The next action is to lower the bowl slightly and release the gripper to place it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697790503501892, + 0.057154372334480286, + 0.04080713912844658, + 3.028109550476074, + -0.028700977563858032, + -0.3241468667984009 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release bowl onto cloth", + "subtask_reasoning": "The robot is currently holding the metal bowl, having successfully grasped it in the previous step. The bowl is positioned directly above the yellow cloth, indicating the transport phase is nearly complete. The next action is to lower the bowl slightly and release the gripper to place it onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3664415180683136, + 0.057173438370227814, + 0.05689661204814911, + 3.0494627952575684, + -0.06427721679210663, + -0.30987367033958435 + ], + "gripper_value": 0.8517581820487976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release bowl onto cloth", + "subtask_reasoning": "The metal bowl is currently positioned directly over the yellow cloth, with the gripper holding it in place. The robot has successfully approached and lifted the bowl to the target location. The next action is to open the gripper to release the bowl onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3622457981109619, + 0.055524617433547974, + 0.0918317437171936, + 3.09419322013855, + -0.0911683738231659, + -0.3000287115573883 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release bowl onto cloth", + "subtask_reasoning": "The metal bowl is currently positioned directly over the yellow cloth, with the gripper holding it in place. The robot has successfully approached and lifted the bowl to the target location. The next action is to open the gripper to release the bowl onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 4 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35089921951293945, + 0.04431797191500664, + 0.1234869658946991, + -3.1413462162017822, + -0.06743482500314713, + -0.28943565487861633 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal bowl is currently positioned directly over the yellow cloth, with the gripper holding it in place. The robot has successfully approached and lifted the bowl to the target location. The next action is to open the gripper to release the bowl onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 35, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366512060165405, + 0.028742779046297073, + 0.1462806612253189, + -3.119205951690674, + -0.010515950620174408, + -0.23672175407409668 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal bowl is currently positioned directly over the yellow cloth, with the gripper holding it in place. The robot has successfully approached and lifted the bowl to the target location. The next action is to open the gripper to release the bowl onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 35, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3219767212867737, + 0.017561309039592743, + 0.16128411889076233, + -3.0864696502685547, + 0.018911149352788925, + -0.1760193258523941 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal bowl is already placed on the yellow cloth, and the gripper is open and positioned above the scene. The retreat subtask is underway, with the end-effector moving away from the bowl. The next action is to continue retracting the arm to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 35, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.31538406014442444, + 0.01593761518597603, + 0.16621160507202148, + -3.0704853534698486, + 0.01850311830639839, + -0.14033758640289307 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal bowl is already placed on the yellow cloth, and the gripper is open and positioned above the scene. The retreat subtask is underway, with the end-effector moving away from the bowl. The next action is to continue retracting the arm to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 35, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.31147029995918274, + 0.017026379704475403, + 0.1652131825685501, + -3.0568509101867676, + -0.004339421633630991, + -0.12455162405967712 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the bowl on the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bowl" + }, + { + "id": 2, + "subtask": "close gripper on bowl" + }, + { + "id": 3, + "subtask": "lift bowl" + }, + { + "id": 4, + "subtask": "transport bowl over cloth" + }, + { + "id": 5, + "subtask": "release bowl onto cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal bowl is already placed on the yellow cloth, and the gripper is open and positioned above the scene. The retreat subtask is underway, with the end-effector moving away from the bowl. The next action is to continue retracting the arm to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 35, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004339_ecot.json b/cot/chunk-0004/episode_0004339_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f241655ab3790125304b2bef9d2910667ad6dc93 --- /dev/null +++ b/cot/chunk-0004/episode_0004339_ecot.json @@ -0,0 +1,1717 @@ +{ + "task_name": "episode_0004339", + "episode_json": "json/chunk-0004/episode_0004339.json", + "video_path": "videos/chunk-0004/image_0/episode_0004339.mp4", + "instruction": "Moved the spatula to the left side of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004339.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.6823511719703674, + "std": 0.31502336263656616, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.68235, std=0.31502, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 110, + 110, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 310, + 321, + 321, + 321, + 321, + 321 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 6 + ], + [ + 3, + 7, + 9 + ], + [ + 4, + 10, + 11 + ], + [ + 5, + 12, + 20 + ], + [ + 6, + 21, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the spatula on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"grasp spatula\", \"start\": 7, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the spatula handle.\"},\n {\"id\": 3, \"name\": \"lift and reposition spatula\", \"start\": 12, \"end\": 20, \"planning\": \"Lift the spatula slightly and move it leftward across the burner surface.\"},\n {\"id\": 4, \"name\": \"release spatula\", \"start\": 21, \"end\": 25, \"planning\": \"Open the gripper to release the spatula at its new position on the left side of the burner.\"}\n ],\n \"global_plan\": \"Approach the spatula, grasp it, lift and slide it leftward across the burner, then release it at the target location.\",\n \"notes\": \"Subtasks align with observed gripper closure (frames 7-11) and opening (frames 21-25), and motion phases from proprioceptive clustering. No hallucinated lifting or placing outside supported segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the spatula on the stovetop without grasping." + }, + { + "id": 2, + "name": "grasp spatula", + "start": 7, + "end": 11, + "planning": "Close the gripper to securely grasp the spatula handle." + }, + { + "id": 3, + "name": "lift and reposition spatula", + "start": 12, + "end": 20, + "planning": "Lift the spatula slightly and move it leftward across the burner surface." + }, + { + "id": 4, + "name": "release spatula", + "start": 21, + "end": 25, + "planning": "Open the gripper to release the spatula at its new position on the left side of the burner." + } + ], + "global_plan": "Approach the spatula, grasp it, lift and slide it leftward across the burner, then release it at the target location.", + "notes": "Subtasks align with observed gripper closure (frames 7-11) and opening (frames 21-25), and motion phases from proprioceptive clustering. No hallucinated lifting or placing outside supported segments." + } + }, + "episode_goal": "Move the spatula to the left side of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3515474796295166, + -0.022250469774007797, + 0.09671736508607864, + 3.1119987964630127, + -0.03404032811522484, + -0.10261429101228714 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the spatula visible on the left side of the burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3502833843231201, + -0.02165243588387966, + 0.08448642492294312, + 3.110006332397461, + 0.0026721872854977846, + -0.10263079404830933 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the spatula visible on the left side of the burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466845154762268, + 0.0029781830962747335, + 0.07824908941984177, + 3.100830078125, + 0.06390421092510223, + -0.06506043672561646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the spatula visible on the left side of the burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 6 cm, keep gripper open; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33295512199401855, + 0.041033413261175156, + 0.0810689851641655, + -3.1374967098236084, + 0.08271864801645279, + -0.030318977311253548 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 506, + 390, + 777, + 583 + ], + "induction cooktop": [ + 146, + 235, + 775, + 761 + ], + "metal bowl": [ + 505, + 243, + 769, + 525 + ], + "sink": [ + 786, + 469, + 994, + 962 + ], + "orange": [ + 563, + 366, + 660, + 458 + ] + } + } + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stovetop with the spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and the segment shows no closing evidence. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 6 cm, keep gripper open; then move up 2 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3172496259212494, + 0.05760889872908592, + 0.08716002851724625, + -3.0355570316314697, + 0.10195180028676987, + -0.055933933705091476 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stovetop with the spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and the segment shows no closing evidence. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 7 cm, tilt right 10 degrees, keep gripper open; then move up 2 cm, keep gripper closed; then move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31917715072631836, + 0.06659611314535141, + 0.06412118673324585, + -3.0422492027282715, + 0.10127944499254227, + -0.04797026142477989 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stovetop with the spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and the segment shows no closing evidence. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, keep gripper open; then move up 2 cm, keep gripper closed; then move forward 1 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3255106508731842, + 0.0678739920258522, + 0.03395591303706169, + -3.0906131267547607, + 0.10319403558969498, + -0.03267102688550949 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stovetop with the spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and the segment shows no closing evidence. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move up 2 cm, keep gripper closed; then move forward 2 cm, move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3296196162700653, + 0.07683095335960388, + 0.016389913856983185, + 3.1380622386932373, + 0.0934964120388031, + -0.00320147885940969 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the stovetop with the spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and the segment shows no closing evidence. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3312947452068329, + 0.07685411721467972, + 0.010881918482482433, + 3.126586437225342, + 0.0862947404384613, + -0.0071005807258188725 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the stovetop with the spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and the segment shows no closing evidence. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314971327781677, + 0.07668648660182953, + 0.010126249864697456, + 3.1240789890289307, + 0.08731888979673386, + -0.017112551257014275 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the spatula on the burner and is now in the process of grasping it, as indicated by the gripper closing motion. The spatula is positioned under the gripper, and contact is being established. The next action is to fully close the gripper to secure the spatula for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3303035795688629, + 0.076844722032547, + 0.010971037670969963, + 3.125121593475342, + 0.09233865141868591, + -0.02184663526713848 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the spatula on the burner and is now in the process of grasping it, as indicated by the gripper closing motion. The spatula is positioned under the gripper, and contact is being established. The next action is to fully close the gripper to secure the spatula for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3280402719974518, + 0.07826977223157883, + 0.010516130365431309, + 3.1339032649993896, + 0.10405080765485764, + -0.027508709579706192 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the spatula on the burner and is now in the process of grasping it, as indicated by the gripper closing motion. The spatula is positioned under the gripper, and contact is being established. The next action is to fully close the gripper to secure the spatula for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3274082839488983, + 0.08106671273708344, + 0.03404475748538971, + -3.1239421367645264, + 0.08281255513429642, + -0.012306648306548595 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the spatula on the burner and is now in the process of grasping it, as indicated by the gripper closing motion. The spatula is positioned under the gripper, and contact is being established. The next action is to fully close the gripper to secure the spatula for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33323967456817627, + 0.09648104012012482, + 0.06136879324913025, + -3.1251134872436523, + 0.06730060279369354, + 0.01678050309419632 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the spatula on the burner and is now in the process of grasping it, as indicated by the gripper closing motion. The spatula is positioned under the gripper, and contact is being established. The next action is to fully close the gripper to secure the spatula for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306396007537842, + 0.12915782630443573, + 0.07765698432922363, + -3.0956337451934814, + 0.0690230280160904, + 0.1050490215420723 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 515, + 257, + 785, + 544 + ], + "blue cloth": [ + 506, + 422, + 750, + 583 + ], + "induction cooktop": [ + 146, + 240, + 762, + 759 + ], + "orange": [ + 565, + 366, + 668, + 475 + ], + "sink": [ + 785, + 469, + 994, + 963 + ] + } + } + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the spatula on the burner and is now in the process of grasping it, as indicated by the gripper closing motion. The spatula is positioned under the gripper, and contact is being established. The next action is to fully close the gripper to secure the spatula for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 5 cm, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33582600951194763, + 0.13749028742313385, + 0.0718386098742485, + -3.1053242683410645, + 0.0714128315448761, + 0.09821198880672455 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the spatula on the burner and is now in the process of grasping it, as indicated by the gripper closing motion. The spatula is positioned under the gripper, and contact is being established. The next action is to fully close the gripper to secure the spatula for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34272217750549316, + 0.15303735435009003, + 0.05259738862514496, + -3.079979658126831, + 0.10581907629966736, + 0.08242898434400558 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula and is currently lifting it above the left burner. The gripper is closed and the end-effector is elevated, indicating successful lift. The next action is to move the spatula laterally to the left side of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3445567488670349, + 0.15681348741054535, + 0.04361943528056145, + -3.0615663528442383, + 0.10728263854980469, + 0.08436483889818192 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula and is currently lifting it above the left burner. The gripper is closed and the end-effector is elevated, indicating successful lift. The next action is to move the spatula laterally to the left side of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.344698041677475, + 0.15889190137386322, + 0.027616551145911217, + -3.0588645935058594, + 0.14808990061283112, + 0.10615522414445877 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula and is currently lifting it above the left burner. The gripper is closed and the end-effector is elevated, indicating successful lift. The next action is to move the spatula laterally to the left side of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34512895345687866, + 0.16002027690410614, + 0.027394704520702362, + -3.050846815109253, + 0.1453760266304016, + 0.11781860142946243 + ], + "gripper_value": 0.3275788426399231 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula and is currently lifting it above the left burner. The gripper is closed and the end-effector is elevated, indicating successful lift. The next action is to move the spatula laterally to the left side of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.344628244638443, + 0.162633016705513, + 0.02707420103251934, + -3.040552854537964, + 0.13944856822490692, + 0.14909110963344574 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the spatula and is currently lifting it above the left burner. The gripper is closed and the end-effector is elevated, indicating successful lift. The next action is to move the spatula laterally to the left side of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3438599109649658, + 0.1655498445034027, + 0.02710396610200405, + -3.0366251468658447, + 0.13790462911128998, + 0.14877371490001678 + ], + "gripper_value": 0.6991904973983765 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The robot has grasped the spatula and is currently lifting it above the left burner. The gripper is closed and the end-effector is elevated, indicating successful lift. The next action is to move the spatula laterally to the left side of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3409493863582611, + 0.1647919863462448, + 0.024250531569123268, + -3.0371975898742676, + 0.14794979989528656, + 0.1421651989221573 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The robot has grasped the spatula and is currently lifting it above the left burner. The gripper is closed and the end-effector is elevated, indicating successful lift. The next action is to move the spatula laterally to the left side of the burner for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3378429710865021, + 0.15982303023338318, + 0.02679910883307457, + -3.0546677112579346, + 0.136674165725708, + 0.12503866851329803 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The robot has moved the spatula to the left side of the burner and is currently in the process of releasing it. The gripper is open, indicating the spatula has been placed at the target location. The next action is to confirm the release and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33810070157051086, + 0.15728485584259033, + 0.04190751165151596, + -3.0560059547424316, + 0.08064679801464081, + 0.11663731932640076 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 515, + 256, + 785, + 544 + ], + "blue cloth": [ + 506, + 423, + 749, + 584 + ], + "induction cooktop": [ + 147, + 243, + 759, + 761 + ], + "orange": [ + 567, + 366, + 668, + 475 + ], + "sink": [ + 786, + 469, + 994, + 962 + ] + } + } + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The robot has moved the spatula to the left side of the burner and is currently in the process of releasing it. The gripper is open, indicating the spatula has been placed at the target location. The next action is to confirm the release and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3378955125808716, + 0.15188516676425934, + 0.04603184014558792, + -3.0694470405578613, + 0.026503847911953926, + 0.09860347956418991 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the spatula to the left side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The robot has moved the spatula to the left side of the burner and is currently in the process of releasing it. The gripper is open, indicating the spatula has been placed at the target location. The next action is to confirm the release and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004340_ecot.json b/cot/chunk-0004/episode_0004340_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2257d10cd234308bfec49b29da9ccaf0b29bd6da --- /dev/null +++ b/cot/chunk-0004/episode_0004340_ecot.json @@ -0,0 +1,2060 @@ +{ + "task_name": "episode_0004340", + "episode_json": "json/chunk-0004/episode_0004340.json", + "video_path": "videos/chunk-0004/image_0/episode_0004340.mp4", + "instruction": "Move the towel to the back left table corner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004340.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033069849014282227, + "std": 0.0009367485181428492, + "delta_total": 0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00331, std=0.00094, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector from initial position toward the blue towel on the table.\"},\n {\"id\": 2, \"name\": \"make contact with towel\", \"start\": 8, \"end\": 15, \"planning\": \"Lower and align the gripper to make gentle contact with the towel surface without grasping.\"},\n {\"id\": 3, \"name\": \"slide towel toward target\", \"start\": 16, \"end\": 23, \"planning\": \"Push or drag the towel across the table surface toward the back left corner using sustained contact.\"},\n {\"id\": 4, \"name\": \"reposition towel at corner\", \"start\": 24, \"end\": 31, \"planning\": \"Fine-tune the towel’s position by nudging it into the back left corner and retreat slightly after alignment.\"}\n ],\n \"global_plan\": \"The robot approaches the towel, makes contact without grasping, slides it across the table, and repositions it into the back left corner using continuous pushing motions.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. All manipulation is contact-based sliding and nudging as supported by gripper evidence and motion patterns.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel", + "start": 0, + "end": 7, + "planning": "Move the end-effector from initial position toward the blue towel on the table." + }, + { + "id": 2, + "name": "make contact with towel", + "start": 8, + "end": 15, + "planning": "Lower and align the gripper to make gentle contact with the towel surface without grasping." + }, + { + "id": 3, + "name": "slide towel toward target", + "start": 16, + "end": 23, + "planning": "Push or drag the towel across the table surface toward the back left corner using sustained contact." + }, + { + "id": 4, + "name": "reposition towel at corner", + "start": 24, + "end": 31, + "planning": "Fine-tune the towel’s position by nudging it into the back left corner and retreat slightly after alignment." + } + ], + "global_plan": "The robot approaches the towel, makes contact without grasping, slides it across the table, and repositions it into the back left corner using continuous pushing motions.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. All manipulation is contact-based sliding and nudging as supported by gripper evidence and motion patterns." + } + }, + "episode_goal": "Move the towel to the back left table corner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33968493342399597, + 0.0444464311003685, + 0.14277508854866028, + 2.7995738983154297, + -0.09178163856267929, + 1.9259846210479736 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible in the front left area. No movement toward the towel has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the towel to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move down 8 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33650559186935425, + 0.04398603364825249, + 0.1317874640226364, + 2.8318490982055664, + -0.10063830018043518, + 1.9310328960418701 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible in the front left area. No movement toward the towel has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the towel to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 5 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3118070065975189, + 0.04572971537709236, + 0.11242596060037613, + 2.8805997371673584, + -0.1271790713071823, + 1.964198350906372 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible in the front left area. No movement toward the towel has occurred yet, and the gripper remains open with no closing evidence. The next action should be to move the end effector closer to the towel to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 5 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2919975519180298, + 0.043822403997182846, + 0.10718629509210587, + 2.893446683883667, + -0.1245054379105568, + 1.935895323753357 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible on the left side. No contact has been made yet as the gripper remains open and the end-effector is still approaching. The next action is to continue moving downward and forward to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 5 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2765920162200928, + 0.05242879316210747, + 0.10360392183065414, + 2.8896045684814453, + -0.09794503450393677, + 1.929304599761963 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible on the left side. No contact has been made yet as the gripper remains open and the end-effector is still approaching. The next action is to continue moving downward and forward to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 4 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25955629348754883, + 0.06387817114591599, + 0.0916304737329483, + 2.8933465480804443, + -0.05566822364926338, + 1.941760540008545 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 13, + 230, + 902, + 989 + ], + "blue cloth": [ + 140, + 414, + 441, + 695 + ], + "grey scrubber": [ + 473, + 324, + 645, + 404 + ], + "metal pot": [ + 546, + 368, + 782, + 681 + ] + } + } + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible on the left side. No contact has been made yet as the gripper remains open and the end-effector is still approaching. The next action is to continue moving downward and forward to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25282764434814453, + 0.0727606788277626, + 0.08460033684968948, + 2.9031693935394287, + -0.06088752672076225, + 1.9524307250976562 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible on the left side. No contact has been made yet as the gripper remains open and the end-effector is still approaching. The next action is to continue moving downward and forward to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2476804405450821, + 0.0814998671412468, + 0.07149367779493332, + 2.9370806217193604, + -0.06947781890630722, + 1.9622796773910522 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible on the left side. No contact has been made yet as the gripper remains open and the end-effector is still approaching. The next action is to continue moving downward and forward to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24724866449832916, + 0.08902289718389511, + 0.06051958352327347, + 2.952322483062744, + -0.07742441445589066, + 1.974048376083374 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible on the left side. No contact has been made yet as the gripper remains open and the end-effector is still approaching. The next action is to continue moving downward and forward to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24590612947940826, + 0.09853506088256836, + 0.04531003534793854, + 2.9802403450012207, + -0.09157813340425491, + 1.9902533292770386 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible on the left side. No contact has been made yet as the gripper remains open and the end-effector is still approaching. The next action is to continue moving downward and forward to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24074913561344147, + 0.10500722378492355, + 0.03194558247923851, + 3.002347230911255, + -0.09889482706785202, + 2.0212090015411377 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 10, + 225, + 902, + 993 + ], + "blue cloth": [ + 140, + 441, + 441, + 696 + ], + "green sponge": [ + 524, + 663, + 613, + 769 + ], + "metal pot": [ + 550, + 369, + 781, + 680 + ] + } + } + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot is positioned above the table with the blue towel visible on the left side. No contact has been made yet as the gripper remains open and the end-effector is still approaching. The next action is to continue moving downward and forward to make contact with the towel for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move forward 9 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2358938753604889, + 0.10761076956987381, + 0.0161289069801569, + 3.0292065143585205, + -0.09640096873044968, + 2.023742437362671 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being established without grasping. The next action is to maintain contact and begin sliding the towel toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 11 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23561471700668335, + 0.10837487131357193, + 0.008977578952908516, + 3.026921033859253, + -0.09151557832956314, + 2.0275204181671143 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being established without grasping. The next action is to maintain contact and begin sliding the towel toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move forward 11 cm, move left 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2348993569612503, + 0.10967259109020233, + 0.006227192003279924, + 2.9725592136383057, + -0.0794455036520958, + 2.049680709838867 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being established without grasping. The next action is to maintain contact and begin sliding the towel toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move forward 11 cm, move left 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23510955274105072, + 0.11220822483301163, + 0.006846912670880556, + 2.963772773742676, + -0.08969873189926147, + 2.071460485458374 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being established without grasping. The next action is to maintain contact and begin sliding the towel toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move forward 10 cm, move left 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24167077243328094, + 0.11549482494592667, + 0.009314853698015213, + 2.95053768157959, + -0.0934075117111206, + 2.0788180828094482 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "make contact with towel", + "subtask_reasoning": "The robot has approached the blue towel on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being established without grasping. The next action is to maintain contact and begin sliding the towel toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 10 cm, move left 2 cm, tilt forward 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2545653283596039, + 0.12250322848558426, + 0.010006108321249485, + 2.962315797805786, + -0.1002240926027298, + 2.0993142127990723 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "slide towel toward target", + "subtask_reasoning": "The robot has approached the blue towel on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being established without grasping. The next action is to maintain contact and begin sliding the towel toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734525501728058, + 0.13478490710258484, + 0.010604382492601871, + 2.955392599105835, + -0.07321637123823166, + 2.1594810485839844 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "slide towel toward target", + "subtask_reasoning": "The robot has approached the blue towel on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being established without grasping. The next action is to maintain contact and begin sliding the towel toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29644638299942017, + 0.14407755434513092, + 0.010850675404071808, + 2.9467275142669678, + -0.06369433552026749, + 2.169407844543457 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "slide towel toward target", + "subtask_reasoning": "The robot has approached the blue towel on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being established without grasping. The next action is to maintain contact and begin sliding the towel toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227842450141907, + 0.1520606428384781, + 0.01102419849485159, + 2.935192584991455, + -0.045148078352212906, + 2.168064594268799 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 16, + 225, + 901, + 992 + ], + "blue cloth": [ + 181, + 305, + 439, + 513 + ], + "green sponge": [ + 524, + 664, + 613, + 769 + ], + "metal pot": [ + 547, + 369, + 782, + 681 + ], + "grey scrubber": [ + 474, + 325, + 646, + 402 + ] + } + } + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "slide towel toward target", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue sliding the towel toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper open; then move right 1 cm, move up 11 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3472166657447815, + 0.15745526552200317, + 0.012759465724229813, + 2.9134645462036133, + -0.013184461742639542, + 2.1717612743377686 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "slide towel toward target", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue sliding the towel toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 13 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36224624514579773, + 0.15500931441783905, + 0.013136249035596848, + 2.912888765335083, + -0.0029684731271117926, + 2.1562306880950928 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "slide towel toward target", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue sliding the towel toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 16 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659588396549225, + 0.15224283933639526, + 0.014663372188806534, + 2.9073643684387207, + 0.0013638691743835807, + 2.1518781185150146 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "slide towel toward target", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue sliding the towel toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 16 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3610549569129944, + 0.1461738795042038, + 0.013230501674115658, + 2.9218287467956543, + -0.0019166611600667238, + 2.149906873703003 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "slide towel toward target", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue sliding the towel toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 16 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3561941087245941, + 0.1410488337278366, + 0.01400073990225792, + 2.9387459754943848, + 0.015686916187405586, + 2.1554558277130127 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "reposition towel at corner", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue sliding the towel toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 16 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3549351990222931, + 0.13305087387561798, + 0.017571790143847466, + 2.98417592048645, + 0.026965497061610222, + 2.1364989280700684 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "reposition towel at corner", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue sliding the towel toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 16 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617936670780182, + 0.13307292759418488, + 0.043649788945913315, + 2.9506216049194336, + 0.046192482113838196, + 2.136014461517334 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "reposition towel at corner", + "subtask_reasoning": "The robot is in contact with the blue towel on the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a pushing motion rather than grasping. The next action is to continue sliding the towel toward the back left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 13 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36289170384407043, + 0.13292856514453888, + 0.07206571847200394, + 2.90437388420105, + 0.0657758116722107, + 2.1306440830230713 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 16, + 187, + 902, + 992 + ], + "blue cloth": [ + 247, + 265, + 479, + 416 + ], + "grey scrubber": [ + 477, + 324, + 645, + 401 + ], + "metal pot": [ + 547, + 369, + 780, + 681 + ] + } + } + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "reposition towel at corner", + "subtask_reasoning": "The robot is in contact with the blue towel on the wooden table, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to push the towel further toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3616626560688019, + 0.13222761452198029, + 0.0981040969491005, + 2.8547232151031494, + 0.07653427869081497, + 2.1244239807128906 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "reposition towel at corner", + "subtask_reasoning": "The robot is in contact with the blue towel on the wooden table, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to push the towel further toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3569394648075104, + 0.12895239889621735, + 0.12200911343097687, + 2.8191287517547607, + 0.08763174712657928, + 2.115584135055542 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "reposition towel at corner", + "subtask_reasoning": "The robot is in contact with the blue towel on the wooden table, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to push the towel further toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3476637601852417, + 0.12454322725534439, + 0.14716503024101257, + 2.79058837890625, + 0.10160021483898163, + 2.119168281555176 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "reposition towel at corner", + "subtask_reasoning": "The robot is in contact with the blue towel on the wooden table, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to push the towel further toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360060155391693, + 0.11705426126718521, + 0.17316316068172455, + 2.754319906234741, + 0.127255380153656, + 2.1108651161193848 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the towel to the back left table corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "make contact with towel" + }, + { + "id": 3, + "subtask": "slide towel toward target" + }, + { + "id": 4, + "subtask": "reposition towel at corner" + } + ], + "subtask_name": "reposition towel at corner", + "subtask_reasoning": "The robot is in contact with the blue towel on the wooden table, having already approached and initiated sliding. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to push the towel further toward the back left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004341_ecot.json b/cot/chunk-0004/episode_0004341_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6daa4a839d6d63dc5179d2a272b25ad68d2f1031 --- /dev/null +++ b/cot/chunk-0004/episode_0004341_ecot.json @@ -0,0 +1,1603 @@ +{ + "task_name": "episode_0004341", + "episode_json": "json/chunk-0004/episode_0004341.json", + "video_path": "videos/chunk-0004/image_0/episode_0004341.mp4", + "instruction": "Move the light blue towel to the center of the front edge of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004341.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.003330826759338379, + "std": 0.0010333522222936153, + "delta_total": -0.0013307929039001465, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00333, std=0.00103, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 24 + ], + [ + 3, + 25, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector from its initial position toward the light blue towel on the table.\"},\n {\"id\": 2, \"name\": \"reposition towel\", \"start\": 9, \"end\": 24, \"planning\": \"Make contact with the towel and slide or nudge it toward the center of the front edge of the table.\"},\n {\"id\": 3, \"name\": \"retreat from towel\", \"start\": 25, \"end\": 25, \"planning\": \"Lift the end-effector slightly and retreat to release contact after repositioning the towel.\"}\n ],\n \"global_plan\": \"Approach the light blue towel, make contact to slide or nudge it to the center of the front edge of the table, then retreat.\",\n \"notes\": \"Gripper remains open throughout; no grasping or lifting occurs. Motion is contact-based manipulation only.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel", + "start": 0, + "end": 8, + "planning": "Move the end-effector from its initial position toward the light blue towel on the table." + }, + { + "id": 2, + "name": "reposition towel", + "start": 9, + "end": 24, + "planning": "Make contact with the towel and slide or nudge it toward the center of the front edge of the table." + }, + { + "id": 3, + "name": "retreat from towel", + "start": 25, + "end": 25, + "planning": "Lift the end-effector slightly and retreat to release contact after repositioning the towel." + } + ], + "global_plan": "Approach the light blue towel, make contact to slide or nudge it to the center of the front edge of the table, then retreat.", + "notes": "Gripper remains open throughout; no grasping or lifting occurs. Motion is contact-based manipulation only." + } + }, + "episode_goal": "Move the light blue towel to the center of the front edge of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31932854652404785, + -0.09128078073263168, + 0.09965788573026657, + 2.898458957672119, + -0.4944298565387726, + -0.05143224820494652 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in the scene. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the towel to prepare for sliding or nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 8 cm, move down 6 cm, tilt left 20 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31817683577537537, + -0.09119366854429245, + 0.09191198647022247, + 2.9005401134490967, + -0.4679886996746063, + -0.050630420446395874 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in the scene. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the towel to prepare for sliding or nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 8 cm, move down 5 cm, tilt left 20 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3316279649734497, + -0.07436205446720123, + 0.0866430252790451, + 2.907757043838501, + -0.4310414493083954, + -0.007149701472371817 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in the scene. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the towel to prepare for sliding or nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 7 cm, move down 5 cm, tilt left 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3630490303039551, + -0.05574125424027443, + 0.09110572934150696, + 2.958146810531616, + -0.46398046612739563, + 0.0159913282841444 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 289, + 146, + 472, + 334 + ], + "blue cloth": [ + 452, + 249, + 703, + 460 + ], + "tomato sauce": [ + 679, + 28, + 808, + 253 + ], + "ice cream scoop": [ + 617, + 509, + 830, + 834 + ], + "garlic bulb": [ + 666, + 348, + 819, + 539 + ] + } + } + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in the scene. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the towel to prepare for sliding or nudging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38116255402565, + -0.04114452376961708, + 0.09491949528455734, + 2.9853262901306152, + -0.4814981520175934, + 0.04620841145515442 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39960506558418274, + -0.030171340331435204, + 0.0895618349313736, + 3.063283681869507, + -0.4852035939693451, + 0.036926496773958206 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 5 cm, keep gripper open; then move back 8 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4181298613548279, + -0.027432598173618317, + 0.08491235971450806, + 3.0658318996429443, + -0.4944576621055603, + 0.04661107063293457 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 4 cm, keep gripper open; then move back 12 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.43533891439437866, + -0.019519539549946785, + 0.07545779645442963, + 3.1085598468780518, + -0.4944661557674408, + 0.023172814399003983 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open; then move back 15 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4495079219341278, + -0.017169587314128876, + 0.06085400655865669, + 3.1356923580169678, + -0.4806326925754547, + 0.006983808241784573 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move back 18 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.45190486311912537, + -0.008936728350818157, + 0.04154597967863083, + -3.1170084476470947, + -0.43010175228118896, + 0.0028830068185925484 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4532545804977417, + -0.002955223200842738, + 0.022332873195409775, + -3.1164650917053223, + -0.3976069390773773, + 0.03397814929485321 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4529086947441101, + -0.0006378486286848783, + 0.019478706642985344, + -3.1101908683776855, + -0.3879179060459137, + 0.05747440457344055 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move left 2 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.44397658109664917, + 0.0004065557150170207, + 0.014471154659986496, + -3.11716890335083, + -0.37311744689941406, + 0.09450970590114594 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.42205971479415894, + 0.002214236417785287, + 0.01442765537649393, + -3.111161947250366, + -0.3373764455318451, + 0.11358663439750671 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3945576846599579, + 0.004869359545409679, + 0.014655719511210918, + -3.0998823642730713, + -0.30199113488197327, + 0.13502466678619385 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3686538338661194, + 0.0057542347349226475, + 0.013655401766300201, + -3.095468044281006, + -0.25191912055015564, + 0.1562485694885254 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot is positioned above the table with the light blue towel visible in front. No contact has been made yet, and the gripper remains open. The next action should be to move the end effector closer to the towel to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314916491508484, + 0.005483228713274002, + 0.01503022201359272, + -3.0935556888580322, + -0.18848514556884766, + 0.16793450713157654 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 289, + 149, + 471, + 333 + ], + "tomato sauce": [ + 656, + 28, + 805, + 286 + ], + "black kitchen tool": [ + 354, + 5, + 635, + 502 + ], + "ice cream scoop": [ + 617, + 510, + 830, + 834 + ], + "corn": [ + 774, + 125, + 927, + 334 + ], + "blue cloth": [ + 344, + 383, + 648, + 657 + ], + "garlic bulb": [ + 666, + 343, + 822, + 540 + ] + } + } + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30014553666114807, + 0.004932934418320656, + 0.014098131097853184, + -3.0864100456237793, + -0.11812181770801544, + 0.1765792965888977 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27625662088394165, + 0.009540342725813389, + 0.014659971930086613, + -3.0544707775115967, + -0.07067897170782089, + 0.19622164964675903 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 289, + 150, + 426, + 334 + ], + "blue cloth": [ + 267, + 492, + 595, + 796 + ], + "tomato sauce": [ + 654, + 28, + 805, + 286 + ], + "garlic bulb": [ + 666, + 343, + 821, + 540 + ], + "corn": [ + 774, + 125, + 927, + 334 + ] + } + } + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2691666781902313, + 0.009662202559411526, + 0.013847270049154758, + -3.049736499786377, + -0.04724346101284027, + 0.20443978905677795 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753625214099884, + 0.012984199449419975, + 0.016511686146259308, + -3.0400800704956055, + -0.0701037049293518, + 0.19567246735095978 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2864513397216797, + 0.01698608510196209, + 0.02248384989798069, + -3.034811019897461, + -0.11310169845819473, + 0.2167995423078537 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29737329483032227, + 0.015200857073068619, + 0.029316823929548264, + -3.053250551223755, + -0.1545027643442154, + 0.20245882868766785 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3062507212162018, + 0.01232562679797411, + 0.057213328778743744, + -3.097384452819824, + -0.2557946443557739, + 0.19905000925064087 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046853244304657, + 0.018293343484401703, + 0.08108534663915634, + -3.1391165256500244, + -0.3363248109817505, + 0.19481614232063293 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "reposition towel", + "subtask_reasoning": "The robot's end-effector is in contact with the light blue towel, positioned to push it forward. The gripper remains open, indicating a sliding or nudging action rather than grasping. The next step is to continue pushing the towel toward the center of the table's front edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3025842607021332, + 0.02023114450275898, + 0.08733212202787399, + 3.0490031242370605, + -0.2859695553779602, + 0.1857505738735199 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the light blue towel to the center of the front edge of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "reposition towel" + }, + { + "id": 3, + "subtask": "retreat from towel" + } + ], + "subtask_name": "retreat from towel", + "subtask_reasoning": "The light blue towel is already positioned at the center of the front edge of the table. The robot has completed repositioning and is now retreating, with the gripper open and no contact with the towel. The next action is to continue moving away from the towel to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004342_ecot.json b/cot/chunk-0004/episode_0004342_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9e34a9e5a7a3fa2a0a301ff783104463219a7483 --- /dev/null +++ b/cot/chunk-0004/episode_0004342_ecot.json @@ -0,0 +1,3235 @@ +{ + "task_name": "episode_0004342", + "episode_json": "json/chunk-0004/episode_0004342.json", + "video_path": "videos/chunk-0004/image_0/episode_0004342.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004342.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006645917892456055, + "std": 0.0002856132050510496, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00029, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 200, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 18 + ], + [ + 3, + 19, + 35 + ], + [ + 4, + 36, + 37 + ], + [ + 5, + 38, + 38 + ], + [ + 6, + 39, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the drawer handle with open gripper.\"},\n {\"id\": 2, \"name\": \"make contact and push drawer\", \"start\": 3, \"end\": 18, \"planning\": \"Establish contact with drawer handle and begin pushing it closed using body or gripper backside.\"},\n {\"id\": 3, \"name\": \"continue pushing drawer closed\", \"start\": 19, \"end\": 35, \"planning\": \"Maintain forward pressure on drawer to slide it fully into closed position.\"},\n {\"id\": 4, \"name\": \"retract from drawer\", \"start\": 36, \"end\": 37, \"planning\": \"Lift and pull back slightly to disengage from drawer after closure.\"},\n {\"id\": 5, \"name\": \"hover above closed drawer\", \"start\": 38, \"end\": 38, \"planning\": \"Pause briefly in neutral position above drawer to confirm closure.\"},\n {\"id\": 6, \"name\": \"retreat to safe pose\", \"start\": 39, \"end\": 44, \"planning\": \"Move end-effector away from drawer area to final resting position.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching, making contact, pushing it shut, then retreating safely — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes; all manipulation is via contact/pushing. Segments merged/split to reflect natural phases: approach, initial push, sustained push, retract, hover, retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the drawer handle with open gripper." + }, + { + "id": 2, + "name": "make contact and push drawer", + "start": 3, + "end": 18, + "planning": "Establish contact with drawer handle and begin pushing it closed using body or gripper backside." + }, + { + "id": 3, + "name": "continue pushing drawer closed", + "start": 19, + "end": 35, + "planning": "Maintain forward pressure on drawer to slide it fully into closed position." + }, + { + "id": 4, + "name": "retract from drawer", + "start": 36, + "end": 37, + "planning": "Lift and pull back slightly to disengage from drawer after closure." + }, + { + "id": 5, + "name": "hover above closed drawer", + "start": 38, + "end": 38, + "planning": "Pause briefly in neutral position above drawer to confirm closure." + }, + { + "id": 6, + "name": "retreat to safe pose", + "start": 39, + "end": 44, + "planning": "Move end-effector away from drawer area to final resting position." + } + ], + "global_plan": "Close the drawer by approaching, making contact, pushing it shut, then retreating safely — all without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes; all manipulation is via contact/pushing. Segments merged/split to reflect natural phases: approach, initial push, sustained push, retract, hover, retreat." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548184096813202, + -0.017831752076745033, + 0.13521969318389893, + -3.0685489177703857, + -0.2241278439760208, + -1.0144459009170532 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned in front of the open red drawer with the gripper open and no contact made yet. No actions have been completed; the current subtask requires moving the end-effector closer to the drawer handle to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525132894515991, + -0.01887768879532814, + 0.12970790266990662, + -3.088594913482666, + -0.21455791592597961, + -1.011176347732544 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 2 cm, move down 8 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24169377982616425, + -0.02893712744116783, + 0.11880413442850113, + -3.122401475906372, + -0.19490694999694824, + -1.0521576404571533 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move down 8 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23008963465690613, + -0.038740698248147964, + 0.11171460896730423, + 3.133334159851074, + -0.18860235810279846, + -1.096251368522644 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 8 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22118113934993744, + -0.04618991166353226, + 0.10642784833908081, + 3.0961577892303467, + -0.18263353407382965, + -1.1151189804077148 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2160324603319168, + -0.047485556453466415, + 0.10150670260190964, + 3.080104351043701, + -0.17598950862884521, + -1.1162515878677368 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2192450314760208, + -0.048211220651865005, + 0.08525791764259338, + 3.041796922683716, + -0.15133391320705414, + -1.1070756912231445 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22241716086864471, + -0.05019732564687729, + 0.06702565401792526, + 3.001075029373169, + -0.13311238586902618, + -1.090970516204834 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22227482497692108, + -0.0513419434428215, + 0.04779354855418205, + 2.9465811252593994, + -0.10538487136363983, + -1.0727273225784302 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red block": [ + 212, + 383, + 320, + 605 + ], + "table": [ + 5, + 5, + 995, + 994 + ], + "stuffed mouse": [ + 741, + 462, + 953, + 708 + ], + "patterned object": [ + 3, + 406, + 114, + 573 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22157642245292664, + -0.05295880138874054, + 0.043454915285110474, + 2.9254658222198486, + -0.09187311679124832, + -1.0661544799804688 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is positioned above the table with the drawer slightly open and the gripper fully open. No contact has been made yet. The next action is to move the end-effector downward and forward to approach the drawer handle without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21669352054595947, + -0.05896654352545738, + 0.03573420271277428, + 2.870054244995117, + -0.06382555514574051, + -1.0422207117080688 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21485406160354614, + -0.06132213771343231, + 0.03417479246854782, + 2.8522849082946777, + -0.06048309803009033, + -1.0351532697677612 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21357695758342743, + -0.0636022761464119, + 0.03495310619473457, + 2.8364505767822266, + -0.06514903157949448, + -1.0215091705322266 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21043115854263306, + -0.06426339596509933, + 0.032845258712768555, + 2.8277640342712402, + -0.06332051008939743, + -1.007253646850586 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2066488116979599, + -0.06072830408811569, + 0.03165352717041969, + 2.8555474281311035, + -0.06198425218462944, + -1.0175234079360962 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, keep gripper open; then move forward 4 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19942590594291687, + -0.05808369815349579, + 0.028987422585487366, + 2.921142339706421, + -0.07128387689590454, + -1.0430409908294678 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt left 10 degrees, keep gripper open; then move forward 4 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19393803179264069, + -0.05887220799922943, + 0.027106044813990593, + 3.027104616165161, + -0.10342033207416534, + -1.0942788124084473 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt left 10 degrees, keep gripper open; then move forward 5 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.1930936574935913, + -0.05594769865274429, + 0.026461610570549965, + 3.103422164916992, + -0.12533777952194214, + -1.0953965187072754 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed mouse": [ + 740, + 462, + 952, + 707 + ], + "red block": [ + 212, + 384, + 320, + 605 + ], + "table": [ + 5, + 4, + 995, + 994 + ], + "patterned object": [ + 2, + 405, + 115, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 6 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.19692209362983704, + -0.05471847578883171, + 0.025833703577518463, + 3.1347744464874268, + -0.13567158579826355, + -1.0827709436416626 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 6 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.19986452162265778, + -0.053108278661966324, + 0.026500601321458817, + -3.1330373287200928, + -0.140614852309227, + -1.0802475214004517 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 35 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.20593920350074768, + -0.04881272092461586, + 0.02265452966094017, + -3.130061388015747, + -0.14033958315849304, + -1.0491206645965576 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 35 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21361924707889557, + -0.044808462262153625, + 0.025411875918507576, + -3.1255390644073486, + -0.1462109088897705, + -1.0202029943466187 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. The approach phase is complete, and the gripper remains open as required. The next action is to apply forward force to close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 35 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21989819407463074, + -0.04159469157457352, + 0.021232983097434044, + -3.133833646774292, + -0.1381974220275879, + -0.9966777563095093 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the drawer handle, positioned to push. 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The next step is to maintain forward pressure until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.279954195022583, + 0.028127087280154228, + 0.026293493807315826, + -3.1008620262145996, + -0.17880378663539886, + -0.7506546974182129 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot arm is in contact with the drawer handle, continuing to push it closed as part of the ongoing subtask. The gripper remains open throughout, consistent with no grasping action. The next step is to maintain forward pressure until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667599618434906, + 0.019855743274092674, + 0.023668549954891205, + 3.124023675918579, + -0.16410242021083832, + -0.7388259768486023 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retract from drawer", + "subtask_reasoning": "The drawer is closed and the robot end-effector is positioned above the table, having completed the push action. The gripper remains open with no contact, indicating the retraction phase is underway. The next action is to continue moving the arm away from the drawer area to a safe resting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 36, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631666660308838, + 0.01266314648091793, + 0.03985605761408806, + 3.119295835494995, + -0.19755664467811584, + -0.7463139295578003 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retract from drawer", + "subtask_reasoning": "The drawer is closed and the robot end-effector is positioned above the table, having completed the push action. The gripper remains open with no contact, indicating the retraction phase is underway. The next action is to continue moving the arm away from the drawer area to a safe resting position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.25971484184265137, + 0.006585519295185804, + 0.06858090311288834, + -3.1232218742370605, + -0.28195667266845703, + -0.7376315593719482 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "hover above closed drawer", + "subtask_reasoning": "The drawer is already closed, and the robot's end-effector is hovering above it with the gripper open. No further pushing or contact is needed. The next action is to retreat safely to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 38, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.264516681432724, + 0.002201101742684841, + 0.0926930233836174, + -3.0233964920043945, + -0.3102761209011078, + -0.5915124416351318 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The drawer is already closed, and the robot's end-effector is hovering above it with the gripper open. No further pushing or contact is needed. The next action is to retreat safely to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643560767173767, + 0.004150572698563337, + 0.10965822637081146, + -2.9621779918670654, + -0.3382554054260254, + -0.4083315432071686 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red block": [ + 212, + 384, + 320, + 606 + ], + "table": [ + 4, + 4, + 995, + 993 + ], + "patterned object": [ + 2, + 407, + 114, + 574 + ], + "stuffed mouse": [ + 740, + 461, + 954, + 709 + ], + "wooden house": [ + 385, + 3, + 710, + 363 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The drawer is already closed, and the robot's end-effector is hovering above it with the gripper open. No further pushing or contact is needed. The next action is to retreat safely to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.26937001943588257, + 0.013885336928069592, + 0.12824708223342896, + -2.908154249191284, + -0.3347378671169281, + -0.24503448605537415 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The drawer is closed and the robot has completed the pushing action. The end-effector is currently positioned near the drawer handle with the gripper open. The robot is now retreating to a safe pose by moving away from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.27532055974006653, + 0.017841380089521408, + 0.14347630739212036, + -2.9034128189086914, + -0.34468215703964233, + -0.17353002727031708 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The drawer is closed and the robot has completed the pushing action. The end-effector is currently positioned near the drawer handle with the gripper open. The robot is now retreating to a safe pose by moving away from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2800200581550598, + 0.020047608762979507, + 0.14836277067661285, + -2.9430830478668213, + -0.3284563422203064, + -0.1548592448234558 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The drawer is closed and the robot has completed the pushing action. The end-effector is currently positioned near the drawer handle with the gripper open. The robot is now retreating to a safe pose by moving away from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.28121063113212585, + 0.02601669356226921, + 0.15248925983905792, + -3.0365347862243652, + -0.29046452045440674, + -0.12435554713010788 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "retract from drawer" + }, + { + "id": 5, + "subtask": "hover above closed drawer" + }, + { + "id": 6, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The drawer is closed and the robot has completed the pushing action. The end-effector is currently positioned near the drawer handle with the gripper open. The robot is now retreating to a safe pose by moving away from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004344_ecot.json b/cot/chunk-0004/episode_0004344_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6db460cd3572dfa0cc7962c85725529e8f69ef7e --- /dev/null +++ b/cot/chunk-0004/episode_0004344_ecot.json @@ -0,0 +1,2994 @@ +{ + "task_name": "episode_0004344", + "episode_json": "json/chunk-0004/episode_0004344.json", + "video_path": "videos/chunk-0004/image_0/episode_0004344.mp4", + "instruction": "Move red spoon to just below green towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004344.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.5798660516738892, + "std": 0.272142618894577, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57987, std=0.27214, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 413, + 413, + 413, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 113, + 113, + 113, + 113, + 113, + 137, + 237, + 237, + 237 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 12 + ], + [ + 3, + 13, + 15 + ], + [ + 4, + 16, + 31 + ], + [ + 5, + 32, + 36 + ], + [ + 6, + 37, + 37 + ], + [ + 7, + 38, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red spoon\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector down toward the red spoon without closing the gripper.\"},\n {\"id\": 2, \"name\": \"close gripper on spoon\", \"start\": 7, \"end\": 12, \"planning\": \"Close the gripper around the handle of the red spoon to secure it.\"},\n {\"id\": 3, \"name\": \"lift and reposition spoon\", \"start\": 13, \"end\": 31, \"planning\": \"Lift the spoon and move it horizontally toward the area below the green towel.\"},\n {\"id\": 4, \"name\": \"place spoon below towel\", \"start\": 32, \"end\": 36, \"planning\": \"Lower the spoon to the target position just below the green towel and release it.\"},\n {\"id\": 5, \"name\": \"open gripper and retreat\", \"start\": 37, \"end\": 37, \"planning\": \"Open the gripper fully to ensure the spoon is released.\"},\n {\"id\": 6, \"name\": \"move away from spoon\", \"start\": 38, \"end\": 40, \"planning\": \"Retract the end-effector upward and away from the placed spoon.\"}\n ],\n \"global_plan\": \"Approach the red spoon, grasp it, lift and move it to a position just below the green towel, release it, and retreat.\",\n \"notes\": \"Gripper evidence supports closing in segments 2 and 5; segment 1 shows no closing, so approach only. Segment 7 shows opening and retreat. All subtasks are contiguous and cover frames 0 to 40.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red spoon", + "start": 0, + "end": 6, + "planning": "Move the end-effector down toward the red spoon without closing the gripper." + }, + { + "id": 2, + "name": "close gripper on spoon", + "start": 7, + "end": 12, + "planning": "Close the gripper around the handle of the red spoon to secure it." + }, + { + "id": 3, + "name": "lift and reposition spoon", + "start": 13, + "end": 31, + "planning": "Lift the spoon and move it horizontally toward the area below the green towel." + }, + { + "id": 4, + "name": "place spoon below towel", + "start": 32, + "end": 36, + "planning": "Lower the spoon to the target position just below the green towel and release it." + }, + { + "id": 5, + "name": "open gripper and retreat", + "start": 37, + "end": 37, + "planning": "Open the gripper fully to ensure the spoon is released." + }, + { + "id": 6, + "name": "move away from spoon", + "start": 38, + "end": 40, + "planning": "Retract the end-effector upward and away from the placed spoon." + } + ], + "global_plan": "Approach the red spoon, grasp it, lift and move it to a position just below the green towel, release it, and retreat.", + "notes": "Gripper evidence supports closing in segments 2 and 5; segment 1 shows no closing, so approach only. Segment 7 shows opening and retreat. All subtasks are contiguous and cover frames 0 to 40." + } + }, + "episode_goal": "Place the red spoon on the green towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32441627979278564, + 0.034752197563648224, + 0.1353413611650467, + 3.1349451541900635, + -0.1416623741388321, + -0.13024941086769104 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table, with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin moving its end effector towards the red spoon to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3228343427181244, + 0.034112319350242615, + 0.12577645480632782, + 3.1248879432678223, + -0.11565506458282471, + -0.12637951970100403 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table, with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin moving its end effector towards the red spoon to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3127330541610718, + 0.01856100559234619, + 0.10447992384433746, + 3.1043894290924072, + -0.09927515685558319, + -0.13934075832366943 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table, with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and stationary. The robot needs to begin moving its end effector towards the red spoon to initiate the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29803359508514404, + -0.006150614935904741, + 0.09426327794790268, + 3.101691722869873, + -0.1326359212398529, + -0.1591554582118988 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and the robot is still approaching. The next step is to continue moving the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 5 cm, keep gripper open; then move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.281086266040802, + -0.029241148382425308, + 0.07697880268096924, + 3.111912727355957, + -0.12076005339622498, + -0.2105540782213211 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 15, + 184, + 898, + 991 + ], + "green cloth": [ + 281, + 221, + 460, + 455 + ], + "fork": [ + 524, + 491, + 693, + 792 + ], + "yellow cloth": [ + 675, + 435, + 765, + 626 + ], + "metal bowl": [ + 500, + 306, + 677, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and the robot is still approaching. The next step is to continue moving the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 3 cm, keep gripper open; then move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26908931136131287, + -0.044102203100919724, + 0.07075662910938263, + 3.121884822845459, + -0.13526977598667145, + -0.2499200701713562 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and the robot is still approaching. The next step is to continue moving the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move down 4 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26122844219207764, + -0.05380173400044441, + 0.06221099942922592, + 3.13932728767395, + -0.12786364555358887, + -0.2679468095302582 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and the robot is still approaching. The next step is to continue moving the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move down 4 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25887924432754517, + -0.05600178241729736, + 0.0468134805560112, + -3.126616954803467, + -0.10568325221538544, + -0.23850874602794647 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and the robot is still approaching. The next step is to continue moving the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move forward 2 cm, move left 1 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25986674427986145, + -0.059674616903066635, + 0.03147844970226288, + -3.13552188873291, + -0.08449965715408325, + -0.21485574543476105 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 17, + 210, + 898, + 992 + ], + "green cloth": [ + 281, + 225, + 523, + 455 + ], + "yellow cloth": [ + 680, + 436, + 766, + 623 + ], + "grey cabinet": [ + 145, + 636, + 733, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot is positioned above the wooden table with the red spoon visible in the foreground and the green towel in the background. No actions have been completed yet as the gripper remains open and the robot is still approaching. The next step is to continue moving the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 2 cm, move left 6 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625235319137573, + -0.059786658734083176, + 0.02225080132484436, + -3.1321051120758057, + -0.08647243678569794, + -0.189761683344841 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move left 11 cm, move up 13 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603794038295746, + -0.060605332255363464, + 0.010312243364751339, + -3.1392040252685547, + -0.05387972667813301, + -0.18371880054473877 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 16 cm, move up 12 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2602149248123169, + -0.0604100301861763, + 0.007890990935266018, + -3.1384196281433105, + -0.04936234652996063, + -0.17571328580379486 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 19 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26321738958358765, + -0.059256844222545624, + 0.007823120802640915, + -3.128957748413086, + -0.06871672719717026, + -0.1624530851840973 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 21 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26319408416748047, + -0.05852314829826355, + 0.00784365925937891, + -3.119020700454712, + -0.06805824488401413, + -0.16823714971542358 + ], + "gripper_value": 0.4283607602119446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 23 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26068350672721863, + -0.05984017625451088, + 0.00795532763004303, + -3.1181867122650146, + -0.052068933844566345, + -0.19772319495677948 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 24 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25957679748535156, + -0.061180587857961655, + 0.015394342131912708, + -3.1086292266845703, + -0.04877622798085213, + -0.23401705920696259 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 25 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27739840745925903, + -0.06505041569471359, + 0.06638489663600922, + -3.0933358669281006, + -0.17692452669143677, + -0.2946018576622009 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 25 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28565239906311035, + -0.05079839378595352, + 0.11425480991601944, + -3.0496625900268555, + -0.28908589482307434, + -0.3440832495689392 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 23 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27980461716651917, + 0.005736733321100473, + 0.14126786589622498, + -3.0296099185943604, + -0.31905341148376465, + -0.3146781027317047 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 462, + 288, + 681, + 497 + ], + "wooden countertop": [ + 14, + 188, + 898, + 991 + ], + "yellow cloth": [ + 690, + 438, + 789, + 629 + ], + "green cloth": [ + 282, + 223, + 478, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 17 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26856452226638794, + 0.048693399876356125, + 0.13950635492801666, + -3.039600372314453, + -0.2769624590873718, + -0.2626495063304901 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.249617338180542, + 0.10040517151355743, + 0.127421036362648, + -3.0534212589263916, + -0.22778131067752838, + -0.1742606908082962 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22940942645072937, + 0.1302606612443924, + 0.11205755174160004, + -3.065509796142578, + -0.18786725401878357, + -0.07791723310947418 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 9 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21904237568378448, + 0.15024815499782562, + 0.09766000509262085, + -3.022799491882324, + -0.16628025472164154, + -0.013104776851832867 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.21853750944137573, + 0.1681089550256729, + 0.07913491129875183, + -3.004488945007324, + -0.17315298318862915, + 0.060079559683799744 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2263149619102478, + 0.17698341608047485, + 0.06446407735347748, + -3.004300117492676, + -0.16091406345367432, + 0.07748586684465408 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2413088083267212, + 0.18538427352905273, + 0.05459686741232872, + -3.016969919204712, + -0.1330280303955078, + 0.07684127986431122 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2629975378513336, + 0.1862933188676834, + 0.04530523344874382, + -3.0309019088745117, + -0.11968503892421722, + 0.04068118333816528 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 461, + 273, + 684, + 500 + ], + "wooden countertop": [ + 18, + 189, + 898, + 991 + ], + "green cloth": [ + 282, + 223, + 521, + 454 + ], + "yellow cloth": [ + 692, + 438, + 790, + 630 + ], + "black structure": [ + 5, + 5, + 243, + 443 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.27952998876571655, + 0.18289406597614288, + 0.041765786707401276, + -3.0358057022094727, + -0.10484754294157028, + 0.005725147668272257 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28992027044296265, + 0.1758231371641159, + 0.036163657903671265, + -3.0432283878326416, + -0.08563382923603058, + -0.03759973123669624 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29342272877693176, + 0.17283286154270172, + 0.03140924125909805, + -3.0689101219177246, + -0.10655108094215393, + -0.043651290237903595 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913725674152374, + 0.16674646735191345, + 0.024559618905186653, + -3.10081148147583, + -0.10230343043804169, + -0.0623166561126709 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 2 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2833949327468872, + 0.15484626591205597, + 0.018761441111564636, + -3.1321399211883545, + -0.057316187769174576, + -0.09637501090765 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 2 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2766365110874176, + 0.14692974090576172, + 0.015582079067826271, + 3.130056858062744, + -0.055923838168382645, + -0.10296630859375 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "place spoon below towel", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709122598171234, + 0.14460639655590057, + 0.017224175855517387, + 3.136394500732422, + -0.05560996010899544, + -0.11615028232336044 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "place spoon below towel", + "subtask_reasoning": "The robot has approached the red spoon and closed the gripper, but segment-level evidence indicates no meaningful grasp occurred. The current frame shows the gripper near the spoon without confirmed contact or lift. The next action should verify contact and attempt to lift the spoon slightly to reposition it below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26729893684387207, + 0.14195387065410614, + 0.014045733958482742, + 3.125089168548584, + -0.050886910408735275, + -0.11531762778759003 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "place spoon below towel", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned near the green towel on the wooden surface. The subtask of placing the spoon just below the towel is in progress, with the spoon already lifted and moved into proximity. The next action should be to carefully lower and release the spoon just below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626129984855652, + 0.1407647579908371, + 0.013917910866439342, + 3.114509105682373, + -0.02270510606467724, + -0.12736940383911133 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "place spoon below towel", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned near the green towel on the wooden surface. The subtask of placing the spoon just below the towel is in progress, with the spoon already lifted and moved into proximity. The next action should be to carefully lower and release the spoon just below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.25827717781066895, + 0.14255215227603912, + 0.012803414836525917, + 3.1052215099334717, + -0.014319885522127151, + -0.11155439913272858 + ], + "gripper_value": 0.4956514239311218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "place spoon below towel", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned near the green towel on the wooden surface. The subtask of placing the spoon just below the towel is in progress, with the spoon already lifted and moved into proximity. The next action should be to carefully lower and release the spoon just below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.259107768535614, + 0.14285588264465332, + 0.015981659293174744, + 3.0970635414123535, + -0.004180918913334608, + -0.09265199303627014 + ], + "gripper_value": 0.8055269122123718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "open gripper and retreat", + "subtask_reasoning": "The red spoon has been successfully placed on the green towel, and the gripper is currently open and positioned above the spoon. The robot is in the process of retreating from the placement location to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 37, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2730438709259033, + 0.14342659711837769, + 0.04456529766321182, + -3.1304056644439697, + -0.047869469970464706, + -0.09030073136091232 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "move away from spoon", + "subtask_reasoning": "The red spoon has been successfully placed on the green towel, and the gripper is currently open and positioned above the spoon. The robot is in the process of retreating from the placement location to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28620874881744385, + 0.13590429723262787, + 0.08816783875226974, + -3.0684163570404053, + -0.12435775250196457, + -0.09046084433794022 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 463, + 275, + 686, + 501 + ], + "wooden countertop": [ + 17, + 232, + 898, + 990 + ], + "black structure": [ + 124, + 3, + 367, + 392 + ], + "green cloth": [ + 293, + 240, + 523, + 469 + ], + "yellow cloth": [ + 693, + 439, + 790, + 630 + ], + "grey cabinet": [ + 145, + 637, + 731, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "move away from spoon", + "subtask_reasoning": "The robot has successfully grasped the red spoon and is now moving away from its original position. The gripper remains closed, holding the spoon securely. The next action is to continue moving the spoon toward the target location just below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2964083254337311, + 0.1122528612613678, + 0.1263170689344406, + -3.0391156673431396, + -0.19255252182483673, + -0.13108976185321808 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon below towel" + }, + { + "id": 5, + "subtask": "open gripper and retreat" + }, + { + "id": 6, + "subtask": "move away from spoon" + } + ], + "subtask_name": "move away from spoon", + "subtask_reasoning": "The robot has successfully grasped the red spoon and is now moving away from its original position. The gripper remains closed, holding the spoon securely. The next action is to continue moving the spoon toward the target location just below the green towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004345_ecot.json b/cot/chunk-0004/episode_0004345_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c8783acff5519a1ac690476638aaae353a81eb66 --- /dev/null +++ b/cot/chunk-0004/episode_0004345_ecot.json @@ -0,0 +1,2524 @@ +{ + "task_name": "episode_0004345", + "episode_json": "json/chunk-0004/episode_0004345.json", + "video_path": "videos/chunk-0004/image_0/episode_0004345.mp4", + "instruction": "Open microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004345.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.7542555332183838, + "std": 0.2634797990322113, + "delta_total": 0.0026804208755493164, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.75426, std=0.26348, total_delta=0.00268). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 215, + 215, + 215, + 215, + 215, + 215, + 221, + 121, + 121, + 121, + 121, + 121, + 121, + 121, + 121, + 321, + 321, + 321, + 321, + 321 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 14 + ], + [ + 3, + 15, + 20 + ], + [ + 4, + 21, + 21 + ], + [ + 5, + 22, + 29 + ], + [ + 6, + 30, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave handle\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the microwave door handle without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 7, \"end\": 14, \"planning\": \"Position end-effector to align and make physical contact with the microwave handle in preparation for opening.\"},\n {\"id\": 3, \"name\": \"grasp and pull handle\", \"start\": 15, \"end\": 20, \"planning\": \"Close gripper to grasp the handle and initiate pulling motion to begin opening the microwave door.\"},\n {\"id\": 4, \"name\": \"complete door opening\", \"start\": 21, \"end\": 21, \"planning\": \"Continue pulling motion to fully open the microwave door while maintaining grip or contact.\"},\n {\"id\": 5, \"name\": \"release contact and retreat\", \"start\": 22, \"end\": 29, \"planning\": \"Open gripper to release the handle and move end-effector away from the microwave door.\"},\n {\"id\": 6, \"name\": \"final repositioning\", \"start\": 30, \"end\": 34, \"planning\": \"Retreat to a safe position above the sink area after completing the microwave opening task.\"}\n ],\n \"global_plan\": \"Open the microwave by approaching the handle, making contact, grasping and pulling the door open, then releasing and retreating to a neutral position.\",\n \"notes\": \"Subtask boundaries follow segment spans where gripper evidence and motion patterns indicate distinct phases. Segment 2 (frames 7-14) is inferred as contact preparation based on motion toward handle despite lack of gripper data; Segment 5 (22-29) is retreat phase inferred from motion away and gripper opening trend.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave handle", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the microwave door handle without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 7, + "end": 14, + "planning": "Position end-effector to align and make physical contact with the microwave handle in preparation for opening." + }, + { + "id": 3, + "name": "grasp and pull handle", + "start": 15, + "end": 20, + "planning": "Close gripper to grasp the handle and initiate pulling motion to begin opening the microwave door." + }, + { + "id": 4, + "name": "complete door opening", + "start": 21, + "end": 21, + "planning": "Continue pulling motion to fully open the microwave door while maintaining grip or contact." + }, + { + "id": 5, + "name": "release contact and retreat", + "start": 22, + "end": 29, + "planning": "Open gripper to release the handle and move end-effector away from the microwave door." + }, + { + "id": 6, + "name": "final repositioning", + "start": 30, + "end": 34, + "planning": "Retreat to a safe position above the sink area after completing the microwave opening task." + } + ], + "global_plan": "Open the microwave by approaching the handle, making contact, grasping and pulling the door open, then releasing and retreating to a neutral position.", + "notes": "Subtask boundaries follow segment spans where gripper evidence and motion patterns indicate distinct phases. Segment 2 (frames 7-14) is inferred as contact preparation based on motion toward handle despite lack of gripper data; Segment 5 (22-29) is retreat phase inferred from motion away and gripper opening trend." + } + }, + "episode_goal": "Open the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2239314466714859, + -0.05171777307987213, + 0.07679526507854462, + 3.084787130355835, + -0.031131310388445854, + -0.4020216763019562 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open, indicating no grasp has occurred yet. The current subtask involves approaching the microwave handle, and the next action should be to move the gripper closer to the handle for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 15 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22069495916366577, + -0.051771584898233414, + 0.07180037349462509, + 3.074720621109009, + -0.01469228696078062, + -0.39894789457321167 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open, indicating no grasp has occurred yet. The current subtask involves approaching the microwave handle, and the next action should be to move the gripper closer to the handle for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 15 cm, move up 1 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23318737745285034, + -0.023057902231812477, + 0.07138083130121231, + 3.0450639724731445, + -0.07783055305480957, + -0.25396862626075745 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open, indicating no grasp has occurred yet. The current subtask involves approaching the microwave handle, and the next action should be to move the gripper closer to the handle for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 12 cm, move up 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24813126027584076, + -0.0016770419897511601, + 0.0822145938873291, + 3.020472526550293, + -0.13508567214012146, + -0.15528306365013123 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 249, + 634, + 669, + 994 + ], + "stove top": [ + 4, + 405, + 341, + 823 + ], + "hanging items": [ + 222, + 5, + 519, + 540 + ], + "faucet": [ + 499, + 546, + 607, + 835 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the sink, approaching the microwave handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27000781893730164, + 0.026475537568330765, + 0.0798586755990982, + 3.0267159938812256, + -0.2361365258693695, + -0.0767679214477539 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the sink, approaching the microwave handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2892654538154602, + 0.05987519025802612, + 0.07714319229125977, + 3.0962517261505127, + -0.29532045125961304, + -0.04212478548288345 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the sink, approaching the microwave handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, keep gripper open; then move forward 3 cm, move left 4 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019314408302307, + 0.08103597909212112, + 0.07955865561962128, + 3.1178767681121826, + -0.33510395884513855, + 0.002839172724634409 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned above the sink, approaching the microwave handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 3 cm, move left 4 cm, move up 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991737723350525, + 0.09749862551689148, + 0.07955101877450943, + -3.1265993118286133, + -0.3321831226348877, + 0.026554012671113014 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned above the sink, approaching the microwave handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2951960265636444, + 0.10632913559675217, + 0.07665175199508667, + -3.102694034576416, + -0.313031941652298, + 0.03156982734799385 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 250, + 634, + 669, + 993 + ], + "stove top": [ + 4, + 405, + 342, + 821 + ], + "faucet": [ + 499, + 547, + 606, + 832 + ], + "hanging items": [ + 109, + 4, + 364, + 328 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned above the sink, approaching the microwave handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 1 cm, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28912845253944397, + 0.1154879629611969, + 0.07859530299901962, + -3.1025428771972656, + -0.284621000289917, + 0.027558764442801476 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned above the sink, approaching the microwave handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the microwave handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 1 cm, close gripper; then move back 3 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017926812171936, + 0.12797732651233673, + 0.08397862315177917, + -3.1084535121917725, + -0.28861120343208313, + 0.06748563051223755 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the microwave handle and is currently positioned near it, but the gripper remains open (value ~0.996), indicating no contact or grasp has occurred yet. The next action should involve moving the end-effector closer to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 6 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109144866466522, + 0.13730831444263458, + 0.08775142580270767, + -3.0953705310821533, + -0.29991614818573, + 0.10910917073488235 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the microwave handle and is currently positioned near it, but the gripper remains open (value ~0.996), indicating no contact or grasp has occurred yet. The next action should involve moving the end-effector closer to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 8 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3139520287513733, + 0.14170901477336884, + 0.08791317790746689, + -3.073622226715088, + -0.2894286811351776, + 0.12478707730770111 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the microwave handle and is currently positioned near it, but the gripper remains open (value ~0.996), indicating no contact or grasp has occurred yet. The next action should involve moving the end-effector closer to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32412394881248474, + 0.1418224275112152, + 0.08571825176477432, + -3.0824050903320312, + -0.2884117066860199, + 0.13387171924114227 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the microwave handle and is currently positioned near it, but the gripper remains open (value ~0.996), indicating no contact or grasp has occurred yet. The next action should involve moving the end-effector closer to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229106664657593, + 0.1388217806816101, + 0.0849091112613678, + -3.0789573192596436, + -0.26720255613327026, + 0.05876980349421501 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the microwave handle and is currently positioned near it, but the gripper remains open (value ~0.996), indicating no contact or grasp has occurred yet. The next action should involve moving the end-effector closer to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32422685623168945, + 0.13791008293628693, + 0.08548197150230408, + -3.0656304359436035, + -0.2520308196544647, + -0.03159429877996445 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot has approached the microwave handle and is currently positioned near it, but the gripper remains open (value ~0.996), indicating no contact or grasp has occurred yet. The next action should involve moving the end-effector closer to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move up 11 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.324473112821579, + 0.13679943978786469, + 0.08496597409248352, + -3.0620086193084717, + -0.24459367990493774, + -0.06104865297675133 + ], + "gripper_value": 0.24523308873176575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot has approached the microwave handle and is currently positioned near it, but the gripper remains open (value ~0.996), indicating no contact or grasp has occurred yet. The next action should involve moving the end-effector closer to establish physical contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 6 cm, move right 2 cm, move up 12 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32373639941215515, + 0.13637804985046387, + 0.08239108324050903, + -3.0272250175476074, + -0.26544302701950073, + -0.09835775196552277 + ], + "gripper_value": 0.2617134153842926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot has approached and made contact with the microwave handle. The gripper is currently open (value ~0.26) and positioned near the handle, indicating readiness to grasp. The next action is to close the gripper to secure a hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 9 cm, move right 1 cm, move up 10 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31607645750045776, + 0.13296747207641602, + 0.07936647534370422, + -3.027240753173828, + -0.2809376120567322, + -0.11398483067750931 + ], + "gripper_value": 0.2802911400794983 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot has approached and made contact with the microwave handle. The gripper is currently open (value ~0.26) and positioned near the handle, indicating readiness to grasp. The next action is to close the gripper to secure a hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 10 cm, move up 8 cm, tilt right 10 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.292076975107193, + 0.12715893983840942, + 0.07987123727798462, + -3.0450618267059326, + -0.26946762204170227, + -0.1406754106283188 + ], + "gripper_value": 0.289117693901062 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot has approached and made contact with the microwave handle. The gripper is currently open (value ~0.26) and positioned near the handle, indicating readiness to grasp. The next action is to close the gripper to secure a hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 10 cm, move left 1 cm, move up 6 cm, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26755183935165405, + 0.12172102183103561, + 0.07945284992456436, + -3.03422212600708, + -0.24162617325782776, + -0.2207670956850052 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "grasp and pull handle", + "subtask_reasoning": "The robot has approached and made contact with the microwave handle. The gripper is currently open (value ~0.26) and positioned near the handle, indicating readiness to grasp. The next action is to close the gripper to secure a hold on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 10 cm, move left 2 cm, move up 4 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23958668112754822, + 0.11178645491600037, + 0.07705508172512054, + -3.072711706161499, + -0.14343573153018951, + -0.27139508724212646 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 249, + 633, + 668, + 994 + ], + "stove top": [ + 4, + 406, + 341, + 823 + ], + "hanging items": [ + 8, + 7, + 242, + 405 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "complete door opening", + "subtask_reasoning": "The microwave door is currently open, indicating the pulling action has been completed. The gripper is no longer in contact with the handle, consistent with the lack of closing evidence in the segment data. The next logical step is to retreat the arm to a neutral position to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 10 cm, move left 2 cm, move up 4 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2155628651380539, + 0.09909199178218842, + 0.08846178650856018, + 3.086381673812866, + 0.02784251794219017, + -0.3142150044441223 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is currently open, indicating the pulling action has been completed. The gripper is no longer in contact with the handle, consistent with the lack of closing evidence in the segment data. The next logical step is to retreat the arm to a neutral position to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, move up 4 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2128417193889618, + 0.08674085140228271, + 0.12046851217746735, + 2.9621500968933105, + 0.014487569220364094, + -0.2923840880393982 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is currently open, indicating the pulling action has been completed. The gripper is no longer in contact with the handle, consistent with the lack of closing evidence in the segment data. The next logical step is to retreat the arm to a neutral position to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 5 cm, move right 3 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.22264087200164795, + 0.07865459471940994, + 0.16634009778499603, + 2.854630708694458, + 0.00355177721939981, + -0.22314244508743286 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is currently open, indicating the pulling action has been completed. The gripper is no longer in contact with the handle, consistent with the lack of closing evidence in the segment data. The next logical step is to retreat the arm to a neutral position to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move down 3 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2463734894990921, + 0.07359790056943893, + 0.19417552649974823, + 2.808483600616455, + -0.06155760958790779, + -0.09502726793289185 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is fully open, and the gripper is no longer in contact with the handle. The robot has completed the opening action and is now retreating to a neutral position. The next step is to ensure full retraction and stabilization away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move down 6 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.27891939878463745, + 0.08365117013454437, + 0.20588701963424683, + 2.80355167388916, + -0.14518555998802185, + 0.061132606118917465 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is fully open, and the gripper is no longer in contact with the handle. The robot has completed the opening action and is now retreating to a neutral position. The next step is to ensure full retraction and stabilization away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 7 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper open; then move back 8 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30553382635116577, + 0.09363885223865509, + 0.18613934516906738, + 2.922896146774292, + -0.24246039986610413, + 0.1455828845500946 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is fully open, and the gripper is no longer in contact with the handle. The robot has completed the opening action and is now retreating to a neutral position. The next step is to ensure full retraction and stabilization away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move back 8 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31723901629447937, + 0.09828802943229675, + 0.16961616277694702, + 3.0062975883483887, + -0.3047998547554016, + 0.1649266630411148 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is fully open, and the gripper is no longer in contact with the handle. The robot has completed the opening action and is now retreating to a neutral position. The next step is to ensure full retraction and stabilization away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move back 8 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31536105275154114, + 0.11244197189807892, + 0.14529436826705933, + 3.1041080951690674, + -0.31479084491729736, + 0.13766925036907196 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The microwave door is fully open, and the gripper is no longer in contact with the handle. The robot has completed the opening action and is now retreating to a neutral position. The next step is to ensure full retraction and stabilization away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 8 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31472882628440857, + 0.12152867764234543, + 0.13342927396297455, + -3.1227822303771973, + -0.31051188707351685, + 0.11552897840738297 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The microwave door is fully open, and the gripper is no longer in contact with the handle. The robot has completed the opening action and is now retreating to a neutral position. The next step is to ensure full retraction and stabilization away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3093888759613037, + 0.11977622658014297, + 0.11687349528074265, + -3.079463481903076, + -0.2942245304584503, + 0.0815400779247284 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The microwave door is fully open, and the gripper is no longer in contact with the handle. The robot has completed the opening action and is now retreating to a neutral position. The next step is to ensure full retraction and stabilization away from the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 4 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2931879162788391, + 0.10758388787508011, + 0.09495288133621216, + -3.0751917362213135, + -0.22385472059249878, + 0.02910931222140789 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The microwave door is already open, and the end-effector is positioned near the handle with no active grasping (gripper open). The subtask involves final repositioning after opening; the next action is likely to retreat slightly to a neutral position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.26674267649650574, + 0.0942041352391243, + 0.09607434272766113, + -3.081437110900879, + -0.17262792587280273, + -0.034087736159563065 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The microwave door is already open, and the end-effector is positioned near the handle with no active grasping (gripper open). The subtask involves final repositioning after opening; the next action is likely to retreat slightly to a neutral position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.23943939805030823, + 0.07615941762924194, + 0.09947244077920914, + -3.101825714111328, + -0.11661860346794128, + -0.09908751398324966 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 498, + 585, + 609, + 828 + ], + "sink": [ + 248, + 636, + 669, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull handle" + }, + { + "id": 4, + "subtask": "complete door opening" + }, + { + "id": 5, + "subtask": "release contact and retreat" + }, + { + "id": 6, + "subtask": "final repositioning" + } + ], + "subtask_name": "final repositioning", + "subtask_reasoning": "The microwave door is already open, and the end-effector is positioned near the handle with no active grasping (gripper open). The subtask involves final repositioning after opening; the next action is likely to retreat slightly to a neutral position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004346_ecot.json b/cot/chunk-0004/episode_0004346_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..522a94c6a16062a9176511811dbb475588bab08a --- /dev/null +++ b/cot/chunk-0004/episode_0004346_ecot.json @@ -0,0 +1,2938 @@ +{ + "task_name": "episode_0004346", + "episode_json": "json/chunk-0004/episode_0004346.json", + "video_path": "videos/chunk-0004/image_0/episode_0004346.mp4", + "instruction": "Put the blue spoon on the yellow cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004346.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.6547888517379761, + "std": 0.2845141887664795, + "delta_total": -0.001965045928955078, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65479, std=0.28451, total_delta=-0.00197). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 325, + 325, + 325, + 325, + 425, + 425, + 425, + 425, + 425, + 425, + 425, + 425, + 437, + 437, + 37, + 37 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 8 + ], + [ + 3, + 9, + 14 + ], + [ + 4, + 15, + 19 + ], + [ + 5, + 20, + 24 + ], + [ + 6, + 25, + 28 + ], + [ + 7, + 29, + 36 + ], + [ + 8, + 37, + 38 + ], + [ + 9, + 39, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue spoon\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the blue spoon resting on the yellow cloth without closing gripper.\"},\n {\"id\": 2, \"name\": \"reposition near spoon\", \"start\": 7, \"end\": 14, \"planning\": \"Adjust position and orientation to align with the spoon’s handle for potential contact or manipulation.\"},\n {\"id\": 3, \"name\": \"nudge spoon slightly\", \"start\": 15, \"end\": 19, \"planning\": \"Make light contact with the spoon to shift its position minimally while maintaining open gripper.\"},\n {\"id\": 4, \"name\": \"grasp spoon handle\", \"start\": 20, \"end\": 28, \"planning\": \"Close gripper around the spoon’s handle as evidenced by meaningful gripper closure and stable hold during lift.\"},\n {\"id\": 5, \"name\": \"lift and relocate spoon\", \"start\": 29, \"end\": 36, \"planning\": \"Lift the grasped spoon and move it over the target area on the yellow cloth for placement.\"},\n {\"id\": 6, \"name\": \"release spoon on cloth\", \"start\": 37, \"end\": 40, \"planning\": \"Open gripper to release the spoon onto the yellow cloth and retreat end-effector away from the object.\"}\n ],\n \"global_plan\": \"Approach the blue spoon on the yellow cloth, nudge it into better alignment, grasp it securely, lift and reposition it slightly on the same cloth, then release and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closure only in segment 6 (frames 25-28), justifying 'grasp' terminology there. Other segments use contact-based verbs per anti-hallucination rules. Frame coverage is contiguous and complete from 0 to 40.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue spoon", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the blue spoon resting on the yellow cloth without closing gripper." + }, + { + "id": 2, + "name": "reposition near spoon", + "start": 7, + "end": 14, + "planning": "Adjust position and orientation to align with the spoon’s handle for potential contact or manipulation." + }, + { + "id": 3, + "name": "nudge spoon slightly", + "start": 15, + "end": 19, + "planning": "Make light contact with the spoon to shift its position minimally while maintaining open gripper." + }, + { + "id": 4, + "name": "grasp spoon handle", + "start": 20, + "end": 28, + "planning": "Close gripper around the spoon’s handle as evidenced by meaningful gripper closure and stable hold during lift." + }, + { + "id": 5, + "name": "lift and relocate spoon", + "start": 29, + "end": 36, + "planning": "Lift the grasped spoon and move it over the target area on the yellow cloth for placement." + }, + { + "id": 6, + "name": "release spoon on cloth", + "start": 37, + "end": 40, + "planning": "Open gripper to release the spoon onto the yellow cloth and retreat end-effector away from the object." + } + ], + "global_plan": "Approach the blue spoon on the yellow cloth, nudge it into better alignment, grasp it securely, lift and reposition it slightly on the same cloth, then release and retreat.", + "notes": "Gripper evidence confirms meaningful closure only in segment 6 (frames 25-28), justifying 'grasp' terminology there. Other segments use contact-based verbs per anti-hallucination rules. Frame coverage is contiguous and complete from 0 to 40." + } + }, + "episode_goal": "Place the blue spoon on the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3377695083618164, + 0.03137999400496483, + 0.040471259504556656, + 3.11454439163208, + -0.04506010189652443, + 0.14977721869945526 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop, with the blue spoon visible on the yellow cloth to the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 7 cm, keep gripper open; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32889434695243835, + 0.030211791396141052, + 0.024166077375411987, + 3.1119422912597656, + 0.0010967550333589315, + 0.15370236337184906 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop, with the blue spoon visible on the yellow cloth to the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 6 cm, keep gripper open; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156253397464752, + 0.014614581130445004, + 0.012160127982497215, + 3.0787525177001953, + -0.02968422882258892, + 0.14532142877578735 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop, with the blue spoon visible on the yellow cloth to the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.302941232919693, + -0.0065077305771410465, + 0.014964909292757511, + 3.078824281692505, + -0.08866813778877258, + 0.1440936028957367 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 504, + 423, + 767, + 708 + ], + "sink": [ + 732, + 627, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon and yellow cloth in view. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.298234760761261, + -0.018793219700455666, + 0.009035624563694, + 3.073396682739258, + -0.09480368345975876, + 0.17764516174793243 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon and yellow cloth in view. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.299557089805603, + -0.025576023384928703, + -0.0024939393624663353, + 3.0816211700439453, + -0.08333879709243774, + 0.1954786330461502 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon and yellow cloth in view. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30413946509361267, + -0.025952979922294617, + -0.01867089793086052, + 3.1292877197265625, + -0.06371037662029266, + 0.21633659303188324 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon and yellow cloth in view. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move up 1 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30513888597488403, + -0.02383362129330635, + -0.033030953258275986, + -3.1300292015075684, + -0.03443562239408493, + 0.21280109882354736 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "reposition near spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon and yellow cloth in view. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, open gripper; then move back 3 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30682632327079773, + -0.022736839950084686, + -0.04002349451184273, + -3.1387484073638916, + -0.020022636279463768, + 0.20221999287605286 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "reposition near spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon and yellow cloth in view. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, open gripper; then move back 5 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3119077980518341, + -0.021262850612401962, + -0.04189348220825195, + 3.1271233558654785, + -0.015361832454800606, + 0.18833565711975098 + ], + "gripper_value": 0.6851980090141296 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "reposition near spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon and yellow cloth in view. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the blue spoon to prepare for alignment or contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 5 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142154812812805, + -0.01982990838587284, + -0.040899910032749176, + 3.1177446842193604, + -0.01970989629626274, + 0.18398667871952057 + ], + "gripper_value": 0.5541232228279114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "reposition near spoon", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and aligned for interaction. No grasp has occurred yet; the next step is to make contact and nudge the spoon into better alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 5 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31425514817237854, + -0.020434798672795296, + -0.04065367579460144, + 3.114229917526245, + -0.01716587319970131, + 0.19337999820709229 + ], + "gripper_value": 0.84995037317276 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "reposition near spoon", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and aligned for interaction. No grasp has occurred yet; the next step is to make contact and nudge the spoon into better alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 5 cm, move right 3 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142589032649994, + -0.020287295803427696, + -0.04065699875354767, + 3.1151063442230225, + -0.017318561673164368, + 0.19523364305496216 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "reposition near spoon", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and aligned for interaction. No grasp has occurred yet; the next step is to make contact and nudge the spoon into better alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 5 cm, move right 3 cm, keep gripper open; then move forward 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31427574157714844, + -0.01969730667769909, + -0.04066888242959976, + 3.118713617324829, + -0.01811407320201397, + 0.19651229679584503 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "reposition near spoon", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and aligned for interaction. No grasp has occurred yet; the next step is to make contact and nudge the spoon into better alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 5 cm, move right 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128204345703125, + -0.018736420199275017, + -0.03974068909883499, + 3.124417781829834, + -0.01781391352415085, + 0.20146793127059937 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "reposition near spoon", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and aligned for interaction. No grasp has occurred yet; the next step is to make contact and nudge the spoon into better alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move back 5 cm, move right 3 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043392300605774, + -0.014239308424293995, + -0.023619454354047775, + -3.123739719390869, + -0.049091409891843796, + 0.22404302656650543 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 506, + 440, + 774, + 698 + ], + "frying pan": [ + 279, + 208, + 506, + 433 + ], + "sink": [ + 732, + 628, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "nudge spoon slightly", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and aligned for interaction. No grasp has occurred yet; the next step is to make contact and nudge the spoon into better alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29014045000076294, + -0.0143742635846138, + -0.001859163516201079, + -3.083491086959839, + -0.09304263442754745, + 0.2529112994670868 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "nudge spoon slightly", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and aligned for interaction. No grasp has occurred yet; the next step is to make contact and nudge the spoon into better alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726500928401947, + -0.023152032867074013, + 0.005412749480456114, + -3.074756383895874, + -0.09159258753061295, + 0.2630678713321686 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "nudge spoon slightly", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and no grasping action detected in this segment. The current situation involves aligning the end-effector to gently nudge the spoon into better position. The next likely action is a small forward motion to make contact and adjust the spoon's placement without lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25879743695259094, + -0.028421031311154366, + -0.0035601137205958366, + -3.1044235229492188, + -0.056339774280786514, + 0.2832830548286438 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 515, + 441, + 774, + 703 + ], + "frying pan": [ + 279, + 206, + 505, + 429 + ], + "sink": [ + 733, + 625, + 993, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "nudge spoon slightly", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and no grasping action detected in this segment. The current situation involves aligning the end-effector to gently nudge the spoon into better position. The next likely action is a small forward motion to make contact and adjust the spoon's placement without lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533535361289978, + -0.03693809732794762, + -0.01687220297753811, + -3.1387782096862793, + -0.014981526881456375, + 0.2928500175476074 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "nudge spoon slightly", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and no grasping action detected in this segment. The current situation involves aligning the end-effector to gently nudge the spoon into better position. The next likely action is a small forward motion to make contact and adjust the spoon's placement without lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521478831768036, + -0.03942933678627014, + -0.02821546047925949, + 3.1345760822296143, + 0.003184335073456168, + 0.28142502903938293 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and no grasping action detected in this segment. The current situation involves aligning the end-effector to gently nudge the spoon into better position. The next likely action is a small forward motion to make contact and adjust the spoon's placement without lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 3 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25692132115364075, + -0.03951544687151909, + -0.036122266203165054, + 3.1183767318725586, + 0.006503275129944086, + 0.2813397943973541 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and no grasping action detected in this segment. The current situation involves aligning the end-effector to gently nudge the spoon into better position. The next likely action is a small forward motion to make contact and adjust the spoon's placement without lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 5 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26169446110725403, + -0.03697101026773453, + -0.04468077793717384, + 3.1106300354003906, + 0.01535941381007433, + 0.2799912989139557 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and no grasping action detected in this segment. The current situation involves aligning the end-effector to gently nudge the spoon into better position. The next likely action is a small forward motion to make contact and adjust the spoon's placement without lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 6 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2656707763671875, + -0.03203257918357849, + -0.046466682106256485, + 3.098099708557129, + 0.0047319745644927025, + 0.2965516746044159 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot is positioned near the blue spoon on the yellow cloth, with the gripper open and no grasping action detected in this segment. The current situation involves aligning the end-effector to gently nudge the spoon into better position. The next likely action is a small forward motion to make contact and adjust the spoon's placement without lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 11 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2671979069709778, + -0.02847929485142231, + -0.04730958864092827, + 3.1024630069732666, + -0.005286586005240679, + 0.2943434715270996 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue spoon on the yellow cloth. The gripper is currently open and aligned with the spoon's handle, ready for closure. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 11 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.269966721534729, + -0.02621491067111492, + -0.046630214899778366, + 3.1065292358398438, + -0.03119131550192833, + 0.289217472076416 + ], + "gripper_value": 0.4015096127986908 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue spoon on the yellow cloth. The gripper is currently open and aligned with the spoon's handle, ready for closure. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 11 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2676849067211151, + -0.023943008854985237, + -0.045749910175800323, + 3.109727144241333, + -0.058418162167072296, + 0.2917234003543854 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue spoon on the yellow cloth. The gripper is currently open and aligned with the spoon's handle, ready for closure. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 11 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628442347049713, + -0.021966680884361267, + -0.04271114990115166, + 3.123065233230591, + -0.06847236305475235, + 0.2724180221557617 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue spoon on the yellow cloth. The gripper is currently open and aligned with the spoon's handle, ready for closure. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 10 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.268670916557312, + -0.025569939985871315, + -0.01928730122745037, + 3.124394655227661, + -0.1499582976102829, + 0.19735252857208252 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue spoon on the yellow cloth. The gripper is currently open and aligned with the spoon's handle, ready for closure. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move back 7 cm, move left 10 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621331214904785, + -0.020357303321361542, + 0.011552187614142895, + 3.129133701324463, + -0.2534020245075226, + 0.1673963963985443 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "lift and relocate spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue spoon on the yellow cloth. The gripper is currently open and aligned with the spoon's handle, ready for closure. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 10 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23422005772590637, + -0.0022973883897066116, + 0.023506110534071922, + 3.1237690448760986, + -0.25095808506011963, + 0.2343766987323761 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "lift and relocate spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue spoon on the yellow cloth. The gripper is currently open and aligned with the spoon's handle, ready for closure. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2089669406414032, + 0.032456859946250916, + 0.01155224721878767, + 3.1010429859161377, + -0.20956993103027344, + 0.31784600019454956 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 526, + 408, + 771, + 704 + ], + "sink": [ + 734, + 627, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "lift and relocate spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly over the blue spoon on the yellow cloth. The gripper is currently open and aligned with the spoon's handle, ready for closure. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.18452002108097076, + 0.06739908456802368, + -0.0038721223827451468, + 3.0861992835998535, + -0.17778904736042023, + 0.3712601363658905 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 506, + 408, + 771, + 703 + ], + "sink": [ + 735, + 626, + 994, + 991 + ], + "frying pan": [ + 308, + 206, + 504, + 409 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "lift and relocate spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the yellow cloth, with the gripper open and ready. The spoon has been approached and aligned in prior steps. The next action is to close the gripper to grasp the spoon securely before lifting and relocating it slightly on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, open gripper; then move forward 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.17148129642009735, + 0.08760267496109009, + -0.01665619947016239, + 3.078584671020508, + -0.1476477086544037, + 0.41729697585105896 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "lift and relocate spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the yellow cloth, with the gripper open and ready. The spoon has been approached and aligned in prior steps. The next action is to close the gripper to grasp the spoon securely before lifting and relocating it slightly on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, open gripper; then move forward 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.16984915733337402, + 0.09272725880146027, + -0.02632831037044525, + 3.0752573013305664, + -0.11399585008621216, + 0.4318908154964447 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "lift and relocate spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the yellow cloth, with the gripper open and ready. The spoon has been approached and aligned in prior steps. The next action is to close the gripper to grasp the spoon securely before lifting and relocating it slightly on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, open gripper; then move forward 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.1788773387670517, + 0.09438951313495636, + -0.03186047077178955, + 3.067009925842285, + -0.10884988307952881, + 0.4518437087535858 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "lift and relocate spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the yellow cloth, with the gripper open and ready. The spoon has been approached and aligned in prior steps. The next action is to close the gripper to grasp the spoon securely before lifting and relocating it slightly on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.18712309002876282, + 0.08756637573242188, + -0.032772768288850784, + 3.0777792930603027, + -0.09633935987949371, + 0.4325427711009979 + ], + "gripper_value": 0.4202251136302948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "lift and relocate spoon", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the yellow cloth, with the gripper open and ready. The spoon has been approached and aligned in prior steps. The next action is to close the gripper to grasp the spoon securely before lifting and relocating it slightly on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.19286617636680603, + 0.08194036036729813, + -0.029386047273874283, + 3.0949416160583496, + -0.09008018672466278, + 0.41397395730018616 + ], + "gripper_value": 0.7230578064918518 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The robot arm is positioned above the blue spoon on the yellow cloth, with the gripper open and ready. The spoon has been approached and aligned in prior steps. The next action is to close the gripper to grasp the spoon securely before lifting and relocating it slightly on the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.20350584387779236, + 0.07947136461734772, + -0.006563115399330854, + 3.1250922679901123, + -0.17565354704856873, + 0.3685159981250763 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The blue spoon is currently resting on the black stovetop surface, not yet on the yellow cloth. The gripper is open and positioned near the spoon, indicating the release action has occurred but the placement goal is incomplete. The next step requires re-grasping the spoon to move it onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 37, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.21720048785209656, + 0.06299882382154465, + 0.01496874075382948, + -3.1328630447387695, + -0.25166237354278564, + 0.2764899730682373 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The blue spoon is currently resting on the black stovetop surface, not yet on the yellow cloth. The gripper is open and positioned near the spoon, indicating the release action has occurred but the placement goal is incomplete. The next step requires re-grasping the spoon to move it onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.23545807600021362, + 0.041731830686330795, + 0.024999428540468216, + -3.131030797958374, + -0.2800273299217224, + 0.1943230926990509 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue spoon on the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "reposition near spoon" + }, + { + "id": 3, + "subtask": "nudge spoon slightly" + }, + { + "id": 4, + "subtask": "grasp spoon handle" + }, + { + "id": 5, + "subtask": "lift and relocate spoon" + }, + { + "id": 6, + "subtask": "release spoon on cloth" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The blue spoon is currently resting on the black stovetop surface, not yet on the yellow cloth. The gripper is open and positioned near the spoon, indicating the release action has occurred but the placement goal is incomplete. The next step requires re-grasping the spoon to move it onto the yellow cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 37, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004347_ecot.json b/cot/chunk-0004/episode_0004347_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3aaf6a93d74522d498f3ddd268ee1b75ec0d06f5 --- /dev/null +++ b/cot/chunk-0004/episode_0004347_ecot.json @@ -0,0 +1,2375 @@ +{ + "task_name": "episode_0004347", + "episode_json": "json/chunk-0004/episode_0004347.json", + "video_path": "videos/chunk-0004/image_0/episode_0004347.mp4", + "instruction": "Pick up the broccoli and place it in the pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004347.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9357680678367615, + "std": 0.3255014717578888, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93577, std=0.32550, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 109, + 109, + 109, + 109, + 309, + 309, + 315, + 315, + 315, + 315, + 315, + 320, + 320, + 320, + 320, + 320, + 320, + 20, + 20, + 20, + 20, + 20, + 31, + 31, + 31, + 31 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 8 + ], + [ + 3, + 9, + 12 + ], + [ + 4, + 13, + 14 + ], + [ + 5, + 15, + 19 + ], + [ + 6, + 20, + 25 + ], + [ + 7, + 26, + 30 + ], + [ + 8, + 31, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli\", \"start\": 0, \"end\": 8, \"planning\": \"Move the gripper from initial position down toward the broccoli on the table without closing.\"},\n {\"id\": 2, \"name\": \"grasp broccoli\", \"start\": 9, \"end\": 14, \"planning\": \"Close the gripper around the broccoli and secure it for lifting, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport broccoli\", \"start\": 15, \"end\": 25, \"planning\": \"Lift the grasped broccoli and move it horizontally toward the pan area while maintaining grip.\"},\n {\"id\": 4, \"name\": \"position over pan\", \"start\": 26, \"end\": 30, \"planning\": \"Adjust the broccoli’s position above the pan to align for release, with minimal gripper adjustment.\"},\n {\"id\": 5, \"name\": \"release broccoli into pan\", \"start\": 31, \"end\": 34, \"planning\": \"Open the gripper to drop the broccoli into the pan, confirmed by gripper opening and object detachment in final frame.\"}\n ],\n \"global_plan\": \"Approach the broccoli, grasp it securely, lift and carry it to the pan, position accurately above the pan, then release it inside.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 3, 6, and 8; segments 1, 2, 4, 5, 7 show no meaningful closing and are described as approach, transport, or positioning phases. All frames covered contiguously from 0 to 34.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli", + "start": 0, + "end": 8, + "planning": "Move the gripper from initial position down toward the broccoli on the table without closing." + }, + { + "id": 2, + "name": "grasp broccoli", + "start": 9, + "end": 14, + "planning": "Close the gripper around the broccoli and secure it for lifting, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport broccoli", + "start": 15, + "end": 25, + "planning": "Lift the grasped broccoli and move it horizontally toward the pan area while maintaining grip." + }, + { + "id": 4, + "name": "position over pan", + "start": 26, + "end": 30, + "planning": "Adjust the broccoli’s position above the pan to align for release, with minimal gripper adjustment." + }, + { + "id": 5, + "name": "release broccoli into pan", + "start": 31, + "end": 34, + "planning": "Open the gripper to drop the broccoli into the pan, confirmed by gripper opening and object detachment in final frame." + } + ], + "global_plan": "Approach the broccoli, grasp it securely, lift and carry it to the pan, position accurately above the pan, then release it inside.", + "notes": "Gripper evidence supports grasp only in segments 3, 6, and 8; segments 1, 2, 4, 5, 7 show no meaningful closing and are described as approach, transport, or positioning phases. All frames covered contiguously from 0 to 34." + } + }, + "episode_goal": "Pick up the broccoli and place it in the pan.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2540724277496338, + -0.01865147426724434, + 0.11246973276138306, + 3.090726613998413, + -0.11497695744037628, + -0.1686359941959381 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot arm is positioned above a purple cloth on the counter, with the broccoli located to the right near the stove. No actions have been completed yet as the arm is still approaching the target area. The next step is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25110363960266113, + -0.02087363414466381, + 0.10518786311149597, + 3.0853023529052734, + -0.08516408503055573, + -0.16053086519241333 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot arm is positioned above a purple cloth on the counter, with the broccoli located to the right near the stove. No actions have been completed yet as the arm is still approaching the target area. The next step is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23879359662532806, + -0.06002669408917427, + 0.09834815561771393, + 3.089444160461426, + -0.0670475959777832, + -0.27053171396255493 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot arm is positioned above a purple cloth on the counter, with the broccoli located to the right near the stove. No actions have been completed yet as the arm is still approaching the target area. The next step is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2312828004360199, + -0.0795571506023407, + 0.09475702792406082, + 3.1094532012939453, + -0.0652153417468071, + -0.324215292930603 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot arm is positioned above a purple cloth on the counter, with the broccoli located to the right near the stove. No actions have been completed yet as the arm is still approaching the target area. The next step is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22615954279899597, + -0.09515101462602615, + 0.08856001496315002, + 3.1239585876464844, + -0.056263379752635956, + -0.35389432311058044 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible nearby on the surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move forward 4 cm, move up 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22545157372951508, + -0.1026228815317154, + 0.06788553297519684, + -3.140619993209839, + -0.004677596036344767, + -0.36132726073265076 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible nearby on the surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper; then move forward 5 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22390614449977875, + -0.10556450486183167, + 0.05118681862950325, + -3.124356746673584, + 0.03848549723625183, + -0.3638836145401001 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible nearby on the surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move forward 5 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22040367126464844, + -0.11082246899604797, + 0.038772568106651306, + -3.113562822341919, + 0.05390702560544014, + -0.3737735450267792 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 129, + 935, + 974 + ], + "metal bowl": [ + 100, + 161, + 338, + 414 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible nearby on the surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22088909149169922, + -0.11196581274271011, + 0.034482862800359726, + -3.110910654067993, + 0.05660508573055267, + -0.3759302794933319 + ], + "gripper_value": 0.7349185347557068 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible nearby on the surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 5 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2260904163122177, + -0.1127357929944992, + 0.0326559953391552, + -3.0968713760375977, + 0.05758548900485039, + -0.3708341121673584 + ], + "gripper_value": 0.4265471398830414 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible nearby on the surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, open gripper; then move forward 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22540096938610077, + -0.11256402730941772, + 0.03272582218050957, + -3.0928332805633545, + 0.06181367114186287, + -0.3780340850353241 + ], + "gripper_value": 0.1996482014656067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible nearby on the surface. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move forward 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22456571459770203, + -0.11359503120183945, + 0.03392736241221428, + -3.100604295730591, + 0.07087395340204239, + -0.3848085403442383 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23539289832115173, + -0.11556292325258255, + 0.05052312836050987, + -3.1352179050445557, + 0.028686055913567543, + -0.3692002594470978 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2519459128379822, + -0.11207076162099838, + 0.06740020215511322, + 3.130032777786255, + -0.022418389096856117, + -0.3552684187889099 + ], + "gripper_value": 0.21731513738632202 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 129, + 936, + 967 + ], + "purple cloth": [ + 408, + 402, + 636, + 702 + ], + "metal bowl": [ + 100, + 159, + 346, + 415 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26135310530662537, + -0.1142919510602951, + 0.07412473112344742, + 3.112628698348999, + -0.054409537464380264, + -0.3595805764198303 + ], + "gripper_value": 0.4699908196926117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 8 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27142012119293213, + -0.11880867183208466, + 0.06517917662858963, + 3.1050302982330322, + -0.043083034455776215, + -0.34342652559280396 + ], + "gripper_value": 0.778810441493988 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738583981990814, + -0.11936390399932861, + 0.05553390458226204, + 3.1086578369140625, + -0.019830888137221336, + -0.3327140808105469 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 18 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27772772312164307, + -0.11923081427812576, + 0.048300810158252716, + 3.119814872741699, + -0.0032789581455290318, + -0.3258039951324463 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 18 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28121471405029297, + -0.11973586678504944, + 0.042907245457172394, + 3.123105049133301, + 0.007319530937820673, + -0.322904497385025 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 18 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2894395589828491, + -0.11486689001321793, + 0.03778873756527901, + 3.1236987113952637, + 0.013632385060191154, + -0.2875901758670807 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot arm is positioned above the broccoli on the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29356807470321655, + -0.11479034274816513, + 0.03653385862708092, + 3.1277668476104736, + 0.016525788232684135, + -0.2780185341835022 + ], + "gripper_value": 0.3831871449947357 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and is currently lifting it from the purple cloth. The gripper is closed around the vegetable, and the arm is positioned to begin transporting it toward the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 14 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2961343228816986, + -0.11445775628089905, + 0.03745472803711891, + 3.1115596294403076, + 0.02527935989201069, + -0.26887083053588867 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and is currently lifting it from the purple cloth. The gripper is closed around the vegetable, and the arm is positioned to begin transporting it toward the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 17 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2960369884967804, + -0.11297573149204254, + 0.04356878623366356, + 3.0791256427764893, + 0.020152073353528976, + -0.28482890129089355 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and is currently lifting it from the purple cloth. The gripper is closed around the vegetable, and the arm is positioned to begin transporting it toward the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 17 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3066965639591217, + -0.09005901217460632, + 0.1045563593506813, + 3.0199947357177734, + -0.18272998929023743, + -0.22445091605186462 + ], + "gripper_value": 0.347801148891449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and is currently lifting it from the purple cloth. The gripper is closed around the vegetable, and the arm is positioned to begin transporting it toward the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move up 1 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30913060903549194, + -0.037158362567424774, + 0.14210037887096405, + 3.018543243408203, + -0.2610713541507721, + -0.05920051783323288 + ], + "gripper_value": 0.347801148891449 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 405, + 399, + 684, + 706 + ], + "metal bowl": [ + 100, + 161, + 346, + 415 + ], + "wooden table": [ + 4, + 139, + 939, + 964 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and is currently lifting it from the purple cloth. The gripper is closed around the vegetable, and the arm is positioned to begin transporting it toward the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 2 cm, tilt left 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105841279029846, + 0.0027433817740529776, + 0.13856394588947296, + 3.1181018352508545, + -0.2443968951702118, + 0.12466684728860855 + ], + "gripper_value": 0.347801148891449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "lift and transport broccoli", + "subtask_reasoning": "The robot has successfully grasped the broccoli and is currently lifting it from the purple cloth. The gripper is closed around the vegetable, and the arm is positioned to begin transporting it toward the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 13 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085978627204895, + 0.056766118854284286, + 0.11844789236783981, + -3.072575092315674, + -0.19829416275024414, + 0.274192214012146 + ], + "gripper_value": 0.347801148891449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "position over pan", + "subtask_reasoning": "The robot has successfully grasped the broccoli and is currently lifting it from the purple cloth. The gripper is closed around the vegetable, and the arm is positioned to begin transporting it toward the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3210700750350952, + 0.10209013521671295, + 0.11247637122869492, + -3.0481581687927246, + -0.21664701402187347, + 0.36330166459083557 + ], + "gripper_value": 0.347801148891449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "position over pan", + "subtask_reasoning": "The robot has successfully grasped the broccoli and is currently lifting it from the purple cloth. The gripper is closed around the vegetable, and the arm is positioned to begin transporting it toward the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341701328754425, + 0.15318578481674194, + 0.11048824340105057, + -3.058077335357666, + -0.21675224602222443, + 0.43545225262641907 + ], + "gripper_value": 0.34697994589805603 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 102, + 169, + 344, + 414 + ], + "purple cloth": [ + 404, + 399, + 684, + 705 + ], + "wooden table": [ + 4, + 130, + 939, + 963 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "position over pan", + "subtask_reasoning": "The robot is holding the broccoli and has moved it over the pan area. The gripper remains closed, indicating the object is still secured. The next action is to lower the broccoli into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360774517059326, + 0.18449383974075317, + 0.11041175574064255, + -3.0565028190612793, + -0.22217652201652527, + 0.48790889978408813 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "position over pan", + "subtask_reasoning": "The robot is holding the broccoli and has moved it over the pan area. The gripper remains closed, indicating the object is still secured. The next action is to lower the broccoli into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314362168312073, + 0.19256141781806946, + 0.09482026845216751, + -3.053032875061035, + -0.17669203877449036, + 0.5145061612129211 + ], + "gripper_value": 0.4015096127986908 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "position over pan", + "subtask_reasoning": "The robot is holding the broccoli and has moved it over the pan area. The gripper remains closed, indicating the object is still secured. The next action is to lower the broccoli into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32929810881614685, + 0.1888066679239273, + 0.07857783883810043, + -3.0508978366851807, + -0.12861262261867523, + 0.5021569132804871 + ], + "gripper_value": 0.6129248142242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The robot is holding the broccoli and has moved it over the pan area. The gripper remains closed, indicating the object is still secured. The next action is to lower the broccoli into the pan and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314500153064728, + 0.1724453568458557, + 0.07082520425319672, + -3.0497121810913086, + -0.10181930661201477, + 0.4527132213115692 + ], + "gripper_value": 0.9311676621437073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The robot arm is positioned above the pan with the gripper open, indicating the broccoli has been released. The subtask of releasing the broccoli into the pan appears complete, as no object is held and the gripper is in an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3384009897708893, + 0.15899759531021118, + 0.07246118038892746, + -3.07354998588562, + -0.10761748254299164, + 0.39558687806129456 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The robot arm is positioned above the pan with the gripper open, indicating the broccoli has been released. The subtask of releasing the broccoli into the pan appears complete, as no object is held and the gripper is in an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.349277138710022, + 0.13033267855644226, + 0.12274722009897232, + 3.141104221343994, + -0.2291429489850998, + 0.24166682362556458 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the broccoli and place it in the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and transport broccoli" + }, + { + "id": 4, + "subtask": "position over pan" + }, + { + "id": 5, + "subtask": "release broccoli into pan" + } + ], + "subtask_name": "release broccoli into pan", + "subtask_reasoning": "The robot arm is positioned above the pan with the gripper open, indicating the broccoli has been released. The subtask of releasing the broccoli into the pan appears complete, as no object is held and the gripper is in an open state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0004/episode_0004349_ecot.json b/cot/chunk-0004/episode_0004349_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..82ff208c34772bf87cf64b6d0715e1c51a949843 --- /dev/null +++ b/cot/chunk-0004/episode_0004349_ecot.json @@ -0,0 +1,2671 @@ +{ + "task_name": "episode_0004349", + "episode_json": "json/chunk-0004/episode_0004349.json", + "video_path": "videos/chunk-0004/image_0/episode_0004349.mp4", + "instruction": "Move red spoon to right of orange pumpkin.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0004/episode_0004349.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6899357438087463, + "std": 0.3179599940776825, + "delta_total": -0.6899357438087463, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.68994, std=0.31796, total_delta=-0.68994). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 31 + ], + [ + 3, + 32, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach and grasp red spoon\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector toward the red spoon and close gripper to secure it based on observed gripper closure and contact.\"},\n {\"id\": 2, \"name\": \"Lift and transport spoon rightward\", \"start\": 16, \"end\": 31, \"planning\": \"Lift the grasped spoon and move it horizontally toward the target position right of the orange pumpkin while maintaining grip.\"},\n {\"id\": 3, \"name\": \"Place spoon and release contact\", \"start\": 32, \"end\": 44, \"planning\": \"Lower spoon to table surface right of pumpkin, open gripper to release, and retreat slightly without re-grasping.\"}\n ],\n \"global_plan\": \"Grasp the red spoon from its initial position, lift and carry it to the right side of the orange pumpkin, then place it down and release.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.55571) consistent with grasping; Segment 2 maintains grip during transport; Segment 3 has no gripper change — placement is inferred from motion trajectory and final pose near target, not active grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach and grasp red spoon", + "start": 0, + "end": 15, + "planning": "Move end-effector toward the red spoon and close gripper to secure it based on observed gripper closure and contact." + }, + { + "id": 2, + "name": "Lift and transport spoon rightward", + "start": 16, + "end": 31, + "planning": "Lift the grasped spoon and move it horizontally toward the target position right of the orange pumpkin while maintaining grip." + }, + { + "id": 3, + "name": "Place spoon and release contact", + "start": 32, + "end": 44, + "planning": "Lower spoon to table surface right of pumpkin, open gripper to release, and retreat slightly without re-grasping." + } + ], + "global_plan": "Grasp the red spoon from its initial position, lift and carry it to the right side of the orange pumpkin, then place it down and release.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.55571) consistent with grasping; Segment 2 maintains grip during transport; Segment 3 has no gripper change — placement is inferred from motion trajectory and final pose near target, not active grasping." + } + }, + "episode_goal": "Place the red spoon to the right of the orange pumpkin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.280233234167099, + -0.0019250265322625637, + 0.08366624265909195, + -3.1378555297851562, + -0.06894075870513916, + -0.07911994308233261 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot is positioned above the table with the red spoon visible to the left. The gripper is currently open and approaching the spoon's handle. The next action is to lower the end-effector and close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 21 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27782443165779114, + -0.0010576698696240783, + 0.07722622156143188, + -3.139463424682617, + -0.04598892852663994, + -0.07748913019895554 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot is positioned above the table with the red spoon visible to the left. The gripper is currently open and approaching the spoon's handle. The next action is to lower the end-effector and close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 21 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2594883143901825, + 0.051014091819524765, + 0.07304930686950684, + -3.130411386489868, + -0.018867777660489082, + 0.08014311641454697 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot is positioned above the table with the red spoon visible to the left. The gripper is currently open and approaching the spoon's handle. The next action is to lower the end-effector and close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 16 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24927866458892822, + 0.09291943907737732, + 0.07790148258209229, + -3.1160097122192383, + -0.02600659430027008, + 0.13356433808803558 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange strainer": [ + 632, + 559, + 770, + 742 + ], + "red tool": [ + 87, + 369, + 207, + 522 + ], + "wooden countertop": [ + 9, + 213, + 880, + 988 + ], + "metal bowl": [ + 229, + 374, + 457, + 627 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot is positioned above the table with the red spoon visible to the left. The gripper is currently open and approaching the spoon's handle. The next action is to lower the end-effector and close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24379846453666687, + 0.13920153677463531, + 0.0911598727107048, + -3.0964150428771973, + -0.06960371136665344, + 0.20206323266029358 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot is positioned above the table with the red spoon visible to the left. 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The next action is to lower the end-effector and close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24638694524765015, + 0.16046591103076935, + 0.08848580718040466, + -3.059659481048584, + -0.04931710660457611, + 0.16630665957927704 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot is positioned above the table with the red spoon visible to the left. 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The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27745744585990906, + 0.20308437943458557, + 0.04943360760807991, + -3.0575175285339355, + -0.06413543224334717, + 0.2118871957063675 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, close gripper; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28104937076568604, + 0.20699049532413483, + 0.04519002139568329, + -3.051882028579712, + -0.0588369257748127, + 0.21272775530815125 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper; then move back 4 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2839055061340332, + 0.20959489047527313, + 0.039910171180963516, + -3.0534138679504395, + -0.05397358536720276, + 0.20642755925655365 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. 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The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, close gripper; then move back 4 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28435415029525757, + 0.20939670503139496, + 0.03412923216819763, + -3.0605881214141846, + -0.04590662941336632, + 0.21731771528720856 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, close gripper; then move back 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2879115343093872, + 0.2081131637096405, + 0.027361785992980003, + -3.0603601932525635, + -0.03715307265520096, + 0.22265252470970154 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. 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The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, close gripper; then move back 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28973227739334106, + 0.20297032594680786, + 0.015524495393037796, + -3.0653698444366455, + -0.01390152145177126, + 0.2185935527086258 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange strainer": [ + 632, + 559, + 770, + 742 + ], + "wooden countertop": [ + 9, + 185, + 880, + 985 + ], + "red tool": [ + 87, + 376, + 202, + 522 + ], + "metal bowl": [ + 241, + 376, + 464, + 631 + ], + "appliance": [ + 17, + 7, + 274, + 438 + ], + "wooden wall": [ + 334, + 2, + 986, + 424 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29514557123184204, + 0.20238134264945984, + 0.007825401611626148, + -3.0630626678466797, + -0.003744879039004445, + 0.20918968319892883 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 5 cm, move left 1 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30261117219924927, + 0.19627857208251953, + 0.005304429680109024, + -3.0520942211151123, + -0.0002574873506091535, + 0.1953079104423523 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Approach and grasp red spoon", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022257089614868, + 0.1928718090057373, + 0.003593108616769314, + -3.043940782546997, + 0.00831553339958191, + 0.1836441606283188 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2980496287345886, + 0.18916954100131989, + 0.005056138150393963, + -3.0348052978515625, + 0.002639395883306861, + 0.1781664788722992 + ], + "gripper_value": 0.3461596965789795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2857731580734253, + 0.18250146508216858, + 0.007504962384700775, + -3.0380494594573975, + 0.007487241644412279, + 0.18420866131782532 + ], + "gripper_value": 0.3461596965789795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 7 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2668626010417938, + 0.18410970270633698, + 0.015443606302142143, + -3.0421955585479736, + 9.726933058118448e-06, + 0.20467185974121094 + ], + "gripper_value": 0.3461596965789795 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange strainer": [ + 632, + 560, + 770, + 743 + ], + "wooden countertop": [ + 12, + 184, + 880, + 987 + ], + "metal bowl": [ + 241, + 379, + 465, + 636 + ], + "red tool": [ + 70, + 423, + 207, + 581 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move up 13 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25816959142684937, + 0.18714310228824615, + 0.02805698849260807, + -3.030289649963379, + -0.024231040850281715, + 0.21630309522151947 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 13 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514011859893799, + 0.19194889068603516, + 0.03589261695742607, + -3.023372173309326, + -0.04307977110147476, + 0.24198265373706818 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 13 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25033819675445557, + 0.19398698210716248, + 0.03643327206373215, + -3.020519495010376, + -0.04621948301792145, + 0.25511813163757324 + ], + "gripper_value": 0.3228223919868469 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The robot arm is positioned above the red spoon, which lies on the wooden surface to the left of the metal bowl. The gripper is open and approaching the spoon. The next action is to close the gripper to grasp the red spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 12 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25208160281181335, + 0.1985645741224289, + 0.0337764173746109, + -2.9986515045166016, + -0.06300612539052963, + 0.28096091747283936 + ], + "gripper_value": 0.3228223919868469 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 13 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25236690044403076, + 0.20656725764274597, + 0.028964733704924583, + -2.9606027603149414, + -0.09189317375421524, + 0.2958153486251831 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move up 13 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 10 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2466786503791809, + 0.21422907710075378, + 0.026771677657961845, + -2.9291481971740723, + -0.1259729117155075, + 0.31701236963272095 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 12 cm, move up 13 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 15 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23343521356582642, + 0.21977370977401733, + 0.05263075232505798, + -2.9151573181152344, + -0.18369999527931213, + 0.3648454546928406 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 12 cm, move up 11 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 19 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.20799103379249573, + 0.23178115487098694, + 0.09213007241487503, + -2.9057986736297607, + -0.23565880954265594, + 0.42762574553489685 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move up 7 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 21 cm, move down 8 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.1868244856595993, + 0.2482810914516449, + 0.11741355061531067, + -2.9388904571533203, + -0.2759135365486145, + 0.4713546633720398 + ], + "gripper_value": 0.31342363357543945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 15 cm, move up 4 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 19 cm, move down 8 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.19447267055511475, + 0.2451029270887375, + 0.14049120247364044, + -2.976595878601074, + -0.3324844539165497, + 0.4471886456012726 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 15 cm, move up 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 18 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2245815098285675, + 0.20583359897136688, + 0.157157763838768, + -3.0514824390411377, + -0.3885806202888489, + 0.38361653685569763 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 17 cm, move down 3 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26489850878715515, + 0.14937831461429596, + 0.16522814333438873, + -3.125598192214966, + -0.4018700122833252, + 0.24595311284065247 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Lift and transport spoon rightward", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 18 cm, move down 4 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2928810119628906, + 0.09693007171154022, + 0.16087713837623596, + 3.1069905757904053, + -0.3690292537212372, + 0.1218542829155922 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 18 cm, move down 6 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31246307492256165, + 0.04641367867588997, + 0.15434296429157257, + 3.055748462677002, + -0.3451194167137146, + 0.019978486001491547 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, move down 8 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3206426501274109, + -0.0015199379995465279, + 0.13782234489917755, + 3.0077083110809326, + -0.2863876223564148, + -0.01712396740913391 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3275498151779175, + -0.0503193661570549, + 0.1227346882224083, + 2.976982831954956, + -0.24723319709300995, + -0.030270401388406754 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange strainer": [ + 632, + 560, + 770, + 743 + ], + "wooden countertop": [ + 9, + 185, + 880, + 984 + ], + "red tool": [ + 562, + 247, + 631, + 507 + ], + "metal bowl": [ + 131, + 373, + 468, + 634 + ], + "cloth": [ + 189, + 372, + 484, + 666 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3311959505081177, + -0.09776763617992401, + 0.0962030366063118, + 2.954368829727173, + -0.16278773546218872, + -0.016935598105192184 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange strainer": [ + 633, + 560, + 770, + 742 + ], + "wooden countertop": [ + 9, + 184, + 880, + 984 + ], + "metal bowl": [ + 131, + 371, + 469, + 635 + ], + "red tool": [ + 674, + 331, + 742, + 613 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.33157357573509216, + -0.11010971665382385, + 0.07795339077711105, + 2.9780266284942627, + -0.09698117524385452, + -0.01690307818353176 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon has been grasped and is currently being lifted and transported rightward toward the orange pumpkin. The gripper remains closed with minimal variation, confirming a stable hold. The next action is to continue moving the spoon horizontally to position it to the right of the pumpkin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.33080706000328064, + -0.09479103237390518, + 0.07678479701280594, + 2.9911961555480957, + -0.09482579678297043, + -0.003974799532443285 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon is currently held above the table, positioned to the right of the orange pumpkin. The gripper remains closed, indicating the spoon has not yet been released. The next action is to lower the spoon onto the table surface and open the gripper to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.33371877670288086, + -0.08425342291593552, + 0.1054341271519661, + 2.9231412410736084, + -0.21538932621479034, + 0.009727602824568748 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon is currently held above the table, positioned to the right of the orange pumpkin. The gripper remains closed, indicating the spoon has not yet been released. The next action is to lower the spoon onto the table surface and open the gripper to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3323626220226288, + -0.07763275504112244, + 0.12647366523742676, + 2.858501672744751, + -0.27371320128440857, + 0.03542904183268547 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon is currently held above the table, positioned to the right of the orange pumpkin. The gripper remains closed, indicating the spoon has not yet been released. The next action is to lower the spoon onto the table surface and open the gripper to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.32665085792541504, + -0.07872611284255981, + 0.12567836046218872, + 2.8265650272369385, + -0.2362588346004486, + 0.022227881476283073 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon is currently held above the table, positioned to the right of the orange pumpkin. The gripper remains closed, indicating the spoon has not yet been released. The next action is to lower the spoon onto the table surface and open the gripper to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3277890384197235, + -0.08460104465484619, + 0.1028514951467514, + 2.8028147220611572, + -0.17537449300289154, + 0.019207671284675598 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon is currently held above the table, positioned to the right of the orange pumpkin. The gripper remains closed, indicating the spoon has not yet been released. The next action is to lower the spoon onto the table surface and open the gripper to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3240470588207245, + -0.10483183711767197, + 0.0772067978978157, + 2.788332223892212, + -0.10954646021127701, + -0.01824221760034561 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon is currently held above the table, positioned to the right of the orange pumpkin. The gripper remains closed, indicating the spoon has not yet been released. The next action is to lower the spoon onto the table surface and open the gripper to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.32647156715393066, + -0.11454886943101883, + 0.06888413429260254, + 2.8082728385925293, + -0.08829619735479355, + -0.037961699068546295 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon to the right of the orange pumpkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and grasp red spoon" + }, + { + "id": 2, + "subtask": "Lift and transport spoon rightward" + }, + { + "id": 3, + "subtask": "Place spoon and release contact" + } + ], + "subtask_name": "Place spoon and release contact", + "subtask_reasoning": "The red spoon is currently held above the table, positioned to the right of the orange pumpkin. The gripper remains closed, indicating the spoon has not yet been released. The next action is to lower the spoon onto the table surface and open the gripper to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +}